commit 7a15bd8e14ce56b9ccfe9ee30be5860bfc96ae52 Author: cheng Date: Mon Jun 8 17:52:48 2026 +0800 init diff --git a/N_.jpg b/N_.jpg new file mode 100644 index 0000000..b57ddb8 Binary files /dev/null and b/N_.jpg differ diff --git a/config/compound_eye.png b/config/compound_eye.png new file mode 100644 index 0000000..7f0b344 Binary files /dev/null and b/config/compound_eye.png differ diff --git a/config/compound_eye_sample.png b/config/compound_eye_sample.png new file mode 100644 index 0000000..ef3b17b Binary files /dev/null and b/config/compound_eye_sample.png differ diff --git a/config/ddjx01.json b/config/ddjx01.json new file mode 100644 index 0000000..21b5e96 --- /dev/null +++ b/config/ddjx01.json @@ -0,0 +1,44 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [1920, 1080], + "fps": 30, + "units": 15, + "units_used": 9, + "resolution_stitch": [365, 365], + "stitch_res_list": [365,263,123,63] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.05, + "max_aspect_ratio": 50, + "index": [1,2,3,6,7,8,11,12,13], + "margin": 10, + "nominal_ov_pos": 100, + "n": [3,3], + "row_tol": 0.6, + "box_size": [250, 250] + }, + "tracker": { + "adaptive": true, + "lower_threshold": 12.0, + "upper_threshold": 18.0, + "loop_closure_interval": 1, + "algorithm": "dis", + "dis_preset": "medium", + "dis_mode": 3, + "algorithm_list": ["raft", "dis"], + "hhd_downsample": 3 + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold":5, + "div_threshold":0.05, + "expansion_threshold": 0.01, + "kernel_size": [5,5], + "denoise_sigma": 12 + } +} + + diff --git a/config/ddjx01_480p.json b/config/ddjx01_480p.json new file mode 100644 index 0000000..6083c90 --- /dev/null +++ b/config/ddjx01_480p.json @@ -0,0 +1,44 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [854, 480], + "fps": 30, + "units": 15, + "units_used": 9, + "resolution_stitch": [123, 123], + "stitch_res_list": [365,263,123,63] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.08, + "max_aspect_ratio": 100, + "index": [1,2,3,6,7,8,11,12,13], + "margin": 4, + "nominal_ov_pos": 44, + "n": [3,3], + "row_tol": 0.6, + "box_size": [98, 98] + }, + "tracker": { + "adaptive": true, + "lower_threshold": 12.0, + "upper_threshold": 18.0, + "loop_closure_interval": 1, + "algorithm": "dis", + "dis_preset": "medium", + "dis_mode": 2, + "algorithm_list": ["raft", "dis"], + "hhd_downsample": 3 + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold":1, + "div_threshold":0.02, + "expansion_threshold": 0.01, + "kernel_size": [5,5], + "denoise_sigma": 6 + } +} + + diff --git a/config/ddjx01_q6a.json b/config/ddjx01_q6a.json new file mode 100644 index 0000000..f267045 --- /dev/null +++ b/config/ddjx01_q6a.json @@ -0,0 +1,46 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [1280, 720], + "fps": 30, + "units": 15, + "units_used": 9, + "resolution_stitch": [263, 263], + "stitch_res_list": [365,263,123,63] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.04, + "max_aspect_ratio": 25, + "index": [1,2,3,6,7,8,11,12,13], + "margin": 10, + "nominal_ov_pos": 67, + "n": [3,3], + "row_tol": 0.6, + "box_size": [180, 180] + }, + "tracker": { + "adaptive": true, + "lower_threshold": 12.0, + "upper_threshold": 18.0, + "loop_closure_interval": 1, + "algorithm": "dis", + "dis_preset": "medium", + "dis_mode": 3, + "algorithm_list": ["raft", "dis"], + "hhd_downsample": 3, + "backend": "cpu" + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold":1, + "div_threshold":0.02, + "expansion_threshold": 0.01, + "kernel_size": [5,5], + "denoise_sigma": 10 + } + } + + + \ No newline at end of file diff --git a/config/ddjx01_wuxi.json b/config/ddjx01_wuxi.json new file mode 100644 index 0000000..0f0a874 --- /dev/null +++ b/config/ddjx01_wuxi.json @@ -0,0 +1,45 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [1280, 720], + "fps": 15, + "units": 15, + "units_used": 9, + "resolution_stitch": [263, 263], + "stitch_res_list": [365,263,123,63] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.04, + "max_aspect_ratio": 25, + "index": [1,2,3,6,7,8,11,12,13], + "margin": 10, + "nominal_ov_pos": 67, + "n": [3,3], + "row_tol": 0.6, + "box_size": [180, 180] + }, + "tracker": { + "adaptive": true, + "lower_threshold": 12.0, + "upper_threshold": 18.0, + "loop_closure_interval": 1, + "algorithm": "dis", + "dis_preset": "medium", + "dis_mode": 3, + "algorithm_list": ["raft", "dis"], + "hhd_downsample": 3, + "backend": "cpu" + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold":1, + "div_threshold":0.02, + "expansion_threshold": 0.01, + "kernel_size": [5,5], + "denoise_sigma": 10 + } +} + + diff --git a/config/prototype_of3.json b/config/prototype_of3.json new file mode 100644 index 0000000..8d94471 --- /dev/null +++ b/config/prototype_of3.json @@ -0,0 +1,44 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [1920, 1080], + "fps": 30, + "units": 15, + "units_used": 9, + "resolution_stitch": [365, 365], + "stitch_res_list": [365,263,123,63] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.04, + "max_aspect_ratio": 100, + "index": [1,2,3,6,7,8,11,12,13], + "margin": 10, + "nominal_ov_pos": 100, + "n": [3,3], + "row_tol": 0.6, + "box_size": [220, 220] + }, + "tracker": { + "adaptive": true, + "lower_threshold": 12.0, + "upper_threshold": 18.0, + "loop_closure_interval": 1, + "algorithm": "dis", + "dis_preset": "medium", + "dis_mode": 3, + "algorithm_list": ["raft", "dis"], + "hhd_downsample": 3 + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold":1, + "div_threshold":0.02, + "expansion_threshold": 0.01, + "kernel_size": [5,5], + "denoise_sigma": 15 + } +} + + diff --git a/config/prototype_of3_480p.json b/config/prototype_of3_480p.json new file mode 100644 index 0000000..5c321a3 --- /dev/null +++ b/config/prototype_of3_480p.json @@ -0,0 +1,44 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [854, 480], + "fps": 30, + "units": 15, + "units_used": 9, + "resolution_stitch": [123, 123], + "stitch_res_list": [365,263,123,63] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.06, + "max_aspect_ratio": 100, + "index": [1,2,3,6,7,8,11,12,13], + "margin": 4, + "nominal_ov_pos": 44, + "n": [3,3], + "row_tol": 0.6, + "box_size": [98, 98] + }, + "tracker": { + "adaptive": true, + "lower_threshold": 12.0, + "upper_threshold": 18.0, + "loop_closure_interval": 1, + "algorithm": "dis", + "dis_preset": "medium", + "dis_mode": 2, + "algorithm_list": ["raft", "dis"], + "hhd_downsample": 3 + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold":1, + "div_threshold":0.02, + "expansion_threshold": 0.01, + "kernel_size": [5,5], + "denoise_sigma": 6 + } +} + + diff --git a/config/prototype_of3_720p.json b/config/prototype_of3_720p.json new file mode 100644 index 0000000..185ccbf --- /dev/null +++ b/config/prototype_of3_720p.json @@ -0,0 +1,44 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [1280, 720], + "fps": 30, + "units": 15, + "units_used": 9, + "resolution_stitch": [263, 263], + "stitch_res_list": [365,263,123,63] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.04, + "max_aspect_ratio": 25, + "index": [1,2,3,6,7,8,11,12,13], + "margin": 10, + "nominal_ov_pos": 67, + "n": [3,3], + "row_tol": 0.6, + "box_size": [180, 180] + }, + "tracker": { + "adaptive": true, + "lower_threshold": 12.0, + "upper_threshold": 18.0, + "loop_closure_interval": 1, + "algorithm": "dis", + "dis_preset": "medium", + "dis_mode": 2, + "algorithm_list": ["raft", "dis"], + "hhd_downsample": 3 + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold":1, + "div_threshold":0.02, + "expansion_threshold": 0.01, + "kernel_size": [5,5], + "denoise_sigma": 10 + } +} + + diff --git a/config/prototype_raft.json b/config/prototype_raft.json new file mode 100644 index 0000000..480995b --- /dev/null +++ b/config/prototype_raft.json @@ -0,0 +1,43 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [1920, 1080], + "fps": 30, + "units": 15, + "units_used": 9, + "resolution_stitch": [384, 384] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.04, + "max_aspect_ratio": 100, + "index": [1,2,3,6,7,8,11,12,13], + "margin": 10, + "nominal_ov_pos": 100, + "n": [3,3], + "row_tol": 0.6, + "box_size": [220, 220] + }, + "tracker": { + "adaptive": true, + "lower_threshold": 12.0, + "upper_threshold": 18.0, + "loop_closure_interval": 1, + "algorithm": "raft", + "dis_preset": "medium", + "dis_mode": 3, + "algorithm_list": ["raft", "dis"], + "hhd_downsample": 3 + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold":1.5, + "div_threshold":0.08, + "expansion_threshold": 0.01, + "kernel_size": [5,5], + "denoise_sigma": 15 + } +} + + diff --git a/config/rotation_config.json b/config/rotation_config.json new file mode 100644 index 0000000..b71adf9 --- /dev/null +++ b/config/rotation_config.json @@ -0,0 +1,5 @@ +{ + "rotation_angle": 0, + "flip_x": false, + "flip_y": false +} diff --git a/config/rotation_config_0.json b/config/rotation_config_0.json new file mode 100644 index 0000000..ebdf63f --- /dev/null +++ b/config/rotation_config_0.json @@ -0,0 +1,5 @@ +{ + "rotation_angle": 90, + "flip_x": true, + "flip_y": false +} diff --git a/config/rotation_config_1.json b/config/rotation_config_1.json new file mode 100644 index 0000000..da3aa0e --- /dev/null +++ b/config/rotation_config_1.json @@ -0,0 +1,5 @@ +{ + "rotation_angle": 90, + "flip_x": false, + "flip_y": false +} diff --git a/examples/README.md b/examples/README.md new file mode 100644 index 0000000..88fe449 --- /dev/null +++ b/examples/README.md @@ -0,0 +1,94 @@ +# Examples + +This folder contains user-facing example scripts for the Orisys SDK. + +## Files + +- `basic_pipeline.py`: single-sensor basic processing and visualization flow +- `two_sensor_pipeline.py`: dual-sensor multiprocessing example +- `two_sensor_force_reader.py`: dual-sensor force-only reader for gripper control +- `gripper_force_control.py`: closed-loop gripper force control from left/right tactile feedback +- `gripper_timed_cycle_control.py`: timed open/close gripper loop with two-sided tactile force adjustment +- `plot_data.py`: real-time plotting example with PyQtGraph +- `manual_annotator.py`: manual Qt annotation tool for corners, lines, rectangles, and ROI boxes + +## Typical usage + +Run examples from the repository root so relative paths such as `./config/ddjx01.json` +resolve correctly. + +### Basic pipeline + +```bash +python examples/basic_pipeline.py -v 0 -c ./config/ddjx01.json +``` + +### Two-sensor pipeline + +```bash +python examples/two_sensor_pipeline.py +``` + +### Two-sensor force reader + +```bash +python examples/two_sensor_force_reader.py -v1 0 -v2 1 +``` + +### Gripper force control + +```bash +python examples/gripper_force_control.py --port COM3 -v1 0 -v2 1 +``` + +Use `--dry-run` to verify tactile feedback and control decisions without +opening the gripper serial port. + +### Timed gripper open/close control + +```bash +python examples/gripper_timed_cycle_control.py --port COM3 -v1 0 -v2 1 --open-seconds 3 --close-seconds 5 +``` + +By default, control parameters are loaded from +`./gripper_control/config/gripper_timed_cycle_control.py`; CLI options override config values. + +The open/close cycle is time-driven. During the close phase, object detection +uses calibrated N thresholds. After detection, the timed open/close loop stops. +The gripper holds its current position, resets to a low force, and slowly ramps +force. When tangential force is high enough and stable, it enters hold-check. +Human handoff release is enabled by default; pass `--disable-human-release` to +keep holding even after later tangential-force changes. + +### Real-time plotting + +```bash +python examples/plot_data.py -v 0 -c ./config/ddjx01.json +``` + +### Manual annotation + +```bash +python examples/manual_annotator.py -s 0 +``` + +Use `-s` with a camera index, video path, or image path. Coordinates saved in the +JSON file are original image pixel coordinates. + +## Requirements + +- Python environment with the SDK dependencies installed +- a supported camera or test video +- valid JSON config in `./config/` + +Some examples also require: + +- `pyqtgraph` +- `PyQt5` +- multiple cameras for multi-sensor demos + +## Notes + +- Most examples assume a tactile sensor camera is connected. +- Press `q` in the display window to quit where applicable. +- If your camera index is not `0`, change `-v` accordingly. diff --git a/examples/basic_pipeline.py b/examples/basic_pipeline.py new file mode 100644 index 0000000..f2a47a6 --- /dev/null +++ b/examples/basic_pipeline.py @@ -0,0 +1,115 @@ +""" +示例 1：单传感器基础流程 + +本示例演示 Orisys SDK 的标准处理流程： +1. 初始化传感器（摄像头或视频文件） +2. 获取图像并计算形变 +3. 按需计算接触区域 +4. 读取并可视化结果 + +SDK version: 0.3.1 +""" +import os +os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" +import cv2 +import orisys +import numpy as np +import argparse + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--video","-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径") + parser.add_argument("--config","-c", type=str, default="./config/ddjx01.json", help="配置文件名称或路径") + parser.add_argument("--verbose","-verbose", type=bool, default=True, help="是否输出详细日志") + args = parser.parse_args() + + # 步骤 1：创建传感器对象（必需） + # config_name 可以是内置配置名称，也可以是自定义配置文件路径 + # cal_path 为标定文件路径；每台设备建议使用独立的标定文件 + + # 输入既可以是摄像头编号，也可以是视频文件路径 + try: + input = int(args.video) + is_camera = True + sensor = orisys.Sensor(input, config_name=args.config, verbose=args.verbose) + except: + is_camera = False + sensor = orisys.Sensor(args.video, config_name=args.config, verbose=args.verbose) + + print("\n按键说明：'q' 退出程序，'r' 重置追踪器。") + + while True: + # 步骤 2：数据处理 + # 步骤 2.1：获取并拼接图像（必需） + sensor.get_img() + # 步骤 2.2：计算形变场（必需）；返回值表示当前帧是否检测到接触/运动 + is_contact_now = sensor.compute_deformation(check_motion=True, threshold=0) + # 步骤 2.3：仅在当前帧检测到接触/运动时计算接触区域 + # if is_contact_now: + sensor.compute_contact() + + + # 步骤 2.4：读取结果 + 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.FNORMAL, + sensor.info.FSHEARX, + sensor.info.FSHEARY + ) + + # 步骤 3：可视化显示 + # 步骤 3.1：显示形变矢量场 + arrows = orisys.util.draw_arrows( + img, + flow, + threshold=2, + grid_spacing=20, + arrow_scale=1.0 + ) + cv2.imshow("形变矢量场".encode("gbk"), arrows) + + # 步骤 3.2：显示接触区域和质心 + image_with_foe = orisys.util.draw_contact(img, contour, centroid) + cv2.imshow("接触区域与质心".encode("gbk"), image_with_foe) + + # 步骤 3.3：显示深度图 + # 将深度值归一化到 0-255 范围 + div_abs = depth_map + if div_abs.max() > div_abs.min(): + div_normalized = ((div_abs - div_abs.min()) / (div_abs.max() - div_abs.min()) * 255).astype(np.uint8) + else: + div_normalized = np.zeros_like(div_abs, dtype=np.uint8) + + # 应用伪彩色映射 + cv2.imshow("深度图".encode("gbk"), cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET)) + + # 步骤 3.4：打印关键结果 + print( + f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, " + f"切向力Y={fsheary:.4f}, 深度图尺寸={depth_map.shape}, 原始分辨率={sensor.img_size_raw}" + ) + + # 步骤 3.5：键盘控制 + key = cv2.waitKey(1) & 0xFF + if key == ord("q"): + print("\n正在退出示例程序...") + break + if key == ord("r"): + # 当光流追踪出现漂移时，可手动重置追踪器 + sensor.reset() + print("追踪器已重置。") + + # ========================================================================= + # 4. 释放资源 + # ========================================================================= + sensor.disconnect() # 释放视频源及相关资源 + + +if __name__ == '__main__': + main() diff --git a/examples/gripper_demo_02.py b/examples/gripper_demo_02.py new file mode 100644 index 0000000..713e1d8 --- /dev/null +++ b/examples/gripper_demo_02.py @@ -0,0 +1,18 @@ +"""Compatibility entry point for gripper demo 02.""" + +import multiprocessing as mp +import sys +from pathlib import Path + + +REPO_ROOT = Path(__file__).resolve().parents[1] +if str(REPO_ROOT) not in sys.path: + sys.path.insert(0, str(REPO_ROOT)) + +from gripper_control_02.main import main + + +if __name__ == "__main__": + mp.freeze_support() + main() + diff --git a/examples/gripper_force_control.py b/examples/gripper_force_control.py new file mode 100644 index 0000000..58ae8dd --- /dev/null +++ b/examples/gripper_force_control.py @@ -0,0 +1,297 @@ +""" +Closed-loop gripper force control from two tactile sensors. + +Run from repository root: + python examples/gripper_force_control.py --port COM3 -v1 0 -v2 1 + +The controller reads left/right tactile normal force and updates the gripper +target force percentage. It uses the larger side as the safety signal because +the current gripper SDK exposes one shared force command. +""" + +import argparse +import os +import sys +import time +from pathlib import Path + +import multiprocessing as mp + +from two_sensor_force_reader import TwoSensorForceReader + + +REPO_ROOT = Path(__file__).resolve().parents[1] +SDK_DIR = REPO_ROOT / "sdk" +if str(SDK_DIR) not in sys.path: + sys.path.insert(0, str(SDK_DIR)) + + +class ExponentialFilter: + def __init__(self, alpha, initial=0.0): + self.alpha = max(0.0, min(1.0, float(alpha))) + self.value = float(initial) + self.initialized = False + + def update(self, sample): + sample = float(sample) + if not self.initialized: + self.value = sample + self.initialized = True + else: + self.value = self.alpha * sample + (1.0 - self.alpha) * self.value + return self.value + + +def clamp(value, min_value, max_value): + return max(min_value, min(max_value, value)) + + +def step_toward_open(current_pos, open_pos, delta): + if current_pos is None: + return open_pos + if current_pos > open_pos: + return max(open_pos, current_pos - delta) + if current_pos < open_pos: + return min(open_pos, current_pos + delta) + return open_pos + + +def calibrate_baseline(reader, seconds): + if seconds <= 0: + return 0.0, 0.0 + + left_values = [] + right_values = [] + deadline = time.perf_counter() + seconds + while time.perf_counter() < deadline: + left, right = reader.get_forces(timeout=0.2) + if left is not None: + left_values.append(left) + if right is not None: + right_values.append(right) + time.sleep(0.01) + + left_baseline = sum(left_values) / len(left_values) if left_values else 0.0 + right_baseline = sum(right_values) / len(right_values) if right_values else 0.0 + return left_baseline, right_baseline + + +def compute_next_force_pct( + current_pct, + control_force, + target_force, + deadband, + force_min, + force_max, + step_up, + step_down, +): + low = target_force - deadband + high = target_force + deadband + + if control_force > high: + return clamp(current_pct - step_down, force_min, force_max), "down" + if control_force < low: + return clamp(current_pct + step_up, force_min, force_max), "up" + return current_pct, "hold" + + +def load_gripper(args): + from changingtek_p_rtu_Servo import MotorController + + return MotorController( + args.port, + args.slave_id, + baudrate=args.baudrate, + timeout=args.serial_timeout, + ) + + +def parse_args(): + parser = argparse.ArgumentParser() + + parser.add_argument("--video1", "-v1", type=str, default="0", help="left sensor camera index or video path") + parser.add_argument("--video2", "-v2", type=str, default="1", help="right sensor camera index or video path") + parser.add_argument("--rotation1", "-r1", type=str, default="./config/rotation_config_0.json", help="left sensor orientation config") + parser.add_argument("--rotation2", "-r2", type=str, default="./config/rotation_config_1.json", help="right sensor orientation config") + parser.add_argument("--sensor-config1", type=str, default="./config/ddjx01.json", help="left tactile sensor config") + parser.add_argument("--sensor-config2", type=str, default="./config/ddjx01.json", help="right tactile sensor config") + parser.add_argument("--sensor-fps", type=float, default=30.0, help="target processing FPS per tactile sensor") + parser.add_argument("--motion-threshold", type=float, default=0.0, help="motion threshold used by tactile deformation") + parser.add_argument("--sensor-cpu", action="store_true", help="disable CUDA for tactile workers") + + parser.add_argument("--port", type=str, default="COM5", help="gripper serial port") + parser.add_argument("--slave-id", type=int, default=1, help="Modbus slave id") + parser.add_argument("--baudrate", type=int, default=115200, help="serial baudrate") + parser.add_argument("--serial-timeout", type=float, default=0.2, help="serial timeout in seconds") + + parser.add_argument("--open-pos", type=int, default=0, help="open gripper position") + parser.add_argument("--close-pos", type=int, default=9000, help="close gripper position") + parser.add_argument("--speed", type=int, default=5, help="gripper speed percent") + parser.add_argument("--accel", type=int, default=60, help="gripper acceleration") + parser.add_argument("--decel", type=int, default=60, help="gripper deceleration") + + parser.add_argument("--initial-force", type=int, default=10, help="initial gripper force percent") + parser.add_argument("--force-min", type=int, default=5, help="minimum gripper force percent") + parser.add_argument("--force-max", type=int, default=35, help="maximum gripper force percent") + parser.add_argument("--step-up", type=int, default=1, help="force percent increase per control tick") + parser.add_argument("--step-down", type=int, default=2, help="force percent decrease per control tick") + parser.add_argument("--control-hz", type=float, default=10.0, help="gripper force update frequency") + + parser.add_argument("--target-touch-force", type=float, default=800.0, help="target tactile normal force value") + parser.add_argument("--deadband", type=float, default=80.0, help="do not adjust inside target +/- deadband") + parser.add_argument("--emergency-touch-force", type=float, default=1600.0, help="open slightly if either side exceeds this value") + parser.add_argument("--emergency-open-delta", type=int, default=500, help="position step toward open on emergency") + parser.add_argument("--imbalance-threshold", type=float, default=0.0, help="optional left/right force difference warning threshold; 0 disables") + parser.add_argument("--filter-alpha", type=float, default=0.25, help="force low-pass filter alpha") + parser.add_argument("--baseline-seconds", type=float, default=1.0, help="seconds to sample no-contact tactile baseline") + + parser.add_argument("--no-initial-move", action="store_true", help="do not send initial close command") + parser.add_argument("--trigger-force-update", action="store_true", help="call trigger_motion after set_target_force") + parser.add_argument("--dry-run", action="store_true", help="print commands without opening the serial port") + + return parser.parse_args() + + +def main(): + args = parse_args() + + reader = TwoSensorForceReader( + video1=args.video1, + video2=args.video2, + config1=args.sensor_config1, + config2=args.sensor_config2, + rotation1=args.rotation1, + rotation2=args.rotation2, + target_fps=args.sensor_fps, + cuda=not args.sensor_cpu, + motion_threshold=args.motion_threshold, + ) + + gripper = None + force_pct = int(clamp(args.initial_force, args.force_min, args.force_max)) + left_filter = ExponentialFilter(args.filter_alpha) + right_filter = ExponentialFilter(args.filter_alpha) + last_written_force = None + + print("Starting tactile sensors...") + reader.start() + + try: + print(f"Calibrating tactile baseline for {args.baseline_seconds:.2f}s. Keep sensors unloaded.") + left_base, right_base = calibrate_baseline(reader, args.baseline_seconds) + print(f"baseline: left={left_base:.4f}, right={right_base:.4f}") + + if not args.dry_run: + gripper = load_gripper(args) + + if not args.no_initial_move: + if args.dry_run: + print( + "[dry-run] temp_move " + f"position={args.close_pos}, speed={args.speed}, force={force_pct}, " + f"accel={args.accel}, decel={args.decel}" + ) + else: + gripper.temp_move( + position_mm=args.close_pos, + speed_pct=args.speed, + force_pct=force_pct, + accel=args.accel, + decel=args.decel, + trigger=True, + ) + last_written_force = force_pct + + interval = 1.0 / args.control_hz if args.control_hz > 0 else 0.1 + print("Closed-loop control started. Press Ctrl+C to stop.") + + while True: + tick_start = time.perf_counter() + left_raw, right_raw = reader.get_forces(timeout=1.0) + if left_raw is None or right_raw is None: + print(f"waiting for forces: left={left_raw}, right={right_raw}") + time.sleep(0.05) + continue + + left_force = max(0.0, float(left_raw) - left_base) + right_force = max(0.0, float(right_raw) - right_base) + left_filtered = left_filter.update(left_force) + right_filtered = right_filter.update(right_force) + + control_force = max(left_filtered, right_filtered) + avg_force = 0.5 * (left_filtered + right_filtered) + imbalance = left_filtered - right_filtered + + if control_force >= args.emergency_touch_force: + force_pct = args.force_min + action = "emergency" + if args.dry_run: + print(f"[dry-run] set_target_force {force_pct}") + print(f"[dry-run] open toward {args.open_pos} by {args.emergency_open_delta}") + else: + gripper.set_target_force(force_pct) + try: + current_pos = gripper.read_real_position() + except Exception: + current_pos = None + open_pos = step_toward_open( + current_pos, + args.open_pos, + args.emergency_open_delta, + ) + gripper.temp_move( + position_mm=int(open_pos), + speed_pct=args.speed, + force_pct=force_pct, + accel=args.accel, + decel=args.decel, + trigger=True, + ) + last_written_force = force_pct + else: + force_pct, action = compute_next_force_pct( + force_pct, + control_force, + args.target_touch_force, + args.deadband, + args.force_min, + args.force_max, + args.step_up, + args.step_down, + ) + + if force_pct != last_written_force: + if args.dry_run: + print(f"[dry-run] set_target_force {force_pct}") + else: + gripper.set_target_force(int(force_pct)) + if args.trigger_force_update: + gripper.trigger_motion() + last_written_force = force_pct + + imbalance_msg = "" + if args.imbalance_threshold > 0 and abs(imbalance) >= args.imbalance_threshold: + imbalance_msg = " imbalance" + + print( + f"L={left_filtered:8.2f} R={right_filtered:8.2f} " + f"avg={avg_force:8.2f} max={control_force:8.2f} " + f"diff={imbalance:8.2f} force_pct={force_pct:3d} " + f"action={action}{imbalance_msg}" + ) + + elapsed = time.perf_counter() - tick_start + sleep_time = interval - elapsed + if sleep_time > 0: + time.sleep(sleep_time) + + except KeyboardInterrupt: + print("\nStopping closed-loop control.") + finally: + reader.stop() + + +if __name__ == "__main__": + mp.freeze_support() + main() diff --git a/examples/gripper_timed_cycle_control.py b/examples/gripper_timed_cycle_control.py new file mode 100644 index 0000000..0d216ec --- /dev/null +++ b/examples/gripper_timed_cycle_control.py @@ -0,0 +1,18 @@ +"""Compatibility entry point for the class-based gripper controller.""" + +import multiprocessing as mp +import sys +from pathlib import Path + + +REPO_ROOT = Path(__file__).resolve().parents[1] +if str(REPO_ROOT) not in sys.path: + sys.path.insert(0, str(REPO_ROOT)) + +from gripper_control.main import main + + +if __name__ == "__main__": + mp.freeze_support() + main() + diff --git a/examples/logs/plot_20260519_160307.log b/examples/logs/plot_20260519_160307.log new file mode 100644 index 0000000..adcce31 --- /dev/null +++ b/examples/logs/plot_20260519_160307.log @@ -0,0 +1,1150 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='h264' (int=875967080, hex=0x34363268), size=720x480, fps=29.61, backend_id=1900 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: data\s1_480p.mp4 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=2.38, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.91, 法向力=337.0924, 切向力X=105.3665, 切向力Y=-23.0133 +FPS=34.49, 法向力=275.2344, 切向力X=38.3156, 切向力Y=33.4009 +FPS=28.40, 法向力=304.5167, 切向力X=299.5397, 切向力Y=-125.5502 +FPS=36.40, 法向力=322.0585, 切向力X=144.5083, 切向力Y=-106.9444 +FPS=35.97, 法向力=427.3980, 切向力X=579.1263, 切向力Y=-150.2743 +FPS=23.86, 法向力=374.1193, 切向力X=143.3037, 切向力Y=41.0336 +FPS=40.67, 法向力=439.6496, 切向力X=341.2559, 切向力Y=105.1939 +FPS=36.22, 法向力=383.1736, 切向力X=283.2375, 切向力Y=60.7181 +FPS=25.92, 法向力=380.9533, 切向力X=189.9141, 切向力Y=49.1799 +FPS=39.32, 法向力=496.7229, 切向力X=216.1525, 切向力Y=173.0711 +FPS=37.93, 法向力=452.1005, 切向力X=316.2781, 切向力Y=-69.2771 +FPS=46.63, 法向力=515.5154, 切向力X=93.1914, 切向力Y=10.5510 +FPS=43.08, 法向力=486.9267, 切向力X=308.6645, 切向力Y=-127.3605 +FPS=41.17, 法向力=422.9596, 切向力X=137.3703, 切向力Y=-0.8303 +FPS=43.05, 法向力=444.7674, 切向力X=127.4388, 切向力Y=-100.7801 +FPS=42.66, 法向力=521.9902, 切向力X=-8.7759, 切向力Y=4.9324 +FPS=44.12, 法向力=471.4230, 切向力X=108.3085, 切向力Y=-123.1124 +FPS=39.65, 法向力=630.2045, 切向力X=181.0633, 切向力Y=79.0298 +FPS=44.41, 法向力=474.9984, 切向力X=179.3715, 切向力Y=-99.3264 +FPS=41.51, 法向力=467.0819, 切向力X=95.6260, 切向力Y=-33.4054 +FPS=45.21, 法向力=390.8379, 切向力X=20.0062, 切向力Y=-114.3233 +FPS=41.92, 法向力=400.2184, 切向力X=251.1852, 切向力Y=-43.3807 +FPS=45.20, 法向力=381.0980, 切向力X=338.1581, 切向力Y=17.0215 +FPS=39.84, 法向力=403.3732, 切向力X=274.3037, 切向力Y=-68.2538 +FPS=45.70, 法向力=423.2300, 切向力X=358.8958, 切向力Y=-128.8600 +FPS=40.17, 法向力=470.1970, 切向力X=354.4167, 切向力Y=1.4036 +FPS=45.77, 法向力=543.0128, 切向力X=408.0621, 切向力Y=6.6039 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000531s, blend=0.002189s (9 tiles incl ref), finalize=0.000034s, total=0.002759s +FPS=37.77, 法向力=568.6055, 切向力X=272.5980, 切向力Y=167.8930 +FPS=44.27, 法向力=471.2824, 切向力X=323.5005, 切向力Y=-44.3617 +FPS=39.51, 法向力=558.7151, 切向力X=287.7775, 切向力Y=142.7548 +FPS=44.95, 法向力=540.6609, 切向力X=230.7462, 切向力Y=163.5316 +FPS=40.32, 法向力=565.6110, 切向力X=238.0070, 切向力Y=175.9729 +FPS=44.51, 法向力=422.6593, 切向力X=391.3491, 切向力Y=94.5662 +FPS=36.87, 法向力=585.3496, 切向力X=341.6766, 切向力Y=264.1044 +FPS=45.12, 法向力=586.6017, 切向力X=400.8839, 切向力Y=220.4312 +FPS=44.89, 法向力=662.0049, 切向力X=374.3545, 切向力Y=249.3468 +FPS=44.27, 法向力=505.3251, 切向力X=403.4470, 切向力Y=123.5322 +FPS=38.92, 法向力=588.0610, 切向力X=336.4493, 切向力Y=241.3057 +FPS=40.97, 法向力=475.6929, 切向力X=331.1375, 切向力Y=220.2310 +FPS=45.81, 法向力=503.4824, 切向力X=285.5004, 切向力Y=161.7040 +FPS=26.85, 法向力=478.2920, 切向力X=285.2784, 切向力Y=172.7950 +FPS=43.90, 法向力=437.3712, 切向力X=270.7783, 切向力Y=192.0098 +FPS=45.99, 法向力=420.7048, 切向力X=301.3627, 切向力Y=226.3029 +FPS=47.13, 法向力=417.1736, 切向力X=372.3672, 切向力Y=166.5096 +FPS=39.80, 法向力=507.4414, 切向力X=552.4202, 切向力Y=167.9919 +FPS=43.59, 法向力=498.2945, 切向力X=436.6678, 切向力Y=165.5333 +FPS=37.93, 法向力=514.0458, 切向力X=335.3730, 切向力Y=85.0184 +FPS=46.42, 法向力=529.2030, 切向力X=276.0751, 切向力Y=61.7947 +FPS=40.46, 法向力=524.8873, 切向力X=359.9593, 切向力Y=-12.1547 +FPS=46.29, 法向力=537.9604, 切向力X=252.5856, 切向力Y=159.1549 +FPS=38.53, 法向力=571.8456, 切向力X=337.7609, 切向力Y=161.8762 +FPS=44.73, 法向力=555.7119, 切向力X=266.8866, 切向力Y=164.7125 +FPS=40.96, 法向力=535.4855, 切向力X=277.8946, 切向力Y=46.5788 +FPS=45.84, 法向力=559.3605, 切向力X=238.1057, 切向力Y=195.1381 +FPS=39.03, 法向力=516.4126, 切向力X=217.2286, 切向力Y=346.5672 +FPS=44.28, 法向力=588.9673, 切向力X=342.7322, 切向力Y=321.4611 +FPS=40.79, 法向力=683.4487, 切向力X=343.7098, 切向力Y=350.8336 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000491s, blend=0.002300s (9 tiles incl ref), finalize=0.000035s, total=0.002833s +FPS=40.16, 法向力=769.2404, 切向力X=617.5995, 切向力Y=363.0291 +FPS=47.66, 法向力=649.9167, 切向力X=595.3232, 切向力Y=450.2150 +FPS=41.93, 法向力=569.0094, 切向力X=196.7768, 切向力Y=260.1696 +FPS=43.24, 法向力=529.5283, 切向力X=427.7700, 切向力Y=187.7964 +FPS=44.39, 法向力=620.9910, 切向力X=470.9977, 切向力Y=362.5057 +FPS=39.41, 法向力=538.0060, 切向力X=528.8828, 切向力Y=177.2518 +FPS=45.46, 法向力=610.8594, 切向力X=603.5106, 切向力Y=261.6980 +FPS=40.48, 法向力=471.6226, 切向力X=606.6008, 切向力Y=186.6621 +FPS=45.50, 法向力=603.7923, 切向力X=756.7799, 切向力Y=264.7291 +FPS=38.83, 法向力=549.2095, 切向力X=684.6616, 切向力Y=190.7694 +FPS=0.64, 法向力=546.4902, 切向力X=682.0063, 切向力Y=266.7512 +FPS=31.74, 法向力=567.8000, 切向力X=345.6046, 切向力Y=43.0731 +FPS=46.12, 法向力=570.8825, 切向力X=450.3533, 切向力Y=312.1612 +FPS=38.57, 法向力=558.6213, 切向力X=414.3089, 切向力Y=342.2720 +FPS=46.91, 法向力=602.7223, 切向力X=502.1807, 切向力Y=341.0464 +FPS=44.59, 法向力=494.2397, 切向力X=486.9030, 切向力Y=217.4945 +FPS=25.62, 法向力=582.1132, 切向力X=413.8570, 切向力Y=341.3521 +FPS=39.97, 法向力=610.7207, 切向力X=355.3761, 切向力Y=326.8853 +FPS=43.07, 法向力=639.1763, 切向力X=258.6659, 切向力Y=333.0007 +FPS=44.38, 法向力=517.6953, 切向力X=244.2416, 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切向力Y=1700.9067 +FPS=41.89, 法向力=1757.9272, 切向力X=557.5201, 切向力Y=1811.4045 +FPS=43.96, 法向力=1795.9951, 切向力X=740.5441, 切向力Y=1817.2388 +FPS=40.63, 法向力=1783.6399, 切向力X=544.3566, 切向力Y=1833.3433 +FPS=44.88, 法向力=1819.9496, 切向力X=448.6122, 切向力Y=1713.6831 +FPS=40.96, 法向力=1777.4469, 切向力X=506.3099, 切向力Y=1696.7151 +FPS=47.73, 法向力=1916.8885, 切向力X=614.4206, 切向力Y=1916.2046 +FPS=38.50, 法向力=1914.1619, 切向力X=560.2981, 切向力Y=1935.2373 +FPS=40.88, 法向力=1845.4272, 切向力X=535.9742, 切向力Y=1886.9858 +FPS=25.88, 法向力=1888.6296, 切向力X=656.8627, 切向力Y=1919.8950 +FPS=34.52, 法向力=1887.9756, 切向力X=473.2713, 切向力Y=1998.9827 +FPS=28.79, 法向力=1949.6748, 切向力X=500.4068, 切向力Y=2131.9448 +FPS=38.03, 法向力=2048.6335, 切向力X=328.9468, 切向力Y=2154.2083 +FPS=47.84, 法向力=1932.6447, 切向力X=596.5084, 切向力Y=2078.2581 +FPS=42.24, 法向力=1903.7458, 切向力X=378.7650, 切向力Y=1931.7971 +FPS=41.06, 法向力=1804.1467, 切向力X=478.5340, 切向力Y=1865.7418 +FPS=40.86, 法向力=1831.0620, 切向力X=508.6595, 切向力Y=1856.2175 +FPS=45.58, 法向力=1813.1553, 切向力X=788.3655, 切向力Y=1846.5371 +FPS=44.06, 法向力=1766.7881, 切向力X=628.1682, 切向力Y=1809.0643 +FPS=48.13, 法向力=1813.8679, 切向力X=410.6375, 切向力Y=1814.5275 +FPS=37.79, 法向力=1834.7415, 切向力X=637.8381, 切向力Y=1870.2769 +FPS=40.38, 法向力=1733.8645, 切向力X=719.4559, 切向力Y=1813.0007 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000515s, blend=0.002127s (9 tiles incl ref), finalize=0.000034s, total=0.002684s +FPS=44.30, 法向力=1876.4485, 切向力X=553.6024, 切向力Y=1874.3157 +FPS=39.50, 法向力=1837.2708, 切向力X=691.5736, 切向力Y=1914.1829 +FPS=44.21, 法向力=1837.1138, 切向力X=525.5728, 切向力Y=1806.5198 +FPS=42.30, 法向力=1808.1263, 切向力X=666.8989, 切向力Y=1928.5962 +FPS=42.69, 法向力=1751.4949, 切向力X=556.4377, 切向力Y=1806.9974 +FPS=52.04, 法向力=1770.0011, 切向力X=699.9105, 切向力Y=1816.8872 +FPS=48.93, 法向力=1825.5905, 切向力X=646.1785, 切向力Y=1829.2329 +FPS=44.69, 法向力=1842.3772, 切向力X=684.3607, 切向力Y=1902.5842 +FPS=40.25, 法向力=1868.6875, 切向力X=695.2474, 切向力Y=1824.5027 +FPS=44.30, 法向力=1856.1943, 切向力X=635.4503, 切向力Y=1782.2058 +FPS=35.05, 法向力=1913.2207, 切向力X=529.9670, 切向力Y=1892.5532 +FPS=36.52, 法向力=1747.4463, 切向力X=616.2989, 切向力Y=1796.8311 +FPS=43.42, 法向力=1859.0278, 切向力X=593.8199, 切向力Y=1925.9115 +FPS=40.72, 法向力=1830.9867, 切向力X=517.5540, 切向力Y=1894.2493 +FPS=43.73, 法向力=1873.1705, 切向力X=604.2100, 切向力Y=1959.1638 +FPS=44.30, 法向力=1921.7180, 切向力X=471.1716, 切向力Y=1988.4851 +FPS=43.61, 法向力=1957.4265, 切向力X=797.5765, 切向力Y=2038.9546 +FPS=41.52, 法向力=1910.2274, 切向力X=770.7793, 切向力Y=2001.2368 +FPS=44.84, 法向力=1860.8059, 切向力X=697.4677, 切向力Y=1996.1034 +FPS=40.35, 法向力=1838.5256, 切向力X=761.6665, 切向力Y=1947.3878 +FPS=43.14, 法向力=1887.3801, 切向力X=772.0675, 切向力Y=2168.3518 +FPS=45.17, 法向力=1878.2634, 切向力X=855.4338, 切向力Y=2078.3818 +FPS=42.85, 法向力=1844.6620, 切向力X=735.4748, 切向力Y=1964.6868 +FPS=36.56, 法向力=1826.5159, 切向力X=722.9898, 切向力Y=1918.5364 +FPS=37.05, 法向力=1796.3800, 切向力X=767.8591, 切向力Y=1966.2295 +FPS=31.70, 法向力=1812.3000, 切向力X=701.2233, 切向力Y=2006.5244 +FPS=41.95, 法向力=1759.3350, 切向力X=771.0192, 切向力Y=1922.5929 +FPS=37.71, 法向力=1797.0770, 切向力X=671.7823, 切向力Y=1881.2722 +FPS=42.16, 法向力=1799.2966, 切向力X=609.4442, 切向力Y=1869.3405 +FPS=49.08, 法向力=1800.7004, 切向力X=671.7076, 切向力Y=1975.7939 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000490s, blend=0.002233s (9 tiles incl ref), finalize=0.000034s, total=0.002763s +FPS=40.14, 法向力=1829.7668, 切向力X=668.7125, 切向力Y=1923.2922 +FPS=46.05, 法向力=1745.2866, 切向力X=685.3630, 切向力Y=1826.3430 +FPS=45.20, 法向力=1798.7957, 切向力X=673.4534, 切向力Y=1802.2349 +FPS=40.01, 法向力=1817.3263, 切向力X=781.0939, 切向力Y=1886.9869 +FPS=42.23, 法向力=1815.3513, 切向力X=796.2302, 切向力Y=1868.9314 +FPS=43.17, 法向力=1761.8103, 切向力X=668.4638, 切向力Y=1845.8842 +Failed to get_img from video source. +FPS=43.17, 法向力=1735.7688, 切向力X=655.2942, 切向力Y=1836.1758 +Failed to get_img from video source. +FPS=43.17, 法向力=1744.9353, 切向力X=642.4373, 切向力Y=1842.4846 +Failed to get_img from video source. +FPS=43.17, 法向力=1747.2632, 切向力X=647.3163, 切向力Y=1843.1454 +Failed to get_img from video source. +FPS=43.17, 法向力=1733.4587, 切向力X=656.6390, 切向力Y=1839.2833 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.7920, 切向力X=639.6105, 切向力Y=1839.2435 +Failed to get_img from video source. +FPS=43.17, 法向力=1729.9978, 切向力X=667.4481, 切向力Y=1831.7991 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.2372, 切向力X=634.7513, 切向力Y=1838.7034 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.2600, 切向力X=632.0275, 切向力Y=1851.9762 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.2490, 切向力X=661.9316, 切向力Y=1828.2858 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.3323, 切向力X=638.1517, 切向力Y=1846.1732 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.0472, 切向力X=646.1021, 切向力Y=1834.8506 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.6780, 切向力X=644.8800, 切向力Y=1839.2562 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.9187, 切向力X=649.3206, 切向力Y=1835.1558 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.8655, 切向力X=636.6002, 切向力Y=1850.4391 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.7930, 切向力X=661.5885, 切向力Y=1827.6956 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.5447, 切向力X=633.8536, 切向力Y=1845.7157 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.3926, 切向力X=648.7659, 切向力Y=1835.0365 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.0969, 切向力X=639.0082, 切向力Y=1838.8646 +Failed to get_img from video source. +FPS=43.17, 法向力=1744.2544, 切向力X=650.9559, 切向力Y=1837.0249 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.1571, 切向力X=635.3636, 切向力Y=1846.0508 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.5930, 切向力X=662.0635, 切向力Y=1829.7695 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.6384, 切向力X=637.7269, 切向力Y=1845.5173 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.2762, 切向力X=647.4520, 切向力Y=1835.9951 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.6116, 切向力X=644.4576, 切向力Y=1836.6238 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.1277, 切向力X=648.5028, 切向力Y=1836.3098 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.8955, 切向力X=628.7634, 切向力Y=1844.0586 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.0151, 切向力X=656.2010, 切向力Y=1829.7610 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.7825, 切向力X=638.0469, 切向力Y=1852.3398 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.2563, 切向力X=649.6812, 切向力Y=1833.6741 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.3274, 切向力X=643.9318, 切向力Y=1838.5929 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.7668, 切向力X=651.9838, 切向力Y=1836.7935 +Failed to get_img from video source. +FPS=43.17, 法向力=1735.6343, 切向力X=632.2625, 切向力Y=1841.9268 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.5554, 切向力X=659.0406, 切向力Y=1826.8530 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.5488, 切向力X=632.3099, 切向力Y=1846.6830 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.8743, 切向力X=644.9824, 切向力Y=1834.9019 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.3010, 切向力X=648.1540, 切向力Y=1844.5189 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.5288, 切向力X=651.9399, 切向力Y=1835.2162 +Failed to get_img from video source. +FPS=43.17, 法向力=1734.6980, 切向力X=631.0580, 切向力Y=1844.3005 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.7115, 切向力X=660.7433, 切向力Y=1829.0276 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.7388, 切向力X=629.6143, 切向力Y=1846.3231 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.4882, 切向力X=649.5048, 切向力Y=1837.1327 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.6360, 切向力X=645.7774, 切向力Y=1840.0854 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.1628, 切向力X=651.3143, 切向力Y=1836.8854 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.6149, 切向力X=634.4792, 切向力Y=1843.6179 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.8435, 切向力X=657.4727, 切向力Y=1828.2854 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.4893, 切向力X=629.2421, 切向力Y=1845.0836 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.2952, 切向力X=650.0082, 切向力Y=1836.3186 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.2635, 切向力X=646.9323, 切向力Y=1840.3727 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.3368, 切向力X=651.7933, 切向力Y=1837.1057 +Failed to get_img from video source. +FPS=43.17, 法向力=1735.0452, 切向力X=635.7481, 切向力Y=1844.0825 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.9719, 切向力X=658.6139, 切向力Y=1830.2448 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.4386, 切向力X=632.9669, 切向力Y=1846.1973 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.6486, 切向力X=647.2427, 切向力Y=1834.9475 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.7594, 切向力X=645.5489, 切向力Y=1841.7985 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.2634, 切向力X=651.4966, 切向力Y=1837.3260 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.9633, 切向力X=634.8323, 切向力Y=1843.8765 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.7322, 切向力X=657.6654, 切向力Y=1829.7783 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.7533, 切向力X=632.4764, 切向力Y=1845.9214 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.3157, 切向力X=647.0895, 切向力Y=1834.8158 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.0244, 切向力X=645.5198, 切向力Y=1841.7229 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.5870, 切向力X=651.2676, 切向力Y=1837.2883 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.0619, 切向力X=634.5109, 切向力Y=1844.1123 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.3955, 切向力X=657.4429, 切向力Y=1828.7092 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.2158, 切向力X=629.1456, 切向力Y=1845.2438 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.1765, 切向力X=648.5913, 切向力Y=1835.0834 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.6487, 切向力X=647.0770, 切向力Y=1839.9124 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.4836, 切向力X=651.6915, 切向力Y=1836.9417 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.7543, 切向力X=634.2188, 切向力Y=1843.9297 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.9331, 切向力X=657.2294, 切向力Y=1828.4866 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.5417, 切向力X=629.1094, 切向力Y=1845.1963 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.9731, 切向力X=650.1691, 切向力Y=1836.2570 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.5681, 切向力X=648.3534, 切向力Y=1840.4387 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.1509, 切向力X=651.5075, 切向力Y=1837.4922 +Failed to get_img from video source. +FPS=43.17, 法向力=1735.9626, 切向力X=633.1932, 切向力Y=1843.5745 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.6495, 切向力X=656.9827, 切向力Y=1828.1709 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.2505, 切向力X=629.2498, 切向力Y=1844.7892 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.1243, 切向力X=650.0083, 切向力Y=1836.1161 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.5691, 切向力X=646.9609, 切向力Y=1840.2871 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.6321, 切向力X=651.5654, 切向力Y=1837.1311 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.2021, 切向力X=634.4551, 切向力Y=1844.0981 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.3444, 切向力X=657.7592, 切向力Y=1828.6509 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.6150, 切向力X=633.7691, 切向力Y=1843.4895 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.1028, 切向力X=647.4998, 切向力Y=1835.6809 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.1864, 切向力X=648.2437, 切向力Y=1843.6147 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.6665, 切向力X=651.7363, 切向力Y=1837.6145 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.2627, 切向力X=635.3413, 切向力Y=1844.1040 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.0024, 切向力X=657.7342, 切向力Y=1828.6826 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.1448, 切向力X=632.9679, 切向力Y=1844.6963 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.9258, 切向力X=650.7671, 切向力Y=1836.3785 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.0571, 切向力X=647.1993, 切向力Y=1840.3491 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.3491, 切向力X=651.8591, 切向力Y=1837.1462 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.4261, 切向力X=634.7098, 切向力Y=1843.7563 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.2202, 切向力X=657.5225, 切向力Y=1828.3533 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.6914, 切向力X=629.2532, 切向力Y=1845.1055 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.3358, 切向力X=649.9678, 切向力Y=1836.2863 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.2908, 切向力X=646.9288, 切向力Y=1840.3772 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.3439, 切向力X=651.7916, 切向力Y=1837.1096 +Failed to get_img from video source. +FPS=43.17, 法向力=1735.3235, 切向力X=635.7236, 切向力Y=1844.0819 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.3528, 切向力X=657.3230, 切向力Y=1830.0486 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.0098, 切向力X=631.4015, 切向力Y=1845.5259 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.5470, 切向力X=645.3787, 切向力Y=1833.1465 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.3853, 切向力X=645.5223, 切向力Y=1841.0773 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.2965, 切向力X=651.3423, 切向力Y=1836.9803 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.9381, 切向力X=634.5640, 切向力Y=1843.9755 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.3345, 切向力X=657.4721, 切向力Y=1828.6423 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.2596, 切向力X=629.1973, 切向力Y=1845.1958 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.3262, 切向力X=650.2017, 切向力Y=1836.4512 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.3765, 切向力X=648.3480, 切向力Y=1840.4620 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.9833, 切向力X=651.5037, 切向力Y=1837.5123 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.3202, 切向力X=633.3158, 切向力Y=1843.5742 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.4878, 切向力X=657.1428, 切向力Y=1828.1589 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.1335, 切向力X=629.3536, 切向力Y=1844.7690 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.0822, 切向力X=650.1038, 切向力Y=1836.2947 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.1665, 切向力X=646.9647, 切向力Y=1840.2941 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.6184, 切向力X=651.5507, 切向力Y=1837.1401 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.7102, 切向力X=634.2847, 切向力Y=1844.0278 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.1365, 切向力X=657.5132, 切向力Y=1828.4985 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.3591, 切向力X=629.4898, 切向力Y=1844.9392 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.1577, 切向力X=650.1542, 切向力Y=1836.3767 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.4998, 切向力X=646.9448, 切向力Y=1840.3525 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.3733, 切向力X=651.7638, 切向力Y=1837.1487 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.9792, 切向力X=634.8396, 切向力Y=1843.8352 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.3035, 切向力X=657.7214, 切向力Y=1828.4666 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.7035, 切向力X=633.4916, 切向力Y=1843.6851 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.1312, 切向力X=645.8320, 切向力Y=1834.3971 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.6620, 切向力X=641.7752, 切向力Y=1838.4592 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.0569, 切向力X=647.2256, 切向力Y=1837.5317 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.3057, 切向力X=636.5519, 切向力Y=1849.2942 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.6940, 切向力X=660.9442, 切向力Y=1828.7134 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.2710, 切向力X=633.9490, 切向力Y=1844.7296 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.5250, 切向力X=649.9240, 切向力Y=1837.7019 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.5774, 切向力X=644.3571, 切向力Y=1835.2229 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.6954, 切向力X=648.7617, 切向力Y=1835.8652 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.9226, 切向力X=629.5077, 切向力Y=1844.4402 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.3657, 切向力X=656.3842, 切向力Y=1828.6289 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.5093, 切向力X=636.2445, 切向力Y=1850.0192 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.1174, 切向力X=653.5333, 切向力Y=1837.6715 +Failed to get_img from video source. +FPS=43.17, 法向力=1735.7172, 切向力X=644.8754, 切向力Y=1835.0945 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.7382, 切向力X=648.4238, 切向力Y=1837.0857 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.4115, 切向力X=631.1837, 切向力Y=1844.3633 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.1772, 切向力X=657.9894, 切向力Y=1827.3630 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.3444, 切向力X=635.0614, 切向力Y=1848.8607 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.9861, 切向力X=648.4376, 切向力Y=1835.6873 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.4644, 切向力X=647.5383, 切向力Y=1838.0955 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.5425, 切向力X=648.3918, 切向力Y=1836.2112 +Failed to get_img from video source. +FPS=43.17, 法向力=1735.5255, 切向力X=630.2516, 切向力Y=1843.2776 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.7285, 切向力X=661.3063, 切向力Y=1828.9507 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.5137, 切向力X=637.6653, 切向力Y=1847.5464 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.6589, 切向力X=649.1501, 切向力Y=1835.5977 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.4004, 切向力X=646.7457, 切向力Y=1837.7212 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.8557, 切向力X=648.1284, 切向力Y=1835.8065 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.7095, 切向力X=626.5986, 切向力Y=1843.6536 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.4391, 切向力X=660.5630, 切向力Y=1829.0315 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.5298, 切向力X=637.4046, 切向力Y=1847.5767 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.5850, 切向力X=649.0945, 切向力Y=1835.5648 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.2664, 切向力X=647.7712, 切向力Y=1838.0396 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.2699, 切向力X=649.2451, 切向力Y=1837.6973 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.1417, 切向力X=630.2846, 切向力Y=1844.7327 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.1323, 切向力X=657.8604, 切向力Y=1827.4871 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.4052, 切向力X=636.0425, 切向力Y=1848.9819 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.6349, 切向力X=648.7802, 切向力Y=1835.7660 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.6821, 切向力X=646.8921, 切向力Y=1837.8381 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.7081, 切向力X=648.2538, 切向力Y=1837.2300 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.2949, 切向力X=629.7660, 切向力Y=1844.4664 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.2251, 切向力X=657.6193, 切向力Y=1827.3844 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.5508, 切向力X=635.9854, 切向力Y=1848.9070 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.5974, 切向力X=648.8234, 切向力Y=1835.6687 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.2732, 切向力X=647.9908, 切向力Y=1838.1272 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.2876, 切向力X=648.0685, 切向力Y=1837.7473 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.2000, 切向力X=628.7346, 切向力Y=1844.0952 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.8875, 切向力X=657.4140, 切向力Y=1827.1182 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.7305, 切向力X=635.1166, 切向力Y=1850.2745 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.2012, 切向力X=649.5181, 切向力Y=1834.5654 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.8855, 切向力X=647.2163, 切向力Y=1839.3311 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.3579, 切向力X=649.0843, 切向力Y=1836.4414 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.0800, 切向力X=629.5771, 切向力Y=1845.5408 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.0437, 切向力X=658.2262, 切向力Y=1827.6848 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.5833, 切向力X=639.0403, 切向力Y=1851.9143 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.8411, 切向力X=649.3917, 切向力Y=1833.7522 +Failed to get_img from video source. +FPS=43.17, 法向力=1735.6938, 切向力X=643.1658, 切向力Y=1838.2966 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.2588, 切向力X=651.3716, 切向力Y=1836.4989 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.9746, 切向力X=626.9424, 切向力Y=1844.8789 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.0000, 切向力X=661.3768, 切向力Y=1827.7932 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.6240, 切向力X=637.4911, 切向力Y=1848.3929 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.0182, 切向力X=649.7833, 切向力Y=1836.2273 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.6710, 切向力X=647.0405, 切向力Y=1838.2703 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.2944, 切向力X=648.4219, 切向力Y=1837.4022 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.9958, 切向力X=630.7411, 切向力Y=1844.6274 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.7595, 切向力X=657.9023, 切向力Y=1828.7904 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.1500, 切向力X=638.4821, 切向力Y=1850.6267 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.6731, 切向力X=650.3896, 切向力Y=1836.0828 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.8071, 切向力X=644.5669, 切向力Y=1837.5184 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.2953, 切向力X=651.2560, 切向力Y=1837.7961 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.3613, 切向力X=628.8341, 切向力Y=1841.2478 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.5363, 切向力X=656.4028, 切向力Y=1829.6218 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.5161, 切向力X=637.9495, 切向力Y=1850.9209 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.5457, 切向力X=650.3676, 切向力Y=1836.0194 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.1292, 切向力X=645.8802, 切向力Y=1837.6423 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.7639, 切向力X=651.1703, 切向力Y=1838.0508 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.8190, 切向力X=627.9055, 切向力Y=1840.7693 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.8539, 切向力X=656.3230, 切向力Y=1829.1757 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.4257, 切向力X=638.2099, 切向力Y=1852.5455 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.4673, 切向力X=649.3576, 切向力Y=1835.1063 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.6519, 切向力X=647.4830, 切向力Y=1839.1917 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.8838, 切向力X=649.1322, 切向力Y=1836.1781 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.8429, 切向力X=630.7997, 切向力Y=1845.4009 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.6685, 切向力X=658.4735, 切向力Y=1827.7417 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.2925, 切向力X=635.8660, 切向力Y=1851.7290 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.5707, 切向力X=654.1214, 切向力Y=1837.0840 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.0000, 切向力X=645.7128, 切向力Y=1837.3696 +Failed to get_img from video source. +FPS=43.17, 法向力=1744.0381, 切向力X=650.6071, 切向力Y=1836.5598 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.7117, 切向力X=622.7571, 切向力Y=1846.3093 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.1257, 切向力X=655.2634, 切向力Y=1827.3882 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.5739, 切向力X=638.2340, 切向力Y=1849.9973 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.4333, 切向力X=649.6812, 切向力Y=1836.0577 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.4565, 切向力X=647.7433, 切向力Y=1837.9714 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.5078, 切向力X=648.4797, 切向力Y=1836.0784 +Failed to get_img from video source. +FPS=43.17, 法向力=1735.2256, 切向力X=628.0079, 切向力Y=1843.8185 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.6041, 切向力X=660.6495, 切向力Y=1830.9270 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.4592, 切向力X=637.7487, 切向力Y=1847.9318 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.0413, 切向力X=650.4749, 切向力Y=1837.1692 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.1609, 切向力X=646.5436, 切向力Y=1838.2925 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.7488, 切向力X=648.0068, 切向力Y=1836.0785 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.9381, 切向力X=626.4666, 切向力Y=1843.8063 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.8154, 切向力X=660.6761, 切向力Y=1828.9211 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.4438, 切向力X=637.7030, 切向力Y=1847.3599 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.0907, 切向力X=650.4943, 切向力Y=1836.9121 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.8628, 切向力X=646.6090, 切向力Y=1838.1628 +Failed to get_img from video source. +FPS=43.17, 法向力=1743.0645, 切向力X=648.0174, 切向力Y=1836.0178 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.7297, 切向力X=626.5259, 切向力Y=1843.7637 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.1819, 切向力X=660.7637, 切向力Y=1828.8794 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.1602, 切向力X=637.7938, 切向力Y=1849.3958 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.1711, 切向力X=651.1650, 切向力Y=1836.3296 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.7915, 切向力X=646.5292, 切向力Y=1839.4419 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.9465, 切向力X=647.3879, 切向力Y=1836.2767 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.8015, 切向力X=626.6573, 切向力Y=1848.0801 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.3452, 切向力X=655.7157, 切向力Y=1826.5476 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.5608, 切向力X=635.0626, 切向力Y=1849.2415 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.8872, 切向力X=652.5496, 切向力Y=1836.3134 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.5116, 切向力X=646.1572, 切向力Y=1835.8879 +Failed to get_img from video source. +FPS=43.17, 法向力=1742.9141, 切向力X=651.8019, 切向力Y=1837.4771 +Failed to get_img from video source. +FPS=43.17, 法向力=1733.7017, 切向力X=628.3052, 切向力Y=1842.8530 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.5322, 切向力X=657.1953, 切向力Y=1828.6038 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.6206, 切向力X=637.3644, 切向力Y=1850.4296 +Failed to get_img from video source. +FPS=43.17, 法向力=1741.6876, 切向力X=648.7148, 切向力Y=1834.4355 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.5560, 切向力X=643.4484, 切向力Y=1835.7793 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.2944, 切向力X=647.9951, 切向力Y=1836.8811 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.3964, 切向力X=630.8616, 切向力Y=1844.4825 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.9438, 切向力X=657.7616, 切向力Y=1828.7814 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.1156, 切向力X=638.1149, 切向力Y=1850.8933 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.7148, 切向力X=648.8761, 切向力Y=1834.8022 +Failed to get_img from video source. +FPS=43.17, 法向力=1737.4490, 切向力X=644.6550, 切向力Y=1837.0854 +Failed to get_img from video source. +FPS=43.17, 法向力=1744.0105, 切向力X=651.3629, 切向力Y=1837.5927 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.2751, 切向力X=627.7960, 切向力Y=1841.1536 +Failed to get_img from video source. +FPS=43.17, 法向力=1739.4125, 切向力X=657.4001, 切向力Y=1828.2489 +Failed to get_img from video source. +FPS=43.17, 法向力=1740.8331, 切向力X=638.3876, 切向力Y=1850.8624 +Failed to get_img from video source. +FPS=43.17, 法向力=1738.7383, 切向力X=649.1158, 切向力Y=1835.8933 +Failed to get_img from video source. +FPS=43.17, 法向力=1736.5800, 切向力X=648.7840, 切向力Y=1838.1073 +Traceback (most recent call last): + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\ViewBox\ViewBox.py", line 479, in boundingRect + def boundingRect(self): + +KeyboardInterrupt diff --git a/examples/logs/plot_20260519_160336.log b/examples/logs/plot_20260519_160336.log new file mode 100644 index 0000000..e69de29 diff --git a/examples/logs/plot_20260519_160342.log b/examples/logs/plot_20260519_160342.log new file mode 100644 index 0000000..b24be27 --- /dev/null +++ b/examples/logs/plot_20260519_160342.log @@ -0,0 +1,429 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='h264' (int=875967080, hex=0x34363268), size=720x480, fps=29.61, backend_id=1900 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: data\s1_480p.mp4 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=2.88, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.35, 法向力=337.0924, 切向力X=105.3665, 切向力Y=-23.0133 +FPS=40.56, 法向力=275.2344, 切向力X=38.3156, 切向力Y=33.4009 +FPS=31.11, 法向力=304.5167, 切向力X=299.5397, 切向力Y=-125.5502 +FPS=27.09, 法向力=322.0585, 切向力X=144.5083, 切向力Y=-106.9444 +FPS=39.33, 法向力=427.3980, 切向力X=579.1263, 切向力Y=-150.2743 +FPS=36.77, 法向力=374.1193, 切向力X=143.3037, 切向力Y=41.0336 +FPS=50.92, 法向力=439.6496, 切向力X=341.2559, 切向力Y=105.1939 +FPS=42.28, 法向力=383.1736, 切向力X=283.2375, 切向力Y=60.7181 +FPS=44.42, 法向力=380.9533, 切向力X=189.9141, 切向力Y=49.1799 +FPS=42.43, 法向力=496.7229, 切向力X=216.1525, 切向力Y=173.0711 +FPS=42.83, 法向力=452.1005, 切向力X=316.2781, 切向力Y=-69.2771 +FPS=41.86, 法向力=515.5154, 切向力X=93.1914, 切向力Y=10.5510 +FPS=36.22, 法向力=486.9267, 切向力X=308.6645, 切向力Y=-127.3605 +FPS=32.72, 法向力=422.9596, 切向力X=137.3703, 切向力Y=-0.8303 +FPS=36.92, 法向力=444.7674, 切向力X=127.4388, 切向力Y=-100.7801 +FPS=45.40, 法向力=521.9902, 切向力X=-8.7759, 切向力Y=4.9324 +FPS=40.65, 法向力=471.4230, 切向力X=108.3085, 切向力Y=-123.1124 +FPS=44.74, 法向力=630.2045, 切向力X=181.0633, 切向力Y=79.0298 +FPS=40.63, 法向力=474.9984, 切向力X=179.3715, 切向力Y=-99.3264 +FPS=44.46, 法向力=467.0819, 切向力X=95.6260, 切向力Y=-33.4054 +FPS=39.70, 法向力=390.8379, 切向力X=20.0062, 切向力Y=-114.3233 +FPS=43.54, 法向力=400.2184, 切向力X=251.1852, 切向力Y=-43.3807 +FPS=42.41, 法向力=381.0980, 切向力X=338.1581, 切向力Y=17.0215 +FPS=46.31, 法向力=403.3732, 切向力X=274.3037, 切向力Y=-68.2538 +FPS=39.67, 法向力=423.2300, 切向力X=358.8958, 切向力Y=-128.8600 +FPS=46.52, 法向力=470.1970, 切向力X=354.4167, 切向力Y=1.4036 +FPS=38.41, 法向力=543.0128, 切向力X=408.0621, 切向力Y=6.6039 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000495s, blend=0.002210s (9 tiles incl ref), finalize=0.000034s, total=0.002746s +FPS=45.79, 法向力=568.6055, 切向力X=272.5980, 切向力Y=167.8930 +FPS=39.50, 法向力=471.2824, 切向力X=323.5005, 切向力Y=-44.3617 +FPS=43.93, 法向力=558.7151, 切向力X=287.7775, 切向力Y=142.7548 +FPS=43.78, 法向力=540.6609, 切向力X=230.7462, 切向力Y=163.5316 +FPS=45.88, 法向力=565.6110, 切向力X=238.0070, 切向力Y=175.9729 +FPS=39.46, 法向力=422.6593, 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切向力Y=4861.2446 +FPS=41.76, 法向力=3160.1509, 切向力X=-4587.1724, 切向力Y=5088.4746 +FPS=43.32, 法向力=3245.6924, 切向力X=-4527.5273, 切向力Y=5386.7412 +FPS=41.22, 法向力=3420.1504, 切向力X=-4637.8652, 切向力Y=5646.2207 +FPS=44.02, 法向力=3577.8008, 切向力X=-4392.2100, 切向力Y=5871.4575 +FPS=39.59, 法向力=3969.1602, 切向力X=-5462.8179, 切向力Y=6588.2197 +FPS=43.98, 法向力=4344.1562, 切向力X=-6056.9033, 切向力Y=7114.3975 +FPS=41.37, 法向力=4521.2983, 切向力X=-6559.1660, 切向力Y=7712.5020 +FPS=43.93, 法向力=4745.9580, 切向力X=-6590.7251, 切向力Y=8082.5547 +FPS=40.36, 法向力=4681.6367, 切向力X=-6662.0308, 切向力Y=8256.8047 +FPS=41.18, 法向力=4728.0840, 切向力X=-6451.2349, 切向力Y=7986.2158 +FPS=45.02, 法向力=4525.0122, 切向力X=-6387.7148, 切向力Y=8055.1216 +FPS=45.71, 法向力=4614.3809, 切向力X=-6273.7275, 切向力Y=7619.0293 +FPS=41.05, 法向力=3997.3887, 切向力X=-5134.3208, 切向力Y=6647.4541 +FPS=43.18, 法向力=3105.9233, 切向力X=-3248.4309, 切向力Y=5758.1440 +FPS=41.44, 法向力=2820.1792, 切向力X=-2140.5205, 切向力Y=4910.7051 +FPS=44.58, 法向力=2499.6167, 切向力X=-1263.4150, 切向力Y=4053.2114 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000462s, blend=0.002217s (9 tiles incl ref), finalize=0.000038s, total=0.002723s +FPS=39.16, 法向力=2436.6699, 切向力X=-1221.2988, 切向力Y=4062.2405 +FPS=44.24, 法向力=2293.9360, 切向力X=-1009.5184, 切向力Y=3816.8501 +FPS=40.35, 法向力=2241.2661, 切向力X=-908.6254, 切向力Y=3981.7373 +FPS=44.71, 法向力=2100.5698, 切向力X=-610.2952, 切向力Y=3606.6082 +FPS=39.96, 法向力=2048.9243, 切向力X=-303.7966, 切向力Y=4058.7029 +FPS=45.13, 法向力=1882.4608, 切向力X=56.0178, 切向力Y=4045.1587 +FPS=40.47, 法向力=1918.3275, 切向力X=299.9451, 切向力Y=4553.9692 +FPS=44.78, 法向力=1940.5386, 切向力X=415.8433, 切向力Y=4534.2861 +FPS=40.14, 法向力=2088.9299, 切向力X=244.4883, 切向力Y=5343.4272 +FPS=42.59, 法向力=2055.8826, 切向力X=304.1616, 切向力Y=5417.1719 +FPS=41.43, 法向力=2228.4438, 切向力X=446.6848, 切向力Y=5947.2363 +FPS=45.30, 法向力=2295.7388, 切向力X=844.3535, 切向力Y=6108.8916 +FPS=39.49, 法向力=2145.1196, 切向力X=1259.5179, 切向力Y=6452.3213 +FPS=43.03, 法向力=2237.7483, 切向力X=1751.1931, 切向力Y=6304.3076 +FPS=41.62, 法向力=2373.3174, 切向力X=2352.2925, 切向力Y=6457.3716 +FPS=43.75, 法向力=2472.5703, 切向力X=3549.1306, 切向力Y=6569.3232 +FPS=40.91, 法向力=2247.2417, 切向力X=3554.6030, 切向力Y=6255.0430 +FPS=45.22, 法向力=2273.0386, 切向力X=3747.4500, 切向力Y=6071.1211 +FPS=40.25, 法向力=2158.4080, 切向力X=3509.1484, 切向力Y=5690.2905 +FPS=43.28, 法向力=2225.2764, 切向力X=2970.7202, 切向力Y=5454.1670 +FPS=41.89, 法向力=2064.7100, 切向力X=1636.8068, 切向力Y=4537.6230 +FPS=45.47, 法向力=1901.5669, 切向力X=769.1111, 切向力Y=3663.6980 +FPS=39.96, 法向力=2025.4272, 切向力X=-383.4656, 切向力Y=3252.0527 +FPS=46.77, 法向力=2133.9365, 切向力X=-1338.3733, 切向力Y=2690.1760 +FPS=38.53, 法向力=2440.6270, 切向力X=-2442.0303, 切向力Y=2778.4424 +FPS=43.20, 法向力=2441.4204, 切向力X=-2992.9314, 切向力Y=2302.5830 +FPS=41.63, 法向力=2666.1458, 切向力X=-3513.6899, 切向力Y=2227.9304 +FPS=47.35, 法向力=2544.8711, 切向力X=-3863.6362, 切向力Y=1969.7942 +FPS=37.31, 法向力=3265.2861, 切向力X=-5682.6538, 切向力Y=2309.1851 +FPS=42.79, 法向力=3770.5366, 切向力X=-6905.0391, 切向力Y=2447.9297 \ No newline at end of file diff --git a/examples/logs/plot_20260519_160423.log b/examples/logs/plot_20260519_160423.log new file mode 100644 index 0000000..7d526ee --- /dev/null +++ b/examples/logs/plot_20260519_160423.log @@ -0,0 +1,517 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=50 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 1 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.51, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.38, 法向力=905.4591, 切向力X=-245.1080, 切向力Y=-646.2872 +FPS=25.56, 法向力=1385.1802, 切向力X=-549.0977, 切向力Y=-671.4135 +FPS=43.73, 法向力=1489.6615, 切向力X=-549.4420, 切向力Y=-666.8895 +FPS=34.44, 法向力=1428.9346, 切向力X=-52.5632, 切向力Y=-308.6852 +FPS=44.30, 法向力=1414.5806, 切向力X=-12.4904, 切向力Y=-257.8892 +FPS=40.37, 法向力=1986.2203, 切向力X=-322.1399, 切向力Y=246.3754 +FPS=27.94, 法向力=1978.7771, 切向力X=-316.3880, 切向力Y=327.2164 +FPS=34.98, 法向力=1721.5127, 切向力X=202.7132, 切向力Y=-417.2232 +FPS=29.28, 法向力=1774.6465, 切向力X=325.9313, 切向力Y=-416.9645 +FPS=34.35, 法向力=1679.9003, 切向力X=389.7225, 切向力Y=-370.2263 +FPS=25.10, 法向力=1742.4254, 切向力X=363.3667, 切向力Y=-333.3578 +FPS=41.29, 法向力=1830.1619, 切向力X=486.6513, 切向力Y=-534.7379 +FPS=42.44, 法向力=1924.2480, 切向力X=521.2209, 切向力Y=-624.2355 +FPS=41.21, 法向力=1989.8370, 切向力X=-129.5134, 切向力Y=-364.5699 +FPS=42.27, 法向力=1934.0470, 切向力X=-249.5661, 切向力Y=-322.9477 +FPS=41.35, 法向力=1953.0076, 切向力X=-240.9227, 切向力Y=-337.8828 +FPS=42.19, 法向力=1813.0648, 切向力X=-169.1184, 切向力Y=-33.7870 +FPS=43.57, 法向力=1848.1089, 切向力X=-218.1438, 切向力Y=20.6563 +FPS=40.94, 法向力=2068.1514, 切向力X=-135.0397, 切向力Y=312.7738 +FPS=39.36, 法向力=2228.6313, 切向力X=-26.0740, 切向力Y=302.9858 +FPS=46.11, 法向力=2189.6289, 切向力X=-46.8549, 切向力Y=298.8437 +FPS=40.00, 法向力=1956.6421, 切向力X=3.5236, 切向力Y=-318.7239 +FPS=27.18, 法向力=1961.6274, 切向力X=-75.4857, 切向力Y=-331.3124 +FPS=40.36, 法向力=1583.3003, 切向力X=-412.9943, 切向力Y=-484.7723 +FPS=42.49, 法向力=1550.7660, 切向力X=-443.3478, 切向力Y=-470.7994 +FPS=45.12, 法向力=1887.2100, 切向力X=365.5107, 切向力Y=176.2822 +FPS=43.45, 法向力=1940.0089, 切向力X=387.8525, 切向力Y=78.7512 +stitch_feature_optimized: canvas out_w=427, out_h=424, x_min=-89.00, y_min=-86.72 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000230s, blend=0.003605s (9 tiles incl ref), finalize=0.000096s, total=0.003939s +FPS=1.30, 法向力=1914.5212, 切向力X=175.1045, 切向力Y=-124.3151 +FPS=43.76, 法向力=1953.3976, 切向力X=157.3748, 切向力Y=-146.2933 +FPS=37.26, 法向力=2244.1414, 切向力X=-156.3605, 切向力Y=101.9072 +FPS=47.56, 法向力=2269.0850, 切向力X=-136.3329, 切向力Y=75.3551 +FPS=41.94, 法向力=2258.8042, 切向力X=-143.1519, 切向力Y=97.5513 +FPS=43.60, 法向力=1912.5642, 切向力X=279.1951, 切向力Y=-179.5337 +FPS=44.75, 法向力=1980.9302, 切向力X=263.4607, 切向力Y=-139.3174 +FPS=46.27, 法向力=1989.1660, 切向力X=272.7766, 切向力Y=-148.2659 +FPS=40.39, 法向力=2235.4150, 切向力X=143.9710, 切向力Y=-213.5471 +FPS=38.22, 法向力=2313.4097, 切向力X=71.6282, 切向力Y=-271.6088 +FPS=38.61, 法向力=1965.8553, 切向力X=-376.8480, 切向力Y=-231.4906 +FPS=47.49, 法向力=2029.1577, 切向力X=-411.9781, 切向力Y=-203.9617 +FPS=38.49, 法向力=1992.6526, 切向力X=-40.8263, 切向力Y=336.4536 +FPS=49.49, 法向力=2023.5701, 切向力X=19.8920, 切向力Y=312.8385 +FPS=41.96, 法向力=2016.9722, 切向力X=37.9787, 切向力Y=319.2118 +FPS=42.28, 法向力=1924.6636, 切向力X=-19.7734, 切向力Y=665.1783 +FPS=42.04, 法向力=1972.1765, 切向力X=9.3212, 切向力Y=717.4142 +FPS=48.04, 法向力=1939.9141, 切向力X=-48.4466, 切向力Y=763.0270 +FPS=39.56, 法向力=2089.4526, 切向力X=-562.8568, 切向力Y=16.3397 +FPS=40.90, 法向力=2110.2031, 切向力X=-546.5182, 切向力Y=57.3426 +FPS=39.44, 法向力=1685.7722, 切向力X=-152.6072, 切向力Y=-256.5501 +FPS=44.26, 法向力=1707.8201, 切向力X=-168.0720, 切向力Y=-181.7086 +FPS=39.18, 法向力=2240.0164, 切向力X=-113.1048, 切向力Y=480.6007 +FPS=45.02, 法向力=2226.4021, 切向力X=-168.1819, 切向力Y=633.6094 +FPS=41.64, 法向力=2246.8125, 切向力X=-150.8300, 切向力Y=627.9818 +FPS=43.42, 法向力=2185.6248, 切向力X=-513.3102, 切向力Y=593.7463 +FPS=41.91, 法向力=2137.3149, 切向力X=-471.0020, 切向力Y=607.5542 +FPS=40.93, 法向力=2113.7014, 切向力X=-444.0681, 切向力Y=623.3987 +FPS=41.16, 法向力=1756.9933, 切向力X=40.6225, 切向力Y=-275.3585 +FPS=45.36, 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{'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 139, in main + sensor = orisys.Sensor(input, config_name=args.config, cal_path= args.cal, verbose=args.verbose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 185, in __init__ + self._open_video_source(override, box) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 628, in _open_video_source + raise Exception("Failed to open video source.") +Exception: Failed to open video source. + +During handling of the above exception, another exception occurred: + +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in + main() + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 142, in main + sensor = orisys.Sensor(args.video, config_name=args.config, cal_path= args.cal, verbose=args.verbose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 185, in __init__ + self._open_video_source(override, box) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 628, in _open_video_source + raise Exception("Failed to open video source.") +Exception: Failed to open video source. diff --git a/examples/logs/plot_20260519_174205.log b/examples/logs/plot_20260519_174205.log new file mode 100644 index 0000000..92df90f --- /dev/null +++ b/examples/logs/plot_20260519_174205.log @@ -0,0 +1,2716 @@ +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.39, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.57, 法向力=1573.6028, 切向力X=-238.5161, 切向力Y=54.3274 +FPS=15.28, 法向力=1553.6895, 切向力X=363.6246, 切向力Y=363.8024 +FPS=23.83, 法向力=1539.5386, 切向力X=501.6151, 切向力Y=292.6411 +FPS=18.84, 法向力=1670.1523, 切向力X=757.2649, 切向力Y=-768.7511 +FPS=24.55, 法向力=1663.7151, 切向力X=813.6122, 切向力Y=-879.2786 +FPS=19.17, 法向力=1406.5615, 切向力X=-42.9309, 切向力Y=-381.4000 +FPS=18.21, 法向力=1469.9910, 切向力X=-44.1314, 切向力Y=-399.1824 +FPS=28.75, 法向力=1675.3376, 切向力X=-229.7927, 切向力Y=300.1395 +FPS=22.79, 法向力=1691.6685, 切向力X=-247.9220, 切向力Y=362.4520 +FPS=28.30, 法向力=1687.5518, 切向力X=-227.5238, 切向力Y=359.1292 +FPS=21.04, 法向力=1669.7196, 切向力X=494.7121, 切向力Y=329.2327 +FPS=17.06, 法向力=1215.0314, 切向力X=173.3602, 切向力Y=-168.2979 +FPS=30.75, 法向力=1210.9978, 切向力X=244.8086, 切向力Y=-868.9879 +FPS=23.64, 法向力=1239.6163, 切向力X=184.7920, 切向力Y=-903.5657 +FPS=24.39, 法向力=1250.9639, 切向力X=147.5501, 切向力Y=-866.7505 +FPS=22.79, 法向力=1101.5525, 切向力X=169.7071, 切向力Y=-522.5296 +FPS=17.14, 法向力=1657.8187, 切向力X=116.4334, 切向力Y=492.0548 +FPS=23.06, 法向力=1689.9736, 切向力X=177.5865, 切向力Y=469.9228 +FPS=21.78, 法向力=1518.1051, 切向力X=671.1198, 切向力Y=-556.6027 +FPS=18.30, 法向力=1488.3679, 切向力X=644.5193, 切向力Y=-538.6967 +FPS=28.11, 法向力=1800.1155, 切向力X=798.7002, 切向力Y=-519.1150 +FPS=22.91, 法向力=1493.6008, 切向力X=896.0052, 切向力Y=-52.6093 +FPS=28.08, 法向力=1421.7690, 切向力X=947.5772, 切向力Y=56.7686 +FPS=22.43, 法向力=1324.5186, 切向力X=947.7722, 切向力Y=-275.8207 +FPS=27.16, 法向力=1342.5262, 切向力X=902.5858, 切向力Y=-214.8089 +FPS=23.66, 法向力=1348.1570, 切向力X=888.4462, 切向力Y=-225.0312 +FPS=28.66, 法向力=1624.9456, 切向力X=1001.6731, 切向力Y=-601.1829 +stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.43, y_min=-81.85 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000005s (hit), reset=0.000429s, blend=0.004356s (9 tiles incl ref), finalize=0.000124s, total=0.004919s +FPS=23.30, 法向力=1151.6851, 切向力X=784.6846, 切向力Y=-567.2302 +FPS=27.62, 法向力=1133.7045, 切向力X=780.0623, 切向力Y=-614.8187 +FPS=23.86, 法向力=1139.3086, 切向力X=770.0482, 切向力Y=-618.0012 +FPS=25.82, 法向力=1136.0775, 切向力X=767.1371, 切向力Y=-622.7297 +FPS=24.06, 法向力=1244.5629, 切向力X=301.2447, 切向力Y=-126.5932 +FPS=28.35, 法向力=1150.3596, 切向力X=-770.5267, 切向力Y=119.1870 +FPS=23.35, 法向力=1122.9835, 切向力X=-792.4990, 切向力Y=151.3176 +FPS=28.09, 法向力=1404.3420, 切向力X=307.3297, 切向力Y=2.2588 +FPS=22.76, 法向力=1395.2964, 切向力X=272.3208, 切向力Y=-89.0219 +FPS=28.18, 法向力=1388.3276, 切向力X=284.9533, 切向力Y=-87.0992 +FPS=24.09, 法向力=1942.6191, 切向力X=387.5790, 切向力Y=-83.9261 +FPS=23.72, 法向力=1992.8864, 切向力X=445.4174, 切向力Y=0.0310 +FPS=27.72, 法向力=1255.1208, 切向力X=810.0197, 切向力Y=236.4105 +FPS=38.92, 法向力=1469.0726, 切向力X=241.9183, 切向力Y=403.9593 +FPS=35.13, 法向力=1619.9607, 切向力X=94.8907, 切向力Y=265.3690 +FPS=30.64, 法向力=1722.5166, 切向力X=68.4896, 切向力Y=346.4095 +FPS=41.27, 法向力=1735.3469, 切向力X=76.3716, 切向力Y=355.3580 +FPS=24.50, 法向力=1566.6343, 切向力X=-505.6309, 切向力Y=157.5250 +FPS=40.98, 法向力=1108.1943, 切向力X=-162.5180, 切向力Y=762.0455 +FPS=37.61, 法向力=1117.1598, 切向力X=-116.0838, 切向力Y=703.3304 +FPS=44.97, 法向力=1323.1986, 切向力X=231.0283, 切向力Y=-229.5842 +FPS=41.88, 法向力=1363.1671, 切向力X=239.4597, 切向力Y=-328.4575 +FPS=44.78, 法向力=1370.0045, 切向力X=271.9775, 切向力Y=-341.9492 +FPS=35.20, 法向力=1382.0302, 切向力X=371.0724, 切向力Y=-190.3648 +FPS=25.34, 法向力=1328.9941, 切向力X=423.7758, 切向力Y=-73.5405 +FPS=40.32, 法向力=1160.9312, 切向力X=643.0883, 切向力Y=-289.4918 +FPS=39.94, 法向力=1164.8503, 切向力X=663.4015, 切向力Y=-305.3641 +FPS=49.30, 法向力=1159.4523, 切向力X=616.1917, 切向力Y=-373.6963 +FPS=37.40, 法向力=1262.0005, 切向力X=991.6915, 切向力Y=495.2935 +FPS=46.37, 法向力=1242.8933, 切向力X=1112.7800, 切向力Y=612.6086 +stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.43, y_min=-81.85 +stitch_feature_optimized steps: brightness=0.000002s, geom=0.000003s (hit), reset=0.000260s, blend=0.002175s (9 tiles incl ref), finalize=0.000057s, total=0.002498s +FPS=39.56, 法向力=1108.5820, 切向力X=857.9506, 切向力Y=-101.4135 +FPS=47.56, 法向力=1115.7219, 切向力X=948.6561, 切向力Y=-109.8070 +FPS=41.64, 法向力=1412.4966, 切向力X=711.4543, 切向力Y=36.8447 +FPS=44.02, 法向力=1390.1359, 切向力X=742.5583, 切向力Y=-20.7855 +FPS=42.34, 法向力=1420.8883, 切向力X=742.5526, 切向力Y=10.9504 +FPS=47.92, 法向力=1507.3328, 切向力X=606.5972, 切向力Y=293.3239 +FPS=40.46, 法向力=1525.9503, 切向力X=558.5613, 切向力Y=264.6418 +FPS=38.28, 法向力=1543.5732, 切向力X=556.4196, 切向力Y=234.1198 +FPS=38.40, 法向力=1239.2488, 切向力X=1215.4252, 切向力Y=-300.7072 +FPS=51.07, 法向力=1251.4778, 切向力X=1311.3833, 切向力Y=-205.5622 +FPS=38.29, 法向力=1330.8794, 切向力X=557.7459, 切向力Y=-285.8044 +FPS=48.25, 法向力=1334.7137, 切向力X=528.5856, 切向力Y=-211.1632 +FPS=42.51, 法向力=1327.7988, 切向力X=535.4562, 切向力Y=-176.8813 +FPS=42.99, 法向力=1927.4921, 切向力X=723.8115, 切向力Y=-396.1751 +FPS=45.14, 法向力=1960.9465, 切向力X=650.4370, 切向力Y=-270.2424 +FPS=47.16, 法向力=1961.3135, 切向力X=636.0320, 切向力Y=-272.9825 +FPS=38.38, 法向力=1363.4889, 切向力X=428.0173, 切向力Y=442.3018 +FPS=38.54, 法向力=1377.4482, 切向力X=408.3128, 切向力Y=468.6560 +FPS=29.47, 法向力=1370.2390, 切向力X=221.2966, 切向力Y=222.1820 +FPS=37.21, 法向力=1327.5524, 切向力X=272.3076, 切向力Y=133.7945 +FPS=39.90, 法向力=1443.2152, 切向力X=553.1512, 切向力Y=-1295.6016 +FPS=23.69, 法向力=1190.4325, 切向力X=496.0741, 切向力Y=-799.1495 +FPS=39.94, 法向力=1132.2668, 切向力X=457.6102, 切向力Y=-856.0510 +FPS=42.83, 法向力=1132.9457, 切向力X=488.1013, 切向力Y=-831.9614 +FPS=42.96, 法向力=1328.5237, 切向力X=265.9799, 切向力Y=175.7000 +FPS=45.57, 法向力=1374.8501, 切向力X=176.8637, 切向力Y=165.3857 +FPS=40.06, 法向力=1357.3130, 切向力X=192.3689, 切向力Y=218.5562 +FPS=38.06, 法向力=2050.3237, 切向力X=-257.7708, 切向力Y=199.2098 +FPS=45.54, 法向力=2123.5269, 切向力X=-314.3079, 切向力Y=214.2750 +FPS=36.63, 法向力=2024.1860, 切向力X=212.4878, 切向力Y=277.1561 +stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.43, y_min=-81.85 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000009s (hit), reset=0.000510s, blend=0.002983s (9 tiles incl ref), finalize=0.000069s, total=0.003576s +FPS=23.98, 法向力=2014.0424, 切向力X=201.2002, 切向力Y=265.6447 +FPS=40.62, 法向力=1422.9905, 切向力X=-1.7277, 切向力Y=-228.0847 +FPS=44.16, 法向力=1349.6885, 切向力X=129.9621, 切向力Y=-245.8189 +FPS=48.04, 法向力=1247.0066, 切向力X=87.6802, 切向力Y=132.7374 +FPS=24.05, 法向力=1293.8425, 切向力X=45.9407, 切向力Y=147.2208 +FPS=39.86, 法向力=1692.1118, 切向力X=349.0268, 切向力Y=953.7954 +FPS=40.32, 法向力=1701.1326, 切向力X=264.2552, 切向力Y=904.0956 +FPS=45.80, 法向力=866.6511, 切向力X=556.0186, 切向力Y=-416.0043 +FPS=41.11, 法向力=866.7286, 切向力X=643.7652, 切向力Y=-423.2520 +FPS=45.89, 法向力=887.0353, 切向力X=621.3433, 切向力Y=-455.1537 +FPS=39.41, 法向力=876.4993, 切向力X=686.6165, 切向力Y=572.6006 +FPS=46.09, 法向力=892.6005, 切向力X=589.3722, 切向力Y=463.9990 +FPS=43.93, 法向力=886.5625, 切向力X=619.0417, 切向力Y=492.4413 +FPS=40.87, 法向力=1394.9702, 切向力X=255.9100, 切向力Y=-234.4920 +FPS=41.56, 法向力=1510.2402, 切向力X=227.7456, 切向力Y=-349.7769 +FPS=47.69, 法向力=1505.2081, 切向力X=194.7979, 切向力Y=-407.2411 +FPS=41.81, 法向力=918.9019, 切向力X=688.1866, 切向力Y=-241.1222 +FPS=36.86, 法向力=1353.7458, 切向力X=1080.0615, 切向力Y=560.8424 +FPS=43.96, 法向力=1421.3615, 切向力X=1131.7568, 切向力Y=685.1547 +FPS=39.33, 法向力=1406.4619, 切向力X=1121.8071, 切向力Y=704.7549 +FPS=39.98, 法向力=1514.2258, 切向力X=923.9757, 切向力Y=835.2567 +FPS=45.59, 法向力=1524.6716, 切向力X=922.7872, 切向力Y=756.5544 +FPS=43.70, 法向力=1538.5773, 切向力X=935.5739, 切向力Y=762.6978 +FPS=40.56, 法向力=1642.6862, 切向力X=-45.8108, 切向力Y=942.1365 +FPS=44.12, 法向力=1678.1711, 切向力X=-70.3656, 切向力Y=916.5649 +FPS=40.74, 法向力=1715.8484, 切向力X=-143.7387, 切向力Y=937.9246 +FPS=42.34, 法向力=1503.2455, 切向力X=75.2770, 切向力Y=536.4529 +FPS=41.15, 法向力=1440.0524, 切向力X=168.2036, 切向力Y=448.4721 +FPS=42.77, 法向力=1451.9602, 切向力X=752.2288, 切向力Y=-43.3703 +FPS=44.92, 法向力=1476.0619, 切向力X=745.6858, 切向力Y=7.7166 +stitch_feature_optimized: canvas out_w=546, out_h=417, 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法向力=1342.8042, 切向力X=1108.0874, 切向力Y=1064.0870 +FPS=22.26, 法向力=1677.7192, 切向力X=2170.6035, 切向力Y=1191.8818 +FPS=21.15, 法向力=1687.4321, 切向力X=2180.4717, 切向力Y=1224.9484 +FPS=21.70, 法向力=1306.4658, 切向力X=143.7669, 切向力Y=634.1750 +FPS=18.70, 法向力=1514.9308, 切向力X=385.7526, 切向力Y=1560.0938 +FPS=23.86, 法向力=1464.6218, 切向力X=455.6196, 切向力Y=1483.7029 +FPS=31.96, 法向力=1275.6132, 切向力X=2409.5459, 切向力Y=1683.6443 +FPS=21.44, 法向力=1349.3342, 切向力X=2473.9575, 切向力Y=1774.0049 +FPS=20.86, 法向力=1587.9543, 切向力X=854.3037, 切向力Y=925.1951 +FPS=28.50, 法向力=1581.3395, 切向力X=1018.0717, 切向力Y=884.3582 +FPS=29.57, 法向力=1510.0110, 切向力X=679.9061, 切向力Y=1360.8521 +FPS=25.53, 法向力=1551.1772, 切向力X=703.7367, 切向力Y=1257.6627 +FPS=29.94, 法向力=1531.9656, 切向力X=704.8616, 切向力Y=1234.1682 +FPS=20.96, 法向力=1247.9258, 切向力X=970.8956, 切向力Y=1505.8021 +FPS=22.33, 法向力=1267.0735, 切向力X=959.9661, 切向力Y=1533.7682 +FPS=21.50, 法向力=1476.4211, 切向力X=1483.0914, 切向力Y=1185.1815 +FPS=20.96, 法向力=1538.3008, 切向力X=1495.7865, 切向力Y=383.7479 +stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.43, y_min=-81.85 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000006s (hit), reset=0.000458s, blend=0.004378s (9 tiles incl ref), finalize=0.000128s, total=0.004975s +FPS=21.20, 法向力=1563.2952, 切向力X=1639.2167, 切向力Y=328.7086 +FPS=18.87, 法向力=1513.4497, 切向力X=733.3290, 切向力Y=1287.7318 +FPS=24.57, 法向力=1567.4933, 切向力X=623.7745, 切向力Y=1249.1196 +FPS=28.39, 法向力=1615.7280, 切向力X=828.4028, 切向力Y=1261.0071 +FPS=23.03, 法向力=1599.4197, 切向力X=941.7466, 切向力Y=1277.0137 +FPS=20.86, 法向力=1684.6224, 切向力X=811.5760, 切向力Y=1215.4911 +FPS=23.17, 法向力=1705.3158, 切向力X=766.7278, 切向力Y=1190.0356 +FPS=20.89, 法向力=1893.9718, 切向力X=1092.5100, 切向力Y=1015.9844 +FPS=21.66, 法向力=1299.8124, 切向力X=1571.4572, 切向力Y=59.8511 +FPS=19.31, 法向力=1304.6233, 切向力X=1396.7664, 切向力Y=1279.8840 +FPS=24.52, 法向力=1331.9519, 切向力X=1328.2805, 切向力Y=1292.7980 +FPS=30.65, 法向力=1330.9725, 切向力X=1310.2959, 切向力Y=1357.6550 +FPS=20.81, 法向力=1166.0623, 切向力X=1286.7371, 切向力Y=979.0743 +FPS=21.93, 法向力=1098.4254, 切向力X=1302.3821, 切向力Y=905.7738 +FPS=21.41, 法向力=1642.9993, 切向力X=1375.2272, 切向力Y=855.6918 +FPS=21.64, 法向力=1783.4158, 切向力X=654.6036, 切向力Y=1194.2227 +FPS=21.08, 法向力=1744.5361, 切向力X=618.9463, 切向力Y=1225.1506 +FPS=20.93, 法向力=1133.7861, 切向力X=1585.1069, 切向力Y=1591.8524 +FPS=22.23, 法向力=1153.8776, 切向力X=1622.2024, 切向力Y=1636.6746 +FPS=20.87, 法向力=1616.1279, 切向力X=1180.5750, 切向力Y=1042.0973 +FPS=21.68, 法向力=1637.2336, 切向力X=1190.4154, 切向力Y=988.4244 +FPS=20.88, 法向力=1404.6997, 切向力X=643.3591, 切向力Y=1100.1973 +FPS=19.20, 法向力=1349.7483, 切向力X=706.3942, 切向力Y=1043.1431 +FPS=23.97, 法向力=1670.6505, 切向力X=465.0200, 切向力Y=1505.4321 +FPS=20.87, 法向力=1407.7329, 切向力X=867.3884, 切向力Y=1912.9514 +FPS=17.73, 法向力=1404.6104, 切向力X=781.0610, 切向力Y=1821.0947 +FPS=26.83, 法向力=1423.5276, 切向力X=790.3583, 切向力Y=1808.1520 +FPS=20.82, 法向力=1584.8174, 切向力X=1434.4409, 切向力Y=711.6299 +FPS=21.70, 法向力=1332.6831, 切向力X=1363.0701, 切向力Y=936.0426 +FPS=28.17, 法向力=1365.4828, 切向力X=1441.3624, 切向力Y=882.2558 +stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.43, y_min=-81.85 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000005s (hit), reset=0.000462s, blend=0.004374s (9 tiles incl ref), finalize=0.000122s, total=0.004967s +FPS=23.49, 法向力=1361.3042, 切向力X=1436.7504, 切向力Y=893.6101 +FPS=27.97, 法向力=1249.5645, 切向力X=1031.2198, 切向力Y=329.2423 +FPS=23.45, 法向力=2084.9880, 切向力X=1398.9641, 切向力Y=592.1799 +FPS=21.35, 法向力=2139.0884, 切向力X=1416.6846, 切向力Y=618.2141 +FPS=21.64, 法向力=1355.4238, 切向力X=1522.8597, 切向力Y=1421.0159 +FPS=20.60, 法向力=1342.9280, 切向力X=1376.8367, 切向力Y=1399.6416 +FPS=22.04, 法向力=1685.7249, 切向力X=1565.3313, 切向力Y=755.2130 +FPS=21.43, 法向力=1647.1758, 切向力X=1006.4155, 切向力Y=737.7207 +FPS=28.68, 法向力=1646.0131, 切向力X=1041.1252, 切向力Y=673.2284 +FPS=22.89, 法向力=1602.8428, 切向力X=1244.5098, 切向力Y=1505.5405 +FPS=20.45, 法向力=1601.9229, 切向力X=1298.4207, 切向力Y=1525.2539 +FPS=20.82, 法向力=1145.5219, 切向力X=880.4866, 切向力Y=685.9519 +FPS=21.66, 法向力=1145.7007, 切向力X=869.6311, 切向力Y=698.4977 +FPS=21.26, 法向力=1083.0839, 切向力X=965.5152, 切向力Y=1552.9421 +FPS=29.58, 法向力=776.9733, 切向力X=978.4420, 切向力Y=887.7712 +FPS=23.06, 法向力=822.6050, 切向力X=861.0169, 切向力Y=874.8378 +FPS=31.67, 法向力=832.0369, 切向力X=889.0037, 切向力Y=906.4885 +FPS=18.02, 法向力=807.3550, 切向力X=881.7252, 切向力Y=806.3616 +FPS=27.91, 法向力=1206.8596, 切向力X=940.5891, 切向力Y=756.4321 +FPS=19.93, 法向力=1180.3640, 切向力X=1314.7206, 切向力Y=858.3456 +FPS=21.14, 法向力=1275.1676, 切向力X=1743.8982, 切向力Y=804.0519 +FPS=29.94, 法向力=1291.4918, 切向力X=1801.7603, 切向力Y=856.7515 +FPS=21.56, 法向力=1305.6438, 切向力X=1742.8552, 切向力Y=868.1085 +FPS=21.23, 法向力=1166.5176, 切向力X=986.7001, 切向力Y=1671.8927 +FPS=21.17, 法向力=1281.2543, 切向力X=457.8584, 切向力Y=1106.6145 +FPS=21.54, 法向力=1309.8252, 切向力X=455.8788, 切向力Y=1200.4844 +FPS=20.69, 法向力=1567.6458, 切向力X=1205.4868, 切向力Y=1071.9846 +FPS=21.36, 法向力=1580.9846, 切向力X=1169.3662, 切向力Y=1159.9060 +FPS=20.71, 法向力=1613.9810, 切向力X=1817.8431, 切向力Y=823.0334 +FPS=21.20, 法向力=1434.2517, 切向力X=1457.6301, 切向力Y=1246.1248 +stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.43, y_min=-81.85 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000006s (hit), reset=0.000443s, blend=0.004389s (9 tiles incl ref), finalize=0.000126s, total=0.004969s +FPS=21.47, 法向力=1392.0878, 切向力X=1452.7919, 切向力Y=1303.8096 +FPS=20.08, 法向力=1409.1189, 切向力X=1491.2262, 切向力Y=1295.0664 +FPS=22.74, 法向力=1410.8911, 切向力X=974.2509, 切向力Y=1375.3645 +FPS=21.29, 法向力=1392.8000, 切向力X=1579.9795, 切向力Y=595.3955 +FPS=28.59, 法向力=1140.7850, 切向力X=1140.3379, 切向力Y=1330.3304 +FPS=22.36, 法向力=1121.4117, 切向力X=1083.6565, 切向力Y=1256.4363 +FPS=20.57, 法向力=1130.3696, 切向力X=1119.7998, 切向力Y=1239.7646 +FPS=21.49, 法向力=1633.9618, 切向力X=989.1891, 切向力Y=657.9174 +FPS=19.05, 法向力=1568.8162, 切向力X=1247.5129, 切向力Y=729.4581 +FPS=21.14, 法向力=1565.9036, 切向力X=1296.6365, 切向力Y=618.2185 +FPS=29.46, 法向力=1687.2573, 切向力X=974.2076, 切向力Y=741.3434 +FPS=26.42, 法向力=1739.8528, 切向力X=896.0316, 切向力Y=758.2640 +FPS=29.49, 法向力=1719.6128, 切向力X=925.2938, 切向力Y=757.8746 +FPS=21.46, 法向力=1175.0864, 切向力X=1257.5636, 切向力Y=461.8474 +FPS=21.39, 法向力=1164.4396, 切向力X=1039.9341, 切向力Y=415.0210 +FPS=21.09, 法向力=1149.4495, 切向力X=1002.2693, 切向力Y=359.1566 +FPS=19.39, 法向力=1601.8014, 切向力X=785.0660, 切向力Y=994.8995 +FPS=24.61, 法向力=1547.5930, 切向力X=728.0484, 切向力Y=1076.9590 +FPS=20.83, 法向力=1849.5833, 切向力X=-130.8300, 切向力Y=980.7995 +FPS=29.94, 法向力=1889.1348, 切向力X=-180.0977, 切向力Y=1023.8358 +FPS=31.84, 法向力=1438.3616, 切向力X=24.4724, 切向力Y=920.6660 +FPS=21.70, 法向力=1409.5732, 切向力X=124.3489, 切向力Y=862.5651 +FPS=21.03, 法向力=1586.7192, 切向力X=751.5357, 切向力Y=943.5380 +FPS=19.17, 法向力=1606.6714, 切向力X=822.3561, 切向力Y=1105.7911 +FPS=29.08, 法向力=1809.3674, 切向力X=1554.3373, 切向力Y=1237.8524 +FPS=24.95, 法向力=1463.2349, 切向力X=965.9407, 切向力Y=1998.1978 +FPS=21.04, 法向力=1453.1053, 切向力X=973.4375, 切向力Y=2021.2831 +FPS=19.73, 法向力=1514.2448, 切向力X=1137.1550, 切向力Y=549.1471 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in + main() + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 171, in main + fps, fn, fx, fy, flow, vnormal, vshear = sensor.read_info(sensor.info.FPS, sensor.info.FNORMAL, sensor.info.FSHEARX, sensor.info.FSHEARY, sensor.info.VRAW, sensor.info.VNORMAL,sensor.info.VSHEAR) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 477, in read_info + return tuple(mapping.get(arg, lambda: None)() for arg in args if isinstance(arg, self.info)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 477, in + return tuple(mapping.get(arg, lambda: None)() for arg in args if isinstance(arg, self.info)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 457, in + self.info.VSHEAR: lambda: self.vshear.copy() if self.vshear is not None else np.array([]), + ^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt diff --git a/examples/logs/plot_20260519_175139.log b/examples/logs/plot_20260519_175139.log new file mode 100644 index 0000000..0335b80 --- /dev/null +++ b/examples/logs/plot_20260519_175139.log @@ -0,0 +1,151 @@ +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.53, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.02, 法向力=2014.7576, 切向力X=1112.0831, 切向力Y=72.1919 +FPS=41.40, 法向力=1996.2455, 切向力X=1074.1069, 切向力Y=136.6684 +FPS=38.62, 法向力=1549.0315, 切向力X=415.2267, 切向力Y=-486.7039 +FPS=33.53, 法向力=1620.4619, 切向力X=253.0067, 切向力Y=-477.2607 +FPS=40.64, 法向力=1936.7975, 切向力X=221.9162, 切向力Y=-923.5311 +FPS=46.07, 法向力=1950.4841, 切向力X=229.1129, 切向力Y=-884.6642 +FPS=36.31, 法向力=1960.6089, 切向力X=229.5952, 切向力Y=-852.2947 +FPS=28.61, 法向力=1694.9591, 切向力X=920.1097, 切向力Y=-606.3918 +FPS=40.45, 法向力=1694.4613, 切向力X=953.5351, 切向力Y=-629.7728 +FPS=45.58, 法向力=1953.3339, 切向力X=973.9974, 切向力Y=357.5341 +FPS=41.18, 法向力=2075.5388, 切向力X=993.9507, 切向力Y=242.3214 +FPS=43.79, 法向力=1769.3716, 切向力X=1076.4225, 切向力Y=402.9514 +FPS=42.26, 法向力=1812.0746, 切向力X=1225.9155, 切向力Y=390.0173 +FPS=50.86, 法向力=1824.2964, 切向力X=1217.8329, 切向力Y=382.4683 +FPS=40.32, 法向力=1324.5737, 切向力X=799.3585, 切向力Y=-479.3854 +FPS=39.22, 法向力=1311.9470, 切向力X=783.9082, 切向力Y=-459.6545 +FPS=40.48, 法向力=1477.3268, 切向力X=379.9721, 切向力Y=104.4938 +FPS=45.31, 法向力=1508.0276, 切向力X=330.2249, 切向力Y=187.1334 +FPS=43.64, 法向力=1501.5129, 切向力X=374.5402, 切向力Y=186.2091 +FPS=45.07, 法向力=1287.7058, 切向力X=1034.3721, 切向力Y=258.2537 +FPS=24.90, 法向力=1729.7234, 切向力X=29.6895, 切向力Y=117.9303 +FPS=40.15, 法向力=1797.7058, 切向力X=74.6942, 切向力Y=64.1912 +FPS=43.07, 法向力=1819.1266, 切向力X=51.1288, 切向力Y=44.7542 +FPS=46.03, 法向力=2065.9565, 切向力X=940.9529, 切向力Y=-510.8974 +FPS=25.79, 法向力=2128.8372, 切向力X=958.8914, 切向力Y=-544.2225 +FPS=46.17, 法向力=1685.3752, 切向力X=1339.4124, 切向力Y=-893.9543 +FPS=47.72, 法向力=1845.5524, 切向力X=1702.6411, 切向力Y=-1187.8396 +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.77, y_min=-84.16 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000207s, blend=0.002116s (9 tiles incl ref), finalize=0.000049s, total=0.002378s +FPS=41.63, 法向力=1848.8912, 切向力X=1703.5175, 切向力Y=-1183.4937 +FPS=44.08, 法向力=1751.5204, 切向力X=851.7833, 切向力Y=-701.3905 +FPS=43.29, 法向力=1685.9509, 切向力X=825.4957, 切向力Y=-543.9323 +FPS=44.34, 法向力=2929.3447, 切向力X=708.9524, 切向力Y=1398.8925 +FPS=42.60, 法向力=2960.2368, 切向力X=677.6619, 切向力Y=1363.6716 +FPS=40.65, 法向力=2941.0215, 切向力X=649.2194, 切向力Y=1417.9067 +FPS=17.62, 法向力=1945.0969, 切向力X=646.9917, 切向力Y=-316.3316 +FPS=44.41, 法向力=2059.8206, 切向力X=1138.8550, 切向力Y=104.9102 +FPS=33.49, 法向力=2040.3892, 切向力X=1111.3618, 切向力Y=3.9252 +FPS=31.07, 法向力=2011.1155, 切向力X=1080.4558, 切向力Y=-3.7867 +FPS=32.93, 法向力=2870.4221, 切向力X=607.5314, 切向力Y=951.6470 +FPS=44.45, 法向力=1938.2982, 切向力X=1769.2260, 切向力Y=330.1163 +FPS=40.59, 法向力=1932.7457, 切向力X=1790.2487, 切向力Y=198.9030 +FPS=29.81, 法向力=1931.8424, 切向力X=1807.6356, 切向力Y=191.5879 +FPS=34.59, 法向力=1646.2333, 切向力X=417.3937, 切向力Y=-583.4060 +FPS=30.81, 法向力=1723.9805, 切向力X=477.1407, 切向力Y=-692.4913 +FPS=32.38, 法向力=1451.6243, 切向力X=1402.7767, 切向力Y=385.2454 +FPS=31.62, 法向力=1574.4321, 切向力X=1443.5591, 切向力Y=447.4735 +FPS=33.62, 法向力=2085.0703, 切向力X=535.3915, 切向力Y=-523.6516 +FPS=44.15, 法向力=2110.1318, 切向力X=477.4924, 切向力Y=-528.3721 +FPS=39.60, 法向力=1601.8384, 切向力X=-105.2700, 切向力Y=-344.1465 +FPS=32.02, 法向力=1532.8296, 切向力X=-85.8531, 切向力Y=-310.5866 +FPS=31.66, 法向力=1406.3722, 切向力X=751.5301, 切向力Y=1111.3323 +FPS=31.75, 法向力=1431.6401, 切向力X=847.8942, 切向力Y=1196.9272 +FPS=31.53, 法向力=1950.3273, 切向力X=693.8199, 切向力Y=44.0175 +FPS=30.54, 法向力=1980.4106, 切向力X=736.7104, 切向力Y=119.9047 +FPS=32.66, 法向力=2642.8306, 切向力X=873.3688, 切向力Y=-691.2703 +FPS=47.73, 法向力=2792.2183, 切向力X=823.4001, 切向力Y=-750.7092 +FPS=39.39, 法向力=1224.1204, 切向力X=713.0286, 切向力Y=-351.8248 +FPS=31.60, 法向力=1206.9187, 切向力X=702.2128, 切向力Y=-423.4438 +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.77, y_min=-84.16 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000232s, blend=0.002141s (9 tiles incl ref), finalize=0.000046s, total=0.002425s +FPS=32.16, 法向力=2168.8496, 切向力X=707.5429, 切向力Y=246.0058 +FPS=31.16, 法向力=2097.0210, 切向力X=888.0332, 切向力Y=247.6189 +FPS=31.44, 法向力=2280.5938, 切向力X=838.3364, 切向力Y=89.8569 +FPS=32.19, 法向力=2328.0342, 切向力X=868.3877, 切向力Y=94.1974 +FPS=45.22, 法向力=1464.3074, 切向力X=664.1224, 切向力Y=1173.4972 +FPS=38.77, 法向力=1467.8737, 切向力X=608.5759, 切向力Y=1096.0636 +FPS=32.35, 法向力=1453.5320, 切向力X=849.1412, 切向力Y=431.9210 +FPS=31.20, 法向力=1687.9657, 切向力X=1018.4503, 切向力Y=113.3564 +FPS=43.86, 法向力=2098.5488, 切向力X=1008.7047, 切向力Y=1763.7830 +FPS=42.73, 法向力=2142.0281, 切向力X=916.1230, 切向力Y=1901.9290 +FPS=30.37, 法向力=2169.4229, 切向力X=878.3124, 切向力Y=1936.0366 +FPS=32.24, 法向力=1580.2000, 切向力X=735.1746, 切向力Y=-244.2222 +FPS=31.70, 法向力=1574.0269, 切向力X=744.5885, 切向力Y=-335.4481 +FPS=32.76, 法向力=2154.3628, 切向力X=-15.2777, 切向力Y=-1206.2155 +FPS=43.91, 法向力=1543.1685, 切向力X=1733.6863, 切向力Y=354.5101 +FPS=41.49, 法向力=1607.3632, 切向力X=1758.1169, 切向力Y=384.2809 +FPS=31.67, 法向力=1586.0076, 切向力X=1759.6364, 切向力Y=439.1028 +FPS=34.00, 法向力=1811.1421, 切向力X=808.4476, 切向力Y=-450.3654 +FPS=32.50, 法向力=1783.1467, 切向力X=825.9097, 切向力Y=-450.3670 +FPS=32.51, 法向力=1433.0146, 切向力X=938.3185, 切向力Y=-160.3732 +FPS=31.74, 法向力=1453.7317, 切向力X=901.0811, 切向力Y=-104.8697 +FPS=32.24, 法向力=2160.9468, 切向力X=735.2777, 切向力Y=-460.8401 +FPS=51.02, 法向力=2178.4785, 切向力X=686.6276, 切向力Y=-413.8177 +FPS=38.04, 法向力=1243.7672, 切向力X=400.9785, 切向力Y=101.7963 +FPS=30.74, 法向力=1334.5212, 切向力X=450.4277, 切向力Y=384.1502 +FPS=32.27, 法向力=1470.0818, 切向力X=355.4960, 切向力Y=517.8054 +FPS=31.12, 法向力=1489.8752, 切向力X=317.5279, 切向力Y=561.8421 +FPS=31.26, 法向力=1850.1418, 切向力X=698.3931, 切向力Y=-249.3536 +FPS=32.12, 法向力=1953.9763, 切向力X=716.6660, 切向力Y=-660.6288 +FPS=32.84, 法向力=1870.7450, 切向力X=794.8956, 切向力Y=-707.3704 +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.77, y_min=-84.16 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000355s, blend=0.002400s (9 tiles incl ref), finalize=0.000046s, total=0.002808s +FPS=31.12, 法向力=1473.6329, 切向力X=497.3732, 切向力Y=407.3516 +FPS=32.43, 法向力=1513.6724, 切向力X=387.2728, 切向力Y=427.1435 +FPS=31.86, 法向力=1524.8840, 切向力X=399.2861, 切向力Y=404.6324 +FPS=32.54, 法向力=2405.4260, 切向力X=1134.9302, 切向力Y=-1186.2871 +FPS=29.97, 法向力=2382.1040, 切向力X=1154.1724, 切向力Y=-1235.0505 +FPS=32.80, 法向力=1389.9995, 切向力X=1177.1343, 切向力Y=459.1689 +FPS=30.55, 法向力=1391.2725, 切向力X=1320.5967, 切向力Y=546.7678 +FPS=33.12, 法向力=1999.2213, 切向力X=1240.2555, 切向力Y=-267.8247 +FPS=49.49, 法向力=1464.7896, 切向力X=602.2012, 切向力Y=-326.3427 +FPS=28.36, 法向力=1501.4001, 切向力X=645.4558, 切向力Y=-418.6153 +FPS=29.69, 法向力=1488.1309, 切向力X=662.5906, 切向力Y=-420.2888 +FPS=22.73, 法向力=1505.7449, 切向力X=656.1889, 切向力Y=-433.3736 +FPS=21.97, 法向力=1484.2886, 切向力X=1719.6440, 切向力Y=663.4675 +FPS=19.18, 法向力=1535.6528, 切向力X=767.5608, 切向力Y=772.8625 +FPS=31.62, 法向力=1506.8672, 切向力X=810.8687, 切向力Y=737.3496 +FPS=29.45, 法向力=2385.1426, 切向力X=866.6565, 切向力Y=-508.4058 +FPS=23.54, 法向力=2366.0444, 切向力X=853.6666, 切向力Y=-449.9455 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in + main() + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 153, in main + sensor.get_img() # 获取并拼接复眼图像 + ^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 241, in get_img + img = np.ascontiguousarray(self.stitcher.stitch_rt_optimized(blend=True)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 73, in stitch_rt_optimized + feature_stitched = self.stitch_feature_optimized( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 184, in stitch_feature_optimized + return self._render_feature_tiles( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 644, in _render_feature_tiles + max_th = max(h0c, *(tb.shape[0] for tb in tiles_bgr_c)) if tiles_bgr_c else h0c + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 644, in + max_th = max(h0c, *(tb.shape[0] for tb in tiles_bgr_c)) if tiles_bgr_c else h0c + +KeyboardInterrupt diff --git a/examples/logs/plot_20260520_095316.log b/examples/logs/plot_20260520_095316.log new file mode 100644 index 0000000..d37d2a6 --- /dev/null +++ b/examples/logs/plot_20260520_095316.log @@ -0,0 +1,598 @@ +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.54, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.61, 法向力=1263.2065, 切向力X=623.4379, 切向力Y=-728.6444 +FPS=30.60, 法向力=1251.6226, 切向力X=642.0236, 切向力Y=-590.4093 +FPS=41.35, 法向力=1389.3793, 切向力X=-308.1837, 切向力Y=-466.5520 +FPS=39.34, 法向力=1365.9683, 切向力X=-350.0494, 切向力Y=-528.5284 +FPS=44.24, 法向力=1118.6206, 切向力X=-479.1864, 切向力Y=534.1259 +FPS=38.83, 法向力=1114.0746, 切向力X=-524.0089, 切向力Y=592.1266 +FPS=22.86, 法向力=1760.2494, 切向力X=307.0132, 切向力Y=-650.2607 +FPS=40.94, 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切向力X=1336.6881, 切向力Y=-7.2345 +FPS=32.08, 法向力=1408.2671, 切向力X=1009.5851, 切向力Y=-37.9670 +FPS=31.89, 法向力=1421.7806, 切向力X=1054.5869, 切向力Y=-26.3204 +FPS=47.94, 法向力=898.3812, 切向力X=358.7966, 切向力Y=820.7333 +FPS=36.49, 法向力=926.4675, 切向力X=369.3920, 切向力Y=826.9932 +FPS=31.32, 法向力=1180.8784, 切向力X=109.5391, 切向力Y=-344.5541 +FPS=32.00, 法向力=1212.6495, 切向力X=141.5049, 切向力Y=-439.5718 +FPS=46.57, 法向力=1195.9525, 切向力X=172.6456, 切向力Y=414.4656 +FPS=38.43, 法向力=1268.5715, 切向力X=200.2637, 切向力Y=438.5883 +FPS=31.60, 法向力=878.4866, 切向力X=207.8056, 切向力Y=318.8094 +FPS=32.52, 法向力=880.1182, 切向力X=296.8122, 切向力Y=325.6187 +FPS=30.18, 法向力=1017.2945, 切向力X=915.9246, 切向力Y=239.5981 +FPS=32.09, 法向力=1034.4253, 切向力X=947.5754, 切向力Y=247.0529 +FPS=25.20, 法向力=1027.5175, 切向力X=908.4092, 切向力Y=261.5057 +FPS=30.05, 法向力=1594.7269, 切向力X=656.3262, 切向力Y=-368.4047 +FPS=24.10, 法向力=1533.3817, 切向力X=585.4004, 切向力Y=-359.6784 +FPS=18.90, 法向力=1546.8662, 切向力X=468.5557, 切向力Y=45.7486 +FPS=23.04, 法向力=1545.7513, 切向力X=430.5248, 切向力Y=-39.7394 +FPS=20.73, 法向力=1536.8586, 切向力X=439.3416, 切向力Y=-36.9692 +FPS=21.43, 法向力=1834.2015, 切向力X=621.3142, 切向力Y=277.3503 +FPS=21.95, 法向力=1266.7205, 切向力X=445.3578, 切向力Y=-159.9911 +FPS=31.39, 法向力=1265.5066, 切向力X=440.1469, 切向力Y=-195.6322 +FPS=31.56, 法向力=1149.1517, 切向力X=198.3017, 切向力Y=29.6528 +FPS=31.37, 法向力=1167.6868, 切向力X=318.2475, 切向力Y=235.8959 +FPS=28.83, 法向力=1177.3790, 切向力X=295.5511, 切向力Y=233.4874 +stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000005s (hit), reset=0.000433s, blend=0.004268s (9 tiles incl ref), finalize=0.000125s, total=0.004837s +FPS=32.62, 法向力=1170.9951, 切向力X=275.4729, 切向力Y=223.5241 +FPS=28.36, 法向力=1784.7831, 切向力X=780.4319, 切向力Y=70.1261 +FPS=23.40, 法向力=1403.5281, 切向力X=636.3462, 切向力Y=-295.1951 +FPS=31.96, 法向力=1365.1382, 切向力X=640.6187, 切向力Y=-323.9673 +FPS=31.26, 法向力=1268.7512, 切向力X=66.8822, 切向力Y=487.9855 +FPS=31.97, 法向力=1318.8604, 切向力X=119.6554, 切向力Y=532.7743 +FPS=31.17, 法向力=1331.6843, 切向力X=42.2119, 切向力Y=546.7252 +FPS=31.72, 法向力=1336.2502, 切向力X=87.4920, 切向力Y=529.9011 +FPS=30.92, 法向力=1348.5994, 切向力X=796.3082, 切向力Y=601.2259 +FPS=21.56, 法向力=1715.0027, 切向力X=1004.9354, 切向力Y=-13.8015 +FPS=30.36, 法向力=1670.9150, 切向力X=939.9622, 切向力Y=-84.5229 +FPS=22.06, 法向力=1676.8660, 切向力X=909.7726, 切向力Y=-79.9006 +FPS=20.88, 法向力=1136.9951, 切向力X=522.0926, 切向力Y=599.9227 +FPS=18.51, 法向力=1093.4890, 切向力X=368.8514, 切向力Y=749.8674 +FPS=23.38, 法向力=1358.3868, 切向力X=13.1684, 切向力Y=27.7201 +FPS=21.02, 法向力=1741.5564, 切向力X=1052.0566, 切向力Y=-250.6609 +FPS=21.07, 法向力=1697.7029, 切向力X=1126.6930, 切向力Y=-186.2895 +FPS=19.47, 法向力=1675.0950, 切向力X=1117.1772, 切向力Y=-239.2791 +FPS=23.41, 法向力=1559.0286, 切向力X=729.4010, 切向力Y=559.7214 +FPS=21.66, 法向力=1425.5588, 切向力X=744.2870, 切向力Y=1239.7810 +FPS=24.91, 法向力=2146.1187, 切向力X=787.8154, 切向力Y=367.5604 +FPS=31.79, 法向力=2308.9966, 切向力X=772.5114, 切向力Y=450.9079 +FPS=27.21, 法向力=2301.0596, 切向力X=826.8453, 切向力Y=476.9433 +FPS=32.07, 法向力=2298.4709, 切向力X=798.3127, 切向力Y=458.2195 +FPS=31.23, 法向力=1730.5774, 切向力X=1221.4896, 切向力Y=-358.1971 +FPS=31.62, 法向力=1815.8889, 切向力X=1228.0668, 切向力Y=-439.9054 +FPS=18.98, 法向力=1229.6521, 切向力X=483.3555, 切向力Y=314.0565 +FPS=24.32, 法向力=1231.8632, 切向力X=445.2311, 切向力Y=339.4674 +FPS=21.09, 法向力=1234.5647, 切向力X=452.8177, 切向力Y=356.2886 +FPS=21.43, 法向力=1239.7981, 切向力X=154.5034, 切向力Y=394.2535 +stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24 +stitch_feature_optimized steps: brightness=0.000011s, geom=0.000013s (hit), reset=0.000700s, blend=0.007109s (9 tiles incl ref), finalize=0.000120s, total=0.007953s +FPS=19.27, 法向力=1266.3645, 切向力X=86.2887, 切向力Y=264.8633 +FPS=24.30, 法向力=1500.0924, 切向力X=101.6203, 切向力Y=-572.3663 +FPS=19.13, 法向力=1236.9949, 切向力X=168.4684, 切向力Y=814.4858 +FPS=31.74, 法向力=1251.8772, 切向力X=217.2124, 切向力Y=839.1345 +FPS=23.22, 法向力=1236.5002, 切向力X=215.1953, 切向力Y=809.3730 +FPS=20.74, 法向力=1520.4496, 切向力X=1442.4166, 切向力Y=763.5919 +FPS=20.89, 法向力=1629.2070, 切向力X=1101.5269, 切向力Y=553.2607 +FPS=31.80, 法向力=1617.6670, 切向力X=1133.3899, 切向力Y=589.1346 +FPS=29.73, 法向力=1616.1648, 切向力X=1085.1483, 切向力Y=595.6600 +FPS=21.96, 法向力=1050.4556, 切向力X=686.0206, 切向力Y=387.1301 +FPS=19.40, 法向力=1033.2765, 切向力X=814.5910, 切向力Y=399.6442 +FPS=23.24, 法向力=1330.8527, 切向力X=604.4223, 切向力Y=-586.9314 +FPS=21.02, 法向力=1438.7234, 切向力X=1147.5035, 切向力Y=142.9965 +FPS=20.93, 法向力=1467.0659, 切向力X=1214.5535, 切向力Y=180.6454 +FPS=29.16, 法向力=1032.3328, 切向力X=780.5939, 切向力Y=667.7137 +FPS=29.75, 法向力=1054.5442, 切向力X=782.3003, 切向力Y=589.7974 +FPS=24.31, 法向力=1217.7058, 切向力X=959.5233, 切向力Y=1544.7618 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in + main() + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 153, in main + sensor.get_img() # 获取并拼接复眼图像 + ^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 241, in get_img + img = np.ascontiguousarray(self.stitcher.stitch_rt_optimized(blend=True)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 73, in stitch_rt_optimized + feature_stitched = self.stitch_feature_optimized( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 184, in stitch_feature_optimized + return self._render_feature_tiles( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 665, in _render_feature_tiles + self._blend_tile_inplace(blend_buf, wsum, cov, tile_bgr, weight_maps[wkey], y0, x0, _scratch) + File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 409, in _blend_tile_inplace + def _blend_tile_inplace(self, blend, wsum, cov, src, weight, y0, x0, scratch=None): + +KeyboardInterrupt diff --git a/examples/logs/plot_20260521_093613.log b/examples/logs/plot_20260521_093613.log new file mode 100644 index 0000000..594640f --- /dev/null +++ b/examples/logs/plot_20260521_093613.log @@ -0,0 +1,8849 @@ +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.16, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.23, 法向力=1961.7004, 切向力X=688.9785, 切向力Y=-1023.5802 +FPS=28.45, 法向力=1447.5988, 切向力X=835.7626, 切向力Y=784.1644 +FPS=57.28, 法向力=1398.9535, 切向力X=927.9552, 切向力Y=1091.3672 +FPS=62.17, 法向力=1424.9539, 切向力X=972.5945, 切向力Y=928.3884 +FPS=41.30, 法向力=1701.9028, 切向力X=986.7527, 切向力Y=-22.4568 +FPS=46.28, 法向力=1735.8131, 切向力X=1008.6782, 切向力Y=2.7724 +FPS=27.24, 法向力=1985.9877, 切向力X=955.8422, 切向力Y=99.2806 +FPS=60.81, 法向力=2023.0603, 切向力X=1059.3926, 切向力Y=105.8002 +FPS=48.90, 法向力=2120.3237, 切向力X=787.1850, 切向力Y=-1168.9618 +FPS=49.87, 法向力=2188.1135, 切向力X=785.4579, 切向力Y=-1428.7853 +FPS=64.71, 法向力=2187.7178, 切向力X=747.8705, 切向力Y=-1458.9110 +FPS=50.14, 法向力=1917.1622, 切向力X=38.7011, 切向力Y=-637.5213 +FPS=36.81, 法向力=1883.2863, 切向力X=-38.0976, 切向力Y=-562.4116 +FPS=46.91, 法向力=1656.9381, 切向力X=-174.2575, 切向力Y=776.4576 +FPS=31.02, 法向力=1611.4934, 切向力X=-135.6058, 切向力Y=593.1381 +FPS=38.89, 法向力=2410.4939, 切向力X=619.4343, 切向力Y=-1115.5940 +FPS=27.37, 法向力=2476.0986, 切向力X=859.3466, 切向力Y=-861.8768 +FPS=38.63, 法向力=2445.8005, 切向力X=864.7253, 切向力Y=-818.1708 +FPS=41.96, 法向力=2170.3750, 切向力X=1017.8310, 切向力Y=-980.8122 +FPS=63.22, 法向力=2226.3376, 切向力X=1014.8015, 切向力Y=-1020.6420 +FPS=36.92, 法向力=2164.4580, 切向力X=919.5524, 切向力Y=11.3365 +FPS=38.09, 法向力=2091.5840, 切向力X=721.8756, 切向力Y=333.0553 +FPS=47.31, 法向力=2092.7888, 切向力X=-222.2340, 切向力Y=160.2928 +FPS=33.61, 法向力=2026.0215, 切向力X=-226.3680, 切向力Y=-3.2577 +FPS=31.43, 法向力=2094.9917, 切向力X=-225.6096, 切向力Y=48.1123 +FPS=32.62, 法向力=1839.8282, 切向力X=215.4582, 切向力Y=-1482.8339 +FPS=61.63, 法向力=1783.1364, 切向力X=191.6476, 切向力Y=-1487.6647 +FPS=48.88, 法向力=1978.9325, 切向力X=842.3795, 切向力Y=-395.9691 +FPS=67.83, 法向力=1821.1069, 切向力X=1160.0132, 切向力Y=396.1388 +FPS=37.01, 法向力=2161.0508, 切向力X=467.2729, 切向力Y=-432.6477 +FPS=31.84, 法向力=2164.9985, 切向力X=250.8506, 切向力Y=-1076.5612 +FPS=33.25, 法向力=1977.4282, 切向力X=673.7675, 切向力Y=-802.3853 +FPS=49.35, 法向力=1963.4430, 切向力X=720.3381, 切向力Y=-595.0654 +FPS=35.57, 法向力=1893.9788, 切向力X=835.8750, 切向力Y=506.1449 +FPS=51.08, 法向力=1983.8082, 切向力X=946.5872, 切向力Y=373.4347 +FPS=64.93, 法向力=1845.8860, 切向力X=904.2859, 切向力Y=-456.4564 +FPS=35.98, 法向力=2013.0742, 切向力X=907.3311, 切向力Y=-566.8865 +FPS=32.73, 法向力=1859.7029, 切向力X=449.2002, 切向力Y=792.6962 +FPS=48.35, 法向力=1910.7654, 切向力X=353.3013, 切向力Y=790.9612 +FPS=63.12, 法向力=1961.4500, 切向力X=901.1251, 切向力Y=-291.6796 +FPS=38.76, 法向力=2007.1353, 切向力X=1034.9427, 切向力Y=-477.1166 +FPS=51.31, 法向力=2037.0620, 切向力X=1105.2180, 切向力Y=-418.1602 +FPS=35.32, 法向力=1911.1631, 切向力X=448.2779, 切向力Y=254.2077 +FPS=61.28, 法向力=1938.8396, 切向力X=526.6616, 切向力Y=199.4682 +FPS=46.71, 法向力=2291.9998, 切向力X=876.2620, 切向力Y=-1706.1624 +FPS=53.51, 法向力=2283.0469, 切向力X=884.7209, 切向力Y=-1869.8398 +FPS=46.36, 法向力=1832.5854, 切向力X=723.7380, 切向力Y=-1003.4167 +FPS=31.39, 法向力=1825.6340, 切向力X=696.3947, 切向力Y=-1014.9713 +FPS=60.98, 法向力=1430.6759, 切向力X=22.3961, 切向力Y=1029.3816 +FPS=35.54, 法向力=1473.9045, 切向力X=-72.5030, 切向力Y=1146.9470 +FPS=44.08, 法向力=1796.0515, 切向力X=864.0150, 切向力Y=1125.2260 +FPS=40.43, 法向力=1788.7314, 切向力X=981.5739, 切向力Y=968.8398 +FPS=47.13, 法向力=1338.6797, 切向力X=867.3599, 切向力Y=-1075.0127 +FPS=49.50, 法向力=1519.6205, 切向力X=1012.1095, 切向力Y=-1520.9387 +FPS=65.42, 法向力=1550.2334, 切向力X=1043.4819, 切向力Y=-1535.2272 +FPS=50.61, 法向力=1922.8361, 切向力X=-179.7743, 切向力Y=-84.0902 +FPS=29.64, 法向力=1934.5095, 切向力X=-39.0965, 切向力Y=210.5278 +FPS=49.78, 法向力=1901.3015, 切向力X=-147.4227, 切向力Y=164.6361 +FPS=36.38, 法向力=3273.5894, 切向力X=785.4198, 切向力Y=-2302.7720 +FPS=61.55, 法向力=3374.9968, 切向力X=856.8300, 切向力Y=-2428.3472 +FPS=50.89, 法向力=2125.9526, 切向力X=282.7185, 切向力Y=-1791.4249 +FPS=37.39, 法向力=2078.0664, 切向力X=18.2308, 切向力Y=-1559.9482 +FPS=32.79, 法向力=2410.6189, 切向力X=1016.4191, 切向力Y=-2499.0356 +FPS=62.16, 法向力=2480.6802, 切向力X=1121.1912, 切向力Y=-2407.0537 +FPS=50.37, 法向力=2121.5435, 切向力X=697.2384, 切向力Y=7.3111 +FPS=44.48, 法向力=2302.9062, 切向力X=561.7682, 切向力Y=253.3135 +FPS=27.87, 法向力=2130.2686, 切向力X=610.2108, 切向力Y=-2504.5879 +FPS=31.11, 法向力=1741.7639, 切向力X=725.4657, 切向力Y=-996.6352 +FPS=32.55, 法向力=1812.2224, 切向力X=786.8134, 切向力Y=-933.0822 +FPS=33.15, 法向力=1356.2916, 切向力X=350.7227, 切向力Y=-26.9444 +FPS=52.69, 法向力=1311.5483, 切向力X=328.0492, 切向力Y=152.9909 +FPS=40.57, 法向力=1794.6190, 切向力X=1005.6410, 切向力Y=-1080.3022 +FPS=26.98, 法向力=1792.0461, 切向力X=1028.0266, 切向力Y=-1043.5767 +FPS=54.08, 法向力=1142.7998, 切向力X=833.4893, 切向力Y=828.8072 +FPS=43.23, 法向力=1274.7151, 切向力X=1032.7031, 切向力Y=897.3802 +FPS=51.62, 法向力=1255.9755, 切向力X=1016.1167, 切向力Y=849.7405 +FPS=35.79, 法向力=1278.4387, 切向力X=1027.5964, 切向力Y=899.3151 +FPS=46.33, 法向力=1330.8668, 切向力X=383.6877, 切向力Y=-366.1885 +FPS=66.39, 法向力=1348.6707, 切向力X=239.3034, 切向力Y=-663.8931 +FPS=31.61, 法向力=2277.3892, 切向力X=697.3954, 切向力Y=-1601.6477 +FPS=65.08, 法向力=2238.7129, 切向力X=632.6414, 切向力Y=-1644.3105 +FPS=31.11, 法向力=2191.8994, 切向力X=128.3990, 切向力Y=1812.9226 +FPS=60.22, 法向力=2128.6799, 切向力X=160.1713, 切向力Y=2222.7793 +FPS=32.58, 法向力=1668.1177, 切向力X=206.6174, 切向力Y=433.1813 +FPS=31.86, 法向力=2107.1582, 切向力X=168.6329, 切向力Y=-882.8735 +FPS=38.72, 法向力=2237.2808, 切向力X=370.9448, 切向力Y=-772.7460 +FPS=48.47, 法向力=2174.0383, 切向力X=363.2293, 切向力Y=-583.7480 +FPS=30.69, 法向力=2155.1436, 切向力X=350.7457, 切向力Y=-558.6830 +FPS=40.95, 法向力=1744.6296, 切向力X=913.1150, 切向力Y=-1312.5981 +FPS=27.56, 法向力=2155.6355, 切向力X=881.6887, 切向力Y=-282.9124 +FPS=36.55, 法向力=2341.7402, 切向力X=1023.1125, 切向力Y=-168.2958 +FPS=27.16, 法向力=2284.4175, 切向力X=899.5914, 切向力Y=-207.0252 +FPS=52.98, 法向力=2321.9995, 切向力X=970.3685, 切向力Y=-170.8298 +FPS=46.84, 法向力=1350.4738, 切向力X=151.5492, 切向力Y=-1518.1296 +FPS=51.89, 法向力=1294.2278, 切向力X=-36.7835, 切向力Y=-1442.3840 +FPS=48.80, 法向力=1807.8862, 切向力X=-112.8325, 切向力Y=-711.3466 +FPS=52.98, 法向力=1915.2728, 切向力X=-125.8786, 切向力Y=-598.3159 +FPS=50.48, 法向力=2129.0488, 切向力X=858.1474, 切向力Y=-638.4521 +FPS=42.28, 法向力=2096.1592, 切向力X=868.1193, 切向力Y=-768.9827 +FPS=59.12, 法向力=2100.4009, 切向力X=874.2946, 切向力Y=-779.2849 +FPS=32.55, 法向力=1719.9535, 切向力X=538.3843, 切向力Y=-1233.2610 +FPS=39.32, 法向力=1624.9590, 切向力X=429.5464, 切向力Y=-1141.6753 +FPS=44.83, 法向力=1918.6626, 切向力X=594.3856, 切向力Y=-481.0852 +FPS=35.60, 法向力=2017.2379, 切向力X=637.4789, 切向力Y=-242.8423 +FPS=51.23, 法向力=1442.6721, 切向力X=382.0280, 切向力Y=-1012.6886 +FPS=42.95, 法向力=1530.9944, 切向力X=147.0755, 切向力Y=-1103.8931 +FPS=50.52, 法向力=1496.7471, 切向力X=-116.5624, 切向力Y=-108.0915 +FPS=31.05, 法向力=1508.2612, 切向力X=-57.3594, 切向力Y=234.6594 +FPS=31.76, 法向力=1499.8848, 切向力X=-94.3043, 切向力Y=265.0786 +FPS=37.11, 法向力=1499.8667, 切向力X=-108.3588, 切向力Y=256.7507 +FPS=3.69, 法向力=1896.8657, 切向力X=-213.3314, 切向力Y=491.1241 +FPS=39.24, 法向力=1943.6888, 切向力X=-43.4839, 切向力Y=572.8054 +FPS=48.74, 法向力=1643.3601, 切向力X=152.1885, 切向力Y=273.3231 +FPS=53.39, 法向力=1749.8271, 切向力X=118.3739, 切向力Y=222.2886 +FPS=48.42, 法向力=1735.2988, 切向力X=190.0556, 切向力Y=266.0630 +FPS=44.13, 法向力=1745.1257, 切向力X=131.1225, 切向力Y=302.8524 +FPS=60.43, 法向力=1714.5679, 切向力X=173.6880, 切向力Y=245.5282 +FPS=52.50, 法向力=1466.8235, 切向力X=-260.5294, 切向力Y=521.3235 +FPS=52.20, 法向力=1668.2032, 切向力X=-241.8120, 切向力Y=411.5267 +FPS=52.78, 法向力=2475.2117, 切向力X=511.1066, 切向力Y=-1331.4410 +FPS=54.56, 法向力=2592.7131, 切向力X=598.1324, 切向力Y=-1543.5591 +FPS=50.50, 法向力=2649.5947, 切向力X=672.2832, 切向力Y=-1546.7864 +FPS=33.05, 法向力=1189.0100, 切向力X=497.9874, 切向力Y=-301.4012 +FPS=38.33, 法向力=1046.4266, 切向力X=288.4342, 切向力Y=350.2784 +FPS=47.02, 法向力=1918.0651, 切向力X=476.7533, 切向力Y=-446.0193 +FPS=34.13, 法向力=1910.5864, 切向力X=520.3092, 切向力Y=-598.2197 +FPS=49.80, 法向力=1766.1443, 切向力X=377.1817, 切向力Y=-1361.4485 +FPS=36.14, 法向力=1847.8628, 切向力X=386.4882, 切向力Y=-1422.1611 +FPS=49.36, 法向力=2111.0144, 切向力X=373.5887, 切向力Y=1076.5298 +FPS=34.68, 法向力=2097.5984, 切向力X=302.7617, 切向力Y=1096.6809 +FPS=32.86, 法向力=1196.8364, 切向力X=31.9961, 切向力Y=279.2399 +FPS=31.09, 法向力=1450.2051, 切向力X=163.9108, 切向力Y=-234.6897 +FPS=65.67, 法向力=1513.4500, 切向力X=165.8452, 切向力Y=-311.3437 +FPS=30.61, 法向力=1368.9929, 切向力X=104.0079, 切向力Y=1009.1456 +FPS=51.32, 法向力=1370.9207, 切向力X=217.7577, 切向力Y=988.4785 +FPS=52.83, 法向力=1335.9812, 切向力X=225.0187, 切向力Y=947.0347 +FPS=61.41, 法向力=1500.3673, 切向力X=264.5703, 切向力Y=-194.4182 +FPS=50.66, 法向力=1503.9191, 切向力X=223.9864, 切向力Y=-289.4407 +FPS=54.00, 法向力=1531.2329, 切向力X=248.5941, 切向力Y=-281.3761 +FPS=2.08, 法向力=2140.5562, 切向力X=-98.3621, 切向力Y=-116.5255 +FPS=54.35, 法向力=2024.3713, 切向力X=-207.1221, 切向力Y=-29.8284 +FPS=42.38, 法向力=2131.9216, 切向力X=287.2219, 切向力Y=-2.8448 +FPS=60.96, 法向力=2192.2339, 切向力X=347.5969, 切向力Y=-55.1896 +FPS=61.00, 法向力=2193.9211, 切向力X=372.7729, 切向力Y=13.5472 +FPS=52.18, 法向力=1631.4241, 切向力X=159.3105, 切向力Y=-1280.6401 +FPS=40.45, 法向力=1658.6025, 切向力X=165.7489, 切向力Y=-1557.0763 +FPS=48.94, 法向力=1660.0795, 切向力X=486.0173, 切向力Y=623.2681 +FPS=66.90, 法向力=1737.1293, 切向力X=518.1938, 切向力Y=871.3755 +FPS=53.10, 法向力=1770.5731, 切向力X=570.7589, 切向力Y=995.9202 +FPS=51.71, 法向力=1743.7080, 切向力X=536.7642, 切向力Y=883.0057 +FPS=60.70, 法向力=1744.9731, 切向力X=555.1683, 切向力Y=957.3591 +FPS=43.37, 法向力=1543.0507, 切向力X=341.2994, 切向力Y=329.4210 +FPS=35.05, 法向力=1683.3970, 切向力X=344.4208, 切向力Y=-184.5710 +FPS=32.03, 法向力=1936.5886, 切向力X=258.3663, 切向力Y=357.2872 +FPS=32.17, 法向力=1937.8638, 切向力X=217.7513, 切向力Y=318.6092 +FPS=57.18, 法向力=2268.2017, 切向力X=224.0751, 切向力Y=-480.8188 +FPS=52.03, 法向力=2265.2273, 切向力X=320.7655, 切向力Y=-562.9165 +FPS=59.02, 法向力=2281.9419, 切向力X=273.0644, 切向力Y=-564.1250 +FPS=46.12, 法向力=1888.9617, 切向力X=137.4586, 切向力Y=-1202.5629 +FPS=54.53, 法向力=1935.4076, 切向力X=153.6920, 切向力Y=-1084.4998 +FPS=26.83, 法向力=1842.4397, 切向力X=-296.5635, 切向力Y=387.9580 +FPS=46.65, 法向力=1906.3550, 切向力X=-388.4889, 切向力Y=560.9530 +FPS=45.15, 法向力=2250.5205, 切向力X=-107.5889, 切向力Y=-1902.7705 +FPS=66.45, 法向力=2181.0740, 切向力X=-37.5522, 切向力Y=-1700.5884 +FPS=30.47, 法向力=1415.0583, 切向力X=-811.7524, 切向力Y=-12.8060 +FPS=64.59, 法向力=1478.5586, 切向力X=-687.7081, 切向力Y=194.8908 +FPS=30.07, 法向力=1517.9382, 切向力X=-589.1588, 切向力Y=185.6543 +FPS=57.57, 法向力=1482.7988, 切向力X=-643.1418, 切向力Y=204.9953 +FPS=35.11, 法向力=2166.9111, 切向力X=365.4268, 切向力Y=-1083.8713 +FPS=31.67, 法向力=2237.9912, 切向力X=479.9987, 切向力Y=-1259.2266 +FPS=38.96, 法向力=1599.1562, 切向力X=228.6037, 切向力Y=-398.4091 +FPS=28.36, 法向力=1687.9427, 切向力X=-150.7582, 切向力Y=668.6354 +FPS=36.74, 法向力=1268.7310, 切向力X=39.7970, 切向力Y=1693.4348 +FPS=48.31, 法向力=1255.1920, 切向力X=113.6469, 切向力Y=1902.0536 +FPS=50.52, 法向力=1603.5674, 切向力X=868.8336, 切向力Y=-1238.7616 +FPS=36.77, 法向力=1713.4849, 切向力X=876.2741, 切向力Y=-1790.1842 +FPS=54.71, 法向力=1409.9543, 切向力X=-325.2123, 切向力Y=-262.2292 +FPS=50.98, 法向力=1457.5558, 切向力X=-428.0875, 切向力Y=-120.2290 +FPS=39.14, 法向力=1722.2462, 切向力X=36.8893, 切向力Y=-309.6740 +FPS=56.16, 法向力=1742.9790, 切向力X=20.3760, 切向力Y=-137.0141 +FPS=51.83, 法向力=1637.7644, 切向力X=236.6672, 切向力Y=-24.1114 +FPS=47.46, 法向力=1650.1125, 切向力X=261.2635, 切向力Y=-119.2109 +FPS=53.63, 法向力=1644.7478, 切向力X=251.2399, 切向力Y=-94.5077 +FPS=28.78, 法向力=1654.0703, 切向力X=260.2197, 切向力Y=-100.1155 +FPS=37.82, 法向力=1643.3778, 切向力X=257.3793, 切向力Y=-110.5517 +FPS=1.02, 法向力=2281.6851, 切向力X=-142.9145, 切向力Y=-231.7187 +FPS=56.96, 法向力=2453.8936, 切向力X=282.3573, 切向力Y=-2386.2197 +FPS=42.14, 法向力=2302.6821, 切向力X=446.2134, 切向力Y=-2763.0605 +FPS=48.24, 法向力=2250.1746, 切向力X=454.9554, 切向力Y=-2788.3013 +FPS=64.54, 法向力=2333.3916, 切向力X=200.3466, 切向力Y=-988.1498 +FPS=37.91, 法向力=2317.4299, 切向力X=63.1091, 切向力Y=-764.2748 +FPS=48.00, 法向力=2360.6990, 切向力X=103.1501, 切向力Y=-709.7479 +FPS=62.28, 法向力=1718.0109, 切向力X=224.2247, 切向力Y=658.0049 +FPS=31.59, 法向力=1748.7290, 切向力X=301.7007, 切向力Y=662.1012 +FPS=39.30, 法向力=2230.0703, 切向力X=-504.5891, 切向力Y=-1271.5024 +FPS=47.20, 法向力=2182.1572, 切向力X=-495.7310, 切向力Y=-1222.2800 +FPS=38.89, 法向力=1851.6091, 切向力X=25.6861, 切向力Y=-523.0281 +FPS=47.07, 法向力=1970.2747, 切向力X=138.6123, 切向力Y=-656.3823 +FPS=38.95, 法向力=2623.5513, 切向力X=220.3900, 切向力Y=-1486.0677 +FPS=26.75, 法向力=1900.1772, 切向力X=-298.1214, 切向力Y=-1765.9298 +FPS=58.01, 法向力=2230.3154, 切向力X=-216.4550, 切向力Y=-1507.6125 +FPS=35.50, 法向力=2369.6646, 切向力X=-120.5581, 切向力Y=-1109.5807 +FPS=39.19, 法向力=2308.8174, 切向力X=-276.3111, 切向力Y=-1217.1379 +FPS=46.11, 法向力=2197.2808, 切向力X=222.5766, 切向力Y=-2239.3779 +FPS=64.84, 法向力=2255.6936, 切向力X=252.4660, 切向力Y=-2535.5703 +FPS=31.36, 法向力=2262.0864, 切向力X=245.1572, 切向力Y=-2579.8647 +FPS=61.43, 法向力=1380.7214, 切向力X=208.6651, 切向力Y=-696.3581 +FPS=31.21, 法向力=1286.7345, 切向力X=254.2824, 切向力Y=-397.2877 +FPS=40.32, 法向力=1994.8149, 切向力X=-32.6643, 切向力Y=-722.8809 +FPS=47.34, 法向力=2084.7427, 切向力X=-41.4652, 切向力Y=-481.5447 +FPS=38.69, 法向力=1812.6309, 切向力X=-323.7819, 切向力Y=-345.3985 +FPS=27.30, 法向力=1763.5120, 切向力X=205.9919, 切向力Y=-727.5112 +FPS=38.79, 法向力=1934.1172, 切向力X=295.0781, 切向力Y=-899.4321 +FPS=46.73, 法向力=1923.8314, 切向力X=288.3572, 切向力Y=-931.9921 +FPS=39.37, 法向力=1930.9587, 切向力X=497.5272, 切向力Y=-379.4354 +FPS=44.98, 法向力=1975.7294, 切向力X=632.4708, 切向力Y=-81.3595 +FPS=39.76, 法向力=1982.7158, 切向力X=1673.0551, 切向力Y=-1245.6145 +FPS=41.77, 法向力=1989.5559, 切向力X=1638.2922, 切向力Y=-1295.0126 +FPS=41.91, 法向力=2440.4951, 切向力X=2153.7632, 切向力Y=-1788.4810 +FPS=27.60, 法向力=1798.0002, 切向力X=1825.1765, 切向力Y=-1931.3528 +FPS=38.70, 法向力=1887.9724, 切向力X=1852.6665, 切向力Y=-2106.6997 +FPS=45.45, 法向力=1888.4097, 切向力X=1831.6931, 切向力Y=-2151.8904 +FPS=39.70, 法向力=1513.4861, 切向力X=1866.6362, 切向力Y=-1888.4106 +FPS=46.40, 法向力=1594.5996, 切向力X=1881.5900, 切向力Y=-1885.8630 +FPS=63.31, 法向力=2274.3140, 切向力X=2804.9819, 切向力Y=-1786.3062 +FPS=33.58, 法向力=2339.9355, 切向力X=2796.8955, 切向力Y=-1879.8274 +FPS=38.81, 法向力=1928.5011, 切向力X=1766.3241, 切向力Y=-1679.0219 +FPS=27.62, 法向力=1244.9452, 切向力X=1452.7701, 切向力Y=533.1342 +FPS=38.43, 法向力=1211.5144, 切向力X=1417.8285, 切向力Y=915.1582 +FPS=27.43, 法向力=1505.8455, 切向力X=1598.9285, 切向力Y=-823.4492 +FPS=37.65, 法向力=1518.4666, 切向力X=1614.9055, 切向力Y=-886.1570 +FPS=26.98, 法向力=1155.9087, 切向力X=1854.5502, 切向力Y=-713.3724 +FPS=61.10, 法向力=1810.4420, 切向力X=2126.0762, 切向力Y=-1005.9638 +FPS=32.99, 法向力=1768.0325, 切向力X=2113.4963, 切向力Y=-1127.2664 +FPS=39.89, 法向力=1775.5051, 切向力X=2155.9653, 切向力Y=-1121.0779 +FPS=61.50, 法向力=1776.4312, 切向力X=1904.8391, 切向力Y=-800.6487 +FPS=53.50, 法向力=1637.0162, 切向力X=1891.0293, 切向力Y=-486.6189 +FPS=59.53, 法向力=1908.5391, 切向力X=1949.0010, 切向力Y=-1977.0082 +FPS=53.16, 法向力=1928.0280, 切向力X=1998.7820, 切向力Y=-2053.4329 +FPS=33.94, 法向力=1604.0569, 切向力X=1389.1243, 切向力Y=-1909.2012 +FPS=37.96, 法向力=1715.0896, 切向力X=1381.4497, 切向力Y=-1663.0771 +FPS=46.57, 法向力=1900.4329, 切向力X=1691.2296, 切向力Y=-1435.5171 +FPS=38.72, 法向力=1836.4294, 切向力X=1712.9916, 切向力Y=-1345.2903 +FPS=45.98, 法向力=1891.3866, 切向力X=1673.6560, 切向力Y=-1429.1523 +FPS=32.88, 法向力=1657.3699, 切向力X=1924.2211, 切向力Y=-2128.7739 +FPS=60.05, 法向力=1745.5417, 切向力X=2199.4612, 切向力Y=-2097.5657 +FPS=54.25, 法向力=1617.9056, 切向力X=1630.4152, 切向力Y=-1566.3823 +FPS=35.63, 法向力=1647.1228, 切向力X=1657.2743, 切向力Y=-1600.4409 +FPS=37.51, 法向力=1981.4502, 切向力X=2373.6528, 切向力Y=-1619.6282 +FPS=52.23, 法向力=1915.7622, 切向力X=2373.5706, 切向力Y=-1584.2886 +FPS=61.07, 法向力=1312.1113, 切向力X=1802.2253, 切向力Y=-925.3212 +FPS=31.55, 法向力=1376.3710, 切向力X=1887.9749, 切向力Y=-805.0411 +FPS=61.39, 法向力=1370.7944, 切向力X=1811.4321, 切向力Y=-772.3300 +FPS=31.67, 法向力=1816.9462, 切向力X=1864.6018, 切向力Y=-1303.6384 +FPS=55.78, 法向力=1858.9299, 切向力X=1822.5061, 切向力Y=-1266.3223 +FPS=34.64, 法向力=1983.4231, 切向力X=1883.7516, 切向力Y=-2230.9653 +FPS=58.80, 法向力=1960.7366, 切向力X=1836.6143, 切向力Y=-2345.0200 +FPS=51.70, 法向力=2146.5366, 切向力X=1432.4376, 切向力Y=-1183.1838 +FPS=36.52, 法向力=2137.7542, 切向力X=1475.0687, 切向力Y=-1162.6449 +FPS=32.10, 法向力=2376.1626, 切向力X=1998.5006, 切向力Y=-1101.4009 +FPS=58.89, 法向力=2455.5752, 切向力X=2054.0713, 切向力Y=-1011.1611 +FPS=51.61, 法向力=1997.9287, 切向力X=2059.3013, 切向力Y=-1366.4806 +FPS=38.80, 法向力=1921.1714, 切向力X=1897.4807, 切向力Y=-1375.8718 +FPS=31.52, 法向力=1573.3723, 切向力X=1910.6218, 切向力Y=-483.8950 +FPS=38.41, 法向力=1460.0408, 切向力X=2653.3442, 切向力Y=-980.4009 +FPS=50.39, 法向力=1554.9374, 切向力X=2723.9263, 切向力Y=-1043.7841 +FPS=29.46, 法向力=1636.8877, 切向力X=2775.8447, 切向力Y=-1181.4978 +FPS=32.29, 法向力=1893.9152, 切向力X=1873.3134, 切向力Y=75.4761 +FPS=32.22, 法向力=2129.2603, 切向力X=1712.8672, 切向力Y=-112.5629 +FPS=32.34, 法向力=2120.8184, 切向力X=1716.5742, 切向力Y=-142.1866 +FPS=31.52, 法向力=1352.4922, 切向力X=2275.5894, 切向力Y=-1927.5454 +FPS=37.77, 法向力=1355.1680, 切向力X=2176.3894, 切向力Y=-1863.6428 +FPS=49.70, 法向力=1544.2710, 切向力X=1989.5176, 切向力Y=-2658.6094 +FPS=35.71, 法向力=1615.3792, 切向力X=2068.6592, 切向力Y=-2646.5623 +FPS=49.37, 法向力=1519.2611, 切向力X=1837.2888, 切向力Y=-1499.3407 +FPS=36.80, 法向力=1525.2445, 切向力X=1698.0248, 切向力Y=-1233.4944 +FPS=53.12, 法向力=2279.8843, 切向力X=2736.9609, 切向力Y=-1553.5144 +FPS=29.29, 法向力=1738.4998, 切向力X=1970.2139, 切向力Y=-1113.2710 +FPS=37.38, 法向力=1833.1931, 切向力X=1944.6191, 切向力Y=-822.9064 +FPS=47.40, 法向力=1745.0859, 切向力X=1917.6865, 切向力Y=-826.8138 +FPS=40.76, 法向力=1845.5671, 切向力X=1899.5120, 切向力Y=-721.6814 +FPS=51.08, 法向力=1852.1045, 切向力X=1794.4585, 切向力Y=-663.6901 +FPS=30.34, 法向力=1727.8020, 切向力X=1803.7603, 切向力Y=-903.7231 +FPS=31.99, 法向力=1733.7146, 切向力X=1833.3021, 切向力Y=-1010.0566 +FPS=31.82, 法向力=1335.6228, 切向力X=1968.3790, 切向力Y=-1778.9429 +FPS=32.41, 法向力=1749.8743, 切向力X=2032.8552, 切向力Y=-892.6359 +FPS=31.34, 法向力=1901.2430, 切向力X=2004.2701, 切向力Y=-822.1213 +FPS=31.62, 法向力=1629.7407, 切向力X=1708.9034, 切向力Y=-79.8090 +FPS=58.87, 法向力=1668.8624, 切向力X=1730.8940, 切向力Y=-48.7367 +FPS=51.48, 法向力=2004.0964, 切向力X=1679.9628, 切向力Y=-2129.4111 +FPS=45.43, 法向力=2088.8271, 切向力X=1655.5811, 切向力Y=-2199.0571 +FPS=27.70, 法向力=1613.8423, 切向力X=1919.3220, 切向力Y=-2388.8469 +FPS=61.02, 法向力=1679.5505, 切向力X=1946.0078, 切向力Y=-2337.7598 +FPS=51.86, 法向力=1527.1293, 切向力X=2090.9641, 切向力Y=-823.6556 +FPS=43.05, 法向力=1519.6064, 切向力X=2152.0415, 切向力Y=-715.8062 +FPS=62.12, 法向力=1545.8047, 切向力X=2184.8145, 切向力Y=-692.5554 +FPS=49.59, 法向力=1215.0654, 切向力X=1784.5961, 切向力Y=-1601.6726 +FPS=31.34, 法向力=1386.8462, 切向力X=1968.1710, 切向力Y=-1499.8076 +FPS=31.98, 法向力=1638.3864, 切向力X=1888.9364, 切向力Y=-2031.2147 +FPS=55.03, 法向力=1605.3364, 切向力X=1907.0015, 切向力Y=-2133.2432 +FPS=35.36, 法向力=1580.5436, 切向力X=1707.5525, 切向力Y=-922.3525 +FPS=38.62, 法向力=2073.6602, 切向力X=2419.5132, 切向力Y=-377.1389 +FPS=50.72, 法向力=2060.6064, 切向力X=2495.2471, 切向力Y=-400.0007 +FPS=31.16, 法向力=1735.4437, 切向力X=1971.3407, 切向力Y=-2576.5107 +FPS=31.65, 法向力=1747.9447, 切向力X=2041.2523, 切向力Y=-2707.8877 +FPS=31.90, 法向力=1776.3228, 切向力X=1395.9087, 切向力Y=-1535.6506 +FPS=31.77, 法向力=1863.4476, 切向力X=2060.8867, 切向力Y=-2121.2629 +FPS=32.37, 法向力=1773.2141, 切向力X=2092.1694, 切向力Y=-2057.9536 +FPS=31.17, 法向力=1898.7988, 切向力X=2181.9136, 切向力Y=-2278.6562 +FPS=38.39, 法向力=1992.0828, 切向力X=2084.7004, 切向力Y=-2300.7773 +FPS=61.51, 法向力=2030.6058, 切向力X=2080.1377, 切向力Y=-2258.2512 +FPS=51.17, 法向力=1466.0476, 切向力X=2343.0776, 切向力Y=-726.9758 +FPS=36.08, 法向力=1572.0139, 切向力X=2440.7651, 切向力Y=-720.0496 +FPS=50.47, 法向力=1755.6656, 切向力X=2178.4438, 切向力Y=-2106.7332 +FPS=36.44, 法向力=1804.8420, 切向力X=2392.4568, 切向力Y=-2114.6060 +FPS=46.33, 法向力=2019.1262, 切向力X=2714.5254, 切向力Y=-1860.7607 +FPS=38.56, 法向力=1996.4803, 切向力X=2606.6941, 切向力Y=-1792.8589 +FPS=46.67, 法向力=1530.2378, 切向力X=2247.6897, 切向力Y=-1919.5735 +FPS=38.95, 法向力=1593.6265, 切向力X=2283.5081, 切向力Y=-1873.5240 +FPS=47.52, 法向力=2396.1436, 切向力X=2313.6340, 切向力Y=-2323.8716 +FPS=63.89, 法向力=2401.8655, 切向力X=2351.2056, 切向力Y=-2270.8813 +FPS=59.24, 法向力=2292.1562, 切向力X=2927.4949, 切向力Y=-2536.2329 +FPS=51.39, 法向力=2376.6255, 切向力X=2996.5356, 切向力Y=-2451.1616 +FPS=45.41, 法向力=2352.8965, 切向力X=2946.1257, 切向力Y=-2470.7927 +FPS=65.73, 法向力=2409.5352, 切向力X=2987.8069, 切向力Y=-2448.7000 +FPS=52.81, 法向力=2285.0374, 切向力X=2954.3892, 切向力Y=-1459.5819 +FPS=68.31, 法向力=2252.2290, 切向力X=2821.7129, 切向力Y=-1344.4546 +FPS=66.04, 法向力=2253.3826, 切向力X=2763.3823, 切向力Y=-1472.2051 +FPS=53.73, 法向力=1580.7454, 切向力X=2335.6609, 切向力Y=-2234.9053 +FPS=37.07, 法向力=1603.7476, 切向力X=2278.4116, 切向力Y=-2180.5220 +FPS=27.93, 法向力=1604.9438, 切向力X=2546.9763, 切向力Y=-1841.3673 +FPS=60.75, 法向力=1609.1099, 切向力X=2613.5444, 切向力Y=-1784.9148 +FPS=31.68, 法向力=1770.7603, 切向力X=2846.6699, 切向力Y=1529.2336 +FPS=61.29, 法向力=1767.4612, 切向力X=2878.8064, 切向力Y=1868.1399 +FPS=34.01, 法向力=1640.1541, 切向力X=3102.8108, 切向力Y=2868.7920 +FPS=31.29, 法向力=1170.4746, 切向力X=3112.9497, 切向力Y=3169.9966 +FPS=30.83, 法向力=1172.4016, 切向力X=3200.6729, 切向力Y=3265.7026 +FPS=33.02, 法向力=1570.4097, 切向力X=3565.6450, 切向力Y=975.8761 +FPS=32.07, 法向力=1403.0309, 切向力X=3054.4639, 切向力Y=2088.3472 +FPS=31.48, 法向力=1474.5358, 切向力X=2981.8762, 切向力Y=2236.1951 +FPS=32.32, 法向力=1645.0404, 切向力X=2785.4275, 切向力Y=-430.1337 +FPS=31.11, 法向力=1626.1168, 切向力X=2859.2573, 切向力Y=-590.3842 +FPS=36.35, 法向力=1720.6060, 切向力X=2669.0759, 切向力Y=-3901.5864 +FPS=47.25, 法向力=1665.6652, 切向力X=2408.7656, 切向力Y=-4087.4131 +FPS=38.15, 法向力=2260.9263, 切向力X=2672.2395, 切向力Y=-8481.8203 +FPS=27.40, 法向力=1597.5684, 切向力X=2427.3750, 切向力Y=-7520.8350 +FPS=32.72, 法向力=1670.9419, 切向力X=2453.2715, 切向力Y=-7747.3179 +FPS=31.11, 法向力=2497.9302, 切向力X=2397.4697, 切向力Y=-7853.2324 +FPS=37.89, 法向力=2571.9658, 切向力X=2448.1123, 切向力Y=-7857.4580 +FPS=48.75, 法向力=1551.9626, 切向力X=2150.7578, 切向力Y=-7494.2852 +FPS=39.45, 法向力=1447.6560, 切向力X=2058.7041, 切向力Y=-7637.8984 +FPS=51.96, 法向力=2646.5522, 切向力X=2454.0923, 切向力Y=-6336.6826 +FPS=30.97, 法向力=2786.2979, 切向力X=2446.3699, 切向力Y=-6163.5728 +FPS=59.96, 法向力=1780.3119, 切向力X=3059.9507, 切向力Y=-5283.8921 +FPS=50.25, 法向力=1744.1394, 切向力X=3137.1885, 切向力Y=-5287.9980 +FPS=47.77, 法向力=1812.8833, 切向力X=3161.3809, 切向力Y=-5376.7979 +FPS=52.93, 法向力=1904.0594, 切向力X=2430.8059, 切向力Y=-5685.8550 +FPS=30.98, 法向力=1977.3431, 切向力X=2491.0674, 切向力Y=-5820.8984 +FPS=31.73, 法向力=2385.8789, 切向力X=3604.0574, 切向力Y=-4179.8804 +FPS=58.62, 法向力=2372.4185, 切向力X=3737.4128, 切向力Y=-4377.8350 +FPS=51.96, 法向力=2847.8394, 切向力X=4197.7129, 切向力Y=-3822.3804 +FPS=36.09, 法向力=2811.5859, 切向力X=4220.5654, 切向力Y=-3690.3135 +FPS=38.46, 法向力=2390.0632, 切向力X=3413.9355, 切向力Y=-2104.7183 +FPS=27.09, 法向力=2358.5449, 切向力X=4908.8794, 切向力Y=-1337.1017 +FPS=38.67, 法向力=2376.5076, 切向力X=4953.2720, 切向力Y=-1348.9781 +FPS=44.87, 法向力=2290.2839, 切向力X=3574.0850, 切向力Y=-1347.5071 +FPS=33.26, 法向力=2252.0742, 切向力X=3477.0334, 切向力Y=-1133.1293 +FPS=37.25, 法向力=2302.8564, 切向力X=3424.8630, 切向力Y=-1014.5579 +FPS=50.40, 法向力=2270.2449, 切向力X=3588.2632, 切向力Y=-1267.8401 +FPS=30.49, 法向力=2346.3401, 切向力X=3365.8667, 切向力Y=-1103.0093 +FPS=32.83, 法向力=2299.0786, 切向力X=3312.3291, 切向力Y=-963.6392 +FPS=37.60, 法向力=2065.8135, 切向力X=3606.9524, 切向力Y=-535.6547 +FPS=63.14, 法向力=2112.1216, 切向力X=3740.1387, 切向力Y=-600.4294 +FPS=49.22, 法向力=2304.2612, 切向力X=2894.8557, 切向力Y=-1193.7729 +FPS=30.33, 法向力=2335.3904, 切向力X=2892.9023, 切向力Y=-1158.4764 +FPS=33.65, 法向力=2900.2061, 切向力X=3210.0571, 切向力Y=-2610.9084 +FPS=36.34, 法向力=2910.8906, 切向力X=3391.2231, 切向力Y=-2551.6196 +FPS=49.44, 法向力=3079.5791, 切向力X=3946.0222, 切向力Y=-3673.1768 +FPS=32.11, 法向力=1703.4600, 切向力X=3178.1919, 切向力Y=-5061.7432 +FPS=32.79, 法向力=1616.0006, 切向力X=3073.5210, 切向力Y=-5319.2471 +FPS=31.79, 法向力=2160.5898, 切向力X=2824.0176, 切向力Y=-5390.5859 +FPS=37.22, 法向力=2112.8608, 切向力X=2637.1350, 切向力Y=-4930.5615 +FPS=47.05, 法向力=1817.3225, 切向力X=3105.2681, 切向力Y=-6704.2012 +FPS=32.41, 法向力=2006.5015, 切向力X=3425.0239, 切向力Y=-6863.5669 +FPS=60.79, 法向力=1940.9158, 切向力X=3388.5703, 切向力Y=-6757.5996 +FPS=54.72, 法向力=1974.8391, 切向力X=3831.2278, 切向力Y=-5023.8696 +FPS=36.27, 法向力=2063.8909, 切向力X=3819.1895, 切向力Y=-4834.3877 +FPS=31.19, 法向力=2254.0840, 切向力X=3664.9971, 切向力Y=-5601.3237 +FPS=62.94, 法向力=2332.0510, 切向力X=3606.6738, 切向力Y=-5663.3242 +FPS=52.78, 法向力=1428.5813, 切向力X=3891.7051, 切向力Y=-7372.1836 +FPS=35.64, 法向力=1388.5662, 切向力X=3987.5437, 切向力Y=-7328.7573 +FPS=31.67, 法向力=1611.5674, 切向力X=3751.4634, 切向力Y=-5837.2217 +FPS=37.55, 法向力=2319.5583, 切向力X=3527.6611, 切向力Y=-3790.9480 +FPS=51.78, 法向力=2437.4019, 切向力X=3697.9517, 切向力Y=-3937.1475 +FPS=61.90, 法向力=2419.4893, 切向力X=3642.4355, 切向力Y=-3961.0869 +FPS=54.48, 法向力=1810.7910, 切向力X=3566.6631, 切向力Y=-3346.8533 +FPS=32.76, 法向力=2033.6449, 切向力X=3783.3230, 切向力Y=-3198.3633 +FPS=58.49, 法向力=2014.2992, 切向力X=3741.6582, 切向力Y=-3312.4355 +FPS=52.12, 法向力=1775.9714, 切向力X=3254.6094, 切向力Y=-2120.2979 +FPS=45.18, 法向力=1770.8235, 切向力X=3226.6174, 切向力Y=-2038.6329 +FPS=28.73, 法向力=1974.2001, 切向力X=3701.4729, 切向力Y=-4513.5762 +FPS=57.77, 法向力=2051.3423, 切向力X=3854.3687, 切向力Y=-4831.7041 +FPS=52.56, 法向力=2019.1262, 切向力X=3530.9985, 切向力Y=-4601.7490 +FPS=44.43, 法向力=2010.6753, 切向力X=3535.2512, 切向力Y=-4610.7852 +FPS=46.09, 法向力=1158.8008, 切向力X=3128.9058, 切向力Y=-1986.9087 +FPS=32.60, 法向力=1120.4125, 切向力X=3161.1323, 切向力Y=-1060.6182 +FPS=31.40, 法向力=1999.0559, 切向力X=3682.3906, 切向力Y=-1742.9417 +FPS=32.89, 法向力=1635.9537, 切向力X=3428.5762, 切向力Y=-2268.4009 +FPS=32.94, 法向力=1874.0669, 切向力X=3616.7000, 切向力Y=-2379.3865 +FPS=32.08, 法向力=1622.7581, 切向力X=3841.0034, 切向力Y=-355.0688 +FPS=30.76, 法向力=1968.5021, 切向力X=3397.5669, 切向力Y=-3379.5332 +FPS=32.68, 法向力=2057.5569, 切向力X=3379.8398, 切向力Y=-3448.7090 +FPS=31.48, 法向力=2230.8088, 切向力X=3544.5435, 切向力Y=-2034.2594 +FPS=32.40, 法向力=2376.2668, 切向力X=3680.9170, 切向力Y=-2034.2411 +FPS=31.86, 法向力=1946.5537, 切向力X=3794.5569, 切向力Y=-2147.7959 +FPS=30.96, 法向力=1736.7583, 切向力X=3897.7095, 切向力Y=-1806.9026 +FPS=31.92, 法向力=1658.8562, 切向力X=3942.6614, 切向力Y=-1436.4866 +FPS=38.48, 法向力=1499.6377, 切向力X=3143.7637, 切向力Y=-1866.8711 +FPS=27.69, 法向力=1519.5474, 切向力X=3168.7397, 切向力Y=-1712.3849 +FPS=31.49, 法向力=2077.3701, 切向力X=3588.4678, 切向力Y=-1867.6057 +FPS=60.34, 法向力=2120.7949, 切向力X=3685.4229, 切向力Y=-2067.5542 +FPS=54.77, 法向力=2199.8928, 切向力X=3972.6597, 切向力Y=-2220.2451 +FPS=41.68, 法向力=2106.4717, 切向力X=3959.6772, 切向力Y=-2260.5991 +FPS=48.53, 法向力=2006.1354, 切向力X=3203.7158, 切向力Y=-2780.8740 +FPS=31.83, 法向力=2007.7300, 切向力X=2987.4812, 切向力Y=-2759.7974 +FPS=62.11, 法向力=2033.5616, 切向力X=3005.4631, 切向力Y=-2600.4858 +FPS=32.10, 法向力=1412.3964, 切向力X=3138.6465, 切向力Y=-2474.9336 +FPS=63.40, 法向力=1424.9977, 切向力X=3248.1733, 切向力Y=-2555.0603 +FPS=38.12, 法向力=1981.9030, 切向力X=3559.5293, 切向力Y=-2004.2104 +FPS=48.78, 法向力=2058.1440, 切向力X=3639.1216, 切向力Y=-1923.9814 +FPS=36.73, 法向力=1752.9043, 切向力X=2795.5347, 切向力Y=-2415.7627 +FPS=27.68, 法向力=1440.4785, 切向力X=3002.0361, 切向力Y=-2294.1289 +FPS=37.68, 法向力=1489.5160, 切向力X=3181.3635, 切向力Y=-2410.8555 +FPS=45.42, 法向力=1665.3199, 切向力X=3163.1406, 切向力Y=-1501.4664 +FPS=38.29, 法向力=1575.6326, 切向力X=3218.1372, 切向力Y=-1499.1798 +FPS=45.89, 法向力=1976.9042, 切向力X=3349.3804, 切向力Y=-1628.3799 +FPS=42.61, 法向力=1941.9194, 切向力X=3334.4858, 切向力Y=-1670.0060 +FPS=62.53, 法向力=1652.0834, 切向力X=3428.1943, 切向力Y=-2105.9910 +FPS=50.34, 法向力=1779.3333, 切向力X=3484.8193, 切向力Y=-2041.4446 +FPS=36.38, 法向力=1791.4851, 切向力X=3518.6558, 切向力Y=-2061.2166 +FPS=26.77, 法向力=2743.5217, 切向力X=3826.5527, 切向力Y=-3812.3440 +FPS=31.70, 法向力=1983.5110, 切向力X=3833.7180, 切向力Y=-1643.2500 +FPS=31.76, 法向力=2023.8074, 切向力X=3841.5986, 切向力Y=-1594.5903 +FPS=31.24, 法向力=1618.2498, 切向力X=3521.3364, 切向力Y=-1689.1902 +FPS=38.08, 法向力=1761.9167, 切向力X=3326.1257, 切向力Y=-1565.5615 +FPS=49.68, 法向力=1929.5885, 切向力X=3266.6082, 切向力Y=-1794.9823 +FPS=31.02, 法向力=1767.9592, 切向力X=3547.0034, 切向力Y=-2906.7480 +FPS=31.00, 法向力=1711.0073, 切向力X=3444.6699, 切向力Y=-2979.9795 +FPS=37.79, 法向力=2000.6533, 切向力X=3331.8198, 切向力Y=-2174.9468 +FPS=27.57, 法向力=1850.3873, 切向力X=3543.8530, 切向力Y=-1560.7833 +FPS=37.70, 法向力=1922.2520, 切向力X=3578.9802, 切向力Y=-1512.0359 +FPS=43.37, 法向力=1792.4546, 切向力X=3995.6670, 切向力Y=-1892.1877 +FPS=33.60, 法向力=1804.5841, 切向力X=3842.5229, 切向力Y=-1986.9578 +FPS=32.74, 法向力=1675.2091, 切向力X=3314.1335, 切向力Y=-2231.2290 +FPS=31.97, 法向力=1763.1709, 切向力X=3498.9392, 切向力Y=-2189.3315 +FPS=37.90, 法向力=1803.3887, 切向力X=3735.7305, 切向力Y=-2772.0977 +FPS=48.90, 法向力=1722.1844, 切向力X=3718.1216, 切向力Y=-2910.4424 +FPS=61.40, 法向力=1830.9392, 切向力X=2885.6697, 切向力Y=-3003.8525 +FPS=38.96, 法向力=1833.7321, 切向力X=2906.1719, 切向力Y=-2799.2397 +FPS=50.34, 法向力=1849.7737, 切向力X=2913.3655, 切向力Y=-2824.7551 +FPS=36.44, 法向力=1985.8008, 切向力X=3214.9023, 切向力Y=-4081.2461 +FPS=47.48, 法向力=2025.9458, 切向力X=3194.0759, 切向力Y=-4033.1748 +FPS=33.11, 法向力=1713.0015, 切向力X=3563.1162, 切向力Y=-3298.1123 +FPS=56.99, 法向力=1626.7839, 切向力X=3514.6187, 切向力Y=-3301.4526 +FPS=50.05, 法向力=1125.5240, 切向力X=2982.0312, 切向力Y=-2383.2410 +FPS=49.24, 法向力=1126.9624, 切向力X=2924.2344, 切向力Y=-2152.5122 +FPS=50.32, 法向力=2001.4269, 切向力X=3434.0718, 切向力Y=-2744.8335 +FPS=31.25, 法向力=2035.5385, 切向力X=3492.1670, 切向力Y=-2743.1741 +FPS=61.14, 法向力=2013.4799, 切向力X=3505.0225, 切向力Y=-2784.6733 +FPS=37.96, 法向力=1799.4758, 切向力X=3757.2375, 切向力Y=-2172.1465 +FPS=50.64, 法向力=1836.0598, 切向力X=3869.0813, 切向力Y=-2231.7686 +FPS=35.69, 法向力=2221.7844, 切向力X=3631.7056, 切向力Y=-2322.1721 +FPS=50.27, 法向力=2359.2603, 切向力X=3601.0762, 切向力Y=-2302.8499 +FPS=30.93, 法向力=1403.6569, 切向力X=2375.7900, 切向力Y=-3047.2463 +FPS=36.99, 法向力=1479.7458, 切向力X=2308.1309, 切向力Y=-2357.2461 +FPS=48.09, 法向力=1536.1667, 切向力X=2328.2832, 切向力Y=-2147.0535 +FPS=31.08, 法向力=2161.3306, 切向力X=3334.6245, 切向力Y=-3997.2964 +FPS=30.95, 法向力=2218.3066, 切向力X=3511.7510, 切向力Y=-3962.3936 +FPS=31.66, 法向力=2178.1680, 切向力X=3316.1765, 切向力Y=-3763.4854 +FPS=38.41, 法向力=1775.5088, 切向力X=3591.2485, 切向力Y=-3419.0986 +FPS=52.10, 法向力=1754.1174, 切向力X=3584.9712, 切向力Y=-3440.1284 +FPS=30.60, 法向力=1995.0828, 切向力X=2914.5886, 切向力Y=-2229.4683 +FPS=37.20, 法向力=1867.9937, 切向力X=2774.2175, 切向力Y=-2115.4399 +FPS=50.32, 法向力=1952.1884, 切向力X=2806.0200, 切向力Y=-2115.7285 +FPS=30.12, 法向力=2045.1066, 切向力X=3314.8984, 切向力Y=-2470.1536 +FPS=41.35, 法向力=2098.2773, 切向力X=3403.5410, 切向力Y=-2356.1543 +FPS=49.28, 法向力=1702.0281, 切向力X=2433.9409, 切向力Y=-2380.2273 +FPS=31.28, 法向力=2406.3887, 切向力X=3027.4746, 切向力Y=-2766.1675 +FPS=32.28, 法向力=2440.4714, 切向力X=3058.3352, 切向力Y=-2861.3447 +FPS=31.54, 法向力=1824.7769, 切向力X=2480.7380, 切向力Y=-3321.2839 +FPS=31.06, 法向力=2026.9824, 切向力X=1883.3910, 切向力Y=-3645.4141 +FPS=31.34, 法向力=2003.1813, 切向力X=1792.3127, 切向力Y=-3519.2896 +FPS=33.17, 法向力=1974.6511, 切向力X=1122.5212, 切向力Y=-2381.9780 +FPS=32.18, 法向力=2021.6062, 切向力X=1031.4777, 切向力Y=-2182.0474 +FPS=30.90, 法向力=2260.4990, 切向力X=568.4783, 切向力Y=-4123.5332 +FPS=32.61, 法向力=2310.3489, 切向力X=468.5943, 切向力Y=-4089.2507 +FPS=32.27, 法向力=2633.2429, 切向力X=-45.8605, 切向力Y=-4802.9800 +FPS=63.25, 法向力=2575.9146, 切向力X=-87.8331, 切向力Y=-4777.1782 +FPS=52.06, 法向力=1481.3727, 切向力X=-1189.9216, 切向力Y=-3174.2288 +FPS=66.12, 法向力=1434.2135, 切向力X=-1241.4729, 切向力Y=-3253.3838 +FPS=59.87, 法向力=1447.2812, 切向力X=-1321.2393, 切向力Y=-3225.5747 +FPS=52.60, 法向力=1826.0630, 切向力X=-699.2607, 切向力Y=-3511.2229 +FPS=49.35, 法向力=1947.4609, 切向力X=-378.0104, 切向力Y=-3304.7612 +FPS=27.07, 法向力=3268.7007, 切向力X=-583.8477, 切向力Y=-4018.3696 +FPS=58.20, 法向力=3330.3662, 切向力X=-651.6843, 切向力Y=-3963.0552 +FPS=33.37, 法向力=2850.2485, 切向力X=-1422.4033, 切向力Y=-4652.1230 +FPS=64.00, 法向力=2734.8523, 切向力X=-1652.9321, 切向力Y=-4681.7998 +FPS=30.78, 法向力=1521.0439, 切向力X=-2176.6418, 切向力Y=-3762.1709 +FPS=60.41, 法向力=1510.7964, 切向力X=-2192.1555, 切向力Y=-3719.9790 +FPS=33.94, 法向力=2037.8105, 切向力X=-1618.1411, 切向力Y=-5104.3271 +FPS=37.96, 法向力=2052.6694, 切向力X=-1545.4774, 切向力Y=-5253.6021 +FPS=45.26, 法向力=1544.1841, 切向力X=-834.2047, 切向力Y=-4518.1309 +FPS=39.15, 法向力=1723.1367, 切向力X=-599.9989, 切向力Y=-4413.5142 +FPS=27.60, 法向力=1965.6432, 切向力X=-141.2844, 切向力Y=-4699.5684 +FPS=38.23, 法向力=1870.6814, 切向力X=122.6838, 切向力Y=-5026.6025 +FPS=47.97, 法向力=1826.4673, 切向力X=155.4020, 切向力Y=-4994.9199 +FPS=37.11, 法向力=2208.5637, 切向力X=389.8315, 切向力Y=-4152.0620 +FPS=62.26, 法向力=2275.3877, 切向力X=381.2190, 切向力Y=-4037.5068 +FPS=54.21, 法向力=2224.0667, 切向力X=423.9940, 切向力Y=-4091.5134 +FPS=29.39, 法向力=1635.2324, 切向力X=601.0178, 切向力Y=-5520.2021 +FPS=31.48, 法向力=2105.9680, 切向力X=1075.3420, 切向力Y=-6672.1982 +FPS=31.56, 法向力=2212.2920, 切向力X=1121.8789, 切向力Y=-6887.5591 +FPS=32.80, 法向力=2068.3945, 切向力X=457.1530, 切向力Y=-5660.2109 +FPS=31.55, 法向力=1986.9645, 切向力X=280.8986, 切向力Y=-7229.7061 +FPS=31.79, 法向力=1901.2789, 切向力X=294.1613, 切向力Y=-7299.1602 +FPS=37.99, 法向力=1916.0923, 切向力X=291.0718, 切向力Y=-7343.5293 +FPS=27.13, 法向力=2060.6096, 切向力X=1034.3130, 切向力Y=-6363.9004 +FPS=32.57, 法向力=1888.5637, 切向力X=1071.8126, 切向力Y=-5249.6436 +FPS=31.49, 法向力=2215.8120, 切向力X=195.8619, 切向力Y=-5388.9863 +FPS=31.99, 法向力=2331.6172, 切向力X=203.5908, 切向力Y=-4905.7422 +FPS=61.98, 法向力=2689.0161, 切向力X=1035.0243, 切向力Y=-6061.2256 +FPS=52.80, 法向力=2805.6929, 切向力X=1307.9880, 切向力Y=-6004.1318 +FPS=34.70, 法向力=2864.2078, 切向力X=1291.6143, 切向力Y=-6135.6133 +FPS=38.22, 法向力=1910.5928, 切向力X=416.2746, 切向力Y=-5706.7725 +FPS=50.16, 法向力=1874.5134, 切向力X=453.6865, 切向力Y=-5726.4834 +FPS=30.13, 法向力=1785.8993, 切向力X=587.0335, 切向力Y=-4737.8188 +FPS=56.86, 法向力=1719.0076, 切向力X=-309.0813, 切向力Y=-1738.6677 +FPS=54.22, 法向力=1700.9740, 切向力X=-265.2415, 切向力Y=-1823.7477 +FPS=43.37, 法向力=1683.5186, 切向力X=-278.5398, 切向力Y=-1742.7517 +FPS=46.62, 法向力=1515.1697, 切向力X=-195.9604, 切向力Y=-1993.6829 +FPS=32.77, 法向力=1531.7578, 切向力X=0.5087, 切向力Y=-2182.1938 +FPS=61.60, 法向力=1511.4137, 切向力X=14.9522, 切向力Y=-2152.0933 +FPS=54.10, 法向力=1347.2612, 切向力X=66.1607, 切向力Y=-355.1659 +FPS=35.03, 法向力=1392.0391, 切向力X=-9.4313, 切向力Y=-245.6174 +FPS=31.58, 法向力=1538.2322, 切向力X=-20.9216, 切向力Y=599.3547 +FPS=58.59, 法向力=1564.8069, 切向力X=29.2531, 切向力Y=698.3635 +FPS=50.18, 法向力=1204.6555, 切向力X=355.1513, 切向力Y=2355.0161 +FPS=66.75, 法向力=1274.7009, 切向力X=392.3754, 切向力Y=2534.2090 +FPS=63.65, 法向力=2305.8145, 切向力X=49.8796, 切向力Y=7983.9053 +FPS=52.54, 法向力=2128.5720, 切向力X=-13.7359, 切向力Y=8352.3311 +FPS=50.10, 法向力=2115.0088, 切向力X=-129.1980, 切向力Y=8612.6211 +FPS=63.62, 法向力=2322.2534, 切向力X=-746.6108, 切向力Y=11584.5029 +FPS=51.99, 法向力=2396.8872, 切向力X=-854.2042, 切向力Y=11655.7500 +FPS=62.98, 法向力=2411.6362, 切向力X=-834.1969, 切向力Y=11723.6084 +FPS=47.11, 法向力=3443.5505, 切向力X=-180.6714, 切向力Y=21330.8516 +FPS=42.50, 法向力=3308.3369, 切向力X=-97.8294, 切向力Y=21591.0820 +FPS=61.68, 法向力=3289.3315, 切向力X=-51.0379, 切向力Y=21634.2832 +FPS=44.97, 法向力=3747.3450, 切向力X=-373.8642, 切向力Y=17676.8770 +FPS=40.08, 法向力=3674.5735, 切向力X=-472.2937, 切向力Y=17664.7227 +FPS=27.45, 法向力=1843.2136, 切向力X=-1707.6807, 切向力Y=7440.7188 +FPS=63.60, 法向力=1852.0203, 切向力X=-1937.9163, 切向力Y=7254.0498 +FPS=52.73, 法向力=1672.9027, 切向力X=-2210.5923, 切向力Y=5395.6934 +FPS=65.17, 法向力=1691.0012, 切向力X=-2099.6550, 切向力Y=5325.9414 +FPS=62.68, 法向力=1727.0354, 切向力X=-2100.5645, 切向力Y=5315.9424 +FPS=52.30, 法向力=1713.3088, 切向力X=-1682.3279, 切向力Y=4241.7051 +FPS=49.82, 法向力=1626.2709, 切向力X=-1786.7236, 切向力Y=4141.1162 +FPS=46.00, 法向力=1801.9099, 切向力X=-1836.3237, 切向力Y=6120.5244 +FPS=65.12, 法向力=1773.8308, 切向力X=-1785.2954, 切向力Y=5963.5449 +FPS=32.31, 法向力=1615.7538, 切向力X=-2677.8774, 切向力Y=3587.5300 +FPS=38.06, 法向力=1714.0094, 切向力X=-2589.5176, 切向力Y=3512.2319 +FPS=44.04, 法向力=1566.1475, 切向力X=-2523.2419, 切向力Y=3375.7234 +FPS=42.77, 法向力=1553.5199, 切向力X=-2489.9800, 切向力Y=3444.7571 +FPS=46.38, 法向力=1622.7716, 切向力X=-2046.8584, 切向力Y=3289.0063 +FPS=37.98, 法向力=1580.5371, 切向力X=-2077.5840, 切向力Y=3278.2280 +FPS=27.08, 法向力=1747.9160, 切向力X=-2582.0256, 切向力Y=1354.6450 +FPS=38.09, 法向力=1735.3921, 切向力X=-2708.2576, 切向力Y=1050.7251 +FPS=45.77, 法向力=2089.8379, 切向力X=-2964.8728, 切向力Y=93.0514 +FPS=39.65, 法向力=2026.3652, 切向力X=-2920.1357, 切向力Y=223.4512 +FPS=60.37, 法向力=2023.0198, 切向力X=-2921.5400, 切向力Y=263.1686 +FPS=52.67, 法向力=2545.7690, 切向力X=-2540.8799, 切向力Y=-299.9645 +FPS=35.72, 法向力=2544.4146, 切向力X=-2534.0078, 切向力Y=-186.6339 +FPS=47.82, 法向力=2219.0991, 切向力X=-2776.9971, 切向力Y=-314.4341 +FPS=32.48, 法向力=1679.0496, 切向力X=-2675.7107, 切向力Y=1361.6335 +FPS=31.47, 法向力=1696.7000, 切向力X=-2636.6597, 切向力Y=1411.4839 +FPS=31.04, 法向力=3215.0752, 切向力X=-2762.0098, 切向力Y=1488.8334 +FPS=31.72, 法向力=1965.6727, 切向力X=-2996.5061, 切向力Y=1287.0981 +FPS=31.40, 法向力=1955.1611, 切向力X=-3163.9146, 切向力Y=1265.0740 +FPS=38.07, 法向力=1848.2637, 切向力X=-3191.2959, 切向力Y=1392.3960 +FPS=27.45, 法向力=2262.5874, 切向力X=-3238.8848, 切向力Y=365.3764 +FPS=39.67, 法向力=1756.7344, 切向力X=-2199.9058, 切向力Y=1398.6810 +FPS=48.81, 法向力=1889.1562, 切向力X=-1921.4749, 切向力Y=1203.0801 +FPS=61.02, 法向力=1865.8595, 切向力X=-1920.2458, 切向力Y=1319.2266 +FPS=53.16, 法向力=1804.6370, 切向力X=-1783.1912, 切向力Y=530.0731 +FPS=35.99, 法向力=1781.1987, 切向力X=-1812.7744, 切向力Y=787.4122 +FPS=32.27, 法向力=1605.9540, 切向力X=-2576.0457, 切向力Y=2456.0549 +FPS=61.54, 法向力=1631.2195, 切向力X=-2561.1174, 切向力Y=2560.2812 +FPS=52.71, 法向力=1638.2029, 切向力X=-1446.2812, 切向力Y=1263.3629 +FPS=34.61, 法向力=1619.0898, 切向力X=-1423.1992, 切向力Y=1175.4265 +FPS=31.03, 法向力=1355.2451, 切向力X=-1869.9620, 切向力Y=3120.5190 +FPS=56.95, 法向力=1389.6967, 切向力X=-1804.2697, 切向力Y=3332.6250 +FPS=40.60, 法向力=2206.0898, 切向力X=-1424.9081, 切向力Y=2985.2314 +FPS=46.37, 法向力=2283.9292, 切向力X=-1530.5520, 切向力Y=2966.8643 +FPS=32.98, 法向力=1717.8069, 切向力X=-1374.4290, 切向力Y=2465.6155 +FPS=36.78, 法向力=1706.3254, 切向力X=-1193.9502, 切向力Y=2555.8472 +FPS=45.39, 法向力=2354.9961, 切向力X=-1791.5378, 切向力Y=2411.1365 +FPS=41.58, 法向力=2355.5488, 切向力X=-1856.6927, 切向力Y=2466.8901 +FPS=49.34, 法向力=1696.2174, 切向力X=-2021.9371, 切向力Y=2249.1982 +FPS=32.64, 法向力=1663.1887, 切向力X=-2043.3564, 切向力Y=2193.7988 +FPS=31.28, 法向力=1869.6779, 切向力X=-1898.1396, 切向力Y=799.4467 +FPS=31.23, 法向力=1940.2229, 切向力X=-2677.5942, 切向力Y=523.8804 +FPS=31.93, 法向力=1943.3938, 切向力X=-2636.0007, 切向力Y=574.2250 +FPS=31.31, 法向力=2190.1787, 切向力X=-2516.3145, 切向力Y=1113.7478 +FPS=37.50, 法向力=2148.6143, 切向力X=-2569.6870, 切向力Y=1260.7791 +FPS=46.33, 法向力=1985.6006, 切向力X=-2144.2012, 切向力Y=532.3190 +FPS=31.93, 法向力=1638.3337, 切向力X=-2104.7087, 切向力Y=1038.9390 +FPS=33.06, 法向力=1678.9337, 切向力X=-2025.7493, 切向力Y=1142.5110 +FPS=30.65, 法向力=2346.6760, 切向力X=-2625.6890, 切向力Y=651.4597 +FPS=37.43, 法向力=2377.1177, 切向力X=-2718.1787, 切向力Y=640.2498 +FPS=41.86, 法向力=2402.4556, 切向力X=-3423.7812, 切向力Y=2470.3457 +FPS=35.78, 法向力=2239.5576, 切向力X=-3459.4958, 切向力Y=2564.0488 +FPS=32.12, 法向力=2252.1309, 切向力X=-3464.9458, 切向力Y=2571.1147 +FPS=31.03, 法向力=2893.8535, 切向力X=-3568.5979, 切向力Y=2495.6633 +FPS=31.73, 法向力=2991.5227, 切向力X=-3617.6155, 切向力Y=2441.0562 +FPS=37.89, 法向力=4143.5645, 切向力X=-3552.7349, 切向力Y=998.5218 +FPS=44.68, 法向力=4180.5283, 切向力X=-3541.6094, 切向力Y=861.7539 +FPS=56.65, 法向力=5600.0518, 切向力X=-3911.2832, 切向力Y=1970.5811 +FPS=44.70, 法向力=5657.5015, 切向力X=-3956.0820, 切向力Y=1821.1476 +FPS=47.25, 法向力=5656.2036, 切向力X=-3997.3054, 切向力Y=1917.8500 +FPS=32.16, 法向力=5287.9355, 切向力X=-4200.9453, 切向力Y=2627.1118 +FPS=32.07, 法向力=5357.2075, 切向力X=-4202.6191, 切向力Y=2754.9587 +FPS=32.13, 法向力=3919.9038, 切向力X=-4285.4082, 切向力Y=4875.8662 +FPS=62.79, 法向力=3972.2593, 切向力X=-4355.6064, 切向力Y=4850.7534 +FPS=51.73, 法向力=4754.0469, 切向力X=-3671.5166, 切向力Y=4330.1055 +FPS=45.30, 法向力=4780.0083, 切向力X=-3623.3755, 切向力Y=4727.9072 +FPS=47.56, 法向力=3344.0225, 切向力X=-2973.8242, 切向力Y=5560.7988 +FPS=32.75, 法向力=3350.9558, 切向力X=-3032.1499, 切向力Y=5693.4287 +FPS=32.03, 法向力=3321.3105, 切向力X=-3008.6309, 切向力Y=5721.0234 +FPS=59.65, 法向力=3322.7029, 切向力X=-3012.6968, 切向力Y=5715.0542 +FPS=50.13, 法向力=2663.5981, 切向力X=-1998.0374, 切向力Y=1330.8019 +FPS=47.45, 法向力=2720.8130, 切向力X=-1967.9264, 切向力Y=1091.3651 +FPS=62.11, 法向力=2555.7244, 切向力X=302.0154, 切向力Y=845.6177 +FPS=54.52, 法向力=2543.1626, 切向力X=416.5223, 切向力Y=947.9058 +FPS=29.54, 法向力=3163.2249, 切向力X=58.8229, 切向力Y=3207.1938 +FPS=32.35, 法向力=3195.7168, 切向力X=29.2741, 切向力Y=3385.7441 +FPS=32.32, 法向力=4076.9924, 切向力X=-566.7001, 切向力Y=3441.1128 +FPS=31.65, 法向力=4006.4243, 切向力X=-493.9893, 切向力Y=3527.5645 +FPS=36.84, 法向力=3029.3652, 切向力X=-237.5317, 切向力Y=1758.0377 +FPS=45.28, 法向力=2980.7786, 切向力X=-264.0749, 切向力Y=1692.4294 +FPS=55.92, 法向力=2614.6323, 切向力X=-373.8195, 切向力Y=906.7164 +FPS=36.14, 法向力=2550.6138, 切向力X=-422.1165, 切向力Y=1023.9009 +FPS=32.33, 法向力=2583.6655, 切向力X=-1079.7233, 切向力Y=2003.2537 +FPS=31.97, 法向力=2544.1069, 切向力X=-1095.9697, 切向力Y=2093.3149 +FPS=31.73, 法向力=2509.5771, 切向力X=-1169.1973, 切向力Y=2108.1118 +FPS=38.88, 法向力=2758.9729, 切向力X=-1466.5275, 切向力Y=2598.1235 +FPS=47.28, 法向力=2644.2505, 切向力X=-1383.3237, 切向力Y=2658.2947 +FPS=61.40, 法向力=2325.9910, 切向力X=-1439.3328, 切向力Y=1554.2322 +FPS=52.44, 法向力=2334.1543, 切向力X=-1398.1871, 切向力Y=1533.3142 +FPS=45.44, 法向力=2228.5725, 切向力X=-1464.2987, 切向力Y=1590.4100 +FPS=27.36, 法向力=2504.5854, 切向力X=-2173.1619, 切向力Y=1661.3337 +FPS=28.84, 法向力=2436.5833, 切向力X=-2281.9089, 切向力Y=1767.1501 +FPS=44.26, 法向力=2430.7166, 切向力X=-1789.2786, 切向力Y=315.2172 +FPS=26.83, 法向力=1742.3303, 切向力X=-2378.6099, 切向力Y=3592.6060 +FPS=41.33, 法向力=1772.0206, 切向力X=-2348.1807, 切向力Y=3429.4495 +FPS=46.07, 法向力=2215.9675, 切向力X=-2160.7773, 切向力Y=1810.4348 +FPS=33.35, 法向力=2247.7646, 切向力X=-2090.6194, 切向力Y=1594.5928 +FPS=32.17, 法向力=2074.5464, 切向力X=-2661.7236, 切向力Y=2927.9036 +FPS=32.58, 法向力=1958.5924, 切向力X=-2668.9221, 切向力Y=2935.1128 +FPS=31.02, 法向力=1953.4973, 切向力X=-2674.3469, 切向力Y=2893.3105 +FPS=31.52, 法向力=1745.1277, 切向力X=-2868.4619, 切向力Y=1258.9396 +FPS=31.99, 法向力=1803.4041, 切向力X=-2860.4229, 切向力Y=2115.0571 +FPS=32.51, 法向力=1789.8553, 切向力X=-2908.9746, 切向力Y=2265.6868 +FPS=32.45, 法向力=2833.1899, 切向力X=-2667.6604, 切向力Y=3028.0967 +FPS=31.72, 法向力=2822.8623, 切向力X=-2757.9312, 切向力Y=3073.1572 +FPS=57.39, 法向力=1957.1753, 切向力X=-2989.9380, 切向力Y=3828.2126 +FPS=51.99, 法向力=1905.2725, 切向力X=-2925.4990, 切向力Y=3841.5024 +FPS=46.33, 法向力=1910.8000, 切向力X=-2924.9541, 切向力Y=3853.0107 +FPS=27.74, 法向力=1899.5945, 切向力X=-2998.3325, 切向力Y=3157.4805 +FPS=31.36, 法向力=2858.5176, 切向力X=-3506.1226, 切向力Y=4086.7502 +FPS=37.42, 法向力=2957.6274, 切向力X=-3523.6270, 切向力Y=4060.0518 +FPS=46.20, 法向力=2226.3032, 切向力X=-3055.1733, 切向力Y=4340.0938 +FPS=33.00, 法向力=2208.0361, 切向力X=-3169.2476, 切向力Y=4491.8604 +FPS=32.03, 法向力=2219.9519, 切向力X=-3109.6062, 切向力Y=4543.5645 +FPS=57.24, 法向力=2220.3696, 切向力X=-3171.0557, 切向力Y=4479.2295 +FPS=53.79, 法向力=2662.3279, 切向力X=-2435.3481, 切向力Y=4490.2080 +FPS=44.12, 法向力=2811.9626, 切向力X=-2393.8743, 切向力Y=4288.1470 +FPS=27.44, 法向力=2634.5386, 切向力X=-2859.3513, 切向力Y=5533.1045 +FPS=38.01, 法向力=2611.9656, 切向力X=-2918.4358, 切向力Y=5485.7676 +FPS=47.95, 法向力=2150.0405, 切向力X=-3422.2222, 切向力Y=4375.5225 +FPS=39.09, 法向力=2396.2761, 切向力X=-3337.1104, 切向力Y=3979.2334 +FPS=44.92, 法向力=2434.2974, 切向力X=-3202.0649, 切向力Y=3358.6851 +FPS=39.62, 法向力=2543.7859, 切向力X=-3235.0022, 切向力Y=3235.0776 +FPS=46.36, 法向力=2160.9131, 切向力X=-3503.2900, 切向力Y=2806.8672 +FPS=39.47, 法向力=2412.2329, 切向力X=-3446.2200, 切向力Y=3316.3418 +FPS=48.47, 法向力=3061.3359, 切向力X=-2525.0557, 切向力Y=3073.9282 +FPS=37.87, 法向力=2917.9475, 切向力X=-2483.1221, 切向力Y=3479.1536 +FPS=47.49, 法向力=2474.0388, 切向力X=-3327.5479, 切向力Y=1043.0171 +FPS=38.89, 法向力=2336.6519, 切向力X=-3115.2607, 切向力Y=1225.0908 +FPS=27.48, 法向力=2281.2864, 切向力X=-3115.6140, 切向力Y=1239.4105 +FPS=38.25, 法向力=2113.2422, 切向力X=-2167.4551, 切向力Y=-1034.1381 +FPS=27.42, 法向力=2095.6431, 切向力X=-2149.9561, 切向力Y=-1044.9915 +FPS=38.66, 法向力=2595.5767, 切向力X=-2128.8826, 切向力Y=-3331.6487 +FPS=62.70, 法向力=2736.1309, 切向力X=-2200.0474, 切向力Y=-3660.3442 +FPS=51.41, 法向力=2713.1699, 切向力X=-2035.2410, 切向力Y=-3569.2617 +FPS=62.63, 法向力=3139.3428, 切向力X=-2372.3738, 切向力Y=-363.6603 +FPS=52.41, 法向力=3195.0415, 切向力X=-2337.9390, 切向力Y=-201.2470 +FPS=42.71, 法向力=3249.8054, 切向力X=-2349.5076, 切向力Y=-167.7396 +FPS=62.41, 法向力=2377.9121, 切向力X=-1391.3948, 切向力Y=-1970.9121 +FPS=55.30, 法向力=2378.2646, 切向力X=-1323.2336, 切向力Y=-2074.4382 +FPS=61.89, 法向力=2368.1260, 切向力X=-1345.4391, 切向力Y=-2193.1016 +FPS=52.97, 法向力=3383.3438, 切向力X=-2157.7275, 切向力Y=-2557.8110 +FPS=38.79, 法向力=3435.6860, 切向力X=-2013.5426, 切向力Y=-2769.9526 +FPS=27.62, 法向力=2482.3350, 切向力X=-2371.3022, 切向力Y=-3165.5830 +FPS=37.58, 法向力=3032.2651, 切向力X=-2232.5828, 切向力Y=-1675.4832 +FPS=27.39, 法向力=3127.7173, 切向力X=-2112.0479, 切向力Y=-1747.5176 +FPS=37.93, 法向力=3116.0217, 切向力X=-2123.3137, 切向力Y=-1633.1660 +FPS=44.42, 法向力=3146.9167, 切向力X=-2095.5806, 切向力Y=-1666.9492 +FPS=40.46, 法向力=2079.1042, 切向力X=-1458.6306, 切向力Y=60.1808 +FPS=27.17, 法向力=2107.0110, 切向力X=-1265.7654, 切向力Y=-164.7204 +FPS=32.67, 法向力=1855.3137, 切向力X=-2200.0674, 切向力Y=-331.2607 +FPS=60.60, 法向力=1853.2260, 切向力X=-2167.6287, 切向力Y=-375.5980 +FPS=49.92, 法向力=1787.6721, 切向力X=-1911.8726, 切向力Y=1278.5457 +FPS=44.71, 法向力=1806.4858, 切向力X=-2131.0249, 切向力Y=1363.5051 +FPS=52.35, 法向力=1505.8823, 切向力X=-2930.9497, 切向力Y=1120.5000 +FPS=36.87, 法向力=1493.3737, 切向力X=-2816.0586, 切向力Y=1136.3389 +FPS=48.53, 法向力=2020.3655, 切向力X=-2908.2698, 切向力Y=675.0861 +FPS=36.10, 法向力=1926.4198, 切向力X=-2894.7791, 切向力Y=751.5663 +FPS=47.73, 法向力=1986.2242, 切向力X=-2587.5701, 切向力Y=-767.8510 +FPS=32.21, 法向力=2011.1055, 切向力X=-2706.4424, 切向力Y=-717.0262 +FPS=31.62, 法向力=1424.2633, 切向力X=-2621.0562, 切向力Y=976.7552 +FPS=31.61, 法向力=1469.9214, 切向力X=-2624.5781, 切向力Y=1149.5964 +FPS=32.41, 法向力=1461.8438, 切向力X=-2627.3193, 切向力Y=1102.3721 +FPS=37.74, 法向力=1872.8574, 切向力X=-3164.9438, 切向力Y=895.1129 +FPS=48.90, 法向力=1968.8394, 切向力X=-3057.2456, 切向力Y=918.5507 +FPS=36.02, 法向力=2704.8525, 切向力X=-2404.7964, 切向力Y=2563.6560 +FPS=46.67, 法向力=2808.2905, 切向力X=-2504.3037, 切向力Y=2605.8892 +FPS=39.38, 法向力=3391.6050, 切向力X=-3032.2012, 切向力Y=1386.0957 +FPS=53.54, 法向力=3437.9443, 切向力X=-2953.3022, 切向力Y=1301.9490 +FPS=35.71, 法向力=3786.8008, 切向力X=-2751.7778, 切向力Y=629.5352 +FPS=25.26, 法向力=3788.6665, 切向力X=-2731.0986, 切向力Y=574.0629 +FPS=36.19, 法向力=3955.1978, 切向力X=-3468.3181, 切向力Y=1703.0424 +FPS=31.75, 法向力=4325.1523, 切向力X=-3704.1536, 切向力Y=810.6707 +FPS=32.27, 法向力=4249.0811, 切向力X=-3678.1296, 切向力Y=855.6509 +FPS=39.44, 法向力=3835.8123, 切向力X=-3085.6042, 切向力Y=1450.6621 +FPS=50.58, 法向力=3908.0996, 切向力X=-2986.7168, 切向力Y=1296.2325 +FPS=31.10, 法向力=3930.1528, 切向力X=-3052.8630, 切向力Y=1250.6447 +FPS=32.08, 法向力=3903.6694, 切向力X=-3022.2358, 切向力Y=1305.5908 +FPS=60.31, 法向力=3944.0593, 切向力X=-3059.6643, 切向力Y=1231.4824 +FPS=50.81, 法向力=4653.6650, 切向力X=-3517.5459, 切向力Y=2017.7756 +FPS=44.90, 法向力=4638.1045, 切向力X=-3633.6230, 切向力Y=2075.2664 +FPS=48.83, 法向力=5473.5977, 切向力X=-2899.4841, 切向力Y=378.1658 +FPS=30.61, 法向力=5495.2358, 切向力X=-2917.4045, 切向力Y=245.1317 +FPS=32.26, 法向力=4007.0654, 切向力X=-4404.5977, 切向力Y=1384.6541 +FPS=56.45, 法向力=3941.9812, 切向力X=-4422.0469, 切向力Y=1110.1064 +FPS=50.36, 法向力=4238.3955, 切向力X=-3688.3755, 切向力Y=2143.5962 +FPS=50.41, 法向力=4342.9609, 切向力X=-3569.4663, 切向力Y=2101.5562 +FPS=61.41, 法向力=4687.2339, 切向力X=-3741.3032, 切向力Y=2426.1997 +FPS=54.31, 法向力=4724.4863, 切向力X=-3676.3572, 切向力Y=2419.0186 +FPS=59.27, 法向力=4726.6836, 切向力X=-3680.5889, 切向力Y=2471.0967 +FPS=47.64, 法向力=3242.2583, 切向力X=-3691.3442, 切向力Y=2304.7964 +FPS=36.49, 法向力=3314.1113, 切向力X=-3662.7305, 切向力Y=2346.2661 +FPS=38.23, 法向力=2890.1633, 切向力X=-3327.1719, 切向力Y=2405.5913 +FPS=52.63, 法向力=2799.7795, 切向力X=-3455.3203, 切向力Y=2467.4053 +FPS=30.20, 法向力=2822.3877, 切向力X=-3517.0967, 切向力Y=2395.3535 +FPS=31.57, 法向力=2783.9829, 切向力X=-3520.3188, 切向力Y=2476.5652 +FPS=32.84, 法向力=1876.1206, 切向力X=-2569.2734, 切向力Y=1005.4636 +FPS=31.12, 法向力=1931.4265, 切向力X=-2105.8396, 切向力Y=956.6411 +FPS=32.10, 法向力=1898.4291, 切向力X=-2190.9690, 切向力Y=983.7330 +FPS=36.37, 法向力=2822.5889, 切向力X=-2499.7681, 切向力Y=1364.1338 +FPS=48.38, 法向力=2900.7954, 切向力X=-2588.3145, 切向力Y=1448.7517 +FPS=33.27, 法向力=2714.1670, 切向力X=-2654.6016, 切向力Y=1445.2054 +FPS=36.53, 法向力=2893.5938, 切向力X=-2573.0037, 切向力Y=1339.7102 +FPS=50.24, 法向力=2252.3267, 切向力X=-2249.4985, 切向力Y=856.5806 +FPS=32.74, 法向力=3185.0698, 切向力X=-2052.4324, 切向力Y=767.2958 +FPS=31.56, 法向力=3448.5125, 切向力X=-1946.8210, 切向力Y=586.2660 +FPS=31.47, 法向力=2360.8584, 切向力X=-2505.4939, 切向力Y=791.6981 +FPS=32.13, 法向力=2319.6846, 切向力X=-2550.3054, 切向力Y=910.8105 +FPS=30.61, 法向力=2728.6050, 切向力X=-1686.9614, 切向力Y=2431.0530 +FPS=32.55, 法向力=3786.5635, 切向力X=-279.0198, 切向力Y=749.2140 +FPS=31.13, 法向力=3784.6201, 切向力X=-168.0502, 切向力Y=493.4273 +FPS=31.82, 法向力=4395.2861, 切向力X=-475.6374, 切向力Y=1072.2178 +FPS=32.03, 法向力=4984.6279, 切向力X=-374.2990, 切向力Y=-1437.9766 +FPS=37.45, 法向力=5008.8486, 切向力X=-284.7720, 切向力Y=-1403.6951 +FPS=48.32, 法向力=5051.5352, 切向力X=-218.8140, 切向力Y=-1460.7355 +FPS=32.14, 法向力=5033.9248, 切向力X=660.8911, 切向力Y=-1525.7681 +FPS=58.27, 法向力=5013.3311, 切向力X=811.3899, 切向力Y=-1762.6978 +FPS=51.36, 法向力=4602.6792, 切向力X=-298.9058, 切向力Y=1115.6868 +FPS=45.61, 法向力=4632.1807, 切向力X=-369.2039, 切向力Y=1339.2627 +FPS=46.95, 法向力=4377.2734, 切向力X=-698.7827, 切向力Y=1596.0016 +FPS=33.37, 法向力=4487.3555, 切向力X=-625.9999, 切向力Y=1620.5013 +FPS=60.81, 法向力=4446.2319, 切向力X=-612.7275, 切向力Y=1707.9846 +FPS=51.42, 法向力=4421.5693, 切向力X=-113.1676, 切向力Y=6479.5996 +FPS=46.53, 法向力=4708.2495, 切向力X=-158.4734, 切向力Y=6596.3682 +FPS=27.48, 法向力=4157.3271, 切向力X=-467.3163, 切向力Y=8343.8105 +FPS=59.65, 法向力=4351.2861, 切向力X=-430.9613, 切向力Y=8529.2031 +FPS=51.39, 法向力=4091.6631, 切向力X=-902.2550, 切向力Y=11913.1816 +FPS=46.07, 法向力=4183.3403, 切向力X=-943.2051, 切向力Y=12004.9639 +FPS=62.72, 法向力=5349.5415, 切向力X=-1438.6838, 切向力Y=15050.5039 +FPS=53.58, 法向力=5517.8599, 切向力X=-1411.5601, 切向力Y=15288.9199 +FPS=29.31, 法向力=5157.3784, 切向力X=-1772.5797, 切向力Y=16867.0352 +FPS=32.12, 法向力=5136.0488, 切向力X=-1656.3970, 切向力Y=16871.4629 +FPS=58.97, 法向力=4821.4043, 切向力X=-1921.0253, 切向力Y=16242.9971 +FPS=41.77, 法向力=4722.9526, 切向力X=-1927.3235, 切向力Y=16319.3867 +FPS=47.93, 法向力=3658.5229, 切向力X=-1868.1847, 切向力Y=14896.7842 +FPS=33.38, 法向力=3730.8579, 切向力X=-1765.6871, 切向力Y=14670.8066 +FPS=32.30, 法向力=3049.7126, 切向力X=-2854.1648, 切向力Y=13880.7842 +FPS=31.08, 法向力=3174.7917, 切向力X=-2844.6248, 切向力Y=13996.1152 +FPS=32.82, 法向力=2823.5095, 切向力X=-2901.1348, 切向力Y=11966.9180 +FPS=32.15, 法向力=2864.0593, 切向力X=-2958.3887, 切向力Y=11839.3994 +FPS=31.61, 法向力=2821.4043, 切向力X=-3733.2212, 切向力Y=9262.5527 +FPS=59.04, 法向力=2556.8374, 切向力X=-2995.1399, 切向力Y=5579.5703 +FPS=53.89, 法向力=2652.0684, 切向力X=-2840.2173, 切向力Y=5321.8984 +FPS=45.82, 法向力=2643.5945, 切向力X=-2846.0337, 切向力Y=5263.7236 +FPS=63.37, 法向力=2276.1045, 切向力X=-2741.4534, 切向力Y=4638.4268 +FPS=52.61, 法向力=2315.6711, 切向力X=-2734.2373, 切向力Y=4562.6255 +FPS=62.27, 法向力=2345.4285, 切向力X=-2738.4478, 切向力Y=4564.7031 +FPS=52.81, 法向力=2649.8042, 切向力X=-3172.4854, 切向力Y=3715.8081 +FPS=33.05, 法向力=2729.5786, 切向力X=-3278.7676, 切向力Y=3557.0239 +FPS=30.87, 法向力=1809.6407, 切向力X=-2763.7539, 切向力Y=2216.1423 +FPS=31.73, 法向力=1849.7133, 切向力X=-2563.8853, 切向力Y=1975.9153 +FPS=31.37, 法向力=1537.7607, 切向力X=-3363.8635, 切向力Y=2482.7166 +FPS=58.57, 法向力=1518.5498, 切向力X=-3438.5112, 切向力Y=2541.4922 +FPS=32.92, 法向力=2648.1938, 切向力X=-2646.6221, 切向力Y=392.7385 +FPS=61.32, 法向力=2748.4727, 切向力X=-2558.0181, 切向力Y=543.6437 +FPS=33.19, 法向力=1824.3976, 切向力X=-3122.7949, 切向力Y=-351.8163 +FPS=63.62, 法向力=1688.4149, 切向力X=-3191.5063, 切向力Y=-155.5058 +FPS=37.07, 法向力=2192.6812, 切向力X=-2841.9138, 切向力Y=1270.9653 +FPS=46.94, 法向力=2105.2478, 切向力X=-2855.7415, 切向力Y=1147.7240 +FPS=37.94, 法向力=2273.1196, 切向力X=-3450.6165, 切向力Y=624.1320 +FPS=27.79, 法向力=3612.9658, 切向力X=-1766.1805, 切向力Y=1172.0662 +FPS=37.40, 法向力=3631.0132, 切向力X=-1564.0179, 切向力Y=1276.7678 +FPS=47.21, 法向力=2785.0901, 切向力X=-1145.8179, 切向力Y=-1256.0885 +FPS=40.46, 法向力=2718.3857, 切向力X=-1124.8037, 切向力Y=-1406.4216 +FPS=47.22, 法向力=2698.6306, 切向力X=-1453.2012, 切向力Y=-63.4630 +FPS=38.99, 法向力=2780.9346, 切向力X=-1387.6392, 切向力Y=-165.5216 +FPS=27.75, 法向力=2961.4072, 切向力X=-1306.2397, 切向力Y=-393.5547 +FPS=66.61, 法向力=2959.8306, 切向力X=-1287.0449, 切向力Y=-286.8313 +FPS=30.56, 法向力=2721.7109, 切向力X=-2156.5361, 切向力Y=151.3183 +FPS=64.27, 法向力=2688.0735, 切向力X=-2102.4756, 切向力Y=171.4988 +FPS=31.87, 法向力=3037.6611, 切向力X=-2754.2561, 切向力Y=1371.9561 +FPS=38.64, 法向力=3080.7383, 切向力X=-2879.2849, 切向力Y=1514.1765 +FPS=45.71, 法向力=2535.8145, 切向力X=-2375.3831, 切向力Y=2454.8037 +FPS=38.91, 法向力=2523.5203, 切向力X=-2327.2029, 切向力Y=2422.6147 +FPS=47.40, 法向力=1905.4973, 切向力X=-2778.1658, 切向力Y=1313.5120 +FPS=37.52, 法向力=1937.2122, 切向力X=-2830.6533, 切向力Y=1320.0959 +FPS=45.72, 法向力=1720.8870, 切向力X=-2675.9287, 切向力Y=1933.8538 +FPS=39.12, 法向力=1680.2620, 切向力X=-2717.4634, 切向力Y=1854.5244 +FPS=50.40, 法向力=1660.7302, 切向力X=-2646.5198, 切向力Y=2001.1166 +FPS=30.78, 法向力=2161.3416, 切向力X=-2928.9243, 切向力Y=2543.1218 +FPS=37.47, 法向力=2104.8035, 切向力X=-2872.0420, 切向力Y=2712.0540 +FPS=46.42, 法向力=1832.8834, 切向力X=-2771.3330, 切向力Y=2380.9512 +FPS=32.78, 法向力=1882.2119, 切向力X=-2717.4077, 切向力Y=2306.9719 +FPS=38.24, 法向力=2228.2417, 切向力X=-3516.3945, 切向力Y=1498.9900 +FPS=46.89, 法向力=2111.8203, 切向力X=-3603.2783, 切向力Y=1717.5309 +FPS=37.42, 法向力=2575.3230, 切向力X=-2843.6990, 切向力Y=3893.7432 +FPS=47.05, 法向力=2528.5598, 切向力X=-2877.3462, 切向力Y=3725.6895 +FPS=38.73, 法向力=1693.0437, 切向力X=-2517.8040, 切向力Y=2748.5557 +FPS=47.91, 法向力=1647.1476, 切向力X=-2736.1338, 切向力Y=2667.8418 +FPS=32.57, 法向力=1666.6440, 切向力X=-2268.6824, 切向力Y=2788.0991 +FPS=61.38, 法向力=1680.9590, 切向力X=-2273.3203, 切向力Y=2834.5137 +FPS=52.99, 法向力=1595.7180, 切向力X=-2441.3945, 切向力Y=2485.5652 +FPS=36.19, 法向力=1643.7545, 切向力X=-2465.8169, 切向力Y=2456.3826 +FPS=37.24, 法向力=1439.3718, 切向力X=-1937.1023, 切向力Y=2229.4336 +FPS=46.27, 法向力=1476.5183, 切向力X=-1942.6678, 切向力Y=2244.0840 +FPS=64.02, 法向力=1499.3569, 切向力X=-1888.7913, 切向力Y=2166.3926 +FPS=52.44, 法向力=1679.2686, 切向力X=-2322.5874, 切向力Y=3327.1050 +FPS=35.45, 法向力=1790.6965, 切向力X=-2213.1113, 切向力Y=3467.7988 +FPS=38.16, 法向力=1967.2405, 切向力X=-2430.0327, 切向力Y=2195.8257 +FPS=47.37, 法向力=2002.0754, 切向力X=-2305.3726, 切向力Y=2331.6118 +FPS=32.06, 法向力=2328.1023, 切向力X=-2284.0137, 切向力Y=2036.6870 +FPS=33.08, 法向力=2462.6362, 切向力X=-2215.4541, 切向力Y=3071.4590 +FPS=31.23, 法向力=2440.9956, 切向力X=-2132.8623, 切向力Y=3077.9941 +FPS=31.42, 法向力=2422.6831, 切向力X=-2398.0874, 切向力Y=2042.8275 +FPS=31.68, 法向力=1698.9570, 切向力X=-2205.6902, 切向力Y=2900.6318 +FPS=31.73, 法向力=1692.2474, 切向力X=-2308.5264, 切向力Y=2821.3140 +FPS=32.70, 法向力=1711.1296, 切向力X=-2016.9725, 切向力Y=2786.3311 +FPS=51.33, 法向力=1795.9558, 切向力X=-1987.2986, 切向力Y=2782.5928 +FPS=33.53, 法向力=2230.1880, 切向力X=-2281.0938, 切向力Y=3020.4473 +FPS=32.25, 法向力=2270.2979, 切向力X=-2217.8425, 切向力Y=2984.5811 +FPS=32.57, 法向力=2084.7307, 切向力X=-2449.2251, 切向力Y=2174.9580 +FPS=31.91, 法向力=2540.1523, 切向力X=-2996.8918, 切向力Y=2482.5698 +FPS=32.07, 法向力=2374.8596, 切向力X=-3019.7583, 切向力Y=2297.2695 +FPS=31.51, 法向力=2947.1079, 切向力X=-2569.2090, 切向力Y=3949.9766 +FPS=31.91, 法向力=2110.2012, 切向力X=-3119.6064, 切向力Y=2174.0769 +FPS=31.86, 法向力=2036.5125, 切向力X=-3161.7607, 切向力Y=2084.5430 +FPS=31.23, 法向力=1729.8955, 切向力X=-4373.8057, 切向力Y=3947.9263 +FPS=30.72, 法向力=2562.9658, 切向力X=-3252.9004, 切向力Y=1301.7079 +FPS=32.97, 法向力=2532.4133, 切向力X=-3242.1650, 切向力Y=1135.2397 +FPS=63.19, 法向力=2547.8203, 切向力X=-3232.4092, 切向力Y=1047.5054 +FPS=53.55, 法向力=1950.2615, 切向力X=-3123.4504, 切向力Y=2061.4961 +FPS=36.04, 法向力=1972.6650, 切向力X=-2905.8718, 切向力Y=2044.4930 +FPS=59.60, 法向力=1950.3345, 切向力X=-2940.4138, 切向力Y=2000.7610 +FPS=45.85, 法向力=1466.3530, 切向力X=-2783.2363, 切向力Y=2880.8711 +FPS=46.81, 法向力=1548.0684, 切向力X=-2715.6492, 切向力Y=2872.3892 +FPS=47.79, 法向力=1665.8478, 切向力X=-3467.1155, 切向力Y=3089.0566 +FPS=32.46, 法向力=1695.9412, 切向力X=-3468.6624, 切向力Y=3051.8325 +FPS=32.33, 法向力=2264.5981, 切向力X=-3195.1763, 切向力Y=844.9786 +FPS=56.73, 法向力=2240.2388, 切向力X=-3062.3643, 切向力Y=790.2733 +FPS=52.69, 法向力=1447.4905, 切向力X=-3430.0017, 切向力Y=2437.9016 +FPS=47.00, 法向力=1425.0354, 切向力X=-3195.0911, 切向力Y=2512.5415 +FPS=49.02, 法向力=1651.9426, 切向力X=-3291.8477, 切向力Y=1307.7610 +FPS=31.35, 法向力=1667.8977, 切向力X=-3190.9299, 切向力Y=1127.4142 +FPS=39.07, 法向力=1848.3446, 切向力X=-2982.1824, 切向力Y=367.9112 +FPS=45.23, 法向力=2017.4016, 切向力X=-2839.3899, 切向力Y=382.7867 +FPS=62.62, 法向力=1855.9247, 切向力X=-2699.6101, 切向力Y=1517.8130 +FPS=31.37, 法向力=1878.4351, 切向力X=-2712.2363, 切向力Y=1507.5381 +FPS=39.27, 法向力=1695.2714, 切向力X=-3080.8438, 切向力Y=2550.9360 +FPS=26.88, 法向力=1733.3383, 切向力X=-3141.4292, 切向力Y=2510.0129 +FPS=39.72, 法向力=2060.5159, 切向力X=-3520.0796, 切向力Y=3460.8188 +FPS=27.28, 法向力=1799.6528, 切向力X=-2427.1333, 切向力Y=3303.3584 +FPS=37.30, 法向力=2182.6924, 切向力X=-2314.7783, 切向力Y=2969.0034 +FPS=44.08, 法向力=2556.7053, 切向力X=-1981.2756, 切向力Y=1208.8132 +FPS=42.06, 法向力=2770.6631, 切向力X=-2056.6006, 切向力Y=1134.2988 +FPS=47.68, 法向力=1884.9993, 切向力X=-2918.0151, 切向力Y=2959.2090 +FPS=37.56, 法向力=1933.6498, 切向力X=-2861.4963, 切向力Y=2909.5193 +FPS=44.46, 法向力=2552.1140, 切向力X=-3115.1396, 切向力Y=1980.1024 +FPS=40.26, 法向力=2553.5693, 切向力X=-3066.2903, 切向力Y=2067.6831 +FPS=45.71, 法向力=1977.6447, 切向力X=-2634.8960, 切向力Y=2142.0610 +FPS=39.61, 法向力=2208.4792, 切向力X=-2528.5513, 切向力Y=2169.1130 +FPS=43.50, 法向力=1977.8967, 切向力X=-2715.8516, 切向力Y=1616.2277 +FPS=41.41, 法向力=2101.1602, 切向力X=-2662.8987, 切向力Y=1644.5889 +FPS=46.46, 法向力=2080.1504, 切向力X=-2684.7083, 切向力Y=1674.1548 +FPS=38.91, 法向力=1938.7095, 切向力X=-2289.9880, 切向力Y=2256.9580 +FPS=62.57, 法向力=1933.3824, 切向力X=-2255.6641, 切向力Y=2230.1924 +FPS=51.24, 法向力=2041.5944, 切向力X=-3257.3340, 切向力Y=2361.6348 +FPS=67.67, 法向力=1997.2930, 切向力X=-3357.9370, 切向力Y=2313.4976 +FPS=30.50, 法向力=1993.0088, 切向力X=-3366.2971, 切向力Y=2361.3252 +FPS=36.94, 法向力=2256.5796, 切向力X=-2898.3574, 切向力Y=3436.7344 +FPS=45.18, 法向力=2144.5583, 切向力X=-3007.0737, 切向力Y=3563.8738 +FPS=33.53, 法向力=1947.3494, 切向力X=-3285.7734, 切向力Y=3034.4133 +FPS=57.71, 法向力=2039.4104, 切向力X=-3284.7144, 切向力Y=3148.1948 +FPS=50.42, 法向力=1797.4792, 切向力X=-3320.7961, 切向力Y=2428.9141 +FPS=38.26, 法向力=1839.9327, 切向力X=-3456.6125, 切向力Y=2429.8994 +FPS=37.27, 法向力=2340.1846, 切向力X=-2971.4155, 切向力Y=2575.5063 +FPS=45.88, 法向力=2402.2197, 切向力X=-2794.5745, 切向力Y=2415.6064 +FPS=33.29, 法向力=1910.1694, 切向力X=-3427.4031, 切向力Y=1305.1251 +FPS=39.83, 法向力=1819.9938, 切向力X=-3769.1487, 切向力Y=1663.3270 +FPS=45.12, 法向力=1802.3973, 切向力X=-3078.8022, 切向力Y=2610.4009 +FPS=33.25, 法向力=1853.8654, 切向力X=-3037.9614, 切向力Y=2621.0251 +FPS=31.70, 法向力=1702.1072, 切向力X=-3248.1194, 切向力Y=2439.9761 +FPS=37.66, 法向力=1435.1423, 切向力X=-3032.2827, 切向力Y=2237.6875 +FPS=47.54, 法向力=1404.2731, 切向力X=-3023.7593, 切向力Y=2145.5989 +FPS=38.28, 法向力=1790.2809, 切向力X=-3161.7393, 切向力Y=1997.8853 +FPS=50.84, 法向力=1782.1602, 切向力X=-3172.8630, 切向力Y=1952.0763 +FPS=31.81, 法向力=1678.3267, 切向力X=-3002.5203, 切向力Y=3768.2844 +FPS=38.67, 法向力=1705.8679, 切向力X=-3010.6680, 切向力Y=3823.7383 +FPS=45.84, 法向力=2003.7632, 切向力X=-2972.9214, 切向力Y=5568.0918 +FPS=64.90, 法向力=1977.5417, 切向力X=-2984.4380, 切向力Y=5555.7588 +FPS=33.33, 法向力=1828.5648, 切向力X=-2748.6208, 切向力Y=1535.9800 +FPS=39.52, 法向力=1910.7065, 切向力X=-2626.4756, 切向力Y=1153.9822 +FPS=44.72, 法向力=2336.1714, 切向力X=-3470.2964, 切向力Y=2491.3306 +FPS=39.62, 法向力=2163.4934, 切向力X=-3687.6128, 切向力Y=2728.1550 +FPS=27.98, 法向力=2124.1707, 切向力X=-3656.3804, 切向力Y=2736.4529 +FPS=37.72, 法向力=2855.1558, 切向力X=-3377.1611, 切向力Y=3629.3235 +FPS=47.86, 法向力=2811.8713, 切向力X=-3369.2305, 切向力Y=3557.7646 +FPS=64.36, 法向力=2037.2167, 切向力X=-2929.3784, 切向力Y=2341.1741 +FPS=31.88, 法向力=2201.2393, 切向力X=-2858.2329, 切向力Y=2033.2677 +FPS=38.55, 法向力=2057.5337, 切向力X=-3021.4961, 切向力Y=1391.3013 +FPS=27.77, 法向力=2307.8518, 切向力X=-3186.3945, 切向力Y=4118.1865 +FPS=37.77, 法向力=2410.8645, 切向力X=-3077.6284, 切向力Y=4069.1921 +FPS=47.09, 法向力=1727.6035, 切向力X=-3734.1492, 切向力Y=3279.9482 +FPS=66.94, 法向力=1691.4785, 切向力X=-3627.9731, 切向力Y=3456.2173 +FPS=53.17, 法向力=1672.3594, 切向力X=-3588.1689, 切向力Y=3333.2007 +FPS=42.29, 法向力=1915.1798, 切向力X=-2358.9309, 切向力Y=2769.1567 +FPS=62.57, 法向力=1984.5762, 切向力X=-2258.1860, 切向力Y=2766.1152 +FPS=48.87, 法向力=2042.9022, 切向力X=-2395.2366, 切向力Y=2489.2007 +FPS=31.51, 法向力=2041.8838, 切向力X=-2455.4561, 切向力Y=2407.9268 +FPS=39.99, 法向力=1806.0260, 切向力X=-2644.0527, 切向力Y=928.4401 +FPS=27.12, 法向力=1734.5403, 切向力X=-2820.7583, 切向力Y=860.6309 +FPS=38.76, 法向力=1604.3401, 切向力X=-3491.7185, 切向力Y=1687.2118 +FPS=26.73, 法向力=1754.9424, 切向力X=-3396.5571, 切向力Y=3107.3816 +FPS=32.70, 法向力=1769.6279, 切向力X=-3438.2397, 切向力Y=3223.8376 +FPS=58.54, 法向力=1653.9849, 切向力X=-3253.5298, 切向力Y=1620.0312 +FPS=34.65, 法向力=1693.6924, 切向力X=-3215.0225, 切向力Y=1614.9318 +FPS=38.91, 法向力=2011.9464, 切向力X=-2694.1562, 切向力Y=1584.3141 +FPS=27.45, 法向力=2060.7178, 切向力X=-3421.0190, 切向力Y=2550.1997 +FPS=38.65, 法向力=2070.1230, 切向力X=-3398.1699, 切向力Y=2659.9695 +FPS=46.30, 法向力=1779.4827, 切向力X=-3248.7705, 切向力Y=3209.8667 +FPS=38.87, 法向力=1833.5763, 切向力X=-3145.8179, 切向力Y=3263.8765 +FPS=62.83, 法向力=1870.1531, 切向力X=-3135.7747, 切向力Y=3160.5742 +FPS=53.81, 法向力=2139.4329, 切向力X=-2773.3018, 切向力Y=2306.7695 +FPS=65.87, 法向力=2152.2466, 切向力X=-2728.0059, 切向力Y=2257.6978 +FPS=34.72, 法向力=2161.9578, 切向力X=-2695.0696, 切向力Y=2233.1252 +FPS=47.37, 法向力=1955.9004, 切向力X=-2576.7349, 切向力Y=3343.5881 +FPS=37.45, 法向力=2036.2687, 切向力X=-2756.2173, 切向力Y=3194.2942 +FPS=28.11, 法向力=2015.3337, 切向力X=-2557.0398, 切向力Y=2682.0278 +FPS=58.99, 法向力=2065.0125, 切向力X=-2513.4868, 切向力Y=2557.9675 +FPS=32.56, 法向力=1533.3777, 切向力X=-2553.3501, 切向力Y=2672.4341 +FPS=58.50, 法向力=1415.6465, 切向力X=-2778.1245, 切向力Y=2714.1021 +FPS=52.38, 法向力=1937.1228, 切向力X=-3010.4204, 切向力Y=2606.9160 +FPS=38.74, 法向力=1932.9197, 切向力X=-3076.8447, 切向力Y=2662.6917 +FPS=38.23, 法向力=2509.0542, 切向力X=-2956.4253, 切向力Y=3225.0332 +FPS=28.32, 法向力=1721.0024, 切向力X=-2982.4604, 切向力Y=3357.5190 +FPS=37.78, 法向力=1797.2832, 切向力X=-3031.5044, 切向力Y=3300.4597 +FPS=47.16, 法向力=1961.6790, 切向力X=-3100.6699, 切向力Y=1460.6912 +FPS=38.55, 法向力=1910.9355, 切向力X=-3148.9614, 切向力Y=1350.4470 +FPS=27.02, 法向力=1546.0078, 切向力X=-3409.9136, 切向力Y=2237.4507 +FPS=31.59, 法向力=1516.5931, 切向力X=-3475.7017, 切向力Y=2409.6851 +FPS=37.97, 法向力=1748.2356, 切向力X=-2422.0188, 切向力Y=3451.5376 +FPS=50.41, 法向力=1746.6046, 切向力X=-2278.2227, 切向力Y=3333.5942 +FPS=36.59, 法向力=2094.6274, 切向力X=-2811.7732, 切向力Y=2734.2427 +FPS=62.73, 法向力=2143.2012, 切向力X=-2822.5745, 切向力Y=2852.6731 +FPS=52.14, 法向力=2092.3787, 切向力X=-2797.5432, 切向力Y=2736.9355 +FPS=29.97, 法向力=2009.2957, 切向力X=-2774.7646, 切向力Y=2676.9106 +FPS=38.69, 法向力=1766.8949, 切向力X=-3199.2583, 切向力Y=3090.4917 +FPS=46.77, 法向力=1854.7981, 切向力X=-3132.9080, 切向力Y=3167.0757 +FPS=39.07, 法向力=1943.3284, 切向力X=-2762.8000, 切向力Y=1906.4958 +FPS=50.31, 法向力=1987.0776, 切向力X=-2765.8225, 切向力Y=1720.4490 +FPS=63.35, 法向力=2257.0244, 切向力X=-2681.4846, 切向力Y=2788.4712 +FPS=54.76, 法向力=2233.6812, 切向力X=-2611.5681, 切向力Y=2881.1274 +FPS=34.31, 法向力=2229.5371, 切向力X=-2599.4385, 切向力Y=2842.2261 +FPS=62.63, 法向力=2216.5884, 切向力X=-2637.5203, 切向力Y=2821.6467 +FPS=37.89, 法向力=1729.6113, 切向力X=-3017.9116, 切向力Y=3236.7417 +FPS=49.64, 法向力=1749.3569, 切向力X=-3066.9756, 切向力Y=3326.7114 +FPS=31.67, 法向力=3052.7480, 切向力X=-2450.0049, 切向力Y=2742.3311 +FPS=52.93, 法向力=3080.8936, 切向力X=-2395.7827, 切向力Y=2918.7061 +FPS=53.54, 法向力=2662.1074, 切向力X=-3299.0010, 切向力Y=2807.4277 +FPS=48.90, 法向力=2559.0024, 切向力X=-3358.0693, 切向力Y=3001.1030 +FPS=53.85, 法向力=1466.5571, 切向力X=-2773.2097, 切向力Y=2307.8396 +FPS=29.27, 法向力=1507.9990, 切向力X=-2879.3760, 切向力Y=1580.1895 +FPS=31.52, 法向力=1710.0669, 切向力X=-3129.3369, 切向力Y=3591.1023 +FPS=62.76, 法向力=1646.8530, 切向力X=-3090.1777, 切向力Y=3706.7783 +FPS=52.69, 法向力=2105.8896, 切向力X=-2488.2275, 切向力Y=2055.1636 +FPS=38.97, 法向力=2099.6812, 切向力X=-2590.2939, 切向力Y=1971.4131 +FPS=37.94, 法向力=1783.6411, 切向力X=-2605.8503, 切向力Y=3423.7700 +FPS=48.87, 法向力=1861.2091, 切向力X=-2644.6548, 切向力Y=3402.2725 +FPS=33.40, 法向力=2324.2952, 切向力X=-2718.9946, 切向力Y=1810.5698 +FPS=36.37, 法向力=2286.7634, 切向力X=-2677.1060, 切向力Y=1827.9832 +FPS=46.72, 法向力=1888.4349, 切向力X=-2736.9204, 切向力Y=3040.6172 +FPS=33.06, 法向力=1813.7100, 切向力X=-2744.9568, 切向力Y=3050.2319 +FPS=31.46, 法向力=1812.4500, 切向力X=-4020.0815, 切向力Y=3676.5566 +FPS=31.51, 法向力=1258.5350, 切向力X=-3483.1543, 切向力Y=2276.8721 +FPS=32.72, 法向力=1311.1138, 切向力X=-3268.3074, 切向力Y=1978.1877 +FPS=37.36, 法向力=1529.1730, 切向力X=-3111.2378, 切向力Y=2004.7590 +FPS=49.65, 法向力=1578.7681, 切向力X=-3099.5310, 切向力Y=2117.3193 +FPS=33.37, 法向力=2023.4880, 切向力X=-3100.6570, 切向力Y=2906.7012 +FPS=31.88, 法向力=2098.9287, 切向力X=-3076.5520, 切向力Y=2912.0244 +FPS=37.18, 法向力=2016.5588, 切向力X=-2964.9404, 切向力Y=3010.1289 +FPS=46.80, 法向力=2060.7036, 切向力X=-3060.3604, 切向力Y=2981.1860 +FPS=39.32, 法向力=2545.7236, 切向力X=-3274.7285, 切向力Y=2747.7898 +FPS=51.20, 法向力=2686.6277, 切向力X=-3052.7588, 切向力Y=2999.8647 +FPS=60.58, 法向力=2677.9736, 切向力X=-3137.0732, 切向力Y=2995.8540 +FPS=30.55, 法向力=2134.0781, 切向力X=-3024.2534, 切向力Y=3128.7388 +FPS=54.42, 法向力=2202.3271, 切向力X=-3071.3940, 切向力Y=3100.4609 +FPS=35.54, 法向力=1896.2002, 切向力X=-2608.9507, 切向力Y=2772.4863 +FPS=60.01, 法向力=1847.6958, 切向力X=-2546.1792, 切向力Y=2635.9990 +FPS=31.41, 法向力=1821.2684, 切向力X=-2348.0317, 切向力Y=1571.7703 +FPS=62.59, 法向力=1839.4836, 切向力X=-2289.8357, 切向力Y=1486.6566 +FPS=52.06, 法向力=1768.6240, 切向力X=-2426.9019, 切向力Y=2442.1487 +FPS=37.05, 法向力=1858.3203, 切向力X=-2387.1396, 切向力Y=2383.9753 +FPS=32.21, 法向力=1439.7441, 切向力X=-2776.9595, 切向力Y=2180.0752 +FPS=58.68, 法向力=1417.2212, 切向力X=-2722.6626, 切向力Y=2008.4021 +FPS=54.19, 法向力=1684.8726, 切向力X=-1951.0596, 切向力Y=1307.7080 +FPS=44.71, 法向力=1674.5575, 切向力X=-2011.8228, 切向力Y=1190.4097 +FPS=52.53, 法向力=1133.9761, 切向力X=-2348.1411, 切向力Y=1949.8661 +FPS=30.54, 法向力=1192.4541, 切向力X=-2340.1091, 切向力Y=1919.1136 +FPS=32.39, 法向力=1386.0869, 切向力X=-2435.8542, 切向力Y=2444.8647 +FPS=38.17, 法向力=1485.0763, 切向力X=-2451.4731, 切向力Y=2337.4480 +FPS=47.10, 法向力=1381.9694, 切向力X=-2358.1619, 切向力Y=666.1197 +FPS=31.84, 法向力=1384.1646, 切向力X=-2427.3101, 切向力Y=593.6240 +FPS=32.86, 法向力=1429.2529, 切向力X=-2093.9971, 切向力Y=1243.1899 +FPS=31.27, 法向力=1611.1376, 切向力X=-1661.8822, 切向力Y=1384.2253 +FPS=31.51, 法向力=1641.3596, 切向力X=-1742.5901, 切向力Y=1561.4161 +FPS=33.23, 法向力=1814.8516, 切向力X=-1757.9319, 切向力Y=2288.2502 +FPS=38.11, 法向力=1751.0896, 切向力X=-1986.3048, 切向力Y=2338.9917 +FPS=27.82, 法向力=1173.1299, 切向力X=-2318.7942, 切向力Y=2559.8586 +FPS=59.50, 法向力=1209.3083, 切向力X=-2245.3582, 切向力Y=2555.4521 +FPS=54.19, 法向力=1813.9773, 切向力X=-1578.4111, 切向力Y=981.5062 +FPS=43.83, 法向力=1901.0413, 切向力X=-1687.6208, 切向力Y=723.6207 +FPS=48.14, 法向力=1607.0100, 切向力X=-1608.1687, 切向力Y=314.9086 +FPS=32.43, 法向力=1656.9967, 切向力X=-1729.7805, 切向力Y=334.9855 +FPS=57.91, 法向力=1597.1875, 切向力X=-1685.1646, 切向力Y=362.4107 +FPS=53.08, 法向力=2166.1455, 切向力X=-1309.8839, 切向力Y=1626.8544 +FPS=45.38, 法向力=2220.6133, 切向力X=-1335.6677, 切向力Y=1762.9077 +FPS=27.40, 法向力=1114.2578, 切向力X=-1593.2339, 切向力Y=1197.5134 +FPS=53.99, 法向力=1134.9199, 切向力X=-1559.3174, 切向力Y=1286.0808 +FPS=52.43, 法向力=1731.2622, 切向力X=-1589.2190, 切向力Y=1939.5603 +FPS=52.51, 法向力=1789.4290, 切向力X=-1610.5500, 切向力Y=1879.7253 +FPS=50.79, 法向力=2623.8350, 切向力X=-1484.3948, 切向力Y=1367.3359 +FPS=30.66, 法向力=2527.6038, 切向力X=-1538.2092, 切向力Y=1081.7410 +FPS=31.60, 法向力=1876.5341, 切向力X=-3003.5044, 切向力Y=2832.9966 +FPS=32.22, 法向力=2931.2463, 切向力X=-2378.9460, 切向力Y=2327.9600 +FPS=31.71, 法向力=2988.9956, 切向力X=-2190.8911, 切向力Y=2220.7869 +FPS=37.60, 法向力=1546.5435, 切向力X=-2238.8655, 切向力Y=1889.9727 +FPS=46.43, 法向力=1579.9626, 切向力X=-2297.6489, 切向力Y=1872.6753 +FPS=32.61, 法向力=2129.3752, 切向力X=-1810.6843, 切向力Y=-540.6846 +FPS=33.27, 法向力=2186.8242, 切向力X=-1598.3688, 切向力Y=-602.5686 +FPS=39.49, 法向力=1441.1819, 切向力X=-1652.3926, 切向力Y=2879.4912 +FPS=49.96, 法向力=1444.7229, 切向力X=-1465.4368, 切向力Y=2882.4946 +FPS=36.56, 法向力=1531.3271, 切向力X=-777.0366, 切向力Y=1344.7942 +FPS=49.99, 法向力=1649.5447, 切向力X=-738.9258, 切向力Y=896.3615 +FPS=61.52, 法向力=1666.7542, 切向力X=-682.7926, 切向力Y=722.5884 +FPS=52.01, 法向力=1695.9504, 切向力X=-635.8552, 切向力Y=619.0643 +FPS=42.50, 法向力=1707.9141, 切向力X=-599.8030, 切向力Y=700.0945 +FPS=27.64, 法向力=1531.0166, 切向力X=-1072.6816, 切向力Y=975.8839 +FPS=40.73, 法向力=2589.6379, 切向力X=-897.9543, 切向力Y=1314.6493 +FPS=50.66, 法向力=2758.2405, 切向力X=-767.2299, 切向力Y=1004.0345 +FPS=60.70, 法向力=2794.6406, 切向力X=-759.7882, 切向力Y=965.1007 +FPS=51.49, 法向力=1813.2805, 切向力X=-1660.5168, 切向力Y=1131.1777 +FPS=35.45, 法向力=1717.7991, 切向力X=-1746.7778, 切向力Y=1216.0962 +FPS=37.79, 法向力=1705.2671, 切向力X=-1076.4584, 切向力Y=1680.4078 +FPS=52.50, 法向力=1661.2241, 切向力X=-1023.0260, 切向力Y=1699.2380 +FPS=30.33, 法向力=1466.1367, 切向力X=-1697.5688, 切向力Y=1992.2311 +FPS=32.50, 法向力=1483.2048, 切向力X=-1844.6926, 切向力Y=2101.6978 +FPS=37.25, 法向力=1658.6273, 切向力X=-2313.3992, 切向力Y=3567.2388 +FPS=49.42, 法向力=1593.8191, 切向力X=-2036.0045, 切向力Y=3264.9639 +FPS=31.68, 法向力=1662.7648, 切向力X=-1865.7812, 切向力Y=918.8221 +FPS=32.90, 法向力=1438.1804, 切向力X=-1092.5898, 切向力Y=2194.2642 +FPS=38.85, 法向力=1413.5254, 切向力X=-790.9265, 切向力Y=2094.4324 +FPS=46.97, 法向力=1322.4116, 切向力X=-792.7211, 切向力Y=1518.6808 +FPS=32.04, 法向力=1407.9832, 切向力X=-780.7521, 切向力Y=1412.2744 +FPS=37.24, 法向力=1233.6176, 切向力X=-437.9628, 切向力Y=-163.8063 +FPS=48.86, 法向力=1416.7395, 切向力X=-473.8105, 切向力Y=-388.0393 +FPS=36.27, 法向力=1452.3032, 切向力X=-854.1537, 切向力Y=355.9864 +FPS=48.41, 法向力=1492.7722, 切向力X=-854.7207, 切向力Y=607.2177 +FPS=38.27, 法向力=1446.1602, 切向力X=-850.1470, 切向力Y=725.3304 +FPS=45.78, 法向力=2144.1260, 切向力X=-1104.1785, 切向力Y=1739.8528 +FPS=40.83, 法向力=2158.7817, 切向力X=-1016.0831, 切向力Y=1691.2600 +FPS=49.71, 法向力=1618.4119, 切向力X=-1548.4523, 切向力Y=2967.5996 +FPS=35.68, 法向力=1691.5989, 切向力X=-1643.3530, 切向力Y=2861.8174 +FPS=51.70, 法向力=1807.5499, 切向力X=-1864.7649, 切向力Y=1360.9548 +FPS=36.15, 法向力=1847.9161, 切向力X=-1900.8303, 切向力Y=1518.8555 +FPS=46.49, 法向力=2375.9121, 切向力X=-1108.5234, 切向力Y=1504.3589 +FPS=33.77, 法向力=1707.6375, 切向力X=-1403.3953, 切向力Y=332.7405 +FPS=32.41, 法向力=1835.3461, 切向力X=-1379.0491, 切向力Y=463.2761 +FPS=62.05, 法向力=1849.7646, 切向力X=-1399.7583, 切向力Y=520.8668 +FPS=31.48, 法向力=1990.5322, 切向力X=-1670.6713, 切向力Y=2467.5806 +FPS=57.48, 法向力=2061.1863, 切向力X=-1776.5500, 切向力Y=2817.7104 +FPS=53.92, 法向力=1618.6162, 切向力X=-1339.3546, 切向力Y=2228.1443 +FPS=38.03, 法向力=1543.2040, 切向力X=-1451.8799, 切向力Y=2220.9685 +FPS=59.16, 法向力=1522.4004, 切向力X=-1389.2136, 切向力Y=2344.7229 +FPS=50.21, 法向力=1497.6350, 切向力X=-1382.7443, 切向力Y=2387.9775 +FPS=36.89, 法向力=1533.8477, 切向力X=-1397.3669, 切向力Y=2274.7729 +FPS=37.85, 法向力=1312.9103, 切向力X=-1538.1807, 切向力Y=1831.2258 +FPS=48.44, 法向力=1393.3345, 切向力X=-1486.7278, 切向力Y=1823.2969 +FPS=36.51, 法向力=1460.1982, 切向力X=-1807.3428, 切向力Y=1793.6512 +FPS=51.98, 法向力=1453.2532, 切向力X=-1972.8857, 切向力Y=1687.1857 +FPS=35.14, 法向力=1930.7524, 切向力X=-2040.0675, 切向力Y=1861.9386 +FPS=51.23, 法向力=2004.8151, 切向力X=-1857.9346, 切向力Y=1924.8616 +FPS=30.44, 法向力=2434.1274, 切向力X=-887.8779, 切向力Y=2368.1392 +FPS=59.59, 法向力=2423.1040, 切向力X=-813.2153, 切向力Y=2414.8167 +FPS=52.00, 法向力=1617.4248, 切向力X=-1634.4377, 切向力Y=2424.9595 +FPS=45.18, 法向力=1698.5924, 切向力X=-1693.4717, 切向力Y=2606.5205 +FPS=27.73, 法向力=1481.9890, 切向力X=-2092.6880, 切向力Y=1780.7896 +FPS=31.88, 法向力=2366.9434, 切向力X=-1319.6682, 切向力Y=2613.9600 +FPS=38.03, 法向力=2574.3557, 切向力X=-1274.7004, 切向力Y=2375.2690 +FPS=49.59, 法向力=2486.1934, 切向力X=-1338.0502, 切向力Y=2432.2705 +FPS=36.89, 法向力=2141.2778, 切向力X=-2163.3833, 切向力Y=1475.0021 +FPS=50.53, 法向力=1992.1652, 切向力X=-2302.0586, 切向力Y=1616.5541 +FPS=30.69, 法向力=2012.5132, 切向力X=-1865.0916, 切向力Y=1095.4976 +FPS=31.26, 法向力=1474.4559, 切向力X=-2647.9980, 切向力Y=2153.2734 +FPS=38.33, 法向力=1529.4526, 切向力X=-2631.7424, 切向力Y=2113.7041 +FPS=46.63, 法向力=1513.5588, 切向力X=-2203.0771, 切向力Y=3167.5178 +FPS=38.60, 法向力=1493.9749, 切向力X=-2367.1899, 切向力Y=3200.3813 +FPS=50.52, 法向力=1709.7058, 切向力X=-1546.7983, 切向力Y=411.5602 +FPS=36.53, 法向力=1690.2026, 切向力X=-1532.9744, 切向力Y=153.9664 +FPS=45.38, 法向力=2350.7029, 切向力X=-1270.1770, 切向力Y=-340.9686 +FPS=40.43, 法向力=2319.2808, 切向力X=-1237.0161, 切向力Y=-342.4314 +FPS=45.90, 法向力=1830.8433, 切向力X=-1670.8982, 切向力Y=3004.5732 +FPS=32.96, 法向力=1881.9414, 切向力X=-1580.6760, 切向力Y=3167.8896 +FPS=38.11, 法向力=1895.2186, 切向力X=-1610.9631, 切向力Y=3182.7871 +FPS=27.68, 法向力=2806.0820, 切向力X=-1458.6682, 切向力Y=2022.8140 +FPS=58.70, 法向力=2546.2920, 切向力X=-2382.8372, 切向力Y=3656.0859 +FPS=33.87, 法向力=2481.2683, 切向力X=-2411.2456, 切向力Y=3760.7009 +FPS=55.79, 法向力=1881.1559, 切向力X=-2679.4189, 切向力Y=1560.2034 +FPS=42.27, 法向力=1919.4438, 切向力X=-2623.3154, 切向力Y=1562.6829 +FPS=48.58, 法向力=1968.4043, 切向力X=-2670.3992, 切向力Y=1489.4351 +FPS=30.67, 法向力=2230.4382, 切向力X=-1884.5208, 切向力Y=1718.1067 +FPS=61.35, 法向力=2301.8860, 切向力X=-1886.2010, 切向力Y=1782.7003 +FPS=53.56, 法向力=1630.1045, 切向力X=-2047.3741, 切向力Y=2901.3691 +FPS=43.05, 法向力=1607.5728, 切向力X=-2094.1238, 切向力Y=2771.5918 +FPS=27.82, 法向力=1632.7631, 切向力X=-1925.8514, 切向力Y=1476.6407 +FPS=57.80, 法向力=1873.3688, 切向力X=-1904.0137, 切向力Y=1214.5127 +FPS=33.69, 法向力=1304.3130, 切向力X=-2586.6565, 切向力Y=3390.8132 +FPS=37.96, 法向力=1268.5605, 切向力X=-2795.4553, 切向力Y=4146.4902 +FPS=26.96, 法向力=1501.8895, 切向力X=-2468.7070, 切向力Y=2013.2446 +FPS=55.53, 法向力=1655.2355, 切向力X=-2339.8511, 切向力Y=1768.0818 +FPS=41.97, 法向力=1219.9255, 切向力X=-2018.5139, 切向力Y=2624.7827 +FPS=50.28, 法向力=1281.6326, 切向力X=-1998.5931, 切向力Y=2575.9580 +FPS=35.71, 法向力=2691.3582, 切向力X=-1854.3140, 切向力Y=2290.7959 +FPS=28.28, 法向力=1971.9358, 切向力X=-2327.7412, 切向力Y=886.1786 +FPS=58.15, 法向力=1798.6582, 切向力X=-2412.0095, 切向力Y=605.4148 +FPS=40.85, 法向力=1849.0991, 切向力X=-2744.6606, 切向力Y=1621.0649 +FPS=50.46, 法向力=1830.7961, 切向力X=-2839.4717, 切向力Y=1808.4014 +FPS=34.32, 法向力=1848.5138, 切向力X=-2871.5322, 切向力Y=1824.7471 +FPS=46.28, 法向力=2050.3579, 切向力X=-2059.5361, 切向力Y=2557.5312 +FPS=66.47, 法向力=1946.2207, 切向力X=-2008.7268, 切向力Y=2607.1018 +FPS=32.60, 法向力=1437.1443, 切向力X=-1815.2219, 切向力Y=2518.9353 +FPS=38.29, 法向力=1568.1804, 切向力X=-1519.5244, 切向力Y=2260.9050 +FPS=27.45, 法向力=1752.4553, 切向力X=-2147.5376, 切向力Y=1645.3030 +FPS=61.44, 法向力=1842.7531, 切向力X=-2200.4458, 切向力Y=1505.3068 +FPS=32.95, 法向力=1447.9037, 切向力X=-2072.4265, 切向力Y=923.2559 +FPS=38.04, 法向力=1415.9679, 切向力X=-2104.0278, 切向力Y=844.0799 +FPS=61.69, 法向力=1807.5363, 切向力X=-1498.7024, 切向力Y=946.2655 +FPS=54.09, 法向力=1857.4009, 切向力X=-1386.4719, 切向力Y=1025.4402 +FPS=64.21, 法向力=1828.1917, 切向力X=-1473.1676, 切向力Y=997.8032 +FPS=51.31, 法向力=1805.1294, 切向力X=-2132.3894, 切向力Y=2523.1689 +FPS=38.11, 法向力=1898.9290, 切向力X=-2014.1553, 切向力Y=2627.7505 +FPS=50.93, 法向力=2279.1931, 切向力X=-1393.3904, 切向力Y=638.6282 +FPS=30.33, 法向力=2272.2910, 切向力X=-1396.7334, 切向力Y=564.8125 +FPS=32.18, 法向力=1582.5381, 切向力X=-1985.3552, 切向力Y=1272.9369 +FPS=58.29, 法向力=1744.8225, 切向力X=-1483.7974, 切向力Y=2438.8328 +FPS=53.15, 法向力=1788.1050, 切向力X=-1553.8728, 切向力Y=2504.0415 +FPS=37.64, 法向力=1786.7826, 切向力X=-1556.3580, 切向力Y=2499.1064 +FPS=32.07, 法向力=1464.7019, 切向力X=-1312.8333, 切向力Y=2360.1265 +FPS=36.76, 法向力=1415.8074, 切向力X=-1290.7329, 切向力Y=2211.8425 +FPS=45.98, 法向力=2384.7654, 切向力X=-986.4054, 切向力Y=2023.3362 +FPS=55.10, 法向力=2314.3015, 切向力X=-954.1451, 切向力Y=2029.0669 +FPS=45.54, 法向力=1690.5332, 切向力X=-949.5483, 切向力Y=3216.2046 +FPS=43.85, 法向力=1690.3894, 切向力X=-959.7119, 切向力Y=3431.4988 +FPS=33.42, 法向力=1669.8599, 切向力X=-915.9027, 切向力Y=3482.9148 +FPS=31.15, 法向力=1686.7610, 切向力X=-935.9656, 切向力Y=3505.7422 +FPS=38.52, 法向力=1972.2205, 切向力X=-711.7308, 切向力Y=4058.4927 +FPS=45.46, 法向力=2229.7808, 切向力X=-815.5994, 切向力Y=3989.2646 +FPS=34.04, 法向力=2416.3213, 切向力X=-1178.7533, 切向力Y=6014.3301 +FPS=37.50, 法向力=1646.2009, 切向力X=-243.6411, 切向力Y=5864.8486 +FPS=26.84, 法向力=1711.7423, 切向力X=-99.0341, 切向力Y=5868.7329 +FPS=33.61, 法向力=1283.9529, 切向力X=-778.3256, 切向力Y=6517.4351 +FPS=47.73, 法向力=1312.6926, 切向力X=-918.6409, 切向力Y=6389.9248 +FPS=47.10, 法向力=1362.5247, 切向力X=-927.1547, 切向力Y=7686.0654 +FPS=52.46, 法向力=1369.0570, 切向力X=-840.2179, 切向力Y=7931.6328 +FPS=30.12, 法向力=1219.3083, 切向力X=118.0948, 切向力Y=6627.7012 +FPS=31.10, 法向力=1367.6133, 切向力X=337.1809, 切向力Y=5579.5879 +FPS=32.36, 法向力=1209.9357, 切向力X=-265.7495, 切向力Y=6195.4150 +FPS=2.92, 法向力=1433.4272, 切向力X=-256.2438, 切向力Y=2673.9575 +FPS=28.68, 法向力=1490.8167, 切向力X=-77.1772, 切向力Y=2616.8479 +FPS=30.93, 法向力=1254.3083, 切向力X=1052.5762, 切向力Y=255.7103 +FPS=32.57, 法向力=1281.8308, 切向力X=1107.9860, 切向力Y=302.3338 +FPS=31.82, 法向力=1278.0293, 切向力X=1105.6846, 切向力Y=361.5027 +FPS=37.83, 法向力=2399.7004, 切向力X=763.7449, 切向力Y=2173.4856 +FPS=47.34, 法向力=2319.5342, 切向力X=810.6113, 切向力Y=2133.8694 +FPS=38.47, 法向力=3469.0664, 切向力X=1093.4529, 切向力Y=3413.2534 +FPS=48.26, 法向力=3676.9272, 切向力X=1107.1355, 切向力Y=3266.6343 +FPS=31.64, 法向力=4002.7842, 切向力X=809.8424, 切向力Y=3890.6499 +FPS=31.43, 法向力=3867.1216, 切向力X=738.5788, 切向力Y=3745.3296 +FPS=37.56, 法向力=4386.8994, 切向力X=1450.6665, 切向力Y=4457.6387 +FPS=40.63, 法向力=4387.1675, 切向力X=1370.6504, 切向力Y=4693.9756 +FPS=43.91, 法向力=4690.9482, 切向力X=1424.1375, 切向力Y=5467.2100 +FPS=45.67, 法向力=4706.5918, 切向力X=1448.3047, 切向力Y=5456.5166 +FPS=44.04, 法向力=2963.8853, 切向力X=1131.3909, 切向力Y=3878.2671 +FPS=62.78, 法向力=2905.1326, 切向力X=1094.2556, 切向力Y=3669.7170 +FPS=60.76, 法向力=2987.7915, 切向力X=1504.2720, 切向力Y=5323.8296 +FPS=50.07, 法向力=3076.1155, 切向力X=1553.8951, 切向力Y=5233.7217 +FPS=29.12, 法向力=2879.8784, 切向力X=1524.7787, 切向力Y=5387.1406 +FPS=48.69, 法向力=2905.0339, 切向力X=1526.7815, 切向力Y=5372.6963 +FPS=62.32, 法向力=3006.6367, 切向力X=1545.1932, 切向力Y=5279.1816 +FPS=36.40, 法向力=3835.9268, 切向力X=1867.2476, 切向力Y=7074.3076 +FPS=38.98, 法向力=3769.9158, 切向力X=1894.4429, 切向力Y=7281.8462 +FPS=3.46, 法向力=1719.1062, 切向力X=2790.4272, 切向力Y=-645.7068 +FPS=56.65, 法向力=1787.6646, 切向力X=2877.3296, 切向力Y=-705.1796 +FPS=35.26, 法向力=1707.7172, 切向力X=2950.9756, 切向力Y=-732.3160 +FPS=54.64, 法向力=2172.4224, 切向力X=2397.6926, 切向力Y=-1724.1892 +FPS=49.56, 法向力=2156.1616, 切向力X=2199.7070, 切向力Y=-1523.7886 +FPS=54.17, 法向力=2185.5383, 切向力X=2164.6831, 切向力Y=-1781.7400 +FPS=27.44, 法向力=2008.6951, 切向力X=3338.6404, 切向力Y=-2105.4006 +FPS=36.97, 法向力=2045.7554, 切向力X=3665.0374, 切向力Y=-2118.7107 +FPS=45.60, 法向力=2412.4812, 切向力X=2857.8931, 切向力Y=-2407.2957 +FPS=35.98, 法向力=2298.8755, 切向力X=2677.9155, 切向力Y=-2182.7966 +FPS=47.60, 法向力=1790.2499, 切向力X=2727.5232, 切向力Y=-3500.5908 +FPS=50.67, 法向力=1827.1248, 切向力X=2880.8855, 切向力Y=-3393.5046 +FPS=50.15, 法向力=1346.2256, 切向力X=2968.8496, 切向力Y=-2342.9575 +FPS=63.24, 法向力=1533.9783, 切向力X=2763.7146, 切向力Y=-1861.1733 +FPS=49.89, 法向力=1589.4041, 切向力X=2705.5520, 切向力Y=-1817.9819 +FPS=37.77, 法向力=1318.1656, 切向力X=2338.2258, 切向力Y=-1740.1628 +FPS=47.05, 法向力=1425.8379, 切向力X=2390.4753, 切向力Y=-1850.6228 +FPS=38.13, 法向力=1356.2570, 切向力X=2687.1455, 切向力Y=-3614.9412 +FPS=46.75, 法向力=1320.9058, 切向力X=2865.3616, 切向力Y=-3655.8206 +FPS=32.51, 法向力=1388.3953, 切向力X=2919.3496, 切向力Y=-3732.0073 +FPS=58.31, 法向力=1360.3860, 切向力X=2911.4004, 切向力Y=-3668.6204 +FPS=33.95, 法向力=2158.9741, 切向力X=3582.4946, 切向力Y=-3051.7720 +FPS=3.53, 法向力=3595.0459, 切向力X=4006.2266, 切向力Y=-4618.9785 +FPS=32.21, 法向力=3145.5720, 切向力X=3888.9834, 切向力Y=-4362.6665 +FPS=32.99, 法向力=3008.7002, 切向力X=3848.0647, 切向力Y=-4542.2153 +FPS=37.84, 法向力=2968.2078, 切向力X=3809.5532, 切向力Y=-4582.6021 +FPS=46.64, 法向力=2905.8569, 切向力X=3845.9111, 切向力Y=-4165.7568 +FPS=33.02, 法向力=2906.7263, 切向力X=3758.7786, 切向力Y=-4278.8882 +FPS=61.96, 法向力=2905.2734, 切向力X=3753.6653, 切向力Y=-4290.4814 +FPS=50.97, 法向力=3240.6475, 切向力X=4168.3569, 切向力Y=-4286.1963 +FPS=44.78, 法向力=3297.4346, 切向力X=4208.8691, 切向力Y=-4217.5366 +FPS=49.14, 法向力=3266.1738, 切向力X=4459.0273, 切向力Y=-1977.7542 +FPS=37.38, 法向力=3190.0649, 切向力X=4498.4014, 切向力Y=-1862.6296 +FPS=47.16, 法向力=3968.1138, 切向力X=3892.2656, 切向力Y=-505.4067 +FPS=38.45, 法向力=4033.9229, 切向力X=3947.3154, 切向力Y=-365.6499 +FPS=27.41, 法向力=3437.1201, 切向力X=4456.2627, 切向力Y=695.4955 +FPS=54.75, 法向力=3481.5295, 切向力X=4460.0879, 切向力Y=711.6262 +FPS=50.56, 法向力=2813.8850, 切向力X=3523.2446, 切向力Y=2283.4800 +FPS=50.74, 法向力=2770.2761, 切向力X=3380.8188, 切向力Y=2393.9512 +FPS=51.29, 法向力=2724.5327, 切向力X=2869.9519, 切向力Y=4300.0098 +FPS=35.87, 法向力=2799.1357, 切向力X=2967.2881, 切向力Y=4612.4502 +FPS=45.04, 法向力=2845.4927, 切向力X=2944.3403, 切向力Y=4478.1426 +FPS=40.30, 法向力=2822.1504, 切向力X=2925.1941, 切向力Y=4590.7939 +FPS=53.19, 法向力=2790.1570, 切向力X=2943.1392, 切向力Y=4674.7974 +FPS=34.41, 法向力=2213.7852, 切向力X=2713.9644, 切向力Y=-114.0497 +FPS=48.49, 法向力=2133.7559, 切向力X=2718.4016, 切向力Y=-259.9487 +FPS=32.23, 法向力=1894.9097, 切向力X=2831.8335, 切向力Y=-3814.7578 +FPS=31.30, 法向力=2405.0642, 切向力X=2008.8560, 切向力Y=-7712.8398 +FPS=31.51, 法向力=2489.5967, 切向力X=1838.6620, 切向力Y=-7757.2314 +FPS=31.45, 法向力=2988.3198, 切向力X=3266.6924, 切向力Y=-9652.5527 +FPS=29.52, 法向力=3307.6738, 切向力X=3106.8938, 切向力Y=-9875.9180 +FPS=35.70, 法向力=3382.5452, 切向力X=3106.4849, 切向力Y=-9818.5547 +FPS=32.11, 法向力=3011.6201, 切向力X=2980.9534, 切向力Y=-9260.7402 +FPS=30.81, 法向力=3188.7134, 切向力X=3634.4573, 切向力Y=-7827.0171 +FPS=32.01, 法向力=3238.8311, 切向力X=3853.8237, 切向力Y=-7780.0669 +FPS=31.77, 法向力=3252.2598, 切向力X=3841.2029, 切向力Y=-7802.2808 +FPS=32.36, 法向力=3248.9729, 切向力X=3775.8027, 切向力Y=-7808.2300 +FPS=63.29, 法向力=3239.1509, 切向力X=3797.4885, 切向力Y=-7860.4258 +FPS=52.02, 法向力=4401.6392, 切向力X=3459.0547, 切向力Y=-7507.1113 +FPS=44.38, 法向力=4349.5405, 切向力X=3543.3716, 切向力Y=-7581.9287 +FPS=47.20, 法向力=3784.4448, 切向力X=3665.0972, 切向力Y=-8557.7109 +FPS=32.06, 法向力=3746.0081, 切向力X=3612.5867, 切向力Y=-8679.5547 +FPS=32.09, 法向力=3507.0955, 切向力X=2922.8506, 切向力Y=-6775.7886 +FPS=56.21, 法向力=3589.6357, 切向力X=2928.6392, 切向力Y=-6430.3804 +FPS=52.42, 法向力=3147.8518, 切向力X=3972.6372, 切向力Y=-5805.3223 +FPS=47.81, 法向力=3000.9792, 切向力X=3946.0459, 切向力Y=-5957.8169 +FPS=51.49, 法向力=2870.1255, 切向力X=3674.5464, 切向力Y=-4053.1033 +FPS=29.95, 法向力=2956.7065, 切向力X=3548.0469, 切向力Y=-3887.5020 +FPS=32.74, 法向力=2568.5173, 切向力X=3320.7322, 切向力Y=-3413.9619 +FPS=57.77, 法向力=2535.3210, 切向力X=3282.7698, 切向力Y=-3334.8833 +FPS=53.07, 法向力=2319.3120, 切向力X=3303.4255, 切向力Y=-3148.6189 +FPS=43.87, 法向力=2327.4839, 切向力X=3322.3091, 切向力Y=-3285.7190 +FPS=48.55, 法向力=2333.0305, 切向力X=3338.9458, 切向力Y=-3163.6321 +FPS=38.06, 法向力=2331.2207, 切向力X=3326.7944, 切向力Y=-3221.2266 +FPS=46.81, 法向力=2345.9639, 切向力X=3347.5764, 切向力Y=-3163.2576 +FPS=60.27, 法向力=2687.6277, 切向力X=2824.7275, 切向力Y=213.7828 +FPS=51.36, 法向力=2791.0664, 切向力X=2857.6914, 切向力Y=567.8939 +FPS=62.46, 法向力=2780.6792, 切向力X=2916.2280, 切向力Y=630.1680 +FPS=39.38, 法向力=1895.8485, 切向力X=2836.2568, 切向力Y=705.5369 +FPS=31.28, 法向力=1891.8588, 切向力X=2242.7219, 切向力Y=1094.0535 +FPS=33.19, 法向力=1953.4946, 切向力X=2416.8145, 切向力Y=1228.8889 +FPS=30.96, 法向力=1777.1345, 切向力X=2057.0581, 切向力Y=-1412.6370 +FPS=32.29, 法向力=2118.3347, 切向力X=2440.3992, 切向力Y=-358.8326 +FPS=31.58, 法向力=2399.4768, 切向力X=2565.4487, 切向力Y=36.5859 +FPS=39.22, 法向力=1504.6392, 切向力X=1824.0491, 切向力Y=94.2857 +FPS=50.33, 法向力=1542.5110, 切向力X=1715.4912, 切向力Y=142.0182 +FPS=30.67, 法向力=1782.1543, 切向力X=2862.1772, 切向力Y=-1048.2173 +FPS=31.66, 法向力=1828.5750, 切向力X=2933.6855, 切向力Y=-1365.3699 +FPS=58.99, 法向力=1761.5781, 切向力X=2975.2554, 切向力Y=1108.1250 +FPS=52.77, 法向力=1929.0334, 切向力X=2758.4800, 切向力Y=1616.8363 +FPS=42.28, 法向力=1936.0447, 切向力X=2718.1387, 切向力Y=1712.1843 +FPS=48.11, 法向力=1476.2437, 切向力X=3701.0413, 切向力Y=386.2127 +FPS=31.94, 法向力=2008.4702, 切向力X=3446.1531, 切向力Y=607.9689 +FPS=38.57, 法向力=2034.9866, 切向力X=3591.6731, 切向力Y=881.3518 +FPS=43.95, 法向力=2509.9526, 切向力X=3193.9468, 切向力Y=2511.4209 +FPS=68.70, 法向力=2614.9907, 切向力X=3259.1350, 切向力Y=2933.4653 +FPS=32.77, 法向力=2655.3091, 切向力X=3275.7139, 切向力Y=3016.5647 +FPS=31.10, 法向力=2623.4150, 切向力X=3643.6929, 切向力Y=3497.2271 +FPS=55.58, 法向力=2637.8333, 切向力X=3661.3071, 切向力Y=3699.6714 +FPS=40.80, 法向力=3290.0610, 切向力X=4998.7847, 切向力Y=3365.1650 +FPS=45.92, 法向力=3267.3521, 切向力X=5065.7988, 切向力Y=3448.1030 +FPS=39.85, 法向力=4078.4429, 切向力X=5209.0303, 切向力Y=4755.2432 +FPS=27.79, 法向力=4257.6592, 切向力X=5035.1328, 切向力Y=4955.8711 +FPS=38.93, 法向力=4622.9561, 切向力X=4914.6230, 切向力Y=7442.3682 +FPS=27.37, 法向力=4510.2139, 切向力X=6505.4648, 切向力Y=10332.8076 +FPS=37.73, 法向力=4469.6982, 切向力X=6702.0371, 切向力Y=10786.0693 +FPS=40.87, 法向力=4972.7568, 切向力X=6473.4941, 切向力Y=12569.9297 +FPS=67.25, 法向力=5171.9990, 切向力X=6525.7432, 切向力Y=13106.2422 +FPS=60.41, 法向力=5178.0376, 切向力X=6563.1675, 切向力Y=12761.2910 +FPS=46.63, 法向力=4011.6575, 切向力X=6705.6885, 切向力Y=11868.6123 +FPS=58.98, 法向力=4042.7764, 切向力X=6761.7583, 切向力Y=11757.5557 +FPS=46.60, 法向力=4096.5103, 切向力X=6024.8164, 切向力Y=9994.5449 +FPS=39.86, 法向力=4175.7656, 切向力X=5930.5059, 切向力Y=9884.4355 +FPS=47.54, 法向力=4300.8184, 切向力X=6064.1621, 切向力Y=8712.7539 +FPS=66.01, 法向力=4326.1973, 切向力X=6102.3799, 切向力Y=8622.4355 +FPS=30.33, 法向力=4394.3682, 切向力X=5271.6191, 切向力Y=9533.8047 +FPS=39.78, 法向力=4451.5439, 切向力X=5204.6108, 切向力Y=9324.2686 +FPS=42.32, 法向力=4443.8960, 切向力X=5212.5796, 切向力Y=9323.8037 +FPS=44.55, 法向力=3737.7837, 切向力X=5903.5732, 切向力Y=9358.9326 +FPS=62.39, 法向力=3773.6575, 切向力X=5862.5850, 切向力Y=9358.3555 +FPS=51.25, 法向力=3248.5574, 切向力X=4912.7656, 切向力Y=6786.6621 +FPS=64.38, 法向力=3429.4243, 切向力X=4566.6040, 切向力Y=6779.4106 +FPS=35.26, 法向力=3441.5718, 切向力X=4501.1738, 切向力Y=6863.5654 +FPS=51.27, 法向力=2903.1770, 切向力X=3915.6047, 切向力Y=6862.3447 +FPS=36.02, 法向力=2897.8450, 切向力X=3833.8955, 切向力Y=6771.1445 +FPS=27.67, 法向力=2455.8940, 切向力X=2988.8540, 切向力Y=4564.1943 +FPS=61.62, 法向力=2459.5620, 切向力X=2896.1260, 切向力Y=4555.5879 +FPS=31.46, 法向力=2052.9641, 切向力X=2695.8691, 切向力Y=2234.0237 +FPS=61.17, 法向力=1707.7058, 切向力X=1270.1417, 切向力Y=2392.8599 +FPS=34.00, 法向力=1748.5441, 切向力X=1006.6766, 切向力Y=2562.1904 +FPS=38.31, 法向力=1655.6334, 切向力X=1655.1143, 切向力Y=1459.2974 +FPS=27.36, 法向力=1577.4824, 切向力X=1912.8879, 切向力Y=1198.8374 +FPS=38.77, 法向力=2371.2329, 切向力X=2965.8599, 切向力Y=2369.9675 +FPS=42.40, 法向力=2581.7661, 切向力X=3007.4956, 切向力Y=2676.4604 +FPS=56.87, 法向力=2562.8955, 切向力X=3080.1519, 切向力Y=2825.8794 +FPS=48.37, 法向力=2373.6765, 切向力X=2682.7578, 切向力Y=4086.4463 +FPS=42.89, 法向力=2316.6284, 切向力X=2703.2664, 切向力Y=4043.4827 +FPS=42.11, 法向力=2433.8501, 切向力X=2805.3228, 切向力Y=2051.7065 +FPS=27.48, 法向力=2315.2332, 切向力X=2355.8628, 切向力Y=434.2859 +FPS=37.21, 法向力=2501.3745, 切向力X=2239.1287, 切向力Y=708.4814 +FPS=46.33, 法向力=2100.1680, 切向力X=2540.6184, 切向力Y=-2623.0996 +FPS=39.25, 法向力=2019.9785, 切向力X=2525.0635, 切向力Y=-3085.7993 +FPS=46.86, 法向力=2242.9912, 切向力X=2706.6316, 切向力Y=-4132.2104 +FPS=38.58, 法向力=2247.9832, 切向力X=2772.1714, 切向力Y=-3999.4297 +FPS=48.48, 法向力=2105.8540, 切向力X=2878.7295, 切向力Y=-4464.5308 +FPS=38.22, 法向力=2139.7656, 切向力X=2829.9512, 切向力Y=-4289.2842 +FPS=46.00, 法向力=2510.4370, 切向力X=3499.5798, 切向力Y=-5139.4121 +FPS=40.55, 法向力=2483.5215, 切向力X=3489.0916, 切向力Y=-5077.7354 +FPS=27.45, 法向力=3082.6121, 切向力X=2142.5142, 切向力Y=-3266.6042 +FPS=38.52, 法向力=3225.8506, 切向力X=2039.7408, 切向力Y=-2699.9189 +FPS=41.94, 法向力=3234.7271, 切向力X=3092.9053, 切向力Y=-4701.8018 +FPS=43.35, 法向力=3298.2705, 切向力X=3064.4573, 切向力Y=-5129.9531 +FPS=63.28, 法向力=3336.4966, 切向力X=3074.6763, 切向力Y=-5131.9966 +FPS=52.87, 法向力=3402.5210, 切向力X=2359.3887, 切向力Y=-6465.2832 +FPS=35.99, 法向力=3428.1287, 切向力X=2347.8203, 切向力Y=-6607.8135 +FPS=48.11, 法向力=3755.3174, 切向力X=2067.5596, 切向力Y=-6508.2314 +FPS=65.81, 法向力=3811.0439, 切向力X=2022.7119, 切向力Y=-6519.8740 +FPS=66.56, 法向力=3821.4214, 切向力X=2008.9771, 切向力Y=-6454.5630 +FPS=54.22, 法向力=3871.0164, 切向力X=3121.0420, 切向力Y=-5711.7192 +FPS=39.14, 法向力=3898.3477, 切向力X=3089.7043, 切向力Y=-5706.2017 +FPS=51.77, 法向力=3609.9204, 切向力X=2587.4839, 切向力Y=-6129.2656 +FPS=30.12, 法向力=3617.7966, 切向力X=2420.7471, 切向力Y=-6205.4258 +FPS=30.82, 法向力=3173.7695, 切向力X=1287.1053, 切向力Y=-4892.3774 +FPS=32.18, 法向力=3135.5454, 切向力X=1140.3439, 切向力Y=-4867.4160 +FPS=38.41, 法向力=3967.3982, 切向力X=1272.7512, 切向力Y=-6598.4028 +FPS=48.88, 法向力=4031.7661, 切向力X=1193.1128, 切向力Y=-6635.4302 +FPS=36.82, 法向力=3909.7117, 切向力X=2112.3359, 切向力Y=-5189.7402 +FPS=47.33, 法向力=3812.0288, 切向力X=2130.3762, 切向力Y=-4846.6211 +FPS=33.93, 法向力=2920.7671, 切向力X=1808.9913, 切向力Y=-3075.3672 +FPS=59.82, 法向力=2974.9531, 切向力X=1672.2030, 切向力Y=-2891.7830 +FPS=52.19, 法向力=2696.6509, 切向力X=2079.8704, 切向力Y=-2160.5925 +FPS=43.97, 法向力=2801.2959, 切向力X=2292.1726, 切向力Y=-2092.2876 +FPS=51.70, 法向力=2080.0083, 切向力X=1602.9141, 切向力Y=-449.0704 +FPS=31.74, 法向力=2092.2859, 切向力X=1564.2769, 切向力Y=-460.3876 +FPS=51.55, 法向力=1640.6821, 切向力X=1438.1780, 切向力Y=79.0468 +FPS=42.14, 法向力=1660.8447, 切向力X=1404.4248, 切向力Y=32.7435 +FPS=50.88, 法向力=1993.4698, 切向力X=1576.3799, 切向力Y=-1408.3389 +FPS=30.44, 法向力=2114.6997, 切向力X=1677.8262, 切向力Y=-1364.3368 +FPS=36.37, 法向力=2327.1772, 切向力X=1294.9100, 切向力Y=-1144.1182 +FPS=27.88, 法向力=2423.8022, 切向力X=1081.0045, 切向力Y=-919.3620 +FPS=32.34, 法向力=2156.6387, 切向力X=1007.0302, 切向力Y=-620.1289 +FPS=31.48, 法向力=1751.8572, 切向力X=1538.0823, 切向力Y=-1000.4214 +FPS=37.26, 法向力=1709.3047, 切向力X=1598.7715, 切向力Y=-866.3687 +FPS=45.70, 法向力=2046.2347, 切向力X=1517.1710, 切向力Y=-1602.5166 +FPS=34.56, 法向力=2116.7173, 切向力X=1314.3562, 切向力Y=-1588.0522 +FPS=31.28, 法向力=2191.6802, 切向力X=1095.5931, 切向力Y=-4392.4644 +FPS=31.90, 法向力=3477.0376, 切向力X=2480.4268, 切向力Y=-4698.4429 +FPS=37.25, 法向力=3569.5198, 切向力X=2500.8306, 切向力Y=-4790.2954 +FPS=46.61, 法向力=3658.5144, 切向力X=2245.7144, 切向力Y=-5137.2529 +FPS=32.54, 法向力=3634.1775, 切向力X=2234.1543, 切向力Y=-5024.4595 +FPS=62.50, 法向力=2496.0540, 切向力X=2561.2710, 切向力Y=-2760.6611 +FPS=53.32, 法向力=2590.8621, 切向力X=2717.1123, 切向力Y=-2097.9502 +FPS=37.34, 法向力=2621.1682, 切向力X=2711.9385, 切向力Y=-2087.7957 +FPS=59.90, 法向力=2587.5676, 切向力X=2682.3340, 切向力Y=-2074.7869 +FPS=53.97, 法向力=1904.5371, 切向力X=3095.3738, 切向力Y=-273.5488 +FPS=36.12, 法向力=1895.4934, 切向力X=3126.8174, 切向力Y=-178.3707 +FPS=31.33, 法向力=1950.4697, 切向力X=2923.4980, 切向力Y=-588.2995 +FPS=58.48, 法向力=2044.8906, 切向力X=2890.6653, 切向力Y=-683.9385 +FPS=51.58, 法向力=1723.7181, 切向力X=2819.6011, 切向力Y=2021.4890 +FPS=36.76, 法向力=1699.4380, 切向力X=2738.5684, 切向力Y=2115.0527 +FPS=36.93, 法向力=1709.2148, 切向力X=1587.0276, 切向力Y=1018.1357 +FPS=44.58, 法向力=1898.0736, 切向力X=1525.5341, 切向力Y=906.6100 +FPS=34.31, 法向力=1417.4028, 切向力X=1834.1948, 切向力Y=-80.1415 +FPS=61.69, 法向力=1352.4304, 切向力X=1800.4427, 切向力Y=-635.3083 +FPS=51.61, 法向力=1306.0295, 切向力X=2510.6440, 切向力Y=1488.0885 +FPS=42.57, 法向力=1317.5496, 切向力X=2585.9780, 切向力Y=1758.0483 +FPS=46.15, 法向力=2988.4712, 切向力X=4012.6953, 切向力Y=3385.9600 +FPS=39.73, 法向力=3190.8655, 切向力X=4162.1450, 切向力Y=3673.2651 +FPS=51.56, 法向力=3297.7698, 切向力X=4203.6641, 切向力Y=3781.5688 +FPS=29.85, 法向力=2796.5562, 切向力X=4026.0698, 切向力Y=3068.2065 +FPS=60.00, 法向力=2668.8000, 切向力X=4000.9551, 切向力Y=2659.6511 +FPS=48.81, 法向力=3113.4978, 切向力X=4425.3447, 切向力Y=2833.4004 +FPS=46.58, 法向力=3155.7793, 切向力X=4803.6685, 切向力Y=3240.5327 +FPS=46.20, 法向力=3894.5852, 切向力X=6187.0220, 切向力Y=5118.2881 +FPS=40.19, 法向力=4115.3633, 切向力X=6390.0825, 切向力Y=5345.7139 +FPS=43.71, 法向力=4553.8267, 切向力X=6728.4214, 切向力Y=4405.9053 +FPS=33.84, 法向力=4512.4902, 切向力X=6932.7051, 切向力Y=4625.4712 +FPS=39.43, 法向力=4580.5728, 切向力X=6689.7549, 切向力Y=4580.0059 +FPS=50.63, 法向力=4602.1860, 切向力X=6856.1289, 切向力Y=4542.3047 +FPS=35.78, 法向力=4313.8765, 切向力X=6010.7129, 切向力Y=3881.4998 +FPS=47.08, 法向力=4440.5957, 切向力X=5910.9258, 切向力Y=3773.3179 +FPS=33.40, 法向力=4836.7500, 切向力X=3920.4478, 切向力Y=1634.8279 +FPS=36.82, 法向力=4851.8306, 切向力X=3878.4727, 切向力Y=1593.4742 +FPS=48.78, 法向力=5084.9995, 切向力X=3568.8721, 切向力Y=-2062.1458 +FPS=30.91, 法向力=5193.3828, 切向力X=3652.9504, 切向力Y=-2186.0918 +FPS=39.78, 法向力=5296.3955, 切向力X=2150.5583, 切向力Y=-4103.4834 +FPS=26.78, 法向力=5211.3052, 切向力X=2821.0864, 切向力Y=-5226.9473 +FPS=32.18, 法向力=5288.8076, 切向力X=2980.1738, 切向力Y=-5411.8257 +FPS=37.85, 法向力=6687.4980, 切向力X=2086.7417, 切向力Y=-5054.4902 +FPS=44.80, 法向力=6667.4839, 切向力X=2085.6606, 切向力Y=-4918.9502 +FPS=40.86, 法向力=6339.0698, 切向力X=1915.5516, 切向力Y=-2923.9443 +FPS=27.41, 法向力=6346.3809, 切向力X=2205.9915, 切向力Y=-2894.2258 +FPS=37.33, 法向力=5097.7920, 切向力X=3176.4004, 切向力Y=-2480.3950 +FPS=46.04, 法向力=4961.1060, 切向力X=3274.5874, 切向力Y=-2484.9768 +FPS=38.30, 法向力=4776.8003, 切向力X=3153.5195, 切向力Y=-880.8873 +FPS=27.94, 法向力=3686.3647, 切向力X=4712.8442, 切向力Y=3161.6152 +FPS=36.88, 法向力=3775.4727, 切向力X=4833.0430, 切向力Y=3441.9399 +FPS=27.67, 法向力=3974.1543, 切向力X=4761.2139, 切向力Y=3703.5679 +FPS=38.56, 法向力=4053.0078, 切向力X=4757.1094, 切向力Y=3585.9863 +FPS=27.17, 法向力=3306.2092, 切向力X=3730.9561, 切向力Y=1744.1714 +FPS=59.98, 法向力=3354.1140, 切向力X=3728.8799, 切向力Y=1858.3685 +FPS=32.86, 法向力=4037.2793, 切向力X=2524.6694, 切向力Y=-2032.8276 +FPS=62.13, 法向力=4158.6201, 切向力X=2398.9199, 切向力Y=-2195.6006 +FPS=31.87, 法向力=5426.7334, 切向力X=2412.7871, 切向力Y=-5548.2598 +FPS=53.51, 法向力=5426.7383, 切向力X=2493.5986, 切向力Y=-5694.0342 +FPS=51.02, 法向力=5527.1562, 切向力X=2511.8809, 切向力Y=-2795.8025 +FPS=41.34, 法向力=5551.1401, 切向力X=2402.0112, 切向力Y=-2633.9512 +FPS=31.17, 法向力=4672.4346, 切向力X=1913.3425, 切向力Y=-1659.2123 +FPS=31.00, 法向力=4040.4846, 切向力X=1605.4264, 切向力Y=-387.2756 +FPS=32.47, 法向力=4128.4482, 切向力X=1670.0669, 切向力Y=-215.7360 +FPS=39.53, 法向力=2447.6074, 切向力X=2059.2485, 切向力Y=-1032.4272 +FPS=27.56, 法向力=2459.2444, 切向力X=2234.2859, 切向力Y=-1263.5562 +FPS=57.83, 法向力=2782.9883, 切向力X=1931.9205, 切向力Y=-341.1716 +FPS=41.59, 法向力=2818.8921, 切向力X=1947.4203, 切向力Y=-368.6192 +FPS=47.91, 法向力=2666.9536, 切向力X=1548.3639, 切向力Y=-1000.3341 +FPS=39.45, 法向力=2700.4360, 切向力X=1735.2111, 切向力Y=-790.2255 +FPS=45.51, 法向力=1950.4602, 切向力X=2373.3533, 切向力Y=-1086.2710 +FPS=40.15, 法向力=2010.9893, 切向力X=2428.7349, 切向力Y=-1157.3911 +FPS=46.38, 法向力=1957.0232, 切向力X=2734.5786, 切向力Y=508.5159 +FPS=38.49, 法向力=1912.8960, 切向力X=2783.4858, 切向力Y=559.6123 +FPS=46.15, 法向力=1856.4500, 切向力X=3022.9612, 切向力Y=1295.1746 +FPS=32.51, 法向力=1887.8782, 切向力X=3093.7422, 切向力Y=1218.1959 +FPS=58.96, 法向力=1789.7710, 切向力X=3558.4751, 切向力Y=812.4402 +FPS=33.50, 法向力=1715.4626, 切向力X=3513.3220, 切向力Y=921.8330 +FPS=62.65, 法向力=1688.5396, 切向力X=3584.9712, 切向力Y=1053.7064 +FPS=31.65, 法向力=2667.1758, 切向力X=3994.1968, 切向力Y=-1341.2992 +FPS=31.33, 法向力=2827.1016, 切向力X=3984.3069, 切向力Y=-1474.7629 +FPS=31.90, 法向力=2918.2251, 切向力X=3155.4675, 切向力Y=-1398.5671 +FPS=65.28, 法向力=2846.3411, 切向力X=3018.3037, 切向力Y=-1771.0216 +FPS=53.44, 法向力=3145.0740, 切向力X=3728.3403, 切向力Y=-1630.2715 +FPS=34.75, 法向力=3190.2847, 切向力X=3597.8027, 切向力Y=-1632.9832 +FPS=31.94, 法向力=3180.8882, 切向力X=3187.1973, 切向力Y=-3396.5708 +FPS=59.03, 法向力=3230.5435, 切向力X=3201.7136, 切向力Y=-3409.3965 +FPS=33.05, 法向力=2862.9448, 切向力X=2161.4407, 切向力Y=-5064.7021 +FPS=60.64, 法向力=2887.7261, 切向力X=2240.1445, 切向力Y=-5240.2305 +FPS=54.03, 法向力=2576.2588, 切向力X=2834.0649, 切向力Y=-3927.7490 +FPS=35.39, 法向力=2462.4539, 切向力X=2942.2419, 切向力Y=-4082.6194 +FPS=31.75, 法向力=3582.5908, 切向力X=2789.9736, 切向力Y=-2217.9302 +FPS=58.92, 法向力=3830.9863, 切向力X=2672.9805, 切向力Y=-2051.4160 +FPS=54.38, 法向力=2917.1357, 切向力X=1659.4961, 切向力Y=-552.1852 +FPS=36.22, 法向力=2872.9143, 切向力X=1567.7727, 切向力Y=-326.0184 +FPS=36.74, 法向力=2140.1050, 切向力X=1662.2527, 切向力Y=579.6660 +FPS=51.37, 法向力=2137.2251, 切向力X=1682.7928, 切向力Y=430.4279 +FPS=30.67, 法向力=1411.7903, 切向力X=839.7502, 切向力Y=-1082.9490 +FPS=31.17, 法向力=1386.4109, 切向力X=784.3129, 切向力Y=-1460.2245 +FPS=32.35, 法向力=1913.4512, 切向力X=1825.9454, 切向力Y=-964.2328 +FPS=39.17, 法向力=1647.8593, 切向力X=1507.5908, 切向力Y=-286.4006 +FPS=52.66, 法向力=1629.8884, 切向力X=1359.3604, 切向力Y=-265.1584 +FPS=29.39, 法向力=1968.0287, 切向力X=2673.0891, 切向力Y=391.6859 +FPS=32.38, 法向力=1995.1570, 切向力X=2504.4600, 切向力Y=629.9362 +FPS=31.81, 法向力=3166.9866, 切向力X=3651.9097, 切向力Y=-50.1588 +FPS=31.38, 法向力=2899.9609, 切向力X=3316.8740, 切向力Y=-1201.3395 +FPS=32.71, 法向力=2791.2651, 切向力X=3364.6948, 切向力Y=-1205.6473 +FPS=31.61, 法向力=2596.7129, 切向力X=2391.4629, 切向力Y=-4375.4297 +FPS=31.38, 法向力=2444.1082, 切向力X=2486.0503, 切向力Y=-4472.5859 +FPS=31.34, 法向力=3830.5894, 切向力X=1399.9946, 切向力Y=-9409.1250 +FPS=30.95, 法向力=4334.9883, 切向力X=1545.2699, 切向力Y=-11564.0605 +FPS=37.78, 法向力=4395.6152, 切向力X=1477.7031, 切向力Y=-11640.3906 +FPS=44.69, 法向力=4161.3745, 切向力X=946.9091, 切向力Y=-11190.7734 +FPS=34.22, 法向力=4255.4092, 切向力X=925.9360, 切向力Y=-10949.0576 +FPS=37.59, 法向力=5323.9834, 切向力X=1334.1479, 切向力Y=-9895.6875 +FPS=51.48, 法向力=5062.9390, 切向力X=1308.0573, 切向力Y=-9583.5010 +FPS=60.44, 法向力=5062.9487, 切向力X=1303.4072, 切向力Y=-9588.0576 +FPS=53.11, 法向力=3659.3140, 切向力X=2198.9170, 切向力Y=-6388.9980 +FPS=42.15, 法向力=3491.8169, 切向力X=2260.2449, 切向力Y=-6394.3184 +FPS=50.09, 法向力=2212.8672, 切向力X=1408.7084, 切向力Y=-2976.1123 +FPS=30.58, 法向力=2295.3284, 切向力X=1293.9591, 切向力Y=-2560.8459 +FPS=33.71, 法向力=2103.4194, 切向力X=2253.8442, 切向力Y=-3463.5244 +FPS=31.87, 法向力=2155.2607, 切向力X=2379.8901, 切向力Y=-3541.6011 +FPS=31.60, 法向力=1396.5909, 切向力X=1407.4749, 切向力Y=-2068.3074 +FPS=57.90, 法向力=1432.4473, 切向力X=1284.5476, 切向力Y=-2007.7173 +FPS=51.71, 法向力=1455.5095, 切向力X=1861.0852, 切向力Y=-1356.6707 +FPS=45.08, 法向力=1618.0591, 切向力X=1854.4927, 切向力Y=-1175.0480 +FPS=27.70, 法向力=1711.6827, 切向力X=1955.3098, 切向力Y=1027.0688 +FPS=31.33, 法向力=2175.1448, 切向力X=1821.4019, 切向力Y=1625.8093 +FPS=31.00, 法向力=2159.5786, 切向力X=1808.0369, 切向力Y=1741.5745 +FPS=32.46, 法向力=1759.1343, 切向力X=2496.4048, 切向力Y=2394.8323 +FPS=30.84, 法向力=1782.0348, 切向力X=1554.4961, 切向力Y=743.3099 +FPS=32.04, 法向力=1738.9675, 切向力X=1402.6748, 切向力Y=568.3236 +FPS=38.97, 法向力=1585.2939, 切向力X=1722.8616, 切向力Y=421.6487 +FPS=46.02, 法向力=1424.0984, 切向力X=1811.8411, 切向力Y=157.3255 +FPS=41.93, 法向力=1324.9443, 切向力X=1805.9247, 切向力Y=-148.3837 +FPS=45.25, 法向力=1393.3298, 切向力X=1329.9274, 切向力Y=-1250.3109 +FPS=33.74, 法向力=1660.3284, 切向力X=1494.7109, 切向力Y=-1375.5122 +FPS=31.63, 法向力=1657.0850, 切向力X=1559.9346, 切向力Y=-1301.5626 +FPS=31.45, 法向力=2092.2910, 切向力X=2753.5310, 切向力Y=-671.7067 +FPS=32.92, 法向力=3542.5596, 切向力X=2436.1147, 切向力Y=2993.1470 +FPS=38.23, 法向力=3725.5693, 切向力X=2630.2078, 切向力Y=3368.5273 +FPS=45.14, 法向力=4367.2080, 切向力X=3721.2891, 切向力Y=2564.6650 +FPS=40.35, 法向力=4441.9380, 切向力X=3932.7266, 切向力Y=2517.8572 +FPS=47.21, 法向力=4480.5400, 切向力X=3976.1133, 切向力Y=2497.3762 +FPS=31.79, 法向力=3675.7905, 切向力X=3323.7432, 切向力Y=3172.5312 +FPS=39.26, 法向力=3883.0933, 切向力X=2465.2720, 切向力Y=-1358.2139 +FPS=50.75, 法向力=3915.8530, 切向力X=2713.5210, 切向力Y=-1659.6177 +FPS=59.54, 法向力=3879.1997, 切向力X=2722.6099, 切向力Y=-1633.8552 +FPS=51.77, 法向力=4195.8350, 切向力X=2682.9590, 切向力Y=-6803.2378 +FPS=68.81, 法向力=4202.2808, 切向力X=2660.7437, 切向力Y=-7211.1987 +FPS=33.62, 法向力=4225.3096, 切向力X=2689.5771, 切向力Y=-7176.9131 +FPS=39.48, 法向力=6658.8452, 切向力X=4079.3215, 切向力Y=-8533.1113 +FPS=46.98, 法向力=6509.2373, 切向力X=4191.3057, 切向力Y=-8419.2705 +FPS=32.91, 法向力=7046.4121, 切向力X=4460.1611, 切向力Y=-4355.7578 +FPS=31.77, 法向力=5904.4736, 切向力X=6060.2275, 切向力Y=-1519.8147 +FPS=39.20, 法向力=5974.1377, 切向力X=6446.3105, 切向力Y=-1316.5088 +FPS=45.97, 法向力=5537.6221, 切向力X=5473.9141, 切向力Y=-3817.6621 +FPS=38.78, 法向力=5510.5518, 切向力X=5411.0522, 切向力Y=-3765.7773 +FPS=48.64, 法向力=5776.4033, 切向力X=5460.6250, 切向力Y=-3886.0049 +FPS=32.23, 法向力=5908.1978, 切向力X=5505.4443, 切向力Y=-3701.0200 +FPS=30.64, 法向力=6231.9346, 切向力X=5771.7012, 切向力Y=-1825.7119 +FPS=37.13, 法向力=6308.8350, 切向力X=5946.9985, 切向力Y=-1798.6808 +FPS=27.74, 法向力=6973.6201, 切向力X=6578.5049, 切向力Y=744.4050 +FPS=37.64, 法向力=6974.8110, 切向力X=6685.2256, 切向力Y=803.5787 +FPS=47.55, 法向力=5926.5557, 切向力X=5608.9697, 切向力Y=-521.5748 +FPS=32.74, 法向力=5675.0322, 切向力X=5194.8193, 切向力Y=-5114.5815 +FPS=32.95, 法向力=5788.7544, 切向力X=5429.5220, 切向力Y=-5709.5518 +FPS=31.54, 法向力=6067.1313, 切向力X=3941.5886, 切向力Y=-8491.5010 +FPS=37.40, 法向力=6081.8735, 切向力X=3979.8352, 切向力Y=-8591.3027 +FPS=46.88, 法向力=6521.2715, 切向力X=3557.7493, 切向力Y=-7825.0005 +FPS=40.36, 法向力=6532.0273, 切向力X=3444.6750, 切向力Y=-7526.7471 +FPS=48.56, 法向力=6642.0464, 切向力X=2904.7222, 切向力Y=-4540.8496 +FPS=38.28, 法向力=6813.4707, 切向力X=2943.6431, 切向力Y=-4520.5420 +FPS=49.18, 法向力=6662.4917, 切向力X=2134.2107, 切向力Y=-4888.4717 +FPS=37.19, 法向力=6636.4941, 切向力X=2148.2578, 切向力Y=-4664.4082 +FPS=47.75, 法向力=7612.2544, 切向力X=2159.0308, 切向力Y=-8125.7461 +FPS=31.89, 法向力=7557.7646, 切向力X=2316.2002, 切向力Y=-8521.6426 +FPS=32.10, 法向力=6396.1221, 切向力X=1683.2583, 切向力Y=-6874.4873 +FPS=31.88, 法向力=6517.8457, 切向力X=1517.1696, 切向力Y=-6623.3818 +FPS=30.96, 法向力=4246.2695, 切向力X=1560.4495, 切向力Y=-4602.6016 +FPS=61.16, 法向力=4043.5020, 切向力X=1594.7653, 切向力Y=-4440.1621 +FPS=32.52, 法向力=3366.5557, 切向力X=1752.4213, 切向力Y=-2642.7397 +FPS=65.31, 法向力=3311.9561, 切向力X=1687.5159, 切向力Y=-2539.6587 +FPS=31.00, 法向力=3652.4294, 切向力X=1298.7158, 切向力Y=-3800.7917 +FPS=37.18, 法向力=3492.9216, 切向力X=925.2756, 切向力Y=-4443.4219 +FPS=46.67, 法向力=3541.0181, 切向力X=906.5244, 切向力Y=-4044.9949 +FPS=60.70, 法向力=3566.5977, 切向力X=1035.8813, 切向力Y=-3883.8545 +FPS=42.56, 法向力=3182.3811, 切向力X=1838.3538, 切向力Y=-2026.8224 +FPS=52.32, 法向力=3169.1216, 切向力X=1981.3997, 切向力Y=-1883.9824 +FPS=35.90, 法向力=3099.7310, 切向力X=1865.9983, 切向力Y=-3759.1755 +FPS=27.16, 法向力=4260.6479, 切向力X=2235.0771, 切向力Y=-3438.5640 +FPS=40.41, 法向力=4314.5654, 切向力X=2186.4763, 切向力Y=-3433.7354 +FPS=27.17, 法向力=3057.7622, 切向力X=2380.7246, 切向力Y=-742.3821 +FPS=38.44, 法向力=2913.3098, 切向力X=2592.9106, 切向力Y=-655.1031 +FPS=42.98, 法向力=4309.8149, 切向力X=3330.6812, 切向力Y=-862.1191 +FPS=42.16, 法向力=4241.5684, 切向力X=3271.6040, 切向力Y=-714.2411 +FPS=46.06, 法向力=5463.3291, 切向力X=4083.7534, 切向力Y=-2061.2437 +FPS=39.46, 法向力=5291.7617, 切向力X=4048.4934, 切向力Y=-2267.7207 +FPS=45.12, 法向力=4079.2385, 切向力X=4385.5986, 切向力Y=-6114.1489 +FPS=38.99, 法向力=4140.2344, 切向力X=4429.5127, 切向力Y=-6288.8076 +FPS=63.22, 法向力=4115.4941, 切向力X=4468.8174, 切向力Y=-6302.6670 +FPS=52.35, 法向力=3944.0759, 切向力X=5166.5459, 切向力Y=-7715.3662 +FPS=30.10, 法向力=3886.8621, 切向力X=5106.9648, 切向力Y=-7533.8472 +FPS=37.34, 法向力=3568.7100, 切向力X=3628.4829, 切向力Y=-6821.2222 +FPS=45.43, 法向力=3609.3887, 切向力X=3692.0879, 切向力Y=-6944.7520 +FPS=64.28, 法向力=3704.1692, 切向力X=4098.0190, 切向力Y=-4127.6445 +FPS=55.22, 法向力=3722.9570, 切向力X=4166.3545, 切向力Y=-3986.2991 +FPS=35.57, 法向力=3707.3237, 切向力X=4175.6484, 切向力Y=-4029.5288 +FPS=31.67, 法向力=4233.3589, 切向力X=2997.4580, 切向力Y=-145.2088 +FPS=62.01, 法向力=4456.2188, 切向力X=2847.5537, 切向力Y=-131.3994 +FPS=33.32, 法向力=2635.5049, 切向力X=1673.0378, 切向力Y=259.3616 +FPS=59.06, 法向力=2519.8328, 切向力X=1632.4531, 切向力Y=-127.9769 +FPS=38.82, 法向力=1834.1234, 切向力X=2020.7771, 切向力Y=337.9487 +FPS=52.44, 法向力=1826.7334, 切向力X=2039.8894, 切向力Y=411.3529 +FPS=29.49, 法向力=2309.7747, 切向力X=1840.4355, 切向力Y=1013.2449 +FPS=56.52, 法向力=2360.0786, 切向力X=1980.3486, 切向力Y=1002.1000 +FPS=51.70, 法向力=2071.9089, 切向力X=1981.4803, 切向力Y=-558.8879 +FPS=37.59, 法向力=2117.4502, 切向力X=2020.8370, 切向力Y=-512.4025 +FPS=30.95, 法向力=2074.0837, 切向力X=670.9058, 切向力Y=639.9058 +FPS=55.63, 法向力=2058.2974, 切向力X=593.2287, 切向力Y=816.3478 +FPS=49.86, 法向力=2073.1685, 切向力X=823.9733, 切向力Y=-1096.6597 +FPS=40.23, 法向力=2064.6519, 切向力X=980.3562, 切向力Y=-1218.6680 +FPS=31.25, 法向力=2931.3657, 切向力X=994.5670, 切向力Y=-2096.2017 +FPS=38.87, 法向力=2946.4951, 切向力X=969.6872, 切向力Y=-2363.4636 +FPS=42.66, 法向力=3527.2119, 切向力X=620.5970, 切向力Y=-2164.4263 +FPS=35.09, 法向力=3374.7351, 切向力X=686.7070, 切向力Y=-2094.7271 +FPS=37.94, 法向力=3619.2734, 切向力X=629.0483, 切向力Y=130.3494 +FPS=48.17, 法向力=3565.2925, 切向力X=654.1808, 切向力Y=436.2604 +FPS=32.34, 法向力=3005.2202, 切向力X=1076.9463, 切向力Y=392.4158 +FPS=37.92, 法向力=2684.2727, 切向力X=2084.2285, 切向力Y=-2174.8062 +FPS=52.64, 法向力=2653.4604, 切向力X=2285.0977, 切向力Y=-2329.0713 +FPS=35.55, 法向力=2637.4519, 切向力X=2309.4595, 切向力Y=-2481.9702 +FPS=48.28, 法向力=2144.8350, 切向力X=2140.6445, 切向力Y=-561.6818 +FPS=31.39, 法向力=2471.0894, 切向力X=1881.5916, 切向力Y=366.9348 +FPS=32.29, 法向力=2487.7244, 切向力X=1875.9102, 切向力Y=396.8232 +FPS=31.47, 法向力=2502.1404, 切向力X=1724.2534, 切向力Y=110.6778 +FPS=31.76, 法向力=2514.9819, 切向力X=1743.5791, 切向力Y=67.1463 +FPS=32.68, 法向力=1736.9761, 切向力X=1280.6462, 切向力Y=1157.1796 +FPS=30.48, 法向力=1700.8638, 切向力X=1327.4082, 切向力Y=1065.5227 +FPS=32.25, 法向力=1959.4573, 切向力X=1007.0329, 切向力Y=-740.3076 +FPS=58.71, 法向力=1886.7026, 切向力X=500.2701, 切向力Y=-493.8058 +FPS=49.67, 法向力=1843.8582, 切向力X=603.9734, 切向力Y=-350.1967 +FPS=49.50, 法向力=1858.5754, 切向力X=558.9611, 切向力Y=-295.3769 +FPS=49.24, 法向力=1922.7461, 切向力X=420.0456, 切向力Y=-655.5080 +FPS=31.53, 法向力=1908.0658, 切向力X=336.2012, 切向力Y=-677.5967 +FPS=31.34, 法向力=1977.0125, 切向力X=924.8306, 切向力Y=-1557.5640 +FPS=64.89, 法向力=2020.9961, 切向力X=1225.7451, 切向力Y=-1409.8586 +FPS=52.43, 法向力=2118.7102, 切向力X=1246.1158, 切向力Y=-1788.5497 +FPS=44.10, 法向力=2210.5562, 切向力X=1323.1753, 切向力Y=-1950.0570 +FPS=50.21, 法向力=1658.7036, 切向力X=1292.0615, 切向力Y=-595.5468 +FPS=29.01, 法向力=1633.2732, 切向力X=1385.4600, 切向力Y=-432.4815 +FPS=40.73, 法向力=2762.1016, 切向力X=1578.6545, 切向力Y=-1187.9333 +FPS=49.54, 法向力=2840.7107, 切向力X=1705.0476, 切向力Y=-1065.4172 +FPS=60.09, 法向力=2844.7388, 切向力X=1676.2510, 切向力Y=-1094.8853 +FPS=53.82, 法向力=2535.1226, 切向力X=1803.2767, 切向力Y=-1539.6995 +FPS=44.09, 法向力=2504.8354, 切向力X=1774.6057, 切向力Y=-1554.0924 +FPS=50.35, 法向力=1948.8650, 切向力X=2470.2605, 切向力Y=281.5680 +FPS=35.30, 法向力=2007.7137, 切向力X=2543.8174, 切向力Y=575.2887 +FPS=47.06, 法向力=1613.5266, 切向力X=1431.5051, 切向力Y=-860.8622 +FPS=32.86, 法向力=1835.9369, 切向力X=1158.0146, 切向力Y=-1518.1895 +FPS=32.03, 法向力=1361.9766, 切向力X=1978.6290, 切向力Y=-2873.2720 +FPS=31.98, 法向力=1717.0927, 切向力X=1832.4900, 切向力Y=-2273.9062 +FPS=32.12, 法向力=1704.2324, 切向力X=1946.2969, 切向力Y=-2275.3115 +FPS=49.85, 法向力=1612.0793, 切向力X=1652.0801, 切向力Y=-771.6752 +FPS=35.88, 法向力=1464.9171, 切向力X=1521.1967, 切向力Y=-253.2187 +FPS=50.31, 法向力=1388.4337, 切向力X=850.6974, 切向力Y=-2914.1865 +FPS=36.20, 法向力=1326.5804, 切向力X=874.0338, 切向力Y=-3340.0073 +FPS=31.26, 法向力=1541.1141, 切向力X=1309.4907, 切向力Y=-3958.9104 +FPS=58.81, 法向力=1520.3389, 切向力X=1337.6882, 切向力Y=-4047.3110 +FPS=33.15, 法向力=1528.3218, 切向力X=1380.5555, 切向力Y=-3904.2195 +FPS=31.27, 法向力=1519.5537, 切向力X=1453.9194, 切向力Y=-3940.5752 +FPS=39.44, 法向力=1802.6666, 切向力X=610.0269, 切向力Y=-4412.0371 +FPS=47.56, 法向力=1839.2219, 切向力X=504.9628, 切向力Y=-4472.9629 +FPS=31.65, 法向力=2079.5308, 切向力X=1626.1608, 切向力Y=-3964.6104 +FPS=32.16, 法向力=1875.5643, 切向力X=2096.2144, 切向力Y=-4192.4131 +FPS=64.34, 法向力=1803.9603, 切向力X=2209.8499, 切向力Y=-4189.6768 +FPS=49.87, 法向力=1784.8510, 切向力X=2219.5125, 切向力Y=-4185.7080 +FPS=62.81, 法向力=1467.5107, 切向力X=2372.1025, 切向力Y=-3712.5361 +FPS=36.38, 法向力=1573.0597, 切向力X=2523.2190, 切向力Y=-3457.2498 +FPS=58.63, 法向力=2595.0771, 切向力X=2571.2383, 切向力Y=-4133.9614 +FPS=50.03, 法向力=2680.3560, 切向力X=2584.5188, 切向力Y=-4248.3438 +FPS=66.32, 法向力=2703.5581, 切向力X=2600.2554, 切向力Y=-4377.8823 +FPS=38.73, 法向力=2717.7705, 切向力X=2589.8123, 切向力Y=-4391.6152 +FPS=37.99, 法向力=2629.8452, 切向力X=1616.9283, 切向力Y=-5852.4043 +FPS=49.19, 法向力=2604.5549, 切向力X=1481.6445, 切向力Y=-5774.9385 +FPS=31.26, 法向力=3349.2927, 切向力X=211.7115, 切向力Y=-6553.4814 +FPS=55.52, 法向力=3260.9873, 切向力X=-30.2366, 切向力Y=-6777.9629 +FPS=34.09, 法向力=4088.3281, 切向力X=67.8778, 切向力Y=-6177.9648 +FPS=67.91, 法向力=4039.8262, 切向力X=138.4284, 切向力Y=-6191.4248 +FPS=30.52, 法向力=6498.2490, 切向力X=-578.4913, 切向力Y=-8984.8740 +FPS=58.67, 法向力=6495.5469, 切向力X=-551.4602, 切向力Y=-9082.3105 +FPS=31.62, 法向力=8266.3643, 切向力X=-1859.8132, 切向力Y=-10730.6680 +FPS=59.26, 法向力=8201.5449, 切向力X=-1885.2017, 切向力Y=-10856.5684 +FPS=32.11, 法向力=9034.7207, 切向力X=-1413.4518, 切向力Y=-12639.5439 +FPS=60.18, 法向力=8994.8750, 切向力X=-1411.4946, 切向力Y=-12734.6504 +FPS=36.08, 法向力=7786.9961, 切向力X=-25.7245, 切向力Y=-11729.6621 +FPS=33.35, 法向力=6072.9082, 切向力X=227.7587, 切向力Y=-12108.8652 +FPS=37.19, 法向力=6033.5527, 切向力X=138.7634, 切向力Y=-11940.4492 +FPS=62.89, 法向力=6034.7871, 切向力X=112.5685, 切向力Y=-11985.8848 +FPS=48.48, 法向力=5062.3716, 切向力X=595.9048, 切向力Y=-10459.9717 +FPS=37.96, 法向力=5070.5264, 切向力X=570.2791, 切向力Y=-10410.6328 +FPS=45.59, 法向力=3800.2571, 切向力X=663.3517, 切向力Y=-7726.3877 +FPS=39.69, 法向力=3791.7036, 切向力X=674.3758, 切向力Y=-7613.1396 +FPS=62.87, 法向力=3756.3606, 切向力X=672.7124, 切向力Y=-7601.1143 +FPS=50.79, 法向力=2435.1860, 切向力X=1277.1816, 切向力Y=-5948.8477 +FPS=38.09, 法向力=2369.3618, 切向力X=1271.8433, 切向力Y=-5879.6021 +FPS=26.99, 法向力=2115.1597, 切向力X=1610.8492, 切向力Y=-5293.4482 +FPS=37.10, 法向力=2001.8049, 切向力X=1748.2838, 切向力Y=-3069.3740 +FPS=51.34, 法向力=1972.3832, 切向力X=1624.3677, 切向力Y=-2698.3269 +FPS=35.64, 法向力=1518.0537, 切向力X=1713.4968, 切向力Y=-1105.1243 +FPS=46.04, 法向力=1534.2083, 切向力X=1751.9819, 切向力Y=-1212.6296 +FPS=33.18, 法向力=1224.2949, 切向力X=2054.5820, 切向力Y=-1164.3846 +FPS=38.36, 法向力=1194.2100, 切向力X=2073.2363, 切向力Y=-1133.7603 +FPS=45.26, 法向力=1544.6394, 切向力X=2032.2799, 切向力Y=191.9669 +FPS=38.96, 法向力=1514.4448, 切向力X=2144.4331, 切向力Y=71.9682 +FPS=45.50, 法向力=1492.7148, 切向力X=2187.2104, 切向力Y=176.4450 +FPS=34.11, 法向力=3902.5933, 切向力X=2987.4075, 切向力Y=5136.3281 +FPS=62.31, 法向力=3717.5322, 切向力X=2896.2402, 切向力Y=5086.9937 +FPS=51.85, 法向力=3554.5151, 切向力X=4839.9033, 切向力Y=17831.8594 +FPS=34.40, 法向力=3441.5474, 切向力X=4901.1621, 切向力Y=17575.9551 +FPS=32.47, 法向力=4343.7998, 切向力X=6398.8838, 切向力Y=25596.8457 +FPS=62.93, 法向力=4405.5762, 切向力X=6462.6016, 切向力Y=26168.7461 +FPS=51.31, 法向力=4214.1787, 切向力X=8445.2383, 切向力Y=25470.0605 +FPS=35.69, 法向力=4366.6421, 切向力X=8753.9033, 切向力Y=25252.2891 +FPS=37.28, 法向力=4421.4722, 切向力X=9040.5820, 切向力Y=26880.2715 +FPS=47.84, 法向力=4283.8057, 切向力X=9242.0469, 切向力Y=26997.9531 +FPS=30.90, 法向力=3193.4536, 切向力X=8962.1455, 切向力Y=24384.3711 +FPS=38.01, 法向力=3008.6716, 切向力X=8890.3789, 切向力Y=24050.9883 +FPS=48.47, 法向力=3479.8042, 切向力X=8740.1572, 切向力Y=25530.0996 +FPS=32.12, 法向力=3554.6836, 切向力X=8562.7500, 切向力Y=25492.4805 +FPS=49.74, 法向力=3911.4653, 切向力X=8525.7070, 切向力Y=27724.0742 +FPS=48.77, 法向力=4020.9546, 切向力X=8411.0996, 切向力Y=27840.2656 +FPS=26.51, 法向力=4031.7500, 切向力X=8410.2793, 切向力Y=27922.4434 +FPS=48.62, 法向力=4018.5430, 切向力X=8364.2432, 切向力Y=27777.1836 +FPS=55.14, 法向力=3633.5044, 切向力X=9416.0488, 切向力Y=27248.7461 +FPS=41.11, 法向力=3742.8555, 切向力X=9501.0400, 切向力Y=27093.7695 +FPS=48.87, 法向力=5780.4346, 切向力X=9618.1484, 切向力Y=25673.6992 +FPS=46.18, 法向力=5796.7256, 切向力X=9750.1973, 切向力Y=25484.4531 +FPS=66.19, 法向力=6134.6172, 切向力X=9942.2402, 切向力Y=24009.3516 +FPS=51.53, 法向力=6060.1338, 切向力X=10088.3662, 切向力Y=23644.4609 +FPS=63.76, 法向力=6010.1631, 切向力X=10113.8057, 切向力Y=23557.5859 +FPS=50.23, 法向力=8124.7876, 切向力X=8948.7891, 切向力Y=24811.1250 +FPS=51.75, 法向力=8345.7500, 切向力X=8779.6250, 切向力Y=24958.0078 +FPS=63.28, 法向力=8370.0791, 切向力X=8674.4326, 切向力Y=25001.0391 +FPS=51.44, 法向力=7812.2612, 切向力X=7929.8276, 切向力Y=25403.7812 +FPS=55.11, 法向力=7704.9199, 切向力X=7886.4336, 切向力Y=25397.4277 +FPS=54.56, 法向力=7706.4170, 切向力X=7898.8745, 切向力Y=25169.9258 +FPS=28.88, 法向力=10598.8564, 切向力X=8202.4648, 切向力Y=24560.4941 +FPS=50.18, 法向力=10656.4609, 切向力X=8188.7998, 切向力Y=24439.8125 +FPS=33.89, 法向力=10847.9473, 切向力X=6890.0000, 切向力Y=24204.3672 +FPS=34.32, 法向力=10645.9170, 切向力X=6843.6948, 切向力Y=24186.5430 +FPS=33.36, 法向力=10694.8672, 切向力X=6857.2437, 切向力Y=23852.3945 +FPS=31.73, 法向力=9197.6738, 切向力X=8562.7676, 切向力Y=27790.8145 +FPS=31.91, 法向力=5975.9912, 切向力X=9946.4121, 切向力Y=29823.1465 +FPS=31.60, 法向力=5823.5801, 切向力X=10223.5000, 切向力Y=29617.5781 +FPS=61.19, 法向力=4896.1382, 切向力X=9351.3018, 切向力Y=27943.7891 +FPS=51.19, 法向力=5148.7793, 切向力X=9197.4082, 切向力Y=27904.8379 +FPS=43.34, 法向力=5208.4141, 切向力X=9132.3936, 切向力Y=27954.2852 +FPS=47.53, 法向力=4842.0840, 切向力X=9930.7656, 切向力Y=27662.8633 +FPS=31.94, 法向力=4713.0312, 切向力X=10111.0781, 切向力Y=27496.7500 +FPS=31.75, 法向力=3951.1316, 切向力X=10588.6699, 切向力Y=26871.9961 +FPS=32.34, 法向力=4562.7529, 切向力X=9902.7773, 切向力Y=25767.0547 +FPS=37.22, 法向力=4656.2930, 切向力X=9889.0078, 切向力Y=25827.7930 +FPS=48.72, 法向力=4659.9961, 切向力X=9901.2227, 切向力Y=25734.8477 +FPS=32.77, 法向力=3866.5396, 切向力X=10539.1777, 切向力Y=25417.1680 +FPS=36.53, 法向力=3921.1824, 切向力X=10626.4346, 切向力Y=25174.3730 +FPS=44.02, 法向力=3852.2959, 切向力X=10773.1680, 切向力Y=25417.6582 +FPS=56.36, 法向力=3872.5132, 切向力X=10846.6270, 切向力Y=25346.3555 +FPS=46.79, 法向力=4129.0444, 切向力X=10512.6816, 切向力Y=25141.2988 +FPS=48.50, 法向力=4174.2671, 切向力X=10465.4658, 切向力Y=25011.7344 +FPS=31.34, 法向力=4178.5059, 切向力X=10665.0391, 切向力Y=24605.8633 +FPS=60.78, 法向力=4356.8188, 切向力X=10685.3066, 切向力Y=24898.1562 +FPS=36.67, 法向力=3359.7939, 切向力X=10881.5225, 切向力Y=26122.9961 +FPS=46.30, 法向力=3304.6978, 切向力X=10795.1680, 切向力Y=25913.9805 +FPS=38.01, 法向力=3567.9500, 切向力X=11190.5693, 切向力Y=23432.5430 +FPS=26.95, 法向力=3425.1401, 切向力X=11293.2607, 切向力Y=23739.3398 +FPS=38.08, 法向力=3591.6921, 切向力X=10007.1318, 切向力Y=22642.0020 +FPS=43.72, 法向力=3639.0061, 切向力X=10015.2480, 切向力Y=22803.2070 +FPS=62.27, 法向力=4111.1411, 切向力X=10737.3838, 切向力Y=24472.5449 +FPS=43.68, 法向力=4068.0288, 切向力X=10565.7891, 切向力Y=24352.3926 +FPS=45.16, 法向力=2996.3918, 切向力X=10288.5684, 切向力Y=27192.2402 +FPS=39.72, 法向力=3055.0601, 切向力X=10188.6992, 切向力Y=27445.5723 +FPS=28.03, 法向力=3061.5825, 切向力X=10149.3418, 切向力Y=27564.4102 +FPS=47.93, 法向力=3098.9189, 切向力X=10067.9375, 切向力Y=27602.0078 +FPS=44.58, 法向力=2857.9824, 切向力X=11711.0977, 切向力Y=29449.6875 +FPS=50.51, 法向力=2981.3164, 切向力X=12101.3457, 切向力Y=29220.4238 +FPS=31.23, 法向力=3284.9531, 切向力X=11477.4082, 切向力Y=27891.8613 +FPS=36.49, 法向力=3586.5378, 切向力X=11573.1035, 切向力Y=28088.4609 +FPS=47.56, 法向力=4638.8369, 切向力X=10903.0078, 切向力Y=28509.7617 +FPS=38.51, 法向力=4549.7021, 切向力X=10932.5508, 切向力Y=28306.4551 +FPS=47.85, 法向力=3821.9858, 切向力X=10742.0059, 切向力Y=26911.4961 +FPS=32.70, 法向力=3764.5479, 切向力X=11020.1953, 切向力Y=26730.1016 +FPS=62.61, 法向力=5250.7124, 切向力X=10663.9902, 切向力Y=20052.3984 +FPS=50.51, 法向力=5538.8281, 切向力X=10382.9160, 切向力Y=19609.9570 +FPS=36.96, 法向力=4050.4058, 切向力X=6833.0605, 切向力Y=7207.3105 +FPS=31.97, 法向力=4281.7651, 切向力X=6486.0635, 切向力Y=7396.3892 +FPS=40.12, 法向力=4919.5020, 切向力X=5795.9912, 切向力Y=7898.8579 +FPS=48.73, 法向力=4717.8960, 切向力X=6096.6094, 切向力Y=8286.4258 +FPS=31.17, 法向力=4926.5381, 切向力X=5860.3672, 切向力Y=7720.5034 +FPS=30.79, 法向力=4820.8350, 切向力X=5961.2578, 切向力Y=7982.5371 +FPS=39.60, 法向力=3846.8955, 切向力X=8722.5137, 切向力Y=25496.5352 +FPS=45.80, 法向力=3821.4316, 切向力X=8523.0234, 切向力Y=26033.1035 +FPS=31.91, 法向力=6706.0674, 切向力X=5761.4375, 切向力Y=13506.7764 +FPS=31.88, 法向力=7117.1431, 切向力X=5520.0811, 切向力Y=13610.5498 +FPS=31.39, 法向力=1752.7742, 切向力X=2826.7112, 切向力Y=-399.9287 +FPS=58.32, 法向力=1700.6400, 切向力X=2795.5413, 切向力Y=-386.5310 +FPS=48.93, 法向力=1860.6161, 切向力X=1852.6357, 切向力Y=-1206.2976 +FPS=48.32, 法向力=2164.7502, 切向力X=1811.4819, 切向力Y=-686.2424 +FPS=27.02, 法向力=1121.5034, 切向力X=1123.7971, 切向力Y=-505.6699 +FPS=59.88, 法向力=1123.3047, 切向力X=1294.7063, 切向力Y=-273.8458 +FPS=50.10, 法向力=1520.0779, 切向力X=1388.2041, 切向力Y=169.9448 +FPS=50.31, 法向力=1521.0781, 切向力X=1381.7546, 切向力Y=268.3843 +FPS=62.07, 法向力=2239.2173, 切向力X=462.0566, 切向力Y=-356.1248 +FPS=50.73, 法向力=2246.6462, 切向力X=552.7742, 切向力Y=-300.6141 +FPS=35.40, 法向力=2225.6987, 切向力X=434.2234, 切向力Y=-176.5178 +FPS=47.88, 法向力=2236.5586, 切向力X=493.7766, 切向力Y=-245.0569 +FPS=31.67, 法向力=1438.6854, 切向力X=43.2743, 切向力Y=-634.5927 +FPS=32.35, 法向力=1439.5383, 切向力X=103.4767, 切向力Y=-724.3177 +FPS=31.83, 法向力=1420.8236, 切向力X=487.5877, 切向力Y=-2434.1177 +FPS=32.17, 法向力=1515.9900, 切向力X=586.8492, 切向力Y=-2394.4219 +FPS=31.72, 法向力=1430.5272, 切向力X=711.9784, 切向力Y=-1636.0149 +FPS=31.57, 法向力=1547.1420, 切向力X=139.8260, 切向力Y=-660.4031 +FPS=32.04, 法向力=1511.3550, 切向力X=-35.6710, 切向力Y=-557.7607 +FPS=31.90, 法向力=2123.0361, 切向力X=-520.7020, 切向力Y=1912.8906 +FPS=31.77, 法向力=1922.1638, 切向力X=-157.6734, 切向力Y=4069.7246 +FPS=32.82, 法向力=2058.4253, 切向力X=-45.0957, 切向力Y=4063.4626 +FPS=30.28, 法向力=2038.0468, 切向力X=-1297.4161, 切向力Y=4533.7671 +FPS=33.44, 法向力=2063.3755, 切向力X=-1381.9022, 切向力Y=4799.8433 +FPS=47.24, 法向力=2068.9768, 切向力X=-1441.8496, 切向力Y=4836.5430 +FPS=64.75, 法向力=2107.5342, 切向力X=-1421.3545, 切向力Y=4866.9414 +FPS=50.34, 法向力=2275.3281, 切向力X=65.4630, 切向力Y=3371.8843 +FPS=54.95, 法向力=2170.9958, 切向力X=154.3115, 切向力Y=3191.5527 +FPS=55.74, 法向力=2177.0991, 切向力X=174.4203, 切向力Y=3120.9902 +FPS=53.59, 法向力=2180.2766, 切向力X=271.2871, 切向力Y=3011.9028 +FPS=54.23, 法向力=2489.4878, 切向力X=537.6355, 切向力Y=8752.8242 +FPS=41.27, 法向力=2398.8545, 切向力X=555.3580, 切向力Y=9039.2168 +FPS=53.24, 法向力=1770.3477, 切向力X=1141.1377, 切向力Y=10877.9395 +FPS=29.33, 法向力=2625.2625, 切向力X=661.0389, 切向力Y=11676.3174 +FPS=33.43, 法向力=2679.1140, 切向力X=743.9467, 切向力Y=11721.0986 +FPS=52.17, 法向力=3361.5093, 切向力X=951.4097, 切向力Y=14295.6885 +FPS=31.88, 法向力=3312.5320, 切向力X=949.8542, 切向力Y=14111.1621 +FPS=58.58, 法向力=4098.8472, 切向力X=1646.9082, 切向力Y=21710.1367 +FPS=47.80, 法向力=4135.8584, 切向力X=1685.4341, 切向力Y=21895.5742 +FPS=52.60, 法向力=4127.8828, 切向力X=1720.6490, 切向力Y=21932.8711 +FPS=48.38, 法向力=3703.2202, 切向力X=2478.5344, 切向力Y=26908.0625 +FPS=31.40, 法向力=3505.1772, 切向力X=2354.0073, 切向力Y=27318.2246 +FPS=31.08, 法向力=3454.8911, 切向力X=2301.9290, 切向力Y=27458.8770 +FPS=63.63, 法向力=3462.8867, 切向力X=2292.0986, 切向力Y=27442.8828 +FPS=54.03, 法向力=3826.1140, 切向力X=4110.8735, 切向力Y=25554.8906 +FPS=34.23, 法向力=3996.2471, 切向力X=4315.9922, 切向力Y=25089.9219 +FPS=62.61, 法向力=3948.1833, 切向力X=4464.0820, 切向力Y=25165.2734 +FPS=50.26, 法向力=4016.4507, 切向力X=4243.2188, 切向力Y=24819.6172 +FPS=66.56, 法向力=4002.9844, 切向力X=4240.3906, 切向力Y=24985.3887 +FPS=60.42, 法向力=3627.3491, 切向力X=4213.4219, 切向力Y=24615.6875 +FPS=50.35, 法向力=3679.7546, 切向力X=4237.4751, 切向力Y=24654.5938 +FPS=55.87, 法向力=3683.3152, 切向力X=4227.2065, 切向力Y=24601.5879 +FPS=47.97, 法向力=3229.7168, 切向力X=3515.6736, 切向力Y=24476.9062 +FPS=37.70, 法向力=3314.2505, 切向力X=3366.8228, 切向力Y=24751.2148 +FPS=3.19, 法向力=3181.8672, 切向力X=4294.8408, 切向力Y=22456.7754 +FPS=33.34, 法向力=3013.5625, 切向力X=4147.3965, 切向力Y=24112.9141 +FPS=44.60, 法向力=3187.2546, 切向力X=4400.9443, 切向力Y=23971.2188 +FPS=39.69, 法向力=3227.2314, 切向力X=4394.6733, 切向力Y=24014.3281 +FPS=41.30, 法向力=3288.4006, 切向力X=4653.1929, 切向力Y=24237.8828 +FPS=37.15, 法向力=3233.6501, 切向力X=4625.4463, 切向力Y=24331.8535 +FPS=48.25, 法向力=3373.5103, 切向力X=4715.8037, 切向力Y=23314.0723 +FPS=47.22, 法向力=3433.9307, 切向力X=4820.2261, 切向力Y=23226.7383 +FPS=47.66, 法向力=3431.8689, 切向力X=4813.2725, 切向力Y=23247.9961 +FPS=52.05, 法向力=3633.6477, 切向力X=3806.9724, 切向力Y=23276.3594 +FPS=36.51, 法向力=3639.1660, 切向力X=3759.6899, 切向力Y=23090.1133 +FPS=36.15, 法向力=3634.1370, 切向力X=3773.5071, 切向力Y=22940.2051 +FPS=47.51, 法向力=3613.2693, 切向力X=3858.7832, 切向力Y=22939.5117 +FPS=60.18, 法向力=3651.4783, 切向力X=3736.8618, 切向力Y=22938.3203 +FPS=50.37, 法向力=3923.5225, 切向力X=4263.8027, 切向力Y=23344.1934 +FPS=38.44, 法向力=3835.0623, 切向力X=4369.9902, 切向力Y=23482.4277 +FPS=32.62, 法向力=3722.3208, 切向力X=4243.7769, 切向力Y=22372.1465 +FPS=59.44, 法向力=3681.0215, 切向力X=4352.8765, 切向力Y=21835.8359 +FPS=52.69, 法向力=3621.4866, 切向力X=3760.7559, 切向力Y=22185.8105 +FPS=52.09, 法向力=3692.5625, 切向力X=3661.6245, 切向力Y=22292.4824 +FPS=51.87, 法向力=3620.7109, 切向力X=2561.0879, 切向力Y=23593.0898 +FPS=53.23, 法向力=3592.6646, 切向力X=2491.5674, 切向力Y=23575.9160 +FPS=64.50, 法向力=3584.7729, 切向力X=2447.5620, 切向力Y=23596.8926 +FPS=50.85, 法向力=3211.3640, 切向力X=3396.6035, 切向力Y=22628.9648 +FPS=1.91, 法向力=4584.0703, 切向力X=3192.4941, 切向力Y=22034.6973 +FPS=48.38, 法向力=4697.3667, 切向力X=3262.8530, 切向力Y=21913.3223 +FPS=0.97, 法向力=5748.3027, 切向力X=3440.8320, 切向力Y=15077.7354 +FPS=29.23, 法向力=6468.0527, 切向力X=3444.2041, 切向力Y=15172.9150 +FPS=30.95, 法向力=6671.4683, 切向力X=3395.5042, 切向力Y=14984.3896 +FPS=40.95, 法向力=5532.8652, 切向力X=3062.7534, 切向力Y=15019.0801 +FPS=50.22, 法向力=5573.6045, 切向力X=2974.6865, 切向力Y=15249.9834 +FPS=47.98, 法向力=7558.6689, 切向力X=3174.3008, 切向力Y=11257.1455 +FPS=42.97, 法向力=7640.4238, 切向力X=2983.9319, 切向力Y=10884.8848 +FPS=62.37, 法向力=7642.7612, 切向力X=2944.7393, 切向力Y=10817.7402 +FPS=45.44, 法向力=7583.1943, 切向力X=3716.3000, 切向力Y=13622.5078 +FPS=39.40, 法向力=7449.0156, 切向力X=3648.7986, 切向力Y=13874.8926 +FPS=27.01, 法向力=6544.0674, 切向力X=3407.7983, 切向力Y=17094.0547 +FPS=46.61, 法向力=5336.1709, 切向力X=2714.0073, 切向力Y=17108.0742 +FPS=54.82, 法向力=5329.6514, 切向力X=2784.5667, 切向力Y=17011.6641 +FPS=55.90, 法向力=5335.5630, 切向力X=2786.5264, 切向力Y=17020.2363 +FPS=50.39, 法向力=6024.1992, 切向力X=3265.8027, 切向力Y=17524.6680 +FPS=54.49, 法向力=6110.2002, 切向力X=3244.4946, 切向力Y=17579.5859 +FPS=48.10, 法向力=4997.9839, 切向力X=3285.6726, 切向力Y=18539.9512 +FPS=50.30, 法向力=5007.5483, 切向力X=3168.5142, 切向力Y=18765.5742 +FPS=50.77, 法向力=5016.6621, 切向力X=3056.8735, 切向力Y=18709.1641 +FPS=62.26, 法向力=5057.1934, 切向力X=3000.3486, 切向力Y=18774.2246 +FPS=50.30, 法向力=5444.3691, 切向力X=3507.9426, 切向力Y=19459.1602 +FPS=34.20, 法向力=5406.1445, 切向力X=3619.7573, 切向力Y=19334.1914 +FPS=55.11, 法向力=4635.8081, 切向力X=2916.2957, 切向力Y=19918.6719 +FPS=51.91, 法向力=4549.0898, 切向力X=2807.0596, 切向力Y=19950.1484 +FPS=47.78, 法向力=4279.7793, 切向力X=2503.9443, 切向力Y=20664.8262 +FPS=62.50, 法向力=4313.8428, 切向力X=2491.0972, 切向力Y=20396.3203 +FPS=52.39, 法向力=4290.4131, 切向力X=2514.5906, 切向力Y=20338.4609 +FPS=30.11, 法向力=4892.4697, 切向力X=2646.9758, 切向力Y=22208.2715 +FPS=59.50, 法向力=4854.5000, 切向力X=2446.2373, 切向力Y=22191.0703 +FPS=52.75, 法向力=4847.8447, 切向力X=3124.5095, 切向力Y=20217.9531 +FPS=44.19, 法向力=5148.5195, 切向力X=3162.0498, 切向力Y=19682.5039 +FPS=28.19, 法向力=3802.3943, 切向力X=2883.7170, 切向力Y=21685.3750 +FPS=57.92, 法向力=3763.1177, 切向力X=2947.6816, 切向力Y=21846.2305 +FPS=52.09, 法向力=4333.1333, 切向力X=3750.3921, 切向力Y=22151.7090 +FPS=45.77, 法向力=4265.3159, 切向力X=3887.4019, 切向力Y=21906.3984 +FPS=27.99, 法向力=4189.4077, 切向力X=2805.9819, 切向力Y=19217.8184 +FPS=49.18, 法向力=4137.9082, 切向力X=2690.9490, 切向力Y=19084.3047 +FPS=63.90, 法向力=4164.9434, 切向力X=2676.2632, 切向力Y=19200.5742 +FPS=35.69, 法向力=7194.4365, 切向力X=3878.1494, 切向力Y=14092.9004 +FPS=60.79, 法向力=7838.9292, 切向力X=4019.5693, 切向力Y=13335.4854 +FPS=46.25, 法向力=7422.5820, 切向力X=4190.8452, 切向力Y=15826.9238 +FPS=40.01, 法向力=7349.0518, 切向力X=4476.9404, 切向力Y=15862.0078 +FPS=31.57, 法向力=4913.8477, 切向力X=4028.3198, 切向力Y=19244.0566 +FPS=32.57, 法向力=4528.3135, 切向力X=4254.9277, 切向力Y=20335.4375 +FPS=31.32, 法向力=4489.2607, 切向力X=4293.4575, 切向力Y=20002.4375 +FPS=31.21, 法向力=3941.8545, 切向力X=4567.3916, 切向力Y=22278.3945 +FPS=31.05, 法向力=4047.9180, 切向力X=4387.0361, 切向力Y=23088.2988 +FPS=65.36, 法向力=4135.7847, 切向力X=4349.9634, 切向力Y=23461.0977 +FPS=51.95, 法向力=4145.0859, 切向力X=4331.4746, 切向力Y=23609.4961 +FPS=33.25, 法向力=4038.9915, 切向力X=3238.5762, 切向力Y=24564.2109 +FPS=32.47, 法向力=4187.8901, 切向力X=3078.7778, 切向力Y=24612.9004 +FPS=60.06, 法向力=3899.2217, 切向力X=3480.7090, 切向力Y=23577.9961 +FPS=33.68, 法向力=3991.1504, 切向力X=3600.0229, 切向力Y=23385.2070 +FPS=58.26, 法向力=4277.7808, 切向力X=4270.6016, 切向力Y=24105.5469 +FPS=43.89, 法向力=4069.6946, 切向力X=4348.4785, 切向力Y=24038.7148 +FPS=47.67, 法向力=4032.1309, 切向力X=4395.6792, 切向力Y=24016.8027 +FPS=38.93, 法向力=4895.5420, 切向力X=4480.0337, 切向力Y=23064.1191 +FPS=62.48, 法向力=4942.6226, 切向力X=4818.2266, 切向力Y=22907.5078 +FPS=1.21, 法向力=3548.1382, 切向力X=1920.6536, 切向力Y=18554.8672 +FPS=56.41, 法向力=3964.5623, 切向力X=1520.2773, 切向力Y=18623.2520 +FPS=47.02, 法向力=2769.3403, 切向力X=-761.9575, 切向力Y=7534.2998 +FPS=38.79, 法向力=2704.0352, 切向力X=-853.1662, 切向力Y=7524.6802 +FPS=43.37, 法向力=2692.1494, 切向力X=-954.3391, 切向力Y=7272.2461 +FPS=40.06, 法向力=2571.4282, 切向力X=-605.8540, 切向力Y=6500.9443 +FPS=43.21, 法向力=2494.3311, 切向力X=-698.5222, 切向力Y=6281.4717 +FPS=47.04, 法向力=2771.4077, 切向力X=-1388.4917, 切向力Y=4980.7734 +FPS=39.45, 法向力=2717.8320, 切向力X=-1396.8375, 切向力Y=5182.4727 +FPS=50.30, 法向力=2682.6196, 切向力X=-2084.5029, 切向力Y=6048.8262 +FPS=49.47, 法向力=2674.3013, 切向力X=-2167.1646, 切向力Y=6208.8057 +FPS=45.15, 法向力=2604.9158, 切向力X=-2398.2258, 切向力Y=7397.6323 +FPS=32.64, 法向力=2587.3425, 切向力X=-2368.2036, 切向力Y=7438.2881 +FPS=52.52, 法向力=2546.5232, 切向力X=-2412.3340, 切向力Y=7845.5645 +FPS=50.96, 法向力=2625.8704, 切向力X=-2330.8435, 切向力Y=8048.0967 +FPS=47.45, 法向力=2692.6782, 切向力X=-3051.9041, 切向力Y=6213.4717 +FPS=28.67, 法向力=2800.2310, 切向力X=-3184.0679, 切向力Y=6173.3438 +FPS=39.67, 法向力=2695.6062, 切向力X=-2254.0449, 切向力Y=7449.2129 +FPS=49.48, 法向力=2701.5198, 切向力X=-2200.5342, 切向力Y=7540.4326 +FPS=50.93, 法向力=2865.7571, 切向力X=-2215.5273, 切向力Y=6192.7998 +FPS=34.62, 法向力=2862.0557, 切向力X=-2282.7363, 切向力Y=6274.5967 +FPS=31.64, 法向力=2474.6836, 切向力X=-2866.7808, 切向力Y=5758.9766 +FPS=31.25, 法向力=2467.0869, 切向力X=-2817.8105, 切向力Y=5765.0527 +FPS=40.58, 法向力=2538.5366, 切向力X=-2581.0972, 切向力Y=5959.8564 +FPS=62.14, 法向力=2741.2017, 切向力X=-2738.5825, 切向力Y=6048.0386 +FPS=47.95, 法向力=2994.4233, 切向力X=-2092.1704, 切向力Y=5369.9482 +FPS=67.05, 法向力=3050.3623, 切向力X=-1999.9385, 切向力Y=5144.2598 +FPS=53.08, 法向力=3052.6685, 切向力X=-2048.3940, 切向力Y=5177.0352 +FPS=0.90, 法向力=3255.7808, 切向力X=-3315.0105, 切向力Y=6283.3032 +FPS=44.50, 法向力=2712.0762, 切向力X=-3580.1367, 切向力Y=6237.5972 +FPS=50.62, 法向力=2715.8193, 切向力X=-3605.8196, 切向力Y=6219.4409 +FPS=36.39, 法向力=2397.9634, 切向力X=-3773.0107, 切向力Y=5548.4365 +FPS=47.97, 法向力=2368.2388, 切向力X=-3741.5508, 切向力Y=5491.0122 +FPS=30.55, 法向力=2923.2568, 切向力X=-3682.8740, 切向力Y=7467.6621 +FPS=32.29, 法向力=3044.7563, 切向力X=-3317.1567, 切向力Y=6962.6187 +FPS=32.23, 法向力=3029.8574, 切向力X=-3421.5759, 切向力Y=6821.0454 +FPS=30.04, 法向力=2939.5166, 切向力X=-3463.5454, 切向力Y=5935.1455 +FPS=33.86, 法向力=3000.7202, 切向力X=-3534.0327, 切向力Y=5936.3647 +FPS=48.41, 法向力=2722.6758, 切向力X=-3110.4863, 切向力Y=5496.1992 +FPS=54.64, 法向力=2775.0425, 切向力X=-3102.8386, 切向力Y=5432.3301 +FPS=50.01, 法向力=2758.4695, 切向力X=-3101.2002, 切向力Y=5470.6855 +FPS=59.32, 法向力=2922.0032, 切向力X=-3655.1724, 切向力Y=6180.8066 +FPS=28.05, 法向力=2878.2153, 切向力X=-3545.4507, 切向力Y=6080.2949 +FPS=50.78, 法向力=3120.0154, 切向力X=-3033.0247, 切向力Y=5553.4844 +FPS=36.99, 法向力=3173.9497, 切向力X=-2748.3401, 切向力Y=5491.5776 +FPS=51.32, 法向力=3043.8159, 切向力X=-4524.3320, 切向力Y=8588.6084 +FPS=36.54, 法向力=3177.3745, 切向力X=-4734.6216, 切向力Y=8773.4238 +FPS=48.37, 法向力=2703.8264, 切向力X=-3628.8535, 切向力Y=6227.9404 +FPS=37.89, 法向力=2677.5042, 切向力X=-3508.9736, 切向力Y=5982.5430 +FPS=52.08, 法向力=3087.3450, 切向力X=-4035.7295, 切向力Y=7467.3486 +FPS=35.31, 法向力=3120.3228, 切向力X=-4079.3711, 切向力Y=7446.0371 +FPS=32.00, 法向力=2925.7715, 切向力X=-3809.8955, 切向力Y=7421.8818 +FPS=37.99, 法向力=2975.9336, 切向力X=-3915.1240, 切向力Y=7200.1758 +FPS=45.28, 法向力=2766.6743, 切向力X=-3817.6902, 切向力Y=8036.8047 +FPS=40.50, 法向力=2748.6516, 切向力X=-3768.4736, 切向力Y=7838.7812 +FPS=44.61, 法向力=2503.4531, 切向力X=-4004.8022, 切向力Y=6374.5342 +FPS=33.98, 法向力=2474.7861, 切向力X=-3994.0508, 切向力Y=6374.1143 +FPS=49.91, 法向力=2465.7388, 切向力X=-3474.6025, 切向力Y=6413.1035 +FPS=46.53, 法向力=2485.7058, 切向力X=-3490.2703, 切向力Y=6411.2422 +FPS=49.23, 法向力=2972.1333, 切向力X=-3409.4980, 切向力Y=4361.6846 +FPS=31.05, 法向力=2960.3096, 切向力X=-3370.5581, 切向力Y=4290.6235 +FPS=31.91, 法向力=2677.1970, 切向力X=-2892.0020, 切向力Y=6805.4941 +FPS=33.33, 法向力=3095.7932, 切向力X=-3711.3113, 切向力Y=6868.7842 +FPS=32.52, 法向力=3129.2266, 切向力X=-3740.2686, 切向力Y=7019.4395 +FPS=31.30, 法向力=2679.4033, 切向力X=-4093.0271, 切向力Y=5664.5234 +FPS=33.14, 法向力=2674.6472, 切向力X=-4128.4390, 切向力Y=5774.0034 +FPS=49.32, 法向力=2966.5603, 切向力X=-4118.5054, 切向力Y=6662.0742 +FPS=44.43, 法向力=2995.2817, 切向力X=-4154.0479, 切向力Y=6523.1338 +FPS=50.18, 法向力=3024.7798, 切向力X=-4153.9023, 切向力Y=6611.4551 +FPS=30.48, 法向力=2500.8613, 切向力X=-3927.0405, 切向力Y=6646.2378 +FPS=62.56, 法向力=2845.2190, 切向力X=-3673.7144, 切向力Y=5983.6250 +FPS=39.69, 法向力=2838.9600, 切向力X=-3769.5327, 切向力Y=6090.4482 +FPS=44.91, 法向力=2837.8223, 切向力X=-3822.8269, 切向力Y=6092.7329 +FPS=34.60, 法向力=3055.3306, 切向力X=-3949.1230, 切向力Y=6285.8921 +FPS=61.36, 法向力=3022.8232, 切向力X=-3958.9626, 切向力Y=6371.9873 +FPS=49.66, 法向力=3104.8665, 切向力X=-4027.3232, 切向力Y=5203.5088 +FPS=37.51, 法向力=3066.3799, 切向力X=-3953.6987, 切向力Y=4974.3154 +FPS=33.26, 法向力=3025.5667, 切向力X=-3314.1831, 切向力Y=6259.6787 +FPS=33.03, 法向力=2815.1538, 切向力X=-3068.2161, 切向力Y=5918.5229 +FPS=37.90, 法向力=2741.9224, 切向力X=-2958.3809, 切向力Y=5766.0420 +FPS=50.96, 法向力=2786.4888, 切向力X=-2972.8291, 切向力Y=5832.5146 +FPS=31.10, 法向力=2957.8423, 切向力X=-3118.1606, 切向力Y=5865.6006 +FPS=31.76, 法向力=2850.5430, 切向力X=-3617.1284, 切向力Y=6596.6338 +FPS=31.96, 法向力=2875.3796, 切向力X=-3703.4883, 切向力Y=6662.3687 +FPS=32.15, 法向力=2574.6750, 切向力X=-4246.3135, 切向力Y=5817.7886 +FPS=31.72, 法向力=3105.4702, 切向力X=-3890.5247, 切向力Y=6758.2949 +FPS=31.84, 法向力=3146.8818, 切向力X=-3889.5166, 切向力Y=6797.5156 +FPS=38.07, 法向力=2850.1958, 切向力X=-4020.5439, 切向力Y=7673.3862 +FPS=47.23, 法向力=2968.3762, 切向力X=-4140.9668, 切向力Y=8083.3545 +FPS=38.53, 法向力=2970.7192, 切向力X=-4371.8877, 切向力Y=5835.6162 +FPS=44.38, 法向力=2856.2302, 切向力X=-4437.4688, 切向力Y=5986.4639 +FPS=32.68, 法向力=2891.5947, 切向力X=-4174.6909, 切向力Y=6981.6250 +FPS=31.34, 法向力=2788.1160, 切向力X=-4345.5986, 切向力Y=5482.0146 +FPS=40.76, 法向力=2761.0479, 切向力X=-4398.4365, 切向力Y=5533.5078 +FPS=50.84, 法向力=2798.0918, 切向力X=-4379.1753, 切向力Y=5538.0693 +FPS=60.47, 法向力=2816.3381, 切向力X=-4353.0713, 切向力Y=5536.6372 +FPS=51.30, 法向力=2917.0967, 切向力X=-3512.9727, 切向力Y=6593.9639 +FPS=44.94, 法向力=2969.4761, 切向力X=-3436.9131, 切向力Y=6590.6592 +FPS=27.23, 法向力=2900.3286, 切向力X=-4677.2051, 切向力Y=6616.6729 +FPS=53.10, 法向力=2861.2063, 切向力X=-4651.8926, 切向力Y=6450.6113 +FPS=47.93, 法向力=2949.0476, 切向力X=-3765.5000, 切向力Y=7421.3452 +FPS=44.82, 法向力=2788.1714, 切向力X=-3793.1143, 切向力Y=7556.1191 +FPS=29.56, 法向力=3194.5334, 切向力X=-4309.2451, 切向力Y=6796.1914 +FPS=62.78, 法向力=3303.1099, 切向力X=-4375.3945, 切向力Y=6719.8223 +FPS=52.03, 法向力=2534.1516, 切向力X=-4323.2651, 切向力Y=5136.8857 +FPS=56.21, 法向力=2472.4453, 切向力X=-4497.5742, 切向力Y=5208.0801 +FPS=50.74, 法向力=2826.5498, 切向力X=-4107.1147, 切向力Y=5806.6519 +FPS=31.55, 法向力=2856.9998, 切向力X=-4009.7178, 切向力Y=5887.0059 +FPS=37.21, 法向力=2775.1953, 切向力X=-3694.5815, 切向力Y=5736.5703 +FPS=62.76, 法向力=2735.8181, 切向力X=-3728.2380, 切向力Y=5872.3809 +FPS=51.96, 法向力=2740.4775, 切向力X=-3754.5298, 切向力Y=5908.1553 +FPS=30.71, 法向力=2937.8850, 切向力X=-3649.4224, 切向力Y=6014.3892 +FPS=31.78, 法向力=2957.6826, 切向力X=-4105.9648, 切向力Y=6938.0425 +FPS=31.15, 法向力=2855.0918, 切向力X=-4204.1074, 切向力Y=7267.6758 +FPS=31.19, 法向力=2854.0327, 切向力X=-3598.7651, 切向力Y=5493.8213 +FPS=61.59, 法向力=2763.2341, 切向力X=-3404.2852, 切向力Y=5465.3369 +FPS=54.58, 法向力=3216.6548, 切向力X=-3846.8169, 切向力Y=5585.8862 +FPS=55.26, 法向力=3073.2776, 切向力X=-4019.2739, 切向力Y=5610.6006 +FPS=51.89, 法向力=3092.2034, 切向力X=-4036.2107, 切向力Y=5663.6470 +FPS=66.40, 法向力=2496.1140, 切向力X=-3884.2441, 切向力Y=7067.3916 +FPS=43.94, 法向力=2515.1667, 切向力X=-3860.0405, 切向力Y=7151.3848 +FPS=36.77, 法向力=2526.9294, 切向力X=-3739.3291, 切向力Y=7166.3198 +FPS=38.75, 法向力=2571.8152, 切向力X=-3660.8142, 切向力Y=7382.7324 +FPS=46.05, 法向力=3009.0391, 切向力X=-4133.3838, 切向力Y=6531.7573 +FPS=26.92, 法向力=2979.5032, 切向力X=-4155.6230, 切向力Y=6413.4854 +FPS=33.21, 法向力=2938.6494, 切向力X=-3648.1133, 切向力Y=7310.1650 +FPS=31.17, 法向力=3003.0112, 切向力X=-3566.1104, 切向力Y=7263.6494 +FPS=31.57, 法向力=3263.3306, 切向力X=-3796.0498, 切向力Y=6094.1455 +FPS=58.53, 法向力=3250.9775, 切向力X=-4319.1045, 切向力Y=7001.5225 +FPS=53.53, 法向力=3217.8220, 切向力X=-4309.0410, 切向力Y=6979.3799 +FPS=46.10, 法向力=3192.9473, 切向力X=-4451.8408, 切向力Y=7121.3721 +FPS=63.57, 法向力=2389.5603, 切向力X=-3999.7969, 切向力Y=7503.0552 +FPS=54.63, 法向力=2426.0508, 切向力X=-4028.3721, 切向力Y=7853.4297 +FPS=59.40, 法向力=2350.7844, 切向力X=-3928.6104, 切向力Y=7787.6416 +FPS=53.26, 法向力=2681.1816, 切向力X=-3650.8950, 切向力Y=5982.8281 +FPS=33.23, 法向力=2688.1216, 切向力X=-3635.5476, 切向力Y=5940.8447 +FPS=31.39, 法向力=2691.2861, 切向力X=-3626.9604, 切向力Y=6785.3975 +FPS=60.68, 法向力=2753.3594, 切向力X=-3609.0288, 切向力Y=6729.4395 +FPS=50.81, 法向力=2550.5884, 切向力X=-3288.8064, 切向力Y=7731.8389 +FPS=63.56, 法向力=2455.3662, 切向力X=-3201.8333, 切向力Y=7739.1611 +FPS=58.77, 法向力=2495.1587, 切向力X=-3220.3657, 切向力Y=7766.1567 +FPS=52.60, 法向力=3596.0056, 切向力X=-3495.2197, 切向力Y=5021.6245 +FPS=60.44, 法向力=3407.2996, 切向力X=-3598.8752, 切向力Y=5118.2188 +FPS=65.56, 法向力=3378.5452, 切向力X=-3655.1519, 切向力Y=5041.5605 +FPS=49.93, 法向力=2691.3789, 切向力X=-3420.8804, 切向力Y=6446.9619 +FPS=30.66, 法向力=2756.1404, 切向力X=-3469.9172, 切向力Y=6422.5713 +FPS=32.11, 法向力=2988.7136, 切向力X=-3598.1528, 切向力Y=6950.8750 +FPS=32.06, 法向力=2511.7849, 切向力X=-3851.1421, 切向力Y=5827.4141 +FPS=31.88, 法向力=2505.6802, 切向力X=-3886.3748, 切向力Y=5752.2305 +FPS=32.07, 法向力=3081.4419, 切向力X=-4483.8931, 切向力Y=5691.9390 +FPS=31.10, 法向力=2831.6460, 切向力X=-3384.4580, 切向力Y=7305.5591 +FPS=32.19, 法向力=2902.8325, 切向力X=-3161.4697, 切向力Y=7062.9839 +FPS=36.54, 法向力=2831.0874, 切向力X=-3333.3586, 切向力Y=5298.8232 +FPS=50.41, 法向力=2739.3853, 切向力X=-3432.2200, 切向力Y=5406.9707 +FPS=31.06, 法向力=2633.7456, 切向力X=-3918.5024, 切向力Y=7031.9995 +FPS=32.04, 法向力=2744.8223, 切向力X=-3934.1221, 切向力Y=7115.5864 +FPS=31.32, 法向力=2631.9126, 切向力X=-2973.5776, 切向力Y=7078.8262 +FPS=30.90, 法向力=2824.5215, 切向力X=-4574.0996, 切向力Y=5549.7344 +FPS=37.75, 法向力=2861.1768, 切向力X=-4717.9414, 切向力Y=5553.5605 +FPS=45.08, 法向力=3376.4854, 切向力X=-5004.3657, 切向力Y=6626.7856 +FPS=39.02, 法向力=3395.9939, 切向力X=-4910.9717, 切向力Y=6666.7822 +FPS=44.93, 法向力=3077.4819, 切向力X=-4316.7710, 切向力Y=5285.0107 +FPS=67.12, 法向力=3037.9592, 切向力X=-4225.3398, 切向力Y=5270.6108 +FPS=32.23, 法向力=3048.5657, 切向力X=-4289.2051, 切向力Y=6071.3394 +FPS=38.45, 法向力=3142.6602, 切向力X=-4381.9131, 切向力Y=5899.4141 +FPS=46.07, 法向力=2960.9741, 切向力X=-3952.5708, 切向力Y=7510.1123 +FPS=39.19, 法向力=2874.8613, 切向力X=-3997.2217, 切向力Y=7696.5420 +FPS=45.39, 法向力=2866.1719, 切向力X=-3977.3379, 切向力Y=7731.1631 +FPS=39.32, 法向力=2566.3135, 切向力X=-3993.1943, 切向力Y=8586.2676 +FPS=44.87, 法向力=3080.6826, 切向力X=-3950.6492, 切向力Y=5986.3896 +FPS=40.12, 法向力=3165.3418, 切向力X=-3953.9741, 切向力Y=5419.0137 +FPS=27.79, 法向力=3166.9360, 切向力X=-3903.6509, 切向力Y=5432.5176 +FPS=37.02, 法向力=3290.5156, 切向力X=-4259.2310, 切向力Y=5679.1182 +FPS=27.91, 法向力=2853.4431, 切向力X=-4077.0137, 切向力Y=5820.8105 +FPS=38.13, 法向力=2804.5864, 切向力X=-4018.5742, 切向力Y=5494.5601 +FPS=27.21, 法向力=2725.0610, 切向力X=-3595.1069, 切向力Y=6596.2031 +FPS=55.40, 法向力=2732.2998, 切向力X=-3579.4053, 切向力Y=6580.0806 +FPS=35.93, 法向力=3331.4937, 切向力X=-3407.9517, 切向力Y=6578.1572 +FPS=65.92, 法向力=3405.3184, 切向力X=-3463.2332, 切向力Y=6491.6201 +FPS=31.01, 法向力=2679.9033, 切向力X=-4230.1431, 切向力Y=5149.3047 +FPS=37.57, 法向力=2536.1162, 切向力X=-4065.3145, 切向力Y=6713.5376 +FPS=49.67, 法向力=2483.7678, 切向力X=-4004.2886, 切向力Y=6758.4238 +FPS=39.47, 法向力=2956.8738, 切向力X=-3893.5137, 切向力Y=5571.8711 +FPS=27.93, 法向力=2905.5938, 切向力X=-3831.4810, 切向力Y=5591.2178 +FPS=39.52, 法向力=2929.7246, 切向力X=-3840.1211, 切向力Y=5560.2056 +FPS=27.68, 法向力=2952.4971, 切向力X=-3854.9683, 切向力Y=5444.6572 +FPS=39.33, 法向力=2874.0171, 切向力X=-3289.0193, 切向力Y=5064.0049 +FPS=27.15, 法向力=2797.7019, 切向力X=-3263.6091, 切向力Y=5278.0645 +FPS=37.26, 法向力=2778.5874, 切向力X=-3159.7236, 切向力Y=5416.3887 +FPS=46.49, 法向力=2779.8823, 切向力X=-3180.7461, 切向力Y=5383.8931 +FPS=39.15, 法向力=3073.8105, 切向力X=-4028.9810, 切向力Y=5908.2861 +FPS=44.22, 法向力=3087.3118, 切向力X=-3981.8162, 切向力Y=6071.2021 +FPS=40.60, 法向力=2234.2271, 切向力X=-3419.2690, 切向力Y=5332.5967 +FPS=61.91, 法向力=2225.0427, 切向力X=-3472.3743, 切向力Y=5313.1455 +FPS=50.95, 法向力=3035.9495, 切向力X=-3732.8840, 切向力Y=6019.4170 +FPS=30.82, 法向力=3063.9426, 切向力X=-3611.7490, 切向力Y=5997.4351 +FPS=38.68, 法向力=2943.6348, 切向力X=-4037.0229, 切向力Y=5584.7227 +FPS=49.64, 法向力=2908.6055, 切向力X=-4060.9219, 切向力Y=5776.2764 +FPS=64.87, 法向力=3052.0176, 切向力X=-4346.6719, 切向力Y=6082.3271 +FPS=33.32, 法向力=3159.2068, 切向力X=-4405.5908, 切向力Y=6218.3999 +FPS=32.24, 法向力=2507.3296, 切向力X=-4494.6211, 切向力Y=5709.0967 +FPS=30.87, 法向力=2481.3357, 切向力X=-4586.6377, 切向力Y=5729.8257 +FPS=39.93, 法向力=2427.5391, 切向力X=-3888.3999, 切向力Y=6025.8818 +FPS=27.18, 法向力=2586.3335, 切向力X=-3827.9238, 切向力Y=5400.1851 +FPS=38.37, 法向力=2595.4070, 切向力X=-3705.4829, 切向力Y=5438.3779 +FPS=45.09, 法向力=2747.8430, 切向力X=-3779.4419, 切向力Y=7206.8115 +FPS=39.20, 法向力=2845.5408, 切向力X=-3865.8921, 切向力Y=7057.0947 +FPS=46.28, 法向力=2514.8489, 切向力X=-3906.9712, 切向力Y=6038.8535 +FPS=39.69, 法向力=2480.5796, 切向力X=-3787.0000, 切向力Y=5966.1123 +FPS=46.17, 法向力=2841.6650, 切向力X=-3628.4375, 切向力Y=5999.2646 +FPS=38.60, 法向力=2773.5979, 切向力X=-3600.9429, 切向力Y=6096.1289 +FPS=45.98, 法向力=2723.2749, 切向力X=-3553.1694, 切向力Y=5651.4004 +FPS=39.87, 法向力=2731.9805, 切向力X=-3697.5996, 切向力Y=5778.3096 +FPS=62.50, 法向力=2737.4604, 切向力X=-3650.8889, 切向力Y=5913.7148 +FPS=50.63, 法向力=2908.7397, 切向力X=-4026.7500, 切向力Y=5595.5630 +FPS=31.88, 法向力=2917.2812, 切向力X=-3968.6428, 切向力Y=5728.8057 +FPS=37.66, 法向力=2718.4473, 切向力X=-3473.7480, 切向力Y=6117.5850 +FPS=27.34, 法向力=2754.9062, 切向力X=-4157.3599, 切向力Y=6383.7832 +FPS=38.67, 法向力=2725.5898, 切向力X=-4193.8301, 切向力Y=6339.7822 +FPS=46.15, 法向力=2733.4497, 切向力X=-4239.2417, 切向力Y=6368.8887 +FPS=37.64, 法向力=2640.9609, 切向力X=-4667.0488, 切向力Y=7963.0308 +FPS=43.47, 法向力=2605.8982, 切向力X=-3893.1851, 切向力Y=5964.0005 +FPS=42.45, 法向力=2726.8486, 切向力X=-3905.4624, 切向力Y=5733.9165 +FPS=64.34, 法向力=2712.1672, 切向力X=-4053.4219, 切向力Y=5657.5146 +FPS=52.21, 法向力=2872.5620, 切向力X=-4174.5752, 切向力Y=5309.8896 +FPS=30.45, 法向力=2954.0950, 切向力X=-4062.4971, 切向力Y=5254.8877 +FPS=37.62, 法向力=2891.5337, 切向力X=-4047.8203, 切向力Y=6254.1802 +FPS=26.76, 法向力=3030.3982, 切向力X=-4033.8550, 切向力Y=6140.9219 +FPS=38.08, 法向力=2672.6597, 切向力X=-2652.7600, 切向力Y=6677.5444 +FPS=47.82, 法向力=2591.6294, 切向力X=-2657.8042, 切向力Y=6887.6836 +FPS=38.91, 法向力=2991.5278, 切向力X=-3653.7820, 切向力Y=6163.8672 +FPS=47.39, 法向力=2982.7043, 切向力X=-3681.0771, 切向力Y=6091.5791 +FPS=31.96, 法向力=3118.0588, 切向力X=-4228.6709, 切向力Y=5398.5186 +FPS=37.28, 法向力=2711.7151, 切向力X=-4358.1689, 切向力Y=6422.9570 +FPS=51.46, 法向力=2684.9297, 切向力X=-4375.6777, 切向力Y=6306.4072 +FPS=36.00, 法向力=2936.4634, 切向力X=-3874.7253, 切向力Y=7766.6323 +FPS=27.08, 法向力=2863.1868, 切向力X=-3838.6196, 切向力Y=7820.5254 +FPS=32.50, 法向力=3176.2539, 切向力X=-3550.3208, 切向力Y=6295.2510 +FPS=31.84, 法向力=2927.5674, 切向力X=-3239.3711, 切向力Y=7355.7046 +FPS=31.00, 法向力=2971.2856, 切向力X=-3123.0500, 切向力Y=7397.1973 +FPS=31.64, 法向力=3061.9348, 切向力X=-3606.8354, 切向力Y=6881.9614 +FPS=37.87, 法向力=2987.1826, 切向力X=-3585.0847, 切向力Y=6898.4941 +FPS=44.54, 法向力=2603.2866, 切向力X=-3753.7424, 切向力Y=6885.8096 +FPS=33.59, 法向力=2598.5642, 切向力X=-3687.5269, 切向力Y=7028.9585 +FPS=32.88, 法向力=2709.5137, 切向力X=-3875.7935, 切向力Y=5021.9106 +FPS=37.42, 法向力=2668.6201, 切向力X=-3864.9653, 切向力Y=5232.3652 +FPS=62.56, 法向力=3021.8545, 切向力X=-2971.0349, 切向力Y=5982.2686 +FPS=53.60, 法向力=3137.0312, 切向力X=-3010.3203, 切向力Y=5775.2871 +FPS=62.02, 法向力=3503.7805, 切向力X=-3781.0049, 切向力Y=6702.9775 +FPS=51.86, 法向力=3462.0576, 切向力X=-3722.8499, 切向力Y=6679.5806 +FPS=37.62, 法向力=3534.3179, 切向力X=-3738.8057, 切向力Y=6820.7612 +FPS=51.64, 法向力=2716.2910, 切向力X=-2605.5312, 切向力Y=5550.6973 +FPS=29.78, 法向力=3269.4502, 切向力X=-4010.4497, 切向力Y=5479.2622 +FPS=32.87, 法向力=3344.9456, 切向力X=-4110.3154, 切向力Y=5550.3193 +FPS=30.37, 法向力=2674.8044, 切向力X=-3950.2112, 切向力Y=6560.5273 +FPS=37.08, 法向力=2680.3865, 切向力X=-3824.1267, 切向力Y=6556.4116 +FPS=45.76, 法向力=2772.6265, 切向力X=-4014.3857, 切向力Y=6531.4434 +FPS=38.53, 法向力=2953.4868, 切向力X=-4005.7405, 切向力Y=6367.1504 +FPS=45.96, 法向力=3052.2468, 切向力X=-4116.0693, 切向力Y=6316.5977 +FPS=39.88, 法向力=3099.9312, 切向力X=-4243.4756, 切向力Y=6445.4360 +FPS=49.74, 法向力=3110.3999, 切向力X=-4218.8486, 切向力Y=6411.3711 +FPS=30.42, 法向力=3099.2144, 切向力X=-4202.1016, 切向力Y=6455.8276 +FPS=32.72, 法向力=3284.6880, 切向力X=-4347.1064, 切向力Y=5745.8945 +FPS=30.48, 法向力=3430.6104, 切向力X=-4376.0913, 切向力Y=5500.1523 +FPS=57.73, 法向力=3559.2720, 切向力X=-3952.3584, 切向力Y=6395.9834 +FPS=32.82, 法向力=3444.0054, 切向力X=-3800.5566, 切向力Y=6282.8486 +FPS=32.39, 法向力=2680.1782, 切向力X=-4043.4719, 切向力Y=6428.3198 +FPS=57.47, 法向力=2715.4084, 切向力X=-4103.5024, 切向力Y=6280.2188 +FPS=39.54, 法向力=2633.5208, 切向力X=-3242.2698, 切向力Y=7320.7524 +FPS=47.75, 法向力=2631.8679, 切向力X=-3048.4092, 切向力Y=7330.4180 +FPS=61.54, 法向力=2592.3650, 切向力X=-3091.3994, 切向力Y=7592.7695 +FPS=33.25, 法向力=2712.1382, 切向力X=-3654.8340, 切向力Y=6921.2949 +FPS=61.76, 法向力=2697.9160, 切向力X=-3616.0063, 切向力Y=6935.7373 +FPS=32.38, 法向力=2623.2114, 切向力X=-3976.8247, 切向力Y=6843.2783 +FPS=61.73, 法向力=2627.1587, 切向力X=-3959.6050, 切向力Y=6779.8164 +FPS=32.47, 法向力=2727.8813, 切向力X=-4339.1001, 切向力Y=6698.2822 +FPS=38.11, 法向力=2761.4102, 切向力X=-4386.2695, 切向力Y=6605.0742 +FPS=27.51, 法向力=2795.5735, 切向力X=-4397.1777, 切向力Y=6542.8765 +FPS=38.20, 法向力=2732.6704, 切向力X=-4191.4199, 切向力Y=5967.8926 +FPS=44.62, 法向力=2683.7605, 切向力X=-4151.5186, 切向力Y=5832.1309 +FPS=39.78, 法向力=3297.9927, 切向力X=-3817.6279, 切向力Y=5831.3193 +FPS=46.66, 法向力=3389.8521, 切向力X=-3688.1104, 切向力Y=5872.4570 +FPS=38.33, 法向力=2445.6023, 切向力X=-4170.6064, 切向力Y=5627.4102 +FPS=27.23, 法向力=2921.1025, 切向力X=-4178.5547, 切向力Y=5173.6455 +FPS=63.23, 法向力=2924.7957, 切向力X=-4183.7529, 切向力Y=5137.3325 +FPS=37.68, 法向力=2950.9136, 切向力X=-4217.8828, 切向力Y=5185.7271 +FPS=43.99, 法向力=2366.5454, 切向力X=-4335.9814, 切向力Y=6585.4814 +FPS=42.35, 法向力=2347.8252, 切向力X=-4313.9780, 切向力Y=6610.6006 +FPS=46.63, 法向力=3060.9819, 切向力X=-4249.0112, 切向力Y=5449.5312 +FPS=37.51, 法向力=3029.4546, 切向力X=-4280.5020, 切向力Y=5371.0522 +FPS=46.68, 法向力=2529.3672, 切向力X=-3558.7129, 切向力Y=5717.5967 +FPS=40.23, 法向力=2527.6580, 切向力X=-3469.1499, 切向力Y=5823.7598 +FPS=49.15, 法向力=2539.7139, 切向力X=-3539.7856, 切向力Y=5701.8677 +FPS=65.97, 法向力=2534.5918, 切向力X=-3475.5698, 切向力Y=5769.9658 +FPS=30.91, 法向力=2292.5166, 切向力X=-3715.8921, 切向力Y=4562.6016 +FPS=39.00, 法向力=2321.4270, 切向力X=-3808.0452, 切向力Y=4491.4463 +FPS=43.38, 法向力=2257.6792, 切向力X=-4006.3813, 切向力Y=3688.4805 +FPS=41.29, 法向力=2317.4233, 切向力X=-4068.0935, 切向力Y=3772.7725 +FPS=43.97, 法向力=2240.2700, 切向力X=-4097.4004, 切向力Y=23.6172 +FPS=43.76, 法向力=2267.3872, 切向力X=-4004.3960, 切向力Y=-104.3062 +FPS=26.24, 法向力=2240.8940, 切向力X=-4023.4500, 切向力Y=-107.1829 +FPS=39.13, 法向力=2696.8884, 切向力X=-4258.7734, 切向力Y=-1753.6237 +FPS=45.66, 法向力=2696.5083, 切向力X=-4273.1255, 切向力Y=-1734.9459 +FPS=41.98, 法向力=2485.4731, 切向力X=-4292.4990, 切向力Y=-1498.9489 +FPS=46.21, 法向力=2404.0483, 切向力X=-4277.0654, 切向力Y=-1409.7214 +FPS=64.89, 法向力=2456.4250, 切向力X=-4568.9932, 切向力Y=-1638.9971 +FPS=38.19, 法向力=2566.6282, 切向力X=-4504.7314, 切向力Y=-1628.9541 +FPS=49.77, 法向力=2402.1431, 切向力X=-4342.5557, 切向力Y=143.1156 +FPS=36.79, 法向力=2319.2822, 切向力X=-4293.5156, 切向力Y=83.1162 +FPS=48.63, 法向力=2328.0381, 切向力X=-4309.6436, 切向力Y=44.8196 +FPS=64.95, 法向力=2340.1382, 切向力X=-4314.8301, 切向力Y=76.0733 +FPS=54.85, 法向力=2328.0474, 切向力X=-4314.1460, 切向力Y=29.4334 +FPS=34.61, 法向力=2430.3896, 切向力X=-4662.1709, 切向力Y=-520.5002 +FPS=31.92, 法向力=2421.8586, 切向力X=-4263.8784, 切向力Y=-834.1647 +FPS=31.10, 法向力=2525.5381, 切向力X=-4246.3447, 切向力Y=-1093.6632 +FPS=38.11, 法向力=2726.2991, 切向力X=-4262.4248, 切向力Y=-3945.2273 +FPS=46.42, 法向力=2771.0232, 切向力X=-4289.0991, 切向力Y=-4217.4922 +FPS=65.88, 法向力=2777.6201, 切向力X=-4265.5010, 切向力Y=-4226.5176 +FPS=51.62, 法向力=2964.5278, 切向力X=-5236.4531, 切向力Y=-3277.5547 +FPS=37.72, 法向力=2966.8999, 切向力X=-5309.5146, 切向力Y=-3267.7820 +FPS=59.62, 法向力=3185.5537, 切向力X=-4437.5195, 切向力Y=-3132.1133 +FPS=50.64, 法向力=3373.3022, 切向力X=-4338.7207, 切向力Y=-3168.0059 +FPS=38.09, 法向力=3631.5850, 切向力X=-5318.0850, 切向力Y=-3332.4351 +FPS=32.05, 法向力=3547.8711, 切向力X=-5462.8979, 切向力Y=-3145.0706 +FPS=39.75, 法向力=3393.5649, 切向力X=-4794.9575, 切向力Y=-4861.2236 +FPS=61.50, 法向力=3452.2571, 切向力X=-4820.1914, 切向力Y=-4897.1299 +FPS=52.01, 法向力=3472.0400, 切向力X=-4875.1113, 切向力Y=-4895.1846 +FPS=30.44, 法向力=3421.8682, 切向力X=-4856.6113, 切向力Y=-4910.0732 +FPS=57.94, 法向力=3889.0200, 切向力X=-4781.5435, 切向力Y=-5336.8452 +FPS=34.22, 法向力=3882.9785, 切向力X=-4762.2339, 切向力Y=-5267.0771 +FPS=48.64, 法向力=4322.4473, 切向力X=-5618.4829, 切向力Y=-2309.0930 +FPS=43.94, 法向力=4216.4404, 切向力X=-5716.3179, 切向力Y=-2269.5933 +FPS=51.05, 法向力=4293.5356, 切向力X=-5750.8403, 切向力Y=-2266.2656 +FPS=59.66, 法向力=4244.5479, 切向力X=-5763.9419, 切向力Y=-2240.0569 +FPS=52.14, 法向力=5688.3120, 切向力X=-5049.9580, 切向力Y=-2747.9287 +FPS=43.89, 法向力=5827.9390, 切向力X=-5029.7051, 切向力Y=-2748.0151 +FPS=49.64, 法向力=4388.4033, 切向力X=-5736.7871, 切向力Y=-1735.3000 +FPS=36.84, 法向力=4280.7578, 切向力X=-5781.4131, 切向力Y=-1410.8232 +FPS=45.07, 法向力=4228.7520, 切向力X=-4984.6045, 切向力Y=-657.5139 +FPS=40.30, 法向力=4187.0791, 切向力X=-5037.2773, 切向力Y=-744.0988 +FPS=27.69, 法向力=4055.9902, 切向力X=-5426.6152, 切向力Y=639.0551 +FPS=60.28, 法向力=4092.3235, 切向力X=-5331.6323, 切向力Y=828.1870 +FPS=51.62, 法向力=3860.7778, 切向力X=-5694.1191, 切向力Y=2309.2900 +FPS=37.71, 法向力=3828.5073, 切向力X=-5769.3887, 切向力Y=2110.8274 +FPS=32.21, 法向力=3829.4429, 切向力X=-5752.1787, 切向力Y=2238.7222 +FPS=31.57, 法向力=3863.8936, 切向力X=-6359.6777, 切向力Y=2170.4543 +FPS=36.95, 法向力=3828.5801, 切向力X=-6491.2817, 切向力Y=2483.6313 +FPS=45.28, 法向力=3852.1445, 切向力X=-6480.8848, 切向力Y=2421.4480 +FPS=33.22, 法向力=4366.5894, 切向力X=-6375.6250, 切向力Y=5346.3892 +FPS=32.36, 法向力=4240.0400, 切向力X=-5400.6113, 切向力Y=3346.9607 +FPS=31.24, 法向力=4193.7627, 切向力X=-5384.9321, 切向力Y=3353.6226 +FPS=37.41, 法向力=4248.6318, 切向力X=-5581.9385, 切向力Y=1189.5061 +FPS=46.52, 法向力=4130.1191, 切向力X=-5610.9839, 切向力Y=1265.8103 +FPS=40.06, 法向力=5366.1680, 切向力X=-6029.9385, 切向力Y=2707.2109 +FPS=51.42, 法向力=5361.1660, 切向力X=-5910.4346, 切向力Y=2905.8188 +FPS=29.92, 法向力=5210.1914, 切向力X=-6143.0283, 切向力Y=1974.8220 +FPS=38.40, 法向力=5143.8271, 切向力X=-6297.7305, 切向力Y=1998.3348 +FPS=52.30, 法向力=4614.1587, 切向力X=-5769.8354, 切向力Y=2687.4048 +FPS=35.50, 法向力=4625.2295, 切向力X=-5739.3887, 切向力Y=2774.6147 +FPS=49.54, 法向力=4572.4663, 切向力X=-5770.2695, 切向力Y=2755.3047 +FPS=30.85, 法向力=3405.0684, 切向力X=-5853.7373, 切向力Y=-2311.3032 +FPS=31.67, 法向力=3381.3140, 切向力X=-5802.9189, 切向力Y=-2302.2134 +FPS=31.60, 法向力=4141.9800, 切向力X=-5579.7920, 切向力Y=-6907.3306 +FPS=31.05, 法向力=4007.7549, 切向力X=-5580.2524, 切向力Y=-7224.8286 +FPS=52.88, 法向力=3253.8687, 切向力X=-5109.0537, 切向力Y=-17759.7383 +FPS=45.26, 法向力=3224.3792, 切向力X=-5128.8428, 切向力Y=-18009.0938 +FPS=56.77, 法向力=3210.6499, 切向力X=-5071.1689, 切向力Y=-18066.8164 +FPS=27.29, 法向力=3511.8013, 切向力X=-3058.5464, 切向力Y=-28515.0723 +FPS=32.53, 法向力=3725.4883, 切向力X=-1489.2773, 切向力Y=-33611.3906 +FPS=30.76, 法向力=3736.3394, 切向力X=-1118.9340, 切向力Y=-33668.2578 +FPS=32.29, 法向力=4378.5654, 切向力X=-321.7039, 切向力Y=-34524.7617 +FPS=38.93, 法向力=3893.8674, 切向力X=-772.3596, 切向力Y=-33329.5703 +FPS=48.00, 法向力=3926.3030, 切向力X=-789.3539, 切向力Y=-33224.7656 +FPS=33.03, 法向力=3952.4941, 切向力X=-745.0244, 切向力Y=-33221.7109 +FPS=32.86, 法向力=3964.9561, 切向力X=-758.1277, 切向力Y=-33222.0391 +FPS=59.97, 法向力=3940.7173, 切向力X=-806.6948, 切向力Y=-33176.5742 +FPS=49.39, 法向力=5051.6509, 切向力X=-859.5104, 切向力Y=-30255.3145 +FPS=68.16, 法向力=4946.7075, 切向力X=-695.7911, 切向力Y=-30210.1172 +FPS=61.00, 法向力=4973.8735, 切向力X=-712.4518, 切向力Y=-30196.0898 +FPS=50.50, 法向力=4046.7151, 切向力X=405.1282, 切向力Y=-29824.6641 +FPS=65.83, 法向力=3893.7078, 切向力X=479.2650, 切向力Y=-30058.5918 +FPS=41.63, 法向力=4622.0190, 切向力X=539.1450, 切向力Y=-31453.1172 +FPS=32.14, 法向力=4691.2256, 切向力X=564.2946, 切向力Y=-31498.0703 +FPS=30.90, 法向力=3931.7861, 切向力X=846.2621, 切向力Y=-30465.6250 +FPS=32.66, 法向力=5021.8154, 切向力X=1719.8842, 切向力Y=-30153.4766 +FPS=32.08, 法向力=4963.1816, 切向力X=1729.7566, 切向力Y=-30220.3535 +FPS=31.78, 法向力=4782.5513, 切向力X=934.6524, 切向力Y=-25332.6836 +FPS=32.03, 法向力=6673.0215, 切向力X=195.7495, 切向力Y=-17852.5000 +FPS=30.82, 法向力=6573.2168, 切向力X=83.6364, 切向力Y=-17450.3750 +FPS=33.46, 法向力=6473.9941, 切向力X=80.3343, 切向力Y=-17397.5742 +FPS=32.55, 法向力=6505.0894, 切向力X=51.8876, 切向力Y=-17448.7930 +FPS=59.95, 法向力=5849.2104, 切向力X=517.9567, 切向力Y=-12949.9717 +FPS=49.03, 法向力=5889.7959, 切向力X=482.7594, 切向力Y=-12954.9863 +FPS=46.70, 法向力=5916.3491, 切向力X=404.0687, 切向力Y=-12910.3828 +FPS=62.46, 法向力=5641.4697, 切向力X=1467.1036, 切向力Y=-11469.3516 +FPS=53.92, 法向力=5569.4722, 切向力X=1551.9822, 切向力Y=-11494.1943 +FPS=63.10, 法向力=5548.5830, 切向力X=1501.5833, 切向力Y=-11430.8613 +FPS=53.90, 法向力=5677.0601, 切向力X=1276.6460, 切向力Y=-10301.7744 +FPS=34.12, 法向力=5651.0371, 切向力X=1258.2793, 切向力Y=-10511.2305 +FPS=31.29, 法向力=6098.3525, 切向力X=1124.5527, 切向力Y=-10161.4375 +FPS=59.21, 法向力=6071.9062, 切向力X=1202.9368, 切向力Y=-10221.2793 +FPS=51.64, 法向力=5085.5186, 切向力X=2358.7954, 切向力Y=-11555.0469 +FPS=64.92, 法向力=4961.3618, 切向力X=2368.8999, 切向力Y=-11377.4824 +FPS=47.97, 法向力=4435.0649, 切向力X=2221.9858, 切向力Y=-12172.3506 +FPS=52.03, 法向力=4404.2256, 切向力X=2115.9797, 切向力Y=-12044.3965 +FPS=30.70, 法向力=4361.0415, 切向力X=2040.7949, 切向力Y=-12128.3535 +FPS=31.72, 法向力=4307.0171, 切向力X=2003.3555, 切向力Y=-12060.8145 +FPS=31.79, 法向力=4286.6064, 切向力X=1970.3136, 切向力Y=-12042.2773 +FPS=33.28, 法向力=4296.8237, 切向力X=1950.5985, 切向力Y=-12012.6758 +FPS=31.74, 法向力=3214.9775, 切向力X=2628.0457, 切向力Y=-13755.0312 +FPS=37.78, 法向力=2820.5044, 切向力X=3180.2759, 切向力Y=-15626.7812 +FPS=47.15, 法向力=2747.5142, 切向力X=3051.1201, 切向力Y=-15953.2998 +FPS=32.35, 法向力=2284.7783, 切向力X=2660.8311, 切向力Y=-17558.9824 +FPS=33.80, 法向力=2255.0220, 切向力X=2545.3262, 切向力Y=-17572.4492 +FPS=31.85, 法向力=2559.1025, 切向力X=2324.4287, 切向力Y=-17613.2012 +FPS=31.85, 法向力=2108.7224, 切向力X=2231.2573, 切向力Y=-16894.2441 +FPS=31.72, 法向力=2080.4001, 切向力X=2265.4976, 切向力Y=-16626.7773 +FPS=31.62, 法向力=2613.9546, 切向力X=2823.7534, 切向力Y=-16086.4902 +FPS=32.80, 法向力=2645.6619, 切向力X=2755.0527, 切向力Y=-16157.2021 +FPS=36.88, 法向力=3325.3479, 切向力X=2801.9395, 切向力Y=-12101.2852 +FPS=48.09, 法向力=3390.0322, 切向力X=2928.0691, 切向力Y=-11835.5625 +FPS=59.18, 法向力=2436.1104, 切向力X=3361.1665, 切向力Y=-9803.5225 +FPS=50.54, 法向力=2384.3867, 切向力X=3196.9976, 切向力Y=-9710.9844 +FPS=48.03, 法向力=2386.1550, 切向力X=3126.9111, 切向力Y=-9680.0264 +FPS=62.57, 法向力=2762.8647, 切向力X=1956.0840, 切向力Y=-5979.1436 +FPS=55.07, 法向力=2741.4556, 切向力X=2089.2817, 切向力Y=-5997.8130 +FPS=61.40, 法向力=2722.6880, 切向力X=2023.3691, 切向力Y=-5869.5864 +FPS=52.88, 法向力=2880.1313, 切向力X=2120.8923, 切向力Y=-5817.3203 +FPS=39.85, 法向力=2883.7095, 切向力X=2172.3064, 切向力Y=-5861.8135 +FPS=49.00, 法向力=3816.4731, 切向力X=1334.2937, 切向力Y=-5031.4873 +FPS=31.30, 法向力=3914.6050, 切向力X=1252.8973, 切向力Y=-5043.1787 +FPS=31.33, 法向力=3322.1499, 切向力X=951.8119, 切向力Y=-5001.3516 +FPS=61.80, 法向力=3259.2708, 切向力X=832.3528, 切向力Y=-5048.2383 +FPS=53.40, 法向力=3957.3232, 切向力X=1159.8921, 切向力Y=-3826.9136 +FPS=66.15, 法向力=3908.3086, 切向力X=1062.8118, 切向力Y=-3536.8999 +FPS=59.82, 法向力=3907.8135, 切向力X=981.2245, 切向力Y=-3488.9854 +FPS=50.99, 法向力=5204.0933, 切向力X=1279.6194, 切向力Y=-5780.9980 +FPS=54.43, 法向力=5206.1475, 切向力X=1157.7935, 切向力Y=-5824.6470 +FPS=50.32, 法向力=5244.6328, 切向力X=1210.0756, 切向力Y=-5855.6338 +FPS=37.37, 法向力=3754.8032, 切向力X=581.4807, 切向力Y=-5228.5508 +FPS=50.42, 法向力=3709.5298, 切向力X=434.0024, 切向力Y=-4950.7090 +FPS=30.47, 法向力=3129.4744, 切向力X=780.2634, 切向力Y=-2939.1653 +FPS=38.59, 法向力=3628.4468, 切向力X=217.0946, 切向力Y=-5473.5508 +FPS=27.57, 法向力=3616.3174, 切向力X=246.3754, 切向力Y=-5520.3301 +FPS=37.67, 法向力=3267.8838, 切向力X=1977.7927, 切向力Y=-6655.9883 +FPS=27.61, 法向力=3697.7017, 切向力X=1060.8583, 切向力Y=-6045.5459 +FPS=32.69, 法向力=3753.7578, 切向力X=1065.8721, 切向力Y=-5697.3257 +FPS=31.13, 法向力=3379.8496, 切向力X=973.0547, 切向力Y=-6924.3389 +FPS=31.56, 法向力=3682.2563, 切向力X=1089.8630, 切向力Y=-7503.2563 +FPS=38.38, 法向力=3587.5452, 切向力X=1048.5061, 切向力Y=-7523.3896 +FPS=47.74, 法向力=3616.9229, 切向力X=1048.1099, 切向力Y=-7570.3379 +FPS=38.46, 法向力=2866.3474, 切向力X=1737.9117, 切向力Y=-5477.7661 +FPS=27.16, 法向力=2515.3638, 切向力X=1727.4608, 切向力Y=-5766.6812 +FPS=61.69, 法向力=2447.6919, 切向力X=1689.1135, 切向力Y=-5727.6084 +FPS=32.67, 法向力=2466.6335, 切向力X=1675.6061, 切向力Y=-5670.9277 +FPS=31.98, 法向力=3376.4106, 切向力X=2033.4720, 切向力Y=-5555.3345 +FPS=63.71, 法向力=2836.2996, 切向力X=1041.3406, 切向力Y=-4212.2588 +FPS=31.71, 法向力=2749.5610, 切向力X=948.0093, 切向力Y=-4006.6467 +FPS=57.33, 法向力=2771.0835, 切向力X=907.8608, 切向力Y=-3950.5356 +FPS=32.45, 法向力=2589.6387, 切向力X=1589.1045, 切向力Y=-2436.1997 +FPS=62.85, 法向力=2609.4976, 切向力X=1699.9277, 切向力Y=-2383.2627 +FPS=40.66, 法向力=2455.7158, 切向力X=507.6934, 切向力Y=-3713.6252 +FPS=51.92, 法向力=2372.3301, 切向力X=481.0287, 切向力Y=-3853.8284 +FPS=31.06, 法向力=2041.0533, 切向力X=784.8428, 切向力Y=-1447.3206 +FPS=38.69, 法向力=2072.7798, 切向力X=892.3000, 切向力Y=-1053.4156 +FPS=45.09, 法向力=2176.8030, 切向力X=535.1677, 切向力Y=-3534.9465 +FPS=66.48, 法向力=2252.1760, 切向力X=426.6689, 切向力Y=-3745.2454 +FPS=32.56, 法向力=2232.5366, 切向力X=84.0347, 切向力Y=-3424.1553 +FPS=40.46, 法向力=2166.1006, 切向力X=25.0149, 切向力Y=-3306.2593 +FPS=48.50, 法向力=2043.8955, 切向力X=-17.4004, 切向力Y=-1148.3445 +FPS=38.94, 法向力=2052.3923, 切向力X=67.6061, 切向力Y=-1104.5698 +FPS=45.94, 法向力=2865.0889, 切向力X=-308.4503, 切向力Y=-1257.3306 +FPS=32.13, 法向力=2907.5808, 切向力X=-291.4144, 切向力Y=-1338.8809 +FPS=61.22, 法向力=3508.3557, 切向力X=12.0335, 切向力Y=-2251.3704 +FPS=32.82, 法向力=3547.2236, 切向力X=104.2188, 切向力Y=-2301.1616 +FPS=60.37, 法向力=3048.8145, 切向力X=-263.8010, 切向力Y=-2870.1199 +FPS=33.12, 法向力=2995.5601, 切向力X=-300.3801, 切向力Y=-2842.3032 +FPS=32.71, 法向力=2046.6448, 切向力X=240.4449, 切向力Y=-3181.9189 +FPS=32.03, 法向力=2086.8359, 切向力X=-233.0656, 切向力Y=-2508.8696 +FPS=31.54, 法向力=2032.4231, 切向力X=-333.0235, 切向力Y=-2408.8445 +FPS=30.87, 法向力=2043.5693, 切向力X=-367.4069, 切向力Y=-2416.1772 +FPS=39.79, 法向力=1804.9148, 切向力X=-644.1197, 切向力Y=-1874.6177 +FPS=45.00, 法向力=1906.7511, 切向力X=-680.8593, 切向力Y=-1599.6047 +FPS=38.70, 法向力=1820.9822, 切向力X=-288.6440, 切向力Y=-1852.0671 +FPS=45.71, 法向力=1802.7201, 切向力X=-239.3291, 切向力Y=-1984.5969 +FPS=67.28, 法向力=2182.7737, 切向力X=59.2509, 切向力Y=-1013.6604 +FPS=37.67, 法向力=2315.3413, 切向力X=258.7965, 切向力Y=-1111.2938 +FPS=47.35, 法向力=2275.4429, 切向力X=81.9751, 切向力Y=-2811.9727 +FPS=38.51, 法向力=2299.8237, 切向力X=30.8229, 切向力Y=-2922.3806 +FPS=26.98, 法向力=2475.8965, 切向力X=44.8280, 切向力Y=-2468.9678 +FPS=54.97, 法向力=2404.4238, 切向力X=100.6598, 切向力Y=-2549.1772 +FPS=33.78, 法向力=2014.7073, 切向力X=-608.6129, 切向力Y=-2477.9507 +FPS=63.14, 法向力=2119.5762, 切向力X=-580.7727, 切向力Y=-2619.5383 +FPS=39.40, 法向力=2099.2085, 切向力X=-761.9418, 切向力Y=-1814.9996 +FPS=47.00, 法向力=2020.9929, 切向力X=-671.1909, 切向力Y=-2074.8335 +FPS=57.24, 法向力=2032.2465, 切向力X=-621.5269, 切向力Y=-2038.8861 +FPS=35.53, 法向力=1693.9755, 切向力X=-424.5961, 切向力Y=-989.2711 +FPS=37.43, 法向力=1745.9635, 切向力X=-599.7697, 切向力Y=-296.8975 +FPS=27.11, 法向力=1760.1956, 切向力X=-711.4258, 切向力Y=-265.1564 +FPS=38.92, 法向力=2022.0933, 切向力X=211.0109, 切向力Y=-1630.3391 +FPS=45.53, 法向力=2151.2549, 切向力X=329.3453, 切向力Y=-1890.5757 +FPS=39.50, 法向力=2157.4563, 切向力X=-622.3556, 切向力Y=-1329.9763 +FPS=27.24, 法向力=2258.5657, 切向力X=-846.4500, 切向力Y=-2539.9595 +FPS=39.32, 法向力=2160.1934, 切向力X=-807.3273, 切向力Y=-2621.4717 +FPS=44.82, 法向力=2169.1021, 切向力X=647.5958, 切向力Y=-2988.9907 +FPS=40.87, 法向力=2228.3428, 切向力X=703.8842, 切向力Y=-2948.1426 +FPS=46.22, 法向力=2664.7061, 切向力X=246.9130, 切向力Y=-788.9061 +FPS=39.18, 法向力=2751.0063, 切向力X=285.5344, 切向力Y=-692.5275 +FPS=46.41, 法向力=1985.9546, 切向力X=413.4538, 切向力Y=-1139.0675 +FPS=39.05, 法向力=2050.5671, 切向力X=452.9388, 切向力Y=-1245.4518 +FPS=26.87, 法向力=1858.5447, 切向力X=-306.6592, 切向力Y=-1156.0848 +FPS=31.56, 法向力=1902.0857, 切向力X=-356.8193, 切向力Y=-1121.8690 +FPS=38.30, 法向力=1862.5410, 切向力X=90.4361, 切向力Y=-1606.1901 +FPS=51.61, 法向力=1898.6304, 切向力X=242.5467, 切向力Y=-1933.1147 +FPS=30.66, 法向力=2184.9429, 切向力X=-210.5746, 切向力Y=-1357.0717 +FPS=37.32, 法向力=2244.4404, 切向力X=-234.5460, 切向力Y=-1303.3800 +FPS=48.85, 法向力=1779.6719, 切向力X=78.9249, 切向力Y=-1673.0649 +FPS=30.74, 法向力=1729.6887, 切向力X=131.5143, 切向力Y=-2158.9048 +FPS=41.95, 法向力=1969.1963, 切向力X=-30.5676, 切向力Y=-1692.1936 +FPS=27.31, 法向力=1827.7046, 切向力X=-445.5671, 切向力Y=-1774.7075 +FPS=31.22, 法向力=1800.2312, 切向力X=-424.5601, 切向力Y=-1745.9736 +FPS=39.21, 法向力=1930.0479, 切向力X=-455.4260, 切向力Y=-2272.6443 +FPS=48.43, 法向力=1948.5381, 切向力X=-427.7592, 切向力Y=-2158.1851 +FPS=53.93, 法向力=1963.1934, 切向力X=-466.8737, 切向力Y=-2255.0483 +FPS=47.55, 法向力=1690.7842, 切向力X=121.7966, 切向力Y=-2326.5669 +FPS=41.23, 法向力=1670.6311, 切向力X=116.6555, 切向力Y=-2457.3330 +FPS=37.27, 法向力=1949.9615, 切向力X=48.0926, 切向力Y=-1750.6101 +FPS=27.69, 法向力=1773.6997, 切向力X=-501.5666, 切向力Y=-2224.7527 +FPS=36.51, 法向力=1796.0963, 切向力X=-609.9150, 切向力Y=-2004.5895 +FPS=45.61, 法向力=1741.6207, 切向力X=-986.0121, 切向力Y=-2334.9424 +FPS=39.00, 法向力=1815.3545, 切向力X=-1059.6943, 切向力Y=-2492.0200 +FPS=48.15, 法向力=1682.9329, 切向力X=-834.7237, 切向力Y=-2033.6892 +FPS=37.39, 法向力=1724.3469, 切向力X=-762.8400, 切向力Y=-2043.9688 +FPS=47.36, 法向力=1995.4507, 切向力X=-913.1180, 切向力Y=-1970.3293 +FPS=38.22, 法向力=2057.3477, 切向力X=-907.8094, 切向力Y=-2010.7249 +FPS=48.61, 法向力=2173.6699, 切向力X=-1060.1431, 切向力Y=-2925.4331 +FPS=39.07, 法向力=2151.3970, 切向力X=-1067.5002, 切向力Y=-2986.8535 +FPS=62.50, 法向力=2220.9741, 切向力X=-979.6185, 切向力Y=-3135.4524 +FPS=50.49, 法向力=1805.7872, 切向力X=-272.0659, 切向力Y=-1140.8232 +FPS=37.13, 法向力=1915.0720, 切向力X=-318.3358, 切向力Y=-979.1246 +FPS=47.79, 法向力=3177.0020, 切向力X=-795.5602, 切向力Y=-2093.2285 +FPS=32.01, 法向力=3304.5774, 切向力X=-912.4645, 切向力Y=-2282.3311 +FPS=31.76, 法向力=2281.6646, 切向力X=-381.0844, 切向力Y=-2483.2676 +FPS=31.64, 法向力=2011.2725, 切向力X=-1212.6589, 切向力Y=-2151.5764 +FPS=31.15, 法向力=2041.7551, 切向力X=-1300.5964, 切向力Y=-2071.4180 +FPS=31.45, 法向力=1661.0273, 切向力X=-822.9484, 切向力Y=-1362.4401 +FPS=30.94, 法向力=1905.7710, 切向力X=-158.7630, 切向力Y=-1846.8073 +FPS=32.23, 法向力=1928.3208, 切向力X=-137.8378, 切向力Y=-1839.5111 +FPS=31.87, 法向力=1966.4468, 切向力X=44.8315, 切向力Y=-2650.0283 +FPS=30.74, 法向力=1751.8386, 切向力X=-80.0771, 切向力Y=-2251.9490 +FPS=31.78, 法向力=1797.4753, 切向力X=-212.3840, 切向力Y=-2191.0359 +FPS=31.08, 法向力=1532.4221, 切向力X=-145.8268, 切向力Y=-1345.2574 +FPS=39.84, 法向力=1653.7670, 切向力X=-60.0953, 切向力Y=-1283.1841 +FPS=49.39, 法向力=1680.4163, 切向力X=-100.5645, 切向力Y=-1358.0811 +FPS=31.60, 法向力=1784.1642, 切向力X=34.7132, 切向力Y=-1436.9404 +FPS=56.35, 法向力=2482.7593, 切向力X=-577.3253, 切向力Y=-3680.2959 +FPS=50.12, 法向力=2282.4988, 切向力X=-770.4318, 切向力Y=-3358.9751 +FPS=47.28, 法向力=2306.5806, 切向力X=-764.0876, 切向力Y=-3334.6714 +FPS=27.50, 法向力=2086.7358, 切向力X=-422.3784, 切向力Y=-1605.3176 +FPS=57.81, 法向力=2157.0293, 切向力X=-383.0732, 切向力Y=-1537.9548 +FPS=51.62, 法向力=1739.9668, 切向力X=13.9794, 切向力Y=-1012.4472 +FPS=46.81, 法向力=1740.7979, 切向力X=-51.0516, 切向力Y=-1060.2820 +FPS=62.81, 法向力=1764.6326, 切向力X=-864.2023, 切向力Y=-1246.1311 +FPS=50.28, 法向力=1763.6271, 切向力X=-840.2198, 切向力Y=-1340.8824 +FPS=62.00, 法向力=1767.8887, 切向力X=-832.2877, 切向力Y=-1343.1272 +FPS=50.04, 法向力=2129.7903, 切向力X=-1066.0913, 切向力Y=-199.4842 +FPS=41.59, 法向力=2199.9854, 切向力X=-1113.4695, 切向力Y=-135.8949 +FPS=45.03, 法向力=2182.4331, 切向力X=-1126.1709, 切向力Y=-141.5408 +FPS=40.03, 法向力=1725.2803, 切向力X=-931.7985, 切向力Y=-724.9130 +FPS=27.71, 法向力=2263.6719, 切向力X=-186.2679, 切向力Y=-3282.2905 +FPS=36.83, 法向力=2138.2007, 切向力X=-199.0045, 切向力Y=-3352.5222 +FPS=47.30, 法向力=1626.6489, 切向力X=-67.4770, 切向力Y=-2822.3823 +FPS=39.55, 法向力=1635.8010, 切向力X=30.2612, 切向力Y=-2821.4856 +FPS=27.44, 法向力=1852.0725, 切向力X=-1118.8125, 切向力Y=-3489.3750 +FPS=57.98, 法向力=1896.8004, 切向力X=-1197.3792, 切向力Y=-3441.4341 +FPS=34.40, 法向力=1748.5103, 切向力X=-795.1726, 切向力Y=-2277.3359 +FPS=38.94, 法向力=1854.2418, 切向力X=-76.6828, 切向力Y=-1623.1373 +FPS=27.83, 法向力=1807.3378, 切向力X=-69.3646, 切向力Y=-1928.2832 +FPS=38.35, 法向力=1792.1177, 切向力X=-161.1110, 切向力Y=-2204.5986 +FPS=27.14, 法向力=1967.2069, 切向力X=-351.0160, 切向力Y=-1781.7627 +FPS=56.39, 法向力=1668.1533, 切向力X=96.3967, 切向力Y=-2197.9775 +FPS=40.67, 法向力=1704.5256, 切向力X=55.6789, 切向力Y=-2503.3359 +FPS=42.73, 法向力=1857.4105, 切向力X=-1146.5541, 切向力Y=-1944.3123 +FPS=42.85, 法向力=1836.6594, 切向力X=-1118.8241, 切向力Y=-1873.0601 +FPS=45.93, 法向力=1662.2699, 切向力X=-175.0445, 切向力Y=-2303.7637 +FPS=41.26, 法向力=1669.2185, 切向力X=-38.0497, 切向力Y=-2364.8564 +FPS=44.58, 法向力=2020.3257, 切向力X=-547.7397, 切向力Y=-453.8818 +FPS=40.84, 法向力=2116.4009, 切向力X=-528.9829, 切向力Y=-558.3092 +FPS=48.47, 法向力=2128.8013, 切向力X=-524.8253, 切向力Y=-578.9659 +FPS=31.93, 法向力=1352.0996, 切向力X=-180.0470, 切向力Y=-2111.2407 +FPS=58.53, 法向力=1324.9026, 切向力X=-83.4306, 切向力Y=-2090.7849 +FPS=39.20, 法向力=1809.5927, 切向力X=-496.8693, 切向力Y=-1357.3455 +FPS=50.02, 法向力=1876.3756, 切向力X=-549.9678, 切向力Y=-1077.6598 +FPS=37.28, 法向力=1479.8457, 切向力X=-268.2863, 切向力Y=-3235.7324 +FPS=46.64, 法向力=1441.5316, 切向力X=-172.7094, 切向力Y=-3392.3223 +FPS=39.07, 法向力=1974.1115, 切向力X=-317.1326, 切向力Y=-2053.2026 +FPS=27.21, 法向力=1941.2706, 切向力X=-332.0891, 切向力Y=-2041.0522 +FPS=37.95, 法向力=2206.1565, 切向力X=-311.5027, 切向力Y=-2225.0522 +FPS=27.03, 法向力=2180.6050, 切向力X=-1021.7485, 切向力Y=-1433.7811 +FPS=39.31, 法向力=2035.3687, 切向力X=-905.3624, 切向力Y=-1876.5314 +FPS=45.63, 法向力=1694.7135, 切向力X=-1005.1939, 切向力Y=-2873.3242 +FPS=41.62, 法向力=1661.5372, 切向力X=-1052.1003, 切向力Y=-2833.3320 +FPS=27.16, 法向力=1812.7764, 切向力X=21.8028, 切向力Y=-1907.8770 +FPS=37.32, 法向力=2463.5879, 切向力X=-45.4218, 切向力Y=-2676.9448 +FPS=61.70, 法向力=2452.1895, 切向力X=-102.9817, 切向力Y=-2668.6191 +FPS=53.10, 法向力=2434.6990, 切向力X=-107.5134, 切向力Y=-2642.0083 +FPS=35.73, 法向力=1981.1791, 切向力X=-1262.1304, 切向力Y=-22.6454 +FPS=46.98, 法向力=1957.8324, 切向力X=-1246.9529, 切向力Y=222.3290 +FPS=38.98, 法向力=1932.2656, 切向力X=-304.5876, 切向力Y=-2322.9993 +FPS=27.19, 法向力=2012.0240, 切向力X=-97.8997, 切向力Y=-2761.6240 +FPS=39.13, 法向力=1922.1501, 切向力X=-454.6590, 切向力Y=-2466.0945 +FPS=27.10, 法向力=2267.1951, 切向力X=207.8036, 切向力Y=-2774.4346 +FPS=38.85, 法向力=2274.6912, 切向力X=154.5014, 切向力Y=-2830.3909 +FPS=45.63, 法向力=2121.0928, 切向力X=-309.7304, 切向力Y=-1913.8522 +FPS=31.65, 法向力=2008.1805, 切向力X=-327.4947, 切向力Y=-2162.8203 +FPS=32.40, 法向力=1762.6755, 切向力X=-520.4010, 切向力Y=-895.7251 +FPS=31.71, 法向力=2053.4277, 切向力X=-726.7495, 切向力Y=-510.2776 +FPS=32.34, 法向力=2034.4880, 切向力X=-826.4497, 切向力Y=-420.8084 +FPS=37.17, 法向力=1467.3746, 切向力X=71.3600, 切向力Y=-2068.8767 +FPS=50.02, 法向力=1463.9369, 切向力X=303.2670, 切向力Y=-2312.6675 +FPS=58.66, 法向力=1468.2080, 切向力X=344.7518, 切向力Y=-2371.8538 +FPS=51.95, 法向力=1790.5510, 切向力X=34.7949, 切向力Y=-1797.8026 +FPS=45.19, 法向力=1827.5400, 切向力X=137.3240, 切向力Y=-1821.0437 +FPS=52.52, 法向力=2077.0422, 切向力X=-266.1919, 切向力Y=-2487.4626 +FPS=29.37, 法向力=2080.3706, 切向力X=-256.8629, 切向力Y=-2433.7954 +FPS=61.17, 法向力=1432.5154, 切向力X=-396.5655, 切向力Y=-2033.8102 +FPS=54.91, 法向力=1409.0203, 切向力X=-261.8106, 切向力Y=-2262.4155 +FPS=34.70, 法向力=1381.6987, 切向力X=-228.3372, 切向力Y=-2299.4397 +FPS=32.58, 法向力=1737.4249, 切向力X=-885.7997, 切向力Y=-1772.6206 +FPS=62.24, 法向力=1797.7048, 切向力X=-984.2324, 切向力Y=-1726.4600 +FPS=52.89, 法向力=2195.8994, 切向力X=-701.3499, 切向力Y=-800.8909 +FPS=35.10, 法向力=2331.7307, 切向力X=-759.7592, 切向力Y=-730.4233 +FPS=32.13, 法向力=2109.6079, 切向力X=402.3050, 切向力Y=-3562.0334 +FPS=59.06, 法向力=2113.1562, 切向力X=513.3330, 切向力Y=-3735.9771 +FPS=48.74, 法向力=1591.1852, 切向力X=-4.8600, 切向力Y=-1134.1946 +FPS=38.41, 法向力=1614.2324, 切向力X=-4.2348, 切向力Y=-1187.1621 +FPS=37.70, 法向力=1740.9487, 切向力X=-107.0764, 切向力Y=-2708.9043 +FPS=49.90, 法向力=1739.2231, 切向力X=-174.4830, 切向力Y=-2904.1699 +FPS=31.82, 法向力=1656.8097, 切向力X=-345.2372, 切向力Y=-2030.8191 +FPS=32.15, 法向力=1694.8197, 切向力X=-346.8699, 切向力Y=-2032.1917 +FPS=31.82, 法向力=1668.2217, 切向力X=-881.3083, 切向力Y=-671.2874 +FPS=32.02, 法向力=1586.5374, 切向力X=-729.2659, 切向力Y=-2174.0645 +FPS=30.54, 法向力=1549.2654, 切向力X=-449.8466, 切向力Y=-2506.6033 +FPS=32.14, 法向力=1686.3093, 切向力X=-434.6481, 切向力Y=-2236.4077 +FPS=31.49, 法向力=2220.0444, 切向力X=199.8792, 切向力Y=-3506.8464 +FPS=31.25, 法向力=2216.7158, 切向力X=199.0226, 切向力Y=-3466.3186 +FPS=32.70, 法向力=1764.9692, 切向力X=-203.3992, 切向力Y=-3152.9268 +FPS=30.70, 法向力=1854.6030, 切向力X=-457.5319, 切向力Y=-1953.1185 +FPS=31.94, 法向力=1831.3115, 切向力X=-503.9517, 切向力Y=-1865.4358 +FPS=32.19, 法向力=1765.6313, 切向力X=184.1800, 切向力Y=-2194.5310 +FPS=32.96, 法向力=1745.4069, 切向力X=229.1754, 切向力Y=-2208.2815 +FPS=31.96, 法向力=1986.9777, 切向力X=284.8410, 切向力Y=-1543.2686 +FPS=30.54, 法向力=1899.6844, 切向力X=80.8323, 切向力Y=-1495.3387 +FPS=32.09, 法向力=1481.5057, 切向力X=-399.6844, 切向力Y=-1142.5885 +FPS=32.17, 法向力=1792.8662, 切向力X=-400.0735, 切向力Y=-2523.2537 +FPS=30.67, 法向力=1898.1100, 切向力X=-227.6177, 切向力Y=-2830.4756 +FPS=31.63, 法向力=1643.9326, 切向力X=-754.6315, 切向力Y=-668.0543 +FPS=59.34, 法向力=1537.9229, 切向力X=-460.2505, 切向力Y=-2313.7761 +FPS=50.80, 法向力=1748.9937, 切向力X=-268.7734, 切向力Y=-2630.3433 +FPS=46.38, 法向力=1597.9688, 切向力X=-294.0838, 切向力Y=-2376.0605 +FPS=62.45, 法向力=1829.8239, 切向力X=-147.1503, 切向力Y=-1425.1335 +FPS=52.96, 法向力=1827.8079, 切向力X=-160.9693, 切向力Y=-1439.6910 +FPS=60.25, 法向力=1820.2683, 切向力X=-173.0919, 切向力Y=-1440.4717 +FPS=53.52, 法向力=2056.5261, 切向力X=-159.0748, 切向力Y=-468.6628 +FPS=40.51, 法向力=2014.1711, 切向力X=-81.3554, 切向力Y=-239.5021 +FPS=47.61, 法向力=1679.1980, 切向力X=-675.5913, 切向力Y=-1057.5563 +FPS=32.96, 法向力=1733.8226, 切向力X=-789.1663, 切向力Y=-1085.7041 +FPS=61.36, 法向力=1714.4858, 切向力X=-785.7473, 切向力Y=-1005.9242 +FPS=53.60, 法向力=1898.4608, 切向力X=-50.8356, 切向力Y=-1759.0914 +FPS=41.14, 法向力=1840.3854, 切向力X=-97.3057, 切向力Y=-1763.8839 +FPS=27.86, 法向力=1810.9041, 切向力X=-95.0517, 切向力Y=-1093.1002 +FPS=61.58, 法向力=1876.2776, 切向力X=41.8180, 切向力Y=-990.9470 +FPS=50.02, 法向力=1634.1691, 切向力X=-1211.5015, 切向力Y=-3045.4490 +FPS=46.52, 法向力=1647.5667, 切向力X=-1284.9111, 切向力Y=-3154.9531 +FPS=46.47, 法向力=1460.4165, 切向力X=69.1221, 切向力Y=-3188.0947 +FPS=38.78, 法向力=1460.7263, 切向力X=211.9887, 切向力Y=-3172.1792 +FPS=45.62, 法向力=1771.0619, 切向力X=-780.8116, 切向力Y=-1771.4379 +FPS=41.08, 法向力=1761.0808, 切向力X=-788.3544, 切向力Y=-1532.2922 +FPS=27.59, 法向力=1878.6326, 切向力X=-507.6983, 切向力Y=-1186.8251 +FPS=31.60, 法向力=1842.3884, 切向力X=-913.1421, 切向力Y=-1702.0649 +FPS=61.33, 法向力=1847.5447, 切向力X=-975.1394, 切向力Y=-1849.0115 +FPS=32.72, 法向力=1850.5813, 切向力X=-991.0566, 切向力Y=-1874.8887 +FPS=60.06, 法向力=1828.0437, 切向力X=-627.0646, 切向力Y=-1255.1755 +FPS=32.75, 法向力=1875.0902, 切向力X=-603.2113, 切向力Y=-1215.8727 +FPS=38.23, 法向力=2643.9734, 切向力X=125.5504, 切向力Y=-1738.5020 +FPS=42.29, 法向力=2740.0898, 切向力X=288.3849, 切向力Y=-1528.9028 +FPS=64.90, 法向力=2764.7646, 切向力X=295.1938, 切向力Y=-2384.7791 +FPS=34.38, 法向力=2720.8928, 切向力X=244.8702, 切向力Y=-2317.6914 +FPS=38.22, 法向力=1623.6074, 切向力X=170.3335, 切向力Y=-1035.7004 +FPS=47.45, 法向力=1650.2950, 切向力X=159.7191, 切向力Y=-1070.0574 +FPS=63.21, 法向力=1824.7517, 切向力X=134.5786, 切向力Y=-1698.6095 +FPS=31.96, 法向力=1972.8842, 切向力X=104.0095, 切向力Y=-1652.8712 +FPS=40.24, 法向力=1936.1340, 切向力X=-17.7536, 切向力Y=-1597.7324 +FPS=27.65, 法向力=1908.9071, 切向力X=-42.6939, 切向力Y=-1693.2188 +FPS=37.58, 法向力=1699.5934, 切向力X=-191.5707, 切向力Y=-2386.9595 +FPS=47.21, 法向力=1789.8489, 切向力X=-254.4838, 切向力Y=-2418.6589 +FPS=59.84, 法向力=1813.0605, 切向力X=-295.2714, 切向力Y=-2402.2798 +FPS=33.34, 法向力=2124.6536, 切向力X=-944.5334, 切向力Y=-1782.2207 +FPS=62.79, 法向力=2080.9785, 切向力X=-935.4082, 切向力Y=-1834.4734 +FPS=32.65, 法向力=2116.1807, 切向力X=-475.2656, 切向力Y=-1574.6333 +FPS=61.95, 法向力=2161.1831, 切向力X=-403.1082, 切向力Y=-1607.7085 +FPS=33.49, 法向力=1689.4913, 切向力X=-672.1056, 切向力Y=-1963.8201 +FPS=37.94, 法向力=2068.7864, 切向力X=-428.0067, 切向力Y=-2674.6602 +FPS=27.30, 法向力=2124.5181, 切向力X=-416.7037, 切向力Y=-2688.9819 +FPS=37.40, 法向力=1973.1174, 切向力X=-297.1889, 切向力Y=-2392.6545 +FPS=27.69, 法向力=1747.2140, 切向力X=-536.4030, 切向力Y=-3716.5166 +FPS=63.45, 法向力=1794.4230, 切向力X=-714.6256, 切向力Y=-3561.7732 +FPS=32.06, 法向力=1968.6781, 切向力X=-974.8851, 切向力Y=-551.7838 +FPS=60.13, 法向力=2119.8208, 切向力X=-760.3711, 切向力Y=-313.2496 +FPS=32.65, 法向力=1818.6523, 切向力X=-392.5521, 切向力Y=-1286.4355 +FPS=38.80, 法向力=1822.0560, 切向力X=-355.5287, 切向力Y=-1221.3501 +FPS=48.50, 法向力=1831.0422, 切向力X=-364.8033, 切向力Y=-1250.9551 +FPS=37.02, 法向力=1845.9685, 切向力X=-261.3599, 切向力Y=-2635.9900 +FPS=26.67, 法向力=1894.9109, 切向力X=110.9186, 切向力Y=-2338.4282 +FPS=39.47, 法向力=2047.0559, 切向力X=122.5630, 切向力Y=-2290.2188 +FPS=45.82, 法向力=1492.1635, 切向力X=-226.5770, 切向力Y=-1792.7412 +FPS=38.28, 法向力=1488.1694, 切向力X=-247.6836, 切向力Y=-1823.1780 +FPS=46.57, 法向力=1528.6951, 切向力X=-770.3605, 切向力Y=-2799.4321 +FPS=32.30, 法向力=1565.5078, 切向力X=-742.2830, 切向力Y=-2819.0400 +FPS=38.68, 法向力=1825.4940, 切向力X=-213.5134, 切向力Y=-2937.8252 +FPS=26.91, 法向力=1541.9441, 切向力X=-371.0204, 切向力Y=-1904.5222 +FPS=38.37, 法向力=1600.9648, 切向力X=-423.5482, 切向力Y=-1534.7283 +FPS=47.76, 法向力=1599.7087, 切向力X=-470.0391, 切向力Y=-1629.4377 +FPS=54.24, 法向力=1919.6893, 切向力X=-540.2639, 切向力Y=-2382.4004 +FPS=35.52, 法向力=1895.7141, 切向力X=-533.6514, 切向力Y=-2469.5957 +FPS=60.66, 法向力=1905.8950, 切向力X=-524.1536, 切向力Y=-2583.4341 +FPS=52.52, 法向力=1938.6917, 切向力X=-538.0521, 切向力Y=-1293.1382 +FPS=35.36, 法向力=1947.0741, 切向力X=-524.7697, 切向力Y=-1237.0811 +FPS=31.50, 法向力=1563.7285, 切向力X=-670.5082, 切向力Y=-1284.5275 +FPS=63.70, 法向力=1582.8326, 切向力X=-626.9509, 切向力Y=-1447.3494 +FPS=31.74, 法向力=1710.0422, 切向力X=-42.5220, 切向力Y=-3330.5618 +FPS=60.31, 法向力=1732.9921, 切向力X=14.6115, 切向力Y=-3453.7971 +FPS=32.52, 法向力=1590.3872, 切向力X=-293.2411, 切向力Y=-3220.9038 +FPS=60.38, 法向力=1670.7021, 切向力X=-345.5768, 切向力Y=-2939.6572 +FPS=38.74, 法向力=2131.5000, 切向力X=-75.6888, 切向力Y=-2907.6587 +FPS=48.38, 法向力=2200.4946, 切向力X=-67.9504, 切向力Y=-2977.5400 +FPS=37.98, 法向力=1700.5758, 切向力X=-967.9933, 切向力Y=-2259.0261 +FPS=51.34, 法向力=1712.8955, 切向力X=-943.0132, 切向力Y=-2081.1167 +FPS=30.37, 法向力=1786.2207, 切向力X=190.4611, 切向力Y=-2729.5830 +FPS=57.60, 法向力=1818.9700, 切向力X=228.3044, 切向力Y=-3172.8247 +FPS=51.49, 法向力=1790.8918, 切向力X=98.1738, 切向力Y=-1604.3132 +FPS=38.75, 法向力=1837.5934, 切向力X=109.5473, 切向力Y=-1560.9214 +FPS=37.34, 法向力=1954.7299, 切向力X=18.1845, 切向力Y=-1180.6946 +FPS=27.01, 法向力=1909.5568, 切向力X=-33.0702, 切向力Y=-1230.8831 +FPS=37.34, 法向力=2273.8811, 切向力X=-111.4892, 切向力Y=-1829.4537 +FPS=46.89, 法向力=2320.3423, 切向力X=-4.9662, 切向力Y=-1877.7705 +FPS=39.48, 法向力=2327.3589, 切向力X=-766.5227, 切向力Y=-1322.9482 +FPS=52.18, 法向力=2331.0940, 切向力X=-687.1981, 切向力Y=-1311.8734 +FPS=35.24, 法向力=1925.3895, 切向力X=-622.0211, 切向力Y=-1169.1836 +FPS=47.10, 法向力=1868.4719, 切向力X=-535.4995, 切向力Y=-1500.8795 +FPS=32.32, 法向力=1824.8589, 切向力X=100.9272, 切向力Y=-679.5186 +FPS=31.66, 法向力=1782.1042, 切向力X=21.1730, 切向力Y=-1096.0513 +FPS=31.97, 法向力=1757.3876, 切向力X=-123.9930, 切向力Y=-1144.0720 +FPS=32.04, 法向力=1576.7786, 切向力X=-287.4771, 切向力Y=-2057.9839 +FPS=32.38, 法向力=1572.3567, 切向力X=-350.1055, 切向力Y=-2275.9275 +FPS=31.94, 法向力=1922.3042, 切向力X=-432.6863, 切向力Y=-3790.9128 +FPS=38.00, 法向力=1847.0424, 切向力X=-510.7758, 切向力Y=-3914.1909 +FPS=46.11, 法向力=1679.8674, 切向力X=-85.5361, 切向力Y=-2756.2419 +FPS=34.98, 法向力=1771.4645, 切向力X=-256.6131, 切向力Y=-2589.6523 +FPS=32.03, 法向力=2073.3618, 切向力X=132.0482, 切向力Y=-1655.7368 +FPS=60.31, 法向力=2103.3230, 切向力X=28.9743, 切向力Y=-1694.0122 +FPS=54.37, 法向力=1729.6519, 切向力X=-100.3342, 切向力Y=-1775.4902 +FPS=34.79, 法向力=1811.2031, 切向力X=-13.6376, 切向力Y=-1907.5172 +FPS=30.98, 法向力=1673.7719, 切向力X=-62.1785, 切向力Y=-1831.4384 +FPS=54.33, 法向力=1801.4408, 切向力X=-560.2327, 切向力Y=-1791.4015 +FPS=49.89, 法向力=1739.3107, 切向力X=-488.7546, 切向力Y=-1602.6372 +FPS=66.39, 法向力=1704.7883, 切向力X=-532.5179, 切向力Y=-1528.2925 +FPS=49.01, 法向力=1737.3206, 切向力X=-410.1501, 切向力Y=-195.3310 +FPS=51.63, 法向力=1741.4988, 切向力X=-421.7367, 切向力Y=22.7767 +FPS=30.27, 法向力=1738.3198, 切向力X=-393.4218, 切向力Y=1.3727 +FPS=31.67, 法向力=1845.1257, 切向力X=-543.8320, 切向力Y=-1777.3256 +FPS=62.76, 法向力=1900.6062, 切向力X=-467.5250, 切向力Y=-1815.8348 +FPS=49.42, 法向力=1815.5095, 切向力X=92.6759, 切向力Y=-1944.7180 +FPS=44.29, 法向力=1806.9224, 切向力X=180.5934, 切向力Y=-1969.5518 +FPS=27.88, 法向力=2063.6768, 切向力X=-694.6676, 切向力Y=-2256.4199 +FPS=55.77, 法向力=2079.7671, 切向力X=-713.4823, 切向力Y=-2153.9080 +FPS=49.78, 法向力=1862.4742, 切向力X=310.0172, 切向力Y=-1962.5873 +FPS=64.96, 法向力=1856.6213, 切向力X=468.0117, 切向力Y=-2108.2229 +FPS=60.65, 法向力=1835.8615, 切向力X=435.0848, 切向力Y=-2090.7393 +FPS=53.16, 法向力=1651.7825, 切向力X=-587.0397, 切向力Y=-2177.5083 +FPS=62.85, 法向力=1589.7792, 切向力X=-654.4672, 切向力Y=-1997.1984 +FPS=64.26, 法向力=1938.2949, 切向力X=-1154.3855, 切向力Y=-1330.7134 +FPS=54.10, 法向力=2005.1572, 切向力X=-1038.7366, 切向力Y=-1429.2148 +FPS=34.59, 法向力=2195.3843, 切向力X=-676.8682, 切向力Y=-493.0162 +FPS=52.27, 法向力=2144.0356, 切向力X=-716.7349, 切向力Y=-372.9423 +FPS=30.30, 法向力=1867.4237, 切向力X=177.3840, 切向力Y=-920.2758 +FPS=38.81, 法向力=1856.6343, 切向力X=285.6204, 切向力Y=-1282.6543 +FPS=48.07, 法向力=1894.3483, 切向力X=308.6970, 切向力Y=-1317.9880 +FPS=37.06, 法向力=1815.4399, 切向力X=-434.9112, 切向力Y=-1834.7021 +FPS=27.57, 法向力=3256.3462, 切向力X=-784.0350, 切向力Y=-1994.3433 +FPS=60.52, 法向力=3503.1094, 切向力X=-678.7676, 切向力Y=-2054.2893 +FPS=32.11, 法向力=1824.3132, 切向力X=-1033.3745, 切向力Y=-1099.0730 +FPS=38.84, 法向力=1910.1558, 切向力X=-1011.7942, 切向力Y=-1068.4938 +FPS=46.37, 法向力=1435.6005, 切向力X=388.6767, 切向力Y=-1057.5157 +FPS=38.76, 法向力=1453.5950, 切向力X=436.6067, 切向力Y=-1087.5022 +FPS=45.16, 法向力=2059.1096, 切向力X=-690.2609, 切向力Y=-2545.9463 +FPS=40.20, 法向力=2092.1475, 切向力X=-736.1305, 切向力Y=-2525.8447 +FPS=45.46, 法向力=1786.6868, 切向力X=-531.5607, 切向力Y=-3405.2046 +FPS=40.47, 法向力=1827.6108, 切向力X=-429.9146, 切向力Y=-3552.0881 +FPS=45.72, 法向力=1880.9515, 切向力X=-401.6234, 切向力Y=-3267.1455 +FPS=39.36, 法向力=1974.8781, 切向力X=-106.7734, 切向力Y=-2351.7549 +FPS=27.78, 法向力=2159.3147, 切向力X=-101.6941, 切向力Y=-2218.0742 +FPS=37.55, 法向力=2090.0950, 切向力X=-513.0569, 切向力Y=-1121.4285 +FPS=45.79, 法向力=2038.8279, 切向力X=-847.1829, 切向力Y=-1061.4377 +FPS=39.08, 法向力=1792.8915, 切向力X=51.7208, 切向力Y=-1862.1978 +FPS=46.57, 法向力=1747.4426, 切向力X=-109.7855, 切向力Y=-1992.5294 +FPS=39.22, 法向力=2083.7876, 切向力X=-708.5312, 切向力Y=-3067.3030 +FPS=27.01, 法向力=1846.3259, 切向力X=-100.4957, 切向力Y=-1821.2793 +FPS=37.31, 法向力=1819.2894, 切向力X=34.1600, 切向力Y=-1822.5416 +FPS=27.14, 法向力=2151.6084, 切向力X=-452.6200, 切向力Y=-1741.1946 +FPS=56.23, 法向力=2186.2659, 切向力X=-583.3235, 切向力Y=-1723.7489 +FPS=34.25, 法向力=1580.4828, 切向力X=-177.7627, 切向力Y=-2644.0984 +FPS=66.57, 法向力=1526.7782, 切向力X=-192.7259, 切向力Y=-2601.4775 +FPS=54.25, 法向力=2202.5879, 切向力X=-294.8643, 切向力Y=803.2003 +FPS=33.96, 法向力=2130.7761, 切向力X=-261.6763, 切向力Y=855.3380 +FPS=39.38, 法向力=1564.2051, 切向力X=-237.0720, 切向力Y=-1681.0371 +FPS=26.47, 法向力=1555.1755, 切向力X=-241.1110, 切向力Y=-1720.6641 +FPS=40.62, 法向力=1991.7413, 切向力X=-665.3168, 切向力Y=-2054.5129 +FPS=27.28, 法向力=1815.0005, 切向力X=-306.3252, 切向力Y=-1494.6392 +FPS=37.97, 法向力=1808.1748, 切向力X=-329.6342, 切向力Y=-1514.2236 +FPS=45.65, 法向力=1745.9988, 切向力X=-207.1613, 切向力Y=-688.1792 +FPS=32.77, 法向力=1858.4613, 切向力X=-310.6527, 切向力Y=-551.5637 +FPS=39.36, 法向力=1722.7712, 切向力X=-341.2644, 切向力Y=-1823.0215 +FPS=27.45, 法向力=1955.6077, 切向力X=320.0468, 切向力Y=-1571.5261 +FPS=38.65, 法向力=2184.9502, 切向力X=399.2153, 切向力Y=-1613.0364 +FPS=46.55, 法向力=2199.9312, 切向力X=-494.8917, 切向力Y=-1425.1169 +FPS=32.04, 法向力=2065.2268, 切向力X=-525.7606, 切向力Y=-1177.1598 +FPS=61.86, 法向力=1892.2314, 切向力X=-561.6165, 切向力Y=-3073.6523 +FPS=52.32, 法向力=1863.9608, 切向力X=-468.0737, 切向力Y=-3212.3909 +FPS=37.08, 法向力=1862.7028, 切向力X=-412.1743, 切向力Y=-3253.1919 +FPS=31.75, 法向力=1590.3713, 切向力X=-491.5206, 切向力Y=-1755.0924 +FPS=37.15, 法向力=1578.8448, 切向力X=-535.5323, 切向力Y=-1737.6626 +FPS=27.24, 法向力=1976.1821, 切向力X=-289.1079, 切向力Y=-447.3765 +FPS=56.79, 法向力=1977.2644, 切向力X=-213.3885, 切向力Y=-644.1337 +FPS=55.35, 法向力=1897.8604, 切向力X=-979.2698, 切向力Y=-1464.3400 +FPS=37.60, 法向力=1911.9669, 切向力X=-923.3036, 切向力Y=-1395.3816 +FPS=31.44, 法向力=1611.8328, 切向力X=-417.4664, 切向力Y=-678.9081 +FPS=61.60, 法向力=1616.2960, 切向力X=-340.3641, 切向力Y=-436.9003 +FPS=53.42, 法向力=1874.2177, 切向力X=-652.2902, 切向力Y=-321.6184 +FPS=35.05, 法向力=1881.1411, 切向力X=-676.4088, 切向力Y=-243.5956 +FPS=31.18, 法向力=2219.4512, 切向力X=-756.1075, 切向力Y=-1084.6394 +FPS=61.70, 法向力=2284.2949, 切向力X=-709.0234, 切向力Y=-1079.3160 +FPS=32.34, 法向力=1902.2290, 切向力X=125.1626, 切向力Y=-1847.1112 +FPS=37.93, 法向力=1934.5654, 切向力X=100.7836, 切向力Y=-1947.4504 +FPS=46.84, 法向力=1596.7262, 切向力X=-21.5298, 切向力Y=-1521.8925 +FPS=32.75, 法向力=1618.5804, 切向力X=-87.9559, 切向力Y=-1535.6233 +FPS=31.75, 法向力=1966.5968, 切向力X=-420.7343, 切向力Y=-1085.2006 +FPS=37.59, 法向力=1967.8368, 切向力X=-364.3802, 切向力Y=-1172.9984 +FPS=47.27, 法向力=2006.2448, 切向力X=-391.2146, 切向力Y=-1123.1836 +FPS=39.51, 法向力=1720.9299, 切向力X=49.4969, 切向力Y=-773.2697 +FPS=52.23, 法向力=1732.3413, 切向力X=47.8246, 切向力Y=-764.1932 +FPS=35.43, 法向力=2008.6802, 切向力X=-1257.5970, 切向力Y=479.1122 +FPS=62.78, 法向力=1982.4878, 切向力X=-1414.1019, 切向力Y=329.0551 +FPS=53.25, 法向力=1894.4441, 切向力X=-1394.9243, 切向力Y=139.1978 +FPS=30.01, 法向力=1453.0874, 切向力X=-412.9171, 切向力Y=-2050.5347 +FPS=31.00, 法向力=1754.7604, 切向力X=-399.4391, 切向力Y=-1685.1547 +FPS=32.52, 法向力=1739.1292, 切向力X=-377.7285, 切向力Y=-1691.1803 +FPS=30.49, 法向力=1891.6948, 切向力X=-1301.3406, 切向力Y=-725.1079 +FPS=32.10, 法向力=1863.6254, 切向力X=-1376.0873, 切向力Y=-482.2827 +FPS=31.85, 法向力=1588.7887, 切向力X=-386.2455, 切向力Y=-134.7094 +FPS=31.11, 法向力=2164.0122, 切向力X=128.3149, 切向力Y=-2331.7288 +FPS=32.19, 法向力=2108.2578, 切向力X=72.6019, 切向力Y=-2575.6084 +FPS=32.29, 法向力=2056.2871, 切向力X=75.9002, 切向力Y=-2588.4817 +FPS=31.74, 法向力=1951.9764, 切向力X=-827.8961, 切向力Y=-958.4171 +FPS=31.69, 法向力=1985.3519, 切向力X=-882.8856, 切向力Y=-890.8251 +FPS=37.10, 法向力=1819.2330, 切向力X=-654.3789, 切向力Y=-1675.3137 +FPS=45.25, 法向力=1738.3037, 切向力X=-560.3146, 切向力Y=-1833.9572 +FPS=39.04, 法向力=2124.9536, 切向力X=-312.7961, 切向力Y=-1754.4576 +FPS=51.39, 法向力=2105.7515, 切向力X=-317.0720, 切向力Y=-1837.7993 +FPS=58.77, 法向力=2126.5356, 切向力X=-372.3606, 切向力Y=-1778.2581 +FPS=53.67, 法向力=2021.5315, 切向力X=39.5747, 切向力Y=-3199.3652 +FPS=35.08, 法向力=2054.2524, 切向力X=97.5460, 切向力Y=-3196.1814 +FPS=59.14, 法向力=2038.2449, 切向力X=229.8259, 切向力Y=-3091.5872 +FPS=53.54, 法向力=1550.2375, 切向力X=-1095.5427, 切向力Y=-1607.5774 +FPS=44.31, 法向力=1586.3413, 切向力X=-1081.4531, 切向力Y=-1423.0813 +FPS=62.69, 法向力=1691.9460, 切向力X=-645.1465, 切向力Y=-1485.3601 +FPS=54.37, 法向力=1683.2518, 切向力X=-610.0115, 切向力Y=-1459.1233 +FPS=63.90, 法向力=1685.3317, 切向力X=-619.3677, 切向力Y=-1519.0803 +FPS=49.81, 法向力=1890.5176, 切向力X=-1142.7893, 切向力Y=-1072.7351 +FPS=39.80, 法向力=1961.1167, 切向力X=-1120.2627, 切向力Y=-1055.9424 +FPS=47.24, 法向力=1949.0161, 切向力X=-1076.6299, 切向力Y=-1021.3785 +FPS=38.56, 法向力=1944.1936, 切向力X=-1089.4443, 切向力Y=-1055.6559 +FPS=48.38, 法向力=1591.7373, 切向力X=-153.4496, 切向力Y=-2071.2046 +FPS=32.81, 法向力=1586.5149, 切向力X=-68.6711, 切向力Y=-2132.7871 +FPS=31.38, 法向力=1748.0745, 切向力X=-462.0596, 切向力Y=-1084.2271 +FPS=59.20, 法向力=1747.7534, 切向力X=-519.6981, 切向力Y=-1097.0109 +FPS=32.82, 法向力=2014.1904, 切向力X=195.4498, 切向力Y=-1246.3643 +FPS=39.11, 法向力=1992.0469, 切向力X=239.0427, 切向力Y=-1141.7478 +FPS=26.75, 法向力=1943.8580, 切向力X=-759.1202, 切向力Y=-336.7631 +FPS=52.86, 法向力=2051.0879, 切向力X=-725.1877, 切向力Y=-503.9050 +FPS=43.54, 法向力=1694.9563, 切向力X=-533.9292, 切向力Y=-5976.7939 +FPS=48.17, 法向力=1602.5968, 切向力X=-267.2023, 切向力Y=-5992.4951 +FPS=37.51, 法向力=2288.9707, 切向力X=456.4307, 切向力Y=-10575.5000 +FPS=26.27, 法向力=1755.4897, 切向力X=1161.7142, 切向力Y=-13304.0723 +FPS=40.68, 法向力=1739.2231, 切向力X=1104.6177, 切向力Y=-13746.8564 +FPS=26.53, 法向力=1747.6504, 切向力X=1104.3071, 切向力Y=-13723.0107 +FPS=40.38, 法向力=1744.5977, 切向力X=1187.0571, 切向力Y=-15607.3184 +FPS=27.06, 法向力=1839.8308, 切向力X=1216.3202, 切向力Y=-15722.0947 +FPS=39.44, 法向力=1963.5482, 切向力X=525.0018, 切向力Y=-13462.0439 +FPS=26.77, 法向力=2163.2427, 切向力X=455.7801, 切向力Y=-8765.5957 +FPS=39.10, 法向力=2103.2861, 切向力X=477.2975, 切向力Y=-8626.1025 +FPS=27.29, 法向力=2130.9326, 切向力X=479.0751, 切向力Y=-8612.0781 +FPS=38.72, 法向力=1934.2090, 切向力X=-388.1712, 切向力Y=-4479.0107 +FPS=45.46, 法向力=2011.9193, 切向力X=-276.6827, 切向力Y=-4459.4238 +FPS=64.36, 法向力=1749.6316, 切向力X=-225.8094, 切向力Y=-2457.7644 +FPS=31.06, 法向力=1745.0322, 切向力X=-272.3849, 切向力Y=-2639.8411 +FPS=38.73, 法向力=2042.9821, 切向力X=-343.2787, 切向力Y=-3744.7244 +FPS=47.58, 法向力=2170.4756, 切向力X=-926.9193, 切向力Y=-4156.0635 +FPS=31.67, 法向力=2127.5764, 切向力X=-1022.5820, 切向力Y=-4152.9897 +FPS=32.21, 法向力=2126.6519, 切向力X=-1005.8151, 切向力Y=-4110.0332 +FPS=38.62, 法向力=2119.1797, 切向力X=-1023.0011, 切向力Y=-4111.3511 +FPS=46.41, 法向力=1839.7588, 切向力X=77.9839, 切向力Y=-3034.8848 +FPS=32.24, 法向力=1787.7094, 切向力X=-2.7338, 切向力Y=-2952.9229 +FPS=32.20, 法向力=2071.0627, 切向力X=-1344.9335, 切向力Y=-3681.8501 +FPS=31.99, 法向力=2007.6844, 切向力X=-1475.9182, 切向力Y=-3570.7766 +FPS=31.60, 法向力=2238.4956, 切向力X=-2026.8665, 切向力Y=-4532.1582 +FPS=57.06, 法向力=2321.2915, 切向力X=-1998.8523, 切向力Y=-4470.0327 +FPS=46.93, 法向力=1840.8918, 切向力X=-903.7840, 切向力Y=-3520.8413 +FPS=51.69, 法向力=1896.9436, 切向力X=-597.9256, 切向力Y=-3871.2615 +FPS=49.95, 法向力=1774.4342, 切向力X=-1320.1758, 切向力Y=-2577.7664 +FPS=31.93, 法向力=1778.1362, 切向力X=-1360.6139, 切向力Y=-2465.7505 +FPS=31.77, 法向力=1839.3677, 切向力X=-461.1231, 切向力Y=-1767.9160 +FPS=32.09, 法向力=2145.2334, 切向力X=-1363.0271, 切向力Y=-2920.7944 +FPS=30.99, 法向力=2147.0999, 切向力X=-1495.5251, 切向力Y=-2712.1313 +FPS=32.04, 法向力=2126.7163, 切向力X=-1560.0453, 切向力Y=-2680.5356 +FPS=38.27, 法向力=2618.9541, 切向力X=-1047.1552, 切向力Y=-1171.0671 +FPS=50.18, 法向力=2659.8086, 切向力X=-937.9164, 切向力Y=-1339.9203 +FPS=35.51, 法向力=2654.3237, 切向力X=-924.1602, 切向力Y=-1332.7933 +FPS=27.12, 法向力=2124.3093, 切向力X=-1178.5865, 切向力Y=-2407.5435 +FPS=38.60, 法向力=2073.9883, 切向力X=-1195.2438, 切向力Y=-2372.2520 +FPS=47.62, 法向力=2074.3389, 切向力X=-1245.6487, 切向力Y=-1994.6414 +FPS=32.40, 法向力=2114.5632, 切向力X=-1285.5619, 切向力Y=-2004.3140 +FPS=32.84, 法向力=2093.6621, 切向力X=-1208.6748, 切向力Y=-2175.4622 +FPS=30.97, 法向力=1905.8008, 切向力X=-430.1915, 切向力Y=-2424.4595 +FPS=31.33, 法向力=1576.0017, 切向力X=-1453.5740, 切向力Y=-4191.2314 +FPS=37.24, 法向力=1611.4165, 切向力X=-1559.5996, 切向力Y=-4334.9404 +FPS=45.78, 法向力=1692.1680, 切向力X=-600.3602, 切向力Y=-5611.7598 +FPS=32.68, 法向力=1767.5209, 切向力X=-480.3244, 切向力Y=-5944.3247 +FPS=31.85, 法向力=1691.5120, 切向力X=-565.2926, 切向力Y=-5884.6699 +FPS=31.97, 法向力=1753.5227, 切向力X=-480.2094, 切向力Y=-6018.1421 +FPS=31.61, 法向力=2144.4395, 切向力X=-724.9789, 切向力Y=-4063.5518 +FPS=32.21, 法向力=2266.9819, 切向力X=-729.2410, 切向力Y=-3818.3821 +FPS=31.86, 法向力=1979.9930, 切向力X=-1529.1368, 切向力Y=-4115.8447 +FPS=62.83, 法向力=1861.6176, 切向力X=-1448.4011, 切向力Y=-4089.4268 +FPS=50.40, 法向力=2749.4673, 切向力X=-1145.1052, 切向力Y=-4040.1455 +FPS=36.07, 法向力=2908.6216, 切向力X=-1142.1157, 切向力Y=-4045.6777 +FPS=38.54, 法向力=2322.0203, 切向力X=-1028.7778, 切向力Y=-4488.5664 +FPS=47.82, 法向力=2297.8147, 切向力X=-1005.3430, 切向力Y=-4364.4678 +FPS=40.18, 法向力=2212.9370, 切向力X=-748.1556, 切向力Y=-4308.7578 +FPS=48.18, 法向力=2223.1543, 切向力X=-800.4155, 切向力Y=-4325.5327 +FPS=39.06, 法向力=2896.2676, 切向力X=-1057.6201, 切向力Y=-4820.1050 +FPS=51.32, 法向力=2844.7561, 切向力X=-1045.2845, 切向力Y=-4758.8828 +FPS=36.80, 法向力=2657.7932, 切向力X=-1672.1331, 切向力Y=-5294.4482 +FPS=46.63, 法向力=2632.5581, 切向力X=-1628.8096, 切向力Y=-5241.9346 +FPS=32.27, 法向力=2609.1089, 切向力X=-1590.4725, 切向力Y=-5286.0479 +FPS=30.68, 法向力=2633.1438, 切向力X=-1598.4728, 切向力Y=-5278.0215 +FPS=32.67, 法向力=2619.1440, 切向力X=-1515.4601, 切向力Y=-3733.2378 +FPS=31.88, 法向力=2842.9236, 切向力X=-1400.6797, 切向力Y=-5281.8711 +FPS=32.48, 法向力=2823.3970, 切向力X=-1377.1995, 切向力Y=-5073.3809 +FPS=31.33, 法向力=3076.0020, 切向力X=-1822.3337, 切向力Y=-3847.2002 +FPS=30.77, 法向力=2523.2698, 切向力X=-1217.5234, 切向力Y=-4281.1387 +FPS=32.76, 法向力=2519.1362, 切向力X=-1109.4404, 切向力Y=-4279.8726 +FPS=31.76, 法向力=2108.8513, 切向力X=-666.7299, 切向力Y=-3693.7925 +FPS=31.33, 法向力=2393.7517, 切向力X=-1362.2119, 切向力Y=-2528.4570 +FPS=31.81, 法向力=2330.8911, 切向力X=-1370.8783, 切向力Y=-2330.8696 +FPS=38.40, 法向力=1786.9230, 切向力X=-424.5771, 切向力Y=-3064.4121 +FPS=51.77, 法向力=1787.1093, 切向力X=-488.0164, 切向力Y=-3251.8623 +FPS=35.71, 法向力=1670.9534, 切向力X=-476.9442, 切向力Y=-3050.4521 +FPS=49.62, 法向力=1666.8164, 切向力X=-484.4850, 切向力Y=-3062.5569 +FPS=32.40, 法向力=1753.1323, 切向力X=-436.1033, 切向力Y=-3350.4565 +FPS=37.13, 法向力=2306.3872, 切向力X=-1123.6526, 切向力Y=-3959.3518 +FPS=47.84, 法向力=2256.9094, 切向力X=-1280.2827, 切向力Y=-3702.8164 +FPS=32.90, 法向力=2071.6167, 切向力X=-881.4721, 切向力Y=-4299.3052 +FPS=63.31, 法向力=2096.3252, 切向力X=-894.7090, 切向力Y=-4260.0928 +FPS=52.15, 法向力=2138.8452, 切向力X=-718.7213, 切向力Y=-2650.6990 +FPS=35.83, 法向力=2259.2305, 切向力X=-879.1389, 切向力Y=-2331.9946 +FPS=31.79, 法向力=2708.3682, 切向力X=-1219.1394, 切向力Y=-2849.2236 +FPS=61.66, 法向力=2768.4124, 切向力X=-1274.4329, 切向力Y=-2807.2219 +FPS=53.30, 法向力=2462.8257, 切向力X=-1683.9357, 切向力Y=-2276.9595 +FPS=44.72, 法向力=2448.3901, 切向力X=-1800.6713, 切向力Y=-2416.3408 +FPS=27.59, 法向力=2694.8000, 切向力X=-2185.7981, 切向力Y=-3566.6536 +FPS=31.56, 法向力=2996.0894, 切向力X=-439.5550, 切向力Y=-3513.2485 +FPS=32.65, 法向力=3032.8281, 切向力X=-306.5732, 切向力Y=-3446.9546 +FPS=31.42, 法向力=2996.2090, 切向力X=-340.7047, 切向力Y=-3478.3794 +FPS=31.39, 法向力=3030.1328, 切向力X=-368.5081, 切向力Y=-3460.7937 +FPS=57.50, 法向力=3242.2859, 切向力X=-1075.2527, 切向力Y=-2939.9121 +FPS=51.12, 法向力=3249.5110, 切向力X=-1127.7598, 切向力Y=-2945.3701 +FPS=60.62, 法向力=3224.8660, 切向力X=-1083.6040, 切向力Y=-2954.2798 +FPS=38.03, 法向力=3648.6633, 切向力X=-1129.2361, 切向力Y=-3580.1702 +FPS=31.99, 法向力=4433.0010, 切向力X=-2294.6184, 切向力Y=-4388.6924 +FPS=32.31, 法向力=4421.0024, 切向力X=-2487.0015, 切向力Y=-4043.1606 +FPS=32.58, 法向力=4837.2983, 切向力X=-2409.6721, 切向力Y=-3105.3545 +FPS=31.37, 法向力=4775.4824, 切向力X=-2751.4546, 切向力Y=-2496.3755 +FPS=32.13, 法向力=4803.9634, 切向力X=-2883.0105, 切向力Y=-2421.1279 +FPS=38.23, 法向力=5647.0059, 切向力X=-2147.8823, 切向力Y=-2224.1675 +FPS=45.30, 法向力=5627.2559, 切向力X=-1945.6677, 切向力Y=-2296.8301 +FPS=34.02, 法向力=5720.6172, 切向力X=-1965.6565, 切向力Y=-2336.1841 +FPS=31.88, 法向力=5182.0518, 切向力X=-2276.7305, 切向力Y=-472.3826 +FPS=54.76, 法向力=5962.1553, 切向力X=-2231.7073, 切向力Y=-3303.0273 +FPS=42.19, 法向力=6002.7100, 切向力X=-2212.3970, 切向力Y=-3161.9392 +FPS=45.92, 法向力=5992.3345, 切向力X=-2143.4380, 切向力Y=-3179.9561 +FPS=32.34, 法向力=4742.6538, 切向力X=-1994.5452, 切向力Y=-2910.5520 +FPS=55.05, 法向力=4834.0059, 切向力X=-1728.6884, 切向力Y=-5177.7490 +FPS=33.76, 法向力=4767.7134, 切向力X=-1532.5890, 切向力Y=-5114.4902 +FPS=56.06, 法向力=4740.2002, 切向力X=-1614.5613, 切向力Y=-5181.0464 +FPS=36.16, 法向力=3859.8479, 切向力X=-1666.2361, 切向力Y=-3596.9966 +FPS=62.08, 法向力=3863.4868, 切向力X=-1683.2571, 切向力Y=-3506.1797 +FPS=50.22, 法向力=3284.9192, 切向力X=-1304.7268, 切向力Y=-4020.9321 +FPS=45.53, 法向力=3214.3818, 切向力X=-1350.8529, 切向力Y=-4043.6487 +FPS=27.64, 法向力=3048.1560, 切向力X=-1493.7352, 切向力Y=-2680.1506 +FPS=31.04, 法向力=2566.7161, 切向力X=-1395.1857, 切向力Y=-3747.0020 +FPS=38.30, 法向力=2462.8911, 切向力X=-1385.7717, 切向力Y=-3746.0562 +FPS=62.77, 法向力=2474.3647, 切向力X=-1389.3282, 切向力Y=-3771.6064 +FPS=50.68, 法向力=2178.1079, 切向力X=-1678.4307, 切向力Y=-4161.6641 +FPS=30.16, 法向力=2219.5630, 切向力X=-1677.2605, 切向力Y=-4356.5605 +FPS=37.44, 法向力=2037.4352, 切向力X=-981.2593, 切向力Y=-3433.7446 +FPS=46.27, 法向力=2234.0410, 切向力X=-886.6530, 切向力Y=-3517.1006 +FPS=38.17, 法向力=2636.9580, 切向力X=-1204.8247, 切向力Y=-2463.5933 +FPS=62.42, 法向力=2679.4685, 切向力X=-1176.2521, 切向力Y=-2537.3198 +FPS=52.99, 法向力=2240.6555, 切向力X=-1477.1128, 切向力Y=-3879.8198 +FPS=35.92, 法向力=2281.8665, 切向力X=-1426.2007, 切向力Y=-4129.0850 +FPS=27.90, 法向力=2542.8091, 切向力X=-1232.9246, 切向力Y=-5088.3672 +FPS=36.48, 法向力=2532.7979, 切向力X=-1262.1874, 切向力Y=-5265.8496 +FPS=48.25, 法向力=3225.3027, 切向力X=-1393.2007, 切向力Y=-4148.5967 +FPS=41.89, 法向力=3194.4622, 切向力X=-1354.1924, 切向力Y=-3849.1553 +FPS=27.11, 法向力=3057.6074, 切向力X=-1964.3274, 切向力Y=-3616.1855 +FPS=38.88, 法向力=3128.7993, 切向力X=-2029.1262, 切向力Y=-3595.4590 +FPS=49.74, 法向力=4369.6992, 切向力X=-1628.9893, 切向力Y=-3847.6597 +FPS=38.11, 法向力=4455.6162, 切向力X=-1484.1587, 切向力Y=-3780.1797 +FPS=27.45, 法向力=5126.6904, 切向力X=-2987.2422, 切向力Y=-4708.9561 +FPS=57.91, 法向力=5108.4609, 切向力X=-2891.0679, 切向力Y=-4728.9971 +FPS=40.17, 法向力=5000.3760, 切向力X=-2468.7114, 切向力Y=-4710.8223 +FPS=48.69, 法向力=4991.6323, 切向力X=-2456.8364, 切向力Y=-5096.9487 +FPS=37.51, 法向力=6110.7100, 切向力X=-3634.7825, 切向力Y=-4494.8599 +FPS=26.42, 法向力=6370.2617, 切向力X=-2616.7312, 切向力Y=-6566.5498 +FPS=40.05, 法向力=6336.5645, 切向力X=-2569.2371, 切向力Y=-6715.2188 +FPS=45.94, 法向力=6505.4438, 切向力X=-3462.4399, 切向力Y=-5365.7085 +FPS=40.16, 法向力=6482.6299, 切向力X=-3416.5996, 切向力Y=-5321.3569 +FPS=26.51, 法向力=6264.7100, 切向力X=-2991.5957, 切向力Y=-4114.4580 +FPS=50.84, 法向力=6295.1465, 切向力X=-2965.9727, 切向力Y=-3902.2720 +FPS=45.64, 法向力=6272.0020, 切向力X=-2617.2598, 切向力Y=-5247.5405 +FPS=51.92, 法向力=6343.1089, 切向力X=-2538.2407, 切向力Y=-5183.6963 +FPS=35.93, 法向力=5321.9404, 切向力X=-2947.8311, 切向力Y=-5337.2173 +FPS=26.72, 法向力=5201.5176, 切向力X=-2940.4844, 切向力Y=-5246.5410 +FPS=32.45, 法向力=4202.8955, 切向力X=-1636.5869, 切向力Y=-5238.9116 +FPS=31.41, 法向力=3351.4443, 切向力X=-1583.7583, 切向力Y=-2374.5620 +FPS=37.38, 法向力=3360.4673, 切向力X=-1484.3401, 切向力Y=-2223.8003 +FPS=45.92, 法向力=3344.3474, 切向力X=-1367.9932, 切向力Y=-3166.1704 +FPS=33.13, 法向力=3253.2744, 切向力X=-1303.4072, 切向力Y=-3257.2056 +FPS=31.59, 法向力=2856.8550, 切向力X=-1438.5856, 切向力Y=-1833.4205 +FPS=31.50, 法向力=2765.4331, 切向力X=-2048.1372, 切向力Y=-3733.2820 +FPS=32.76, 法向力=2686.5332, 切向力X=-2100.4995, 切向力Y=-3853.1279 +FPS=36.87, 法向力=2903.0854, 切向力X=-1342.7253, 切向力Y=-3899.4102 +FPS=50.76, 法向力=2934.3169, 切向力X=-1296.7488, 切向力Y=-4168.8521 +FPS=30.84, 法向力=2197.8862, 切向力X=-1705.4341, 切向力Y=-1705.6665 +FPS=32.74, 法向力=2326.7358, 切向力X=-1703.2780, 切向力Y=-1348.3333 +FPS=31.61, 法向力=2601.4189, 切向力X=-2114.1619, 切向力Y=-1594.6963 +FPS=31.32, 法向力=2305.5432, 切向力X=-1013.2396, 切向力Y=-1309.8467 +FPS=37.24, 法向力=2249.6099, 切向力X=-1117.7842, 切向力Y=-1375.2788 +FPS=45.03, 法向力=2814.3088, 切向力X=-972.6327, 切向力Y=-2286.5493 +FPS=32.54, 法向力=2780.1274, 切向力X=-884.0122, 切向力Y=-2262.7261 +FPS=31.31, 法向力=2430.8613, 切向力X=-1357.2858, 切向力Y=-1588.3762 +FPS=32.16, 法向力=3375.5320, 切向力X=-1429.8715, 切向力Y=-2983.4487 +FPS=31.29, 法向力=3433.4238, 切向力X=-1391.3625, 切向力Y=-2833.4756 +FPS=37.88, 法向力=2242.5815, 切向力X=-1118.3716, 切向力Y=-2194.4819 +FPS=52.05, 法向力=2148.7874, 切向力X=-1180.4941, 切向力Y=-2308.4258 +FPS=30.85, 法向力=2149.9067, 切向力X=-1229.3247, 切向力Y=-2285.3054 +FPS=36.69, 法向力=2231.7979, 切向力X=-1777.0435, 切向力Y=-2337.6733 +FPS=45.77, 法向力=2159.9080, 切向力X=-1839.7793, 切向力Y=-2302.9910 +FPS=38.73, 法向力=2406.4744, 切向力X=-1477.2344, 切向力Y=-1705.6577 +FPS=49.03, 法向力=2346.4236, 切向力X=-1575.1643, 切向力Y=-1606.1959 +FPS=31.62, 法向力=2898.9580, 切向力X=-2038.2543, 切向力Y=-1154.0853 +FPS=55.28, 法向力=3008.4771, 切向力X=-2090.7646, 切向力Y=-1119.9886 +FPS=53.40, 法向力=2425.7197, 切向力X=-1323.1218, 切向力Y=-777.0133 +FPS=64.83, 法向力=2310.8516, 切向力X=-1152.2050, 切向力Y=-797.0322 +FPS=65.27, 法向力=2480.6494, 切向力X=-614.4185, 切向力Y=-1685.6340 +FPS=53.87, 法向力=2541.8818, 切向力X=-564.4713, 切向力Y=-1900.9307 +FPS=52.13, 法向力=2455.5015, 切向力X=-609.9559, 切向力Y=-1716.4817 +FPS=28.08, 法向力=2014.2195, 切向力X=-1626.7961, 切向力Y=-3010.9731 +FPS=57.65, 法向力=1967.9729, 切向力X=-1832.3102, 切向力Y=-2927.1636 +FPS=47.01, 法向力=2487.2422, 切向力X=-1442.6438, 切向力Y=-3267.7180 +FPS=50.77, 法向力=2483.2161, 切向力X=-1363.1965, 切向力Y=-3445.5745 +FPS=26.98, 法向力=2183.6982, 切向力X=-1866.5353, 切向力Y=-655.4561 +FPS=30.98, 法向力=2222.3496, 切向力X=-1843.9619, 切向力Y=-383.7819 +FPS=38.72, 法向力=2337.7373, 切向力X=-1139.8459, 切向力Y=-2171.1187 +FPS=26.94, 法向力=2154.2205, 切向力X=-2003.1273, 切向力Y=-1649.2153 +FPS=41.01, 法向力=2211.3313, 切向力X=-2093.0552, 切向力Y=-1467.5723 +FPS=45.07, 法向力=1981.6930, 切向力X=-1360.1191, 切向力Y=-657.7485 +FPS=39.13, 法向力=1934.6125, 切向力X=-1285.4971, 切向力Y=-771.2579 +FPS=47.28, 法向力=2457.8220, 切向力X=-1057.7147, 切向力Y=-3073.8179 +FPS=39.70, 法向力=2487.1650, 切向力X=-1001.1423, 切向力Y=-3337.8789 +FPS=46.51, 法向力=2117.3567, 切向力X=-1773.5432, 切向力Y=-2974.1719 +FPS=53.46, 法向力=2103.2209, 切向力X=-1809.6570, 切向力Y=-2869.0522 +FPS=34.93, 法向力=2358.9795, 切向力X=-1334.4709, 切向力Y=-1556.2673 +FPS=31.67, 法向力=2672.1128, 切向力X=-1052.1813, 切向力Y=-1696.6626 +FPS=37.83, 法向力=1970.3098, 切向力X=-1310.5718, 切向力Y=-2218.8389 +FPS=26.80, 法向力=1899.8436, 切向力X=-1278.7141, 切向力Y=-2373.6792 +FPS=38.23, 法向力=2765.2329, 切向力X=-1349.9070, 切向力Y=-1402.1927 +FPS=43.24, 法向力=2735.5940, 切向力X=-1376.6516, 切向力Y=-1323.7759 +FPS=58.94, 法向力=2348.4219, 切向力X=-1344.0247, 切向力Y=-1732.7173 +FPS=45.39, 法向力=2184.4819, 切向力X=-1302.2908, 切向力Y=-1820.3749 +FPS=53.09, 法向力=2181.1067, 切向力X=-1277.9355, 切向力Y=-1866.1439 +FPS=52.02, 法向力=2213.9834, 切向力X=-2011.3076, 切向力Y=-3244.7495 +FPS=63.75, 法向力=2247.2017, 切向力X=-1941.0232, 切向力Y=-3083.1528 +FPS=33.78, 法向力=2284.0393, 切向力X=-1555.7483, 切向力Y=-450.1759 +FPS=31.87, 法向力=2322.0845, 切向力X=-1730.5709, 切向力Y=-250.5146 +FPS=30.66, 法向力=2563.5923, 切向力X=-1800.8408, 切向力Y=-199.8612 +FPS=57.59, 法向力=2064.1309, 切向力X=-2186.2896, 切向力Y=-1803.4856 +FPS=50.28, 法向力=1988.9657, 切向力X=-2226.6846, 切向力Y=-1967.6807 +FPS=47.19, 法向力=2008.2472, 切向力X=-2237.1646, 切向力Y=-1985.4088 +FPS=27.22, 法向力=2027.8608, 切向力X=-1333.4451, 切向力Y=-954.0024 +FPS=48.63, 法向力=2330.0833, 切向力X=-1566.7476, 切向力Y=-687.8719 +FPS=44.67, 法向力=2258.0449, 切向力X=-1612.8767, 切向力Y=-616.8049 +FPS=51.57, 法向力=2296.4321, 切向力X=-1557.9011, 切向力Y=-776.5093 +FPS=65.11, 法向力=2299.2114, 切向力X=-1566.9303, 切向力Y=-791.4144 +FPS=53.64, 法向力=2606.2397, 切向力X=-2014.0659, 切向力Y=-1829.9407 +FPS=53.25, 法向力=2521.4856, 切向力X=-2061.1836, 切向力Y=-1868.1384 +FPS=36.13, 法向力=2525.9023, 切向力X=-2148.5771, 切向力Y=-2471.2031 +FPS=31.37, 法向力=2344.8892, 切向力X=-2238.7324, 切向力Y=-2650.1440 +FPS=38.58, 法向力=2099.3596, 切向力X=-1784.0844, 切向力Y=-1862.5522 +FPS=44.63, 法向力=2152.3059, 切向力X=-1758.6855, 切向力Y=-1627.8672 +FPS=40.50, 法向力=1970.2982, 切向力X=-1525.7314, 切向力Y=-1875.4763 +FPS=62.76, 法向力=1979.9889, 切向力X=-1509.8069, 切向力Y=-1989.1704 +FPS=51.41, 法向力=2136.1177, 切向力X=-997.3116, 切向力Y=-2514.9158 +FPS=31.19, 法向力=2221.1416, 切向力X=-858.2530, 切向力Y=-2575.3467 +FPS=31.82, 法向力=2477.3608, 切向力X=-1967.4561, 切向力Y=-1081.1615 +FPS=32.31, 法向力=2201.3994, 切向力X=-1400.4641, 切向力Y=-714.2899 +FPS=38.56, 法向力=2215.7349, 切向力X=-1283.3970, 切向力Y=-621.2260 +FPS=49.52, 法向力=2215.0398, 切向力X=-1241.0311, 切向力Y=-619.8290 +FPS=36.06, 法向力=1851.3550, 切向力X=-1273.9214, 切向力Y=-1432.8579 +FPS=45.02, 法向力=1894.2148, 切向力X=-1238.6415, 切向力Y=-1610.9573 +FPS=40.09, 法向力=2254.9946, 切向力X=-1189.4045, 切向力Y=-2275.3066 +FPS=61.94, 法向力=2179.8047, 切向力X=-1001.5422, 切向力Y=-2334.6328 +FPS=48.91, 法向力=2541.4697, 切向力X=-1264.0037, 切向力Y=-1507.9102 +FPS=31.93, 法向力=2507.0181, 切向力X=-1232.2642, 切向力Y=-1437.6475 +FPS=31.69, 法向力=2483.2673, 切向力X=-1944.3623, 切向力Y=-2078.2981 +FPS=31.32, 法向力=2082.7134, 切向力X=-1997.1396, 切向力Y=-2153.6416 +FPS=31.93, 法向力=2050.2217, 切向力X=-1945.3364, 切向力Y=-2119.3784 +FPS=32.04, 法向力=2384.9099, 切向力X=-1998.0830, 切向力Y=-472.3790 +FPS=31.68, 法向力=1847.5157, 切向力X=-2093.7886, 切向力Y=-94.1058 +FPS=38.77, 法向力=1825.6914, 切向力X=-2091.3276, 切向力Y=-200.6650 +FPS=26.80, 法向力=2110.1128, 切向力X=-1599.8035, 切向力Y=-1839.1177 +FPS=33.78, 法向力=2223.9028, 切向力X=-1525.6436, 切向力Y=-1816.6464 +FPS=56.41, 法向力=2955.5210, 切向力X=-1412.6228, 切向力Y=-2672.9131 +FPS=47.16, 法向力=2954.4771, 切向力X=-1430.2830, 切向力Y=-2721.6406 +FPS=50.51, 法向力=2963.6646, 切向力X=-1451.2083, 切向力Y=-2726.9475 +FPS=49.50, 法向力=2258.2456, 切向力X=-490.4711, 切向力Y=-3783.1125 +FPS=31.52, 法向力=2309.7874, 切向力X=-296.6742, 切向力Y=-4079.3887 +FPS=31.14, 法向力=1733.6863, 切向力X=154.3839, 切向力Y=-1699.5886 +FPS=57.67, 法向力=1664.6832, 切向力X=213.1250, 切向力Y=-1805.9858 +FPS=50.47, 法向力=2400.1396, 切向力X=-129.0425, 切向力Y=-674.0463 +FPS=49.71, 法向力=2519.1545, 切向力X=-201.8017, 切向力Y=-579.5334 +FPS=27.87, 法向力=2309.5757, 切向力X=505.8234, 切向力Y=498.2559 +FPS=59.60, 法向力=2285.2642, 切向力X=763.0776, 切向力Y=458.2878 +FPS=50.24, 法向力=4124.0664, 切向力X=667.6477, 切向力Y=589.4979 +FPS=46.54, 法向力=4090.7373, 切向力X=656.6386, 切向力Y=560.0161 +FPS=51.09, 法向力=4226.3369, 切向力X=891.5130, 切向力Y=-1021.1312 +FPS=29.66, 法向力=4306.8955, 切向力X=940.7023, 切向力Y=-1206.5630 +FPS=57.42, 法向力=4275.2842, 切向力X=957.3490, 切向力Y=-1161.6279 +FPS=50.94, 法向力=4071.7642, 切向力X=1125.4224, 切向力Y=-1129.4885 +FPS=49.56, 法向力=4086.7778, 切向力X=1116.8923, 切向力Y=-999.3373 +FPS=62.22, 法向力=4598.5957, 切向力X=482.7576, 切向力Y=-1418.8223 +FPS=52.59, 法向力=4714.1543, 切向力X=369.1575, 切向力Y=-1711.6785 +FPS=29.74, 法向力=4438.7061, 切向力X=-424.7978, 切向力Y=170.5557 +FPS=33.19, 法向力=4315.6416, 切向力X=-337.0551, 切向力Y=8.5427 +FPS=32.37, 法向力=5201.9463, 切向力X=-1356.3323, 切向力Y=1251.5723 +FPS=32.05, 法向力=5044.5474, 切向力X=-846.0088, 切向力Y=3988.3953 +FPS=32.72, 法向力=4926.8242, 切向力X=-791.6444, 切向力Y=4435.7402 +FPS=31.53, 法向力=5296.5781, 切向力X=-719.3307, 切向力Y=6011.7695 +FPS=30.81, 法向力=5369.6992, 切向力X=-370.3833, 切向力Y=7216.4531 +FPS=31.63, 法向力=5436.0977, 切向力X=-412.5968, 切向力Y=7225.5801 +FPS=39.47, 法向力=5416.2144, 切向力X=-382.1707, 切向力Y=7289.4209 +FPS=45.23, 法向力=5656.3457, 切向力X=-510.3403, 切向力Y=5212.1172 +FPS=32.32, 法向力=6454.8379, 切向力X=489.9745, 切向力Y=4337.7783 +FPS=38.88, 法向力=6562.9351, 切向力X=253.2502, 切向力Y=4600.2852 +FPS=45.78, 法向力=7275.5264, 切向力X=779.2661, 切向力Y=2412.2197 +FPS=32.67, 法向力=7261.1372, 切向力X=1075.7668, 切向力Y=2187.8308 +FPS=59.02, 法向力=6501.4087, 切向力X=-54.4142, 切向力Y=-4590.1445 +FPS=51.86, 法向力=6328.1924, 切向力X=-255.9128, 切向力Y=-5106.3672 +FPS=46.08, 法向力=6333.6299, 切向力X=-254.9379, 切向力Y=-5059.9463 +FPS=63.29, 法向力=6693.5181, 切向力X=-2.9007, 切向力Y=-6658.9043 +FPS=53.17, 法向力=6728.6392, 切向力X=11.2080, 切向力Y=-6780.3955 +FPS=63.55, 法向力=6792.6816, 切向力X=-28.0217, 切向力Y=-6695.1670 +FPS=52.27, 法向力=6604.7217, 切向力X=1362.6077, 切向力Y=-4443.2520 +FPS=35.42, 法向力=6541.7588, 切向力X=1355.7544, 切向力Y=-4569.9917 +FPS=37.46, 法向力=6421.7461, 切向力X=2076.3477, 切向力Y=-1298.0081 +FPS=49.31, 法向力=6536.2725, 切向力X=2098.4841, 切向力Y=-1451.3823 +FPS=60.39, 法向力=6510.1406, 切向力X=2208.1782, 切向力Y=-1461.0491 +FPS=52.34, 法向力=5993.5410, 切向力X=1041.1558, 切向力Y=919.6189 +FPS=42.79, 法向力=5986.1299, 切向力X=994.8061, 切向力Y=1076.5552 +FPS=49.63, 法向力=6290.0762, 切向力X=383.3642, 切向力Y=-507.8282 +FPS=32.98, 法向力=6396.1816, 切向力X=235.6494, 切向力Y=-307.6194 +FPS=32.08, 法向力=5935.4824, 切向力X=821.6713, 切向力Y=1494.3462 +FPS=32.13, 法向力=6936.3018, 切向力X=719.6707, 切向力Y=2773.2563 +FPS=31.13, 法向力=7003.8486, 切向力X=632.2593, 切向力Y=2799.2617 +FPS=32.80, 法向力=5773.4043, 切向力X=632.7701, 切向力Y=3238.8257 +FPS=33.04, 法向力=5129.4839, 切向力X=-257.2199, 切向力Y=5467.3911 +FPS=37.17, 法向力=5450.0410, 切向力X=-45.5149, 切向力Y=6045.4780 +FPS=46.13, 法向力=3392.9421, 切向力X=-648.4137, 切向力Y=3781.9883 +FPS=39.46, 法向力=3464.8911, 切向力X=-598.1573, 切向力Y=3515.3921 +FPS=47.45, 法向力=4197.8765, 切向力X=-1275.5618, 切向力Y=6070.7368 +FPS=31.57, 法向力=4152.5674, 切向力X=-1362.7146, 切向力Y=5873.8975 +FPS=32.04, 法向力=3629.5481, 切向力X=-1282.7690, 切向力Y=5720.1138 +FPS=32.72, 法向力=3611.9741, 切向力X=-1311.0371, 切向力Y=5620.9263 +FPS=59.82, 法向力=3648.6733, 切向力X=-1391.8357, 切向力Y=5709.5386 +FPS=54.78, 法向力=2259.0259, 切向力X=-2142.1243, 切向力Y=5413.5562 +FPS=36.92, 法向力=2173.3889, 切向力X=-2015.1825, 切向力Y=5165.4458 +FPS=32.05, 法向力=3002.1719, 切向力X=-2670.7842, 切向力Y=4017.7007 +FPS=57.89, 法向力=3113.9961, 切向力X=-2760.3521, 切向力Y=4064.6396 +FPS=49.91, 法向力=3428.8826, 切向力X=-2490.3784, 切向力Y=3555.2156 +FPS=47.94, 法向力=3432.7622, 切向力X=-2422.9390, 切向力Y=3448.3157 +FPS=62.53, 法向力=3165.5044, 切向力X=-1846.8142, 切向力Y=1462.3308 +FPS=54.98, 法向力=3098.4868, 切向力X=-1691.7502, 切向力Y=1450.1600 +FPS=65.89, 法向力=3084.6108, 切向力X=-1748.8044, 切向力Y=1474.2166 +FPS=52.35, 法向力=2803.5083, 切向力X=-2046.2317, 切向力Y=652.9290 +FPS=31.31, 法向力=2880.6455, 切向力X=-2127.4756, 切向力Y=668.7423 +FPS=32.43, 法向力=2782.3530, 切向力X=-1769.6232, 切向力Y=-978.6694 +FPS=32.64, 法向力=2725.4219, 切向力X=-1674.2296, 切向力Y=-1138.9469 +FPS=32.82, 法向力=2847.4702, 切向力X=-1708.8560, 切向力Y=-2065.9729 +FPS=31.67, 法向力=2767.1230, 切向力X=-1883.1171, 切向力Y=1129.5579 +FPS=31.68, 法向力=2784.4448, 切向力X=-1957.0537, 切向力Y=1246.8726 +FPS=32.53, 法向力=2381.1694, 切向力X=-1623.7485, 切向力Y=-115.8183 +FPS=30.83, 法向力=2600.3965, 切向力X=-1905.3127, 切向力Y=-3779.3701 +FPS=31.51, 法向力=2683.0007, 切向力X=-1901.1311, 切向力Y=-4008.0837 +FPS=31.06, 法向力=3167.0981, 切向力X=-1530.3798, 切向力Y=-3502.4575 +FPS=37.55, 法向力=3129.9290, 切向力X=-1002.3447, 切向力Y=-2180.8071 +FPS=27.38, 法向力=3209.3264, 切向力X=-899.4832, 切向力Y=-2137.4622 +FPS=62.04, 法向力=3250.7847, 切向力X=-1075.3345, 切向力Y=-4095.7393 +FPS=38.10, 法向力=3280.1074, 切向力X=-1022.6858, 切向力Y=-4026.9365 +FPS=46.74, 法向力=3711.4387, 切向力X=-849.2435, 切向力Y=-3008.4463 +FPS=39.25, 法向力=3803.4595, 切向力X=-872.3435, 切向力Y=-2853.4072 +FPS=27.18, 法向力=4099.5166, 切向力X=-729.8400, 切向力Y=-3279.0522 +FPS=37.44, 法向力=4094.8970, 切向力X=-708.4499, 切向力Y=-3156.2588 +FPS=46.13, 法向力=4965.3701, 切向力X=6.9157, 切向力Y=-1549.9221 +FPS=39.64, 法向力=5046.3047, 切向力X=225.5618, 切向力Y=-1708.8157 +FPS=46.54, 法向力=4898.4600, 切向力X=-75.6966, 切向力Y=-1818.7860 +FPS=38.90, 法向力=4905.5034, 切向力X=-98.5231, 切向力Y=-2116.7681 +FPS=45.73, 法向力=4258.3867, 切向力X=-897.7764, 切向力Y=-3272.8528 +FPS=39.00, 法向力=4376.8804, 切向力X=-1036.9333, 切向力Y=-3223.2888 +FPS=45.48, 法向力=3871.9907, 切向力X=-892.5255, 切向力Y=-2941.1719 +FPS=41.00, 法向力=4367.2847, 切向力X=-956.2632, 切向力Y=-2631.8552 +FPS=45.16, 法向力=3021.8599, 切向力X=-1675.3015, 切向力Y=-1176.1497 +FPS=38.45, 法向力=3077.6489, 切向力X=-1710.2957, 切向力Y=-983.3282 +FPS=49.86, 法向力=3068.4873, 切向力X=-1703.5186, 切向力Y=-963.8953 +FPS=38.13, 法向力=2789.1084, 切向力X=-2413.5151, 切向力Y=-798.5746 +FPS=28.13, 法向力=2995.4819, 切向力X=-2532.0720, 切向力Y=-888.0323 +FPS=37.79, 法向力=2751.8284, 切向力X=-1772.0515, 切向力Y=-311.7615 +FPS=46.86, 法向力=2736.4204, 切向力X=-1774.2556, 切向力Y=-320.6750 +FPS=39.92, 法向力=2955.8867, 切向力X=-2694.1599, 切向力Y=308.0820 +FPS=47.64, 法向力=3017.2930, 切向力X=-2718.0259, 切向力Y=492.3102 +FPS=38.85, 法向力=2741.8877, 切向力X=-3052.2390, 切向力Y=413.2213 +FPS=45.45, 法向力=2727.7539, 切向力X=-3075.6060, 切向力Y=397.8095 +FPS=39.83, 法向力=3741.4177, 切向力X=-3510.6255, 切向力Y=-239.4713 +FPS=27.08, 法向力=3681.6113, 切向力X=-4194.9561, 切向力Y=888.4940 +FPS=62.24, 法向力=3752.6016, 切向力X=-4215.3477, 切向力Y=816.8171 +FPS=39.19, 法向力=4284.1582, 切向力X=-2451.8589, 切向力Y=1479.2866 +FPS=51.77, 法向力=4358.3906, 切向力X=-2405.4373, 切向力Y=1762.5516 +FPS=29.83, 法向力=3505.8650, 切向力X=-3402.9709, 切向力Y=1703.4075 +FPS=38.79, 法向力=3560.6235, 切向力X=-3560.1860, 切向力Y=1621.1136 +FPS=61.60, 法向力=3552.7300, 切向力X=-3544.1270, 切向力Y=1637.8105 +FPS=49.64, 法向力=4107.0596, 切向力X=-3621.3708, 切向力Y=2218.8564 +FPS=37.24, 法向力=4101.5029, 切向力X=-3526.1609, 切向力Y=2511.7954 +FPS=44.76, 法向力=4477.4106, 切向力X=-3414.4053, 切向力Y=2457.6968 +FPS=41.31, 法向力=4404.5225, 切向力X=-3376.0801, 切向力Y=2491.8979 +FPS=46.01, 法向力=3977.9878, 切向力X=-3091.0947, 切向力Y=5849.7031 +FPS=32.91, 法向力=3893.8694, 切向力X=-2918.6069, 切向力Y=5846.9409 +FPS=37.44, 法向力=3950.5901, 切向力X=-1927.5376, 切向力Y=2890.2397 +FPS=27.56, 法向力=3881.4707, 切向力X=-1792.6746, 切向力Y=2718.4229 +FPS=37.28, 法向力=4293.9790, 切向力X=-1511.8026, 切向力Y=324.3318 +FPS=46.54, 法向力=4195.2715, 切向力X=-1353.9304, 切向力Y=154.8844 +FPS=38.87, 法向力=4190.6909, 切向力X=-927.0543, 切向力Y=-1791.1616 +FPS=50.97, 法向力=4199.6260, 切向力X=-879.9203, 切向力Y=-1905.2974 +FPS=29.99, 法向力=5280.4272, 切向力X=-543.3598, 切向力Y=-1768.1482 +FPS=60.38, 法向力=5900.2188, 切向力X=-212.6172, 切向力Y=-277.8020 +FPS=54.59, 法向力=5928.3838, 切向力X=-125.8343, 切向力Y=-220.5285 +FPS=43.27, 法向力=5914.6445, 切向力X=-132.1292, 切向力Y=-175.7330 +FPS=47.31, 法向力=5940.6924, 切向力X=-92.4572, 切向力Y=-180.4149 +FPS=33.51, 法向力=5705.8618, 切向力X=-101.6961, 切向力Y=-663.4945 +FPS=59.20, 法向力=5782.6416, 切向力X=-105.9525, 切向力Y=-777.2345 +FPS=33.81, 法向力=5583.3057, 切向力X=442.5388, 切向力Y=-1631.9792 +FPS=60.69, 法向力=5496.3877, 切向力X=501.4352, 切向力Y=-1699.5686 +FPS=52.74, 法向力=5847.2998, 切向力X=-28.9248, 切向力Y=-935.6321 +FPS=35.16, 法向力=5841.1562, 切向力X=-84.2213, 切向力Y=-1019.9797 +FPS=32.07, 法向力=6450.2783, 切向力X=229.9173, 切向力Y=-2303.3872 +FPS=59.55, 法向力=6448.1455, 切向力X=448.4196, 切向力Y=-2456.2898 +FPS=51.23, 法向力=7432.3193, 切向力X=-162.7252, 切向力Y=-2172.6001 +FPS=37.48, 法向力=7428.1387, 切向力X=-113.0889, 切向力Y=-2388.5588 +FPS=32.24, 法向力=5986.3232, 切向力X=-3.2257, 切向力Y=-1695.0988 +FPS=32.00, 法向力=6048.8442, 切向力X=-557.9781, 切向力Y=-2511.5867 +FPS=36.93, 法向力=6120.1465, 切向力X=-672.2021, 切向力Y=-2524.8306 +FPS=51.74, 法向力=6113.6387, 切向力X=-691.7202, 切向力Y=-2558.4138 +FPS=31.11, 法向力=4082.8550, 切向力X=-21.9653, 切向力Y=-1422.8218 +FPS=32.43, 法向力=4135.6660, 切向力X=-617.1582, 切向力Y=-2072.1375 +FPS=31.86, 法向力=4055.5645, 切向力X=-674.5374, 切向力Y=-1988.4513 +FPS=31.23, 法向力=3477.1409, 切向力X=-2592.9717, 切向力Y=-418.2020 +FPS=32.25, 法向力=2926.6650, 切向力X=-2302.4636, 切向力Y=-589.9119 +FPS=40.38, 法向力=2861.3447, 切向力X=-2284.9993, 切向力Y=-507.6375 +FPS=49.95, 法向力=2884.6362, 切向力X=-2277.5664, 切向力Y=-576.5561 +FPS=31.67, 法向力=2454.7576, 切向力X=-3001.4023, 切向力Y=-371.8306 +FPS=61.73, 法向力=2240.6875, 切向力X=-3066.8679, 切向力Y=-47.7976 +FPS=54.22, 法向力=2229.5247, 切向力X=-2985.2808, 切向力Y=45.1334 +FPS=34.00, 法向力=2145.7297, 切向力X=-2801.2783, 切向力Y=6.9730 +FPS=31.09, 法向力=2212.2217, 切向力X=-2771.6841, 切向力Y=53.3847 +FPS=33.04, 法向力=2203.0078, 切向力X=-2807.7231, 切向力Y=-39.7985 +FPS=31.10, 法向力=3268.5991, 切向力X=-3060.7222, 切向力Y=1213.4165 +FPS=52.85, 法向力=3263.7263, 切向力X=-3014.8965, 切向力Y=1038.6365 +FPS=52.94, 法向力=2331.8428, 切向力X=-1668.9187, 切向力Y=587.9015 +FPS=40.04, 法向力=2352.1946, 切向力X=-1669.2334, 切向力Y=628.3235 +FPS=31.79, 法向力=2890.8955, 切向力X=-1076.4595, 切向力Y=1373.3809 +FPS=60.77, 法向力=2911.1245, 切向力X=-1191.5189, 切向力Y=1353.8191 +FPS=53.52, 法向力=2910.2915, 切向力X=-997.2140, 切向力Y=1663.8643 +FPS=36.05, 法向力=2944.5374, 切向力X=-1076.1191, 切向力Y=1584.8821 +FPS=31.32, 法向力=2598.2412, 切向力X=-1381.3091, 切向力Y=719.6120 +FPS=62.10, 法向力=2528.9956, 切向力X=-1459.9205, 切向力Y=821.8361 +FPS=53.67, 法向力=2764.6665, 切向力X=-1930.4961, 切向力Y=2165.5422 +FPS=35.85, 法向力=2848.1995, 切向力X=-1958.2412, 切向力Y=2326.0090 +FPS=31.80, 法向力=2704.8748, 切向力X=-3032.3552, 切向力Y=3756.3584 +FPS=55.90, 法向力=2622.2559, 切向力X=-2947.5574, 切向力Y=3762.8828 +FPS=51.70, 法向力=2866.8530, 切向力X=-854.5548, 切向力Y=775.2263 +FPS=39.30, 法向力=2865.5562, 切向力X=-713.0521, 切向力Y=857.1352 +FPS=32.05, 法向力=3770.9712, 切向力X=281.7052, 切向力Y=678.1923 +FPS=30.97, 法向力=3675.0833, 切向力X=361.4595, 切向力Y=660.0862 +FPS=38.60, 法向力=5459.4766, 切向力X=141.1980, 切向力Y=-4670.7432 +FPS=47.19, 法向力=5452.9487, 切向力X=158.0227, 切向力Y=-5113.1094 +FPS=39.15, 法向力=5209.2456, 切向力X=391.1083, 切向力Y=-7432.6338 +FPS=51.13, 法向力=5131.4424, 切向力X=343.2754, 切向力Y=-7535.7017 +FPS=30.54, 法向力=6484.0400, 切向力X=-618.4990, 切向力Y=-10675.3467 +FPS=37.61, 法向力=6585.8047, 切向力X=-677.0038, 切向力Y=-10556.2988 +FPS=49.94, 法向力=7030.0811, 切向力X=-218.5243, 切向力Y=-12478.3662 +FPS=36.47, 法向力=7057.7803, 切向力X=90.9225, 切向力Y=-12629.9609 +FPS=45.49, 法向力=5946.2026, 切向力X=304.1047, 切向力Y=-12768.7373 +FPS=33.69, 法向力=5872.4395, 切向力X=265.7601, 切向力Y=-12681.9062 +FPS=37.19, 法向力=5982.2261, 切向力X=195.6588, 切向力Y=-12537.5078 +FPS=48.61, 法向力=5937.5259, 切向力X=298.0385, 切向力Y=-12672.2461 +FPS=32.81, 法向力=5734.7842, 切向力X=-66.2687, 切向力Y=-8702.7793 +FPS=31.16, 法向力=5538.9463, 切向力X=23.0563, 切向力Y=-8735.9990 +FPS=32.03, 法向力=6837.6172, 切向力X=402.6418, 切向力Y=-8022.1489 +FPS=31.41, 法向力=6793.4658, 切向力X=84.2359, 切向力Y=-6536.7715 +FPS=31.60, 法向力=6768.4395, 切向力X=14.2935, 切向力Y=-6529.6943 +FPS=31.85, 法向力=6187.8271, 切向力X=-184.4584, 切向力Y=-6357.9209 +FPS=51.91, 法向力=4566.3916, 切向力X=-190.5287, 切向力Y=-3584.7793 +FPS=53.59, 法向力=4421.5889, 切向力X=-234.6895, 切向力Y=-3634.8818 +FPS=66.78, 法向力=4441.9453, 切向力X=-284.6002, 切向力Y=-3665.2048 +FPS=38.08, 法向力=3748.1147, 切向力X=-1508.8024, 切向力Y=-4285.4551 +FPS=32.29, 法向力=3737.9478, 切向力X=-1473.4447, 切向力Y=-4126.2256 +FPS=40.21, 法向力=3413.8169, 切向力X=-1965.9214, 切向力Y=-4575.7451 +FPS=46.30, 法向力=3349.4500, 切向力X=-2114.5430, 切向力Y=-4606.6523 +FPS=39.11, 法向力=3830.7659, 切向力X=-2592.3904, 切向力Y=-713.5131 +FPS=48.67, 法向力=3746.1782, 切向力X=-2711.1792, 切向力Y=-649.5452 +FPS=31.62, 法向力=3728.7454, 切向力X=-2244.4163, 切向力Y=1752.9673 +FPS=37.29, 法向力=3684.9883, 切向力X=-2263.9473, 切向力Y=1861.1927 +FPS=46.80, 法向力=3451.9932, 切向力X=-2585.0190, 切向力Y=1356.8734 +FPS=32.58, 法向力=3341.2383, 切向力X=-2604.4346, 切向力Y=1124.6469 +FPS=32.56, 法向力=3145.5554, 切向力X=-3392.5115, 切向力Y=2139.7607 +FPS=37.47, 法向力=3168.8574, 切向力X=-3294.4712, 切向力Y=2080.3557 +FPS=47.69, 法向力=2672.3965, 切向力X=-3197.5618, 切向力Y=1664.2314 +FPS=32.90, 法向力=3057.0588, 切向力X=-2006.2201, 切向力Y=150.8879 +FPS=31.82, 法向力=3172.7249, 切向力X=-2112.0254, 切向力Y=119.8565 +FPS=32.05, 法向力=4145.7017, 切向力X=-2103.4292, 切向力Y=985.2461 +FPS=32.99, 法向力=3653.7935, 切向力X=-950.1166, 切向力Y=-1784.7131 +FPS=31.86, 法向力=3680.1157, 切向力X=-936.0418, 切向力Y=-2152.3096 +FPS=32.15, 法向力=4167.7314, 切向力X=-978.0873, 切向力Y=-2898.1077 +FPS=32.60, 法向力=4258.8130, 切向力X=-977.8544, 切向力Y=-3051.6284 +FPS=58.25, 法向力=4247.3516, 切向力X=-977.2682, 切向力Y=-3062.2649 +FPS=52.13, 法向力=4603.4771, 切向力X=94.4803, 切向力Y=-5643.3730 +FPS=46.36, 法向力=4591.9507, 切向力X=365.1574, 切向力Y=-5909.9214 +FPS=27.62, 法向力=5609.2949, 切向力X=-428.2958, 切向力Y=-5931.7422 +FPS=62.98, 法向力=5902.8384, 切向力X=-461.4980, 切向力Y=-6275.7656 +FPS=53.27, 法向力=4827.3477, 切向力X=22.4012, 切向力Y=-3421.8770 +FPS=67.38, 法向力=4758.2378, 切向力X=8.3879, 切向力Y=-3492.3643 +FPS=62.44, 法向力=4794.3828, 切向力X=-95.1292, 切向力Y=-3240.8862 +FPS=51.76, 法向力=4351.6108, 切向力X=55.3349, 切向力Y=-2273.5908 +FPS=52.77, 法向力=4208.3945, 切向力X=179.7992, 切向力Y=-2540.8701 +FPS=47.37, 法向力=4951.1904, 切向力X=-940.4647, 切向力Y=-4550.0410 +FPS=37.93, 法向力=5100.5430, 切向力X=-1087.6794, 切向力Y=-4746.6914 +FPS=45.20, 法向力=4331.2432, 切向力X=-1127.2039, 切向力Y=-4344.9126 +FPS=33.67, 法向力=4354.7798, 切向力X=-1144.9476, 切向力Y=-4290.4346 +FPS=32.17, 法向力=4984.9668, 切向力X=-72.4141, 切向力Y=-1458.7838 +FPS=31.58, 法向力=4886.0728, 切向力X=-10.9353, 切向力Y=-1570.4612 +FPS=37.17, 法向力=4456.2769, 切向力X=2038.8905, 切向力Y=-1819.0281 +FPS=27.33, 法向力=4458.4971, 切向力X=1727.4678, 切向力Y=1237.3983 +FPS=32.40, 法向力=4525.8926, 切向力X=1762.4094, 切向力Y=1378.0679 +FPS=31.73, 法向力=4464.9951, 切向力X=90.9250, 切向力Y=1299.6578 +FPS=30.33, 法向力=3151.8259, 切向力X=-545.8848, 切向力Y=367.6669 +FPS=40.23, 法向力=3130.0522, 切向力X=-571.9144, 切向力Y=379.1547 +FPS=46.29, 法向力=2790.3330, 切向力X=-1298.2968, 切向力Y=106.1769 +FPS=59.26, 法向力=2856.8291, 切向力X=-1419.9634, 切向力Y=-43.5053 +FPS=33.33, 法向力=2555.9307, 切向力X=-2128.4529, 切向力Y=1247.6692 +FPS=34.48, 法向力=2586.3823, 切向力X=-2210.0728, 切向力Y=1270.1171 +FPS=61.19, 法向力=2568.0369, 切向力X=-2230.3101, 切向力Y=1192.9651 +FPS=50.57, 法向力=2815.3982, 切向力X=-3088.1055, 切向力Y=1239.6116 +FPS=45.06, 法向力=2794.5540, 切向力X=-3125.4160, 切向力Y=1139.2013 +FPS=64.42, 法向力=2828.4351, 切向力X=-3126.0337, 切向力Y=1138.5334 +FPS=52.49, 法向力=2620.7095, 切向力X=-2798.7383, 切向力Y=311.9008 +FPS=30.10, 法向力=2581.5959, 切向力X=-2735.0469, 切向力Y=317.7504 +FPS=32.86, 法向力=2828.8215, 切向力X=-3094.8030, 切向力Y=308.6690 +FPS=57.96, 法向力=2819.1138, 切向力X=-2974.4160, 切向力Y=395.8925 +FPS=54.01, 法向力=2417.7524, 切向力X=-2620.7307, 切向力Y=-1410.2806 +FPS=67.67, 法向力=2482.4595, 切向力X=-2453.0771, 切向力Y=-1746.2432 +FPS=65.00, 法向力=2487.8242, 切向力X=-2456.7480, 切向力Y=-1814.1489 +FPS=53.18, 法向力=2880.3755, 切向力X=-3050.5029, 切向力Y=-109.0778 +FPS=48.04, 法向力=2811.7217, 切向力X=-3068.1133, 切向力Y=-39.1555 +FPS=27.74, 法向力=3157.9473, 切向力X=-2401.0200, 切向力Y=1278.4136 +FPS=56.94, 法向力=3115.5835, 切向力X=-2420.6604, 切向力Y=1258.2528 +FPS=51.15, 法向力=3607.3098, 切向力X=-2005.4042, 切向力Y=3271.1963 +FPS=46.69, 法向力=3757.8684, 切向力X=-2083.2737, 切向力Y=3407.8213 +FPS=62.31, 法向力=3960.7644, 切向力X=-1380.7531, 切向力Y=3674.1763 +FPS=51.19, 法向力=3910.4648, 切向力X=-1268.2935, 切向力Y=3587.6265 +FPS=30.78, 法向力=3904.9980, 切向力X=-1325.8083, 切向力Y=3507.4663 +FPS=37.35, 法向力=4538.9688, 切向力X=-2199.3296, 切向力Y=3134.5281 +FPS=27.86, 法向力=3044.1858, 切向力X=-2549.8296, 切向力Y=2371.1936 +FPS=65.22, 法向力=3009.7036, 切向力X=-2427.9639, 切向力Y=2354.6313 +FPS=31.10, 法向力=2992.8042, 切向力X=-2907.2729, 切向力Y=781.1541 +FPS=30.85, 法向力=2955.9233, 切向力X=-2867.6626, 切向力Y=775.2672 +FPS=60.28, 法向力=3232.3433, 切向力X=-3248.6472, 切向力Y=1924.2849 +FPS=32.95, 法向力=3177.7234, 切向力X=-3136.0552, 切向力Y=2007.3062 +FPS=37.12, 法向力=3191.7419, 切向力X=-3908.4263, 切向力Y=-693.3407 +FPS=26.63, 法向力=3161.8218, 切向力X=-3491.4580, 切向力Y=331.1446 +FPS=40.23, 法向力=3185.4817, 切向力X=-3415.8101, 切向力Y=452.5598 +FPS=44.30, 法向力=3686.9136, 切向力X=-2580.4475, 切向力Y=-1097.9670 +FPS=67.76, 法向力=3705.1504, 切向力X=-2584.2300, 切向力Y=-1185.4878 +FPS=33.35, 法向力=3063.6987, 切向力X=-2656.0291, 切向力Y=393.7408 +FPS=59.32, 法向力=3113.0825, 切向力X=-2524.7788, 切向力Y=298.1367 +FPS=40.83, 法向力=3132.5435, 切向力X=-2519.2026, 切向力Y=236.4380 +FPS=49.27, 法向力=3109.1819, 切向力X=-2489.3909, 切向力Y=294.1992 +FPS=63.09, 法向力=2727.9187, 切向力X=-2978.3823, 切向力Y=971.3301 +FPS=37.02, 法向力=2728.6509, 切向力X=-3073.9395, 切向力Y=1002.1246 +FPS=50.64, 法向力=2737.1748, 切向力X=-3069.9971, 切向力Y=978.5726 +FPS=67.34, 法向力=2731.1357, 切向力X=-3074.1313, 切向力Y=969.4716 +FPS=64.30, 法向力=2733.2847, 切向力X=-3108.7559, 切向力Y=956.3968 +FPS=51.82, 法向力=2706.5278, 切向力X=-2996.3013, 切向力Y=-1966.4537 +FPS=39.41, 法向力=2691.8926, 切向力X=-2796.5151, 切向力Y=-2019.9768 +FPS=47.34, 法向力=2774.9756, 切向力X=-2167.5774, 切向力Y=-1177.5852 +FPS=39.57, 法向力=2768.3062, 切向力X=-2039.0193, 切向力Y=-1121.4091 +FPS=26.89, 法向力=2842.7944, 切向力X=-3356.0454, 切向力Y=-648.3042 +FPS=55.23, 法向力=2838.9150, 切向力X=-3381.2896, 切向力Y=-722.9395 +FPS=49.19, 法向力=3454.0830, 切向力X=-2731.4785, 切向力Y=-2419.9507 +FPS=39.84, 法向力=3116.3906, 切向力X=-3358.8049, 切向力Y=-1024.3756 +FPS=40.42, 法向力=3097.6025, 切向力X=-3215.6680, 切向力Y=-981.6659 +FPS=26.09, 法向力=3094.9062, 切向力X=-3129.8547, 切向力Y=-1045.8737 +FPS=41.44, 法向力=2693.5806, 切向力X=-1673.5017, 切向力Y=-986.4742 +FPS=44.34, 法向力=2652.9827, 切向力X=-1782.0701, 切向力Y=-990.1099 +FPS=62.47, 法向力=2180.5723, 切向力X=-2719.7583, 切向力Y=-208.1980 +FPS=34.51, 法向力=2374.8276, 切向力X=-2927.7263, 切向力Y=-21.0895 +FPS=61.52, 法向力=2346.9307, 切向力X=-2887.4939, 切向力Y=-81.2888 +FPS=33.89, 法向力=2374.6531, 切向力X=-2907.6953, 切向力Y=-50.5339 +FPS=37.02, 法向力=3001.3862, 切向力X=-2715.9934, 切向力Y=516.5820 +FPS=27.78, 法向力=3084.1428, 切向力X=-2213.4558, 切向力Y=-220.8335 +FPS=38.85, 法向力=3187.8945, 切向力X=-2159.0908, 切向力Y=-680.2946 +FPS=45.57, 法向力=3058.8359, 切向力X=-1772.3207, 切向力Y=710.3887 +FPS=41.30, 法向力=3101.2979, 切向力X=-1625.6632, 切向力Y=771.3439 +FPS=45.10, 法向力=3832.2134, 切向力X=-1111.5016, 切向力Y=1494.9263 +FPS=39.64, 法向力=3761.6755, 切向力X=-984.8969, 切向力Y=1352.7448 +FPS=26.69, 法向力=3743.1152, 切向力X=-920.0850, 切向力Y=1362.7803 +FPS=38.27, 法向力=3820.3528, 切向力X=-630.1904, 切向力Y=709.3486 +FPS=40.99, 法向力=3696.2344, 切向力X=-1850.2622, 切向力Y=-20.0050 +FPS=43.35, 法向力=3746.5259, 切向力X=-1924.3956, 切向力Y=40.5860 +FPS=46.52, 法向力=2905.3467, 切向力X=-2290.0559, 切向力Y=341.4626 +FPS=38.16, 法向力=2867.0779, 切向力X=-2157.6094, 切向力Y=169.4842 +FPS=49.74, 法向力=2868.4561, 切向力X=-2121.6978, 切向力Y=212.6002 +FPS=31.49, 法向力=2861.8767, 切向力X=-2106.0435, 切向力Y=119.8838 +FPS=52.60, 法向力=2870.1233, 切向力X=-2120.8862, 切向力Y=214.8184 +FPS=53.52, 法向力=2646.5620, 切向力X=-2933.3530, 切向力Y=-260.6879 +FPS=38.99, 法向力=2649.9082, 切向力X=-2882.5876, 切向力Y=-155.3829 +FPS=37.57, 法向力=2874.8669, 切向力X=-2508.6853, 切向力Y=-1039.6318 +FPS=52.16, 法向力=2925.8530, 切向力X=-2362.0386, 切向力Y=-1279.4691 +FPS=30.24, 法向力=2761.3506, 切向力X=-3190.7749, 切向力Y=356.7013 +FPS=61.85, 法向力=2826.3618, 切向力X=-3184.1914, 切向力Y=207.8720 +FPS=50.46, 法向力=2605.7803, 切向力X=-2437.8843, 切向力Y=776.4603 +FPS=44.09, 法向力=2601.1721, 切向力X=-2221.9121, 切向力Y=861.5558 +FPS=63.87, 法向力=2602.5093, 切向力X=-2190.7148, 切向力Y=796.4752 +FPS=53.78, 法向力=2644.9111, 切向力X=-1867.3652, 切向力Y=1271.2970 +FPS=34.80, 法向力=2637.8311, 切向力X=-1846.9457, 切向力Y=1352.5288 +FPS=46.64, 法向力=2582.7046, 切向力X=-2512.5967, 切向力Y=1794.6926 +FPS=33.72, 法向力=2568.1035, 切向力X=-2599.5615, 切向力Y=1936.9937 +FPS=31.27, 法向力=2413.0632, 切向力X=-2545.5493, 切向力Y=1910.7750 +FPS=32.05, 法向力=2391.2495, 切向力X=-2392.1235, 切向力Y=1919.0356 +FPS=32.16, 法向力=2386.3687, 切向力X=-2371.8477, 切向力Y=1874.0918 +FPS=31.51, 法向力=2128.3677, 切向力X=-2722.4580, 切向力Y=1198.7607 +FPS=31.75, 法向力=2779.3481, 切向力X=-2896.9370, 切向力Y=3436.7737 +FPS=31.89, 法向力=2667.1025, 切向力X=-2903.2617, 切向力Y=3684.3135 +FPS=32.25, 法向力=3049.8394, 切向力X=-3044.2744, 切向力Y=1928.3859 +FPS=31.43, 法向力=3069.9067, 切向力X=-3131.0503, 切向力Y=1742.7249 +FPS=31.60, 法向力=2087.4631, 切向力X=-3032.9893, 切向力Y=-1884.7159 +FPS=32.46, 法向力=3419.7393, 切向力X=-1709.8755, 切向力Y=342.5945 +FPS=33.76, 法向力=3585.7219, 切向力X=-1554.3225, 切向力Y=543.5768 +FPS=31.13, 法向力=3454.8972, 切向力X=-1846.4297, 切向力Y=1433.5178 +FPS=39.08, 法向力=3341.9292, 切向力X=-1835.8459, 切向力Y=1414.2668 +FPS=48.49, 法向力=3818.6855, 切向力X=-936.1198, 切向力Y=-2385.4507 +FPS=38.69, 法向力=3875.6143, 切向力X=-1089.6958, 切向力Y=-2303.0227 +FPS=48.25, 法向力=3876.3093, 切向力X=-1150.8643, 切向力Y=-2264.6868 +FPS=32.45, 法向力=3845.1956, 切向力X=-1012.6212, 切向力Y=-2255.5371 +FPS=36.96, 法向力=4901.1152, 切向力X=-556.0917, 切向力Y=-3561.1597 +FPS=42.44, 法向力=5778.3457, 切向力X=-1254.8469, 切向力Y=-3722.2822 +FPS=41.00, 法向力=5836.7002, 切向力X=-1287.7495, 切向力Y=-3704.7520 +FPS=48.81, 法向力=5856.0186, 切向力X=-1299.1246, 切向力Y=-3677.3989 +FPS=61.61, 法向力=5848.3809, 切向力X=-1307.1121, 切向力Y=-3679.5498 +FPS=53.67, 法向力=5968.3350, 切向力X=-983.5483, 切向力Y=-3897.6152 +FPS=34.48, 法向力=6012.5488, 切向力X=-975.9174, 切向力Y=-3712.7310 +FPS=32.08, 法向力=5260.2324, 切向力X=-1401.2141, 切向力Y=-4564.1777 +FPS=52.98, 法向力=5347.8906, 切向力X=-1625.2874, 切向力Y=-4751.8335 +FPS=51.28, 法向力=5056.0537, 切向力X=-1006.2391, 切向力Y=-6257.9004 +FPS=50.26, 法向力=5059.7954, 切向力X=-969.1661, 切向力Y=-6405.1309 +FPS=27.42, 法向力=5063.5674, 切向力X=-2090.1018, 切向力Y=-6840.1362 +FPS=58.07, 法向力=5083.7598, 切向力X=-2157.4419, 切向力Y=-6878.9106 +FPS=51.16, 法向力=5416.4556, 切向力X=-1022.4738, 切向力Y=-5105.6211 +FPS=38.02, 法向力=5445.6548, 切向力X=-1018.7647, 切向力Y=-5228.0596 +FPS=31.82, 法向力=5471.9092, 切向力X=-1045.4501, 切向力Y=-5267.9800 +FPS=37.73, 法向力=6684.3047, 切向力X=-1017.4694, 切向力Y=-3452.6006 +FPS=48.38, 法向力=6786.8970, 切向力X=-995.6608, 切向力Y=-3510.7529 +FPS=31.32, 法向力=4606.8604, 切向力X=801.0457, 切向力Y=-800.0706 +FPS=32.76, 法向力=4484.3931, 切向力X=870.4626, 切向力Y=-855.5246 +FPS=36.90, 法向力=4489.7861, 切向力X=879.2379, 切向力Y=-846.6567 +FPS=48.62, 法向力=4877.3535, 切向力X=201.2752, 切向力Y=-1324.3472 +FPS=38.08, 法向力=4810.5610, 切向力X=98.6549, 切向力Y=-1106.0536 +FPS=47.52, 法向力=4226.1899, 切向力X=-317.2005, 切向力Y=-5100.2705 +FPS=32.67, 法向力=4535.7324, 切向力X=-872.6093, 切向力Y=-5925.9482 +FPS=31.63, 法向力=4552.0488, 切向力X=-800.6757, 切向力Y=-6037.5693 +FPS=31.44, 法向力=4293.7627, 切向力X=-1774.4470, 切向力Y=-4478.6040 +FPS=32.68, 法向力=4268.0352, 切向力X=-1738.2957, 切向力Y=-2714.3062 +FPS=32.31, 法向力=4310.1704, 切向力X=-1741.9207, 切向力Y=-2678.2715 +FPS=50.79, 法向力=4279.4590, 切向力X=-1703.7102, 切向力Y=-2726.8943 +FPS=41.85, 法向力=4280.5654, 切向力X=-1761.1882, 切向力Y=-2629.6455 +FPS=48.04, 法向力=4266.6582, 切向力X=-1730.6567, 切向力Y=-2693.1580 +FPS=33.21, 法向力=3010.3970, 切向力X=-2346.1670, 切向力Y=-2936.6768 +FPS=31.54, 法向力=3016.0649, 切向力X=-2360.4182, 切向力Y=-3016.9180 +FPS=36.19, 法向力=3157.4272, 切向力X=-2862.4282, 切向力Y=-1055.7434 +FPS=39.91, 法向力=3184.1836, 切向力X=-2765.0627, 切向力Y=-721.7689 +FPS=63.85, 法向力=3099.1167, 切向力X=-2601.6670, 切向力Y=-747.4259 +FPS=45.64, 法向力=3102.0361, 切向力X=-2671.1155, 切向力Y=-735.4279 +FPS=48.19, 法向力=2749.3242, 切向力X=-2882.4033, 切向力Y=-1361.1343 +FPS=32.72, 法向力=2726.4260, 切向力X=-2786.5156, 切向力Y=-1310.8685 +FPS=31.97, 法向力=2801.4236, 切向力X=-3027.6821, 切向力Y=-1415.5549 +FPS=58.39, 法向力=2806.0469, 切向力X=-3118.4297, 切向力Y=-1239.6672 +FPS=52.97, 法向力=2391.1606, 切向力X=-2925.1826, 切向力Y=-495.8864 +FPS=44.66, 法向力=2359.6367, 切向力X=-2856.6462, 切向力Y=-497.4621 +FPS=48.24, 法向力=3705.6917, 切向力X=-1964.1450, 切向力Y=-1755.7285 +FPS=33.04, 法向力=3632.9004, 切向力X=-1911.7397, 切向力Y=-1714.0294 +FPS=31.63, 法向力=3623.3813, 切向力X=-1932.4651, 切向力Y=-1671.5537 +FPS=31.23, 法向力=3052.4954, 切向力X=-2779.5254, 切向力Y=153.1950 +FPS=31.63, 法向力=2931.6309, 切向力X=-2732.5479, 切向力Y=296.2623 +FPS=53.30, 法向力=2947.8735, 切向力X=-2697.2925, 切向力Y=293.6680 +FPS=35.79, 法向力=2803.5085, 切向力X=-2847.8064, 切向力Y=517.7328 +FPS=39.29, 法向力=2639.7913, 切向力X=-2672.2361, 切向力Y=-1561.2264 +FPS=27.29, 法向力=2635.6743, 切向力X=-2576.6191, 切向力Y=-1527.3185 +FPS=38.35, 法向力=2725.4873, 切向力X=-2250.7192, 切向力Y=-1085.7788 +FPS=49.14, 法向力=2647.4927, 切向力X=-2131.5952, 切向力Y=-1105.4470 +FPS=31.36, 法向力=2754.2671, 切向力X=-2604.0000, 切向力Y=-1229.2950 +FPS=31.73, 法向力=2378.6216, 切向力X=-2168.0759, 切向力Y=-588.0300 +FPS=62.45, 法向力=2241.6157, 切向力X=-2210.2456, 切向力Y=-646.2902 +FPS=30.92, 法向力=2269.7427, 切向力X=-2715.5947, 切向力Y=-158.1270 +FPS=38.58, 法向力=2329.3955, 切向力X=-2560.5005, 切向力Y=-156.0766 +FPS=27.19, 法向力=2317.4282, 切向力X=-2565.4443, 切向力Y=-141.5427 +FPS=37.41, 法向力=2326.4968, 切向力X=-2548.8232, 切向力Y=-147.3910 +FPS=48.29, 法向力=2522.5884, 切向力X=-3136.0000, 切向力Y=-12.8856 +FPS=38.39, 法向力=2587.5830, 切向力X=-3081.3831, 切向力Y=196.7875 +FPS=45.58, 法向力=2222.6738, 切向力X=-3469.4971, 切向力Y=1153.7615 +FPS=40.16, 法向力=2305.7549, 切向力X=-3405.7480, 切向力Y=954.5162 +FPS=47.53, 法向力=2307.4341, 切向力X=-3503.0581, 切向力Y=1005.0929 +FPS=38.76, 法向力=2411.3618, 切向力X=-2504.0891, 切向力Y=1467.8110 +FPS=45.46, 法向力=2445.5996, 切向力X=-2448.8516, 切向力Y=1511.9263 +FPS=39.95, 法向力=2769.9160, 切向力X=-3318.3811, 切向力Y=695.9233 +FPS=27.65, 法向力=2550.6462, 切向力X=-3251.8240, 切向力Y=-474.1633 +FPS=37.44, 法向力=2465.2144, 切向力X=-3189.9531, 切向力Y=-198.3875 +FPS=46.23, 法向力=2637.3696, 切向力X=-3061.5730, 切向力Y=2018.7463 +FPS=39.83, 法向力=2695.7964, 切向力X=-2999.5276, 切向力Y=2154.4302 +FPS=26.82, 法向力=2822.4216, 切向力X=-3858.7534, 切向力Y=1353.6277 +FPS=31.44, 法向力=2819.1172, 切向力X=-3879.5076, 切向力Y=1187.4922 +FPS=31.32, 法向力=2778.1282, 切向力X=-3859.6299, 切向力Y=1127.6224 +FPS=58.97, 法向力=2820.6565, 切向力X=-3883.2183, 切向力Y=1120.1387 +FPS=49.28, 法向力=4110.6553, 切向力X=-4707.1504, 切向力Y=-4134.6821 +FPS=37.95, 法向力=4057.5527, 切向力X=-4814.8750, 切向力Y=-4369.7139 +FPS=31.77, 法向力=2464.5508, 切向力X=-5575.4316, 切向力Y=-610.5293 +FPS=59.23, 法向力=2411.2231, 切向力X=-5619.8188, 切向力Y=-382.2178 +FPS=50.50, 法向力=3492.4812, 切向力X=-7103.6152, 切向力Y=-5267.6924 +FPS=47.96, 法向力=3422.4912, 切向力X=-7395.0034, 切向力Y=-5211.2383 +FPS=63.36, 法向力=3594.0732, 切向力X=-7143.1709, 切向力Y=-4105.8291 +FPS=53.35, 法向力=3615.0396, 切向力X=-7008.6299, 切向力Y=-4042.3984 +FPS=66.12, 法向力=3593.1626, 切向力X=-6977.8604, 切向力Y=-4027.0601 +FPS=52.05, 法向力=2888.0151, 切向力X=-5591.3770, 切向力Y=-1735.6682 +FPS=33.87, 法向力=2887.9233, 切向力X=-5565.8350, 切向力Y=-1674.5645 +FPS=32.08, 法向力=3222.0010, 切向力X=-4081.3196, 切向力Y=-1297.6656 +FPS=31.97, 法向力=2677.6846, 切向力X=-4995.6099, 切向力Y=-78.3012 +FPS=31.05, 法向力=2614.5264, 切向力X=-5190.0249, 切向力Y=10.0948 +FPS=32.42, 法向力=2629.2910, 切向力X=-5204.8545, 切向力Y=-95.3469 +FPS=37.75, 法向力=2607.7087, 切向力X=-5239.2510, 切向力Y=-64.8577 +FPS=46.23, 法向力=2898.6611, 切向力X=-4435.7617, 切向力Y=812.2191 +FPS=38.39, 法向力=2878.4783, 切向力X=-4516.5664, 切向力Y=971.5847 +FPS=46.15, 法向力=2890.9438, 切向力X=-4275.6118, 切向力Y=40.6781 +FPS=40.43, 法向力=2947.0801, 切向力X=-4230.5181, 切向力Y=0.7539 +FPS=50.64, 法向力=2930.0811, 切向力X=-4137.5200, 切向力Y=6.5807 +FPS=30.38, 法向力=2795.7588, 切向力X=-4826.9482, 切向力Y=728.6003 +FPS=57.99, 法向力=2669.8259, 切向力X=-5068.7549, 切向力Y=1154.0552 +FPS=52.10, 法向力=2647.2861, 切向力X=-5030.7598, 切向力Y=914.0876 +FPS=37.55, 法向力=2662.0349, 切向力X=-5084.0371, 切向力Y=1062.9633 +FPS=31.43, 法向力=2995.4426, 切向力X=-4037.1741, 切向力Y=-290.8473 +FPS=55.85, 法向力=2452.7363, 切向力X=-4583.5371, 切向力Y=-992.7737 +FPS=54.24, 法向力=2429.9417, 切向力X=-4724.3828, 切向力Y=-961.7567 +FPS=37.96, 法向力=2435.4866, 切向力X=-4787.0723, 切向力Y=-924.4911 +FPS=61.73, 法向力=2427.9106, 切向力X=-4771.5430, 切向力Y=-872.8652 +FPS=53.72, 法向力=2547.5615, 切向力X=-4577.9790, 切向力Y=415.7961 +FPS=36.74, 法向力=2599.7471, 切向力X=-4491.9248, 切向力Y=499.2757 +FPS=38.54, 法向力=1666.4707, 切向力X=-4999.3623, 切向力Y=-4054.6780 +FPS=47.89, 法向力=1706.6968, 切向力X=-5003.0913, 切向力Y=-4212.8481 +FPS=32.31, 法向力=2466.4741, 切向力X=-3825.5134, 切向力Y=-2831.7183 +FPS=55.30, 法向力=2546.4614, 切向力X=-3701.5693, 切向力Y=-2627.5830 +FPS=53.59, 法向力=2523.1836, 切向力X=-4229.2910, 切向力Y=-2040.6638 +FPS=37.54, 法向力=2513.1311, 切向力X=-4353.0542, 切向力Y=-2038.7466 +FPS=31.83, 法向力=2707.1865, 切向力X=-4071.0300, 切向力Y=-2386.4736 +FPS=37.52, 法向力=3160.2686, 切向力X=-3592.5352, 切向力Y=-2871.6367 +FPS=47.33, 法向力=3225.6514, 切向力X=-3684.9536, 切向力Y=-2804.5239 +FPS=32.08, 法向力=1961.9885, 切向力X=-4151.6230, 切向力Y=-1417.0916 +FPS=31.45, 法向力=1988.8685, 切向力X=-4076.2776, 切向力Y=-1438.6056 +FPS=31.95, 法向力=2023.5020, 切向力X=-4319.9336, 切向力Y=-3269.6455 +FPS=31.47, 法向力=2186.3240, 切向力X=-4226.5049, 切向力Y=-3578.9692 +FPS=32.45, 法向力=2827.9365, 切向力X=-4091.0398, 切向力Y=-2506.6528 +FPS=32.07, 法向力=2192.3430, 切向力X=-4190.5693, 切向力Y=-3465.0601 +FPS=32.39, 法向力=2388.1870, 切向力X=-4260.5610, 切向力Y=-4005.6787 +FPS=30.57, 法向力=2205.2495, 切向力X=-4019.1785, 切向力Y=-3769.7864 +FPS=38.86, 法向力=2658.1975, 切向力X=-3316.1523, 切向力Y=-4393.3433 +FPS=49.36, 法向力=2756.9846, 切向力X=-3409.2559, 切向力Y=-4323.3193 +FPS=35.99, 法向力=2626.1199, 切向力X=-3321.7170, 切向力Y=-4570.1992 +FPS=49.63, 法向力=2332.6382, 切向力X=-3241.6602, 切向力Y=-5160.8413 +FPS=39.13, 法向力=2356.9683, 切向力X=-3206.8279, 切向力Y=-5240.6621 +FPS=46.56, 法向力=2168.5000, 切向力X=-3302.8557, 切向力Y=-4090.2227 +FPS=34.24, 法向力=2226.8999, 切向力X=-3392.5967, 切向力Y=-3776.6475 +FPS=30.94, 法向力=2363.4272, 切向力X=-2957.7971, 切向力Y=-4251.8457 +FPS=37.35, 法向力=2485.2031, 切向力X=-2895.5339, 切向力Y=-4352.5498 +FPS=46.80, 法向力=3278.5625, 切向力X=-3132.0647, 切向力Y=-4364.1309 +FPS=38.03, 法向力=3208.7434, 切向力X=-3087.5200, 切向力Y=-4315.6064 +FPS=50.48, 法向力=2726.1128, 切向力X=-3215.1294, 切向力Y=-2847.6938 +FPS=30.76, 法向力=2613.8105, 切向力X=-3312.9539, 切向力Y=-2820.8569 +FPS=37.48, 法向力=2385.9565, 切向力X=-2912.3821, 切向力Y=-2934.5850 +FPS=51.87, 法向力=2396.3838, 切向力X=-2876.0298, 切向力Y=-2942.8833 +FPS=30.61, 法向力=2040.4641, 切向力X=-3440.3853, 切向力Y=-3672.5764 +FPS=59.52, 法向力=2119.8660, 切向力X=-3577.9409, 切向力Y=-3352.9050 +FPS=50.61, 法向力=1335.5002, 切向力X=-3404.3843, 切向力Y=-3905.8579 +FPS=47.58, 法向力=1389.9059, 切向力X=-3251.6477, 切向力Y=-3791.3315 +FPS=62.29, 法向力=2426.7749, 切向力X=-2446.5110, 切向力Y=-4026.2297 +FPS=52.57, 法向力=2360.0405, 切向力X=-2528.7495, 切向力Y=-4018.5059 +FPS=30.20, 法向力=2538.1987, 切向力X=-2208.2202, 切向力Y=-3285.3613 +FPS=31.73, 法向力=2540.3113, 切向力X=-2233.3062, 切向力Y=-3378.0083 +FPS=31.92, 法向力=1926.5822, 切向力X=-3129.5874, 切向力Y=-3492.2793 +FPS=29.98, 法向力=1848.5652, 切向力X=-3158.2407, 切向力Y=-3498.2092 +FPS=62.97, 法向力=1798.8097, 切向力X=-3070.8027, 切向力Y=-2818.6665 +FPS=40.78, 法向力=1788.6858, 切向力X=-3165.9663, 切向力Y=-2881.9924 +FPS=50.36, 法向力=2673.1504, 切向力X=-2597.5149, 切向力Y=-3682.2314 +FPS=30.56, 法向力=2719.3779, 切向力X=-2679.9795, 切向力Y=-3949.3413 +FPS=39.68, 法向力=1970.5443, 切向力X=-3171.6147, 切向力Y=-2305.1550 +FPS=47.86, 法向力=2033.1790, 切向力X=-3168.2244, 切向力Y=-2098.8264 +FPS=40.23, 法向力=2051.7163, 切向力X=-2718.3716, 切向力Y=-1058.2432 +FPS=52.56, 法向力=1989.2195, 切向力X=-2651.7913, 切向力Y=-1017.6914 +FPS=35.38, 法向力=1814.7585, 切向力X=-2701.6763, 切向力Y=-3094.4395 +FPS=48.85, 法向力=1828.0713, 切向力X=-2650.6104, 切向力Y=-3281.3545 +FPS=37.67, 法向力=1934.7052, 切向力X=-3034.7969, 切向力Y=-5557.7930 +FPS=50.52, 法向力=1987.8063, 切向力X=-3018.9697, 切向力Y=-5711.8516 +FPS=62.49, 法向力=1699.4336, 切向力X=-2590.2100, 切向力Y=-2679.9834 +FPS=52.86, 法向力=1735.8638, 切向力X=-2527.0393, 切向力Y=-2623.9717 +FPS=42.33, 法向力=1756.5745, 切向力X=-2544.9692, 切向力Y=-2601.7224 +FPS=48.37, 法向力=1734.9091, 切向力X=-2499.6108, 切向力Y=-2605.7129 +FPS=33.40, 法向力=2262.1946, 切向力X=-3025.1294, 切向力Y=-4501.3691 +FPS=58.56, 法向力=2262.4812, 切向力X=-2983.9731, 切向力Y=-4502.0239 +FPS=54.01, 法向力=2052.5303, 切向力X=-3076.9482, 切向力Y=-3812.0757 +FPS=44.23, 法向力=1908.9110, 切向力X=-3132.8606, 切向力Y=-3740.3052 +FPS=27.14, 法向力=2095.2996, 切向力X=-1965.3208, 切向力Y=-2119.2676 +FPS=49.23, 法向力=2191.5020, 切向力X=-2496.4492, 切向力Y=-3330.1050 +FPS=38.73, 法向力=2168.9016, 切向力X=-2541.1196, 切向力Y=-3439.4370 +FPS=57.77, 法向力=2166.8359, 切向力X=-2540.5107, 切向力Y=-3405.2637 +FPS=50.73, 法向力=1323.0017, 切向力X=-2622.3005, 切向力Y=-2371.1619 +FPS=67.35, 法向力=1309.7708, 切向力X=-2659.5391, 切向力Y=-2252.6582 +FPS=58.51, 法向力=1273.1519, 切向力X=-2665.3628, 切向力Y=-2280.4224 +FPS=49.76, 法向力=2264.7466, 切向力X=-2368.0054, 切向力Y=-1263.8624 +FPS=60.09, 法向力=2350.7322, 切向力X=-2253.2573, 切向力Y=-1369.8308 +FPS=26.96, 法向力=1767.7394, 切向力X=-1987.1666, 切向力Y=-3629.0928 +FPS=38.04, 法向力=1721.2767, 切向力X=-2069.4924, 切向力Y=-3710.0640 +FPS=27.43, 法向力=1814.7795, 切向力X=-1972.0793, 切向力Y=-4102.9932 +FPS=36.95, 法向力=1832.3986, 切向力X=-2186.2739, 切向力Y=-2529.3989 +FPS=47.44, 法向力=1815.2473, 切向力X=-2425.1924, 切向力Y=-2065.5938 +FPS=38.00, 法向力=1951.1128, 切向力X=-2772.6621, 切向力Y=-2793.1414 +FPS=45.68, 法向力=1941.6685, 切向力X=-2867.3865, 切向力Y=-2739.6270 +FPS=39.08, 法向力=2087.1953, 切向力X=-1843.9175, 切向力Y=-3367.9712 +FPS=47.86, 法向力=2255.0571, 切向力X=-1711.7229, 切向力Y=-3445.2454 +FPS=40.53, 法向力=3126.1465, 切向力X=-2060.6987, 切向力Y=-2227.1616 +FPS=46.59, 法向力=3089.2549, 切向力X=-1991.6218, 切向力Y=-2133.2615 +FPS=38.39, 法向力=3067.6516, 切向力X=-2086.0647, 切向力Y=-2086.3818 +FPS=48.70, 法向力=2034.7117, 切向力X=-2564.1753, 切向力Y=-1635.6753 +FPS=37.69, 法向力=2067.7258, 切向力X=-2547.8931, 切向力Y=-1592.1311 +FPS=27.55, 法向力=2556.0559, 切向力X=-1814.8389, 切向力Y=-2853.5396 +FPS=38.84, 法向力=2578.4409, 切向力X=-1797.1505, 切向力Y=-2914.0430 +FPS=47.41, 法向力=2226.3989, 切向力X=-1917.1179, 切向力Y=-5006.1001 +FPS=37.71, 法向力=2101.1836, 切向力X=-2079.9932, 切向力Y=-5144.3403 +FPS=27.48, 法向力=1607.7186, 切向力X=-2111.4275, 切向力Y=-3246.4480 +FPS=38.39, 法向力=2354.0349, 切向力X=-2341.0479, 切向力Y=-1148.1885 +FPS=27.63, 法向力=2354.8960, 切向力X=-2479.5959, 切向力Y=-1176.5677 +FPS=38.52, 法向力=1692.2347, 切向力X=-2136.4463, 切向力Y=-2777.0132 +FPS=26.97, 法向力=1491.9489, 切向力X=-3175.9983, 切向力Y=-2393.6221 +FPS=41.48, 法向力=1539.4022, 切向力X=-3158.5757, 切向力Y=-2250.3091 +FPS=27.03, 法向力=2059.8516, 切向力X=-2232.2214, 切向力Y=-949.5935 +FPS=57.01, 法向力=2355.2039, 切向力X=-2022.0051, 切向力Y=-1155.8311 +FPS=33.29, 法向力=1986.0945, 切向力X=-2008.0669, 切向力Y=-1846.3671 +FPS=37.72, 法向力=2674.6616, 切向力X=-1200.2900, 切向力Y=-2568.0352 +FPS=27.14, 法向力=2839.2822, 切向力X=-1151.9448, 切向力Y=-2579.0474 +FPS=50.47, 法向力=2816.0386, 切向力X=-1285.3562, 切向力Y=-2615.6855 +FPS=45.48, 法向力=1737.7327, 切向力X=-2417.9583, 切向力Y=-1273.6277 +FPS=50.52, 法向力=1731.4250, 切向力X=-2573.8088, 切向力Y=-1195.9955 +FPS=37.37, 法向力=1674.2810, 切向力X=-2361.5103, 切向力Y=-3000.0828 +FPS=27.29, 法向力=1719.5945, 切向力X=-2304.0508, 切向力Y=-2012.5330 +FPS=37.59, 法向力=1653.2151, 切向力X=-2379.0413, 切向力Y=-1886.9374 +FPS=46.06, 法向力=2445.2864, 切向力X=-2667.0146, 切向力Y=-3308.2866 +FPS=41.09, 法向力=2500.9583, 切向力X=-2811.6055, 切向力Y=-3485.9226 +FPS=45.65, 法向力=2284.1028, 切向力X=-2749.1882, 切向力Y=-1066.6990 +FPS=38.40, 法向力=2343.0935, 切向力X=-2763.9722, 切向力Y=-1115.8317 +FPS=47.18, 法向力=2090.1514, 切向力X=-2940.1738, 切向力Y=-1653.5287 +FPS=38.20, 法向力=1987.5743, 切向力X=-2943.7061, 切向力Y=-1564.3958 +FPS=43.01, 法向力=2175.8374, 切向力X=-2517.8267, 切向力Y=-1108.1455 +FPS=42.40, 法向力=2145.9731, 切向力X=-2536.4609, 切向力Y=-1291.1089 +FPS=27.13, 法向力=2077.9158, 切向力X=-2690.9658, 切向力Y=-1407.6881 +FPS=32.24, 法向力=2171.3074, 切向力X=-2775.9927, 切向力Y=-1376.6122 +FPS=31.49, 法向力=2275.4043, 切向力X=-3315.1672, 切向力Y=-2746.3062 +FPS=32.25, 法向力=2163.6201, 切向力X=-3303.1853, 切向力Y=-2825.1843 +FPS=31.81, 法向力=2011.9578, 切向力X=-3572.8496, 切向力Y=-1260.8245 +FPS=60.54, 法向力=1996.4812, 切向力X=-3491.8982, 切向力Y=-1081.9158 +FPS=54.28, 法向力=1805.1868, 切向力X=-2044.9902, 切向力Y=-788.2399 +FPS=34.32, 法向力=2039.4152, 切向力X=-1932.2134, 切向力Y=-697.2373 +FPS=38.32, 法向力=2338.6379, 切向力X=-2022.6825, 切向力Y=-21.7224 +FPS=45.38, 法向力=2266.9268, 切向力X=-2119.5483, 切向力Y=89.2408 +FPS=32.96, 法向力=2104.2832, 切向力X=-1761.0378, 切向力Y=1327.6317 +FPS=64.50, 法向力=2172.6121, 切向力X=-1651.9677, 切向力Y=1151.1074 +FPS=53.34, 法向力=1354.7350, 切向力X=-2645.6035, 切向力Y=25.8370 +FPS=34.12, 法向力=1400.7837, 切向力X=-2554.8599, 切向力Y=-7.5630 +FPS=38.57, 法向力=1440.2130, 切向力X=-2230.8857, 切向力Y=-2665.7778 +FPS=46.25, 法向力=1593.2382, 切向力X=-2243.4937, 切向力Y=-2789.5298 +FPS=62.23, 法向力=1635.8617, 切向力X=-2186.6079, 切向力Y=-2756.0059 +FPS=50.78, 法向力=2416.2405, 切向力X=-2048.9998, 切向力Y=-3222.7891 +FPS=38.55, 法向力=2385.4419, 切向力X=-2143.9329, 切向力Y=-3055.1182 +FPS=37.79, 法向力=2667.8657, 切向力X=-2576.6089, 切向力Y=-3456.2070 +FPS=47.43, 法向力=2634.4490, 切向力X=-2671.6089, 切向力Y=-3375.2585 +FPS=38.27, 法向力=2031.4408, 切向力X=-3508.3540, 切向力Y=-1992.8179 +FPS=27.91, 法向力=2841.2480, 切向力X=-4184.8228, 切向力Y=-3763.1665 +FPS=30.69, 法向力=2967.4678, 切向力X=-4174.3906, 切向力Y=-3975.9373 +FPS=32.89, 法向力=3131.7517, 切向力X=-4261.6338, 切向力Y=-5411.2866 +FPS=49.42, 法向力=3198.2114, 切向力X=-4247.7393, 切向力Y=-5497.1050 +FPS=46.60, 法向力=3178.3330, 切向力X=-4064.8298, 切向力Y=-3455.8220 +FPS=63.11, 法向力=2922.3193, 切向力X=-4163.4092, 切向力Y=-3113.3970 +FPS=62.52, 法向力=3323.7502, 切向力X=-3793.8213, 切向力Y=-4822.5854 +FPS=49.07, 法向力=3540.0271, 切向力X=-3665.3721, 切向力Y=-4770.2100 +FPS=31.02, 法向力=3585.2510, 切向力X=-3660.6624, 切向力Y=-4747.2178 +FPS=31.89, 法向力=2172.3125, 切向力X=-2784.0020, 切向力Y=-3872.2502 +FPS=31.81, 法向力=2208.4170, 切向力X=-985.1815, 切向力Y=-2938.8049 +FPS=31.73, 法向力=2354.0034, 切向力X=-806.0638, 切向力Y=-3061.1113 +FPS=31.94, 法向力=2073.2573, 切向力X=-959.5199, 切向力Y=-2737.1299 +FPS=32.09, 法向力=2447.7739, 切向力X=-1463.5784, 切向力Y=-3386.0205 +FPS=31.84, 法向力=2505.4385, 切向力X=-1500.0374, 切向力Y=-3259.7837 +FPS=31.43, 法向力=2058.5503, 切向力X=-1002.6432, 切向力Y=-3372.6125 +FPS=31.21, 法向力=2192.1299, 切向力X=-579.7359, 切向力Y=-2902.6067 +FPS=32.14, 法向力=2153.4346, 切向力X=-525.4442, 切向力Y=-3070.9338 +FPS=31.10, 法向力=1806.4496, 切向力X=-650.5516, 切向力Y=-2601.5410 +FPS=32.88, 法向力=1802.3413, 切向力X=-660.9353, 切向力Y=-2648.1616 +FPS=60.15, 法向力=1789.5120, 切向力X=-700.2407, 切向力Y=-2725.9819 +FPS=54.48, 法向力=1558.2549, 切向力X=-627.1238, 切向力Y=-962.1384 +FPS=37.56, 法向力=1607.6396, 切向力X=-535.7618, 切向力Y=-833.4303 +FPS=31.25, 法向力=1919.0878, 切向力X=-1367.3901, 切向力Y=-1563.7893 +FPS=61.46, 法向力=1932.9989, 切向力X=-1584.3333, 切向力Y=-1520.2515 +FPS=53.02, 法向力=1684.0586, 切向力X=-471.9647, 切向力Y=-2068.0981 +FPS=35.68, 法向力=1658.3739, 切向力X=-466.6747, 切向力Y=-2066.9126 +FPS=32.46, 法向力=1781.3848, 切向力X=-1030.8649, 切向力Y=-2657.6814 +FPS=56.63, 法向力=1640.4873, 切向力X=-1158.6016, 切向力Y=-2467.8489 +FPS=51.98, 法向力=2168.3167, 切向力X=-150.5703, 切向力Y=-2830.7832 +FPS=44.74, 法向力=2181.4961, 切向力X=-246.0020, 切向力Y=-3173.1250 +FPS=62.54, 法向力=1759.9214, 切向力X=-1704.8386, 切向力Y=-2376.0625 +FPS=53.55, 法向力=1714.8197, 切向力X=-1738.7900, 切向力Y=-2317.2671 +FPS=30.38, 法向力=1924.1140, 切向力X=-1511.6118, 切向力Y=-1446.9248 +FPS=32.48, 法向力=1904.6318, 切向力X=-1490.0797, 切向力Y=-1332.1892 +FPS=37.48, 法向力=1996.3318, 切向力X=-1238.4111, 切向力Y=-1132.4274 +FPS=47.85, 法向力=1933.6184, 切向力X=-1366.3887, 切向力Y=-988.4207 +FPS=38.99, 法向力=2056.8896, 切向力X=-1152.8130, 切向力Y=-2936.6528 +FPS=52.36, 法向力=2039.4736, 切向力X=-1269.0568, 切向力Y=-3080.2539 +FPS=30.48, 法向力=1656.4663, 切向力X=-778.3212, 切向力Y=-2909.0452 +FPS=38.04, 法向力=1722.4097, 切向力X=-748.4080, 切向力Y=-2829.2959 +FPS=46.02, 法向力=2162.3489, 切向力X=-1179.7054, 切向力Y=-2299.5605 +FPS=39.81, 法向力=2138.7500, 切向力X=-1369.4915, 切向力Y=-2284.0671 +FPS=47.68, 法向力=1863.5283, 切向力X=-1022.3242, 切向力Y=-3430.8164 +FPS=37.10, 法向力=2030.6646, 切向力X=-925.4662, 切向力Y=-3702.8513 +FPS=44.44, 法向力=1577.4136, 切向力X=-889.8101, 切向力Y=-3856.9421 +FPS=33.26, 法向力=1713.1377, 切向力X=-610.4437, 切向力Y=-3777.2749 +FPS=31.97, 法向力=1341.2441, 切向力X=-732.6592, 切向力Y=-2025.9963 +FPS=30.45, 法向力=1255.2639, 切向力X=-151.7506, 切向力Y=-4015.5444 +FPS=38.08, 法向力=1315.1180, 切向力X=41.2032, 切向力Y=-4266.0654 +FPS=62.75, 法向力=1263.3668, 切向力X=-61.8147, 切向力Y=-4003.9922 +FPS=50.50, 法向力=1686.5947, 切向力X=-341.8788, 切向力Y=-5579.0625 +FPS=36.92, 法向力=1776.6116, 切向力X=-377.3107, 切向力Y=-5772.7012 +FPS=45.28, 法向力=1366.4520, 切向力X=-1268.1277, 切向力Y=-4629.5664 +FPS=39.66, 法向力=1343.3578, 切向力X=-1141.9575, 切向力Y=-4569.7568 +FPS=62.32, 法向力=1339.3585, 切向力X=-1103.6647, 切向力Y=-4581.8223 +FPS=51.81, 法向力=2060.4360, 切向力X=-818.0455, 切向力Y=-1964.8823 +FPS=35.55, 法向力=2013.2887, 切向力X=-781.4056, 切向力Y=-1923.5718 +FPS=46.43, 法向力=1967.5881, 切向力X=-1050.1265, 切向力Y=-2010.3069 +FPS=39.73, 法向力=1945.9274, 切向力X=-1063.8467, 切向力Y=-2371.0583 +FPS=27.32, 法向力=7080.0093, 切向力X=-1031.3273, 切向力Y=8733.9268 +FPS=38.82, 法向力=4129.9414, 切向力X=-669.2350, 切向力Y=19928.5391 +FPS=27.05, 法向力=4222.7886, 切向力X=-605.3621, 切向力Y=19846.0000 +FPS=38.69, 法向力=4743.8115, 切向力X=-1947.1320, 切向力Y=-5856.4629 +FPS=47.28, 法向力=4625.0156, 切向力X=-1642.9524, 切向力Y=-5977.3623 +FPS=61.80, 法向力=4554.9570, 切向力X=-1605.9775, 切向力Y=-6194.2197 +FPS=33.69, 法向力=3885.6660, 切向力X=138.0790, 切向力Y=-16901.3164 +FPS=61.82, 法向力=3838.4084, 切向力X=63.4134, 切向力Y=-17124.0879 +FPS=31.77, 法向力=3958.9097, 切向力X=1522.9661, 切向力Y=-14887.4668 +FPS=39.41, 法向力=4068.4495, 切向力X=1797.3333, 切向力Y=-6769.4097 +FPS=27.57, 法向力=3983.1973, 切向力X=1765.4780, 切向力Y=-6284.7104 +FPS=38.00, 法向力=2635.3604, 切向力X=-393.9028, 切向力Y=-2619.4512 +FPS=27.45, 法向力=4761.3325, 切向力X=-691.5219, 切向力Y=-1618.3394 +FPS=37.86, 法向力=4796.6255, 切向力X=-705.5934, 切向力Y=-1562.4731 +FPS=44.47, 法向力=3071.1692, 切向力X=782.0015, 切向力Y=593.2935 +FPS=39.85, 法向力=2979.3948, 切向力X=876.4553, 切向力Y=657.0692 +FPS=45.91, 法向力=2855.4177, 切向力X=1081.1003, 切向力Y=252.5111 +FPS=33.23, 法向力=2893.1929, 切向力X=1249.3182, 切向力Y=244.7655 +FPS=37.05, 法向力=3315.6245, 切向力X=641.0189, 切向力Y=2548.2014 +FPS=27.61, 法向力=3314.2466, 切向力X=792.1638, 切向力Y=2297.7710 +FPS=37.46, 法向力=2599.2231, 切向力X=2174.0264, 切向力Y=-7694.1011 +FPS=44.48, 法向力=2660.1597, 切向力X=2189.2788, 切向力Y=-7941.7759 +FPS=39.99, 法向力=2342.2078, 切向力X=3481.2363, 切向力Y=-14959.7998 +FPS=63.28, 法向力=2365.8569, 切向力X=3534.4463, 切向力Y=-15077.7158 +FPS=46.83, 法向力=2675.5645, 切向力X=2774.5513, 切向力Y=-3828.9451 +FPS=32.62, 法向力=2491.9902, 切向力X=2946.7937, 切向力Y=-3476.9600 +FPS=31.70, 法向力=1778.2224, 切向力X=3484.9712, 切向力Y=-2045.2612 +FPS=31.84, 法向力=2033.8568, 切向力X=-142.4914, 切向力Y=-2777.2664 +FPS=31.78, 法向力=2017.4963, 切向力X=-223.6663, 切向力Y=-2904.2803 +FPS=58.42, 法向力=2614.5364, 切向力X=-2299.5317, 切向力Y=-3570.7910 +FPS=52.26, 法向力=2721.0898, 切向力X=-2408.6667, 切向力Y=-3642.4551 +FPS=44.16, 法向力=2692.1067, 切向力X=-2446.6707, 切向力Y=-3623.7275 +FPS=52.99, 法向力=2970.1572, 切向力X=-3085.9824, 切向力Y=-4450.5757 +FPS=36.11, 法向力=3060.1079, 切向力X=-3131.2214, 切向力Y=-4267.8721 +FPS=50.93, 法向力=3069.0132, 切向力X=-3120.9207, 切向力Y=-4320.9072 +FPS=65.68, 法向力=2847.2847, 切向力X=-2886.6963, 切向力Y=-3310.4548 +FPS=54.53, 法向力=2882.2952, 切向力X=-3093.3225, 切向力Y=-3273.1587 +FPS=63.56, 法向力=2871.0957, 切向力X=-3049.1221, 切向力Y=-3246.1143 +FPS=32.78, 法向力=2620.2197, 切向力X=-2421.3755, 切向力Y=-951.4009 +FPS=59.57, 法向力=2678.2490, 切向力X=-2419.0962, 切向力Y=-1032.3552 +FPS=50.49, 法向力=2897.9160, 切向力X=-3559.2441, 切向力Y=-1887.7394 +FPS=44.84, 法向力=2843.9250, 切向力X=-3604.7222, 切向力Y=-2024.0068 +FPS=49.33, 法向力=3016.7524, 切向力X=-3608.8540, 切向力Y=-813.0868 +FPS=32.25, 法向力=3027.1458, 切向力X=-3709.1541, 切向力Y=-186.0370 +FPS=31.73, 法向力=2350.1440, 切向力X=-3621.5356, 切向力Y=705.1328 +FPS=32.61, 法向力=2370.3000, 切向力X=-1540.8965, 切向力Y=-506.3621 +FPS=31.39, 法向力=2454.9819, 切向力X=-1338.2993, 切向力Y=-535.9441 +FPS=39.22, 法向力=1721.1913, 切向力X=-1211.5951, 切向力Y=526.5115 +FPS=27.11, 法向力=1855.1099, 切向力X=-1039.1809, 切向力Y=1887.0446 +FPS=32.64, 法向力=1831.8646, 切向力X=-1063.5422, 切向力Y=1905.3899 +FPS=31.22, 法向力=1396.0151, 切向力X=-679.4371, 切向力Y=1859.2563 +FPS=32.45, 法向力=1419.3157, 切向力X=-750.0372, 切向力Y=1868.3040 +FPS=32.22, 法向力=1588.0828, 切向力X=-1363.1138, 切向力Y=235.3798 +FPS=31.46, 法向力=1863.5565, 切向力X=-877.7722, 切向力Y=42.1101 +FPS=37.82, 法向力=1868.9509, 切向力X=-730.9640, 切向力Y=-54.4142 +FPS=51.36, 法向力=1870.7972, 切向力X=-996.3793, 切向力Y=126.9036 +FPS=30.74, 法向力=1889.5261, 切向力X=-985.7477, 切向力Y=161.0014 +FPS=63.34, 法向力=2025.0878, 切向力X=-887.6222, 切向力Y=940.9625 +FPS=54.52, 法向力=2042.2288, 切向力X=-864.5163, 切向力Y=1113.5437 +FPS=40.16, 法向力=2052.2197, 切向力X=-867.9912, 切向力Y=1168.0571 +FPS=54.27, 法向力=1760.3611, 切向力X=-833.9050, 切向力Y=546.8279 +FPS=29.28, 法向力=1872.6794, 切向力X=-694.4646, 切向力Y=59.6603 +FPS=32.74, 法向力=1887.6880, 切向力X=-699.8826, 切向力Y=270.0001 +FPS=36.89, 法向力=1916.6355, 切向力X=-734.9922, 切向力Y=238.9278 +FPS=52.04, 法向力=1761.5977, 切向力X=-1058.9912, 切向力Y=833.2390 +FPS=30.89, 法向力=1806.4445, 切向力X=-1145.9325, 切向力Y=828.1855 +FPS=31.57, 法向力=1308.6665, 切向力X=-1323.4854, 切向力Y=1409.4282 +FPS=54.66, 法向力=1866.3805, 切向力X=-1002.8280, 切向力Y=737.6461 +FPS=52.23, 法向力=1927.6356, 切向力X=-1023.9306, 切向力Y=717.9600 +FPS=49.34, 法向力=1924.7798, 切向力X=-1045.9634, 切向力Y=714.4504 +FPS=62.62, 法向力=1847.8000, 切向力X=-1532.5420, 切向力Y=1789.4465 +FPS=54.09, 法向力=1884.4564, 切向力X=-1607.4952, 切向力Y=1800.9407 +FPS=62.32, 法向力=1882.4027, 切向力X=-1607.2804, 切向力Y=1806.6968 +FPS=52.62, 法向力=1464.3706, 切向力X=-1064.7495, 切向力Y=275.1847 +FPS=32.97, 法向力=1499.8269, 切向力X=-1058.8098, 切向力Y=119.5557 +FPS=33.82, 法向力=2945.1089, 切向力X=-692.2576, 切向力Y=1572.0266 +FPS=31.41, 法向力=2209.2241, 切向力X=-299.4206, 切向力Y=1747.1624 +FPS=30.99, 法向力=2167.4595, 切向力X=-251.2499, 切向力Y=1535.8164 +FPS=53.60, 法向力=2194.5691, 切向力X=-220.8937, 切向力Y=1500.1741 +FPS=46.87, 法向力=2114.2764, 切向力X=-221.3810, 切向力Y=479.6678 +FPS=54.15, 法向力=2183.2129, 切向力X=-43.3012, 切向力Y=287.5561 +FPS=47.78, 法向力=2073.5576, 切向力X=10.7439, 切向力Y=1162.3174 +FPS=38.21, 法向力=1919.6082, 切向力X=-125.3367, 切向力Y=1671.3115 +FPS=45.83, 法向力=1957.1238, 切向力X=-1259.2644, 切向力Y=2077.6719 +FPS=32.72, 法向力=2002.1084, 切向力X=-1370.6099, 切向力Y=2154.6096 +FPS=31.91, 法向力=1609.6549, 切向力X=-428.0704, 切向力Y=1087.4009 +FPS=31.13, 法向力=1616.8453, 切向力X=-242.6630, 切向力Y=1109.4988 +FPS=37.25, 法向力=1556.7625, 切向力X=-237.5414, 切向力Y=1214.2279 +FPS=48.21, 法向力=1444.8567, 切向力X=-87.4610, 切向力Y=844.4142 +FPS=38.92, 法向力=1383.0707, 切向力X=-94.2632, 切向力Y=308.5971 +FPS=27.23, 法向力=1118.7134, 切向力X=715.8816, 切向力Y=1940.2445 +FPS=37.85, 法向力=1142.0615, 切向力X=835.8290, 切向力Y=2040.8577 +FPS=27.35, 法向力=1535.5718, 切向力X=476.5719, 切向力Y=2829.0603 +FPS=38.51, 法向力=1570.2422, 切向力X=449.2157, 切向力Y=2837.1404 +FPS=26.18, 法向力=2530.6311, 切向力X=350.4349, 切向力Y=3302.0972 +FPS=39.98, 法向力=3511.2532, 切向力X=911.8563, 切向力Y=3353.0330 +FPS=48.90, 法向力=3529.5635, 切向力X=861.1385, 切向力Y=3475.8408 +FPS=38.00, 法向力=3713.9883, 切向力X=793.9969, 切向力Y=2529.1245 +FPS=27.19, 法向力=4513.8271, 切向力X=3135.3127, 切向力Y=4365.5645 +FPS=38.81, 法向力=4576.0220, 切向力X=3341.3188, 切向力Y=4686.2026 +FPS=45.78, 法向力=4562.9609, 切向力X=3385.3691, 切向力Y=4670.7959 +FPS=40.61, 法向力=6183.0542, 切向力X=3025.8708, 切向力Y=5532.0669 +FPS=27.05, 法向力=7129.4268, 切向力X=3131.9268, 切向力Y=5785.6260 +FPS=39.57, 法向力=7164.2305, 切向力X=3130.2283, 切向力Y=6099.2812 +FPS=43.13, 法向力=7220.4336, 切向力X=4414.4307, 切向力Y=6576.7188 +FPS=41.45, 法向力=7202.4331, 切向力X=4563.5664, 切向力Y=6764.0566 +FPS=27.20, 法向力=8185.3340, 切向力X=4049.5806, 切向力Y=4361.0405 +FPS=38.87, 法向力=8180.8062, 切向力X=4074.8887, 切向力Y=4138.1787 +FPS=45.20, 法向力=7903.4648, 切向力X=4033.2354, 切向力Y=2826.6553 +FPS=40.31, 法向力=7858.3281, 切向力X=3994.5337, 切向力Y=3217.2583 +FPS=27.50, 法向力=8728.5879, 切向力X=4738.9609, 切向力Y=5446.2705 +FPS=38.22, 法向力=9893.3740, 切向力X=5498.5869, 切向力Y=3231.6982 +FPS=39.97, 法向力=9990.4160, 切向力X=5427.1235, 切向力Y=3241.1836 +FPS=50.37, 法向力=10008.9766, 切向力X=5397.3818, 切向力Y=3312.9277 +FPS=51.87, 法向力=12062.9062, 切向力X=6385.8599, 切向力Y=2654.1650 +FPS=44.33, 法向力=12028.7549, 切向力X=6604.1064, 切向力Y=2951.3855 +FPS=42.06, 法向力=12974.4180, 切向力X=6914.4282, 切向力Y=3252.8423 +FPS=43.70, 法向力=12943.6992, 切向力X=7042.8594, 切向力Y=3198.3647 +FPS=41.72, 法向力=11043.6416, 切向力X=5447.6943, 切向力Y=3717.6431 +FPS=27.14, 法向力=10914.7461, 切向力X=5345.1582, 切向力Y=3623.9087 +FPS=39.66, 法向力=8401.7256, 切向力X=4822.7627, 切向力Y=4476.9141 +FPS=27.68, 法向力=5741.7944, 切向力X=2486.2512, 切向力Y=4237.8691 +FPS=38.15, 法向力=5779.9482, 切向力X=2484.9878, 切向力Y=4320.4072 +FPS=46.28, 法向力=5208.5581, 切向力X=1153.1696, 切向力Y=5350.7051 +FPS=64.85, 法向力=5138.3301, 切向力X=1208.8433, 切向力Y=5300.7769 +FPS=30.70, 法向力=4500.7495, 切向力X=67.7813, 切向力Y=1252.4465 +FPS=38.98, 法向力=4419.6787, 切向力X=116.8000, 切向力Y=1301.3489 +FPS=46.19, 法向力=4406.1450, 切向力X=240.3658, 切向力Y=719.4248 +FPS=39.17, 法向力=4466.3838, 切向力X=257.9366, 切向力Y=1031.5505 +FPS=49.52, 法向力=4450.8560, 切向力X=268.9124, 切向力Y=1112.2439 +FPS=69.53, 法向力=2680.2822, 切向力X=68.4820, 切向力Y=1260.6761 +FPS=30.55, 法向力=2673.1206, 切向力X=82.8308, 切向力Y=893.8573 +FPS=31.42, 法向力=2622.4312, 切向力X=226.9963, 切向力Y=-511.2723 +FPS=60.90, 法向力=2629.6780, 切向力X=214.8111, 切向力Y=-704.8716 +FPS=51.20, 法向力=1819.1433, 切向力X=708.9573, 切向力Y=-255.0308 +FPS=45.99, 法向力=1889.1678, 切向力X=663.2290, 切向力Y=-44.0030 +FPS=44.92, 法向力=1915.8346, 切向力X=629.8679, 切向力Y=-3.2034 +FPS=32.36, 法向力=2329.3535, 切向力X=156.0951, 切向力Y=333.5392 +FPS=62.08, 法向力=2361.4397, 切向力X=230.9870, 切向力Y=213.4583 +FPS=46.95, 法向力=1912.6360, 切向力X=613.9808, 切向力Y=1603.7180 +FPS=49.85, 法向力=1821.4946, 切向力X=626.2584, 切向力Y=2005.4730 +FPS=52.73, 法向力=2050.0315, 切向力X=833.6951, 切向力Y=497.0054 +FPS=35.30, 法向力=1925.4868, 切向力X=848.0873, 切向力Y=-157.3085 +FPS=46.90, 法向力=2656.9299, 切向力X=1770.3368, 切向力Y=1927.3232 +FPS=38.23, 法向力=2592.2153, 切向力X=1916.2590, 切向力Y=2160.6270 +FPS=45.78, 法向力=3683.4473, 切向力X=683.3804, 切向力Y=2719.7109 +FPS=32.60, 法向力=3816.8618, 切向力X=545.2664, 切向力Y=2718.0525 +FPS=31.92, 法向力=3510.5635, 切向力X=888.0810, 切向力Y=3187.9785 +FPS=50.72, 法向力=3310.0532, 切向力X=1047.7588, 切向力Y=3014.2710 +FPS=50.69, 法向力=3532.5693, 切向力X=2232.1846, 切向力Y=4329.2432 +FPS=56.29, 法向力=3479.3462, 切向力X=2303.4668, 切向力Y=4371.6499 +FPS=55.17, 法向力=3474.3748, 切向力X=2417.8423, 切向力Y=4139.5811 +FPS=34.65, 法向力=3701.4902, 切向力X=2194.8845, 切向力Y=8267.3613 +FPS=50.11, 法向力=3672.4702, 切向力X=2126.2505, 切向力Y=8705.1680 +FPS=63.83, 法向力=4612.5742, 切向力X=3263.5825, 切向力Y=10615.3027 +FPS=52.53, 法向力=4623.8188, 切向力X=3289.4458, 切向力Y=10724.9355 +FPS=41.98, 法向力=4654.0356, 切向力X=3347.8867, 切向力Y=10560.2012 +FPS=27.59, 法向力=5681.9160, 切向力X=4188.2788, 切向力Y=13796.0059 +FPS=31.39, 法向力=8181.3389, 切向力X=5140.0244, 切向力Y=14109.1543 +FPS=32.69, 法向力=9425.6660, 切向力X=6254.7705, 切向力Y=8265.3789 +FPS=32.28, 法向力=9349.5332, 切向力X=6340.4849, 切向力Y=8053.3555 +FPS=62.53, 法向力=10288.3652, 切向力X=6881.8223, 切向力Y=2111.8433 +FPS=53.66, 法向力=10340.9453, 切向力X=6977.6982, 切向力Y=1471.7728 +FPS=33.16, 法向力=9466.9248, 切向力X=6863.8096, 切向力Y=-1002.7607 +FPS=39.01, 法向力=9628.2129, 切向力X=6908.6172, 切向力Y=-835.4446 +FPS=50.19, 法向力=9603.2852, 切向力X=6783.6309, 切向力Y=-911.5596 +FPS=35.39, 法向力=10146.9053, 切向力X=6535.9521, 切向力Y=-1245.5808 +FPS=49.85, 法向力=10156.9932, 切向力X=6580.3149, 切向力Y=-1255.1299 +FPS=59.65, 法向力=10202.0430, 切向力X=6619.6768, 切向力Y=-1033.1550 +FPS=52.31, 法向力=9250.8770, 切向力X=6366.9102, 切向力Y=-1627.9106 +FPS=34.73, 法向力=9211.2344, 切向力X=6408.0981, 切向力Y=-1427.1855 +FPS=32.01, 法向力=9080.7168, 切向力X=6971.0244, 切向力Y=-813.9135 +FPS=58.27, 法向力=9445.3525, 切向力X=6526.8613, 切向力Y=2132.2932 +FPS=51.88, 法向力=9426.8398, 切向力X=6562.0054, 切向力Y=2675.2515 +FPS=65.38, 法向力=9470.7500, 切向力X=6621.6338, 切向力Y=2615.7490 +FPS=46.57, 法向力=8636.9893, 切向力X=5763.7734, 切向力Y=5913.8667 +FPS=49.98, 法向力=8353.6533, 切向力X=5660.3477, 切向力Y=6835.4072 +FPS=62.61, 法向力=8361.0635, 切向力X=5651.2935, 切向力Y=6865.1719 +FPS=51.94, 法向力=7053.8516, 切向力X=4109.5024, 切向力Y=6145.8291 +FPS=33.90, 法向力=6986.1812, 切向力X=3978.3291, 切向力Y=6082.9082 +FPS=31.79, 法向力=8015.1699, 切向力X=2854.7427, 切向力Y=7328.3057 +FPS=58.81, 法向力=7953.0532, 切向力X=2741.9302, 切向力Y=7095.3203 +FPS=51.77, 法向力=7046.3301, 切向力X=2858.8408, 切向力Y=11268.6367 +FPS=44.29, 法向力=7030.2217, 切向力X=2856.6152, 切向力Y=11612.4316 +FPS=66.12, 法向力=6959.3896, 切向力X=2854.8750, 切向力Y=11652.8682 +FPS=52.07, 法向力=6413.3242, 切向力X=2351.6199, 切向力Y=13866.8770 +FPS=29.06, 法向力=6512.0303, 切向力X=2254.6450, 切向力Y=13982.7646 +FPS=38.59, 法向力=7101.9355, 切向力X=2843.7336, 切向力Y=13953.4941 +FPS=27.47, 法向力=6698.6265, 切向力X=3907.9819, 切向力Y=14787.3145 +FPS=38.23, 法向力=6669.3242, 切向力X=3936.1938, 切向力Y=14781.5020 +FPS=45.45, 法向力=8472.5723, 切向力X=3846.1184, 切向力Y=15043.2344 +FPS=39.60, 法向力=8452.9951, 切向力X=3852.6184, 切向力Y=14765.8047 +FPS=44.92, 法向力=8204.9727, 切向力X=2910.4790, 切向力Y=15221.6143 +FPS=39.72, 法向力=8191.9502, 切向力X=2839.1118, 切向力Y=15289.7461 +FPS=44.64, 法向力=8450.5518, 切向力X=3838.8235, 切向力Y=14372.8428 +FPS=66.99, 法向力=8449.0205, 切向力X=3632.7417, 切向力Y=14655.8643 +FPS=32.48, 法向力=8258.7656, 切向力X=4706.7021, 切向力Y=12812.0752 +FPS=37.88, 法向力=8295.8203, 切向力X=4713.3096, 切向力Y=12766.3730 +FPS=45.23, 法向力=8319.4121, 切向力X=4711.1411, 切向力Y=12745.0479 +FPS=43.17, 法向力=8259.1406, 切向力X=4008.4194, 切向力Y=12320.9033 +FPS=27.38, 法向力=8627.8379, 切向力X=3747.2822, 切向力Y=11933.4453 +FPS=38.19, 法向力=8788.4941, 切向力X=3644.2808, 切向力Y=12422.4346 +FPS=44.53, 法向力=7785.9141, 切向力X=3542.3567, 切向力Y=9895.4727 +FPS=40.13, 法向力=7822.9688, 切向力X=3441.5696, 切向力Y=10210.4287 +FPS=45.74, 法向力=6818.6587, 切向力X=3860.8630, 切向力Y=9612.9551 +FPS=38.94, 法向力=6977.3496, 切向力X=3691.9893, 切向力Y=9535.4961 +FPS=48.97, 法向力=5665.5088, 切向力X=4313.8369, 切向力Y=7075.9771 +FPS=40.17, 法向力=5627.6016, 切向力X=4524.3892, 切向力Y=6722.5918 +FPS=43.36, 法向力=5661.2896, 切向力X=4504.4873, 切向力Y=6721.4541 +FPS=40.04, 法向力=5642.9258, 切向力X=4419.0488, 切向力Y=5126.1436 +FPS=46.86, 法向力=5673.5859, 切向力X=4378.5547, 切向力Y=5164.5859 +FPS=38.02, 法向力=5164.8970, 切向力X=4904.5840, 切向力Y=4197.1260 +FPS=47.96, 法向力=5346.8994, 切向力X=4734.5542, 切向力Y=4686.1094 +FPS=67.39, 法向力=4825.2461, 切向力X=4286.6279, 切向力Y=3420.3984 +FPS=31.48, 法向力=4781.9102, 切向力X=4409.2656, 切向力Y=3385.5396 +FPS=62.32, 法向力=4796.2944, 切向力X=4467.1699, 切向力Y=3349.3098 +FPS=39.01, 法向力=4406.5391, 切向力X=4701.5928, 切向力Y=3225.6826 +FPS=44.62, 法向力=4349.8784, 切向力X=4885.5986, 切向力Y=3270.8140 +FPS=42.65, 法向力=4532.3613, 切向力X=5815.2852, 切向力Y=2800.7729 +FPS=26.96, 法向力=4535.5317, 切向力X=4722.5674, 切向力Y=4512.1396 +FPS=40.54, 法向力=4605.3418, 切向力X=4495.8389, 切向力Y=4286.0254 +FPS=46.64, 法向力=5131.5811, 切向力X=3973.4956, 切向力Y=4306.6831 +FPS=40.01, 法向力=5121.2539, 切向力X=3853.3398, 切向力Y=4447.1992 +FPS=26.99, 法向力=3468.9468, 切向力X=3638.5042, 切向力Y=2791.0593 +FPS=36.01, 法向力=3525.0146, 切向力X=3494.1233, 切向力Y=2676.3081 +FPS=43.72, 法向力=2818.9458, 切向力X=3475.0264, 切向力Y=4113.7744 +FPS=51.60, 法向力=2947.6270, 切向力X=3521.8474, 切向力Y=4103.9492 +FPS=47.29, 法向力=3046.3098, 切向力X=2341.5530, 切向力Y=2275.2866 +FPS=44.99, 法向力=2957.3335, 切向力X=2256.7556, 切向力Y=1726.2581 +FPS=62.62, 法向力=2913.2341, 切向力X=2274.1292, 切向力Y=1685.6145 +FPS=41.09, 法向力=2560.6228, 切向力X=2181.2058, 切向力Y=3409.2627 +FPS=50.63, 法向力=2649.9341, 切向力X=2123.4727, 切向力Y=3469.4656 +FPS=63.07, 法向力=2250.7017, 切向力X=2091.9624, 切向力Y=1634.5677 +FPS=50.67, 法向力=2232.7646, 切向力X=2062.5576, 切向力Y=1670.0745 +FPS=41.70, 法向力=2225.0720, 切向力X=2082.7568, 切向力Y=1699.9004 +FPS=27.95, 法向力=2223.6201, 切向力X=2046.6621, 切向力Y=1679.6970 +FPS=37.97, 法向力=3848.9624, 切向力X=4192.7129, 切向力Y=-478.8036 +FPS=44.41, 法向力=3835.7568, 切向力X=4287.6309, 切向力Y=-490.2617 +FPS=39.69, 法向力=3881.7415, 切向力X=4596.2754, 切向力Y=429.8954 +FPS=52.69, 法向力=3952.7886, 切向力X=4656.2539, 切向力Y=323.6443 +FPS=64.23, 法向力=3962.0557, 切向力X=4697.8057, 切向力Y=302.0207 +FPS=44.08, 法向力=4611.5156, 切向力X=5179.0518, 切向力Y=4412.8125 +FPS=38.06, 法向力=4654.2671, 切向力X=5158.7998, 切向力Y=4193.2227 +FPS=31.22, 法向力=5979.4346, 切向力X=4635.4243, 切向力Y=1203.3538 +FPS=32.18, 法向力=6329.8555, 切向力X=6381.1797, 切向力Y=-1648.1221 +FPS=30.31, 法向力=6324.1357, 切向力X=6455.7861, 切向力Y=-1731.9503 +FPS=53.02, 法向力=6401.9668, 切向力X=6781.0127, 切向力Y=-961.7648 +FPS=45.13, 法向力=6452.2710, 切向力X=6727.5000, 切向力Y=-898.0405 +FPS=58.21, 法向力=6491.4990, 切向力X=6763.6514, 切向力Y=-884.9359 +FPS=48.86, 法向力=6364.6123, 切向力X=6627.6504, 切向力Y=85.3362 +FPS=38.96, 法向力=6443.4673, 切向力X=6684.3232, 切向力Y=85.8308 +FPS=47.37, 法向力=6413.0625, 切向力X=6755.0723, 切向力Y=81.1667 +FPS=31.90, 法向力=6458.3682, 切向力X=6723.7153, 切向力Y=45.9070 +FPS=38.11, 法向力=8362.2148, 切向力X=6655.9941, 切向力Y=3911.6824 +FPS=51.77, 法向力=8420.5742, 切向力X=6981.4619, 切向力Y=4043.3750 +FPS=31.17, 法向力=8149.8066, 切向力X=6035.4321, 切向力Y=6628.1836 +FPS=61.39, 法向力=8243.2305, 切向力X=5911.3066, 切向力Y=6743.0947 +FPS=52.24, 法向力=7031.5117, 切向力X=5864.1167, 切向力Y=3364.6030 +FPS=45.00, 法向力=7085.0439, 切向力X=6021.8882, 切向力Y=3093.9136 +FPS=26.96, 法向力=5772.1143, 切向力X=5063.8711, 切向力Y=2848.2368 +FPS=39.26, 法向力=5810.8911, 切向力X=5012.5547, 切向力Y=2790.9431 +FPS=45.44, 法向力=4889.2139, 切向力X=5257.0723, 切向力Y=325.6328 +FPS=33.24, 法向力=4869.8799, 切向力X=5131.4595, 切向力Y=289.7524 +FPS=63.04, 法向力=5118.0039, 切向力X=5034.2451, 切向力Y=-4745.5957 +FPS=51.42, 法向力=5042.6348, 切向力X=4997.4600, 切向力Y=-4693.4238 +FPS=61.38, 法向力=5083.4658, 切向力X=4918.8760, 切向力Y=-4731.6055 +FPS=52.18, 法向力=4035.9402, 切向力X=5009.6694, 切向力Y=-9179.6387 +FPS=54.25, 法向力=4124.4775, 切向力X=5053.0371, 切向力Y=-9154.8457 +FPS=65.34, 法向力=4153.2646, 切向力X=5076.7607, 切向力Y=-8980.0488 +FPS=47.12, 法向力=4188.7510, 切向力X=5060.6064, 切向力Y=-9043.0322 +FPS=37.68, 法向力=4164.1543, 切向力X=5065.9180, 切向力Y=-9051.4697 +FPS=28.40, 法向力=3230.1948, 切向力X=5205.8262, 切向力Y=-11950.5078 +FPS=32.06, 法向力=3082.1912, 切向力X=3831.8604, 切向力Y=-3343.8586 +FPS=32.58, 法向力=2393.2712, 切向力X=1877.9299, 切向力Y=1160.1787 +FPS=32.67, 法向力=2547.3442, 切向力X=1727.7227, 切向力Y=1485.0999 +FPS=31.93, 法向力=2529.5552, 切向力X=1751.1759, 切向力Y=1455.1051 +FPS=31.73, 法向力=3110.9536, 切向力X=1748.8173, 切向力Y=975.7441 +FPS=59.03, 法向力=3122.9417, 切向力X=1675.9426, 切向力Y=965.9720 +FPS=50.81, 法向力=2803.4919, 切向力X=1697.0149, 切向力Y=1824.4541 +FPS=36.56, 法向力=2800.9236, 切向力X=1906.0311, 切向力Y=1936.7507 +FPS=31.75, 法向力=3277.7866, 切向力X=2229.4199, 切向力Y=2887.3369 +FPS=61.76, 法向力=3312.2078, 切向力X=2316.2576, 切向力Y=3153.8403 +FPS=53.08, 法向力=3151.1460, 切向力X=3920.3423, 切向力Y=3905.0864 +FPS=36.10, 法向力=3090.4165, 切向力X=4096.5664, 切向力Y=3654.2607 +FPS=31.22, 法向力=3058.3552, 切向力X=4168.8701, 切向力Y=3681.1650 +FPS=60.38, 法向力=3016.6465, 切向力X=4185.8945, 切向力Y=3757.1685 +FPS=53.26, 法向力=5534.5576, 切向力X=6202.6128, 切向力Y=3596.2800 +FPS=36.51, 法向力=5680.7388, 切向力X=6221.8472, 切向力Y=3534.8569 +FPS=31.27, 法向力=6127.5947, 切向力X=8206.2441, 切向力Y=4730.2480 +FPS=64.30, 法向力=6241.5986, 切向力X=8520.4619, 切向力Y=4974.1807 +FPS=51.37, 法向力=7309.3169, 切向力X=8522.1445, 切向力Y=3867.0300 +FPS=41.81, 法向力=7380.5483, 切向力X=8320.3633, 切向力Y=3692.9512 +FPS=50.33, 法向力=7407.0708, 切向力X=8292.1133, 切向力Y=3776.0803 +FPS=31.44, 法向力=8881.7061, 切向力X=8709.4375, 切向力Y=3528.0134 +FPS=53.86, 法向力=8990.5586, 切向力X=8568.0811, 切向力Y=3248.5024 +FPS=46.37, 法向力=10141.2422, 切向力X=9503.4307, 切向力Y=1591.8143 +FPS=65.28, 法向力=10121.1504, 切向力X=9649.5254, 切向力Y=1355.8450 +FPS=26.38, 法向力=9702.1094, 切向力X=9084.3320, 切向力Y=-1806.7217 +FPS=39.65, 法向力=7879.8765, 切向力X=8543.8984, 切向力Y=-3660.8979 +FPS=49.87, 法向力=7730.2461, 切向力X=8432.5293, 切向力Y=-4048.3423 +FPS=36.13, 法向力=7698.2188, 切向力X=8444.8574, 切向力Y=-4130.3296 +FPS=49.95, 法向力=7692.6162, 切向力X=8501.7334, 切向力Y=-4161.2876 +FPS=30.81, 法向力=4857.2334, 切向力X=5876.9658, 切向力Y=-5320.6074 +FPS=32.02, 法向力=4831.0020, 切向力X=5713.4092, 切向力Y=-5579.4614 +FPS=36.84, 法向力=3829.8413, 切向力X=5290.1602, 切向力Y=-4544.4385 +FPS=45.52, 法向力=3828.9858, 切向力X=5234.5537, 切向力Y=-4522.5703 +FPS=38.53, 法向力=3749.5693, 切向力X=5298.4556, 切向力Y=-4416.2344 +FPS=44.87, 法向力=2968.7717, 切向力X=4306.2354, 切向力Y=-5567.5073 +FPS=39.67, 法向力=3138.7688, 切向力X=4109.6777, 切向力Y=-5521.4795 +FPS=46.75, 法向力=2593.0664, 切向力X=2928.5815, 切向力Y=-1618.0042 +FPS=38.01, 法向力=2680.9829, 切向力X=2801.2383, 切向力Y=-1645.4513 +FPS=52.12, 法向力=1641.2350, 切向力X=1863.2787, 切向力Y=-69.3900 +FPS=30.25, 法向力=1989.3933, 切向力X=2226.0654, 切向力Y=-421.0561 +FPS=61.22, 法向力=2032.8542, 切向力X=2248.5032, 切向力Y=-332.9554 +FPS=32.13, 法向力=1743.6003, 切向力X=1571.9670, 切向力Y=-516.0588 +FPS=61.91, 法向力=1651.9138, 切向力X=1586.3860, 切向力Y=-312.7487 +FPS=32.75, 法向力=1658.7587, 切向力X=1635.6074, 切向力Y=-337.4924 +FPS=32.11, 法向力=1677.4070, 切向力X=1620.1367, 切向力Y=-324.0368 +FPS=57.96, 法向力=1873.9536, 切向力X=1415.2251, 切向力Y=-2182.4700 +FPS=40.58, 法向力=1936.6438, 切向力X=1424.3613, 切向力Y=-2225.0571 +FPS=50.62, 法向力=1961.1042, 切向力X=1453.3075, 切向力Y=-2220.1606 +FPS=62.38, 法向力=1969.7747, 切向力X=1462.4390, 切向力Y=-2174.8047 +FPS=52.94, 法向力=2256.6836, 切向力X=2116.1909, 切向力Y=-1780.9469 +FPS=40.92, 法向力=2390.5142, 切向力X=2137.5181, 切向力Y=-1634.7574 +FPS=63.34, 法向力=3451.2803, 切向力X=2884.3735, 切向力Y=1393.4456 +FPS=55.30, 法向力=3492.8818, 切向力X=3125.1455, 切向力Y=2084.2285 +FPS=60.81, 法向力=3477.0254, 切向力X=3079.6375, 切向力Y=2183.0378 +FPS=51.39, 法向力=2995.5203, 切向力X=2927.0210, 切向力Y=2115.9434 +FPS=40.81, 法向力=2958.8037, 切向力X=2969.6025, 切向力Y=2357.3330 +FPS=62.46, 法向力=4090.2886, 切向力X=3860.4966, 切向力Y=662.2628 +FPS=52.82, 法向力=4470.9170, 切向力X=3782.8018, 切向力Y=511.1719 +FPS=29.89, 法向力=3932.3982, 切向力X=5577.1738, 切向力Y=-2393.2798 +FPS=37.59, 法向力=3848.7192, 切向力X=5837.6992, 切向力Y=-2515.0225 +FPS=47.85, 法向力=6068.3506, 切向力X=5042.4600, 切向力Y=184.9786 +FPS=38.42, 法向力=6286.1787, 切向力X=4778.8516, 切向力Y=374.7579 +FPS=47.32, 法向力=6332.2646, 切向力X=4783.1367, 切向力Y=380.1117 +FPS=32.20, 法向力=6300.9629, 切向力X=4811.5615, 切向力Y=431.3628 +FPS=31.01, 法向力=8026.4341, 切向力X=5765.2432, 切向力Y=1339.6797 +FPS=31.68, 法向力=8021.6792, 切向力X=5770.6348, 切向力Y=1127.5220 +FPS=31.94, 法向力=7426.1880, 切向力X=6816.4819, 切向力Y=-311.6150 +FPS=31.09, 法向力=7529.9424, 切向力X=7023.4951, 切向力Y=945.4983 +FPS=39.77, 法向力=7468.6216, 切向力X=7044.6846, 切向力Y=1327.1438 +FPS=27.89, 法向力=7969.8853, 切向力X=6443.8218, 切向力Y=-181.8429 +FPS=30.78, 法向力=8585.5205, 切向力X=6245.0444, 切向力Y=1499.6104 +FPS=32.60, 法向力=8704.6436, 切向力X=6391.6172, 切向力Y=1983.6842 +FPS=31.68, 法向力=7896.9204, 切向力X=5388.5962, 切向力Y=3328.7185 +FPS=31.49, 法向力=4793.9858, 切向力X=4348.3438, 切向力Y=143.3832 +FPS=32.55, 法向力=4910.6406, 切向力X=4245.6958, 切向力Y=30.8659 +FPS=30.87, 法向力=4960.5928, 切向力X=4273.9531, 切向力Y=104.5041 +FPS=37.57, 法向力=4910.6416, 切向力X=4193.6582, 切向力Y=109.9911 +FPS=46.02, 法向力=2365.0403, 切向力X=2108.7937, 切向力Y=46.8372 +FPS=38.63, 法向力=2493.9763, 切向力X=2020.7576, 切向力Y=273.0819 +FPS=45.57, 法向力=2343.9458, 切向力X=2063.6687, 切向力Y=359.3940 +FPS=34.42, 法向力=2362.3572, 切向力X=2149.0562, 切向力Y=639.7584 +FPS=61.91, 法向力=1607.1056, 切向力X=1961.3538, 切向力Y=-285.4731 +FPS=51.50, 法向力=1493.6133, 切向力X=1954.7428, 切向力Y=-107.5059 +FPS=42.84, 法向力=1496.8260, 切向力X=1927.5776, 切向力Y=-98.0850 +FPS=49.84, 法向力=3109.4478, 切向力X=1004.0224, 切向力Y=617.2239 +FPS=38.96, 法向力=3248.4775, 切向力X=925.0759, 切向力Y=752.8149 +FPS=49.90, 法向力=1534.1108, 切向力X=1895.1807, 切向力Y=495.9702 +FPS=35.61, 法向力=1525.5386, 切向力X=1999.3575, 切向力Y=141.6804 +FPS=27.36, 法向力=1862.4902, 切向力X=1984.8054, 切向力Y=1940.8472 +FPS=60.65, 法向力=1916.4215, 切向力X=1980.7483, 切向力Y=1892.7952 +FPS=54.62, 法向力=1681.1091, 切向力X=806.1577, 切向力Y=-165.8013 +FPS=41.97, 法向力=1538.6730, 切向力X=839.8232, 切向力Y=-607.5175 +FPS=27.61, 法向力=1566.3224, 切向力X=810.9946, 切向力Y=-648.3577 +FPS=31.79, 法向力=1552.8726, 切向力X=803.0002, 切向力Y=-614.4449 +FPS=31.80, 法向力=1661.1404, 切向力X=1531.7854, 切向力Y=-787.9484 +FPS=63.77, 法向力=1700.9067, 切向力X=1674.3906, 切向力Y=-730.3067 +FPS=53.99, 法向力=2090.7646, 切向力X=1678.4028, 切向力Y=-59.6087 +FPS=35.74, 法向力=2122.3550, 切向力X=1575.4351, 切向力Y=140.3979 +FPS=32.18, 法向力=1661.8828, 切向力X=1989.0154, 切向力Y=1031.2131 +FPS=31.37, 法向力=1844.0991, 切向力X=1551.0254, 切向力Y=-1029.6667 +FPS=31.79, 法向力=1839.1898, 切向力X=1510.2417, 切向力Y=-1249.4834 +FPS=32.02, 法向力=1891.5825, 切向力X=1192.4353, 切向力Y=-1006.2875 +FPS=31.29, 法向力=1795.3730, 切向力X=1082.6185, 切向力Y=-1167.9814 +FPS=33.14, 法向力=1779.4055, 切向力X=1060.0391, 切向力Y=-947.5300 +FPS=30.86, 法向力=1531.1427, 切向力X=1328.8634, 切向力Y=660.4744 +FPS=37.75, 法向力=1570.0842, 切向力X=1312.8948, 切向力Y=898.8688 +FPS=50.42, 法向力=1596.3912, 切向力X=1281.0608, 切向力Y=882.8806 +FPS=31.30, 法向力=1579.8591, 切向力X=1249.4268, 切向力Y=946.0225 +FPS=60.69, 法向力=1694.6831, 切向力X=1477.5127, 切向力Y=-423.9414 +FPS=53.82, 法向力=1621.6890, 切向力X=1416.8430, 切向力Y=-595.1354 +FPS=40.84, 法向力=1623.2717, 切向力X=1392.2778, 切向力Y=-581.7240 +FPS=53.97, 法向力=1386.3915, 切向力X=1103.7439, 切向力Y=-773.7271 +FPS=30.26, 法向力=2016.9199, 切向力X=502.3985, 切向力Y=514.7547 +FPS=38.96, 法向力=2114.9202, 切向力X=311.0338, 切向力Y=586.3538 +FPS=47.99, 法向力=1649.8438, 切向力X=1359.3392, 切向力Y=-112.0292 +FPS=37.13, 法向力=1613.5520, 切向力X=1424.1440, 切向力Y=-52.2649 +FPS=46.54, 法向力=1411.1086, 切向力X=1136.2113, 切向力Y=-1456.6479 +FPS=32.44, 法向力=1392.9170, 切向力X=1024.4492, 切向力Y=-1540.4961 +FPS=31.77, 法向力=1708.4093, 切向力X=1132.3073, 切向力Y=-309.9871 +FPS=31.24, 法向力=1798.0237, 切向力X=1121.0786, 切向力Y=-400.8369 +FPS=57.46, 法向力=1651.6909, 切向力X=1200.6942, 切向力Y=426.0655 +FPS=32.88, 法向力=1635.2799, 切向力X=1240.4065, 切向力Y=425.4221 +FPS=58.61, 法向力=1532.6685, 切向力X=1119.6797, 切向力Y=-893.8759 +FPS=36.45, 法向力=1461.2201, 切向力X=1005.8545, 切向力Y=-1134.9799 +FPS=63.29, 法向力=1484.5127, 切向力X=1006.1708, 切向力Y=-1177.3003 +FPS=49.94, 法向力=1968.1992, 切向力X=489.1565, 切向力Y=-1693.5138 +FPS=46.54, 法向力=2012.1825, 切向力X=422.4940, 切向力Y=-1580.4336 +FPS=27.64, 法向力=1239.8735, 切向力X=798.2633, 切向力Y=-99.6215 +FPS=60.85, 法向力=1302.1199, 切向力X=829.0148, 切向力Y=69.9765 +FPS=49.46, 法向力=1881.3210, 切向力X=817.6780, 切向力Y=-67.3005 +FPS=50.92, 法向力=1976.6414, 切向力X=687.1930, 切向力Y=248.2117 +FPS=63.09, 法向力=1751.9091, 切向力X=395.5237, 切向力Y=-549.1531 +FPS=52.20, 法向力=1708.6370, 切向力X=347.0549, 切向力Y=-798.5747 +FPS=29.80, 法向力=1436.3212, 切向力X=1193.8906, 切向力Y=-845.4907 +FPS=31.26, 法向力=1499.8118, 切向力X=1371.5605, 切向力Y=-900.5502 +FPS=39.22, 法向力=1604.6522, 切向力X=1200.2959, 切向力Y=-1627.1731 +FPS=46.55, 法向力=1447.0107, 切向力X=1164.1633, 切向力Y=-1577.7349 +FPS=32.33, 法向力=1553.0314, 切向力X=992.6970, 切向力Y=-449.2154 +FPS=31.05, 法向力=1606.0808, 切向力X=853.4128, 切向力Y=-416.6526 +FPS=37.09, 法向力=1528.2954, 切向力X=876.5032, 切向力Y=-1105.2703 +FPS=49.45, 法向力=1528.1957, 切向力X=955.5007, 切向力Y=-1026.7728 +FPS=60.14, 法向力=1337.3657, 切向力X=1004.8774, 切向力Y=-142.4432 +FPS=31.80, 法向力=1281.5610, 切向力X=1071.2415, 切向力Y=-49.0383 +FPS=58.82, 法向力=1658.7354, 切向力X=1013.7162, 切向力Y=186.3513 +FPS=32.97, 法向力=1687.4015, 切向力X=1001.2441, 切向力Y=5.7801 +FPS=39.51, 法向力=1267.3572, 切向力X=1177.9514, 切向力Y=-225.8248 +FPS=50.11, 法向力=1297.5681, 切向力X=1213.4333, 切向力Y=-268.6223 +FPS=65.13, 法向力=1275.9764, 切向力X=426.8784, 切向力Y=275.1410 +FPS=53.98, 法向力=1320.9434, 切向力X=542.0568, 切向力Y=427.7532 +FPS=68.04, 法向力=1310.5546, 切向力X=550.5052, 切向力Y=490.6810 +FPS=34.49, 法向力=1552.8811, 切向力X=91.4154, 切向力Y=-80.9233 +FPS=31.48, 法向力=1565.4706, 切向力X=129.6083, 切向力Y=-148.1720 +FPS=58.19, 法向力=1591.7041, 切向力X=114.6316, 切向力Y=-138.3744 +FPS=53.82, 法向力=1653.4673, 切向力X=742.4474, 切向力Y=174.2268 +FPS=45.59, 法向力=1701.7926, 切向力X=680.2319, 切向力Y=341.0585 +FPS=62.80, 法向力=1746.2126, 切向力X=557.2858, 切向力Y=-826.6088 +FPS=55.05, 法向力=1708.1963, 切向力X=737.1954, 切向力Y=-1004.2197 +FPS=59.34, 法向力=1683.0785, 切向力X=696.6056, 切向力Y=-1220.2313 +FPS=53.46, 法向力=1838.9834, 切向力X=837.0569, 切向力Y=519.7155 +FPS=32.28, 法向力=1869.6815, 切向力X=671.2051, 切向力Y=845.0483 +FPS=38.56, 法向力=1264.4382, 切向力X=1169.6698, 切向力Y=1944.8245 +FPS=48.02, 法向力=1444.7812, 切向力X=1140.2195, 切向力Y=1800.7407 +FPS=37.53, 法向力=1616.6570, 切向力X=911.6497, 切向力Y=-843.2979 +FPS=27.64, 法向力=1627.8867, 切向力X=232.2237, 切向力Y=-1691.2310 +FPS=58.74, 法向力=1638.2161, 切向力X=136.3974, 切向力Y=-1505.5692 +FPS=59.03, 法向力=1682.7214, 切向力X=138.3152, 切向力Y=-1400.7800 +FPS=52.95, 法向力=2056.5471, 切向力X=412.0170, 切向力Y=634.8716 +FPS=46.96, 法向力=2306.9746, 切向力X=291.0856, 切向力Y=731.0413 +FPS=48.19, 法向力=2385.4856, 切向力X=267.5952, 切向力Y=852.8221 +FPS=38.74, 法向力=1595.5061, 切向力X=779.3005, 切向力Y=211.5673 +FPS=27.11, 法向力=1688.3359, 切向力X=518.1300, 切向力Y=-1230.0178 +FPS=38.20, 法向力=1655.4438, 切向力X=464.5286, 切向力Y=-1475.3945 +FPS=47.55, 法向力=1259.9192, 切向力X=853.1895, 切向力Y=-461.9005 +FPS=40.88, 法向力=1264.3252, 切向力X=837.1949, 切向力Y=-341.0457 +FPS=43.29, 法向力=1408.7351, 切向力X=296.7886, 切向力Y=-1281.4119 +FPS=40.79, 法向力=1379.4971, 切向力X=281.0574, 切向力Y=-1216.8972 +FPS=45.68, 法向力=1862.0469, 切向力X=740.6855, 切向力Y=-363.4011 +FPS=39.08, 法向力=1879.3428, 切向力X=761.5728, 切向力Y=-404.0831 +FPS=62.02, 法向力=1891.9573, 切向力X=740.7224, 切向力Y=-409.4472 +FPS=50.72, 法向力=1131.5533, 切向力X=1027.4509, 切向力Y=-239.1035 +FPS=37.08, 法向力=1104.4636, 切向力X=1034.4865, 切向力Y=-188.3374 +FPS=26.76, 法向力=1530.4122, 切向力X=524.5289, 切向力Y=-501.5191 +FPS=39.50, 法向力=1709.5854, 切向力X=793.6204, 切向力Y=1378.8907 +FPS=48.74, 法向力=1749.7356, 切向力X=633.7781, 切向力Y=1823.6589 +FPS=38.85, 法向力=1772.2999, 切向力X=589.7839, 切向力Y=1968.5045 +FPS=27.25, 法向力=2021.1512, 切向力X=534.3937, 切向力Y=-1208.1382 +FPS=38.64, 法向力=1790.4675, 切向力X=1086.0105, 切向力Y=-6652.2168 +FPS=27.01, 法向力=1780.4316, 切向力X=1073.8538, 切向力Y=-6826.4932 +FPS=58.67, 法向力=3560.2617, 切向力X=2484.0845, 切向力Y=-19791.8008 +FPS=32.13, 法向力=3445.6165, 切向力X=2508.3042, 切向力Y=-20030.0215 +FPS=61.74, 法向力=2901.2178, 切向力X=3543.7441, 切向力Y=-31753.9648 +FPS=34.04, 法向力=2898.6938, 切向力X=3658.3809, 切向力Y=-32008.2227 +FPS=38.08, 法向力=4344.6777, 切向力X=5689.5752, 切向力Y=-21391.5898 +FPS=26.08, 法向力=2977.2356, 切向力X=5193.7520, 切向力Y=-8085.1641 +FPS=33.06, 法向力=2786.7075, 切向力X=5048.4043, 切向力Y=-7831.9141 +FPS=37.51, 法向力=2059.6465, 切向力X=4391.7998, 切向力Y=-4576.0156 +FPS=50.81, 法向力=2135.6104, 切向力X=4351.5010, 切向力Y=-4332.8672 +FPS=30.50, 法向力=1548.4679, 切向力X=3782.9546, 切向力Y=-4131.5352 +FPS=32.53, 法向力=1533.4965, 切向力X=3689.7009, 切向力Y=-4345.9141 +FPS=32.31, 法向力=1521.0715, 切向力X=4340.9668, 切向力Y=-5949.5459 +FPS=31.69, 法向力=1809.5259, 切向力X=4324.6357, 切向力Y=-8630.1855 +FPS=31.53, 法向力=1890.4552, 切向力X=4161.6152, 切向力Y=-8924.3623 +FPS=31.82, 法向力=1622.2252, 切向力X=4947.7993, 切向力Y=-10537.6143 +FPS=32.32, 法向力=2388.2925, 切向力X=5022.3613, 切向力Y=-10208.0879 +FPS=39.75, 法向力=2547.8833, 切向力X=5017.5562, 切向力Y=-10124.2930 +FPS=47.25, 法向力=2357.8145, 切向力X=6229.4932, 切向力Y=-10324.1758 +FPS=37.55, 法向力=2332.7520, 切向力X=6427.3931, 切向力Y=-10342.8711 +FPS=45.11, 法向力=3545.6650, 切向力X=7453.0000, 切向力Y=-9266.5430 +FPS=32.83, 法向力=3411.5891, 切向力X=7693.2930, 切向力Y=-9230.1836 +FPS=31.60, 法向力=3781.7310, 切向力X=7625.9204, 切向力Y=-8481.3955 +FPS=38.78, 法向力=3836.4771, 切向力X=7481.9150, 切向力Y=-8148.0645 +FPS=46.80, 法向力=3487.7998, 切向力X=8252.0449, 切向力Y=-8904.5137 +FPS=31.29, 法向力=3375.9927, 切向力X=8267.7324, 切向力Y=-8927.4688 +FPS=61.79, 法向力=4334.1309, 切向力X=8518.2070, 切向力Y=-8916.7588 +FPS=54.08, 法向力=4381.8994, 切向力X=8541.9102, 切向力Y=-9055.9199 +FPS=35.93, 法向力=4394.9980, 切向力X=8528.4785, 切向力Y=-9032.7461 +FPS=31.82, 法向力=4525.6123, 切向力X=9166.1953, 切向力Y=-8324.0176 +FPS=30.81, 法向力=5408.2104, 切向力X=9603.9189, 切向力Y=-8982.1123 +FPS=31.38, 法向力=5435.2983, 切向力X=9762.4258, 切向力Y=-8894.5361 +FPS=32.41, 法向力=5674.8525, 切向力X=10567.0137, 切向力Y=-10440.8730 +FPS=58.50, 法向力=6045.7588, 切向力X=10469.5195, 切向力Y=-8725.5459 +FPS=51.48, 法向力=5975.7852, 切向力X=10384.8232, 切向力Y=-8630.9121 +FPS=48.58, 法向力=5956.1699, 切向力X=10349.9316, 切向力Y=-8736.3535 +FPS=51.43, 法向力=5885.3027, 切向力X=11702.2988, 切向力Y=-8629.6924 +FPS=36.32, 法向力=5948.5859, 切向力X=11746.8477, 切向力Y=-8414.0625 +FPS=49.22, 法向力=5920.3770, 切向力X=11762.7852, 切向力Y=-8549.2158 +FPS=38.11, 法向力=6654.2871, 切向力X=11445.8555, 切向力Y=-7583.3457 +FPS=27.19, 法向力=6298.7090, 切向力X=12151.8691, 切向力Y=-7368.1899 +FPS=31.29, 法向力=6203.8877, 切向力X=12133.2773, 切向力Y=-7263.8843 +FPS=38.38, 法向力=6938.3770, 切向力X=11633.6309, 切向力Y=-8767.3555 +FPS=45.31, 法向力=6988.7227, 切向力X=11538.3975, 切向力Y=-8992.1250 +FPS=32.44, 法向力=6901.2314, 切向力X=12142.6230, 切向力Y=-9741.3740 +FPS=38.56, 法向力=7625.8608, 切向力X=11792.6660, 切向力Y=-10574.6309 +FPS=50.04, 法向力=7645.1816, 切向力X=11737.6094, 切向力Y=-10485.1016 +FPS=31.01, 法向力=7544.3984, 切向力X=12027.6523, 切向力Y=-12005.5732 +FPS=32.03, 法向力=7517.2617, 切向力X=12184.0801, 切向力Y=-11715.5654 +FPS=31.37, 法向力=8250.8457, 切向力X=12287.1035, 切向力Y=-11637.6123 +FPS=30.91, 法向力=8273.9902, 切向力X=12245.1152, 切向力Y=-11559.1621 +FPS=32.03, 法向力=8657.7891, 切向力X=12197.3828, 切向力Y=-11032.7832 +FPS=31.37, 法向力=9298.5898, 切向力X=12316.6709, 切向力Y=-11871.6475 +FPS=32.35, 法向力=9248.2812, 切向力X=12400.3301, 切向力Y=-11796.4473 +FPS=37.73, 法向力=10892.8594, 切向力X=13064.4648, 切向力Y=-12902.1689 +FPS=48.53, 法向力=10881.5723, 切向力X=13327.9707, 切向力Y=-12892.6816 +FPS=31.32, 法向力=12153.9150, 切向力X=12689.9365, 切向力Y=-12252.6670 +FPS=31.74, 法向力=10783.6328, 切向力X=12753.2598, 切向力Y=-10284.9492 +FPS=32.91, 法向力=10746.5557, 切向力X=12705.7656, 切向力Y=-10322.9512 +FPS=32.33, 法向力=9934.8848, 切向力X=12435.0586, 切向力Y=-11104.0645 +FPS=30.41, 法向力=10011.5967, 切向力X=12517.1660, 切向力Y=-10905.2871 +FPS=32.53, 法向力=11284.1758, 切向力X=12635.3760, 切向力Y=-11301.1172 +FPS=38.57, 法向力=10919.1260, 切向力X=11777.5195, 切向力Y=-12390.2656 +FPS=47.88, 法向力=10902.2236, 切向力X=11706.5996, 切向力Y=-12825.4893 +FPS=39.19, 法向力=10941.9561, 切向力X=11540.0107, 切向力Y=-12722.5684 +FPS=47.21, 法向力=10503.2354, 切向力X=12234.2090, 切向力Y=-11492.4980 +FPS=31.95, 法向力=10376.4316, 切向力X=12389.3955, 切向力Y=-11104.4619 +FPS=32.06, 法向力=9856.6191, 切向力X=11634.0303, 切向力Y=-14710.0156 +FPS=59.05, 法向力=9610.6465, 切向力X=11682.1934, 切向力Y=-14702.8662 +FPS=50.47, 法向力=9476.9658, 切向力X=12182.6934, 切向力Y=-14337.3887 +FPS=46.37, 法向力=9549.0469, 切向力X=12414.8838, 切向力Y=-14018.2871 +FPS=48.95, 法向力=9418.8008, 切向力X=11137.3477, 切向力Y=-15542.9707 +FPS=32.07, 法向力=9385.8213, 切向力X=11091.8008, 切向力Y=-15456.8408 +FPS=32.29, 法向力=9289.4160, 切向力X=11198.3359, 切向力Y=-16626.0527 +FPS=31.93, 法向力=8750.6680, 切向力X=11383.2412, 切向力Y=-16421.4727 +FPS=31.04, 法向力=8807.8301, 切向力X=11290.1465, 切向力Y=-16396.4551 +FPS=32.82, 法向力=8781.8027, 切向力X=11530.4043, 切向力Y=-15034.2256 +FPS=31.43, 法向力=8737.0469, 切向力X=11525.7109, 切向力Y=-14874.6055 +FPS=32.34, 法向力=7746.8818, 切向力X=11158.0049, 切向力Y=-16640.8770 +FPS=36.64, 法向力=7697.8765, 切向力X=11068.1250, 切向力Y=-16906.6133 +FPS=47.28, 法向力=7542.1055, 切向力X=11688.1689, 切向力Y=-14830.5410 +FPS=31.29, 法向力=6798.0698, 切向力X=11411.5332, 切向力Y=-8754.7285 +FPS=38.95, 法向力=6822.8315, 切向力X=11407.5186, 切向力Y=-8661.8848 +FPS=43.84, 法向力=7282.9185, 切向力X=10625.8652, 切向力Y=-5864.0815 +FPS=65.59, 法向力=7340.0737, 切向力X=10559.6621, 切向力Y=-5939.3164 +FPS=33.19, 法向力=7250.1157, 切向力X=11011.7715, 切向力Y=-5788.9873 +FPS=37.18, 法向力=7244.6621, 切向力X=11170.5156, 切向力Y=-5821.9429 +FPS=43.94, 法向力=8083.0732, 切向力X=11223.1133, 切向力Y=-3266.2358 +FPS=66.28, 法向力=8186.0068, 切向力X=11095.7090, 切向力Y=-3025.9092 +FPS=32.97, 法向力=7548.1611, 切向力X=10823.3213, 切向力Y=-617.1840 +FPS=38.98, 法向力=7645.0820, 切向力X=10925.7305, 切向力Y=-197.8566 +FPS=62.23, 法向力=7617.0586, 切向力X=10962.2471, 切向力Y=-94.9481 +FPS=54.13, 法向力=7532.2168, 切向力X=10384.0586, 切向力Y=-948.4651 +FPS=28.99, 法向力=7516.2329, 切向力X=10464.3975, 切向力Y=-1249.7305 +FPS=37.33, 法向力=8512.0566, 切向力X=12086.1338, 切向力Y=-2250.2878 +FPS=44.90, 法向力=8459.1855, 切向力X=12231.1631, 切向力Y=-2593.2268 +FPS=39.61, 法向力=9004.3203, 切向力X=11893.6738, 切向力Y=-1358.9280 +FPS=27.02, 法向力=8936.5186, 切向力X=11907.4434, 切向力Y=-1313.0115 +FPS=31.95, 法向力=8806.1885, 切向力X=12292.5039, 切向力Y=-2325.8979 +FPS=58.26, 法向力=8620.0518, 切向力X=12319.6514, 切向力Y=-2189.1643 +FPS=50.22, 法向力=8577.5137, 切向力X=12264.1230, 切向力Y=-1793.3693 +FPS=49.93, 法向力=8593.4512, 切向力X=12302.3994, 切向力Y=-1783.4238 +FPS=50.61, 法向力=8915.2949, 切向力X=13030.6006, 切向力Y=-2788.9421 +FPS=37.28, 法向力=8833.0928, 切向力X=13162.6064, 切向力Y=-2705.5308 +FPS=49.94, 法向力=7949.6553, 切向力X=12762.0508, 切向力Y=-1227.3945 +FPS=29.89, 法向力=7938.8584, 切向力X=12890.9502, 切向力Y=-1195.4095 +FPS=32.39, 法向力=8714.1230, 切向力X=12972.8164, 切向力Y=-1798.1412 +FPS=33.71, 法向力=8756.8848, 切向力X=12851.0117, 切向力Y=-1897.5785 +FPS=31.29, 法向力=8713.3242, 切向力X=13925.0625, 切向力Y=-1895.5159 +FPS=58.76, 法向力=8681.5400, 切向力X=14067.3086, 切向力Y=-1989.9808 +FPS=48.24, 法向力=8858.1797, 切向力X=13992.7539, 切向力Y=-3085.9868 +FPS=36.88, 法向力=8904.7676, 切向力X=14076.2441, 切向力Y=-3046.2969 +FPS=39.13, 法向力=9195.0186, 切向力X=13766.3555, 切向力Y=-3532.0259 +FPS=26.45, 法向力=9448.3281, 切向力X=14469.1172, 切向力Y=-2229.5354 +FPS=39.09, 法向力=9314.0801, 切向力X=14551.4355, 切向力Y=-2182.7852 +FPS=46.57, 法向力=9453.1182, 切向力X=15344.3848, 切向力Y=-2704.3013 +FPS=40.35, 法向力=9462.5605, 切向力X=15331.4180, 切向力Y=-2720.3608 +FPS=26.53, 法向力=8721.3438, 切向力X=15457.0039, 切向力Y=-5652.1133 +FPS=31.31, 法向力=8841.5859, 切向力X=14428.8096, 切向力Y=-6778.3701 +FPS=31.78, 法向力=8958.6074, 切向力X=14147.5449, 切向力Y=-6969.6870 +FPS=30.89, 法向力=9227.9414, 切向力X=13851.2969, 切向力Y=-10929.3027 +FPS=38.81, 法向力=9149.3418, 切向力X=13899.8965, 切向力Y=-10902.4365 +FPS=45.60, 法向力=8745.5332, 切向力X=14556.9316, 切向力Y=-14610.2441 +FPS=33.59, 法向力=8636.1328, 切向力X=14709.5977, 切向力Y=-14534.6992 +FPS=30.92, 法向力=8487.1543, 切向力X=14185.5049, 切向力Y=-15020.9580 +FPS=30.55, 法向力=9134.8418, 切向力X=13756.6934, 切向力Y=-16308.4492 +FPS=33.66, 法向力=9081.0732, 切向力X=13731.4004, 切向力Y=-16365.4570 +FPS=37.62, 法向力=9675.2852, 切向力X=14571.8486, 切向力Y=-15369.5625 +FPS=45.20, 法向力=9670.0459, 切向力X=14549.2197, 切向力Y=-15399.0859 +FPS=32.98, 法向力=11207.5479, 切向力X=14858.2031, 切向力Y=-14969.8652 +FPS=31.77, 法向力=10355.3574, 切向力X=15689.8994, 切向力Y=-13258.3438 +FPS=31.05, 法向力=10129.4609, 切向力X=15785.1836, 切向力Y=-12951.4502 +FPS=32.16, 法向力=11883.5645, 切向力X=15867.0840, 切向力Y=-10461.4531 +FPS=31.38, 法向力=12022.7266, 切向力X=16038.8145, 切向力Y=-9901.2734 +FPS=61.85, 法向力=12913.3799, 切向力X=16166.3369, 切向力Y=-10702.4434 +FPS=50.31, 法向力=12751.5498, 切向力X=16237.4883, 切向力Y=-10910.8789 +FPS=45.59, 法向力=12729.5195, 切向力X=16198.2637, 切向力Y=-10897.4131 +FPS=46.24, 法向力=12886.5430, 切向力X=17415.5508, 切向力Y=-11488.9795 +FPS=32.13, 法向力=12850.0918, 切向力X=17338.5391, 切向力Y=-11377.8652 +FPS=31.85, 法向力=13517.8369, 切向力X=17702.7969, 切向力Y=-10040.3066 +FPS=57.95, 法向力=13578.7080, 切向力X=17726.0938, 切向力Y=-9908.7676 +FPS=49.71, 法向力=15122.0449, 切向力X=17701.1875, 切向力Y=-9395.4746 +FPS=49.38, 法向力=15324.1826, 切向力X=17728.2227, 切向力Y=-9303.3242 +FPS=46.23, 法向力=14325.6680, 切向力X=17863.7109, 切向力Y=-7875.3398 +FPS=31.22, 法向力=14243.4238, 切向力X=17834.6309, 切向力Y=-7848.4287 +FPS=37.77, 法向力=14297.3223, 切向力X=17366.4766, 切向力Y=-5914.2603 +FPS=46.16, 法向力=14371.8340, 切向力X=17235.7363, 切向力Y=-5771.0391 +FPS=38.61, 法向力=13785.4258, 切向力X=16328.8594, 切向力Y=-4334.6650 +FPS=62.13, 法向力=13853.8936, 切向力X=16283.6680, 切向力Y=-4038.2607 +FPS=53.89, 法向力=13740.5303, 切向力X=16219.9043, 切向力Y=-4149.5107 +FPS=34.61, 法向力=12736.6035, 切向力X=15462.8594, 切向力Y=-3024.9502 +FPS=47.82, 法向力=12750.9453, 切向力X=15494.8867, 切向力Y=-2962.7410 +FPS=38.27, 法向力=12335.6777, 切向力X=15001.9414, 切向力Y=-2804.7812 +FPS=47.26, 法向力=12328.7666, 切向力X=14856.9639, 切向力Y=-3282.5908 +FPS=39.72, 法向力=12624.6475, 切向力X=14186.4043, 切向力Y=-6104.2515 +FPS=27.04, 法向力=12420.3203, 切向力X=13443.7500, 切向力Y=-10269.5449 +FPS=38.91, 法向力=12223.9502, 切向力X=13677.9824, 切向力Y=-10555.8672 +FPS=42.76, 法向力=12029.4756, 切向力X=13671.5625, 切向力Y=-14782.9209 +FPS=41.47, 法向力=12011.1660, 切向力X=13746.0371, 切向力Y=-14642.6631 +FPS=26.91, 法向力=11052.5234, 切向力X=13856.4355, 切向力Y=-15607.3516 +FPS=37.00, 法向力=11319.6582, 切向力X=13367.2207, 切向力Y=-15472.3340 +FPS=46.81, 法向力=11250.2256, 切向力X=13298.8516, 切向力Y=-15498.5156 +FPS=33.41, 法向力=11202.9453, 切向力X=13281.6113, 切向力Y=-15579.7422 +FPS=30.82, 法向力=10007.7695, 切向力X=13282.8633, 切向力Y=-16493.4883 +FPS=38.04, 法向力=9435.8242, 切向力X=13534.2432, 切向力Y=-18600.3672 +FPS=49.71, 法向力=9480.3096, 切向力X=13510.2256, 切向力Y=-18752.2266 +FPS=37.18, 法向力=8878.3770, 切向力X=11909.0850, 切向力Y=-17138.4883 +FPS=51.58, 法向力=8879.3516, 切向力X=11861.3945, 切向力Y=-17035.8750 +FPS=29.50, 法向力=9271.5293, 切向力X=11913.9697, 切向力Y=-18611.0898 +FPS=32.72, 法向力=9196.6992, 切向力X=11899.7109, 切向力Y=-18584.9980 +FPS=37.10, 法向力=8065.2446, 切向力X=11637.4648, 切向力Y=-15899.0957 +FPS=48.62, 法向力=8047.8687, 切向力X=11568.7656, 切向力Y=-16052.9219 +FPS=39.26, 法向力=8375.0859, 切向力X=11069.5029, 切向力Y=-16391.7656 +FPS=52.32, 法向力=8437.0332, 切向力X=11083.7012, 切向力Y=-16413.1543 +FPS=62.15, 法向力=7780.9424, 切向力X=12106.7471, 切向力Y=-13564.8701 +FPS=54.02, 法向力=7720.1689, 切向力X=12272.2441, 切向力Y=-13467.8838 +FPS=32.58, 法向力=7653.4551, 切向力X=11664.1738, 切向力Y=-13203.9990 +FPS=32.47, 法向力=7748.2822, 切向力X=11419.6699, 切向力Y=-13210.7861 +FPS=31.84, 法向力=8013.1338, 切向力X=10360.1279, 切向力Y=-13197.9805 +FPS=31.75, 法向力=8078.0908, 切向力X=10404.0527, 切向力Y=-13418.5420 +FPS=37.29, 法向力=7325.3242, 切向力X=11708.3281, 切向力Y=-13311.5879 +FPS=48.03, 法向力=7286.8027, 切向力X=11676.0713, 切向力Y=-13289.8125 +FPS=39.55, 法向力=7007.5742, 切向力X=11518.1797, 切向力Y=-12203.7461 +FPS=47.30, 法向力=7051.6104, 切向力X=11365.1426, 切向力Y=-11669.5449 +FPS=59.17, 法向力=6977.5405, 切向力X=11478.5635, 切向力Y=-11604.8828 +FPS=51.66, 法向力=7512.4424, 切向力X=11546.0664, 切向力Y=-12243.9189 +FPS=37.36, 法向力=7590.7769, 切向力X=11689.7041, 切向力Y=-11975.6250 +FPS=38.52, 法向力=7788.4438, 切向力X=11993.5059, 切向力Y=-8764.0840 +FPS=46.14, 法向力=7781.7129, 切向力X=11944.6309, 切向力Y=-8613.5215 +FPS=33.17, 法向力=7354.9502, 切向力X=12137.8291, 切向力Y=-8200.0000 +FPS=59.28, 法向力=7284.8115, 切向力X=12144.0078, 切向力Y=-8379.4414 +FPS=51.34, 法向力=7369.8418, 切向力X=13079.8955, 切向力Y=-5884.5908 +FPS=44.22, 法向力=7431.5610, 切向力X=13267.3975, 切向力Y=-5676.9927 +FPS=50.67, 法向力=7377.0503, 切向力X=13363.9316, 切向力Y=-5687.3721 +FPS=30.12, 法向力=8314.6055, 切向力X=13905.0420, 切向力Y=-5230.6362 +FPS=57.84, 法向力=8330.6875, 切向力X=14083.1836, 切向力Y=-4895.9165 +FPS=52.34, 法向力=8589.0684, 切向力X=15088.0254, 切向力Y=-4179.9404 +FPS=43.31, 法向力=8528.1807, 切向力X=15182.4561, 切向力Y=-3954.3018 +FPS=27.19, 法向力=9767.4512, 切向力X=15986.0781, 切向力Y=-1437.6600 +FPS=57.50, 法向力=9936.0762, 切向力X=16242.1680, 切向力Y=-940.4779 +FPS=51.32, 法向力=9516.8486, 切向力X=16773.3516, 切向力Y=-220.4714 +FPS=66.00, 法向力=9552.2148, 切向力X=16847.9492, 切向力Y=-231.1919 +FPS=62.17, 法向力=9547.3486, 切向力X=16847.3730, 切向力Y=-253.0199 +FPS=50.89, 法向力=10495.5381, 切向力X=16959.5645, 切向力Y=415.5911 +FPS=53.22, 法向力=10550.3164, 切向力X=16975.3066, 切向力Y=326.9679 +FPS=27.26, 法向力=11469.5273, 切向力X=16693.9863, 切向力Y=248.6262 +FPS=56.65, 法向力=11677.0869, 切向力X=16635.2520, 切向力Y=231.4707 +FPS=32.89, 法向力=11071.1602, 切向力X=16574.2715, 切向力Y=-3911.4751 +FPS=59.37, 法向力=10832.2676, 切向力X=16533.1387, 切向力Y=-4178.9893 +FPS=40.45, 法向力=10281.9727, 切向力X=15752.4375, 切向力Y=-7093.7461 +FPS=51.73, 法向力=10217.7549, 切向力X=15556.0918, 切向力Y=-6818.1680 +FPS=30.42, 法向力=10487.0117, 切向力X=15181.9590, 切向力Y=-9555.5977 +FPS=37.99, 法向力=10401.0605, 切向力X=15233.8574, 切向力Y=-9693.3271 +FPS=49.05, 法向力=10230.3506, 切向力X=15063.3623, 切向力Y=-9704.8008 +FPS=37.55, 法向力=10107.6387, 切向力X=15200.0684, 切向力Y=-9989.0859 +FPS=47.07, 法向力=10220.5352, 切向力X=15066.3262, 切向力Y=-13069.7500 +FPS=37.85, 法向力=10427.8047, 切向力X=15034.7295, 切向力Y=-12519.2012 +FPS=46.29, 法向力=10253.6289, 切向力X=15678.4609, 切向力Y=-11677.9893 +FPS=66.94, 法向力=10322.5371, 切向力X=15442.0723, 切向力Y=-11622.2578 +FPS=31.35, 法向力=11083.0381, 切向力X=14817.4434, 切向力Y=-13048.7275 +FPS=37.91, 法向力=11224.4180, 切向力X=14793.5908, 切向力Y=-13043.9492 +FPS=46.71, 法向力=9315.3408, 切向力X=14405.9863, 切向力Y=-14902.8008 +FPS=38.29, 法向力=9139.4775, 切向力X=14303.9688, 切向力Y=-15056.9668 +FPS=45.36, 法向力=10397.2988, 切向力X=13870.0029, 切向力Y=-15910.0840 +FPS=66.11, 法向力=10390.1133, 切向力X=13874.5498, 切向力Y=-15950.7656 +FPS=40.91, 法向力=10384.8203, 切向力X=13836.0889, 切向力Y=-15960.2441 +FPS=51.16, 法向力=10360.9951, 切向力X=13860.8262, 切向力Y=-15981.7988 +FPS=36.03, 法向力=10325.6211, 切向力X=14304.6016, 切向力Y=-17380.1406 +FPS=46.09, 法向力=9668.4590, 切向力X=13895.6465, 切向力Y=-17767.1055 +FPS=39.02, 法向力=9608.4199, 切向力X=13772.0801, 切向力Y=-17745.4922 +FPS=46.34, 法向力=9608.1094, 切向力X=13815.4766, 切向力Y=-17820.7754 +FPS=32.18, 法向力=9715.2930, 切向力X=13153.9316, 切向力Y=-17094.7129 +FPS=37.67, 法向力=9552.5859, 切向力X=12677.6367, 切向力Y=-17426.3750 +FPS=48.63, 法向力=9595.3555, 切向力X=12534.0254, 切向力Y=-17399.1289 +FPS=61.76, 法向力=9601.1650, 切向力X=12470.2285, 切向力Y=-17416.9844 +FPS=37.96, 法向力=8738.1924, 切向力X=12845.9473, 切向力Y=-16994.8047 +FPS=47.82, 法向力=8663.9512, 切向力X=13042.3154, 切向力Y=-16873.0078 +FPS=33.56, 法向力=8388.6729, 切向力X=11980.1953, 切向力Y=-20286.2969 +FPS=57.30, 法向力=8444.1602, 切向力X=11975.4512, 切向力Y=-20207.8496 +FPS=52.46, 法向力=7808.9453, 切向力X=12296.7285, 切向力Y=-17648.6777 +FPS=44.44, 法向力=7747.1372, 切向力X=12243.6816, 切向力Y=-17776.0488 +FPS=50.76, 法向力=7710.0166, 切向力X=12201.3076, 切向力Y=-17778.2227 +FPS=35.93, 法向力=7939.4707, 切向力X=11724.8838, 切向力Y=-17543.0879 +FPS=45.82, 法向力=7968.5962, 切向力X=11859.1875, 切向力Y=-17397.7422 +FPS=31.95, 法向力=8987.7783, 切向力X=12616.2559, 切向力Y=-16528.1211 +FPS=59.62, 法向力=9127.3438, 切向力X=12691.4443, 切向力Y=-16581.8008 +FPS=50.92, 法向力=8316.7480, 切向力X=13455.2773, 切向力Y=-14591.7031 +FPS=46.05, 法向力=8182.7148, 切向力X=13472.1797, 切向力Y=-14398.4023 +FPS=27.13, 法向力=8999.7715, 切向力X=13489.3301, 切向力Y=-13335.7266 +FPS=56.00, 法向力=8870.4072, 切向力X=13496.1709, 切向力Y=-13074.6074 +FPS=42.86, 法向力=8322.6494, 切向力X=15437.9453, 切向力Y=-9534.1865 +FPS=50.91, 法向力=8129.7500, 切向力X=15557.7979, 切向力Y=-9397.4824 +FPS=36.99, 法向力=9583.9131, 切向力X=15688.2793, 切向力Y=-7991.2183 +FPS=50.29, 法向力=9513.6211, 切向力X=15862.3652, 切向力Y=-8016.4961 +FPS=36.62, 法向力=9602.5078, 切向力X=17623.3945, 切向力Y=-5818.3555 +FPS=45.88, 法向力=9563.2666, 切向力X=17715.1172, 切向力Y=-5581.5547 +FPS=39.98, 法向力=12057.8438, 切向力X=18068.5605, 切向力Y=-2162.7014 +FPS=27.39, 法向力=12065.2871, 切向力X=18255.2988, 切向力Y=-2222.6782 +FPS=31.46, 法向力=12219.3574, 切向力X=18694.9277, 切向力Y=-509.5662 +FPS=32.43, 法向力=12125.7012, 切向力X=19406.6348, 切向力Y=-595.9441 +FPS=32.13, 法向力=12031.5615, 切向力X=19609.4512, 切向力Y=-934.6831 +FPS=32.96, 法向力=13872.3027, 切向力X=20443.1328, 切向力Y=2231.2153 +FPS=31.74, 法向力=13683.5059, 切向力X=20114.7715, 切向力Y=3415.8882 +FPS=32.42, 法向力=13365.0195, 切向力X=20171.8457, 切向力Y=2972.5718 +FPS=60.40, 法向力=14514.4482, 切向力X=20720.7207, 切向力Y=283.5704 +FPS=31.66, 法向力=14538.7676, 切向力X=20879.5781, 切向力Y=199.2285 +FPS=38.95, 法向力=15217.8506, 切向力X=20452.1621, 切向力Y=89.0390 +FPS=26.51, 法向力=15185.7363, 切向力X=20398.3867, 切向力Y=-3.3988 +FPS=32.42, 法向力=15785.2246, 切向力X=20270.1055, 切向力Y=-1440.2400 +FPS=31.82, 法向力=15364.6406, 切向力X=19376.9648, 切向力Y=-3872.2979 +FPS=33.52, 法向力=15297.9844, 切向力X=19245.3945, 切向力Y=-3860.9077 +FPS=62.18, 法向力=15276.7773, 切向力X=19211.9824, 切向力Y=-3883.9316 +FPS=51.99, 法向力=15816.9443, 切向力X=18616.8828, 切向力Y=-5540.6826 +FPS=35.42, 法向力=15807.7598, 切向力X=18403.4805, 切向力Y=-5700.0884 +FPS=37.10, 法向力=14575.3428, 切向力X=17459.2129, 切向力Y=-5451.0439 +FPS=45.76, 法向力=14520.9551, 切向力X=17302.7617, 切向力Y=-5486.1865 +FPS=32.27, 法向力=12787.2236, 切向力X=16461.9668, 切向力Y=-9098.1211 +FPS=62.67, 法向力=12560.1621, 切向力X=16261.0898, 切向力Y=-9423.4941 +FPS=51.63, 法向力=13656.6406, 切向力X=14551.1904, 切向力Y=-11797.3086 +FPS=36.96, 法向力=13597.8262, 切向力X=14664.1836, 切向力Y=-11416.6191 +FPS=32.42, 法向力=12181.0820, 切向力X=15215.1514, 切向力Y=-14996.3652 +FPS=32.61, 法向力=12339.1387, 切向力X=14070.5771, 切向力Y=-18640.4238 +FPS=37.91, 法向力=12117.5078, 切向力X=14055.4678, 切向力Y=-18993.2266 +FPS=50.19, 法向力=12252.2871, 切向力X=13946.5684, 切向力Y=-18975.5449 +FPS=30.01, 法向力=11425.1934, 切向力X=14735.2354, 切向力Y=-21800.1113 +FPS=31.54, 法向力=9931.3779, 切向力X=14276.2949, 切向力Y=-23201.8320 +FPS=38.31, 法向力=9980.2393, 切向力X=14432.3379, 切向力Y=-23332.9141 +FPS=45.20, 法向力=9086.0938, 切向力X=13168.5820, 切向力Y=-24344.0293 +FPS=42.29, 法向力=8987.5859, 切向力X=13217.0117, 切向力Y=-24513.5391 +FPS=49.41, 法向力=8415.2148, 切向力X=12767.8809, 切向力Y=-22542.6406 +FPS=36.22, 法向力=8402.9043, 切向力X=12849.1533, 切向力Y=-22372.1582 +FPS=45.20, 法向力=8149.6035, 切向力X=12933.9336, 切向力Y=-19720.1289 +FPS=33.43, 法向力=8226.5908, 切向力X=12845.5625, 切向力Y=-19403.9375 +FPS=32.40, 法向力=8371.0820, 切向力X=13802.0273, 切向力Y=-13558.7617 +FPS=37.87, 法向力=8454.7617, 切向力X=13596.7891, 切向力Y=-13565.0820 +FPS=48.77, 法向力=8027.8818, 切向力X=15733.9238, 切向力Y=-9721.0342 +FPS=31.69, 法向力=7896.5728, 切向力X=15948.7842, 切向力Y=-9699.1738 +FPS=39.21, 法向力=9024.5713, 切向力X=15599.3594, 切向力Y=-4714.2402 +FPS=50.48, 法向力=8978.8594, 切向力X=15832.9268, 切向力Y=-4722.0986 +FPS=62.75, 法向力=9088.3438, 切向力X=15914.1211, 切向力Y=-4419.4658 +FPS=52.55, 法向力=9929.9766, 切向力X=16312.6055, 切向力Y=-3097.9602 +FPS=34.21, 法向力=9847.3496, 切向力X=16452.3164, 切向力Y=-3227.8826 +FPS=31.72, 法向力=9749.4629, 切向力X=18561.4648, 切向力Y=-666.3824 +FPS=62.62, 法向力=9552.0850, 切向力X=18861.7676, 切向力Y=-364.2178 +FPS=52.15, 法向力=11816.2168, 切向力X=19186.4492, 切向力Y=-31.2061 +FPS=44.99, 法向力=12098.8076, 切向力X=19090.0801, 切向力Y=20.8546 +FPS=48.41, 法向力=13204.2129, 切向力X=19977.3496, 切向力Y=-1441.3510 +FPS=31.79, 法向力=13212.2910, 切向力X=20067.6152, 切向力Y=-1308.8851 +FPS=31.89, 法向力=13809.5410, 切向力X=19101.4336, 切向力Y=-1549.2744 +FPS=58.10, 法向力=13872.3994, 切向力X=18919.5820, 切向力Y=-1631.7345 +FPS=53.00, 法向力=13424.1152, 切向力X=18483.0742, 切向力Y=-5138.2002 +FPS=42.66, 法向力=13383.0049, 切向力X=18198.5410, 切向力Y=-5581.0566 +FPS=28.04, 法向力=13180.0752, 切向力X=17285.5840, 切向力Y=-7083.2412 +FPS=38.56, 法向力=13275.5938, 切向力X=17130.0078, 切向力Y=-7491.6387 +FPS=45.93, 法向力=11632.8203, 切向力X=16369.3682, 切向力Y=-10669.8057 +FPS=32.56, 法向力=11505.6250, 切向力X=16253.6689, 切向力Y=-10528.6855 +FPS=31.69, 法向力=12691.3809, 切向力X=15756.7070, 切向力Y=-13394.4746 +FPS=31.21, 法向力=10742.6152, 切向力X=15431.9082, 切向力Y=-18416.4922 +FPS=37.84, 法向力=10511.0840, 切向力X=15315.6328, 切向力Y=-18585.7617 +FPS=46.00, 法向力=10851.4971, 切向力X=14073.3730, 切向力Y=-22846.1133 +FPS=65.00, 法向力=11037.9355, 切向力X=14060.4922, 切向力Y=-22465.3711 +FPS=31.98, 法向力=8498.9844, 切向力X=13832.1152, 切向力Y=-26521.4824 +FPS=38.04, 法向力=8423.8818, 切向力X=14134.8535, 切向力Y=-25822.4727 +FPS=45.34, 法向力=8134.1123, 切向力X=12570.9336, 切向力Y=-26712.9727 +FPS=38.80, 法向力=8140.1631, 切向力X=12527.7109, 切向力Y=-27074.3867 +FPS=44.90, 法向力=9120.5586, 切向力X=12237.4473, 切向力Y=-29228.2559 +FPS=39.16, 法向力=9191.2314, 切向力X=12094.1426, 切向力Y=-29713.2969 +FPS=44.54, 法向力=9517.4199, 切向力X=12968.6934, 切向力Y=-28788.4453 +FPS=40.12, 法向力=9370.1602, 切向力X=12975.8154, 切向力Y=-29200.2305 +FPS=46.96, 法向力=9384.3945, 切向力X=12905.7617, 切向力Y=-29021.2344 +FPS=60.63, 法向力=9484.3086, 切向力X=12617.4248, 切向力Y=-29310.5762 +FPS=41.36, 法向力=9262.4434, 切向力X=12682.6543, 切向力Y=-29485.4570 +FPS=46.79, 法向力=7528.7969, 切向力X=12820.6709, 切向力Y=-25220.8047 +FPS=67.34, 法向力=7781.2949, 切向力X=12708.7656, 切向力Y=-24907.7305 +FPS=30.67, 法向力=7677.7734, 切向力X=12674.7188, 切向力Y=-24866.5898 +FPS=39.31, 法向力=6695.1582, 切向力X=13546.6279, 切向力Y=-17298.5293 +FPS=44.94, 法向力=7432.8906, 切向力X=12775.5342, 切向力Y=-13487.4355 +FPS=42.52, 法向力=7664.7939, 切向力X=12596.3691, 切向力Y=-13709.4375 +FPS=62.15, 法向力=7731.1255, 切向力X=12534.8711, 切向力Y=-13737.9141 +FPS=52.20, 法向力=7446.4189, 切向力X=14012.3301, 切向力Y=-10160.0000 +FPS=65.67, 法向力=7381.5781, 切向力X=13992.9854, 切向力Y=-10280.9922 +FPS=62.92, 法向力=7351.0024, 切向力X=14088.7617, 切向力Y=-10372.6250 +FPS=50.37, 法向力=7483.1426, 切向力X=12888.8057, 切向力Y=-9428.5059 +FPS=39.73, 法向力=7442.6699, 切向力X=12935.0840, 切向力Y=-9128.8711 +FPS=27.32, 法向力=8819.3066, 切向力X=14144.6426, 切向力Y=-8008.9629 +FPS=38.95, 法向力=8988.7168, 切向力X=14111.7637, 切向力Y=-7677.0269 +FPS=27.41, 法向力=9908.1436, 切向力X=13793.7090, 切向力Y=-7188.5762 +FPS=57.72, 法向力=9974.3711, 切向力X=13799.8740, 切向力Y=-6900.0327 +FPS=53.52, 法向力=9574.4746, 切向力X=14377.4697, 切向力Y=-6524.6357 +FPS=45.83, 法向力=9344.4941, 切向力X=14454.6807, 切向力Y=-6943.2832 +FPS=46.54, 法向力=10946.7393, 切向力X=15257.0684, 切向力Y=-4132.1885 +FPS=39.98, 法向力=10842.8223, 切向力X=15378.6934, 切向力Y=-4085.3120 +FPS=46.18, 法向力=11079.6514, 切向力X=14593.8994, 切向力Y=-457.9868 +FPS=32.38, 法向力=11140.2705, 切向力X=14418.5586, 切向力Y=-152.4278 +FPS=32.19, 法向力=12052.3994, 切向力X=14549.8496, 切向力Y=2778.2305 +FPS=38.17, 法向力=11738.1484, 切向力X=16048.3477, 切向力Y=4750.1958 +FPS=26.45, 法向力=11288.5352, 切向力X=16788.8359, 切向力Y=5539.9648 +FPS=31.85, 法向力=12543.9912, 切向力X=17231.3828, 切向力Y=6602.2568 +FPS=32.10, 法向力=12362.3174, 切向力X=17852.2930, 切向力Y=7595.4658 +FPS=33.26, 法向力=11909.2344, 切向力X=17241.2500, 切向力Y=10089.7295 +FPS=38.90, 法向力=11928.6113, 切向力X=17503.0059, 切向力Y=10225.9043 +FPS=44.81, 法向力=13193.9414, 切向力X=17818.1094, 切向力Y=14084.8584 +FPS=33.30, 法向力=13027.7178, 切向力X=17838.6680, 切向力Y=14363.3945 +FPS=31.84, 法向力=13085.3047, 切向力X=17797.4824, 切向力Y=14257.7910 +FPS=61.11, 法向力=11650.4736, 切向力X=18059.0977, 切向力Y=13924.3838 +FPS=53.61, 法向力=11730.7520, 切向力X=17971.7539, 切向力Y=14021.0479 +FPS=36.21, 法向力=11732.2344, 切向力X=17878.1016, 切向力Y=13954.9111 +FPS=31.43, 法向力=11662.5840, 切向力X=18146.0605, 切向力Y=13654.9229 +FPS=56.72, 法向力=11532.0742, 切向力X=18287.0684, 切向力Y=13656.8965 +FPS=52.25, 法向力=11188.5771, 切向力X=17864.9766, 切向力Y=13140.5879 +FPS=37.68, 法向力=11162.5693, 切向力X=17900.8633, 切向力Y=13256.3936 +FPS=31.73, 法向力=11372.1016, 切向力X=17023.1484, 切向力Y=10740.7520 +FPS=62.24, 法向力=11358.7324, 切向力X=16981.4121, 切向力Y=10776.5566 +FPS=50.41, 法向力=10607.0137, 切向力X=16389.1523, 切向力Y=8348.2900 +FPS=44.39, 法向力=10591.7480, 切向力X=16323.6709, 切向力Y=8230.9775 +FPS=27.49, 法向力=9264.6357, 切向力X=14726.2148, 切向力Y=3014.9927 +FPS=38.65, 法向力=9202.4541, 切向力X=14908.5078, 切向力Y=2794.4326 +FPS=45.82, 法向力=9304.2021, 切向力X=14413.8242, 切向力Y=1804.4991 +FPS=32.57, 法向力=9320.5596, 切向力X=14419.4883, 切向力Y=2038.4053 +FPS=32.78, 法向力=9265.5762, 切向力X=14448.6445, 切向力Y=2189.2271 +FPS=60.73, 法向力=9281.0645, 切向力X=14452.4824, 切向力Y=2121.5430 +FPS=52.38, 法向力=9255.8936, 切向力X=14315.3828, 切向力Y=-2915.7571 +FPS=36.56, 法向力=9267.8535, 切向力X=14225.9531, 切向力Y=-2778.3577 +FPS=31.35, 法向力=8670.1729, 切向力X=13301.1094, 切向力Y=-5540.6670 +FPS=38.00, 法向力=7973.7070, 切向力X=12553.6592, 切向力Y=-7954.3892 +FPS=48.49, 法向力=7909.1621, 切向力X=12312.0488, 切向力Y=-8009.6250 +FPS=38.29, 法向力=7060.6582, 切向力X=12131.2129, 切向力Y=-10889.3008 +FPS=27.15, 法向力=7034.2256, 切向力X=11958.3975, 切向力Y=-11209.5586 +FPS=31.70, 法向力=6230.4775, 切向力X=11372.4590, 切向力Y=-9804.1475 +FPS=31.72, 法向力=6246.0547, 切向力X=11217.3828, 切向力Y=-9551.3379 +FPS=57.78, 法向力=6569.0674, 切向力X=11065.3086, 切向力Y=-10577.5938 +FPS=51.88, 法向力=6679.8535, 切向力X=10963.3047, 切向力Y=-10622.4902 +FPS=36.95, 法向力=6318.6782, 切向力X=9703.0342, 切向力Y=-12778.5557 +FPS=32.61, 法向力=6307.6226, 切向力X=9628.7764, 切向力Y=-12919.2441 +FPS=31.55, 法向力=6270.1514, 切向力X=9589.7773, 切向力Y=-12944.3066 +FPS=31.78, 法向力=6570.1270, 切向力X=9696.4346, 切向力Y=-18365.8926 +FPS=32.60, 法向力=6437.5229, 切向力X=9888.5059, 切向力Y=-18169.3125 +FPS=31.08, 法向力=6108.6582, 切向力X=10002.5996, 切向力Y=-20653.0410 +FPS=32.36, 法向力=7548.5166, 切向力X=8965.9180, 切向力Y=-22900.0273 +FPS=32.24, 法向力=7551.2373, 切向力X=8800.9521, 切向力Y=-22604.5371 +FPS=31.20, 法向力=7447.6147, 切向力X=9553.0166, 切向力Y=-22803.2246 +FPS=31.81, 法向力=7445.9224, 切向力X=9647.9062, 切向力Y=-22490.2422 +FPS=58.83, 法向力=7787.9131, 切向力X=10902.4160, 切向力Y=-18093.7930 +FPS=51.39, 法向力=7901.2002, 切向力X=11036.7979, 切向力Y=-17763.3047 +FPS=65.42, 法向力=7812.6367, 切向力X=11135.8984, 切向力Y=-17675.0957 +FPS=37.63, 法向力=7359.6807, 切向力X=12621.5537, 切向力Y=-16140.3008 +FPS=31.23, 法向力=7278.1631, 切向力X=12752.0957, 切向力Y=-16050.0420 +FPS=31.89, 法向力=7851.7754, 切向力X=13611.3398, 切向力Y=-13633.4082 +FPS=31.06, 法向力=7924.1787, 切向力X=13640.5840, 切向力Y=-13509.1152 +FPS=37.56, 法向力=7933.9912, 切向力X=13624.0684, 切向力Y=-13447.9941 +FPS=42.29, 法向力=7450.9521, 切向力X=13719.1768, 切向力Y=-13286.1992 +FPS=65.41, 法向力=7375.4126, 切向力X=13715.3408, 切向力Y=-13813.0801 +FPS=61.63, 法向力=7415.9614, 切向力X=13749.0713, 切向力Y=-13751.6504 +FPS=50.09, 法向力=8287.8691, 切向力X=13084.7471, 切向力Y=-15141.8506 +FPS=50.90, 法向力=8386.6484, 切向力X=12923.8486, 切向力Y=-15155.7959 +FPS=62.95, 法向力=8248.6738, 切向力X=12800.7002, 切向力Y=-16116.4648 +FPS=53.25, 法向力=8340.8662, 切向力X=12672.1367, 切向力Y=-16123.4502 +FPS=30.59, 法向力=8346.0430, 切向力X=12786.6152, 切向力Y=-15933.3428 +FPS=30.54, 法向力=7968.2529, 切向力X=12102.7266, 切向力Y=-18178.9863 +FPS=57.87, 法向力=7906.0967, 切向力X=12109.8789, 切向力Y=-18130.3164 +FPS=34.37, 法向力=8708.7344, 切向力X=12088.7227, 切向力Y=-20045.8223 +FPS=55.49, 法向力=8829.6768, 切向力X=11817.7227, 切向力Y=-20173.1660 +FPS=40.79, 法向力=8882.9600, 切向力X=11527.7451, 切向力Y=-20678.8535 +FPS=49.41, 法向力=8803.9004, 切向力X=11554.7168, 切向力Y=-20674.7773 +FPS=31.16, 法向力=8276.3213, 切向力X=11699.5977, 切向力Y=-22409.4961 +FPS=37.06, 法向力=8245.5791, 切向力X=11695.6289, 切向力Y=-22540.5996 +FPS=47.34, 法向力=8225.7129, 切向力X=11735.4326, 切向力Y=-22534.2656 +FPS=38.66, 法向力=8427.3633, 切向力X=11935.1992, 切向力Y=-21828.3906 +FPS=26.90, 法向力=8461.2598, 切向力X=11881.1992, 切向力Y=-21626.7852 +FPS=38.57, 法向力=9528.6025, 切向力X=12355.2314, 切向力Y=-19851.2734 +FPS=46.37, 法向力=9555.7324, 切向力X=12356.7080, 切向力Y=-20010.3750 +FPS=38.12, 法向力=9523.8398, 切向力X=12341.0371, 切向力Y=-19967.8574 +FPS=49.09, 法向力=9293.1094, 切向力X=12351.4697, 切向力Y=-19735.9688 +FPS=37.11, 法向力=9274.5273, 切向力X=12279.8477, 切向力Y=-19746.2695 +FPS=27.47, 法向力=10409.5195, 切向力X=13086.7520, 切向力Y=-19389.6641 +FPS=38.46, 法向力=10044.7490, 切向力X=12797.7891, 切向力Y=-18980.8652 +FPS=47.86, 法向力=9728.6699, 切向力X=13403.3994, 切向力Y=-18793.1602 +FPS=38.05, 法向力=10516.2275, 切向力X=14328.1885, 切向力Y=-18281.1426 +FPS=47.07, 法向力=10467.1914, 切向力X=14317.9629, 切向力Y=-18492.0664 +FPS=37.38, 法向力=9399.4570, 切向力X=14079.8535, 切向力Y=-18816.9766 +FPS=49.80, 法向力=9318.5840, 切向力X=14045.7520, 切向力Y=-18805.6758 +FPS=30.95, 法向力=9316.3750, 切向力X=14002.6836, 切向力Y=-18927.1953 +FPS=38.05, 法向力=9307.9727, 切向力X=13976.3242, 切向力Y=-18881.8242 +FPS=48.24, 法向力=9452.9844, 切向力X=11619.1748, 切向力Y=-21811.3008 +FPS=31.96, 法向力=9471.7939, 切向力X=11374.5918, 切向力Y=-21613.5898 +FPS=31.89, 法向力=9396.1768, 切向力X=12509.8965, 切向力Y=-22954.4727 +FPS=37.58, 法向力=9211.2441, 切向力X=12535.0859, 切向力Y=-23077.2617 +FPS=48.51, 法向力=10448.6855, 切向力X=11801.4160, 切向力Y=-22542.4297 +FPS=32.16, 法向力=10434.2305, 切向力X=12059.0039, 切向力Y=-22310.4844 +FPS=31.86, 法向力=10024.5635, 切向力X=12096.7139, 切向力Y=-23887.6680 +FPS=57.78, 法向力=9980.6133, 切向力X=12102.5332, 切向力Y=-23934.1406 +FPS=51.90, 法向力=9289.6143, 切向力X=12633.6260, 切向力Y=-20015.0195 +FPS=44.94, 法向力=9411.1367, 切向力X=12790.8008, 切向力Y=-19804.2773 +FPS=27.22, 法向力=9169.5957, 切向力X=12505.8154, 切向力Y=-21262.3359 +FPS=56.53, 法向力=9287.4473, 切向力X=12618.2539, 切向力Y=-21195.7598 +FPS=43.16, 法向力=8608.8340, 切向力X=11015.8857, 切向力Y=-22008.8320 +FPS=51.53, 法向力=8586.0840, 切向力X=11078.1484, 切向力Y=-21787.3184 +FPS=29.78, 法向力=8646.1953, 切向力X=11030.0068, 切向力Y=-21854.4844 +FPS=54.42, 法向力=8636.4814, 切向力X=11037.5625, 切向力Y=-21738.2383 +FPS=51.81, 法向力=7902.9023, 切向力X=9331.4883, 切向力Y=-24519.3047 +FPS=48.79, 法向力=8029.5000, 切向力X=9389.9463, 切向力Y=-24340.8906 +FPS=51.75, 法向力=8059.4814, 切向力X=9337.2051, 切向力Y=-24294.1406 +FPS=36.34, 法向力=6998.7266, 切向力X=9892.5762, 切向力Y=-22588.4863 +FPS=47.42, 法向力=6914.6865, 切向力X=10065.8301, 切向力Y=-22550.6055 +FPS=31.08, 法向力=7176.8887, 切向力X=8448.5820, 切向力Y=-23444.1680 +FPS=59.01, 法向力=7256.0732, 切向力X=8375.7832, 切向力Y=-23330.4023 +FPS=48.93, 法向力=7746.8564, 切向力X=8545.1953, 切向力Y=-24423.0762 +FPS=50.28, 法向力=7693.8877, 切向力X=8447.6270, 切向力Y=-24439.3008 +FPS=48.94, 法向力=9230.7080, 切向力X=8425.4473, 切向力Y=-27863.0781 +FPS=30.34, 法向力=9309.2285, 切向力X=8388.8301, 切向力Y=-27945.6719 +FPS=34.14, 法向力=9988.8164, 切向力X=8456.8281, 切向力Y=-28087.3633 +FPS=30.72, 法向力=10680.8496, 切向力X=8980.3135, 切向力Y=-28307.7773 +FPS=32.07, 法向力=10589.4219, 切向力X=9031.0146, 切向力Y=-28450.8242 +FPS=31.53, 法向力=10580.5801, 切向力X=9134.5918, 切向力Y=-28304.6719 +FPS=31.91, 法向力=10610.5469, 切向力X=9057.9570, 切向力Y=-28405.9395 +FPS=32.60, 法向力=9577.6133, 切向力X=9924.3838, 切向力Y=-28561.3984 +FPS=38.42, 法向力=9490.0293, 切向力X=9940.1309, 切向力Y=-28494.0820 +FPS=44.57, 法向力=9435.0166, 切向力X=11019.6094, 切向力Y=-29281.7031 +FPS=32.67, 法向力=9167.3848, 切向力X=11553.1309, 切向力Y=-27344.3672 +FPS=32.11, 法向力=9210.1748, 切向力X=11548.0859, 切向力Y=-27175.8809 +FPS=30.71, 法向力=8577.4668, 切向力X=12470.0820, 切向力Y=-25220.6621 +FPS=31.40, 法向力=7971.6348, 切向力X=13212.7266, 切向力Y=-19014.4141 +FPS=33.14, 法向力=7981.4980, 切向力X=13394.5479, 切向力Y=-18729.7773 +FPS=59.04, 法向力=9483.8037, 切向力X=14094.3164, 切向力Y=-15455.7598 +FPS=51.20, 法向力=9502.3613, 切向力X=14214.5371, 切向力Y=-15608.1680 +FPS=66.99, 法向力=9553.9463, 切向力X=14123.8320, 切向力Y=-15608.3467 +FPS=44.13, 法向力=9546.5703, 切向力X=14347.9814, 切向力Y=-10490.3770 +FPS=48.30, 法向力=9442.4805, 切向力X=14497.5352, 切向力Y=-10435.0371 +FPS=31.79, 法向力=9448.6143, 切向力X=14597.3418, 切向力Y=-10396.1641 +FPS=37.87, 法向力=9418.4844, 切向力X=14627.3154, 切向力Y=-10413.4893 +FPS=44.42, 法向力=9435.1602, 切向力X=14586.9473, 切向力Y=-10524.1855 +FPS=34.49, 法向力=9676.8438, 切向力X=15178.3926, 切向力Y=-67.6543 +FPS=57.77, 法向力=9538.5684, 切向力X=15364.3418, 切向力Y=457.3781 +FPS=46.38, 法向力=10774.8262, 切向力X=14542.6934, 切向力Y=2325.2686 +FPS=49.30, 法向力=10690.7910, 切向力X=14765.8574, 切向力Y=2804.0898 +FPS=46.91, 法向力=9184.3379, 切向力X=13763.3604, 切向力Y=716.3964 +FPS=38.60, 法向力=9154.4482, 切向力X=13576.2578, 切向力Y=403.1171 +FPS=51.03, 法向力=8731.2305, 切向力X=12164.5283, 切向力Y=-842.1591 +FPS=30.25, 法向力=8444.1318, 切向力X=12172.2744, 切向力Y=-531.6111 +FPS=38.33, 法向力=7708.6348, 切向力X=11452.7500, 切向力Y=-3235.1016 +FPS=27.25, 法向力=6411.1338, 切向力X=10533.6084, 切向力Y=-5920.4922 +FPS=36.80, 法向力=6263.2705, 切向力X=10693.6445, 切向力Y=-5875.3320 +FPS=45.86, 法向力=6598.5776, 切向力X=9061.8008, 切向力Y=-6748.2622 +FPS=67.60, 法向力=7126.7417, 切向力X=8781.6699, 切向力Y=-6414.5713 +FPS=33.37, 法向力=6936.3115, 切向力X=8785.4180, 切向力Y=-6616.6865 +FPS=32.70, 法向力=7084.4966, 切向力X=8794.6719, 切向力Y=-6440.0273 +FPS=37.11, 法向力=6518.7246, 切向力X=8817.8711, 切向力Y=-11292.9629 +FPS=50.38, 法向力=6494.6191, 切向力X=8850.1094, 切向力Y=-11410.7881 +FPS=30.75, 法向力=5214.8242, 切向力X=8936.6992, 切向力Y=-10934.7217 +FPS=62.76, 法向力=5157.2510, 切向力X=9030.9180, 切向力Y=-11084.5732 +FPS=31.93, 法向力=6111.6162, 切向力X=9165.8672, 切向力Y=-13669.8545 +FPS=38.56, 法向力=6156.8701, 切向力X=9078.4961, 切向力Y=-13790.6680 +FPS=46.21, 法向力=7269.9521, 切向力X=9159.1328, 切向力Y=-15491.3418 +FPS=38.47, 法向力=7342.8057, 切向力X=9098.6318, 切向力Y=-15801.6162 +FPS=45.34, 法向力=6152.0903, 切向力X=9478.5215, 切向力Y=-17767.2461 +FPS=40.12, 法向力=6158.7012, 切向力X=9697.4082, 切向力Y=-17552.5254 +FPS=45.64, 法向力=6348.5332, 切向力X=9675.1953, 切向力Y=-20217.4746 +FPS=39.16, 法向力=6314.6299, 切向力X=9864.3545, 切向力Y=-20348.4648 +FPS=63.14, 法向力=6321.3550, 切向力X=9850.4980, 切向力Y=-20397.5391 +FPS=53.43, 法向力=7142.1646, 切向力X=9921.8066, 切向力Y=-21673.8711 +FPS=30.04, 法向力=7245.5645, 切向力X=9975.6523, 切向力Y=-21391.8242 +FPS=36.98, 法向力=7276.2407, 切向力X=9975.8145, 切向力Y=-21414.1953 +FPS=46.62, 法向力=7275.6924, 切向力X=9984.5742, 切向力Y=-21342.5156 +FPS=55.44, 法向力=8218.8105, 切向力X=11055.1113, 切向力Y=-23189.0156 +FPS=53.09, 法向力=8297.6035, 切向力X=11141.0156, 切向力Y=-23234.0508 +FPS=50.81, 法向力=8309.1846, 切向力X=11147.4004, 切向力Y=-23263.8613 +FPS=52.52, 法向力=8224.8057, 切向力X=11361.9746, 切向力Y=-21429.5195 +FPS=30.21, 法向力=8322.9941, 切向力X=11280.6357, 切向力Y=-21590.5391 +FPS=36.59, 法向力=7951.1997, 切向力X=12209.3193, 切向力Y=-18698.3281 +FPS=50.73, 法向力=7943.0947, 切向力X=12273.6963, 切向力Y=-18410.4453 +FPS=31.80, 法向力=8679.9766, 切向力X=12867.8008, 切向力Y=-16357.4336 +FPS=57.53, 法向力=8672.7246, 切向力X=12881.9053, 切向力Y=-16001.2920 +FPS=50.55, 法向力=9198.4170, 切向力X=13263.3320, 切向力Y=-13370.2031 +FPS=46.55, 法向力=9161.5186, 切向力X=13318.2012, 切向力Y=-13018.9473 +FPS=47.90, 法向力=9619.0840, 切向力X=13577.6426, 切向力Y=-11318.5107 +FPS=38.59, 法向力=9459.3574, 切向力X=13573.6709, 切向力Y=-11133.4219 +FPS=48.70, 法向力=9505.8467, 切向力X=13583.1709, 切向力Y=-11092.9629 +FPS=38.28, 法向力=10074.7949, 切向力X=14568.6689, 切向力Y=-9993.9727 +FPS=48.41, 法向力=9999.5215, 切向力X=14650.6719, 切向力Y=-9875.3633 +FPS=37.88, 法向力=11683.6797, 切向力X=15504.2490, 切向力Y=-8357.5361 +FPS=45.74, 法向力=11759.1680, 切向力X=15530.4277, 切向力Y=-8022.5088 +FPS=33.25, 法向力=11033.8340, 切向力X=15624.4814, 切向力Y=-6727.2393 +FPS=31.50, 法向力=11630.8359, 切向力X=15925.2510, 切向力Y=-3172.5095 +FPS=36.72, 法向力=11318.5273, 切向力X=15900.4824, 切向力Y=-2989.7183 +FPS=26.92, 法向力=11244.1875, 切向力X=14809.4180, 切向力Y=103.1121 +FPS=38.95, 法向力=11419.7031, 切向力X=13934.5469, 切向力Y=-1733.5945 +FPS=48.11, 法向力=11624.1211, 切向力X=13444.6035, 切向力Y=-2116.0325 +FPS=32.18, 法向力=9817.6973, 切向力X=12483.7051, 切向力Y=-1026.0981 +FPS=32.24, 法向力=9973.2998, 切向力X=12264.7285, 切向力Y=-1344.9686 +FPS=31.36, 法向力=9017.9883, 切向力X=11239.1934, 切向力Y=-2159.6782 +FPS=32.26, 法向力=8933.4336, 切向力X=11386.4756, 切向力Y=-2346.3159 +FPS=33.02, 法向力=9115.9541, 切向力X=9855.3604, 切向力Y=-5582.0283 +FPS=31.10, 法向力=8138.1504, 切向力X=9639.8652, 切向力Y=-9235.6191 +FPS=37.85, 法向力=8013.3574, 切向力X=9508.9814, 切向力Y=-9489.2314 +FPS=46.11, 法向力=8005.2578, 切向力X=9539.8613, 切向力Y=-9474.7402 +FPS=32.80, 法向力=8757.9434, 切向力X=9373.6650, 切向力Y=-14679.7588 +FPS=56.24, 法向力=7895.2271, 切向力X=8957.5391, 切向力Y=-16216.1387 +FPS=53.97, 法向力=7874.7295, 切向力X=8965.1074, 切向力Y=-16775.6387 +FPS=45.19, 法向力=7918.4434, 切向力X=8950.7197, 切向力Y=-16812.4219 +FPS=50.65, 法向力=8950.4238, 切向力X=8758.6328, 切向力Y=-19726.6211 +FPS=30.54, 法向力=8967.9043, 切向力X=8820.7812, 切向力Y=-19816.6016 +FPS=36.66, 法向力=8507.4531, 切向力X=8751.6572, 切向力Y=-22558.6426 +FPS=49.10, 法向力=8433.3057, 切向力X=8908.5488, 切向力Y=-22484.0332 +FPS=30.83, 法向力=8485.8516, 切向力X=9746.1445, 切向力Y=-23339.7012 +FPS=32.06, 法向力=8480.3203, 切向力X=9781.5879, 切向力Y=-23222.7031 +FPS=32.41, 法向力=8468.4570, 切向力X=10198.9648, 切向力Y=-23757.0859 +FPS=61.46, 法向力=8411.6523, 切向力X=10256.2227, 切向力Y=-23591.7988 +FPS=49.67, 法向力=10250.4199, 切向力X=10578.3848, 切向力Y=-21312.1250 +FPS=36.97, 法向力=10355.3262, 切向力X=10545.3516, 切向力Y=-21233.4219 +FPS=30.93, 法向力=9604.5996, 切向力X=11186.1875, 切向力Y=-20275.4883 +FPS=56.89, 法向力=9496.9199, 切向力X=11330.3594, 切向力Y=-19984.5762 +FPS=50.27, 法向力=9824.1191, 切向力X=12581.7363, 切向力Y=-15567.9688 +FPS=66.21, 法向力=9823.0557, 切向力X=12627.9336, 切向力Y=-15221.8066 +FPS=66.65, 法向力=10899.4639, 切向力X=13366.5840, 切向力Y=-12422.6494 +FPS=54.19, 法向力=10823.0957, 切向力X=13862.4629, 切向力Y=-11855.4727 +FPS=56.44, 法向力=10853.5664, 切向力X=13733.7373, 切向力Y=-11804.9209 +FPS=28.08, 法向力=10836.7109, 切向力X=13288.9746, 切向力Y=-9942.8711 +FPS=31.26, 法向力=11040.5967, 切向力X=13803.2285, 切向力Y=-6401.7852 +FPS=31.57, 法向力=11000.7266, 切向力X=13734.2041, 切向力Y=-6033.1240 +FPS=32.33, 法向力=11547.1641, 切向力X=15309.8027, 切向力Y=-3615.5334 +FPS=32.27, 法向力=11492.8926, 切向力X=15430.1807, 切向力Y=-3513.9927 +FPS=32.16, 法向力=11952.9863, 切向力X=13823.9307, 切向力Y=-4062.1704 +FPS=31.08, 法向力=12879.7383, 切向力X=14287.2461, 切向力Y=-1058.4485 +FPS=37.78, 法向力=13163.0127, 切向力X=13832.4873, 切向力Y=-948.1798 +FPS=43.57, 法向力=11802.9424, 切向力X=12676.9375, 切向力Y=-322.8045 +FPS=41.61, 法向力=11699.6602, 切向力X=12820.3398, 切向力Y=-180.2623 +FPS=52.16, 法向力=11052.4219, 切向力X=11782.0195, 切向力Y=564.8276 +FPS=29.98, 法向力=11055.0469, 切向力X=11828.8535, 切向力Y=515.0789 +FPS=37.69, 法向力=10043.1602, 切向力X=11080.1387, 切向力Y=-2700.1055 +FPS=47.00, 法向力=10037.5430, 切向力X=11025.8359, 切向力Y=-3254.8984 +FPS=32.74, 法向力=8388.4160, 切向力X=10977.2559, 切向力Y=-4522.6323 +FPS=32.27, 法向力=8389.1660, 切向力X=11071.9131, 切向力Y=-4617.8779 +FPS=31.81, 法向力=8587.7754, 切向力X=10351.8457, 切向力Y=-3742.4373 +FPS=31.90, 法向力=8770.6172, 切向力X=10295.4102, 切向力Y=-3117.9995 +FPS=32.17, 法向力=8901.4805, 切向力X=10445.6172, 切向力Y=-6707.7114 +FPS=57.47, 法向力=8907.6309, 切向力X=10222.7109, 切向力Y=-7198.9404 +FPS=47.96, 法向力=9510.1123, 切向力X=9540.8350, 切向力Y=-5494.3164 +FPS=50.71, 法向力=9603.4248, 切向力X=9586.4619, 切向力Y=-5546.5430 +FPS=27.66, 法向力=9815.2666, 切向力X=10074.0996, 切向力Y=-8319.4980 +FPS=59.07, 法向力=9946.5156, 切向力X=10115.1934, 切向力Y=-8830.8652 +FPS=47.84, 法向力=9576.7900, 切向力X=10534.4668, 切向力Y=-7637.1611 +FPS=46.69, 法向力=9582.0205, 切向力X=10424.9004, 切向力Y=-7405.8843 +FPS=46.13, 法向力=8960.7441, 切向力X=11175.1738, 切向力Y=-9909.7832 +FPS=61.58, 法向力=9024.1230, 切向力X=11404.8516, 切向力Y=-9846.1543 +FPS=63.61, 法向力=8980.1367, 切向力X=11507.4238, 切向力Y=-9815.3848 +FPS=51.48, 法向力=9146.1992, 切向力X=10124.2285, 切向力Y=-9457.6338 +FPS=46.40, 法向力=9180.0078, 切向力X=10053.2383, 切向力Y=-9361.4668 +FPS=27.73, 法向力=8736.9180, 切向力X=9481.1699, 切向力Y=-9380.4736 +FPS=37.57, 法向力=8846.0742, 切向力X=9425.3555, 切向力Y=-9454.0371 +FPS=27.11, 法向力=7841.7217, 切向力X=10145.4941, 切向力Y=-11798.8369 +FPS=63.81, 法向力=7772.2017, 切向力X=10259.3340, 切向力Y=-11859.2988 +FPS=31.09, 法向力=6822.0288, 切向力X=9434.8418, 切向力Y=-15570.2959 +FPS=54.87, 法向力=6770.2490, 切向力X=9230.8760, 切向力Y=-16009.4609 +FPS=36.33, 法向力=6275.9355, 切向力X=9534.7793, 切向力Y=-17995.9336 +FPS=38.15, 法向力=6718.8179, 切向力X=9533.9014, 切向力Y=-19595.4180 +FPS=46.31, 法向力=6685.5830, 切向力X=9416.2344, 切向力Y=-19402.8066 +FPS=65.77, 法向力=6672.6797, 切向力X=9457.3926, 切向力Y=-19332.0703 +FPS=39.42, 法向力=8319.0742, 切向力X=8424.7021, 切向力Y=-19187.4727 +FPS=47.27, 法向力=8420.4238, 切向力X=8410.8037, 切向力Y=-19118.7090 +FPS=37.44, 法向力=7956.2471, 切向力X=8775.4785, 切向力Y=-20610.5957 +FPS=44.96, 法向力=7961.4165, 切向力X=8948.8740, 切向力Y=-20786.4531 +FPS=40.72, 法向力=8220.4297, 切向力X=10240.1924, 切向力Y=-19312.8574 +FPS=27.17, 法向力=8246.4961, 切向力X=10329.9355, 切向力Y=-19138.7422 +FPS=37.62, 法向力=9205.7754, 切向力X=11510.3516, 切向力Y=-18440.2617 +FPS=45.37, 法向力=9286.3584, 切向力X=11534.1387, 切向力Y=-18147.9414 +FPS=40.46, 法向力=9982.6738, 切向力X=12142.9219, 切向力Y=-16306.1416 +FPS=48.33, 法向力=9769.3828, 切向力X=12700.0801, 切向力Y=-16307.1055 +FPS=38.96, 法向力=10798.9395, 切向力X=14219.7676, 切向力Y=-14250.1758 +FPS=27.18, 法向力=10718.5215, 切向力X=14377.0742, 切向力Y=-14150.3506 +FPS=60.77, 法向力=12242.7549, 切向力X=14257.8027, 切向力Y=-10526.4531 +FPS=39.46, 法向力=12260.7744, 切向力X=14196.1113, 切向力Y=-10324.5586 +FPS=49.49, 法向力=13135.9961, 切向力X=14670.4082, 切向力Y=-7836.9829 +FPS=38.24, 法向力=13124.5957, 切向力X=14586.7314, 切向力Y=-7601.7075 +FPS=48.91, 法向力=12378.4316, 切向力X=13515.4590, 切向力Y=-8727.1670 +FPS=36.25, 法向力=12424.2402, 切向力X=13808.0469, 切向力Y=-8397.0088 +FPS=48.30, 法向力=12138.0527, 切向力X=12736.0557, 切向力Y=-7462.4229 +FPS=37.42, 法向力=12177.3926, 切向力X=13116.3379, 切向力Y=-6715.8481 +FPS=49.68, 法向力=10676.8984, 切向力X=13504.1631, 切向力Y=-6537.8105 +FPS=30.70, 法向力=10708.6221, 切向力X=13472.8955, 切向力Y=-6710.3232 +FPS=61.40, 法向力=10666.6748, 切向力X=13513.3203, 切向力Y=-6659.7363 +FPS=51.96, 法向力=11462.6621, 切向力X=12001.4668, 切向力Y=-5677.5420 +FPS=35.97, 法向力=11635.4756, 切向力X=11968.7070, 切向力Y=-5593.1611 +FPS=31.74, 法向力=11044.0371, 切向力X=11477.8730, 切向力Y=-4940.5522 +FPS=61.50, 法向力=11178.4277, 切向力X=11426.7002, 切向力Y=-4680.2500 +FPS=50.06, 法向力=9257.4297, 切向力X=9838.0430, 切向力Y=-6527.8037 +FPS=37.02, 法向力=9048.8555, 切向力X=9883.5186, 切向力Y=-6756.9131 +FPS=37.98, 法向力=7858.7056, 切向力X=10027.1748, 切向力Y=-7878.2520 +FPS=52.10, 法向力=7839.3467, 切向力X=10022.1152, 切向力Y=-8079.6172 +FPS=30.74, 法向力=7239.2051, 切向力X=9650.1992, 切向力Y=-10677.5869 +FPS=31.35, 法向力=6751.2383, 切向力X=9356.9844, 切向力Y=-11152.8330 +FPS=32.31, 法向力=6871.8662, 切向力X=9302.1992, 切向力Y=-11151.0039 +FPS=37.61, 法向力=6286.5400, 切向力X=8390.9346, 切向力Y=-13549.6016 +FPS=48.46, 法向力=6243.5664, 切向力X=8443.7383, 切向力Y=-13566.1514 +FPS=37.27, 法向力=6784.4922, 切向力X=9411.2871, 切向力Y=-14216.7793 +FPS=47.69, 法向力=6867.5552, 切向力X=9426.2666, 切向力Y=-13999.6230 +FPS=31.88, 法向力=7184.0137, 切向力X=9581.7461, 切向力Y=-17516.0430 +FPS=32.15, 法向力=7213.9551, 切向力X=9485.8594, 切向力Y=-17625.7461 +FPS=32.14, 法向力=7342.0063, 切向力X=10350.4199, 切向力Y=-18540.9023 +FPS=32.40, 法向力=9834.2891, 切向力X=10811.1895, 切向力Y=-20806.1562 +FPS=32.49, 法向力=9955.0430, 切向力X=10904.9824, 切向力Y=-20737.5938 +FPS=62.82, 法向力=10173.8066, 切向力X=10951.4414, 切向力Y=-20336.9629 +FPS=53.30, 法向力=9890.5430, 切向力X=10582.8604, 切向力Y=-20436.6602 +FPS=34.04, 法向力=11034.1094, 切向力X=12317.4629, 切向力Y=-18557.6133 +FPS=31.97, 法向力=11116.9102, 切向力X=12465.3789, 切向力Y=-18385.4375 +FPS=62.40, 法向力=11532.9941, 切向力X=13116.3750, 切向力Y=-15873.3281 +FPS=54.72, 法向力=11796.8594, 切向力X=13013.9512, 切向力Y=-15782.8906 +FPS=34.06, 法向力=11723.9326, 切向力X=13149.9727, 切向力Y=-15902.4180 +FPS=58.52, 法向力=12360.9062, 切向力X=14105.6289, 切向力Y=-13053.8799 +FPS=52.32, 法向力=12336.9414, 切向力X=14210.7227, 切向力Y=-12927.6328 +FPS=35.17, 法向力=12345.2070, 切向力X=14172.8750, 切向力Y=-12891.2441 +FPS=33.68, 法向力=13760.8096, 切向力X=14379.6211, 切向力Y=-12963.2812 +FPS=59.34, 法向力=13818.0039, 切向力X=14539.8398, 切向力Y=-12914.1094 +FPS=50.19, 法向力=13387.2783, 切向力X=13698.3271, 切向力Y=-11123.0645 +FPS=37.81, 法向力=13403.4414, 切向力X=13698.6641, 切向力Y=-10925.2695 +FPS=32.20, 法向力=12468.3271, 切向力X=13402.6611, 切向力Y=-10101.4746 +FPS=58.44, 法向力=12511.1221, 切向力X=13358.7266, 切向力Y=-10241.3965 +FPS=49.00, 法向力=10752.4551, 切向力X=11908.1055, 切向力Y=-9519.0137 +FPS=48.69, 法向力=10617.9492, 切向力X=12203.2383, 切向力Y=-9807.7021 +FPS=47.18, 法向力=9416.3828, 切向力X=10724.7715, 切向力Y=-6297.8350 +FPS=33.36, 法向力=9465.1826, 切向力X=10587.8965, 切向力Y=-6135.7939 +FPS=32.52, 法向力=7825.9526, 切向力X=10009.7227, 切向力Y=-6978.2729 +FPS=31.64, 法向力=6949.8188, 切向力X=9276.4912, 切向力Y=-10521.3965 +FPS=31.70, 法向力=6807.5132, 切向力X=9333.6641, 切向力Y=-10684.7559 +FPS=32.33, 法向力=6708.2236, 切向力X=8734.6426, 切向力Y=-11987.5547 +FPS=32.09, 法向力=6797.9312, 切向力X=8655.0049, 切向力Y=-12097.1406 +FPS=31.70, 法向力=7939.0986, 切向力X=9172.6855, 切向力Y=-15341.3291 +FPS=31.76, 法向力=8778.1689, 切向力X=10225.6074, 切向力Y=-19538.8281 +FPS=38.84, 法向力=8802.5605, 切向力X=10282.4482, 切向力Y=-19441.4023 +FPS=44.43, 法向力=10142.3926, 切向力X=10773.8555, 切向力Y=-19041.5117 +FPS=40.28, 法向力=10251.2998, 切向力X=10740.2451, 切向力Y=-18935.1289 +FPS=48.99, 法向力=11824.3086, 切向力X=12886.2656, 切向力Y=-18297.0508 +FPS=37.83, 法向力=11905.6875, 切向力X=12928.2666, 切向力Y=-18229.4844 +FPS=49.10, 法向力=11906.3672, 切向力X=12948.0928, 切向力Y=-18202.5703 +FPS=31.24, 法向力=12759.9834, 切向力X=13739.7803, 切向力Y=-18200.3555 +FPS=30.57, 法向力=12932.6094, 切向力X=13971.2422, 切向力Y=-15604.1035 +FPS=32.20, 法向力=12972.5527, 切向力X=13911.7285, 切向力Y=-15583.1553 +FPS=32.93, 法向力=11323.6260, 切向力X=12942.9551, 切向力Y=-11543.0254 +FPS=31.52, 法向力=10266.0625, 切向力X=11304.4707, 切向力Y=-7548.0596 +FPS=32.86, 法向力=10315.8340, 切向力X=11373.2383, 切向力Y=-7325.0605 +FPS=61.15, 法向力=10406.4668, 切向力X=11164.0986, 切向力Y=-7237.1309 +FPS=49.95, 法向力=8869.8594, 切向力X=11008.7188, 切向力Y=-4338.6533 +FPS=66.26, 法向力=8880.5039, 切向力X=11057.8457, 切向力Y=-4273.0029 +FPS=35.41, 法向力=8355.1562, 切向力X=9631.4629, 切向力Y=-3791.4519 +FPS=31.10, 法向力=8427.6709, 切向力X=9536.7402, 切向力Y=-3888.2441 +FPS=33.48, 法向力=7689.9634, 切向力X=9467.7314, 切向力Y=-4943.0532 +FPS=60.76, 法向力=7742.8179, 切向力X=9442.2998, 切向力Y=-4957.5459 +FPS=51.90, 法向力=8000.3262, 切向力X=10290.6328, 切向力Y=-8289.1250 +FPS=43.26, 法向力=8020.9233, 切向力X=10191.3398, 切向力Y=-8740.1992 +FPS=45.34, 法向力=9873.9336, 切向力X=10735.8340, 切向力Y=-12849.3086 +FPS=35.50, 法向力=9901.2246, 切向力X=10735.0908, 切向力Y=-12949.7070 +FPS=37.16, 法向力=12293.2725, 切向力X=13930.2930, 切向力Y=-15018.0996 +FPS=51.30, 法向力=12286.5977, 切向力X=14324.1426, 切向力Y=-14679.1289 +FPS=29.88, 法向力=13504.6953, 切向力X=14627.9395, 切向力Y=-15534.6777 +FPS=31.35, 法向力=13489.0479, 切向力X=14677.8145, 切向力Y=-15409.1338 +FPS=38.55, 法向力=15304.8047, 切向力X=15514.8047, 切向力Y=-13222.4492 +FPS=44.72, 法向力=15364.4258, 切向力X=15483.6846, 切向力Y=-13093.2715 +FPS=39.97, 法向力=15509.7188, 切向力X=14624.9414, 切向力Y=-9352.6660 +FPS=44.93, 法向力=15629.4775, 切向力X=14736.3633, 切向力Y=-9172.7598 +FPS=40.90, 法向力=14505.5039, 切向力X=15216.6465, 切向力Y=-8466.4141 +FPS=46.70, 法向力=14419.3232, 切向力X=15294.8457, 切向力Y=-8450.6973 +FPS=40.64, 法向力=14541.0254, 切向力X=14738.6553, 切向力Y=-7053.2295 +FPS=46.85, 法向力=14520.2510, 切向力X=14726.3379, 切向力Y=-7352.8569 +FPS=38.94, 法向力=14888.3691, 切向力X=13400.8887, 切向力Y=-6726.7285 +FPS=26.98, 法向力=14777.6016, 切向力X=13269.7676, 切向力Y=-8613.7461 +FPS=38.59, 法向力=14828.2119, 切向力X=13258.4082, 切向力Y=-8835.3008 +FPS=27.91, 法向力=14927.0762, 切向力X=13165.3633, 切向力Y=-8894.6709 +FPS=33.47, 法向力=13282.0293, 切向力X=12228.4238, 切向力Y=-7698.9316 +FPS=62.60, 法向力=13102.3164, 切向力X=12280.2881, 切向力Y=-7837.9365 +FPS=54.48, 法向力=13118.6387, 切向力X=12252.6836, 切向力Y=-9685.2617 +FPS=41.40, 法向力=13192.6689, 切向力X=12118.2090, 切向力Y=-9593.3076 +FPS=27.37, 法向力=13364.9141, 切向力X=11784.1289, 切向力Y=-8152.1787 +FPS=58.97, 法向力=13272.8320, 切向力X=11837.7822, 切向力Y=-8192.0312 +FPS=52.53, 法向力=13464.3027, 切向力X=10536.8018, 切向力Y=-8235.1260 +FPS=43.90, 法向力=13182.6416, 切向力X=10456.7080, 切向力Y=-8235.4102 +FPS=28.20, 法向力=12934.9395, 切向力X=11707.4805, 切向力Y=-9913.0293 +FPS=58.18, 法向力=13039.0918, 切向力X=11610.9082, 切向力Y=-10083.9531 +FPS=33.19, 法向力=12104.2305, 切向力X=11459.5371, 切向力Y=-9547.1309 +FPS=61.61, 法向力=12173.9609, 切向力X=11493.8389, 切向力Y=-9381.3623 +FPS=37.94, 法向力=11508.6738, 切向力X=11299.0039, 切向力Y=-10447.9570 +FPS=49.92, 法向力=11540.6172, 切向力X=11373.5098, 切向力Y=-10684.3359 +FPS=32.45, 法向力=10097.0547, 切向力X=10274.6670, 切向力Y=-11602.5078 +FPS=31.52, 法向力=9879.9922, 切向力X=10170.4082, 切向力Y=-11748.3730 +FPS=38.56, 法向力=9020.5977, 切向力X=9761.2832, 切向力Y=-11711.8076 +FPS=45.48, 法向力=9086.8506, 切向力X=9613.8174, 切向力Y=-11776.2080 +FPS=66.26, 法向力=8020.3086, 切向力X=8156.6172, 切向力Y=-12511.8643 +FPS=33.44, 法向力=7902.8828, 切向力X=8006.8838, 切向力Y=-12437.3301 +FPS=31.32, 法向力=6271.7563, 切向力X=7969.3389, 切向力Y=-14130.4512 +FPS=31.40, 法向力=4994.9688, 切向力X=7300.9570, 切向力Y=-13504.9844 +FPS=64.83, 法向力=4957.1484, 切向力X=7243.7363, 切向力Y=-13462.4053 +FPS=30.50, 法向力=5075.9346, 切向力X=6453.5898, 切向力Y=-13805.5215 +FPS=39.01, 法向力=5060.7412, 切向力X=6429.0264, 切向力Y=-13832.4893 +FPS=43.30, 法向力=6129.5581, 切向力X=7384.0015, 切向力Y=-16979.7227 +FPS=42.24, 法向力=6348.7959, 切向力X=7250.3833, 切向力Y=-17171.7969 +FPS=46.08, 法向力=8025.3325, 切向力X=7263.7495, 切向力Y=-23009.0117 +FPS=39.50, 法向力=8332.7119, 切向力X=7247.7959, 切向力Y=-23138.3633 +FPS=27.02, 法向力=8287.8145, 切向力X=7239.8291, 切向力Y=-23250.9746 +FPS=38.59, 法向力=8450.1943, 切向力X=9287.2354, 切向力Y=-25447.8398 +FPS=44.60, 法向力=8926.0938, 切向力X=10181.8799, 切向力Y=-25658.1328 +FPS=40.82, 法向力=8957.5049, 切向力X=9978.8633, 切向力Y=-26610.3945 +FPS=43.45, 法向力=8963.0771, 切向力X=9878.6572, 切向力Y=-26713.6230 +FPS=60.36, 法向力=9104.9893, 切向力X=9735.7578, 切向力Y=-23616.3398 +FPS=35.37, 法向力=9210.3809, 切向力X=9610.4258, 切向力Y=-22929.1504 +FPS=38.66, 法向力=10663.3135, 切向力X=10713.5518, 切向力Y=-21130.6699 +FPS=44.19, 法向力=10610.0098, 切向力X=10860.4590, 切向力Y=-20898.4062 +FPS=59.88, 法向力=10061.3203, 切向力X=11688.5225, 切向力Y=-19532.5801 +FPS=33.41, 法向力=10092.1055, 切向力X=11693.8379, 切向力Y=-19403.7520 +FPS=60.88, 法向力=9379.2598, 切向力X=11304.2207, 切向力Y=-13926.0195 +FPS=39.46, 法向力=9165.1621, 切向力X=11301.1934, 切向力Y=-13675.9512 +FPS=48.34, 法向力=8122.1729, 切向力X=11695.4102, 切向力Y=-5616.8745 +FPS=37.52, 法向力=8108.1323, 切向力X=11767.3867, 切向力Y=-5714.3770 +FPS=51.70, 法向力=8102.8193, 切向力X=11650.1338, 切向力Y=-5687.4731 +FPS=30.87, 法向力=8331.9238, 切向力X=10854.6846, 切向力Y=-1638.2582 +FPS=55.66, 法向力=8380.3975, 切向力X=10710.3008, 切向力Y=-1506.4319 +FPS=51.19, 法向力=8724.6133, 切向力X=10287.5488, 切向力Y=1941.3197 +FPS=38.62, 法向力=8585.4375, 切向力X=10453.8086, 切向力Y=2253.7083 +FPS=38.84, 法向力=7976.9526, 切向力X=10187.4258, 切向力Y=1870.6165 +FPS=49.56, 法向力=8039.5547, 切向力X=10252.4238, 切向力Y=1936.3767 +FPS=36.99, 法向力=6336.0415, 切向力X=9281.6406, 切向力Y=-818.9983 +FPS=47.78, 法向力=6370.9941, 切向力X=9112.9336, 切向力Y=-914.8602 +FPS=39.90, 法向力=7636.3228, 切向力X=7774.4834, 切向力Y=2332.6685 +FPS=26.77, 法向力=8334.1748, 切向力X=6682.7764, 切向力Y=5379.6289 +FPS=32.25, 法向力=8377.2031, 切向力X=6779.2563, 切向力Y=5561.8945 +FPS=32.21, 法向力=7046.7832, 切向力X=8439.7256, 切向力Y=4704.5146 +FPS=37.18, 法向力=7106.6572, 切向力X=8330.9219, 切向力Y=4934.3789 +FPS=48.95, 法向力=7471.7881, 切向力X=9772.4102, 切向力Y=2767.3647 +FPS=30.60, 法向力=7423.7129, 切向力X=9802.3662, 切向力Y=2787.5247 +FPS=32.52, 法向力=7096.6528, 切向力X=9938.4307, 切向力Y=354.6227 +FPS=30.93, 法向力=7266.8672, 切向力X=9750.8838, 切向力Y=303.1170 +FPS=33.14, 法向力=6528.6592, 切向力X=10816.4307, 切向力Y=-3480.1855 +FPS=32.40, 法向力=7583.3257, 切向力X=10752.6436, 切向力Y=-8035.3916 +FPS=37.69, 法向力=7596.8701, 切向力X=10608.3350, 切向力Y=-8231.1367 +FPS=48.52, 法向力=8033.7144, 切向力X=10533.5684, 切向力Y=-12737.1006 +FPS=32.23, 法向力=8059.8711, 切向力X=10552.3174, 切向力Y=-13196.1094 +FPS=37.90, 法向力=9148.4980, 切向力X=10797.8555, 切向力Y=-16786.0898 +FPS=48.96, 法向力=9297.4326, 切向力X=10799.5752, 切向力Y=-16935.9805 +FPS=31.76, 法向力=8846.7803, 切向力X=11534.0068, 切向力Y=-17701.1738 +FPS=61.92, 法向力=8857.8203, 切向力X=11578.8574, 切向力Y=-17454.5391 +FPS=52.52, 法向力=9680.5488, 切向力X=11198.5400, 切向力Y=-16365.5586 +FPS=34.41, 法向力=9828.8906, 切向力X=11030.0117, 切向力Y=-16376.3105 +FPS=62.34, 法向力=9845.8320, 切向力X=10978.5098, 切向力Y=-16377.1963 +FPS=31.19, 法向力=11206.7305, 切向力X=12206.7578, 切向力Y=-12461.4062 +FPS=57.19, 法向力=11136.9023, 切向力X=12070.5146, 切向力Y=-12527.7373 +FPS=51.06, 法向力=12349.1279, 切向力X=12917.1504, 切向力Y=-10655.8359 +FPS=48.10, 法向力=12341.1611, 切向力X=12881.3184, 切向力Y=-10601.1562 +FPS=51.24, 法向力=11667.4521, 切向力X=12228.8008, 切向力Y=-9841.7646 +FPS=30.68, 法向力=11507.0859, 切向力X=12010.1826, 切向力Y=-10044.8721 +FPS=31.77, 法向力=12215.0801, 切向力X=11346.0391, 切向力Y=-7699.7217 +FPS=38.02, 法向力=11887.9707, 切向力X=11725.5586, 切向力Y=-6918.1724 +FPS=51.08, 法向力=11857.0830, 切向力X=11729.3037, 切向力Y=-6838.2988 +FPS=30.12, 法向力=12726.2373, 切向力X=11286.0703, 切向力Y=-5474.9229 +FPS=31.64, 法向力=12753.3086, 切向力X=11157.2900, 切向力Y=-5585.7363 +FPS=33.41, 法向力=12753.8027, 切向力X=11416.2305, 切向力Y=-5715.8413 +FPS=31.39, 法向力=12778.5146, 切向力X=11392.3984, 切向力Y=-5516.4502 +FPS=31.29, 法向力=13287.8828, 切向力X=10803.5039, 切向力Y=-6265.0776 +FPS=36.59, 法向力=13523.1992, 切向力X=10507.3877, 切向力Y=-6261.9619 +FPS=46.95, 法向力=12563.5293, 切向力X=10994.7559, 切向力Y=-5457.4258 +FPS=32.26, 法向力=11490.2734, 切向力X=10652.9648, 切向力Y=-5385.4102 +FPS=33.14, 法向力=11448.5859, 切向力X=10611.4248, 切向力Y=-5310.9570 +FPS=37.57, 法向力=10157.2168, 切向力X=9911.0957, 切向力Y=-4347.8218 +FPS=44.04, 法向力=10208.9609, 切向力X=9831.6045, 切向力Y=-4643.7793 +FPS=34.69, 法向力=8152.0996, 切向力X=9577.0449, 切向力Y=-6148.6680 +FPS=30.68, 法向力=6704.3184, 切向力X=8255.8457, 切向力Y=-8013.6279 +FPS=32.24, 法向力=6684.2188, 切向力X=8288.5605, 切向力Y=-8176.0332 +FPS=32.13, 法向力=6019.5122, 切向力X=6981.9629, 切向力Y=-3753.0342 +FPS=31.05, 法向力=5819.7476, 切向力X=7002.0947, 切向力Y=-3041.4844 +FPS=32.37, 法向力=8391.4600, 切向力X=6038.7632, 切向力Y=19009.5039 +FPS=30.91, 法向力=8203.8594, 切向力X=5938.1787, 切向力Y=19342.3711 +FPS=39.30, 法向力=7880.4199, 切向力X=7385.0166, 切向力Y=24851.0898 +FPS=43.90, 法向力=5534.7583, 切向力X=2034.1456, 切向力Y=11627.9805 +FPS=32.91, 法向力=5843.1475, 切向力X=1778.5718, 切向力Y=11522.0361 +FPS=54.90, 法向力=5838.9102, 切向力X=1722.8318, 切向力Y=11575.8555 +FPS=43.35, 法向力=4738.0186, 切向力X=2225.7124, 切向力Y=2684.4478 +FPS=48.52, 法向力=4613.4219, 切向力X=2248.3008, 切向力Y=2326.6357 +FPS=36.98, 法向力=3819.6326, 切向力X=3838.8513, 切向力Y=1116.4951 +FPS=44.54, 法向力=3783.7705, 切向力X=4023.4661, 切向力Y=1080.5817 +FPS=40.85, 法向力=3263.1143, 切向力X=3502.9304, 切向力Y=230.0927 +FPS=27.56, 法向力=3270.9722, 切向力X=3442.2717, 切向力Y=-618.3744 +FPS=39.27, 法向力=3224.9741, 切向力X=3492.5383, 切向力Y=-917.5327 +FPS=44.96, 法向力=3491.3003, 切向力X=3174.1484, 切向力Y=667.2861 +FPS=33.04, 法向力=3647.1250, 切向力X=3004.6956, 切向力Y=690.4983 +FPS=31.12, 法向力=2979.3472, 切向力X=3231.4443, 切向力Y=417.7660 +FPS=30.61, 法向力=2957.1636, 切向力X=3344.7905, 切向力Y=452.4684 +FPS=39.05, 法向力=3316.9341, 切向力X=3329.3276, 切向力Y=1042.2249 +FPS=48.03, 法向力=3506.6353, 切向力X=3172.4575, 切向力Y=1077.9678 +FPS=64.49, 法向力=3264.0493, 切向力X=2236.8972, 切向力Y=584.5685 +FPS=32.80, 法向力=3373.5771, 切向力X=2271.0884, 切向力Y=577.4537 +FPS=32.07, 法向力=3965.3462, 切向力X=2591.1748, 切向力Y=1002.2766 +FPS=38.13, 法向力=4046.2622, 切向力X=2330.4453, 切向力Y=1052.8654 +FPS=51.33, 法向力=4057.9753, 切向力X=2632.1836, 切向力Y=1156.7292 +FPS=30.80, 法向力=2826.2061, 切向力X=1999.0396, 切向力Y=1123.9846 +FPS=32.93, 法向力=2964.0208, 切向力X=1796.6946, 切向力Y=1133.9242 +FPS=32.14, 法向力=2715.2976, 切向力X=2558.4136, 切向力Y=588.0330 +FPS=31.18, 法向力=2671.3748, 切向力X=2620.5120, 切向力Y=401.4182 +FPS=38.55, 法向力=3343.2295, 切向力X=2251.8425, 切向力Y=1256.5090 +FPS=48.37, 法向力=3452.1501, 切向力X=2182.0171, 切向力Y=1447.9417 +FPS=58.90, 法向力=3498.1909, 切向力X=2139.4351, 切向力Y=1527.8708 +FPS=53.06, 法向力=2706.4578, 切向力X=3347.7051, 切向力Y=-599.1529 +FPS=43.34, 法向力=2764.5168, 切向力X=3563.6409, 切向力Y=-1167.1254 +FPS=62.50, 法向力=2996.4629, 切向力X=3053.1274, 切向力Y=832.3567 +FPS=53.94, 法向力=3069.3516, 切向力X=3143.0071, 切向力Y=1678.0774 +FPS=60.54, 法向力=3072.4248, 切向力X=3200.2837, 切向力Y=1739.3043 +FPS=51.19, 法向力=3425.6621, 切向力X=2111.7100, 切向力Y=-70.1989 +FPS=38.93, 法向力=3404.5693, 切向力X=2040.8627, 切向力Y=-79.6714 +FPS=27.15, 法向力=3357.3530, 切向力X=2158.2832, 切向力Y=1129.7799 +FPS=57.73, 法向力=2870.4702, 切向力X=2514.5906, 切向力Y=-1530.0206 +FPS=50.74, 法向力=2955.7500, 切向力X=2494.6218, 切向力Y=-1569.0613 +FPS=48.43, 法向力=2928.0127, 切向力X=2469.5349, 切向力Y=-1588.7133 +FPS=64.52, 法向力=2841.7710, 切向力X=2711.5259, 切向力Y=648.9426 +FPS=52.48, 法向力=2808.5205, 切向力X=2671.6494, 切向力Y=849.4911 +FPS=63.27, 法向力=2864.3997, 切向力X=2602.6938, 切向力Y=870.0726 +FPS=36.67, 法向力=3100.4519, 切向力X=3014.5391, 切向力Y=524.6780 +FPS=52.50, 法向力=3257.7261, 切向力X=2971.6401, 切向力Y=827.3904 +FPS=60.77, 法向力=3203.5322, 切向力X=2933.0752, 切向力Y=886.8763 +FPS=31.27, 法向力=2405.4756, 切向力X=2847.9590, 切向力Y=744.3510 +FPS=62.15, 法向力=2521.2891, 切向力X=2761.2058, 切向力Y=915.0639 +FPS=38.22, 法向力=2896.9902, 切向力X=3032.2285, 切向力Y=630.2564 +FPS=49.66, 法向力=2940.5083, 切向力X=2983.6479, 切向力Y=651.7408 +FPS=36.30, 法向力=3437.9607, 切向力X=2162.4548, 切向力Y=1066.9294 +FPS=50.69, 法向力=3421.0168, 切向力X=2066.5444, 切向力Y=1010.6371 +FPS=64.65, 法向力=3141.2979, 切向力X=2911.5220, 切向力Y=252.7132 +FPS=54.48, 法向力=3116.9680, 切向力X=2971.2920, 切向力Y=-1.0837 +FPS=39.21, 法向力=2818.5920, 切向力X=2196.2834, 切向力Y=815.7415 +FPS=52.13, 法向力=2883.1013, 切向力X=2281.3596, 切向力Y=747.0958 +FPS=30.28, 法向力=2436.1802, 切向力X=2427.3982, 切向力Y=195.2630 +FPS=31.22, 法向力=2486.2402, 切向力X=2360.4236, 切向力Y=147.4371 +FPS=38.85, 法向力=2308.0547, 切向力X=2597.4629, 切向力Y=-407.3750 +FPS=47.48, 法向力=2310.5410, 切向力X=2549.1077, 切向力Y=-572.9069 +FPS=32.15, 法向力=2676.4189, 切向力X=2270.0308, 切向力Y=-947.2249 +FPS=33.45, 法向力=2651.4590, 切向力X=2105.2739, 切向力Y=-1046.9155 +FPS=32.87, 法向力=2516.2090, 切向力X=2629.0410, 切向力Y=-475.8207 +FPS=36.90, 法向力=2522.4570, 切向力X=2622.4846, 切向力Y=-419.2119 +FPS=26.97, 法向力=2261.0300, 切向力X=2839.3613, 切向力Y=933.3027 +FPS=38.97, 法向力=3013.7446, 切向力X=2747.5015, 切向力Y=-211.5081 +FPS=48.25, 法向力=3153.3979, 切向力X=2643.9302, 切向力Y=-235.7779 +FPS=32.46, 法向力=2546.0767, 切向力X=2449.2046, 切向力Y=719.5068 +FPS=33.20, 法向力=2633.3098, 切向力X=2256.1990, 切向力Y=926.6711 +FPS=31.66, 法向力=2521.3633, 切向力X=1922.8297, 切向力Y=637.9417 +FPS=62.22, 法向力=2561.4175, 切向力X=2050.5107, 切向力Y=455.6065 +FPS=51.24, 法向力=2632.5510, 切向力X=1648.6301, 切向力Y=846.4208 +FPS=37.11, 法向力=2688.9055, 切向力X=1568.9768, 切向力Y=953.6049 +FPS=59.18, 法向力=2724.3550, 切向力X=1503.5682, 切向力Y=974.7338 +FPS=50.59, 法向力=2772.4819, 切向力X=2259.5127, 切向力Y=1031.1619 +FPS=38.21, 法向力=2863.7705, 切向力X=2104.6748, 切向力Y=953.2909 +FPS=31.43, 法向力=2304.3413, 切向力X=1351.7253, 切向力Y=-725.0481 +FPS=63.75, 法向力=2301.2417, 切向力X=1317.3444, 切向力Y=-953.1990 +FPS=50.12, 法向力=2767.0615, 切向力X=2063.1372, 切向力Y=825.0778 +FPS=45.22, 法向力=2805.1821, 切向力X=1983.9414, 切向力Y=925.5829 +FPS=27.67, 法向力=2367.7507, 切向力X=2983.0176, 切向力Y=-445.9589 +FPS=37.69, 法向力=2739.5842, 切向力X=3035.4487, 切向力Y=-46.9496 +FPS=48.43, 法向力=2804.3669, 切向力X=3152.6338, 切向力Y=211.8250 +FPS=32.80, 法向力=2613.9907, 切向力X=2614.6240, 切向力Y=1353.7894 +FPS=33.09, 法向力=2591.7419, 切向力X=2644.3311, 切向力Y=1320.4208 +FPS=31.60, 法向力=3316.0146, 切向力X=2392.4473, 切向力Y=645.4868 +FPS=31.72, 法向力=2647.9385, 切向力X=1603.8353, 切向力Y=1864.5393 +FPS=31.58, 法向力=2690.2498, 切向力X=1449.6379, 切向力Y=1943.5693 +FPS=39.49, 法向力=2630.2302, 切向力X=1385.0354, 切向力Y=2113.3164 +FPS=44.33, 法向力=2807.7788, 切向力X=2456.6172, 切向力Y=804.4769 +FPS=39.87, 法向力=2837.3362, 切向力X=2366.8840, 切向力Y=692.8890 +FPS=26.50, 法向力=3293.0930, 切向力X=2449.9014, 切向力Y=1073.1125 +FPS=33.51, 法向力=2928.8494, 切向力X=1634.0933, 切向力Y=229.5017 +FPS=32.34, 法向力=3129.3569, 切向力X=1409.5343, 切向力Y=18.6586 +FPS=31.91, 法向力=2091.6560, 切向力X=2408.6150, 切向力Y=285.0317 +FPS=53.46, 法向力=2078.2854, 切向力X=2541.1431, 切向力Y=368.6172 +FPS=49.73, 法向力=2859.7520, 切向力X=1621.8691, 切向力Y=1459.3854 +FPS=54.25, 法向力=3099.7590, 切向力X=1424.4739, 切向力Y=1572.6465 +FPS=45.96, 法向力=2516.9907, 切向力X=2571.4570, 切向力Y=1605.5435 +FPS=32.44, 法向力=2323.1245, 切向力X=2782.5684, 切向力Y=1490.1792 +FPS=32.38, 法向力=2197.3098, 切向力X=1645.4553, 切向力Y=-683.2957 +FPS=30.29, 法向力=2198.4341, 切向力X=1558.1754, 切向力Y=-631.7180 +FPS=33.12, 法向力=2370.7681, 切向力X=1921.5016, 切向力Y=215.4495 +FPS=32.63, 法向力=2688.5803, 切向力X=2367.3196, 切向力Y=-349.7479 +FPS=32.09, 法向力=2756.7979, 切向力X=2373.7170, 切向力Y=-366.4804 +FPS=29.90, 法向力=2698.4265, 切向力X=2188.6819, 切向力Y=-10.1394 +FPS=41.09, 法向力=2185.9990, 切向力X=1145.5626, 切向力Y=817.9464 +FPS=40.78, 法向力=2104.2532, 切向力X=1242.1768, 切向力Y=1180.4735 +FPS=42.16, 法向力=2057.5576, 切向力X=1320.5923, 切向力Y=1209.6245 +FPS=27.68, 法向力=1838.1412, 切向力X=2696.3955, 切向力Y=713.9740 +FPS=32.76, 法向力=2369.5215, 切向力X=2190.8711, 切向力Y=-440.8341 +FPS=31.11, 法向力=2701.9683, 切向力X=2268.8491, 切向力Y=845.6633 +FPS=32.29, 法向力=2749.3337, 切向力X=2262.9607, 切向力Y=714.3947 +FPS=32.35, 法向力=1966.7455, 切向力X=1989.8944, 切向力Y=299.4094 +FPS=31.83, 法向力=1913.3600, 切向力X=1932.8209, 切向力Y=158.2458 +FPS=31.74, 法向力=2009.9309, 切向力X=1825.2494, 切向力Y=237.2854 +FPS=37.08, 法向力=2095.1963, 切向力X=1719.4655, 切向力Y=345.5682 +FPS=46.23, 法向力=2733.7314, 切向力X=2156.4868, 切向力Y=1736.7063 +FPS=39.15, 法向力=2826.4810, 切向力X=2276.0078, 切向力Y=1723.6777 +FPS=49.55, 法向力=2497.7585, 切向力X=1607.4014, 切向力Y=516.9872 +FPS=31.63, 法向力=2543.6943, 切向力X=1344.2454, 切向力Y=488.3043 +FPS=32.21, 法向力=2322.0894, 切向力X=2484.9155, 切向力Y=844.6628 +FPS=56.93, 法向力=2341.3970, 切向力X=2773.8633, 切向力Y=524.6503 +FPS=52.02, 法向力=2474.9592, 切向力X=1864.0968, 切向力Y=-675.5465 +FPS=37.48, 法向力=2370.8621, 切向力X=1742.4928, 切向力Y=-661.9000 +FPS=31.73, 法向力=2622.5020, 切向力X=1914.2368, 切向力Y=-444.7922 +FPS=61.43, 法向力=2592.6543, 切向力X=1890.3423, 切向力Y=-434.2733 +FPS=50.36, 法向力=2161.7520, 切向力X=1900.5798, 切向力Y=50.3848 +FPS=43.90, 法向力=2121.2734, 切向力X=1990.1776, 切向力Y=299.9604 +FPS=27.59, 法向力=2479.6492, 切向力X=963.2333, 切向力Y=879.2847 +FPS=31.95, 法向力=2639.0762, 切向力X=1058.3093, 切向力Y=996.7231 +FPS=38.65, 法向力=2083.9368, 切向力X=2666.6604, 切向力Y=939.9918 +FPS=49.24, 法向力=1875.2549, 切向力X=2912.0769, 切向力Y=1009.1907 +FPS=31.97, 法向力=1896.9094, 切向力X=2874.8477, 切向力Y=1013.5226 +FPS=31.33, 法向力=2592.9277, 切向力X=2203.9019, 切向力Y=325.3444 +FPS=31.93, 法向力=2552.3984, 切向力X=1805.1431, 切向力Y=710.7675 +FPS=31.99, 法向力=2209.1885, 切向力X=2659.4316, 切向力Y=313.5358 +FPS=32.58, 法向力=2660.8411, 切向力X=1372.1350, 切向力Y=1059.4781 +FPS=37.51, 法向力=2891.7847, 切向力X=1212.9956, 切向力Y=1338.3828 +FPS=47.13, 法向力=2282.3779, 切向力X=1660.4402, 切向力Y=632.2366 +FPS=31.94, 法向力=2237.4028, 切向力X=1777.2415, 切向力Y=638.4935 +FPS=32.12, 法向力=2767.4473, 切向力X=1754.2412, 切向力Y=1719.5901 +FPS=37.73, 法向力=2901.8152, 切向力X=1740.6718, 切向力Y=2057.0176 +FPS=45.39, 法向力=2982.9541, 切向力X=1069.1289, 切向力Y=2174.3818 +FPS=32.97, 法向力=3201.3862, 切向力X=1023.4940, 切向力Y=2162.6987 +FPS=31.95, 法向力=2159.5530, 切向力X=1598.4070, 切向力Y=-785.2063 +FPS=32.10, 法向力=2013.8862, 切向力X=1701.7375, 切向力Y=-1011.0275 +FPS=31.36, 法向力=2045.5320, 切向力X=1622.3423, 切向力Y=-1132.5510 +FPS=36.41, 法向力=2244.5767, 切向力X=1874.3296, 切向力Y=-276.4557 +FPS=51.06, 法向力=2323.9836, 切向力X=1870.5977, 切向力Y=-330.6742 +FPS=30.17, 法向力=2363.4370, 切向力X=2183.1428, 切向力Y=-248.2099 +FPS=38.76, 法向力=2288.8320, 切向力X=2233.0220, 切向力Y=-178.1092 +FPS=44.61, 法向力=2759.5520, 切向力X=1974.2823, 切向力Y=1369.8020 +FPS=33.43, 法向力=2685.4246, 切向力X=1869.1719, 切向力Y=2058.2346 +FPS=37.25, 法向力=2824.7939, 切向力X=1710.3904, 切向力Y=337.6241 +FPS=51.45, 法向力=2832.5239, 切向力X=1567.7343, 切向力Y=449.3900 +FPS=61.63, 法向力=2852.7930, 切向力X=1560.1013, 切向力Y=491.1315 +FPS=54.04, 法向力=2468.8169, 切向力X=1466.2727, 切向力Y=1109.7643 +FPS=34.93, 法向力=2569.1165, 切向力X=1492.9197, 切向力Y=1139.0552 +FPS=31.25, 法向力=2113.2051, 切向力X=1144.6541, 切向力Y=-1102.7208 +FPS=63.74, 法向力=2144.2725, 切向力X=1080.6687, 切向力Y=-993.8331 +FPS=51.77, 法向力=1924.8777, 切向力X=575.5696, 切向力Y=-360.5114 +FPS=42.99, 法向力=1878.7634, 切向力X=592.9550, 切向力Y=-273.9586 +FPS=27.29, 法向力=1904.0682, 切向力X=567.2147, 切向力Y=-215.6749 +FPS=61.74, 法向力=1883.7041, 切向力X=594.1924, 切向力Y=-245.1765 +FPS=32.05, 法向力=2789.2070, 切向力X=1251.7673, 切向力Y=820.5662 +FPS=57.56, 法向力=2809.1826, 切向力X=1262.5886, 切向力Y=782.5354 +FPS=34.01, 法向力=2392.8811, 切向力X=992.1531, 切向力Y=1217.0621 +FPS=59.82, 法向力=2368.3193, 切向力X=1099.5339, 切向力Y=1454.9592 +FPS=38.76, 法向力=1583.1932, 切向力X=2086.2188, 切向力Y=-141.5494 +FPS=48.60, 法向力=1625.5924, 切向力X=2001.1541, 切向力Y=-472.7838 +FPS=65.69, 法向力=1596.9662, 切向力X=2080.7959, 切向力Y=-479.7975 +FPS=36.48, 法向力=2166.4521, 切向力X=1608.6782, 切向力Y=-28.7020 +FPS=49.38, 法向力=2177.2378, 切向力X=1691.3549, 切向力Y=96.1244 +FPS=60.80, 法向力=1934.6357, 切向力X=1880.9480, 切向力Y=647.2377 +FPS=31.94, 法向力=1911.5549, 切向力X=1946.0586, 切向力Y=614.2318 +FPS=38.77, 法向力=2410.8091, 切向力X=2546.0928, 切向力Y=-44.7915 +FPS=46.96, 法向力=2471.4807, 切向力X=2473.6174, 切向力Y=-338.1304 +FPS=38.83, 法向力=2039.6500, 切向力X=1881.1820, 切向力Y=-886.2010 +FPS=27.72, 法向力=2090.6160, 切向力X=1857.7179, 切向力Y=-801.1671 +FPS=37.10, 法向力=2113.2412, 切向力X=1812.0640, 切向力Y=-800.9072 +FPS=45.89, 法向力=2184.3350, 切向力X=2119.9512, 切向力Y=496.5655 +FPS=40.50, 法向力=2150.6401, 切向力X=2276.2314, 切向力Y=670.0443 +FPS=45.37, 法向力=2356.2385, 切向力X=2069.7390, 切向力Y=1381.2885 +FPS=64.83, 法向力=2427.5186, 切向力X=1989.3229, 切向力Y=1594.2952 +FPS=41.19, 法向力=2485.2073, 切向力X=1919.3721, 切向力Y=1513.6609 +FPS=45.77, 法向力=2164.1958, 切向力X=1204.1941, 切向力Y=188.5145 +FPS=40.45, 法向力=2081.1401, 切向力X=1083.5913, 切向力Y=389.4339 +FPS=46.70, 法向力=2037.8815, 切向力X=1029.9500, 切向力Y=187.6542 +FPS=39.42, 法向力=1897.2208, 切向力X=1717.2830, 切向力Y=309.8050 +FPS=45.18, 法向力=1913.5273, 切向力X=2022.6382, 切向力Y=44.5940 +FPS=66.26, 法向力=1988.5248, 切向力X=2168.4180, 切向力Y=-499.6348 +FPS=30.61, 法向力=2103.5679, 切向力X=2220.8262, 切向力Y=-497.7160 +FPS=38.38, 法向力=1898.6316, 切向力X=1788.4546, 切向力Y=650.6705 +FPS=46.60, 法向力=1860.8633, 切向力X=1573.5764, 切向力Y=516.3566 +FPS=32.04, 法向力=1900.6840, 切向力X=1602.3728, 切向力Y=328.9063 +FPS=37.78, 法向力=1851.5542, 切向力X=1708.4828, 切向力Y=292.8143 +FPS=49.27, 法向力=1907.2361, 切向力X=1598.0804, 切向力Y=368.9311 +FPS=64.49, 法向力=1922.4204, 切向力X=1599.8978, 切向力Y=400.7089 +FPS=51.67, 法向力=1787.8713, 切向力X=2103.2175, 切向力Y=72.5898 +FPS=34.64, 法向力=1905.9622, 切向力X=2123.5173, 切向力Y=340.3278 +FPS=32.20, 法向力=2577.6606, 切向力X=1627.9725, 切向力Y=196.8339 +FPS=31.37, 法向力=2603.4116, 切向力X=1575.0710, 切向力Y=303.4703 +FPS=38.44, 法向力=2060.5327, 切向力X=2231.9307, 切向力Y=-1414.9795 +FPS=46.27, 法向力=2050.3948, 切向力X=2227.7759, 切向力Y=-1518.5104 +FPS=39.42, 法向力=2473.0508, 切向力X=2060.8198, 切向力Y=1785.6631 +FPS=45.86, 法向力=2484.5779, 切向力X=1940.3203, 切向力Y=1998.6340 +FPS=39.44, 法向力=2009.2964, 切向力X=1762.0806, 切向力Y=-675.4279 +FPS=47.20, 法向力=1976.5226, 切向力X=1839.2137, 切向力Y=-1071.8513 +FPS=32.84, 法向力=1686.9114, 切向力X=1891.2700, 切向力Y=1533.6523 +FPS=38.55, 法向力=2098.4746, 切向力X=2304.1316, 切向力Y=691.1104 +FPS=52.04, 法向力=2169.7686, 切向力X=2443.4370, 切向力Y=488.5537 +FPS=34.35, 法向力=2234.3687, 切向力X=2438.8499, 切向力Y=424.1910 +FPS=52.08, 法向力=2138.1902, 切向力X=2370.9636, 切向力Y=621.6388 +FPS=30.42, 法向力=1537.7231, 切向力X=1834.6593, 切向力Y=388.1978 +FPS=37.66, 法向力=1516.3687, 切向力X=1811.7363, 切向力Y=313.3518 +FPS=27.18, 法向力=1876.9810, 切向力X=1880.4644, 切向力Y=-1842.7896 +FPS=38.17, 法向力=1966.9753, 切向力X=1924.1847, 切向力Y=-1731.2651 +FPS=45.38, 法向力=1908.1935, 切向力X=2068.3291, 切向力Y=339.9628 +FPS=39.66, 法向力=2175.7422, 切向力X=2011.6921, 切向力Y=722.0925 +FPS=47.30, 法向力=2485.0293, 切向力X=1332.7015, 切向力Y=503.8314 +FPS=32.09, 法向力=2485.1238, 切向力X=1258.0243, 切向力Y=513.0493 +FPS=32.61, 法向力=1860.6077, 切向力X=1800.8212, 切向力Y=-1182.0808 +FPS=30.87, 法向力=2131.9714, 切向力X=1245.5232, 切向力Y=-270.5869 +FPS=31.68, 法向力=2233.0435, 切向力X=1275.4019, 切向力Y=-221.9197 +FPS=32.35, 法向力=2510.2915, 切向力X=1871.9266, 切向力Y=1285.2004 +FPS=31.91, 法向力=2644.1704, 切向力X=1739.7385, 切向力Y=1325.0764 +FPS=38.38, 法向力=2803.9456, 切向力X=1611.4871, 切向力Y=1532.6934 +FPS=47.08, 法向力=2819.3662, 切向力X=1562.5092, 切向力Y=1536.8572 +FPS=37.92, 法向力=2043.9167, 切向力X=1369.2466, 切向力Y=43.6343 +FPS=47.01, 法向力=1922.6255, 切向力X=1389.1357, 切向力Y=-165.7580 +FPS=63.82, 法向力=1937.7012, 切向力X=1353.4569, 切向力Y=-173.1531 +FPS=52.29, 法向力=1609.2642, 切向力X=1956.9515, 切向力Y=-24.7022 +FPS=44.88, 法向力=1605.1240, 切向力X=1850.6194, 切向力Y=-218.5479 +FPS=50.03, 法向力=2342.7620, 切向力X=1505.3171, 切向力Y=919.5680 +FPS=31.31, 法向力=2303.2610, 切向力X=1480.7205, 切向力Y=1091.7673 +FPS=37.63, 法向力=2184.8044, 切向力X=2519.0327, 切向力Y=-945.4266 +FPS=49.25, 法向力=2143.2883, 切向力X=2736.9058, 切向力Y=-1176.2186 +FPS=32.64, 法向力=1680.5493, 切向力X=1926.3137, 切向力Y=63.7107 +FPS=57.43, 法向力=1653.3699, 切向力X=1838.9569, 切向力Y=343.3270 +FPS=53.08, 法向力=2110.2622, 切向力X=1714.7285, 切向力Y=-1057.3822 +FPS=45.42, 法向力=2152.5435, 切向力X=1568.2733, 切向力Y=-1045.1018 +FPS=50.02, 法向力=2437.7834, 切向力X=1879.4290, 切向力Y=-618.5792 +FPS=36.64, 法向力=2414.6611, 切向力X=1832.5029, 切向力Y=-351.9442 +FPS=47.35, 法向力=2396.8188, 切向力X=1840.5181, 切向力Y=-326.1865 +FPS=31.74, 法向力=2418.1099, 切向力X=1830.5366, 切向力Y=-334.3753 +FPS=32.18, 法向力=2054.8274, 切向力X=1993.2148, 切向力Y=-2416.1638 +FPS=31.91, 法向力=2098.2192, 切向力X=1855.5477, 切向力Y=-2828.7695 +FPS=38.40, 法向力=2194.9312, 切向力X=2164.5681, 切向力Y=-849.9748 +FPS=49.98, 法向力=2113.3005, 切向力X=2227.6064, 切向力Y=-691.9385 +FPS=30.98, 法向力=2455.2202, 切向力X=2050.6545, 切向力Y=535.9312 +FPS=31.02, 法向力=2032.9808, 切向力X=2658.3623, 切向力Y=1143.0988 +FPS=32.48, 法向力=1981.7834, 切向力X=2767.3560, 切向力Y=1241.1824 +FPS=37.64, 法向力=1633.2079, 切向力X=2216.8125, 切向力Y=591.1368 +FPS=48.80, 法向力=1599.5288, 切向力X=2066.1670, 切向力Y=570.5968 +FPS=31.47, 法向力=2300.0422, 切向力X=1244.0189, 切向力Y=-693.3112 +FPS=36.84, 法向力=2321.9839, 切向力X=1238.2484, 切向力Y=-644.8284 +FPS=43.30, 法向力=1594.9792, 切向力X=1484.5376, 切向力Y=262.8047 +FPS=60.19, 法向力=1686.2971, 切向力X=1274.0293, 切向力Y=495.3443 +FPS=42.79, 法向力=1690.8043, 切向力X=1252.0481, 切向力Y=532.8132 +FPS=51.28, 法向力=1692.6411, 切向力X=1248.5468, 切向力Y=537.5942 +FPS=30.03, 法向力=2314.0103, 切向力X=1240.3757, 切向力Y=-698.0992 +FPS=32.94, 法向力=2317.9480, 切向力X=1428.8754, 切向力Y=-943.9636 +FPS=57.55, 法向力=2032.1705, 切向力X=2433.7261, 切向力Y=1592.6707 +FPS=52.47, 法向力=2045.9191, 切向力X=2492.1018, 切向力Y=1878.8416 +FPS=48.49, 法向力=2000.9734, 切向力X=2378.6570, 切向力Y=2073.3960 +FPS=26.81, 法向力=2287.7378, 切向力X=1495.0767, 切向力Y=1004.5031 +FPS=61.16, 法向力=2337.7651, 切向力X=1418.4719, 切向力Y=1022.6171 +FPS=51.71, 法向力=1849.9346, 切向力X=1892.4563, 切向力Y=-881.7830 +FPS=47.42, 法向力=1826.1699, 切向力X=1872.5614, 切向力Y=-869.8430 +FPS=63.17, 法向力=2296.1655, 切向力X=2631.8271, 切向力Y=908.3413 +FPS=55.21, 法向力=2297.3042, 切向力X=2588.2966, 切向力Y=879.1281 +FPS=30.06, 法向力=2035.1311, 切向力X=1415.6742, 切向力Y=-136.4061 +FPS=38.16, 法向力=2107.4824, 切向力X=1445.0933, 切向力Y=-213.6921 +FPS=44.69, 法向力=1907.3405, 切向力X=1372.5106, 切向力Y=-1065.0332 +FPS=40.44, 法向力=1826.2217, 切向力X=1438.6556, 切向力Y=-1190.9215 +FPS=49.34, 法向力=1832.7544, 切向力X=1444.7563, 切向力Y=-1220.1548 +FPS=37.51, 法向力=1831.3398, 切向力X=1399.6638, 切向力Y=-1210.8154 +FPS=47.77, 法向力=1820.6492, 切向力X=1449.2751, 切向力Y=-1229.6633 +FPS=61.06, 法向力=2097.5920, 切向力X=1559.0515, 切向力Y=396.7795 +FPS=52.56, 法向力=2107.4207, 切向力X=1431.6880, 切向力Y=538.6321 +FPS=59.63, 法向力=2094.7925, 切向力X=1519.4071, 切向力Y=696.9978 +FPS=38.52, 法向力=1963.2809, 切向力X=1537.0250, 切向力Y=1217.6616 +FPS=36.18, 法向力=1906.7753, 切向力X=1796.4055, 切向力Y=1101.4619 +FPS=51.16, 法向力=2260.5547, 切向力X=2101.8564, 切向力Y=442.7437 +FPS=29.88, 法向力=1677.7600, 切向力X=1031.8169, 切向力Y=578.8209 +FPS=38.14, 法向力=1674.9269, 切向力X=895.4943, 切向力Y=783.5835 +FPS=45.11, 法向力=1948.9331, 切向力X=1553.2373, 切向力Y=816.0571 +FPS=40.75, 法向力=2103.0112, 切向力X=1415.2686, 切向力Y=853.2495 +FPS=46.81, 法向力=2251.3560, 切向力X=1754.5991, 切向力Y=2023.5159 +FPS=38.98, 法向力=2180.0408, 切向力X=1769.3118, 切向力Y=2113.7319 +FPS=27.42, 法向力=1807.5938, 切向力X=1159.5178, 切向力Y=-30.8964 +FPS=38.58, 法向力=1805.5081, 切向力X=1099.3408, 切向力Y=78.2400 +FPS=46.18, 法向力=2051.3682, 切向力X=1015.9316, 切向力Y=141.6860 +FPS=39.38, 法向力=2119.9172, 切向力X=1055.6190, 切向力Y=260.1750 +FPS=61.00, 法向力=2145.1277, 切向力X=1011.9647, 切向力Y=298.0737 +FPS=53.62, 法向力=2080.4263, 切向力X=1558.2980, 切向力Y=331.7860 +FPS=29.29, 法向力=1806.5469, 切向力X=1632.9080, 切向力Y=963.5341 +FPS=38.41, 法向力=1886.7743, 切向力X=1628.7319, 切向力Y=957.0405 +FPS=45.12, 法向力=1898.4556, 切向力X=1569.5210, 切向力Y=969.8295 +FPS=38.78, 法向力=1284.5338, 切向力X=1871.8920, 切向力Y=504.0713 +FPS=46.67, 法向力=1287.6337, 切向力X=1897.9056, 切向力Y=488.5106 +FPS=39.19, 法向力=2213.6338, 切向力X=1415.8560, 切向力Y=1703.6418 +FPS=47.81, 法向力=2489.0977, 切向力X=1306.8511, 切向力Y=1997.4565 +FPS=39.65, 法向力=2474.4844, 切向力X=1449.4846, 切向力Y=557.9446 +FPS=62.56, 法向力=2376.9146, 切向力X=1535.2716, 切向力Y=464.4582 +FPS=51.96, 法向力=2118.2197, 切向力X=1716.4124, 切向力Y=142.2127 +FPS=35.23, 法向力=2188.3818, 切向力X=1697.1948, 切向力Y=222.9691 +FPS=46.91, 法向力=2179.4927, 切向力X=1617.4341, 切向力Y=280.1429 +FPS=40.96, 法向力=1637.2517, 切向力X=1682.9100, 切向力Y=-262.6334 +FPS=28.58, 法向力=2346.0017, 切向力X=1005.0748, 切向力Y=235.9778 +FPS=30.97, 法向力=2569.9131, 切向力X=1013.3757, 切向力Y=725.9774 +FPS=38.86, 法向力=2124.3618, 切向力X=1440.6206, 切向力Y=1029.4070 +FPS=49.36, 法向力=1967.3757, 切向力X=1509.5107, 切向力Y=1110.4480 +FPS=38.79, 法向力=2839.1978, 切向力X=768.5560, 切向力Y=1892.8015 +FPS=26.68, 法向力=2222.0366, 切向力X=795.0713, 切向力Y=-1188.8887 +FPS=62.55, 法向力=1972.1882, 切向力X=941.6161, 切向力Y=-1912.0294 +FPS=53.56, 法向力=1985.9978, 切向力X=891.9614, 切向力Y=-1909.5353 +FPS=36.84, 法向力=2122.9534, 切向力X=766.9087, 切向力Y=318.7441 +FPS=38.61, 法向力=2280.0818, 切向力X=1080.9526, 切向力Y=672.3156 +FPS=27.91, 法向力=1831.2356, 切向力X=2100.0811, 切向力Y=-583.5062 +FPS=32.11, 法向力=2355.4658, 切向力X=939.7629, 切向力Y=193.7397 +FPS=38.90, 法向力=2717.2266, 切向力X=804.3827, 切向力Y=304.8464 +FPS=44.34, 法向力=2588.7131, 切向力X=1042.6179, 切向力Y=546.1405 +FPS=40.30, 法向力=2479.3740, 切向力X=1825.5936, 切向力Y=-147.6335 +FPS=45.07, 法向力=2477.2490, 切向力X=1884.7605, 切向力Y=-182.3823 +FPS=41.21, 法向力=1644.4233, 切向力X=1899.8071, 切向力Y=-803.4858 +FPS=27.66, 法向力=1790.3823, 切向力X=1432.2410, 切向力Y=-129.2238 +FPS=36.96, 法向力=1778.0499, 切向力X=1273.4929, 切向力Y=-73.3652 +FPS=47.65, 法向力=1342.2930, 切向力X=1238.9224, 切向力Y=-886.0222 +FPS=38.40, 法向力=1399.4448, 切向力X=1304.1088, 切向力Y=-979.4595 +FPS=46.42, 法向力=2270.2778, 切向力X=1279.7017, 切向力Y=629.2854 +FPS=63.35, 法向力=2198.6748, 切向力X=1381.9951, 切向力Y=799.6864 +FPS=62.03, 法向力=2225.6487, 切向力X=1383.6158, 切向力Y=831.4053 +FPS=49.30, 法向力=1900.0308, 切向力X=920.8165, 切向力Y=2848.3762 +FPS=52.79, 法向力=1886.4548, 切向力X=846.6532, 切向力Y=3070.4917 +FPS=48.26, 法向力=1922.2366, 切向力X=795.2156, 切向力Y=3032.0269 +FPS=58.02, 法向力=2109.4426, 切向力X=1350.7512, 切向力Y=2779.5613 +FPS=40.50, 法向力=2029.1936, 切向力X=1437.0891, 切向力Y=2725.6890 +FPS=47.62, 法向力=1985.7063, 切向力X=760.5460, 切向力Y=2363.5955 +FPS=62.73, 法向力=1896.8193, 切向力X=898.2090, 切向力Y=2436.8906 +FPS=37.49, 法向力=1926.8540, 切向力X=870.1207, 切向力Y=2374.3149 +FPS=48.97, 法向力=1923.9319, 切向力X=1464.1885, 切向力Y=2159.0122 +FPS=37.83, 法向力=1974.6636, 切向力X=1535.3434, 切向力Y=2173.9629 +FPS=28.42, 法向力=2054.9922, 切向力X=923.8901, 切向力Y=452.1952 +FPS=36.94, 法向力=1642.7843, 切向力X=1592.6787, 切向力Y=-1645.9635 +FPS=47.47, 法向力=1609.3589, 切向力X=1558.8600, 切向力Y=-1705.0101 +FPS=39.67, 法向力=1671.6770, 切向力X=1481.2738, 切向力Y=-315.1003 +FPS=27.16, 法向力=1859.9187, 切向力X=1390.3940, 切向力Y=1132.0867 +FPS=59.70, 法向力=1881.0239, 切向力X=1273.0759, 切向力Y=1306.0902 +FPS=40.76, 法向力=1939.0515, 切向力X=1244.4917, 切向力Y=1281.5945 +FPS=49.28, 法向力=1828.6760, 切向力X=872.2527, 切向力Y=367.9042 +FPS=36.11, 法向力=1837.9427, 切向力X=935.2959, 切向力Y=395.8744 +FPS=45.25, 法向力=1820.0461, 切向力X=921.6421, 切向力Y=398.6681 +FPS=40.44, 法向力=1738.1587, 切向力X=1108.8110, 切向力Y=1561.4038 +FPS=27.56, 法向力=2010.3196, 切向力X=1768.9020, 切向力Y=115.9237 +FPS=37.47, 法向力=1987.9683, 切向力X=1674.1611, 切向力Y=181.5448 +FPS=46.92, 法向力=1596.2870, 切向力X=1862.9626, 切向力Y=-406.9498 +FPS=38.61, 法向力=1584.1821, 切向力X=1851.9963, 切向力Y=-298.8886 +FPS=27.38, 法向力=1982.8253, 切向力X=1291.1643, 切向力Y=-42.1757 +FPS=55.95, 法向力=1968.5110, 切向力X=1183.5228, 切向力Y=164.8683 +FPS=34.45, 法向力=2024.2247, 切向力X=1251.3281, 切向力Y=-463.6379 +FPS=62.60, 法向力=2017.1008, 切向力X=1251.3245, 切向力Y=-598.8239 +FPS=52.14, 法向力=1944.2029, 切向力X=1543.9169, 切向力Y=-116.9553 +FPS=41.28, 法向力=2094.5088, 切向力X=1594.2473, 切向力Y=474.8198 +FPS=46.94, 法向力=2040.4481, 切向力X=2213.8643, 切向力Y=637.9182 +FPS=38.49, 法向力=2090.7234, 切向力X=2107.1738, 切向力Y=655.0773 +FPS=27.54, 法向力=1504.3998, 切向力X=1234.1814, 切向力Y=704.6674 +FPS=58.97, 法向力=1574.6888, 切向力X=1162.1807, 切向力Y=831.1033 +FPS=44.79, 法向力=1571.5565, 切向力X=1122.0178, 切向力Y=838.1359 +FPS=37.21, 法向力=1894.8632, 切向力X=2187.2468, 切向力Y=-1235.9194 +FPS=42.79, 法向力=1999.9712, 切向力X=1112.2815, 切向力Y=244.5829 +FPS=48.98, 法向力=2012.3425, 切向力X=1076.6198, 切向力Y=439.2811 +FPS=37.12, 法向力=1758.5004, 切向力X=1445.7196, 切向力Y=-725.8419 +FPS=44.42, 法向力=1776.4363, 切向力X=1396.0183, 切向力Y=-832.4998 +FPS=54.49, 法向力=1776.5875, 切向力X=1391.3514, 切向力Y=-840.7073 +FPS=49.83, 法向力=1611.6908, 切向力X=1188.5569, 切向力Y=1053.5409 +FPS=64.46, 法向力=1966.4535, 切向力X=863.7324, 切向力Y=2138.1509 +FPS=56.46, 法向力=1931.4741, 切向力X=980.5214, 切向力Y=-539.8920 +FPS=49.26, 法向力=2091.3091, 切向力X=930.0183, 切向力Y=-745.6512 +FPS=31.36, 法向力=2157.2161, 切向力X=1184.1508, 切向力Y=-954.0496 +FPS=32.15, 法向力=2124.6235, 切向力X=1137.8790, 切向力Y=-732.4814 +FPS=30.95, 法向力=1916.7874, 切向力X=1731.4316, 切向力Y=-1764.4705 +FPS=39.09, 法向力=1976.4725, 切向力X=1813.4413, 切向力Y=-1875.1648 +FPS=46.29, 法向力=1808.4526, 切向力X=1966.8483, 切向力Y=-311.4617 +FPS=33.62, 法向力=1878.7141, 切向力X=2081.6272, 切向力Y=80.5385 +FPS=38.52, 法向力=2502.5732, 切向力X=1491.5907, 切向力Y=-968.6179 +FPS=49.34, 法向力=2653.1436, 切向力X=1362.7396, 切向力Y=-755.3196 +FPS=31.96, 法向力=2017.6582, 切向力X=1248.9789, 切向力Y=1177.0347 +FPS=36.51, 法向力=2166.5815, 切向力X=1294.5726, 切向力Y=1550.5532 +FPS=44.51, 法向力=1877.0374, 切向力X=1732.3240, 切向力Y=-1806.6411 +FPS=39.53, 法向力=1908.5027, 切向力X=1722.3079, 切向力Y=-1889.6580 +FPS=45.89, 法向力=1472.1077, 切向力X=1482.1166, 切向力Y=10.1231 +FPS=33.26, 法向力=1403.7322, 切向力X=1269.0326, 切向力Y=305.7146 +FPS=32.31, 法向力=1753.9604, 切向力X=1380.1086, 切向力Y=-93.9063 +FPS=57.19, 法向力=1822.5264, 切向力X=1416.5353, 切向力Y=-4.3756 +FPS=44.61, 法向力=1572.9729, 切向力X=1884.8865, 切向力Y=543.1024 +FPS=62.75, 法向力=1530.5942, 切向力X=1867.2148, 切向力Y=485.6900 +FPS=41.88, 法向力=1540.1648, 切向力X=1911.5430, 切向力Y=545.4301 +FPS=39.10, 法向力=1643.1494, 切向力X=1163.9736, 切向力Y=-223.7626 +FPS=51.18, 法向力=1643.1887, 切向力X=1047.4775, 切向力Y=-294.4046 +FPS=36.15, 法向力=1500.4077, 切向力X=1491.2562, 切向力Y=663.4617 +FPS=43.57, 法向力=1453.6746, 切向力X=1666.9324, 切向力Y=714.2228 +FPS=35.03, 法向力=2046.7799, 切向力X=1113.4368, 切向力Y=820.3825 +FPS=31.87, 法向力=1686.3513, 切向力X=1711.5828, 切向力Y=1265.3411 +FPS=30.56, 法向力=1705.2371, 切向力X=1566.2485, 切向力Y=1533.0774 +FPS=39.48, 法向力=2163.7979, 切向力X=2002.5125, 切向力Y=272.3429 +FPS=44.29, 法向力=2202.1267, 切向力X=1947.2021, 切向力Y=355.7788 +FPS=39.04, 法向力=2038.0507, 切向力X=1095.0819, 切向力Y=-141.0651 +FPS=51.92, 法向力=2088.7495, 切向力X=842.3784, 切向力Y=-176.0596 +FPS=29.69, 法向力=1701.7261, 切向力X=1753.2288, 切向力Y=457.4525 +FPS=30.49, 法向力=1706.8000, 切向力X=1753.3407, 切向力Y=599.5422 +FPS=32.66, 法向力=1646.8188, 切向力X=1957.6331, 切向力Y=906.3451 +FPS=37.71, 法向力=1643.7389, 切向力X=1234.0758, 切向力Y=491.3154 +FPS=47.38, 法向力=1698.6420, 切向力X=1097.8989, 切向力Y=432.4837 +FPS=31.03, 法向力=1640.4948, 切向力X=1462.3605, 切向力Y=344.6135 +FPS=59.32, 法向力=1656.9819, 切向力X=1526.9082, 切向力Y=248.9318 +FPS=41.13, 法向力=1690.8650, 切向力X=1509.2635, 切向力Y=291.5727 +FPS=48.07, 法向力=2251.2058, 切向力X=1112.3665, 切向力Y=158.6244 +FPS=30.61, 法向力=2040.5692, 切向力X=2144.4077, 切向力Y=1122.2219 +FPS=57.47, 法向力=1940.4976, 切向力X=2244.4866, 切向力Y=1079.6041 +FPS=43.42, 法向力=1930.6382, 切向力X=2236.4072, 切向力Y=1118.5540 +FPS=44.01, 法向力=2142.1553, 切向力X=1749.9688, 切向力Y=738.0706 +FPS=40.31, 法向力=2049.8123, 切向力X=1957.3212, 切向力Y=887.0425 +FPS=43.02, 法向力=1897.5750, 切向力X=1152.6565, 切向力Y=-687.1005 +FPS=37.96, 法向力=1880.4081, 切向力X=1275.8099, 切向力Y=-717.4598 +FPS=35.37, 法向力=1443.2521, 切向力X=1544.5702, 切向力Y=585.1696 +FPS=35.02, 法向力=1404.8063, 切向力X=1666.1147, 切向力Y=676.3282 +FPS=35.55, 法向力=1917.7185, 切向力X=1049.9358, 切向力Y=406.1014 +FPS=57.32, 法向力=1966.0172, 切向力X=1079.9309, 切向力Y=490.6022 +FPS=58.94, 法向力=1560.8693, 切向力X=1547.2158, 切向力Y=-605.7114 +FPS=48.24, 法向力=1523.5903, 切向力X=1422.0247, 切向力Y=-832.0924 +FPS=57.34, 法向力=1560.4720, 切向力X=1432.3794, 切向力Y=-831.1623 +FPS=47.44, 法向力=1701.3683, 切向力X=1177.2247, 切向力Y=544.6177 +FPS=48.54, 法向力=1810.9954, 切向力X=1230.4088, 切向力Y=521.1937 +FPS=42.42, 法向力=1947.7274, 切向力X=1061.8357, 切向力Y=1090.0856 +FPS=41.84, 法向力=1867.1892, 切向力X=991.0432, 切向力Y=870.5397 +FPS=47.48, 法向力=1866.6970, 切向力X=846.9257, 切向力Y=884.9637 +FPS=33.02, 法向力=1804.4954, 切向力X=941.6818, 切向力Y=802.7262 +FPS=37.72, 法向力=1497.4164, 切向力X=1538.1191, 切向力Y=-1207.7678 +FPS=40.91, 法向力=1613.5391, 切向力X=1673.0410, 切向力Y=-1591.6086 +FPS=57.19, 法向力=2122.5771, 切向力X=1442.9355, 切向力Y=-1067.6395 +FPS=35.33, 法向力=2110.5586, 切向力X=1395.8467, 切向力Y=-1051.2339 +FPS=56.35, 法向力=2114.7524, 切向力X=1368.5365, 切向力Y=-983.9282 +FPS=48.19, 法向力=2228.2605, 切向力X=1877.4839, 切向力Y=-222.7536 +FPS=50.26, 法向力=2225.7839, 切向力X=1931.8389, 切向力Y=63.1765 +FPS=30.79, 法向力=1391.4430, 切向力X=1640.8884, 切向力Y=609.6663 +FPS=32.76, 法向力=1891.3074, 切向力X=1338.1774, 切向力Y=-1062.1891 +FPS=33.44, 法向力=1891.5522, 切向力X=1245.3821, 切向力Y=-1295.0601 +FPS=31.57, 法向力=1426.9240, 切向力X=1099.8345, 切向力Y=138.3676 +FPS=31.75, 法向力=1477.3934, 切向力X=1125.1292, 切向力Y=833.4589 +FPS=30.21, 法向力=1297.6168, 切向力X=1315.5173, 切向力Y=166.9803 +FPS=40.42, 法向力=1597.1362, 切向力X=1622.4489, 切向力Y=772.7310 +FPS=46.10, 法向力=1611.7236, 切向力X=1619.9351, 切向力Y=963.6787 +FPS=52.36, 法向力=1921.2922, 切向力X=1307.3162, 切向力Y=1485.7297 +FPS=36.25, 法向力=1931.8756, 切向力X=1129.6371, 切向力Y=1424.7192 +FPS=53.92, 法向力=2099.2478, 切向力X=994.3997, 切向力Y=1672.8420 +FPS=46.53, 法向力=1390.5846, 切向力X=1060.0981, 切向力Y=1847.4089 +FPS=46.45, 法向力=1417.1115, 切向力X=1137.7466, 切向力Y=1043.6643 +FPS=57.19, 法向力=1382.3193, 切向力X=1041.3755, 切向力Y=1096.1372 +FPS=45.25, 法向力=1546.6543, 切向力X=1525.3219, 切向力Y=-1612.5557 +FPS=59.64, 法向力=1542.2589, 切向力X=1541.8580, 切向力Y=-1789.1475 +FPS=46.13, 法向力=1388.2083, 切向力X=1098.2253, 切向力Y=-1120.8770 +FPS=32.64, 法向力=1430.0403, 切向力X=1236.1697, 切向力Y=-1116.3064 +FPS=32.14, 法向力=1244.9380, 切向力X=1118.6416, 切向力Y=-1113.8015 +FPS=38.10, 法向力=1603.5433, 切向力X=1266.0397, 切向力Y=718.6156 +FPS=43.88, 法向力=1571.5610, 切向力X=1254.7267, 切向力Y=811.2887 +FPS=56.92, 法向力=1644.2740, 切向力X=1156.4763, 切向力Y=846.5695 +FPS=43.80, 法向力=1727.9977, 切向力X=1029.4309, 切向力Y=1379.0919 +FPS=57.24, 法向力=1885.0315, 切向力X=767.0834, 切向力Y=1905.3082 +FPS=42.74, 法向力=2037.2783, 切向力X=846.3978, 切向力Y=441.7089 +FPS=42.92, 法向力=1824.5885, 切向力X=870.8240, 切向力Y=-162.2415 +FPS=45.96, 法向力=2316.8711, 切向力X=728.8229, 切向力Y=910.6869 +FPS=58.75, 法向力=2145.6084, 切向力X=956.4775, 切向力Y=747.9131 +FPS=33.67, 法向力=2137.3271, 切向力X=961.4066, 切向力Y=688.5182 +FPS=56.26, 法向力=1788.7767, 切向力X=2226.0078, 切向力Y=-432.5796 +FPS=43.63, 法向力=1892.9951, 切向力X=2294.9023, 切向力Y=-638.3133 +FPS=40.92, 法向力=1239.8418, 切向力X=1967.1166, 切向力Y=478.0092 +FPS=44.53, 法向力=1274.5747, 切向力X=1894.3408, 切向力Y=432.2449 +FPS=41.13, 法向力=1463.5631, 切向力X=1067.9758, 切向力Y=188.0999 +FPS=45.54, 法向力=1490.1104, 切向力X=955.3054, 切向力Y=215.6933 +FPS=41.31, 法向力=1799.2085, 切向力X=1110.9160, 切向力Y=908.4279 +FPS=58.36, 法向力=1838.9180, 切向力X=1114.1091, 切向力Y=810.5243 +FPS=45.39, 法向力=1904.8579, 切向力X=1246.0143, 切向力Y=1006.4792 +FPS=46.69, 法向力=2154.7827, 切向力X=753.3640, 切向力Y=99.7305 +FPS=32.97, 法向力=2077.3323, 切向力X=661.8928, 切向力Y=68.1443 +FPS=32.18, 法向力=1456.9111, 切向力X=1920.5149, 切向力Y=104.5813 +FPS=58.05, 法向力=1472.4773, 切向力X=1956.7267, 切向力Y=170.8576 +FPS=46.39, 法向力=1435.4526, 切向力X=1265.9326, 切向力Y=104.2851 +FPS=63.46, 法向力=1408.9688, 切向力X=1177.4561, 切向力Y=136.0946 +FPS=51.50, 法向力=1373.3486, 切向力X=1225.2118, 切向力Y=243.7564 +FPS=34.65, 法向力=2292.6504, 切向力X=1580.5251, 切向力Y=26.7796 +FPS=57.88, 法向力=2283.2710, 切向力X=1581.0112, 切向力Y=182.6942 +FPS=47.94, 法向力=1965.5530, 切向力X=1097.1326, 切向力Y=-168.1393 +FPS=38.35, 法向力=2094.4233, 切向力X=1083.6841, 切向力Y=-198.8799 +FPS=46.61, 法向力=1613.6194, 切向力X=1286.9502, 切向力Y=-1183.9827 +FPS=32.78, 法向力=1626.0312, 切向力X=1255.0144, 切向力Y=-1368.0187 +FPS=30.42, 法向力=1566.7876, 切向力X=1319.6093, 切向力Y=-631.5713 +FPS=56.46, 法向力=1562.5842, 切向力X=1539.9020, 切向力Y=-684.4418 +FPS=50.97, 法向力=1760.3202, 切向力X=1756.6635, 切向力Y=132.5042 +FPS=48.54, 法向力=1757.0503, 切向力X=1693.7979, 切向力Y=337.4592 +FPS=46.73, 法向力=2146.8845, 切向力X=852.1946, 切向力Y=554.7255 +FPS=32.46, 法向力=1865.8241, 切向力X=1248.2717, 切向力Y=-15.9829 +FPS=30.86, 法向力=1343.1149, 切向力X=1713.2103, 切向力Y=-144.6125 +FPS=32.72, 法向力=1328.6987, 切向力X=1091.6370, 切向力Y=517.7446 +FPS=32.11, 法向力=1337.3821, 切向力X=959.2200, 切向力Y=500.8080 +FPS=31.23, 法向力=1426.1195, 切向力X=797.4968, 切向力Y=-1010.0936 +FPS=39.51, 法向力=1417.4980, 切向力X=722.6447, 切向力Y=-1090.8285 +FPS=46.32, 法向力=1897.7734, 切向力X=713.2266, 切向力Y=346.2199 +FPS=38.58, 法向力=2173.7681, 切向力X=672.1262, 切向力Y=648.0717 +FPS=62.26, 法向力=2113.7737, 切向力X=637.3180, 切向力Y=547.1875 +FPS=51.92, 法向力=2660.7615, 切向力X=639.3955, 切向力Y=541.8044 +FPS=35.64, 法向力=2518.6182, 切向力X=550.0613, 切向力Y=161.4059 +FPS=26.95, 法向力=1290.8213, 切向力X=1046.7264, 切向力Y=-463.4385 +FPS=39.20, 法向力=1689.0796, 切向力X=877.3724, 切向力Y=713.8530 +FPS=27.36, 法向力=1632.5038, 切向力X=1326.3726, 切向力Y=-957.4097 +FPS=37.65, 法向力=1613.9326, 切向力X=1402.6526, 切向力Y=-936.5667 +FPS=45.64, 法向力=2122.6851, 切向力X=1330.1564, 切向力Y=1132.7214 +FPS=32.19, 法向力=2166.3071, 切向力X=1385.8550, 切向力Y=1050.9045 +FPS=31.47, 法向力=2168.9084, 切向力X=1392.5117, 切向力Y=1085.0852 +FPS=32.31, 法向力=1621.8297, 切向力X=1026.8894, 切向力Y=-1987.6322 +FPS=59.22, 法向力=1361.7148, 切向力X=1772.9573, 切向力Y=-217.6135 +FPS=50.80, 法向力=1392.9661, 切向力X=1836.6863, 切向力Y=-301.4488 +FPS=49.19, 法向力=1377.7936, 切向力X=1758.8013, 切向力Y=-280.2366 +FPS=46.87, 法向力=2276.8789, 切向力X=1680.7487, 切向力Y=-446.8566 +FPS=31.82, 法向力=2347.0159, 切向力X=1638.9877, 切向力Y=-401.7061 +FPS=31.38, 法向力=1790.2399, 切向力X=736.4899, 切向力Y=449.2801 +FPS=64.38, 法向力=1767.0305, 切向力X=673.6910, 切向力Y=473.4855 +FPS=51.99, 法向力=2142.1611, 切向力X=539.6021, 切向力Y=1002.8187 +FPS=35.35, 法向力=2263.8657, 切向力X=551.4019, 切向力Y=1120.6085 +FPS=32.81, 法向力=1302.5625, 切向力X=1957.3582, 切向力Y=-757.2000 +FPS=60.41, 法向力=1368.1746, 切向力X=2177.0330, 切向力Y=-736.9593 +FPS=53.82, 法向力=2458.1108, 切向力X=1106.3625, 切向力Y=-194.5767 +FPS=35.69, 法向力=2483.5439, 切向力X=1189.4531, 切向力Y=-84.6147 +FPS=59.36, 法向力=2484.5244, 切向力X=1156.8826, 切向力Y=-140.4364 +FPS=54.89, 法向力=1482.5079, 切向力X=1245.8534, 切向力Y=532.6144 +FPS=53.61, 法向力=1454.0837, 切向力X=1217.1152, 切向力Y=712.8278 +FPS=57.80, 法向力=1464.7573, 切向力X=1187.8440, 切向力Y=717.3467 +FPS=52.70, 法向力=1401.8130, 切向力X=1642.9115, 切向力Y=474.6572 +FPS=65.12, 法向力=1447.2126, 切向力X=1745.7367, 切向力Y=514.2926 +FPS=61.51, 法向力=1286.8981, 切向力X=1327.5929, 切向力Y=-367.7781 +FPS=54.07, 法向力=1264.1510, 切向力X=1445.6277, 切向力Y=-510.4828 +FPS=31.67, 法向力=1495.3044, 切向力X=1274.5806, 切向力Y=618.3080 +FPS=31.66, 法向力=1360.3899, 切向力X=1419.2689, 切向力Y=811.4583 +FPS=37.01, 法向力=1570.0024, 切向力X=1630.9241, 切向力Y=-439.5464 +FPS=27.46, 法向力=1275.1102, 切向力X=1338.4634, 切向力Y=-39.7980 +FPS=32.29, 法向力=1316.2550, 切向力X=1243.3944, 切向力Y=-124.2976 +FPS=31.19, 法向力=1440.5967, 切向力X=1570.5891, 切向力Y=-594.9533 +FPS=31.08, 法向力=1654.1135, 切向力X=1713.6252, 切向力Y=306.8498 +FPS=32.09, 法向力=1680.2172, 切向力X=1629.1909, 切向力Y=330.6853 +FPS=31.08, 法向力=1230.4500, 切向力X=981.1162, 切向力Y=-565.7183 +FPS=32.17, 法向力=1210.3970, 切向力X=861.0015, 切向力Y=-524.3047 +FPS=37.03, 法向力=1300.5103, 切向力X=2299.5173, 切向力Y=-412.2760 +FPS=49.43, 法向力=1293.4106, 切向力X=2297.5303, 切向力Y=-539.3198 +FPS=32.06, 法向力=1462.0789, 切向力X=1617.4376, 切向力Y=944.0175 +FPS=37.72, 法向力=1483.7053, 切向力X=1556.4452, 切向力Y=1177.7371 +FPS=51.00, 法向力=1332.2800, 切向力X=1141.0067, 切向力Y=1653.4215 +FPS=31.14, 法向力=1387.8723, 切向力X=1177.6672, 切向力Y=1551.5657 +FPS=31.95, 法向力=1734.4014, 切向力X=1226.3606, 切向力Y=1487.8943 +FPS=57.07, 法向力=1715.3439, 切向力X=1221.9346, 切向力Y=-251.5537 +FPS=52.34, 法向力=1766.3467, 切向力X=1315.0814, 切向力Y=-291.6695 +FPS=44.81, 法向力=1754.7568, 切向力X=1313.7368, 切向力Y=-208.7028 +FPS=52.60, 法向力=1430.9475, 切向力X=995.8018, 切向力Y=1283.8610 +FPS=30.39, 法向力=1373.8757, 切向力X=932.7635, 切向力Y=1230.1554 +FPS=51.72, 法向力=1406.3164, 切向力X=890.8759, 切向力Y=1250.7291 +FPS=51.07, 法向力=2069.5193, 切向力X=1472.6243, 切向力Y=97.2133 +FPS=49.84, 法向力=2059.7344, 切向力X=1439.2769, 切向力Y=-14.7589 +FPS=63.57, 法向力=1430.0968, 切向力X=1518.3887, 切向力Y=-1213.5420 +FPS=52.59, 法向力=1362.5938, 切向力X=1652.4026, 切向力Y=-1403.9836 +FPS=64.66, 法向力=1346.1750, 切向力X=1624.2872, 切向力Y=-1448.4829 +FPS=50.89, 法向力=1440.7944, 切向力X=1104.9150, 切向力Y=487.3602 +FPS=32.88, 法向力=1418.5388, 切向力X=1091.4468, 切向力Y=733.3745 +FPS=38.05, 法向力=1961.1847, 切向力X=922.9725, 切向力Y=322.0052 +FPS=50.85, 法向力=1975.5026, 切向力X=935.9719, 切向力Y=220.8342 +FPS=36.51, 法向力=1986.8511, 切向力X=995.3672, 切向力Y=1206.0488 +FPS=51.07, 法向力=1903.6021, 切向力X=1162.0713, 切向力Y=1284.4930 +FPS=30.61, 法向力=1764.8344, 切向力X=900.2196, 切向力Y=665.2887 +FPS=32.50, 法向力=1752.7245, 切向力X=1065.8308, 切向力Y=1112.2996 +FPS=32.14, 法向力=2173.1851, 切向力X=1428.6409, 切向力Y=388.5267 +FPS=31.20, 法向力=1875.1270, 切向力X=1099.3008, 切向力Y=994.9210 +FPS=31.13, 法向力=1948.2759, 切向力X=1161.0437, 切向力Y=1087.0527 +FPS=38.90, 法向力=2071.2058, 切向力X=1067.1272, 切向力Y=-312.9453 +FPS=46.68, 法向力=2067.9741, 切向力X=1057.9442, 切向力Y=-298.7441 +FPS=40.37, 法向力=1892.2623, 切向力X=1315.7300, 切向力Y=-559.4703 +FPS=47.97, 法向力=1873.3420, 切向力X=1246.7666, 切向力Y=-784.0188 +FPS=60.86, 法向力=1983.4265, 切向力X=1393.0476, 切向力Y=688.7499 +FPS=33.58, 法向力=2113.4976, 切向力X=1261.0051, 切向力Y=931.0999 +FPS=31.47, 法向力=1521.7616, 切向力X=1710.6101, 切向力Y=-716.7350 +FPS=37.55, 法向力=1478.9482, 切向力X=1927.2471, 切向力Y=-949.1139 +FPS=26.94, 法向力=1742.4662, 切向力X=1270.5387, 切向力Y=-374.0948 +FPS=38.84, 法向力=1991.7393, 切向力X=1525.3733, 切向力Y=-639.7767 +FPS=46.17, 法向力=2116.3657, 切向力X=1626.2717, 切向力Y=-850.3647 +FPS=64.34, 法向力=1856.1185, 切向力X=1222.2280, 切向力Y=-1205.6140 +FPS=33.37, 法向力=1811.0338, 切向力X=1183.8960, 切向力Y=-1150.7529 +FPS=30.45, 法向力=1799.8606, 切向力X=1150.5254, 切向力Y=-1142.8677 +FPS=38.44, 法向力=1905.1776, 切向力X=601.1496, 切向力Y=840.1653 +FPS=46.92, 法向力=2092.4482, 切向力X=579.5563, 切向力Y=1508.7966 +FPS=38.42, 法向力=1553.5392, 切向力X=1202.1383, 切向力Y=-33.3072 +FPS=27.65, 法向力=2305.0828, 切向力X=325.0530, 切向力Y=496.8409 +FPS=36.98, 法向力=2616.0176, 切向力X=54.5104, 切向力Y=671.4824 +FPS=46.65, 法向力=1637.9539, 切向力X=1508.2268, 切向力Y=655.4871 +FPS=37.81, 法向力=1620.3188, 切向力X=1494.1221, 切向力Y=566.6942 +FPS=27.77, 法向力=1761.2131, 切向力X=1901.8333, 切向力Y=884.0402 +FPS=60.62, 法向力=1769.9385, 切向力X=1942.0806, 切向力Y=1219.5610 +FPS=32.35, 法向力=1827.9609, 切向力X=596.4761, 切向力Y=540.6804 +FPS=58.43, 法向力=1947.3269, 切向力X=392.0698, 切向力Y=475.6442 +FPS=53.18, 法向力=1329.1816, 切向力X=941.5531, 切向力Y=-1793.1653 +FPS=36.12, 法向力=1368.0920, 切向力X=1083.6062, 切向力Y=-1952.3666 +FPS=64.53, 法向力=1359.2019, 切向力X=1065.7844, 切向力Y=-1953.2744 +FPS=53.27, 法向力=1154.1479, 切向力X=961.7809, 切向力Y=-554.6547 +FPS=34.71, 法向力=1167.3167, 切向力X=932.8212, 切向力Y=-612.6284 +FPS=32.36, 法向力=1561.8370, 切向力X=1768.2786, 切向力Y=-526.8336 +FPS=56.73, 法向力=1611.5673, 切向力X=1804.0660, 切向力Y=-465.1326 +FPS=33.86, 法向力=1652.7869, 切向力X=1513.5566, 切向力Y=608.5823 +FPS=31.79, 法向力=2117.0493, 切向力X=719.0754, 切向力Y=-37.3557 +FPS=32.24, 法向力=2104.9141, 切向力X=684.9937, 切向力Y=1.6039 +FPS=37.29, 法向力=1785.7729, 切向力X=1351.6104, 切向力Y=-138.0172 +FPS=47.67, 法向力=1811.6350, 切向力X=1419.3898, 切向力Y=-141.2222 +FPS=37.97, 法向力=1238.2089, 切向力X=1455.2444, 切向力Y=-527.8293 +FPS=50.25, 法向力=1172.3396, 切向力X=1434.7407, 切向力Y=-58.0684 +FPS=37.22, 法向力=1350.8237, 切向力X=1579.6096, 切向力Y=-368.0505 +FPS=47.65, 法向力=1365.9717, 切向力X=1483.2710, 切向力Y=-316.2122 +FPS=39.00, 法向力=2383.7161, 切向力X=416.6010, 切向力Y=-109.2384 +FPS=46.24, 法向力=2324.0813, 切向力X=405.2866, 切向力Y=-113.0591 +FPS=39.23, 法向力=1645.3293, 切向力X=1198.3220, 切向力Y=-321.0746 +FPS=27.24, 法向力=1549.4860, 切向力X=1341.4534, 切向力Y=-366.7438 +FPS=32.86, 法向力=1234.2046, 切向力X=539.4255, 切向力Y=83.7997 +FPS=32.54, 法向力=1190.1420, 切向力X=564.7584, 切向力Y=203.8557 +FPS=32.26, 法向力=1432.4626, 切向力X=1166.0007, 切向力Y=-220.7134 +FPS=60.18, 法向力=1569.1176, 切向力X=1218.5989, 切向力Y=-196.7715 +FPS=33.67, 法向力=1449.7258, 切向力X=1427.3608, 切向力Y=235.0185 +FPS=61.53, 法向力=1430.0090, 切向力X=1371.4700, 切向力Y=228.1933 +FPS=37.86, 法向力=1962.9841, 切向力X=997.0679, 切向力Y=1005.1327 +FPS=51.85, 法向力=2134.9592, 切向力X=882.5051, 切向力Y=1304.7874 +FPS=35.40, 法向力=1362.5223, 切向力X=768.7125, 切向力Y=-1322.1531 +FPS=28.15, 法向力=1279.6288, 切向力X=569.3139, 切向力Y=-871.6611 +FPS=31.79, 法向力=1235.9331, 切向力X=603.0620, 切向力Y=-783.5775 +FPS=63.06, 法向力=1295.4800, 切向力X=689.6390, 切向力Y=-979.8241 +FPS=51.84, 法向力=2770.2236, 切向力X=545.3290, 切向力Y=1186.3262 +FPS=37.81, 法向力=2742.7483, 切向力X=491.3265, 切向力Y=1221.3755 +FPS=31.54, 法向力=1378.1564, 切向力X=1346.1589, 切向力Y=-445.7524 +FPS=36.70, 法向力=2135.4570, 切向力X=1394.6049, 切向力Y=718.2473 +FPS=62.64, 法向力=2102.5015, 切向力X=1391.5266, 切向力Y=828.7811 +FPS=54.95, 法向力=2100.3296, 切向力X=1371.8394, 切向力Y=847.8248 +FPS=34.72, 法向力=2079.4031, 切向力X=962.2601, 切向力Y=438.7392 +FPS=47.28, 法向力=2018.0959, 切向力X=891.0854, 切向力Y=482.5029 +FPS=49.34, 法向力=1657.9255, 切向力X=946.7526, 切向力Y=-826.0095 +FPS=38.93, 法向力=1705.8922, 切向力X=951.3542, 切向力Y=-745.4698 +FPS=61.80, 法向力=1351.5509, 切向力X=1410.9023, 切向力Y=53.3008 +FPS=55.71, 法向力=1349.5840, 切向力X=1327.5256, 切向力Y=295.6921 +FPS=52.70, 法向力=1336.5159, 切向力X=1309.0103, 切向力Y=271.8487 +FPS=49.63, 法向力=2251.8130, 切向力X=1537.2112, 切向力Y=-441.3372 +FPS=51.42, 法向力=2175.1736, 切向力X=1431.3069, 切向力Y=-316.5141 +FPS=36.23, 法向力=2170.6477, 切向力X=1449.7222, 切向力Y=-400.6277 +FPS=27.55, 法向力=2106.1772, 切向力X=1374.2107, 切向力Y=1316.0854 +FPS=32.29, 法向力=1865.3762, 切向力X=1410.1815, 切向力Y=-2247.7954 +FPS=31.42, 法向力=1734.2683, 切向力X=1361.6262, 切向力Y=-2236.0435 +FPS=50.37, 法向力=1941.1224, 切向力X=1333.8496, 切向力Y=22.5995 +FPS=39.07, 法向力=2014.7720, 切向力X=1341.5308, 切向力Y=-12.2198 +FPS=55.44, 法向力=1716.0935, 切向力X=752.1404, 切向力Y=936.1622 +FPS=51.65, 法向力=1702.3398, 切向力X=660.6830, 切向力Y=1390.2308 +FPS=41.21, 法向力=1789.8472, 切向力X=1036.1006, 切向力Y=1026.9663 +FPS=36.99, 法向力=1926.2480, 切向力X=939.6531, 切向力Y=1247.3342 +FPS=27.51, 法向力=1212.7351, 切向力X=1512.8250, 切向力Y=647.7904 +FPS=58.59, 法向力=1095.1627, 切向力X=1483.7974, 切向力Y=580.2250 +FPS=50.87, 法向力=1851.6044, 切向力X=1209.2365, 切向力Y=598.1008 +FPS=52.54, 法向力=1932.9382, 切向力X=1200.9321, 切向力Y=581.8915 +FPS=57.11, 法向力=1496.8372, 切向力X=1294.7705, 切向力Y=959.8152 +FPS=54.59, 法向力=1434.8137, 切向力X=1279.2661, 切向力Y=820.2509 +FPS=54.96, 法向力=1383.1016, 切向力X=1297.1364, 切向力Y=794.4777 +FPS=52.66, 法向力=1382.3564, 切向力X=1273.4738, 切向力Y=803.1339 +FPS=37.04, 法向力=1653.2980, 切向力X=1257.4084, 切向力Y=-838.2488 +FPS=38.52, 法向力=1640.7256, 切向力X=1258.4290, 切向力Y=-913.5104 +FPS=48.03, 法向力=1536.2076, 切向力X=805.5753, 切向力Y=-447.5214 +FPS=55.24, 法向力=1622.8574, 切向力X=892.5967, 切向力Y=-648.3605 +FPS=51.46, 法向力=1527.6726, 切向力X=1133.2678, 切向力Y=656.2266 +FPS=46.32, 法向力=1615.4241, 切向力X=1100.4229, 切向力Y=770.8184 +FPS=62.92, 法向力=1212.1245, 切向力X=938.4247, 切向力Y=29.0877 +FPS=52.26, 法向力=1201.0271, 切向力X=801.4159, 切向力Y=332.3550 +FPS=29.80, 法向力=1484.6836, 切向力X=1082.1777, 切向力Y=-710.2085 +FPS=32.17, 法向力=1531.2634, 切向力X=1051.9631, 切向力Y=-833.6256 +FPS=37.51, 法向力=1566.8004, 切向力X=1341.7866, 切向力Y=1674.0663 +FPS=47.63, 法向力=1725.3022, 切向力X=1365.8518, 切向力Y=2183.4019 +FPS=30.25, 法向力=1561.8521, 切向力X=969.4184, 切向力Y=-1227.8002 +FPS=32.89, 法向力=1701.7203, 切向力X=799.5688, 切向力Y=-1328.4784 +FPS=31.72, 法向力=1606.4143, 切向力X=387.8098, 切向力Y=1003.4275 +FPS=31.84, 法向力=1594.0918, 切向力X=1470.2206, 切向力Y=295.3492 +FPS=31.09, 法向力=1610.7765, 切向力X=1512.9810, 切向力Y=326.6501 +FPS=31.24, 法向力=1644.4597, 切向力X=1367.6414, 切向力Y=-983.9727 +FPS=32.22, 法向力=1590.5029, 切向力X=1475.4276, 切向力Y=-911.1235 +FPS=1.08, 法向力=1176.4868, 切向力X=1077.3821, 切向力Y=-519.4310 +FPS=49.04, 法向力=1314.5941, 切向力X=970.7381, 切向力Y=-358.7659 +FPS=35.54, 法向力=1529.2954, 切向力X=1739.7852, 切向力Y=1275.0381 +FPS=55.96, 法向力=1504.6241, 切向力X=1966.9956, 切向力Y=1278.4381 +FPS=41.65, 法向力=1296.3770, 切向力X=921.1980, 切向力Y=752.2802 +FPS=43.89, 法向力=1276.9036, 切向力X=874.9020, 切向力Y=886.1248 +FPS=34.52, 法向力=1340.5977, 切向力X=791.5301, 切向力Y=762.1815 +FPS=31.11, 法向力=1353.5354, 切向力X=828.8128, 切向力Y=713.1777 +FPS=39.03, 法向力=1510.3369, 切向力X=887.2810, 切向力Y=-1673.8214 +FPS=26.81, 法向力=1345.1267, 切向力X=1469.8870, 切向力Y=-1080.6575 +FPS=64.85, 法向力=1496.2036, 切向力X=1594.6433, 切向力Y=-1150.9160 +FPS=63.15, 法向力=1527.7480, 切向力X=1608.2764, 切向力Y=-1122.9036 +FPS=51.12, 法向力=1425.0120, 切向力X=562.6429, 切向力Y=-775.7892 +FPS=37.68, 法向力=1586.9421, 切向力X=297.4643, 切向力Y=-517.6432 +FPS=37.20, 法向力=1896.7729, 切向力X=1456.1011, 切向力Y=-28.8348 +FPS=43.86, 法向力=1983.7556, 切向力X=1487.0804, 切向力Y=-18.7616 +FPS=62.03, 法向力=1391.5945, 切向力X=725.5239, 切向力Y=111.2478 +FPS=34.38, 法向力=1400.5201, 切向力X=727.7112, 切向力Y=169.3982 +FPS=64.20, 法向力=1412.8419, 切向力X=721.7328, 切向力Y=232.0599 +FPS=31.25, 法向力=1905.7042, 切向力X=1016.6351, 切向力Y=458.0034 +FPS=30.96, 法向力=1953.3362, 切向力X=987.9510, 切向力Y=935.4657 +FPS=32.42, 法向力=2058.6614, 切向力X=937.4352, 切向力Y=656.5223 +FPS=49.40, 法向力=2051.3892, 切向力X=916.7764, 切向力Y=687.3354 +FPS=46.62, 法向力=2063.7520, 切向力X=901.0627, 切向力Y=692.7411 +FPS=63.85, 法向力=1490.1736, 切向力X=394.0303, 切向力Y=218.6394 +FPS=55.27, 法向力=1475.8539, 切向力X=393.8350, 切向力Y=38.2734 +FPS=35.14, 法向力=1486.9510, 切向力X=421.8128, 切向力Y=-29.2499 +FPS=0.20, 法向力=1281.5154, 切向力X=937.7529, 切向力Y=622.0284 +FPS=50.21, 法向力=1177.2151, 切向力X=925.1308, 切向力Y=586.9484 +FPS=27.15, 法向力=1406.3251, 切向力X=1182.2734, 切向力Y=-249.9119 +FPS=58.78, 法向力=1429.6799, 切向力X=1133.8912, 切向力Y=-314.2618 +FPS=32.85, 法向力=1716.3788, 切向力X=1801.9247, 切向力Y=-226.0102 +FPS=31.45, 法向力=1249.9670, 切向力X=1311.7885, 切向力Y=-877.0418 +FPS=31.50, 法向力=1160.7153, 切向力X=1370.6030, 切向力Y=-983.7736 +FPS=45.40, 法向力=1296.1987, 切向力X=1367.8320, 切向力Y=841.7280 +FPS=50.38, 法向力=1437.2974, 切向力X=1504.3853, 切向力Y=1584.3719 +FPS=47.10, 法向力=1739.0552, 切向力X=454.3925, 切向力Y=-1108.6331 +FPS=62.32, 法向力=1702.7625, 切向力X=417.5886, 切向力Y=-1125.1404 +FPS=39.13, 法向力=1471.9044, 切向力X=534.7579, 切向力Y=-763.2775 +FPS=51.61, 法向力=1484.4468, 切向力X=642.4690, 切向力Y=-537.7685 +FPS=35.65, 法向力=1484.2911, 切向力X=690.0293, 切向力Y=-624.0452 +FPS=45.82, 法向力=1447.4573, 切向力X=830.4860, 切向力Y=-973.9118 +FPS=32.85, 法向力=1371.4524, 切向力X=905.2623, 切向力Y=-1020.4844 +FPS=31.34, 法向力=1874.7593, 切向力X=747.7240, 切向力Y=-226.4201 +FPS=30.98, 法向力=2053.6167, 切向力X=540.1051, 切向力Y=-1208.4647 +FPS=32.79, 法向力=1947.0667, 切向力X=465.7421, 切向力Y=-978.2258 +FPS=32.30, 法向力=1951.1019, 切向力X=1445.4481, 切向力Y=-1094.2554 +FPS=31.13, 法向力=2136.2664, 切向力X=1681.4001, 切向力Y=-918.3745 +FPS=40.26, 法向力=2120.3472, 切向力X=1657.5461, 切向力Y=-850.8810 +FPS=45.49, 法向力=1485.9686, 切向力X=1152.2729, 切向力Y=153.1571 +FPS=32.45, 法向力=1398.2964, 切向力X=1104.7544, 切向力Y=276.2811 +FPS=60.59, 法向力=1428.4329, 切向力X=1074.8151, 切向力Y=242.1255 +FPS=52.99, 法向力=1453.9685, 切向力X=565.0605, 切向力Y=762.3884 +FPS=35.00, 法向力=1639.6926, 切向力X=1160.5591, 切向力Y=-435.1772 +FPS=33.38, 法向力=1664.1469, 切向力X=1319.3125, 切向力Y=-376.0860 +FPS=31.98, 法向力=1704.0814, 切向力X=1316.1902, 切向力Y=-409.4769 +FPS=40.95, 法向力=1127.8369, 切向力X=1070.0583, 切向力Y=941.2690 +FPS=46.14, 法向力=1170.9277, 切向力X=970.7762, 切向力Y=939.7017 +FPS=63.79, 法向力=1331.8112, 切向力X=1243.0366, 切向力Y=-2227.4858 +FPS=50.64, 法向力=1273.8883, 切向力X=1279.1934, 切向力Y=-2456.1272 +FPS=62.38, 法向力=2035.0903, 切向力X=1010.2490, 切向力Y=-209.1979 +FPS=49.90, 法向力=2105.1108, 切向力X=1078.5229, 切向力Y=-15.3469 +FPS=28.63, 法向力=1865.4143, 切向力X=985.3353, 切向力Y=2459.7717 +FPS=38.57, 法向力=1811.1908, 切向力X=993.0351, 切向力Y=2862.3271 +FPS=45.09, 法向力=1830.5543, 切向力X=958.9442, 切向力Y=1864.1982 +FPS=63.72, 法向力=1844.2856, 切向力X=887.4650, 切向力Y=1706.2104 +FPS=34.83, 法向力=1429.8153, 切向力X=1118.8112, 切向力Y=806.1132 +FPS=38.02, 法向力=1285.2629, 切向力X=1208.8865, 切向力Y=332.2696 +FPS=47.21, 法向力=1378.7952, 切向力X=1440.9272, 切向力Y=626.2435 +FPS=64.11, 法向力=1399.3306, 切向力X=1489.2932, 切向力Y=560.9710 +FPS=32.11, 法向力=1429.2751, 切向力X=1462.6364, 切向力Y=646.5681 +FPS=37.64, 法向力=1202.4918, 切向力X=1352.9053, 切向力Y=524.4600 +FPS=46.95, 法向力=1180.1238, 切向力X=1354.1960, 切向力Y=439.9059 +FPS=61.05, 法向力=2131.8521, 切向力X=951.3079, 切向力Y=2573.1877 +FPS=32.03, 法向力=2240.8306, 切向力X=761.8823, 切向力Y=2942.6831 +FPS=57.25, 法向力=1415.6096, 切向力X=697.9659, 切向力Y=150.0984 +FPS=34.77, 法向力=1296.4307, 切向力X=791.6503, 切向力Y=79.3744 +FPS=58.59, 法向力=1276.2212, 切向力X=810.3619, 切向力Y=54.0963 +FPS=33.88, 法向力=1881.1909, 切向力X=1123.5388, 切向力Y=290.8491 +FPS=62.09, 法向力=1878.2565, 切向力X=1134.3057, 切向力Y=221.6359 +FPS=32.83, 法向力=2325.6265, 切向力X=986.6423, 切向力Y=398.1077 +FPS=59.06, 法向力=2278.3369, 切向力X=874.7742, 切向力Y=122.6974 +FPS=31.41, 法向力=1781.9111, 切向力X=166.1371, 切向力Y=571.6787 +FPS=57.44, 法向力=1809.9240, 切向力X=255.5010, 切向力Y=548.4672 +FPS=35.12, 法向力=1503.8011, 切向力X=1294.5248, 切向力Y=-54.6675 +FPS=40.42, 法向力=1583.7275, 切向力X=1422.3669, 切向力Y=-107.2614 +FPS=27.21, 法向力=1258.1799, 切向力X=1442.0876, 切向力Y=-479.3738 +FPS=39.48, 法向力=1303.2095, 切向力X=1389.1689, 切向力Y=648.7559 +FPS=45.72, 法向力=1503.8555, 切向力X=1354.3887, 切向力Y=807.0087 +FPS=39.46, 法向力=1178.2845, 切向力X=1243.9456, 切向力Y=769.6931 +FPS=45.33, 法向力=1094.5614, 切向力X=1082.9534, 切向力Y=825.3394 +FPS=66.44, 法向力=1106.4929, 切向力X=1090.5605, 切向力Y=759.2918 +FPS=31.62, 法向力=1625.3174, 切向力X=841.6943, 切向力Y=663.9368 +FPS=39.03, 法向力=1688.7422, 切向力X=763.0603, 切向力Y=688.5726 +FPS=27.10, 法向力=1403.5156, 切向力X=1256.7388, 切向力Y=-340.3765 +FPS=38.69, 法向力=1466.1030, 切向力X=1187.9801, 切向力Y=-41.7187 +FPS=24.12, 法向力=1228.7688, 切向力X=1330.0757, 切向力Y=-219.7318 +FPS=49.90, 法向力=1157.9072, 切向力X=1261.5679, 切向力Y=-265.1334 +FPS=31.93, 法向力=1273.9249, 切向力X=1843.2778, 切向力Y=203.6831 +FPS=26.48, 法向力=1295.5569, 切向力X=1838.0552, 切向力Y=369.0803 +FPS=59.34, 法向力=1925.1588, 切向力X=-146.3571, 切向力Y=-1611.1854 +FPS=49.33, 法向力=2088.1116, 切向力X=-501.6568, 切向力Y=-1515.2026 +FPS=49.90, 法向力=2198.7510, 切向力X=-580.7375, 切向力Y=-1405.7363 +FPS=44.73, 法向力=1548.4454, 切向力X=757.0944, 切向力Y=270.1330 +FPS=62.38, 法向力=1758.6213, 切向力X=996.4009, 切向力Y=538.4786 +FPS=57.92, 法向力=1780.1760, 切向力X=955.0408, 切向力Y=477.8672 +FPS=49.07, 法向力=1196.6082, 切向力X=218.9085, 切向力Y=-310.8153 +FPS=56.74, 法向力=1227.1915, 切向力X=137.5817, 切向力Y=-176.4375 +FPS=44.95, 法向力=1297.7332, 切向力X=434.8178, 切向力Y=567.1122 +FPS=62.46, 法向力=1339.7004, 切向力X=436.1993, 切向力Y=602.5214 +FPS=60.60, 法向力=1311.3632, 切向力X=530.6365, 切向力Y=754.4338 +FPS=51.65, 法向力=2525.9009, 切向力X=771.7445, 切向力Y=694.4176 +FPS=37.82, 法向力=2494.7729, 切向力X=792.9127, 切向力Y=859.8816 +FPS=58.60, 法向力=1597.2711, 切向力X=499.8853, 切向力Y=1683.5131 +FPS=36.93, 法向力=1445.1040, 切向力X=606.7686, 切向力Y=1631.4116 +FPS=40.52, 法向力=1693.0631, 切向力X=1026.3552, 切向力Y=260.2722 +FPS=45.68, 法向力=1630.2467, 切向力X=1040.6411, 切向力Y=199.4259 +FPS=55.89, 法向力=1645.5962, 切向力X=1052.5267, 切向力Y=103.7174 +FPS=47.06, 法向力=1381.9519, 切向力X=1190.5769, 切向力Y=1690.4646 +FPS=49.79, 法向力=1384.1028, 切向力X=1220.4854, 切向力Y=1889.9348 +FPS=31.02, 法向力=1585.6108, 切向力X=956.0298, 切向力Y=-574.4171 +FPS=31.97, 法向力=1436.7206, 切向力X=1066.2617, 切向力Y=-499.5294 +FPS=32.56, 法向力=1489.0781, 切向力X=1299.5569, 切向力Y=-369.9922 +FPS=57.98, 法向力=1821.1833, 切向力X=1303.0271, 切向力Y=-31.4730 +FPS=49.04, 法向力=1962.4755, 切向力X=1453.6277, 切向力Y=-242.7679 +FPS=49.00, 法向力=1999.2522, 切向力X=1504.7078, 切向力Y=-237.4277 +FPS=44.13, 法向力=1298.3602, 切向力X=1390.1445, 切向力Y=-473.7855 +FPS=40.92, 法向力=1265.5251, 切向力X=1416.4360, 切向力Y=-536.3417 +FPS=47.49, 法向力=2472.1025, 切向力X=618.4102, 切向力Y=-110.1927 +FPS=37.59, 法向力=2748.4702, 切向力X=550.5198, 切向力Y=338.6729 +FPS=44.16, 法向力=1078.4585, 切向力X=885.2329, 切向力Y=408.1339 +FPS=42.32, 法向力=1007.7419, 切向力X=1063.7585, 切向力Y=322.8409 +FPS=44.45, 法向力=1037.8550, 切向力X=837.8029, 切向力Y=1170.5667 +FPS=40.41, 法向力=1048.1389, 切向力X=839.9768, 切向力Y=1404.4033 +FPS=43.49, 法向力=1048.9344, 切向力X=819.0101, 切向力Y=1405.0977 +FPS=58.83, 法向力=1441.8608, 切向力X=1031.8337, 切向力Y=-1430.8459 +FPS=45.08, 法向力=1529.3470, 切向力X=1052.0667, 切向力Y=-1462.0225 +FPS=44.88, 法向力=1188.9127, 切向力X=1119.1772, 切向力Y=-89.2964 +FPS=63.38, 法向力=1238.1431, 切向力X=1046.9677, 切向力Y=-146.5116 +FPS=58.36, 法向力=1247.5186, 切向力X=1138.4098, 切向力Y=-213.6985 +FPS=48.92, 法向力=1650.4219, 切向力X=2182.4934, 切向力Y=-1707.6367 +FPS=54.35, 法向力=1650.4043, 切向力X=2232.7439, 切向力Y=-1906.6426 +FPS=26.45, 法向力=1631.8798, 切向力X=1055.8695, 切向力Y=434.2637 +FPS=45.08, 法向力=1784.3452, 切向力X=848.9411, 切向力Y=558.0922 +FPS=32.76, 法向力=1434.7131, 切向力X=858.8263, 切向力Y=293.0793 +FPS=63.62, 法向力=1401.6089, 切向力X=863.3950, 切向力Y=329.0894 +FPS=39.41, 法向力=1850.7126, 切向力X=1710.4423, 切向力Y=892.8071 +FPS=37.19, 法向力=1941.7126, 切向力X=1742.7104, 切向力Y=960.1626 +FPS=44.54, 法向力=1743.2275, 切向力X=899.9590, 切向力Y=-505.6454 +FPS=41.75, 法向力=1802.2739, 切向力X=724.8951, 切向力Y=-442.4569 +FPS=45.45, 法向力=1712.8489, 切向力X=951.1734, 切向力Y=1787.2137 +FPS=61.05, 法向力=1819.7800, 切向力X=932.4393, 切向力Y=1835.2758 +FPS=31.97, 法向力=2199.0171, 切向力X=1059.7354, 切向力Y=255.9185 +FPS=39.64, 法向力=2154.7310, 切向力X=1115.7047, 切向力Y=125.1389 +FPS=43.34, 法向力=1634.6838, 切向力X=1323.5153, 切向力Y=1190.2241 +FPS=62.63, 法向力=1580.2783, 切向力X=1096.5394, 切向力Y=1330.9290 +FPS=33.92, 法向力=1596.1248, 切向力X=1068.4832, 切向力Y=1344.5443 +FPS=40.57, 法向力=1211.1621, 切向力X=672.8914, 切向力Y=724.7830 +FPS=44.11, 法向力=1248.1619, 切向力X=605.5219, 切向力Y=610.3547 +FPS=64.25, 法向力=1905.9966, 切向力X=787.6488, 切向力Y=470.7549 +FPS=31.64, 法向力=1935.2361, 切向力X=776.7218, 切向力Y=532.8014 +FPS=62.83, 法向力=1929.1188, 切向力X=659.2950, 切向力Y=1109.3442 +FPS=34.24, 法向力=1935.0803, 切向力X=624.3923, 切向力Y=1209.8945 +FPS=61.08, 法向力=1496.8092, 切向力X=882.7098, 切向力Y=1166.5007 +FPS=32.34, 法向力=1553.0962, 切向力X=856.1051, 切向力Y=1269.5015 +FPS=55.88, 法向力=1483.3428, 切向力X=1010.7622, 切向力Y=1120.6660 +FPS=42.41, 法向力=1901.3533, 切向力X=435.2583, 切向力Y=-362.9064 +FPS=44.53, 法向力=1792.0504, 切向力X=527.8681, 切向力Y=-363.0485 +FPS=60.02, 法向力=1515.4399, 切向力X=1016.3394, 切向力Y=591.0345 +FPS=41.42, 法向力=1636.9668, 切向力X=1085.2113, 切向力Y=742.8618 +FPS=38.41, 法向力=1692.7975, 切向力X=1116.1801, 切向力Y=1161.9788 +FPS=26.59, 法向力=1861.5938, 切向力X=1553.9485, 切向力Y=-185.2112 +FPS=52.17, 法向力=1884.6658, 切向力X=1456.6299, 切向力Y=-201.8705 +FPS=36.04, 法向力=1610.5430, 切向力X=1325.6904, 切向力Y=851.7155 +FPS=46.16, 法向力=1699.0393, 切向力X=1362.2999, 切向力Y=1030.2776 +FPS=59.32, 法向力=1708.0549, 切向力X=1422.0527, 切向力Y=1021.6418 +FPS=33.55, 法向力=1712.1160, 切向力X=430.8303, 切向力Y=586.0557 +FPS=56.49, 法向力=1688.1438, 切向力X=554.9103, 切向力Y=508.9380 +FPS=51.07, 法向力=1415.4175, 切向力X=1471.3994, 切向力Y=-564.8126 +FPS=49.95, 法向力=1411.2607, 切向力X=1439.8435, 切向力Y=-570.2618 +FPS=49.07, 法向力=1357.7959, 切向力X=1971.5688, 切向力Y=-224.8255 +FPS=37.71, 法向力=1339.3328, 切向力X=1935.7356, 切向力Y=-195.7424 +FPS=48.10, 法向力=1365.7400, 切向力X=1944.4546, 切向力Y=-189.1526 +FPS=32.71, 法向力=1103.2246, 切向力X=1141.4436, 切向力Y=1374.5869 +FPS=32.08, 法向力=1508.0980, 切向力X=1678.1664, 切向力Y=67.6331 +FPS=30.88, 法向力=1562.3041, 切向力X=1721.8940, 切向力Y=-153.8813 +FPS=39.68, 法向力=1522.6735, 切向力X=1832.1780, 切向力Y=-914.4203 +FPS=27.53, 法向力=1733.9294, 切向力X=637.4495, 切向力Y=900.8724 +FPS=31.91, 法向力=1826.3307, 切向力X=630.1139, 切向力Y=957.0510 +FPS=31.95, 法向力=1072.6677, 切向力X=1551.0842, 切向力Y=-818.9496 +FPS=32.00, 法向力=1081.8358, 切向力X=1555.4977, 切向力Y=-759.3345 +FPS=31.52, 法向力=1335.9744, 切向力X=686.9880, 切向力Y=-19.6921 +FPS=55.95, 法向力=1292.7150, 切向力X=723.1415, 切向力Y=-95.6460 +FPS=53.41, 法向力=2249.8069, 切向力X=1113.5579, 切向力Y=99.8778 +FPS=38.93, 法向力=2200.2161, 切向力X=1097.1658, 切向力Y=-124.6895 +FPS=58.97, 法向力=2180.7783, 切向力X=1150.0831, 切向力Y=-97.3138 +FPS=34.14, 法向力=1209.7670, 切向力X=1251.3201, 切向力Y=968.9659 +FPS=60.21, 法向力=1252.0055, 切向力X=1281.1049, 切向力Y=1096.7468 +FPS=50.09, 法向力=972.4139, 切向力X=1064.5979, 切向力Y=1210.4054 +FPS=46.34, 法向力=1035.2351, 切向力X=944.0651, 切向力Y=1274.5613 +FPS=48.77, 法向力=1297.0890, 切向力X=1181.7766, 切向力Y=-75.9150 +FPS=37.82, 法向力=1382.4226, 切向力X=1229.6793, 切向力Y=-292.0546 +FPS=44.60, 法向力=1470.3187, 切向力X=1280.0908, 切向力Y=-307.0095 +FPS=33.75, 法向力=1457.1160, 切向力X=1168.9680, 切向力Y=-266.6352 +FPS=37.25, 法向力=1414.5769, 切向力X=806.7047, 切向力Y=382.0571 +FPS=27.29, 法向力=1166.3745, 切向力X=1650.2717, 切向力Y=-1065.3682 +FPS=37.60, 法向力=1203.4023, 切向力X=1626.1047, 切向力Y=-1205.2147 +FPS=46.57, 法向力=2432.0342, 切向力X=1204.3230, 切向力Y=1122.7487 +FPS=31.94, 法向力=2524.9773, 切向力X=1339.7671, 切向力Y=1196.0728 +FPS=38.77, 法向力=1277.5825, 切向力X=821.3928, 切向力Y=2067.9626 +FPS=45.67, 法向力=1195.4513, 切向力X=698.8308, 切向力Y=2279.1892 +FPS=31.30, 法向力=1461.0082, 切向力X=1645.6362, 切向力Y=-1543.9410 +FPS=33.45, 法向力=1441.2866, 切向力X=1695.4253, 切向力Y=-1638.4143 +FPS=32.11, 法向力=1337.6536, 切向力X=1312.5037, 切向力Y=-710.6138 +FPS=31.10, 法向力=1972.9795, 切向力X=1556.1428, 切向力Y=779.7633 +FPS=30.05, 法向力=2352.6128, 切向力X=1411.7412, 切向力Y=905.3356 +FPS=40.85, 法向力=1518.2363, 切向力X=1477.4930, 切向力Y=-1214.0122 +FPS=47.28, 法向力=1430.3173, 切向力X=1555.1876, 切向力Y=-1656.8179 +FPS=31.91, 法向力=1773.0491, 切向力X=1036.3623, 切向力Y=-315.2383 +FPS=32.04, 法向力=1294.9719, 切向力X=513.1523, 切向力Y=-1336.1274 +FPS=38.01, 法向力=1230.7185, 切向力X=442.3718, 切向力Y=-1295.2090 +FPS=47.17, 法向力=1177.4331, 切向力X=383.7691, 切向力Y=-1196.0326 +FPS=31.29, 法向力=1149.7932, 切向力X=1455.0615, 切向力Y=562.3693 +FPS=38.15, 法向力=1130.1803, 切向力X=1544.8989, 切向力Y=515.6823 +FPS=49.87, 法向力=1471.7549, 切向力X=1157.1748, 切向力Y=-428.7314 +FPS=30.00, 法向力=1659.8524, 切向力X=980.8016, 切向力Y=-600.2147 +FPS=32.19, 法向力=1979.7188, 切向力X=1355.3845, 切向力Y=1637.2078 +FPS=57.55, 法向力=1625.6005, 切向力X=911.4126, 切向力Y=-38.6226 +FPS=51.19, 法向力=1632.0309, 切向力X=840.8292, 切向力Y=15.6008 +FPS=65.27, 法向力=1590.5969, 切向力X=859.8116, 切向力Y=87.2753 +FPS=36.46, 法向力=1098.0706, 切向力X=1108.7030, 切向力Y=310.1378 +FPS=39.94, 法向力=1065.9812, 切向力X=1332.7715, 切向力Y=81.8917 +FPS=46.73, 法向力=1436.5515, 切向力X=1105.3594, 切向力Y=582.1294 +FPS=32.21, 法向力=1390.1819, 切向力X=1148.8674, 切向力Y=633.8975 +FPS=32.64, 法向力=2671.0076, 切向力X=476.5930, 切向力Y=711.7928 +FPS=61.68, 法向力=2721.9658, 切向力X=290.5294, 切向力Y=1206.1753 +FPS=48.12, 法向力=1686.1191, 切向力X=1381.4961, 切向力Y=-1400.6598 +FPS=65.65, 法向力=1954.0679, 切向力X=1532.1144, 切向力Y=-1758.9218 +FPS=39.03, 法向力=1983.2826, 切向力X=1589.6394, 切向力Y=-1759.3240 +FPS=31.98, 法向力=1368.9824, 切向力X=1304.8474, 切向力Y=154.6837 +FPS=60.12, 法向力=1403.9780, 切向力X=1255.7277, 切向力Y=641.8259 +FPS=51.08, 法向力=1824.8940, 切向力X=1396.3787, 切向力Y=-582.5802 +FPS=46.49, 法向力=1958.4751, 切向力X=1166.5415, 切向力Y=-875.5338 +FPS=27.10, 法向力=1281.4252, 切向力X=1576.4729, 切向力Y=-630.7612 +FPS=31.48, 法向力=1271.6775, 切向力X=596.2256, 切向力Y=126.4194 +FPS=32.83, 法向力=1270.9990, 切向力X=549.8901, 切向力Y=155.1154 +FPS=31.96, 法向力=997.7394, 切向力X=1580.3735, 切向力Y=71.7511 +FPS=32.06, 法向力=1648.1257, 切向力X=1942.1033, 切向力Y=-778.1636 +FPS=32.24, 法向力=1730.1704, 切向力X=2028.0492, 切向力Y=-861.2149 +FPS=30.80, 法向力=1333.6462, 切向力X=1636.7231, 切向力Y=-690.2831 +FPS=38.67, 法向力=1121.2184, 切向力X=1908.7986, 切向力Y=-932.7500 +FPS=45.07, 法向力=1550.7148, 切向力X=2051.2559, 切向力Y=314.3483 +FPS=32.59, 法向力=1665.2427, 切向力X=2085.9985, 切向力Y=317.8934 +FPS=29.91, 法向力=2129.1279, 切向力X=1573.4922, 切向力Y=1289.2845 +FPS=58.84, 法向力=2219.6060, 切向力X=1430.5822, 切向力Y=1589.5785 +FPS=34.81, 法向力=1667.9702, 切向力X=1459.3853, 切向力Y=881.5924 +FPS=31.46, 法向力=1712.7672, 切向力X=1542.3937, 切向力Y=838.5005 +FPS=32.16, 法向力=1971.3389, 切向力X=798.2593, 切向力Y=-99.6311 +FPS=33.43, 法向力=1572.2058, 切向力X=1484.1639, 切向力Y=358.1446 +FPS=32.58, 法向力=1480.0911, 切向力X=1712.0468, 切向力Y=174.7272 +FPS=31.48, 法向力=1382.5254, 切向力X=1112.5994, 切向力Y=-869.1116 +FPS=58.49, 法向力=1313.1729, 切向力X=1039.7959, 切向力Y=-945.9448 +FPS=50.75, 法向力=1026.8640, 切向力X=1042.0205, 切向力Y=-571.3557 +FPS=43.13, 法向力=1004.0625, 切向力X=1100.4874, 切向力Y=-469.8752 +FPS=45.11, 法向力=852.9155, 切向力X=923.6528, 切向力Y=-111.1971 +FPS=62.85, 法向力=984.2651, 切向力X=911.9443, 切向力Y=217.4578 +FPS=33.58, 法向力=1024.4121, 切向力X=910.9185, 切向力Y=275.9509 +FPS=58.81, 法向力=1489.1089, 切向力X=1790.4108, 切向力Y=-343.9029 +FPS=35.48, 法向力=1495.1572, 切向力X=1716.4283, 切向力Y=-299.4306 +FPS=39.00, 法向力=2253.7583, 切向力X=1837.8501, 切向力Y=-1345.4688 +FPS=28.06, 法向力=1632.3240, 切向力X=1131.5898, 切向力Y=200.4657 +FPS=52.35, 法向力=1568.9905, 切向力X=852.3868, 切向力Y=367.4758 +FPS=54.70, 法向力=1614.1799, 切向力X=857.5471, 切向力Y=460.8584 +FPS=47.24, 法向力=2185.3499, 切向力X=871.7246, 切向力Y=1452.8584 +FPS=27.87, 法向力=1725.7693, 切向力X=1009.2018, 切向力Y=-251.3301 +FPS=32.97, 法向力=1706.1572, 切向力X=1043.6045, 切向力Y=-762.1670 +FPS=31.66, 法向力=1143.9625, 切向力X=1223.2017, 切向力Y=346.0871 +FPS=31.61, 法向力=1461.3572, 切向力X=834.9560, 切向力Y=1355.4398 +FPS=40.46, 法向力=1444.8245, 切向力X=861.4464, 切向力Y=1373.5314 +FPS=46.67, 法向力=1456.4415, 切向力X=808.3066, 切向力Y=1385.7355 +FPS=30.07, 法向力=1195.5763, 切向力X=1331.4324, 切向力Y=-508.6685 +FPS=34.71, 法向力=1251.9097, 切向力X=1392.7739, 切向力Y=-897.0615 +FPS=30.00, 法向力=1483.3458, 切向力X=1091.5977, 切向力Y=-399.5530 +FPS=54.18, 法向力=1108.9883, 切向力X=1900.1338, 切向力Y=196.5588 +FPS=40.03, 法向力=1254.2258, 切向力X=1964.4452, 切向力Y=261.4666 +FPS=60.49, 法向力=1295.1886, 切向力X=1969.1821, 切向力Y=271.2820 +FPS=33.98, 法向力=1443.3389, 切向力X=1886.0090, 切向力Y=544.0793 +FPS=56.27, 法向力=1618.8544, 切向力X=1986.0540, 切向力Y=876.6393 +FPS=49.30, 法向力=1582.5544, 切向力X=2018.7588, 切向力Y=-328.5444 +FPS=62.86, 法向力=1459.2119, 切向力X=2009.8726, 切向力Y=-476.9088 +FPS=46.85, 法向力=1164.7312, 切向力X=829.0275, 切向力Y=-265.1310 +FPS=60.24, 法向力=1195.1467, 切向力X=854.7422, 切向力Y=-117.8712 +FPS=50.26, 法向力=1190.4502, 切向力X=795.1279, 切向力Y=-133.5572 +FPS=32.32, 法向力=1957.8772, 切向力X=1475.6707, 切向力Y=933.4305 +FPS=54.68, 法向力=2131.2681, 切向力X=1445.5427, 切向力Y=1238.3070 +FPS=45.16, 法向力=1917.9398, 切向力X=957.2640, 切向力Y=722.4253 +FPS=62.74, 法向力=1599.1272, 切向力X=818.8489, 切向力Y=74.8139 +FPS=60.78, 法向力=1518.3622, 切向力X=782.2073, 切向力Y=-3.8869 +FPS=47.24, 法向力=1218.1017, 切向力X=1319.6576, 切向力Y=-1202.6749 +FPS=32.52, 法向力=1222.6776, 切向力X=1298.2805, 切向力Y=-1286.9982 +FPS=31.68, 法向力=1404.2319, 切向力X=978.9613, 切向力Y=-777.3804 +FPS=38.28, 法向力=1431.1162, 切向力X=997.0959, 切向力Y=-722.6361 +FPS=46.84, 法向力=1625.8326, 切向力X=815.8297, 切向力Y=95.1423 +FPS=31.14, 法向力=2419.1499, 切向力X=1055.0051, 切向力Y=-42.1440 +FPS=32.30, 法向力=2280.5303, 切向力X=880.5759, 切向力Y=270.1764 +FPS=31.99, 法向力=1468.0637, 切向力X=1293.9431, 切向力Y=-363.9093 +FPS=31.85, 法向力=1866.2188, 切向力X=1288.7595, 切向力Y=71.0175 +FPS=32.45, 法向力=1986.8035, 切向力X=1239.8185, 切向力Y=116.7075 +FPS=31.33, 法向力=1495.7944, 切向力X=630.9208, 切向力Y=-958.0844 +FPS=31.76, 法向力=1461.4133, 切向力X=644.7535, 切向力Y=-1021.1169 +FPS=41.74, 法向力=1796.3226, 切向力X=1667.9222, 切向力Y=83.6752 +FPS=27.30, 法向力=1860.0375, 切向力X=1681.6473, 切向力Y=50.1622 +FPS=38.71, 法向力=1724.8739, 切向力X=1860.2531, 切向力Y=106.0025 +FPS=49.13, 法向力=1791.8997, 切向力X=1980.7717, 切向力Y=17.3295 +FPS=30.77, 法向力=1760.1807, 切向力X=1181.1840, 切向力Y=-402.4681 +FPS=60.54, 法向力=1649.3303, 切向力X=1053.7688, 切向力Y=-370.1292 +FPS=49.63, 法向力=1271.3071, 切向力X=1572.6761, 切向力Y=-82.9690 +FPS=65.50, 法向力=1302.7036, 切向力X=1675.5203, 切向力Y=-21.5087 +FPS=40.79, 法向力=1558.4911, 切向力X=1523.1606, 切向力Y=608.8251 +FPS=58.87, 法向力=1569.0626, 切向力X=1494.6327, 切向力Y=500.1707 +FPS=47.78, 法向力=1777.5129, 切向力X=1453.8812, 切向力Y=756.0060 +FPS=46.44, 法向力=1768.0350, 切向力X=585.8884, 切向力Y=2106.2583 +FPS=60.72, 法向力=1616.4866, 切向力X=769.5625, 切向力Y=1959.5906 +FPS=50.30, 法向力=937.1250, 切向力X=873.9883, 切向力Y=-46.9481 +FPS=28.31, 法向力=947.1943, 切向力X=1110.7764, 切向力Y=-334.0855 +FPS=58.90, 法向力=1991.5773, 切向力X=1923.4199, 切向力Y=-1358.6819 +FPS=47.11, 法向力=2005.5414, 切向力X=2146.7444, 切向力Y=-1285.6832 +FPS=47.24, 法向力=2049.7488, 切向力X=2191.2856, 切向力Y=-1336.1327 +FPS=37.92, 法向力=1710.6025, 切向力X=1902.4238, 切向力Y=-1600.0530 +FPS=45.48, 法向力=1586.6208, 切向力X=1789.4539, 切向力Y=-1646.5690 +FPS=53.54, 法向力=1307.4548, 切向力X=1405.7830, 切向力Y=-277.2016 +FPS=43.11, 法向力=1306.9084, 切向力X=1159.7629, 切向力Y=-210.0617 +FPS=26.11, 法向力=1244.3868, 切向力X=881.1178, 切向力Y=-1454.2728 +FPS=43.98, 法向力=1259.0840, 切向力X=873.8191, 切向力Y=-1423.1130 +FPS=41.88, 法向力=1563.6599, 切向力X=878.4006, 切向力Y=1445.9248 +FPS=64.02, 法向力=1542.4048, 切向力X=1054.4833, 切向力Y=1516.8121 +FPS=41.92, 法向力=1283.4364, 切向力X=1098.3894, 切向力Y=253.8482 +FPS=42.39, 法向力=1257.5424, 切向力X=1162.0616, 切向力Y=132.7023 +FPS=60.88, 法向力=1203.9835, 切向力X=808.2487, 切向力Y=1255.5769 +FPS=40.11, 法向力=1205.6226, 切向力X=740.8892, 切向力Y=1372.4684 +FPS=53.82, 法向力=1572.2466, 切向力X=21.4017, 切向力Y=892.2277 +FPS=46.06, 法向力=1724.8523, 切向力X=26.0338, 切向力Y=442.5134 +FPS=63.19, 法向力=1734.7390, 切向力X=-7.8702, 切向力Y=416.1460 +FPS=36.79, 法向力=1780.2517, 切向力X=-16.9134, 切向力Y=435.0599 +FPS=40.20, 法向力=1741.9066, 切向力X=389.0976, 切向力Y=-219.3300 +FPS=43.98, 法向力=1732.6472, 切向力X=471.7520, 切向力Y=-349.1170 +FPS=57.22, 法向力=1459.5712, 切向力X=783.5245, 切向力Y=305.7761 +FPS=37.96, 法向力=1518.1206, 切向力X=908.6298, 切向力Y=521.7325 +FPS=58.21, 法向力=1422.2163, 切向力X=1630.1255, 切向力Y=-329.7608 +FPS=39.11, 法向力=1462.8323, 切向力X=1743.4941, 切向力Y=-345.2175 +FPS=44.13, 法向力=1294.2972, 切向力X=1068.8344, 切向力Y=1100.7831 +FPS=63.79, 法向力=1287.6165, 切向力X=1160.1765, 切向力Y=1105.8889 +FPS=59.77, 法向力=1299.7028, 切向力X=1191.4565, 切向力Y=992.4138 +FPS=48.78, 法向力=1106.4910, 切向力X=901.8679, 切向力Y=327.3822 +FPS=50.72, 法向力=1141.3408, 切向力X=987.5912, 切向力Y=345.0161 +FPS=42.78, 法向力=1666.6643, 切向力X=1079.6111, 切向力Y=-98.7315 +FPS=57.25, 法向力=1805.8812, 切向力X=1104.1553, 切向力Y=29.8825 +FPS=57.23, 法向力=1530.9340, 切向力X=1822.5029, 切向力Y=-159.9648 +FPS=51.73, 法向力=1628.8970, 切向力X=1967.9634, 切向力Y=-374.9478 +FPS=61.51, 法向力=1640.4868, 切向力X=1990.2178, 切向力Y=-394.6644 +FPS=45.80, 法向力=1666.9175, 切向力X=1924.1216, 切向力Y=-400.4126 +FPS=39.58, 法向力=1294.0406, 切向力X=1782.8882, 切向力Y=-82.5676 +FPS=43.62, 法向力=1362.0979, 切向力X=1801.2041, 切向力Y=-84.9640 +FPS=43.10, 法向力=1572.9235, 切向力X=1347.3235, 切向力Y=-1471.8909 +FPS=27.12, 法向力=1431.6189, 切向力X=691.0955, 切向力Y=1184.3074 +FPS=39.73, 法向力=1443.7834, 切向力X=783.4713, 切向力Y=1467.9751 +FPS=42.89, 法向力=1509.9106, 切向力X=1135.0442, 切向力Y=-54.1493 +FPS=64.03, 法向力=1553.2606, 切向力X=1167.7556, 切向力Y=-244.4776 +FPS=33.97, 法向力=1658.0984, 切向力X=788.8936, 切向力Y=2021.5105 +FPS=60.58, 法向力=1873.1077, 切向力X=653.0554, 切向力Y=2204.5405 +FPS=33.90, 法向力=1388.9807, 切向力X=559.7681, 切向力Y=-612.6676 +FPS=38.07, 法向力=1689.9272, 切向力X=410.1438, 切向力Y=-602.0756 +FPS=43.62, 法向力=2191.8799, 切向力X=968.1605, 切向力Y=1382.3790 +FPS=42.29, 法向力=2581.3918, 切向力X=1174.1143, 切向力Y=2059.1570 +FPS=44.93, 法向力=2239.4150, 切向力X=1616.0134, 切向力Y=224.2213 +FPS=39.67, 法向力=1975.3533, 切向力X=1686.6235, 切向力Y=-527.6351 +FPS=26.37, 法向力=1966.4349, 切向力X=1626.3909, 切向力Y=-580.1472 +FPS=40.07, 法向力=1840.8322, 切向力X=1818.6858, 切向力Y=483.3484 +FPS=43.50, 法向力=1824.6616, 切向力X=1902.8134, 切向力Y=739.0537 +FPS=41.64, 法向力=1477.4419, 切向力X=1886.2993, 切向力Y=2092.7937 +FPS=45.75, 法向力=1609.2888, 切向力X=1874.3668, 切向力Y=2078.8149 +FPS=62.06, 法向力=1556.8384, 切向力X=1094.1740, 切向力Y=-297.5206 +FPS=40.95, 法向力=1515.5970, 切向力X=1244.1807, 切向力Y=-473.2642 +FPS=47.34, 法向力=1520.9045, 切向力X=1511.4368, 切向力Y=-1467.3864 +FPS=38.64, 法向力=1646.3208, 切向力X=1660.6598, 切向力Y=-1572.4908 +FPS=44.57, 法向力=1411.8660, 切向力X=700.6776, 切向力Y=-361.9918 +FPS=63.31, 法向力=1433.9841, 切向力X=721.3034, 切向力Y=-276.6468 +FPS=59.02, 法向力=1437.9746, 切向力X=680.9894, 切向力Y=-257.4451 +FPS=44.98, 法向力=1764.1252, 切向力X=1779.9454, 切向力Y=1240.7198 +FPS=54.83, 法向力=1880.3279, 切向力X=1728.7606, 切向力Y=1329.4291 +FPS=47.53, 法向力=1333.0310, 切向力X=585.0118, 切向力Y=-1782.1940 +FPS=40.49, 法向力=1387.4309, 切向力X=676.4603, 切向力Y=-1955.7809 +FPS=46.07, 法向力=1354.8020, 切向力X=597.9329, 切向力Y=-1889.1167 +FPS=62.65, 法向力=1146.2917, 切向力X=1294.6453, 切向力Y=632.0701 +FPS=47.55, 法向力=1266.9427, 切向力X=1227.8640, 切向力Y=981.9138 +FPS=54.75, 法向力=1293.9136, 切向力X=1250.1038, 切向力Y=1081.8640 +FPS=50.63, 法向力=2021.6650, 切向力X=937.1152, 切向力Y=187.2132 +FPS=29.48, 法向力=1781.2834, 切向力X=904.1274, 切向力Y=1047.8116 +FPS=38.53, 法向力=1792.0518, 切向力X=929.4633, 切向力Y=1204.6990 +FPS=46.97, 法向力=1984.4456, 切向力X=628.0192, 切向力Y=1691.1711 +FPS=40.60, 法向力=2005.4231, 切向力X=566.1824, 切向力Y=1819.4858 +FPS=44.34, 法向力=2760.2212, 切向力X=852.3367, 切向力Y=1530.7864 +FPS=61.95, 法向力=2880.6592, 切向力X=746.5123, 切向力Y=1470.1799 +FPS=34.00, 法向力=1557.8245, 切向力X=933.6376, 切向力Y=-795.5148 +FPS=37.81, 法向力=1702.4666, 切向力X=942.2839, 切向力Y=-1138.4202 +FPS=45.94, 法向力=1713.4773, 切向力X=1331.0613, 切向力Y=-2.9015 +FPS=32.50, 法向力=1670.0452, 切向力X=1388.9976, 切向力Y=69.4466 +FPS=38.16, 法向力=1689.4895, 切向力X=1408.7129, 切向力Y=22.2496 +FPS=45.30, 法向力=1333.0164, 切向力X=1450.6635, 切向力Y=-136.9178 +FPS=60.25, 法向力=1356.9357, 切向力X=1556.4532, 切向力Y=-140.2036 +FPS=55.25, 法向力=1250.4556, 切向力X=827.6201, 切向力Y=-333.9494 +FPS=49.92, 法向力=1259.0300, 切向力X=848.8121, 切向力Y=-434.0277 +FPS=60.07, 法向力=1269.0044, 切向力X=853.0901, 切向力Y=-440.1920 +FPS=47.86, 法向力=1234.8977, 切向力X=847.9493, 切向力Y=-401.0496 +FPS=63.67, 法向力=1265.3009, 切向力X=854.2431, 切向力Y=-430.1470 +FPS=62.20, 法向力=1224.5232, 切向力X=853.2017, 切向力Y=-405.4850 +FPS=47.60, 法向力=1456.3374, 切向力X=794.7815, 切向力Y=243.5012 +FPS=52.97, 法向力=1506.9585, 切向力X=813.0034, 切向力Y=461.6128 +FPS=26.67, 法向力=1582.7289, 切向力X=1117.5126, 切向力Y=-213.7861 +FPS=56.12, 法向力=1588.4995, 切向力X=1135.7385, 切向力Y=-812.6704 +FPS=50.66, 法向力=1339.0958, 切向力X=1223.7126, 切向力Y=-222.4334 +FPS=50.43, 法向力=1399.3237, 切向力X=1140.8079, 切向力Y=-137.1114 +FPS=44.64, 法向力=1905.8484, 切向力X=1107.1760, 切向力Y=1195.7972 +FPS=33.33, 法向力=2088.1753, 切向力X=1090.3499, 切向力Y=1378.4340 +FPS=30.99, 法向力=1695.7991, 切向力X=1432.1450, 切向力Y=1194.8965 +FPS=36.52, 法向力=1590.3916, 切向力X=1538.2910, 切向力Y=964.3586 +FPS=42.46, 法向力=1482.7697, 切向力X=1597.2502, 切向力Y=1221.1047 +FPS=34.34, 法向力=1480.7130, 切向力X=1611.5156, 切向力Y=1184.1379 +FPS=32.81, 法向力=1587.5526, 切向力X=1153.1145, 切向力Y=1743.2994 +FPS=39.29, 法向力=1706.2676, 切向力X=1189.2748, 切向力Y=1611.8069 +FPS=50.23, 法向力=1675.7629, 切向力X=1251.5784, 切向力Y=1593.7339 +FPS=30.94, 法向力=1525.6210, 切向力X=1366.0479, 切向力Y=-233.9939 +FPS=30.14, 法向力=1638.1113, 切向力X=1263.1572, 切向力Y=53.4122 +FPS=32.30, 法向力=1661.8196, 切向力X=1857.3607, 切向力Y=414.7094 +FPS=36.55, 法向力=1960.4109, 切向力X=2023.8662, 切向力Y=177.6137 +FPS=48.06, 法向力=1748.4851, 切向力X=908.5308, 切向力Y=-350.8860 +FPS=32.30, 法向力=1462.1565, 切向力X=1199.3976, 切向力Y=1192.0477 +FPS=32.22, 法向力=1380.5599, 切向力X=1179.1393, 切向力Y=1696.8291 +FPS=38.55, 法向力=1337.1755, 切向力X=1140.8054, 切向力Y=1865.5627 +FPS=47.86, 法向力=1637.1206, 切向力X=977.9720, 切向力Y=35.4120 +FPS=32.12, 法向力=1430.9229, 切向力X=441.3010, 切向力Y=75.5574 +FPS=30.60, 法向力=1517.8097, 切向力X=300.6119, 切向力Y=110.4506 +FPS=32.67, 法向力=1073.8383, 切向力X=702.5066, 切向力Y=-420.9858 +FPS=30.99, 法向力=1114.3242, 切向力X=773.0023, 切向力Y=-702.5633 +FPS=38.99, 法向力=1116.4434, 切向力X=756.4144, 切向力Y=-712.5531 +FPS=43.78, 法向力=1276.2209, 切向力X=2033.5857, 切向力Y=-186.5576 +FPS=32.36, 法向力=1377.2578, 切向力X=1991.3542, 切向力Y=-214.2583 +FPS=40.84, 法向力=2246.6724, 切向力X=1172.5338, 切向力Y=1805.4435 +FPS=43.36, 法向力=2285.4294, 切向力X=1229.2598, 切向力Y=1895.9429 +FPS=40.66, 法向力=1691.8438, 切向力X=1387.2272, 切向力Y=929.4254 +FPS=48.68, 法向力=1587.9170, 切向力X=1530.5719, 切向力Y=857.8031 +FPS=59.44, 法向力=1629.0068, 切向力X=1563.9762, 切向力Y=873.1696 +FPS=52.60, 法向力=1544.6495, 切向力X=1327.4773, 切向力Y=-594.9342 +FPS=45.87, 法向力=1539.6152, 切向力X=1297.7725, 切向力Y=-476.8000 +FPS=27.22, 法向力=1484.0430, 切向力X=804.8805, 切向力Y=123.8717 +FPS=47.14, 法向力=1337.3910, 切向力X=807.9922, 切向力Y=412.3785 +FPS=52.72, 法向力=1518.6923, 切向力X=1686.2255, 切向力Y=1651.0221 +FPS=49.36, 法向力=1610.4745, 切向力X=1713.3701, 切向力Y=1670.8105 +FPS=28.71, 法向力=1510.8191, 切向力X=1106.5518, 切向力Y=1343.2983 +FPS=31.78, 法向力=1469.7781, 切向力X=1042.4529, 切向力Y=1191.4075 +FPS=32.86, 法向力=1476.9443, 切向力X=1010.3944, 切向力Y=1166.4451 +FPS=29.49, 法向力=1631.6570, 切向力X=1437.1794, 切向力Y=58.5182 +FPS=42.30, 法向力=1733.7903, 切向力X=1369.2209, 切向力Y=308.7436 +FPS=42.84, 法向力=1095.4272, 切向力X=999.1780, 切向力Y=1763.7710 +FPS=40.67, 法向力=1163.3328, 切向力X=863.3301, 切向力Y=1995.8590 +FPS=46.38, 法向力=2137.6113, 切向力X=861.4326, 切向力Y=-477.1843 +FPS=31.14, 法向力=2098.4468, 切向力X=974.7432, 切向力Y=-771.9347 +FPS=56.38, 法向力=2052.4321, 切向力X=970.6267, 切向力Y=-822.9845 +FPS=35.67, 法向力=1252.8794, 切向力X=1085.7388, 切向力Y=580.6526 +FPS=32.23, 法向力=1291.1157, 切向力X=1471.7156, 切向力Y=1093.9895 +FPS=32.11, 法向力=1327.0676, 切向力X=1602.3173, 切向力Y=1220.1709 +FPS=31.19, 法向力=1496.9181, 切向力X=1632.8741, 切向力Y=-784.1383 +FPS=38.71, 法向力=1432.2874, 切向力X=1686.9824, 切向力Y=-782.1582 +FPS=45.32, 法向力=1796.0704, 切向力X=953.1100, 切向力Y=-254.8075 +FPS=59.69, 法向力=1755.8685, 切向力X=786.5246, 切向力Y=-336.0424 +FPS=35.35, 法向力=1711.1008, 切向力X=763.9575, 切向力Y=-282.9298 +FPS=36.07, 法向力=1710.0258, 切向力X=796.7370, 切向力Y=-181.8266 +FPS=46.89, 法向力=1613.0366, 切向力X=1566.2319, 切向力Y=1379.7780 +FPS=27.78, 法向力=1385.8407, 切向力X=1597.6802, 切向力Y=543.5032 +FPS=56.65, 法向力=1269.6415, 切向力X=1778.0105, 切向力Y=424.5646 +FPS=48.35, 法向力=1162.8423, 切向力X=1831.5562, 切向力Y=155.8128 +FPS=59.79, 法向力=1171.2942, 切向力X=1835.4954, 切向力Y=200.9427 +FPS=46.92, 法向力=1911.1074, 切向力X=1149.4342, 切向力Y=-569.5956 +FPS=64.59, 法向力=1904.9897, 切向力X=1115.2354, 切向力Y=-336.0749 +FPS=59.58, 法向力=1459.6453, 切向力X=1509.1403, 切向力Y=616.1366 +FPS=47.75, 法向力=1465.1680, 切向力X=1571.7399, 切向力Y=678.6704 +FPS=27.52, 法向力=2111.2056, 切向力X=1924.8090, 切向力Y=868.6449 +FPS=31.39, 法向力=2231.6172, 切向力X=1904.2789, 切向力Y=855.9448 +FPS=38.33, 法向力=1530.6124, 切向力X=1235.9443, 切向力Y=1280.7584 +FPS=46.28, 法向力=1643.3248, 切向力X=1171.5619, 切向力Y=1499.0732 +FPS=40.92, 法向力=1700.4646, 切向力X=1055.7924, 切向力Y=534.1044 +FPS=48.38, 法向力=1684.4342, 切向力X=1199.0510, 切向力Y=583.9601 +FPS=32.06, 法向力=1698.5208, 切向力X=1186.0492, 切向力Y=726.9691 +FPS=28.96, 法向力=1105.1130, 切向力X=763.8005, 切向力Y=-383.4482 +FPS=59.40, 法向力=1163.8522, 切向力X=853.4549, 切向力Y=-603.2939 +FPS=59.30, 法向力=1167.5618, 切向力X=894.7660, 切向力Y=-616.2125 +FPS=48.03, 法向力=2782.6584, 切向力X=1750.8468, 切向力Y=-1284.5737 +FPS=59.69, 法向力=2859.2915, 切向力X=1717.8979, 切向力Y=-1033.8501 +FPS=45.57, 法向力=2816.3428, 切向力X=1741.8481, 切向力Y=-914.7590 +FPS=59.94, 法向力=1612.0090, 切向力X=1254.1895, 切向力Y=-285.2708 +FPS=32.92, 法向力=1448.1832, 切向力X=1064.7682, 切向力Y=-140.1020 +FPS=56.49, 法向力=1621.0796, 切向力X=1774.8555, 切向力Y=-695.0272 +FPS=32.49, 法向力=1765.1390, 切向力X=2027.7006, 切向力Y=-338.2050 +FPS=40.28, 法向力=1172.2937, 切向力X=1736.1775, 切向力Y=606.1783 +FPS=43.88, 法向力=1447.6837, 切向力X=1569.3635, 切向力Y=1540.1877 +FPS=53.46, 法向力=1939.8345, 切向力X=1605.6870, 切向力Y=-1901.9629 +FPS=45.21, 法向力=1931.8900, 切向力X=1514.9185, 切向力Y=-1996.5792 +FPS=45.37, 法向力=1204.8242, 切向力X=1235.6324, 切向力Y=-230.1947 +FPS=58.93, 法向力=1231.1790, 切向力X=1239.5923, 切向力Y=70.3671 +FPS=34.90, 法向力=1247.4712, 切向力X=1100.2471, 切向力Y=48.7099 +FPS=60.75, 法向力=1253.3618, 切向力X=1165.7452, 切向力Y=86.9689 +FPS=30.70, 法向力=1220.1165, 切向力X=1393.2830, 切向力Y=-730.9966 +FPS=61.86, 法向力=1238.2338, 切向力X=1475.5099, 切向力Y=-989.5914 +FPS=43.36, 法向力=1260.7659, 切向力X=1474.5946, 切向力Y=-1045.1241 +FPS=49.73, 法向力=1265.9146, 切向力X=1511.1230, 切向力Y=-982.1584 +FPS=35.12, 法向力=1495.2349, 切向力X=1366.1039, 切向力Y=-1172.8385 +FPS=46.51, 法向力=1566.3822, 切向力X=1254.3870, 切向力Y=-898.0461 +FPS=31.87, 法向力=1284.8904, 切向力X=1931.1670, 切向力Y=172.5157 +FPS=30.84, 法向力=1116.2717, 切向力X=742.5426, 切向力Y=-1475.7341 +FPS=31.68, 法向力=1116.8534, 切向力X=563.0353, 切向力Y=-1412.8275 +FPS=38.14, 法向力=1125.6101, 切向力X=359.5214, 切向力Y=-1668.8120 +FPS=45.49, 法向力=1701.3285, 切向力X=1100.6233, 切向力Y=1396.9919 +FPS=39.80, 法向力=1726.3413, 切向力X=1322.5848, 切向力Y=1620.6133 +FPS=47.27, 法向力=1728.7571, 切向力X=1287.7166, 切向力Y=1606.3846 +FPS=32.41, 法向力=1707.8483, 切向力X=1814.3118, 切向力Y=-2075.6851 +FPS=38.10, 法向力=1806.0496, 切向力X=1729.8066, 切向力Y=-2108.8647 +FPS=46.13, 法向力=1779.5206, 切向力X=1749.2034, 切向力Y=-1979.8591 +FPS=58.26, 法向力=1814.8289, 切向力X=1707.2981, 切向力Y=-2071.8655 +FPS=45.96, 法向力=1456.8861, 切向力X=1599.5665, 切向力Y=-2.2481 +FPS=51.72, 法向力=1399.7268, 切向力X=1774.6697, 切向力Y=240.7816 +FPS=45.38, 法向力=1404.1213, 切向力X=1611.2570, 切向力Y=141.5138 +FPS=33.59, 法向力=1087.4539, 切向力X=1252.0320, 切向力Y=1844.0372 +FPS=56.05, 法向力=1093.4460, 切向力X=1251.0896, 切向力Y=2070.6733 +FPS=44.83, 法向力=1408.3782, 切向力X=1185.3564, 切向力Y=-382.9785 +FPS=59.48, 法向力=1388.8162, 切向力X=1074.8895, 切向力Y=-412.4831 +FPS=44.12, 法向力=1717.5923, 切向力X=996.8179, 切向力Y=211.5601 +FPS=31.36, 法向力=1711.9087, 切向力X=911.2736, 切向力Y=175.4816 +FPS=32.81, 法向力=1335.9434, 切向力X=689.3527, 切向力Y=287.0280 +FPS=55.48, 法向力=1363.3628, 切向力X=793.0749, 切向力Y=445.1299 +FPS=48.12, 法向力=2578.3777, 切向力X=743.6128, 切向力Y=2189.2864 +FPS=53.87, 法向力=2649.5171, 切向力X=632.6519, 切向力Y=2286.3618 +FPS=45.87, 法向力=1432.1912, 切向力X=1100.9084, 切向力Y=-170.9322 +FPS=31.85, 法向力=1242.2324, 切向力X=1537.5082, 切向力Y=-602.0704 +FPS=39.73, 法向力=1307.7954, 切向力X=1581.6722, 切向力Y=-493.4677 +FPS=46.29, 法向力=1306.3552, 切向力X=1582.8132, 切向力Y=-487.1709 +FPS=31.23, 法向力=1478.7148, 切向力X=1508.9916, 切向力Y=-58.1572 +FPS=32.38, 法向力=1454.7872, 切向力X=1456.1910, 切向力Y=-382.4848 +FPS=57.32, 法向力=2113.0154, 切向力X=954.5963, 切向力Y=-179.7509 +FPS=47.72, 法向力=2138.3047, 切向力X=1002.1826, 切向力Y=-178.7927 +FPS=55.09, 法向力=2133.8677, 切向力X=996.7263, 切向力Y=-176.2311 +FPS=25.74, 法向力=1290.8903, 切向力X=1415.1802, 切向力Y=1072.5483 +FPS=36.10, 法向力=1306.1008, 切向力X=1425.5601, 切向力Y=1057.9858 +FPS=35.42, 法向力=1326.3199, 切向力X=1361.6752, 切向力Y=1177.3916 +FPS=55.39, 法向力=1603.7256, 切向力X=1206.0378, 切向力Y=-176.4794 +FPS=46.25, 法向力=1486.0282, 切向力X=1084.1680, 切向力Y=-77.1763 +FPS=55.78, 法向力=1136.5264, 切向力X=1013.9952, 切向力Y=-97.3960 +FPS=44.01, 法向力=1132.4879, 切向力X=1003.6609, 切向力Y=-67.1787 +FPS=46.38, 法向力=1325.7280, 切向力X=1282.8024, 切向力Y=-568.1082 +FPS=31.60, 法向力=1340.8462, 切向力X=1310.4556, 切向力Y=-652.9398 +FPS=29.67, 法向力=1373.6949, 切向力X=1327.3079, 切向力Y=-697.2252 +FPS=62.08, 法向力=1348.7894, 切向力X=1324.6093, 切向力Y=-628.4446 +FPS=31.96, 法向力=1533.9136, 切向力X=855.9471, 切向力Y=30.6580 +FPS=57.61, 法向力=1709.1085, 切向力X=771.3494, 切向力Y=167.4991 +FPS=45.91, 法向力=1718.5413, 切向力X=733.5988, 切向力Y=154.3770 +FPS=45.53, 法向力=1951.3562, 切向力X=820.6860, 切向力Y=1828.1592 +FPS=56.89, 法向力=2190.2283, 切向力X=1105.3020, 切向力Y=1950.4785 +FPS=33.68, 法向力=1306.7126, 切向力X=1592.3917, 切向力Y=-98.5988 +FPS=40.68, 法向力=1307.8727, 切向力X=1544.9640, 切向力Y=-68.9941 +FPS=25.36, 法向力=1719.9954, 切向力X=1023.1406, 切向力Y=-954.4054 +FPS=41.84, 法向力=1719.0117, 切向力X=1200.6670, 切向力Y=862.7203 +FPS=26.92, 法向力=1779.4814, 切向力X=1138.5007, 切向力Y=1086.7002 +FPS=39.00, 法向力=1245.7168, 切向力X=1152.3293, 切向力Y=-718.2064 +FPS=43.95, 法向力=1304.8867, 切向力X=1386.0446, 切向力Y=-808.5732 +FPS=60.33, 法向力=1494.6300, 切向力X=1386.8524, 切向力Y=-1355.1074 +FPS=45.44, 法向力=1430.8052, 切向力X=1463.8521, 切向力Y=-1322.4663 +FPS=48.78, 法向力=1476.1542, 切向力X=1403.8132, 切向力Y=-1430.2676 +FPS=31.90, 法向力=1439.7966, 切向力X=1463.1941, 切向力Y=-1319.4478 +FPS=60.57, 法向力=1472.8818, 切向力X=1403.5107, 切向力Y=-1423.8055 +FPS=31.54, 法向力=1798.7401, 切向力X=1893.5884, 切向力Y=-2141.6074 +FPS=63.05, 法向力=1706.1611, 切向力X=1865.6086, 切向力Y=-2071.5632 +FPS=30.68, 法向力=1686.9150, 切向力X=1201.9746, 切向力Y=-136.4509 +FPS=59.11, 法向力=1655.7184, 切向力X=1135.1569, 切向力Y=39.2117 +FPS=34.16, 法向力=1379.3478, 切向力X=1453.9210, 切向力Y=75.5712 +FPS=58.69, 法向力=1223.0287, 切向力X=1416.3733, 切向力Y=-252.7262 +FPS=33.07, 法向力=1343.9553, 切向力X=1555.2534, 切向力Y=370.3433 +FPS=58.20, 法向力=1359.3140, 切向力X=1600.1930, 切向力Y=349.7878 +FPS=33.20, 法向力=909.8041, 切向力X=1269.6249, 切向力Y=-495.9965 +FPS=56.13, 法向力=942.7822, 切向力X=1125.5082, 切向力Y=-666.9475 +FPS=44.65, 法向力=1279.7249, 切向力X=922.5116, 切向力Y=-2903.3281 +FPS=43.89, 法向力=1301.2654, 切向力X=837.1902, 切向力Y=-2916.7971 +FPS=40.02, 法向力=1242.2654, 切向力X=750.1799, 切向力Y=-2869.6880 +FPS=41.12, 法向力=1945.3584, 切向力X=1378.2405, 切向力Y=324.4166 +FPS=59.50, 法向力=2183.8389, 切向力X=1337.0251, 切向力Y=641.2723 +FPS=36.33, 法向力=1475.9822, 切向力X=961.8281, 切向力Y=710.3685 +FPS=59.15, 法向力=1449.9155, 切向力X=958.0551, 切向力Y=676.3009 +FPS=33.59, 法向力=2003.3540, 切向力X=1444.5176, 切向力Y=138.7138 +FPS=39.15, 法向力=2063.3638, 切向力X=1472.6340, 切向力Y=181.8988 +FPS=45.76, 法向力=1297.8142, 切向力X=994.4036, 切向力Y=-609.3635 +FPS=40.87, 法向力=1192.1353, 切向力X=866.7638, 切向力Y=-676.4995 +FPS=43.71, 法向力=1540.7219, 切向力X=891.7148, 切向力Y=117.4390 +FPS=61.82, 法向力=1695.7484, 切向力X=923.1882, 切向力Y=368.4548 +FPS=58.65, 法向力=1619.3928, 切向力X=1012.0078, 切向力Y=240.5433 +FPS=47.12, 法向力=1939.3237, 切向力X=865.1519, 切向力Y=464.4361 +FPS=25.68, 法向力=1211.6107, 切向力X=1138.2281, 切向力Y=-467.3888 +FPS=59.39, 法向力=1112.2839, 切向力X=1259.5242, 切向力Y=-510.5123 +FPS=33.45, 法向力=1103.8777, 切向力X=1234.5865, 切向力Y=-543.7491 +FPS=58.21, 法向力=1550.0713, 切向力X=1592.5280, 切向力Y=-771.3346 +FPS=42.48, 法向力=1594.5503, 切向力X=1592.6113, 切向力Y=-879.8477 +FPS=44.61, 法向力=1103.4695, 切向力X=1266.3711, 切向力Y=-1224.9744 +FPS=61.36, 法向力=1088.1379, 切向力X=1199.5952, 切向力Y=-1120.0712 +FPS=60.16, 法向力=1097.2466, 切向力X=1190.3876, 切向力Y=-1131.5294 +FPS=49.16, 法向力=1744.2538, 切向力X=878.6577, 切向力Y=-576.8419 +FPS=54.61, 法向力=1738.3273, 切向力X=949.0616, 切向力Y=-676.4922 +FPS=27.19, 法向力=1196.2112, 切向力X=1215.2170, 切向力Y=230.5482 +FPS=58.54, 法向力=1157.7222, 切向力X=1278.6426, 切向力Y=370.7294 +FPS=33.10, 法向力=1565.6575, 切向力X=656.7285, 切向力Y=1729.1840 +FPS=57.10, 法向力=1761.8778, 切向力X=596.4178, 切向力Y=2289.1606 +FPS=33.96, 法向力=1274.2639, 切向力X=1291.9130, 切向力Y=1117.5122 +FPS=54.29, 法向力=1365.6184, 切向力X=1487.9375, 切向力Y=800.2327 +FPS=44.38, 法向力=1790.5231, 切向力X=1310.0699, 切向力Y=145.9344 +FPS=49.22, 法向力=1740.4873, 切向力X=1175.4911, 切向力Y=153.6754 +FPS=38.02, 法向力=1647.6976, 切向力X=1643.2400, 切向力Y=-229.3473 +FPS=45.29, 法向力=1605.3285, 切向力X=1538.6127, 切向力Y=-390.1122 +FPS=39.65, 法向力=1663.3601, 切向力X=1699.9329, 切向力Y=-354.1858 +FPS=26.74, 法向力=1340.6177, 切向力X=763.3553, 切向力Y=771.7975 +FPS=40.14, 法向力=1275.0824, 切向力X=1394.8306, 切向力Y=-567.0969 +FPS=27.35, 法向力=1309.3597, 切向力X=1475.8601, 切向力Y=-672.6061 +FPS=62.89, 法向力=1326.6592, 切向力X=1683.8044, 切向力Y=-271.1358 +FPS=30.06, 法向力=1339.4739, 切向力X=1683.4609, 切向力Y=-134.7042 +FPS=40.67, 法向力=1295.2236, 切向力X=864.5435, 切向力Y=52.9494 +FPS=47.80, 法向力=1278.7556, 切向力X=786.8348, 切向力Y=279.4229 +FPS=31.37, 法向力=1245.0554, 切向力X=1704.6677, 切向力Y=-1649.4753 +FPS=61.33, 法向力=1211.9624, 切向力X=1686.5458, 切向力Y=-2227.7744 +FPS=46.94, 法向力=1983.8799, 切向力X=1615.5166, 切向力Y=1295.1914 +FPS=40.47, 法向力=1950.7251, 切向力X=1552.3052, 切向力Y=1573.4060 +FPS=30.82, 法向力=1350.5460, 切向力X=1363.8759, 切向力Y=826.6821 +FPS=32.21, 法向力=1280.2638, 切向力X=1557.3188, 切向力Y=819.2493 +FPS=35.95, 法向力=2401.2632, 切向力X=343.2726, 切向力Y=829.2811 +FPS=45.53, 法向力=2657.0337, 切向力X=146.2933, 切向力Y=1136.8071 +FPS=39.33, 法向力=1101.2000, 切向力X=1134.1570, 切向力Y=286.3897 +FPS=44.62, 法向力=1650.0896, 切向力X=1213.7188, 切向力Y=-487.8422 +FPS=34.25, 法向力=1837.8630, 切向力X=1257.2821, 切向力Y=1129.8347 +FPS=59.66, 法向力=1967.8674, 切向力X=1125.9498, 切向力Y=1551.5741 +FPS=52.03, 法向力=1607.7910, 切向力X=1397.3999, 切向力Y=928.5056 +FPS=37.45, 法向力=1544.6338, 切向力X=1357.8538, 切向力Y=816.6519 +FPS=38.33, 法向力=1244.7124, 切向力X=1346.0564, 切向力Y=1204.7871 +FPS=42.35, 法向力=1258.6195, 切向力X=1333.8109, 切向力Y=972.4255 +FPS=45.24, 法向力=1189.1298, 切向力X=1592.9229, 切向力Y=603.9295 +FPS=47.33, 法向力=1253.2600, 切向力X=1860.1990, 切向力Y=541.5399 +FPS=38.49, 法向力=1636.3037, 切向力X=1066.1522, 切向力Y=-125.7692 +FPS=47.94, 法向力=1778.4272, 切向力X=879.1331, 切向力Y=-224.6451 +FPS=34.12, 法向力=1991.1179, 切向力X=542.7699, 切向力Y=-240.0280 +FPS=36.27, 法向力=2228.9785, 切向力X=409.2239, 切向力Y=-136.1970 +FPS=45.03, 法向力=1745.9606, 切向力X=784.3223, 切向力Y=-112.0160 +FPS=32.73, 法向力=1782.2893, 切向力X=605.0233, 切向力Y=-133.1386 +FPS=32.21, 法向力=1389.1239, 切向力X=1091.1748, 切向力Y=-692.6508 +FPS=31.84, 法向力=1482.1409, 切向力X=1237.9586, 切向力Y=1086.9595 +FPS=38.00, 法向力=1438.5210, 切向力X=1176.8633, 切向力Y=1188.2743 +FPS=46.54, 法向力=1437.1714, 切向力X=1166.7993, 切向力Y=1236.0410 +FPS=33.22, 法向力=1251.9060, 切向力X=1283.4661, 切向力Y=1827.7054 +FPS=31.63, 法向力=1568.4858, 切向力X=1400.4945, 切向力Y=1223.9193 +FPS=38.84, 法向力=1620.5664, 切向力X=1519.7010, 切向力Y=1354.5216 +FPS=46.49, 法向力=1478.3962, 切向力X=1517.0831, 切向力Y=131.0324 +FPS=31.33, 法向力=1462.4635, 切向力X=1549.9916, 切向力Y=-8.5506 +FPS=33.53, 法向力=1242.4763, 切向力X=1433.7231, 切向力Y=-721.7535 +FPS=32.03, 法向力=1194.9506, 切向力X=1391.0293, 切向力Y=-734.8860 +FPS=37.82, 法向力=1545.7322, 切向力X=789.0477, 切向力Y=1599.6151 +FPS=44.82, 法向力=1761.7172, 切向力X=662.7383, 切向力Y=1764.2379 +FPS=39.41, 法向力=1331.6750, 切向力X=1255.1680, 切向力Y=753.0539 +FPS=43.45, 法向力=1215.0072, 切向力X=1546.9448, 切向力Y=162.1677 +FPS=35.58, 法向力=1623.8264, 切向力X=580.6298, 切向力Y=143.9811 +FPS=37.14, 法向力=1174.3215, 切向力X=327.3168, 切向力Y=-1537.2461 +FPS=26.36, 法向力=1182.7056, 切向力X=466.4438, 切向力Y=-1751.1533 +FPS=32.35, 法向力=1571.4990, 切向力X=883.6667, 切向力Y=-174.3392 +FPS=26.61, 法向力=1590.5647, 切向力X=993.9681, 切向力Y=148.8087 +FPS=52.54, 法向力=1767.7471, 切向力X=1003.5825, 切向力Y=-88.5850 +FPS=44.12, 法向力=1640.7791, 切向力X=1285.0853, 切向力Y=-478.0634 +FPS=32.57, 法向力=1620.5817, 切向力X=1302.3855, 切向力Y=-497.4694 +FPS=29.73, 法向力=2043.1942, 切向力X=844.0671, 切向力Y=1057.1451 +FPS=33.24, 法向力=2094.2471, 切向力X=832.5169, 切向力Y=1031.6304 +FPS=37.58, 法向力=1972.6934, 切向力X=1231.4298, 切向力Y=1608.3918 +FPS=42.39, 法向力=2301.4133, 切向力X=1058.6700, 切向力Y=1788.6335 +FPS=35.48, 法向力=1751.2224, 切向力X=1290.2509, 切向力Y=859.9308 +FPS=30.66, 法向力=1243.2825, 切向力X=1047.2036, 切向力Y=161.2471 +FPS=39.39, 法向力=1195.4862, 切向力X=1067.5967, 切向力Y=167.3985 +FPS=48.57, 法向力=951.0164, 切向力X=718.4572, 切向力Y=-956.7475 +FPS=31.35, 法向力=929.3002, 切向力X=698.8445, 切向力Y=-1173.3873 +FPS=30.94, 法向力=1505.4839, 切向力X=772.9512, 切向力Y=140.1291 +FPS=31.92, 法向力=1305.9877, 切向力X=544.8723, 切向力Y=-492.8318 +FPS=32.88, 法向力=1350.0750, 切向力X=557.7640, 切向力Y=-467.0609 +FPS=32.12, 法向力=1235.2810, 切向力X=835.8118, 切向力Y=-183.1422 +FPS=31.46, 法向力=1294.5789, 切向力X=863.1308, 切向力Y=-379.9046 +FPS=37.34, 法向力=1756.1240, 切向力X=1417.5454, 切向力Y=247.5761 +FPS=49.91, 法向力=2186.2693, 切向力X=1228.8131, 切向力Y=847.8206 +FPS=52.98, 法向力=2272.4502, 切向力X=1208.2887, 切向力Y=966.7809 +FPS=48.80, 法向力=1997.5386, 切向力X=1575.6160, 切向力Y=2574.8774 +FPS=54.24, 法向力=2034.0995, 切向力X=1619.7942, 切向力Y=2689.7769 +FPS=26.73, 法向力=1550.3898, 切向力X=882.4695, 切向力Y=-399.0295 +FPS=53.19, 法向力=1502.4097, 切向力X=847.0674, 切向力Y=-880.1813 +FPS=44.09, 法向力=1849.4225, 切向力X=921.6091, 切向力Y=-548.1096 +FPS=51.80, 法向力=1912.1094, 切向力X=944.4560, 切向力Y=-380.9987 +FPS=47.56, 法向力=1245.5610, 切向力X=1218.5613, 切向力Y=-572.7001 +FPS=58.98, 法向力=1146.5878, 切向力X=1231.9568, 切向力Y=-614.8148 +FPS=38.79, 法向力=1803.6191, 切向力X=805.5847, 切向力Y=1008.5939 +FPS=37.91, 法向力=1923.2402, 切向力X=688.4790, 切向力Y=1262.5632 +FPS=46.55, 法向力=1189.4419, 切向力X=523.3731, 切向力Y=-939.6876 +FPS=39.51, 法向力=1194.7876, 切向力X=393.2816, 切向力Y=-986.4354 +FPS=48.18, 法向力=1164.2112, 切向力X=472.2145, 切向力Y=-977.7306 +FPS=38.32, 法向力=1271.6816, 切向力X=717.1101, 切向力Y=654.5938 +FPS=27.36, 法向力=1237.0510, 切向力X=1018.4048, 切向力Y=622.5225 +FPS=38.66, 法向力=1284.5615, 切向力X=1125.0388, 切向力Y=743.2130 +FPS=46.68, 法向力=1568.9917, 切向力X=753.2010, 切向力Y=-370.2671 +FPS=33.34, 法向力=1649.6040, 切向力X=688.6091, 切向力Y=-286.9529 +FPS=29.94, 法向力=1157.4662, 切向力X=1374.2429, 切向力Y=-89.6106 +FPS=40.61, 法向力=1163.9677, 切向力X=1416.0847, 切向力Y=-211.5525 +FPS=27.66, 法向力=1008.7006, 切向力X=1727.4348, 切向力Y=-678.6420 +FPS=31.52, 法向力=1294.8500, 切向力X=1000.8033, 切向力Y=194.8857 +FPS=37.96, 法向力=1335.3022, 切向力X=884.5184, 切向力Y=298.9152 +FPS=46.57, 法向力=2175.2227, 切向力X=1670.4524, 切向力Y=1015.2340 +FPS=39.25, 法向力=2152.6750, 切向力X=1544.1979, 切向力Y=1176.8931 +FPS=45.42, 法向力=2168.4006, 切向力X=1494.6829, 切向力Y=1206.4905 +FPS=40.60, 法向力=1310.9811, 切向力X=924.3531, 切向力Y=522.4860 +FPS=44.79, 法向力=1278.0747, 切向力X=876.7704, 切向力Y=337.4095 +FPS=39.71, 法向力=1397.8118, 切向力X=1004.4436, 切向力Y=1174.0085 +FPS=45.86, 法向力=1241.0146, 切向力X=1249.0906, 切向力Y=347.4527 +FPS=38.74, 法向力=1134.3696, 切向力X=1470.8364, 切向力Y=444.1453 +FPS=41.27, 法向力=1108.0415, 切向力X=1369.6923, 切向力Y=425.2540 +FPS=45.11, 法向力=1140.1969, 切向力X=1891.8669, 切向力Y=-109.8877 +FPS=27.17, 法向力=1849.1272, 切向力X=1446.4814, 切向力Y=1509.8328 +FPS=38.93, 法向力=1820.9041, 切向力X=1452.1948, 切向力Y=1527.9044 +FPS=45.33, 法向力=1438.3945, 切向力X=971.0364, 切向力Y=441.7024 +FPS=40.56, 法向力=1549.4111, 切向力X=834.9835, 切向力Y=620.5262 +FPS=46.72, 法向力=1082.9968, 切向力X=730.1834, 切向力Y=147.4796 +FPS=31.90, 法向力=1168.0570, 切向力X=748.9348, 切向力Y=256.6768 +FPS=38.01, 法向力=1242.0923, 切向力X=1227.4385, 切向力Y=172.1158 +FPS=45.51, 法向力=1293.4283, 切向力X=966.0845, 切向力Y=109.1588 +FPS=56.19, 法向力=1302.3333, 切向力X=1040.6863, 切向力Y=88.1910 +FPS=33.60, 法向力=1385.7990, 切向力X=551.9619, 切向力Y=1953.8650 +FPS=52.73, 法向力=1480.8899, 切向力X=531.3005, 切向力Y=2107.8647 +FPS=35.79, 法向力=1779.9435, 切向力X=1470.8788, 切向力Y=-430.4186 +FPS=62.89, 法向力=1890.8782, 切向力X=1488.1794, 切向力Y=-375.1943 +FPS=33.27, 法向力=1458.7645, 切向力X=620.6972, 切向力Y=-473.9716 +FPS=37.45, 法向力=1506.6539, 切向力X=760.3583, 切向力Y=-373.5383 +FPS=45.83, 法向力=1630.7848, 切向力X=1165.6741, 切向力Y=1074.9629 +FPS=40.28, 法向力=1762.9371, 切向力X=1097.8213, 切向力Y=1404.6842 +FPS=27.60, 法向力=2420.0127, 切向力X=1776.9836, 切向力Y=798.0347 +FPS=58.89, 法向力=1083.4873, 切向力X=1618.0082, 切向力Y=-58.5484 +FPS=31.16, 法向力=1113.9392, 切向力X=1595.0256, 切向力Y=-184.2366 +FPS=52.21, 法向力=1320.0198, 切向力X=874.5744, 切向力Y=1177.6047 +FPS=45.37, 法向力=1311.9031, 切向力X=1032.3391, 切向力Y=1268.9138 +FPS=50.00, 法向力=1282.1943, 切向力X=1105.2290, 切向力Y=1299.7429 +FPS=36.32, 法向力=1495.3489, 切向力X=1314.2861, 切向力Y=115.4117 +FPS=50.94, 法向力=1511.1921, 切向力X=1315.4185, 切向力Y=20.3832 +FPS=35.05, 法向力=1805.0220, 切向力X=915.5400, 切向力Y=115.9205 +FPS=47.57, 法向力=2115.3921, 切向力X=887.6790, 切向力Y=521.8246 +FPS=39.21, 法向力=1598.9893, 切向力X=560.0806, 切向力Y=407.2753 +FPS=49.88, 法向力=1603.8053, 切向力X=486.5786, 切向力Y=434.3235 +FPS=60.38, 法向力=1425.0201, 切向力X=1155.9402, 切向力Y=1178.4918 +FPS=52.23, 法向力=1391.7240, 切向力X=1300.1326, 切向力Y=1333.0697 +FPS=34.44, 法向力=1332.7765, 切向力X=1435.6349, 切向力Y=708.9561 +FPS=38.64, 法向力=1278.1296, 切向力X=1290.1729, 切向力Y=841.9885 +FPS=46.45, 法向力=1285.3596, 切向力X=1297.6575, 切向力Y=831.5982 +FPS=39.25, 法向力=1213.3132, 切向力X=817.3220, 切向力Y=60.3576 +FPS=45.95, 法向力=1312.2892, 切向力X=833.5697, 切向力Y=-58.4541 +FPS=37.59, 法向力=1154.7303, 切向力X=1287.4629, 切向力Y=612.9877 +FPS=48.13, 法向力=1173.2338, 切向力X=1283.1631, 切向力Y=564.1652 +FPS=38.41, 法向力=971.4232, 切向力X=970.7504, 切向力Y=-376.9344 +FPS=47.39, 法向力=975.9464, 切向力X=727.9802, 切向力Y=-232.5762 +FPS=58.74, 法向力=1929.4585, 切向力X=1198.7800, 切向力Y=423.6307 +FPS=51.57, 法向力=1948.7454, 切向力X=1206.5087, 切向力Y=420.5397 +FPS=46.61, 法向力=1945.3339, 切向力X=1203.6700, 切向力Y=354.6826 +FPS=49.80, 法向力=1336.4647, 切向力X=1166.9803, 切向力Y=-1757.9451 +FPS=30.22, 法向力=1323.9224, 切向力X=1215.4712, 切向力Y=-1777.2429 +FPS=33.49, 法向力=1637.1407, 切向力X=1399.6667, 切向力Y=145.2354 +FPS=61.81, 法向力=1621.5771, 切向力X=1386.3542, 切向力Y=-61.4579 +FPS=50.92, 法向力=1488.4006, 切向力X=1753.0923, 切向力Y=562.0048 +FPS=35.12, 法向力=1543.2128, 切向力X=2068.5090, 切向力Y=825.9249 +FPS=33.89, 法向力=1786.3804, 切向力X=1248.6947, 切向力Y=-25.5952 +FPS=32.44, 法向力=1639.6906, 切向力X=1475.3110, 切向力Y=1825.9988 +FPS=38.19, 法向力=1575.8540, 切向力X=1377.9214, 切向力Y=1997.9773 +FPS=48.43, 法向力=1186.5920, 切向力X=1149.4788, 切向力Y=-346.3296 +FPS=37.05, 法向力=1259.3804, 切向力X=1340.9951, 切向力Y=-471.3970 +FPS=50.59, 法向力=1287.9843, 切向力X=1365.4199, 切向力Y=-486.5588 +FPS=30.07, 法向力=1105.1530, 切向力X=1444.9919, 切向力Y=-75.3976 +FPS=32.28, 法向力=2656.0762, 切向力X=386.1341, 切向力Y=1373.2025 +FPS=30.28, 法向力=3001.2908, 切向力X=262.6997, 切向力Y=1979.1624 +FPS=33.22, 法向力=1544.3381, 切向力X=1171.6353, 切向力Y=765.1094 +FPS=30.36, 法向力=878.1262, 切向力X=996.8689, 切向力Y=-75.1041 +FPS=32.67, 法向力=816.8381, 切向力X=1119.9644, 切向力Y=-179.9708 +FPS=39.31, 法向力=1191.0647, 切向力X=866.8800, 切向力Y=596.6517 +FPS=45.48, 法向力=1197.5463, 切向力X=894.8186, 切向力Y=596.6357 +FPS=31.77, 法向力=1351.8248, 切向力X=1061.6345, 切向力Y=-1203.8478 +FPS=31.38, 法向力=1346.9570, 切向力X=929.7903, 切向力Y=156.6586 +FPS=32.44, 法向力=1307.8929, 切向力X=840.6812, 切向力Y=142.0218 +FPS=31.28, 法向力=1843.8630, 切向力X=1443.1765, 切向力Y=-139.1181 +FPS=31.26, 法向力=1852.9652, 切向力X=1464.0829, 切向力Y=-88.2304 +FPS=32.22, 法向力=2132.2007, 切向力X=850.6391, 切向力Y=2242.4084 +FPS=30.30, 法向力=2149.0903, 切向力X=691.4127, 切向力Y=600.4113 +FPS=39.50, 法向力=2220.6677, 切向力X=660.5951, 切向力Y=723.4814 +FPS=45.66, 法向力=1836.2832, 切向力X=796.4878, 切向力Y=35.6410 +FPS=39.69, 法向力=1866.1697, 切向力X=927.8080, 切向力Y=160.2274 +FPS=42.80, 法向力=1238.5208, 切向力X=803.6410, 切向力Y=-289.9865 +FPS=59.11, 法向力=1318.5079, 切向力X=830.5820, 切向力Y=-311.3305 +FPS=31.43, 法向力=1097.3667, 切向力X=1319.0161, 切向力Y=199.7148 +FPS=57.42, 法向力=1110.6949, 切向力X=1364.5403, 切向力Y=63.9018 +FPS=47.36, 法向力=1129.4038, 切向力X=1385.3896, 切向力Y=66.6769 +FPS=47.73, 法向力=1303.2709, 切向力X=1232.3127, 切向力Y=-877.8798 +FPS=37.93, 法向力=1361.0334, 切向力X=1175.4408, 切向力Y=-858.4418 +FPS=43.84, 法向力=1705.0056, 切向力X=1225.5800, 切向力Y=1114.1500 +FPS=40.51, 法向力=1710.1338, 切向力X=1270.5505, 切向力Y=1007.0686 +FPS=27.67, 法向力=1503.7677, 切向力X=731.5191, 切向力Y=730.3171 +FPS=58.60, 法向力=1497.3030, 切向力X=750.3436, 切向力Y=588.8431 +FPS=60.27, 法向力=1476.9218, 切向力X=782.7482, 切向力Y=638.8033 +FPS=47.52, 法向力=1324.2401, 切向力X=1560.6848, 切向力Y=2390.3052 +FPS=57.62, 法向力=1485.7749, 切向力X=1753.8545, 切向力Y=2800.4502 +FPS=25.57, 法向力=1294.2129, 切向力X=1662.8193, 切向力Y=902.5171 +FPS=56.80, 法向力=1215.4543, 切向力X=1694.7806, 切向力Y=490.1515 +FPS=43.35, 法向力=1319.4270, 切向力X=1360.1072, 切向力Y=-449.1214 +FPS=48.25, 法向力=1294.3679, 切向力X=1347.5404, 切向力Y=-340.8888 +FPS=37.84, 法向力=1624.2805, 切向力X=1085.8254, 切向力Y=410.6424 +FPS=45.68, 法向力=1754.8475, 切向力X=1205.8315, 切向力Y=953.5963 +FPS=37.02, 法向力=1398.1848, 切向力X=842.7151, 切向力Y=494.4811 +FPS=44.67, 法向力=1404.8047, 切向力X=877.1541, 切向力Y=426.6514 +FPS=40.45, 法向力=1233.4971, 切向力X=1122.3253, 切向力Y=613.8963 +FPS=27.41, 法向力=1344.3735, 切向力X=969.1010, 切向力Y=68.7103 +FPS=31.16, 法向力=1497.4623, 切向力X=1209.5256, 切向力Y=-9.5414 +FPS=31.57, 法向力=1470.7968, 切向力X=1222.4044, 切向力Y=884.4675 +FPS=32.96, 法向力=1567.3467, 切向力X=1014.5944, 切向力Y=996.6562 +FPS=31.82, 法向力=1162.3125, 切向力X=693.7782, 切向力Y=260.8919 +FPS=31.50, 法向力=1294.6462, 切向力X=910.6857, 切向力Y=-165.1667 +FPS=28.18, 法向力=1507.7776, 切向力X=809.1031, 切向力Y=124.2579 +FPS=43.71, 法向力=1602.5591, 切向力X=1316.1768, 切向力Y=-529.9638 +FPS=29.49, 法向力=1681.3251, 切向力X=1412.9415, 切向力Y=-552.0893 +FPS=29.98, 法向力=1781.0515, 切向力X=1341.9421, 切向力Y=1195.5106 +FPS=38.74, 法向力=1327.5422, 切向力X=1685.5485, 切向力Y=-206.7275 +FPS=41.34, 法向力=1322.5548, 切向力X=1799.0140, 切向力Y=-45.2907 +FPS=33.74, 法向力=1246.0464, 切向力X=1615.5356, 切向力Y=787.4763 +FPS=32.69, 法向力=1255.8142, 切向力X=1561.7651, 切向力Y=854.7527 +FPS=30.76, 法向力=1801.9241, 切向力X=2075.0957, 切向力Y=-1048.2485 +FPS=38.86, 法向力=1821.1057, 切向力X=2063.1128, 切向力Y=-1185.5884 +FPS=48.29, 法向力=1152.8467, 切向力X=687.4674, 切向力Y=-2043.9526 +FPS=29.96, 法向力=1437.8711, 切向力X=1659.6570, 切向力Y=158.5198 +FPS=33.01, 法向力=1427.2491, 切向力X=1670.8203, 切向力Y=20.1160 +FPS=55.49, 法向力=1457.9338, 切向力X=1769.5388, 切向力Y=165.3899 +FPS=52.60, 法向力=1066.4277, 切向力X=1562.8632, 切向力Y=-307.1306 +FPS=48.60, 法向力=1150.1154, 切向力X=1651.0502, 切向力Y=-448.5404 +FPS=51.16, 法向力=1296.1382, 切向力X=1678.3715, 切向力Y=965.6484 +FPS=30.92, 法向力=1478.2726, 切向力X=1697.7493, 切向力Y=1521.9210 +FPS=31.90, 法向力=1194.9938, 切向力X=965.7224, 切向力Y=-341.5435 +FPS=56.93, 法向力=1219.3586, 切向力X=899.5231, 切向力Y=-316.0500 +FPS=52.17, 法向力=1371.2882, 切向力X=1491.0088, 切向力Y=1680.4863 +FPS=39.41, 法向力=1290.2916, 切向力X=1607.6541, 切向力Y=2227.5837 +FPS=56.46, 法向力=1238.4319, 切向力X=1582.3308, 切向力Y=2296.6030 +FPS=48.49, 法向力=1435.7761, 切向力X=910.6188, 切向力Y=1958.5225 +FPS=41.74, 法向力=1464.8435, 切向力X=974.1633, 切向力Y=1904.7349 +FPS=33.48, 法向力=1425.1672, 切向力X=1473.6776, 切向力Y=-606.5496 +FPS=37.53, 法向力=1872.4727, 切向力X=1082.6770, 切向力Y=-628.4691 +FPS=51.43, 法向力=1938.3473, 切向力X=1116.0220, 切向力Y=-349.6034 +FPS=30.56, 法向力=1528.7385, 切向力X=1318.7234, 切向力Y=428.0365 +FPS=38.03, 法向力=1599.8867, 切向力X=1180.0146, 切向力Y=657.7979 +FPS=45.70, 法向力=1862.9855, 切向力X=1223.2411, 切向力Y=-233.3682 +FPS=32.48, 法向力=1928.0029, 切向力X=1284.0513, 切向力Y=-382.0453 +FPS=37.71, 法向力=1851.9901, 切向力X=1165.1562, 切向力Y=1138.3042 +FPS=26.37, 法向力=1499.1281, 切向力X=1364.2244, 切向力Y=1503.3322 +FPS=34.32, 法向力=1434.3051, 切向力X=1323.1042, 切向力Y=1471.2245 +FPS=30.80, 法向力=1639.9391, 切向力X=1202.1060, 切向力Y=-70.8528 +FPS=51.26, 法向力=1751.9215, 切向力X=1213.4893, 切向力Y=-10.9400 +FPS=46.62, 法向力=1695.4639, 切向力X=1254.5312, 切向力Y=-88.1474 +FPS=59.12, 法向力=1295.6782, 切向力X=1127.7427, 切向力Y=-426.0317 +FPS=63.01, 法向力=1323.8729, 切向力X=1209.9236, 切向力Y=-555.8682 +FPS=50.60, 法向力=1343.2510, 切向力X=1223.1592, 切向力Y=-577.4227 +FPS=31.20, 法向力=1225.8408, 切向力X=930.4448, 切向力Y=-416.2427 +FPS=30.32, 法向力=1723.7865, 切向力X=850.3094, 切向力Y=866.9979 +FPS=57.77, 法向力=1901.7264, 切向力X=697.5178, 切向力Y=968.7615 +FPS=30.70, 法向力=1225.6509, 切向力X=890.7979, 切向力Y=-343.2795 +FPS=50.23, 法向力=1073.4802, 切向力X=951.0223, 切向力Y=-634.5193 +FPS=53.99, 法向力=1622.4551, 切向力X=1360.3833, 切向力Y=-878.1157 +FPS=49.94, 法向力=1627.0742, 切向力X=1357.5704, 切向力Y=-864.6046 +FPS=56.57, 法向力=1748.5602, 切向力X=1428.0372, 切向力Y=-953.0463 +FPS=49.24, 法向力=963.6394, 切向力X=1169.7358, 切向力Y=429.9486 +FPS=49.19, 法向力=932.4109, 切向力X=1215.5222, 切向力Y=563.3499 +FPS=46.67, 法向力=1662.0095, 切向力X=1080.6500, 切向力Y=689.9703 +FPS=32.33, 法向力=1906.5217, 切向力X=903.7828, 切向力Y=856.5286 +FPS=49.10, 法向力=1955.8016, 切向力X=1084.2391, 切向力Y=743.4727 +FPS=47.23, 法向力=1349.4213, 切向力X=1676.9009, 切向力Y=-553.3674 +FPS=26.68, 法向力=1508.6913, 切向力X=1666.7917, 切向力Y=688.0558 +FPS=30.70, 法向力=1737.5892, 切向力X=1506.1248, 切向力Y=1140.4102 +FPS=33.94, 法向力=1978.3578, 切向力X=1230.9137, 切向力Y=26.9159 +FPS=56.01, 法向力=2155.7756, 切向力X=1025.7897, 切向力Y=57.3327 +FPS=47.92, 法向力=1088.4270, 切向力X=1279.7607, 切向力Y=-544.1589 +FPS=62.40, 法向力=1052.6234, 切向力X=1116.0569, 切向力Y=-719.3088 +FPS=42.48, 法向力=1604.3573, 切向力X=1610.7795, 切向力Y=-1177.7747 +FPS=30.69, 法向力=1646.2520, 切向力X=1748.6477, 切向力Y=-1442.5815 +FPS=39.71, 法向力=1671.7576, 切向力X=1368.6936, 切向力Y=418.6415 +FPS=45.57, 法向力=2076.7964, 切向力X=1155.0095, 切向力Y=804.5592 +FPS=34.11, 法向力=1225.9045, 切向力X=1236.9858, 切向力Y=1521.7236 +FPS=42.02, 法向力=1204.4791, 切向力X=1343.2157, 切向力Y=1649.7928 +FPS=59.98, 法向力=1238.9596, 切向力X=1329.2290, 切向力Y=1715.5679 +FPS=50.37, 法向力=1509.6487, 切向力X=1668.7690, 切向力Y=-850.2466 +FPS=34.05, 法向力=1392.7449, 切向力X=1806.8386, 切向力Y=-1291.2024 +FPS=46.24, 法向力=1356.3459, 切向力X=1103.9607, 切向力Y=-238.3842 +FPS=32.58, 法向力=1317.9070, 切向力X=754.5326, 切向力Y=1239.7047 +FPS=38.60, 法向力=1374.5492, 切向力X=685.9663, 切向力Y=1525.5558 +FPS=43.59, 法向力=1760.5327, 切向力X=613.6041, 切向力Y=230.6188 +FPS=42.46, 法向力=1434.2810, 切向力X=640.9802, 切向力Y=-547.4238 +FPS=44.52, 法向力=1442.7369, 切向力X=629.5167, 切向力Y=-559.4427 +FPS=33.13, 法向力=1515.3226, 切向力X=954.3424, 切向力Y=-108.8215 +FPS=54.71, 法向力=1185.5330, 切向力X=514.8665, 切向力Y=-433.5464 +FPS=47.78, 法向力=1207.8062, 切向力X=720.8059, 切向力Y=-386.0726 +FPS=63.54, 法向力=1234.2104, 切向力X=683.6859, 切向力Y=-421.3159 +FPS=56.94, 法向力=1280.3396, 切向力X=1411.7639, 切向力Y=330.2295 +FPS=46.92, 法向力=1308.5618, 切向力X=1702.0665, 切向力Y=191.3670 +FPS=36.63, 法向力=1291.4546, 切向力X=1658.6619, 切向力Y=170.8729 +FPS=46.66, 法向力=1266.8636, 切向力X=1207.4014, 切向力Y=772.3696 +FPS=31.61, 法向力=1322.6570, 切向力X=1216.8909, 切向力Y=960.0602 +FPS=56.93, 法向力=1166.3909, 切向力X=1336.4296, 切向力Y=993.3647 +FPS=32.21, 法向力=1245.0076, 切向力X=1333.3284, 切向力Y=902.3058 +FPS=41.38, 法向力=1131.6251, 切向力X=934.3527, 切向力Y=-810.4102 +FPS=41.50, 法向力=1152.4313, 切向力X=937.0670, 切向力Y=-906.2097 +FPS=61.05, 法向力=1135.2273, 切向力X=1664.9249, 切向力Y=-1279.8367 +FPS=43.99, 法向力=1105.4250, 切向力X=1744.2407, 切向力Y=-1310.0967 +FPS=45.64, 法向力=1433.6519, 切向力X=1543.2717, 切向力Y=-1724.9253 +FPS=60.85, 法向力=1401.3192, 切向力X=1491.5626, 切向力Y=-1810.4756 +FPS=59.62, 法向力=1416.6110, 切向力X=1482.8230, 切向力Y=-1777.2036 +FPS=37.12, 法向力=1073.4525, 切向力X=1084.6893, 切向力Y=366.0837 +FPS=58.57, 法向力=1028.6659, 切向力X=1103.9475, 切向力Y=510.3646 +FPS=30.51, 法向力=2060.2686, 切向力X=870.4482, 切向力Y=341.3000 +FPS=52.01, 法向力=2120.2932, 切向力X=868.1193, 切向力Y=223.0530 +FPS=36.61, 法向力=1610.9253, 切向力X=637.4025, 切向力Y=403.9101 +FPS=59.97, 法向力=1593.2803, 切向力X=726.2130, 切向力Y=333.0571 +FPS=34.96, 法向力=1945.1609, 切向力X=1506.6277, 切向力Y=1192.4734 +FPS=63.12, 法向力=2058.2324, 切向力X=1420.8185, 切向力Y=1479.6523 +FPS=41.82, 法向力=2090.2300, 切向力X=1488.4066, 切向力Y=1527.0552 +FPS=49.70, 法向力=1678.5381, 切向力X=1687.0288, 切向力Y=457.7242 +FPS=28.90, 法向力=2490.2061, 切向力X=1508.9142, 切向力Y=19.9032 +FPS=58.26, 法向力=2368.6299, 切向力X=1438.7100, 切向力Y=39.1332 +FPS=34.68, 法向力=2373.5366, 切向力X=1429.1067, 切向力Y=37.7029 +FPS=63.92, 法向力=1770.8293, 切向力X=909.9238, 切向力Y=-165.4158 +FPS=33.38, 法向力=1817.9391, 切向力X=1034.3508, 切向力Y=-15.7461 +FPS=57.33, 法向力=1986.3291, 切向力X=838.5259, 切向力Y=1208.5676 +FPS=40.05, 法向力=2039.8192, 切向力X=838.2634, 切向力Y=1395.6611 +FPS=43.54, 法向力=1946.0654, 切向力X=1476.5225, 切向力Y=-904.8367 +FPS=41.97, 法向力=1905.5454, 切向力X=1518.7898, 切向力Y=-1139.2504 +FPS=47.55, 法向力=1114.4381, 切向力X=1855.6913, 切向力Y=287.5282 +FPS=38.28, 法向力=1049.5425, 切向力X=1898.9784, 切向力Y=292.0262 +FPS=42.53, 法向力=1045.2261, 切向力X=1916.0103, 切向力Y=259.8722 +FPS=63.03, 法向力=1079.2316, 切向力X=918.7076, 切向力Y=-404.8094 +FPS=42.04, 法向力=1113.3745, 切向力X=805.2415, 切向力Y=-238.2853 +FPS=28.26, 法向力=1474.6716, 切向力X=795.1435, 切向力Y=742.3309 +FPS=60.73, 法向力=1632.5807, 切向力X=623.8745, 切向力Y=989.2569 +FPS=29.45, 法向力=2121.5439, 切向力X=730.1899, 切向力Y=1796.1476 +FPS=57.04, 法向力=2101.2961, 切向力X=884.3716, 切向力Y=1802.0923 +FPS=47.79, 法向力=1364.2186, 切向力X=1768.9445, 切向力Y=-2343.1426 +FPS=43.60, 法向力=1502.2965, 切向力X=1913.0115, 切向力Y=-2487.3103 +FPS=41.22, 法向力=1639.4893, 切向力X=1408.4954, 切向力Y=2135.2766 +FPS=27.40, 法向力=1400.2407, 切向力X=486.9468, 切向力Y=1193.3604 +FPS=38.23, 法向力=1379.9772, 切向力X=419.6453, 切向力Y=928.4640 +FPS=45.57, 法向力=1109.1172, 切向力X=960.9006, 切向力Y=188.0346 +FPS=39.57, 法向力=1179.4622, 切向力X=901.2812, 切向力Y=73.9195 +FPS=45.04, 法向力=1488.6973, 切向力X=1664.4075, 切向力Y=-1127.9088 +FPS=40.52, 法向力=1567.6628, 切向力X=1696.0331, 切向力Y=-1156.9717 +FPS=44.67, 法向力=1558.4716, 切向力X=1756.9834, 切向力Y=-1246.5157 +FPS=39.71, 法向力=1338.3383, 切向力X=708.8864, 切向力Y=-225.6088 +FPS=46.28, 法向力=1281.0955, 切向力X=505.9698, 切向力Y=177.2455 +FPS=60.53, 法向力=1587.0037, 切向力X=1135.6414, 切向力Y=256.5892 +FPS=39.23, 法向力=1568.0571, 切向力X=1157.6167, 切向力Y=43.3877 +FPS=42.52, 法向力=1111.1681, 切向力X=1249.5679, 切向力Y=904.6763 +FPS=60.07, 法向力=1071.2411, 切向力X=1147.3440, 切向力Y=682.7353 +FPS=35.79, 法向力=1121.0428, 切向力X=1883.1051, 切向力Y=254.4133 +FPS=52.85, 法向力=1089.4218, 切向力X=1752.1262, 切向力Y=106.7114 +FPS=44.76, 法向力=1111.2637, 切向力X=1788.7952, 切向力Y=73.8424 +FPS=50.18, 法向力=1187.6201, 切向力X=1579.0510, 切向力Y=80.2105 +FPS=66.82, 法向力=1128.2712, 切向力X=1622.3557, 切向力Y=18.1442 +FPS=60.64, 法向力=1135.7295, 切向力X=1638.6018, 切向力Y=-86.8073 +FPS=48.11, 法向力=1144.3677, 切向力X=1759.3611, 切向力Y=-285.4352 +FPS=42.86, 法向力=1142.2163, 切向力X=1689.9734, 切向力Y=-427.1379 +FPS=26.63, 法向力=1249.2452, 切向力X=1489.9102, 切向力Y=-154.1182 +FPS=38.63, 法向力=1122.9718, 切向力X=1483.6425, 切向力Y=-340.3270 +FPS=48.21, 法向力=1753.6556, 切向力X=955.4169, 切向力Y=212.4188 +FPS=38.95, 法向力=1945.0175, 切向力X=829.3445, 切向力Y=301.2882 +FPS=49.87, 法向力=1192.2605, 切向力X=1066.3369, 切向力Y=490.5052 +FPS=28.88, 法向力=1225.1873, 切向力X=1063.6082, 切向力Y=800.6237 +FPS=32.19, 法向力=1300.0731, 切向力X=1957.4446, 切向力Y=1521.2097 +FPS=52.51, 法向力=1835.7246, 切向力X=1334.3904, 切向力Y=-581.0353 +FPS=47.44, 法向力=1863.8995, 切向力X=1405.2272, 切向力Y=-595.4796 +FPS=62.72, 法向力=1871.9574, 切向力X=1369.5602, 切向力Y=-623.7264 +FPS=27.05, 法向力=1387.6873, 切向力X=1120.0623, 切向力Y=-462.2866 +FPS=58.53, 法向力=1306.4208, 切向力X=1074.8445, 切向力Y=-367.7515 +FPS=32.42, 法向力=1418.3857, 切向力X=1125.2612, 切向力Y=-509.9886 +FPS=58.52, 法向力=1450.7526, 切向力X=1187.7169, 切向力Y=-612.9938 +FPS=50.14, 法向力=1868.0885, 切向力X=1142.8231, 切向力Y=-712.3041 +FPS=39.72, 法向力=1899.7134, 切向力X=1235.1271, 切向力Y=-813.3185 +FPS=60.33, 法向力=1873.5988, 切向力X=1226.9768, 切向力Y=-803.1449 +FPS=28.88, 法向力=1362.4375, 切向力X=628.2567, 切向力Y=1025.2551 +FPS=58.45, 法向力=1408.6217, 切向力X=534.6538, 切向力Y=1183.8263 +FPS=46.74, 法向力=1501.2378, 切向力X=1663.0959, 切向力Y=67.4590 +FPS=59.59, 法向力=1454.7820, 切向力X=1612.0331, 切向力Y=-77.3248 +FPS=26.42, 法向力=1471.9139, 切向力X=1551.1436, 切向力Y=-334.6801 +FPS=53.33, 法向力=1715.2507, 切向力X=1517.3165, 切向力Y=-125.1098 +FPS=46.85, 法向力=1758.7881, 切向力X=630.1966, 切向力Y=-441.1354 +FPS=55.01, 法向力=1888.2117, 切向力X=507.2309, 切向力Y=-463.1659 +FPS=45.03, 法向力=1265.3204, 切向力X=897.8414, 切向力Y=350.2224 +FPS=31.63, 法向力=1235.4900, 切向力X=912.7560, 切向力Y=483.1486 +FPS=27.36, 法向力=1265.7625, 切向力X=982.1616, 切向力Y=283.4132 +FPS=53.64, 法向力=2151.9875, 切向力X=1032.3501, 切向力Y=-58.4680 +FPS=39.62, 法向力=2063.6990, 切向力X=1121.8069, 切向力Y=-457.4642 +FPS=48.84, 法向力=2076.4824, 切向力X=1092.3042, 切向力Y=-461.5447 +FPS=31.17, 法向力=1248.6827, 切向力X=804.6207, 切向力Y=641.8455 +FPS=57.90, 法向力=1281.9076, 切向力X=951.8186, 切向力Y=811.1718 +FPS=25.34, 法向力=1841.7411, 切向力X=593.3979, 切向力Y=-599.4421 +FPS=39.69, 法向力=1231.0754, 切向力X=1210.2698, 切向力Y=-619.1885 +FPS=26.52, 法向力=1186.2706, 切向力X=1336.6682, 切向力Y=-656.5731 +FPS=56.84, 法向力=987.3444, 切向力X=863.9417, 切向力Y=-779.5396 +FPS=33.84, 法向力=1045.5381, 切向力X=695.1248, 切向力Y=-822.3748 +FPS=43.30, 法向力=1212.6328, 切向力X=871.8656, 切向力Y=529.5503 +FPS=27.30, 法向力=1842.9545, 切向力X=1579.3027, 切向力Y=835.7082 +FPS=31.69, 法向力=1944.8881, 切向力X=1573.3872, 切向力Y=723.2017 +FPS=32.16, 法向力=1273.6570, 切向力X=1071.5453, 切向力Y=263.0399 +FPS=39.61, 法向力=1208.4160, 切向力X=1063.6055, 切向力Y=25.5315 +FPS=47.92, 法向力=1686.1067, 切向力X=681.3334, 切向力Y=-1561.3358 +FPS=32.30, 法向力=1692.0012, 切向力X=576.6722, 切向力Y=-1463.4978 +FPS=57.53, 法向力=1693.6683, 切向力X=611.3246, 切向力Y=-1363.3962 +FPS=49.62, 法向力=1293.9634, 切向力X=1522.4332, 切向力Y=-398.5636 +FPS=49.24, 法向力=1211.2882, 切向力X=1693.5676, 切向力Y=-343.1344 +FPS=46.58, 法向力=1528.0443, 切向力X=832.3689, 切向力Y=1450.1383 +FPS=31.07, 法向力=1482.6742, 切向力X=716.5753, 切向力Y=1844.5851 +FPS=56.74, 法向力=1479.2073, 切向力X=838.5342, 切向力Y=1800.9292 +FPS=36.06, 法向力=1489.2140, 切向力X=857.3196, 切向力Y=1727.7742 +FPS=36.77, 法向力=1076.9297, 切向力X=1255.7507, 切向力Y=920.5363 +FPS=43.08, 法向力=1153.3325, 切向力X=1219.0222, 切向力Y=569.8837 +FPS=57.74, 法向力=1477.7601, 切向力X=1870.3492, 切向力Y=-491.7524 +FPS=44.52, 法向力=1580.4785, 切向力X=1674.0092, 切向力Y=-438.4693 +FPS=41.30, 法向力=1811.5486, 切向力X=872.2095, 切向力Y=282.8236 +FPS=44.30, 法向力=1867.2500, 切向力X=861.9141, 切向力Y=535.9675 +FPS=43.26, 法向力=1661.0387, 切向力X=1105.6860, 切向力Y=-48.2838 +FPS=42.10, 法向力=1509.4846, 切向力X=1159.9767, 切向力Y=-256.7612 +FPS=26.87, 法向力=1633.4396, 切向力X=1138.3531, 切向力Y=18.7309 +FPS=40.00, 法向力=1815.8516, 切向力X=988.8419, 切向力Y=-98.2318 +FPS=44.58, 法向力=1294.9575, 切向力X=1090.1475, 切向力Y=781.5067 +FPS=62.37, 法向力=1221.5032, 切向力X=1151.9924, 切向力Y=543.5807 +FPS=38.16, 法向力=1130.3431, 切向力X=1331.7390, 切向力Y=380.9362 +FPS=47.40, 法向力=1504.2856, 切向力X=1419.2104, 切向力Y=-240.8975 +FPS=39.76, 法向力=1565.2792, 切向力X=1557.5190, 切向力Y=-259.9017 +FPS=45.84, 法向力=1501.8386, 切向力X=1496.3218, 切向力Y=-266.3900 +FPS=39.93, 法向力=1498.7411, 切向力X=1466.1527, 切向力Y=-250.7188 +FPS=45.26, 法向力=1114.4858, 切向力X=1347.3702, 切向力Y=885.4692 +FPS=61.84, 法向力=1123.9506, 切向力X=1084.6265, 切向力Y=874.1346 +FPS=32.11, 法向力=1534.2576, 切向力X=1829.9401, 切向力Y=63.0134 +FPS=40.11, 法向力=1537.5066, 切向力X=1886.7953, 切向力Y=63.6582 +FPS=45.73, 法向力=1862.1411, 切向力X=1790.9980, 切向力Y=343.4633 +FPS=38.00, 法向力=1956.9878, 切向力X=1695.7825, 切向力Y=345.8718 +FPS=48.02, 法向力=1608.7004, 切向力X=932.6252, 切向力Y=-17.6098 +FPS=38.98, 法向力=1839.4421, 切向力X=866.6953, 切向力Y=441.5146 +FPS=44.84, 法向力=1112.9336, 切向力X=1001.0409, 切向力Y=-35.6948 +FPS=40.96, 法向力=1052.8369, 切向力X=993.7567, 切向力Y=-116.0054 +FPS=46.06, 法向力=1064.6975, 切向力X=993.1149, 切向力Y=-89.4152 +FPS=40.07, 法向力=1235.3921, 切向力X=1810.4943, 切向力Y=-19.7140 +FPS=43.72, 法向力=1240.0220, 切向力X=1962.9404, 切向力Y=-115.5967 +FPS=60.64, 法向力=1278.0933, 切向力X=1009.2128, 切向力Y=230.4677 +FPS=34.73, 法向力=1267.4604, 切向力X=1097.4042, 切向力Y=276.5608 +FPS=38.43, 法向力=1287.5881, 切向力X=1049.2079, 切向力Y=317.8397 +FPS=27.02, 法向力=1342.2173, 切向力X=1314.3187, 切向力Y=1532.7256 +FPS=38.29, 法向力=1379.8171, 切向力X=1244.3131, 切向力Y=1674.9652 +FPS=47.02, 法向力=989.0677, 切向力X=1266.7410, 切向力Y=-398.1256 +FPS=62.38, 法向力=1119.4943, 切向力X=1245.0575, 切向力Y=-635.7700 +FPS=62.07, 法向力=1114.9126, 切向力X=1246.7295, 切向力Y=-627.3363 +FPS=48.83, 法向力=1304.2583, 切向力X=1257.7556, 切向力Y=-146.8514 +FPS=50.64, 法向力=1288.3594, 切向力X=1343.3933, 切向力Y=-342.3994 +FPS=50.32, 法向力=1278.6825, 切向力X=1364.2976, 切向力Y=-245.3593 +FPS=39.80, 法向力=1430.5149, 切向力X=854.7851, 切向力Y=-11.0985 +FPS=45.14, 法向力=1745.4636, 切向力X=760.6377, 切向力Y=384.7751 +FPS=55.02, 法向力=1171.8743, 切向力X=767.6251, 切向力Y=586.3085 +FPS=46.33, 法向力=1182.7566, 切向力X=793.2214, 切向力Y=517.0635 +FPS=49.76, 法向力=1670.1899, 切向力X=1143.9673, 切向力Y=1226.2649 +FPS=64.98, 法向力=1814.3708, 切向力X=1107.1194, 切向力Y=1947.1963 +FPS=29.73, 法向力=1469.2803, 切向力X=238.9636, 切向力Y=940.5231 +FPS=63.06, 法向力=1473.7751, 切向力X=148.6444, 切向力Y=855.8865 +FPS=33.26, 法向力=1510.0476, 切向力X=188.8688, 切向力Y=880.2142 +FPS=37.87, 法向力=1512.6570, 切向力X=161.6158, 切向力Y=893.9581 +FPS=46.28, 法向力=1320.7971, 切向力X=1796.9626, 切向力Y=-363.8618 +FPS=63.04, 法向力=1335.6730, 切向力X=1833.0754, 切向力Y=-605.3793 +FPS=32.67, 法向力=1388.2012, 切向力X=1819.6843, 切向力Y=-606.5878 +FPS=58.95, 法向力=1214.6021, 切向力X=1206.6399, 切向力Y=-96.0602 +FPS=39.71, 法向力=1240.8011, 切向力X=1167.5696, 切向力Y=-44.7492 +FPS=44.83, 法向力=1362.2153, 切向力X=626.5688, 切向力Y=-1241.8057 +FPS=63.52, 法向力=1343.2668, 切向力X=568.5287, 切向力Y=-1325.3160 +FPS=32.67, 法向力=1356.1836, 切向力X=593.2161, 切向力Y=-1323.2444 +FPS=62.49, 法向力=1425.8057, 切向力X=662.9051, 切向力Y=202.6566 +FPS=33.42, 法向力=1398.0869, 切向力X=661.8453, 切向力Y=591.3983 +FPS=39.29, 法向力=1140.3101, 切向力X=1581.1689, 切向力Y=-399.7117 +FPS=27.29, 法向力=2766.0918, 切向力X=927.3516, 切向力Y=1592.5485 +FPS=61.39, 法向力=3222.0291, 切向力X=649.6444, 切向力Y=1986.7678 +FPS=52.26, 法向力=3504.4919, 切向力X=418.5322, 切向力Y=2098.4243 +FPS=44.48, 法向力=1968.9705, 切向力X=930.9614, 切向力Y=-381.5393 +FPS=64.53, 法向力=1905.1921, 切向力X=1020.6263, 切向力Y=-521.3123 +FPS=46.49, 法向力=1962.3008, 切向力X=1013.0817, 切向力Y=-429.9498 +FPS=62.31, 法向力=1908.0067, 切向力X=997.9076, 切向力Y=-495.0978 +FPS=48.28, 法向力=1912.9385, 切向力X=1010.1876, 切向力Y=-481.7744 +FPS=37.71, 法向力=1623.4631, 切向力X=993.1437, 切向力Y=-458.9198 +FPS=63.46, 法向力=1701.5991, 切向力X=1087.1710, 切向力Y=-638.2436 +FPS=31.61, 法向力=1485.3337, 切向力X=1179.1978, 切向力Y=1027.5286 +FPS=37.75, 法向力=1402.5156, 切向力X=1190.7166, 切向力Y=1230.5443 +FPS=45.72, 法向力=1793.6023, 切向力X=1211.7845, 切向力Y=1104.9486 +FPS=31.38, 法向力=1589.0745, 切向力X=1008.3268, 切向力Y=1288.9460 +FPS=42.55, 法向力=1405.1458, 切向力X=1759.1936, 切向力Y=-870.1877 +FPS=51.83, 法向力=1408.7703, 切向力X=1707.3052, 切向力Y=-986.4583 +FPS=29.85, 法向力=1152.9026, 切向力X=1192.2990, 切向力Y=-328.9503 +FPS=31.77, 法向力=2311.3149, 切向力X=1190.1980, 切向力Y=3070.8274 +FPS=30.88, 法向力=2263.1333, 切向力X=1096.6296, 切向力Y=2949.1240 +FPS=40.10, 法向力=1310.0735, 切向力X=1378.0403, 切向力Y=207.6820 +FPS=49.84, 法向力=1333.1123, 切向力X=1342.7365, 切向力Y=-36.7314 +FPS=61.16, 法向力=1320.1799, 切向力X=1339.4280, 切向力Y=-58.3652 +FPS=48.49, 法向力=1310.2747, 切向力X=1360.8257, 切向力Y=9.5746 +FPS=63.88, 法向力=1324.8799, 切向力X=1353.7875, 切向力Y=-59.6226 +FPS=38.86, 法向力=1925.8760, 切向力X=557.3395, 切向力Y=118.9122 +FPS=33.99, 法向力=2076.2229, 切向力X=608.0397, 切向力Y=243.5476 +FPS=44.08, 法向力=2326.6541, 切向力X=778.8345, 切向力Y=2290.3591 +FPS=41.14, 法向力=2281.2830, 切向力X=887.3268, 切向力Y=2392.9009 +FPS=47.72, 法向力=2336.3428, 切向力X=843.4877, 切向力Y=2396.8318 +FPS=28.29, 法向力=2918.1221, 切向力X=744.2028, 切向力Y=1430.4855 +FPS=33.19, 法向力=1656.0728, 切向力X=1118.2073, 切向力Y=460.3093 +FPS=33.27, 法向力=1260.5400, 切向力X=1178.7036, 切向力Y=504.0954 +FPS=31.81, 法向力=1390.4122, 切向力X=1280.9694, 切向力Y=1058.4561 +FPS=31.04, 法向力=1454.7948, 切向力X=1113.0709, 切向力Y=10.4177 +FPS=39.17, 法向力=1447.4451, 切向力X=1073.6268, 切向力Y=-102.9245 +FPS=45.56, 法向力=1521.6073, 切向力X=1555.3643, 切向力Y=-824.2794 +FPS=31.98, 法向力=1577.8947, 切向力X=1685.8633, 切向力Y=-893.8667 +FPS=31.46, 法向力=1597.8718, 切向力X=1714.4705, 切向力Y=-934.0565 +FPS=56.92, 法向力=1847.4513, 切向力X=1336.4338, 切向力Y=-1285.7839 +FPS=51.03, 法向力=1829.1182, 切向力X=1317.9707, 切向力Y=-1270.5095 +FPS=49.76, 法向力=1825.2363, 切向力X=1408.6980, 切向力Y=-1254.1216 +FPS=37.65, 法向力=1490.7924, 切向力X=1689.4125, 切向力Y=-746.3425 +FPS=47.88, 法向力=1590.7191, 切向力X=1775.4421, 切向力Y=-724.7748 +FPS=26.95, 法向力=1315.2480, 切向力X=1627.7972, 切向力Y=1147.8997 +FPS=32.90, 法向力=1283.0089, 切向力X=1798.8756, 切向力Y=1333.9099 +FPS=36.32, 法向力=2118.9653, 切向力X=1401.5474, 切向力Y=-1647.3949 +FPS=44.64, 法向力=2129.9172, 切向力X=1291.6748, 切向力Y=-1790.7407 +FPS=40.00, 法向力=1290.9126, 切向力X=1780.6735, 切向力Y=-263.3424 +FPS=26.74, 法向力=1483.2920, 切向力X=1122.3425, 切向力Y=397.1188 +FPS=59.71, 法向力=1441.6146, 切向力X=1187.4214, 切向力Y=617.1710 +FPS=61.76, 法向力=1433.5784, 切向力X=1138.4783, 切向力Y=699.8011 +FPS=50.90, 法向力=1728.8217, 切向力X=1194.2354, 切向力Y=1911.3462 +FPS=50.74, 法向力=1703.5010, 切向力X=1171.3894, 切向力Y=1917.3394 +FPS=47.70, 法向力=1695.9579, 切向力X=1166.1870, 切向力Y=1924.2133 +FPS=32.72, 法向力=1700.4602, 切向力X=1176.3826, 切向力Y=1944.1588 +FPS=36.80, 法向力=1550.7340, 切向力X=787.7714, 切向力Y=-428.6695 +FPS=47.45, 法向力=1395.9823, 切向力X=864.1984, 切向力Y=-620.3179 +FPS=58.84, 法向力=1383.7463, 切向力X=840.8392, 切向力Y=-676.0618 +FPS=37.84, 法向力=1493.7671, 切向力X=1368.2410, 切向力Y=-512.4916 +FPS=29.01, 法向力=1005.7533, 切向力X=665.3254, 切向力Y=559.8079 +FPS=56.49, 法向力=988.8086, 切向力X=620.3039, 切向力Y=562.1636 +FPS=49.30, 法向力=998.6158, 切向力X=608.5931, 切向力Y=562.9606 +FPS=37.60, 法向力=1316.1929, 切向力X=909.6842, 切向力Y=1330.8276 +FPS=38.50, 法向力=1244.6309, 切向力X=1032.5350, 切向力Y=1139.8694 +FPS=35.86, 法向力=1054.0867, 切向力X=1246.9746, 切向力Y=-488.6357 +FPS=61.79, 法向力=963.7510, 切向力X=1239.6981, 切向力Y=-315.8483 +FPS=47.74, 法向力=1860.5049, 切向力X=713.9117, 切向力Y=1161.0603 +FPS=36.13, 法向力=1983.7057, 切向力X=649.4996, 切向力Y=1238.5273 +FPS=39.32, 法向力=2627.7742, 切向力X=925.3168, 切向力Y=1230.9071 +FPS=56.93, 法向力=2751.1887, 切向力X=891.1255, 切向力Y=1020.1866 +FPS=39.15, 法向力=2855.4658, 切向力X=861.6688, 切向力Y=1013.9734 +FPS=59.79, 法向力=2858.2876, 切向力X=874.6292, 切向力Y=1060.5886 +FPS=38.17, 法向力=2868.1638, 切向力X=851.6208, 切向力Y=1018.3401 +FPS=44.07, 法向力=1968.4016, 切向力X=909.3344, 切向力Y=865.7177 +FPS=62.44, 法向力=2109.2495, 切向力X=965.6840, 切向力Y=1076.5043 +FPS=43.44, 法向力=2241.2061, 切向力X=1422.8562, 切向力Y=-195.1652 +FPS=41.69, 法向力=1936.4904, 切向力X=1633.1276, 切向力Y=-474.7474 +FPS=42.30, 法向力=1838.8424, 切向力X=928.4450, 切向力Y=-446.5108 +FPS=26.74, 法向力=1913.0745, 切向力X=902.5271, 切向力Y=-295.2589 +FPS=55.44, 法向力=1663.2925, 切向力X=552.6004, 切向力Y=225.5314 +FPS=34.24, 法向力=1666.7393, 切向力X=495.2497, 切向力Y=314.6049 +FPS=60.51, 法向力=1734.1804, 切向力X=1650.9526, 切向力Y=952.0864 +FPS=30.70, 法向力=1846.5914, 切向力X=1811.0808, 切向力Y=1172.9495 +FPS=42.39, 法向力=1738.3602, 切向力X=1324.7478, 切向力Y=1448.2552 +FPS=37.04, 法向力=1267.1012, 切向力X=1624.7896, 切向力Y=-57.2455 +FPS=27.86, 法向力=1309.2930, 切向力X=1721.8176, 切向力Y=-165.2887 +FPS=33.28, 法向力=1329.5232, 切向力X=1648.1428, 切向力Y=-189.9934 +FPS=40.41, 法向力=1347.5894, 切向力X=1754.2686, 切向力Y=-186.2830 +FPS=58.07, 法向力=1347.4622, 切向力X=1654.6716, 切向力Y=-197.7919 +FPS=48.34, 法向力=1173.7178, 切向力X=906.7399, 切向力Y=654.4001 +FPS=44.10, 法向力=1232.7476, 切向力X=955.4938, 切向力Y=973.2875 +FPS=31.43, 法向力=1477.0068, 切向力X=1145.2968, 切向力Y=1259.8899 +FPS=45.93, 法向力=1472.3350, 切向力X=1333.3317, 切向力Y=1185.5173 +FPS=45.36, 法向力=1195.2025, 切向力X=1299.5291, 切向力Y=1039.6136 +FPS=29.60, 法向力=2023.2390, 切向力X=1316.4094, 切向力Y=1327.6406 +FPS=37.99, 法向力=2099.9038, 切向力X=1121.0717, 切向力Y=1289.3975 +FPS=45.51, 法向力=1509.7284, 切向力X=1563.9679, 切向力Y=72.3372 +FPS=31.25, 法向力=1422.6311, 切向力X=1541.5341, 切向力Y=-706.4249 +FPS=32.93, 法向力=1040.2361, 切向力X=1561.0217, 切向力Y=-170.6613 +FPS=31.87, 法向力=1046.9131, 切向力X=1734.6978, 切向力Y=-182.3893 +FPS=32.46, 法向力=1030.2262, 切向力X=1597.4790, 切向力Y=349.6287 +FPS=36.93, 法向力=1027.9026, 切向力X=1340.3385, 切向力Y=615.9984 +FPS=50.77, 法向力=1353.9431, 切向力X=1286.9417, 切向力Y=72.1034 +FPS=64.31, 法向力=1408.5648, 切向力X=1371.9001, 切向力Y=71.3156 +FPS=48.54, 法向力=2136.7876, 切向力X=727.0727, 切向力Y=-145.8526 +FPS=43.08, 法向力=2281.7808, 切向力X=655.4475, 切向力Y=75.5097 +FPS=44.99, 法向力=1251.5542, 切向力X=1205.6412, 切向力Y=21.9339 +FPS=40.11, 法向力=1211.6479, 切向力X=1424.5082, 切向力Y=-138.7377 +FPS=45.24, 法向力=1175.7014, 切向力X=1559.1372, 切向力Y=-146.7498 +FPS=34.05, 法向力=1239.8542, 切向力X=1524.6357, 切向力Y=-121.4425 +FPS=32.13, 法向力=1316.0339, 切向力X=1844.6359, 切向力Y=-1491.9039 +FPS=31.68, 法向力=1325.2578, 切向力X=1944.1506, 切向力Y=-1478.5061 +FPS=31.43, 法向力=1178.6729, 切向力X=1116.9061, 切向力Y=-373.6759 +FPS=57.59, 法向力=1164.1714, 切向力X=1012.0007, 切向力Y=-49.7145 +FPS=51.52, 法向力=1176.1980, 切向力X=1447.7842, 切向力Y=-92.7829 +FPS=49.87, 法向力=1239.9316, 切向力X=1520.6799, 切向力Y=-197.3010 +FPS=46.45, 法向力=1228.6777, 切向力X=1578.2407, 切向力Y=-92.6926 +FPS=32.76, 法向力=1902.4766, 切向力X=1273.6809, 切向力Y=1047.8826 +FPS=59.12, 法向力=1882.1667, 切向力X=1181.8430, 切向力Y=1120.0488 +FPS=48.52, 法向力=1504.7712, 切向力X=1403.0366, 切向力Y=-49.4440 +FPS=52.05, 法向力=1487.8772, 切向力X=1320.3876, 切向力Y=-52.8718 +FPS=47.28, 法向力=1717.7228, 切向力X=773.7809, 切向力Y=-304.7860 +FPS=30.68, 法向力=1548.0143, 切向力X=820.3222, 切向力Y=-269.0539 +FPS=32.30, 法向力=1187.4380, 切向力X=1621.4830, 切向力Y=-54.7929 +FPS=32.79, 法向力=1185.7932, 切向力X=1122.1420, 切向力Y=186.6534 +FPS=39.21, 法向力=1151.0981, 切向力X=1136.2963, 切向力Y=370.7335 +FPS=44.23, 法向力=2497.9155, 切向力X=946.5789, 切向力Y=-305.1474 +FPS=32.70, 法向力=2720.1938, 切向力X=1041.0574, 切向力Y=-316.7248 +FPS=33.71, 法向力=3061.7886, 切向力X=752.1228, 切向力Y=2253.3103 +FPS=29.79, 法向力=3339.5684, 切向力X=683.4412, 切向力Y=2378.1997 +FPS=33.12, 法向力=1589.9836, 切向力X=646.8657, 切向力Y=-26.5072 +FPS=34.18, 法向力=1664.7264, 切向力X=1169.2944, 切向力Y=-1491.8621 +FPS=37.31, 法向力=1916.6062, 切向力X=1308.0176, 切向力Y=-1644.1040 +FPS=46.79, 法向力=2101.4331, 切向力X=1342.1477, 切向力Y=-731.1566 +FPS=41.16, 法向力=2064.3647, 切向力X=1167.9546, 切向力Y=-650.1102 +FPS=47.22, 法向力=1946.7523, 切向力X=1141.9980, 切向力Y=-549.4508 +FPS=31.46, 法向力=1022.2311, 切向力X=1789.2112, 切向力Y=1139.4564 +FPS=57.63, 法向力=1149.2246, 切向力X=1924.9839, 切向力Y=1460.2476 +FPS=52.96, 法向力=1629.8641, 切向力X=1208.6621, 切向力Y=1032.4197 +FPS=38.36, 法向力=1468.5607, 切向力X=1240.0774, 切向力Y=633.4591 +FPS=32.29, 法向力=1341.4319, 切向力X=1953.5896, 切向力Y=1554.9125 +FPS=53.49, 法向力=1468.4656, 切向力X=1985.1440, 切向力Y=1915.1868 +FPS=52.07, 法向力=1650.3889, 切向力X=1175.4847, 切向力Y=988.0566 +FPS=47.79, 法向力=1681.6548, 切向力X=1104.7722, 切向力Y=1094.6816 +FPS=26.87, 法向力=1788.3472, 切向力X=1184.2249, 切向力Y=621.2728 +FPS=30.86, 法向力=1959.8154, 切向力X=1058.1979, 切向力Y=970.6867 +FPS=51.79, 法向力=1529.0062, 切向力X=930.1146, 切向力Y=1544.7605 +FPS=40.13, 法向力=1525.6461, 切向力X=1113.6133, 切向力Y=1141.3760 +FPS=29.29, 法向力=1326.6207, 切向力X=2751.5747, 切向力Y=502.3300 +FPS=54.46, 法向力=1596.5824, 切向力X=2981.4756, 切向力Y=384.5959 +FPS=42.53, 法向力=901.7546, 切向力X=1654.9524, 切向力Y=-388.7266 +FPS=59.64, 法向力=861.9061, 切向力X=1732.8705, 切向力Y=57.5633 +FPS=45.12, 法向力=1811.1548, 切向力X=1597.9456, 切向力Y=458.5285 +FPS=31.66, 法向力=1791.9473, 切向力X=1508.5867, 切向力Y=557.7679 +FPS=39.67, 法向力=1671.6368, 切向力X=1212.7036, 切向力Y=-849.3660 +FPS=49.33, 法向力=1659.3901, 切向力X=1072.5325, 切向力Y=-932.1235 +FPS=29.30, 法向力=1244.6663, 切向力X=1521.0591, 切向力Y=-466.5409 +FPS=53.05, 法向力=1177.6541, 切向力X=1628.4729, 切向力Y=-771.1056 +FPS=46.23, 法向力=1272.0475, 切向力X=965.7363, 切向力Y=-382.7331 +FPS=51.69, 法向力=1265.3521, 切向力X=910.7037, 切向力Y=-372.7414 +FPS=61.84, 法向力=1304.6028, 切向力X=886.6608, 切向力Y=-448.6645 +FPS=40.13, 法向力=1254.0626, 切向力X=920.3159, 切向力Y=119.0954 +FPS=60.57, 法向力=1299.3574, 切向力X=1095.1161, 切向力Y=-31.1483 +FPS=23.25, 法向力=1166.1919, 切向力X=1209.3130, 切向力Y=1519.5518 +FPS=57.18, 法向力=1194.1187, 切向力X=1149.2400, 切向力Y=1593.2219 +FPS=37.93, 法向力=1671.2371, 切向力X=1499.5806, 切向力Y=-442.7439 +FPS=38.33, 法向力=1743.4595, 切向力X=1406.1459, 切向力Y=-278.2933 +FPS=26.73, 法向力=1408.8945, 切向力X=1089.3127, 切向力Y=-196.1036 +FPS=37.93, 法向力=1658.6871, 切向力X=905.7168, 切向力Y=812.0166 +FPS=45.77, 法向力=1738.5498, 切向力X=1029.5901, 切向力Y=1008.2183 +FPS=58.96, 法向力=994.2722, 切向力X=684.4605, 切向力Y=934.3347 +FPS=42.05, 法向力=996.0762, 切向力X=658.8772, 切向力Y=1229.4160 +FPS=56.37, 法向力=1089.2432, 切向力X=670.3759, 切向力Y=25.3590 +FPS=50.68, 法向力=1190.0015, 切向力X=572.1693, 切向力Y=-169.6509 +FPS=38.74, 法向力=1175.0574, 切向力X=529.9255, 切向力Y=-185.2314 +FPS=45.80, 法向力=935.2320, 切向力X=1132.1354, 切向力Y=501.7325 +FPS=60.87, 法向力=910.5323, 切向力X=1161.8547, 切向力Y=644.5352 +FPS=31.97, 法向力=1223.7952, 切向力X=888.4679, 切向力Y=1027.6389 +FPS=58.53, 法向力=1233.4192, 切向力X=931.0784, 切向力Y=1086.2878 +FPS=34.30, 法向力=1165.6641, 切向力X=1516.9587, 切向力Y=527.1345 +FPS=60.00, 法向力=1217.8064, 切向力X=1617.6370, 切向力Y=211.4801 +FPS=34.15, 法向力=1230.8638, 切向力X=1588.2267, 切向力Y=155.8005 +FPS=60.98, 法向力=2163.1790, 切向力X=1580.0197, 切向力Y=846.6272 +FPS=32.19, 法向力=2079.0649, 切向力X=1471.5583, 切向力Y=1085.2786 +FPS=38.48, 法向力=1789.4652, 切向力X=1207.3741, 切向力Y=1236.8773 +FPS=46.19, 法向力=1842.1636, 切向力X=1175.0693, 切向力Y=1298.0293 +FPS=32.12, 法向力=1626.9492, 切向力X=1187.3064, 切向力Y=208.2192 +FPS=63.69, 法向力=1564.8942, 切向力X=1162.6002, 切向力Y=-37.3993 +FPS=32.06, 法向力=1334.9839, 切向力X=1173.3698, 切向力Y=-281.7526 +FPS=58.33, 法向力=1315.1748, 切向力X=1298.1281, 切向力Y=-306.5251 +FPS=52.39, 法向力=1251.7441, 切向力X=1131.9326, 切向力Y=-34.9178 +FPS=47.12, 法向力=1353.9196, 切向力X=970.7560, 切向力Y=-8.5263 +FPS=48.10, 法向力=1435.1035, 切向力X=925.0359, 切向力Y=-33.1425 +FPS=30.47, 法向力=1664.7107, 切向力X=1638.4165, 切向力Y=-516.2310 +FPS=57.39, 法向力=1711.8005, 切向力X=1659.3882, 切向力Y=-443.1222 +FPS=47.68, 法向力=1301.5554, 切向力X=685.5891, 切向力Y=332.4487 +FPS=40.50, 法向力=1366.3176, 切向力X=555.3235, 切向力Y=144.4096 +FPS=38.95, 法向力=1867.6310, 切向力X=707.0380, 切向力Y=-873.1462 +FPS=49.87, 法向力=1944.6344, 切向力X=520.2261, 切向力Y=-1037.1416 +FPS=30.67, 法向力=1442.4404, 切向力X=1247.8125, 切向力Y=-1113.2544 +FPS=54.10, 法向力=1478.5720, 切向力X=1290.3567, 切向力Y=-837.3279 +FPS=38.35, 法向力=1250.1683, 切向力X=1077.2048, 切向力Y=1219.9258 +FPS=28.86, 法向力=1402.1561, 切向力X=1189.1105, 切向力Y=1293.6792 +FPS=31.86, 法向力=1441.2167, 切向力X=1121.2380, 切向力Y=1337.2317 +FPS=32.37, 法向力=1437.6239, 切向力X=780.3607, 切向力Y=-1188.7012 +FPS=37.82, 法向力=1450.9288, 切向力X=885.6957, 切向力Y=-1279.7383 +FPS=48.68, 法向力=1294.4872, 切向力X=1409.8058, 切向力Y=-428.8453 +FPS=33.09, 法向力=1335.0013, 切向力X=1434.4822, 切向力Y=-600.9130 +FPS=38.56, 法向力=1452.4329, 切向力X=1308.3982, 切向力Y=1922.0068 +FPS=48.46, 法向力=1548.3032, 切向力X=1318.4128, 切向力Y=2244.2107 +FPS=31.70, 法向力=1467.0247, 切向力X=1507.9139, 切向力Y=854.4231 +FPS=29.98, 法向力=1425.8547, 切向力X=1493.9692, 切向力Y=-1521.8209 +FPS=32.56, 法向力=1347.2739, 切向力X=1441.1421, 切向力Y=-1837.5229 +FPS=31.65, 法向力=1220.8291, 切向力X=1404.8594, 切向力Y=508.9276 +FPS=31.11, 法向力=1603.7427, 切向力X=556.8665, 切向力Y=240.1823 +FPS=39.97, 法向力=1661.3901, 切向力X=516.3995, 切向力Y=324.5211 +FPS=44.90, 法向力=1399.7883, 切向力X=919.4340, 切向力Y=-525.1682 +FPS=32.08, 法向力=1445.6499, 切向力X=906.9325, 切向力Y=-676.2128 +FPS=37.78, 法向力=1442.2875, 切向力X=972.2849, 切向力Y=-647.0598 +FPS=44.59, 法向力=1374.7532, 切向力X=1681.8995, 切向力Y=-143.0891 +FPS=32.14, 法向力=1294.6262, 切向力X=1740.7814, 切向力Y=-218.2818 +FPS=32.00, 法向力=1045.5571, 切向力X=852.3480, 切向力Y=1060.6477 +FPS=32.57, 法向力=1111.4902, 切向力X=1107.3083, 切向力Y=-448.0128 +FPS=31.86, 法向力=1143.5376, 切向力X=1290.5448, 切向力Y=659.7318 +FPS=32.71, 法向力=1148.7485, 切向力X=1420.7971, 切向力Y=499.5406 +FPS=58.84, 法向力=1172.3398, 切向力X=1403.3826, 切向力Y=725.2098 +FPS=51.60, 法向力=1392.2422, 切向力X=930.7285, 切向力Y=248.4749 +FPS=36.99, 法向力=1321.7629, 切向力X=987.8552, 切向力Y=335.2409 +FPS=31.56, 法向力=1658.4877, 切向力X=1507.2668, 切向力Y=691.1243 +FPS=59.59, 法向力=1638.5127, 切向力X=1478.0610, 切向力Y=741.3726 +FPS=43.97, 法向力=1091.3049, 切向力X=828.5608, 切向力Y=-1218.2733 +FPS=51.23, 法向力=1053.8628, 切向力X=659.9159, 切向力Y=-1183.4031 +FPS=29.07, 法向力=907.4116, 切向力X=503.2113, 切向力Y=677.1238 +FPS=34.41, 法向力=985.9583, 切向力X=723.9153, 切向力Y=552.0233 +FPS=45.89, 法向力=1622.8455, 切向力X=521.8856, 切向力Y=311.9681 +FPS=40.30, 法向力=1673.6497, 切向力X=447.7099, 切向力Y=262.6719 +FPS=46.09, 法向力=1982.8271, 切向力X=1018.7262, 切向力Y=157.4003 +FPS=39.63, 法向力=1992.8041, 切向力X=1105.6024, 切向力Y=200.7124 +FPS=39.47, 法向力=947.1296, 切向力X=1295.4210, 切向力Y=446.6559 +FPS=46.67, 法向力=947.2283, 切向力X=1383.2277, 切向力Y=451.7497 +FPS=46.65, 法向力=1836.1044, 切向力X=1286.5363, 切向力Y=558.9781 +FPS=39.10, 法向力=1823.8134, 切向力X=1331.4429, 切向力Y=541.8174 +FPS=48.57, 法向力=1617.9702, 切向力X=1261.2170, 切向力Y=1700.5264 +FPS=38.34, 法向力=1657.8239, 切向力X=1195.6682, 切向力Y=1820.8418 +FPS=40.46, 法向力=1152.3479, 切向力X=903.0876, 切向力Y=373.6927 +FPS=62.22, 法向力=1155.2170, 切向力X=984.5884, 切向力Y=344.0361 +FPS=56.09, 法向力=1121.2585, 切向力X=944.8764, 切向力Y=197.8813 +FPS=25.01, 法向力=1415.4609, 切向力X=1641.1458, 切向力Y=915.3627 +FPS=35.69, 法向力=1294.0483, 切向力X=1657.7625, 切向力Y=1177.9753 +FPS=23.71, 法向力=1234.7124, 切向力X=1309.1809, 切向力Y=-4.1793 +FPS=22.17, 法向力=1560.3220, 切向力X=1124.7317, 切向力Y=1626.9000 +FPS=47.46, 法向力=1480.7031, 切向力X=1009.6824, 切向力Y=551.7986 +FPS=42.20, 法向力=1439.8391, 切向力X=991.2322, 切向力Y=418.5142 +FPS=55.42, 法向力=969.7952, 切向力X=1143.9609, 切向力Y=-49.7112 +FPS=42.68, 法向力=970.9136, 切向力X=1167.4177, 切向力Y=-223.1651 +FPS=30.23, 法向力=1541.3574, 切向力X=604.0449, 切向力Y=-473.0171 +FPS=35.79, 法向力=1612.4215, 切向力X=710.2764, 切向力Y=-535.3325 +FPS=44.10, 法向力=1434.1624, 切向力X=1713.4320, 切向力Y=223.4477 +FPS=41.36, 法向力=1628.0709, 切向力X=1764.9348, 切向力Y=441.5270 +FPS=44.41, 法向力=1939.9879, 切向力X=1461.6196, 切向力Y=734.3342 +FPS=61.24, 法向力=2088.3960, 切向力X=1414.9338, 切向力Y=985.4456 +FPS=32.72, 法向力=2058.7090, 切向力X=1410.9845, 切向力Y=799.4264 +FPS=41.16, 法向力=1967.1431, 切向力X=1279.3606, 切向力Y=390.4161 +FPS=45.29, 法向力=1844.4570, 切向力X=1247.0996, 切向力Y=614.9290 +FPS=61.03, 法向力=1337.0510, 切向力X=914.5721, 切向力Y=196.1380 +FPS=33.31, 法向力=1319.9192, 切向力X=793.2346, 切向力Y=153.8736 +FPS=55.79, 法向力=855.0260, 切向力X=544.2961, 切向力Y=-73.2782 +FPS=35.48, 法向力=844.7236, 切向力X=518.7247, 切向力Y=32.5250 +FPS=38.59, 法向力=1318.3734, 切向力X=1431.2047, 切向力Y=-115.3866 +FPS=43.08, 法向力=1298.2678, 切向力X=1475.0295, 切向力Y=110.0507 +FPS=41.95, 法向力=1340.0314, 切向力X=1308.8276, 切向力Y=339.7612 +FPS=25.71, 法向力=2289.1836, 切向力X=987.3948, 切向力Y=925.4926 +FPS=54.76, 法向力=2280.0457, 切向力X=1067.2021, 切向力Y=1055.3879 +FPS=56.83, 法向力=2275.3052, 切向力X=1109.2563, 切向力Y=1106.9927 +FPS=47.85, 法向力=1722.9436, 切向力X=1394.8013, 切向力Y=37.8369 +FPS=27.39, 法向力=1447.2791, 切向力X=804.0255, 切向力Y=152.9007 +FPS=56.06, 法向力=1478.9534, 切向力X=674.0652, 切向力Y=-137.0428 +FPS=32.42, 法向力=1488.6206, 切向力X=645.3220, 切向力Y=-73.9015 +FPS=40.81, 法向力=1534.9641, 切向力X=1022.0126, 切向力Y=-387.4667 +FPS=26.00, 法向力=1119.0579, 切向力X=1752.0598, 切向力Y=-654.7445 +FPS=42.91, 法向力=1135.0854, 切向力X=1808.2767, 切向力Y=-695.1947 +FPS=40.97, 法向力=1551.1542, 切向力X=1644.1248, 切向力Y=200.8518 +FPS=61.31, 法向力=1770.2566, 切向力X=1610.8843, 切向力Y=710.1824 +FPS=36.64, 法向力=2041.6609, 切向力X=716.8758, 切向力Y=643.9593 +FPS=60.18, 法向力=2067.7556, 切向力X=678.7279, 切向力Y=706.0519 +FPS=40.13, 法向力=2078.9907, 切向力X=677.6875, 切向力Y=701.3149 +FPS=45.39, 法向力=1486.6753, 切向力X=1580.1230, 切向力Y=905.8748 +FPS=39.74, 法向力=1611.4923, 切向力X=1429.2631, 切向力Y=884.0489 +FPS=45.94, 法向力=1645.0646, 切向力X=1264.7358, 切向力Y=206.8267 +FPS=61.37, 法向力=1698.4098, 切向力X=1121.1404, 切向力Y=308.5215 +FPS=32.25, 法向力=1173.2842, 切向力X=1340.0106, 切向力Y=133.3021 +FPS=40.57, 法向力=1168.9718, 切向力X=1270.5803, 切向力Y=148.9087 +FPS=43.38, 法向力=1132.0194, 切向力X=1262.2150, 切向力Y=140.2400 +FPS=61.84, 法向力=1486.3567, 切向力X=905.5996, 切向力Y=519.4954 +FPS=34.40, 法向力=1508.8650, 切向力X=912.1937, 切向力Y=618.2191 +FPS=39.72, 法向力=1363.7842, 切向力X=1106.7404, 切向力Y=1390.1567 +FPS=44.03, 法向力=1440.8262, 切向力X=1140.7906, 切向力Y=1383.8170 +FPS=63.55, 法向力=1918.1318, 切向力X=812.2592, 切向力Y=-432.9756 +FPS=33.42, 法向力=1931.5547, 切向力X=787.9641, 切向力Y=-350.7551 +FPS=40.89, 法向力=1606.7009, 切向力X=1238.9460, 切向力Y=1280.3783 +FPS=27.61, 法向力=1456.5834, 切向力X=1267.8141, 切向力Y=1009.0131 +FPS=54.41, 法向力=1305.5415, 切向力X=1229.3831, 切向力Y=666.3219 +FPS=32.79, 法向力=1846.2883, 切向力X=1575.9187, 切向力Y=1627.3586 +FPS=41.39, 法向力=1898.2522, 切向力X=1441.2444, 切向力Y=1507.9575 +FPS=44.28, 法向力=1206.2329, 切向力X=822.6315, 切向力Y=278.3119 +FPS=64.66, 法向力=1224.6642, 切向力X=858.1862, 切向力Y=24.9678 +FPS=33.64, 法向力=976.4789, 切向力X=747.1322, 切向力Y=-190.7350 +FPS=39.49, 法向力=1013.5759, 切向力X=745.5993, 切向力Y=-42.2592 +FPS=45.50, 法向力=1025.4749, 切向力X=748.7393, 切向力Y=-37.3373 +FPS=60.11, 法向力=1247.1650, 切向力X=1350.4834, 切向力Y=308.3370 +FPS=41.13, 法向力=1224.8218, 切向力X=1256.9364, 切向力Y=374.6516 +FPS=40.47, 法向力=1358.9102, 切向力X=907.6305, 切向力Y=648.1664 +FPS=57.10, 法向力=1367.1874, 切向力X=900.5403, 切向力Y=569.3268 +FPS=51.41, 法向力=1331.0509, 切向力X=964.1074, 切向力Y=575.6461 +FPS=43.29, 法向力=1170.9860, 切向力X=1297.4329, 切向力Y=324.2102 +FPS=58.04, 法向力=1159.4180, 切向力X=1419.3741, 切向力Y=262.2078 +FPS=36.79, 法向力=1048.2759, 切向力X=1222.2009, 切向力Y=400.8213 +FPS=59.04, 法向力=987.3356, 切向力X=1143.2234, 切向力Y=499.2018 +FPS=58.57, 法向力=1008.6438, 切向力X=1061.2083, 切向力Y=582.4114 +FPS=47.69, 法向力=1103.0367, 切向力X=1043.9512, 切向力Y=695.0569 +FPS=58.94, 法向力=1121.5265, 切向力X=1124.6241, 切向力Y=664.4406 +FPS=25.40, 法向力=1790.3242, 切向力X=869.8584, 切向力Y=1362.4575 +FPS=56.63, 法向力=2140.1521, 切向力X=722.5358, 切向力Y=2121.5938 +FPS=42.52, 法向力=1256.1803, 切向力X=1462.2363, 切向力Y=-570.0348 +FPS=47.67, 法向力=1395.7632, 切向力X=1614.8777, 切向力Y=-763.4395 +FPS=61.92, 法向力=1347.4841, 切向力X=1700.9670, 切向力Y=-857.1890 +FPS=31.56, 法向力=1254.2999, 切向力X=795.7183, 切向力Y=-838.3303 +FPS=57.73, 法向力=1270.9908, 切向力X=799.8929, 切向力Y=-865.8765 +FPS=41.66, 法向力=1562.8801, 切向力X=1419.9803, 切向力Y=-1250.5386 +FPS=45.54, 法向力=1703.6421, 切向力X=1568.7158, 切向力Y=-1322.2952 +FPS=41.33, 法向力=1692.7798, 切向力X=1808.5909, 切向力Y=-1507.4368 +FPS=43.09, 法向力=1656.2625, 切向力X=1778.3000, 切向力Y=-1521.4208 +FPS=41.86, 法向力=2125.8774, 切向力X=639.9357, 切向力Y=1876.5415 +FPS=44.98, 法向力=2416.2625, 切向力X=260.0270, 切向力Y=2174.9097 +FPS=42.53, 法向力=1565.0522, 切向力X=1461.3805, 切向力Y=-560.7938 +FPS=25.71, 法向力=1372.4814, 切向力X=1544.7642, 切向力Y=1195.1930 +FPS=40.90, 法向力=1359.6611, 切向力X=1285.5444, 切向力Y=1411.8333 +FPS=47.08, 法向力=1427.2505, 切向力X=1222.5054, 切向力Y=-336.3987 +FPS=39.58, 法向力=1446.5277, 切向力X=1078.1719, 切向力Y=-204.3993 +FPS=27.17, 法向力=1460.6045, 切向力X=995.0665, 切向力Y=-122.0148 +FPS=37.59, 法向力=2009.7031, 切向力X=676.9877, 切向力Y=1623.8809 +FPS=45.55, 法向力=2007.0500, 切向力X=659.4538, 切向力Y=1572.8081 +FPS=40.38, 法向力=1193.3718, 切向力X=1305.8179, 切向力Y=-284.2034 +FPS=44.82, 法向力=1143.0422, 切向力X=1339.9941, 切向力Y=-431.8828 +FPS=39.16, 法向力=1102.9081, 切向力X=683.5168, 切向力Y=-1137.3704 +FPS=44.63, 法向力=1142.1808, 切向力X=547.8834, 切向力Y=-1148.5601 +FPS=63.42, 法向力=791.0195, 切向力X=1098.1575, 切向力Y=-193.1977 +FPS=32.89, 法向力=834.0505, 切向力X=1201.1572, 切向力Y=-97.4345 +FPS=38.51, 法向力=1205.2422, 切向力X=744.1333, 切向力Y=-189.7681 +FPS=39.21, 法向力=1118.5793, 切向力X=1818.1801, 切向力Y=320.8775 +FPS=45.11, 法向力=1189.3859, 切向力X=1740.4470, 切向力Y=491.0888 +FPS=41.48, 法向力=1208.0007, 切向力X=1697.2461, 切向力Y=554.1729 +FPS=43.19, 法向力=1052.3635, 切向力X=1186.5509, 切向力Y=245.0996 +FPS=47.34, 法向力=1024.9309, 切向力X=1173.4304, 切向力Y=318.9339 +FPS=39.78, 法向力=1104.3418, 切向力X=1639.9568, 切向力Y=-164.8122 +FPS=46.08, 法向力=1140.6229, 切向力X=1505.1368, 切向力Y=-83.0936 +FPS=57.33, 法向力=1179.7043, 切向力X=1464.5002, 切向力Y=45.6592 +FPS=49.20, 法向力=1161.4255, 切向力X=1574.2363, 切向力Y=608.0186 +FPS=51.94, 法向力=1385.7615, 切向力X=1627.5341, 切向力Y=324.6481 +FPS=45.81, 法向力=1255.1370, 切向力X=1438.1180, 切向力Y=622.5703 +FPS=38.19, 法向力=1285.3217, 切向力X=1439.2146, 切向力Y=574.1888 +FPS=47.31, 法向力=1316.0439, 切向力X=1354.6270, 切向力Y=282.8102 +FPS=31.59, 法向力=1336.2510, 切向力X=1399.3019, 切向力Y=165.7571 +FPS=32.21, 法向力=1955.0245, 切向力X=1566.8931, 切向力Y=1011.4290 +FPS=54.42, 法向力=2001.3176, 切向力X=1574.5232, 切向力Y=1082.4136 +FPS=46.65, 法向力=1323.7155, 切向力X=760.8663, 切向力Y=1074.6106 +FPS=44.92, 法向力=1292.8622, 切向力X=821.2670, 切向力Y=1194.7446 +FPS=37.78, 法向力=961.5244, 切向力X=1076.3171, 切向力Y=603.7919 +FPS=46.71, 法向力=1004.0555, 切向力X=1066.6150, 切向力Y=713.7476 +FPS=32.17, 法向力=1799.8923, 切向力X=1787.9614, 切向力Y=3.8625 +FPS=38.23, 法向力=1883.4457, 切向力X=1861.1956, 切向力Y=-146.0981 +FPS=42.55, 法向力=1035.1851, 切向力X=979.5022, 切向力Y=-190.3412 +FPS=37.13, 法向力=1121.3799, 切向力X=938.1300, 切向力Y=-224.0388 +FPS=31.11, 法向力=969.1235, 切向力X=1379.6580, 切向力Y=-454.5427 +FPS=32.34, 法向力=1000.6526, 切向力X=1368.1145, 切向力Y=-586.5728 +FPS=31.71, 法向力=1144.9443, 切向力X=1954.5950, 切向力Y=-311.7844 +FPS=37.78, 法向力=1688.9360, 切向力X=1044.8595, 切向力Y=1615.2769 +FPS=45.10, 法向力=1739.8228, 切向力X=1146.8091, 切向力Y=1996.5481 +FPS=39.18, 法向力=1077.9763, 切向力X=1180.4304, 切向力Y=29.1485 +FPS=45.01, 法向力=1197.9214, 切向力X=1322.3987, 切向力Y=-77.4168 +FPS=32.16, 法向力=1442.0054, 切向力X=1183.5658, 切向力Y=509.8499 +FPS=32.56, 法向力=1458.9255, 切向力X=1136.1552, 切向力Y=587.8094 +FPS=46.46, 法向力=1578.0366, 切向力X=662.3417, 切向力Y=493.2336 +FPS=47.98, 法向力=1583.4553, 切向力X=627.5426, 切向力Y=522.7999 +FPS=28.51, 法向力=1465.5825, 切向力X=744.7972, 切向力Y=1102.2603 +FPS=37.41, 法向力=1570.0481, 切向力X=714.7140, 切向力Y=812.6854 +FPS=46.67, 法向力=1930.2094, 切向力X=1424.1947, 切向力Y=-112.9308 +FPS=38.90, 法向力=1915.8516, 切向力X=1399.0430, 切向力Y=-30.5698 +FPS=47.88, 法向力=1750.8645, 切向力X=794.6837, 切向力Y=1364.3274 +FPS=37.77, 法向力=1694.9843, 切向力X=731.4824, 切向力Y=1504.6675 +FPS=48.04, 法向力=1659.9106, 切向力X=403.3853, 切向力Y=921.2162 +FPS=38.96, 法向力=1789.6534, 切向力X=483.4035, 切向力Y=966.3214 +FPS=48.23, 法向力=1646.1741, 切向力X=966.9019, 切向力Y=1060.1318 +FPS=31.35, 法向力=1641.6396, 切向力X=991.2220, 切向力Y=1144.5099 +FPS=33.24, 法向力=1949.4653, 切向力X=1338.1714, 切向力Y=-1106.4973 +FPS=53.08, 法向力=2018.8043, 切向力X=1333.2234, 切向力Y=-1243.3112 +FPS=33.52, 法向力=2073.9893, 切向力X=959.6014, 切向力Y=364.0005 +FPS=31.22, 法向力=1106.6339, 切向力X=1195.9738, 切向力Y=135.3481 +FPS=31.19, 法向力=1120.9246, 切向力X=1278.0669, 切向力Y=-55.2866 +FPS=32.07, 法向力=1792.0784, 切向力X=502.4394, 切向力Y=-251.8763 +FPS=31.30, 法向力=1830.7258, 切向力X=430.7453, 切向力Y=-181.6133 +FPS=32.46, 法向力=1377.1761, 切向力X=889.2979, 切向力Y=-7.3719 +FPS=36.23, 法向力=1318.0747, 切向力X=906.4564, 切向力Y=-99.4423 +FPS=48.43, 法向力=1357.2522, 切向力X=784.9724, 切向力Y=-936.9294 +FPS=32.34, 法向力=1590.3633, 切向力X=1126.2906, 切向力Y=1052.4733 +FPS=32.68, 法向力=1830.1692, 切向力X=1250.1866, 切向力Y=1082.4407 +FPS=37.53, 法向力=2026.1414, 切向力X=1157.0774, 切向力Y=1371.1011 +FPS=50.82, 法向力=2068.2896, 切向力X=1245.2963, 切向力Y=1323.9669 +FPS=30.97, 法向力=2226.7852, 切向力X=686.3003, 切向力Y=-1064.8540 +FPS=37.95, 法向力=2298.3953, 切向力X=619.9644, 切向力Y=-1165.4534 +FPS=48.19, 法向力=1148.7733, 切向力X=1029.6339, 切向力Y=-9.7171 +FPS=37.99, 法向力=1039.4990, 切向力X=1194.7657, 切向力Y=96.3555 +FPS=49.32, 法向力=1002.5573, 切向力X=1163.1744, 切向力Y=-2.2994 +FPS=37.27, 法向力=1669.2866, 切向力X=1266.0681, 切向力Y=-1288.3228 +FPS=47.83, 法向力=1525.0051, 切向力X=1203.6302, 切向力Y=-1193.4908 +FPS=36.63, 法向力=1204.5829, 切向力X=980.8383, 切向力Y=-329.8121 +FPS=47.12, 法向力=1236.0044, 切向力X=1037.5913, 切向力Y=-319.9201 +FPS=38.25, 法向力=1611.3020, 切向力X=622.0804, 切向力Y=-42.3818 +FPS=52.51, 法向力=1662.2788, 切向力X=618.9291, 切向力Y=265.3732 +FPS=38.61, 法向力=1183.1394, 切向力X=1084.3096, 切向力Y=1147.9070 +FPS=47.80, 法向力=1218.4053, 切向力X=1093.9490, 切向力Y=1201.2532 +FPS=31.99, 法向力=1722.0552, 切向力X=1843.5803, 切向力Y=747.5413 +FPS=61.93, 法向力=1760.3611, 切向力X=1746.4480, 切向力Y=755.1180 +FPS=52.97, 法向力=1722.4460, 切向力X=863.9720, 切向力Y=262.0263 +FPS=35.26, 法向力=1653.0144, 切向力X=923.8063, 切向力Y=125.7482 +FPS=31.91, 法向力=1460.3882, 切向力X=730.4953, 切向力Y=726.9327 +FPS=31.23, 法向力=1087.4668, 切向力X=1111.0360, 切向力Y=831.2126 +FPS=32.19, 法向力=1106.1440, 切向力X=1160.2058, 切向力Y=749.5491 +FPS=52.96, 法向力=1100.4535, 切向力X=1168.2773, 切向力Y=732.6311 +FPS=35.26, 法向力=1769.6852, 切向力X=1044.9180, 切向力Y=1558.7850 +FPS=30.94, 法向力=1382.6921, 切向力X=1352.2677, 切向力Y=-200.2708 +FPS=30.67, 法向力=1353.7095, 切向力X=1336.3467, 切向力Y=-300.8105 +FPS=39.98, 法向力=1496.1298, 切向力X=1029.7307, 切向力Y=1028.6143 +FPS=45.98, 法向力=1642.9783, 切向力X=963.4984, 切向力Y=1220.4521 +FPS=61.57, 法向力=1194.9327, 切向力X=1790.6104, 切向力Y=1019.8737 +FPS=40.71, 法向力=1271.9290, 切向力X=1867.2389, 切向力Y=1112.6685 +FPS=42.15, 法向力=1134.5349, 切向力X=1778.5769, 切向力Y=-320.1975 +FPS=42.85, 法向力=1209.1467, 切向力X=1854.6589, 切向力Y=-516.3745 +FPS=45.32, 法向力=1724.9120, 切向力X=1220.3286, 切向力Y=283.3721 +FPS=39.62, 法向力=1891.3196, 切向力X=1188.0831, 切向力Y=508.8837 +FPS=47.24, 法向力=2064.5657, 切向力X=1091.9246, 切向力Y=-29.0619 +FPS=38.23, 法向力=1989.1857, 切向力X=1110.2693, 切向力Y=19.5837 +FPS=28.43, 法向力=2058.9932, 切向力X=648.5642, 切向力Y=-458.5006 +FPS=39.17, 法向力=1975.7563, 切向力X=755.4595, 切向力Y=-357.3260 +FPS=44.25, 法向力=2570.5093, 切向力X=-102.8736, 切向力Y=1419.0421 +FPS=41.94, 法向力=2613.6221, 切向力X=-277.6505, 切向力Y=1629.1902 +FPS=45.17, 法向力=2678.7629, 切向力X=-276.0392, 切向力Y=2155.2031 +FPS=32.28, 法向力=2127.5129, 切向力X=1636.4805, 切向力Y=1320.2322 +FPS=60.47, 法向力=2165.8071, 切向力X=1435.4229, 切向力Y=1204.0349 +FPS=51.86, 法向力=1628.1138, 切向力X=465.4460, 切向力Y=-140.0040 +FPS=47.45, 法向力=1685.8494, 切向力X=287.0845, 切向力Y=-53.7850 +FPS=48.94, 法向力=1361.2595, 切向力X=1567.0337, 切向力Y=-367.7568 +FPS=30.50, 法向力=1248.7827, 切向力X=1485.7252, 切向力Y=-430.4388 +FPS=37.97, 法向力=1924.3596, 切向力X=1103.8455, 切向力Y=1368.0803 +FPS=47.27, 法向力=1921.0614, 切向力X=975.7503, 切向力Y=1596.4508 +FPS=38.88, 法向力=955.7993, 切向力X=1184.6947, 切向力Y=-712.7823 +FPS=27.43, 法向力=951.9854, 切向力X=1295.3165, 切向力Y=-604.2390 +FPS=38.69, 法向力=1365.6882, 切向力X=1308.8899, 切向力Y=-49.1756 +FPS=62.89, 法向力=1419.4816, 切向力X=1219.3291, 切向力Y=141.7737 +FPS=48.34, 法向力=1674.9968, 切向力X=645.3313, 切向力Y=867.5850 +FPS=37.60, 法向力=1664.5173, 切向力X=606.8755, 切向力Y=1078.4241 +FPS=27.50, 法向力=1336.3691, 切向力X=684.4211, 切向力Y=397.6116 +FPS=38.05, 法向力=1415.9441, 切向力X=866.0846, 切向力Y=-419.0580 +FPS=27.38, 法向力=1420.6041, 切向力X=936.6337, 切向力Y=-310.0264 +FPS=37.91, 法向力=1307.4921, 切向力X=1193.8823, 切向力Y=-71.6875 +FPS=27.34, 法向力=1829.2095, 切向力X=976.7656, 切向力Y=-408.7355 +FPS=59.74, 法向力=1808.6372, 切向力X=999.9775, 切向力Y=-614.4523 +FPS=32.31, 法向力=1536.3486, 切向力X=1446.1790, 切向力Y=-231.7675 +FPS=38.47, 法向力=1622.3589, 切向力X=1469.6506, 切向力Y=-276.7448 +FPS=45.99, 法向力=1408.1252, 切向力X=1088.4414, 切向力Y=-1007.5566 +FPS=39.30, 法向力=1312.5356, 切向力X=970.4703, 切向力Y=-751.2118 +FPS=27.29, 法向力=1355.4404, 切向力X=1064.9019, 切向力Y=-1075.1154 +FPS=38.79, 法向力=1366.9834, 切向力X=1017.1864, 切向力Y=-962.1599 +FPS=45.37, 法向力=1257.1169, 切向力X=909.9960, 切向力Y=1059.5388 +FPS=38.79, 法向力=1363.1510, 切向力X=806.7872, 切向力Y=1291.9373 +FPS=44.80, 法向力=1740.6863, 切向力X=1349.3245, 切向力Y=-1389.8894 +FPS=40.41, 法向力=1793.0632, 切向力X=1410.0580, 切向力Y=-1398.7892 +FPS=48.21, 法向力=1820.3267, 切向力X=1409.1394, 切向力Y=-1372.0244 +FPS=37.53, 法向力=1261.4955, 切向力X=1360.5530, 切向力Y=357.7940 +FPS=50.25, 法向力=1381.1165, 切向力X=1365.0928, 切向力Y=695.6926 +FPS=37.90, 法向力=1185.5966, 切向力X=1047.9282, 切向力Y=1035.3230 +FPS=48.39, 法向力=1323.3639, 切向力X=1091.6230, 切向力Y=1036.3998 +FPS=31.96, 法向力=1180.4293, 切向力X=835.3361, 切向力Y=342.6573 +FPS=63.94, 法向力=1153.1060, 切向力X=888.3311, 切向力Y=246.9774 +FPS=52.69, 法向力=1538.9648, 切向力X=1225.5491, 切向力Y=649.2128 +FPS=35.99, 法向力=1529.8647, 切向力X=1253.0072, 切向力Y=440.5622 +FPS=63.89, 法向力=1556.1298, 切向力X=1255.9462, 切向力Y=489.1160 +FPS=36.70, 法向力=1381.1289, 切向力X=975.4505, 切向力Y=-1155.3293 +FPS=53.03, 法向力=1373.3049, 切向力X=938.1596, 切向力Y=-1316.4116 +FPS=30.25, 法向力=1374.2992, 切向力X=1266.2585, 切向力Y=-610.7049 +FPS=59.14, 法向力=1422.0278, 切向力X=1349.2449, 切向力Y=-601.9922 +FPS=52.32, 法向力=1286.7588, 切向力X=1040.6604, 切向力Y=99.9298 +FPS=43.75, 法向力=1249.3958, 切向力X=1042.9814, 切向力Y=83.1830 +FPS=46.38, 法向力=1132.3718, 切向力X=1306.1794, 切向力Y=1201.9717 +FPS=33.48, 法向力=1133.7712, 切向力X=1291.4417, 切向力Y=1208.3872 +FPS=31.29, 法向力=1202.8022, 切向力X=692.5658, 切向力Y=-122.0266 +FPS=32.89, 法向力=1899.9832, 切向力X=1256.2461, 切向力Y=-151.1367 +FPS=37.03, 法向力=1902.7428, 切向力X=1087.5896, 切向力Y=168.3868 +FPS=46.23, 法向力=1744.7416, 切向力X=858.8383, 切向力Y=460.4285 +FPS=32.29, 法向力=1739.3403, 切向力X=929.0515, 切向力Y=463.7255 +FPS=32.65, 法向力=1541.7957, 切向力X=1435.3660, 切向力Y=-49.9086 +FPS=31.99, 法向力=1555.9980, 切向力X=1447.9816, 切向力Y=-206.0020 +FPS=31.34, 法向力=1255.8772, 切向力X=820.9470, 切向力Y=626.5578 +FPS=39.13, 法向力=1284.2091, 切向力X=768.9996, 切向力Y=755.6091 +FPS=46.65, 法向力=1134.9114, 切向力X=1122.6387, 切向力Y=-129.3839 +FPS=38.93, 法向力=1176.7631, 切向力X=1344.7742, 切向力Y=-193.5966 +FPS=48.21, 法向力=1127.6130, 切向力X=964.9150, 切向力Y=307.2739 +FPS=31.90, 法向力=1240.6790, 切向力X=1442.1930, 切向力Y=1033.8026 +FPS=31.54, 法向力=1268.0692, 切向力X=1364.3704, 切向力Y=1115.8822 +FPS=37.90, 法向力=1976.6907, 切向力X=244.8250, 切向力Y=2815.9346 +FPS=49.61, 法向力=1897.2942, 切向力X=506.9885, 切向力Y=2750.6743 +FPS=37.14, 法向力=1355.4749, 切向力X=1033.5883, 切向力Y=905.0343 +FPS=45.10, 法向力=1204.1364, 切向力X=1132.4404, 切向力Y=533.1389 +FPS=62.08, 法向力=1184.6675, 切向力X=1149.7876, 切向力Y=451.9232 +FPS=54.18, 法向力=1753.5071, 切向力X=1470.9689, 切向力Y=317.5883 +FPS=44.49, 法向力=1694.7468, 切向力X=1509.9462, 切向力Y=247.2087 +FPS=62.52, 法向力=1678.6294, 切向力X=1444.1633, 切向力Y=186.9680 +FPS=49.66, 法向力=1576.5228, 切向力X=542.9279, 切向力Y=1178.7451 +FPS=31.60, 法向力=1682.3712, 切向力X=392.2444, 切向力Y=1456.5347 +FPS=31.35, 法向力=1431.3215, 切向力X=1188.0095, 切向力Y=-787.4657 +FPS=57.52, 法向力=1570.9039, 切向力X=1289.0981, 切向力Y=-891.7083 +FPS=53.41, 法向力=1205.7290, 切向力X=1150.3248, 切向力Y=-743.8105 +FPS=37.31, 法向力=1170.5244, 切向力X=1115.4875, 切向力Y=-656.1497 +FPS=31.48, 法向力=2246.3247, 切向力X=924.8700, 切向力Y=1984.4376 +FPS=62.77, 法向力=2476.7922, 切向力X=834.6304, 切向力Y=2329.3142 +FPS=52.63, 法向力=816.2834, 切向力X=1504.9067, 切向力Y=-275.1974 +FPS=41.73, 法向力=821.7052, 切向力X=1424.3589, 切向力Y=-418.1309 +FPS=49.61, 法向力=1631.9159, 切向力X=944.0527, 切向力Y=596.9832 +FPS=36.68, 法向力=1678.5470, 切向力X=879.0781, 切向力Y=782.4055 +FPS=47.26, 法向力=1710.0513, 切向力X=860.8339, 切向力Y=207.1180 +FPS=32.62, 法向力=1748.5647, 切向力X=653.3608, 切向力Y=416.5233 +FPS=61.41, 法向力=1751.5188, 切向力X=615.9161, 切向力Y=451.6147 +FPS=52.49, 法向力=1236.4233, 切向力X=1313.2273, 切向力Y=792.1859 +FPS=44.07, 法向力=1352.7400, 切向力X=1383.8862, 切向力Y=539.9508 +FPS=46.18, 法向力=1486.4192, 切向力X=1310.8289, 切向力Y=1858.8693 +FPS=31.85, 法向力=1527.5679, 切向力X=1305.6875, 切向力Y=1625.9586 +FPS=41.11, 法向力=1528.6523, 切向力X=1339.4941, 切向力Y=1712.9292 +FPS=51.14, 法向力=1537.2634, 切向力X=1337.4757, 切向力Y=1640.2932 +FPS=30.24, 法向力=2349.7842, 切向力X=1083.5231, 切向力Y=1387.1189 +FPS=31.83, 法向力=988.8246, 切向力X=562.4705, 切向力Y=-258.0691 +FPS=36.71, 法向力=850.4855, 切向力X=625.7817, 切向力Y=-583.5591 +FPS=44.82, 法向力=1168.8452, 切向力X=1593.1185, 切向力Y=53.7404 +FPS=64.02, 法向力=1315.1978, 切向力X=1545.6819, 切向力Y=244.8239 +FPS=33.65, 法向力=1864.5178, 切向力X=826.4516, 切向力Y=1404.0789 +FPS=37.02, 法向力=1962.4442, 切向力X=687.1918, 切向力Y=1649.1831 +FPS=48.43, 法向力=2491.1392, 切向力X=692.0674, 切向力Y=761.1078 +FPS=38.34, 法向力=2549.2070, 切向力X=645.7805, 切向力Y=491.1457 +FPS=45.09, 法向力=2619.2007, 切向力X=597.6041, 切向力Y=519.7841 +FPS=42.09, 法向力=1891.4695, 切向力X=1193.2902, 切向力Y=204.4043 +FPS=26.98, 法向力=1657.9995, 切向力X=1547.6143, 切向力Y=-62.0348 +FPS=39.72, 法向力=2081.3750, 切向力X=1422.7135, 切向力Y=1523.3785 +FPS=27.32, 法向力=2159.1399, 切向力X=1328.2745, 切向力Y=1458.2043 +FPS=32.97, 法向力=2133.5061, 切向力X=1317.5249, 切向力Y=1472.5735 +FPS=32.24, 法向力=1712.6255, 切向力X=2076.1082, 切向力Y=-425.4663 +FPS=59.17, 法向力=1709.5327, 切向力X=1977.0323, 切向力Y=-340.6825 +FPS=50.88, 法向力=1361.6489, 切向力X=1249.5549, 切向力Y=-125.7796 +FPS=46.62, 法向力=1362.1445, 切向力X=1161.8875, 切向力Y=-6.3171 +FPS=63.72, 法向力=1647.0619, 切向力X=1273.0532, 切向力Y=-158.2556 +FPS=54.08, 法向力=1792.1517, 切向力X=1227.5144, 切向力Y=-164.1892 +FPS=29.42, 法向力=1445.1050, 切向力X=1909.3386, 切向力Y=-305.7182 +FPS=31.23, 法向力=1445.6573, 切向力X=1851.7433, 切向力Y=-350.1847 +FPS=62.15, 法向力=1415.0332, 切向力X=1778.9922, 切向力Y=-329.3983 +FPS=52.35, 法向力=1645.5634, 切向力X=1316.1927, 切向力Y=479.0737 +FPS=42.41, 法向力=1746.3319, 切向力X=1344.1914, 切向力Y=363.7239 +FPS=49.65, 法向力=1354.4070, 切向力X=1241.6396, 切向力Y=-180.0343 +FPS=38.15, 法向力=1340.0991, 切向力X=1023.3778, 切向力Y=-73.4565 +FPS=27.38, 法向力=1732.1399, 切向力X=959.4700, 切向力Y=-359.5416 +FPS=38.17, 法向力=1811.0713, 切向力X=888.7824, 切向力Y=-316.7063 +FPS=26.62, 法向力=1822.1537, 切向力X=886.0178, 切向力Y=-321.1041 +FPS=39.33, 法向力=1484.5286, 切向力X=994.9764, 切向力Y=-72.4999 +FPS=64.65, 法向力=1516.9419, 切向力X=968.4725, 切向力Y=-111.3617 +FPS=51.59, 法向力=1284.1885, 切向力X=1430.9160, 切向力Y=-989.6420 +FPS=30.16, 法向力=1291.9849, 切向力X=1411.6807, 切向力Y=-1069.1746 +FPS=38.49, 法向力=1195.0597, 切向力X=909.0475, 切向力Y=-512.0144 +FPS=27.15, 法向力=1268.9512, 切向力X=880.7061, 切向力Y=-402.7076 +FPS=39.63, 法向力=1433.6865, 切向力X=1448.0247, 切向力Y=428.8083 +FPS=27.95, 法向力=1414.3213, 切向力X=1924.6010, 切向力Y=-226.6105 +FPS=37.42, 法向力=1408.7961, 切向力X=1985.2941, 切向力Y=-219.7327 +FPS=43.73, 法向力=1407.9612, 切向力X=1016.2591, 切向力Y=-888.3170 +FPS=40.62, 法向力=1348.3076, 切向力X=993.9116, 切向力Y=-868.6023 +FPS=44.20, 法向力=1485.6614, 切向力X=709.6879, 切向力Y=-861.3992 +FPS=39.17, 法向力=1421.4390, 切向力X=782.0728, 切向力Y=-851.8138 +FPS=43.86, 法向力=1409.5833, 切向力X=707.8906, 切向力Y=-862.3423 +FPS=53.82, 法向力=1411.2700, 切向力X=807.9001, 切向力Y=-856.6317 +FPS=50.28, 法向力=1414.4009, 切向力X=727.7761, 切向力Y=-890.0399 +FPS=43.65, 法向力=1847.3777, 切向力X=477.5739, 切向力Y=1559.3538 +FPS=40.89, 法向力=2006.6368, 切向力X=432.5234, 切向力Y=1869.3801 +FPS=47.49, 法向力=1538.0380, 切向力X=752.3173, 切向力Y=430.9199 +FPS=37.81, 法向力=1489.6443, 切向力X=708.3352, 切向力Y=391.9441 +FPS=43.96, 法向力=1754.9058, 切向力X=1562.2197, 切向力Y=1267.5032 +FPS=61.43, 法向力=1740.4553, 切向力X=1679.3059, 切向力Y=1276.2909 +FPS=34.25, 法向力=1778.4365, 切向力X=1614.2404, 切向力Y=1284.0594 +FPS=39.33, 法向力=1392.4717, 切向力X=1792.0148, 切向力Y=-171.7321 +FPS=26.68, 法向力=1446.6699, 切向力X=1074.8948, 切向力Y=1034.3182 +FPS=39.74, 法向力=1456.0405, 切向力X=1011.4387, 切向力Y=1152.8628 +FPS=27.20, 法向力=2186.9556, 切向力X=1508.4908, 切向力Y=313.3740 +FPS=38.88, 法向力=1256.5557, 切向力X=1045.1190, 切向力Y=-70.5879 +FPS=47.76, 法向力=1218.9993, 切向力X=1060.6675, 切向力Y=-14.0725 +FPS=38.08, 法向力=1206.3409, 切向力X=1058.8021, 切向力Y=-160.9604 +FPS=64.00, 法向力=1204.2407, 切向力X=1081.8630, 切向力Y=-125.8029 +FPS=54.17, 法向力=1206.5062, 切向力X=1060.0098, 切向力Y=-179.7876 +FPS=35.28, 法向力=1236.4829, 切向力X=1376.2910, 切向力Y=-218.6422 +FPS=48.92, 法向力=1292.0981, 切向力X=1541.2285, 切向力Y=-123.6687 +FPS=38.51, 法向力=1584.4655, 切向力X=1455.7095, 切向力Y=1000.1242 +FPS=27.57, 法向力=1522.9775, 切向力X=1217.9637, 切向力Y=1332.2117 +FPS=38.54, 法向力=1882.8717, 切向力X=1466.1123, 切向力Y=292.9444 +FPS=27.67, 法向力=1805.3956, 切向力X=1433.1689, 切向力Y=-97.1457 +FPS=61.07, 法向力=1873.0358, 切向力X=1200.3064, 切向力Y=1822.1832 +FPS=33.95, 法向力=2343.0303, 切向力X=1248.8430, 切向力Y=1661.7802 +FPS=38.19, 法向力=2752.5403, 切向力X=1134.7390, 切向力Y=862.6672 +FPS=44.11, 法向力=2775.6011, 切向力X=960.6488, 切向力Y=659.2997 +FPS=40.76, 法向力=1643.1859, 切向力X=1451.9478, 切向力Y=1386.6938 +FPS=45.12, 法向力=1640.7576, 切向力X=1542.9297, 切向力Y=1190.2627 +FPS=40.89, 法向力=1728.3560, 切向力X=263.4132, 切向力Y=6.3436 +FPS=26.55, 法向力=1891.1633, 切向力X=136.9912, 切向力Y=42.5405 +FPS=38.27, 法向力=1923.0885, 切向力X=126.8563, 切向力Y=13.7651 +FPS=47.04, 法向力=1966.1348, 切向力X=1196.6190, 切向力Y=1766.5767 +FPS=40.00, 法向力=2102.1626, 切向力X=1204.5620, 切向力Y=1652.1941 +FPS=27.42, 法向力=1415.2789, 切向力X=1526.8149, 切向力Y=-319.9966 +FPS=38.22, 法向力=1419.1541, 切向力X=1460.8665, 切向力Y=-186.9171 +FPS=27.49, 法向力=1283.7479, 切向力X=1225.7795, 切向力Y=1090.6851 +FPS=39.47, 法向力=1438.6925, 切向力X=951.0862, 切向力Y=141.9839 +FPS=44.25, 法向力=1487.0276, 切向力X=994.0104, 切向力Y=256.9282 +FPS=42.26, 法向力=1435.8762, 切向力X=1053.1667, 切向力Y=252.7289 +FPS=27.40, 法向力=1574.9073, 切向力X=1275.5656, 切向力Y=-542.0392 +FPS=37.90, 法向力=1684.2721, 切向力X=924.9167, 切向力Y=395.7186 +FPS=40.22, 法向力=1834.2117, 切向力X=828.5330, 切向力Y=626.6688 +FPS=45.74, 法向力=1275.8723, 切向力X=1019.0403, 切向力Y=2371.3401 +FPS=66.16, 法向力=1300.4978, 切向力X=1135.9860, 切向力Y=2479.3516 +FPS=53.93, 法向力=1311.5031, 切向力X=1140.0701, 切向力Y=2579.3379 +FPS=29.42, 法向力=1313.9031, 切向力X=1253.0149, 切向力Y=2571.5029 +FPS=62.51, 法向力=1404.8914, 切向力X=1629.6348, 切向力Y=167.3873 +FPS=32.25, 法向力=1387.6835, 切向力X=1570.8527, 切向力Y=-8.3129 +FPS=62.57, 法向力=1377.5305, 切向力X=1566.0350, 切向力Y=27.9796 +FPS=63.01, 法向力=1427.0670, 切向力X=1602.6188, 切向力Y=-62.6282 +FPS=54.36, 法向力=1265.8228, 切向力X=1191.9360, 切向力Y=-351.8188 +FPS=42.76, 法向力=1325.5315, 切向力X=1213.9683, 切向力Y=-327.1922 +FPS=48.36, 法向力=1032.7572, 切向力X=681.4420, 切向力Y=-964.1559 +FPS=38.63, 法向力=1103.2256, 切向力X=633.9200, 切向力Y=-769.3620 +FPS=27.19, 法向力=1503.1884, 切向力X=571.3002, 切向力Y=734.8687 +FPS=53.48, 法向力=1629.3772, 切向力X=663.2927, 切向力Y=1036.7122 +FPS=33.54, 法向力=1418.5332, 切向力X=787.6967, 切向力Y=238.3428 +FPS=60.32, 法向力=1484.1948, 切向力X=730.6055, 切向力Y=153.0440 +FPS=33.60, 法向力=1662.6886, 切向力X=1838.4114, 切向力Y=327.5728 +FPS=59.52, 法向力=1694.7791, 切向力X=1898.1941, 切向力Y=296.1644 +FPS=52.34, 法向力=1354.3794, 切向力X=1128.9913, 切向力Y=418.6948 +FPS=44.09, 法向力=1523.2795, 切向力X=1044.4141, 切向力Y=452.1949 +FPS=53.53, 法向力=1446.1205, 切向力X=1017.8608, 切向力Y=420.1269 +FPS=29.93, 法向力=1424.6318, 切向力X=986.6623, 切向力Y=489.0029 +FPS=61.29, 法向力=1439.3280, 切向力X=1023.4409, 切向力Y=424.6441 +FPS=54.42, 法向力=1576.3218, 切向力X=1511.6400, 切向力Y=246.3123 +FPS=35.47, 法向力=1640.3750, 切向力X=1469.9729, 切向力Y=493.8914 +FPS=31.19, 法向力=1234.4747, 切向力X=852.0449, 切向力Y=1107.9661 +FPS=58.02, 法向力=1185.5559, 切向力X=990.3900, 切向力Y=1046.7422 +FPS=51.32, 法向力=1216.6079, 切向力X=1347.8169, 切向力Y=-488.3057 +FPS=46.22, 法向力=1223.4025, 切向力X=1363.0629, 切向力Y=-513.7565 +FPS=62.23, 法向力=1400.0282, 切向力X=1243.7708, 切向力Y=395.3950 +FPS=53.50, 法向力=1343.7155, 切向力X=1072.1455, 切向力Y=-12.9332 +FPS=29.75, 法向力=1096.3212, 切向力X=1008.5110, 切向力Y=160.8258 +FPS=36.98, 法向力=1213.9949, 切向力X=665.1017, 切向力Y=383.8950 +FPS=47.91, 法向力=1354.3492, 切向力X=1445.5795, 切向力Y=-128.9551 +FPS=37.90, 法向力=1429.2971, 切向力X=1553.8804, 切向力Y=-238.2648 +FPS=50.26, 法向力=1200.0192, 切向力X=384.3887, 切向力Y=-381.1927 +FPS=35.79, 法向力=1188.3247, 切向力X=179.7520, 切向力Y=-204.8773 +FPS=45.92, 法向力=1111.9515, 切向力X=361.6172, 切向力Y=-122.0286 +FPS=32.75, 法向力=1134.5859, 切向力X=254.3204, 切向力Y=-126.3355 +FPS=31.18, 法向力=960.2869, 切向力X=1387.7189, 切向力Y=746.2015 +FPS=31.62, 法向力=1024.9685, 切向力X=1342.5291, 切向力Y=691.8410 +FPS=53.12, 法向力=1482.3702, 切向力X=1422.4536, 切向力Y=1747.4739 +FPS=51.68, 法向力=1472.5635, 切向力X=1515.6296, 切向力Y=1712.8298 +FPS=61.17, 法向力=1510.9775, 切向力X=1499.2955, 切向力Y=1715.8105 +FPS=41.76, 法向力=1648.6348, 切向力X=1377.9888, 切向力Y=-433.3417 +FPS=31.15, 法向力=1485.4918, 切向力X=940.4620, 切向力Y=-1223.3301 +FPS=32.05, 法向力=1590.5481, 切向力X=815.3932, 切向力Y=-883.4590 +FPS=37.82, 法向力=1361.3452, 切向力X=771.5523, 切向力Y=-1009.4247 +FPS=46.23, 法向力=1438.8979, 切向力X=848.3962, 切向力Y=-826.8224 +FPS=32.17, 法向力=1142.9480, 切向力X=744.9781, 切向力Y=-252.7617 +FPS=31.57, 法向力=1560.2478, 切向力X=789.9014, 切向力Y=1823.9641 +FPS=36.84, 法向力=1617.8855, 切向力X=825.4315, 切向力Y=2180.6245 +FPS=50.45, 法向力=1597.1683, 切向力X=830.8956, 切向力Y=2187.3933 +FPS=31.07, 法向力=1614.4730, 切向力X=818.3834, 切向力Y=2146.6458 +FPS=31.82, 法向力=941.9791, 切向力X=1091.9630, 切向力Y=144.3298 +FPS=37.75, 法向力=936.6299, 切向力X=1308.0510, 切向力Y=36.2463 +FPS=44.57, 法向力=1413.6963, 切向力X=1591.1046, 切向力Y=399.2650 +FPS=42.18, 法向力=1447.2391, 切向力X=1565.7935, 切向力Y=325.6497 +FPS=46.75, 法向力=1455.0466, 切向力X=1534.7748, 切向力Y=311.3836 +FPS=31.77, 法向力=2260.7583, 切向力X=422.7858, 切向力Y=1194.6289 +FPS=62.40, 法向力=2359.2603, 切向力X=270.4767, 切向力Y=1271.7021 +FPS=51.08, 法向力=1210.4221, 切向力X=1220.3674, 切向力Y=-846.6738 +FPS=44.34, 法向力=1225.3472, 切向力X=1425.5208, 切向力Y=-980.9097 +FPS=27.57, 法向力=1271.5872, 切向力X=612.0344, 切向力Y=-297.5355 +FPS=55.29, 法向力=1490.7151, 切向力X=463.0328, 切向力Y=-204.8583 +FPS=33.42, 法向力=1288.4937, 切向力X=1210.8813, 切向力Y=105.7957 +FPS=64.88, 法向力=1457.9247, 切向力X=1153.3810, 切向力Y=274.0283 +FPS=62.38, 法向力=1287.5540, 切向力X=1250.7236, 切向力Y=127.2721 +FPS=51.90, 法向力=1330.4707, 切向力X=1888.6849, 切向力Y=515.6632 +FPS=44.65, 法向力=1268.2711, 切向力X=1891.1989, 切向力Y=495.9935 +FPS=48.06, 法向力=1478.1970, 切向力X=1231.9302, 切向力Y=1609.8167 +FPS=37.82, 法向力=1659.0361, 切向力X=1091.1389, 切向力Y=1652.7485 +FPS=47.24, 法向力=1645.3063, 切向力X=1362.3582, 切向力Y=1180.2642 +FPS=38.54, 法向力=1725.5658, 切向力X=1237.3450, 切向力Y=1056.2012 +FPS=47.46, 法向力=1767.7897, 切向力X=1143.3201, 切向力Y=543.6150 +FPS=38.37, 法向力=1722.1951, 切向力X=1192.7866, 切向力Y=733.2922 +FPS=27.47, 法向力=1263.4529, 切向力X=1959.4526, 切向力Y=-368.5120 +FPS=52.86, 法向力=1257.4609, 切向力X=1840.3816, 切向力Y=-303.7108 +FPS=34.65, 法向力=1870.2583, 切向力X=973.0538, 切向力Y=1993.7584 +FPS=40.12, 法向力=1294.0527, 切向力X=1273.6957, 切向力Y=-632.9031 +FPS=62.33, 法向力=1367.1846, 切向力X=1274.7705, 切向力Y=-782.7580 +FPS=54.65, 法向力=1373.8195, 切向力X=1321.7554, 切向力Y=-733.0745 +FPS=60.11, 法向力=1358.5680, 切向力X=815.7811, 切向力Y=783.5161 +FPS=30.04, 法向力=1458.7402, 切向力X=888.1334, 切向力Y=918.0445 +FPS=30.96, 法向力=1340.7181, 切向力X=912.2582, 切向力Y=300.1297 +FPS=37.72, 法向力=1379.5671, 切向力X=953.6788, 切向力Y=231.8730 +FPS=49.07, 法向力=1608.4009, 切向力X=1502.8647, 切向力Y=-1657.2163 +FPS=37.78, 法向力=1596.9650, 切向力X=1494.6691, 切向力Y=-1824.1304 +FPS=47.77, 法向力=1612.2430, 切向力X=930.7731, 切向力Y=-1110.5664 +FPS=36.80, 法向力=1604.4131, 切向力X=855.5641, 切向力Y=-1122.2256 +FPS=45.30, 法向力=1437.7214, 切向力X=800.8141, 切向力Y=-1152.6458 +FPS=33.67, 法向力=1545.1655, 切向力X=727.2797, 切向力Y=-1190.3088 +FPS=32.55, 法向力=1067.8960, 切向力X=1191.3757, 切向力Y=-1850.8301 +FPS=31.17, 法向力=1530.3767, 切向力X=1149.4169, 切向力Y=1942.9446 +FPS=31.66, 法向力=1531.7205, 切向力X=1249.7748, 切向力Y=1976.1921 +FPS=32.46, 法向力=1672.2106, 切向力X=868.6590, 切向力Y=1719.5321 +FPS=31.67, 法向力=1657.5505, 切向力X=756.2347, 切向力Y=1427.8357 +FPS=56.40, 法向力=1664.9158, 切向力X=748.2142, 切向力Y=1494.4048 +FPS=32.76, 法向力=1936.1123, 切向力X=1169.7969, 切向力Y=1650.8822 +FPS=61.86, 法向力=1103.4160, 切向力X=1003.1916, 切向力Y=579.3351 +FPS=55.81, 法向力=1169.5599, 切向力X=1066.2351, 切向力Y=635.0890 +FPS=44.26, 法向力=1161.9564, 切向力X=994.6500, 切向力Y=803.2776 +FPS=62.18, 法向力=2497.2002, 切向力X=1189.4294, 切向力Y=1020.3041 +FPS=51.92, 法向力=2623.5579, 切向力X=1278.0042, 切向力Y=1079.2480 +FPS=61.42, 法向力=2720.9546, 切向力X=1140.7634, 切向力Y=1176.4307 +FPS=51.68, 法向力=1407.8936, 切向力X=1256.5824, 切向力Y=-889.8770 +FPS=34.36, 法向力=1469.4270, 切向力X=1228.0963, 切向力Y=-936.0123 +FPS=30.67, 法向力=1112.3812, 切向力X=1245.1980, 切向力Y=4.3585 +FPS=58.38, 法向力=1349.1902, 切向力X=1353.4084, 切向力Y=99.5030 +FPS=51.89, 法向力=1465.6613, 切向力X=1160.8130, 切向力Y=872.4186 +FPS=43.48, 法向力=1455.3372, 切向力X=1067.4229, 切向力Y=792.4385 +FPS=52.34, 法向力=1456.2015, 切向力X=1260.9131, 切向力Y=262.9908 +FPS=30.46, 法向力=1644.6102, 切向力X=1359.3296, 切向力Y=281.8915 +FPS=37.92, 法向力=1274.3774, 切向力X=1141.0994, 切向力Y=217.5167 +FPS=50.08, 法向力=1345.5327, 切向力X=1235.9904, 切向力Y=478.3998 +FPS=62.03, 法向力=1298.7700, 切向力X=1174.7781, 切向力Y=422.3023 +FPS=54.26, 法向力=1421.4667, 切向力X=1197.7915, 切向力Y=-306.3905 +FPS=33.51, 法向力=1438.4597, 切向力X=1265.1279, 切向力Y=-324.0481 +FPS=37.91, 法向力=1102.3527, 切向力X=1484.0312, 切向力Y=306.9298 +FPS=51.39, 法向力=1085.1194, 切向力X=1495.4683, 切向力Y=309.0018 +FPS=35.04, 法向力=1266.2229, 切向力X=1255.1558, 切向力Y=238.9779 +FPS=47.17, 法向力=1232.4888, 切向力X=1258.4082, 切向力Y=393.7639 +FPS=37.97, 法向力=2191.1113, 切向力X=937.4080, 切向力Y=938.6516 +FPS=62.05, 法向力=2196.4556, 切向力X=946.0397, 切向力Y=752.9177 +FPS=51.81, 法向力=1453.9537, 切向力X=1005.8477, 切向力Y=-1085.3251 +FPS=30.36, 法向力=1388.8297, 切向力X=923.9988, 切向力Y=-1253.7283 +FPS=37.98, 法向力=1465.6433, 切向力X=1296.3693, 切向力Y=-686.2365 +FPS=51.30, 法向力=1450.6486, 切向力X=1275.5480, 切向力Y=-445.6407 +FPS=29.85, 法向力=1643.6921, 切向力X=1561.3752, 切向力Y=249.0037 +FPS=61.87, 法向力=1653.0305, 切向力X=1464.0029, 切向力Y=387.4651 +FPS=38.96, 法向力=1568.0747, 切向力X=1042.2113, 切向力Y=1612.1967 +FPS=51.19, 法向力=1694.5933, 切向力X=1063.9475, 切向力Y=1767.8031 +FPS=30.02, 法向力=1388.7469, 切向力X=736.2604, 切向力Y=870.5681 +FPS=67.17, 法向力=1509.2737, 切向力X=610.0105, 切向力Y=658.6280 +FPS=30.35, 法向力=1564.3008, 切向力X=1207.0830, 切向力Y=-709.6955 +FPS=37.65, 法向力=1523.0220, 切向力X=1256.5623, 切向力Y=-807.9413 +FPS=27.82, 法向力=995.8350, 切向力X=1086.3147, 切向力Y=93.8999 +FPS=60.64, 法向力=975.9683, 切向力X=1090.0762, 切向力Y=312.9567 +FPS=50.93, 法向力=1311.2820, 切向力X=1451.5334, 切向力Y=779.5219 +FPS=47.17, 法向力=1206.4453, 切向力X=1534.9124, 切向力Y=792.1569 +FPS=61.89, 法向力=1236.0052, 切向力X=1532.5916, 切向力Y=764.4398 +FPS=51.25, 法向力=1290.6497, 切向力X=999.3337, 切向力Y=309.6860 +FPS=67.19, 法向力=1253.4041, 切向力X=962.7841, 切向力Y=106.6892 +FPS=52.64, 法向力=1069.1670, 切向力X=325.6703, 切向力Y=1435.8842 +FPS=32.81, 法向力=1198.6082, 切向力X=320.7310, 切向力Y=1366.2587 +FPS=30.87, 法向力=1677.2744, 切向力X=702.4167, 切向力Y=1769.2375 +FPS=32.47, 法向力=1703.0522, 切向力X=722.5459, 切向力Y=1918.4619 +FPS=31.95, 法向力=1218.5291, 切向力X=1168.0464, 切向力Y=-181.8055 +FPS=30.73, 法向力=2005.9675, 切向力X=1431.3257, 切向力Y=-1016.8257 +FPS=31.37, 法向力=2042.2571, 切向力X=1352.1841, 切向力Y=-919.5029 +FPS=32.79, 法向力=1906.2620, 切向力X=929.9035, 切向力Y=1008.1884 +FPS=36.91, 法向力=1877.0137, 切向力X=843.5809, 切向力Y=1259.0448 +FPS=51.94, 法向力=1093.2145, 切向力X=895.5872, 切向力Y=-1137.5186 +FPS=29.70, 法向力=1207.4685, 切向力X=1020.8114, 切向力Y=-174.3514 +FPS=37.65, 法向力=1173.3110, 切向力X=1023.2339, 切向力Y=-252.5204 +FPS=45.98, 法向力=1336.6292, 切向力X=1191.0166, 切向力Y=1034.6067 +FPS=33.40, 法向力=1434.6594, 切向力X=1232.3066, 切向力Y=1491.5850 +FPS=59.34, 法向力=1135.5908, 切向力X=805.6926, 切向力Y=-17.9834 +FPS=51.85, 法向力=1165.5115, 切向力X=875.7961, 切向力Y=-106.7807 +FPS=46.00, 法向力=1183.7478, 切向力X=925.0281, 切向力Y=-94.4966 +FPS=50.25, 法向力=1169.3691, 切向力X=878.2186, 切向力Y=-80.4635 +FPS=30.24, 法向力=1338.2223, 切向力X=1207.8134, 切向力Y=-494.2471 +FPS=57.33, 法向力=1447.8199, 切向力X=1205.8096, 切向力Y=-207.4996 +FPS=50.56, 法向力=2082.2539, 切向力X=660.8342, 切向力Y=-443.4311 +FPS=46.78, 法向力=2268.1731, 切向力X=446.7704, 切向力Y=-408.9401 +FPS=53.23, 法向力=1684.5372, 切向力X=1524.9214, 切向力Y=817.6914 +FPS=34.25, 法向力=1591.5824, 切向力X=1373.8732, 切向力Y=852.9332 +FPS=50.86, 法向力=1623.6641, 切向力X=365.3760, 切向力Y=658.8507 +FPS=31.21, 法向力=1589.2061, 切向力X=279.3936, 切向力Y=608.1974 +FPS=30.57, 法向力=1567.7517, 切向力X=966.7885, 切向力Y=593.5300 +FPS=59.08, 法向力=1541.1132, 切向力X=880.6460, 切向力Y=930.0953 +FPS=53.63, 法向力=1648.2882, 切向力X=1255.5195, 切向力Y=478.7004 +FPS=46.03, 法向力=1660.7148, 切向力X=1123.1036, 切向力Y=370.4182 +FPS=27.63, 法向力=2136.5662, 切向力X=690.8508, 切向力Y=1406.9736 +FPS=30.84, 法向力=2209.4766, 切向力X=690.7935, 切向力Y=1240.6521 +FPS=37.98, 法向力=1571.8582, 切向力X=1226.5562, 切向力Y=1122.7627 +FPS=51.52, 法向力=1552.9006, 切向力X=1043.7119, 切向力Y=1023.1663 +FPS=30.22, 法向力=1209.9390, 切向力X=1336.3767, 切向力Y=-71.9754 +FPS=32.64, 法向力=1754.2222, 切向力X=1975.3435, 切向力Y=-134.0152 +FPS=39.19, 法向力=1956.0936, 切向力X=2171.5005, 切向力Y=-460.7531 +FPS=46.73, 法向力=908.7687, 切向力X=1303.1160, 切向力Y=321.1912 +FPS=37.30, 法向力=941.5977, 切向力X=1229.4458, 切向力Y=478.4109 +FPS=47.14, 法向力=1187.6932, 切向力X=1013.4930, 切向力Y=-21.0184 +FPS=33.10, 法向力=1178.2987, 切向力X=832.4216, 切向力Y=-60.8426 +FPS=31.13, 法向力=1780.2830, 切向力X=727.0621, 切向力Y=-279.1069 +FPS=37.79, 法向力=1953.9624, 切向力X=748.9390, 切向力Y=-91.3043 +FPS=27.69, 法向力=1169.9421, 切向力X=1281.5566, 切向力Y=1282.7040 +FPS=38.13, 法向力=1764.7646, 切向力X=1491.4963, 切向力Y=231.4198 +FPS=27.11, 法向力=1792.4508, 切向力X=1474.4199, 切向力Y=414.7145 +FPS=38.13, 法向力=1384.9691, 切向力X=736.9258, 切向力Y=-360.2928 +FPS=46.48, 法向力=1414.3757, 切向力X=393.8075, 切向力Y=-89.7500 +FPS=65.02, 法向力=1324.8002, 切向力X=1567.4724, 切向力Y=978.4709 +FPS=38.83, 法向力=1461.5879, 切向力X=1503.8835, 切向力Y=1065.4269 +FPS=47.62, 法向力=1469.6152, 切向力X=1508.2183, 切向力Y=1077.1621 +FPS=67.92, 法向力=1017.9282, 切向力X=1197.0073, 切向力Y=255.0427 +FPS=30.62, 法向力=1007.1169, 切向力X=1337.7767, 切向力Y=165.9689 +FPS=38.39, 法向力=1667.4182, 切向力X=1524.9980, 切向力Y=-44.2867 +FPS=48.16, 法向力=1685.6960, 切向力X=1579.9858, 切向力Y=-44.5139 +FPS=37.01, 法向力=1360.7095, 切向力X=1037.3516, 切向力Y=826.6602 +FPS=46.21, 法向力=1333.8835, 切向力X=958.6718, 切向力Y=1358.4900 +FPS=38.88, 法向力=1280.2185, 切向力X=1950.5146, 切向力Y=-287.5742 +FPS=27.95, 法向力=1398.0703, 切向力X=941.1771, 切向力Y=392.1587 +FPS=37.34, 法向力=1691.7896, 切向力X=776.4111, 切向力Y=317.3524 +FPS=27.64, 法向力=1697.1511, 切向力X=375.5958, 切向力Y=218.0165 +FPS=38.35, 法向力=1803.6978, 切向力X=536.3994, 切向力Y=426.3674 +FPS=46.20, 法向力=1766.2268, 切向力X=697.6592, 切向力Y=724.6022 +FPS=64.06, 法向力=1853.8055, 切向力X=742.7375, 切向力Y=831.4941 +FPS=62.53, 法向力=1844.0298, 切向力X=659.9547, 切向力Y=790.6126 +FPS=50.76, 法向力=1563.3721, 切向力X=381.4100, 切向力Y=-273.1211 +FPS=45.27, 法向力=1548.9305, 切向力X=335.4041, 切向力Y=-83.2715 +FPS=48.93, 法向力=1232.0713, 切向力X=679.2389, 切向力Y=1354.2552 +FPS=37.87, 法向力=1236.5137, 切向力X=705.5078, 切向力Y=1340.7886 +FPS=45.93, 法向力=968.0696, 切向力X=1732.4299, 切向力Y=-583.1987 +FPS=31.42, 法向力=1019.9876, 切向力X=1862.0667, 切向力Y=-1230.7935 +FPS=38.33, 法向力=1456.6554, 切向力X=1627.2131, 切向力Y=-288.2340 +FPS=50.60, 法向力=1314.4436, 切向力X=1364.9741, 切向力Y=-148.6069 +FPS=31.09, 法向力=1815.0690, 切向力X=222.3211, 切向力Y=1369.8885 +FPS=32.06, 法向力=1887.6122, 切向力X=154.1353, 切向力Y=1590.0148 +FPS=37.60, 法向力=2449.4639, 切向力X=914.8469, 切向力Y=965.8199 +FPS=27.05, 法向力=1278.2202, 切向力X=673.9188, 切向力Y=-822.3089 +FPS=31.88, 法向力=1244.4592, 切向力X=624.2222, 切向力Y=-1234.6469 +FPS=31.53, 法向力=1311.1226, 切向力X=643.2721, 切向力Y=1055.2184 +FPS=31.36, 法向力=1758.1853, 切向力X=1252.4163, 切向力Y=-1371.8767 +FPS=31.23, 法向力=1740.1677, 切向力X=1312.9816, 切向力Y=-1316.8141 +FPS=38.18, 法向力=1466.7479, 切向力X=890.6808, 切向力Y=420.1805 +FPS=50.35, 法向力=1507.8214, 切向力X=796.3114, 切向力Y=575.2909 +FPS=30.80, 法向力=2382.8828, 切向力X=833.4535, 切向力Y=1469.9119 +FPS=31.50, 法向力=1604.3354, 切向力X=1073.2612, 切向力Y=-63.6265 +FPS=32.14, 法向力=1701.2251, 切向力X=1067.6925, 切向力Y=-326.7020 +FPS=31.92, 法向力=1741.7399, 切向力X=1419.1595, 切向力Y=-497.8507 +FPS=36.48, 法向力=1783.8184, 切向力X=1410.0146, 切向力Y=-761.6064 +FPS=46.90, 法向力=1052.0210, 切向力X=1692.3733, 切向力Y=319.9829 +FPS=38.42, 法向力=1105.1663, 切向力X=1956.0748, 切向力Y=424.5613 +FPS=45.21, 法向力=1486.3322, 切向力X=1097.0662, 切向力Y=942.4030 +FPS=33.35, 法向力=1549.1974, 切向力X=1056.2097, 切向力Y=1000.9445 +FPS=31.82, 法向力=1155.4299, 切向力X=632.9727, 切向力Y=-1174.5457 +FPS=31.06, 法向力=965.9484, 切向力X=1286.6470, 切向力Y=483.1059 +FPS=30.95, 法向力=856.6736, 切向力X=1329.0942, 切向力Y=899.9681 +FPS=32.28, 法向力=1278.6790, 切向力X=405.0746, 切向力Y=-237.1217 +FPS=32.34, 法向力=1405.2948, 切向力X=228.6972, 切向力Y=-238.3241 +FPS=31.64, 法向力=1751.3146, 切向力X=541.7349, 切向力Y=-139.1081 +FPS=59.07, 法向力=1804.7871, 切向力X=629.0014, 切向力Y=-17.5345 +FPS=53.77, 法向力=1239.2521, 切向力X=1213.2729, 切向力Y=840.8371 +FPS=44.88, 法向力=1294.3010, 切向力X=1222.5649, 切向力Y=734.4069 +FPS=47.41, 法向力=1293.2327, 切向力X=1258.2449, 切向力Y=706.3824 +FPS=38.49, 法向力=1122.3682, 切向力X=1417.5837, 切向力Y=1140.9657 +FPS=49.82, 法向力=1150.3535, 切向力X=1432.4200, 切向力Y=1269.5925 +FPS=31.38, 法向力=1454.5291, 切向力X=776.6090, 切向力Y=193.2104 +FPS=61.37, 法向力=1338.6926, 切向力X=962.8170, 切向力Y=-226.6057 +FPS=52.65, 法向力=1624.9724, 切向力X=1703.6213, 切向力Y=-493.5491 +FPS=43.24, 法向力=1634.7894, 切向力X=1857.0332, 切向力Y=-394.3840 +FPS=45.54, 法向力=1791.6448, 切向力X=1251.5200, 切向力Y=1265.4110 +FPS=39.47, 法向力=1851.7629, 切向力X=1195.1176, 切向力Y=1492.8005 +FPS=46.54, 法向力=1106.9883, 切向力X=916.1384, 切向力Y=-305.2327 +FPS=32.01, 法向力=1128.5635, 切向力X=886.4870, 切向力Y=-457.9047 +FPS=32.43, 法向力=1139.5239, 切向力X=1261.0142, 切向力Y=167.2420 +FPS=32.64, 法向力=1403.9177, 切向力X=1456.0767, 切向力Y=1316.4463 +FPS=31.77, 法向力=1769.9897, 切向力X=1224.3712, 切向力Y=1484.7573 +FPS=31.90, 法向力=1366.8363, 切向力X=1256.9833, 切向力Y=22.5993 +FPS=32.11, 法向力=1410.5791, 切向力X=1435.1016, 切向力Y=-52.9583 +FPS=36.66, 法向力=1926.0583, 切向力X=1206.4034, 切向力Y=480.2388 +FPS=27.47, 法向力=868.7904, 切向力X=1113.7285, 切向力Y=369.6730 +FPS=37.92, 法向力=827.7205, 切向力X=1175.3484, 切向力Y=288.7570 +FPS=45.31, 法向力=1999.6560, 切向力X=1268.0756, 切向力Y=919.8142 +FPS=67.79, 法向力=2136.7754, 切向力X=1057.1780, 切向力Y=1011.9426 +FPS=37.95, 法向力=2185.7280, 切向力X=1043.0341, 切向力Y=1119.1069 +FPS=51.55, 法向力=1221.6091, 切向力X=1374.6539, 切向力Y=854.7181 +FPS=29.35, 法向力=1777.2493, 切向力X=1241.2705, 切向力Y=1316.5564 +FPS=37.85, 法向力=1913.4319, 切向力X=1242.4382, 切向力Y=1470.5042 +FPS=46.13, 法向力=2081.7539, 切向力X=125.3143, 切向力Y=939.6588 +FPS=39.72, 法向力=2013.1091, 切向力X=139.3633, 切向力Y=796.2614 +FPS=44.95, 法向力=1135.9882, 切向力X=1029.3763, 切向力Y=607.6796 +FPS=67.97, 法向力=1294.1809, 切向力X=1014.2993, 切向力Y=871.3058 +FPS=54.38, 法向力=1321.5428, 切向力X=1054.7407, 切向力Y=866.8126 +FPS=34.73, 法向力=1306.7100, 切向力X=1461.0234, 切向力Y=-97.7620 +FPS=31.81, 法向力=1283.3010, 切向力X=1386.1168, 切向力Y=-469.7661 +FPS=39.33, 法向力=1941.1995, 切向力X=173.2323, 切向力Y=1233.3918 +FPS=27.32, 法向力=2086.6567, 切向力X=-199.1949, 切向力Y=1878.1561 +FPS=36.52, 法向力=1359.1031, 切向力X=283.5168, 切向力Y=1796.2687 +FPS=46.12, 法向力=1419.8171, 切向力X=225.8752, 切向力Y=1673.1992 +FPS=31.66, 法向力=1132.7997, 切向力X=952.4860, 切向力Y=1741.9282 +FPS=32.43, 法向力=1416.1125, 切向力X=1261.1318, 切向力Y=675.5750 +FPS=32.18, 法向力=1579.9869, 切向力X=1135.8325, 切向力Y=426.6385 +FPS=35.92, 法向力=1216.2162, 切向力X=1654.5271, 切向力Y=1525.2113 +FPS=49.08, 法向力=1257.0908, 切向力X=1740.9481, 切向力Y=1617.5599 +FPS=37.85, 法向力=1350.1495, 切向力X=2157.0818, 切向力Y=-117.5689 +FPS=47.08, 法向力=1486.8262, 切向力X=2208.4407, 切向力Y=-669.3256 +FPS=62.83, 法向力=1672.6707, 切向力X=2309.3721, 切向力Y=-897.4678 +FPS=28.94, 法向力=1519.9802, 切向力X=960.0227, 切向力Y=-702.4569 +FPS=57.53, 法向力=1376.0942, 切向力X=1355.8540, 切向力Y=624.2584 +FPS=47.52, 法向力=1416.4442, 切向力X=1447.7346, 切向力Y=526.5385 +FPS=57.62, 法向力=1391.9316, 切向力X=1412.0952, 切向力Y=497.7551 +FPS=50.16, 法向力=1722.8737, 切向力X=1421.4558, 切向力Y=-1056.7759 +FPS=38.43, 法向力=1645.3938, 切向力X=1490.8920, 切向力Y=-1276.0791 +FPS=47.87, 法向力=1961.4978, 切向力X=1158.4404, 切向力Y=-200.2796 +FPS=32.09, 法向力=1900.9136, 切向力X=1171.6472, 切向力Y=-46.0795 +FPS=32.14, 法向力=1202.0243, 切向力X=800.7089, 切向力Y=720.3752 +FPS=31.72, 法向力=1476.5256, 切向力X=918.9595, 切向力Y=1395.2268 +FPS=37.70, 法向力=1645.3042, 切向力X=996.4167, 切向力Y=1314.3502 +FPS=46.61, 法向力=2373.6636, 切向力X=1343.0527, 切向力Y=745.7274 +FPS=32.31, 法向力=2438.3066, 切向力X=1362.8929, 切向力Y=662.0770 +FPS=32.70, 法向力=1308.2740, 切向力X=1116.1250, 切向力Y=135.7013 +FPS=33.04, 法向力=1449.3557, 切向力X=1174.3057, 切向力Y=234.2382 +FPS=31.50, 法向力=2172.9224, 切向力X=742.4360, 切向力Y=556.0358 +FPS=31.46, 法向力=1231.3716, 切向力X=1254.9221, 切向力Y=427.5482 +FPS=31.30, 法向力=1055.5332, 切向力X=1187.3394, 切向力Y=164.0837 +FPS=31.65, 法向力=1038.6346, 切向力X=1167.5479, 切向力Y=-456.0447 +FPS=30.84, 法向力=1756.6476, 切向力X=774.6273, 切向力Y=1082.3564 +FPS=32.48, 法向力=1736.2678, 切向力X=881.3959, 切向力Y=1252.8336 +FPS=32.02, 法向力=1390.1952, 切向力X=1287.3823, 切向力Y=297.6011 +FPS=31.06, 法向力=1288.5242, 切向力X=936.7720, 切向力Y=311.8957 +FPS=38.27, 法向力=1294.5549, 切向力X=972.7170, 切向力Y=225.2159 +FPS=47.19, 法向力=1393.3007, 切向力X=1158.4285, 切向力Y=-568.9800 +FPS=33.23, 法向力=1402.7157, 切向力X=1156.2375, 切向力Y=-550.9607 +FPS=33.39, 法向力=1411.7327, 切向力X=1177.7749, 切向力Y=-542.9658 +FPS=32.88, 法向力=1783.7474, 切向力X=1128.4563, 切向力Y=568.2253 +FPS=62.28, 法向力=1877.0811, 切向力X=1143.8501, 切向力Y=754.6010 +FPS=53.58, 法向力=1201.8035, 切向力X=1404.4282, 切向力Y=277.9214 +FPS=33.97, 法向力=1254.0767, 切向力X=1260.8188, 切向力Y=-110.0219 +FPS=31.50, 法向力=1212.1179, 切向力X=1091.0958, 切向力Y=-445.7620 +FPS=59.51, 法向力=1249.6326, 切向力X=1141.6248, 切向力Y=-383.1712 +FPS=52.87, 法向力=1287.1938, 切向力X=1234.7439, 切向力Y=155.4486 +FPS=36.28, 法向力=1350.9084, 切向力X=1094.0831, 切向力Y=107.2641 +FPS=31.55, 法向力=1446.2618, 切向力X=1337.1187, 切向力Y=553.9724 +FPS=60.35, 法向力=1509.2413, 切向力X=1408.6917, 切向力Y=593.0647 +FPS=48.70, 法向力=1892.0599, 切向力X=973.9620, 切向力Y=356.5759 +FPS=46.73, 法向力=1936.6392, 切向力X=977.4445, 切向力Y=408.6199 +FPS=47.30, 法向力=2009.1149, 切向力X=1311.9102, 切向力Y=-30.2438 +FPS=32.22, 法向力=1989.8260, 切向力X=1336.2148, 切向力Y=-134.0565 +FPS=56.17, 法向力=1995.5299, 切向力X=1306.2419, 切向力Y=-209.8590 +FPS=50.87, 法向力=1939.1221, 切向力X=777.6737, 切向力Y=260.1093 +FPS=67.02, 法向力=2090.9753, 切向力X=747.7145, 切向力Y=280.4527 +FPS=62.20, 法向力=1990.6812, 切向力X=746.2051, 切向力Y=290.2207 +FPS=51.46, 法向力=1529.7905, 切向力X=509.5446, 切向力Y=-1222.6815 +FPS=53.86, 法向力=1464.8210, 切向力X=576.8794, 切向力Y=-1345.1887 +FPS=26.67, 法向力=1404.3910, 切向力X=819.6257, 切向力Y=-741.1494 +FPS=57.35, 法向力=1267.8132, 切向力X=1139.7485, 切向力Y=-542.6630 +FPS=34.62, 法向力=1416.7301, 切向力X=750.6149, 切向力Y=-69.9374 +FPS=38.02, 法向力=1679.3279, 切向力X=1753.5748, 切向力Y=-1330.1824 +FPS=28.06, 法向力=1708.4484, 切向力X=1890.6466, 切向力Y=-1557.8256 +FPS=38.86, 法向力=1254.9424, 切向力X=1062.1189, 切向力Y=-299.7780 +FPS=27.34, 法向力=1575.2974, 切向力X=1380.7131, 切向力Y=9.4029 +FPS=38.57, 法向力=1621.1040, 切向力X=1348.2429, 切向力Y=-51.7387 +FPS=48.02, 法向力=1335.7285, 切向力X=1231.4541, 切向力Y=235.9077 +FPS=37.47, 法向力=1482.2268, 切向力X=1260.2659, 切向力Y=352.3900 +FPS=50.23, 法向力=1484.8036, 切向力X=1209.4922, 切向力Y=410.1696 +FPS=35.68, 法向力=1687.7213, 切向力X=2432.6387, 切向力Y=156.9926 +FPS=47.28, 法向力=1778.9777, 切向力X=2578.3010, 切向力Y=61.9219 +FPS=39.17, 法向力=1426.9318, 切向力X=1234.4785, 切向力Y=-539.8464 +FPS=26.50, 法向力=1475.6870, 切向力X=1221.4041, 切向力Y=-613.1522 +FPS=64.13, 法向力=1159.1521, 切向力X=1180.6216, 切向力Y=-587.0809 +FPS=32.61, 法向力=1371.7053, 切向力X=1051.2947, 切向力Y=-42.6750 +FPS=38.01, 法向力=1952.1763, 切向力X=1129.3562, 切向力Y=943.4442 +FPS=47.17, 法向力=2023.3112, 切向力X=1037.2205, 切向力Y=1051.7455 +FPS=65.91, 法向力=1667.4802, 切向力X=1325.9708, 切向力Y=522.4538 +FPS=31.78, 法向力=1571.7228, 切向力X=1545.7423, 切向力Y=301.2157 +FPS=38.27, 法向力=1841.7640, 切向力X=1121.3224, 切向力Y=-127.6222 +FPS=27.49, 法向力=1272.1112, 切向力X=1082.5642, 切向力Y=-15.8687 +FPS=57.15, 法向力=1092.3632, 切向力X=1124.9277, 切向力Y=176.9938 +FPS=33.86, 法向力=1058.9954, 切向力X=1117.9657, 切向力Y=177.8458 +FPS=38.56, 法向力=1581.6995, 切向力X=1226.3091, 切向力Y=-144.5614 +FPS=27.23, 法向力=1067.7065, 切向力X=643.9067, 切向力Y=307.3162 +FPS=37.34, 法向力=1008.8357, 切向力X=518.1725, 切向力Y=540.9784 +FPS=46.27, 法向力=1457.6926, 切向力X=615.7716, 切向力Y=416.3839 +FPS=40.50, 法向力=1391.8068, 切向力X=677.2988, 切向力Y=309.1701 +FPS=27.66, 法向力=1681.2876, 切向力X=1009.6186, 切向力Y=925.0432 +FPS=63.84, 法向力=1715.3906, 切向力X=1206.5542, 切向力Y=870.9058 +FPS=32.03, 法向力=1809.3801, 切向力X=1163.8723, 切向力Y=588.0057 +FPS=36.33, 法向力=1714.7581, 切向力X=1101.8195, 切向力Y=802.7152 +FPS=47.63, 法向力=1361.5531, 切向力X=1695.6886, 切向力Y=-108.3140 +FPS=39.80, 法向力=1315.2473, 切向力X=1880.3628, 切向力Y=-315.1522 +FPS=26.81, 法向力=2675.6631, 切向力X=1326.4497, 切向力Y=2766.7161 +FPS=52.50, 法向力=2942.1282, 切向力X=1140.6216, 切向力Y=2940.6331 +FPS=47.06, 法向力=1537.3032, 切向力X=1067.0029, 切向力Y=1255.8890 +FPS=51.16, 法向力=1753.4055, 切向力X=1094.1831, 切向力Y=827.8165 +FPS=36.66, 法向力=1430.3990, 切向力X=1972.2059, 切向力Y=1005.0632 +FPS=27.21, 法向力=1521.6597, 切向力X=2063.3687, 切向力Y=908.7045 +FPS=38.07, 法向力=1183.0703, 切向力X=1568.4781, 切向力Y=-180.7425 +FPS=45.56, 法向力=1239.7694, 切向力X=1598.4299, 切向力Y=-118.4729 +FPS=39.38, 法向力=1312.6547, 切向力X=1615.9613, 切向力Y=310.7907 +FPS=45.50, 法向力=1307.2129, 切向力X=1627.5806, 切向力Y=426.0364 +FPS=41.12, 法向力=1228.1406, 切向力X=1237.9658, 切向力Y=332.5101 +FPS=28.06, 法向力=1312.0853, 切向力X=1220.6881, 切向力Y=1387.2463 +FPS=37.20, 法向力=1331.8057, 切向力X=1152.4536, 切向力Y=1386.6910 +FPS=46.19, 法向力=949.7665, 切向力X=1096.0220, 切向力Y=516.4761 +FPS=66.87, 法向力=913.7795, 切向力X=1146.8782, 切向力Y=337.5901 +FPS=64.82, 法向力=902.8613, 切向力X=1175.5105, 切向力Y=411.6598 +FPS=49.95, 法向力=1327.1562, 切向力X=1091.7659, 切向力Y=2229.8240 +FPS=46.10, 法向力=1453.8584, 切向力X=975.2527, 切向力Y=2449.9858 +FPS=62.32, 法向力=1514.8772, 切向力X=897.0895, 切向力Y=2506.7751 +FPS=52.03, 法向力=1409.2207, 切向力X=575.9359, 切向力Y=-141.1872 +FPS=66.55, 法向力=1399.0732, 切向力X=609.6653, 切向力Y=-215.7969 +FPS=36.45, 法向力=1083.2512, 切向力X=1373.4581, 切向力Y=88.2164 +FPS=51.06, 法向力=1079.0276, 切向力X=1457.2377, 切向力Y=-37.7302 +FPS=35.25, 法向力=1290.1047, 切向力X=853.0073, 切向力Y=-787.5023 +FPS=49.96, 法向力=1235.8811, 切向力X=822.1525, 切向力Y=-845.0009 +FPS=31.45, 法向力=2216.0859, 切向力X=1867.1503, 切向力Y=69.3440 +FPS=32.21, 法向力=2383.1074, 切向力X=1818.6168, 切向力Y=177.2799 +FPS=31.73, 法向力=1821.0957, 切向力X=1724.0269, 切向力Y=1153.9801 +FPS=31.87, 法向力=1549.5427, 切向力X=1034.5093, 切向力Y=679.5432 +FPS=37.28, 法向力=1549.7810, 切向力X=1065.8855, 切向力Y=717.3446 +FPS=48.72, 法向力=1149.2173, 切向力X=1930.9106, 切向力Y=836.2673 +FPS=31.05, 法向力=1193.6111, 切向力X=1875.1909, 切向力Y=649.8943 +FPS=37.69, 法向力=1195.8868, 切向力X=1827.4681, 切向力Y=632.3905 +FPS=46.40, 法向力=1875.6323, 切向力X=1544.5808, 切向力Y=228.5973 +FPS=33.51, 法向力=1193.2051, 切向力X=858.4948, 切向力Y=-424.7526 +FPS=31.04, 法向力=1117.9952, 切向力X=980.9489, 切向力Y=-661.2776 +FPS=31.63, 法向力=1421.6056, 切向力X=1467.3792, 切向力Y=1211.8055 +FPS=31.22, 法向力=1262.4291, 切向力X=1351.8770, 切向力Y=853.6492 +FPS=32.31, 法向力=1435.7605, 切向力X=1157.9240, 切向力Y=1137.6421 +FPS=31.44, 法向力=2144.3572, 切向力X=1398.9536, 切向力Y=-238.3547 +FPS=31.31, 法向力=2198.9048, 切向力X=1331.0769, 切向力Y=-198.0365 +FPS=32.01, 法向力=1877.7301, 切向力X=1549.0205, 切向力Y=258.8494 +FPS=58.64, 法向力=1235.0646, 切向力X=866.0919, 切向力Y=-549.8878 +FPS=53.14, 法向力=1282.7506, 切向力X=807.9010, 切向力Y=-597.5073 +FPS=37.54, 法向力=1289.6487, 切向力X=791.3036, 切向力Y=-578.2048 +FPS=31.54, 法向力=1481.8320, 切向力X=634.5760, 切向力Y=-1863.8240 +FPS=37.84, 法向力=1663.2043, 切向力X=430.4729, 切向力Y=-1715.3242 +FPS=45.06, 法向力=1228.2711, 切向力X=1256.0350, 切向力Y=-471.7066 +FPS=33.70, 法向力=1168.9445, 切向力X=1403.8744, 切向力Y=-400.4000 +FPS=37.56, 法向力=1785.3467, 切向力X=735.3774, 切向力Y=171.2986 +FPS=49.09, 法向力=1940.9883, 切向力X=824.1602, 切向力Y=434.6635 +FPS=37.09, 法向力=1372.1282, 切向力X=1462.8777, 切向力Y=1075.8630 +FPS=48.55, 法向力=1679.5889, 切向力X=1621.4222, 切向力Y=1014.4794 +FPS=36.57, 法向力=1534.0668, 切向力X=1457.6791, 切向力Y=-219.8213 +FPS=47.74, 法向力=1465.1179, 切向力X=1496.4717, 切向力Y=-473.9426 +FPS=38.26, 法向力=1128.8904, 切向力X=1198.5151, 切向力Y=-410.7977 +FPS=49.84, 法向力=1372.1486, 切向力X=1067.3662, 切向力Y=-384.7646 +FPS=36.91, 法向力=1285.7673, 切向力X=1423.2991, 切向力Y=-1590.2726 +FPS=49.09, 法向力=1286.5713, 切向力X=1343.1139, 切向力Y=-1625.9050 +FPS=33.14, 法向力=1542.0911, 切向力X=592.9341, 切向力Y=811.8951 +FPS=36.77, 法向力=1331.1177, 切向力X=560.0814, 切向力Y=1311.2150 +FPS=46.12, 法向力=1408.7993, 切向力X=994.9971, 切向力Y=19.6589 +FPS=39.62, 法向力=1314.5671, 切向力X=1223.1375, 切向力Y=-219.5851 +FPS=46.95, 法向力=1330.4229, 切向力X=1797.8268, 切向力Y=-199.6744 +FPS=37.14, 法向力=1284.4674, 切向力X=1761.6895, 切向力Y=-35.6183 +FPS=45.93, 法向力=1357.3621, 切向力X=1441.6489, 切向力Y=19.4030 +FPS=33.98, 法向力=1420.4822, 切向力X=1403.1959, 切向力Y=-34.2284 +FPS=30.72, 法向力=2096.4814, 切向力X=1044.8767, 切向力Y=1816.3953 +FPS=30.05, 法向力=1271.5337, 切向力X=1144.3871, 切向力Y=1714.1597 +FPS=40.01, 法向力=1203.7170, 切向力X=1335.4077, 切向力Y=1422.8560 +FPS=45.74, 法向力=1559.6396, 切向力X=922.1663, 切向力Y=638.3521 +FPS=32.35, 法向力=1473.4686, 切向力X=1005.5634, 切向力Y=519.5994 +FPS=31.99, 法向力=986.3397, 切向力X=1134.0063, 切向力Y=-353.0192 +FPS=31.48, 法向力=971.7217, 切向力X=1172.6323, 切向力Y=-483.0617 +FPS=39.01, 法向力=1254.8313, 切向力X=1616.3856, 切向力Y=-357.4162 +FPS=51.39, 法向力=1285.5205, 切向力X=1626.7811, 切向力Y=-415.2513 +FPS=60.31, 法向力=1382.4622, 切向力X=1802.9374, 切向力Y=801.7157 +FPS=51.63, 法向力=1356.3392, 切向力X=1704.7761, 切向力Y=1074.2693 +FPS=42.91, 法向力=1360.7788, 切向力X=1731.6467, 切向力Y=1102.8044 +FPS=49.91, 法向力=1431.7333, 切向力X=859.1632, 切向力Y=158.7275 +FPS=32.46, 法向力=1477.6018, 切向力X=959.6182, 切向力Y=-196.2438 +FPS=31.68, 法向力=1500.4674, 切向力X=741.4868, 切向力Y=714.0128 +FPS=61.65, 法向力=1489.9403, 切向力X=832.3818, 切向力Y=765.5534 +FPS=53.84, 法向力=1434.7778, 切向力X=1734.0403, 切向力Y=-480.7404 +FPS=42.30, 法向力=1428.6201, 切向力X=1679.0165, 切向力Y=-480.3848 +FPS=63.05, 法向力=1207.7257, 切向力X=471.5314, 切向力Y=787.7426 +FPS=54.77, 法向力=1271.1562, 切向力X=590.0508, 切向力Y=926.0735 +FPS=59.17, 法向力=1261.4136, 切向力X=592.7354, 切向力Y=970.9202 +FPS=52.49, 法向力=1275.2310, 切向力X=942.9603, 切向力Y=381.7039 +FPS=38.74, 法向力=1220.4061, 切向力X=1154.2810, 切向力Y=199.8817 +FPS=26.85, 法向力=1372.6082, 切向力X=1637.2113, 切向力Y=438.2086 +FPS=39.39, 法向力=1347.7479, 切向力X=1664.6880, 切向力Y=470.8699 +FPS=46.78, 法向力=1366.7222, 切向力X=1283.9664, 切向力Y=232.0375 +FPS=39.17, 法向力=1420.9187, 切向力X=1186.8480, 切向力Y=237.5173 +FPS=47.36, 法向力=1257.2017, 切向力X=1240.7290, 切向力Y=66.7000 +FPS=37.21, 法向力=1261.0112, 切向力X=1170.7791, 切向力Y=100.0211 +FPS=46.23, 法向力=1325.0232, 切向力X=1046.8345, 切向力Y=807.5667 +FPS=39.00, 法向力=1331.4568, 切向力X=1068.5853, 切向力Y=894.3325 +FPS=48.76, 法向力=1326.8157, 切向力X=1361.4460, 切向力Y=2972.4556 +FPS=39.88, 法向力=1335.6941, 切向力X=1313.0178, 切向力Y=3084.1340 +FPS=26.43, 法向力=1196.7278, 切向力X=1077.6333, 切向力Y=282.3653 +FPS=61.10, 法向力=1177.4878, 切向力X=1201.2478, 切向力Y=-256.8837 +FPS=33.38, 法向力=1209.9543, 切向力X=1685.3325, 切向力Y=-382.7316 +FPS=38.59, 法向力=1166.8158, 切向力X=1384.1635, 切向力Y=723.0668 +FPS=48.81, 法向力=1139.4246, 切向力X=1177.3689, 切向力Y=1159.1112 +FPS=36.47, 法向力=1225.0493, 切向力X=1055.8014, 切向力Y=1281.1287 +FPS=44.86, 法向力=1430.1130, 切向力X=1613.6346, 切向力Y=56.0268 +FPS=33.34, 法向力=1348.8521, 切向力X=1797.7815, 切向力Y=-232.5406 +FPS=32.24, 法向力=1465.0854, 切向力X=1407.8636, 切向力Y=819.7716 +FPS=37.37, 法向力=1467.5720, 切向力X=1392.9922, 切向力Y=979.2185 +FPS=62.43, 法向力=1442.1727, 切向力X=1002.5707, 切向力Y=108.6885 +FPS=52.18, 法向力=1423.0325, 切向力X=924.3065, 切向力Y=128.0346 +FPS=64.90, 法向力=1979.2488, 切向力X=1257.6199, 切向力Y=-349.8009 +FPS=51.98, 法向力=2004.5121, 切向力X=1308.0068, 切向力Y=-421.3403 +FPS=32.90, 法向力=2005.5498, 切向力X=222.6603, 切向力Y=3.0671 +FPS=31.47, 法向力=2040.9653, 切向力X=98.7568, 切向力Y=94.9221 +FPS=30.71, 法向力=1243.2037, 切向力X=1156.5786, 切向力Y=-869.4172 +FPS=38.97, 法向力=1237.6057, 切向力X=1037.3643, 切向力Y=-1118.3392 +FPS=48.97, 法向力=1684.4446, 切向力X=1489.6755, 切向力Y=1474.7528 +FPS=32.15, 法向力=1341.7329, 切向力X=1774.1234, 切向力Y=-746.4510 +FPS=32.18, 法向力=1358.5984, 切向力X=1761.4316, 切向力Y=-820.2389 +FPS=36.45, 法向力=1388.2094, 切向力X=1808.6858, 切向力Y=-868.4335 +FPS=45.99, 法向力=1728.1289, 切向力X=1724.8860, 切向力Y=-1914.4602 +FPS=31.86, 法向力=1686.7687, 切向力X=1669.1100, 切向力Y=-1858.0911 +FPS=37.80, 法向力=1681.4214, 切向力X=1630.9685, 切向力Y=-1863.8314 +FPS=47.95, 法向力=1670.7007, 切向力X=1620.9701, 切向力Y=-1849.0503 +FPS=37.56, 法向力=1752.5627, 切向力X=965.4843, 切向力Y=-155.3255 +FPS=47.94, 法向力=1859.4985, 切向力X=943.2407, 切向力Y=49.4835 +FPS=37.75, 法向力=1326.4630, 切向力X=898.3890, 切向力Y=263.5847 +FPS=50.23, 法向力=1356.9847, 切向力X=950.6691, 切向力Y=289.0486 +FPS=37.18, 法向力=1674.2544, 切向力X=1351.3007, 切向力Y=-288.8804 +FPS=45.69, 法向力=1890.2228, 切向力X=1261.0518, 切向力Y=325.1222 +FPS=33.28, 法向力=1589.9175, 切向力X=1120.4255, 切向力Y=1440.6053 +FPS=51.02, 法向力=1583.3811, 切向力X=1003.2725, 切向力Y=1918.9058 +FPS=53.12, 法向力=1609.1018, 切向力X=1519.3339, 切向力Y=1060.8013 +FPS=51.77, 法向力=1580.7175, 切向力X=1588.4307, 切向力Y=909.3776 +FPS=63.15, 法向力=1599.0332, 切向力X=1604.2719, 切向力Y=881.4468 +FPS=50.95, 法向力=1622.2185, 切向力X=1042.8000, 切向力Y=82.7113 +FPS=30.43, 法向力=1869.7870, 切向力X=903.4328, 切向力Y=470.2038 +FPS=32.77, 法向力=1684.7566, 切向力X=892.4033, 切向力Y=0.8047 +FPS=31.89, 法向力=1842.9631, 切向力X=1076.6704, 切向力Y=-82.6182 +FPS=30.97, 法向力=1824.6138, 切向力X=1090.6040, 切向力Y=-120.9058 +FPS=32.96, 法向力=1666.5162, 切向力X=914.7638, 切向力Y=807.8427 +FPS=30.91, 法向力=1545.5610, 切向力X=1296.4341, 切向力Y=426.7848 +FPS=31.61, 法向力=1562.9795, 切向力X=1311.2622, 切向力Y=363.8707 +FPS=31.62, 法向力=1500.8982, 切向力X=580.8171, 切向力Y=460.2542 +FPS=31.81, 法向力=1153.5134, 切向力X=705.6871, 切向力Y=806.0541 +FPS=31.06, 法向力=1164.5310, 切向力X=917.8740, 切向力Y=1142.6514 +FPS=31.48, 法向力=1377.1665, 切向力X=1610.0092, 切向力Y=654.3524 +FPS=33.86, 法向力=1638.5457, 切向力X=1462.8779, 切向力Y=478.9825 +FPS=54.30, 法向力=1729.4048, 切向力X=1496.2656, 切向力Y=-1166.7314 +FPS=52.53, 法向力=1739.5784, 切向力X=1375.6945, 切向力Y=-1187.5720 +FPS=64.05, 法向力=1724.8416, 切向力X=1344.3132, 切向力Y=-1166.5011 +FPS=38.60, 法向力=1556.8964, 切向力X=513.0433, 切向力Y=475.2366 +FPS=31.93, 法向力=1895.1548, 切向力X=415.0511, 切向力Y=981.5344 +FPS=31.34, 法向力=1825.7870, 切向力X=516.9046, 切向力Y=965.4952 +FPS=32.06, 法向力=1676.3542, 切向力X=991.0499, 切向力Y=-1782.8986 +FPS=31.89, 法向力=1699.6125, 切向力X=973.5439, 切向力Y=-1867.4282 +FPS=31.38, 法向力=1166.0304, 切向力X=1119.4309, 切向力Y=-125.5719 +FPS=63.28, 法向力=1252.1006, 切向力X=495.7636, 切向力Y=1132.8083 +FPS=53.73, 法向力=1262.0063, 切向力X=479.1260, 切向力Y=1076.6689 +FPS=42.07, 法向力=1273.1819, 切向力X=470.9652, 切向力Y=1094.6918 +FPS=63.17, 法向力=1227.8586, 切向力X=509.4145, 切向力Y=101.5848 +FPS=54.62, 法向力=1189.1531, 切向力X=517.7573, 切向力Y=183.1541 +FPS=29.25, 法向力=1207.5139, 切向力X=481.7269, 切向力Y=207.8678 +FPS=38.48, 法向力=1523.4391, 切向力X=952.8592, 切向力Y=1040.3110 +FPS=26.71, 法向力=2119.9048, 切向力X=392.2556, 切向力Y=573.6873 +FPS=38.03, 法向力=2349.8376, 切向力X=204.6181, 切向力Y=504.3550 +FPS=45.88, 法向力=1644.7631, 切向力X=101.4267, 切向力Y=1551.2402 +FPS=67.12, 法向力=1652.7631, 切向力X=69.4948, 切向力Y=1831.6069 +FPS=31.69, 法向力=1642.1117, 切向力X=62.2253, 切向力Y=1789.9957 +FPS=39.22, 法向力=1669.5979, 切向力X=164.2225, 切向力Y=1789.4011 +FPS=45.17, 法向力=1825.2119, 切向力X=854.1750, 切向力Y=-95.3220 +FPS=39.82, 法向力=1832.3328, 切向力X=1072.4656, 切向力Y=-533.8489 +FPS=46.44, 法向力=1874.3384, 切向力X=1067.7847, 切向力Y=-174.6993 +FPS=40.05, 法向力=2014.5005, 切向力X=1117.1704, 切向力Y=-241.1466 +FPS=26.79, 法向力=1177.0742, 切向力X=1174.7062, 切向力Y=-1181.5134 +FPS=39.35, 法向力=1243.7903, 切向力X=1302.5229, 切向力Y=-1167.0388 +FPS=48.05, 法向力=1836.3872, 切向力X=935.7837, 切向力Y=-908.7110 +FPS=41.96, 法向力=1824.3611, 切向力X=876.4216, 切向力Y=-799.3458 +FPS=49.22, 法向力=1379.9934, 切向力X=971.8998, 切向力Y=844.1230 +FPS=32.50, 法向力=1412.4648, 切向力X=1140.0049, 切向力Y=1177.9136 +FPS=59.12, 法向力=1807.6654, 切向力X=1562.3350, 切向力Y=905.4847 +FPS=31.77, 法向力=1650.4365, 切向力X=1604.2222, 切向力Y=387.3896 +FPS=60.81, 法向力=1494.0281, 切向力X=1045.9880, 切向力Y=-400.0166 +FPS=32.09, 法向力=1494.5730, 切向力X=970.7983, 切向力Y=-510.3843 +FPS=36.73, 法向力=1575.6461, 切向力X=941.9445, 切向力Y=-503.1654 +FPS=27.05, 法向力=1063.7263, 切向力X=1088.2542, 切向力Y=-171.7360 +FPS=38.10, 法向力=1112.7524, 切向力X=1270.3003, 切向力Y=73.9654 +FPS=44.62, 法向力=1194.6399, 切向力X=548.0743, 切向力Y=-630.1951 +FPS=39.99, 法向力=1337.3440, 切向力X=447.8096, 切向力Y=-800.6840 +FPS=45.85, 法向力=1356.6334, 切向力X=441.0190, 切向力Y=-836.9812 +FPS=63.21, 法向力=1364.3743, 切向力X=1168.3254, 切向力Y=-287.4499 +FPS=55.52, 法向力=1336.6892, 切向力X=1356.3138, 切向力Y=-333.4009 +FPS=35.78, 法向力=1315.3354, 切向力X=1329.5834, 切向力Y=-350.9381 +FPS=31.70, 法向力=1208.9999, 切向力X=1688.6427, 切向力Y=1231.1281 +FPS=59.08, 法向力=831.8532, 切向力X=2247.4160, 切向力Y=1166.6740 +FPS=49.71, 法向力=896.2487, 切向力X=2326.5791, 切向力Y=1544.0260 +FPS=48.07, 法向力=865.0169, 切向力X=2222.5852, 切向力Y=1550.0674 +FPS=51.62, 法向力=1625.2000, 切向力X=1551.0959, 切向力Y=912.9477 +FPS=36.05, 法向力=1729.4241, 切向力X=1458.5637, 切向力Y=975.1445 +FPS=48.96, 法向力=1268.5284, 切向力X=735.0737, 切向力Y=719.8961 +FPS=38.92, 法向力=1182.6719, 切向力X=778.8158, 切向力Y=614.2690 +FPS=49.98, 法向力=1157.3539, 切向力X=822.1874, 切向力Y=645.2057 +FPS=30.06, 法向力=1145.2043, 切向力X=846.4961, 切向力Y=688.9565 +FPS=39.00, 法向力=2387.9155, 切向力X=737.0105, 切向力Y=148.1836 +FPS=48.08, 法向力=2462.3743, 切向力X=721.7458, 切向力Y=241.0492 +FPS=31.80, 法向力=1657.1790, 切向力X=894.0424, 切向力Y=581.8778 +FPS=38.19, 法向力=1685.1493, 切向力X=911.9514, 切向力Y=341.8469 +FPS=27.51, 法向力=1488.1139, 切向力X=1501.1632, 切向力Y=-198.8352 +FPS=30.84, 法向力=1247.5146, 切向力X=1662.3086, 切向力Y=723.4319 +FPS=32.23, 法向力=1278.8116, 切向力X=1512.8840, 切向力Y=304.7524 +FPS=31.59, 法向力=1329.3728, 切向力X=2030.3380, 切向力Y=497.5643 +FPS=32.84, 法向力=1859.0792, 切向力X=1864.4968, 切向力Y=-689.8210 +FPS=30.87, 法向力=1683.2203, 切向力X=1773.2178, 切向力Y=-525.1080 +FPS=37.43, 法向力=1165.8197, 切向力X=1311.6547, 切向力Y=-778.1848 +FPS=46.71, 法向力=1128.3994, 切向力X=1258.2896, 切向力Y=-668.0127 +FPS=33.09, 法向力=1152.2090, 切向力X=1140.0402, 切向力Y=-617.1948 +FPS=30.85, 法向力=1707.8387, 切向力X=541.5917, 切向力Y=367.4196 +FPS=32.59, 法向力=1774.6885, 切向力X=590.7788, 切向力Y=447.3877 +FPS=31.51, 法向力=1318.6355, 切向力X=1012.6273, 切向力Y=693.8552 +FPS=32.36, 法向力=1169.5879, 切向力X=1102.5554, 切向力Y=722.5578 +FPS=57.38, 法向力=2971.7539, 切向力X=1181.1543, 切向力Y=2085.4448 +FPS=51.53, 法向力=2930.9229, 切向力X=1080.2605, 切向力Y=2213.4031 +FPS=37.71, 法向力=1111.5913, 切向力X=885.2285, 切向力Y=175.2260 +FPS=31.71, 法向力=1446.2781, 切向力X=1002.8832, 切向力Y=-266.2523 +FPS=38.98, 法向力=1202.9958, 切向力X=801.1908, 切向力Y=688.9520 +FPS=48.44, 法向力=1219.9442, 切向力X=889.5560, 切向力Y=664.0897 +FPS=57.66, 法向力=1279.7097, 切向力X=789.8503, 切向力Y=585.9998 +FPS=49.81, 法向力=1406.9136, 切向力X=1848.3845, 切向力Y=590.8948 +FPS=46.25, 法向力=1479.2190, 切向力X=1784.0280, 切向力Y=659.4754 +FPS=45.80, 法向力=1280.0244, 切向力X=2023.0596, 切向力Y=72.7023 +FPS=32.15, 法向力=1290.3384, 切向力X=2058.8579, 切向力Y=30.3653 +FPS=32.04, 法向力=1290.8833, 切向力X=2073.4600, 切向力Y=104.0845 +FPS=56.38, 法向力=1310.8389, 切向力X=2072.3887, 切向力Y=54.6436 +FPS=52.77, 法向力=1680.2142, 切向力X=457.9900, 切向力Y=493.4930 +FPS=45.39, 法向力=2180.2847, 切向力X=180.9376, 切向力Y=925.5131 +FPS=53.19, 法向力=1796.3193, 切向力X=1235.1281, 切向力Y=1432.7700 +FPS=30.34, 法向力=2136.6572, 切向力X=1292.0657, 切向力Y=1815.4110 +FPS=37.15, 法向力=966.5378, 切向力X=1119.2925, 切向力Y=751.2360 +FPS=49.90, 法向力=1039.6833, 切向力X=1221.1671, 切向力Y=641.4653 +FPS=63.56, 法向力=1064.0000, 切向力X=1248.8696, 切向力Y=618.9481 +FPS=51.72, 法向力=1458.2178, 切向力X=1312.8359, 切向力Y=-2.9193 +FPS=35.56, 法向力=1380.3623, 切向力X=1292.1670, 切向力Y=-94.6677 +FPS=31.24, 法向力=1535.8811, 切向力X=1597.6960, 切向力Y=2273.7822 +FPS=63.34, 法向力=1567.9924, 切向力X=1398.7800, 切向力Y=2777.8848 +FPS=52.49, 法向力=2142.0771, 切向力X=488.8064, 切向力Y=774.1027 +FPS=44.65, 法向力=1898.6791, 切向力X=521.8314, 切向力Y=694.5791 +FPS=28.00, 法向力=1195.0115, 切向力X=755.8177, 切向力Y=0.2803 +FPS=32.81, 法向力=1186.9565, 切向力X=835.2721, 切向力Y=-24.0552 +FPS=31.32, 法向力=1180.9680, 切向力X=821.2993, 切向力Y=-73.0662 +FPS=37.25, 法向力=1185.9967, 切向力X=840.9387, 切向力Y=12.3702 +FPS=52.23, 法向力=1064.0864, 切向力X=1667.0034, 切向力Y=-183.0984 +FPS=30.98, 法向力=1466.0411, 切向力X=1260.8760, 切向力Y=391.6180 +FPS=33.02, 法向力=1495.1224, 切向力X=1151.6068, 切向力Y=565.1030 +FPS=31.32, 法向力=1999.5746, 切向力X=1418.3308, 切向力Y=-245.5564 +FPS=31.79, 法向力=1335.8718, 切向力X=1000.4560, 切向力Y=-1147.2012 +FPS=31.97, 法向力=1144.6320, 切向力X=1052.7549, 切向力Y=-1452.5300 +FPS=30.99, 法向力=2680.0508, 切向力X=1104.1805, 切向力Y=594.0274 +FPS=32.28, 法向力=2819.9878, 切向力X=1026.2036, 切向力Y=721.8413 +FPS=32.46, 法向力=1342.4214, 切向力X=1406.0837, 切向力Y=295.1634 +FPS=59.40, 法向力=1394.5999, 切向力X=1364.7498, 切向力Y=429.1712 +FPS=53.89, 法向力=1638.1057, 切向力X=1360.5815, 切向力Y=-555.5881 +FPS=42.37, 法向力=1726.5898, 切向力X=1268.5690, 切向力Y=-726.3945 +FPS=27.40, 法向力=1731.4463, 切向力X=1262.2429, 切向力Y=-717.7144 +FPS=38.84, 法向力=1780.6545, 切向力X=1277.6772, 切向力Y=-700.8007 +FPS=46.92, 法向力=1271.8022, 切向力X=1111.9114, 切向力Y=152.4693 +FPS=31.54, 法向力=1297.9824, 切向力X=1144.0181, 切向力Y=374.3264 +FPS=38.76, 法向力=1069.2656, 切向力X=1307.5673, 切向力Y=267.0136 +FPS=27.21, 法向力=1445.4136, 切向力X=1012.7787, 切向力Y=146.5618 +FPS=38.01, 法向力=1486.3898, 切向力X=990.2731, 切向力Y=99.1377 +FPS=46.02, 法向力=1222.6565, 切向力X=860.4597, 切向力Y=268.4988 +FPS=39.25, 法向力=1179.0892, 切向力X=831.8873, 切向力Y=174.2869 +FPS=27.16, 法向力=1393.7993, 切向力X=597.7794, 切向力Y=701.8717 +FPS=63.85, 法向力=1416.7935, 切向力X=476.5049, 切向力Y=811.3663 +FPS=33.14, 法向力=1375.1567, 切向力X=1244.3019, 切向力Y=-166.9989 +FPS=32.95, 法向力=2422.6108, 切向力X=2445.6550, 切向力Y=-258.9261 +FPS=31.11, 法向力=2461.8071, 切向力X=2214.5583, 切向力Y=-223.0329 +FPS=37.98, 法向力=2444.1531, 切向力X=2223.1309, 切向力Y=-239.2689 +FPS=49.02, 法向力=2370.5847, 切向力X=2150.1167, 切向力Y=-206.8384 +FPS=37.25, 法向力=2405.8120, 切向力X=2120.3103, 切向力Y=-241.1512 +FPS=48.73, 法向力=964.6271, 切向力X=1215.5914, 切向力Y=770.8740 +FPS=32.39, 法向力=1894.5787, 切向力X=1471.6201, 切向力Y=1224.9724 +FPS=37.56, 法向力=2021.1503, 切向力X=1403.0601, 切向力Y=1492.2494 +FPS=44.72, 法向力=2219.0378, 切向力X=658.8356, 切向力Y=1280.1951 +FPS=40.84, 法向力=2177.9009, 切向力X=595.6622, 切向力Y=932.3710 +FPS=46.40, 法向力=1417.1956, 切向力X=1525.6842, 切向力Y=206.4342 +FPS=37.87, 法向力=1360.0381, 切向力X=1649.3496, 切向力Y=65.5329 +FPS=44.79, 法向力=1670.9333, 切向力X=1896.7959, 切向力Y=1507.0906 +FPS=67.59, 法向力=1640.8594, 切向力X=1908.1833, 切向力Y=1355.6084 +FPS=32.45, 法向力=1627.6438, 切向力X=1196.5220, 切向力Y=286.7437 +FPS=38.59, 法向力=1814.9028, 切向力X=1112.1272, 切向力Y=277.3001 +FPS=26.44, 法向力=1793.0618, 切向力X=1072.2603, 切向力Y=305.2260 +FPS=60.23, 法向力=1269.6880, 切向力X=1395.1936, 切向力Y=994.3339 +FPS=34.29, 法向力=1256.2344, 切向力X=1680.7791, 切向力Y=1391.5704 +FPS=37.26, 法向力=2608.7378, 切向力X=1367.7505, 切向力Y=85.5064 +FPS=45.80, 法向力=2612.9077, 切向力X=1386.9824, 切向力Y=35.5884 +FPS=65.34, 法向力=1417.1970, 切向力X=1991.5234, 切向力Y=-714.3943 +FPS=32.40, 法向力=1157.3926, 切向力X=2065.4233, 切向力Y=-1567.5747 +FPS=38.39, 法向力=2111.8582, 切向力X=938.4998, 切向力Y=1440.7510 +FPS=26.43, 法向力=2025.2959, 切向力X=1732.6074, 切向力Y=1623.8362 +FPS=39.45, 法向力=2009.1000, 切向力X=1776.4336, 切向力Y=1460.4558 +FPS=27.28, 法向力=1377.6199, 切向力X=1008.9771, 切向力Y=-313.4895 +FPS=58.48, 法向力=1388.2249, 切向力X=918.4834, 切向力Y=-240.2501 +FPS=51.91, 法向力=1343.5332, 切向力X=1927.4097, 切向力Y=918.9855 +FPS=44.02, 法向力=1345.2307, 切向力X=1998.5618, 切向力Y=733.2742 +FPS=27.47, 法向力=1001.8876, 切向力X=1111.7012, 切向力Y=210.0291 +FPS=39.02, 法向力=1006.4259, 切向力X=1125.0476, 切向力Y=225.1358 +FPS=45.26, 法向力=1199.3523, 切向力X=981.6157, 切向力Y=-157.9380 +FPS=40.48, 法向力=1255.1761, 切向力X=981.0435, 切向力Y=-185.4940 +FPS=50.98, 法向力=1885.9703, 切向力X=1739.1382, 切向力Y=-651.2753 +FPS=36.49, 法向力=2008.0096, 切向力X=1757.8807, 切向力Y=-730.0918 +FPS=47.61, 法向力=1277.5371, 切向力X=1182.2500, 切向力Y=85.2589 +FPS=38.03, 法向力=1136.2860, 切向力X=1087.0190, 切向力Y=-176.5523 +FPS=27.05, 法向力=1169.3591, 切向力X=1262.6532, 切向力Y=1263.3075 +FPS=31.49, 法向力=1673.6869, 切向力X=1781.4849, 切向力Y=443.8614 +FPS=37.54, 法向力=1699.0475, 切向力X=1701.9951, 切向力Y=324.2831 +FPS=47.31, 法向力=1176.7451, 切向力X=1128.5051, 切向力Y=737.0846 +FPS=33.33, 法向力=1223.2120, 切向力X=1124.7483, 切向力Y=529.4559 +FPS=32.33, 法向力=1330.3528, 切向力X=1097.7805, 切向力Y=727.9033 +FPS=31.74, 法向力=1373.6179, 切向力X=1092.4990, 切向力Y=972.7369 +FPS=31.78, 法向力=1613.8973, 切向力X=1360.8318, 切向力Y=-417.8078 +FPS=37.05, 法向力=1522.5271, 切向力X=1301.6405, 切向力Y=-263.7201 +FPS=50.00, 法向力=2728.1973, 切向力X=1118.8342, 切向力Y=1811.1118 +FPS=30.34, 法向力=1715.1431, 切向力X=1249.8937, 切向力Y=1765.2129 +FPS=31.82, 法向力=1692.8849, 切向力X=1246.2271, 切向力Y=1680.4224 +FPS=64.25, 法向力=1527.6139, 切向力X=1160.4652, 切向力Y=-342.3682 +FPS=52.75, 法向力=1457.0535, 切向力X=1267.5188, 切向力Y=-623.8419 +FPS=42.20, 法向力=1456.9004, 切向力X=1327.9764, 切向力Y=-566.2318 +FPS=50.48, 法向力=1617.1783, 切向力X=1086.2893, 切向力Y=-254.5210 +FPS=36.86, 法向力=1744.4080, 切向力X=844.8230, 切向力Y=60.7830 +FPS=52.24, 法向力=1363.5464, 切向力X=1266.4347, 切向力Y=-623.4410 +FPS=30.90, 法向力=1355.1694, 切向力X=1385.8795, 切向力Y=-528.7601 +FPS=31.30, 法向力=1761.6982, 切向力X=1113.5867, 切向力Y=1246.7545 +FPS=30.78, 法向力=1790.7070, 切向力X=1066.0898, 切向力Y=1292.8879 +FPS=32.42, 法向力=1482.1550, 切向力X=1376.8739, 切向力Y=276.8217 +FPS=61.80, 法向力=1448.0854, 切向力X=1344.2893, 切向力Y=240.4215 +FPS=52.65, 法向力=1845.7273, 切向力X=556.2136, 切向力Y=228.9773 +FPS=33.67, 法向力=1644.6577, 切向力X=555.5669, 切向力Y=223.3723 +FPS=32.59, 法向力=1165.3374, 切向力X=815.5044, 切向力Y=-865.2148 +FPS=51.80, 法向力=1224.0138, 切向力X=628.9424, 切向力Y=1423.4365 +FPS=53.94, 法向力=1235.2189, 切向力X=781.5410, 切向力Y=1545.9857 +FPS=47.91, 法向力=1185.4937, 切向力X=829.8351, 切向力Y=1622.1575 +FPS=63.45, 法向力=1560.0168, 切向力X=1439.5020, 切向力Y=666.3324 +FPS=54.57, 法向力=1628.7112, 切向力X=1344.0259, 切向力Y=423.5204 +FPS=30.36, 法向力=1346.4453, 切向力X=1689.5366, 切向力Y=-54.1574 +FPS=31.85, 法向力=1289.3010, 切向力X=1635.7771, 切向力Y=-144.2389 +FPS=31.81, 法向力=1906.3733, 切向力X=1505.1393, 切向力Y=772.4495 +FPS=32.11, 法向力=1602.3838, 切向力X=1050.7092, 切向力Y=622.3566 +FPS=33.05, 法向力=1669.3823, 切向力X=991.3698, 切向力Y=408.7328 +FPS=32.45, 法向力=2118.4849, 切向力X=1535.5708, 切向力Y=1494.3020 +FPS=32.03, 法向力=2408.2190, 切向力X=1424.2932, 切向力Y=1905.2577 +FPS=31.34, 法向力=1479.8893, 切向力X=814.0487, 切向力Y=-1.5919 +FPS=37.82, 法向力=1331.6526, 切向力X=887.5844, 切向力Y=-167.9230 +FPS=51.66, 法向力=1420.5206, 切向力X=1421.7081, 切向力Y=2118.5127 +FPS=30.45, 法向力=1499.8414, 切向力X=739.0124, 切向力Y=1724.3094 +FPS=33.36, 法向力=1616.5299, 切向力X=835.1323, 切向力Y=1682.6384 +FPS=65.60, 法向力=1330.1194, 切向力X=1906.8191, 切向力Y=-286.4056 +FPS=55.24, 法向力=1304.0253, 切向力X=1866.9817, 切向力Y=-253.2384 +FPS=33.22, 法向力=1331.8042, 切向力X=1482.4680, 切向力Y=-972.1522 +FPS=31.70, 法向力=1291.3291, 切向力X=1453.1465, 切向力Y=-813.1453 +FPS=61.81, 法向力=1231.1877, 切向力X=1473.4895, 切向力Y=-1004.9484 +FPS=53.89, 法向力=1479.2112, 切向力X=929.5034, 切向力Y=522.3870 +FPS=42.93, 法向力=1583.4655, 切向力X=1047.7100, 切向力Y=674.5457 +FPS=47.43, 法向力=1554.3494, 切向力X=972.3277, 切向力Y=700.4149 +FPS=39.50, 法向力=1725.3247, 切向力X=1737.6909, 切向力Y=1333.8625 +FPS=53.10, 法向力=1771.2148, 切向力X=1693.8229, 切向力Y=1496.1526 +FPS=29.94, 法向力=1401.5713, 切向力X=1542.0342, 切向力Y=2020.6315 +FPS=57.71, 法向力=1358.7867, 切向力X=1624.9836, 切向力Y=1819.1509 +FPS=51.31, 法向力=1309.2579, 切向力X=1559.2490, 切向力Y=328.9079 +FPS=45.70, 法向力=1231.3665, 切向力X=1526.6887, 切向力Y=164.1996 +FPS=27.21, 法向力=1566.2461, 切向力X=1248.3823, 切向力Y=905.4269 +FPS=58.38, 法向力=1699.8477, 切向力X=1455.9642, 切向力Y=1204.9989 +FPS=52.77, 法向力=1772.4460, 切向力X=1627.7002, 切向力Y=674.5789 +FPS=49.14, 法向力=1874.2913, 切向力X=1583.7375, 切向力Y=471.8264 +FPS=26.99, 法向力=1350.7292, 切向力X=941.7977, 切向力Y=367.0399 +FPS=61.11, 法向力=1460.1902, 切向力X=773.6599, 切向力Y=526.0649 +FPS=49.45, 法向力=1384.4521, 切向力X=1379.8563, 切向力Y=243.8453 +FPS=45.30, 法向力=1444.1312, 切向力X=1534.7939, 切向力Y=171.2555 +FPS=62.94, 法向力=1440.9492, 切向力X=1595.3372, 切向力Y=187.1076 +FPS=51.09, 法向力=1425.0017, 切向力X=1943.0289, 切向力Y=-196.3497 +FPS=30.74, 法向力=1433.1616, 切向力X=2152.3506, 切向力Y=-646.3412 +FPS=37.77, 法向力=1235.8354, 切向力X=1485.4901, 切向力Y=-625.9092 +FPS=26.73, 法向力=1566.7886, 切向力X=1061.4923, 切向力Y=593.1445 +FPS=39.06, 法向力=1699.0298, 切向力X=942.6859, 切向力Y=709.8395 +FPS=47.31, 法向力=1984.5857, 切向力X=1368.0940, 切向力Y=674.7467 +FPS=37.61, 法向力=2107.6201, 切向力X=1353.0479, 切向力Y=674.9645 +FPS=27.78, 法向力=1059.2274, 切向力X=2301.9961, 切向力Y=-1119.6042 +FPS=36.73, 法向力=1414.3108, 切向力X=1548.1848, 切向力Y=1763.5239 +FPS=60.68, 法向力=1649.3450, 切向力X=1365.8225, 切向力Y=2387.8347 +FPS=42.79, 法向力=1621.8657, 切向力X=1424.9452, 切向力Y=2378.7271 +FPS=44.44, 法向力=1526.8683, 切向力X=1082.4097, 切向力Y=287.4530 +FPS=26.82, 法向力=1497.4934, 切向力X=1373.6196, 切向力Y=538.4160 +FPS=37.61, 法向力=1516.3174, 切向力X=1297.1490, 切向力Y=609.9888 +FPS=48.26, 法向力=1541.4246, 切向力X=1245.1699, 切向力Y=582.4266 +FPS=39.60, 法向力=1417.4386, 切向力X=1641.9312, 切向力Y=782.3550 +FPS=27.40, 法向力=1915.6077, 切向力X=477.7824, 切向力Y=592.7294 +FPS=37.23, 法向力=2204.2593, 切向力X=221.2949, 切向力Y=979.3878 +FPS=43.83, 法向力=1704.8191, 切向力X=791.5120, 切向力Y=-967.9817 +FPS=32.94, 法向力=1637.8042, 切向力X=780.2103, 切向力Y=-1224.6532 +FPS=32.80, 法向力=1834.0603, 切向力X=1279.8209, 切向力Y=27.3263 +FPS=36.97, 法向力=1829.3267, 切向力X=1413.3341, 切向力Y=86.4776 +FPS=50.88, 法向力=1378.4463, 切向力X=1232.7672, 切向力Y=75.8407 +FPS=30.38, 法向力=1396.4200, 切向力X=1143.1857, 切向力Y=171.9151 +FPS=31.73, 法向力=1419.8800, 切向力X=1498.6617, 切向力Y=544.4728 +FPS=59.53, 法向力=2188.5520, 切向力X=1439.0521, 切向力Y=-198.8253 +FPS=54.55, 法向力=2391.3596, 切向力X=1517.1160, 切向力Y=-228.8013 +FPS=35.21, 法向力=2405.8354, 切向力X=1549.4141, 切向力Y=-209.1157 +FPS=62.98, 法向力=2407.0605, 切向力X=1562.3103, 切向力Y=-207.7420 +FPS=53.04, 法向力=1687.0935, 切向力X=1477.9009, 切向力Y=-83.8032 +FPS=42.57, 法向力=1955.4540, 切向力X=1269.5695, 切向力Y=-95.0115 +FPS=51.64, 法向力=1645.0376, 切向力X=1685.2092, 切向力Y=1179.0166 +FPS=30.54, 法向力=1677.3556, 切向力X=1633.3318, 切向力Y=1427.7605 +FPS=36.44, 法向力=1281.1410, 切向力X=1450.8284, 切向力Y=337.5758 +FPS=50.51, 法向力=1254.4500, 切向力X=1553.7939, 切向力Y=76.0684 +FPS=35.34, 法向力=1423.2502, 切向力X=1583.8179, 切向力Y=423.1772 +FPS=47.05, 法向力=1438.1720, 切向力X=1831.5405, 切向力Y=322.0168 +FPS=31.97, 法向力=2456.0645, 切向力X=1797.4297, 切向力Y=440.8306 +FPS=59.21, 法向力=2404.3672, 切向力X=1822.0071, 切向力Y=443.4159 +FPS=53.13, 法向力=1519.1245, 切向力X=1020.1496, 切向力Y=2308.0298 +FPS=38.78, 法向力=1809.7036, 切向力X=751.1049, 切向力Y=2598.1489 +FPS=37.41, 法向力=1354.9373, 切向力X=1432.6144, 切向力Y=596.6290 +FPS=49.77, 法向力=1192.4792, 切向力X=1536.8025, 切向力Y=236.3359 +FPS=31.65, 法向力=1840.7903, 切向力X=1340.3434, 切向力Y=712.5331 +FPS=31.86, 法向力=1898.1152, 切向力X=1227.1897, 切向力Y=673.5978 +FPS=32.11, 法向力=1105.1627, 切向力X=1155.1885, 切向力Y=-475.4773 +FPS=31.46, 法向力=1190.2581, 切向力X=1039.0859, 切向力Y=-76.1718 +FPS=32.12, 法向力=1218.8031, 切向力X=926.8739, 切向力Y=151.8688 +FPS=37.74, 法向力=1346.2186, 切向力X=1585.7622, 切向力Y=-1216.2334 +FPS=47.45, 法向力=1304.1351, 切向力X=1584.8997, 切向力Y=-1257.8728 +FPS=32.02, 法向力=1315.8767, 切向力X=1336.9255, 切向力Y=-758.7573 +FPS=31.22, 法向力=1714.0156, 切向力X=540.6161, 切向力Y=79.3935 +FPS=31.72, 法向力=1756.5518, 切向力X=362.7538, 切向力Y=446.6057 +FPS=32.21, 法向力=1626.5162, 切向力X=971.3672, 切向力Y=1215.9304 +FPS=32.27, 法向力=1526.5149, 切向力X=729.7946, 切向力Y=2598.7749 +FPS=31.07, 法向力=1514.3147, 切向力X=940.4640, 切向力Y=2656.7732 +FPS=31.73, 法向力=1662.5385, 切向力X=1140.0291, 切向力Y=322.4376 +FPS=38.16, 法向力=1691.1971, 切向力X=1094.9241, 切向力Y=250.3229 +FPS=48.31, 法向力=1216.8018, 切向力X=1056.1641, 切向力Y=380.6815 +FPS=38.21, 法向力=1247.2561, 切向力X=1175.0065, 切向力Y=187.0123 +FPS=47.70, 法向力=2027.7185, 切向力X=1359.6586, 切向力Y=1343.3079 +FPS=33.32, 法向力=2082.5098, 切向力X=1456.5120, 切向力Y=1509.9489 +FPS=62.09, 法向力=2070.4658, 切向力X=1430.4033, 切向力Y=1389.0850 +FPS=53.21, 法向力=1659.1664, 切向力X=1139.1949, 切向力Y=1611.9236 +FPS=41.09, 法向力=1777.6368, 切向力X=1094.7667, 切向力Y=1605.6115 +FPS=61.71, 法向力=1968.7196, 切向力X=1394.8889, 切向力Y=1635.5441 +FPS=54.06, 法向力=1991.4364, 切向力X=1320.6729, 切向力Y=1751.7640 +FPS=64.06, 法向力=1941.4911, 切向力X=1343.0741, 切向力Y=1727.1091 +FPS=53.28, 法向力=1413.8452, 切向力X=1238.5516, 切向力Y=631.7340 +FPS=37.91, 法向力=1459.7745, 切向力X=1183.2943, 切向力Y=535.0177 +FPS=48.39, 法向力=1728.9062, 切向力X=1781.1643, 切向力Y=-510.9422 +FPS=38.93, 法向力=1687.3978, 切向力X=1956.0068, 切向力Y=-573.6793 +FPS=46.87, 法向力=1692.6322, 切向力X=1906.1548, 切向力Y=-576.7470 +FPS=37.52, 法向力=1467.5322, 切向力X=1305.2180, 切向力Y=-764.1575 +FPS=45.84, 法向力=1504.3673, 切向力X=1412.0996, 切向力Y=-844.3606 +FPS=39.93, 法向力=1351.7930, 切向力X=1451.5513, 切向力Y=-253.4672 +FPS=27.70, 法向力=1220.1564, 切向力X=1042.7080, 切向力Y=416.5616 +FPS=65.24, 法向力=1203.4304, 切向力X=927.2300, 切向力Y=675.6754 +FPS=31.59, 法向力=1144.9839, 切向力X=1453.5588, 切向力Y=1595.1624 +FPS=39.29, 法向力=1257.1819, 切向力X=1364.2886, 切向力Y=1803.1990 +FPS=27.34, 法向力=1515.0632, 切向力X=1397.0651, 切向力Y=915.2192 +FPS=59.74, 法向力=1805.6953, 切向力X=1346.0398, 切向力Y=920.8700 +FPS=33.25, 法向力=1550.4874, 切向力X=1493.1532, 切向力Y=3603.5005 +FPS=37.24, 法向力=1198.8850, 切向力X=1189.8022, 切向力Y=537.7621 +FPS=61.65, 法向力=1149.8796, 切向力X=1136.8279, 切向力Y=-565.1354 +FPS=53.00, 法向力=1122.4916, 切向力X=1127.2306, 切向力Y=-610.6867 +FPS=34.85, 法向力=1503.9097, 切向力X=886.5020, 切向力Y=1324.9720 +FPS=49.71, 法向力=1468.9470, 切向力X=1037.5879, 切向力Y=1542.3820 +FPS=38.63, 法向力=1873.9565, 切向力X=1205.4475, 切向力Y=-943.8914 +FPS=65.60, 法向力=1753.7003, 切向力X=1080.0649, 切向力Y=-960.4830 +FPS=54.03, 法向力=1747.3204, 切向力X=1157.9968, 切向力Y=-974.0143 +FPS=29.16, 法向力=1826.1992, 切向力X=1209.9556, 切向力Y=1337.3967 +FPS=37.99, 法向力=1999.9485, 切向力X=1109.3169, 切向力Y=1325.7778 +FPS=27.49, 法向力=1882.1136, 切向力X=857.4810, 切向力Y=1054.9846 +FPS=59.59, 法向力=1223.2832, 切向力X=999.8534, 切向力Y=1044.6271 +FPS=32.81, 法向力=1236.4066, 切向力X=989.9989, 切向力Y=1010.3050 +FPS=38.25, 法向力=1738.7336, 切向力X=1475.0247, 切向力Y=1703.7446 +FPS=28.32, 法向力=1826.4805, 切向力X=1432.9528, 切向力Y=1736.4194 +FPS=37.04, 法向力=1759.1978, 切向力X=893.6367, 切向力Y=2830.3730 +FPS=44.67, 法向力=2723.4478, 切向力X=138.3244, 切向力Y=2128.1956 +FPS=40.62, 法向力=2659.0801, 切向力X=280.6770, 切向力Y=1963.5767 +FPS=64.05, 法向力=2731.6392, 切向力X=271.6888, 切向力Y=1994.4946 +FPS=50.25, 法向力=2675.0864, 切向力X=359.1546, 切向力Y=2028.4556 +FPS=36.80, 法向力=1462.8413, 切向力X=1111.6406, 切向力Y=-688.0037 +FPS=44.98, 法向力=1507.9666, 切向力X=1177.0103, 切向力Y=-1142.9050 +FPS=33.02, 法向力=1641.9597, 切向力X=1621.0365, 切向力Y=828.2533 +FPS=61.29, 法向力=1769.5322, 切向力X=1583.9398, 切向力Y=787.6631 +FPS=53.13, 法向力=2204.5605, 切向力X=1099.7528, 切向力Y=469.9337 +FPS=33.96, 法向力=2360.8564, 切向力X=1074.4758, 切向力Y=585.0862 +FPS=33.53, 法向力=1403.4001, 切向力X=974.6769, 切向力Y=-14.2747 +FPS=61.61, 法向力=1371.1975, 切向力X=840.6591, 切向力Y=66.2249 +FPS=52.34, 法向力=1459.8333, 切向力X=1747.0089, 切向力Y=35.8969 +FPS=36.56, 法向力=1495.9542, 切向力X=1826.1967, 切向力Y=43.6399 +FPS=37.22, 法向力=1578.6143, 切向力X=1523.1760, 切向力Y=-663.6335 +FPS=27.25, 法向力=1584.9062, 切向力X=1678.5957, 切向力Y=1231.0439 +FPS=37.42, 法向力=1616.9600, 切向力X=1759.8516, 切向力Y=1363.9961 +FPS=46.57, 法向力=1764.3226, 切向力X=1681.0533, 切向力Y=1358.0004 +FPS=32.40, 法向力=1954.2603, 切向力X=1602.5670, 切向力Y=1033.9587 +FPS=38.24, 法向力=1572.3298, 切向力X=1040.4185, 切向力Y=1268.8459 +FPS=51.32, 法向力=1449.8561, 切向力X=900.2886, 切向力Y=998.7535 +FPS=30.64, 法向力=1488.3230, 切向力X=1525.8923, 切向力Y=1325.2847 +FPS=30.93, 法向力=1433.7769, 切向力X=1367.4315, 切向力Y=1297.3976 +FPS=31.32, 法向力=1735.6378, 切向力X=1002.6945, 切向力Y=1542.3419 +FPS=31.59, 法向力=1420.4939, 切向力X=1075.3953, 切向力Y=942.9940 +FPS=32.12, 法向力=1479.9540, 切向力X=1109.6198, 切向力Y=557.8275 +FPS=31.72, 法向力=1530.6060, 切向力X=1576.6289, 切向力Y=745.1516 +FPS=32.02, 法向力=1785.7328, 切向力X=811.8049, 切向力Y=407.5558 +FPS=32.14, 法向力=1904.3304, 切向力X=631.8865, 切向力Y=511.2524 +FPS=31.58, 法向力=1367.9463, 切向力X=1174.7625, 切向力Y=928.6591 +FPS=32.84, 法向力=1268.5598, 切向力X=1269.8677, 切向力Y=562.0475 +FPS=30.87, 法向力=1125.4158, 切向力X=1336.2223, 切向力Y=53.8235 +FPS=31.50, 法向力=1077.3716, 切向力X=1322.6802, 切向力Y=897.2198 +FPS=31.89, 法向力=1011.4560, 切向力X=1284.8131, 切向力Y=926.6318 +FPS=59.80, 法向力=1676.8011, 切向力X=630.6178, 切向力Y=1249.4895 +FPS=51.27, 法向力=1801.2849, 切向力X=585.1068, 切向力Y=1333.5569 +FPS=36.22, 法向力=1894.6396, 切向力X=696.9142, 切向力Y=1426.1670 +FPS=31.87, 法向力=1513.0875, 切向力X=1299.0577, 切向力Y=783.5237 +FPS=60.76, 法向力=1069.3958, 切向力X=1080.2610, 切向力Y=289.0277 +FPS=52.07, 法向力=990.5146, 切向力X=1120.9614, 切向力Y=154.4867 +FPS=44.35, 法向力=974.8275, 切向力X=1088.1929, 切向力Y=-25.0359 +FPS=49.92, 法向力=1801.2125, 切向力X=1120.9521, 切向力Y=1147.1436 +FPS=31.06, 法向力=1959.2671, 切向力X=1118.5121, 切向力Y=1192.6724 +FPS=31.93, 法向力=1553.1390, 切向力X=1376.8392, 切向力Y=743.3735 +FPS=31.77, 法向力=1498.3910, 切向力X=1514.7466, 切向力Y=667.8895 +FPS=32.17, 法向力=1817.9448, 切向力X=1492.9718, 切向力Y=-551.4672 +FPS=62.03, 法向力=1623.0979, 切向力X=1408.5880, 切向力Y=-757.3552 +FPS=52.08, 法向力=1490.2802, 切向力X=1003.5908, 切向力Y=-907.0850 +FPS=43.58, 法向力=1442.5327, 切向力X=1113.5442, 切向力Y=-589.5659 +FPS=49.24, 法向力=1443.1716, 切向力X=1886.0414, 切向力Y=-35.8954 +FPS=32.07, 法向力=1409.6455, 切向力X=1782.5524, 切向力Y=11.6472 +FPS=31.60, 法向力=1447.3188, 切向力X=1131.6001, 切向力Y=-290.2057 +FPS=62.99, 法向力=1660.7532, 切向力X=1158.1687, 切向力Y=-60.1201 +FPS=53.48, 法向力=1361.8206, 切向力X=1110.6206, 切向力Y=968.8104 +FPS=43.29, 法向力=1504.1841, 切向力X=997.9934, 切向力Y=1193.3213 +FPS=49.32, 法向力=1570.1017, 切向力X=1530.7382, 切向力Y=-858.4866 +FPS=32.16, 法向力=1598.4136, 切向力X=1560.2394, 切向力Y=-1103.4778 +FPS=32.72, 法向力=2472.9644, 切向力X=817.5986, 切向力Y=534.3611 +FPS=31.90, 法向力=1844.0508, 切向力X=1071.9698, 切向力Y=-712.5537 +FPS=37.80, 法向力=1954.5552, 切向力X=1228.5853, 切向力Y=-898.2835 +FPS=53.16, 法向力=1801.9070, 切向力X=1290.5369, 切向力Y=-662.5522 +FPS=30.43, 法向力=1139.3110, 切向力X=1634.7354, 切向力Y=-133.7396 +FPS=31.84, 法向力=1878.9910, 切向力X=1409.1021, 切向力Y=1077.5138 +FPS=36.16, 法向力=1992.8496, 切向力X=1369.6444, 切向力Y=1001.4548 +FPS=44.87, 法向力=2431.7715, 切向力X=1299.2494, 切向力Y=2258.5083 +FPS=33.24, 法向力=2652.5269, 切向力X=1182.2736, 切向力Y=2219.7363 +FPS=31.79, 法向力=1789.0327, 切向力X=1435.9270, 切向力Y=880.5971 +FPS=31.66, 法向力=1595.4148, 切向力X=1376.3796, 切向力Y=341.2883 +FPS=32.48, 法向力=1594.6243, 切向力X=1338.3888, 切向力Y=197.6888 +FPS=37.28, 法向力=1762.4688, 切向力X=1364.4902, 切向力Y=2030.6177 +FPS=43.41, 法向力=1691.3931, 切向力X=1533.8948, 切向力Y=2011.7709 +FPS=42.50, 法向力=1076.0499, 切向力X=1946.1898, 切向力Y=287.4300 +FPS=46.43, 法向力=1136.1396, 切向力X=2121.1021, 切向力Y=-48.3000 +FPS=39.89, 法向力=1182.8496, 切向力X=2152.5244, 切向力Y=-85.0142 +FPS=46.24, 法向力=1953.2175, 切向力X=1569.3348, 切向力Y=-142.4697 +FPS=32.79, 法向力=2103.5039, 切向力X=1391.6360, 切向力Y=247.1444 +FPS=31.30, 法向力=1131.6835, 切向力X=1172.0604, 切向力Y=-1479.8091 +FPS=57.16, 法向力=1178.9111, 切向力X=1159.8877, 切向力Y=-1676.6711 +FPS=40.19, 法向力=1709.1965, 切向力X=1255.2766, 切向力Y=1194.9590 +FPS=46.95, 法向力=1711.1974, 切向力X=1189.9116, 切向力Y=1106.3933 +FPS=37.93, 法向力=1165.0613, 切向力X=1046.6732, 切向力Y=34.7855 +FPS=26.91, 法向力=1831.0804, 切向力X=1505.5432, 切向力Y=291.8333 +FPS=56.09, 法向力=1830.8301, 切向力X=1524.4463, 切向力Y=412.0712 +FPS=61.27, 法向力=1790.8118, 切向力X=1464.7527, 切向力Y=373.2490 +FPS=49.33, 法向力=1694.8835, 切向力X=1937.9023, 切向力Y=742.5403 +FPS=55.00, 法向力=1780.9529, 切向力X=2032.9459, 切向力Y=766.1654 +FPS=48.46, 法向力=1517.8071, 切向力X=935.4141, 切向力Y=1417.1429 +FPS=37.69, 法向力=1555.5560, 切向力X=986.3262, 切向力Y=1072.1206 +FPS=28.20, 法向力=1311.2371, 切向力X=1511.6802, 切向力Y=1085.2517 +FPS=37.77, 法向力=1316.7670, 切向力X=1457.8159, 切向力Y=1371.5909 +FPS=45.94, 法向力=1067.6331, 切向力X=1237.6946, 切向力Y=-1143.4412 +FPS=38.59, 法向力=1019.3860, 切向力X=1198.9189, 切向力Y=-1270.0942 +FPS=47.85, 法向力=1607.9021, 切向力X=1125.8353, 切向力Y=-528.2480 +FPS=37.90, 法向力=1637.8910, 切向力X=1104.1406, 切向力Y=-226.0623 +FPS=45.46, 法向力=1241.8633, 切向力X=1186.0217, 切向力Y=364.6602 +FPS=32.38, 法向力=1208.7668, 切向力X=1131.2318, 切向力Y=229.8803 +FPS=37.17, 法向力=1901.1055, 切向力X=1575.5608, 切向力Y=830.9467 +FPS=48.63, 法向力=2081.0847, 切向力X=1547.0804, 切向力Y=742.6555 +FPS=38.57, 法向力=1424.5436, 切向力X=776.7952, 切向力Y=852.1795 +FPS=62.41, 法向力=1370.6118, 切向力X=791.2114, 切向力Y=895.7559 +FPS=51.88, 法向力=1007.4155, 切向力X=939.4504, 切向力Y=-669.8191 +FPS=30.50, 法向力=991.2573, 切向力X=1031.3295, 切向力Y=-684.0716 +FPS=31.05, 法向力=1211.2354, 切向力X=1129.7502, 切向力Y=-214.6711 +FPS=31.48, 法向力=1286.9779, 切向力X=1130.1935, 切向力Y=90.4082 +FPS=32.19, 法向力=1687.7695, 切向力X=1870.7980, 切向力Y=383.2865 +FPS=32.93, 法向力=1694.7593, 切向力X=1865.1978, 切向力Y=493.1559 +FPS=37.76, 法向力=1234.9489, 切向力X=1053.7067, 切向力Y=-635.1522 +FPS=49.58, 法向力=1215.7029, 切向力X=1040.0309, 切向力Y=-816.7274 +FPS=32.59, 法向力=1334.2100, 切向力X=986.5284, 切向力Y=1245.8269 +FPS=64.27, 法向力=1335.7273, 切向力X=1118.0791, 切向力Y=1416.4679 +FPS=31.38, 法向力=1717.5215, 切向力X=1516.9414, 切向力Y=406.1404 +FPS=63.31, 法向力=1754.3624, 切向力X=1544.5989, 切向力Y=509.3632 +FPS=51.41, 法向力=1766.0105, 切向力X=1060.1624, 切向力Y=1676.7349 +FPS=35.91, 法向力=1957.7891, 切向力X=612.1371, 切向力Y=1903.4172 +FPS=32.36, 法向力=1269.0874, 切向力X=1418.6106, 切向力Y=-639.3282 +FPS=58.33, 法向力=1196.8606, 切向力X=1426.8999, 切向力Y=-1111.0967 +FPS=52.29, 法向力=1412.1984, 切向力X=1675.0706, 切向力Y=322.0225 +FPS=46.35, 法向力=1621.1423, 切向力X=1793.0883, 切向力Y=893.1870 +FPS=50.98, 法向力=1631.5562, 切向力X=1722.7783, 切向力Y=919.8417 +FPS=31.38, 法向力=1079.1770, 切向力X=855.4316, 切向力Y=684.1739 +FPS=37.57, 法向力=1322.1592, 切向力X=1243.0082, 切向力Y=240.3087 +FPS=47.19, 法向力=1388.1013, 切向力X=1260.9973, 切向力Y=192.2769 +FPS=32.96, 法向力=1996.9517, 切向力X=1015.6168, 切向力Y=1106.1763 +FPS=32.91, 法向力=2039.5946, 切向力X=717.8823, 切向力Y=1470.3340 +FPS=31.70, 法向力=1824.5431, 切向力X=354.8563, 切向力Y=1188.2930 +FPS=31.34, 法向力=1650.8152, 切向力X=1192.8132, 切向力Y=2394.3467 +FPS=33.40, 法向力=1759.6516, 切向力X=1225.3715, 切向力Y=2432.7026 +FPS=37.60, 法向力=1474.8632, 切向力X=1235.5720, 切向力Y=-82.1324 +FPS=27.50, 法向力=1326.2572, 切向力X=1335.5542, 切向力Y=-144.0759 +FPS=32.87, 法向力=1202.8938, 切向力X=1157.7726, 切向力Y=79.8088 +FPS=31.48, 法向力=1254.8159, 切向力X=1089.6851, 切向力Y=167.3819 +FPS=32.25, 法向力=2097.3936, 切向力X=913.6406, 切向力Y=1641.5312 +FPS=57.72, 法向力=2167.2654, 切向力X=962.9719, 切向力Y=1843.2245 +FPS=53.64, 法向力=1231.7729, 切向力X=607.7747, 切向力Y=593.9368 +FPS=37.62, 法向力=1296.0310, 切向力X=639.5547, 切向力Y=293.5597 +FPS=31.78, 法向力=1271.9310, 切向力X=965.0038, 切向力Y=747.3499 +FPS=60.99, 法向力=1285.5570, 切向力X=1120.5952, 切向力Y=605.7983 +FPS=32.37, 法向力=1311.9038, 切向力X=911.0781, 切向力Y=1170.9515 +FPS=61.84, 法向力=1359.1025, 切向力X=961.5555, 切向力Y=1154.6587 +FPS=32.70, 法向力=1507.9578, 切向力X=864.4285, 切向力Y=604.1712 +FPS=32.44, 法向力=1311.8621, 切向力X=719.5331, 切向力Y=1097.0798 +FPS=30.74, 法向力=1265.5388, 切向力X=753.9191, 切向力Y=1116.9922 +FPS=33.81, 法向力=1418.9573, 切向力X=1490.9193, 切向力Y=1066.1206 +FPS=31.01, 法向力=1767.3081, 切向力X=738.7746, 切向力Y=-93.0754 +FPS=32.26, 法向力=1778.5815, 切向力X=639.0149, 切向力Y=-54.9886 +FPS=37.12, 法向力=1604.3160, 切向力X=758.1752, 切向力Y=-222.0220 +FPS=27.87, 法向力=1693.7786, 切向力X=751.6119, 切向力Y=-23.8197 +FPS=31.47, 法向力=1740.2870, 切向力X=1422.8079, 切向力Y=654.8926 +FPS=31.89, 法向力=1232.3453, 切向力X=1224.6282, 切向力Y=-249.8010 +FPS=39.35, 法向力=1337.6935, 切向力X=1157.6121, 切向力Y=-624.3757 +FPS=45.00, 法向力=1332.9136, 切向力X=732.6287, 切向力Y=-191.3871 +FPS=33.68, 法向力=1386.1187, 切向力X=856.5856, 切向力Y=-438.9640 +FPS=63.35, 法向力=1780.3174, 切向力X=1408.1082, 切向力Y=1089.1196 +FPS=53.20, 法向力=1797.6559, 切向力X=1461.5322, 切向力Y=1198.0625 +FPS=42.29, 法向力=1807.7750, 切向力X=1489.5657, 切向力Y=1394.2185 +FPS=51.07, 法向力=1914.5548, 切向力X=1330.3577, 切向力Y=708.3340 +FPS=36.01, 法向力=1919.2766, 切向力X=1314.4282, 切向力Y=613.3689 +FPS=46.34, 法向力=1086.4393, 切向力X=1470.9714, 切向力Y=-550.4410 +FPS=33.93, 法向力=1112.1642, 切向力X=1475.1914, 切向力Y=-508.6776 +FPS=63.32, 法向力=1145.5790, 切向力X=1548.1936, 切向力Y=-513.8234 +FPS=53.28, 法向力=1911.0020, 切向力X=1734.9377, 切向力Y=1358.7488 +FPS=35.72, 法向力=1979.7982, 切向力X=1731.8309, 切向力Y=1419.4043 +FPS=33.16, 法向力=1635.2278, 切向力X=843.6672, 切向力Y=-353.5364 +FPS=61.90, 法向力=1558.3342, 切向力X=909.6335, 切向力Y=-419.3610 +FPS=52.81, 法向力=1666.9514, 切向力X=1329.4911, 切向力Y=-761.0604 +FPS=43.69, 法向力=1760.2996, 切向力X=1152.8018, 切向力Y=-953.2791 +FPS=46.21, 法向力=1546.2948, 切向力X=1258.1851, 切向力Y=1339.9152 +FPS=32.85, 法向力=1617.5275, 切向力X=1138.3647, 切向力Y=1466.7878 +FPS=32.18, 法向力=1067.5208, 切向力X=625.7673, 切向力Y=3.9978 +FPS=32.07, 法向力=1746.4711, 切向力X=625.3024, 切向力Y=103.3718 +FPS=38.63, 法向力=1743.0337, 切向力X=780.0969, 切向力Y=222.9864 +FPS=47.46, 法向力=2051.4307, 切向力X=887.6542, 切向力Y=259.5679 +FPS=31.57, 法向力=1977.0078, 切向力X=934.0746, 切向力Y=-181.1353 +FPS=31.43, 法向力=2558.8445, 切向力X=1421.1965, 切向力Y=500.2547 +FPS=31.84, 法向力=2580.5415, 切向力X=1401.1273, 切向力Y=472.0091 +FPS=32.05, 法向力=1415.3508, 切向力X=1459.0187, 切向力Y=181.1916 +FPS=37.06, 法向力=1393.4325, 切向力X=1423.5430, 切向力Y=84.4183 +FPS=47.24, 法向力=1669.9316, 切向力X=1389.6338, 切向力Y=58.5535 +FPS=38.70, 法向力=1707.4998, 切向力X=1431.2581, 切向力Y=-43.4878 +FPS=27.23, 法向力=1654.6277, 切向力X=151.5697, 切向力Y=174.9560 +FPS=31.91, 法向力=1337.9207, 切向力X=1472.5549, 切向力Y=40.5257 +FPS=31.13, 法向力=2313.0286, 切向力X=856.3320, 切向力Y=104.9518 +FPS=32.38, 法向力=2428.9900, 切向力X=874.9604, 切向力Y=202.2311 +FPS=31.76, 法向力=2003.2184, 切向力X=906.9875, 切向力Y=1858.8464 +FPS=31.43, 法向力=2117.5303, 切向力X=1096.6951, 切向力Y=1387.8835 +FPS=32.06, 法向力=1389.8934, 切向力X=1055.8086, 切向力Y=457.1504 +FPS=37.48, 法向力=1424.4926, 切向力X=946.7156, 切向力Y=567.7053 +FPS=47.60, 法向力=1768.0864, 切向力X=1182.5164, 切向力Y=1014.5137 +FPS=33.45, 法向力=1750.6938, 切向力X=1162.7458, 切向力Y=873.5787 +FPS=31.04, 法向力=1262.3586, 切向力X=1286.0380, 切向力Y=770.5589 +FPS=60.75, 法向力=1231.2473, 切向力X=1311.7131, 切向力Y=771.9293 +FPS=53.59, 法向力=1371.5226, 切向力X=1950.2620, 切向力Y=1351.9468 +FPS=34.43, 法向力=1374.5432, 切向力X=2128.2954, 切向力Y=1693.8616 +FPS=39.51, 法向力=1486.8762, 切向力X=1414.7534, 切向力Y=-85.4205 +FPS=47.00, 法向力=1391.2401, 切向力X=1482.7053, 切向力Y=-38.6134 +FPS=31.34, 法向力=1665.9102, 切向力X=526.8121, 切向力Y=1290.3831 +FPS=59.48, 法向力=1678.0619, 切向力X=533.3329, 切向力Y=1366.0823 +FPS=50.20, 法向力=1454.0852, 切向力X=1018.6239, 切向力Y=1111.1724 +FPS=45.89, 法向力=1433.3662, 切向力X=1286.4224, 切向力Y=904.2711 +FPS=27.28, 法向力=1510.6189, 切向力X=921.6867, 切向力Y=-716.3677 +FPS=32.12, 法向力=1564.9802, 切向力X=1043.7141, 切向力Y=-911.4891 +FPS=31.46, 法向力=1498.1865, 切向力X=1883.0432, 切向力Y=-208.4843 +FPS=58.31, 法向力=1660.6956, 切向力X=1980.5204, 切向力Y=-63.7192 +FPS=49.83, 法向力=2033.0957, 切向力X=1239.4766, 切向力Y=-926.6136 +FPS=48.98, 法向力=2101.0125, 切向力X=1143.8505, 切向力Y=-924.1862 +FPS=27.35, 法向力=1483.1204, 切向力X=599.0212, 切向力Y=1019.7443 +FPS=32.93, 法向力=1247.3632, 切向力X=564.3778, 切向力Y=2365.8848 +FPS=31.92, 法向力=1418.4492, 切向力X=374.0904, 切向力Y=2670.1787 +FPS=32.17, 法向力=1179.4957, 切向力X=848.5491, 切向力Y=-309.7409 +FPS=31.86, 法向力=1503.7723, 切向力X=1020.8501, 切向力Y=-409.8398 +FPS=32.42, 法向力=1732.1484, 切向力X=959.1033, 切向力Y=-260.4417 +FPS=31.74, 法向力=1215.3103, 切向力X=1545.8932, 切向力Y=343.0492 +FPS=32.61, 法向力=1359.7219, 切向力X=1090.7894, 切向力Y=-943.8797 +FPS=31.79, 法向力=1413.5306, 切向力X=1054.2205, 切向力Y=-1029.5983 +FPS=31.31, 法向力=1414.0541, 切向力X=1087.1746, 切向力Y=-1015.9530 +FPS=32.73, 法向力=1391.2567, 切向力X=1405.0092, 切向力Y=2353.7971 +FPS=59.08, 法向力=1325.5798, 切向力X=1445.6489, 切向力Y=1239.8934 +FPS=51.95, 法向力=1548.8616, 切向力X=1008.5067, 切向力Y=1253.9858 +FPS=45.30, 法向力=1628.4033, 切向力X=965.9926, 切向力Y=1301.4109 +FPS=27.54, 法向力=1007.1407, 切向力X=1075.2888, 切向力Y=164.3430 +FPS=58.71, 法向力=1055.1262, 切向力X=1092.7550, 切向力Y=49.7612 +FPS=54.03, 法向力=1262.0288, 切向力X=1041.5554, 切向力Y=-16.4200 +FPS=66.84, 法向力=1257.0626, 切向力X=1044.6573, 切向力Y=-65.3741 +FPS=61.16, 法向力=1262.1654, 切向力X=965.3381, 切向力Y=-72.3101 +FPS=53.22, 法向力=1113.9740, 切向力X=672.8372, 切向力Y=-55.5142 +FPS=53.37, 法向力=1054.1708, 切向力X=684.5127, 切向力Y=-117.7914 +FPS=62.16, 法向力=1283.8143, 切向力X=1414.7766, 切向力Y=2078.2361 +FPS=54.25, 法向力=1285.5237, 切向力X=1392.7827, 切向力Y=2178.1719 +FPS=28.92, 法向力=1229.0730, 切向力X=1089.2861, 切向力Y=-55.0063 +FPS=37.69, 法向力=1251.7153, 切向力X=1171.1147, 切向力Y=-275.4882 +FPS=47.04, 法向力=1248.7987, 切向力X=1125.1526, 切向力Y=-357.9123 +FPS=39.90, 法向力=1519.8796, 切向力X=1581.6816, 切向力Y=12.5998 +FPS=27.58, 法向力=1501.6218, 切向力X=1593.3789, 切向力Y=1033.3645 +FPS=31.45, 法向力=1596.3357, 切向力X=1701.4326, 切向力Y=1071.7816 +FPS=32.17, 法向力=1529.2068, 切向力X=1740.4808, 切向力Y=1083.7321 +FPS=32.59, 法向力=1126.3854, 切向力X=1338.9817, 切向力Y=799.6406 +FPS=31.71, 法向力=1104.7449, 切向力X=715.6899, 切向力Y=674.0826 +FPS=31.50, 法向力=1179.6443, 切向力X=1229.5930, 切向力Y=-338.5614 +FPS=31.19, 法向力=1482.5015, 切向力X=1482.2618, 切向力Y=696.4633 +FPS=32.35, 法向力=1517.7002, 切向力X=1501.1847, 切向力Y=838.8768 +FPS=33.16, 法向力=1729.1809, 切向力X=1292.8407, 切向力Y=776.4805 +FPS=33.86, 法向力=1662.6885, 切向力X=1731.4723, 切向力Y=1894.3430 +FPS=31.74, 法向力=1657.2612, 切向力X=1541.1506, 切向力Y=1829.8989 +FPS=32.01, 法向力=1654.8088, 切向力X=1499.7893, 切向力Y=1919.1575 +FPS=32.36, 法向力=1037.5315, 切向力X=1356.5929, 切向力Y=-286.0728 +FPS=56.41, 法向力=1047.0608, 切向力X=1548.5957, 切向力Y=-451.2002 +FPS=53.71, 法向力=1278.4620, 切向力X=1297.3245, 切向力Y=560.0509 +FPS=45.04, 法向力=1475.9153, 切向力X=1098.4404, 切向力Y=703.3509 +FPS=64.50, 法向力=1521.4624, 切向力X=1169.5468, 切向力Y=1028.5441 +FPS=50.85, 法向力=1513.2544, 切向力X=1127.4233, 切向力Y=1029.8506 +FPS=64.97, 法向力=1519.1664, 切向力X=1110.3794, 切向力Y=1074.9537 +FPS=51.99, 法向力=1194.2166, 切向力X=1589.1689, 切向力Y=850.1831 +FPS=33.79, 法向力=1173.4685, 切向力X=1752.0232, 切向力Y=766.4432 +FPS=32.07, 法向力=1948.5295, 切向力X=1705.7593, 切向力Y=1065.2339 +FPS=61.86, 法向力=2012.6718, 切向力X=1706.2955, 切向力Y=1223.7303 +FPS=53.45, 法向力=1898.7021, 切向力X=821.3817, 切向力Y=445.8083 +FPS=67.54, 法向力=1880.0320, 切向力X=781.2386, 切向力Y=412.6873 +FPS=66.05, 法向力=1841.2266, 切向力X=763.3574, 切向力Y=427.3347 +FPS=54.94, 法向力=1698.1318, 切向力X=1338.3687, 切向力Y=756.4197 +FPS=44.26, 法向力=1870.2687, 切向力X=1311.9067, 切向力Y=949.1547 +FPS=47.56, 法向力=1873.7571, 切向力X=1324.5613, 切向力Y=944.1051 +FPS=32.31, 法向力=1644.4888, 切向力X=1471.0039, 切向力Y=596.9330 +FPS=30.56, 法向力=1957.5265, 切向力X=803.2433, 切向力Y=882.4654 +FPS=37.41, 法向力=2100.4343, 切向力X=739.0210, 切向力Y=1212.3396 +FPS=46.10, 法向力=2192.1753, 切向力X=1262.4506, 切向力Y=711.3878 +FPS=40.03, 法向力=2133.5886, 切向力X=1315.3015, 切向力Y=707.6828 +FPS=27.67, 法向力=2123.1985, 切向力X=1413.8125, 切向力Y=569.2650 +FPS=39.31, 法向力=1751.7507, 切向力X=1621.6587, 切向力Y=1164.4279 +FPS=26.11, 法向力=1695.3940, 切向力X=1681.0723, 切向力Y=1327.8010 +FPS=58.59, 法向力=1433.2916, 切向力X=1314.2130, 切向力Y=-409.8279 +FPS=34.83, 法向力=1415.5808, 切向力X=1351.8042, 切向力Y=-545.8820 +FPS=38.54, 法向力=1321.3938, 切向力X=957.3871, 切向力Y=-1308.9143 +FPS=48.37, 法向力=1286.1774, 切向力X=1043.3280, 切向力Y=-1355.5933 +FPS=38.24, 法向力=1265.5288, 切向力X=1035.3992, 切向力Y=-1352.1785 +FPS=26.94, 法向力=1567.7551, 切向力X=1285.0974, 切向力Y=161.4615 +FPS=53.92, 法向力=1023.2286, 切向力X=341.8820, 切向力Y=1845.7133 +FPS=35.31, 法向力=950.8031, 切向力X=287.9411, 切向力Y=1856.6715 +FPS=38.71, 法向力=1302.1321, 切向力X=751.8454, 切向力Y=-491.4948 +FPS=46.05, 法向力=1385.9991, 切向力X=763.9791, 切向力Y=-871.0104 +FPS=62.00, 法向力=1424.3427, 切向力X=743.5421, 切向力Y=-922.3962 +FPS=32.78, 法向力=2091.5684, 切向力X=979.9125, 切向力Y=1044.1731 +FPS=38.79, 法向力=2128.4180, 切向力X=947.2730, 切向力Y=1044.5962 +FPS=50.44, 法向力=2128.4985, 切向力X=929.9201, 切向力Y=1033.8850 +FPS=62.96, 法向力=2120.8728, 切向力X=938.5991, 切向力Y=1012.5507 +FPS=53.59, 法向力=1642.3342, 切向力X=1174.0719, 切向力Y=-2.0939 +FPS=41.82, 法向力=1670.8452, 切向力X=1214.3259, 切向力Y=71.6009 +FPS=47.65, 法向力=1555.9104, 切向力X=935.6116, 切向力Y=704.8098 +FPS=37.44, 法向力=1639.2830, 切向力X=846.0358, 切向力Y=1202.7859 +FPS=46.87, 法向力=1465.5474, 切向力X=1801.3892, 切向力Y=189.7571 +FPS=37.35, 法向力=1447.4019, 切向力X=1925.0508, 切向力Y=-159.5828 +FPS=48.39, 法向力=1426.1079, 切向力X=2008.1453, 切向力Y=-124.5652 +FPS=38.23, 法向力=1438.3618, 切向力X=1161.9220, 切向力Y=495.5864 +FPS=64.45, 法向力=1414.1010, 切向力X=1067.4877, 切向力Y=583.9923 +FPS=43.12, 法向力=1605.8921, 切向力X=1040.8877, 切向力Y=1507.9153 +FPS=41.04, 法向力=1658.8296, 切向力X=1140.3557, 切向力Y=1531.4197 +FPS=46.52, 法向力=1321.7867, 切向力X=1835.1486, 切向力Y=1354.6541 +FPS=39.05, 法向力=1519.6771, 切向力X=2028.4893, 切向力Y=925.0436 +FPS=44.26, 法向力=1467.7471, 切向力X=1457.3901, 切向力Y=-33.4465 +FPS=41.00, 法向力=1437.8787, 切向力X=1319.5806, 切向力Y=-22.7391 +FPS=50.06, 法向力=1433.6329, 切向力X=1308.6516, 切向力Y=8.8581 +FPS=31.70, 法向力=1441.1599, 切向力X=1314.9594, 切向力Y=18.1334 +FPS=31.64, 法向力=1454.6768, 切向力X=945.3250, 切向力Y=1259.8369 +FPS=38.30, 法向力=1458.2803, 切向力X=982.9032, 切向力Y=1591.5206 +FPS=48.28, 法向力=1174.0698, 切向力X=1711.5212, 切向力Y=691.1926 +FPS=39.50, 法向力=1101.1997, 切向力X=1655.6597, 切向力Y=264.5564 +FPS=45.74, 法向力=1492.2273, 切向力X=1706.6858, 切向力Y=-474.1502 +FPS=33.06, 法向力=1487.8101, 切向力X=1563.6052, 切向力Y=-315.8700 +FPS=58.40, 法向力=1676.9788, 切向力X=487.7726, 切向力Y=2761.9893 +FPS=50.54, 法向力=1667.8130, 切向力X=498.3263, 切向力Y=2829.2515 +FPS=49.24, 法向力=1651.1362, 切向力X=446.9847, 切向力Y=2826.1670 +FPS=27.50, 法向力=1617.6083, 切向力X=1770.5280, 切向力Y=-437.9379 +FPS=61.25, 法向力=1083.0344, 切向力X=1584.4922, 切向力Y=-526.2802 +FPS=33.25, 法向力=990.5116, 切向力X=1483.9720, 切向力Y=-532.6436 +FPS=60.86, 法向力=964.4700, 切向力X=1435.3904, 切向力Y=-492.1255 +FPS=51.67, 法向力=1830.8369, 切向力X=1456.4246, 切向力Y=591.0682 +FPS=43.82, 法向力=1884.4746, 切向力X=1434.1482, 切向力Y=629.4144 +FPS=27.25, 法向力=1904.1117, 切向力X=1385.8250, 切向力Y=791.0181 +FPS=45.64, 法向力=1581.0569, 切向力X=545.0664, 切向力Y=879.2728 +FPS=39.14, 法向力=1530.5625, 切向力X=469.0790, 切向力Y=805.4262 +FPS=32.52, 法向力=1531.4210, 切向力X=515.9547, 切向力Y=889.4581 +FPS=32.47, 法向力=1412.6638, 切向力X=1464.7716, 切向力Y=1267.0063 +FPS=60.34, 法向力=1340.7684, 切向力X=1627.5935, 切向力Y=1446.4617 +FPS=50.17, 法向力=2119.3555, 切向力X=1098.6035, 切向力Y=794.1555 +FPS=51.27, 法向力=1863.2144, 切向力X=1090.9697, 切向力Y=1173.8214 +FPS=56.15, 法向力=1393.8838, 切向力X=1138.7671, 切向力Y=265.4420 +FPS=54.09, 法向力=1321.1990, 切向力X=1230.8652, 切向力Y=-48.5949 +FPS=28.68, 法向力=1749.2058, 切向力X=1282.6401, 切向力Y=1021.0088 +FPS=49.93, 法向力=1825.1018, 切向力X=1257.9111, 切向力Y=1207.2030 +FPS=47.44, 法向力=1141.2534, 切向力X=641.7646, 切向力Y=1041.4780 +FPS=64.69, 法向力=1170.2513, 切向力X=601.8580, 切向力Y=1146.9614 +FPS=60.32, 法向力=1166.8428, 切向力X=627.4835, 切向力Y=1156.9531 +FPS=51.10, 法向力=1727.5476, 切向力X=758.3735, 切向力Y=1257.4087 +FPS=49.52, 法向力=1626.0474, 切向力X=808.0964, 切向力Y=1165.9011 +FPS=65.41, 法向力=1584.9194, 切向力X=778.1339, 切向力Y=1080.7158 +FPS=54.00, 法向力=1580.8951, 切向力X=769.7899, 切向力Y=1171.8977 +FPS=38.35, 法向力=1576.2933, 切向力X=774.2410, 切向力Y=1129.4059 +FPS=48.88, 法向力=1009.8827, 切向力X=1308.1927, 切向力Y=659.1332 +FPS=32.96, 法向力=1038.6923, 切向力X=1423.5206, 切向力Y=606.4214 +FPS=50.07, 法向力=1042.4180, 切向力X=1438.8052, 切向力Y=604.4377 +FPS=45.14, 法向力=1106.3655, 切向力X=799.0126, 切向力Y=616.2944 +FPS=29.61, 法向力=2194.4402, 切向力X=325.8049, 切向力Y=1308.6952 +FPS=31.97, 法向力=2223.4832, 切向力X=422.0463, 切向力Y=1212.6772 +FPS=31.11, 法向力=1004.8333, 切向力X=1521.6830, 切向力Y=642.4307 +FPS=31.81, 法向力=1729.7303, 切向力X=1618.8025, 切向力Y=-311.0495 +FPS=31.69, 法向力=1656.5216, 切向力X=1630.7156, 切向力Y=-219.0122 +FPS=31.30, 法向力=2000.7310, 切向力X=727.6306, 切向力Y=102.7924 +FPS=31.32, 法向力=1061.5223, 切向力X=1367.7971, 切向力Y=-413.0591 +FPS=39.44, 法向力=1161.6703, 切向力X=1518.7952, 切向力Y=-402.2261 +FPS=44.91, 法向力=1110.0004, 切向力X=1438.4976, 切向力Y=-383.1712 +FPS=40.93, 法向力=1159.9241, 切向力X=1481.8329, 切向力Y=-395.8674 +FPS=51.64, 法向力=1103.4355, 切向力X=1438.2166, 切向力Y=-383.4223 +FPS=58.77, 法向力=1155.3325, 切向力X=1487.3008, 切向力Y=-394.8720 +FPS=53.81, 法向力=1327.6956, 切向力X=1569.0690, 切向力Y=311.3894 +FPS=34.21, 法向力=1270.0371, 切向力X=1526.7479, 切向力Y=342.7089 +FPS=39.23, 法向力=1258.6685, 切向力X=1589.2493, 切向力Y=-436.6071 +FPS=49.91, 法向力=1301.4264, 切向力X=1562.5127, 切向力Y=-512.6040 +FPS=30.97, 法向力=1226.6411, 切向力X=1265.6287, 切向力Y=-573.5138 +FPS=58.07, 法向力=1229.9825, 切向力X=1175.7878, 切向力Y=-435.0861 +FPS=49.70, 法向力=1893.8704, 切向力X=1754.3789, 切向力Y=-197.9830 +FPS=47.17, 法向力=2208.6602, 切向力X=1708.1969, 切向力Y=131.9604 +FPS=27.84, 法向力=1392.1337, 切向力X=535.3947, 切向力Y=1063.4854 +FPS=51.17, 法向力=1322.3574, 切向力X=501.9709, 切向力Y=911.7822 +FPS=52.08, 法向力=1490.2091, 切向力X=464.6420, 切向力Y=492.9575 +FPS=53.69, 法向力=1456.6165, 切向力X=425.5156, 切向力Y=457.1882 +FPS=49.76, 法向力=1890.1846, 切向力X=697.9389, 切向力Y=921.4100 +FPS=30.97, 法向力=1816.4937, 切向力X=812.6731, 切向力Y=1016.6957 +FPS=32.48, 法向力=1796.0083, 切向力X=812.6992, 切向力Y=1020.6335 +FPS=33.07, 法向力=1796.7415, 切向力X=801.4652, 切向力Y=1028.2654 +FPS=31.49, 法向力=1367.3622, 切向力X=1257.1086, 切向力Y=-290.1058 +FPS=32.08, 法向力=2918.9233, 切向力X=448.7679, 切向力Y=-425.9728 +FPS=30.74, 法向力=3140.7268, 切向力X=288.2550, 切向力Y=-553.8449 +FPS=34.48, 法向力=1850.8140, 切向力X=1238.6987, 切向力Y=1090.1331 +FPS=33.14, 法向力=1377.2959, 切向力X=1165.5383, 切向力Y=-437.7229 +FPS=31.42, 法向力=1374.6582, 切向力X=1208.7203, 切向力Y=-120.7366 +FPS=31.66, 法向力=1462.1326, 切向力X=2074.5378, 切向力Y=1569.7289 +FPS=31.43, 法向力=1789.1519, 切向力X=1058.8157, 切向力Y=618.6918 +FPS=32.68, 法向力=1666.4141, 切向力X=790.1797, 切向力Y=555.9092 +FPS=38.44, 法向力=1129.4080, 切向力X=1527.1638, 切向力Y=1210.1023 +FPS=27.25, 法向力=1139.1157, 切向力X=1616.1346, 切向力Y=1010.4385 +FPS=32.88, 法向力=1120.6426, 切向力X=1544.4059, 切向力Y=1108.8970 +FPS=32.04, 法向力=1115.1882, 切向力X=1548.1415, 切向力Y=1162.0593 +FPS=31.89, 法向力=1259.1250, 切向力X=918.0441, 切向力Y=1149.9353 +FPS=61.01, 法向力=1429.2329, 切向力X=957.0557, 切向力Y=1399.6211 +FPS=49.46, 法向力=2012.2766, 切向力X=990.8079, 切向力Y=1418.0900 +FPS=37.22, 法向力=2064.6438, 切向力X=985.4310, 切向力Y=1344.5364 +FPS=32.80, 法向力=1707.7786, 切向力X=683.0964, 切向力Y=1677.8982 +FPS=31.73, 法向力=1455.7104, 切向力X=1389.6915, 切向力Y=764.3301 +FPS=37.79, 法向力=1468.0183, 切向力X=1377.6752, 切向力Y=686.5284 +FPS=45.48, 法向力=1633.0957, 切向力X=1183.6707, 切向力Y=849.6956 +FPS=32.63, 法向力=1570.9099, 切向力X=1060.3185, 切向力Y=812.3989 +FPS=29.87, 法向力=1446.0741, 切向力X=1558.8850, 切向力Y=358.7074 +FPS=20.05, 法向力=1400.5579, 切向力X=1544.3549, 切向力Y=334.7626 +FPS=20.86, 法向力=1820.1038, 切向力X=2271.1484, 切向力Y=-507.5695 +FPS=22.10, 法向力=1843.4303, 切向力X=2174.4204, 切向力Y=-521.2454 +FPS=21.51, 法向力=1219.4966, 切向力X=1431.8762, 切向力Y=388.1366 +FPS=21.29, 法向力=1375.3115, 切向力X=1340.8552, 切向力Y=1290.3813 +FPS=21.41, 法向力=2158.9546, 切向力X=1471.5857, 切向力Y=1515.7615 +FPS=27.95, 法向力=1665.8838, 切向力X=2220.9319, 切向力Y=117.6373 +FPS=22.74, 法向力=1513.3037, 切向力X=1341.9846, 切向力Y=822.2101 +FPS=22.81, 法向力=2063.6018, 切向力X=1007.2159, 切向力Y=112.8503 +FPS=19.64, 法向力=1064.0322, 切向力X=1405.2141, 切向力Y=-211.6776 +FPS=22.66, 法向力=1043.8125, 切向力X=1386.5325, 切向力Y=-249.8030 +FPS=20.44, 法向力=1846.0109, 切向力X=1102.8445, 切向力Y=2116.5398 +FPS=21.56, 法向力=847.0558, 切向力X=793.6630, 切向力Y=-648.7876 +FPS=20.80, 法向力=1380.2184, 切向力X=1531.3640, 切向力Y=-1050.0007 +FPS=20.74, 法向力=1381.3040, 切向力X=901.5352, 切向力Y=104.2809 +FPS=21.11, 法向力=1408.3374, 切向力X=889.6976, 切向力Y=103.9122 +FPS=21.74, 法向力=1413.4868, 切向力X=1197.9921, 切向力Y=1236.5757 +FPS=21.28, 法向力=857.3031, 切向力X=1262.2117, 切向力Y=-127.5830 +FPS=26.73, 法向力=1608.1656, 切向力X=66.1191, 切向力Y=2545.5010 +Traceback (most recent call last): + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\AxisItem.py", line 991, in paint + specs = self.generateDrawSpecs(painter) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\AxisItem.py", line 1669, in generateDrawSpecs + height = textRect.height() + ^^^^^^^^^^^^^^^^^ +KeyboardInterrupt +FPS=19.92, 法向力=2081.2385, 切向力X=1452.6622, 切向力Y=-489.3028 +FPS=33.00, 法向力=2198.7571, 切向力X=1549.2561, 切向力Y=-755.6794 +FPS=28.88, 法向力=1809.9875, 切向力X=1486.3616, 切向力Y=398.3493 +FPS=39.66, 法向力=2232.4116, 切向力X=1299.3723, 切向力Y=894.1646 +FPS=29.68, 法向力=2233.0381, 切向力X=1164.0682, 切向力Y=1000.4956 +FPS=41.76, 法向力=1766.0562, 切向力X=1417.5177, 切向力Y=-452.7673 +FPS=20.75, 法向力=1071.8314, 切向力X=1230.0791, 切向力Y=-212.6211 +FPS=21.20, 法向力=1979.4705, 切向力X=2320.6743, 切向力Y=963.3640 +FPS=36.78, 法向力=1993.2092, 切向力X=2417.0090, 切向力Y=991.5973 +FPS=19.26, 法向力=1234.0833, 切向力X=1323.4164, 切向力Y=-168.1228 +FPS=40.74, 法向力=1299.0255, 切向力X=1455.7397, 切向力Y=590.5204 +FPS=27.08, 法向力=1525.8879, 切向力X=1341.3879, 切向力Y=872.8891 +FPS=25.01, 法向力=1331.9913, 切向力X=1328.3785, 切向力Y=1179.5989 +FPS=28.55, 法向力=1177.3168, 切向力X=575.0624, 切向力Y=568.6542 +FPS=37.04, 法向力=1324.4595, 切向力X=439.4121, 切向力Y=772.3134 +FPS=28.91, 法向力=1401.0510, 切向力X=935.2203, 切向力Y=-910.0852 +FPS=37.22, 法向力=2005.0533, 切向力X=1365.9156, 切向力Y=427.2209 +FPS=29.16, 法向力=1268.9570, 切向力X=801.8355, 切向力Y=230.0723 +FPS=34.34, 法向力=1188.0499, 切向力X=780.2759, 切向力Y=-35.0161 +FPS=29.77, 法向力=1209.2844, 切向力X=795.9326, 切向力Y=-27.7457 +FPS=33.89, 法向力=1454.3032, 切向力X=1484.1261, 切向力Y=1822.1102 +FPS=28.80, 法向力=1033.6284, 切向力X=838.4639, 切向力Y=559.4049 +FPS=26.42, 法向力=1821.2676, 切向力X=1086.4585, 切向力Y=2997.2686 +FPS=21.25, 法向力=1392.2264, 切向力X=876.4765, 切向力Y=736.7054 +FPS=26.39, 法向力=1313.3145, 切向力X=1109.5320, 切向力Y=87.8437 +FPS=26.63, 法向力=1765.9597, 切向力X=662.4562, 切向力Y=957.4703 +FPS=25.43, 法向力=1078.3066, 切向力X=1428.8574, 切向力Y=641.7352 +FPS=24.18, 法向力=1300.1362, 切向力X=1527.9167, 切向力Y=1271.8850 +FPS=27.12, 法向力=1326.8330, 切向力X=1624.0393, 切向力Y=1213.3064 +FPS=28.13, 法向力=1708.2756, 切向力X=1556.4851, 切向力Y=-209.7194 +FPS=26.82, 法向力=1433.0833, 切向力X=1102.7705, 切向力Y=592.8436 +FPS=27.39, 法向力=2097.7673, 切向力X=1036.2709, 切向力Y=-246.4177 +FPS=29.33, 法向力=1539.8766, 切向力X=793.5181, 切向力Y=-97.4755 +FPS=37.82, 法向力=1556.4468, 切向力X=801.1497, 切向力Y=-87.4958 +FPS=29.71, 法向力=1534.2333, 切向力X=1266.7026, 切向力Y=-272.3844 +FPS=23.22, 法向力=1197.7688, 切向力X=1291.4769, 切向力Y=1186.6508 +FPS=21.09, 法向力=1527.6123, 切向力X=651.9070, 切向力Y=-345.3464 +FPS=20.96, 法向力=1934.4055, 切向力X=391.6640, 切向力Y=660.0016 +FPS=21.02, 法向力=1860.4718, 切向力X=415.3087, 切向力Y=1002.8758 +FPS=20.53, 法向力=1522.6345, 切向力X=1115.6223, 切向力Y=1815.8208 +FPS=23.38, 法向力=1746.0647, 切向力X=1411.4136, 切向力Y=418.3045 +FPS=38.24, 法向力=1678.3899, 切向力X=1241.6045, 切向力Y=-21.9017 +FPS=26.99, 法向力=1746.5122, 切向力X=1290.9447, 切向力Y=10.6741 +FPS=19.38, 法向力=1713.5436, 切向力X=1302.7522, 切向力Y=1910.9807 +FPS=21.11, 法向力=1720.8337, 切向力X=1206.1128, 切向力Y=-1146.6003 +FPS=22.02, 法向力=1182.0742, 切向力X=1241.5999, 切向力Y=1825.9332 +FPS=21.62, 法向力=1441.6493, 切向力X=1145.8029, 切向力Y=187.0872 +FPS=22.13, 法向力=2851.4126, 切向力X=695.6840, 切向力Y=1576.7590 +FPS=21.32, 法向力=1586.3535, 切向力X=1401.0601, 切向力Y=676.5834 +FPS=21.16, 法向力=1440.1412, 切向力X=2004.6536, 切向力Y=959.8007 +FPS=27.60, 法向力=1271.7769, 切向力X=1485.4047, 切向力Y=135.8666 +Traceback (most recent call last): + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\AxisItem.py", line 999, in paint + self.picture.play(p) +KeyboardInterrupt +FPS=26.32, 法向力=1321.4292, 切向力X=1587.4489, 切向力Y=64.2933 +FPS=20.05, 法向力=1067.9694, 切向力X=2000.5812, 切向力Y=471.7843 +FPS=20.57, 法向力=1122.2491, 切向力X=2079.0327, 切向力Y=661.5136 +FPS=21.93, 法向力=2163.3135, 切向力X=1460.6445, 切向力Y=956.2303 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in + main() + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 195, in main + mag = draw_magnitude_map(flow) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 79, in draw_magnitude_map + mag_min, mag_max = magnitude_thresholded.min(), magnitude_thresholded.max() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\numpy\_core\_methods.py", line 44, in _amax + return umr_maximum(a, axis, None, out, keepdims, initial, where) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt diff --git a/examples/logs/plot_20260521_094608.log b/examples/logs/plot_20260521_094608.log new file mode 100644 index 0000000..888919e --- /dev/null +++ b/examples/logs/plot_20260521_094608.log @@ -0,0 +1,704 @@ +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.16, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=4.94, 法向力=242726.2812, 切向力X=25771.0117, 切向力Y=30204.1719 +FPS=23.28, 法向力=233272.4375, 切向力X=94199.0469, 切向力Y=244249.0469 +FPS=56.52, 法向力=163701.5625, 切向力X=78527.4531, 切向力Y=318804.5625 +FPS=26.62, 法向力=109197.1719, 切向力X=109109.3984, 切向力Y=146701.0000 +FPS=40.33, 法向力=182008.3438, 切向力X=96444.2188, 切向力Y=-4816.8740 +FPS=64.28, 法向力=221055.5938, 切向力X=85480.0547, 切向力Y=-19744.9336 +FPS=63.81, 法向力=216521.7656, 切向力X=72763.2812, 切向力Y=-40864.1562 +FPS=46.03, 法向力=271055.7812, 切向力X=2812.5605, 切向力Y=-214997.3750 +FPS=29.89, 法向力=247827.5781, 切向力X=-15346.5674, 切向力Y=-268276.6875 +FPS=34.23, 法向力=292659.0000, 切向力X=907.3370, 切向力Y=-228033.2188 +FPS=31.81, 法向力=254076.4688, 切向力X=-62460.4375, 切向力Y=-120192.3906 +FPS=32.05, 法向力=173554.7812, 切向力X=-31979.6680, 切向力Y=-11149.6875 +FPS=37.91, 法向力=86470.4062, 切向力X=-31191.5430, 切向力Y=-70434.2656 +FPS=51.62, 法向力=70602.9453, 切向力X=-51045.9062, 切向力Y=-52355.0469 +FPS=62.19, 法向力=79837.9531, 切向力X=-28273.5547, 切向力Y=-41567.3359 +FPS=52.00, 法向力=151399.2812, 切向力X=-1174.2012, 切向力Y=96635.8281 +FPS=44.59, 法向力=161115.7812, 切向力X=19933.0664, 切向力Y=131899.2969 +FPS=46.15, 法向力=225421.0000, 切向力X=19827.2461, 切向力Y=88583.0078 +FPS=39.35, 法向力=281278.7812, 切向力X=55110.4219, 切向力Y=45344.5859 +FPS=51.18, 法向力=242263.4062, 切向力X=30312.9297, 切向力Y=-4445.2373 +FPS=31.29, 法向力=254423.5469, 切向力X=727.3805, 切向力Y=90543.1250 +FPS=55.37, 法向力=207537.0000, 切向力X=-2993.6660, 切向力Y=96839.2969 +FPS=54.18, 法向力=189739.9688, 切向力X=362.9538, 切向力Y=314584.9062 +FPS=45.53, 法向力=158909.1875, 切向力X=-14174.4102, 切向力Y=308989.9375 +FPS=27.82, 法向力=185466.0000, 切向力X=-7597.6216, 切向力Y=314885.2500 +FPS=63.14, 法向力=213453.2500, 切向力X=2391.8892, 切向力Y=309978.4688 +FPS=52.35, 法向力=160050.5625, 切向力X=819.2505, 切向力Y=190478.4688 +FPS=46.71, 法向力=199953.0625, 切向力X=-30338.8496, 切向力Y=164410.1406 +FPS=27.56, 法向力=230732.0469, 切向力X=-32775.3594, 切向力Y=260886.8281 +FPS=37.61, 法向力=173013.5469, 切向力X=34047.0820, 切向力Y=236666.2500 +FPS=53.13, 法向力=195811.4688, 切向力X=28978.9336, 切向力Y=201836.7812 +FPS=65.97, 法向力=255087.4844, 切向力X=10339.6504, 切向力Y=196125.4062 +FPS=50.60, 法向力=164657.2500, 切向力X=4510.0566, 切向力Y=214258.2500 +FPS=33.77, 法向力=177235.2812, 切向力X=-88116.3203, 切向力Y=263363.0000 +FPS=29.37, 法向力=104395.5156, 切向力X=-29529.8047, 切向力Y=247229.5625 +FPS=63.19, 法向力=135293.8594, 切向力X=-11351.0244, 切向力Y=272115.6875 +FPS=34.38, 法向力=107830.5156, 切向力X=71792.6719, 切向力Y=351477.2500 +FPS=39.22, 法向力=111013.7031, 切向力X=81272.2969, 切向力Y=396450.9062 +FPS=43.50, 法向力=227689.2812, 切向力X=85719.1328, 切向力Y=379972.0625 +FPS=35.01, 法向力=220309.7500, 切向力X=82942.8906, 切向力Y=376604.5000 +FPS=31.78, 法向力=333913.4375, 切向力X=40263.5234, 切向力Y=337268.2188 +FPS=37.16, 法向力=278099.4375, 切向力X=75151.8594, 切向力Y=203914.0469 +FPS=47.15, 法向力=228236.6562, 切向力X=4981.7363, 切向力Y=67311.3594 +FPS=31.97, 法向力=299975.2812, 切向力X=-14717.9902, 切向力Y=70491.7109 +FPS=31.70, 法向力=325480.2812, 切向力X=4517.4482, 切向力Y=146102.0625 +FPS=37.64, 法向力=247167.6094, 切向力X=53798.2148, 切向力Y=193445.1875 +FPS=26.60, 法向力=185570.7344, 切向力X=44883.8203, 切向力Y=76634.9688 +FPS=39.03, 法向力=192576.5625, 切向力X=63096.8281, 切向力Y=67858.0469 +FPS=48.36, 法向力=189575.8438, 切向力X=66131.3281, 切向力Y=68009.3984 +FPS=63.25, 法向力=189966.9688, 切向力X=57036.0547, 切向力Y=72400.8281 +FPS=51.19, 法向力=376342.3125, 切向力X=55259.0352, 切向力Y=7460.8398 +FPS=68.28, 法向力=395072.3750, 切向力X=14806.8740, 切向力Y=29429.5508 +FPS=34.30, 法向力=389426.7500, 切向力X=18266.0449, 切向力Y=49392.0664 +FPS=37.92, 法向力=375771.3125, 切向力X=15582.0273, 切向力Y=47533.6016 +FPS=46.27, 法向力=250263.7500, 切向力X=49264.7578, 切向力Y=72523.6562 +FPS=67.30, 法向力=200399.7188, 切向力X=36586.8516, 切向力Y=120440.9844 +FPS=63.15, 法向力=197042.8438, 切向力X=44044.8281, 切向力Y=118234.5078 +FPS=52.14, 法向力=144703.5312, 切向力X=48454.1797, 切向力Y=224581.2500 +FPS=45.43, 法向力=73199.2812, 切向力X=80533.1953, 切向力Y=330758.0000 +FPS=27.60, 法向力=155869.0312, 切向力X=29237.2480, 切向力Y=202542.0938 +FPS=61.89, 法向力=172277.0938, 切向力X=31515.7012, 切向力Y=206426.5000 +FPS=31.87, 法向力=72027.9688, 切向力X=-5442.8071, 切向力Y=187226.0000 +FPS=66.27, 法向力=74189.9219, 切向力X=-14637.6875, 切向力Y=243409.7812 +FPS=31.14, 法向力=86517.3359, 切向力X=-33607.2500, 切向力Y=327619.5625 +FPS=39.45, 法向力=130524.1797, 切向力X=-27674.3359, 切向力Y=289484.0625 +FPS=48.05, 法向力=143071.1875, 切向力X=14921.6465, 切向力Y=280604.7500 +FPS=38.02, 法向力=254645.0000, 切向力X=4771.1006, 切向力Y=371080.8750 +FPS=47.55, 法向力=194699.1562, 切向力X=27600.8359, 切向力Y=379281.5312 +FPS=37.85, 法向力=172544.3438, 切向力X=39606.7617, 切向力Y=383471.1250 +FPS=27.95, 法向力=171366.8750, 切向力X=29305.9492, 切向力Y=385594.8750 +FPS=63.30, 法向力=174771.2188, 切向力X=27563.7871, 切向力Y=389707.0625 +FPS=30.87, 法向力=109975.9219, 切向力X=21488.3320, 切向力Y=466905.8750 +FPS=58.26, 法向力=92636.0156, 切向力X=18510.3633, 切向力Y=506878.4062 +FPS=41.37, 法向力=99191.2500, 切向力X=69546.7812, 切向力Y=487350.5312 +FPS=49.12, 法向力=94319.0938, 切向力X=93315.3125, 切向力Y=470886.8750 +FPS=37.19, 法向力=144837.1875, 切向力X=37162.0078, 切向力Y=302774.6875 +FPS=46.96, 法向力=147013.8438, 切向力X=27026.7051, 切向力Y=237456.0938 +FPS=38.09, 法向力=86161.1641, 切向力X=-2235.3501, 切向力Y=13497.4844 +FPS=27.64, 法向力=64666.8438, 切向力X=-1337.0294, 切向力Y=10235.6670 +FPS=37.81, 法向力=71644.5234, 切向力X=681.1743, 切向力Y=203449.4062 +FPS=27.83, 法向力=100437.9688, 切向力X=16363.1826, 切向力Y=59552.3984 +FPS=38.17, 法向力=158048.4531, 切向力X=30532.8613, 切向力Y=73.2212 +FPS=28.22, 法向力=81565.8125, 切向力X=42883.1250, 切向力Y=1245.6760 +FPS=31.28, 法向力=69890.4531, 切向力X=50902.3750, 切向力Y=18068.3379 +FPS=30.58, 法向力=62197.0078, 切向力X=-119.5862, 切向力Y=47404.4688 +FPS=59.83, 法向力=62563.8516, 切向力X=-1371.5969, 切向力Y=50129.6250 +FPS=52.58, 法向力=78816.7969, 切向力X=36038.9336, 切向力Y=244067.4219 +FPS=37.51, 法向力=115410.9766, 切向力X=17985.9023, 切向力Y=275191.2188 +FPS=31.48, 法向力=136566.8438, 切向力X=-26564.3945, 切向力Y=261635.8125 +FPS=62.45, 法向力=157076.8906, 切向力X=-50365.1562, 切向力Y=272782.7188 +FPS=51.47, 法向力=70501.9375, 切向力X=2836.8870, 切向力Y=213510.2188 +FPS=43.85, 法向力=85451.1875, 切向力X=5883.0620, 切向力Y=201410.2812 +FPS=46.96, 法向力=123146.5156, 切向力X=16789.5078, 切向力Y=208337.0156 +FPS=32.02, 法向力=80670.9609, 切向力X=-1176.5354, 切向力Y=278183.6250 +FPS=60.91, 法向力=50716.4375, 切向力X=-31473.8984, 切向力Y=364663.4375 +FPS=32.06, 法向力=161034.8594, 切向力X=-58187.7188, 切向力Y=334195.8438 +FPS=58.09, 法向力=173175.8750, 切向力X=-90029.8750, 切向力Y=301287.4375 +FPS=46.79, 法向力=100599.9141, 切向力X=-14482.7168, 切向力Y=103208.8438 +FPS=41.80, 法向力=75516.3594, 切向力X=-35199.4375, 切向力Y=104436.9219 +FPS=31.19, 法向力=168884.9531, 切向力X=-28143.5996, 切向力Y=139982.6875 +FPS=32.10, 法向力=186461.0156, 切向力X=-35987.9531, 切向力Y=175712.2500 +FPS=32.98, 法向力=171060.8438, 切向力X=-53557.7305, 切向力Y=174366.9062 +FPS=37.74, 法向力=141343.3125, 切向力X=-44501.7500, 切向力Y=97782.4688 +FPS=27.44, 法向力=134777.3438, 切向力X=-18747.3008, 切向力Y=93400.0938 +FPS=32.03, 法向力=118799.9609, 切向力X=-41593.9180, 切向力Y=84834.9766 +FPS=37.67, 法向力=164786.1406, 切向力X=-55626.9609, 切向力Y=-33133.5938 +FPS=27.42, 法向力=166409.8125, 切向力X=-57482.7891, 切向力Y=-115147.8281 +FPS=38.04, 法向力=141215.3438, 切向力X=-61010.2969, 切向力Y=-82696.3984 +FPS=52.09, 法向力=144237.9375, 切向力X=-66510.5469, 切向力Y=-85861.9844 +FPS=59.74, 法向力=84832.5312, 切向力X=-51343.8945, 切向力Y=-143879.5000 +FPS=53.88, 法向力=65679.0625, 切向力X=-54869.7344, 切向力Y=-153796.4062 +FPS=32.87, 法向力=100090.1094, 切向力X=-52047.6719, 切向力Y=-187123.2500 +FPS=32.00, 法向力=100199.5781, 切向力X=-46440.9062, 切向力Y=-175988.2188 +FPS=39.90, 法向力=191049.9531, 切向力X=-126136.2969, 切向力Y=-18976.6562 +FPS=50.38, 法向力=218533.0000, 切向力X=-135086.3438, 切向力Y=12617.8887 +FPS=30.05, 法向力=257378.8281, 切向力X=-117990.4453, 切向力Y=39247.6953 +FPS=31.45, 法向力=258053.0781, 切向力X=-129285.0312, 切向力Y=51443.7891 +FPS=31.66, 法向力=166239.2812, 切向力X=-75504.0625, 切向力Y=331851.0000 +FPS=58.32, 法向力=100255.2656, 切向力X=-51424.4688, 切向力Y=275174.0312 +FPS=54.74, 法向力=91909.1562, 切向力X=-25128.1992, 切向力Y=344116.5625 +FPS=36.34, 法向力=94027.2969, 切向力X=-18666.1641, 切向力Y=349890.7500 +FPS=62.29, 法向力=99125.3906, 切向力X=-37400.6094, 切向力Y=354844.5938 +FPS=54.43, 法向力=79343.9062, 切向力X=-6514.6909, 切向力Y=327743.3125 +FPS=41.24, 法向力=82786.7109, 切向力X=11637.9521, 切向力Y=259435.4375 +FPS=27.86, 法向力=98348.2969, 切向力X=-32028.5332, 切向力Y=406472.1562 +FPS=58.20, 法向力=217147.0781, 切向力X=36361.7266, 切向力Y=568076.0625 +FPS=52.08, 法向力=358801.4375, 切向力X=22690.5039, 切向力Y=192157.0938 +FPS=36.95, 法向力=374073.6875, 切向力X=38707.9805, 切向力Y=218694.3750 +FPS=37.47, 法向力=287105.7812, 切向力X=67093.0156, 切向力Y=242401.6562 +FPS=50.24, 法向力=271182.6250, 切向力X=59457.1172, 切向力Y=235842.8750 +FPS=30.78, 法向力=215390.5000, 切向力X=27783.2461, 切向力Y=37347.2500 +FPS=32.27, 法向力=177148.4531, 切向力X=28650.3535, 切向力Y=-33496.1133 +FPS=31.53, 法向力=176931.1250, 切向力X=-2522.0457, 切向力Y=-49301.8359 +FPS=31.92, 法向力=143543.3125, 切向力X=-32832.0586, 切向力Y=-41420.1328 +FPS=32.25, 法向力=241058.3125, 切向力X=-39346.6172, 切向力Y=25839.6367 +FPS=39.34, 法向力=253732.0625, 切向力X=-43115.8281, 切向力Y=29307.1758 +FPS=50.48, 法向力=264097.5312, 切向力X=-41953.3242, 切向力Y=34026.6953 +FPS=35.47, 法向力=156877.8594, 切向力X=14919.0791, 切向力Y=85651.1797 +FPS=50.65, 法向力=128268.2734, 切向力X=24176.4883, 切向力Y=89774.0469 +FPS=60.30, 法向力=184256.4375, 切向力X=6780.8945, 切向力Y=81687.4766 +FPS=52.97, 法向力=178609.2500, 切向力X=-23788.4375, 切向力Y=65802.4922 +FPS=42.63, 法向力=182531.9062, 切向力X=-43007.2383, 切向力Y=64398.7031 +FPS=63.91, 法向力=215604.3438, 切向力X=26205.4395, 切向力Y=-47943.5898 +FPS=54.93, 法向力=225204.6094, 切向力X=22937.7539, 切向力Y=-51753.2188 +FPS=64.59, 法向力=171807.7656, 切向力X=77161.6562, 切向力Y=-155103.5781 +FPS=53.48, 法向力=204406.0000, 切向力X=62779.3203, 切向力Y=-182742.7812 +FPS=37.59, 法向力=224209.7500, 切向力X=56422.0156, 切向力Y=-200642.0938 +FPS=50.57, 法向力=137641.1406, 切向力X=34822.2422, 切向力Y=-153112.8438 +FPS=30.41, 法向力=109231.4766, 切向力X=14282.6758, 切向力Y=-185931.1719 +FPS=60.31, 法向力=120333.7266, 切向力X=5493.9062, 切向力Y=-138880.0000 +FPS=32.36, 法向力=117876.9453, 切向力X=44584.5625, 切向力Y=22177.0039 +FPS=38.16, 法向力=120722.4688, 切向力X=37876.7422, 切向力Y=46249.8125 +FPS=26.90, 法向力=161936.0625, 切向力X=20091.2168, 切向力Y=-78384.4531 +FPS=37.65, 法向力=160026.5938, 切向力X=2913.1929, 切向力Y=-92706.3828 +FPS=45.88, 法向力=73699.9141, 切向力X=-17722.1699, 切向力Y=-18823.3848 +FPS=39.40, 法向力=107701.2812, 切向力X=-44449.3594, 切向力Y=27997.8027 +FPS=64.22, 法向力=100774.7812, 切向力X=-47326.1641, 切向力Y=21121.7402 +FPS=54.04, 法向力=40530.2969, 切向力X=-59409.0859, 切向力Y=118896.6875 +FPS=30.94, 法向力=47081.1992, 切向力X=-64314.3203, 切向力Y=117192.8750 +FPS=67.20, 法向力=89223.9531, 切向力X=-17168.3320, 切向力Y=62209.7578 +FPS=37.49, 法向力=97573.7812, 切向力X=-39358.5625, 切向力Y=17867.9258 +FPS=49.71, 法向力=225767.8750, 切向力X=-58078.1289, 切向力Y=-57841.2500 +FPS=36.83, 法向力=274600.9375, 切向力X=-58828.0469, 切向力Y=-70964.4688 +FPS=26.84, 法向力=381279.2812, 切向力X=-30104.1348, 切向力Y=1130.7765 +FPS=38.97, 法向力=411580.8125, 切向力X=-43091.4336, 切向力Y=4592.8765 +FPS=27.71, 法向力=418588.3125, 切向力X=-44051.5117, 切向力Y=39384.2305 +FPS=37.43, 法向力=408152.2500, 切向力X=-42883.1992, 切向力Y=152858.1875 +FPS=26.45, 法向力=396679.0312, 切向力X=-39678.0859, 切向力Y=152631.2812 +FPS=41.90, 法向力=329726.7188, 切向力X=27277.3789, 切向力Y=-65949.6797 +FPS=46.64, 法向力=306521.8438, 切向力X=16898.0332, 切向力Y=-110325.2500 +FPS=37.78, 法向力=165849.5469, 切向力X=-6539.4414, 切向力Y=-10703.8838 +FPS=47.76, 法向力=124919.4062, 切向力X=-18247.3828, 切向力Y=58664.0625 +FPS=66.40, 法向力=123663.0625, 切向力X=-6021.3076, 切向力Y=-18510.5215 +FPS=31.30, 法向力=134255.1562, 切向力X=6329.0298, 切向力Y=-44344.5391 +FPS=38.53, 法向力=150100.2188, 切向力X=-7696.4004, 切向力Y=-54080.3828 +FPS=47.93, 法向力=148691.1875, 切向力X=-32767.6406, 切向力Y=-92089.6250 +FPS=37.76, 法向力=105076.4453, 切向力X=36890.6289, 切向力Y=18512.8848 +FPS=27.58, 法向力=158200.2188, 切向力X=16065.1445, 切向力Y=-11151.8086 +FPS=63.33, 法向力=199790.4062, 切向力X=37169.9414, 切向力Y=-33556.1719 +FPS=32.67, 法向力=217761.7344, 切向力X=58802.7500, 切向力Y=-49155.2578 +FPS=38.78, 法向力=210844.1406, 切向力X=55710.2734, 切向力Y=-77487.8281 +FPS=47.02, 法向力=187555.4688, 切向力X=110635.0078, 切向力Y=-159110.3438 +FPS=37.94, 法向力=211821.6406, 切向力X=30684.2188, 切向力Y=-69710.2188 +FPS=27.27, 法向力=167294.7500, 切向力X=67401.6016, 切向力Y=15708.3643 +FPS=60.99, 法向力=183170.3438, 切向力X=10715.6729, 切向力Y=66440.7812 +FPS=32.42, 法向力=190365.5625, 切向力X=-15254.4805, 切向力Y=64877.5820 +FPS=37.10, 法向力=184227.1875, 切向力X=-27457.7305, 切向力Y=41053.2578 +FPS=49.19, 法向力=238420.5469, 切向力X=-56642.7422, 切向力Y=-76950.6328 +FPS=32.30, 法向力=149191.5625, 切向力X=-4167.0029, 切向力Y=-313.9777 +FPS=60.89, 法向力=183028.8438, 切向力X=28303.0273, 切向力Y=81655.1641 +FPS=53.20, 法向力=127662.6250, 切向力X=-41118.3008, 切向力Y=184534.1250 +FPS=34.19, 法向力=161725.8125, 切向力X=-40764.0078, 切向力Y=201243.8750 +FPS=32.01, 法向力=105572.4141, 切向力X=-56284.3242, 切向力Y=321911.5938 +FPS=57.17, 法向力=131414.4531, 切向力X=-12258.2510, 切向力Y=305762.7500 +FPS=34.75, 法向力=131733.3438, 切向力X=-8211.9668, 切向力Y=336654.0625 +FPS=31.02, 法向力=129199.9844, 切向力X=-7999.5322, 切向力Y=337368.2500 +FPS=32.14, 法向力=128664.8438, 切向力X=-6922.4033, 切向力Y=344272.1875 +FPS=59.86, 法向力=128107.5859, 切向力X=1604.2969, 切向力Y=345161.2500 +FPS=52.15, 法向力=75918.7031, 切向力X=15050.7715, 切向力Y=354499.1250 +FPS=43.95, 法向力=108725.7109, 切向力X=48526.6836, 切向力Y=368090.0625 +FPS=53.51, 法向力=102850.7969, 切向力X=121396.6953, 切向力Y=297335.0938 +FPS=65.64, 法向力=115460.4531, 切向力X=52488.3203, 切向力Y=263895.5625 +FPS=28.80, 法向力=137392.2812, 切向力X=-94145.1328, 切向力Y=126467.1797 +FPS=38.21, 法向力=185478.9375, 切向力X=-107339.6875, 切向力Y=101020.3594 +FPS=45.48, 法向力=99776.1719, 切向力X=-175830.3438, 切向力Y=38957.1797 +FPS=38.77, 法向力=99321.5859, 切向力X=-155730.5625, 切向力Y=39168.9609 +FPS=45.70, 法向力=149540.4375, 切向力X=-65586.6719, 切向力Y=-153978.2500 +FPS=32.98, 法向力=141693.3438, 切向力X=-61517.2656, 切向力Y=-165618.9531 +FPS=38.84, 法向力=104740.4609, 切向力X=6490.9355, 切向力Y=178206.6875 +FPS=51.80, 法向力=84118.7031, 切向力X=1789.9453, 切向力Y=259441.3438 +FPS=35.96, 法向力=239738.4219, 切向力X=-47949.5312, 切向力Y=469815.4062 +FPS=53.48, 法向力=232146.7500, 切向力X=-44344.3984, 切向力Y=503914.5625 +FPS=30.66, 法向力=236771.5938, 切向力X=-62438.2266, 切向力Y=544891.3125 +FPS=31.61, 法向力=258043.4062, 切向力X=-88638.3281, 切向力Y=579473.1250 +FPS=58.23, 法向力=210552.7188, 切向力X=-128645.0469, 切向力Y=618846.5625 +FPS=53.50, 法向力=189918.1094, 切向力X=-105531.7812, 切向力Y=632591.0000 +FPS=36.84, 法向力=241303.0938, 切向力X=-132153.0312, 切向力Y=663305.7500 +FPS=37.25, 法向力=210948.3438, 切向力X=-75165.3594, 切向力Y=492200.1250 +FPS=48.45, 法向力=263113.1250, 切向力X=-30709.3438, 切向力Y=284568.3125 +FPS=30.58, 法向力=224075.0156, 切向力X=-23017.9141, 切向力Y=250493.6719 +FPS=32.49, 法向力=153273.5469, 切向力X=6200.4180, 切向力Y=164449.2500 +FPS=36.86, 法向力=145512.8281, 切向力X=-3758.7993, 切向力Y=134771.8125 +FPS=50.80, 法向力=163285.7969, 切向力X=-95839.8594, 切向力Y=334754.0000 +FPS=29.77, 法向力=206246.6562, 切向力X=-65816.3438, 切向力Y=416439.6875 +FPS=32.38, 法向力=247714.2188, 切向力X=-13942.6523, 切向力Y=433096.5625 +FPS=31.51, 法向力=158874.6562, 切向力X=-48170.6406, 切向力Y=432244.7500 +FPS=31.87, 法向力=139521.8906, 切向力X=-82664.6328, 切向力Y=344980.5625 +FPS=37.93, 法向力=88404.8438, 切向力X=-131472.7812, 切向力Y=346195.3750 +FPS=51.31, 法向力=84633.5078, 切向力X=-126890.3438, 切向力Y=358561.6875 +FPS=62.50, 法向力=92119.2031, 切向力X=-169433.1406, 切向力Y=402546.5000 +FPS=53.84, 法向力=119774.2188, 切向力X=18876.3125, 切向力Y=287215.6875 +FPS=39.79, 法向力=125248.3828, 切向力X=137306.3281, 切向力Y=202921.4062 +FPS=52.14, 法向力=121897.8281, 切向力X=55520.0156, 切向力Y=266740.9688 +FPS=31.37, 法向力=120996.1719, 切向力X=17123.0332, 切向力Y=334126.2812 +FPS=30.52, 法向力=148133.1875, 切向力X=-23209.8047, 切向力Y=194312.1094 +FPS=55.65, 法向力=312123.4375, 切向力X=-8319.3965, 切向力Y=194520.6250 +FPS=35.27, 法向力=327490.7812, 切向力X=16393.8359, 切向力Y=176917.2969 +FPS=62.98, 法向力=329239.5000, 切向力X=22403.6992, 切向力Y=176995.3906 +FPS=54.18, 法向力=301924.9375, 切向力X=-39174.3984, 切向力Y=194655.9062 +FPS=65.78, 法向力=295740.6250, 切向力X=-111081.1172, 切向力Y=224755.2188 +FPS=41.12, 法向力=295499.9375, 切向力X=-122760.0234, 切向力Y=221264.3750 +FPS=50.97, 法向力=208885.7500, 切向力X=-130064.0469, 切向力Y=122274.7812 +FPS=30.55, 法向力=208414.7188, 切向力X=-147190.9219, 切向力Y=135509.6094 +FPS=37.03, 法向力=321320.1250, 切向力X=-105780.5312, 切向力Y=-189548.7812 +FPS=50.61, 法向力=348457.6250, 切向力X=-80097.9062, 切向力Y=-251933.3438 +FPS=36.74, 法向力=164279.0781, 切向力X=-37908.1953, 切向力Y=-127122.3750 +FPS=46.94, 法向力=98788.6562, 切向力X=-52221.8086, 切向力Y=-75018.6250 +FPS=38.83, 法向力=130007.6172, 切向力X=-86453.1562, 切向力Y=140497.6406 +FPS=51.05, 法向力=156985.4531, 切向力X=-98581.8359, 切向力Y=233291.5469 +FPS=37.78, 法向力=143959.1094, 切向力X=-90066.4531, 切向力Y=168897.2969 +FPS=51.91, 法向力=207384.2656, 切向力X=-89862.1250, 切向力Y=137120.3750 +FPS=30.42, 法向力=347829.6562, 切向力X=-35135.3594, 切向力Y=197303.4375 +FPS=64.54, 法向力=314654.2812, 切向力X=-51835.4453, 切向力Y=112803.2188 +FPS=31.86, 法向力=424447.5938, 切向力X=-44024.5625, 切向力Y=208407.9375 +FPS=65.10, 法向力=451836.6562, 切向力X=4094.2549, 切向力Y=224212.7969 +FPS=30.73, 法向力=561391.3125, 切向力X=42898.3438, 切向力Y=215739.1875 +FPS=38.76, 法向力=613164.1250, 切向力X=63287.3711, 切向力Y=186394.0625 +FPS=46.82, 法向力=391161.7812, 切向力X=-34179.6484, 切向力Y=199262.4062 +FPS=68.99, 法向力=279361.1562, 切向力X=42771.3164, 切向力Y=380395.1250 +FPS=31.83, 法向力=112302.5000, 切向力X=-12914.2998, 切向力Y=302514.5312 +FPS=37.63, 法向力=107189.9531, 切向力X=-5115.7583, 切向力Y=244077.8281 +FPS=43.70, 法向力=97490.3203, 切向力X=-104396.9219, 切向力Y=107555.5391 +FPS=62.87, 法向力=111312.6562, 切向力X=-99338.3516, 切向力Y=108598.7031 +FPS=32.87, 法向力=54782.5352, 切向力X=-25556.3398, 切向力Y=204807.8438 +FPS=38.00, 法向力=48138.5156, 切向力X=-1170.9158, 切向力Y=199694.3906 +FPS=48.11, 法向力=103535.5469, 切向力X=37013.5859, 切向力Y=181086.7188 +FPS=31.34, 法向力=129814.3438, 切向力X=5254.6572, 切向力Y=209794.9375 +FPS=39.20, 法向力=345931.0625, 切向力X=5992.9492, 切向力Y=117407.1094 +FPS=52.40, 法向力=388558.4375, 切向力X=25092.3047, 切向力Y=100196.1172 +FPS=60.03, 法向力=409025.1875, 切向力X=4688.2861, 切向力Y=102654.3516 +FPS=30.52, 法向力=337865.5625, 切向力X=-8696.6484, 切向力Y=145560.3125 +FPS=31.58, 法向力=309958.3438, 切向力X=24411.1992, 切向力Y=163307.7188 +FPS=36.94, 法向力=465359.6250, 切向力X=4346.8467, 切向力Y=122416.2891 +FPS=46.54, 法向力=452122.5000, 切向力X=21837.1445, 切向力Y=75266.1562 +FPS=32.41, 法向力=339676.4375, 切向力X=-22517.1270, 切向力Y=27757.6875 +FPS=57.69, 法向力=320477.5000, 切向力X=-33721.0000, 切向力Y=50677.4023 +FPS=55.25, 法向力=180483.9375, 切向力X=-9565.7080, 切向力Y=131418.4219 +FPS=48.23, 法向力=124690.2188, 切向力X=37945.2344, 切向力Y=161055.4062 +FPS=66.15, 法向力=134609.5000, 切向力X=32912.0625, 切向力Y=-33957.0469 +FPS=53.74, 法向力=170871.5625, 切向力X=-17690.0723, 切向力Y=-51119.9023 +FPS=66.98, 法向力=205395.8906, 切向力X=-40296.0312, 切向力Y=-64558.4297 +FPS=51.71, 法向力=126314.7422, 切向力X=-3778.6746, 切向力Y=-23846.3379 +FPS=37.66, 法向力=124728.4922, 切向力X=-18627.2695, 切向力Y=-20729.3301 +FPS=49.96, 法向力=232187.8281, 切向力X=-18204.4648, 切向力Y=71029.4766 +FPS=37.74, 法向力=263294.6250, 切向力X=-35339.3359, 切向力Y=65677.7656 +FPS=53.28, 法向力=282738.7812, 切向力X=-65491.5156, 切向力Y=217576.6875 +FPS=35.48, 法向力=268200.7500, 切向力X=-99308.8359, 切向力Y=201249.2812 +FPS=47.10, 法向力=386313.0312, 切向力X=-41111.9141, 切向力Y=396611.2812 +FPS=32.94, 法向力=327769.6250, 切向力X=15623.6514, 切向力Y=419443.1875 +FPS=31.29, 法向力=271803.7188, 切向力X=52792.1680, 切向力Y=253321.5625 +FPS=36.61, 法向力=100374.2344, 切向力X=41545.8281, 切向力Y=478037.5625 +FPS=27.17, 法向力=112162.9531, 切向力X=61680.5742, 切向力Y=625699.6250 +FPS=37.89, 法向力=118547.0000, 切向力X=75194.6250, 切向力Y=644536.0000 +FPS=27.87, 法向力=142553.1875, 切向力X=110191.2969, 切向力Y=565005.6250 +FPS=38.39, 法向力=203802.2969, 切向力X=27665.2871, 切向力Y=493458.0000 +FPS=51.52, 法向力=179236.0625, 切向力X=3620.1492, 切向力Y=400215.9688 +FPS=66.96, 法向力=139859.5938, 切向力X=42862.8828, 切向力Y=373636.4375 +FPS=53.38, 法向力=96468.6562, 切向力X=71239.3594, 切向力Y=298793.5000 +FPS=37.89, 法向力=95211.1641, 切向力X=79702.5312, 切向力Y=291185.3438 +FPS=26.48, 法向力=251827.5156, 切向力X=91175.2969, 切向力Y=377910.7188 +FPS=33.94, 法向力=319329.0938, 切向力X=27122.2402, 切向力Y=358890.5625 +FPS=31.91, 法向力=279219.4375, 切向力X=14700.6689, 切向力Y=278847.5938 +FPS=61.83, 法向力=159688.4219, 切向力X=-18349.8203, 切向力Y=141556.4844 +FPS=54.03, 法向力=66380.6172, 切向力X=-47068.6133, 切向力Y=63388.6406 +FPS=42.78, 法向力=71694.0312, 切向力X=-20522.2715, 切向力Y=51273.4922 +FPS=47.52, 法向力=195332.3750, 切向力X=-3750.4717, 切向力Y=-105168.4062 +FPS=32.16, 法向力=184085.6250, 切向力X=-50254.0000, 切向力Y=-106538.6562 +FPS=31.98, 法向力=179757.9688, 切向力X=-45878.1172, 切向力Y=126451.2188 +FPS=60.94, 法向力=251944.8438, 切向力X=-10031.8145, 切向力Y=201130.4531 +FPS=54.22, 法向力=167085.4062, 切向力X=29469.0840, 切向力Y=103369.0312 +FPS=36.16, 法向力=177658.9375, 切向力X=36248.9336, 切向力Y=90228.1719 +FPS=31.36, 法向力=157886.7812, 切向力X=3200.7490, 切向力Y=-11777.4824 +FPS=60.77, 法向力=144165.5312, 切向力X=4427.2822, 切向力Y=-49868.7070 +FPS=53.27, 法向力=77407.7031, 切向力X=-19315.9434, 切向力Y=-61322.9492 +FPS=35.16, 法向力=159260.8125, 切向力X=-27336.4844, 切向力Y=199169.5938 +FPS=31.67, 法向力=189242.4844, 切向力X=8664.9023, 切向力Y=135410.9375 +FPS=31.75, 法向力=207893.8906, 切向力X=2871.4819, 切向力Y=180636.5156 +FPS=31.49, 法向力=281409.6562, 切向力X=-90461.2266, 切向力Y=33838.9688 +FPS=57.48, 法向力=186015.4531, 切向力X=-216222.5625, 切向力Y=-166814.4375 +FPS=51.71, 法向力=299619.0625, 切向力X=-120898.9219, 切向力Y=-258534.1094 +FPS=49.79, 法向力=339343.2500, 切向力X=-90166.2812, 切向力Y=-289746.6875 +FPS=49.05, 法向力=320979.2500, 切向力X=-240126.8438, 切向力Y=-150089.0312 +FPS=32.54, 法向力=335187.0000, 切向力X=-218878.8750, 切向力Y=-198940.8438 +FPS=36.63, 法向力=248417.1250, 切向力X=-113700.7891, 切向力Y=-72673.8516 +FPS=52.88, 法向力=195443.0312, 切向力X=-110776.1250, 切向力Y=54505.7539 +FPS=29.53, 法向力=77177.6719, 切向力X=-78093.4141, 切向力Y=-51959.6523 +FPS=37.69, 法向力=161281.6875, 切向力X=-81048.0469, 切向力Y=30902.2031 +FPS=51.67, 法向力=174317.1562, 切向力X=-38365.8125, 切向力Y=30652.1211 +FPS=35.11, 法向力=278200.1562, 切向力X=118146.5391, 切向力Y=-54427.7969 +FPS=50.86, 法向力=331175.8750, 切向力X=42449.5469, 切向力Y=-87593.8281 +FPS=30.80, 法向力=257859.8750, 切向力X=-152433.0000, 切向力Y=-128732.3125 +FPS=36.87, 法向力=235469.2188, 切向力X=-116056.9844, 切向力Y=-127265.9922 +FPS=49.88, 法向力=208248.0625, 切向力X=-92090.6250, 切向力Y=-137729.3438 +FPS=31.39, 法向力=156195.6719, 切向力X=-91148.5547, 切向力Y=-118158.9531 +FPS=30.97, 法向力=126262.7031, 切向力X=-67024.4375, 切向力Y=-40385.6680 +FPS=32.10, 法向力=183348.5938, 切向力X=-30316.1855, 切向力Y=6273.4785 +FPS=36.65, 法向力=114906.1016, 切向力X=-121039.2891, 切向力Y=-17615.6016 +FPS=47.40, 法向力=134163.1875, 切向力X=-162231.5625, 切向力Y=-15405.4043 +FPS=38.03, 法向力=113528.8203, 切向力X=-118981.4375, 切向力Y=-84984.0078 +FPS=62.41, 法向力=129413.5938, 切向力X=-101044.1250, 切向力Y=-126039.9062 +FPS=54.15, 法向力=177482.5938, 切向力X=-118208.3438, 切向力Y=-102734.8906 +FPS=29.43, 法向力=173752.7188, 切向力X=-92510.6797, 切向力Y=-122050.0000 +FPS=37.31, 法向力=162246.6875, 切向力X=-65259.0781, 切向力Y=-115091.5000 +FPS=48.69, 法向力=168572.8750, 切向力X=-59296.9922, 切向力Y=-142881.2031 +FPS=38.49, 法向力=119376.5781, 切向力X=-64701.3516, 切向力Y=-118176.1250 +FPS=27.37, 法向力=128815.0469, 切向力X=-23983.6172, 切向力Y=-114872.9297 +FPS=31.57, 法向力=202952.0938, 切向力X=31813.8047, 切向力Y=-146230.0781 +FPS=31.22, 法向力=210369.8906, 切向力X=-33211.5195, 切向力Y=-133650.7188 +FPS=31.89, 法向力=127206.8047, 切向力X=-80113.7188, 切向力Y=-82396.5312 +FPS=37.68, 法向力=127938.2734, 切向力X=-12252.9512, 切向力Y=59641.8477 +FPS=50.41, 法向力=132801.7656, 切向力X=-15667.9150, 切向力Y=74691.5156 +FPS=60.92, 法向力=145154.3125, 切向力X=-36508.6484, 切向力Y=77001.0625 +FPS=54.85, 法向力=144167.6719, 切向力X=-96011.3281, 切向力Y=113247.4375 +FPS=34.77, 法向力=146772.3281, 切向力X=-156377.9219, 切向力Y=135827.7656 +FPS=31.85, 法向力=138167.3750, 切向力X=-181111.3750, 切向力Y=85241.8906 +FPS=61.58, 法向力=177165.5625, 切向力X=-138470.5625, 切向力Y=83568.0000 +FPS=53.12, 法向力=266353.4062, 切向力X=-149910.9531, 切向力Y=577.5451 +FPS=34.75, 法向力=336606.8125, 切向力X=-137218.8750, 切向力Y=-261616.0469 +FPS=32.86, 法向力=194749.1875, 切向力X=-31650.5000, 切向力Y=-209365.7188 +FPS=61.22, 法向力=259174.4688, 切向力X=44378.7852, 切向力Y=-155940.9219 +FPS=37.88, 法向力=263935.9375, 切向力X=113668.8438, 切向力Y=-162972.5938 +FPS=50.59, 法向力=182865.5625, 切向力X=316645.6250, 切向力Y=-399257.0625 +FPS=29.47, 法向力=63774.8398, 切向力X=44403.2148, 切向力Y=-151391.6719 +FPS=40.40, 法向力=85583.7031, 切向力X=36900.4297, 切向力Y=-145078.6094 +FPS=47.34, 法向力=185919.7500, 切向力X=4839.6963, 切向力Y=-71283.6406 +FPS=31.93, 法向力=218007.5312, 切向力X=-18523.0098, 切向力Y=18400.3359 +FPS=39.39, 法向力=126912.5938, 切向力X=-59919.1406, 切向力Y=160358.1406 +FPS=52.13, 法向力=121559.8594, 切向力X=-119163.7734, 切向力Y=263443.9375 +FPS=29.62, 法向力=146628.4375, 切向力X=-152591.2188, 切向力Y=257311.1875 +FPS=33.53, 法向力=211302.1562, 切向力X=-96203.2734, 切向力Y=236611.3281 +FPS=37.60, 法向力=234062.7188, 切向力X=-40239.7188, 切向力Y=212734.3438 +FPS=45.89, 法向力=219778.5469, 切向力X=-65110.9531, 切向力Y=105109.6875 +FPS=32.76, 法向力=259269.8906, 切向力X=-33048.2656, 切向力Y=82840.3750 +FPS=31.93, 法向力=190319.6875, 切向力X=-69473.3125, 切向力Y=127258.6094 +FPS=31.50, 法向力=159421.6094, 切向力X=-95961.2344, 切向力Y=125091.0156 +FPS=39.12, 法向力=104425.4922, 切向力X=-52511.1250, 切向力Y=-130182.5000 +FPS=52.77, 法向力=75676.4531, 切向力X=-61354.1836, 切向力Y=-186633.7812 +FPS=63.85, 法向力=123154.5625, 切向力X=29926.3984, 切向力Y=-245360.2812 +FPS=54.63, 法向力=171811.5625, 切向力X=209.7520, 切向力Y=-289095.0625 +FPS=38.67, 法向力=212961.1875, 切向力X=-13384.1748, 切向力Y=-299217.5625 +FPS=52.87, 法向力=212479.0625, 切向力X=29792.7676, 切向力Y=-158735.7031 +FPS=29.07, 法向力=199496.1406, 切向力X=58763.5156, 切向力Y=-101026.2188 +FPS=32.39, 法向力=209855.9375, 切向力X=76218.7031, 切向力Y=-94409.1328 +FPS=32.05, 法向力=161890.3125, 切向力X=45544.7461, 切向力Y=-140851.5625 +FPS=31.80, 法向力=173121.5781, 切向力X=1679.8198, 切向力Y=-117345.6406 +FPS=31.69, 法向力=102955.8906, 切向力X=-26518.2695, 切向力Y=42035.5117 +FPS=61.30, 法向力=97106.7500, 切向力X=-2789.6826, 切向力Y=64665.7344 +FPS=55.28, 法向力=189340.9531, 切向力X=23348.1758, 切向力Y=38703.0156 +FPS=34.92, 法向力=201087.7344, 切向力X=-17333.7852, 切向力Y=23007.9551 +FPS=60.25, 法向力=199247.4062, 切向力X=-36070.6211, 切向力Y=20917.9883 +FPS=54.87, 法向力=149151.4844, 切向力X=-31461.8984, 切向力Y=20218.5859 +FPS=36.12, 法向力=143129.4688, 切向力X=-5484.5444, 切向力Y=904.6821 +FPS=31.67, 法向力=184745.2969, 切向力X=10769.8779, 切向力Y=40990.2422 +FPS=58.99, 法向力=239697.3594, 切向力X=4771.2305, 切向力Y=84952.2344 +FPS=51.80, 法向力=259546.2344, 切向力X=26868.5273, 切向力Y=101591.8047 +FPS=36.90, 法向力=198776.9844, 切向力X=78605.1875, 切向力Y=232436.4062 +FPS=31.94, 法向力=171760.4375, 切向力X=-26930.3242, 切向力Y=342913.0625 +FPS=37.97, 法向力=120208.1875, 切向力X=-61188.3828, 切向力Y=211095.1250 +FPS=51.07, 法向力=136817.5312, 切向力X=-58400.4258, 切向力Y=228015.9062 +FPS=35.28, 法向力=62666.7422, 切向力X=-34606.0000, 切向力Y=431177.8750 +FPS=48.81, 法向力=89647.8516, 切向力X=-33148.6172, 切向力Y=460093.5000 +FPS=37.03, 法向力=138800.3438, 切向力X=-65422.0156, 切向力Y=583915.1250 +FPS=50.94, 法向力=235928.3906, 切向力X=-81117.7031, 切向力Y=680025.3750 +FPS=30.36, 法向力=241244.3906, 切向力X=-62051.6172, 切向力Y=641297.0000 +FPS=32.15, 法向力=248109.5938, 切向力X=-91959.6328, 切向力Y=598025.5000 +FPS=31.07, 法向力=190545.9375, 切向力X=-82518.9375, 切向力Y=486851.9375 +FPS=38.17, 法向力=154943.4375, 切向力X=-94062.3125, 切向力Y=482687.3750 +FPS=44.50, 法向力=195574.5938, 切向力X=-150412.6875, 切向力Y=492236.0625 +FPS=32.39, 法向力=240130.9375, 切向力X=-152695.4062, 切向力Y=463158.3750 +FPS=39.87, 法向力=247876.6875, 切向力X=-52087.2617, 切向力Y=356800.0625 +FPS=26.97, 法向力=147017.4531, 切向力X=-57099.5156, 切向力Y=467709.9062 +FPS=32.28, 法向力=127588.1250, 切向力X=-34348.4375, 切向力Y=465243.0312 +FPS=31.83, 法向力=156318.9375, 切向力X=-8848.1709, 切向力Y=363522.3125 +FPS=31.28, 法向力=134386.7188, 切向力X=-56844.3359, 切向力Y=165770.0156 +FPS=38.35, 法向力=91433.5234, 切向力X=-23127.0586, 切向力Y=67379.3438 +FPS=47.16, 法向力=132436.7188, 切向力X=-8977.1416, 切向力Y=8114.9268 +FPS=32.88, 法向力=149181.8906, 切向力X=-3115.5415, 切向力Y=4271.8203 +FPS=31.01, 法向力=191962.0000, 切向力X=-3124.5576, 切向力Y=-4411.2827 +FPS=37.68, 法向力=284273.1250, 切向力X=19501.9160, 切向力Y=140568.5781 +FPS=47.53, 法向力=274401.8438, 切向力X=33216.8828, 切向力Y=165424.6406 +FPS=39.09, 法向力=106278.7656, 切向力X=12814.5664, 切向力Y=131274.2031 +FPS=45.59, 法向力=109969.1094, 切向力X=63419.8398, 切向力Y=54834.2852 +FPS=67.71, 法向力=250776.8281, 切向力X=38178.9141, 切向力Y=214772.0156 +FPS=30.94, 法向力=289340.0625, 切向力X=20519.2734, 切向力Y=225675.9062 +FPS=63.40, 法向力=232821.4688, 切向力X=11395.8125, 切向力Y=244339.7812 +FPS=31.73, 法向力=216488.7344, 切向力X=14459.4043, 切向力Y=202443.1406 +FPS=38.16, 法向力=162116.6406, 切向力X=21355.4453, 切向力Y=109351.4688 +FPS=28.13, 法向力=228040.2031, 切向力X=-8194.0176, 切向力Y=31221.8438 +FPS=64.12, 法向力=205031.5625, 切向力X=-23.4184, 切向力Y=-3535.8164 +FPS=65.61, 法向力=221061.7188, 切向力X=12862.5371, 切向力Y=-12154.7266 +FPS=54.30, 法向力=270709.5625, 切向力X=-136186.2500, 切向力Y=71383.4844 +FPS=40.06, 法向力=296526.6875, 切向力X=-97621.1094, 切向力Y=-2207.4570 +FPS=64.95, 法向力=299889.5000, 切向力X=-82912.8984, 切向力Y=-11947.5635 +FPS=53.93, 法向力=303926.0938, 切向力X=-90375.0156, 切向力Y=-122947.5469 +FPS=67.97, 法向力=336061.6250, 切向力X=-101304.0625, 切向力Y=-114669.2812 +FPS=28.84, 法向力=189112.1875, 切向力X=-63996.9922, 切向力Y=-166393.5000 +FPS=36.91, 法向力=139342.2031, 切向力X=-67378.1797, 切向力Y=-108214.0312 +FPS=42.94, 法向力=318271.4375, 切向力X=-64542.9688, 切向力Y=-267504.0312 +FPS=40.80, 法向力=364178.0000, 切向力X=-103918.0781, 切向力Y=-150865.9375 +FPS=27.09, 法向力=176884.0625, 切向力X=-45815.3438, 切向力Y=91309.1719 +FPS=57.64, 法向力=190430.7500, 切向力X=-39480.0156, 切向力Y=115478.2031 +FPS=41.63, 法向力=188143.2812, 切向力X=-131380.0938, 切向力Y=116774.5469 +FPS=52.65, 法向力=266743.0625, 切向力X=-185636.2344, 切向力Y=102100.7344 +FPS=28.96, 法向力=236678.6406, 切向力X=-212875.6875, 切向力Y=3486.7227 +FPS=32.22, 法向力=129898.0781, 切向力X=-146525.9688, 切向力Y=67083.5625 +FPS=37.89, 法向力=107559.1719, 切向力X=-82394.5469, 切向力Y=69149.5625 +FPS=47.38, 法向力=107000.5781, 切向力X=-69537.8203, 切向力Y=-26939.6758 +FPS=31.61, 法向力=93005.6719, 切向力X=-69430.7266, 切向力Y=-107781.3594 +FPS=32.54, 法向力=110233.6562, 切向力X=10404.2930, 切向力Y=-87920.6016 +FPS=37.18, 法向力=132608.6406, 切向力X=-32384.7148, 切向力Y=-57294.1211 +FPS=49.77, 法向力=123161.5000, 切向力X=-10083.7539, 切向力Y=53202.4609 +FPS=31.39, 法向力=111607.4922, 切向力X=-20802.3613, 切向力Y=90071.9531 +FPS=31.07, 法向力=86806.0156, 切向力X=11275.5020, 切向力Y=28657.2676 +FPS=31.72, 法向力=115473.4609, 切向力X=7259.3057, 切向力Y=103624.9062 +FPS=38.91, 法向力=154729.9688, 切向力X=-25669.2852, 切向力Y=109954.8594 +FPS=47.27, 法向力=178253.1562, 切向力X=-28445.3750, 切向力Y=229693.5312 +FPS=33.02, 法向力=158271.1562, 切向力X=-33793.1094, 切向力Y=223716.8594 +FPS=38.34, 法向力=115618.3125, 切向力X=-14943.5049, 切向力Y=121005.1641 +FPS=52.96, 法向力=116752.3203, 切向力X=-8408.3408, 切向力Y=111716.9375 +FPS=65.46, 法向力=125709.1953, 切向力X=-20054.7266, 切向力Y=89863.1094 +FPS=29.70, 法向力=107214.3906, 切向力X=25466.9766, 切向力Y=224399.4375 +FPS=39.44, 法向力=100743.0234, 切向力X=23232.1133, 切向力Y=257085.1250 +FPS=46.21, 法向力=97158.2812, 切向力X=-5901.6685, 切向力Y=251790.9531 +FPS=32.78, 法向力=101331.4062, 切向力X=6724.2578, 切向力Y=260432.1094 +FPS=37.96, 法向力=125989.2734, 切向力X=-57376.0469, 切向力Y=202963.1250 +FPS=46.07, 法向力=140462.5938, 切向力X=-27442.4141, 切向力Y=175752.1562 +FPS=38.59, 法向力=118746.8281, 切向力X=-63909.9844, 切向力Y=191407.7812 +FPS=53.59, 法向力=120816.9375, 切向力X=-69249.0625, 切向力Y=185084.7031 +FPS=30.05, 法向力=125655.5312, 切向力X=-124702.6250, 切向力Y=131783.0469 +FPS=58.58, 法向力=189496.8125, 切向力X=-91286.0000, 切向力Y=147578.6250 +FPS=51.50, 法向力=101859.7031, 切向力X=-51746.9688, 切向力Y=71435.5469 +FPS=39.86, 法向力=117413.3594, 切向力X=-41659.3281, 切向力Y=59867.6328 +FPS=31.70, 法向力=173114.7812, 切向力X=7413.7910, 切向力Y=63958.0508 +FPS=31.84, 法向力=281031.1250, 切向力X=-36642.4844, 切向力Y=339580.7500 +FPS=32.17, 法向力=267459.0625, 切向力X=-52532.5352, 切向力Y=323009.1562 +FPS=38.87, 法向力=234556.0000, 切向力X=-46344.0703, 切向力Y=378563.2500 +FPS=50.83, 法向力=262257.8438, 切向力X=-13267.7705, 切向力Y=584192.8750 +FPS=35.53, 法向力=68378.6719, 切向力X=21984.9297, 切向力Y=414565.1875 +FPS=52.99, 法向力=73517.7656, 切向力X=41896.5156, 切向力Y=403732.0625 +FPS=30.32, 法向力=168730.9375, 切向力X=27670.4316, 切向力Y=551736.8750 +FPS=30.60, 法向力=164439.2500, 切向力X=15989.3506, 切向力Y=571817.1250 +FPS=32.20, 法向力=320287.9688, 切向力X=-44284.3750, 切向力Y=168426.1562 +FPS=31.05, 法向力=224797.9375, 切向力X=59844.4922, 切向力Y=379538.0625 +FPS=32.79, 法向力=186323.7812, 切向力X=66255.2188, 切向力Y=390266.0938 +FPS=31.40, 法向力=180703.7812, 切向力X=56045.1992, 切向力Y=479658.0000 +FPS=31.48, 法向力=165478.3594, 切向力X=-30282.8105, 切向力Y=475417.0000 +FPS=32.25, 法向力=143033.6875, 切向力X=-61274.5781, 切向力Y=445636.3750 +FPS=31.30, 法向力=109639.8125, 切向力X=-37725.8359, 切向力Y=453867.2500 +FPS=38.62, 法向力=117007.3750, 切向力X=-41858.9883, 切向力Y=426054.6562 +FPS=51.72, 法向力=119957.6406, 切向力X=-35074.0039, 切向力Y=406573.2500 +FPS=35.52, 法向力=191018.2500, 切向力X=28585.8516, 切向力Y=248629.8906 +FPS=62.54, 法向力=208231.6094, 切向力X=55133.1016, 切向力Y=246830.6562 +FPS=51.75, 法向力=118457.4297, 切向力X=-23739.1367, 切向力Y=290849.5312 +FPS=30.02, 法向力=115004.6797, 切向力X=-33687.3672, 切向力Y=296944.6250 +FPS=31.42, 法向力=163960.3438, 切向力X=-49517.8828, 切向力Y=273647.0938 +FPS=58.29, 法向力=144251.6094, 切向力X=-55045.3594, 切向力Y=253981.5312 +FPS=50.04, 法向力=96344.0391, 切向力X=-53840.6406, 切向力Y=71018.8281 +FPS=64.58, 法向力=93233.1250, 切向力X=-68496.7266, 切向力Y=57283.6797 +FPS=51.36, 法向力=110056.3750, 切向力X=-58057.9570, 切向力Y=59459.8711 +FPS=53.16, 法向力=162678.1875, 切向力X=5316.3809, 切向力Y=151814.1562 +FPS=36.41, 法向力=243524.2969, 切向力X=4413.9805, 切向力Y=128037.4453 +FPS=49.53, 法向力=228978.2812, 切向力X=-9193.9062, 切向力Y=116621.4453 +FPS=31.02, 法向力=248949.4375, 切向力X=-47368.2070, 切向力Y=25679.2559 +FPS=62.02, 法向力=251544.0781, 切向力X=-57038.9141, 切向力Y=24201.3477 +FPS=52.45, 法向力=253902.7500, 切向力X=-52688.3242, 切向力Y=31340.3086 +FPS=59.71, 法向力=272440.5625, 切向力X=-43533.7656, 切向力Y=20632.7734 +FPS=46.29, 法向力=216010.3125, 切向力X=-24467.2754, 切向力Y=37622.9141 +FPS=50.22, 法向力=149690.5938, 切向力X=-30780.3359, 切向力Y=-8175.7881 +FPS=32.01, 法向力=126586.5625, 切向力X=-62486.8047, 切向力Y=-56877.9453 +FPS=30.81, 法向力=138315.1875, 切向力X=-56224.1641, 切向力Y=-124431.1250 +FPS=32.37, 法向力=154055.1875, 切向力X=-78052.3906, 切向力Y=-112197.2031 +FPS=31.60, 法向力=258666.1250, 切向力X=-55294.3828, 切向力Y=-20511.9297 +FPS=36.51, 法向力=186493.1562, 切向力X=-19027.1133, 切向力Y=126546.6250 +FPS=52.45, 法向力=170282.9375, 切向力X=-30393.6367, 切向力Y=154115.5312 +FPS=29.05, 法向力=249554.1562, 切向力X=11696.2891, 切向力Y=42129.5391 +FPS=39.82, 法向力=221984.0312, 切向力X=12944.0605, 切向力Y=21181.5977 +FPS=45.97, 法向力=111694.6641, 切向力X=30221.2305, 切向力Y=45433.8711 +FPS=38.89, 法向力=140641.7812, 切向力X=56786.3047, 切向力Y=52518.8945 +FPS=49.52, 法向力=92334.4375, 切向力X=40025.4883, 切向力Y=3665.0203 +FPS=32.58, 法向力=70692.1094, 切向力X=39006.4414, 切向力Y=-30432.0020 +FPS=31.47, 法向力=73939.4531, 切向力X=33987.1797, 切向力Y=-91943.2266 +FPS=37.93, 法向力=65589.7031, 切向力X=-13962.0488, 切向力Y=-125720.0781 +FPS=51.90, 法向力=53199.4844, 切向力X=-31198.7793, 切向力Y=-170961.5781 +FPS=29.74, 法向力=111050.3750, 切向力X=-65177.1602, 切向力Y=-116965.3906 +FPS=61.67, 法向力=83133.8750, 切向力X=-19418.0332, 切向力Y=-114751.5781 +FPS=48.77, 法向力=121980.4609, 切向力X=4950.4697, 切向力Y=-110577.3125 +FPS=60.84, 法向力=171750.2656, 切向力X=28802.0840, 切向力Y=-106838.5312 +FPS=39.63, 法向力=200005.7812, 切向力X=82829.6953, 切向力Y=-28160.2617 +FPS=38.61, 法向力=222188.0156, 切向力X=8907.3281, 切向力Y=-23484.0195 +FPS=44.32, 法向力=126650.1719, 切向力X=10384.9258, 切向力Y=156785.2969 +FPS=39.47, 法向力=124177.4844, 切向力X=20408.1758, 切向力Y=178392.5000 +FPS=49.47, 法向力=94508.4141, 切向力X=54408.4062, 切向力Y=167464.9688 +FPS=32.65, 法向力=136078.0938, 切向力X=69723.9609, 切向力Y=179877.4688 +FPS=37.48, 法向力=92198.0391, 切向力X=11813.2090, 切向力Y=236683.9062 +FPS=62.54, 法向力=69603.9219, 切向力X=-9723.6729, 切向力Y=276899.0625 +FPS=54.03, 法向力=71078.2969, 切向力X=-15610.0957, 切向力Y=282437.6562 +FPS=35.12, 法向力=92380.3203, 切向力X=-4242.2700, 切向力Y=356557.9688 +FPS=49.81, 法向力=91728.0000, 切向力X=53510.7344, 切向力Y=405904.8125 +FPS=64.28, 法向力=234765.8594, 切向力X=56964.0977, 切向力Y=248776.2500 +FPS=29.80, 法向力=273683.6562, 切向力X=50473.2109, 切向力Y=243530.7500 +FPS=39.92, 法向力=300110.9688, 切向力X=26608.2422, 切向力Y=271566.6250 +FPS=27.25, 法向力=220603.6875, 切向力X=-11512.8594, 切向力Y=322302.1875 +FPS=59.50, 法向力=201287.8594, 切向力X=8867.0859, 切向力Y=311020.1875 +FPS=55.25, 法向力=181206.4375, 切向力X=5935.5420, 切向力Y=295885.7812 +FPS=35.54, 法向力=153768.0000, 切向力X=-43720.4180, 切向力Y=222930.8281 +FPS=65.81, 法向力=149164.7031, 切向力X=-51660.7031, 切向力Y=242445.4062 +FPS=30.39, 法向力=79470.4062, 切向力X=-49088.1133, 切向力Y=267299.2500 +FPS=66.67, 法向力=55988.8164, 切向力X=-68041.7734, 切向力Y=320137.5000 +FPS=34.11, 法向力=129327.2812, 切向力X=-83299.2891, 切向力Y=270514.6875 +FPS=31.69, 法向力=111485.8594, 切向力X=-85534.2578, 切向力Y=234839.1875 +FPS=31.62, 法向力=169506.5625, 切向力X=-100672.4219, 切向力Y=275825.1875 +FPS=32.31, 法向力=172098.6875, 切向力X=-83391.8516, 切向力Y=116406.7266 +FPS=65.06, 法向力=193088.3438, 切向力X=-69441.7500, 切向力Y=49882.5625 +FPS=49.07, 法向力=219297.8438, 切向力X=-49380.2500, 切向力Y=12268.7031 +FPS=60.34, 法向力=146100.1094, 切向力X=-16539.4551, 切向力Y=-35613.6641 +FPS=45.31, 法向力=136113.2812, 切向力X=-29908.5996, 切向力Y=-40761.4844 +FPS=49.81, 法向力=120031.8750, 切向力X=-26437.9961, 切向力Y=-42541.0391 +FPS=30.54, 法向力=162163.7656, 切向力X=-54149.3125, 切向力Y=-25457.3477 +FPS=32.16, 法向力=215098.7188, 切向力X=-47563.6016, 切向力Y=14253.4961 +FPS=27.87, 法向力=246727.9375, 切向力X=-51079.8867, 切向力Y=73952.1016 +FPS=34.51, 法向力=277116.7500, 切向力X=-31725.4258, 切向力Y=78415.6406 +FPS=30.88, 法向力=89777.5312, 切向力X=-25762.8008, 切向力Y=265703.2500 +FPS=39.12, 法向力=46837.1797, 切向力X=-23599.1289, 切向力Y=235934.2812 +FPS=48.17, 法向力=150117.4062, 切向力X=30498.1719, 切向力Y=73924.7500 +FPS=25.67, 法向力=156800.1250, 切向力X=38057.9961, 切向力Y=71278.1172 +FPS=27.96, 法向力=168727.6250, 切向力X=37565.1133, 切向力Y=69810.4531 +FPS=32.88, 法向力=166247.3125, 切向力X=30444.3555, 切向力Y=65461.5547 +FPS=30.21, 法向力=184233.1094, 切向力X=6593.6963, 切向力Y=100464.2422 +FPS=26.78, 法向力=242242.6250, 切向力X=45967.5859, 切向力Y=237271.1562 +FPS=20.31, 法向力=195759.5938, 切向力X=13495.4854, 切向力Y=404044.7812 +FPS=26.44, 法向力=208763.5625, 切向力X=-4643.1260, 切向力Y=393721.6562 +FPS=27.24, 法向力=142540.0625, 切向力X=-30728.8008, 切向力Y=82519.5703 +FPS=38.03, 法向力=419002.6250, 切向力X=18405.5176, 切向力Y=-127102.5312 +FPS=30.86, 法向力=442389.0000, 切向力X=32282.5234, 切向力Y=-132424.3594 +FPS=30.35, 法向力=411782.0625, 切向力X=8944.3457, 切向力Y=-20940.2598 +FPS=26.34, 法向力=288562.6562, 切向力X=-16657.4805, 切向力Y=-123297.6641 +FPS=20.51, 法向力=253244.8438, 切向力X=1484.0209, 切向力Y=-32070.5430 +FPS=21.55, 法向力=403840.5625, 切向力X=-18767.5391, 切向力Y=117920.1406 +FPS=18.66, 法向力=350357.9375, 切向力X=-211.3447, 切向力Y=35969.2969 +FPS=30.07, 法向力=321848.0938, 切向力X=-36894.2734, 切向力Y=118276.5781 +FPS=27.71, 法向力=390167.0000, 切向力X=-39452.6914, 切向力Y=159571.9375 +FPS=24.28, 法向力=478087.5312, 切向力X=-25675.1699, 切向力Y=-16486.7383 +FPS=27.89, 法向力=409618.6875, 切向力X=-30167.4824, 切向力Y=37460.0469 +FPS=36.02, 法向力=383334.5625, 切向力X=-38290.2539, 切向力Y=42012.0469 +FPS=30.05, 法向力=291426.8750, 切向力X=51479.3281, 切向力Y=-62392.4453 +FPS=34.29, 法向力=234173.7344, 切向力X=46142.2617, 切向力Y=-79201.8984 +FPS=29.88, 法向力=295437.0000, 切向力X=33099.3516, 切向力Y=-51075.3828 +FPS=33.85, 法向力=176106.5625, 切向力X=46670.4531, 切向力Y=-172519.8438 +FPS=26.10, 法向力=104209.3047, 切向力X=31044.1875, 切向力Y=-28951.5391 +FPS=19.21, 法向力=123218.6172, 切向力X=13957.6250, 切向力Y=-7381.0898 +FPS=21.87, 法向力=129644.3203, 切向力X=10342.2500, 切向力Y=8583.8613 +FPS=21.48, 法向力=204835.0312, 切向力X=38132.5938, 切向力Y=-10912.5996 +FPS=21.04, 法向力=257824.3125, 切向力X=33128.3008, 切向力Y=-10328.4512 +FPS=21.36, 法向力=325607.4062, 切向力X=-26893.8320, 切向力Y=105982.9688 +FPS=20.40, 法向力=376724.6562, 切向力X=-65186.1406, 切向力Y=114373.9922 +FPS=26.48, 法向力=303602.2500, 切向力X=-26374.9688, 切向力Y=-33611.2734 +FPS=28.32, 法向力=381320.7188, 切向力X=29002.3359, 切向力Y=-119448.8750 +FPS=35.99, 法向力=387052.3125, 切向力X=76190.5469, 切向力Y=-153128.9531 +FPS=31.20, 法向力=334456.8750, 切向力X=41608.7188, 切向力Y=-105581.8438 +FPS=31.58, 法向力=320136.1250, 切向力X=67467.0312, 切向力Y=-105188.3906 +FPS=28.99, 法向力=267815.7188, 切向力X=45583.8281, 切向力Y=129081.8281 +Traceback (most recent call last): + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\AxisItem.py", line 991, in paint + specs = self.generateDrawSpecs(painter) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\AxisItem.py", line 1698, in generateDrawSpecs + self._updateMaxTextSize(lastTextSize2) + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\AxisItem.py", line 583, in _updateMaxTextSize + self._updateHeight() + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\AxisItem.py", line 623, in _updateHeight + self.setMaximumHeight(h) +KeyboardInterrupt +FPS=17.33, 法向力=311284.4688, 切向力X=14055.1328, 切向力Y=-26467.9668 +FPS=23.05, 法向力=204819.1875, 切向力X=27881.8828, 切向力Y=-45545.1094 +FPS=21.56, 法向力=189093.0625, 切向力X=-41732.1953, 切向力Y=-74463.6953 +FPS=19.94, 法向力=238849.0625, 切向力X=-44321.2070, 切向力Y=156766.7969 +FPS=21.63, 法向力=180555.7031, 切向力X=-11692.2832, 切向力Y=83106.2344 +FPS=40.24, 法向力=192385.2969, 切向力X=19893.9629, 切向力Y=85424.9453 +FPS=29.76, 法向力=190792.3906, 切向力X=3860.2056, 切向力Y=71571.4844 +FPS=37.85, 法向力=119139.9141, 切向力X=33668.9414, 切向力Y=192255.4375 +FPS=28.89, 法向力=97865.5000, 切向力X=-72620.6328, 切向力Y=-37297.9141 +FPS=36.63, 法向力=74879.2734, 切向力X=-59924.9141, 切向力Y=-76035.7188 +FPS=31.07, 法向力=95630.7422, 切向力X=-103406.2969, 切向力Y=-45514.1719 +FPS=23.65, 法向力=159223.0625, 切向力X=-102692.8594, 切向力Y=69586.2812 +FPS=21.44, 法向力=195794.0625, 切向力X=-105533.5703, 切向力Y=113334.6016 +FPS=26.61, 法向力=336296.9062, 切向力X=-102688.1562, 切向力Y=220831.3281 +FPS=25.65, 法向力=208513.3438, 切向力X=-62296.3828, 切向力Y=271841.6875 +FPS=18.79, 法向力=306791.1875, 切向力X=-21029.0918, 切向力Y=118393.1641 +FPS=22.92, 法向力=215123.1719, 切向力X=8925.9238, 切向力Y=278520.5625 +FPS=21.49, 法向力=272829.3750, 切向力X=-3193.6558, 切向力Y=187576.0469 +FPS=20.98, 法向力=282311.3438, 切向力X=-51981.2656, 切向力Y=131656.1094 +FPS=21.33, 法向力=329073.1250, 切向力X=-14060.4912, 切向力Y=27786.4219 +FPS=20.79, 法向力=220592.2031, 切向力X=-54149.6484, 切向力Y=16107.1973 +FPS=21.83, 法向力=193860.0469, 切向力X=-52145.2148, 切向力Y=-91579.1250 +FPS=21.03, 法向力=71465.0234, 切向力X=-31441.0469, 切向力Y=-2324.6675 +FPS=21.69, 法向力=142475.1562, 切向力X=-42323.6602, 切向力Y=59931.0586 +Traceback (most recent call last): + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\ViewBox\ViewBox.py", line 479, in boundingRect + def boundingRect(self): + +KeyboardInterrupt +FPS=16.30, 法向力=535910.1250, 切向力X=-30382.9336, 切向力Y=265077.4375 +FPS=19.62, 法向力=607613.6875, 切向力X=-15287.0742, 切向力Y=419652.3125 +FPS=22.95, 法向力=501417.0000, 切向力X=-71785.7031, 切向力Y=-5413.8955 +Traceback (most recent call last): + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\ViewBox\ViewBox.py", line 479, in boundingRect + def boundingRect(self): + +KeyboardInterrupt +FPS=19.34, 法向力=405564.0938, 切向力X=-27778.0312, 切向力Y=-58674.0703 +FPS=21.69, 法向力=307898.2812, 切向力X=34827.6055, 切向力Y=-278425.9688 +FPS=20.67, 法向力=127316.2578, 切向力X=-26296.1934, 切向力Y=-158982.7188 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in + main() + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 195, in main + mag = draw_magnitude_map(flow) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 81, in draw_magnitude_map + magnitude_norm = ((magnitude_thresholded - mag_min) / (mag_max - mag_min) * 255).astype(np.uint8) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt diff --git a/examples/logs/plot_20260521_094838.log b/examples/logs/plot_20260521_094838.log new file mode 100644 index 0000000..131cb4f --- /dev/null +++ b/examples/logs/plot_20260521_094838.log @@ -0,0 +1,973 @@ +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.16, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.90, 法向力=2132.0225, 切向力X=-626.0002, 切向力Y=653.1249 +FPS=30.69, 法向力=1833.9800, 切向力X=-532.9758, 切向力Y=928.6810 +FPS=63.43, 法向力=1919.7517, 切向力X=-539.9496, 切向力Y=861.3469 +FPS=44.83, 法向力=1466.6414, 切向力X=152.5167, 切向力Y=1794.7283 +FPS=41.07, 法向力=1455.6628, 切向力X=202.3141, 切向力Y=1967.6238 +FPS=48.19, 法向力=1274.8848, 切向力X=-658.5001, 切向力Y=1072.1907 +FPS=46.64, 法向力=1354.5959, 切向力X=-769.8967, 切向力Y=1115.4000 +FPS=50.84, 法向力=1346.8385, 切向力X=-781.1230, 切向力Y=1118.8914 +FPS=36.59, 法向力=1281.7994, 切向力X=-181.4302, 切向力Y=652.8701 +FPS=47.09, 法向力=1350.6682, 切向力X=-170.7000, 切向力Y=704.0027 +FPS=40.14, 法向力=2255.3735, 切向力X=-331.3568, 切向力Y=308.0040 +FPS=48.06, 法向力=2299.3315, 切向力X=-342.2999, 切向力Y=301.1272 +FPS=31.48, 法向力=1797.6084, 切向力X=-271.4011, 切向力Y=1229.1455 +FPS=31.48, 法向力=1487.5938, 切向力X=-981.8602, 切向力Y=664.0342 +FPS=29.90, 法向力=1387.3636, 切向力X=-986.7985, 切向力Y=713.1887 +FPS=42.37, 法向力=1696.2229, 切向力X=-1271.9888, 切向力Y=631.3158 +FPS=27.14, 法向力=1759.9031, 切向力X=-461.0164, 切向力Y=918.8373 +FPS=33.69, 法向力=1748.5537, 切向力X=-447.0609, 切向力Y=1080.3594 +FPS=63.28, 法向力=1625.8491, 切向力X=-794.9280, 切向力Y=1147.3076 +FPS=54.91, 法向力=1541.5273, 切向力X=-780.9010, 切向力Y=1103.5066 +FPS=41.54, 法向力=1560.8381, 切向力X=-780.4933, 切向力Y=1116.0969 +FPS=53.12, 法向力=1559.0061, 切向力X=203.5303, 切向力Y=395.2562 +FPS=35.78, 法向力=1559.0548, 切向力X=306.4504, 切向力Y=373.4449 +FPS=48.73, 法向力=1531.0449, 切向力X=309.0504, 切向力Y=412.2301 +FPS=32.37, 法向力=1588.8384, 切向力X=-417.7002, 切向力Y=475.3174 +FPS=66.85, 法向力=1655.1907, 切向力X=-476.8205, 切向力Y=440.5671 +FPS=31.42, 法向力=1222.1085, 切向力X=-126.7860, 切向力Y=901.8865 +FPS=63.65, 法向力=1213.7378, 切向力X=-182.4023, 切向力Y=911.3219 +FPS=31.75, 法向力=1574.6343, 切向力X=183.5063, 切向力Y=1807.4114 +FPS=65.04, 法向力=1620.2867, 切向力X=176.6981, 切向力Y=1882.2969 +FPS=54.44, 法向力=1967.8975, 切向力X=-189.4205, 切向力Y=532.6257 +FPS=41.23, 法向力=1981.5603, 切向力X=-202.2931, 切向力Y=433.4135 +FPS=53.44, 法向力=1628.0383, 切向力X=-85.4323, 切向力Y=960.1668 +FPS=52.61, 法向力=1532.7793, 切向力X=-223.9539, 切向力Y=1160.2141 +FPS=65.56, 法向力=1543.5796, 切向力X=-179.1787, 切向力Y=1142.9106 +FPS=34.15, 法向力=1506.9893, 切向力X=-156.7738, 切向力Y=677.4290 +FPS=32.85, 法向力=1344.7141, 切向力X=-179.4543, 切向力Y=258.8173 +FPS=54.82, 法向力=1378.9100, 切向力X=-96.4236, 切向力Y=145.3404 +FPS=34.21, 法向力=1370.2896, 切向力X=-102.8540, 切向力Y=126.3039 +FPS=31.82, 法向力=2674.0576, 切向力X=-1778.4589, 切向力Y=-126.2248 +FPS=30.33, 法向力=1411.5046, 切向力X=39.2991, 切向力Y=865.2267 +FPS=33.83, 法向力=1403.9419, 切向力X=88.1554, 切向力Y=903.4543 +FPS=30.77, 法向力=2106.6353, 切向力X=-797.9048, 切向力Y=310.0359 +FPS=37.87, 法向力=2083.3696, 切向力X=-742.3884, 切向力Y=307.7928 +FPS=49.42, 法向力=1644.5015, 切向力X=-145.3477, 切向力Y=571.1619 +FPS=30.52, 法向力=1761.4263, 切向力X=486.2947, 切向力Y=963.7088 +FPS=30.98, 法向力=1862.8586, 切向力X=484.6104, 切向力Y=885.9095 +FPS=30.88, 法向力=1421.9816, 切向力X=-143.8064, 切向力Y=2020.0679 +FPS=37.42, 法向力=1484.1157, 切向力X=-221.9282, 切向力Y=2061.9854 +FPS=47.56, 法向力=1548.9358, 切向力X=-1240.3973, 切向力Y=1214.9977 +FPS=27.99, 法向力=1845.1261, 切向力X=-661.9951, 切向力Y=555.6907 +FPS=44.38, 法向力=1938.2045, 切向力X=-673.3879, 切向力Y=376.0863 +FPS=27.32, 法向力=1516.9513, 切向力X=-449.3197, 切向力Y=413.4129 +FPS=32.21, 法向力=1447.3953, 切向力X=-359.0065, 切向力Y=390.3096 +FPS=31.73, 法向力=2208.7781, 切向力X=-475.5299, 切向力Y=964.4565 +FPS=31.46, 法向力=2293.8013, 切向力X=-540.0242, 切向力Y=1037.0756 +FPS=32.07, 法向力=1675.6974, 切向力X=-236.5338, 切向力Y=690.1395 +FPS=63.28, 法向力=1643.3859, 切向力X=-60.0429, 切向力Y=673.7938 +FPS=53.75, 法向力=2095.0220, 切向力X=5.5366, 切向力Y=1069.0974 +FPS=44.03, 法向力=2195.2185, 切向力X=-135.5732, 切向力Y=1263.8434 +FPS=67.04, 法向力=1458.5806, 切向力X=325.7804, 切向力Y=349.9042 +FPS=53.96, 法向力=1449.8267, 切向力X=289.6419, 切向力Y=245.8076 +FPS=60.21, 法向力=1457.8881, 切向力X=227.9115, 切向力Y=274.0042 +FPS=52.10, 法向力=1605.1494, 切向力X=-479.5019, 切向力Y=1445.0339 +FPS=32.58, 法向力=1653.6604, 切向力X=-559.6899, 切向力Y=1434.3865 +FPS=32.58, 法向力=2380.5225, 切向力X=-326.1813, 切向力Y=445.5163 +FPS=31.15, 法向力=2375.3677, 切向力X=-254.9062, 切向力Y=359.7256 +FPS=31.99, 法向力=1742.9104, 切向力X=-1192.7169, 切向力Y=759.8270 +FPS=62.91, 法向力=1802.7366, 切向力X=-1243.2284, 切向力Y=676.2950 +FPS=51.43, 法向力=1780.6982, 切向力X=-686.9875, 切向力Y=534.0204 +FPS=69.59, 法向力=1718.3612, 切向力X=-619.6989, 切向力Y=687.7190 +FPS=42.99, 法向力=1716.6248, 切向力X=-610.7688, 切向力Y=652.5311 +FPS=53.39, 法向力=1704.7319, 切向力X=-622.1461, 切向力Y=690.6805 +FPS=34.71, 法向力=2456.6997, 切向力X=-2268.5825, 切向力Y=1408.2979 +FPS=46.71, 法向力=2518.9014, 切向力X=-2442.9822, 切向力Y=1456.7861 +FPS=32.53, 法向力=2433.3708, 切向力X=-1250.1029, 切向力Y=1461.3521 +FPS=32.11, 法向力=2557.2786, 切向力X=-1211.5332, 切向力Y=1487.0494 +FPS=32.44, 法向力=1790.2964, 切向力X=-856.3073, 切向力Y=1648.4153 +FPS=37.53, 法向力=1772.9346, 切向力X=-851.5469, 切向力Y=1807.0323 +FPS=52.53, 法向力=1766.7720, 切向力X=-164.4985, 切向力Y=1871.0811 +FPS=31.20, 法向力=1750.1802, 切向力X=-223.8686, 切向力Y=1929.9265 +FPS=37.47, 法向力=2193.1206, 切向力X=-386.4019, 切向力Y=1360.1597 +FPS=48.47, 法向力=2262.5244, 切向力X=-341.4160, 切向力Y=1225.9951 +FPS=64.76, 法向力=1454.6331, 切向力X=-1224.5510, 切向力Y=1527.7633 +FPS=52.24, 法向力=1394.3600, 切向力X=-1134.3313, 切向力Y=1407.5780 +FPS=44.97, 法向力=1366.0413, 切向力X=-1100.4163, 切向力Y=1457.8467 +FPS=48.40, 法向力=1619.8608, 切向力X=-1845.7263, 切向力Y=2502.4705 +FPS=31.86, 法向力=1635.1398, 切向力X=-1828.1420, 切向力Y=2575.3030 +FPS=31.38, 法向力=1642.6914, 切向力X=-1812.4885, 切向力Y=2545.0286 +FPS=58.13, 法向力=1946.0856, 切向力X=-3225.9919, 切向力Y=2169.1367 +FPS=49.19, 法向力=2068.0085, 切向力X=-3326.8806, 切向力Y=2095.5649 +FPS=48.55, 法向力=2143.3101, 切向力X=-3340.3372, 切向力Y=1981.5583 +FPS=45.86, 法向力=2496.8540, 切向力X=-2845.6685, 切向力Y=2014.1382 +FPS=38.92, 法向力=2574.0459, 切向力X=-2896.9375, 切向力Y=1903.2034 +FPS=49.45, 法向力=2494.5371, 切向力X=-2596.7349, 切向力Y=1750.7770 +FPS=31.26, 法向力=2500.6194, 切向力X=-2596.8850, 切向力Y=1884.9546 +FPS=37.78, 法向力=2123.9072, 切向力X=-1072.3374, 切向力Y=824.1359 +FPS=27.47, 法向力=2034.4407, 切向力X=-1080.8167, 切向力Y=854.7980 +FPS=61.68, 法向力=3048.9539, 切向力X=-2247.3179, 切向力Y=1850.3274 +FPS=32.20, 法向力=3102.8491, 切向力X=-2403.5059, 切向力Y=1857.6740 +FPS=38.41, 法向力=3387.9839, 切向力X=-2935.6445, 切向力Y=1778.9568 +FPS=62.82, 法向力=3389.0198, 切向力X=-2961.2700, 切向力Y=1765.1508 +FPS=51.42, 法向力=2411.1230, 切向力X=-4517.7100, 切向力Y=1497.4299 +FPS=35.29, 法向力=2435.9961, 切向力X=-4601.9448, 切向力Y=1479.1562 +FPS=27.28, 法向力=2422.6228, 切向力X=-4541.8862, 切向力Y=1495.8726 +FPS=58.40, 法向力=2414.4907, 切向力X=-4604.3447, 切向力Y=1440.0359 +FPS=33.09, 法向力=2049.0393, 切向力X=-4857.6562, 切向力Y=3209.6050 +FPS=31.27, 法向力=3322.0356, 切向力X=-4939.0420, 切向力Y=3539.5581 +FPS=40.39, 法向力=3398.9387, 切向力X=-5029.6958, 切向力Y=3562.1650 +FPS=45.66, 法向力=3009.4414, 切向力X=-5637.6074, 切向力Y=3159.5654 +FPS=39.98, 法向力=3065.8770, 切向力X=-5722.8525, 切向力Y=3142.8804 +FPS=27.20, 法向力=2488.3879, 切向力X=-5480.5410, 切向力Y=2024.2292 +FPS=38.43, 法向力=2480.7317, 切向力X=-5448.3008, 切向力Y=2029.0967 +FPS=46.05, 法向力=3119.4192, 切向力X=-5611.0835, 切向力Y=3018.3684 +FPS=39.71, 法向力=3188.1335, 切向力X=-5622.0381, 切向力Y=3164.3403 +FPS=46.86, 法向力=3191.9563, 切向力X=-5798.9951, 切向力Y=3105.3511 +FPS=31.32, 法向力=3239.8013, 切向力X=-5881.8242, 切向力Y=3120.1462 +FPS=32.20, 法向力=2585.4365, 切向力X=-5397.5195, 切向力Y=3089.7629 +FPS=38.29, 法向力=2661.2522, 切向力X=-5431.5015, 切向力Y=3046.8359 +FPS=27.75, 法向力=2651.1643, 切向力X=-5468.0801, 切向力Y=3086.9775 +FPS=31.98, 法向力=4426.1665, 切向力X=-7901.6338, 切向力Y=3908.6177 +FPS=31.01, 法向力=4674.1367, 切向力X=-7720.3770, 切向力Y=4094.6284 +FPS=31.41, 法向力=4765.3496, 切向力X=-7939.0161, 切向力Y=4000.5854 +FPS=38.80, 法向力=5237.3267, 切向力X=-9099.9863, 切向力Y=5271.3687 +FPS=25.29, 法向力=5240.4189, 切向力X=-9132.3555, 切向力Y=5415.2231 +FPS=56.06, 法向力=5975.3301, 切向力X=-9217.6738, 切向力Y=5738.1973 +FPS=51.09, 法向力=5983.0820, 切向力X=-9241.4922, 切向力Y=6041.6104 +FPS=57.62, 法向力=5970.9927, 切向力X=-9247.6162, 切向力Y=6111.3418 +FPS=63.82, 法向力=8208.8447, 切向力X=-10709.1953, 切向力Y=5409.3521 +FPS=50.23, 法向力=8647.4727, 切向力X=-10864.6191, 切向力Y=5307.7129 +FPS=65.89, 法向力=8685.7363, 切向力X=-10878.0371, 切向力Y=5327.2144 +FPS=51.26, 法向力=11146.5898, 切向力X=-12816.8574, 切向力Y=3739.6497 +FPS=40.28, 法向力=11345.7227, 切向力X=-13041.6133, 切向力Y=3636.5403 +FPS=45.33, 法向力=12413.6836, 切向力X=-13166.4268, 切向力Y=4989.4463 +FPS=32.90, 法向力=12419.4463, 切向力X=-13192.6416, 切向力Y=5003.7490 +FPS=31.39, 法向力=12435.5996, 切向力X=-13181.9932, 切向力Y=5108.5903 +FPS=64.18, 法向力=12427.2842, 切向力X=-13169.7500, 切向力Y=5058.3516 +FPS=52.90, 法向力=15349.7900, 切向力X=-15334.7861, 切向力Y=4948.5625 +FPS=45.11, 法向力=15388.4531, 切向力X=-15472.1602, 切向力Y=4925.9277 +FPS=26.71, 法向力=15288.5293, 切向力X=-15639.0010, 切向力Y=5980.3525 +FPS=38.56, 法向力=15196.8877, 切向力X=-15655.5117, 切向力Y=6002.3604 +FPS=44.46, 法向力=16792.2109, 切向力X=-17047.7539, 切向力Y=3940.6606 +FPS=32.12, 法向力=16771.8184, 切向力X=-17146.1699, 切向力Y=3765.3184 +FPS=32.30, 法向力=19388.0820, 切向力X=-18787.1719, 切向力Y=2726.4561 +FPS=32.11, 法向力=22676.1387, 切向力X=-19018.5078, 切向力Y=365.2493 +FPS=31.76, 法向力=22609.5898, 切向力X=-18887.9062, 切向力Y=311.9781 +FPS=32.49, 法向力=20845.0977, 切向力X=-19376.3828, 切向力Y=167.4272 +FPS=31.35, 法向力=14058.9668, 切向力X=-12922.8320, 切向力Y=3001.8604 +FPS=32.56, 法向力=13869.7578, 切向力X=-12803.3086, 切向力Y=2962.0732 +FPS=32.99, 法向力=13939.1260, 切向力X=-12775.2305, 切向力Y=2926.7993 +FPS=30.86, 法向力=4605.6323, 切向力X=-449.3079, 切向力Y=6013.4551 +FPS=31.10, 法向力=4657.0483, 切向力X=-485.1179, 切向力Y=6104.4087 +FPS=32.10, 法向力=2917.1924, 切向力X=-5110.1553, 切向力Y=6092.1035 +FPS=32.19, 法向力=2856.4263, 切向力X=-5207.8008, 切向力Y=6165.7002 +FPS=38.12, 法向力=4260.4531, 切向力X=-7738.7886, 切向力Y=5015.0981 +FPS=50.96, 法向力=4400.5498, 切向力X=-7783.8594, 切向力Y=5053.1260 +FPS=58.65, 法向力=4675.9951, 切向力X=-8193.4980, 切向力Y=4536.8911 +FPS=54.28, 法向力=4647.3330, 切向力X=-8181.7090, 切向力Y=4559.4229 +FPS=40.58, 法向力=4624.9814, 切向力X=-8185.1577, 切向力Y=4527.3940 +FPS=51.99, 法向力=4307.7407, 切向力X=-7627.8350, 切向力Y=6842.6963 +FPS=30.28, 法向力=4298.0693, 切向力X=-7579.0928, 切向力Y=7049.8750 +FPS=31.28, 法向力=3812.4482, 切向力X=-8561.3438, 切向力Y=6025.3804 +FPS=60.36, 法向力=3874.9683, 切向力X=-7830.5479, 切向力Y=5788.6587 +FPS=54.28, 法向力=3889.2412, 切向力X=-7740.3340, 切向力Y=5790.6768 +FPS=44.34, 法向力=3871.7637, 切向力X=-7753.8135, 切向力Y=5771.5488 +FPS=62.44, 法向力=3888.0742, 切向力X=-7751.8584, 切向力Y=5778.8091 +FPS=54.98, 法向力=3874.0359, 切向力X=-7754.7480, 切向力Y=5764.3447 +FPS=69.03, 法向力=3876.2795, 切向力X=-7755.3633, 切向力Y=5765.4395 +FPS=28.34, 法向力=3564.5010, 切向力X=-8366.6641, 切向力Y=6468.8047 +FPS=32.08, 法向力=3533.9175, 切向力X=-8360.6523, 切向力Y=6443.9917 +FPS=32.68, 法向力=4378.1982, 切向力X=-8685.8613, 切向力Y=7043.6455 +FPS=61.78, 法向力=4542.2031, 切向力X=-8784.9688, 切向力Y=7026.0840 +FPS=50.68, 法向力=4354.6729, 切向力X=-9173.0244, 切向力Y=6151.7773 +FPS=66.02, 法向力=4288.7549, 切向力X=-9217.1289, 切向力Y=6268.7817 +FPS=65.27, 法向力=4299.1074, 切向力X=-9183.6426, 切向力Y=6250.3862 +FPS=55.63, 法向力=3697.4844, 切向力X=-8435.6230, 切向力Y=6505.8149 +FPS=45.93, 法向力=3702.5225, 切向力X=-8416.7188, 切向力Y=6505.6396 +FPS=62.46, 法向力=4290.4067, 切向力X=-9352.6016, 切向力Y=6519.5547 +FPS=55.17, 法向力=4428.1875, 切向力X=-9453.7129, 切向力Y=6341.9600 +FPS=29.69, 法向力=4453.8135, 切向力X=-9557.1475, 切向力Y=7047.7920 +FPS=30.90, 法向力=4482.0586, 切向力X=-9645.6055, 切向力Y=7088.0625 +FPS=38.02, 法向力=4315.7852, 切向力X=-8935.6660, 切向力Y=6009.1714 +FPS=27.03, 法向力=4324.1279, 切向力X=-8880.0918, 切向力Y=6101.0010 +FPS=40.22, 法向力=4328.5615, 切向力X=-8891.2402, 切向力Y=6085.9600 +FPS=28.02, 法向力=4111.3496, 切向力X=-9151.7539, 切向力Y=5728.0903 +FPS=31.67, 法向力=4096.4453, 切向力X=-9130.2109, 切向力Y=5897.5273 +FPS=55.90, 法向力=4374.5332, 切向力X=-10388.7207, 切向力Y=6179.9346 +FPS=40.27, 法向力=4529.8115, 切向力X=-10515.8086, 切向力Y=6231.4346 +FPS=48.33, 法向力=4086.0986, 切向力X=-9513.7422, 切向力Y=6888.2202 +FPS=38.56, 法向力=4073.7607, 切向力X=-9478.4941, 切向力Y=7001.4346 +FPS=43.98, 法向力=4872.0479, 切向力X=-10021.1787, 切向力Y=6775.5664 +FPS=39.56, 法向力=4913.8848, 切向力X=-10025.1797, 切向力Y=6836.3428 +FPS=45.71, 法向力=4399.0640, 切向力X=-9494.8936, 切向力Y=6770.3628 +FPS=40.28, 法向力=4413.2881, 切向力X=-9546.5625, 切向力Y=6653.9902 +FPS=62.22, 法向力=4414.9502, 切向力X=-9583.7939, 切向力Y=6646.6016 +FPS=53.59, 法向力=6644.1201, 切向力X=-11321.2051, 切向力Y=6301.6885 +FPS=29.30, 法向力=7215.1138, 切向力X=-11753.1318, 切向力Y=6819.4077 +FPS=37.02, 法向力=7213.2373, 切向力X=-11859.4287, 切向力Y=6851.9717 +FPS=49.44, 法向力=7195.5620, 切向力X=-11881.6680, 切向力Y=6889.0400 +FPS=36.05, 法向力=7178.5654, 切向力X=-11885.8203, 切向力Y=6863.6157 +FPS=49.70, 法向力=7190.8760, 切向力X=-11878.1328, 切向力Y=6892.3477 +FPS=65.59, 法向力=26147.7266, 切向力X=-25750.1719, 切向力Y=5353.4463 +FPS=50.03, 法向力=26291.0996, 切向力X=-25803.4219, 切向力Y=5034.7402 +FPS=42.77, 法向力=26273.7188, 切向力X=-25804.6602, 切向力Y=5035.7847 +FPS=49.35, 法向力=37180.3984, 切向力X=-34693.0000, 切向力Y=-468.8340 +FPS=31.01, 法向力=37325.8828, 切向力X=-34543.0117, 切向力Y=-999.7188 +FPS=41.41, 法向力=37216.1875, 切向力X=-34652.1641, 切向力Y=-859.3538 +FPS=27.02, 法向力=29784.9062, 切向力X=-28797.2539, 切向力Y=1757.2382 +FPS=38.28, 法向力=29329.8594, 切向力X=-28094.3867, 切向力Y=1380.7018 +FPS=27.92, 法向力=26776.1016, 切向力X=-26247.8887, 切向力Y=2857.9727 +FPS=59.78, 法向力=26537.7070, 切向力X=-26190.8730, 切向力Y=3029.1003 +FPS=51.08, 法向力=22318.0977, 切向力X=-21244.9844, 切向力Y=3908.6367 +FPS=46.17, 法向力=22087.6992, 切向力X=-21273.7402, 切向力Y=4309.0664 +FPS=45.37, 法向力=14018.7168, 切向力X=-13065.4277, 切向力Y=6291.3584 +FPS=32.48, 法向力=13954.1025, 切向力X=-12759.2119, 切向力Y=6254.3130 +FPS=32.02, 法向力=13943.0391, 切向力X=-12769.6309, 切向力Y=6272.7969 +FPS=31.59, 法向力=13928.3633, 切向力X=-12794.8232, 切向力Y=6266.2998 +FPS=63.11, 法向力=4525.2456, 切向力X=-1810.4634, 切向力Y=6251.3315 +FPS=53.64, 法向力=4535.9990, 切向力X=-1874.4641, 切向力Y=6235.3267 +FPS=60.99, 法向力=4519.2983, 切向力X=-1851.0786, 切向力Y=6190.3223 +FPS=43.52, 法向力=4927.5039, 切向力X=-7152.5596, 切向力Y=8203.2246 +FPS=58.83, 法向力=4999.0869, 切向力X=-7213.3613, 切向力Y=8337.7676 +FPS=47.20, 法向力=5226.7666, 切向力X=-9951.5000, 切向力Y=6706.8350 +FPS=40.16, 法向力=5409.3413, 切向力X=-10219.0781, 切向力Y=6540.9336 +FPS=65.64, 法向力=5215.5215, 切向力X=-10140.5918, 切向力Y=7193.1025 +FPS=53.62, 法向力=5148.3213, 切向力X=-10150.5938, 切向力Y=7408.8623 +FPS=35.97, 法向力=5183.5181, 切向力X=-10157.7139, 切向力Y=7420.2207 +FPS=52.56, 法向力=5560.4658, 切向力X=-10743.1768, 切向力Y=8230.4238 +FPS=35.97, 法向力=5580.7954, 切向力X=-10797.8438, 切向力Y=8432.7090 +FPS=26.92, 法向力=4869.0225, 切向力X=-11051.9766, 切向力Y=7527.2852 +FPS=31.90, 法向力=5320.9204, 切向力X=-10133.3525, 切向力Y=8189.4150 +FPS=37.71, 法向力=5209.6611, 切向力X=-10181.0469, 切向力Y=8186.3618 +FPS=46.69, 法向力=5058.3623, 切向力X=-11534.3135, 切向力Y=8768.7578 +FPS=33.06, 法向力=5071.5859, 切向力X=-11649.8828, 切向力Y=8796.4902 +FPS=31.68, 法向力=6061.7856, 切向力X=-10703.0449, 切向力Y=7909.2900 +FPS=31.13, 法向力=6020.1455, 切向力X=-10686.8340, 切向力Y=7883.5332 +FPS=32.83, 法向力=6108.7920, 切向力X=-12000.3242, 切向力Y=8715.5635 +FPS=59.51, 法向力=6277.6724, 切向力X=-11959.7021, 切向力Y=8080.6953 +FPS=33.21, 法向力=6246.3877, 切向力X=-12058.1152, 切向力Y=7966.2812 +FPS=56.59, 法向力=6282.2432, 切向力X=-12035.4199, 切向力Y=7962.0322 +FPS=55.60, 法向力=6349.7217, 切向力X=-12355.2695, 切向力Y=9323.9023 +FPS=32.89, 法向力=7619.2275, 切向力X=-14349.0977, 切向力Y=9430.1855 +FPS=43.32, 法向力=7769.9746, 切向力X=-14692.9160, 切向力Y=9319.5928 +FPS=52.69, 法向力=7832.4316, 切向力X=-14759.6006, 切向力Y=9186.8008 +FPS=34.66, 法向力=7301.2803, 切向力X=-14607.7412, 切向力Y=9339.8789 +FPS=50.53, 法向力=7261.4087, 切向力X=-14535.4570, 切向力Y=9459.0469 +FPS=61.11, 法向力=7257.6768, 切向力X=-14593.4639, 切向力Y=9547.4199 +FPS=52.84, 法向力=5851.0781, 切向力X=-13579.8301, 切向力Y=9603.2266 +FPS=34.06, 法向力=5976.6426, 切向力X=-13561.1299, 切向力Y=9495.7881 +FPS=33.26, 法向力=5137.7041, 切向力X=-12701.6904, 切向力Y=8944.2188 +FPS=57.86, 法向力=5072.3701, 切向力X=-12662.4189, 切向力Y=8942.3115 +FPS=51.75, 法向力=5121.9204, 切向力X=-12642.7109, 切向力Y=9295.6924 +FPS=49.54, 法向力=5071.2383, 切向力X=-12658.9346, 切向力Y=9395.3164 +FPS=51.92, 法向力=5057.7144, 切向力X=-12229.3535, 切向力Y=9185.4902 +FPS=31.04, 法向力=4985.7007, 切向力X=-12043.8262, 切向力Y=9187.1689 +FPS=32.22, 法向力=5274.8037, 切向力X=-12226.1406, 切向力Y=9497.8076 +FPS=31.76, 法向力=7914.9321, 切向力X=-12263.8906, 切向力Y=7389.9443 +FPS=31.85, 法向力=7985.3496, 切向力X=-12302.6025, 切向力Y=7271.5015 +FPS=39.09, 法向力=8243.9414, 切向力X=-12132.7900, 切向力Y=7042.7114 +FPS=27.71, 法向力=8238.6543, 切向力X=-11959.5225, 切向力Y=7122.3267 +FPS=31.93, 法向力=6687.3350, 切向力X=-11739.6865, 切向力Y=7908.6011 +FPS=36.76, 法向力=6642.3262, 切向力X=-11637.9453, 切向力Y=7963.2354 +FPS=50.18, 法向力=6861.9453, 切向力X=-11990.0645, 切向力Y=7277.4175 +FPS=37.28, 法向力=7071.6650, 切向力X=-12034.6475, 切向力Y=7050.3755 +FPS=53.68, 法向力=6628.4023, 切向力X=-11559.5049, 切向力Y=7767.5698 +FPS=29.28, 法向力=6616.2271, 切向力X=-11559.7598, 切向力Y=7892.7285 +FPS=39.39, 法向力=5515.2002, 切向力X=-11350.0020, 切向力Y=8483.4062 +FPS=45.57, 法向力=5476.2393, 切向力X=-11265.9336, 切向力Y=8459.1270 +FPS=38.89, 法向力=6268.6909, 切向力X=-11907.8730, 切向力Y=8764.5742 +FPS=51.39, 法向力=6220.9546, 切向力X=-12008.9316, 切向力Y=8667.7402 +FPS=36.16, 法向力=5520.4004, 切向力X=-11624.5859, 切向力Y=8380.2705 +FPS=45.60, 法向力=5485.6895, 切向力X=-11636.2324, 切向力Y=8538.7422 +FPS=39.17, 法向力=5451.4678, 切向力X=-11895.8223, 切向力Y=7687.1250 +FPS=47.49, 法向力=5427.9180, 切向力X=-11977.2402, 切向力Y=7809.3037 +FPS=66.58, 法向力=5425.8501, 切向力X=-11984.5068, 切向力Y=7866.7119 +FPS=54.33, 法向力=5710.2354, 切向力X=-12170.0342, 切向力Y=9050.6846 +FPS=33.08, 法向力=5785.9189, 切向力X=-12312.8906, 切向力Y=9229.8398 +FPS=31.88, 法向力=5969.4165, 切向力X=-11893.6953, 切向力Y=9172.0596 +FPS=59.91, 法向力=5973.5088, 切向力X=-11750.5723, 切向力Y=9147.4268 +FPS=52.93, 法向力=4915.8940, 切向力X=-12238.4854, 切向力Y=9379.0537 +FPS=37.94, 法向力=4841.7656, 切向力X=-12285.7002, 切向力Y=9498.2842 +FPS=36.55, 法向力=4649.6396, 切向力X=-12933.3467, 切向力Y=10121.0742 +FPS=45.90, 法向力=4745.8364, 切向力X=-13082.7998, 切向力Y=10134.9805 +FPS=32.44, 法向力=5198.9380, 切向力X=-12092.6221, 切向力Y=9585.5605 +FPS=53.84, 法向力=5200.6685, 切向力X=-12057.4209, 切向力Y=9495.6484 +FPS=51.16, 法向力=6338.3477, 切向力X=-12692.7900, 切向力Y=8506.2012 +FPS=68.79, 法向力=6349.6782, 切向力X=-12700.2402, 切向力Y=8490.6738 +FPS=62.59, 法向力=11607.8438, 切向力X=-13919.0293, 切向力Y=6606.7090 +FPS=54.28, 法向力=12078.3965, 切向力X=-14139.9346, 切向力Y=6524.8994 +FPS=53.80, 法向力=12072.9219, 切向力X=-14198.8281, 切向力Y=6560.6479 +FPS=64.25, 法向力=12779.5264, 切向力X=-13571.4883, 切向力Y=4650.1279 +FPS=54.49, 法向力=12918.2715, 切向力X=-13524.0312, 切向力Y=4571.3882 +FPS=29.24, 法向力=12941.1230, 切向力X=-13500.0127, 切向力Y=4574.7212 +FPS=37.30, 法向力=13691.8516, 切向力X=-13047.5664, 切向力Y=5056.3647 +FPS=27.49, 法向力=10887.2891, 切向力X=-11440.7734, 切向力Y=6084.2207 +FPS=31.49, 法向力=10917.4209, 切向力X=-11397.4805, 切向力Y=5957.4268 +FPS=37.67, 法向力=9338.8398, 切向力X=-11771.2051, 切向力Y=5867.3545 +FPS=27.76, 法向力=7898.0693, 切向力X=-10559.8379, 切向力Y=6639.5654 +FPS=38.95, 法向力=7863.4180, 切向力X=-10633.6787, 切向力Y=6848.2905 +FPS=46.26, 法向力=6933.1436, 切向力X=-11689.9141, 切向力Y=6851.7051 +FPS=39.11, 法向力=7023.8184, 切向力X=-11739.4971, 切向力Y=6707.1655 +FPS=63.70, 法向力=7042.5112, 切向力X=-11734.6582, 切向力Y=6705.7754 +FPS=53.71, 法向力=6790.9570, 切向力X=-12124.6846, 切向力Y=8759.3936 +FPS=30.08, 法向力=6407.3086, 切向力X=-13039.2695, 切向力Y=8315.0605 +FPS=31.99, 法向力=6237.8687, 切向力X=-12903.2891, 切向力Y=8446.5898 +FPS=58.69, 法向力=6259.0479, 切向力X=-12890.2461, 切向力Y=8472.9756 +FPS=64.20, 法向力=4761.7285, 切向力X=-12488.5254, 切向力Y=10083.7051 +FPS=50.59, 法向力=4696.6641, 切向力X=-12369.9590, 切向力Y=10184.5293 +FPS=50.42, 法向力=4692.4238, 切向力X=-12376.6504, 切向力Y=10238.5889 +FPS=62.29, 法向力=5721.8789, 切向力X=-12750.4414, 切向力Y=10301.4277 +FPS=50.42, 法向力=5875.4634, 切向力X=-12857.8174, 切向力Y=10297.7461 +FPS=64.78, 法向力=5887.2412, 切向力X=-12813.6621, 切向力Y=10308.3438 +FPS=50.64, 法向力=5452.3496, 切向力X=-12748.5195, 切向力Y=10324.6562 +FPS=40.67, 法向力=5468.9121, 切向力X=-12892.8652, 切向力Y=10169.8613 +FPS=45.31, 法向力=5011.2661, 切向力X=-13501.5645, 切向力Y=9583.7520 +FPS=40.11, 法向力=4902.5854, 切向力X=-13442.1641, 切向力Y=9470.2402 +FPS=63.19, 法向力=11155.3105, 切向力X=-13540.0859, 切向力Y=6557.2471 +FPS=53.66, 法向力=11332.9736, 切向力X=-13688.5098, 切向力Y=6200.6094 +FPS=35.34, 法向力=14460.5186, 切向力X=-14289.1836, 切向力Y=4944.0591 +FPS=48.87, 法向力=14314.3516, 切向力X=-14145.0020, 切向力Y=5013.3389 +FPS=65.24, 法向力=14319.7520, 切向力X=-14164.8682, 切向力Y=4970.9277 +FPS=35.92, 法向力=13449.9512, 切向力X=-11475.8057, 切向力Y=4453.1895 +FPS=44.66, 法向力=13413.9922, 切向力X=-11463.8516, 切向力Y=4405.7720 +FPS=60.75, 法向力=13422.5176, 切向力X=-11440.0254, 切向力Y=4408.5381 +FPS=35.96, 法向力=11058.0176, 切向力X=-12097.5684, 切向力Y=4877.4268 +FPS=37.96, 法向力=8734.3525, 切向力X=-11563.0391, 切向力Y=7381.8291 +FPS=27.70, 法向力=8729.2422, 切向力X=-11608.8262, 切向力Y=7481.8662 +FPS=38.46, 法向力=8855.0752, 切向力X=-12758.1953, 切向力Y=7494.4561 +FPS=45.43, 法向力=8796.9746, 切向力X=-12898.0684, 切向力Y=7384.3359 +FPS=60.06, 法向力=7130.3750, 切向力X=-11823.3867, 切向力Y=8471.8984 +FPS=33.18, 法向力=7293.0093, 切向力X=-11626.2578, 切向力Y=8250.7705 +FPS=39.63, 法向力=6571.1338, 切向力X=-12394.5176, 切向力Y=7801.6064 +FPS=46.93, 法向力=6555.7656, 切向力X=-12385.1113, 切向力Y=7784.0781 +FPS=60.11, 法向力=6307.7715, 切向力X=-12104.7754, 切向力Y=8837.3525 +FPS=32.58, 法向力=6333.1206, 切向力X=-12031.9502, 切向力Y=8866.5010 +FPS=61.45, 法向力=5868.3901, 切向力X=-12367.1680, 切向力Y=9133.6641 +FPS=33.47, 法向力=5765.4463, 切向力X=-12390.9863, 切向力Y=9223.1416 +FPS=59.65, 法向力=6104.4546, 切向力X=-13477.2148, 切向力Y=9823.5781 +FPS=55.41, 法向力=6179.5928, 切向力X=-13502.8838, 切向力Y=9768.7812 +FPS=34.71, 法向力=6155.7070, 切向力X=-13484.7227, 切向力Y=9843.0410 +FPS=61.88, 法向力=5353.5889, 切向力X=-13336.0889, 切向力Y=10569.0020 +FPS=38.73, 法向力=5329.8462, 切向力X=-13223.5713, 切向力Y=10748.3105 +FPS=49.29, 法向力=5301.8545, 切向力X=-13257.2129, 切向力Y=10693.6992 +FPS=31.10, 法向力=6073.4370, 切向力X=-12920.7881, 切向力Y=10929.8906 +FPS=58.58, 法向力=6075.0508, 切向力X=-12848.6484, 切向力Y=10877.0303 +FPS=53.51, 法向力=6334.2695, 切向力X=-12969.3057, 切向力Y=9380.7607 +FPS=36.64, 法向力=6288.4663, 切向力X=-12966.7285, 切向力Y=9367.8525 +FPS=30.93, 法向力=7512.0205, 切向力X=-14946.2363, 切向力Y=10223.7656 +FPS=59.90, 法向力=7664.6997, 切向力X=-15209.4082, 切向力Y=10368.1455 +FPS=53.65, 法向力=12141.8438, 切向力X=-18617.1250, 切向力Y=11798.1230 +FPS=35.80, 法向力=12564.7988, 切向力X=-19168.0977, 切向力Y=11794.7070 +FPS=32.57, 法向力=28580.2871, 切向力X=-32247.0586, 切向力Y=8957.6797 +FPS=62.24, 法向力=28891.7188, 切向力X=-32183.3555, 切向力Y=8428.5703 +FPS=52.84, 法向力=48237.6562, 切向力X=-48242.4766, 切向力Y=4600.5972 +FPS=37.37, 法向力=48349.8320, 切向力X=-48588.9414, 切向力Y=4799.9946 +FPS=64.39, 法向力=48486.5156, 切向力X=-48569.1055, 切向力Y=4717.5703 +FPS=52.43, 法向力=44079.9141, 切向力X=-41447.2266, 切向力Y=4176.4922 +FPS=35.84, 法向力=43911.7305, 切向力X=-41445.6797, 切向力Y=4360.9326 +FPS=37.68, 法向力=36180.9141, 切向力X=-34297.2305, 切向力Y=6268.6626 +FPS=28.08, 法向力=27942.7383, 切向力X=-28281.3750, 切向力Y=10044.1660 +FPS=37.45, 法向力=26609.0352, 切向力X=-26675.7461, 切向力Y=9565.9414 +FPS=48.36, 法向力=19277.8555, 切向力X=-20999.6758, 切向力Y=13244.5527 +FPS=30.38, 法向力=19326.0117, 切向力X=-20871.6016, 切向力Y=13255.9785 +FPS=31.67, 法向力=6156.7798, 切向力X=-8980.8008, 切向力Y=16615.3750 +FPS=32.58, 法向力=10480.7959, 切向力X=154.8339, 切向力Y=14945.8955 +FPS=31.62, 法向力=10400.6328, 切向力X=272.7341, 切向力Y=14846.2188 +FPS=31.45, 法向力=4427.0723, 切向力X=-6999.8789, 切向力Y=10820.8008 +FPS=37.04, 法向力=4362.7676, 切向力X=-7115.6406, 切向力Y=10954.0391 +FPS=46.24, 法向力=5694.3613, 切向力X=-11470.7012, 切向力Y=10164.2773 +FPS=32.71, 法向力=5885.3301, 切向力X=-11665.5811, 切向力Y=10146.5586 +FPS=31.69, 法向力=6421.1733, 切向力X=-12588.4883, 切向力Y=10288.4014 +FPS=31.33, 法向力=6777.1450, 切向力X=-13253.3018, 切向力Y=10901.4658 +FPS=31.89, 法向力=6936.7812, 切向力X=-13358.4258, 切向力Y=10721.2656 +FPS=31.01, 法向力=6501.3286, 切向力X=-13567.0547, 切向力Y=10133.8672 +FPS=31.80, 法向力=5958.3691, 切向力X=-12919.6992, 切向力Y=10658.9824 +FPS=32.10, 法向力=5842.3486, 切向力X=-12815.7930, 切向力Y=10641.1445 +FPS=31.35, 法向力=5693.0137, 切向力X=-13890.3438, 切向力Y=10402.3447 +FPS=32.40, 法向力=6052.7520, 切向力X=-13772.9072, 切向力Y=10079.1465 +FPS=33.11, 法向力=6095.8145, 切向力X=-13728.7656, 切向力Y=10272.3027 +FPS=57.65, 法向力=6543.0020, 切向力X=-14108.7129, 切向力Y=9917.0059 +FPS=51.70, 法向力=6548.9678, 切向力X=-14206.9648, 切向力Y=10057.8027 +FPS=61.96, 法向力=6583.5996, 切向力X=-14217.3867, 切向力Y=10070.7520 +FPS=36.12, 法向力=6733.2754, 切向力X=-14369.1582, 切向力Y=9830.0381 +FPS=31.55, 法向力=6807.8838, 切向力X=-14390.1221, 切向力Y=9801.7578 +FPS=33.12, 法向力=6402.1475, 切向力X=-13569.2988, 切向力Y=10319.6846 +FPS=37.30, 法向力=6402.7988, 切向力X=-13604.0518, 切向力Y=10606.1826 +FPS=46.85, 法向力=7116.7148, 切向力X=-14786.9551, 切向力Y=11822.5869 +FPS=33.03, 法向力=7225.6875, 切向力X=-14940.0459, 切向力Y=11749.0312 +FPS=31.67, 法向力=9280.6523, 切向力X=-18202.5703, 切向力Y=13617.9229 +FPS=63.74, 法向力=9459.3115, 切向力X=-18498.5586, 切向力Y=13957.6680 +FPS=55.08, 法向力=24795.6797, 切向力X=-31196.5723, 切向力Y=8175.5854 +FPS=34.53, 法向力=24812.2188, 切向力X=-31160.6602, 切向力Y=8016.0513 +FPS=31.20, 法向力=23458.0781, 切向力X=-27256.3770, 切向力Y=9046.7363 +FPS=56.64, 法向力=23266.2812, 切向力X=-27140.6895, 切向力Y=9208.8418 +FPS=53.31, 法向力=10887.7939, 切向力X=-13388.6973, 切向力Y=13660.4004 +FPS=46.50, 法向力=10782.3887, 切向力X=-13067.8672, 切向力Y=13318.3525 +FPS=65.07, 法向力=10872.8379, 切向力X=-13085.4688, 切向力Y=13303.8506 +FPS=50.04, 法向力=6432.7178, 切向力X=-2775.4336, 切向力Y=16638.4258 +FPS=36.32, 法向力=6430.9805, 切向力X=-2693.8987, 切向力Y=16980.1543 +FPS=46.32, 法向力=9196.8379, 切向力X=-1087.0160, 切向力Y=17916.7441 +FPS=39.63, 法向力=9071.3359, 切向力X=-844.3651, 切向力Y=17783.3398 +FPS=45.04, 法向力=5033.5122, 切向力X=-4723.5469, 切向力Y=12796.4551 +FPS=40.04, 法向力=5030.8223, 切向力X=-4913.0190, 切向力Y=12615.0098 +FPS=47.87, 法向力=5920.6875, 切向力X=-10634.8711, 切向力Y=11696.6074 +FPS=38.21, 法向力=5711.8462, 切向力X=-10817.4590, 切向力Y=11702.2910 +FPS=49.42, 法向力=5841.3608, 切向力X=-12447.9912, 切向力Y=12042.6982 +FPS=30.24, 法向力=5945.5039, 切向力X=-12493.4443, 切向力Y=11993.8604 +FPS=38.35, 法向力=6709.1680, 切向力X=-13326.0273, 切向力Y=12009.4512 +FPS=46.58, 法向力=6686.6680, 切向力X=-13353.7734, 切向力Y=11983.2246 +FPS=38.91, 法向力=6587.0234, 切向力X=-13705.5430, 切向力Y=11488.5049 +FPS=60.96, 法向力=6380.0127, 切向力X=-13669.2305, 切向力Y=11553.0137 +FPS=47.62, 法向力=6098.3135, 切向力X=-13826.0234, 切向力Y=11887.6982 +FPS=40.02, 法向力=6139.5645, 切向力X=-13777.9551, 切向力Y=11987.9697 +FPS=27.62, 法向力=6226.0312, 切向力X=-13549.6895, 切向力Y=10719.2939 +FPS=63.13, 法向力=6231.7305, 切向力X=-13468.0137, 切向力Y=10722.1162 +FPS=32.33, 法向力=6228.8691, 切向力X=-13473.2227, 切向力Y=10743.3408 +FPS=37.76, 法向力=5533.1431, 切向力X=-13959.2637, 切向力Y=11792.7432 +FPS=46.34, 法向力=5508.5293, 切向力X=-14097.0547, 切向力Y=11685.7441 +FPS=38.46, 法向力=6083.6787, 切向力X=-14373.7988, 切向力Y=11024.6113 +FPS=46.51, 法向力=5934.3887, 切向力X=-14200.1260, 切向力Y=11813.6006 +FPS=38.68, 法向力=5913.3174, 切向力X=-14183.5039, 切向力Y=11765.2344 +FPS=48.94, 法向力=5852.8340, 切向力X=-14203.3828, 切向力Y=11781.6816 +FPS=64.77, 法向力=5586.1484, 切向力X=-14842.2695, 切向力Y=11830.5254 +FPS=38.55, 法向力=5613.6802, 切向力X=-14863.8262, 切向力Y=11926.4043 +FPS=49.32, 法向力=6640.2812, 切向力X=-14233.4150, 切向力Y=11436.9102 +FPS=36.44, 法向力=6641.2104, 切向力X=-14158.1152, 切向力Y=11497.6602 +FPS=27.47, 法向力=6889.6533, 切向力X=-14562.1738, 切向力Y=11975.9023 +FPS=38.65, 法向力=6838.9971, 切向力X=-14741.4355, 切向力Y=11863.4414 +FPS=46.84, 法向力=7895.1895, 切向力X=-15394.0381, 切向力Y=12705.5264 +FPS=70.82, 法向力=8026.0752, 切向力X=-15376.5957, 切向力Y=12983.4639 +FPS=31.64, 法向力=8831.6152, 切向力X=-17789.0938, 切向力Y=13600.3672 +FPS=37.64, 法向力=8698.5020, 切向力X=-17964.1641, 切向力Y=13927.6270 +FPS=47.18, 法向力=15023.6230, 切向力X=-22418.0234, 切向力Y=12602.3770 +FPS=39.48, 法向力=15266.9111, 切向力X=-22739.0820, 切向力Y=12695.1230 +FPS=27.52, 法向力=16494.6641, 切向力X=-24670.4746, 切向力Y=12367.2324 +FPS=38.31, 法向力=18604.3223, 切向力X=-24380.1562, 切向力Y=9161.4375 +FPS=27.65, 法向力=18606.5938, 切向力X=-24382.6074, 切向力Y=9260.6836 +FPS=37.58, 法向力=20809.1289, 切向力X=-26710.2773, 切向力Y=8064.5908 +FPS=27.54, 法向力=19268.7695, 切向力X=-26406.1719, 切向力Y=7546.8511 +FPS=37.13, 法向力=19071.8691, 切向力X=-26228.3984, 切向力Y=7540.1006 +FPS=46.27, 法向力=17609.3965, 切向力X=-23556.2539, 切向力Y=8329.5518 +FPS=38.49, 法向力=17615.4492, 切向力X=-23571.1992, 切向力Y=8118.9492 +FPS=27.52, 法向力=9797.2373, 切向力X=-16142.1641, 切向力Y=11294.0430 +FPS=31.24, 法向力=9759.6113, 切向力X=-15988.6504, 切向力Y=11269.6338 +FPS=37.10, 法向力=3417.4038, 切向力X=-8581.2480, 切向力Y=14686.3760 +FPS=48.35, 法向力=3404.5422, 切向力X=-8640.3105, 切向力Y=14672.0596 +FPS=39.12, 法向力=3219.7808, 切向力X=-7984.2139, 切向力Y=14409.2305 +FPS=52.02, 法向力=3260.2852, 切向力X=-7969.7471, 切向力Y=14469.1943 +FPS=63.43, 法向力=3284.0776, 切向力X=-7961.7661, 切向力Y=14461.8525 +FPS=30.47, 法向力=4297.9805, 切向力X=-11120.9961, 切向力Y=12557.1543 +FPS=64.93, 法向力=4296.7383, 切向力X=-11289.1113, 切向力Y=12513.0645 +FPS=31.26, 法向力=6170.6348, 切向力X=-13034.4824, 切向力Y=11677.5039 +FPS=64.41, 法向力=6340.6772, 切向力X=-13139.5977, 切向力Y=11608.1621 +FPS=54.65, 法向力=6820.9746, 切向力X=-13915.0059, 切向力Y=11965.1465 +FPS=41.96, 法向力=6943.4824, 切向力X=-13992.5312, 切向力Y=11856.5723 +FPS=50.10, 法向力=6588.8633, 切向力X=-13771.4805, 切向力Y=12051.6719 +FPS=29.90, 法向力=6593.6084, 切向力X=-13858.0566, 切向力Y=11966.2832 +FPS=62.69, 法向力=6572.5850, 切向力X=-13861.9297, 切向力Y=11954.4893 +FPS=50.06, 法向力=5856.1436, 切向力X=-13957.9883, 切向力Y=11134.1807 +FPS=35.86, 法向力=5833.0342, 切向力X=-14060.4238, 切向力Y=11193.2070 +FPS=39.63, 法向力=6467.4014, 切向力X=-14496.6221, 切向力Y=12005.3770 +FPS=52.06, 法向力=6410.7153, 切向力X=-14470.2578, 切向力Y=11887.0645 +FPS=34.94, 法向力=6733.0908, 切向力X=-14337.5020, 切向力Y=10385.9473 +FPS=47.87, 法向力=6774.3887, 切向力X=-14305.4141, 切向力Y=10228.9492 +FPS=38.45, 法向力=6307.4922, 切向力X=-13947.3789, 切向力Y=11816.7227 +FPS=51.26, 法向力=6282.9590, 切向力X=-14037.8574, 切向力Y=11776.5859 +FPS=31.95, 法向力=6503.6074, 切向力X=-14855.6533, 切向力Y=12327.1436 +FPS=38.48, 法向力=6127.2129, 切向力X=-14210.8105, 切向力Y=11586.1270 +FPS=50.12, 法向力=6062.3447, 切向力X=-14227.1768, 切向力Y=11685.3203 +FPS=37.91, 法向力=6569.2988, 切向力X=-16068.7598, 切向力Y=12739.3945 +FPS=52.35, 法向力=6722.3857, 切向力X=-16084.1055, 切向力Y=12822.2832 +FPS=71.53, 法向力=6751.0503, 切向力X=-16183.2764, 切向力Y=12751.0771 +FPS=67.08, 法向力=6728.3486, 切向力X=-16090.4180, 切向力Y=12791.2246 +FPS=50.68, 法向力=7460.5830, 切向力X=-15717.5361, 切向力Y=12557.7891 +FPS=36.87, 法向力=7432.0068, 切向力X=-15697.9590, 切向力Y=12435.8027 +FPS=46.61, 法向力=11582.5586, 切向力X=-20561.0039, 切向力Y=13785.2578 +FPS=32.02, 法向力=11734.2520, 切向力X=-20900.8320, 切向力Y=13903.5918 +FPS=32.00, 法向力=24061.6523, 切向力X=-30314.2324, 切向力Y=11792.7246 +FPS=31.22, 法向力=38701.7070, 切向力X=-39576.8945, 切向力Y=2995.4629 +FPS=31.01, 法向力=38343.5312, 切向力X=-39432.1172, 切向力Y=3112.6980 +FPS=33.31, 法向力=31214.4023, 切向力X=-30818.5977, 切向力Y=4534.6270 +FPS=38.43, 法向力=30357.2285, 切向力X=-29580.1680, 切向力Y=4580.9331 +FPS=51.82, 法向力=16608.1562, 切向力X=-18600.9570, 切向力Y=12004.8242 +FPS=29.40, 法向力=6095.3242, 切向力X=-8439.2412, 切向力Y=17358.6309 +FPS=32.15, 法向力=6162.6045, 切向力X=-8306.1992, 切向力Y=17167.1328 +FPS=62.42, 法向力=7107.0864, 切向力X=-1530.3773, 切向力Y=19731.3223 +FPS=53.45, 法向力=7104.6367, 切向力X=-1331.1522, 切向力Y=19716.9824 +FPS=41.84, 法向力=7134.8491, 切向力X=-1348.4911, 切向力Y=19777.5508 +FPS=50.60, 法向力=7139.1338, 切向力X=-1337.7762, 切向力Y=19796.6562 +FPS=30.11, 法向力=9872.7344, 切向力X=1699.8318, 切向力Y=19105.3984 +FPS=60.50, 法向力=8423.4629, 切向力X=-481.3998, 切向力Y=15188.8018 +FPS=52.51, 法向力=8188.9238, 切向力X=-668.4929, 切向力Y=15242.2773 +FPS=45.74, 法向力=8163.0459, 切向力X=-680.6251, 切向力Y=15181.2627 +FPS=46.93, 法向力=6211.7734, 切向力X=-11166.1162, 切向力Y=11628.8330 +FPS=37.53, 法向力=6247.1826, 切向力X=-11349.8584, 切向力Y=11544.0225 +FPS=53.63, 法向力=6370.9229, 切向力X=-13070.7109, 切向力Y=11326.5137 +FPS=70.15, 法向力=6441.0332, 切向力X=-13287.2148, 切向力Y=11346.4717 +FPS=28.98, 法向力=6651.7305, 切向力X=-14413.0859, 切向力Y=11903.3662 +FPS=31.39, 法向力=6723.1245, 切向力X=-14480.8340, 切向力Y=11789.9961 +FPS=38.00, 法向力=6419.7734, 切向力X=-15242.7578, 切向力Y=12971.8799 +FPS=48.73, 法向力=6415.0029, 切向力X=-15210.7051, 切向力Y=13216.4180 +FPS=32.34, 法向力=6707.4028, 切向力X=-15923.9453, 切向力Y=12423.1758 +FPS=31.49, 法向力=6708.5532, 切向力X=-15842.4658, 切向力Y=12342.1445 +FPS=37.61, 法向力=7219.5029, 切向力X=-15765.8906, 切向力Y=11017.8828 +FPS=50.44, 法向力=7193.7227, 切向力X=-15826.5781, 切向力Y=10964.4395 +FPS=30.73, 法向力=6699.4570, 切向力X=-15880.4219, 切向力Y=12709.8770 +FPS=32.69, 法向力=6821.0713, 切向力X=-15449.9551, 切向力Y=14227.5117 +FPS=31.31, 法向力=6770.3545, 切向力X=-15505.6973, 切向力Y=14145.8789 +FPS=38.44, 法向力=7130.7959, 切向力X=-15748.8506, 切向力Y=13349.4941 +FPS=46.29, 法向力=7114.6895, 切向力X=-15706.5342, 切向力Y=13276.4453 +FPS=39.39, 法向力=6890.2334, 切向力X=-16455.4453, 切向力Y=12792.0771 +FPS=26.72, 法向力=6644.0835, 切向力X=-15115.2148, 切向力Y=12703.4756 +FPS=40.08, 法向力=6589.9756, 切向力X=-15077.7168, 切向力Y=12577.2012 +FPS=44.46, 法向力=6827.3652, 切向力X=-16113.5273, 切向力Y=13213.4473 +FPS=33.59, 法向力=6882.7881, 切向力X=-16168.9102, 切向力Y=13376.5156 +FPS=31.40, 法向力=9931.1602, 切向力X=-19217.0059, 切向力Y=14217.2100 +FPS=33.42, 法向力=10162.9961, 切向力X=-19662.1074, 切向力Y=14415.9531 +FPS=38.00, 法向力=19036.9375, 切向力X=-27735.1602, 切向力Y=14228.7344 +FPS=48.93, 法向力=19018.7051, 切向力X=-27714.6250, 切向力Y=14219.7002 +FPS=63.01, 法向力=18978.9609, 切向力X=-27688.3828, 切向力Y=14249.5996 +FPS=53.53, 法向力=16904.0195, 切向力X=-28032.0078, 切向力Y=17104.3262 +FPS=68.14, 法向力=16775.2344, 切向力X=-27929.9688, 切向力Y=17342.8438 +FPS=64.80, 法向力=13045.9062, 切向力X=-26418.6992, 切向力Y=16887.6836 +FPS=54.50, 法向力=12998.8564, 切向力X=-26494.6406, 切向力Y=16791.6289 +FPS=68.62, 法向力=13016.9189, 切向力X=-26593.3086, 切向力Y=16720.5117 +FPS=65.88, 法向力=15182.5654, 切向力X=-25063.4023, 切向力Y=14026.6318 +FPS=54.92, 法向力=15161.6865, 切向力X=-24769.1992, 切向力Y=13877.9219 +FPS=46.03, 法向力=15136.2969, 切向力X=-24737.3340, 切向力Y=13884.7871 +FPS=65.07, 法向力=16997.8711, 切向力X=-24148.7832, 切向力Y=8858.0957 +FPS=54.89, 法向力=17378.4336, 切向力X=-24256.9863, 切向力Y=8253.1230 +FPS=66.23, 法向力=17459.9512, 切向力X=-24187.7109, 切向力Y=8190.0762 +FPS=50.73, 法向力=12185.1768, 切向力X=-19446.8242, 切向力Y=14230.7842 +FPS=38.82, 法向力=11682.2305, 切向力X=-19225.3477, 切向力Y=14584.9727 +FPS=26.73, 法向力=6576.7930, 切向力X=-6837.7798, 切向力Y=20222.7852 +FPS=39.67, 法向力=6812.6255, 切向力X=-6813.9932, 切向力Y=20209.7207 +FPS=46.22, 法向力=7499.2402, 切向力X=-4216.6987, 切向力Y=16233.3594 +FPS=37.87, 法向力=7354.0898, 切向力X=-4260.3003, 切向力Y=16149.9785 +FPS=47.15, 法向力=5124.5054, 切向力X=-11639.9521, 切向力Y=12974.3359 +FPS=38.30, 法向力=5320.2261, 切向力X=-11991.0215, 切向力Y=12971.7051 +FPS=27.80, 法向力=7213.3945, 切向力X=-15328.3311, 切向力Y=12378.8203 +FPS=37.49, 法向力=6065.6152, 切向力X=-16132.5957, 切向力Y=14173.2168 +FPS=26.27, 法向力=6031.8818, 切向力X=-16260.7793, 切向力Y=14113.4229 +FPS=32.61, 法向力=6001.6509, 切向力X=-16258.2305, 切向力Y=13874.9238 +FPS=31.82, 法向力=5946.6172, 切向力X=-16543.4746, 切向力Y=13905.2930 +FPS=37.36, 法向力=5993.9097, 切向力X=-16669.7383, 切向力Y=14084.0000 +FPS=50.42, 法向力=6961.1182, 切向力X=-15829.0957, 切向力Y=14143.3164 +FPS=30.53, 法向力=7026.8184, 切向力X=-15771.5430, 切向力Y=14292.9082 +FPS=30.74, 法向力=7433.0498, 切向力X=-16482.4570, 切向力Y=13014.0488 +FPS=38.07, 法向力=7411.0908, 切向力X=-16481.3008, 切向力Y=12965.3643 +FPS=43.70, 法向力=12891.7793, 切向力X=-18382.5586, 切向力Y=13300.8994 +FPS=41.38, 法向力=13035.0742, 切向力X=-18691.3262, 切向力Y=13427.5781 +FPS=49.00, 法向力=21048.9004, 切向力X=-24183.0664, 切向力Y=11301.0078 +FPS=66.67, 法向力=20880.0449, 切向力X=-24221.2090, 切向力Y=11296.7012 +FPS=55.23, 法向力=20920.0508, 切向力X=-24260.7871, 切向力Y=11388.0371 +FPS=39.46, 法向力=21668.6055, 切向力X=-25428.1973, 切向力Y=12752.7754 +FPS=27.19, 法向力=14354.0195, 切向力X=-18323.0938, 切向力Y=16885.9551 +FPS=32.28, 法向力=14248.3809, 切向力X=-18275.4629, 切向力Y=16923.0879 +FPS=38.47, 法向力=4543.3262, 切向力X=-12530.2637, 切向力Y=16382.4541 +FPS=26.35, 法向力=4541.2319, 切向力X=-13149.6680, 切向力Y=14751.7148 +FPS=34.04, 法向力=4632.7998, 切向力X=-13305.4805, 切向力Y=14794.8428 +FPS=32.42, 法向力=5453.6973, 切向力X=-15313.5918, 切向力Y=12748.6455 +FPS=36.71, 法向力=5721.7485, 切向力X=-15713.7812, 切向力Y=12515.9570 +FPS=46.55, 法向力=5753.1465, 切向力X=-15653.3291, 切向力Y=12447.0381 +FPS=32.76, 法向力=7217.8438, 切向力X=-14988.2031, 切向力Y=14269.6484 +FPS=63.76, 法向力=7228.0498, 切向力X=-15054.7578, 切向力Y=14322.3730 +FPS=31.78, 法向力=7132.5830, 切向力X=-15913.3350, 切向力Y=13242.2930 +FPS=62.34, 法向力=7133.0410, 切向力X=-15957.2012, 切向力Y=13152.4102 +FPS=54.85, 法向力=6746.6484, 切向力X=-15044.3301, 切向力Y=12370.0068 +FPS=35.80, 法向力=6749.2686, 切向力X=-15090.3594, 切向力Y=12182.7861 +FPS=31.20, 法向力=6553.8164, 切向力X=-15540.6016, 切向力Y=12946.4004 +FPS=59.98, 法向力=6549.4863, 切向力X=-15577.3984, 切向力Y=13090.8936 +FPS=53.49, 法向力=7704.1777, 切向力X=-15439.5273, 切向力Y=12964.8896 +FPS=44.74, 法向力=7687.0986, 切向力X=-15496.1230, 切向力Y=12916.7480 +FPS=26.75, 法向力=6731.0781, 切向力X=-14858.8682, 切向力Y=12561.9229 +FPS=57.34, 法向力=6627.0986, 切向力X=-14738.4854, 切向力Y=12627.0195 +FPS=48.27, 法向力=7112.2207, 切向力X=-15578.4365, 切向力Y=12024.0801 +FPS=50.83, 法向力=7207.3203, 切向力X=-15616.0000, 切向力Y=12024.9512 +FPS=26.52, 法向力=7300.8125, 切向力X=-14820.7637, 切向力Y=12766.0947 +FPS=37.62, 法向力=7306.0049, 切向力X=-14815.6484, 切向力Y=12821.7715 +FPS=42.08, 法向力=7951.9614, 切向力X=-15423.1309, 切向力Y=11844.6074 +FPS=42.16, 法向力=7951.4531, 切向力X=-15322.6875, 切向力Y=11957.4160 +FPS=42.76, 法向力=9105.8789, 切向力X=-16261.6709, 切向力Y=11658.7617 +FPS=59.30, 法向力=9209.3965, 切向力X=-16405.2207, 切向力Y=11462.8496 +FPS=60.89, 法向力=7662.2568, 切向力X=-14575.8818, 切向力Y=10992.4277 +FPS=45.17, 法向力=7643.0889, 切向力X=-14503.2109, 切向力Y=11058.2686 +FPS=62.95, 法向力=7652.6733, 切向力X=-14485.0898, 切向力Y=11085.9434 +FPS=27.51, 法向力=7077.2969, 切向力X=-14443.8320, 切向力Y=13385.4727 +FPS=31.60, 法向力=6374.0610, 切向力X=-14132.6230, 切向力Y=12109.4512 +FPS=32.50, 法向力=6423.8809, 切向力X=-14093.9180, 切向力Y=12171.4668 +FPS=31.74, 法向力=6982.5200, 切向力X=-14683.0742, 切向力Y=12189.1973 +FPS=31.23, 法向力=6978.7236, 切向力X=-14663.8145, 切向力Y=12175.6865 +FPS=31.85, 法向力=7501.3608, 切向力X=-14908.9053, 切向力Y=12585.7705 +FPS=31.15, 法向力=6520.4272, 切向力X=-13344.9570, 切向力Y=12433.4307 +FPS=37.97, 法向力=6538.2236, 切向力X=-13210.6943, 切向力Y=12559.2246 +FPS=45.58, 法向力=6277.7129, 切向力X=-13755.3086, 切向力Y=11909.5078 +FPS=40.20, 法向力=6276.8076, 切向力X=-13825.3359, 切向力Y=11821.2461 +FPS=47.88, 法向力=6590.7148, 切向力X=-12836.8389, 切向力Y=11158.6309 +FPS=31.55, 法向力=6549.4043, 切向力X=-12728.5479, 切向力Y=11170.6250 +FPS=61.98, 法向力=6354.7090, 切向力X=-12063.1113, 切向力Y=11908.2451 +FPS=37.73, 法向力=6387.6401, 切向力X=-12156.5840, 切向力Y=11801.7988 +FPS=45.67, 法向力=6220.6172, 切向力X=-12190.8184, 切向力Y=12094.5273 +FPS=40.91, 法向力=6118.1455, 切向力X=-12182.5312, 切向力Y=11892.6738 +FPS=60.65, 法向力=6190.3770, 切向力X=-12170.8633, 切向力Y=12019.5605 +FPS=52.95, 法向力=6297.3486, 切向力X=-11863.0312, 切向力Y=11215.7686 +FPS=30.99, 法向力=6231.7812, 切向力X=-11792.5039, 切向力Y=11286.0264 +FPS=37.27, 法向力=5823.7480, 切向力X=-11470.9023, 切向力Y=10145.7168 +FPS=26.94, 法向力=5839.6055, 切向力X=-11479.7812, 切向力Y=10290.4551 +FPS=65.71, 法向力=5862.0225, 切向力X=-11224.9512, 切向力Y=9846.1543 +FPS=31.53, 法向力=5873.2559, 切向力X=-11127.9023, 切向力Y=9829.1260 +FPS=38.20, 法向力=5272.0381, 切向力X=-10229.6621, 切向力Y=9600.3945 +FPS=43.95, 法向力=5396.9971, 切向力X=-10192.6914, 切向力Y=9477.7324 +FPS=63.49, 法向力=5490.0542, 切向力X=-9608.5898, 切向力Y=9932.5586 +FPS=33.17, 法向力=5542.0029, 切向力X=-9657.1006, 切向力Y=9959.4688 +FPS=38.44, 法向力=6121.4092, 切向力X=-10398.2490, 切向力Y=10074.5312 +FPS=27.35, 法向力=5157.9922, 切向力X=-8828.7344, 切向力Y=9116.8887 +FPS=31.37, 法向力=5119.0293, 切向力X=-8785.5664, 切向力Y=9120.1289 +FPS=31.97, 法向力=5462.3691, 切向力X=-9516.7559, 切向力Y=9005.2949 +FPS=61.07, 法向力=5437.1235, 切向力X=-9621.9150, 切向力Y=9080.7285 +FPS=33.11, 法向力=5184.3076, 切向力X=-9394.7979, 切向力Y=9217.5293 +FPS=31.23, 法向力=5191.3027, 切向力X=-9364.5918, 切向力Y=9342.0215 +FPS=39.00, 法向力=4945.2246, 切向力X=-8063.6768, 切向力Y=8549.8379 +FPS=46.30, 法向力=4909.2051, 切向力X=-8110.9951, 切向力Y=8538.6738 +FPS=32.51, 法向力=4903.7314, 切向力X=-8106.1470, 切向力Y=8109.9746 +FPS=38.82, 法向力=4619.2319, 切向力X=-8947.8281, 切向力Y=9040.6836 +FPS=27.18, 法向力=4596.6172, 切向力X=-8995.4365, 切向力Y=9187.4961 +FPS=31.94, 法向力=5037.4941, 切向力X=-9864.2451, 切向力Y=8562.6309 +FPS=32.89, 法向力=5806.1030, 切向力X=-11204.2305, 切向力Y=10361.1377 +FPS=31.78, 法向力=5932.2119, 切向力X=-11309.7891, 切向力Y=10349.5215 +FPS=37.64, 法向力=6433.7070, 切向力X=-10724.7578, 切向力Y=10427.9531 +FPS=61.80, 法向力=6561.3594, 切向力X=-10690.2812, 切向力Y=10389.6523 +FPS=51.63, 法向力=6584.0156, 切向力X=-10674.0742, 切向力Y=10393.8477 +FPS=68.02, 法向力=5532.3848, 切向力X=-9944.9707, 切向力Y=10431.8145 +FPS=55.14, 法向力=5427.8105, 切向力X=-9784.9316, 切向力Y=10326.8672 +FPS=38.14, 法向力=5458.9189, 切向力X=-9805.6367, 切向力Y=10275.2910 +FPS=49.30, 法向力=4908.8511, 切向力X=-6888.5952, 切向力Y=9109.1201 +FPS=38.15, 法向力=5006.2632, 切向力X=-6943.4746, 切向力Y=9198.1338 +FPS=46.76, 法向力=4811.8130, 切向力X=-7082.1562, 切向力Y=8040.8350 +FPS=41.72, 法向力=4773.5215, 切向力X=-7094.1084, 切向力Y=8001.3447 +FPS=63.68, 法向力=5500.0493, 切向力X=-9119.2461, 切向力Y=9895.1455 +FPS=50.85, 法向力=5750.2700, 切向力X=-9365.7803, 切向力Y=10108.2910 +FPS=67.40, 法向力=5753.7061, 切向力X=-9430.3418, 切向力Y=10130.2852 +FPS=29.80, 法向力=6175.8276, 切向力X=-11727.9785, 切向力Y=10654.0322 +FPS=59.56, 法向力=6281.2500, 切向力X=-11975.1445, 切向力Y=10626.0625 +FPS=52.81, 法向力=5987.3838, 切向力X=-12180.5723, 切向力Y=10647.7012 +FPS=46.35, 法向力=5946.9941, 切向力X=-12286.4551, 切向力Y=10653.9893 +FPS=50.58, 法向力=5607.9531, 切向力X=-11842.1562, 切向力Y=11371.0977 +FPS=38.18, 法向力=5572.3926, 切向力X=-11757.6729, 切向力Y=11341.0107 +FPS=27.76, 法向力=5139.7461, 切向力X=-10778.5391, 切向力Y=10102.0566 +FPS=38.80, 法向力=5105.8716, 切向力X=-9198.9160, 切向力Y=8690.9795 +FPS=63.91, 法向力=5098.6777, 切向力X=-9114.2988, 切向力Y=8588.4658 +FPS=55.37, 法向力=5140.0879, 切向力X=-9231.9141, 切向力Y=8654.1963 +FPS=29.86, 法向力=5237.7949, 切向力X=-9335.6729, 切向力Y=8506.8984 +FPS=37.89, 法向力=5290.8154, 切向力X=-9280.9121, 切向力Y=8500.1445 +FPS=45.47, 法向力=5663.7627, 切向力X=-8904.3428, 切向力Y=8694.4395 +FPS=38.83, 法向力=5665.4844, 切向力X=-8878.8555, 切向力Y=8716.9062 +FPS=46.19, 法向力=5614.0718, 切向力X=-10794.9863, 切向力Y=9571.1172 +FPS=39.95, 法向力=5719.8389, 切向力X=-10825.7090, 切向力Y=9736.8984 +FPS=43.60, 法向力=6578.0625, 切向力X=-12113.5947, 切向力Y=11998.4443 +FPS=42.04, 法向力=6545.1611, 切向力X=-12111.7324, 切向力Y=12156.1631 +FPS=46.31, 法向力=8101.0088, 切向力X=-12452.8711, 切向力Y=11699.3828 +FPS=41.68, 法向力=8176.1006, 切向力X=-12589.7930, 切向力Y=11705.5469 +FPS=27.46, 法向力=7240.0332, 切向力X=-12514.4023, 切向力Y=10993.1934 +FPS=39.42, 法向力=7019.7852, 切向力X=-12412.0312, 切向力Y=11018.0566 +FPS=27.19, 法向力=8644.6631, 切向力X=-12363.8398, 切向力Y=10305.7383 +FPS=62.14, 法向力=8638.0088, 切向力X=-12364.9980, 切向力Y=10298.0391 +FPS=65.05, 法向力=8636.1455, 切向力X=-12370.0137, 切向力Y=10263.1758 +FPS=49.10, 法向力=10570.4902, 切向力X=-13259.8164, 切向力Y=9820.2109 +FPS=47.57, 法向力=10570.4902, 切向力X=-13259.8164, 切向力Y=9820.2109 +FPS=40.10, 法向力=15924.3096, 切向力X=-15456.9199, 切向力Y=10260.7246 +FPS=45.05, 法向力=16319.2178, 切向力X=-15668.8330, 切向力Y=10216.8984 +FPS=44.16, 法向力=16382.9209, 切向力X=-15677.3799, 切向力Y=10203.6992 +FPS=40.52, 法向力=16394.0625, 切向力X=-15706.5146, 切向力Y=10183.0098 +FPS=44.35, 法向力=30412.4883, 切向力X=-26513.0605, 切向力Y=9452.8887 +FPS=38.82, 法向力=30347.0605, 切向力X=-26621.5586, 切向力Y=9539.6016 +FPS=42.25, 法向力=45983.6758, 切向力X=-35575.1875, 切向力Y=7465.4053 +FPS=45.12, 法向力=45818.7656, 切向力X=-35469.7305, 切向力Y=7429.4678 +FPS=42.76, 法向力=45958.0234, 切向力X=-37560.4609, 切向力Y=8083.2676 +FPS=55.21, 法向力=45871.7734, 切向力X=-37538.8516, 切向力Y=8173.7178 +FPS=55.41, 法向力=30348.9707, 切向力X=-27459.7891, 切向力Y=15284.3496 +FPS=44.02, 法向力=30471.9336, 切向力X=-27611.9219, 切向力Y=15275.6299 +FPS=37.27, 法向力=30471.9336, 切向力X=-27611.9219, 切向力Y=15275.6299 +FPS=36.83, 法向力=12531.0244, 切向力X=-18801.4180, 切向力Y=20384.9531 +FPS=24.43, 法向力=15732.2012, 切向力X=-8207.5762, 切向力Y=21580.3770 +FPS=39.11, 法向力=15910.0244, 切向力X=-7925.5312, 切向力Y=21514.3438 +FPS=38.23, 法向力=14139.0889, 切向力X=-5003.2471, 切向力Y=15556.0234 +FPS=23.88, 法向力=13790.5410, 切向力X=-4887.6816, 切向力Y=15591.2109 +FPS=38.61, 法向力=13821.0645, 切向力X=-4877.9702, 切向力Y=15475.6055 +FPS=38.07, 法向力=7324.4409, 切向力X=-11293.5312, 切向力Y=12240.1641 +FPS=45.20, 法向力=7145.7803, 切向力X=-11278.1719, 切向力Y=12653.4531 +FPS=38.11, 法向力=8165.5972, 切向力X=-14221.3926, 切向力Y=12575.8438 +FPS=27.31, 法向力=8204.4365, 切向力X=-14456.2656, 切向力Y=12653.7061 +FPS=37.21, 法向力=7470.6953, 切向力X=-14214.9902, 切向力Y=12718.5703 +FPS=45.56, 法向力=7614.1504, 切向力X=-14381.4893, 切向力Y=12501.5146 +FPS=39.71, 法向力=7716.8442, 切向力X=-13733.7959, 切向力Y=12477.4336 +FPS=45.23, 法向力=8006.5488, 切向力X=-13811.1406, 切向力Y=11975.1162 +FPS=40.26, 法向力=8514.1455, 切向力X=-14185.7432, 切向力Y=12201.4629 +FPS=43.47, 法向力=8569.5625, 切向力X=-14230.8037, 切向力Y=12083.6562 +FPS=39.55, 法向力=9122.8887, 切向力X=-14635.1875, 切向力Y=11702.1475 +FPS=26.53, 法向力=9095.9971, 切向力X=-14757.1084, 切向力Y=11845.2217 +FPS=33.43, 法向力=10224.6211, 切向力X=-16709.9492, 切向力Y=9617.0684 +FPS=30.76, 法向力=10296.9434, 切向力X=-16714.3164, 切向力Y=9528.6855 +FPS=37.88, 法向力=10324.6758, 切向力X=-16738.4199, 切向力Y=9477.3438 +FPS=24.14, 法向力=15319.9941, 切向力X=-18842.7227, 切向力Y=9386.0781 +FPS=40.18, 法向力=22592.3125, 切向力X=-22095.8242, 切向力Y=9929.8506 +FPS=40.39, 法向力=22789.8633, 切向力X=-22342.8242, 切向力Y=9925.0820 +FPS=42.68, 法向力=30023.6250, 切向力X=-28595.0195, 切向力Y=8852.3477 +FPS=39.95, 法向力=29864.4473, 切向力X=-28590.7559, 切向力Y=9084.9961 +FPS=44.64, 法向力=29890.5176, 切向力X=-28579.0156, 切向力Y=9138.9385 +FPS=39.60, 法向力=39342.2500, 切向力X=-37598.1094, 切向力Y=3600.4604 +FPS=44.46, 法向力=39160.1406, 切向力X=-37756.2539, 切向力Y=3439.5342 +FPS=35.66, 法向力=42494.3750, 切向力X=-40939.3516, 切向力Y=3443.6484 +FPS=23.92, 法向力=36538.0781, 切向力X=-36979.1055, 切向力Y=6623.6323 +FPS=37.90, 法向力=36316.2305, 切向力X=-36742.5117, 切向力Y=6758.8994 +FPS=37.82, 法向力=15510.1973, 切向力X=-21846.5312, 切向力Y=19215.0391 +FPS=27.08, 法向力=15493.5752, 切向力X=-21726.4219, 切向力Y=19655.0703 +FPS=35.13, 法向力=15461.2344, 切向力X=-21660.3086, 切向力Y=19809.1133 +FPS=29.57, 法向力=12363.3066, 切向力X=-3987.2456, 切向力Y=22427.0781 +FPS=34.42, 法向力=12099.2617, 切向力X=-3530.1240, 切向力Y=23065.4668 +FPS=29.71, 法向力=12939.3086, 切向力X=-2066.7205, 切向力Y=17740.6328 +FPS=35.29, 法向力=11787.0293, 切向力X=-7217.3940, 切向力Y=14028.9307 +FPS=24.90, 法向力=11531.6094, 切向力X=-7134.1016, 切向力Y=14161.6855 +FPS=38.46, 法向力=7939.1182, 切向力X=-9365.0000, 切向力Y=13927.8496 +FPS=38.16, 法向力=8002.1147, 切向力X=-9574.1494, 切向力Y=13774.2959 +FPS=45.61, 法向力=7655.5386, 切向力X=-11243.1191, 切向力Y=13066.0957 +FPS=40.31, 法向力=7840.4189, 切向力X=-11337.6396, 切向力Y=12994.7188 +FPS=45.00, 法向力=7930.8101, 切向力X=-12576.5098, 切向力Y=13364.4414 +FPS=38.89, 法向力=7967.8218, 切向力X=-12618.1914, 切向力Y=13365.2422 +FPS=46.73, 法向力=7594.8408, 切向力X=-13853.0264, 切向力Y=13668.4707 +FPS=39.98, 法向力=7519.7725, 切向力X=-13807.8027, 切向力Y=13709.0820 +FPS=45.48, 法向力=7487.4185, 切向力X=-13848.4863, 切向力Y=13703.6660 +FPS=40.76, 法向力=7466.6123, 切向力X=-13820.0430, 切向力Y=13748.8379 +FPS=44.64, 法向力=9592.3340, 切向力X=-15196.7861, 切向力Y=12800.8730 +FPS=39.78, 法向力=9649.1465, 切向力X=-15321.5986, 切向力Y=12765.5850 +FPS=23.72, 法向力=9632.0898, 切向力X=-15757.3594, 切向力Y=11848.5186 +FPS=37.69, 法向力=9624.7939, 切向力X=-15771.3730, 切向力Y=11839.0508 +FPS=40.88, 法向力=13016.2891, 切向力X=-17036.6055, 切向力Y=10432.1777 +FPS=46.52, 法向力=13161.6113, 切向力X=-17068.6660, 切向力Y=10425.8652 +FPS=38.73, 法向力=13914.6484, 切向力X=-17231.4688, 切向力Y=9568.6836 +FPS=27.69, 法向力=15478.6914, 切向力X=-19484.8809, 切向力Y=10754.1748 +FPS=36.22, 法向力=15338.8955, 切向力X=-19339.6992, 切向力Y=11223.1250 +FPS=28.55, 法向力=16762.6465, 切向力X=-20198.8281, 切向力Y=9596.1055 +FPS=33.28, 法向力=17144.8828, 切向力X=-22504.9102, 切向力Y=10761.3232 +FPS=27.15, 法向力=16868.2207, 切向力X=-22428.1621, 切向力Y=11168.0723 +FPS=38.20, 法向力=16862.7852, 切向力X=-22450.0312, 切向力Y=11158.8271 +FPS=40.11, 法向力=16868.4141, 切向力X=-22430.5898, 切向力Y=11168.2021 +FPS=23.73, 法向力=15616.8301, 切向力X=-22762.5332, 切向力Y=11494.4570 +FPS=20.97, 法向力=12305.5117, 切向力X=-19742.3379, 切向力Y=14704.2617 +FPS=43.41, 法向力=12412.4199, 切向力X=-20067.2207, 切向力Y=15351.7363 +FPS=39.35, 法向力=6194.9043, 切向力X=-14577.1924, 切向力Y=18100.1660 +FPS=38.45, 法向力=6178.3916, 切向力X=-14253.4512, 切向力Y=18191.3164 +FPS=39.06, 法向力=6070.7666, 切向力X=-13063.9844, 切向力Y=18950.1641 +FPS=44.93, 法向力=5957.6489, 切向力X=-12899.6074, 切向力Y=19274.7109 +FPS=38.51, 法向力=5821.3369, 切向力X=-11263.1641, 切向力Y=19052.0273 +FPS=47.73, 法向力=5689.3984, 切向力X=-11054.1973, 切向力Y=19747.7539 +FPS=39.59, 法向力=6571.9834, 切向力X=-12615.6035, 切向力Y=15091.4883 +FPS=43.52, 法向力=6072.6064, 切向力X=-12364.2246, 切向力Y=15314.5762 +FPS=38.62, 法向力=6547.1533, 切向力X=-12839.9648, 切向力Y=13675.3652 +FPS=23.71, 法向力=6745.3120, 切向力X=-12716.1826, 切向力Y=13667.9551 +FPS=33.86, 法向力=6723.5806, 切向力X=-12754.7998, 切向力Y=13674.8906 +FPS=38.90, 法向力=7462.0903, 切向力X=-14308.8125, 切向力Y=11823.2227 +FPS=30.55, 法向力=7452.5356, 切向力X=-14297.3350, 切向力Y=11729.7891 +FPS=36.34, 法向力=7946.0166, 切向力X=-14503.0215, 切向力Y=13325.2070 +FPS=27.99, 法向力=7408.3174, 切向力X=-15489.2568, 切向力Y=13405.1709 +FPS=36.91, 法向力=7569.6489, 切向力X=-15547.6738, 切向力Y=13337.0547 +FPS=28.23, 法向力=7157.6094, 切向力X=-15699.9434, 切向力Y=12224.4561 +FPS=32.45, 法向力=9260.3047, 切向力X=-16446.6250, 切向力Y=12851.3730 +FPS=31.37, 法向力=9332.4766, 切向力X=-16471.9902, 切向力Y=12975.2383 +FPS=37.00, 法向力=11774.2246, 切向力X=-17468.3379, 切向力Y=12981.4707 +FPS=24.37, 法向力=16037.7998, 切向力X=-21267.3164, 切向力Y=12095.6836 +FPS=37.29, 法向力=16062.5059, 切向力X=-21202.9297, 切向力Y=12157.0693 +FPS=38.87, 法向力=16059.0449, 切向力X=-21362.8086, 切向力Y=12220.3066 +FPS=45.91, 法向力=16149.7344, 切向力X=-21329.5742, 切向力Y=12175.0254 +FPS=39.69, 法向力=16074.4961, 切向力X=-21338.5820, 切向力Y=12189.2773 +FPS=45.75, 法向力=33505.0430, 切向力X=-33891.6328, 切向力Y=4228.2168 +FPS=39.90, 法向力=33386.8203, 切向力X=-33755.3242, 切向力Y=4228.7017 +FPS=36.14, 法向力=35292.5039, 切向力X=-34096.5703, 切向力Y=-440.6628 +FPS=45.57, 法向力=35147.9141, 切向力X=-34269.8750, 切向力Y=-494.6952 +FPS=38.05, 法向力=30875.0586, 切向力X=-31340.1094, 切向力Y=150.8685 +FPS=45.20, 法向力=30827.1094, 切向力X=-31312.9863, 切向力Y=167.5733 +FPS=38.49, 法向力=25467.4414, 切向力X=-26615.8340, 切向力Y=3648.5139 +FPS=44.55, 法向力=25320.9414, 切向力X=-26659.2305, 切向力Y=3748.6084 +FPS=40.03, 法向力=16456.4531, 切向力X=-19903.4570, 切向力Y=12741.7461 +FPS=46.04, 法向力=16106.6377, 切向力X=-19604.6602, 切向力Y=13131.9102 +FPS=39.44, 法向力=7625.3599, 切向力X=-10602.5137, 切向力Y=23285.7539 +FPS=44.27, 法向力=7237.8018, 切向力X=-10278.1797, 切向力Y=23679.5938 +FPS=37.81, 法向力=11483.6699, 切向力X=-6800.8394, 切向力Y=27280.4141 +FPS=41.25, 法向力=11441.4619, 切向力X=-6829.9531, 切向力Y=27360.8672 +FPS=39.52, 法向力=11417.4746, 切向力X=-6847.6104, 切向力Y=27343.1641 +FPS=46.49, 法向力=11430.5957, 切向力X=-6852.0928, 切向力Y=27357.3086 +FPS=38.83, 法向力=7526.6699, 切向力X=-10857.4434, 切向力Y=16647.2363 +FPS=46.06, 法向力=7054.4912, 切向力X=-10588.9863, 切向力Y=17170.0410 +FPS=38.94, 法向力=7645.5361, 切向力X=-14205.5391, 切向力Y=12973.5498 +FPS=46.76, 法向力=7180.4634, 切向力X=-14046.9980, 切向力Y=13418.9922 +FPS=30.88, 法向力=7809.1992, 切向力X=-15969.2910, 切向力Y=14462.9326 +FPS=39.57, 法向力=8063.4233, 切向力X=-15972.2988, 切向力Y=14081.0273 +FPS=23.73, 法向力=7990.2612, 切向力X=-16052.7617, 切向力Y=12844.4531 +FPS=39.42, 法向力=7967.5488, 切向力X=-15329.5664, 切向力Y=12987.4766 +FPS=39.96, 法向力=8043.6694, 切向力X=-15311.7344, 切向力Y=12753.9590 +FPS=23.45, 法向力=8302.9307, 切向力X=-16280.8525, 切向力Y=13807.0977 +FPS=37.91, 法向力=9535.7812, 切向力X=-17387.9023, 切向力Y=12433.0449 +FPS=38.23, 法向力=9603.8711, 切向力X=-17442.9355, 切向力Y=12350.3174 +FPS=27.39, 法向力=9588.2754, 切向力X=-17462.7129, 切向力Y=12369.3379 +FPS=36.36, 法向力=9596.0938, 切向力X=-17438.4258, 切向力Y=12352.9961 +FPS=44.79, 法向力=18911.1348, 切向力X=-19970.1992, 切向力Y=9478.5020 +FPS=40.92, 法向力=19110.5020, 切向力X=-20111.0254, 切向力Y=9439.3271 +FPS=24.65, 法向力=26012.8945, 切向力X=-23844.4141, 切向力Y=4913.5283 +FPS=41.89, 法向力=25480.6152, 切向力X=-23671.5234, 切向力Y=4879.2759 +FPS=40.35, 法向力=25493.8320, 切向力X=-23837.7500, 切向力Y=4940.3101 +FPS=42.64, 法向力=19118.6602, 切向力X=-20559.5703, 切向力Y=6684.7788 +FPS=39.02, 法向力=19212.2949, 切向力X=-20392.3145, 切向力Y=6783.2188 +FPS=44.76, 法向力=14655.9307, 切向力X=-18332.5078, 切向力Y=8322.3428 +FPS=38.49, 法向力=14416.8906, 切向力X=-18313.7227, 切向力Y=8492.7236 +FPS=42.44, 法向力=12092.0801, 切向力X=-16861.2617, 切向力Y=9772.6777 +FPS=38.37, 法向力=11985.0879, 切向力X=-16834.0410, 切向力Y=9967.4434 +FPS=23.77, 法向力=7634.3804, 切向力X=-14486.7314, 切向力Y=15815.1406 +FPS=40.50, 法向力=7262.3696, 切向力X=-14544.1562, 切向力Y=16595.0195 +FPS=34.40, 法向力=5657.8042, 切向力X=-14134.1318, 切向力Y=18575.8652 +FPS=25.58, 法向力=5792.1855, 切向力X=-12384.7354, 切向力Y=17170.1387 +FPS=46.41, 法向力=5340.3999, 切向力X=-12233.8096, 切向力Y=17676.0117 +FPS=36.25, 法向力=5714.2061, 切向力X=-12347.2188, 切向力Y=16365.1406 +FPS=43.77, 法向力=5450.9424, 切向力X=-12199.9922, 切向力Y=16296.0371 +FPS=38.16, 法向力=6441.0229, 切向力X=-13058.4072, 切向力Y=14969.4336 +FPS=46.31, 法向力=6574.0469, 切向力X=-13241.3682, 切向力Y=14865.5000 +FPS=39.72, 法向力=7901.2725, 切向力X=-14281.1943, 切向力Y=13544.8691 +FPS=45.63, 法向力=7949.5386, 切向力X=-14321.0791, 切向力Y=13403.6289 +FPS=38.80, 法向力=7468.0806, 切向力X=-15005.5996, 切向力Y=14027.5410 +FPS=23.86, 法向力=7501.0259, 切向力X=-15071.0684, 切向力Y=14061.7363 +FPS=38.01, 法向力=8656.6348, 切向力X=-16395.7637, 切向力Y=12944.1680 +FPS=39.55, 法向力=8818.8076, 切向力X=-16333.0967, 切向力Y=12812.0449 +FPS=24.02, 法向力=8331.2695, 切向力X=-15637.6631, 切向力Y=12986.6934 +FPS=38.06, 法向力=8219.7197, 切向力X=-14818.0840, 切向力Y=11829.5820 +FPS=38.36, 法向力=8186.2925, 切向力X=-14742.4219, 切向力Y=11861.6016 +FPS=24.42, 法向力=7869.4072, 切向力X=-14205.4453, 切向力Y=12059.8984 +FPS=39.63, 法向力=8214.9473, 切向力X=-13692.2939, 切向力Y=10852.8418 +FPS=40.50, 法向力=8204.4590, 切向力X=-13628.9668, 切向力Y=10721.0186 +FPS=43.39, 法向力=8158.7852, 切向力X=-13682.0332, 切向力Y=10763.1680 +FPS=38.69, 法向力=7639.6143, 切向力X=-13478.1074, 切向力Y=11639.4238 +FPS=27.92, 法向力=7666.7993, 切向力X=-12334.0254, 切向力Y=9967.3174 +FPS=36.74, 法向力=7674.7769, 切向力X=-12347.7891, 切向力Y=9980.5020 +FPS=27.72, 法向力=7755.1572, 切向力X=-12009.6992, 切向力Y=10298.5547 +FPS=37.05, 法向力=7829.4639, 切向力X=-11915.0879, 切向力Y=10173.5801 +FPS=24.33, 法向力=7415.6777, 切向力X=-11061.8545, 切向力Y=9888.4561 +FPS=38.56, 法向力=7391.7817, 切向力X=-9494.1279, 切向力Y=9383.4932 +FPS=40.21, 法向力=7414.2510, 切向力X=-9474.1123, 切向力Y=9435.3711 +FPS=45.11, 法向力=6662.0596, 切向力X=-8847.3672, 切向力Y=10042.2402 +FPS=40.37, 法向力=6511.5088, 切向力X=-8701.0703, 切向力Y=10169.1191 +FPS=43.36, 法向力=6613.2002, 切向力X=-9398.0605, 切向力Y=9675.9658 +FPS=40.55, 法向力=6431.4697, 切向力X=-9224.2061, 切向力Y=9681.7695 +FPS=44.96, 法向力=7075.0776, 切向力X=-9291.1885, 切向力Y=10164.1436 +FPS=40.48, 法向力=7350.8096, 切向力X=-9579.4238, 切向力Y=9976.1475 +FPS=26.93, 法向力=7292.5815, 切向力X=-9617.4229, 切向力Y=10098.3164 +FPS=34.74, 法向力=8234.0996, 切向力X=-10533.9404, 切向力Y=8490.4375 +FPS=26.18, 法向力=8269.6016, 切向力X=-10607.8379, 切向力Y=8427.9131 +FPS=39.14, 法向力=7136.9277, 切向力X=-10028.3711, 切向力Y=9774.4473 +FPS=39.03, 法向力=6992.3486, 切向力X=-9901.6670, 切向力Y=9824.6523 +FPS=45.41, 法向力=7308.3638, 切向力X=-9482.1133, 切向力Y=9221.8281 +FPS=39.32, 法向力=7410.9829, 切向力X=-9501.4619, 切向力Y=9151.5186 +FPS=42.07, 法向力=6148.6226, 切向力X=-7310.0356, 切向力Y=9525.2324 +FPS=37.06, 法向力=6114.8188, 切向力X=-7095.2612, 切向力Y=9413.8760 +FPS=33.83, 法向力=7024.7456, 切向力X=-7613.9956, 切向力Y=9728.6055 +FPS=27.60, 法向力=7251.8838, 切向力X=-6763.1128, 切向力Y=8768.1416 +FPS=34.66, 法向力=6844.9712, 切向力X=-6710.6587, 切向力Y=9275.8369 +FPS=25.69, 法向力=7176.9878, 切向力X=-6507.2964, 切向力Y=9185.2871 +FPS=42.20, 法向力=7185.2593, 切向力X=-6516.6069, 切向力Y=9421.0957 +FPS=38.33, 法向力=6808.1099, 切向力X=-6451.1738, 切向力Y=8982.8613 +FPS=44.28, 法向力=6770.2886, 切向力X=-6385.8945, 切向力Y=9020.1133 +FPS=38.60, 法向力=7786.8164, 切向力X=-7047.4346, 切向力Y=8520.4746 +FPS=41.86, 法向力=7628.5811, 切向力X=-6904.2646, 切向力Y=8719.4912 +FPS=33.84, 法向力=6583.8037, 切向力X=-5484.2959, 切向力Y=8346.5430 +FPS=29.29, 法向力=6587.6387, 切向力X=-5641.2207, 切向力Y=8150.7700 +FPS=33.18, 法向力=7050.8506, 切向力X=-5911.1348, 切向力Y=8073.8828 +FPS=29.21, 法向力=6687.9072, 切向力X=-4417.9204, 切向力Y=8309.2764 +FPS=35.81, 法向力=6816.7227, 切向力X=-4570.9629, 切向力Y=8316.1562 +FPS=27.84, 法向力=7257.2827, 切向力X=-5010.9307, 切向力Y=9247.3496 +FPS=34.68, 法向力=6586.6777, 切向力X=-4954.5928, 切向力Y=7791.5166 +FPS=23.79, 法向力=6206.7832, 切向力X=-5290.0503, 切向力Y=7991.7900 +FPS=34.84, 法向力=6309.7188, 切向力X=-5446.8330, 切向力Y=8037.8984 +FPS=35.77, 法向力=7016.7798, 切向力X=-5733.7671, 切向力Y=8592.3945 +FPS=37.56, 法向力=6811.7568, 切向力X=-5572.4189, 切向力Y=8696.2295 +FPS=33.34, 法向力=6214.0488, 切向力X=-5602.4521, 切向力Y=8650.8379 +FPS=43.91, 法向力=6162.8677, 切向力X=-5574.3447, 切向力Y=8538.7070 +FPS=35.54, 法向力=7914.3467, 切向力X=-5867.8242, 切向力Y=8297.7822 +FPS=24.95, 法向力=6321.8809, 切向力X=-5205.6562, 切向力Y=8330.7930 +FPS=46.28, 法向力=6389.6055, 切向力X=-5169.8164, 切向力Y=8386.7207 +FPS=37.35, 法向力=6695.9883, 切向力X=-4769.8999, 切向力Y=6696.5645 +FPS=44.05, 法向力=6668.4590, 切向力X=-4747.3750, 切向力Y=6716.4941 +FPS=37.55, 法向力=6884.2188, 切向力X=-4858.5439, 切向力Y=7277.5889 +FPS=42.81, 法向力=6666.5771, 切向力X=-4707.0176, 切向力Y=7475.6484 +FPS=37.40, 法向力=6045.4785, 切向力X=-4127.5498, 切向力Y=8247.6836 +FPS=27.78, 法向力=6072.1055, 切向力X=-4161.8457, 切向力Y=8256.7227 +FPS=35.42, 法向力=7519.8804, 切向力X=-7149.7393, 切向力Y=8259.6289 +FPS=42.22, 法向力=7374.1011, 切向力X=-7079.8154, 切向力Y=8323.0869 +FPS=37.43, 法向力=6942.5039, 切向力X=-7855.2588, 切向力Y=8404.8164 +FPS=45.79, 法向力=6912.2422, 切向力X=-7839.4053, 切向力Y=8453.1914 +FPS=37.73, 法向力=6918.8237, 切向力X=-6817.1250, 切向力Y=8539.4131 +FPS=28.88, 法向力=6900.4482, 切向力X=-6642.1768, 切向力Y=8477.5918 +FPS=37.80, 法向力=6490.1680, 切向力X=-4968.0625, 切向力Y=8742.8877 +FPS=37.84, 法向力=6330.4526, 切向力X=-3985.1299, 切向力Y=7942.9839 +FPS=35.08, 法向力=6281.7793, 切向力X=-4008.0488, 切向力Y=7827.9229 +FPS=21.21, 法向力=6270.1704, 切向力X=-3971.4492, 切向力Y=7830.7480 +FPS=24.46, 法向力=5831.3901, 切向力X=-2757.9756, 切向力Y=6390.8193 +FPS=21.30, 法向力=5990.1748, 切向力X=-2648.0791, 切向力Y=6422.4575 +FPS=22.14, 法向力=6523.2305, 切向力X=-3013.2769, 切向力Y=7191.9355 +FPS=16.60, 法向力=6107.6191, 切向力X=-3052.4355, 切向力Y=6437.5625 +FPS=27.22, 法向力=7034.7720, 切向力X=-4897.0869, 切向力Y=7709.7344 +FPS=23.05, 法向力=7294.0029, 切向力X=-6635.8887, 切向力Y=8045.7559 +FPS=22.22, 法向力=7668.0586, 切向力X=-8744.8633, 切向力Y=8037.4692 +FPS=16.21, 法向力=7947.7031, 切向力X=-8989.7285, 切向力Y=7715.6494 +FPS=15.36, 法向力=7951.2422, 切向力X=-6780.8018, 切向力Y=6907.9082 +FPS=17.18, 法向力=6686.6851, 切向力X=-4635.6230, 切向力Y=7858.5420 +Traceback (most recent call last): + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\AxisItem.py", line 991, in paint + specs = self.generateDrawSpecs(painter) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\pyqtgraph\graphicsItems\AxisItem.py", line 1627, in generateDrawSpecs + br = p.boundingRect(QtCore.QRectF(0, 0, 100, 100), QtCore.Qt.AlignmentFlag.AlignCenter, s) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt +FPS=20.37, 法向力=6912.2837, 切向力X=-4595.1162, 切向力Y=7862.2896 +FPS=19.34, 法向力=7363.3057, 切向力X=-4939.9312, 切向力Y=7619.3374 +FPS=19.08, 法向力=6373.3691, 切向力X=-4781.1338, 切向力Y=8536.1289 +FPS=24.45, 法向力=6291.4082, 切向力X=-4747.3638, 切向力Y=8613.7305 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in + main() + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 182, in main + arrows = orisys.util.draw_arrows( + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\util.py", line 39, in draw_arrows + colors = cv2.applyColorMap(norm_mag.reshape(-1, 1), colormap) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt diff --git a/examples/logs/plot_20260521_095434.log b/examples/logs/plot_20260521_095434.log new file mode 100644 index 0000000..8c3dd68 --- /dev/null +++ b/examples/logs/plot_20260521_095434.log @@ -0,0 +1,931 @@ +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=10 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.46, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=1.89, 法向力=1468.6523, 切向力X=-140.5819, 切向力Y=-1785.7747 +FPS=30.58, 法向力=1566.3948, 切向力X=-111.4583, 切向力Y=-1915.5825 +FPS=27.44, 法向力=1212.0280, 切向力X=-39.5685, 切向力Y=-413.3934 +FPS=22.60, 法向力=1205.4215, 切向力X=-10.6164, 切向力Y=-314.9164 +FPS=25.56, 法向力=2126.8281, 切向力X=256.0717, 切向力Y=-1159.0538 +FPS=34.55, 法向力=2204.2532, 切向力X=183.8568, 切向力Y=-1211.5742 +FPS=25.13, 法向力=1777.4576, 切向力X=52.7551, 切向力Y=-1007.4562 +FPS=39.41, 法向力=1757.1217, 切向力X=-28.8368, 切向力Y=-963.1324 +FPS=32.73, 法向力=1749.6011, 切向力X=-16.9506, 切向力Y=-2160.3115 +FPS=36.41, 法向力=1758.5327, 切向力X=69.9537, 切向力Y=-2037.4967 +FPS=32.79, 法向力=1790.1971, 切向力X=-173.7573, 切向力Y=156.9221 +FPS=31.27, 法向力=1793.2363, 切向力X=-224.0836, 切向力Y=197.1666 +FPS=33.26, 法向力=1748.7078, 切向力X=-271.3075, 切向力Y=157.7481 +FPS=34.99, 法向力=1687.4197, 切向力X=-674.5483, 切向力Y=-107.0883 +FPS=36.53, 法向力=1753.1239, 切向力X=-575.6926, 切向力Y=-35.6018 +FPS=33.80, 法向力=1247.8223, 切向力X=-514.1991, 切向力Y=-1389.4697 +FPS=25.19, 法向力=1261.7919, 切向力X=-408.0992, 切向力Y=-1364.8468 +FPS=33.48, 法向力=1936.2748, 切向力X=-494.2993, 切向力Y=-930.1176 +FPS=37.76, 法向力=1916.4548, 切向力X=-465.7533, 切向力Y=-879.2223 +FPS=44.10, 法向力=2097.3911, 切向力X=-160.0931, 切向力Y=-1219.7667 +FPS=46.89, 法向力=2139.5854, 切向力X=-152.0510, 切向力Y=-1221.1705 +FPS=41.43, 法向力=2136.9702, 切向力X=-241.0235, 切向力Y=-1272.5168 +FPS=35.05, 法向力=2064.6763, 切向力X=-618.5793, 切向力Y=-1537.5552 +FPS=37.75, 法向力=2104.7803, 切向力X=-618.0910, 切向力Y=-1344.5205 +FPS=37.11, 法向力=2098.8472, 切向力X=-628.6880, 切向力Y=-1194.0886 +FPS=22.98, 法向力=2740.2200, 切向力X=-271.6731, 切向力Y=-1974.2402 +FPS=46.34, 法向力=1293.4448, 切向力X=-375.7171, 切向力Y=-909.4243 +stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40 +stitch_feature_optimized steps: brightness=0.000002s, geom=0.000003s (hit), reset=0.000222s, blend=0.002400s (9 tiles incl ref), finalize=0.000077s, total=0.002705s +FPS=37.61, 法向力=1429.0599, 切向力X=-385.7286, 切向力Y=-770.6435 +FPS=40.52, 法向力=1430.4414, 切向力X=-403.1853, 切向力Y=-770.6646 +FPS=32.56, 法向力=1219.6597, 切向力X=30.2821, 切向力Y=540.3250 +FPS=38.37, 法向力=1212.3134, 切向力X=151.5412, 切向力Y=525.3938 +FPS=45.57, 法向力=1878.0555, 切向力X=-334.0711, 切向力Y=-1233.6331 +FPS=39.09, 法向力=1907.6664, 切向力X=-398.0824, 切向力Y=-1253.3368 +FPS=43.90, 法向力=1870.1320, 切向力X=-437.3321, 切向力Y=-1287.2102 +FPS=35.51, 法向力=1178.0256, 切向力X=-630.0201, 切向力Y=-1206.7825 +FPS=36.95, 法向力=1153.2798, 切向力X=-562.3918, 切向力Y=-1146.9258 +FPS=44.20, 法向力=1157.5793, 切向力X=-527.1757, 切向力Y=-1141.1027 +FPS=36.23, 法向力=1616.5486, 切向力X=57.1928, 切向力Y=-514.2873 +FPS=47.29, 法向力=1629.6138, 切向力X=24.7383, 切向力Y=-573.4175 +FPS=34.57, 法向力=1631.8738, 切向力X=-9.9358, 切向力Y=-685.3813 +FPS=27.61, 法向力=2104.4062, 切向力X=-809.4086, 切向力Y=-1374.1569 +FPS=41.96, 法向力=2093.9326, 切向力X=-831.0868, 切向力Y=-1410.1750 +FPS=22.68, 法向力=1649.3435, 切向力X=-798.0945, 切向力Y=-646.3885 +FPS=46.73, 法向力=1718.1409, 切向力X=-791.0502, 切向力Y=-662.4163 +FPS=36.56, 法向力=3862.6140, 切向力X=-359.7504, 切向力Y=-1269.4104 +FPS=41.79, 法向力=3903.9607, 切向力X=-359.5303, 切向力Y=-1161.4608 +FPS=35.81, 法向力=1001.0420, 切向力X=-140.2276, 切向力Y=-695.0411 +FPS=49.62, 法向力=1068.7061, 切向力X=-115.4396, 切向力Y=-757.0610 +FPS=40.38, 法向力=1070.1117, 切向力X=-108.0470, 切向力Y=-760.7629 +FPS=26.54, 法向力=1686.5823, 切向力X=-110.0919, 切向力Y=-1120.3473 +FPS=38.71, 法向力=1648.3472, 切向力X=30.7396, 切向力Y=-1118.5524 +FPS=44.93, 法向力=1635.2859, 切向力X=28.2987, 切向力Y=-1112.9934 +FPS=39.88, 法向力=1333.0692, 切向力X=-981.7482, 切向力Y=-543.3253 +FPS=44.78, 法向力=1400.4265, 切向力X=-934.9463, 切向力Y=-486.4800 +FPS=38.47, 法向力=1336.9751, 切向力X=506.7483, 切向力Y=-685.1981 +FPS=35.84, 法向力=1402.1912, 切向力X=571.2245, 切向力Y=-705.8870 +FPS=42.28, 法向力=1401.6969, 切向力X=556.7795, 切向力Y=-640.4523 +stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000228s, blend=0.002145s (9 tiles incl ref), finalize=0.000053s, total=0.002431s +FPS=39.45, 法向力=1315.2365, 切向力X=-846.6339, 切向力Y=-81.8931 +FPS=43.64, 法向力=1331.0098, 切向力X=-832.4840, 切向力Y=-111.4969 +FPS=41.45, 法向力=1314.9297, 切向力X=-805.2390, 切向力Y=-158.3209 +FPS=39.91, 法向力=1480.8718, 切向力X=-499.5907, 切向力Y=-1638.3010 +FPS=42.33, 法向力=1508.5967, 切向力X=-502.0677, 切向力Y=-1718.4326 +FPS=48.62, 法向力=1246.2252, 切向力X=-1.6298, 切向力Y=-459.3607 +FPS=42.29, 法向力=1258.4077, 切向力X=-78.3788, 切向力Y=-533.3998 +FPS=39.59, 法向力=1262.0410, 切向力X=-43.3227, 切向力Y=-577.5261 +FPS=35.85, 法向力=1430.9121, 切向力X=-181.7516, 切向力Y=-1318.9342 +FPS=51.87, 法向力=1444.7498, 切向力X=-230.7101, 切向力Y=-1230.2592 +FPS=43.25, 法向力=1438.1575, 切向力X=-240.2934, 切向力Y=-1247.7827 +FPS=47.53, 法向力=1703.8662, 切向力X=-596.0613, 切向力Y=-1360.9791 +FPS=24.38, 法向力=1788.9238, 切向力X=-595.8633, 切向力Y=-1395.4271 +FPS=43.97, 法向力=2760.8926, 切向力X=290.4601, 切向力Y=-2221.6655 +FPS=24.65, 法向力=2623.4233, 切向力X=332.3273, 切向力Y=-2110.8684 +FPS=42.67, 法向力=1385.7109, 切向力X=-589.8788, 切向力Y=-953.7830 +FPS=40.83, 法向力=1420.6852, 切向力X=-633.8888, 切向力Y=-802.6492 +FPS=39.18, 法向力=1411.1619, 切向力X=-618.7287, 切向力Y=-816.4977 +FPS=40.18, 法向力=1343.6680, 切向力X=-654.7051, 切向力Y=306.9477 +FPS=47.28, 法向力=1350.0540, 切向力X=-692.8213, 切向力Y=447.7349 +FPS=42.28, 法向力=1350.8672, 切向力X=-708.4382, 切向力Y=466.0487 +FPS=41.00, 法向力=1926.6251, 切向力X=-501.5932, 切向力Y=-1505.2874 +FPS=39.12, 法向力=2031.0690, 切向力X=-463.0618, 切向力Y=-1662.5642 +FPS=44.86, 法向力=1990.8464, 切向力X=-527.8484, 切向力Y=-1653.3190 +FPS=38.95, 法向力=1895.9683, 切向力X=-797.2736, 切向力Y=-1693.5920 +FPS=48.01, 法向力=1925.2720, 切向力X=-774.9052, 切向力Y=-1707.3057 +FPS=44.44, 法向力=1927.6421, 切向力X=-772.9200, 切向力Y=-1701.7378 +FPS=40.57, 法向力=1157.6208, 切向力X=-827.6493, 切向力Y=-906.5511 +FPS=43.01, 法向力=1098.9453, 切向力X=-733.8142, 切向力Y=-943.3463 +FPS=49.39, 法向力=1083.3477, 切向力X=-755.2178, 切向力Y=-948.2361 +stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000239s, blend=0.002149s (9 tiles incl ref), finalize=0.000050s, total=0.002444s +FPS=38.12, 法向力=1521.3689, 切向力X=-488.7667, 切向力Y=-1011.7789 +FPS=41.70, 法向力=1614.9270, 切向力X=-443.1357, 切向力Y=-1074.8029 +FPS=40.62, 法向力=1399.0371, 切向力X=-290.1122, 切向力Y=-753.5101 +FPS=42.91, 法向力=1421.0884, 切向力X=-366.4803, 切向力Y=-793.8254 +FPS=42.05, 法向力=1386.6096, 切向力X=-353.8379, 切向力Y=-783.3280 +FPS=43.42, 法向力=2059.0459, 切向力X=177.1395, 切向力Y=-1772.5699 +FPS=43.59, 法向力=2161.5071, 切向力X=254.5063, 切向力Y=-1599.5552 +FPS=40.18, 法向力=2154.1724, 切向力X=266.9822, 切向力Y=-1627.0518 +FPS=40.15, 法向力=2145.2461, 切向力X=341.8218, 切向力Y=-1616.6558 +FPS=45.49, 法向力=2121.6594, 切向力X=249.7673, 切向力Y=-1530.7336 +FPS=44.23, 法向力=2180.6333, 切向力X=294.8946, 切向力Y=-1480.5759 +FPS=46.65, 法向力=1215.9177, 切向力X=367.4384, 切向力Y=-530.6541 +FPS=51.83, 法向力=1253.1008, 切向力X=343.8299, 切向力Y=-456.6460 +FPS=35.69, 法向力=1269.1973, 切向力X=299.5914, 切向力Y=-448.2593 +FPS=27.69, 法向力=1076.2468, 切向力X=-156.2209, 切向力Y=-1830.0742 +FPS=44.99, 法向力=1071.6710, 切向力X=-371.6542, 切向力Y=-1768.0298 +FPS=39.36, 法向力=2226.9922, 切向力X=-944.0863, 切向力Y=-1011.1350 +FPS=42.69, 法向力=2267.2407, 切向力X=-969.0139, 切向力Y=-918.6372 +FPS=39.66, 法向力=2315.8572, 切向力X=-923.8372, 切向力Y=-967.4497 +FPS=40.11, 法向力=1549.9878, 切向力X=-701.6760, 切向力Y=-1308.2581 +FPS=45.81, 法向力=1553.6135, 切向力X=-689.7051, 切向力Y=-1278.8615 +FPS=40.30, 法向力=1699.4073, 切向力X=-930.4310, 切向力Y=-974.4241 +FPS=43.30, 法向力=1757.2351, 切向力X=-1089.9137, 切向力Y=-831.9440 +FPS=37.44, 法向力=1743.1968, 切向力X=-1082.7910, 切向力Y=-838.1281 +FPS=47.30, 法向力=1278.1536, 切向力X=-571.5164, 切向力Y=-1454.9943 +FPS=44.80, 法向力=1302.5326, 切向力X=-581.0256, 切向力Y=-1435.1814 +FPS=33.15, 法向力=1306.3518, 切向力X=-570.1166, 切向力Y=-1318.0193 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切向力Y=-667.7426 +FPS=47.69, 法向力=2015.9255, 切向力X=-731.9031, 切向力Y=-2272.1628 +FPS=49.89, 法向力=1954.3790, 切向力X=-778.5635, 切向力Y=-2264.2407 +FPS=35.04, 法向力=1993.1455, 切向力X=-767.8335, 切向力Y=-2273.6316 +FPS=23.46, 法向力=1827.5259, 切向力X=-726.5335, 切向力Y=-1040.4836 +FPS=42.87, 法向力=1874.9297, 切向力X=-697.6926, 切向力Y=-1059.4675 +FPS=37.92, 法向力=1884.7987, 切向力X=-690.5093, 切向力Y=-1048.5403 +FPS=47.21, 法向力=1602.0291, 切向力X=-797.0104, 切向力Y=-1545.1970 +FPS=43.00, 法向力=1507.3657, 切向力X=-808.8608, 切向力Y=-1436.5370 +FPS=40.20, 法向力=1171.3872, 切向力X=-843.6021, 切向力Y=-658.6179 +FPS=44.08, 法向力=1195.8347, 切向力X=-812.9445, 切向力Y=-663.9857 +FPS=52.24, 法向力=1191.4547, 切向力X=-826.5833, 切向力Y=-633.6022 +FPS=45.50, 法向力=1752.7798, 切向力X=-486.6591, 切向力Y=-1501.9521 +FPS=44.54, 法向力=1771.9431, 切向力X=-532.8730, 切向力Y=-1459.8918 +FPS=42.23, 法向力=1775.0818, 切向力X=-533.6107, 切向力Y=-1434.9943 +FPS=41.05, 法向力=2253.0732, 切向力X=-869.6805, 切向力Y=2006.8145 +FPS=34.55, 法向力=2247.5459, 切向力X=-820.3412, 切向力Y=2128.3535 +FPS=52.47, 法向力=2243.5251, 切向力X=-773.3605, 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法向力=1806.1560, 切向力X=-1790.7390, 切向力Y=-2531.5479 +stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000335s, blend=0.002097s (9 tiles incl ref), finalize=0.000046s, total=0.002484s +FPS=45.52, 法向力=1804.7277, 切向力X=-1828.4409, 切向力Y=-2507.5762 +FPS=22.15, 法向力=1399.6362, 切向力X=-1889.3853, 切向力Y=-1574.6781 +FPS=24.60, 法向力=1385.9269, 切向力X=-1848.5144, 切向力Y=-1543.5991 +FPS=20.94, 法向力=1470.0530, 切向力X=-2133.0786, 切向力Y=-1036.2828 +FPS=21.08, 法向力=1586.2446, 切向力X=-1953.5981, 切向力Y=-1084.7893 +FPS=32.72, 法向力=1587.4508, 切向力X=-1938.9102, 切向力Y=-1119.3450 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in + main() + File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 182, in main + arrows = orisys.util.draw_arrows( + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\util.py", line 22, in draw_arrows + mag = np.linalg.norm(disp, axis=1) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\numpy\linalg\_linalg.py", line 2781, in norm + return sqrt(add.reduce(s, axis=axis, keepdims=keepdims)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt diff --git a/examples/logs/qt_viewer_20260519_170033.log b/examples/logs/qt_viewer_20260519_170033.log new file mode 100644 index 0000000..2db73f1 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_170033.log @@ -0,0 +1,1728 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='h264' (int=875967080, hex=0x34363268), size=720x480, fps=29.61, backend_id=1900 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: data\s1_480p.mp4 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=1.14, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=1.81, 法向力=337.0924, 切向力X=105.3665, 切向力Y=-23.0133 +FPS=42.00, 法向力=275.2344, 切向力X=38.3156, 切向力Y=33.4009 +FPS=40.04, 法向力=304.5167, 切向力X=299.5397, 切向力Y=-125.5502 +FPS=41.42, 法向力=322.0585, 切向力X=144.5083, 切向力Y=-106.9444 +FPS=41.87, 法向力=427.3980, 切向力X=579.1263, 切向力Y=-150.2743 +FPS=40.74, 法向力=374.1193, 切向力X=143.3037, 切向力Y=41.0336 +FPS=44.91, 法向力=439.6496, 切向力X=341.2559, 切向力Y=105.1939 +FPS=43.09, 法向力=383.1736, 切向力X=283.2375, 切向力Y=60.7181 +FPS=46.82, 法向力=380.9533, 切向力X=189.9141, 切向力Y=49.1799 +FPS=45.74, 法向力=496.7229, 切向力X=216.1525, 切向力Y=173.0711 +FPS=43.74, 法向力=452.1005, 切向力X=316.2781, 切向力Y=-69.2771 +FPS=46.66, 法向力=515.5154, 切向力X=93.1914, 切向力Y=10.5510 +FPS=44.80, 法向力=486.9267, 切向力X=308.6645, 切向力Y=-127.3605 +FPS=47.06, 法向力=422.9596, 切向力X=137.3703, 切向力Y=-0.8303 +FPS=45.69, 法向力=444.7674, 切向力X=127.4388, 切向力Y=-100.7801 +FPS=47.86, 法向力=521.9902, 切向力X=-8.7759, 切向力Y=4.9324 +FPS=37.50, 法向力=471.4230, 切向力X=108.3085, 切向力Y=-123.1124 +FPS=46.55, 法向力=630.2045, 切向力X=181.0633, 切向力Y=79.0298 +FPS=44.96, 法向力=474.9984, 切向力X=179.3715, 切向力Y=-99.3264 +FPS=46.70, 法向力=467.0819, 切向力X=95.6260, 切向力Y=-33.4054 +FPS=46.60, 法向力=390.8379, 切向力X=20.0062, 切向力Y=-114.3233 +FPS=45.84, 法向力=400.2184, 切向力X=251.1852, 切向力Y=-43.3807 +FPS=46.27, 法向力=381.0980, 切向力X=338.1581, 切向力Y=17.0215 +FPS=45.96, 法向力=403.3732, 切向力X=274.3037, 切向力Y=-68.2538 +FPS=46.83, 法向力=423.2300, 切向力X=358.8958, 切向力Y=-128.8600 +FPS=46.27, 法向力=470.1970, 切向力X=354.4167, 切向力Y=1.4036 +FPS=45.99, 法向力=543.0128, 切向力X=408.0621, 切向力Y=6.6039 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000447s, blend=0.002215s (9 tiles incl ref), finalize=0.000034s, total=0.002702s +FPS=47.96, 法向力=568.6055, 切向力X=272.5980, 切向力Y=167.8930 +FPS=47.09, 法向力=471.2824, 切向力X=323.5005, 切向力Y=-44.3617 +FPS=48.03, 法向力=558.7151, 切向力X=287.7775, 切向力Y=142.7548 +FPS=44.72, 法向力=540.6609, 切向力X=230.7462, 切向力Y=163.5316 +FPS=46.85, 法向力=565.6110, 切向力X=238.0070, 切向力Y=175.9729 +FPS=44.77, 法向力=422.6593, 切向力X=391.3491, 切向力Y=94.5662 +FPS=45.00, 法向力=585.3496, 切向力X=341.6766, 切向力Y=264.1044 +FPS=46.40, 法向力=586.6017, 切向力X=400.8839, 切向力Y=220.4312 +FPS=48.28, 法向力=662.0049, 切向力X=374.3545, 切向力Y=249.3468 +FPS=46.76, 法向力=505.3251, 切向力X=403.4470, 切向力Y=123.5322 +FPS=48.34, 法向力=588.0610, 切向力X=336.4493, 切向力Y=241.3057 +FPS=47.73, 法向力=475.6929, 切向力X=331.1375, 切向力Y=220.2310 +FPS=46.79, 法向力=503.4824, 切向力X=285.5004, 切向力Y=161.7040 +FPS=45.93, 法向力=478.2920, 切向力X=285.2784, 切向力Y=172.7950 +FPS=46.53, 法向力=437.3712, 切向力X=270.7783, 切向力Y=192.0098 +FPS=48.91, 法向力=420.7048, 切向力X=301.3627, 切向力Y=226.3029 +FPS=47.84, 法向力=417.1736, 切向力X=372.3672, 切向力Y=166.5096 +FPS=46.82, 法向力=507.4414, 切向力X=552.4202, 切向力Y=167.9919 +FPS=48.29, 法向力=498.2945, 切向力X=436.6678, 切向力Y=165.5333 +FPS=48.51, 法向力=514.0458, 切向力X=335.3730, 切向力Y=85.0184 +FPS=47.19, 法向力=529.2030, 切向力X=276.0751, 切向力Y=61.7947 +FPS=47.58, 法向力=524.8873, 切向力X=359.9593, 切向力Y=-12.1547 +FPS=47.71, 法向力=537.9604, 切向力X=252.5856, 切向力Y=159.1549 +FPS=45.88, 法向力=571.8456, 切向力X=337.7609, 切向力Y=161.8762 +FPS=45.84, 法向力=555.7119, 切向力X=266.8866, 切向力Y=164.7125 +FPS=45.03, 法向力=535.4855, 切向力X=277.8946, 切向力Y=46.5788 +FPS=47.28, 法向力=559.3605, 切向力X=238.1057, 切向力Y=195.1381 +FPS=47.04, 法向力=516.4126, 切向力X=217.2286, 切向力Y=346.5672 +FPS=45.34, 法向力=588.9673, 切向力X=342.7322, 切向力Y=321.4611 +FPS=46.03, 法向力=683.4487, 切向力X=343.7098, 切向力Y=350.8336 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000475s, blend=0.002108s (9 tiles incl ref), finalize=0.000036s, total=0.002625s +FPS=43.62, 法向力=769.2404, 切向力X=617.5995, 切向力Y=363.0291 +FPS=42.24, 法向力=649.9167, 切向力X=595.3232, 切向力Y=450.2150 +FPS=46.02, 法向力=569.0094, 切向力X=196.7768, 切向力Y=260.1696 +FPS=46.54, 法向力=529.5283, 切向力X=427.7700, 切向力Y=187.7964 +FPS=47.57, 法向力=620.9910, 切向力X=470.9977, 切向力Y=362.5057 +FPS=46.55, 法向力=538.0060, 切向力X=528.8828, 切向力Y=177.2518 +FPS=46.59, 法向力=610.8594, 切向力X=603.5106, 切向力Y=261.6980 +FPS=47.44, 法向力=471.6226, 切向力X=606.6008, 切向力Y=186.6621 +FPS=47.65, 法向力=603.7923, 切向力X=756.7799, 切向力Y=264.7291 +FPS=45.82, 法向力=549.2095, 切向力X=684.6616, 切向力Y=190.7694 +FPS=47.77, 法向力=546.4902, 切向力X=682.0063, 切向力Y=266.7512 +FPS=46.77, 法向力=567.8000, 切向力X=345.6046, 切向力Y=43.0731 +FPS=47.88, 法向力=570.8825, 切向力X=450.3533, 切向力Y=312.1612 +FPS=48.24, 法向力=558.6213, 切向力X=414.3089, 切向力Y=342.2720 +FPS=45.35, 法向力=602.7223, 切向力X=502.1807, 切向力Y=341.0464 +FPS=47.21, 法向力=494.2397, 切向力X=486.9030, 切向力Y=217.4945 +FPS=48.21, 法向力=582.1132, 切向力X=413.8570, 切向力Y=341.3521 +FPS=47.46, 法向力=610.7207, 切向力X=355.3761, 切向力Y=326.8853 +FPS=46.44, 法向力=639.1763, 切向力X=258.6659, 切向力Y=333.0007 +FPS=48.78, 法向力=517.6953, 切向力X=244.2416, 切向力Y=151.2488 +FPS=48.71, 法向力=621.6842, 切向力X=57.3351, 切向力Y=388.5969 +FPS=47.33, 法向力=622.9959, 切向力X=149.3263, 切向力Y=338.4539 +FPS=48.70, 法向力=746.6144, 切向力X=210.9105, 切向力Y=513.2103 +FPS=44.42, 法向力=634.5822, 切向力X=178.9746, 切向力Y=406.7624 +FPS=47.23, 法向力=743.4180, 切向力X=230.6239, 切向力Y=499.0047 +FPS=48.15, 法向力=719.7740, 切向力X=205.4471, 切向力Y=521.3483 +FPS=44.76, 法向力=702.1586, 切向力X=204.3511, 切向力Y=495.4223 +FPS=45.89, 法向力=618.0647, 切向力X=294.0533, 切向力Y=336.6689 +FPS=46.66, 法向力=736.3813, 切向力X=249.3685, 切向力Y=511.0523 +FPS=44.67, 法向力=583.3094, 切向力X=224.3319, 切向力Y=351.2118 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: 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切向力Y=1928.5962 +FPS=49.84, 法向力=1751.4949, 切向力X=556.4377, 切向力Y=1806.9974 +FPS=48.45, 法向力=1770.0011, 切向力X=699.9105, 切向力Y=1816.8872 +FPS=48.93, 法向力=1825.5905, 切向力X=646.1785, 切向力Y=1829.2329 +FPS=49.62, 法向力=1842.3772, 切向力X=684.3607, 切向力Y=1902.5842 +FPS=50.68, 法向力=1868.6875, 切向力X=695.2474, 切向力Y=1824.5027 +FPS=47.68, 法向力=1856.1943, 切向力X=635.4503, 切向力Y=1782.2058 +FPS=48.15, 法向力=1913.2207, 切向力X=529.9670, 切向力Y=1892.5532 +FPS=49.79, 法向力=1747.4463, 切向力X=616.2989, 切向力Y=1796.8311 +FPS=50.33, 法向力=1859.0278, 切向力X=593.8199, 切向力Y=1925.9115 +FPS=49.35, 法向力=1830.9867, 切向力X=517.5540, 切向力Y=1894.2493 +FPS=48.30, 法向力=1873.1705, 切向力X=604.2100, 切向力Y=1959.1638 +FPS=47.33, 法向力=1921.7180, 切向力X=471.1716, 切向力Y=1988.4851 +FPS=48.16, 法向力=1957.4265, 切向力X=797.5765, 切向力Y=2038.9546 +FPS=48.59, 法向力=1910.2274, 切向力X=770.7793, 切向力Y=2001.2368 +FPS=48.55, 法向力=1860.8059, 切向力X=697.4677, 切向力Y=1996.1034 +FPS=48.59, 法向力=1838.5256, 切向力X=761.6665, 切向力Y=1947.3878 +FPS=47.10, 法向力=1887.3801, 切向力X=772.0675, 切向力Y=2168.3518 +FPS=48.26, 法向力=1878.2634, 切向力X=855.4338, 切向力Y=2078.3818 +FPS=45.18, 法向力=1844.6620, 切向力X=735.4748, 切向力Y=1964.6868 +FPS=46.31, 法向力=1826.5159, 切向力X=722.9898, 切向力Y=1918.5364 +FPS=46.44, 法向力=1796.3800, 切向力X=767.8591, 切向力Y=1966.2295 +FPS=46.42, 法向力=1812.3000, 切向力X=701.2233, 切向力Y=2006.5244 +FPS=47.06, 法向力=1759.3350, 切向力X=771.0192, 切向力Y=1922.5929 +FPS=47.56, 法向力=1797.0770, 切向力X=671.7823, 切向力Y=1881.2722 +FPS=48.02, 法向力=1799.2966, 切向力X=609.4442, 切向力Y=1869.3405 +FPS=46.23, 法向力=1800.7004, 切向力X=671.7076, 切向力Y=1975.7939 +stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000500s, blend=0.002377s (9 tiles incl ref), finalize=0.000040s, total=0.002923s +FPS=49.19, 法向力=1829.7668, 切向力X=668.7125, 切向力Y=1923.2922 +FPS=48.17, 法向力=1745.2866, 切向力X=685.3630, 切向力Y=1826.3430 +FPS=41.76, 法向力=1798.7957, 切向力X=673.4534, 切向力Y=1802.2349 +FPS=48.50, 法向力=1817.3263, 切向力X=781.0939, 切向力Y=1886.9869 +FPS=49.32, 法向力=1815.3513, 切向力X=796.2302, 切向力Y=1868.9314 +FPS=50.03, 法向力=1761.8103, 切向力X=668.4638, 切向力Y=1845.8842 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.7688, 切向力X=655.2942, 切向力Y=1836.1758 +Failed to get_img from video source. +FPS=50.03, 法向力=1744.9353, 切向力X=642.4373, 切向力Y=1842.4846 +Failed to get_img from video source. +FPS=50.03, 法向力=1747.2632, 切向力X=647.3163, 切向力Y=1843.1454 +Failed to get_img from video source. +FPS=50.03, 法向力=1733.4587, 切向力X=656.6390, 切向力Y=1839.2833 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.7920, 切向力X=639.6105, 切向力Y=1839.2435 +Failed to get_img from video source. +FPS=50.03, 法向力=1729.9978, 切向力X=667.4481, 切向力Y=1831.7991 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2372, 切向力X=634.7513, 切向力Y=1838.7034 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.2600, 切向力X=632.0275, 切向力Y=1851.9762 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2490, 切向力X=661.9316, 切向力Y=1828.2858 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3323, 切向力X=638.1517, 切向力Y=1846.1732 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.0472, 切向力X=646.1021, 切向力Y=1834.8506 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6780, 切向力X=644.8800, 切向力Y=1839.2562 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.9187, 切向力X=649.3206, 切向力Y=1835.1558 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.8655, 切向力X=636.6002, 切向力Y=1850.4391 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7930, 切向力X=661.5885, 切向力Y=1827.6956 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.5447, 切向力X=633.8536, 切向力Y=1845.7157 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3926, 切向力X=648.7659, 切向力Y=1835.0365 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.0969, 切向力X=639.0082, 切向力Y=1838.8646 +Failed to get_img from video source. +FPS=50.03, 法向力=1744.2544, 切向力X=650.9559, 切向力Y=1837.0249 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.1571, 切向力X=635.3636, 切向力Y=1846.0508 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5930, 切向力X=662.0635, 切向力Y=1829.7695 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.6384, 切向力X=637.7269, 切向力Y=1845.5173 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.2762, 切向力X=647.4520, 切向力Y=1835.9951 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6116, 切向力X=644.4576, 切向力Y=1836.6238 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.1277, 切向力X=648.5028, 切向力Y=1836.3098 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8955, 切向力X=628.7634, 切向力Y=1844.0586 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0151, 切向力X=656.2010, 切向力Y=1829.7610 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.7825, 切向力X=638.0469, 切向力Y=1852.3398 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2563, 切向力X=649.6812, 切向力Y=1833.6741 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.3274, 切向力X=643.9318, 切向力Y=1838.5929 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.7668, 切向力X=651.9838, 切向力Y=1836.7935 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.6343, 切向力X=632.2625, 切向力Y=1841.9268 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5554, 切向力X=659.0406, 切向力Y=1826.8530 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5488, 切向力X=632.3099, 切向力Y=1846.6830 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.8743, 切向力X=644.9824, 切向力Y=1834.9019 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.3010, 切向力X=648.1540, 切向力Y=1844.5189 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.5288, 切向力X=651.9399, 切向力Y=1835.2162 +Failed to get_img from video source. +FPS=50.03, 法向力=1734.6980, 切向力X=631.0580, 切向力Y=1844.3005 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7115, 切向力X=660.7433, 切向力Y=1829.0276 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7388, 切向力X=629.6143, 切向力Y=1846.3231 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.4882, 切向力X=649.5048, 切向力Y=1837.1327 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6360, 切向力X=645.7774, 切向力Y=1840.0854 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1628, 切向力X=651.3143, 切向力Y=1836.8854 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.6149, 切向力X=634.4792, 切向力Y=1843.6179 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.8435, 切向力X=657.4727, 切向力Y=1828.2854 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.4893, 切向力X=629.2421, 切向力Y=1845.0836 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2952, 切向力X=650.0082, 切向力Y=1836.3186 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.2635, 切向力X=646.9323, 切向力Y=1840.3727 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3368, 切向力X=651.7933, 切向力Y=1837.1057 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.0452, 切向力X=635.7481, 切向力Y=1844.0825 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.9719, 切向力X=658.6139, 切向力Y=1830.2448 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4386, 切向力X=632.9669, 切向力Y=1846.1973 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.6486, 切向力X=647.2427, 切向力Y=1834.9475 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7594, 切向力X=645.5489, 切向力Y=1841.7985 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2634, 切向力X=651.4966, 切向力Y=1837.3260 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.9633, 切向力X=634.8323, 切向力Y=1843.8765 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.7322, 切向力X=657.6654, 切向力Y=1829.7783 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7533, 切向力X=632.4764, 切向力Y=1845.9214 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.3157, 切向力X=647.0895, 切向力Y=1834.8158 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0244, 切向力X=645.5198, 切向力Y=1841.7229 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5870, 切向力X=651.2676, 切向力Y=1837.2883 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.0619, 切向力X=634.5109, 切向力Y=1844.1123 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.3955, 切向力X=657.4429, 切向力Y=1828.7092 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2158, 切向力X=629.1456, 切向力Y=1845.2438 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.1765, 切向力X=648.5913, 切向力Y=1835.0834 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6487, 切向力X=647.0770, 切向力Y=1839.9124 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4836, 切向力X=651.6915, 切向力Y=1836.9417 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.7543, 切向力X=634.2188, 切向力Y=1843.9297 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.9331, 切向力X=657.2294, 切向力Y=1828.4866 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.5417, 切向力X=629.1094, 切向力Y=1845.1963 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.9731, 切向力X=650.1691, 切向力Y=1836.2570 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.5681, 切向力X=648.3534, 切向力Y=1840.4387 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1509, 切向力X=651.5075, 切向力Y=1837.4922 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.9626, 切向力X=633.1932, 切向力Y=1843.5745 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.6495, 切向力X=656.9827, 切向力Y=1828.1709 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2505, 切向力X=629.2498, 切向力Y=1844.7892 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1243, 切向力X=650.0083, 切向力Y=1836.1161 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.5691, 切向力X=646.9609, 切向力Y=1840.2871 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.6321, 切向力X=651.5654, 切向力Y=1837.1311 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2021, 切向力X=634.4551, 切向力Y=1844.0981 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.3444, 切向力X=657.7592, 切向力Y=1828.6509 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6150, 切向力X=633.7691, 切向力Y=1843.4895 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.1028, 切向力X=647.4998, 切向力Y=1835.6809 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1864, 切向力X=648.2437, 切向力Y=1843.6147 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6665, 切向力X=651.7363, 切向力Y=1837.6145 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.2627, 切向力X=635.3413, 切向力Y=1844.1040 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.0024, 切向力X=657.7342, 切向力Y=1828.6826 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.1448, 切向力X=632.9679, 切向力Y=1844.6963 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.9258, 切向力X=650.7671, 切向力Y=1836.3785 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0571, 切向力X=647.1993, 切向力Y=1840.3491 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3491, 切向力X=651.8591, 切向力Y=1837.1462 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.4261, 切向力X=634.7098, 切向力Y=1843.7563 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2202, 切向力X=657.5225, 切向力Y=1828.3533 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6914, 切向力X=629.2532, 切向力Y=1845.1055 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.3358, 切向力X=649.9678, 切向力Y=1836.2863 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.2908, 切向力X=646.9288, 切向力Y=1840.3772 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3439, 切向力X=651.7916, 切向力Y=1837.1096 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.3235, 切向力X=635.7236, 切向力Y=1844.0819 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3528, 切向力X=657.3230, 切向力Y=1830.0486 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0098, 切向力X=631.4015, 切向力Y=1845.5259 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5470, 切向力X=645.3787, 切向力Y=1833.1465 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3853, 切向力X=645.5223, 切向力Y=1841.0773 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2965, 切向力X=651.3423, 切向力Y=1836.9803 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.9381, 切向力X=634.5640, 切向力Y=1843.9755 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.3345, 切向力X=657.4721, 切向力Y=1828.6423 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2596, 切向力X=629.1973, 切向力Y=1845.1958 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.3262, 切向力X=650.2017, 切向力Y=1836.4512 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3765, 切向力X=648.3480, 切向力Y=1840.4620 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.9833, 切向力X=651.5037, 切向力Y=1837.5123 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.3202, 切向力X=633.3158, 切向力Y=1843.5742 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4878, 切向力X=657.1428, 切向力Y=1828.1589 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.1335, 切向力X=629.3536, 切向力Y=1844.7690 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.0822, 切向力X=650.1038, 切向力Y=1836.2947 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.1665, 切向力X=646.9647, 切向力Y=1840.2941 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6184, 切向力X=651.5507, 切向力Y=1837.1401 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.7102, 切向力X=634.2847, 切向力Y=1844.0278 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1365, 切向力X=657.5132, 切向力Y=1828.4985 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.3591, 切向力X=629.4898, 切向力Y=1844.9392 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1577, 切向力X=650.1542, 切向力Y=1836.3767 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.4998, 切向力X=646.9448, 切向力Y=1840.3525 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.3733, 切向力X=651.7638, 切向力Y=1837.1487 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.9792, 切向力X=634.8396, 切向力Y=1843.8352 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.3035, 切向力X=657.7214, 切向力Y=1828.4666 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7035, 切向力X=633.4916, 切向力Y=1843.6851 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.1312, 切向力X=645.8320, 切向力Y=1834.3971 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.6620, 切向力X=641.7752, 切向力Y=1838.4592 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0569, 切向力X=647.2256, 切向力Y=1837.5317 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3057, 切向力X=636.5519, 切向力Y=1849.2942 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.6940, 切向力X=660.9442, 切向力Y=1828.7134 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.2710, 切向力X=633.9490, 切向力Y=1844.7296 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.5250, 切向力X=649.9240, 切向力Y=1837.7019 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.5774, 切向力X=644.3571, 切向力Y=1835.2229 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6954, 切向力X=648.7617, 切向力Y=1835.8652 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.9226, 切向力X=629.5077, 切向力Y=1844.4402 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.3657, 切向力X=656.3842, 切向力Y=1828.6289 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.5093, 切向力X=636.2445, 切向力Y=1850.0192 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1174, 切向力X=653.5333, 切向力Y=1837.6715 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.7172, 切向力X=644.8754, 切向力Y=1835.0945 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7382, 切向力X=648.4238, 切向力Y=1837.0857 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.4115, 切向力X=631.1837, 切向力Y=1844.3633 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.1772, 切向力X=657.9894, 切向力Y=1827.3630 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3444, 切向力X=635.0614, 切向力Y=1848.8607 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.9861, 切向力X=648.4376, 切向力Y=1835.6873 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.4644, 切向力X=647.5383, 切向力Y=1838.0955 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.5425, 切向力X=648.3918, 切向力Y=1836.2112 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.5255, 切向力X=630.2516, 切向力Y=1843.2776 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7285, 切向力X=661.3063, 切向力Y=1828.9507 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5137, 切向力X=637.6653, 切向力Y=1847.5464 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6589, 切向力X=649.1501, 切向力Y=1835.5977 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.4004, 切向力X=646.7457, 切向力Y=1837.7212 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.8557, 切向力X=648.1284, 切向力Y=1835.8065 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.7095, 切向力X=626.5986, 切向力Y=1843.6536 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.4391, 切向力X=660.5630, 切向力Y=1829.0315 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5298, 切向力X=637.4046, 切向力Y=1847.5767 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.5850, 切向力X=649.0945, 切向力Y=1835.5648 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.2664, 切向力X=647.7712, 切向力Y=1838.0396 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2699, 切向力X=649.2451, 切向力Y=1837.6973 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.1417, 切向力X=630.2846, 切向力Y=1844.7327 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.1323, 切向力X=657.8604, 切向力Y=1827.4871 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4052, 切向力X=636.0425, 切向力Y=1848.9819 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6349, 切向力X=648.7802, 切向力Y=1835.7660 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.6821, 切向力X=646.8921, 切向力Y=1837.8381 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7081, 切向力X=648.2538, 切向力Y=1837.2300 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2949, 切向力X=629.7660, 切向力Y=1844.4664 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2251, 切向力X=657.6193, 切向力Y=1827.3844 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5508, 切向力X=635.9854, 切向力Y=1848.9070 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.5974, 切向力X=648.8234, 切向力Y=1835.6687 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.2732, 切向力X=647.9908, 切向力Y=1838.1272 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2876, 切向力X=648.0685, 切向力Y=1837.7473 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2000, 切向力X=628.7346, 切向力Y=1844.0952 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.8875, 切向力X=657.4140, 切向力Y=1827.1182 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.7305, 切向力X=635.1166, 切向力Y=1850.2745 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.2012, 切向力X=649.5181, 切向力Y=1834.5654 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8855, 切向力X=647.2163, 切向力Y=1839.3311 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3579, 切向力X=649.0843, 切向力Y=1836.4414 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.0800, 切向力X=629.5771, 切向力Y=1845.5408 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0437, 切向力X=658.2262, 切向力Y=1827.6848 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5833, 切向力X=639.0403, 切向力Y=1851.9143 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.8411, 切向力X=649.3917, 切向力Y=1833.7522 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.6938, 切向力X=643.1658, 切向力Y=1838.2966 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2588, 切向力X=651.3716, 切向力Y=1836.4989 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.9746, 切向力X=626.9424, 切向力Y=1844.8789 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.0000, 切向力X=661.3768, 切向力Y=1827.7932 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6240, 切向力X=637.4911, 切向力Y=1848.3929 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0182, 切向力X=649.7833, 切向力Y=1836.2273 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6710, 切向力X=647.0405, 切向力Y=1838.2703 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2944, 切向力X=648.4219, 切向力Y=1837.4022 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.9958, 切向力X=630.7411, 切向力Y=1844.6274 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.7595, 切向力X=657.9023, 切向力Y=1828.7904 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1500, 切向力X=638.4821, 切向力Y=1850.6267 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.6731, 切向力X=650.3896, 切向力Y=1836.0828 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8071, 切向力X=644.5669, 切向力Y=1837.5184 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.2953, 切向力X=651.2560, 切向力Y=1837.7961 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3613, 切向力X=628.8341, 切向力Y=1841.2478 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5363, 切向力X=656.4028, 切向力Y=1829.6218 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5161, 切向力X=637.9495, 切向力Y=1850.9209 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5457, 切向力X=650.3676, 切向力Y=1836.0194 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.1292, 切向力X=645.8802, 切向力Y=1837.6423 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.7639, 切向力X=651.1703, 切向力Y=1838.0508 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.8190, 切向力X=627.9055, 切向力Y=1840.7693 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.8539, 切向力X=656.3230, 切向力Y=1829.1757 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4257, 切向力X=638.2099, 切向力Y=1852.5455 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.4673, 切向力X=649.3576, 切向力Y=1835.1063 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.6519, 切向力X=647.4830, 切向力Y=1839.1917 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.8838, 切向力X=649.1322, 切向力Y=1836.1781 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.8429, 切向力X=630.7997, 切向力Y=1845.4009 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6685, 切向力X=658.4735, 切向力Y=1827.7417 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2925, 切向力X=635.8660, 切向力Y=1851.7290 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5707, 切向力X=654.1214, 切向力Y=1837.0840 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.0000, 切向力X=645.7128, 切向力Y=1837.3696 +Failed to get_img from video source. +FPS=50.03, 法向力=1744.0381, 切向力X=650.6071, 切向力Y=1836.5598 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7117, 切向力X=622.7571, 切向力Y=1846.3093 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1257, 切向力X=655.2634, 切向力Y=1827.3882 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.5739, 切向力X=638.2340, 切向力Y=1849.9973 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.4333, 切向力X=649.6812, 切向力Y=1836.0577 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.4565, 切向力X=647.7433, 切向力Y=1837.9714 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.5078, 切向力X=648.4797, 切向力Y=1836.0784 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.2256, 切向力X=628.0079, 切向力Y=1843.8185 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.6041, 切向力X=660.6495, 切向力Y=1830.9270 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4592, 切向力X=637.7487, 切向力Y=1847.9318 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0413, 切向力X=650.4749, 切向力Y=1837.1692 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.1609, 切向力X=646.5436, 切向力Y=1838.2925 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.7488, 切向力X=648.0068, 切向力Y=1836.0785 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.9381, 切向力X=626.4666, 切向力Y=1843.8063 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.8154, 切向力X=660.6761, 切向力Y=1828.9211 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4438, 切向力X=637.7030, 切向力Y=1847.3599 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0907, 切向力X=650.4943, 切向力Y=1836.9121 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8628, 切向力X=646.6090, 切向力Y=1838.1628 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.0645, 切向力X=648.0174, 切向力Y=1836.0178 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.7297, 切向力X=626.5259, 切向力Y=1843.7637 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1819, 切向力X=660.7637, 切向力Y=1828.8794 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.1602, 切向力X=637.7938, 切向力Y=1849.3958 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.1711, 切向力X=651.1650, 切向力Y=1836.3296 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7915, 切向力X=646.5292, 切向力Y=1839.4419 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.9465, 切向力X=647.3879, 切向力Y=1836.2767 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.8015, 切向力X=626.6573, 切向力Y=1848.0801 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.3452, 切向力X=655.7157, 切向力Y=1826.5476 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.5608, 切向力X=635.0626, 切向力Y=1849.2415 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.8872, 切向力X=652.5496, 切向力Y=1836.3134 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.5116, 切向力X=646.1572, 切向力Y=1835.8879 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.9141, 切向力X=651.8019, 切向力Y=1837.4771 +Failed to get_img from video source. +FPS=50.03, 法向力=1733.7017, 切向力X=628.3052, 切向力Y=1842.8530 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5322, 切向力X=657.1953, 切向力Y=1828.6038 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6206, 切向力X=637.3644, 切向力Y=1850.4296 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.6876, 切向力X=648.7148, 切向力Y=1834.4355 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.5560, 切向力X=643.4484, 切向力Y=1835.7793 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2944, 切向力X=647.9951, 切向力Y=1836.8811 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3964, 切向力X=630.8616, 切向力Y=1844.4825 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.9438, 切向力X=657.7616, 切向力Y=1828.7814 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1156, 切向力X=638.1149, 切向力Y=1850.8933 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7148, 切向力X=648.8761, 切向力Y=1834.8022 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.4490, 切向力X=644.6550, 切向力Y=1837.0854 +Failed to get_img from video source. +FPS=50.03, 法向力=1744.0105, 切向力X=651.3629, 切向力Y=1837.5927 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2751, 切向力X=627.7960, 切向力Y=1841.1536 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.4125, 切向力X=657.4001, 切向力Y=1828.2489 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.8331, 切向力X=638.3876, 切向力Y=1850.8624 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7383, 切向力X=649.1158, 切向力Y=1835.8933 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.5800, 切向力X=648.7840, 切向力Y=1838.1073 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0525, 切向力X=648.0909, 切向力Y=1837.6898 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.3013, 切向力X=632.1498, 切向力Y=1843.8459 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4746, 切向力X=658.0333, 切向力Y=1827.1140 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.0917, 切向力X=635.4048, 切向力Y=1850.2252 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.4751, 切向力X=651.1733, 切向力Y=1835.9205 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8767, 切向力X=647.4961, 切向力Y=1839.5438 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7695, 切向力X=649.1782, 切向力Y=1836.5037 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7878, 切向力X=629.6428, 切向力Y=1845.5504 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4121, 切向力X=658.1832, 切向力Y=1827.7048 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.2539, 切向力X=639.2606, 切向力Y=1851.8964 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5183, 切向力X=649.8018, 切向力Y=1833.4658 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.1421, 切向力X=643.1714, 切向力Y=1838.1230 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2825, 切向力X=651.2201, 切向力Y=1836.6306 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.4702, 切向力X=626.6253, 切向力Y=1844.9762 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1094, 切向力X=661.0347, 切向力Y=1828.0942 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.8982, 切向力X=637.0869, 切向力Y=1848.5693 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.9260, 切向力X=649.3074, 切向力Y=1834.4724 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.9751, 切向力X=646.2465, 切向力Y=1838.9977 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0422, 切向力X=648.5294, 切向力Y=1836.2275 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.9226, 切向力X=629.3705, 切向力Y=1845.5190 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4297, 切向力X=658.0870, 切向力Y=1827.6948 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4154, 切向力X=638.9945, 切向力Y=1851.9292 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7905, 切向力X=649.3804, 切向力Y=1833.7693 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.9568, 切向力X=643.1420, 切向力Y=1838.3000 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.9233, 切向力X=651.3834, 切向力Y=1836.5059 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.1719, 切向力X=626.9276, 切向力Y=1844.8851 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.6477, 切向力X=661.3994, 切向力Y=1827.8030 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.8109, 切向力X=637.4888, 切向力Y=1848.3964 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0793, 切向力X=649.7712, 切向力Y=1836.2209 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3077, 切向力X=647.0117, 切向力Y=1838.2654 +Failed to get_img from video source. +FPS=50.03, 法向力=1744.1235, 切向力X=648.3559, 切向力Y=1836.1473 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.1255, 切向力X=630.7673, 切向力Y=1842.3583 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.8031, 切向力X=658.0648, 切向力Y=1828.4347 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.9731, 切向力X=632.7468, 切向力Y=1845.6880 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6842, 切向力X=646.0167, 切向力Y=1837.3782 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7069, 切向力X=648.5070, 切向力Y=1843.7341 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.5220, 切向力X=651.4562, 切向力Y=1836.3877 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.7295, 切向力X=631.2141, 切向力Y=1843.3713 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.0325, 切向力X=660.7260, 切向力Y=1830.2219 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2769, 切向力X=635.2293, 切向力Y=1844.2263 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1516, 切向力X=648.3510, 切向力Y=1835.0190 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.4415, 切向力X=641.7800, 切向力Y=1839.8330 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.1898, 切向力X=647.4759, 切向力Y=1836.5422 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2378, 切向力X=635.2694, 切向力Y=1850.6442 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7550, 切向力X=661.6138, 切向力Y=1828.8594 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.9175, 切向力X=637.1907, 切向力Y=1846.5466 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4421, 切向力X=646.4423, 切向力Y=1835.4626 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.0793, 切向力X=643.5444, 切向力Y=1837.8679 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1620, 切向力X=651.6794, 切向力Y=1836.7300 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.4050, 切向力X=627.0728, 切向力Y=1844.0260 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1531, 切向力X=660.9062, 切向力Y=1829.0452 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.2107, 切向力X=638.8840, 切向力Y=1847.6600 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5917, 切向力X=650.3394, 切向力Y=1837.3687 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2723, 切向力X=645.8023, 切向力Y=1837.8313 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.8649, 切向力X=648.0560, 切向力Y=1835.7729 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6700, 切向力X=627.6033, 切向力Y=1842.1392 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.7502, 切向力X=657.4154, 切向力Y=1828.1934 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6428, 切向力X=638.4415, 切向力Y=1850.7828 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7981, 切向力X=650.3544, 切向力Y=1836.2107 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.1223, 切向力X=644.5120, 切向力Y=1837.5791 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.0186, 切向力X=651.4779, 切向力Y=1837.7477 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.6854, 切向力X=630.2747, 切向力Y=1841.2998 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.9513, 切向力X=656.3701, 切向力Y=1829.9387 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.6851, 切向力X=636.9606, 切向力Y=1850.4681 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.9781, 切向力X=648.3806, 切向力Y=1834.3494 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.2646, 切向力X=644.4299, 切向力Y=1836.9399 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.0868, 切向力X=651.2507, 切向力Y=1837.3811 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.6104, 切向力X=628.8633, 切向力Y=1841.1090 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4972, 切向力X=656.4351, 切向力Y=1829.5571 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5155, 切向力X=638.1169, 切向力Y=1850.9819 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1438, 切向力X=648.9739, 切向力Y=1834.8140 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7397, 切向力X=643.5272, 切向力Y=1835.9651 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3684, 切向力X=648.0142, 切向力Y=1836.9678 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3729, 切向力X=630.8536, 切向力Y=1844.5311 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0632, 切向力X=657.7501, 切向力Y=1828.8120 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4248, 切向力X=638.0994, 切向力Y=1850.8910 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3966, 切向力X=648.9016, 切向力Y=1834.8008 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.6478, 切向力X=644.6461, 切向力Y=1837.0876 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.1294, 切向力X=651.3472, 切向力Y=1837.5865 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2112, 切向力X=628.8523, 切向力Y=1841.1677 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3386, 切向力X=656.6305, 切向力Y=1829.5776 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0677, 切向力X=638.2993, 切向力Y=1850.6412 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7683, 切向力X=650.2866, 切向力Y=1835.9436 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8267, 切向力X=644.5416, 切向力Y=1837.5029 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.3202, 切向力X=651.2322, 切向力Y=1837.6345 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3660, 切向力X=628.8409, 切向力Y=1841.2263 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5391, 切向力X=656.4029, 切向力Y=1829.6206 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4453, 切向力X=637.9105, 切向力Y=1850.9376 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4243, 切向力X=648.7964, 切向力Y=1834.6768 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.4285, 切向力X=644.6167, 切向力Y=1837.0880 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.1587, 切向力X=651.3246, 切向力Y=1837.4484 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.5715, 切向力X=628.8561, 切向力Y=1841.1647 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.3477, 切向力X=656.6458, 切向力Y=1829.5703 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.3171, 切向力X=638.5259, 切向力Y=1850.7025 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.4229, 切向力X=650.4974, 切向力Y=1836.0635 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.0953, 切向力X=643.4437, 切向力Y=1836.3889 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5607, 切向力X=647.9073, 切向力Y=1837.1848 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3872, 切向力X=630.7534, 切向力Y=1844.6486 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.8361, 切向力X=657.9052, 切向力Y=1828.8622 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1560, 切向力X=638.4512, 切向力Y=1850.6473 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.6697, 切向力X=650.3786, 切向力Y=1836.0867 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8062, 切向力X=644.5583, 切向力Y=1837.5217 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.2954, 切向力X=651.2496, 切向力Y=1837.7959 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2988, 切向力X=627.7874, 切向力Y=1841.2319 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1687, 切向力X=657.3933, 切向力Y=1828.2825 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0354, 切向力X=638.0876, 切向力Y=1850.8436 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7181, 切向力X=648.8243, 切向力Y=1834.8250 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.4514, 切向力X=644.6203, 切向力Y=1837.1063 +Failed to get_img from video source. +FPS=50.03, 法向力=1744.0105, 切向力X=651.3406, 切向力Y=1837.6057 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2794, 切向力X=627.7844, 切向力Y=1841.1638 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.4135, 切向力X=657.3964, 切向力Y=1828.2552 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7628, 切向力X=638.3466, 切向力Y=1850.8832 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7976, 切向力X=649.0409, 切向力Y=1835.9731 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.9913, 切向力X=647.6703, 切向力Y=1837.8140 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.6261, 切向力X=648.2773, 切向力Y=1836.0176 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.7256, 切向力X=629.9878, 切向力Y=1843.4517 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.9590, 切向力X=661.1571, 切向力Y=1829.0734 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7798, 切向力X=637.6580, 切向力Y=1847.5767 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6609, 切向力X=649.2224, 切向力Y=1835.5254 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.0134, 切向力X=647.8649, 切向力Y=1838.0139 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2957, 切向力X=647.9478, 切向力Y=1837.4832 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2146, 切向力X=628.7565, 切向力Y=1844.0616 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.8928, 切向力X=657.4214, 切向力Y=1827.1079 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.7312, 切向力X=635.1230, 切向力Y=1850.2743 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.2026, 切向力X=649.5228, 切向力Y=1834.5662 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8867, 切向力X=647.2186, 切向力Y=1839.3323 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.3589, 切向力X=649.0831, 切向力Y=1836.4414 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.0809, 切向力X=629.5773, 切向力Y=1845.5414 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0447, 切向力X=658.2256, 切向力Y=1827.6853 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5831, 切向力X=639.0416, 切向力Y=1851.9146 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.8409, 切向力X=649.3919, 切向力Y=1833.7532 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.6934, 切向力X=643.1667, 切向力Y=1838.2974 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2588, 切向力X=651.3732, 切向力Y=1836.4978 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.9728, 切向力X=626.9408, 切向力Y=1844.8796 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.0000, 切向力X=661.3784, 切向力Y=1827.7942 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6245, 切向力X=637.4915, 切向力Y=1848.3918 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0176, 切向力X=649.7825, 切向力Y=1836.2263 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6702, 切向力X=647.0405, 切向力Y=1838.2716 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2914, 切向力X=648.4207, 切向力Y=1837.3998 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.9980, 切向力X=630.7378, 切向力Y=1844.6310 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.7620, 切向力X=657.9019, 切向力Y=1828.7915 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1497, 切向力X=638.4825, 切向力Y=1850.6277 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.6736, 切向力X=650.3906, 切向力Y=1836.0836 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8064, 切向力X=644.5677, 切向力Y=1837.5186 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.2959, 切向力X=651.2555, 切向力Y=1837.7971 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3625, 切向力X=628.8347, 切向力Y=1841.2466 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5374, 切向力X=656.4036, 切向力Y=1829.6221 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4476, 切向力X=637.9117, 切向力Y=1850.9398 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4252, 切向力X=648.7969, 切向力Y=1834.6780 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.4296, 切向力X=644.6172, 切向力Y=1837.0892 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.1591, 切向力X=651.3235, 切向力Y=1837.4478 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.5254, 切向力X=627.8088, 切向力Y=1841.1477 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.8801, 切向力X=657.6282, 切向力Y=1828.2417 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0381, 切向力X=638.7003, 切向力Y=1850.6169 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.3413, 切向力X=650.5790, 切向力Y=1836.0524 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.0747, 切向力X=643.4849, 切向力Y=1836.3835 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5542, 切向力X=647.9244, 切向力Y=1837.1819 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.3862, 切向力X=630.7618, 切向力Y=1844.6470 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.8350, 切向力X=657.9086, 切向力Y=1828.8591 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.8824, 切向力X=638.4774, 切向力Y=1850.6498 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.0027, 切向力X=650.3592, 切向力Y=1836.0854 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8660, 切向力X=644.5674, 切向力Y=1837.5188 +Failed to get_img from video source. +FPS=50.03, 法向力=1744.2029, 切向力X=651.2607, 切向力Y=1837.8048 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2913, 切向力X=627.6989, 切向力Y=1841.2715 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2861, 切向力X=657.5740, 切向力Y=1828.2808 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6223, 切向力X=638.7351, 切向力Y=1850.6082 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1064, 切向力X=650.5513, 切向力Y=1837.2246 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.4150, 切向力X=647.5980, 切向力Y=1838.2305 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.8215, 切向力X=648.1882, 切向力Y=1836.2180 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.8823, 切向力X=629.9457, 切向力Y=1843.5319 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5754, 切向力X=661.4025, 切向力Y=1829.0161 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.8975, 切向力X=638.0300, 切向力Y=1849.3967 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2083, 切向力X=651.2498, 切向力Y=1836.3203 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.2629, 切向力X=646.6334, 切向力Y=1839.4143 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.9746, 切向力X=648.6357, 切向力Y=1836.4072 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7705, 切向力X=629.6063, 切向力Y=1845.5829 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0400, 切向力X=658.4077, 切向力Y=1827.4812 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.9902, 切向力X=639.3651, 切向力Y=1851.7933 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0177, 切向力X=649.8522, 切向力Y=1835.5267 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.2891, 切向力X=643.7773, 切向力Y=1837.5696 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.3409, 切向力X=650.8967, 切向力Y=1837.8528 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.5542, 切向力X=627.0223, 切向力Y=1844.0590 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7939, 切向力X=660.9117, 切向力Y=1829.0715 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.3975, 切向力X=638.8647, 切向力Y=1847.6753 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5461, 切向力X=650.3134, 切向力Y=1837.3762 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7815, 切向力X=645.7395, 切向力Y=1837.8546 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.5745, 切向力X=648.0659, 切向力Y=1835.8434 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7050, 切向力X=630.9390, 切向力Y=1841.9196 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.9250, 切向力X=657.9865, 切向力Y=1828.2037 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2363, 切向力X=632.4932, 切向力Y=1845.8071 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.8176, 切向力X=645.8887, 切向力Y=1837.4559 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6997, 切向力X=648.4048, 切向力Y=1843.7936 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2864, 切向力X=651.6123, 切向力Y=1836.4185 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.6437, 切向力X=631.5207, 切向力Y=1843.1401 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.1541, 切向力X=660.6239, 切向力Y=1830.1694 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0361, 切向力X=631.5029, 切向力Y=1842.6299 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.0828, 切向力X=645.4836, 切向力Y=1834.2932 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.4341, 切向力X=647.5114, 切向力Y=1843.3779 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.3643, 切向力X=651.5265, 切向力Y=1836.1001 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.2258, 切向力X=632.6102, 切向力Y=1843.0781 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.4432, 切向力X=660.7373, 切向力Y=1829.9810 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.1034, 切向力X=630.5040, 切向力Y=1842.5914 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.9869, 切向力X=645.5786, 切向力Y=1834.2505 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4418, 切向力X=648.0897, 切向力Y=1843.1460 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.8032, 切向力X=651.7706, 切向力Y=1836.0648 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.9349, 切向力X=631.2891, 切向力Y=1842.1185 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.8645, 切向力X=657.2771, 切向力Y=1829.6084 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0198, 切向力X=633.4481, 切向力Y=1846.0487 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7358, 切向力X=645.8652, 切向力Y=1834.8594 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.5220, 切向力X=647.8112, 切向力Y=1843.2068 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1189, 切向力X=651.5420, 切向力Y=1836.1182 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.6621, 切向力X=632.3500, 切向力Y=1843.2661 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.5928, 切向力X=660.5972, 切向力Y=1830.2236 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.8779, 切向力X=630.4552, 切向力Y=1842.6382 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.8455, 切向力X=645.5955, 切向力Y=1834.2114 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8796, 切向力X=648.9510, 切向力Y=1843.4076 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2111, 切向力X=652.6448, 切向力Y=1837.9661 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.6912, 切向力X=636.0723, 切向力Y=1844.3220 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.6010, 切向力X=657.9175, 切向力Y=1828.7080 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6842, 切向力X=629.0567, 切向力Y=1844.0400 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.1239, 切向力X=645.2753, 切向力Y=1834.4172 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.9725, 切向力X=648.0411, 切向力Y=1843.2034 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5259, 切向力X=651.7144, 切向力Y=1837.4141 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.2661, 切向力X=635.3797, 切向力Y=1843.9933 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1274, 切向力X=657.5377, 切向力Y=1828.6472 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.3585, 切向力X=632.6053, 切向力Y=1844.9502 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.7571, 切向力X=650.8157, 切向力Y=1836.4642 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.8730, 切向力X=648.5925, 切向力Y=1840.4604 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0381, 切向力X=651.6260, 切向力Y=1837.4817 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.6646, 切向力X=633.5986, 切向力Y=1843.6218 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.8849, 切向力X=657.4440, 切向力Y=1828.2800 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2811, 切向力X=632.5992, 切向力Y=1845.0769 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.4268, 切向力X=646.7764, 切向力Y=1833.2244 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2104, 切向力X=642.4695, 切向力Y=1839.7319 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.1392, 切向力X=647.8652, 切向力Y=1835.3340 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.5662, 切向力X=633.3165, 切向力Y=1849.8085 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.4254, 切向力X=664.1036, 切向力Y=1829.3562 +Failed to get_img from video source. +FPS=50.03, 法向力=1735.2981, 切向力X=633.0544, 切向力Y=1844.7778 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6184, 切向力X=647.1940, 切向力Y=1835.8765 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.0669, 切向力X=643.9993, 切向力Y=1834.1348 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.2645, 切向力X=648.1641, 切向力Y=1835.5004 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.4573, 切向力X=630.2268, 切向力Y=1844.0679 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0698, 切向力X=657.4133, 切向力Y=1830.0745 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.8667, 切向力X=638.6514, 切向力Y=1851.0142 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.3265, 切向力X=650.5284, 切向力Y=1836.2238 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.0137, 切向力X=643.3998, 切向力Y=1836.4958 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.2971, 切向力X=648.0882, 切向力Y=1837.2280 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.1577, 切向力X=631.1226, 切向力Y=1844.3928 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.8165, 切向力X=657.8979, 切向力Y=1828.7153 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1267, 切向力X=638.2211, 切向力Y=1850.8359 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1357, 切向力X=650.2112, 切向力Y=1836.2017 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.6133, 切向力X=644.5002, 切向力Y=1837.5796 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.9097, 切向力X=651.4874, 切向力Y=1837.7495 +Failed to get_img from video source. +FPS=50.03, 法向力=1733.9569, 切向力X=629.2356, 切向力Y=1841.2836 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.5867, 切向力X=657.3827, 切向力Y=1828.5886 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.6305, 切向力X=637.3876, 切向力Y=1850.4205 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.6899, 切向力X=648.7166, 切向力Y=1834.4370 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.5580, 切向力X=643.4470, 切向力Y=1835.7792 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1921, 切向力X=647.9834, 切向力Y=1836.8893 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.4735, 切向力X=630.8480, 切向力Y=1844.4980 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.9675, 切向力X=657.7734, 切向力Y=1828.7776 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.1221, 切向力X=638.1246, 切向力Y=1850.8882 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7177, 切向力X=648.8811, 切向力Y=1834.7996 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.4510, 切向力X=644.6578, 切向力Y=1837.0859 +Failed to get_img from video source. +FPS=50.03, 法向力=1744.0117, 切向力X=651.3610, 切向力Y=1837.5936 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.2756, 切向力X=627.7949, 切向力Y=1841.1543 +Failed to get_img from video source. +FPS=50.03, 法向力=1739.4120, 切向力X=657.3984, 切向力Y=1828.2487 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.8331, 切向力X=638.3870, 切向力Y=1850.8623 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7373, 切向力X=649.1155, 切向力Y=1835.8933 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.5803, 切向力X=648.7834, 切向力Y=1838.1066 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.0532, 切向力X=648.0908, 切向力Y=1837.6903 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.3015, 切向力X=632.1494, 切向力Y=1843.8466 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.4749, 切向力X=658.0336, 切向力Y=1827.1157 +Failed to get_img from video source. +FPS=50.03, 法向力=1743.0912, 切向力X=635.4042, 切向力Y=1850.2251 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.4739, 切向力X=651.1732, 切向力Y=1835.9204 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.8767, 切向力X=647.4963, 切向力Y=1839.5439 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.7700, 切向力X=649.1781, 切向力Y=1836.5029 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.7880, 切向力X=629.6431, 切向力Y=1845.5498 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.3058, 切向力X=658.1726, 切向力Y=1827.7126 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.0754, 切向力X=639.2158, 切向力Y=1851.9293 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.4796, 切向力X=649.7369, 切向力Y=1833.5073 +Failed to get_img from video source. +FPS=50.03, 法向力=1736.0320, 切向力X=643.1288, 切向力Y=1838.1587 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.2568, 切向力X=651.1837, 切向力Y=1836.6616 +Failed to get_img from video source. +FPS=50.03, 法向力=1737.5664, 切向力X=626.6139, 切向力Y=1844.9852 +Failed to get_img from video source. +FPS=50.03, 法向力=1742.1375, 切向力X=661.0502, 切向力Y=1828.0862 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.9022, 切向力X=637.1018, 切向力Y=1848.5632 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.9263, 切向力X=649.3110, 切向力Y=1834.4692 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.0801, 切向力X=646.2587, 切向力Y=1838.9878 +Failed to get_img from video source. +FPS=50.03, 法向力=1740.9670, 切向力X=648.5408, 切向力Y=1836.2172 +Failed to get_img from video source. +FPS=50.03, 法向力=1738.9045, 切向力X=629.3618, 切向力Y=1845.5266 +Failed to get_img from video source. +FPS=50.03, 法向力=1741.5312, 切向力X=658.0931, 切向力Y=1827.6946 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_170113.log b/examples/logs/qt_viewer_20260519_170113.log new file mode 100644 index 0000000..d590475 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_170113.log @@ -0,0 +1,15 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 295, in + main() + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 280, in main + sensor = orisys.Sensor(src, config_name=args.config, cal_path=args.cal, verbose=args.verbose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 185, in __init__ + self._open_video_source(override, box) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 628, in _open_video_source + raise Exception("Failed to open video source.") +Exception: Failed to open video source. diff --git a/examples/logs/qt_viewer_20260519_170124.log b/examples/logs/qt_viewer_20260519_170124.log new file mode 100644 index 0000000..d590475 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_170124.log @@ -0,0 +1,15 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 295, in + main() + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 280, in main + sensor = orisys.Sensor(src, config_name=args.config, cal_path=args.cal, verbose=args.verbose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 185, in __init__ + self._open_video_source(override, box) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 628, in _open_video_source + raise Exception("Failed to open video source.") +Exception: Failed to open video source. diff --git a/examples/logs/qt_viewer_20260519_170133.log b/examples/logs/qt_viewer_20260519_170133.log new file mode 100644 index 0000000..392a40c --- /dev/null +++ b/examples/logs/qt_viewer_20260519_170133.log @@ -0,0 +1,948 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.35, 法向力=1036.5200, 切向力X=1653.5500, 切向力Y=-546.0736 +FPS=46.54, 法向力=1076.8716, 切向力X=1644.9457, 切向力Y=-580.6592 +FPS=33.22, 法向力=1058.1079, 切向力X=1652.4299, 切向力Y=-584.3472 +FPS=41.42, 法向力=1480.8181, 切向力X=408.4487, 切向力Y=-215.5862 +FPS=41.22, 法向力=1488.7897, 切向力X=354.9015, 切向力Y=-270.9915 +FPS=42.27, 法向力=1608.0239, 切向力X=1051.8484, 切向力Y=93.9888 +FPS=40.98, 法向力=1655.5850, 切向力X=1134.4728, 切向力Y=12.7450 +FPS=39.66, 法向力=1054.4913, 切向力X=760.5929, 切向力Y=-347.2596 +FPS=45.33, 法向力=1046.2606, 切向力X=766.3093, 切向力Y=-408.9590 +FPS=42.88, 法向力=1046.6895, 切向力X=786.0327, 切向力Y=-411.9488 +FPS=42.29, 法向力=1252.1602, 切向力X=882.5988, 切向力Y=-585.3132 +FPS=43.34, 法向力=1247.6097, 切向力X=871.2023, 切向力Y=-546.0094 +FPS=43.89, 法向力=1252.7189, 切向力X=815.6653, 切向力Y=-555.4473 +FPS=43.40, 法向力=1353.9788, 切向力X=686.9148, 切向力Y=-170.7378 +FPS=43.47, 法向力=1369.8993, 切向力X=676.5228, 切向力Y=-99.7433 +FPS=42.10, 法向力=1326.9358, 切向力X=1132.8611, 切向力Y=-492.7882 +FPS=44.31, 法向力=1337.5430, 切向力X=1105.6553, 切向力Y=-529.5557 +FPS=42.57, 法向力=1339.8247, 切向力X=1104.9956, 切向力Y=-530.4569 +FPS=42.39, 法向力=1511.4893, 切向力X=1156.6713, 切向力Y=394.5308 +FPS=44.43, 法向力=1537.2958, 切向力X=1037.2136, 切向力Y=398.2869 +FPS=38.68, 法向力=1361.6420, 切向力X=313.6488, 切向力Y=114.0668 +FPS=45.26, 法向力=1324.5566, 切向力X=330.2684, 切向力Y=18.7059 +FPS=42.80, 法向力=1313.8438, 切向力X=315.8364, 切向力Y=43.6097 +FPS=41.39, 法向力=1290.5209, 切向力X=1289.7692, 切向力Y=46.4147 +FPS=44.27, 法向力=1288.0901, 切向力X=1347.7006, 切向力Y=42.6446 +FPS=41.86, 法向力=1204.0159, 切向力X=1110.3165, 切向力Y=545.3887 +FPS=44.12, 法向力=1215.8075, 切向力X=1039.6038, 切向力Y=520.5497 +stitch_feature_optimized: canvas out_w=547, out_h=419, x_min=-143.27, y_min=-84.06 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000256s, blend=0.002172s (9 tiles incl ref), finalize=0.000071s, total=0.002505s +FPS=45.26, 法向力=1216.4546, 切向力X=1055.7739, 切向力Y=556.9720 +FPS=42.98, 法向力=1477.7156, 切向力X=526.1316, 切向力Y=259.1339 +FPS=45.21, 法向力=1511.9188, 切向力X=491.8448, 切向力Y=245.8410 +FPS=41.21, 法向力=1515.7915, 切向力X=521.8038, 切向力Y=220.8559 +FPS=43.67, 法向力=1217.0562, 切向力X=1061.9551, 切向力Y=-303.4340 +FPS=46.33, 法向力=1201.6450, 切向力X=1092.9136, 切向力Y=-306.7434 +FPS=42.84, 法向力=1214.4900, 切向力X=1079.3564, 切向力Y=-308.1870 +FPS=43.58, 法向力=1266.0875, 切向力X=1024.5405, 切向力Y=-20.3008 +FPS=42.66, 法向力=1232.2925, 切向力X=940.5222, 切向力Y=-38.1773 +FPS=44.58, 法向力=1900.2955, 切向力X=688.9630, 切向力Y=834.3033 +FPS=43.75, 法向力=1894.0853, 切向力X=740.3516, 切向力Y=788.7021 +FPS=42.58, 法向力=1289.6252, 切向力X=962.0010, 切向力Y=62.7905 +FPS=46.29, 法向力=1244.9421, 切向力X=1042.8862, 切向力Y=-54.2329 +FPS=45.62, 法向力=1227.5359, 切向力X=1050.1472, 切向力Y=-117.3800 +FPS=40.07, 法向力=1434.0267, 切向力X=1037.5779, 切向力Y=-160.1102 +FPS=48.08, 法向力=1459.4634, 切向力X=1105.9062, 切向力Y=-107.3729 +FPS=47.02, 法向力=1435.2426, 切向力X=1119.1904, 切向力Y=-8.2845 +FPS=43.30, 法向力=1344.9508, 切向力X=2059.3257, 切向力Y=286.1232 +FPS=45.53, 法向力=1366.8125, 切向力X=2098.8777, 切向力Y=191.4907 +FPS=38.20, 法向力=1376.3114, 切向力X=381.5938, 切向力Y=-73.8008 +FPS=46.83, 法向力=1385.3641, 切向力X=496.7369, 切向力Y=-107.4198 +FPS=45.44, 法向力=1378.0853, 切向力X=426.8227, 切向力Y=-135.1421 +FPS=45.11, 法向力=1522.6335, 切向力X=749.1484, 切向力Y=-653.9492 +FPS=43.23, 法向力=1523.5692, 切向力X=662.5051, 切向力Y=-611.6240 +FPS=41.56, 法向力=1565.7017, 切向力X=685.1923, 切向力Y=-666.1814 +FPS=42.43, 法向力=1539.2271, 切向力X=1497.9437, 切向力Y=883.2042 +FPS=43.14, 法向力=1540.3281, 切向力X=1555.0254, 切向力Y=924.6943 +FPS=40.60, 法向力=1207.8640, 切向力X=783.8453, 切向力Y=401.6807 +FPS=43.63, 法向力=1183.9227, 切向力X=664.2048, 切向力Y=316.5491 +FPS=42.29, 法向力=981.7074, 切向力X=1245.8445, 切向力Y=404.3235 +stitch_feature_optimized: canvas out_w=547, out_h=419, x_min=-143.27, y_min=-84.06 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000260s, blend=0.002179s (9 tiles incl ref), finalize=0.000057s, total=0.002502s +FPS=42.57, 法向力=962.7616, 切向力X=1315.6958, 切向力Y=440.8791 +FPS=44.38, 法向力=959.1605, 切向力X=1321.0092, 切向力Y=405.5742 +FPS=42.67, 法向力=1349.0383, 切向力X=1244.5226, 切向力Y=-428.4382 +FPS=43.55, 法向力=1339.6532, 切向力X=1255.2993, 切向力Y=-466.2717 +FPS=43.21, 法向力=1347.4178, 切向力X=1275.3020, 切向力Y=-455.8780 +FPS=43.52, 法向力=1217.8032, 切向力X=1509.7061, 切向力Y=1168.3638 +FPS=43.72, 法向力=1222.4904, 切向力X=1561.7429, 切向力Y=1135.8633 +FPS=45.39, 法向力=1235.7836, 切向力X=1549.1736, 切向力Y=1154.0789 +FPS=41.75, 法向力=1517.4191, 切向力X=853.9944, 切向力Y=-99.5983 +FPS=44.99, 法向力=1556.1108, 切向力X=744.3585, 切向力Y=-49.4524 +FPS=42.76, 法向力=1082.7476, 切向力X=1671.7959, 切向力Y=46.9428 +FPS=45.86, 法向力=1093.2845, 切向力X=1640.6826, 切向力Y=1.3148 +FPS=46.28, 法向力=1108.4399, 切向力X=1544.9949, 切向力Y=-42.0300 +FPS=40.32, 法向力=1481.0206, 切向力X=1210.3997, 切向力Y=406.7337 +FPS=46.36, 法向力=1468.2821, 切向力X=1183.0969, 切向力Y=419.8605 +FPS=42.86, 法向力=1448.2844, 切向力X=1168.1975, 切向力Y=351.4846 +FPS=44.57, 法向力=1225.1074, 切向力X=1088.1360, 切向力Y=225.0134 +FPS=45.46, 法向力=1245.8325, 切向力X=1071.6960, 切向力Y=169.8702 +FPS=42.50, 法向力=1256.9500, 切向力X=1656.9592, 切向力Y=-62.9229 +FPS=45.04, 法向力=1220.8740, 切向力X=1638.2341, 切向力Y=-93.6835 +FPS=43.38, 法向力=1211.7212, 切向力X=1022.7519, 切向力Y=-71.4767 +FPS=44.78, 法向力=1198.9304, 切向力X=941.1443, 切向力Y=-112.6786 +FPS=46.48, 法向力=1203.2712, 切向力X=914.0528, 切向力Y=-110.7006 +FPS=43.40, 法向力=1289.8704, 切向力X=1322.7153, 切向力Y=257.4377 +FPS=46.75, 法向力=1339.0127, 切向力X=1199.5129, 切向力Y=179.3101 +FPS=46.07, 法向力=1343.0476, 切向力X=1224.2921, 切向力Y=252.5885 +FPS=39.51, 法向力=1380.9705, 切向力X=1542.1499, 切向力Y=-112.7774 +FPS=44.85, 法向力=1337.8871, 切向力X=1511.5068, 切向力Y=-225.1107 +FPS=44.13, 法向力=1343.9272, 切向力X=1507.8489, 切向力Y=-144.8494 +FPS=41.60, 法向力=1145.2111, 切向力X=1292.4871, 切向力Y=281.5885 +stitch_feature_optimized: canvas out_w=547, out_h=419, x_min=-143.27, y_min=-84.06 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000269s, blend=0.002172s (9 tiles incl ref), finalize=0.000055s, total=0.002503s +FPS=45.25, 法向力=1218.8425, 切向力X=1144.9402, 切向力Y=354.4307 +FPS=40.28, 法向力=1297.6371, 切向力X=1537.3579, 切向力Y=42.3184 +FPS=47.03, 法向力=1248.5852, 切向力X=1527.0942, 切向力Y=42.0418 +FPS=42.58, 法向力=1243.4613, 切向力X=1561.3304, 切向力Y=-49.1465 +FPS=42.50, 法向力=1446.7794, 切向力X=1033.7113, 切向力Y=83.4640 +FPS=44.73, 法向力=1490.9695, 切向力X=1001.6469, 切向力Y=-4.8551 +FPS=44.20, 法向力=1488.5503, 切向力X=992.8765, 切向力Y=89.2577 +FPS=43.50, 法向力=1360.7749, 切向力X=1230.0345, 切向力Y=291.9901 +FPS=46.56, 法向力=1341.7550, 切向力X=1245.1932, 切向力Y=461.7107 +FPS=41.34, 法向力=1317.6819, 切向力X=1244.6218, 切向力Y=371.9216 +FPS=46.12, 法向力=1450.3893, 切向力X=538.3428, 切向力Y=-598.0688 +FPS=43.04, 法向力=1391.0643, 切向力X=559.1046, 切向力Y=-616.8949 +FPS=45.53, 法向力=1369.4751, 切向力X=1541.8086, 切向力Y=-190.4473 +FPS=42.92, 法向力=1297.0737, 切向力X=1656.2490, 切向力Y=-203.0449 +FPS=42.17, 法向力=843.8433, 切向力X=1470.5690, 切向力Y=-133.9257 +FPS=44.13, 法向力=865.7562, 切向力X=1429.8866, 切向力Y=-149.0849 +FPS=47.67, 法向力=875.8274, 切向力X=1414.2305, 切向力Y=-151.7066 +FPS=39.91, 法向力=1532.4264, 切向力X=1587.6216, 切向力Y=852.8715 +FPS=46.63, 法向力=1572.3094, 切向力X=1570.5264, 切向力Y=793.1334 +FPS=45.43, 法向力=1599.3394, 切向力X=1591.4873, 切向力Y=778.6315 +FPS=40.34, 法向力=1134.9739, 切向力X=852.9014, 切向力Y=670.9267 +FPS=46.13, 法向力=1124.2266, 切向力X=794.0354, 切向力Y=836.7852 +FPS=42.53, 法向力=1128.9169, 切向力X=1638.6350, 切向力Y=48.5726 +FPS=46.02, 法向力=1171.0562, 切向力X=1544.3408, 切向力Y=69.3969 +FPS=44.92, 法向力=1165.3691, 切向力X=1523.2046, 切向力Y=58.8133 +FPS=41.04, 法向力=1086.1946, 切向力X=661.1969, 切向力Y=817.6193 +FPS=44.95, 法向力=1127.6521, 切向力X=576.7140, 切向力Y=869.9522 +FPS=43.45, 法向力=1132.3851, 切向力X=587.7115, 切向力Y=878.0184 +FPS=44.39, 法向力=1533.6123, 切向力X=1965.0730, 切向力Y=292.3821 +FPS=47.60, 法向力=1497.2704, 切向力X=1972.8862, 切向力Y=261.1792 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切向力X=2426.8760, 切向力Y=1381.5854 +FPS=44.03, 法向力=2218.4771, 切向力X=2395.2742, 切向力Y=1311.9409 +FPS=43.40, 法向力=1657.5732, 切向力X=2280.1191, 切向力Y=1517.6814 +FPS=43.56, 法向力=1611.2321, 切向力X=2333.0469, 切向力Y=1432.4491 +stitch_feature_optimized: canvas out_w=547, out_h=419, x_min=-143.27, y_min=-84.06 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000252s, blend=0.003092s (9 tiles incl ref), finalize=0.000060s, total=0.003410s +FPS=42.73, 法向力=1593.3177, 切向力X=2328.1787, 切向力Y=1412.2168 +FPS=41.88, 法向力=1713.8912, 切向力X=2446.1553, 切向力Y=1317.1193 +FPS=44.94, 法向力=1690.1377, 切向力X=2525.2874, 切向力Y=1303.9397 +FPS=39.50, 法向力=2046.8521, 切向力X=1656.6527, 切向力Y=985.0190 +FPS=45.10, 法向力=1902.0903, 切向力X=1646.8989, 切向力Y=941.0740 +FPS=43.58, 法向力=1982.6273, 切向力X=1581.4539, 切向力Y=911.1110 +FPS=43.96, 法向力=1698.4895, 切向力X=2833.3062, 切向力Y=611.2981 +FPS=44.49, 法向力=1704.3208, 切向力X=2934.3892, 切向力Y=556.4352 +FPS=37.86, 法向力=1863.2544, 切向力X=2067.8711, 切向力Y=-25.6603 +FPS=44.84, 法向力=1824.7834, 切向力X=1871.0994, 切向力Y=-16.6336 +FPS=45.69, 法向力=1788.9680, 切向力X=1890.5652, 切向力Y=-17.8474 +FPS=39.66, 法向力=1854.1556, 切向力X=3367.3777, 切向力Y=552.1313 +FPS=45.47, 法向力=1967.1064, 切向力X=3460.8811, 切向力Y=492.1827 +FPS=40.75, 法向力=1945.2972, 切向力X=1787.4974, 切向力Y=1345.4255 +FPS=45.42, 法向力=2036.0441, 切向力X=1773.5942, 切向力Y=1329.3411 +FPS=43.78, 法向力=2017.6837, 切向力X=1794.2017, 切向力Y=1423.0040 +FPS=42.48, 法向力=1693.9460, 切向力X=2258.6689, 切向力Y=736.1625 +FPS=44.19, 法向力=1728.6511, 切向力X=2328.1643, 切向力Y=714.7614 +FPS=42.84, 法向力=1727.1572, 切向力X=2344.1030, 切向力Y=652.2809 +FPS=40.62, 法向力=2016.3544, 切向力X=2940.2671, 切向力Y=987.2451 +FPS=45.87, 法向力=2002.3865, 切向力X=2993.8271, 切向力Y=966.7345 +FPS=42.69, 法向力=2213.6624, 切向力X=3111.1416, 切向力Y=400.1336 +FPS=43.60, 法向力=2262.0732, 切向力X=3191.6733, 切向力Y=387.3375 +FPS=40.12, 法向力=1405.3771, 切向力X=2510.4080, 切向力Y=416.9049 +FPS=44.69, 法向力=1388.0352, 切向力X=2402.2334, 切向力Y=397.5306 +FPS=45.98, 法向力=1397.3723, 切向力X=2421.8157, 切向力Y=375.8218 +FPS=40.17, 法向力=1528.7565, 切向力X=2470.8711, 切向力Y=1027.2369 +FPS=45.60, 法向力=1497.7058, 切向力X=2501.8291, 切向力Y=1024.6609 +FPS=45.32, 法向力=1536.3357, 切向力X=2497.5432, 切向力Y=1059.2339 +FPS=41.97, 法向力=2207.8706, 切向力X=2022.6401, 切向力Y=1790.9136 +stitch_feature_optimized: canvas out_w=547, out_h=419, x_min=-143.27, y_min=-84.06 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000254s, blend=0.002127s (9 tiles incl ref), finalize=0.000050s, total=0.002436s +FPS=44.13, 法向力=2410.6440, 切向力X=2057.8784, 切向力Y=2041.7444 +FPS=43.17, 法向力=2349.1843, 切向力X=2015.8065, 切向力Y=1968.7273 +FPS=19.84, 法向力=1675.8987, 切向力X=2732.2671, 切向力Y=530.2419 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_170200.log b/examples/logs/qt_viewer_20260519_170200.log new file mode 100644 index 0000000..3a8978d --- /dev/null +++ b/examples/logs/qt_viewer_20260519_170200.log @@ -0,0 +1,171 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=30 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.18, 法向力=880.7823, 切向力X=257.7678, 切向力Y=80.3173 +FPS=44.01, 法向力=872.2047, 切向力X=233.0141, 切向力Y=78.7022 +FPS=31.76, 法向力=1093.0171, 切向力X=495.9394, 切向力Y=16.6474 +FPS=32.63, 法向力=1109.1127, 切向力X=519.4908, 切向力Y=-73.9783 +FPS=37.57, 法向力=1422.6580, 切向力X=684.8752, 切向力Y=-485.2582 +FPS=37.53, 法向力=1445.9138, 切向力X=667.1577, 切向力Y=-351.5229 +FPS=43.57, 法向力=1090.1260, 切向力X=-144.6465, 切向力Y=-849.0086 +FPS=43.03, 法向力=1131.4070, 切向力X=-46.9090, 切向力Y=-956.5348 +FPS=39.70, 法向力=1115.0078, 切向力X=446.2129, 切向力Y=-94.8797 +FPS=43.52, 法向力=1152.3475, 切向力X=521.9121, 切向力Y=-142.9124 +FPS=42.86, 法向力=1160.5818, 切向力X=542.8910, 切向力Y=-116.1747 +FPS=43.10, 法向力=1460.9528, 切向力X=931.1874, 切向力Y=468.6752 +FPS=42.39, 法向力=1430.6208, 切向力X=985.3777, 切向力Y=308.6190 +FPS=42.78, 法向力=1015.0882, 切向力X=340.0883, 切向力Y=-807.4370 +FPS=42.97, 法向力=987.1958, 切向力X=287.8381, 切向力Y=-817.4426 +FPS=43.12, 法向力=986.8441, 切向力X=286.0481, 切向力Y=-796.0734 +FPS=44.37, 法向力=1526.2778, 切向力X=558.9003, 切向力Y=-608.3759 +FPS=44.44, 法向力=1489.6865, 切向力X=526.3605, 切向力Y=-656.8195 +FPS=43.50, 法向力=1483.5596, 切向力X=573.2908, 切向力Y=-551.5143 +FPS=44.24, 法向力=1015.7854, 切向力X=428.7354, 切向力Y=536.8954 +FPS=44.40, 法向力=1049.8020, 切向力X=436.2014, 切向力Y=537.8098 +FPS=39.11, 法向力=1503.2720, 切向力X=874.2682, 切向力Y=-752.3990 +FPS=45.72, 法向力=1520.2969, 切向力X=938.1692, 切向力Y=-768.4153 +FPS=46.93, 法向力=1483.4530, 切向力X=927.9158, 切向力Y=-737.5569 +FPS=41.37, 法向力=921.6551, 切向力X=1332.7559, 切向力Y=-510.2177 +FPS=45.97, 法向力=928.8935, 切向力X=1325.9524, 切向力Y=-465.8940 +FPS=41.32, 法向力=1072.2179, 切向力X=378.5235, 切向力Y=298.1868 +stitch_feature_optimized: canvas out_w=587, out_h=416, x_min=-142.03, y_min=-83.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000265s, blend=0.002204s (9 tiles incl ref), finalize=0.000045s, total=0.002519s +FPS=45.20, 法向力=1099.8885, 切向力X=416.5516, 切向力Y=320.1268 +FPS=46.09, 法向力=1111.5798, 切向力X=427.3347, 切向力Y=298.0108 +FPS=44.01, 法向力=953.2820, 切向力X=1004.7444, 切向力Y=56.2947 +FPS=46.54, 法向力=955.0135, 切向力X=1051.8276, 切向力Y=-12.4385 +FPS=44.42, 法向力=955.8732, 切向力X=1011.4382, 切向力Y=13.5531 +FPS=42.11, 法向力=1160.5903, 切向力X=33.7218, 切向力Y=-57.9003 +FPS=44.50, 法向力=1282.7539, 切向力X=-100.7621, 切向力Y=138.2134 +FPS=44.27, 法向力=1289.5598, 切向力X=-138.1279, 切向力Y=177.6315 +FPS=42.38, 法向力=1835.1548, 切向力X=-307.3185, 切向力Y=-1132.8792 +FPS=39.57, 法向力=1853.1808, 切向力X=-349.3814, 切向力Y=-1005.7840 +FPS=40.64, 法向力=1145.8251, 切向力X=1175.5979, 切向力Y=-228.6479 +FPS=45.52, 法向力=1154.3470, 切向力X=1178.8364, 切向力Y=-233.2078 +FPS=43.22, 法向力=1371.7939, 切向力X=702.3593, 切向力Y=115.3951 +FPS=46.16, 法向力=1355.7461, 切向力X=677.3453, 切向力Y=249.3884 +FPS=46.77, 法向力=1360.7417, 切向力X=685.0073, 切向力Y=249.5258 +FPS=40.82, 法向力=1227.1910, 切向力X=273.9285, 切向力Y=-187.9442 +FPS=46.79, 法向力=1239.3219, 切向力X=336.1741, 切向力Y=-257.2133 +FPS=46.22, 法向力=1243.3455, 切向力X=377.4246, 切向力Y=-286.5884 +FPS=41.73, 法向力=1134.0907, 切向力X=195.4843, 切向力Y=851.1583 +FPS=45.37, 法向力=1136.9624, 切向力X=250.9509, 切向力Y=892.1301 +FPS=39.26, 法向力=1165.9380, 切向力X=701.5791, 切向力Y=-48.2242 +FPS=47.25, 法向力=1237.7632, 切向力X=878.1533, 切向力Y=-5.7703 +FPS=44.72, 法向力=1282.3254, 切向力X=953.0172, 切向力Y=33.8801 +FPS=42.21, 法向力=1413.6667, 切向力X=1419.8242, 切向力Y=-1250.4307 +FPS=43.76, 法向力=1369.3671, 切向力X=1348.0356, 切向力Y=-1256.3113 +FPS=44.39, 法向力=1403.2239, 切向力X=1370.6821, 切向力Y=-1294.3218 +FPS=40.79, 法向力=1252.9927, 切向力X=1013.8784, 切向力Y=-344.2112 +FPS=45.65, 法向力=1280.0859, 切向力X=1105.1973, 切向力Y=-185.5376 +FPS=43.76, 法向力=1180.6261, 切向力X=1009.8857, 切向力Y=-129.2545 +FPS=42.97, 法向力=1676.9779, 切向力X=1615.5658, 切向力Y=-477.5576 +stitch_feature_optimized: canvas out_w=587, out_h=416, x_min=-142.03, y_min=-83.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000006s (hit), reset=0.000279s, blend=0.003007s (9 tiles incl ref), finalize=0.000153s, total=0.003447s +FPS=42.65, 法向力=1726.8818, 切向力X=1697.0256, 切向力Y=-490.5370 +FPS=41.64, 法向力=1324.8970, 切向力X=1245.1890, 切向力Y=21.7534 +FPS=46.27, 法向力=1323.8196, 切向力X=1244.6636, 切向力Y=21.2107 +FPS=42.81, 法向力=1297.6187, 切向力X=1207.3276, 切向力Y=31.8472 +FPS=43.22, 法向力=1286.4409, 切向力X=933.5368, 切向力Y=-488.6082 +FPS=45.13, 法向力=1209.0706, 切向力X=1061.0392, 切向力Y=-585.9441 +FPS=42.75, 法向力=1321.1512, 切向力X=261.8966, 切向力Y=625.8672 +FPS=45.49, 法向力=1382.5424, 切向力X=200.9138, 切向力Y=634.4418 +FPS=45.41, 法向力=1389.2236, 切向力X=210.5341, 切向力Y=679.5054 +FPS=40.61, 法向力=1147.3149, 切向力X=1209.7810, 切向力Y=-79.1348 +FPS=47.60, 法向力=1196.3810, 切向力X=1318.5153, 切向力Y=-114.6378 +FPS=42.04, 法向力=1034.0919, 切向力X=804.4247, 切向力Y=413.9113 +FPS=47.13, 法向力=1055.2419, 切向力X=627.3044, 切向力Y=405.2812 +FPS=48.57, 法向力=1068.7986, 切向力X=622.4249, 切向力Y=314.9218 +FPS=41.80, 法向力=981.2421, 切向力X=277.1898, 切向力Y=-110.4141 +FPS=46.86, 法向力=975.9376, 切向力X=89.3547, 切向力Y=-159.3989 +FPS=47.84, 法向力=972.7890, 切向力X=104.3451, 切向力Y=-126.2208 +FPS=42.42, 法向力=1203.9567, 切向力X=505.0753, 切向力Y=454.7995 +FPS=47.56, 法向力=1144.6173, 切向力X=617.2422, 切向力Y=461.4386 +FPS=47.10, 法向力=1145.7421, 切向力X=608.9006, 切向力Y=434.3892 +FPS=43.31, 法向力=1056.4827, 切向力X=1025.0132, 切向力Y=-472.3436 +FPS=46.38, 法向力=1082.7023, 切向力X=1052.3240, 切向力Y=-442.2499 +FPS=42.78, 法向力=1264.7542, 切向力X=571.6752, 切向力Y=51.5785 +FPS=47.98, 法向力=1214.4648, 切向力X=524.5505, 切向力Y=140.0161 +FPS=48.69, 法向力=1191.2029, 切向力X=526.0870, 切向力Y=178.8729 +FPS=45.70, 法向力=1278.2207, 切向力X=586.9200, 切向力Y=556.6067 +FPS=46.16, 法向力=1262.6957, 切向力X=583.1608, 切向力Y=553.9526 +FPS=45.10, 法向力=1276.3754, 切向力X=583.7700, 切向力Y=362.2242 +FPS=37.85, 法向力=2148.5146, 切向力X=853.2052, 切向力Y=-1130.7485 +FPS=41.79, 法向力=2183.8972, 切向力X=855.1646, 切向力Y=-1218.4568 +stitch_feature_optimized: canvas out_w=587, out_h=416, x_min=-142.03, y_min=-83.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000294s, blend=0.003168s (9 tiles incl ref), finalize=0.000055s, total=0.003523s +FPS=40.84, 法向力=2216.8374, 切向力X=903.7537, 切向力Y=-1224.8969 +FPS=41.64, 法向力=1446.8867, 切向力X=717.2819, 切向力Y=-866.4873 +FPS=44.16, 法向力=1515.7178, 切向力X=609.7374, 切向力Y=-948.9739 +FPS=41.99, 法向力=1200.1815, 切向力X=884.4008, 切向力Y=69.9359 +FPS=44.09, 法向力=1200.3308, 切向力X=903.6242, 切向力Y=98.2713 +FPS=41.14, 法向力=945.6190, 切向力X=663.6815, 切向力Y=-1214.8313 +FPS=44.92, 法向力=982.7155, 切向力X=643.7739, 切向力Y=-1389.8118 +FPS=44.29, 法向力=968.3673, 切向力X=627.0728, 切向力Y=-1374.6736 +FPS=40.87, 法向力=2115.9424, 切向力X=194.6832, 切向力Y=154.6142 +FPS=44.93, 法向力=2058.6279, 切向力X=165.0790, 切向力Y=150.2871 +FPS=45.36, 法向力=2074.5527, 切向力X=123.7549, 切向力Y=150.4445 +FPS=42.27, 法向力=1264.4351, 切向力X=861.2169, 切向力Y=331.4524 +FPS=46.03, 法向力=1388.5178, 切向力X=915.1956, 切向力Y=284.3448 +FPS=40.22, 法向力=939.2588, 切向力X=741.3499, 切向力Y=748.5795 +FPS=46.24, 法向力=975.2780, 切向力X=848.4539, 切向力Y=696.0719 +FPS=43.48, 法向力=996.8929, 切向力X=846.7454, 切向力Y=655.8646 +FPS=45.34, 法向力=1981.6648, 切向力X=-718.0681, 切向力Y=215.7314 +FPS=43.82, 法向力=2042.2859, 切向力X=-788.7897, 切向力Y=286.8457 +FPS=42.48, 法向力=2047.5994, 切向力X=-766.5746, 切向力Y=271.3527 +FPS=43.88, 法向力=1306.5757, 切向力X=1064.9163, 切向力Y=233.4292 +FPS=46.82, 法向力=1319.8610, 切向力X=1141.7474, 切向力Y=546.6621 +FPS=43.60, 法向力=1339.9065, 切向力X=1128.4563, 切向力Y=512.7345 +FPS=46.28, 法向力=1182.9431, 切向力X=732.3446, 切向力Y=584.1978 +FPS=45.02, 法向力=1158.9319, 切向力X=583.9448, 切向力Y=638.9706 +FPS=44.82, 法向力=1357.2131, 切向力X=505.5857, 切向力Y=-376.2823 +FPS=46.19, 法向力=1420.6938, 切向力X=598.3853, 切向力Y=-606.3630 +FPS=42.90, 法向力=1451.5261, 切向力X=689.1646, 切向力Y=-594.0641 +FPS=44.29, 法向力=1031.2502, 切向力X=552.6307, 切向力Y=1171.6398 +FPS=45.46, 法向力=1025.2737, 切向力X=477.9881, 切向力Y=1094.7325 +FPS=41.28, 法向力=1162.9397, 切向力X=293.6598, 切向力Y=10.6848 +stitch_feature_optimized: canvas out_w=587, out_h=416, x_min=-142.03, y_min=-83.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000261s, blend=0.002148s (9 tiles incl ref), finalize=0.000045s, total=0.002460s +FPS=46.46, 法向力=1263.4115, 切向力X=282.9964, 切向力Y=-492.7559 +FPS=46.95, 法向力=1283.5894, 切向力X=273.5979, 切向力Y=-528.0822 +FPS=40.19, 法向力=1526.8535, 切向力X=951.8265, 切向力Y=528.2757 +FPS=45.64, 法向力=1736.3561, 切向力X=1004.5517, 切向力Y=761.4574 +FPS=40.05, 法向力=1219.9021, 切向力X=11.3364, 切向力Y=1130.0574 +FPS=46.53, 法向力=1324.4905, 切向力X=-243.8387, 切向力Y=831.7396 +FPS=46.38, 法向力=1323.2069, 切向力X=-269.3537, 切向力Y=812.7429 +FPS=40.30, 法向力=988.4542, 切向力X=673.5325, 切向力Y=224.7763 +FPS=43.98, 法向力=1013.3297, 切向力X=784.8489, 切向力Y=188.8410 +FPS=44.31, 法向力=1009.1200, 切向力X=777.8080, 切向力Y=202.0910 +FPS=42.06, 法向力=1076.4543, 切向力X=852.1627, 切向力Y=-508.9253 +FPS=46.15, 法向力=1177.0720, 切向力X=950.3363, 切向力Y=-617.4706 +FPS=42.69, 法向力=1191.3955, 切向力X=906.8243, 切向力Y=-643.0070 +FPS=42.66, 法向力=1551.5825, 切向力X=828.8878, 切向力Y=1406.1638 +FPS=43.51, 法向力=1582.7640, 切向力X=886.0968, 切向力Y=1429.5170 +FPS=41.50, 法向力=1003.6876, 切向力X=782.0789, 切向力Y=855.0636 +FPS=46.49, 法向力=1034.7723, 切向力X=801.3972, 切向力Y=841.9480 +FPS=43.44, 法向力=1031.5734, 切向力X=772.6089, 切向力Y=805.0285 +FPS=45.82, 法向力=942.5875, 切向力X=525.4230, 切向力Y=678.2047 +FPS=45.73, 法向力=1010.5400, 切向力X=365.2832, 切向力Y=153.0048 +FPS=41.21, 法向力=1712.5803, 切向力X=588.3007, 切向力Y=-347.8763 +FPS=44.10, 法向力=1783.9362, 切向力X=641.0488, 切向力Y=-433.3416 +FPS=47.59, 法向力=1825.7489, 切向力X=668.7078, 切向力Y=-466.7502 +FPS=42.68, 法向力=1127.8695, 切向力X=709.6434, 切向力Y=763.7568 +FPS=45.76, 法向力=1182.3074, 切向力X=654.1011, 切向力Y=792.9239 +FPS=16.72, 法向力=1242.5374, 切向力X=590.8857, 切向力Y=982.9524 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_170334.log b/examples/logs/qt_viewer_20260519_170334.log new file mode 100644 index 0000000..849fdb5 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_170334.log @@ -0,0 +1,1821 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。 +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=7.00, 法向力=1303.9976, 切向力X=-1795.8237, 切向力Y=-196.8717 +FPS=48.73, 法向力=1316.8096, 切向力X=-1788.1892, 切向力Y=-182.4198 +FPS=37.83, 法向力=1426.5508, 切向力X=-689.8863, 切向力Y=-1466.2581 +FPS=38.06, 法向力=1620.3436, 切向力X=-700.9959, 切向力Y=-1355.2106 +FPS=42.39, 法向力=1580.0239, 切向力X=-725.4858, 切向力Y=-1344.1061 +FPS=40.20, 法向力=1114.5377, 切向力X=-747.6167, 切向力Y=-1055.8794 +FPS=43.38, 法向力=1157.0466, 切向力X=-840.1165, 切向力Y=-1150.8862 +FPS=38.97, 法向力=1339.2219, 切向力X=-1124.9052, 切向力Y=-1257.7092 +FPS=43.04, 法向力=1409.0826, 切向力X=-1103.9906, 切向力Y=-1424.4104 +FPS=41.81, 法向力=1416.5251, 切向力X=-1086.0746, 切向力Y=-1436.4958 +FPS=41.60, 法向力=1308.9829, 切向力X=-544.1782, 切向力Y=-1346.0620 +FPS=44.37, 法向力=1224.7053, 切向力X=-517.6498, 切向力Y=-1453.3590 +FPS=40.67, 法向力=1228.3530, 切向力X=-574.1547, 切向力Y=-1445.5720 +FPS=44.08, 法向力=1354.0269, 切向力X=-467.5688, 切向力Y=-1808.6094 +FPS=43.53, 法向力=1356.9236, 切向力X=-410.4331, 切向力Y=-1773.9705 +FPS=39.62, 法向力=2254.7871, 切向力X=-793.8179, 切向力Y=-1027.8998 +FPS=43.09, 法向力=2206.7083, 切向力X=-662.7679, 切向力Y=-1098.1091 +FPS=38.79, 法向力=1776.9807, 切向力X=-953.9079, 切向力Y=-1855.3229 +FPS=43.19, 法向力=1767.7657, 切向力X=-1013.7683, 切向力Y=-1750.8806 +FPS=44.00, 法向力=1766.1064, 切向力X=-951.4731, 切向力Y=-1803.0288 +FPS=39.66, 法向力=1415.2595, 切向力X=-316.4666, 切向力Y=-459.1881 +FPS=45.06, 法向力=1415.9641, 切向力X=-354.4685, 切向力Y=-390.6588 +FPS=40.07, 法向力=1413.7850, 切向力X=-353.7379, 切向力Y=-386.1403 +FPS=44.80, 法向力=1298.0532, 切向力X=501.9574, 切向力Y=-1205.8636 +FPS=43.38, 法向力=1304.4188, 切向力X=500.9541, 切向力Y=-1294.0625 +FPS=40.58, 法向力=1505.4023, 切向力X=-1010.8993, 切向力Y=-1413.1345 +FPS=44.53, 法向力=1589.7190, 切向力X=-1073.1920, 切向力Y=-1382.7446 +stitch_feature_optimized: canvas out_w=547, out_h=418, x_min=-143.35, y_min=-82.76 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000271s, blend=0.003350s (9 tiles incl ref), finalize=0.000060s, total=0.003687s +FPS=37.96, 法向力=1387.9922, 切向力X=-1291.3525, 切向力Y=-1134.3479 +FPS=45.26, 法向力=1368.7859, 切向力X=-1181.1703, 切向力Y=-1084.5642 +FPS=44.64, 法向力=1356.8647, 切向力X=-1165.1638, 切向力Y=-1060.3975 +FPS=42.18, 法向力=1210.8015, 切向力X=-179.1652, 切向力Y=-470.8984 +FPS=45.68, 法向力=1165.9734, 切向力X=-197.7244, 切向力Y=-443.3525 +FPS=45.02, 法向力=1177.1532, 切向力X=-197.3497, 切向力Y=-429.7787 +FPS=40.87, 法向力=1450.2601, 切向力X=-1280.9940, 切向力Y=-862.3825 +FPS=45.18, 法向力=1475.8054, 切向力X=-1455.5537, 切向力Y=-899.4151 +FPS=41.32, 法向力=1447.9463, 切向力X=-1459.3123, 切向力Y=-829.4271 +FPS=44.31, 法向力=1506.2502, 切向力X=-570.5685, 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切向力Y=-134.3864 +FPS=46.12, 法向力=3065.8286, 切向力X=827.7170, 切向力Y=-86.1524 +FPS=42.03, 法向力=2595.8311, 切向力X=1112.5387, 切向力Y=855.0631 +FPS=46.58, 法向力=2603.8804, 切向力X=1064.5626, 切向力Y=855.9078 +FPS=42.03, 法向力=2856.3755, 切向力X=1399.1968, 切向力Y=554.6510 +FPS=44.81, 法向力=2945.3616, 切向力X=1484.3496, 切向力Y=491.0928 +FPS=44.31, 法向力=2919.2769, 切向力X=1396.1454, 切向力Y=472.8879 +FPS=42.69, 法向力=3308.5151, 切向力X=429.1014, 切向力Y=208.1504 +FPS=43.37, 法向力=3301.9663, 切向力X=472.8985, 切向力Y=262.3198 +FPS=41.62, 法向力=3304.5264, 切向力X=464.9217, 切向力Y=279.7910 +FPS=42.22, 法向力=2531.6826, 切向力X=551.4052, 切向力Y=150.0747 +FPS=45.31, 法向力=2562.7627, 切向力X=734.5626, 切向力Y=149.0802 +FPS=44.29, 法向力=2607.0479, 切向力X=731.6854, 切向力Y=202.2212 +FPS=43.83, 法向力=3034.4927, 切向力X=866.6509, 切向力Y=473.7990 +FPS=47.86, 法向力=3238.3386, 切向力X=863.4334, 切向力Y=377.7809 +stitch_feature_optimized: canvas out_w=547, out_h=418, x_min=-143.35, y_min=-82.76 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000256s, blend=0.002162s (9 tiles incl ref), finalize=0.000059s, total=0.002482s +FPS=42.27, 法向力=2528.4473, 切向力X=653.3898, 切向力Y=322.9462 +FPS=48.11, 法向力=2585.0298, 切向力X=738.6002, 切向力Y=256.6544 +FPS=46.23, 法向力=2599.9287, 切向力X=756.4442, 切向力Y=244.0203 +FPS=43.02, 法向力=2405.9832, 切向力X=577.0060, 切向力Y=427.4374 +FPS=46.48, 法向力=2560.8311, 切向力X=654.9418, 切向力Y=462.8568 +FPS=42.94, 法向力=2559.5237, 切向力X=668.2632, 切向力Y=493.3504 +FPS=44.59, 法向力=2907.5637, 切向力X=511.3250, 切向力Y=265.6789 +FPS=47.23, 法向力=2910.1035, 切向力X=512.5876, 切向力Y=255.5621 +FPS=42.01, 法向力=3041.9907, 切向力X=829.3997, 切向力Y=-219.8082 +FPS=46.16, 法向力=3027.3840, 切向力X=794.8279, 切向力Y=-285.7637 +FPS=43.32, 法向力=3042.5469, 切向力X=804.3028, 切向力Y=-278.1320 +FPS=17.24, 法向力=2790.7368, 切向力X=1612.4800, 切向力Y=89.7451 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_171229.log b/examples/logs/qt_viewer_20260519_171229.log new file mode 100644 index 0000000..09f876c --- /dev/null +++ b/examples/logs/qt_viewer_20260519_171229.log @@ -0,0 +1,1892 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.29, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=1.93, 法向力=2931.7700, 切向力X=-1064.8896, 切向力Y=-1207.2537 +FPS=49.05, 法向力=2828.3999, 切向力X=-934.9980, 切向力Y=-969.3364 +FPS=32.66, 法向力=2816.6987, 切向力X=-822.4286, 切向力Y=-577.5197 +FPS=40.50, 法向力=2882.2766, 切向力X=-788.4551, 切向力Y=-500.6064 +FPS=39.98, 法向力=2861.6516, 切向力X=-781.4909, 切向力Y=-526.9487 +FPS=38.33, 法向力=2364.7578, 切向力X=-184.8247, 切向力Y=-795.5420 +FPS=39.15, 法向力=2281.9929, 切向力X=-159.1507, 切向力Y=-716.4768 +FPS=39.94, 法向力=3747.4219, 切向力X=-539.1601, 切向力Y=-797.7929 +FPS=40.93, 法向力=3641.2080, 切向力X=-550.7855, 切向力Y=-862.4055 +FPS=40.15, 法向力=2682.7803, 切向力X=-118.3771, 切向力Y=1843.0901 +FPS=40.79, 法向力=2720.0537, 切向力X=-127.3429, 切向力Y=1915.4988 +FPS=40.34, 法向力=2709.8713, 切向力X=-115.4008, 切向力Y=1898.1506 +FPS=35.49, 法向力=2728.0898, 切向力X=-1800.8207, 切向力Y=680.8814 +FPS=40.27, 法向力=2689.2798, 切向力X=-1844.1072, 切向力Y=630.3386 +FPS=36.63, 法向力=3418.8853, 切向力X=-1329.9880, 切向力Y=-1158.6689 +FPS=42.03, 法向力=3163.7793, 切向力X=-1288.2699, 切向力Y=-1004.1711 +FPS=39.14, 法向力=2025.1610, 切向力X=-785.8206, 切向力Y=595.5826 +FPS=42.78, 法向力=1971.8040, 切向力X=-654.9205, 切向力Y=640.3126 +FPS=42.96, 法向力=2010.3192, 切向力X=-668.8005, 切向力Y=619.3105 +FPS=43.13, 法向力=2647.8997, 切向力X=-1068.7321, 切向力Y=-598.3398 +FPS=43.09, 法向力=2610.8413, 切向力X=-1027.9812, 切向力Y=-612.1740 +FPS=41.36, 法向力=2604.8142, 切向力X=-1050.3407, 切向力Y=-602.1653 +FPS=40.07, 法向力=2435.2585, 切向力X=-697.4785, 切向力Y=-1822.2303 +FPS=42.14, 法向力=2487.9822, 切向力X=-680.3947, 切向力Y=-1802.3193 +FPS=38.72, 法向力=4012.9978, 切向力X=-409.6890, 切向力Y=-2037.9646 +FPS=41.52, 法向力=4077.6504, 切向力X=-571.7478, 切向力Y=-1896.4628 +FPS=38.48, 法向力=3348.6274, 切向力X=-860.8793, 切向力Y=-462.7182 +stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.20, y_min=-82.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000237s, blend=0.002143s (9 tiles incl ref), finalize=0.000052s, total=0.002437s +FPS=43.15, 法向力=3247.1484, 切向力X=-737.2106, 切向力Y=-450.9828 +FPS=36.40, 法向力=3554.1606, 切向力X=-717.5921, 切向力Y=-287.9986 +FPS=43.55, 法向力=3498.0562, 切向力X=-768.0175, 切向力Y=-221.4272 +FPS=40.98, 法向力=3487.2515, 切向力X=-778.7513, 切向力Y=-206.6706 +FPS=36.04, 法向力=3242.5691, 切向力X=-866.6962, 切向力Y=-2394.5549 +FPS=38.91, 法向力=3280.8633, 切向力X=-870.0605, 切向力Y=-2446.8013 +FPS=38.78, 法向力=3257.1050, 切向力X=-864.3481, 切向力Y=-2419.0249 +FPS=40.97, 法向力=3080.1250, 切向力X=-932.4016, 切向力Y=-838.1743 +FPS=40.78, 法向力=3055.5850, 切向力X=-902.2953, 切向力Y=-806.2291 +FPS=41.15, 法向力=3402.3203, 切向力X=-535.7274, 切向力Y=-1130.7023 +FPS=43.71, 法向力=3395.9055, 切向力X=-463.8764, 切向力Y=-1139.0071 +FPS=37.19, 法向力=2219.8809, 切向力X=-406.6294, 切向力Y=-293.8117 +FPS=42.87, 法向力=2240.8672, 切向力X=-523.3914, 切向力Y=-164.6967 +FPS=42.09, 法向力=2200.1206, 切向力X=-381.6425, 切向力Y=-171.7451 +FPS=41.16, 法向力=2876.9971, 切向力X=-716.1223, 切向力Y=-786.4510 +FPS=42.98, 法向力=2689.6951, 切向力X=-651.7317, 切向力Y=-681.4609 +FPS=40.55, 法向力=2645.3474, 切向力X=-595.0243, 切向力Y=-643.9194 +FPS=41.72, 法向力=3304.5569, 切向力X=-347.5851, 切向力Y=-1161.5723 +FPS=40.15, 法向力=1774.8746, 切向力X=-600.4634, 切向力Y=919.1206 +FPS=41.36, 法向力=1874.5625, 切向力X=-613.6503, 切向力Y=868.1124 +FPS=42.15, 法向力=1848.7379, 切向力X=-633.9103, 切向力Y=892.5486 +FPS=39.60, 法向力=3808.7209, 切向力X=-1269.3660, 切向力Y=-1553.0867 +FPS=43.15, 法向力=3582.1086, 切向力X=-1304.7938, 切向力Y=-1415.3983 +FPS=42.01, 法向力=3553.7537, 切向力X=-1249.0532, 切向力Y=-1356.4158 +FPS=36.65, 法向力=4055.6255, 切向力X=-199.8266, 切向力Y=-1941.0079 +FPS=43.11, 法向力=3981.7520, 切向力X=-135.3250, 切向力Y=-1966.3610 +FPS=35.96, 法向力=2733.3796, 切向力X=-947.7878, 切向力Y=-49.4840 +FPS=41.86, 法向力=2748.4868, 切向力X=-929.5948, 切向力Y=110.4943 +FPS=37.03, 法向力=2637.0151, 切向力X=-98.8977, 切向力Y=-313.9540 +FPS=43.57, 法向力=2615.1426, 切向力X=-54.8280, 切向力Y=-320.8223 +stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.20, y_min=-82.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000007s (hit), reset=0.000349s, blend=0.002185s (9 tiles incl ref), finalize=0.000069s, total=0.002612s +FPS=40.46, 法向力=2619.2356, 切向力X=-15.8105, 切向力Y=-337.5023 +FPS=43.00, 法向力=1723.9761, 切向力X=-398.0158, 切向力Y=799.8998 +FPS=43.08, 法向力=1673.1743, 切向力X=-452.0447, 切向力Y=654.6571 +FPS=40.59, 法向力=3060.6279, 切向力X=-581.3270, 切向力Y=-733.6654 +FPS=41.87, 法向力=3188.3140, 切向力X=-637.2885, 切向力Y=-842.8801 +FPS=42.69, 法向力=3171.4932, 切向力X=-613.7897, 切向力Y=-834.5747 +FPS=38.51, 法向力=3782.8669, 切向力X=-1532.8945, 切向力Y=-1196.0160 +FPS=43.86, 法向力=3726.3892, 切向力X=-1540.4734, 切向力Y=-1203.1160 +FPS=40.51, 法向力=2899.6528, 切向力X=-256.9058, 切向力Y=-520.4510 +FPS=44.10, 法向力=2925.9639, 切向力X=-255.6816, 切向力Y=-476.7120 +FPS=40.17, 法向力=2870.1084, 切向力X=-182.5898, 切向力Y=-409.8169 +FPS=44.42, 法向力=2193.8555, 切向力X=-854.0858, 切向力Y=292.4361 +FPS=42.25, 法向力=2086.3284, 切向力X=-709.0327, 切向力Y=377.3434 +FPS=41.90, 法向力=3414.0244, 切向力X=-629.6189, 切向力Y=-433.6265 +FPS=41.06, 法向力=3478.2495, 切向力X=-672.7725, 切向力Y=-336.8659 +FPS=43.75, 法向力=3440.7886, 切向力X=-659.4304, 切向力Y=-311.3856 +FPS=38.37, 法向力=3180.1777, 切向力X=-450.9135, 切向力Y=-1023.8964 +FPS=43.68, 法向力=3174.8403, 切向力X=-510.2724, 切向力Y=-942.1829 +FPS=39.75, 法向力=4248.2061, 切向力X=-565.8506, 切向力Y=-1701.5087 +FPS=43.41, 法向力=4225.7002, 切向力X=-552.5199, 切向力Y=-1649.5239 +FPS=43.61, 法向力=4242.6919, 切向力X=-566.5502, 切向力Y=-1666.5704 +FPS=43.66, 法向力=3803.9497, 切向力X=-720.6730, 切向力Y=713.2933 +FPS=46.01, 法向力=3746.2593, 切向力X=-633.5736, 切向力Y=954.4587 +FPS=43.53, 法向力=3752.7935, 切向力X=-647.1162, 切向力Y=968.5422 +FPS=43.95, 法向力=3018.8232, 切向力X=-214.1558, 切向力Y=441.6182 +FPS=44.93, 法向力=2903.9363, 切向力X=-217.3841, 切向力Y=551.3649 +FPS=40.71, 法向力=2252.8975, 切向力X=-379.4559, 切向力Y=391.3340 +FPS=41.80, 法向力=2257.8809, 切向力X=-341.0683, 切向力Y=420.1764 +FPS=41.79, 法向力=3262.6511, 切向力X=-1143.4746, 切向力Y=21.1679 +FPS=41.65, 法向力=3139.0928, 切向力X=-942.6176, 切向力Y=25.7727 +stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.20, y_min=-82.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000234s, blend=0.002088s (9 tiles incl ref), finalize=0.000051s, total=0.002379s +FPS=44.83, 法向力=3106.9302, 切向力X=-946.6885, 切向力Y=26.3716 +FPS=36.85, 法向力=2875.0999, 切向力X=-574.2097, 切向力Y=-791.6862 +FPS=44.18, 法向力=2915.2834, 切向力X=-626.3228, 切向力Y=-859.7201 +FPS=41.73, 法向力=2916.2202, 切向力X=-632.5729, 切向力Y=-860.8823 +FPS=41.18, 法向力=2557.2319, 切向力X=-418.1716, 切向力Y=-405.8364 +FPS=43.24, 法向力=2475.5510, 切向力X=-364.0609, 切向力Y=-366.3339 +FPS=40.47, 法向力=2472.0198, 切向力X=-364.2316, 切向力Y=-396.3602 +FPS=42.61, 法向力=2592.2612, 切向力X=-445.8994, 切向力Y=-724.0415 +FPS=42.64, 法向力=3047.9639, 切向力X=-416.0021, 切向力Y=-498.6523 +FPS=43.20, 法向力=2918.7227, 切向力X=-346.3808, 切向力Y=-543.0240 +FPS=44.52, 法向力=3020.5498, 切向力X=-380.0367, 切向力Y=-572.3207 +FPS=39.30, 法向力=2761.0459, 切向力X=162.1416, 切向力Y=-526.7186 +FPS=43.61, 法向力=2768.6907, 切向力X=249.9668, 切向力Y=-644.5508 +FPS=41.86, 法向力=2755.5039, 切向力X=214.1567, 切向力Y=-633.1636 +FPS=40.10, 法向力=2525.0083, 切向力X=-294.9693, 切向力Y=-1070.9028 +FPS=43.89, 法向力=2529.9343, 切向力X=-327.8837, 切向力Y=-1029.9360 +FPS=42.68, 法向力=2548.7815, 切向力X=-324.2292, 切向力Y=-1028.6666 +FPS=43.02, 法向力=2734.5471, 切向力X=20.2385, 切向力Y=-541.9793 +FPS=43.95, 法向力=2727.1226, 切向力X=-66.1244, 切向力Y=-512.2911 +FPS=40.80, 法向力=2621.9771, 切向力X=-310.9654, 切向力Y=183.6859 +FPS=44.38, 法向力=2556.9009, 切向力X=-300.1345, 切向力Y=193.1448 +FPS=43.09, 法向力=2938.6792, 切向力X=-803.6155, 切向力Y=-971.1325 +FPS=43.46, 法向力=2885.2246, 切向力X=-786.5613, 切向力Y=-840.7743 +FPS=44.59, 法向力=2872.6177, 切向力X=-796.8157, 切向力Y=-803.6804 +FPS=39.66, 法向力=3151.1362, 切向力X=-246.0904, 切向力Y=-72.5875 +FPS=42.24, 法向力=3099.3672, 切向力X=-240.3450, 切向力Y=49.4430 +FPS=44.93, 法向力=3176.1682, 切向力X=-269.3106, 切向力Y=20.5007 +FPS=40.69, 法向力=2309.5444, 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canvas out_w=546, out_h=417, x_min=-142.20, y_min=-82.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000255s, blend=0.002126s (9 tiles incl ref), finalize=0.000054s, total=0.002440s +FPS=41.92, 法向力=2803.4617, 切向力X=161.1929, 切向力Y=866.5993 +FPS=38.45, 法向力=2762.9736, 切向力X=750.2703, 切向力Y=737.3121 +FPS=44.01, 法向力=2827.7637, 切向力X=793.1952, 切向力Y=744.2049 +FPS=38.70, 法向力=2092.7881, 切向力X=833.0223, 切向力Y=294.5064 +FPS=44.31, 法向力=2080.5847, 切向力X=982.5634, 切向力Y=181.6100 +FPS=41.87, 法向力=2049.0674, 切向力X=990.0525, 切向力Y=192.4124 +FPS=38.71, 法向力=2698.1777, 切向力X=913.7444, 切向力Y=888.8296 +FPS=43.15, 法向力=2756.2747, 切向力X=831.6254, 切向力Y=949.1220 +FPS=42.04, 法向力=2739.3176, 切向力X=856.3365, 切向力Y=948.7202 +FPS=43.35, 法向力=2591.2009, 切向力X=1383.9570, 切向力Y=377.0650 +FPS=43.55, 法向力=2611.5886, 切向力X=1368.8350, 切向力Y=404.4808 +FPS=42.90, 法向力=1448.7452, 切向力X=1727.9417, 切向力Y=1534.6316 +FPS=43.05, 法向力=1399.9694, 切向力X=1758.9044, 切向力Y=1465.5925 +FPS=42.48, 法向力=2607.4810, 切向力X=1104.3669, 切向力Y=1341.9465 +FPS=44.41, 法向力=2530.3237, 切向力X=1245.8967, 切向力Y=1350.1938 +FPS=42.91, 法向力=2564.9858, 切向力X=1194.9266, 切向力Y=1372.9128 +FPS=40.95, 法向力=2292.3228, 切向力X=1621.1431, 切向力Y=962.8358 +FPS=44.45, 法向力=2207.3564, 切向力X=1623.7896, 切向力Y=1044.8795 +FPS=15.88, 法向力=2285.3030, 切向力X=1738.5996, 切向力Y=1406.9796 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_171552.log b/examples/logs/qt_viewer_20260519_171552.log new file mode 100644 index 0000000..7b7719f --- /dev/null +++ b/examples/logs/qt_viewer_20260519_171552.log @@ -0,0 +1,4502 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.49, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=2.71, 法向力=1420.1165, 切向力X=303.3109, 切向力Y=-838.7357 +FPS=28.31, 法向力=1043.6747, 切向力X=145.9727, 切向力Y=5.4775 +FPS=18.90, 法向力=1439.6279, 切向力X=-193.3439, 切向力Y=1057.0972 +FPS=19.11, 法向力=1446.3928, 切向力X=-141.9186, 切向力Y=1158.0229 +FPS=20.67, 法向力=1035.1832, 切向力X=-500.7529, 切向力Y=854.4333 +FPS=23.20, 法向力=1833.0328, 切向力X=6.0951, 切向力Y=-87.4473 +FPS=22.53, 法向力=1841.4298, 切向力X=54.2899, 切向力Y=-54.6205 +FPS=22.46, 法向力=1837.6331, 切向力X=7.6682, 切向力Y=-21.2113 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法向力=2989.0657, 切向力X=3236.6353, 切向力Y=1681.1987 +FPS=41.07, 法向力=2980.2134, 切向力X=3245.0652, 切向力Y=1680.0880 +FPS=39.25, 法向力=2685.5798, 切向力X=1913.2043, 切向力Y=1248.9579 +FPS=41.43, 法向力=2684.9712, 切向力X=1983.6538, 切向力Y=1281.2524 +FPS=39.96, 法向力=2717.7949, 切向力X=1963.7656, 切向力Y=1237.4927 +FPS=42.58, 法向力=2801.7148, 切向力X=2108.5637, 切向力Y=2535.8313 +FPS=40.73, 法向力=2798.8640, 切向力X=2834.5051, 切向力Y=1776.6289 +FPS=41.84, 法向力=2799.2383, 切向力X=2816.0850, 切向力Y=1681.4238 +FPS=43.48, 法向力=2787.1311, 切向力X=2785.2100, 切向力Y=1706.4779 +FPS=38.57, 法向力=3541.6479, 切向力X=1630.8585, 切向力Y=1202.8379 +stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-140.08, y_min=-83.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000241s, blend=0.002148s (9 tiles incl ref), finalize=0.000053s, total=0.002448s +FPS=42.23, 法向力=3553.9746, 切向力X=1527.3910, 切向力Y=1190.8230 +FPS=42.93, 法向力=3581.0269, 切向力X=1491.7784, 切向力Y=1196.7222 +FPS=39.84, 法向力=3246.4326, 切向力X=1871.6133, 切向力Y=1727.2367 +FPS=43.96, 法向力=3286.4553, 切向力X=1961.7712, 切向力Y=1676.5868 +FPS=42.05, 法向力=3283.3904, 切向力X=1903.6539, 切向力Y=1702.4216 +FPS=41.71, 法向力=3148.0171, 切向力X=1788.5305, 切向力Y=2865.0107 +FPS=40.76, 法向力=3009.5208, 切向力X=2296.3594, 切向力Y=1847.3542 +FPS=41.47, 法向力=3040.7251, 切向力X=2313.4414, 切向力Y=1874.6619 +FPS=42.00, 法向力=3021.6523, 切向力X=2313.5762, 切向力Y=1867.9299 +FPS=37.85, 法向力=2733.8496, 切向力X=1474.2764, 切向力Y=1771.4126 +FPS=43.10, 法向力=2745.6489, 切向力X=1459.9492, 切向力Y=1787.0490 +FPS=42.50, 法向力=2722.0669, 切向力X=1459.6582, 切向力Y=1823.2476 +FPS=37.43, 法向力=2507.9744, 切向力X=900.3783, 切向力Y=2408.7668 +FPS=39.93, 法向力=2495.2202, 切向力X=890.9669, 切向力Y=2326.7275 +FPS=36.92, 法向力=2734.8213, 切向力X=1777.3237, 切向力Y=1343.3555 +FPS=43.19, 法向力=2732.0225, 切向力X=1682.4678, 切向力Y=1290.7058 +FPS=39.05, 法向力=2851.9517, 切向力X=1434.5366, 切向力Y=2822.4668 +FPS=43.47, 法向力=2907.4453, 切向力X=1521.1567, 切向力Y=2907.8162 +FPS=43.01, 法向力=2896.1501, 切向力X=1515.2236, 切向力Y=2909.7419 +FPS=43.26, 法向力=2970.0891, 切向力X=1095.4410, 切向力Y=1626.7322 +FPS=42.63, 法向力=3054.3867, 切向力X=1238.7571, 切向力Y=1680.4801 +FPS=41.16, 法向力=3027.8970, 切向力X=1190.1458, 切向力Y=1668.8474 +FPS=42.19, 法向力=2965.4705, 切向力X=546.2412, 切向力Y=2214.3462 +FPS=42.93, 法向力=2931.0554, 切向力X=627.1620, 切向力Y=2213.1064 +FPS=38.72, 法向力=3109.6094, 切向力X=1036.1921, 切向力Y=2618.8210 +FPS=43.38, 法向力=3197.3101, 切向力X=1035.8639, 切向力Y=2615.1123 +FPS=40.25, 法向力=2754.2625, 切向力X=1672.4030, 切向力Y=1906.1182 +FPS=41.01, 法向力=2801.1597, 切向力X=1567.4434, 切向力Y=1861.1486 +FPS=43.08, 法向力=2761.3611, 切向力X=1632.8378, 切向力Y=1891.7972 +FPS=40.35, 法向力=3177.9888, 切向力X=1074.5258, 切向力Y=1832.2590 +stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-140.08, y_min=-83.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000248s, blend=0.002155s (9 tiles incl ref), finalize=0.000056s, total=0.002464s +FPS=42.28, 法向力=3249.3091, 切向力X=1008.8284, 切向力Y=1792.0950 +FPS=40.14, 法向力=3622.9214, 切向力X=1205.0709, 切向力Y=2105.6726 +FPS=40.94, 法向力=3726.6128, 切向力X=1216.5316, 切向力Y=2166.3652 +FPS=43.17, 法向力=3754.9829, 切向力X=1306.2529, 切向力Y=2184.6089 +FPS=37.65, 法向力=2943.9565, 切向力X=1929.7521, 切向力Y=2788.8667 +FPS=42.02, 法向力=2881.6204, 切向力X=1990.3352, 切向力Y=2804.0283 +FPS=39.40, 法向力=3198.4526, 切向力X=2052.7583, 切向力Y=1711.3176 +FPS=41.13, 法向力=3215.5742, 切向力X=1999.6582, 切向力Y=1732.0408 +FPS=42.77, 法向力=3220.0073, 切向力X=2027.1221, 切向力Y=1725.5950 +FPS=42.97, 法向力=2895.2437, 切向力X=1188.2546, 切向力Y=1416.5062 +FPS=41.82, 法向力=2943.9834, 切向力X=1186.8754, 切向力Y=1409.6272 +FPS=38.82, 法向力=2837.8398, 切向力X=981.9287, 切向力Y=1517.6741 +FPS=42.48, 法向力=2940.0698, 切向力X=1048.1833, 切向力Y=1483.6499 +FPS=43.66, 法向力=2929.8047, 切向力X=1062.4354, 切向力Y=1500.0439 +FPS=39.84, 法向力=3102.0908, 切向力X=720.0757, 切向力Y=1568.9915 +FPS=43.14, 法向力=3150.8667, 切向力X=705.3770, 切向力Y=1704.9072 +FPS=39.92, 法向力=3089.6343, 切向力X=1414.5295, 切向力Y=2085.4395 +FPS=42.36, 法向力=3161.8809, 切向力X=1470.1324, 切向力Y=2073.1304 +FPS=41.16, 法向力=3182.8394, 切向力X=1479.1329, 切向力Y=2164.4111 +FPS=42.02, 法向力=2684.7200, 切向力X=1674.5527, 切向力Y=2564.5576 +FPS=44.48, 法向力=2620.4497, 切向力X=1602.6471, 切向力Y=2581.6035 +FPS=41.41, 法向力=2962.0493, 切向力X=1226.5326, 切向力Y=2384.2715 +FPS=41.89, 法向力=2939.9224, 切向力X=1258.2924, 切向力Y=2347.3242 +FPS=43.98, 法向力=2917.9561, 切向力X=1275.6450, 切向力Y=2352.2078 +FPS=39.04, 法向力=2870.6382, 切向力X=1149.5310, 切向力Y=2064.0957 +FPS=43.22, 法向力=2852.3457, 切向力X=1296.2141, 切向力Y=2108.9229 +FPS=39.87, 法向力=2761.4978, 切向力X=1425.3041, 切向力Y=1162.5370 +FPS=42.65, 法向力=2678.5547, 切向力X=1504.7815, 切向力Y=1094.3735 +FPS=42.64, 法向力=2665.4712, 切向力X=1486.2007, 切向力Y=1080.3723 +FPS=37.66, 法向力=3311.1692, 切向力X=1791.8497, 切向力Y=1542.1029 +stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-140.08, y_min=-83.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000242s, blend=0.002120s (9 tiles incl ref), finalize=0.000058s, total=0.002425s +FPS=38.91, 法向力=3364.5693, 切向力X=1783.8367, 切向力Y=1560.5587 +FPS=37.77, 法向力=3058.1445, 切向力X=1314.7585, 切向力Y=1689.2682 +FPS=39.13, 法向力=2981.9045, 切向力X=1324.3118, 切向力Y=1680.0183 +FPS=39.65, 法向力=3010.6721, 切向力X=1329.8302, 切向力Y=1760.7485 +FPS=19.89, 法向力=2967.1194, 切向力X=1049.4515, 切向力Y=1926.5850 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_172123.log b/examples/logs/qt_viewer_20260519_172123.log new file mode 100644 index 0000000..3a848f1 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_172123.log @@ -0,0 +1,1675 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.46, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=2.47, 法向力=1519.3182, 切向力X=413.8303, 切向力Y=438.0276 +FPS=27.67, 法向力=1692.2322, 切向力X=444.9675, 切向力Y=-19.2048 +FPS=18.87, 法向力=1787.1592, 切向力X=575.8973, 切向力Y=-61.9810 +FPS=20.33, 法向力=1219.1351, 切向力X=310.6817, 切向力Y=439.0554 +FPS=21.12, 法向力=1366.5907, 切向力X=669.1649, 切向力Y=335.0465 +FPS=21.98, 法向力=1267.7810, 切向力X=110.8144, 切向力Y=406.3938 +FPS=22.82, 法向力=1250.9436, 切向力X=129.0418, 切向力Y=345.6049 +FPS=22.15, 法向力=1267.1790, 切向力X=89.2504, 切向力Y=373.0338 +FPS=23.28, 法向力=1481.4274, 切向力X=127.2960, 切向力Y=499.5273 +FPS=22.03, 法向力=1561.9058, 切向力X=562.7703, 切向力Y=972.0742 +FPS=21.64, 法向力=1656.5376, 切向力X=656.8395, 切向力Y=988.5326 +FPS=22.09, 法向力=1282.6650, 切向力X=57.0643, 切向力Y=-115.6118 +FPS=21.48, 法向力=1267.0557, 切向力X=27.2376, 切向力Y=-184.4488 +FPS=22.72, 法向力=1843.0967, 切向力X=605.1591, 切向力Y=1069.8965 +FPS=21.02, 法向力=1904.9786, 切向力X=618.4800, 切向力Y=1075.9009 +FPS=20.53, 法向力=1114.0563, 切向力X=35.3587, 切向力Y=417.0326 +FPS=22.08, 法向力=1117.0428, 切向力X=-48.0328, 切向力Y=429.2199 +FPS=22.05, 法向力=1567.3218, 切向力X=730.7027, 切向力Y=-35.2646 +FPS=21.56, 法向力=1361.5486, 切向力X=539.3324, 切向力Y=540.5005 +FPS=22.97, 法向力=1354.7275, 切向力X=516.4877, 切向力Y=729.8501 +FPS=22.39, 法向力=1245.1230, 切向力X=178.5578, 切向力Y=35.5450 +FPS=22.73, 法向力=1203.9695, 切向力X=167.7715, 切向力Y=-0.8973 +FPS=22.83, 法向力=1201.4534, 切向力X=186.4085, 切向力Y=4.7575 +FPS=24.56, 法向力=1249.2439, 切向力X=599.7456, 切向力Y=1077.5864 +FPS=23.26, 法向力=1321.2137, 切向力X=254.7662, 切向力Y=1326.4004 +FPS=20.68, 法向力=1407.4861, 切向力X=1356.2676, 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法向力=1710.0768, 切向力X=2377.7476, 切向力Y=2416.0645 +FPS=45.40, 法向力=1720.9646, 切向力X=2415.5381, 切向力Y=2351.0850 +FPS=44.80, 法向力=1699.0947, 切向力X=2420.8267, 切向力Y=2436.7434 +FPS=43.38, 法向力=1673.8585, 切向力X=1790.5898, 切向力Y=2069.9182 +FPS=44.66, 法向力=1636.6130, 切向力X=1661.5076, 切向力Y=2043.7625 +FPS=42.24, 法向力=1372.8842, 切向力X=2669.1821, 切向力Y=2265.9263 +FPS=20.02, 法向力=1391.7067, 切向力X=2694.5823, 切向力Y=2172.9238 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_172551.log b/examples/logs/qt_viewer_20260519_172551.log new file mode 100644 index 0000000..ac489dc --- /dev/null +++ b/examples/logs/qt_viewer_20260519_172551.log @@ -0,0 +1,21773 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.43, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=2.66, 法向力=1419.0402, 切向力X=1202.8914, 切向力Y=-943.7029 +FPS=24.59, 法向力=1505.1804, 切向力X=690.7161, 切向力Y=-252.7392 +FPS=15.14, 法向力=1543.1111, 切向力X=927.5571, 切向力Y=-481.0264 +FPS=17.04, 法向力=1017.5203, 切向力X=136.7565, 切向力Y=814.4093 +FPS=18.17, 法向力=1033.8081, 切向力X=234.0383, 切向力Y=877.5222 +FPS=18.85, 法向力=1008.7761, 切向力X=556.9156, 切向力Y=226.7627 +FPS=18.60, 法向力=1000.9512, 切向力X=527.2747, 切向力Y=225.8840 +FPS=19.94, 法向力=1290.9518, 切向力X=448.8102, 切向力Y=-30.5480 +FPS=19.16, 法向力=2662.2095, 切向力X=728.4516, 切向力Y=-563.2197 +FPS=19.36, 法向力=2798.9141, 切向力X=741.9274, 切向力Y=-594.4891 +FPS=17.27, 法向力=1420.6448, 切向力X=223.8077, 切向力Y=-51.3495 +FPS=18.77, 法向力=1140.8979, 切向力X=845.6715, 切向力Y=-1300.1429 +FPS=17.35, 法向力=1426.3962, 切向力X=17.7435, 切向力Y=-182.0417 +FPS=19.62, 法向力=1517.6306, 切向力X=63.7963, 切向力Y=-327.0389 +FPS=19.89, 法向力=1067.0015, 切向力X=863.0129, 切向力Y=-384.3323 +FPS=19.63, 法向力=1080.5645, 切向力X=959.8604, 切向力Y=-475.2287 +FPS=18.46, 法向力=1216.1008, 切向力X=340.6077, 切向力Y=-148.0370 +FPS=20.14, 法向力=802.9711, 切向力X=88.6477, 切向力Y=-128.5025 +FPS=19.05, 法向力=817.1877, 切向力X=170.8757, 切向力Y=-141.8247 +FPS=19.59, 法向力=1029.9119, 切向力X=-50.9624, 切向力Y=467.4576 +FPS=18.32, 法向力=1634.5425, 切向力X=541.0997, 切向力Y=199.5640 +FPS=20.04, 法向力=1616.7126, 切向力X=502.6616, 切向力Y=187.9675 +FPS=18.94, 法向力=1198.0574, 切向力X=466.6587, 切向力Y=135.0843 +FPS=18.05, 法向力=1223.9968, 切向力X=471.8465, 切向力Y=88.1301 +FPS=17.37, 法向力=1018.6542, 切向力X=1089.2147, 切向力Y=214.4986 +FPS=20.65, 法向力=1294.0610, 切向力X=273.1421, 切向力Y=-34.3717 +FPS=19.45, 法向力=1291.1377, 切向力X=299.6820, 切向力Y=-17.0809 +stitch_feature_optimized: canvas out_w=541, out_h=419, x_min=-137.74, y_min=-83.58 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000006s (hit), reset=0.000780s, blend=0.004488s (9 tiles incl ref), finalize=0.000134s, total=0.005413s +FPS=18.01, 法向力=1510.1499, 切向力X=1048.0281, 切向力Y=-710.6686 +FPS=16.94, 法向力=1353.2758, 切向力X=932.7507, 切向力Y=-572.7133 +FPS=20.06, 法向力=1300.1799, 切向力X=1009.4426, 切向力Y=-536.1476 +FPS=19.26, 法向力=1810.5615, 切向力X=771.9159, 切向力Y=-19.5592 +FPS=18.89, 法向力=1900.8441, 切向力X=741.6390, 切向力Y=-73.1178 +FPS=20.05, 法向力=1201.3845, 切向力X=826.6954, 切向力Y=-722.7225 +FPS=19.72, 法向力=1372.9711, 切向力X=544.7777, 切向力Y=667.3851 +FPS=20.11, 法向力=1439.8618, 切向力X=549.0217, 切向力Y=583.0823 +FPS=19.47, 法向力=1836.6008, 切向力X=1380.9983, 切向力Y=-578.3019 +FPS=18.62, 法向力=1079.1133, 切向力X=860.2571, 切向力Y=-264.9159 +FPS=19.75, 法向力=1317.6672, 切向力X=-276.3634, 切向力Y=438.7548 +FPS=18.53, 法向力=1268.7129, 切向力X=-141.7746, 切向力Y=567.9849 +FPS=21.28, 法向力=1271.9138, 切向力X=-152.6125, 切向力Y=532.4167 +FPS=19.21, 法向力=836.6954, 切向力X=-420.1365, 切向力Y=-244.0237 +FPS=19.99, 法向力=1560.4591, 切向力X=872.3665, 切向力Y=530.3470 +FPS=19.88, 法向力=1622.5811, 切向力X=1007.2006, 切向力Y=158.7791 +FPS=19.31, 法向力=1625.5665, 切向力X=988.3085, 切向力Y=171.4191 +FPS=25.69, 法向力=1308.7520, 切向力X=1203.8748, 切向力Y=993.2468 +FPS=29.89, 法向力=1327.4192, 切向力X=831.1988, 切向力Y=-629.7317 +FPS=34.29, 法向力=1207.5018, 切向力X=1403.8533, 切向力Y=109.1466 +FPS=33.04, 法向力=1270.6589, 切向力X=1463.9504, 切向力Y=90.1068 +FPS=29.34, 法向力=1368.2173, 切向力X=1269.9214, 切向力Y=-721.8563 +FPS=34.51, 法向力=1416.5697, 切向力X=1248.3184, 切向力Y=-822.4552 +FPS=30.72, 法向力=1103.2390, 切向力X=1340.9204, 切向力Y=-650.1718 +FPS=33.90, 法向力=1201.1340, 切向力X=1477.3574, 切向力Y=-639.4790 +FPS=29.83, 法向力=1380.7726, 切向力X=652.6485, 切向力Y=-215.7661 +FPS=32.11, 法向力=1425.1232, 切向力X=634.2474, 切向力Y=-163.8646 +FPS=32.91, 法向力=1327.4077, 切向力X=358.6318, 切向力Y=271.1186 +FPS=32.26, 法向力=1353.7468, 切向力X=328.2714, 切向力Y=236.8025 +FPS=32.57, 法向力=1562.0713, 切向力X=893.3169, 切向力Y=-860.3408 +stitch_feature_optimized: canvas out_w=541, out_h=419, x_min=-137.74, y_min=-83.58 +stitch_feature_optimized steps: brightness=0.000002s, geom=0.000003s (hit), reset=0.000265s, blend=0.003077s (9 tiles incl ref), finalize=0.000061s, total=0.003408s +FPS=31.41, 法向力=1577.9036, 切向力X=839.5828, 切向力Y=-876.0115 +FPS=33.00, 法向力=1239.8997, 切向力X=681.1271, 切向力Y=841.1731 +FPS=33.52, 法向力=1224.1333, 切向力X=660.2478, 切向力Y=895.4326 +FPS=32.12, 法向力=1334.1863, 切向力X=-396.7217, 切向力Y=-271.8189 +FPS=32.65, 法向力=1789.3293, 切向力X=994.8634, 切向力Y=-249.7736 +FPS=35.91, 法向力=1815.9805, 切向力X=957.6781, 切向力Y=-220.1199 +FPS=32.46, 法向力=1804.5996, 切向力X=947.1754, 切向力Y=-221.2422 +FPS=34.37, 法向力=1555.7915, 切向力X=1028.6921, 切向力Y=-411.2360 +FPS=33.62, 法向力=1562.7148, 切向力X=1004.8700, 切向力Y=-380.2848 +FPS=32.86, 法向力=1360.1189, 切向力X=726.5914, 切向力Y=-394.7321 +FPS=34.80, 法向力=1391.4998, 切向力X=674.0742, 切向力Y=-406.7650 +FPS=32.19, 法向力=965.9071, 切向力X=98.8596, 切向力Y=399.6359 +FPS=31.31, 法向力=1009.1940, 切向力X=103.7312, 切向力Y=365.1929 +FPS=35.54, 法向力=1664.4338, 切向力X=1386.9697, 切向力Y=-442.2057 +FPS=32.93, 法向力=1725.0054, 切向力X=1486.3477, 切向力Y=-457.6631 +FPS=33.07, 法向力=1544.1445, 切向力X=755.0285, 切向力Y=-879.0912 +FPS=31.93, 法向力=1596.0709, 切向力X=787.6965, 切向力Y=-1076.3132 +FPS=31.09, 法向力=1189.5870, 切向力X=195.2715, 切向力Y=665.3606 +FPS=31.96, 法向力=1264.9786, 切向力X=183.8650, 切向力Y=613.9786 +FPS=33.38, 法向力=1358.0266, 切向力X=367.1480, 切向力Y=472.1400 +FPS=32.25, 法向力=1077.9755, 切向力X=222.7700, 切向力Y=1068.6487 +FPS=33.31, 法向力=1026.1902, 切向力X=189.4455, 切向力Y=1097.6394 +FPS=30.80, 法向力=1243.9973, 切向力X=761.0797, 切向力Y=285.3804 +FPS=34.00, 法向力=1246.0891, 切向力X=841.2385, 切向力Y=291.5159 +FPS=30.80, 法向力=1204.5735, 切向力X=664.8885, 切向力Y=175.0972 +FPS=34.55, 法向力=1167.0198, 切向力X=653.8823, 切向力Y=242.2568 +FPS=33.71, 法向力=1199.0382, 切向力X=1023.4487, 切向力Y=455.5162 +FPS=33.04, 法向力=1179.6404, 切向力X=1077.2349, 切向力Y=409.4814 +FPS=31.13, 法向力=1309.4038, 切向力X=377.8665, 切向力Y=66.4382 +FPS=34.39, 法向力=1342.1770, 切向力X=447.4016, 切向力Y=40.1120 +stitch_feature_optimized: canvas out_w=541, out_h=419, x_min=-137.74, y_min=-83.58 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000265s, blend=0.002078s (9 tiles incl ref), finalize=0.000051s, total=0.002400s +FPS=31.24, 法向力=1322.8716, 切向力X=354.2814, 切向力Y=574.5264 +FPS=34.65, 法向力=1375.3350, 切向力X=389.0241, 切向力Y=769.7238 +FPS=31.56, 法向力=2074.3271, 切向力X=686.6722, 切向力Y=81.8988 +FPS=35.29, 法向力=2042.8573, 切向力X=666.7355, 切向力Y=-28.4364 +FPS=31.90, 法向力=1305.3909, 切向力X=605.3600, 切向力Y=-568.2142 +FPS=32.57, 法向力=1327.6829, 切向力X=616.4348, 切向力Y=-550.0934 +FPS=31.82, 法向力=1060.0271, 切向力X=1234.5598, 切向力Y=-520.6227 +FPS=33.90, 法向力=1023.7272, 切向力X=1293.5964, 切向力Y=-561.3157 +FPS=33.04, 法向力=1418.3749, 切向力X=961.0350, 切向力Y=1146.6080 +FPS=33.69, 法向力=1389.0375, 切向力X=962.9999, 切向力Y=1200.6865 +FPS=29.68, 法向力=1895.9275, 切向力X=1102.0354, 切向力Y=537.5116 +FPS=33.02, 法向力=1919.0156, 切向力X=991.9946, 切向力Y=254.8797 +FPS=30.14, 法向力=1015.1498, 切向力X=712.3843, 切向力Y=54.0178 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切向力X=2134.7888, 切向力Y=2123.2065 +FPS=30.34, 法向力=1227.6819, 切向力X=1021.3894, 切向力Y=2174.0884 +FPS=31.66, 法向力=1258.2871, 切向力X=1069.6536, 切向力Y=2297.8704 +FPS=31.41, 法向力=1895.4954, 切向力X=856.2339, 切向力Y=2337.7363 +FPS=12.14, 法向力=1249.5239, 切向力X=1726.3423, 切向力Y=2422.3462 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_174326.log b/examples/logs/qt_viewer_20260519_174326.log new file mode 100644 index 0000000..0d83c23 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_174326.log @@ -0,0 +1,1065 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.89, 法向力=2654.5813, 切向力X=47.2849, 切向力Y=-853.2828 +FPS=42.59, 法向力=2691.8643, 切向力X=19.2371, 切向力Y=-797.9870 +FPS=24.75, 法向力=2867.7524, 切向力X=-11.3593, 切向力Y=-72.4806 +FPS=31.89, 法向力=2879.0066, 切向力X=36.3832, 切向力Y=23.5673 +FPS=30.05, 法向力=1529.6990, 切向力X=245.0363, 切向力Y=1065.3215 +FPS=33.54, 法向力=1496.7974, 切向力X=145.8910, 切向力Y=942.1504 +FPS=35.08, 法向力=1397.9370, 切向力X=-354.2190, 切向力Y=-24.0416 +FPS=36.46, 法向力=1562.8698, 切向力X=-415.3589, 切向力Y=-59.0635 +FPS=33.36, 法向力=2509.2749, 切向力X=468.3584, 切向力Y=-244.8568 +FPS=34.78, 法向力=2478.7666, 切向力X=556.3636, 切向力Y=2.5379 +FPS=33.76, 法向力=2008.0881, 切向力X=-71.0681, 切向力Y=159.3955 +FPS=38.54, 法向力=1945.7573, 切向力X=-85.7343, 切向力Y=232.9860 +FPS=34.14, 法向力=1743.8123, 切向力X=-944.0605, 切向力Y=-17.0796 +FPS=37.24, 法向力=1807.3328, 切向力X=-981.9088, 切向力Y=-74.2470 +FPS=32.87, 法向力=2904.1404, 切向力X=160.2184, 切向力Y=45.8542 +FPS=35.85, 法向力=2975.3674, 切向力X=43.7173, 切向力Y=150.8991 +FPS=34.47, 法向力=2976.0952, 切向力X=-4.1870, 切向力Y=128.2329 +FPS=35.97, 法向力=2481.3328, 切向力X=-92.1658, 切向力Y=356.1275 +FPS=35.29, 法向力=1416.1766, 切向力X=-895.7740, 切向力Y=-59.6848 +FPS=37.22, 法向力=1461.5425, 切向力X=-851.2146, 切向力Y=-65.6685 +FPS=35.99, 法向力=1476.0645, 切向力X=-838.8824, 切向力Y=-127.8549 +FPS=37.00, 法向力=1112.1750, 切向力X=529.4041, 切向力Y=183.9640 +FPS=39.15, 法向力=1131.9182, 切向力X=584.4280, 切向力Y=117.1372 +FPS=33.41, 法向力=1610.9646, 切向力X=103.9877, 切向力Y=329.1762 +FPS=38.75, 法向力=1619.0684, 切向力X=44.2061, 切向力Y=354.5535 +FPS=32.43, 法向力=2670.4954, 切向力X=-508.9713, 切向力Y=323.4438 +FPS=37.82, 法向力=2648.2136, 切向力X=-581.0134, 切向力Y=392.6704 +stitch_feature_optimized: canvas out_w=540, out_h=419, x_min=-136.39, y_min=-83.48 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000308s, blend=0.002292s (9 tiles incl ref), finalize=0.000059s, total=0.002666s +FPS=34.92, 法向力=1185.0465, 切向力X=148.0482, 切向力Y=-201.7825 +FPS=33.87, 法向力=1148.4109, 切向力X=152.5244, 切向力Y=-48.0542 +FPS=37.43, 法向力=1363.4341, 切向力X=368.4203, 切向力Y=-262.1422 +FPS=38.03, 法向力=1346.8521, 切向力X=166.6579, 切向力Y=-207.1307 +FPS=36.63, 法向力=1317.4344, 切向力X=152.3466, 切向力Y=-206.5706 +FPS=37.55, 法向力=1924.7224, 切向力X=-484.9163, 切向力Y=219.8400 +FPS=38.42, 法向力=2028.8221, 切向力X=-563.1440, 切向力Y=219.6030 +FPS=36.60, 法向力=1239.3466, 切向力X=-174.3733, 切向力Y=518.2800 +FPS=39.10, 法向力=1330.8185, 切向力X=-130.4976, 切向力Y=537.7058 +FPS=36.14, 法向力=1682.5176, 切向力X=314.4268, 切向力Y=-28.5442 +FPS=39.85, 法向力=1822.2350, 切向力X=104.2932, 切向力Y=17.3328 +FPS=36.85, 法向力=1340.6528, 切向力X=-1332.8101, 切向力Y=886.8098 +FPS=38.61, 法向力=1369.9988, 切向力X=-1410.3267, 切向力Y=932.1183 +FPS=34.88, 法向力=1392.7817, 切向力X=-1449.8318, 切向力Y=883.8296 +FPS=35.70, 法向力=1028.9507, 切向力X=-272.4427, 切向力Y=1153.0342 +FPS=38.11, 法向力=1040.8320, 切向力X=-191.3155, 切向力Y=1286.3538 +FPS=33.92, 法向力=1610.6819, 切向力X=695.5997, 切向力Y=10.3846 +FPS=35.34, 法向力=1987.7632, 切向力X=590.2546, 切向力Y=-688.2585 +FPS=38.86, 法向力=2105.9314, 切向力X=446.1228, 切向力Y=-719.5822 +FPS=39.54, 法向力=2066.7991, 切向力X=442.7397, 切向力Y=-664.3303 +FPS=36.47, 法向力=1700.9631, 切向力X=-473.7756, 切向力Y=74.8952 +FPS=39.28, 法向力=1718.1036, 切向力X=-474.2944, 切向力Y=103.8359 +FPS=36.47, 法向力=1309.6873, 切向力X=-83.4657, 切向力Y=799.2070 +FPS=38.21, 法向力=1303.4856, 切向力X=-127.3860, 切向力Y=758.4030 +FPS=37.66, 法向力=1299.0055, 切向力X=-135.1280, 切向力Y=749.5194 +FPS=34.07, 法向力=1517.1141, 切向力X=-656.5554, 切向力Y=265.9753 +FPS=35.89, 法向力=1569.0371, 切向力X=-674.6339, 切向力Y=172.1656 +FPS=36.90, 法向力=1485.6489, 切向力X=-96.7129, 切向力Y=-677.3141 +FPS=38.07, 法向力=1520.3738, 切向力X=-106.5883, 切向力Y=-860.6772 +FPS=33.14, 法向力=1040.5541, 切向力X=-291.6796, 切向力Y=1075.3179 +stitch_feature_optimized: canvas out_w=540, out_h=419, x_min=-136.39, y_min=-83.48 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000257s, blend=0.002161s (9 tiles incl ref), finalize=0.000052s, total=0.002477s +FPS=37.50, 法向力=1043.9584, 切向力X=-257.2972, 切向力Y=1133.8730 +FPS=34.64, 法向力=2073.1206, 切向力X=449.7412, 切向力Y=675.8947 +FPS=38.93, 法向力=2166.6670, 切向力X=539.2186, 切向力Y=592.4266 +FPS=35.29, 法向力=2153.8667, 切向力X=467.9236, 切向力Y=607.6164 +FPS=36.90, 法向力=847.8734, 切向力X=-865.4310, 切向力Y=256.9001 +FPS=35.44, 法向力=1243.3418, 切向力X=-181.9319, 切向力Y=1152.6912 +FPS=36.88, 法向力=1295.2473, 切向力X=-159.5877, 切向力Y=1319.8220 +FPS=34.38, 法向力=1283.1543, 切向力X=-154.1905, 切向力Y=1337.8083 +FPS=35.91, 法向力=1902.1049, 切向力X=322.0579, 切向力Y=626.5953 +FPS=37.56, 法向力=1894.3635, 切向力X=361.0098, 切向力Y=601.6696 +FPS=35.13, 法向力=1558.5828, 切向力X=-129.0740, 切向力Y=467.3781 +FPS=38.83, 法向力=1541.9934, 切向力X=-149.0904, 切向力Y=410.7580 +FPS=33.27, 法向力=2993.0435, 切向力X=730.5782, 切向力Y=-461.9657 +FPS=36.13, 法向力=2949.5981, 切向力X=840.8865, 切向力Y=-345.6465 +FPS=32.86, 法向力=1342.8125, 切向力X=-312.6377, 切向力Y=715.2476 +FPS=37.47, 法向力=1284.4191, 切向力X=-297.7498, 切向力Y=877.3829 +FPS=36.17, 法向力=1082.2205, 切向力X=-301.8085, 切向力Y=805.8232 +FPS=38.29, 法向力=1083.7180, 切向力X=-260.2206, 切向力Y=793.1569 +FPS=36.41, 法向力=1955.5981, 切向力X=40.9568, 切向力Y=477.9212 +FPS=37.55, 法向力=1965.9714, 切向力X=129.1544, 切向力Y=510.3976 +FPS=37.73, 法向力=1976.2687, 切向力X=131.8624, 切向力Y=500.6789 +FPS=34.19, 法向力=1980.6519, 切向力X=556.9984, 切向力Y=-357.2522 +FPS=36.49, 法向力=1978.7566, 切向力X=599.8065, 切向力Y=-220.5230 +FPS=36.67, 法向力=2883.8457, 切向力X=106.0821, 切向力Y=91.2884 +FPS=35.91, 法向力=2968.6074, 切向力X=218.4105, 切向力Y=45.8055 +FPS=37.97, 法向力=1311.2183, 切向力X=-328.6535, 切向力Y=112.3330 +FPS=38.66, 法向力=1305.2922, 切向力X=-311.7311, 切向力Y=77.6855 +FPS=32.80, 法向力=3259.2256, 切向力X=214.7946, 切向力Y=-367.0425 +FPS=35.58, 法向力=3267.0591, 切向力X=167.7526, 切向力Y=-386.4178 +FPS=34.59, 法向力=2311.7383, 切向力X=356.6988, 切向力Y=239.5320 +stitch_feature_optimized: canvas out_w=540, out_h=419, x_min=-136.39, y_min=-83.48 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000296s, blend=0.002259s (9 tiles incl ref), finalize=0.000057s, total=0.002618s +FPS=35.85, 法向力=2310.9297, 切向力X=351.7125, 切向力Y=311.7914 +FPS=34.84, 法向力=1116.9414, 切向力X=744.6608, 切向力Y=833.5817 +FPS=37.75, 法向力=1079.6876, 切向力X=734.1499, 切向力Y=861.7004 +FPS=35.42, 法向力=1147.1367, 切向力X=-114.9579, 切向力Y=363.6120 +FPS=36.08, 法向力=1192.6787, 切向力X=-139.3308, 切向力Y=313.7102 +FPS=36.70, 法向力=1166.9539, 切向力X=-100.4074, 切向力Y=340.7967 +FPS=35.51, 法向力=1673.5720, 切向力X=959.8592, 切向力Y=721.3596 +FPS=36.21, 法向力=1729.3206, 切向力X=1043.0486, 切向力Y=728.8488 +FPS=33.07, 法向力=2124.1135, 切向力X=5.0026, 切向力Y=411.7772 +FPS=37.16, 法向力=2147.9224, 切向力X=141.6645, 切向力Y=316.6674 +FPS=33.35, 法向力=1130.6743, 切向力X=47.5815, 切向力Y=1033.9285 +FPS=32.40, 法向力=1139.8503, 切向力X=-26.2373, 切向力Y=1058.1562 +FPS=33.09, 法向力=1433.1864, 切向力X=101.4805, 切向力Y=1157.7170 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法向力=1412.5664, 切向力X=1163.3066, 切向力Y=866.3324 +FPS=30.55, 法向力=1809.0961, 切向力X=1702.5344, 切向力Y=544.5414 +FPS=33.63, 法向力=1891.6591, 切向力X=1857.0564, 切向力Y=427.3698 +FPS=30.79, 法向力=1129.3682, 切向力X=767.0964, 切向力Y=906.6235 +FPS=33.73, 法向力=1177.0552, 切向力X=771.2715, 切向力Y=918.5288 +FPS=31.89, 法向力=1376.2688, 切向力X=1116.2241, 切向力Y=1076.5264 +FPS=34.02, 法向力=1349.7812, 切向力X=1178.0994, 切向力Y=1081.8110 +FPS=30.90, 法向力=1540.3645, 切向力X=1593.5167, 切向力Y=1309.5889 +FPS=33.29, 法向力=1615.8962, 切向力X=1708.8740, 切向力Y=1384.0530 +FPS=33.44, 法向力=1076.3701, 切向力X=335.1610, 切向力Y=934.7253 +FPS=34.35, 法向力=1126.4980, 切向力X=148.1543, 切向力Y=887.2937 +FPS=31.73, 法向力=1171.7239, 切向力X=1562.5923, 切向力Y=1411.3712 +FPS=33.67, 法向力=1164.8342, 切向力X=1714.6663, 切向力Y=1411.2351 +FPS=33.53, 法向力=1516.2571, 切向力X=2353.5356, 切向力Y=872.4194 +FPS=33.70, 法向力=1553.7054, 切向力X=2387.7192, 切向力Y=932.5120 +FPS=32.73, 法向力=1456.5461, 切向力X=617.6627, 切向力Y=-204.3835 +FPS=33.86, 法向力=1507.9484, 切向力X=495.3296, 切向力Y=-238.7553 +FPS=31.30, 法向力=1159.5463, 切向力X=746.2858, 切向力Y=1555.5417 +FPS=35.33, 法向力=1150.0686, 切向力X=732.9027, 切向力Y=1768.2686 +FPS=31.14, 法向力=1320.1997, 切向力X=434.3880, 切向力Y=1170.5027 +FPS=34.43, 法向力=1357.6945, 切向力X=491.8716, 切向力Y=1177.3726 +FPS=12.29, 法向力=1045.0747, 切向力X=1026.1743, 切向力Y=1378.7705 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_174650.log b/examples/logs/qt_viewer_20260519_174650.log new file mode 100644 index 0000000..c621080 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_174650.log @@ -0,0 +1,1656 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.41, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.74, 法向力=1064.6818, 切向力X=-460.2403, 切向力Y=655.8373 +FPS=37.55, 法向力=1326.9574, 切向力X=-126.6107, 切向力Y=819.9719 +FPS=28.39, 法向力=1357.9213, 切向力X=-135.1868, 切向力Y=837.7831 +FPS=29.32, 法向力=1503.1248, 切向力X=-1878.2544, 切向力Y=1172.9634 +FPS=28.87, 法向力=1448.9026, 切向力X=-1748.4342, 切向力Y=1187.2297 +FPS=35.13, 法向力=2263.5259, 切向力X=-823.8319, 切向力Y=716.5292 +FPS=32.53, 法向力=1638.9951, 切向力X=-859.1016, 切向力Y=1078.6390 +FPS=36.76, 法向力=1719.4849, 切向力X=-922.1686, 切向力Y=960.2186 +FPS=33.64, 法向力=1355.8479, 切向力X=-453.1955, 切向力Y=680.5677 +FPS=36.78, 法向力=1370.2004, 切向力X=-457.3957, 切向力Y=527.4294 +FPS=33.41, 法向力=1362.6921, 切向力X=-421.8912, 切向力Y=513.8347 +FPS=35.38, 法向力=2007.4982, 切向力X=-1401.0933, 切向力Y=-435.5247 +FPS=34.24, 法向力=2048.2405, 切向力X=-1489.3091, 切向力Y=-506.1429 +FPS=25.95, 法向力=1435.5974, 切向力X=-1212.8953, 切向力Y=540.7485 +FPS=28.90, 法向力=2832.5308, 切向力X=392.1244, 切向力Y=-195.9514 +FPS=29.59, 法向力=2909.6167, 切向力X=496.2383, 切向力Y=-143.6593 +FPS=31.10, 法向力=1461.3718, 切向力X=-1248.3202, 切向力Y=854.4792 +FPS=35.43, 法向力=1436.9766, 切向力X=-1293.7911, 切向力Y=866.9861 +FPS=32.89, 法向力=1363.1581, 切向力X=-670.6580, 切向力Y=1232.8173 +FPS=35.45, 法向力=1340.6626, 切向力X=-736.6183, 切向力Y=1238.3694 +FPS=32.16, 法向力=1713.5840, 切向力X=-1689.9303, 切向力Y=556.6741 +FPS=35.04, 法向力=1739.9629, 切向力X=-1734.3062, 切向力Y=538.8545 +FPS=33.42, 法向力=1452.0573, 切向力X=-351.9725, 切向力Y=170.6559 +FPS=34.81, 法向力=1509.2397, 切向力X=-285.8431, 切向力Y=109.6400 +FPS=33.86, 法向力=1458.7095, 切向力X=-609.4690, 切向力Y=663.9632 +FPS=36.53, 法向力=1569.3481, 切向力X=-566.2063, 切向力Y=689.6980 +FPS=36.14, 法向力=1600.4291, 切向力X=-585.2892, 切向力Y=718.8779 +stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000266s, blend=0.002169s (9 tiles incl ref), finalize=0.000061s, total=0.002502s +FPS=35.87, 法向力=1433.6814, 切向力X=-1002.2411, 切向力Y=672.1617 +FPS=31.82, 法向力=1448.8743, 切向力X=399.1382, 切向力Y=-235.6329 +FPS=35.60, 法向力=1450.5624, 切向力X=429.5777, 切向力Y=-287.0817 +FPS=32.37, 法向力=1240.6384, 切向力X=-857.3041, 切向力Y=311.0209 +FPS=35.95, 法向力=1231.0853, 切向力X=-898.2181, 切向力Y=318.0671 +FPS=33.95, 法向力=1203.9935, 切向力X=-923.2743, 切向力Y=321.2319 +FPS=37.72, 法向力=1636.9969, 切向力X=-495.9440, 切向力Y=719.9449 +FPS=37.61, 法向力=1627.0468, 切向力X=-496.8716, 切向力Y=684.2385 +FPS=36.39, 法向力=1402.5857, 切向力X=-462.7929, 切向力Y=-20.5679 +FPS=36.40, 法向力=1501.9630, 切向力X=-455.9786, 切向力Y=-5.3966 +FPS=32.13, 法向力=2478.8589, 切向力X=-985.1265, 切向力Y=-153.0724 +FPS=34.34, 法向力=2514.7637, 切向力X=-1090.0223, 切向力Y=-55.1661 +FPS=27.60, 法向力=1697.0073, 切向力X=-219.0614, 切向力Y=-347.7463 +FPS=30.92, 法向力=1663.1521, 切向力X=-198.7539, 切向力Y=-322.3150 +FPS=33.79, 法向力=1655.9893, 切向力X=-1087.5881, 切向力Y=1675.2000 +FPS=33.07, 法向力=1647.9672, 切向力X=-1053.4248, 切向力Y=1647.8018 +FPS=35.24, 法向力=2206.3936, 切向力X=-860.2083, 切向力Y=237.8097 +FPS=37.17, 法向力=2242.3101, 切向力X=-875.5824, 切向力Y=362.1600 +FPS=33.77, 法向力=1740.4929, 切向力X=-912.3230, 切向力Y=363.4470 +FPS=36.38, 法向力=1754.8838, 切向力X=-966.8751, 切向力Y=394.5104 +FPS=34.64, 法向力=1373.7367, 切向力X=-1001.1646, 切向力Y=1025.6746 +FPS=37.34, 法向力=1372.4175, 切向力X=-944.7896, 切向力Y=1072.4631 +FPS=37.83, 法向力=1831.7915, 切向力X=-1469.8865, 切向力Y=1595.9097 +FPS=35.13, 法向力=1811.5858, 切向力X=-1376.6161, 切向力Y=1670.8949 +FPS=30.78, 法向力=1614.0052, 切向力X=-172.0847, 切向力Y=1424.3079 +FPS=33.85, 法向力=1655.3236, 切向力X=-117.8423, 切向力Y=1405.7570 +FPS=33.41, 法向力=2070.8550, 切向力X=-1159.5288, 切向力Y=286.1172 +FPS=35.61, 法向力=2129.8994, 切向力X=-1351.9139, 切向力Y=245.2002 +FPS=33.73, 法向力=2091.8896, 切向力X=-559.0555, 切向力Y=489.8723 +FPS=36.80, 法向力=2057.2136, 切向力X=-382.3217, 切向力Y=565.9640 +stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000353s, blend=0.002259s (9 tiles incl ref), finalize=0.000060s, total=0.002678s +FPS=34.37, 法向力=1510.1733, 切向力X=-564.1191, 切向力Y=597.6489 +FPS=35.11, 法向力=1529.0925, 切向力X=-733.4398, 切向力Y=542.0576 +FPS=27.97, 法向力=1524.2388, 切向力X=-800.9615, 切向力Y=1159.5931 +FPS=33.96, 法向力=1543.8003, 切向力X=-799.0347, 切向力Y=1213.3771 +FPS=24.96, 法向力=2009.7972, 切向力X=-408.4922, 切向力Y=-342.7956 +FPS=26.37, 法向力=1822.1294, 切向力X=-116.3901, 切向力Y=963.0035 +FPS=29.35, 法向力=1791.8817, 切向力X=-78.2393, 切向力Y=1058.1359 +FPS=32.98, 法向力=1783.9066, 切向力X=-52.8316, 切向力Y=1042.6858 +FPS=35.50, 法向力=1986.5123, 切向力X=-984.8811, 切向力Y=176.7209 +FPS=33.47, 法向力=1981.7979, 切向力X=-1088.0549, 切向力Y=277.3613 +FPS=34.25, 法向力=1727.0933, 切向力X=-1550.7264, 切向力Y=517.7266 +FPS=34.41, 法向力=1695.7104, 切向力X=-1595.6946, 切向力Y=552.1558 +FPS=35.92, 法向力=1698.7134, 切向力X=-919.7816, 切向力Y=1321.4592 +FPS=34.83, 法向力=1799.5037, 切向力X=-951.9795, 切向力Y=1422.7045 +FPS=35.02, 法向力=2193.1128, 切向力X=-997.2986, 切向力Y=669.7212 +FPS=33.72, 法向力=2207.6340, 切向力X=-1127.8625, 切向力Y=606.9158 +FPS=34.60, 法向力=1588.2197, 切向力X=-222.9024, 切向力Y=628.5171 +FPS=36.30, 法向力=1550.8843, 切向力X=-206.3145, 切向力Y=641.6782 +FPS=37.08, 法向力=1771.3544, 切向力X=613.9995, 切向力Y=1484.1458 +FPS=34.22, 法向力=1782.6698, 切向力X=533.7198, 切向力Y=1537.6191 +FPS=33.08, 法向力=1712.5435, 切向力X=-566.2414, 切向力Y=941.6818 +FPS=33.02, 法向力=1844.4662, 切向力X=-624.0888, 切向力Y=842.7521 +FPS=32.26, 法向力=1939.5068, 切向力X=-776.7308, 切向力Y=-104.3935 +FPS=35.43, 法向力=1863.1375, 切向力X=-676.0355, 切向力Y=-168.0085 +FPS=34.24, 法向力=2090.7229, 切向力X=-493.1604, 切向力Y=1035.4246 +FPS=34.06, 法向力=2130.4861, 切向力X=-468.8302, 切向力Y=1128.8649 +FPS=23.63, 法向力=1272.6531, 切向力X=-351.1815, 切向力Y=490.1481 +FPS=33.80, 法向力=1324.4086, 切向力X=-280.5574, 切向力Y=448.0146 +FPS=30.53, 法向力=2829.5146, 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法向力=2470.7090, 切向力X=1148.0128, 切向力Y=1722.2797 +FPS=35.98, 法向力=2501.9551, 切向力X=1190.7460, 切向力Y=1861.3207 +FPS=32.87, 法向力=2836.1865, 切向力X=464.5465, 切向力Y=1120.4581 +FPS=36.72, 法向力=2871.1814, 切向力X=432.2659, 切向力Y=1198.4778 +FPS=33.63, 法向力=2214.7900, 切向力X=1870.5044, 切向力Y=1844.5288 +FPS=35.51, 法向力=2305.7561, 切向力X=1896.9529, 切向力Y=1868.3809 +FPS=35.51, 法向力=2533.2817, 切向力X=1400.1492, 切向力Y=1895.2195 +FPS=39.00, 法向力=2506.8691, 切向力X=1469.0260, 切向力Y=1999.8037 +FPS=36.52, 法向力=2110.3943, 切向力X=1673.0424, 切向力Y=2348.0776 +FPS=35.91, 法向力=2113.6807, 切向力X=1716.9883, 切向力Y=2421.9739 +FPS=37.94, 法向力=2123.3643, 切向力X=1686.8855, 切向力Y=2458.7573 +FPS=34.39, 法向力=2527.0894, 切向力X=1280.6553, 切向力Y=1450.9385 +FPS=36.36, 法向力=2593.9521, 切向力X=1326.0989, 切向力Y=1442.0934 +FPS=35.32, 法向力=2157.2722, 切向力X=600.8450, 切向力Y=1842.7456 +FPS=38.29, 法向力=2107.4316, 切向力X=605.2408, 切向力Y=1874.2886 +FPS=35.62, 法向力=2164.4424, 切向力X=1564.3958, 切向力Y=1590.3240 +FPS=39.35, 法向力=2249.3374, 切向力X=1663.2400, 切向力Y=1646.5096 +FPS=34.60, 法向力=2232.0361, 切向力X=2129.8508, 切向力Y=1389.1335 +FPS=36.06, 法向力=2253.0164, 切向力X=2105.4734, 切向力Y=1302.9319 +FPS=34.11, 法向力=1743.4692, 切向力X=1112.5647, 切向力Y=1389.0127 +FPS=36.80, 法向力=1665.4807, 切向力X=1121.6824, 切向力Y=1492.0066 +stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000312s, blend=0.003101s (9 tiles incl ref), finalize=0.000067s, total=0.003486s +FPS=34.45, 法向力=1712.8564, 切向力X=1126.0496, 切向力Y=1456.3813 +FPS=35.41, 法向力=2485.6475, 切向力X=617.1111, 切向力Y=2459.8120 +FPS=36.47, 法向力=2224.0691, 切向力X=943.3558, 切向力Y=2349.4790 +FPS=36.63, 法向力=2171.1235, 切向力X=946.5756, 切向力Y=2298.9495 +FPS=35.82, 法向力=2161.5002, 切向力X=957.5762, 切向力Y=2286.3064 +FPS=38.36, 法向力=2661.3831, 切向力X=789.1040, 切向力Y=2720.6763 +FPS=38.78, 法向力=2690.7734, 切向力X=773.2932, 切向力Y=2586.5767 +FPS=35.06, 法向力=2850.4746, 切向力X=699.5970, 切向力Y=2421.9517 +FPS=38.12, 法向力=2878.6443, 切向力X=658.6846, 切向力Y=2494.9495 +FPS=32.88, 法向力=2062.5098, 切向力X=1222.5841, 切向力Y=2052.6838 +FPS=37.55, 法向力=2077.3396, 切向力X=1228.6763, 切向力Y=1990.6980 +FPS=34.21, 法向力=2190.3191, 切向力X=1622.9847, 切向力Y=2052.2275 +FPS=37.51, 法向力=2086.7046, 切向力X=1586.0464, 切向力Y=2111.7793 +FPS=34.31, 法向力=1977.2781, 切向力X=1610.8210, 切向力Y=2255.2881 +FPS=37.15, 法向力=2058.1367, 切向力X=1680.7054, 切向力Y=2265.3296 +FPS=34.39, 法向力=2102.2795, 切向力X=1660.4944, 切向力Y=2267.6370 +FPS=34.53, 法向力=1900.6201, 切向力X=794.9641, 切向力Y=2253.5247 +FPS=35.02, 法向力=1913.1656, 切向力X=931.5372, 切向力Y=2155.9839 +FPS=33.74, 法向力=2224.4917, 切向力X=1463.8450, 切向力Y=1975.2922 +FPS=33.48, 法向力=2199.6345, 切向力X=707.4701, 切向力Y=1806.4148 +FPS=34.45, 法向力=2286.5137, 切向力X=816.9319, 切向力Y=1794.4517 +FPS=32.08, 法向力=2286.7725, 切向力X=797.3920, 切向力Y=1823.2729 +FPS=34.57, 法向力=2131.9058, 切向力X=1494.5074, 切向力Y=2087.6514 +FPS=31.73, 法向力=2126.8286, 切向力X=1538.9907, 切向力Y=2040.1428 +FPS=33.49, 法向力=1963.0546, 切向力X=1164.1056, 切向力Y=1888.3514 +FPS=36.67, 法向力=1908.2471, 切向力X=1146.3054, 切向力Y=1922.6016 +FPS=35.23, 法向力=2339.7275, 切向力X=1149.7535, 切向力Y=1922.7417 +FPS=34.28, 法向力=2331.1353, 切向力X=1070.1360, 切向力Y=1937.2843 +FPS=36.23, 法向力=2305.9954, 切向力X=798.4489, 切向力Y=1232.9460 +FPS=34.15, 法向力=2322.5828, 切向力X=772.7766, 切向力Y=1156.3387 +stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000268s, blend=0.002158s (9 tiles incl ref), finalize=0.000057s, total=0.002489s +FPS=34.60, 法向力=1986.4095, 切向力X=1336.9766, 切向力Y=2457.0234 +FPS=36.02, 法向力=2052.6267, 切向力X=1260.8658, 切向力Y=2572.6121 +FPS=34.41, 法向力=2225.5374, 切向力X=180.3794, 切向力Y=1886.1443 +FPS=33.22, 法向力=2171.8389, 切向力X=227.7674, 切向力Y=1982.1479 +FPS=34.12, 法向力=2103.9543, 切向力X=1965.4489, 切向力Y=2367.5432 +FPS=35.34, 法向力=2176.8489, 切向力X=2092.2705, 切向力Y=2371.2832 +FPS=13.60, 法向力=2349.4834, 切向力X=1628.1866, 切向力Y=1837.4990 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_174835.log b/examples/logs/qt_viewer_20260519_174835.log new file mode 100644 index 0000000..7ff43fe --- /dev/null +++ b/examples/logs/qt_viewer_20260519_174835.log @@ -0,0 +1,149 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.44, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.30, 法向力=1553.4844, 切向力X=778.4671, 切向力Y=243.8213 +FPS=39.85, 法向力=1586.0077, 切向力X=1219.7766, 切向力Y=-574.7068 +FPS=28.72, 法向力=1444.1792, 切向力X=804.9070, 切向力Y=-458.4911 +FPS=34.07, 法向力=1541.4001, 切向力X=816.0193, 切向力Y=-362.6694 +FPS=34.59, 法向力=1567.4758, 切向力X=845.6058, 切向力Y=-333.7025 +FPS=33.51, 法向力=1190.6047, 切向力X=669.8605, 切向力Y=496.2755 +FPS=34.18, 法向力=1221.6936, 切向力X=729.6058, 切向力Y=369.4625 +FPS=32.28, 法向力=1287.6824, 切向力X=641.9586, 切向力Y=210.1159 +FPS=23.41, 法向力=1329.5857, 切向力X=623.8506, 切向力Y=169.7847 +FPS=32.35, 法向力=1266.8071, 切向力X=1173.7788, 切向力Y=393.9116 +FPS=33.08, 法向力=1357.7219, 切向力X=899.5668, 切向力Y=530.4921 +FPS=31.90, 法向力=1395.6399, 切向力X=846.0165, 切向力Y=559.1943 +FPS=30.46, 法向力=1069.4257, 切向力X=1110.4761, 切向力Y=-14.8541 +FPS=34.37, 法向力=1096.6434, 切向力X=1210.7695, 切向力Y=34.6236 +FPS=33.85, 法向力=1313.7656, 切向力X=704.6794, 切向力Y=-608.6395 +FPS=36.46, 法向力=1334.3362, 切向力X=755.0973, 切向力Y=-742.6439 +FPS=33.88, 法向力=1135.2080, 切向力X=790.8312, 切向力Y=442.6136 +FPS=32.27, 法向力=1206.3044, 切向力X=780.7396, 切向力Y=510.5622 +FPS=26.10, 法向力=2276.2900, 切向力X=734.7359, 切向力Y=92.0870 +FPS=30.82, 法向力=2368.6689, 切向力X=701.7660, 切向力Y=55.7302 +FPS=33.17, 法向力=1981.6831, 切向力X=130.1023, 切向力Y=-23.5266 +FPS=37.58, 法向力=2017.2805, 切向力X=125.5585, 切向力Y=117.0572 +FPS=34.78, 法向力=990.9699, 切向力X=580.8876, 切向力Y=309.5142 +FPS=37.44, 法向力=971.5327, 切向力X=587.1619, 切向力Y=285.7652 +FPS=34.37, 法向力=1267.5435, 切向力X=1391.4800, 切向力Y=61.1596 +FPS=34.95, 法向力=1269.5747, 切向力X=1398.5161, 切向力Y=71.6493 +FPS=32.17, 法向力=1226.7123, 切向力X=683.8505, 切向力Y=607.6304 +stitch_feature_optimized: canvas out_w=537, out_h=421, x_min=-134.92, y_min=-83.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000291s, blend=0.002239s (9 tiles incl ref), finalize=0.000063s, total=0.002600s +FPS=32.74, 法向力=1239.8794, 切向力X=676.1448, 切向力Y=496.3594 +FPS=30.24, 法向力=1166.9045, 切向力X=928.7005, 切向力Y=84.2894 +FPS=31.42, 法向力=1174.6359, 切向力X=904.5541, 切向力Y=-29.8206 +FPS=31.12, 法向力=1318.9535, 切向力X=1520.7551, 切向力Y=550.9310 +FPS=25.29, 法向力=1323.2091, 切向力X=1568.0437, 切向力Y=616.2648 +FPS=29.06, 法向力=1631.6165, 切向力X=919.4789, 切向力Y=137.0045 +FPS=31.44, 法向力=1309.1622, 切向力X=374.6153, 切向力Y=218.4873 +FPS=36.19, 法向力=1348.6880, 切向力X=316.1833, 切向力Y=273.8371 +FPS=34.13, 法向力=1288.3982, 切向力X=1491.9233, 切向力Y=551.4290 +FPS=36.81, 法向力=1286.9204, 切向力X=1554.2732, 切向力Y=612.1915 +FPS=35.19, 法向力=1277.4840, 切向力X=1503.2645, 切向力Y=579.1219 +FPS=38.17, 法向力=1230.8240, 切向力X=759.4958, 切向力Y=429.6404 +FPS=36.91, 法向力=1320.7991, 切向力X=759.9902, 切向力Y=500.5242 +FPS=34.20, 法向力=1530.4788, 切向力X=862.2349, 切向力Y=181.3615 +FPS=33.31, 法向力=1534.8081, 切向力X=871.2774, 切向力Y=219.6161 +FPS=37.04, 法向力=1253.2832, 切向力X=1665.1195, 切向力Y=534.3516 +FPS=34.22, 法向力=1257.7596, 切向力X=1625.4210, 切向力Y=497.4406 +FPS=31.95, 法向力=1284.1470, 切向力X=1164.3344, 切向力Y=-208.2329 +FPS=35.02, 法向力=1334.9814, 切向力X=1211.0715, 切向力Y=-221.4664 +FPS=35.81, 法向力=1385.3738, 切向力X=1345.3448, 切向力Y=239.8806 +FPS=36.47, 法向力=1448.3046, 切向力X=1395.7831, 切向力Y=346.5014 +FPS=32.73, 法向力=1098.3687, 切向力X=838.5288, 切向力Y=284.2957 +FPS=36.63, 法向力=1105.4257, 切向力X=838.2504, 切向力Y=323.8832 +FPS=33.82, 法向力=1573.9031, 切向力X=933.7557, 切向力Y=-188.4971 +FPS=34.96, 法向力=1654.7480, 切向力X=923.2076, 切向力Y=-230.1058 +FPS=26.26, 法向力=1087.2914, 切向力X=844.6092, 切向力Y=602.4003 +FPS=31.21, 法向力=1158.5703, 切向力X=877.1733, 切向力Y=736.2723 +FPS=32.07, 法向力=2135.2803, 切向力X=596.7746, 切向力Y=392.4614 +FPS=37.02, 法向力=2142.3362, 切向力X=526.0297, 切向力Y=383.7865 +FPS=31.82, 法向力=1101.3513, 切向力X=1145.9094, 切向力Y=-386.7906 +stitch_feature_optimized: canvas out_w=537, out_h=421, x_min=-134.92, y_min=-83.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000293s, blend=0.002300s (9 tiles incl ref), finalize=0.000061s, total=0.002660s +FPS=35.07, 法向力=1131.8003, 切向力X=1284.7957, 切向力Y=-353.1853 +FPS=32.39, 法向力=1199.3186, 切向力X=685.6555, 切向力Y=902.6085 +FPS=32.78, 法向力=1270.9934, 切向力X=659.0693, 切向力Y=989.9419 +FPS=34.28, 法向力=1600.2068, 切向力X=1936.8845, 切向力Y=1087.3633 +FPS=29.21, 法向力=1619.3225, 切向力X=1940.7217, 切向力Y=1096.9199 +FPS=31.41, 法向力=1471.5681, 切向力X=1216.4407, 切向力Y=-451.3569 +FPS=34.86, 法向力=1504.8033, 切向力X=1152.3538, 切向力Y=-397.4368 +FPS=30.79, 法向力=1284.5614, 切向力X=996.2993, 切向力Y=457.7839 +FPS=30.88, 法向力=1356.7941, 切向力X=929.7095, 切向力Y=482.7983 +FPS=34.67, 法向力=1287.1810, 切向力X=592.2425, 切向力Y=734.4209 +FPS=35.37, 法向力=1327.0466, 切向力X=529.6589, 切向力Y=880.3290 +FPS=36.36, 法向力=1003.4105, 切向力X=874.9649, 切向力Y=-435.6747 +FPS=35.41, 法向力=974.5077, 切向力X=908.5806, 切向力Y=-521.3766 +FPS=32.16, 法向力=2163.2073, 切向力X=1685.1912, 切向力Y=-532.6265 +FPS=36.83, 法向力=2168.8313, 切向力X=1634.3882, 切向力Y=-691.8359 +FPS=31.49, 法向力=998.0739, 切向力X=1764.0936, 切向力Y=217.7351 +FPS=25.77, 法向力=1056.7565, 切向力X=900.9575, 切向力Y=403.3984 +FPS=32.42, 法向力=1077.3635, 切向力X=857.3551, 切向力Y=409.3459 +FPS=32.63, 法向力=1373.2360, 切向力X=-54.6594, 切向力Y=399.6625 +FPS=32.16, 法向力=1457.2222, 切向力X=-150.7419, 切向力Y=418.2296 +FPS=34.68, 法向力=1483.3969, 切向力X=-204.9206, 切向力Y=411.4116 +FPS=33.83, 法向力=2156.1299, 切向力X=1142.9128, 切向力Y=1266.6875 +FPS=35.03, 法向力=2207.4153, 切向力X=1319.5021, 切向力Y=1244.2737 +FPS=35.19, 法向力=2470.2173, 切向力X=1814.9116, 切向力Y=129.2844 +FPS=35.29, 法向力=970.2463, 切向力X=899.6349, 切向力Y=137.0150 +FPS=36.81, 法向力=1017.2609, 切向力X=963.2445, 切向力Y=19.0599 +FPS=37.16, 法向力=1008.8242, 切向力X=958.3030, 切向力Y=-26.4393 +FPS=33.28, 法向力=1684.8689, 切向力X=1563.7034, 切向力Y=835.5765 +FPS=35.36, 法向力=1754.5129, 切向力X=1611.1554, 切向力Y=808.8445 +FPS=31.12, 法向力=1714.9414, 切向力X=674.5903, 切向力Y=234.8242 +stitch_feature_optimized: canvas out_w=537, out_h=421, x_min=-134.92, y_min=-83.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000307s, blend=0.002234s (9 tiles incl ref), finalize=0.000063s, total=0.002610s +FPS=34.95, 法向力=1648.6753, 切向力X=591.2619, 切向力Y=74.7602 +FPS=31.34, 法向力=1375.0735, 切向力X=1216.9812, 切向力Y=139.1028 +FPS=32.90, 法向力=1352.6257, 切向力X=1227.5369, 切向力Y=155.6141 +FPS=33.36, 法向力=1312.9801, 切向力X=987.6361, 切向力Y=233.1478 +FPS=35.09, 法向力=1383.5422, 切向力X=966.1501, 切向力Y=241.4324 +FPS=33.56, 法向力=1251.0322, 切向力X=1326.4438, 切向力Y=146.1793 +FPS=34.07, 法向力=1233.1370, 切向力X=1312.4438, 切向力Y=176.1342 +FPS=30.05, 法向力=1641.5774, 切向力X=658.7524, 切向力Y=-306.5074 +FPS=29.33, 法向力=1668.1926, 切向力X=655.7203, 切向力Y=-337.7949 +FPS=28.22, 法向力=1469.0836, 切向力X=1525.1156, 切向力Y=369.4210 +FPS=32.17, 法向力=1333.0009, 切向力X=787.1840, 切向力Y=789.8618 +FPS=32.91, 法向力=1307.8838, 切向力X=724.2585, 切向力Y=790.0842 +FPS=31.60, 法向力=1306.0770, 切向力X=718.6078, 切向力Y=777.4785 +FPS=31.36, 法向力=1680.6450, 切向力X=1115.4795, 切向力Y=316.8968 +FPS=33.11, 法向力=1714.4340, 切向力X=1187.8152, 切向力Y=271.1617 +FPS=33.95, 法向力=1345.5619, 切向力X=1375.4385, 切向力Y=1031.8330 +FPS=30.91, 法向力=1321.9420, 切向力X=1291.6909, 切向力Y=1079.3958 +FPS=33.94, 法向力=1370.1022, 切向力X=1795.9941, 切向力Y=87.8723 +FPS=29.81, 法向力=1059.0342, 切向力X=1856.2269, 切向力Y=585.3347 +FPS=32.23, 法向力=1093.8726, 切向力X=1782.6089, 切向力Y=587.7953 +FPS=31.44, 法向力=1399.6184, 切向力X=1643.0439, 切向力Y=19.0878 +FPS=33.29, 法向力=1451.9731, 切向力X=1583.7164, 切向力Y=72.5880 +FPS=31.86, 法向力=1443.2344, 切向力X=1744.0691, 切向力Y=486.3087 +FPS=35.40, 法向力=1536.7083, 切向力X=1731.7871, 切向力Y=594.0615 +FPS=30.66, 法向力=1457.5151, 切向力X=1160.8910, 切向力Y=1152.4327 +FPS=31.57, 法向力=1415.2252, 切向力X=1166.1566, 切向力Y=1129.0161 +FPS=31.69, 法向力=1253.9108, 切向力X=1473.9558, 切向力Y=747.3390 +FPS=31.48, 法向力=1270.8114, 切向力X=1391.4559, 切向力Y=800.4727 +FPS=32.01, 法向力=1920.3528, 切向力X=1772.6221, 切向力Y=399.9568 +FPS=25.24, 法向力=2036.3656, 切向力X=1963.5005, 切向力Y=500.3910 +stitch_feature_optimized: canvas out_w=537, out_h=421, x_min=-134.92, y_min=-83.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000487s, blend=0.002405s (9 tiles incl ref), finalize=0.000072s, total=0.002970s +FPS=25.62, 法向力=1326.6394, 切向力X=121.9147, 切向力Y=91.3900 +FPS=31.72, 法向力=1590.6750, 切向力X=851.7645, 切向力Y=-20.6133 +FPS=30.47, 法向力=1664.6323, 切向力X=919.5477, 切向力Y=22.9425 +FPS=21.70, 法向力=1775.4702, 切向力X=857.4924, 切向力Y=634.4930 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_175046.log b/examples/logs/qt_viewer_20260519_175046.log new file mode 100644 index 0000000..abf85a1 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_175046.log @@ -0,0 +1,1331 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.45, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.86, 法向力=1423.0957, 切向力X=6.3908, 切向力Y=1157.8873 +FPS=40.84, 法向力=1458.3264, 切向力X=-42.0386, 切向力Y=1195.4766 +FPS=28.16, 法向力=2124.7478, 切向力X=-563.2399, 切向力Y=737.1277 +FPS=30.00, 法向力=2138.2725, 切向力X=-516.3807, 切向力Y=644.6389 +FPS=32.05, 法向力=1786.5255, 切向力X=-652.4621, 切向力Y=386.9850 +FPS=31.16, 法向力=2435.3589, 切向力X=203.2185, 切向力Y=1235.0781 +FPS=31.75, 法向力=2512.8921, 切向力X=249.0276, 切向力Y=1379.0918 +FPS=29.07, 法向力=1544.2802, 切向力X=-1190.1948, 切向力Y=1505.1697 +FPS=32.71, 法向力=1603.8423, 切向力X=-1192.2400, 切向力Y=1486.8765 +FPS=30.39, 法向力=2619.1760, 切向力X=206.3835, 切向力Y=1503.3667 +FPS=33.82, 法向力=2741.0200, 切向力X=271.5255, 切向力Y=1610.7301 +FPS=29.70, 法向力=2377.7461, 切向力X=-1579.9299, 切向力Y=1155.1272 +FPS=30.92, 法向力=1380.4121, 切向力X=-436.0201, 切向力Y=1246.4384 +FPS=34.81, 法向力=1383.4873, 切向力X=-353.3865, 切向力Y=1438.8234 +FPS=32.22, 法向力=1389.0153, 切向力X=-338.1805, 切向力Y=1417.0781 +FPS=32.38, 法向力=2747.5923, 切向力X=-1609.8828, 切向力Y=1565.0023 +FPS=31.28, 法向力=2824.7280, 切向力X=-1672.0383, 切向力Y=1593.0803 +FPS=32.08, 法向力=2576.1724, 切向力X=-59.9177, 切向力Y=1266.6323 +FPS=35.15, 法向力=2598.9971, 切向力X=47.3354, 切向力Y=1496.4796 +FPS=33.40, 法向力=1771.9402, 切向力X=-1242.1084, 切向力Y=1009.6544 +FPS=32.44, 法向力=1762.8108, 切向力X=-1243.0557, 切向力Y=1004.8439 +FPS=33.19, 法向力=2696.5276, 切向力X=-860.5116, 切向力Y=1071.3131 +FPS=32.93, 法向力=3046.9348, 切向力X=370.3509, 切向力Y=2019.9712 +FPS=31.17, 法向力=3095.5349, 切向力X=431.2523, 切向力Y=2109.7700 +FPS=29.63, 法向力=3064.9648, 切向力X=511.8889, 切向力Y=2094.9153 +FPS=32.64, 法向力=1949.9912, 切向力X=382.6841, 切向力Y=1359.9050 +FPS=32.40, 法向力=1920.1855, 切向力X=189.6004, 切向力Y=1426.3732 +stitch_feature_optimized: canvas out_w=469, out_h=417, x_min=-140.88, y_min=-84.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000231s, blend=0.002136s (9 tiles incl ref), finalize=0.000044s, total=0.002417s +FPS=32.42, 法向力=2468.5110, 切向力X=838.5531, 切向力Y=746.0768 +FPS=27.69, 法向力=2034.4460, 切向力X=-1264.3550, 切向力Y=1908.8467 +FPS=34.13, 法向力=1952.6440, 切向力X=-1349.3916, 切向力Y=1928.4882 +FPS=31.86, 法向力=1634.2201, 切向力X=-1332.7334, 切向力Y=1082.6971 +FPS=34.80, 法向力=1646.8882, 切向力X=-1215.1736, 切向力Y=970.8140 +FPS=32.22, 法向力=1808.3201, 切向力X=-176.3591, 切向力Y=678.5786 +FPS=35.53, 法向力=1815.5176, 切向力X=-160.7257, 切向力Y=653.7424 +FPS=30.86, 法向力=2418.9719, 切向力X=1277.0446, 切向力Y=992.7302 +FPS=33.13, 法向力=2391.7036, 切向力X=1331.0348, 切向力Y=972.2808 +FPS=31.38, 法向力=2769.6238, 切向力X=-1067.2201, 切向力Y=904.3395 +FPS=28.29, 法向力=2796.3682, 切向力X=-1123.6942, 切向力Y=924.1298 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blend=0.002242s (9 tiles incl ref), finalize=0.000047s, total=0.002521s +FPS=33.77, 法向力=9544.2012, 切向力X=51820.8164, 切向力Y=-46131.2539 +FPS=31.28, 法向力=9525.9219, 切向力X=51812.1055, 切向力Y=-46090.1953 +FPS=33.39, 法向力=11349.9229, 切向力X=55113.8633, 切向力Y=-48685.4141 +FPS=30.37, 法向力=11400.4902, 切向力X=55124.0859, 切向力Y=-48859.7891 +FPS=31.47, 法向力=10545.8486, 切向力X=56782.8359, 切向力Y=-48230.4141 +FPS=31.61, 法向力=10465.0479, 切向力X=56869.9219, 切向力Y=-48224.5820 +FPS=32.71, 法向力=9821.7275, 切向力X=53144.5352, 切向力Y=-45972.3398 +FPS=29.71, 法向力=9224.3809, 切向力X=51751.2812, 切向力Y=-45041.0938 +FPS=33.94, 法向力=9273.1816, 切向力X=51627.5234, 切向力Y=-45019.6250 +FPS=32.56, 法向力=10118.6455, 切向力X=52783.1602, 切向力Y=-42901.2383 +FPS=33.41, 法向力=10132.9668, 切向力X=52872.7656, 切向力Y=-42725.2773 +FPS=29.92, 法向力=9657.0273, 切向力X=53563.7344, 切向力Y=-42708.6719 +FPS=33.54, 法向力=9647.6475, 切向力X=53572.4492, 切向力Y=-42641.1953 +FPS=30.66, 法向力=9309.0508, 切向力X=50549.4805, 切向力Y=-38516.3398 +FPS=32.79, 法向力=9282.1260, 切向力X=50483.4336, 切向力Y=-38259.1289 +FPS=31.32, 法向力=5472.5742, 切向力X=24058.5332, 切向力Y=-18889.0898 +FPS=33.83, 法向力=5433.1890, 切向力X=24130.5547, 切向力Y=-18870.9746 +FPS=31.34, 法向力=2058.8643, 切向力X=8260.9570, 切向力Y=-7655.8862 +FPS=33.61, 法向力=2055.0066, 切向力X=8177.3545, 切向力Y=-7601.6094 +FPS=32.80, 法向力=2382.8408, 切向力X=6323.1587, 切向力Y=-5316.5264 +FPS=33.69, 法向力=2333.9600, 切向力X=6273.2104, 切向力Y=-5387.2007 +FPS=30.61, 法向力=1677.3181, 切向力X=5148.3018, 切向力Y=-4709.8940 +FPS=32.12, 法向力=1687.4268, 切向力X=5164.9189, 切向力Y=-4673.3945 +FPS=33.99, 法向力=1647.4603, 切向力X=4292.0894, 切向力Y=-3786.8301 +FPS=33.64, 法向力=1610.7566, 切向力X=4262.5098, 切向力Y=-3865.5837 +FPS=31.43, 法向力=1508.5565, 切向力X=4638.6255, 切向力Y=-3252.9170 +FPS=33.49, 法向力=1565.9507, 切向力X=4621.9355, 切向力Y=-3188.5835 +FPS=30.81, 法向力=1747.3534, 切向力X=4289.1426, 切向力Y=-3080.3645 +FPS=33.56, 法向力=1793.2202, 切向力X=4309.4209, 切向力Y=-3051.2578 +FPS=32.06, 法向力=1443.2651, 切向力X=2579.9519, 切向力Y=-3192.2490 +stitch_feature_optimized: canvas out_w=469, out_h=417, x_min=-140.88, y_min=-84.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000231s, blend=0.002146s (9 tiles incl ref), finalize=0.000045s, total=0.002428s +FPS=30.92, 法向力=1436.5791, 切向力X=2547.8071, 切向力Y=-3283.6445 +FPS=31.86, 法向力=1476.7051, 切向力X=3240.0801, 切向力Y=-3101.1035 +FPS=32.24, 法向力=1507.8308, 切向力X=3251.5603, 切向力Y=-2994.0442 +FPS=34.41, 法向力=1769.6077, 切向力X=3312.4705, 切向力Y=-3077.1045 +FPS=32.29, 法向力=1788.3621, 切向力X=3415.9785, 切向力Y=-3058.0815 +FPS=34.96, 法向力=1745.0640, 切向力X=1898.7628, 切向力Y=-2045.6724 +FPS=33.95, 法向力=1814.4227, 切向力X=1891.6437, 切向力Y=-2044.9578 +FPS=31.23, 法向力=1359.3452, 切向力X=2412.3877, 切向力Y=-2872.2793 +FPS=28.93, 法向力=1676.6327, 切向力X=1862.9253, 切向力Y=-2525.7295 +FPS=32.90, 法向力=1632.4725, 切向力X=1787.0405, 切向力Y=-2478.6201 +FPS=30.02, 法向力=1817.9757, 切向力X=2649.5896, 切向力Y=-2107.8911 +FPS=34.33, 法向力=1817.7085, 切向力X=2557.5820, 切向力Y=-2207.8760 +FPS=31.49, 法向力=2056.1636, 切向力X=2391.1504, 切向力Y=-2389.2876 +FPS=33.98, 法向力=2001.2791, 切向力X=2286.3098, 切向力Y=-2441.1990 +FPS=30.69, 法向力=1505.3267, 切向力X=1797.2194, 切向力Y=-2539.6262 +FPS=33.79, 法向力=1458.9304, 切向力X=1784.8162, 切向力Y=-2536.2998 +FPS=32.72, 法向力=1432.1990, 切向力X=2120.8096, 切向力Y=-1916.4758 +FPS=34.14, 法向力=1463.6831, 切向力X=2117.6565, 切向力Y=-1796.8762 +FPS=31.73, 法向力=1516.9282, 切向力X=2739.8682, 切向力Y=-2260.6406 +FPS=33.73, 法向力=1541.6329, 切向力X=2796.3403, 切向力Y=-2283.1575 +FPS=31.94, 法向力=1914.4246, 切向力X=1366.5125, 切向力Y=-894.5088 +FPS=33.34, 法向力=1884.3196, 切向力X=1321.5908, 切向力Y=-824.5916 +FPS=31.03, 法向力=1782.0444, 切向力X=1928.7520, 切向力Y=-1278.7224 +FPS=34.12, 法向力=1703.1445, 切向力X=1961.1528, 切向力Y=-1382.3167 +FPS=32.21, 法向力=1172.5178, 切向力X=1181.0504, 切向力Y=-2442.6914 +FPS=32.29, 法向力=1148.2908, 切向力X=1210.2822, 切向力Y=-2453.2078 +FPS=29.06, 法向力=1252.6084, 切向力X=1878.8831, 切向力Y=-1958.9255 +FPS=31.23, 法向力=1256.2158, 切向力X=1986.5168, 切向力Y=-1917.8965 +FPS=28.87, 法向力=1918.2122, 切向力X=1500.7103, 切向力Y=-939.3795 +FPS=29.24, 法向力=1882.2738, 切向力X=1581.7368, 切向力Y=-999.0443 +stitch_feature_optimized: canvas out_w=469, out_h=417, x_min=-140.88, y_min=-84.68 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000235s, blend=0.002190s (9 tiles incl ref), finalize=0.000048s, total=0.002480s +FPS=29.97, 法向力=1508.6165, 切向力X=1611.8170, 切向力Y=-939.3046 +FPS=28.05, 法向力=1437.5455, 切向力X=2305.9529, 切向力Y=-1129.5861 +FPS=31.71, 法向力=1463.8473, 切向力X=2287.5576, 切向力Y=-1259.8013 +FPS=31.47, 法向力=1589.5667, 切向力X=2235.4194, 切向力Y=-1459.2545 +FPS=34.57, 法向力=1551.3104, 切向力X=2271.4292, 切向力Y=-1502.4916 +FPS=30.98, 法向力=1599.6438, 切向力X=2029.7661, 切向力Y=-1347.8912 +FPS=33.62, 法向力=1622.3236, 切向力X=1991.5291, 切向力Y=-1415.0657 +FPS=30.79, 法向力=1466.6246, 切向力X=2136.7627, 切向力Y=-2271.0210 +FPS=33.43, 法向力=1485.5032, 切向力X=2152.1963, 切向力Y=-2304.0083 +FPS=32.18, 法向力=1518.1296, 切向力X=1525.1726, 切向力Y=-760.1957 +FPS=32.25, 法向力=1508.4480, 切向力X=1490.8689, 切向力Y=-772.2213 +FPS=33.86, 法向力=1634.3689, 切向力X=2113.2256, 切向力Y=-1728.9385 +FPS=32.97, 法向力=1583.0045, 切向力X=2006.7771, 切向力Y=-1793.8247 +FPS=31.63, 法向力=1680.0217, 切向力X=1947.3372, 切向力Y=-1338.0776 +FPS=32.83, 法向力=1642.1110, 切向力X=2058.1716, 切向力Y=-1463.9878 +FPS=31.56, 法向力=1408.2227, 切向力X=1947.8191, 切向力Y=-1775.0999 +FPS=32.44, 法向力=1461.5864, 切向力X=1916.6016, 切向力Y=-1663.3821 +FPS=33.18, 法向力=1519.4348, 切向力X=1822.9734, 切向力Y=-426.3909 +FPS=29.95, 法向力=1510.3933, 切向力X=1878.3413, 切向力Y=-410.3785 +FPS=30.56, 法向力=1414.9414, 切向力X=1383.3174, 切向力Y=-977.2845 +FPS=32.17, 法向力=1445.4465, 切向力X=1403.2654, 切向力Y=-1004.9662 +FPS=19.15, 法向力=1708.8452, 切向力X=1239.3597, 切向力Y=-496.5798 +FPS=31.79, 法向力=1371.1326, 切向力X=1521.2014, 切向力Y=-678.2339 +FPS=32.24, 法向力=1331.5911, 切向力X=1466.0697, 切向力Y=-793.0549 +FPS=32.61, 法向力=1729.4352, 切向力X=2180.0381, 切向力Y=-1207.9565 +FPS=31.78, 法向力=1748.4702, 切向力X=2135.5874, 切向力Y=-1134.7363 +FPS=32.56, 法向力=1702.2034, 切向力X=1623.3929, 切向力Y=-1042.5958 +FPS=33.16, 法向力=1712.2231, 切向力X=1524.9792, 切向力Y=-1005.1501 +FPS=34.21, 法向力=1432.2261, 切向力X=2458.3438, 切向力Y=-1410.6722 +FPS=34.94, 法向力=1353.9050, 切向力X=2502.7131, 切向力Y=-1554.6609 +stitch_feature_optimized: canvas out_w=469, out_h=417, x_min=-140.88, y_min=-84.68 +stitch_feature_optimized steps: brightness=0.000002s, geom=0.000003s (hit), reset=0.000230s, blend=0.002110s (9 tiles incl ref), finalize=0.000045s, total=0.002390s +FPS=32.11, 法向力=2132.8364, 切向力X=1466.0793, 切向力Y=-558.6083 +FPS=21.74, 法向力=1562.0688, 切向力X=1346.9208, 切向力Y=-943.9075 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_175150.log b/examples/logs/qt_viewer_20260519_175150.log new file mode 100644 index 0000000..eb79fd4 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_175150.log @@ -0,0 +1,1431 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.87, 法向力=2037.7930, 切向力X=-63.0714, 切向力Y=-106.9332 +FPS=24.78, 法向力=2055.7812, 切向力X=-45.9702, 切向力Y=-162.3199 +FPS=16.57, 法向力=2492.2327, 切向力X=316.8326, 切向力Y=1263.1367 +FPS=17.73, 法向力=1818.3988, 切向力X=543.5250, 切向力Y=-416.0396 +FPS=19.05, 法向力=1838.4407, 切向力X=573.3474, 切向力Y=-430.9694 +FPS=18.65, 法向力=1850.1792, 切向力X=603.1917, 切向力Y=-394.4232 +FPS=19.78, 法向力=2299.9036, 切向力X=1027.1456, 切向力Y=-596.6781 +FPS=19.34, 法向力=2625.2739, 切向力X=471.1467, 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切向力X=1840.8940, 切向力Y=-1337.9049 +FPS=31.69, 法向力=1755.1316, 切向力X=1665.0571, 切向力Y=-1370.5547 +FPS=30.34, 法向力=2553.2356, 切向力X=2056.0151, 切向力Y=-766.1014 +FPS=31.27, 法向力=2650.9482, 切向力X=2150.5083, 切向力Y=-671.1427 +FPS=30.45, 法向力=2252.4807, 切向力X=1586.1327, 切向力Y=-1207.7336 +FPS=28.92, 法向力=2291.5847, 切向力X=2704.1855, 切向力Y=-1513.7611 +FPS=32.09, 法向力=2390.2915, 切向力X=2803.2769, 切向力Y=-1525.6062 +FPS=29.60, 法向力=2063.4731, 切向力X=2181.0042, 切向力Y=-750.5791 +FPS=31.28, 法向力=2025.3878, 切向力X=2029.6326, 切向力Y=-691.3057 +FPS=28.47, 法向力=1957.5353, 切向力X=1377.6250, 切向力Y=-762.6003 +FPS=32.21, 法向力=1934.4703, 切向力X=1415.7605, 切向力Y=-778.9542 +FPS=30.13, 法向力=2371.3179, 切向力X=1539.1169, 切向力Y=-531.4825 +FPS=30.37, 法向力=2332.8687, 切向力X=1546.3665, 切向力Y=-706.4688 +FPS=31.82, 法向力=2695.7466, 切向力X=2234.3479, 切向力Y=-81.3013 +FPS=28.91, 法向力=2827.6982, 切向力X=2506.9817, 切向力Y=-100.4968 +FPS=30.60, 法向力=1817.9495, 切向力X=2197.8999, 切向力Y=-800.3264 +FPS=30.06, 法向力=1757.9116, 切向力X=2040.0851, 切向力Y=-821.9745 +FPS=31.33, 法向力=2262.6562, 切向力X=2198.1985, 切向力Y=-1581.2852 +FPS=30.04, 法向力=2464.7705, 切向力X=1988.2234, 切向力Y=-1503.6750 +FPS=30.45, 法向力=2473.8613, 切向力X=2400.9204, 切向力Y=-847.2939 +FPS=29.89, 法向力=2408.4707, 切向力X=1587.1125, 切向力Y=-598.8687 +FPS=29.99, 法向力=2440.6724, 切向力X=1511.5654, 切向力Y=-571.0074 +stitch_feature_optimized: canvas out_w=541, out_h=417, x_min=-135.75, y_min=-82.46 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000256s, blend=0.002141s (9 tiles incl ref), finalize=0.000053s, total=0.002456s +FPS=29.97, 法向力=2252.6233, 切向力X=2135.4712, 切向力Y=-625.9709 +FPS=30.21, 法向力=2242.2478, 切向力X=2153.8110, 切向力Y=-576.6861 +FPS=31.51, 法向力=2278.3064, 切向力X=2049.6919, 切向力Y=-436.9284 +FPS=31.45, 法向力=2339.3418, 切向力X=2058.7322, 切向力Y=-444.2703 +FPS=32.65, 法向力=2832.1641, 切向力X=2913.3943, 切向力Y=-1691.2083 +FPS=28.50, 法向力=2243.7883, 切向力X=3114.1521, 切向力Y=-1098.0629 +FPS=23.25, 法向力=2143.7646, 切向力X=3168.4448, 切向力Y=-1135.5737 +FPS=22.55, 法向力=2380.8855, 切向力X=2624.9644, 切向力Y=-832.0775 +FPS=19.30, 法向力=2591.4553, 切向力X=1883.0430, 切向力Y=-456.1486 +FPS=22.71, 法向力=2630.1348, 切向力X=1970.7510, 切向力Y=-470.3309 +FPS=30.20, 法向力=2431.8682, 切向力X=2017.1410, 切向力Y=368.0757 +FPS=29.06, 法向力=2420.1873, 切向力X=1967.4572, 切向力Y=-1026.2698 +FPS=31.51, 法向力=2448.3750, 切向力X=2111.8525, 切向力Y=-1039.2888 +FPS=32.05, 法向力=2011.6281, 切向力X=2141.4888, 切向力Y=-1291.7688 +FPS=16.24, 法向力=2005.1112, 切向力X=1689.6670, 切向力Y=-1377.2964 +FPS=31.98, 法向力=2043.1215, 切向力X=1661.2537, 切向力Y=-1319.9387 +FPS=30.56, 法向力=2237.1077, 切向力X=2654.2517, 切向力Y=-1605.2991 +FPS=29.91, 法向力=2290.5288, 切向力X=2751.1079, 切向力Y=-1609.4377 +FPS=32.33, 法向力=2095.3457, 切向力X=1766.2921, 切向力Y=-545.3444 +FPS=30.56, 法向力=2104.3267, 切向力X=1737.9681, 切向力Y=-568.9839 +FPS=32.30, 法向力=2136.3574, 切向力X=2869.1497, 切向力Y=-1085.2885 +FPS=30.24, 法向力=2116.2656, 切向力X=2900.9419, 切向力Y=-1195.0674 +FPS=31.03, 法向力=1668.3152, 切向力X=1725.5669, 切向力Y=-1399.2095 +FPS=30.99, 法向力=2099.0347, 切向力X=2075.4146, 切向力Y=-635.3615 +FPS=31.19, 法向力=2141.1411, 切向力X=2051.1899, 切向力Y=-686.7853 +FPS=22.89, 法向力=2496.9202, 切向力X=2266.7205, 切向力Y=-927.9379 +FPS=23.76, 法向力=2873.5249, 切向力X=2083.7881, 切向力Y=-153.4341 +FPS=18.26, 法向力=1797.7925, 切向力X=1647.6990, 切向力Y=-1734.9314 +FPS=23.15, 法向力=1910.1277, 切向力X=1464.6202, 切向力Y=-1807.1404 +FPS=28.18, 法向力=1521.4961, 切向力X=2507.9253, 切向力Y=-2194.6504 +stitch_feature_optimized: canvas out_w=541, out_h=417, x_min=-135.75, y_min=-82.46 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000267s, blend=0.002163s (9 tiles incl ref), finalize=0.000056s, total=0.002493s +FPS=26.79, 法向力=1777.6301, 切向力X=1892.7971, 切向力Y=-333.6450 +FPS=31.56, 法向力=1732.5083, 切向力X=2010.3909, 切向力Y=-322.0125 +FPS=30.32, 法向力=1945.5322, 切向力X=1681.6224, 切向力Y=-1418.7820 +FPS=31.03, 法向力=1997.1057, 切向力X=1588.1404, 切向力Y=-1457.4032 +FPS=28.30, 法向力=1728.5134, 切向力X=2143.3164, 切向力Y=-1819.7798 +FPS=31.66, 法向力=1776.1970, 切向力X=2231.7102, 切向力Y=-1806.0828 +FPS=29.42, 法向力=1620.5247, 切向力X=2163.3950, 切向力Y=-1026.2123 +FPS=30.86, 法向力=1598.0945, 切向力X=2079.3362, 切向力Y=-983.0873 +FPS=32.58, 法向力=1763.2705, 切向力X=1642.7563, 切向力Y=-1478.0671 +FPS=31.35, 法向力=1713.1616, 切向力X=1494.7849, 切向力Y=-1515.9724 +FPS=30.52, 法向力=2180.8308, 切向力X=1714.7574, 切向力Y=-1210.9343 +FPS=31.13, 法向力=2245.2549, 切向力X=1707.7887, 切向力Y=-1360.0742 +FPS=31.67, 法向力=1939.3385, 切向力X=1808.1575, 切向力Y=-1274.8582 +FPS=31.11, 法向力=1878.3035, 切向力X=1904.9113, 切向力Y=-1343.6982 +FPS=31.63, 法向力=2018.5066, 切向力X=1327.9441, 切向力Y=-1304.2080 +FPS=29.14, 法向力=1824.7607, 切向力X=1094.9340, 切向力Y=-1256.7133 +FPS=30.65, 法向力=1895.9028, 切向力X=1080.9570, 切向力Y=-1159.1392 +FPS=30.36, 法向力=1783.9717, 切向力X=2019.7609, 切向力Y=-1413.5569 +FPS=31.38, 法向力=1867.3595, 切向力X=2101.9321, 切向力Y=-1473.8269 +FPS=30.20, 法向力=2291.0913, 切向力X=1999.8854, 切向力Y=-1307.7322 +FPS=31.06, 法向力=2349.2654, 切向力X=2064.1895, 切向力Y=-1436.4810 +FPS=29.35, 法向力=2575.0413, 切向力X=1524.5658, 切向力Y=-861.1516 +FPS=29.38, 法向力=2560.2478, 切向力X=1528.4919, 切向力Y=-895.5166 +FPS=31.21, 法向力=2074.6301, 切向力X=1808.9023, 切向力Y=-1155.9757 +FPS=28.83, 法向力=2411.4241, 切向力X=2307.4487, 切向力Y=-966.3638 +FPS=30.93, 法向力=2392.9399, 切向力X=2328.5024, 切向力Y=-955.2331 +FPS=27.93, 法向力=2113.9902, 切向力X=1655.6472, 切向力Y=-1624.2351 +FPS=31.86, 法向力=2266.9956, 切向力X=1573.2345, 切向力Y=-1664.6948 +FPS=28.74, 法向力=2060.6790, 切向力X=1959.1842, 切向力Y=-903.7286 +FPS=30.69, 法向力=2097.6626, 切向力X=1960.8977, 切向力Y=-912.7966 +stitch_feature_optimized: canvas out_w=541, out_h=417, x_min=-135.75, y_min=-82.46 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000290s, blend=0.002119s (9 tiles incl ref), finalize=0.000053s, total=0.002468s +FPS=30.77, 法向力=1742.9863, 切向力X=1987.1501, 切向力Y=-1478.4634 +FPS=30.02, 法向力=1703.0767, 切向力X=2086.9966, 切向力Y=-1631.1342 +FPS=31.32, 法向力=2009.3125, 切向力X=1915.9517, 切向力Y=-868.0287 +FPS=30.22, 法向力=1921.3098, 切向力X=1844.0938, 切向力Y=-921.8069 +FPS=30.67, 法向力=1474.5281, 切向力X=1127.5566, 切向力Y=-1241.9343 +FPS=15.29, 法向力=2418.1667, 切向力X=2279.9006, 切向力Y=-529.3789 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_175317.log b/examples/logs/qt_viewer_20260519_175317.log new file mode 100644 index 0000000..b2b1697 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_175317.log @@ -0,0 +1,247 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.79, 法向力=1817.7969, 切向力X=840.8672, 切向力Y=152.1102 +FPS=39.90, 法向力=1832.7732, 切向力X=797.2465, 切向力Y=205.6482 +FPS=26.00, 法向力=1579.6914, 切向力X=145.1969, 切向力Y=740.7170 +FPS=30.46, 法向力=1576.5770, 切向力X=228.6884, 切向力Y=826.2128 +FPS=30.34, 法向力=1325.7012, 切向力X=-295.8588, 切向力Y=315.7168 +FPS=32.03, 法向力=1394.5662, 切向力X=-366.9987, 切向力Y=168.8338 +FPS=30.61, 法向力=1581.5875, 切向力X=-674.1890, 切向力Y=-209.8852 +FPS=28.42, 法向力=2047.8829, 切向力X=838.5101, 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切向力Y=-947.2684 +FPS=32.93, 法向力=1592.5015, 切向力X=1186.4690, 切向力Y=-1047.3253 +FPS=31.68, 法向力=2349.9058, 切向力X=999.6545, 切向力Y=-718.9570 +stitch_feature_optimized: canvas out_w=472, out_h=417, x_min=-145.13, y_min=-82.09 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000224s, blend=0.002076s (9 tiles incl ref), finalize=0.000049s, total=0.002356s +FPS=34.00, 法向力=2432.2759, 切向力X=933.4377, 切向力Y=-762.0821 +FPS=33.67, 法向力=1295.1271, 切向力X=78.4806, 切向力Y=-494.4929 +FPS=35.62, 法向力=1339.2828, 切向力X=131.5259, 切向力Y=-430.3795 +FPS=32.34, 法向力=1652.7660, 切向力X=791.6638, 切向力Y=-1048.9823 +FPS=35.88, 法向力=1664.2738, 切向力X=708.6349, 切向力Y=-1138.1373 +FPS=34.96, 法向力=1686.4690, 切向力X=688.9857, 切向力Y=-1112.8655 +FPS=34.50, 法向力=1297.2236, 切向力X=486.8185, 切向力Y=-5.7121 +FPS=31.45, 法向力=1853.8279, 切向力X=1230.8350, 切向力Y=-807.4788 +FPS=36.18, 法向力=2004.4420, 切向力X=1357.6976, 切向力Y=-634.2460 +FPS=33.93, 法向力=1979.5288, 切向力X=1356.7246, 切向力Y=-682.2292 +FPS=36.08, 法向力=1310.7874, 切向力X=905.1157, 切向力Y=-2178.5459 +FPS=34.95, 法向力=1347.7546, 切向力X=828.5623, 切向力Y=-2262.0420 +FPS=33.58, 法向力=1179.8864, 切向力X=394.9470, 切向力Y=-573.6243 +FPS=36.04, 法向力=1163.0918, 切向力X=446.8664, 切向力Y=-507.2318 +FPS=33.59, 法向力=1605.6265, 切向力X=1018.0658, 切向力Y=-1437.9536 +FPS=32.67, 法向力=1525.6799, 切向力X=1062.7401, 切向力Y=-1474.5725 +FPS=33.59, 法向力=1256.7410, 切向力X=409.8737, 切向力Y=-777.8668 +FPS=34.94, 法向力=1262.8834, 切向力X=483.4117, 切向力Y=-656.8358 +FPS=32.79, 法向力=1883.1631, 切向力X=1087.6650, 切向力Y=13.9775 +FPS=31.90, 法向力=1873.8462, 切向力X=1087.4093, 切向力Y=-32.8036 +FPS=31.18, 法向力=2663.3706, 切向力X=1767.0751, 切向力Y=-820.4143 +FPS=32.63, 法向力=2818.1294, 切向力X=1811.5325, 切向力Y=-840.6870 +FPS=30.29, 法向力=1553.1461, 切向力X=1011.7300, 切向力Y=-2108.5688 +FPS=28.38, 法向力=1348.0264, 切向力X=715.9180, 切向力Y=-490.7498 +FPS=32.29, 法向力=1353.5165, 切向力X=663.5994, 切向力Y=-541.5240 +FPS=26.56, 法向力=2099.4209, 切向力X=686.9346, 切向力Y=-1310.0096 +FPS=30.82, 法向力=2112.3369, 切向力X=640.5277, 切向力Y=-1537.2621 +FPS=26.26, 法向力=1581.9941, 切向力X=1038.0198, 切向力Y=-1083.7726 +FPS=30.75, 法向力=1633.5421, 切向力X=1067.3608, 切向力Y=-1005.7353 +FPS=27.80, 法向力=1441.6357, 切向力X=491.4179, 切向力Y=-1376.0349 +stitch_feature_optimized: canvas out_w=472, out_h=417, x_min=-145.13, y_min=-82.09 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000274s, blend=0.002217s (9 tiles incl ref), finalize=0.000054s, total=0.002552s +FPS=29.57, 法向力=2488.0210, 切向力X=1262.7490, 切向力Y=-923.4956 +FPS=34.18, 法向力=2695.6785, 切向力X=1307.0137, 切向力Y=-916.3613 +FPS=33.39, 法向力=1742.6914, 切向力X=435.1340, 切向力Y=-1025.2207 +FPS=34.87, 法向力=1744.6279, 切向力X=383.3831, 切向力Y=-1046.3098 +FPS=33.05, 法向力=1878.5730, 切向力X=1239.8462, 切向力Y=-1261.8483 +FPS=13.37, 法向力=1159.4989, 切向力X=1380.7791, 切向力Y=-248.8683 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_175618.log b/examples/logs/qt_viewer_20260519_175618.log new file mode 100644 index 0000000..fdf1571 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_175618.log @@ -0,0 +1,233 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.54, 法向力=1634.7159, 切向力X=-1891.7969, 切向力Y=-453.3510 +FPS=36.10, 法向力=1930.0464, 切向力X=75.5797, 切向力Y=396.4967 +FPS=27.85, 法向力=1838.9513, 切向力X=130.4503, 切向力Y=396.3661 +FPS=29.37, 法向力=1347.9017, 切向力X=140.7037, 切向力Y=269.0940 +FPS=32.35, 法向力=1339.1997, 切向力X=171.5410, 切向力Y=151.3966 +FPS=32.02, 法向力=1276.9692, 切向力X=766.1826, 切向力Y=442.0724 +FPS=29.95, 法向力=1269.6963, 切向力X=750.2211, 切向力Y=513.4440 +FPS=31.21, 法向力=1506.9592, 切向力X=-568.7032, 切向力Y=717.8661 +FPS=30.26, 法向力=1860.0193, 切向力X=-744.4352, 切向力Y=863.0630 +FPS=32.13, 法向力=1867.1917, 切向力X=-721.3346, 切向力Y=928.8292 +FPS=29.76, 法向力=1445.2949, 切向力X=-401.0247, 切向力Y=1025.9023 +FPS=31.89, 法向力=1496.3806, 切向力X=-599.7907, 切向力Y=1051.4073 +FPS=28.26, 法向力=2907.5923, 切向力X=-1139.2063, 切向力Y=960.2630 +FPS=31.27, 法向力=2853.6680, 切向力X=-1031.6179, 切向力Y=895.1293 +FPS=30.02, 法向力=1497.2839, 切向力X=-115.5936, 切向力Y=197.7362 +FPS=31.68, 法向力=1531.0323, 切向力X=-51.5778, 切向力Y=24.6282 +FPS=33.75, 法向力=1718.3367, 切向力X=1598.6895, 切向力Y=-13.5612 +FPS=30.76, 法向力=1713.2780, 切向力X=1592.3527, 切向力Y=-41.8654 +FPS=34.50, 法向力=1997.4966, 切向力X=275.9138, 切向力Y=-69.2272 +FPS=32.90, 法向力=2005.9103, 切向力X=196.8249, 切向力Y=17.4884 +FPS=33.78, 法向力=1616.1780, 切向力X=-1222.8600, 切向力Y=714.4091 +FPS=34.39, 法向力=1680.6072, 切向力X=-1363.5468, 切向力Y=779.0063 +FPS=31.10, 法向力=1647.0898, 切向力X=802.7837, 切向力Y=1372.0909 +FPS=32.44, 法向力=1609.7644, 切向力X=768.4044, 切向力Y=1378.9125 +FPS=34.06, 法向力=1988.5410, 切向力X=2580.8894, 切向力Y=55.9372 +FPS=31.80, 法向力=2016.2223, 切向力X=2632.6113, 切向力Y=-69.7856 +FPS=32.57, 法向力=1341.3236, 切向力X=-345.8671, 切向力Y=261.7896 +stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000208s, blend=0.003166s (9 tiles incl ref), finalize=0.000054s, total=0.003433s +FPS=32.24, 法向力=1326.5289, 切向力X=-366.2166, 切向力Y=339.7374 +FPS=29.20, 法向力=1485.0601, 切向力X=-876.7846, 切向力Y=76.9970 +FPS=32.91, 法向力=1520.8143, 切向力X=-781.3557, 切向力Y=-125.6815 +FPS=33.45, 法向力=1535.0322, 切向力X=448.4703, 切向力Y=431.5336 +FPS=32.80, 法向力=1679.3442, 切向力X=-143.0184, 切向力Y=588.1093 +FPS=34.84, 法向力=1667.3600, 切向力X=-308.2288, 切向力Y=874.2921 +FPS=33.13, 法向力=1684.4913, 切向力X=-332.0741, 切向力Y=897.1946 +FPS=33.76, 法向力=1301.9534, 切向力X=828.8712, 切向力Y=843.4487 +FPS=33.39, 法向力=1418.6791, 切向力X=969.7124, 切向力Y=910.7616 +FPS=35.27, 法向力=1422.7805, 切向力X=1012.7023, 切向力Y=566.1217 +FPS=34.40, 法向力=1426.7499, 切向力X=934.9624, 切向力Y=480.2133 +FPS=33.17, 法向力=1851.9541, 切向力X=-914.2441, 切向力Y=-141.8632 +FPS=30.07, 法向力=1531.5115, 切向力X=-235.1049, 切向力Y=205.2649 +FPS=35.11, 法向力=1529.2748, 切向力X=-207.9092, 切向力Y=269.4786 +FPS=31.07, 法向力=1894.9707, 切向力X=619.5758, 切向力Y=250.0679 +FPS=29.02, 法向力=1877.1459, 切向力X=757.5789, 切向力Y=141.6729 +FPS=30.91, 法向力=1355.5287, 切向力X=-1320.4547, 切向力Y=669.6344 +FPS=35.24, 法向力=1457.6902, 切向力X=-1457.8322, 切向力Y=721.4344 +FPS=32.56, 法向力=2017.7319, 切向力X=-195.0383, 切向力Y=120.0811 +FPS=35.34, 法向力=1811.4902, 切向力X=-17.0646, 切向力Y=78.9036 +FPS=32.49, 法向力=1920.0486, 切向力X=-782.1624, 切向力Y=816.9581 +FPS=35.79, 法向力=1968.2634, 切向力X=-751.5870, 切向力Y=765.1127 +FPS=32.46, 法向力=2095.2532, 切向力X=1471.5959, 切向力Y=873.2383 +FPS=34.20, 法向力=2150.4314, 切向力X=1516.0759, 切向力Y=643.9424 +FPS=29.31, 法向力=1101.3412, 切向力X=690.3726, 切向力Y=-10.7386 +FPS=34.39, 法向力=1111.4396, 切向力X=637.9022, 切向力Y=171.3743 +FPS=32.94, 法向力=2683.5730, 切向力X=-970.1780, 切向力Y=556.4850 +FPS=32.77, 法向力=2638.6724, 切向力X=-909.9249, 切向力Y=422.5291 +FPS=33.21, 法向力=1856.6191, 切向力X=1336.2540, 切向力Y=251.4868 +FPS=33.33, 法向力=1930.3240, 切向力X=1475.0000, 切向力Y=256.2606 +stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000281s, blend=0.002197s (9 tiles incl ref), finalize=0.000045s, total=0.002529s +FPS=32.17, 法向力=1702.7883, 切向力X=-1515.9160, 切向力Y=236.5729 +FPS=34.05, 法向力=1828.3005, 切向力X=-1486.3522, 切向力Y=351.5222 +FPS=30.33, 法向力=1559.6216, 切向力X=89.7932, 切向力Y=158.4464 +FPS=34.04, 法向力=1610.7203, 切向力X=258.4935, 切向力Y=99.3275 +FPS=31.30, 法向力=2789.0088, 切向力X=-1957.2231, 切向力Y=135.5946 +FPS=32.33, 法向力=2645.1670, 切向力X=-1825.2356, 切向力Y=155.0668 +FPS=32.43, 法向力=1561.7137, 切向力X=-362.7719, 切向力Y=-816.5190 +FPS=32.27, 法向力=1575.3127, 切向力X=-316.6523, 切向力Y=-838.8359 +FPS=32.62, 法向力=2381.9165, 切向力X=-1629.9990, 切向力Y=-505.0516 +FPS=33.81, 法向力=2315.3743, 切向力X=-1624.6609, 切向力Y=-486.6769 +FPS=33.54, 法向力=1823.2732, 切向力X=331.5892, 切向力Y=1009.7595 +FPS=34.11, 法向力=1736.6709, 切向力X=257.5282, 切向力Y=916.0470 +FPS=31.49, 法向力=1741.6693, 切向力X=1052.0447, 切向力Y=-263.6071 +FPS=33.10, 法向力=1726.2821, 切向力X=1121.1555, 切向力Y=-285.6948 +FPS=34.03, 法向力=2485.9404, 切向力X=-2282.8872, 切向力Y=-636.7683 +FPS=32.13, 法向力=2275.0332, 切向力X=-2011.5999, 切向力Y=-563.5431 +FPS=32.77, 法向力=2223.4253, 切向力X=-777.1660, 切向力Y=-94.4756 +FPS=34.23, 法向力=2273.4492, 切向力X=-810.0964, 切向力Y=-110.8518 +FPS=32.30, 法向力=1681.4009, 切向力X=-1266.7715, 切向力Y=133.9179 +FPS=32.67, 法向力=1705.9835, 切向力X=-1302.3754, 切向力Y=182.3628 +FPS=30.28, 法向力=1402.6406, 切向力X=47.2993, 切向力Y=122.3103 +FPS=32.16, 法向力=1417.1057, 切向力X=311.1682, 切向力Y=49.4366 +FPS=33.77, 法向力=2878.8135, 切向力X=1596.5269, 切向力Y=-415.9797 +FPS=32.61, 法向力=3041.6865, 切向力X=1712.6276, 切向力Y=-470.3628 +FPS=32.53, 法向力=2685.0964, 切向力X=-759.8922, 切向力Y=-637.4709 +FPS=31.94, 法向力=2750.2563, 切向力X=-681.1658, 切向力Y=-461.5046 +FPS=34.82, 法向力=2283.9231, 切向力X=36.5183, 切向力Y=-783.2402 +FPS=32.81, 法向力=2228.3125, 切向力X=25.7526, 切向力Y=-743.7912 +FPS=31.43, 法向力=2159.0657, 切向力X=901.1516, 切向力Y=452.6804 +FPS=29.63, 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切向力X=-1452.7600, 切向力Y=-813.3651 +stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000216s, blend=0.002190s (9 tiles incl ref), finalize=0.000048s, total=0.002460s +FPS=31.59, 法向力=2814.2314, 切向力X=-1542.0707, 切向力Y=-976.8230 +FPS=28.86, 法向力=1867.1731, 切向力X=-992.5179, 切向力Y=-274.2264 +FPS=31.76, 法向力=1780.1818, 切向力X=-908.9432, 切向力Y=-146.5433 +FPS=30.07, 法向力=1886.1077, 切向力X=-993.1436, 切向力Y=-673.0915 +FPS=32.50, 法向力=1886.6516, 切向力X=-802.1182, 切向力Y=-700.2957 +FPS=29.69, 法向力=1097.9348, 切向力X=-114.8633, 切向力Y=-456.7624 +FPS=30.31, 法向力=1117.0459, 切向力X=-60.1199, 切向力Y=-499.9545 +FPS=30.50, 法向力=1054.2112, 切向力X=1126.1340, 切向力Y=-381.3681 +FPS=29.49, 法向力=1070.7302, 切向力X=1165.9766, 切向力Y=-513.1752 +FPS=30.80, 法向力=1523.5031, 切向力X=107.7664, 切向力Y=444.3980 +FPS=30.73, 法向力=1565.9651, 切向力X=-24.1751, 切向力Y=605.1567 +FPS=31.07, 法向力=1502.6431, 切向力X=-1286.3826, 切向力Y=-1238.1133 +FPS=30.57, 法向力=1486.6072, 切向力X=-1241.2626, 切向力Y=-1325.2793 +FPS=29.43, 法向力=3485.6152, 切向力X=1342.0599, 切向力Y=-182.5275 +FPS=28.37, 法向力=1660.2198, 切向力X=-1725.0076, 切向力Y=-1632.1664 +FPS=30.84, 法向力=1630.6211, 切向力X=-1736.7441, 切向力Y=-1597.4843 +FPS=31.08, 法向力=1129.8765, 切向力X=556.5009, 切向力Y=-524.9990 +FPS=31.73, 法向力=1126.5192, 切向力X=565.0066, 切向力Y=-519.3826 +FPS=30.31, 法向力=1159.6567, 切向力X=82.0930, 切向力Y=39.2757 +FPS=31.40, 法向力=1181.5261, 切向力X=151.4226, 切向力Y=-29.7753 +FPS=30.45, 法向力=983.1708, 切向力X=849.0258, 切向力Y=-737.3753 +FPS=28.56, 法向力=2147.5054, 切向力X=2781.0938, 切向力Y=-205.1011 +FPS=31.27, 法向力=2047.8914, 切向力X=2496.7974, 切向力Y=-170.9790 +FPS=30.37, 法向力=1173.3048, 切向力X=48.7069, 切向力Y=-669.2203 +FPS=32.33, 法向力=1176.9896, 切向力X=42.9519, 切向力Y=-627.3730 +FPS=29.90, 法向力=2026.2919, 切向力X=-2064.1284, 切向力Y=-981.7328 +FPS=32.23, 法向力=2044.7300, 切向力X=-2115.9897, 切向力Y=-915.8975 +FPS=28.73, 法向力=1672.0380, 切向力X=-1408.7596, 切向力Y=-156.8148 +FPS=30.46, 法向力=1710.4573, 切向力X=-1380.2955, 切向力Y=-42.0553 +FPS=30.39, 法向力=1462.9879, 切向力X=639.7524, 切向力Y=94.8906 +stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000212s, blend=0.002162s (9 tiles incl ref), finalize=0.000046s, total=0.002427s +FPS=29.29, 法向力=1419.3647, 切向力X=733.6405, 切向力Y=196.3857 +FPS=31.70, 法向力=1544.0176, 切向力X=1611.4532, 切向力Y=-343.1219 +FPS=30.27, 法向力=1558.4500, 切向力X=1640.0305, 切向力Y=-434.1638 +FPS=29.90, 法向力=1766.5502, 切向力X=-976.0479, 切向力Y=-1118.8030 +FPS=29.26, 法向力=983.5406, 切向力X=346.2663, 切向力Y=-715.8933 +FPS=31.81, 法向力=1006.9926, 切向力X=316.2206, 切向力Y=-711.1193 +FPS=30.32, 法向力=1960.1599, 切向力X=-879.2787, 切向力Y=-757.4230 +FPS=32.86, 法向力=1957.1217, 切向力X=-923.9614, 切向力Y=-651.9292 +FPS=31.08, 法向力=1401.9508, 切向力X=563.5146, 切向力Y=-55.6919 +FPS=32.66, 法向力=1450.5576, 切向力X=487.1025, 切向力Y=-40.5979 +FPS=31.63, 法向力=1476.0353, 切向力X=627.3409, 切向力Y=589.3418 +FPS=31.34, 法向力=1563.6018, 切向力X=603.6307, 切向力Y=700.8848 +FPS=29.61, 法向力=2487.1553, 切向力X=1360.9775, 切向力Y=-821.0792 +FPS=29.04, 法向力=1400.3152, 切向力X=990.4208, 切向力Y=521.1843 +FPS=32.66, 法向力=1329.2959, 切向力X=883.0221, 切向力Y=469.6806 +FPS=28.41, 法向力=1155.1057, 切向力X=865.7163, 切向力Y=-462.0353 +FPS=32.37, 法向力=1116.1267, 切向力X=938.7983, 切向力Y=-287.4322 +FPS=29.47, 法向力=1578.9626, 切向力X=1993.0814, 切向力Y=-726.1768 +FPS=31.59, 法向力=1646.0430, 切向力X=2046.4336, 切向力Y=-813.4945 +FPS=29.05, 法向力=1943.7526, 切向力X=-892.5970, 切向力Y=-404.4394 +FPS=30.44, 法向力=1944.2373, 切向力X=-774.7346, 切向力Y=-411.2725 +FPS=30.90, 法向力=1634.3998, 切向力X=1285.5386, 切向力Y=-936.2592 +FPS=29.45, 法向力=1554.6102, 切向力X=1294.4044, 切向力Y=-971.7737 +FPS=32.37, 法向力=2156.1733, 切向力X=-768.9745, 切向力Y=-1063.2458 +FPS=28.52, 法向力=2273.1785, 切向力X=-692.4657, 切向力Y=-1104.5652 +FPS=28.59, 法向力=1839.6067, 切向力X=-947.9727, 切向力Y=-931.9426 +FPS=28.43, 法向力=1295.1216, 切向力X=1429.4150, 切向力Y=-453.9643 +FPS=31.49, 法向力=1202.3315, 切向力X=1327.7544, 切向力Y=-388.0480 +FPS=29.27, 法向力=1220.1149, 切向力X=-39.9487, 切向力Y=-308.9171 +FPS=30.85, 法向力=1186.9786, 切向力X=-34.2742, 切向力Y=-295.6937 +stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000257s, blend=0.002227s (9 tiles incl ref), finalize=0.000056s, total=0.002546s +FPS=30.41, 法向力=1333.0771, 切向力X=-36.1269, 切向力Y=-766.3210 +FPS=29.14, 法向力=1270.3008, 切向力X=75.7997, 切向力Y=-793.6500 +FPS=30.40, 法向力=1793.3727, 切向力X=679.2899, 切向力Y=-710.5807 +FPS=29.67, 法向力=1776.7454, 切向力X=661.8749, 切向力Y=-694.8381 +FPS=30.36, 法向力=2346.4512, 切向力X=-1275.5135, 切向力Y=100.0968 +FPS=29.46, 法向力=1177.8723, 切向力X=7.5323, 切向力Y=-360.5781 +FPS=31.33, 法向力=1150.4313, 切向力X=21.5096, 切向力Y=-441.7030 +FPS=30.63, 法向力=1417.1194, 切向力X=-890.2764, 切向力Y=-632.1870 +FPS=30.59, 法向力=1453.6466, 切向力X=-994.3335, 切向力Y=-717.4889 +FPS=29.13, 法向力=2187.1165, 切向力X=-814.6277, 切向力Y=-1452.2478 +FPS=30.13, 法向力=2085.9792, 切向力X=-865.0232, 切向力Y=-1300.1680 +FPS=31.28, 法向力=1340.9014, 切向力X=1203.9553, 切向力Y=-587.9681 +FPS=28.59, 法向力=1631.9125, 切向力X=-429.7372, 切向力Y=-542.9890 +FPS=31.57, 法向力=1642.3226, 切向力X=-514.3642, 切向力Y=-577.4584 +FPS=27.81, 法向力=2078.7976, 切向力X=-1503.1327, 切向力Y=-221.3559 +FPS=32.03, 法向力=2126.5793, 切向力X=-1512.5485, 切向力Y=-150.7814 +FPS=30.37, 法向力=1344.5872, 切向力X=-1087.0472, 切向力Y=-821.8687 +FPS=30.45, 法向力=1316.1306, 切向力X=-1047.9854, 切向力Y=-829.3639 +FPS=28.65, 法向力=1191.5269, 切向力X=718.6777, 切向力Y=-901.5402 +FPS=29.65, 法向力=1202.3850, 切向力X=697.6632, 切向力Y=-951.8540 +FPS=30.88, 法向力=2060.3140, 切向力X=2876.1504, 切向力Y=-7.6439 +FPS=28.16, 法向力=1850.5298, 切向力X=-543.6523, 切向力Y=-727.3799 +FPS=31.27, 法向力=1822.3715, 切向力X=-408.6406, 切向力Y=-723.9150 +FPS=18.83, 法向力=2473.6167, 切向力X=2751.6367, 切向力Y=-713.1632 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_175753.log b/examples/logs/qt_viewer_20260519_175753.log new file mode 100644 index 0000000..4f24425 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_175753.log @@ -0,0 +1,1145 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.59, 法向力=2017.1509, 切向力X=-28.7416, 切向力Y=-912.5782 +FPS=37.08, 法向力=2658.8848, 切向力X=-646.0261, 切向力Y=-777.0985 +FPS=27.32, 法向力=2698.9961, 切向力X=-735.6239, 切向力Y=-887.3990 +FPS=32.02, 法向力=1883.4395, 切向力X=-44.0435, 切向力Y=-457.2324 +FPS=31.97, 法向力=1914.8779, 切向力X=-55.6121, 切向力Y=-484.5346 +FPS=34.22, 法向力=2724.7793, 切向力X=-308.6960, 切向力Y=362.0363 +FPS=31.25, 法向力=2926.2090, 切向力X=-591.5867, 切向力Y=469.2228 +FPS=30.63, 法向力=1629.6104, 切向力X=-342.0847, 切向力Y=319.6165 +FPS=31.68, 法向力=2650.9502, 切向力X=-399.8015, 切向力Y=116.4218 +FPS=34.78, 法向力=2654.4412, 切向力X=-361.7728, 切向力Y=137.0369 +FPS=31.03, 法向力=2352.6101, 切向力X=784.7867, 切向力Y=-818.2362 +FPS=33.69, 法向力=2299.4609, 切向力X=803.9868, 切向力Y=-729.9036 +FPS=31.99, 法向力=1823.1685, 切向力X=742.5991, 切向力Y=-649.0839 +FPS=32.85, 法向力=1793.1379, 切向力X=950.9355, 切向力Y=-734.9386 +FPS=32.08, 法向力=1792.9802, 切向力X=957.6943, 切向力Y=-753.7979 +FPS=32.98, 法向力=1782.0240, 切向力X=-534.3024, 切向力Y=-385.2914 +FPS=31.82, 法向力=2070.6675, 切向力X=400.9362, 切向力Y=-216.6976 +FPS=34.50, 法向力=2097.6069, 切向力X=355.9952, 切向力Y=-248.0363 +FPS=32.85, 法向力=1966.5753, 切向力X=1469.6943, 切向力Y=356.4683 +FPS=33.73, 法向力=1977.4911, 切向力X=1400.7292, 切向力Y=410.7569 +FPS=31.48, 法向力=1841.4968, 切向力X=440.3351, 切向力Y=-991.2537 +FPS=34.27, 法向力=1804.9139, 切向力X=346.9452, 切向力Y=-959.0006 +FPS=32.78, 法向力=1811.3599, 切向力X=336.8210, 切向力Y=-947.5497 +FPS=34.49, 法向力=2035.5552, 切向力X=-644.1741, 切向力Y=723.7367 +FPS=31.32, 法向力=2315.0063, 切向力X=-537.4729, 切向力Y=-1187.5159 +FPS=34.01, 法向力=2237.0186, 切向力X=-519.1237, 切向力Y=-1323.8521 +FPS=32.92, 法向力=2083.3958, 切向力X=896.7639, 切向力Y=127.6553 +stitch_feature_optimized: canvas out_w=681, out_h=499, x_min=-75.53, y_min=-84.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000545s, blend=0.002239s (9 tiles incl ref), finalize=0.000066s, total=0.002856s +FPS=33.91, 法向力=2133.5034, 切向力X=983.7521, 切向力Y=103.1907 +FPS=28.71, 法向力=2193.2361, 切向力X=-1296.9077, 切向力Y=-38.2948 +FPS=33.71, 法向力=2229.5010, 切向力X=-1499.9592, 切向力Y=59.0871 +FPS=30.50, 法向力=1884.1626, 切向力X=-248.8645, 切向力Y=-474.5225 +FPS=33.28, 法向力=2012.6521, 切向力X=7.7013, 切向力Y=-382.8278 +FPS=33.75, 法向力=2096.3408, 切向力X=944.7645, 切向力Y=49.9563 +FPS=34.98, 法向力=2092.7378, 切向力X=896.3743, 切向力Y=57.4813 +FPS=34.78, 法向力=1648.6938, 切向力X=356.2424, 切向力Y=892.9102 +FPS=33.65, 法向力=1684.6252, 切向力X=375.7932, 切向力Y=876.5735 +FPS=32.49, 法向力=3163.3206, 切向力X=-1143.2131, 切向力Y=-445.8616 +FPS=35.10, 法向力=3250.7827, 切向力X=-1244.6675, 切向力Y=-579.7780 +FPS=31.62, 法向力=1886.0892, 切向力X=1689.2781, 切向力Y=-938.0249 +FPS=33.97, 法向力=1794.2672, 切向力X=1689.5078, 切向力Y=-818.0347 +FPS=32.07, 法向力=2630.4785, 切向力X=-426.6080, 切向力Y=-1100.4312 +FPS=34.53, 法向力=2684.6416, 切向力X=-508.3475, 切向力Y=-996.6948 +FPS=32.17, 法向力=3238.8091, 切向力X=2428.2993, 切向力Y=-678.5114 +FPS=32.85, 法向力=3257.3352, 切向力X=2344.1709, 切向力Y=-686.7266 +FPS=32.11, 法向力=2293.1306, 切向力X=-811.4032, 切向力Y=-385.7540 +FPS=35.52, 法向力=2315.2019, 切向力X=-928.4744, 切向力Y=-412.4527 +FPS=31.91, 法向力=2945.3118, 切向力X=372.7955, 切向力Y=49.1613 +FPS=35.03, 法向力=2990.8728, 切向力X=479.2809, 切向力Y=66.9817 +FPS=34.06, 法向力=1988.3240, 切向力X=-443.1567, 切向力Y=31.8791 +FPS=34.98, 法向力=2001.2922, 切向力X=-326.3387, 切向力Y=-13.4765 +FPS=32.83, 法向力=2264.8779, 切向力X=1077.4714, 切向力Y=246.3182 +FPS=34.33, 法向力=2367.8979, 切向力X=959.2878, 切向力Y=230.2553 +FPS=30.86, 法向力=1821.9635, 切向力X=128.8960, 切向力Y=965.5670 +FPS=33.02, 法向力=1818.5806, 切向力X=162.6474, 切向力Y=902.1462 +FPS=30.43, 法向力=2209.4268, 切向力X=-195.4983, 切向力Y=228.3925 +FPS=33.98, 法向力=2180.7393, 切向力X=-204.4574, 切向力Y=151.9873 +FPS=34.14, 法向力=1682.4685, 切向力X=-4.0480, 切向力Y=393.6171 +stitch_feature_optimized: canvas out_w=681, out_h=499, x_min=-75.53, y_min=-84.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000455s, blend=0.002318s (9 tiles incl ref), finalize=0.000062s, total=0.002841s +FPS=33.63, 法向力=1688.6865, 切向力X=362.7365, 切向力Y=458.9279 +FPS=34.01, 法向力=2021.5228, 切向力X=-146.3062, 切向力Y=-38.1596 +FPS=33.28, 法向力=2038.1724, 切向力X=-138.2921, 切向力Y=-41.4420 +FPS=31.65, 法向力=1273.2916, 切向力X=-340.8358, 切向力Y=163.7201 +FPS=34.21, 法向力=1255.0649, 切向力X=-274.0901, 切向力Y=235.8874 +FPS=32.33, 法向力=2595.5381, 切向力X=-2.7176, 切向力Y=-747.4561 +FPS=33.49, 法向力=2472.0039, 切向力X=-10.9340, 切向力Y=-838.2018 +FPS=32.74, 法向力=2089.7017, 切向力X=568.5208, 切向力Y=56.4034 +FPS=34.10, 法向力=2033.4941, 切向力X=552.6334, 切向力Y=151.7166 +FPS=33.89, 法向力=2102.1226, 切向力X=1087.4243, 切向力Y=-26.9669 +FPS=33.57, 法向力=2085.0259, 切向力X=1181.9045, 切向力Y=-168.2331 +FPS=32.67, 法向力=3634.7957, 切向力X=-302.9429, 切向力Y=-1229.0880 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法向力=2444.1257, 切向力X=-61.0955, 切向力Y=-648.8624 +stitch_feature_optimized: canvas out_w=681, out_h=499, x_min=-75.53, y_min=-84.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000414s, blend=0.002315s (9 tiles incl ref), finalize=0.000059s, total=0.002794s +FPS=34.33, 法向力=2424.4575, 切向力X=-114.2492, 切向力Y=-708.6891 +FPS=32.43, 法向力=3003.7795, 切向力X=2750.1799, 切向力Y=-299.1683 +FPS=33.12, 法向力=3003.4878, 切向力X=2733.6099, 切向力Y=-379.0634 +FPS=31.67, 法向力=2695.4016, 切向力X=1709.4153, 切向力Y=70.7078 +FPS=33.41, 法向力=2741.2598, 切向力X=1716.0768, 切向力Y=13.4249 +FPS=31.13, 法向力=2990.9517, 切向力X=1016.4905, 切向力Y=-1972.5603 +FPS=33.01, 法向力=2958.7388, 切向力X=1144.6277, 切向力Y=-1981.6246 +FPS=30.73, 法向力=1995.6765, 切向力X=-820.7275, 切向力Y=-874.7741 +FPS=32.68, 法向力=2084.7490, 切向力X=-809.4022, 切向力Y=-848.9479 +FPS=34.82, 法向力=2712.2568, 切向力X=1016.1268, 切向力Y=-1759.1489 +FPS=32.69, 法向力=2649.1821, 切向力X=858.3918, 切向力Y=-1661.5981 +FPS=33.47, 法向力=1823.8690, 切向力X=-315.1262, 切向力Y=-241.1328 +FPS=33.59, 法向力=1819.3187, 切向力X=-355.7017, 切向力Y=-217.2399 +FPS=30.56, 法向力=3101.8989, 切向力X=-505.8598, 切向力Y=-774.7087 +FPS=32.32, 法向力=3135.3420, 切向力X=-516.6025, 切向力Y=-681.3348 +FPS=32.26, 法向力=2004.7512, 切向力X=-365.8937, 切向力Y=-1462.7251 +FPS=31.37, 法向力=2570.5928, 切向力X=-701.7656, 切向力Y=-974.3031 +FPS=31.79, 法向力=2620.9165, 切向力X=-859.3207, 切向力Y=-1012.5890 +FPS=31.13, 法向力=3031.2437, 切向力X=-39.6852, 切向力Y=-509.7326 +FPS=32.66, 法向力=3057.1938, 切向力X=-163.6565, 切向力Y=-551.8417 +FPS=31.29, 法向力=2156.4138, 切向力X=-1395.9524, 切向力Y=-1180.0338 +FPS=32.64, 法向力=2190.6348, 切向力X=-1380.4690, 切向力Y=-1307.0256 +FPS=31.90, 法向力=1707.3575, 切向力X=-246.4367, 切向力Y=-1624.2117 +FPS=32.66, 法向力=1879.6069, 切向力X=-361.5528, 切向力Y=-1655.2607 +FPS=30.58, 法向力=1931.8119, 切向力X=231.2096, 切向力Y=-550.2305 +FPS=32.23, 法向力=1869.9675, 切向力X=184.3920, 切向力Y=-478.0607 +FPS=31.97, 法向力=1897.6316, 切向力X=1463.0129, 切向力Y=-808.3916 +FPS=32.60, 法向力=1937.1021, 切向力X=1632.1633, 切向力Y=-805.4241 +FPS=30.42, 法向力=1379.3970, 切向力X=-810.9838, 切向力Y=-873.6574 +FPS=33.21, 法向力=1529.9250, 切向力X=-986.7252, 切向力Y=-914.4272 +stitch_feature_optimized: canvas out_w=681, out_h=499, x_min=-75.53, y_min=-84.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000485s, blend=0.002195s (9 tiles incl ref), finalize=0.000055s, total=0.002742s +FPS=30.16, 法向力=2208.4497, 切向力X=755.5950, 切向力Y=42.4686 +FPS=31.92, 法向力=2221.1274, 切向力X=988.0955, 切向力Y=289.6608 +FPS=32.53, 法向力=2211.7764, 切向力X=60.4935, 切向力Y=-1017.6733 +FPS=32.05, 法向力=2203.3755, 切向力X=88.9684, 切向力Y=-956.1752 +FPS=32.65, 法向力=2260.1631, 切向力X=-1192.7180, 切向力Y=269.3811 +FPS=32.72, 法向力=2345.8574, 切向力X=-1034.7922, 切向力Y=343.2560 +FPS=33.12, 法向力=2291.5259, 切向力X=400.9367, 切向力Y=160.0434 +FPS=33.39, 法向力=2263.0691, 切向力X=409.4857, 切向力Y=70.6666 +FPS=31.17, 法向力=2794.3257, 切向力X=2216.6367, 切向力Y=34.1611 +FPS=32.04, 法向力=2898.1621, 切向力X=2306.2896, 切向力Y=33.1709 +FPS=32.33, 法向力=2542.9792, 切向力X=1037.9871, 切向力Y=-670.3123 +FPS=31.35, 法向力=2571.5000, 切向力X=1031.6106, 切向力Y=-681.8182 +FPS=31.79, 法向力=2373.8638, 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+FPS=27.24, 法向力=2129.7114, 切向力X=1370.9478, 切向力Y=-1569.1232 +FPS=27.29, 法向力=1874.8151, 切向力X=902.0030, 切向力Y=-1798.8381 +FPS=27.38, 法向力=1889.9437, 切向力X=902.5729, 切向力Y=-1714.1846 +FPS=25.99, 法向力=1726.1978, 切向力X=1930.0125, 切向力Y=-1413.9600 +FPS=26.60, 法向力=2184.3176, 切向力X=1398.7655, 切向力Y=-2619.1978 +FPS=27.67, 法向力=2190.8879, 切向力X=1437.3900, 切向力Y=-2636.9580 +FPS=25.44, 法向力=2039.1390, 切向力X=422.2865, 切向力Y=-2810.5620 +FPS=24.96, 法向力=2044.6469, 切向力X=470.6094, 切向力Y=-2901.0020 +FPS=26.33, 法向力=1971.7086, 切向力X=689.4156, 切向力Y=-2064.3726 +FPS=26.14, 法向力=2232.9307, 切向力X=1729.6272, 切向力Y=-1103.5488 +FPS=26.17, 法向力=2265.0781, 切向力X=1819.0302, 切向力Y=-1145.1130 +FPS=26.93, 法向力=1933.2825, 切向力X=1005.0367, 切向力Y=-2687.3894 +FPS=27.35, 法向力=1981.8584, 切向力X=1374.9736, 切向力Y=-2138.7720 +FPS=26.91, 法向力=1986.4407, 切向力X=1447.0936, 切向力Y=-2085.8560 +FPS=27.28, 法向力=2268.5366, 切向力X=977.3311, 切向力Y=-2136.2292 +FPS=27.07, 法向力=2298.3110, 切向力X=921.4498, 切向力Y=-2255.7441 +FPS=26.63, 法向力=2223.8367, 切向力X=1570.8429, 切向力Y=-1766.0065 +FPS=25.90, 法向力=1563.9478, 切向力X=982.4523, 切向力Y=-2496.2476 +FPS=27.52, 法向力=1501.2946, 切向力X=978.9056, 切向力Y=-2554.6450 +FPS=26.61, 法向力=2293.3374, 切向力X=1203.5535, 切向力Y=-2183.1318 +FPS=26.56, 法向力=2329.1104, 切向力X=1254.0024, 切向力Y=-2102.7744 +FPS=28.75, 法向力=1763.4717, 切向力X=440.9412, 切向力Y=-1725.4917 +stitch_feature_optimized: canvas out_w=681, out_h=499, x_min=-75.53, y_min=-84.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000416s, blend=0.002261s (9 tiles incl ref), finalize=0.000065s, total=0.002748s +FPS=25.32, 法向力=1860.3162, 切向力X=682.7488, 切向力Y=-1818.1390 +FPS=28.47, 法向力=1915.7090, 切向力X=716.1520, 切向力Y=-1893.3184 +FPS=25.82, 法向力=2274.0876, 切向力X=1019.1820, 切向力Y=-2405.9944 +FPS=26.25, 法向力=2099.5906, 切向力X=120.1825, 切向力Y=-1333.3862 +FPS=27.24, 法向力=2055.4468, 切向力X=211.8548, 切向力Y=-1228.5380 +FPS=27.72, 法向力=1886.0011, 切向力X=1011.6183, 切向力Y=-2547.6426 +FPS=27.28, 法向力=1874.5157, 切向力X=1097.2450, 切向力Y=-2586.4839 +FPS=26.61, 法向力=1820.1450, 切向力X=2064.7266, 切向力Y=-2613.8052 +FPS=27.14, 法向力=2541.6533, 切向力X=1023.1798, 切向力Y=-2866.4819 +FPS=27.92, 法向力=2564.4343, 切向力X=1072.3557, 切向力Y=-2870.8511 +FPS=26.26, 法向力=1927.3895, 切向力X=1779.3363, 切向力Y=-1859.3242 +FPS=26.39, 法向力=2283.6873, 切向力X=745.5743, 切向力Y=-2429.4583 +FPS=28.24, 法向力=2355.1748, 切向力X=715.2207, 切向力Y=-2548.7651 +FPS=8.13, 法向力=2026.7828, 切向力X=1761.7162, 切向力Y=-2132.4878 +FPS=22.30, 法向力=2653.9619, 切向力X=1168.4058, 切向力Y=-2547.3687 +FPS=40.88, 法向力=2634.9087, 切向力X=1109.4915, 切向力Y=-2510.8223 +FPS=28.04, 法向力=2063.3225, 切向力X=1050.6476, 切向力Y=-2231.1411 +FPS=30.71, 法向力=2050.8442, 切向力X=1055.1959, 切向力Y=-2265.1016 +FPS=30.53, 法向力=1991.9126, 切向力X=1179.9539, 切向力Y=-1815.2032 +FPS=30.01, 法向力=1991.1321, 切向力X=1166.0470, 切向力Y=-1753.4712 +FPS=30.46, 法向力=2078.0908, 切向力X=1198.4407, 切向力Y=-1526.1145 +FPS=28.17, 法向力=1742.0048, 切向力X=1024.8430, 切向力Y=-1320.9939 +FPS=30.98, 法向力=1705.5969, 切向力X=1020.0233, 切向力Y=-1324.5082 +FPS=29.77, 法向力=2731.2061, 切向力X=1391.6279, 切向力Y=-2013.2485 +FPS=31.08, 法向力=2795.0105, 切向力X=1360.9890, 切向力Y=-2167.4619 +FPS=28.45, 法向力=2480.0215, 切向力X=1169.6132, 切向力Y=-2726.2891 +FPS=29.70, 法向力=2538.1133, 切向力X=1163.4954, 切向力Y=-2925.3025 +FPS=29.02, 法向力=2187.0027, 切向力X=625.5309, 切向力Y=-2012.5889 +FPS=28.67, 法向力=2374.6675, 切向力X=874.0014, 切向力Y=-2425.8633 +FPS=30.44, 法向力=2292.9211, 切向力X=831.4086, 切向力Y=-2397.5454 +stitch_feature_optimized: canvas out_w=681, out_h=499, x_min=-75.53, y_min=-84.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000579s, blend=0.002230s (9 tiles incl ref), finalize=0.000056s, total=0.002871s +FPS=29.60, 法向力=2255.6807, 切向力X=1028.6858, 切向力Y=-2491.1411 +FPS=30.71, 法向力=2227.4470, 切向力X=1051.3219, 切向力Y=-2480.4395 +FPS=29.58, 法向力=2113.0088, 切向力X=242.2754, 切向力Y=-1499.3420 +FPS=30.79, 法向力=2155.0986, 切向力X=246.0883, 切向力Y=-1415.1648 +FPS=27.02, 法向力=2397.9502, 切向力X=529.0569, 切向力Y=-3276.5930 +FPS=28.43, 法向力=1774.3801, 切向力X=862.4622, 切向力Y=-2492.5728 +FPS=31.01, 法向力=1716.1770, 切向力X=796.2968, 切向力Y=-2468.5054 +FPS=28.38, 法向力=1616.0305, 切向力X=1748.4814, 切向力Y=-1794.0310 +FPS=30.38, 法向力=1647.0183, 切向力X=1737.1023, 切向力Y=-1771.0491 +FPS=28.60, 法向力=1618.7769, 切向力X=2010.1107, 切向力Y=-1560.8618 +FPS=31.29, 法向力=1759.3522, 切向力X=2151.6328, 切向力Y=-1819.2937 +FPS=28.07, 法向力=1885.6348, 切向力X=2038.9263, 切向力Y=-2380.8721 +FPS=29.46, 法向力=1938.2354, 切向力X=2021.1997, 切向力Y=-2504.6101 +FPS=31.13, 法向力=2136.3408, 切向力X=1430.1133, 切向力Y=-1449.2358 +FPS=28.32, 法向力=2221.3552, 切向力X=1506.4003, 切向力Y=-3311.7834 +FPS=30.08, 法向力=2168.3047, 切向力X=1471.4329, 切向力Y=-3325.7617 +FPS=26.83, 法向力=1869.7454, 切向力X=711.8657, 切向力Y=-1656.4534 +FPS=30.40, 法向力=1854.6580, 切向力X=686.7095, 切向力Y=-1703.3414 +FPS=28.10, 法向力=1588.3234, 切向力X=361.8377, 切向力Y=-1896.0983 +FPS=29.47, 法向力=1578.5192, 切向力X=1003.3000, 切向力Y=-1576.8115 +FPS=30.98, 法向力=1597.1521, 切向力X=1039.8370, 切向力Y=-1621.2744 +FPS=27.59, 法向力=2302.5076, 切向力X=1489.2654, 切向力Y=-2728.0967 +FPS=30.56, 法向力=2517.1287, 切向力X=1593.2645, 切向力Y=-2907.9722 +FPS=27.96, 法向力=1838.9154, 切向力X=1552.9991, 切向力Y=-1254.3787 +FPS=30.92, 法向力=1836.3896, 切向力X=1620.1794, 切向力Y=-1291.9819 +FPS=28.59, 法向力=1817.7948, 切向力X=837.0663, 切向力Y=-1558.1333 +FPS=29.36, 法向力=1794.0901, 切向力X=959.6605, 切向力Y=-1601.1224 +FPS=30.06, 法向力=1497.4452, 切向力X=1309.2886, 切向力Y=-1823.8354 +FPS=27.97, 法向力=2131.8293, 切向力X=1317.4458, 切向力Y=-2518.5796 +FPS=31.40, 法向力=2189.5806, 切向力X=1541.8665, 切向力Y=-2566.1548 +stitch_feature_optimized: canvas out_w=681, out_h=499, x_min=-75.53, y_min=-84.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000427s, blend=0.002220s (9 tiles incl ref), finalize=0.000055s, total=0.002708s +FPS=28.46, 法向力=2954.1765, 切向力X=783.4504, 切向力Y=-2397.9590 +FPS=30.13, 法向力=2976.1406, 切向力X=755.5856, 切向力Y=-2388.0850 +FPS=28.83, 法向力=1862.7253, 切向力X=1302.3031, 切向力Y=-1826.3431 +FPS=29.33, 法向力=1886.0603, 切向力X=1277.9087, 切向力Y=-1778.9873 +FPS=30.13, 法向力=2435.5403, 切向力X=1511.2510, 切向力Y=-1922.6331 +FPS=30.07, 法向力=2388.1584, 切向力X=1483.5726, 切向力Y=-1886.2460 +FPS=31.11, 法向力=1997.2625, 切向力X=359.4141, 切向力Y=-2488.4653 +FPS=20.07, 法向力=1971.8745, 切向力X=1115.3613, 切向力Y=-1687.6348 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_175900.log b/examples/logs/qt_viewer_20260519_175900.log new file mode 100644 index 0000000..0da485e --- /dev/null +++ b/examples/logs/qt_viewer_20260519_175900.log @@ -0,0 +1,754 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.68, 法向力=1341.4670, 切向力X=-507.3323, 切向力Y=-475.6675 +FPS=31.59, 法向力=1177.2568, 切向力X=-392.3406, 切向力Y=-682.4691 +FPS=27.01, 法向力=1135.2192, 切向力X=-424.0212, 切向力Y=-677.1630 +FPS=29.01, 法向力=1495.5991, 切向力X=-1038.9133, 切向力Y=300.5222 +FPS=31.36, 法向力=1520.1426, 切向力X=-1106.4871, 切向力Y=322.9052 +FPS=27.18, 法向力=1287.3920, 切向力X=-262.3884, 切向力Y=-819.3737 +FPS=28.99, 法向力=1414.9563, 切向力X=-1020.5880, 切向力Y=-557.1126 +FPS=34.47, 法向力=1426.6099, 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+stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000279s, blend=0.002244s (9 tiles incl ref), finalize=0.000066s, total=0.002596s +FPS=20.06, 法向力=1325.7739, 切向力X=582.4250, 切向力Y=-881.1372 +FPS=25.62, 法向力=1483.6294, 切向力X=251.4338, 切向力Y=-610.2727 +FPS=30.13, 法向力=1775.0245, 切向力X=489.1850, 切向力Y=-690.7381 +FPS=28.98, 法向力=1965.8439, 切向力X=593.2281, 切向力Y=-735.1970 +FPS=29.29, 法向力=1588.9277, 切向力X=-52.8847, 切向力Y=-2060.5908 +FPS=27.41, 法向力=1855.8606, 切向力X=440.6857, 切向力Y=-1289.2101 +FPS=30.38, 法向力=1806.6689, 切向力X=483.9820, 切向力Y=-1192.7236 +FPS=29.75, 法向力=1996.3809, 切向力X=905.9501, 切向力Y=-771.5664 +FPS=28.81, 法向力=1917.0525, 切向力X=851.5885, 切向力Y=-754.1327 +FPS=30.49, 法向力=1637.1716, 切向力X=-172.2746, 切向力Y=-1207.7556 +FPS=29.77, 法向力=1689.5977, 切向力X=-144.9272, 切向力Y=-1226.2471 +FPS=30.87, 法向力=1566.7346, 切向力X=-397.6505, 切向力Y=-1613.4512 +FPS=29.80, 法向力=1694.7356, 切向力X=572.8284, 切向力Y=-1781.9438 +FPS=31.42, 法向力=1719.5876, 切向力X=620.3192, 切向力Y=-1864.6742 +FPS=30.16, 法向力=1520.5933, 切向力X=403.6579, 切向力Y=-1333.8225 +FPS=31.18, 法向力=1545.6052, 切向力X=375.1921, 切向力Y=-1249.8022 +FPS=28.56, 法向力=1762.6019, 切向力X=58.2078, 切向力Y=-1105.6042 +FPS=29.79, 法向力=1709.2078, 切向力X=23.7370, 切向力Y=-1064.9780 +FPS=29.33, 法向力=1588.7593, 切向力X=67.6818, 切向力Y=-999.7881 +FPS=29.03, 法向力=1797.5620, 切向力X=245.4978, 切向力Y=-1358.6458 +FPS=31.41, 法向力=1815.9241, 切向力X=235.6897, 切向力Y=-1319.0198 +FPS=28.75, 法向力=1670.2549, 切向力X=22.6278, 切向力Y=-1260.6788 +FPS=31.89, 法向力=1687.9453, 切向力X=0.0723, 切向力Y=-1235.6084 +FPS=30.85, 法向力=1746.1031, 切向力X=20.8751, 切向力Y=-1406.2726 +FPS=31.29, 法向力=1716.9954, 切向力X=45.2266, 切向力Y=-1411.6748 +FPS=28.05, 法向力=1780.8363, 切向力X=236.3170, 切向力Y=-1120.8352 +FPS=30.38, 法向力=1802.7256, 切向力X=224.9259, 切向力Y=-2160.2407 +FPS=30.49, 法向力=1772.1381, 切向力X=183.8951, 切向力Y=-2081.1772 +FPS=30.42, 法向力=2031.8367, 切向力X=763.6632, 切向力Y=-477.6073 +FPS=30.68, 法向力=2096.0276, 切向力X=760.6967, 切向力Y=-408.8663 +stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-142.27, y_min=-84.58 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000285s, blend=0.002103s (9 tiles incl ref), finalize=0.000092s, total=0.002486s +FPS=30.18, 法向力=1585.3424, 切向力X=822.9705, 切向力Y=-1339.7582 +FPS=30.73, 法向力=1514.9246, 切向力X=780.6521, 切向力Y=-1383.2126 +FPS=28.10, 法向力=1968.0901, 切向力X=118.3020, 切向力Y=-1181.3336 +FPS=29.96, 法向力=2031.2310, 切向力X=61.9431, 切向力Y=-1282.8141 +FPS=30.64, 法向力=1507.8142, 切向力X=135.1924, 切向力Y=-1194.2927 +FPS=29.87, 法向力=1488.5310, 切向力X=99.7317, 切向力Y=-1243.1649 +FPS=31.02, 法向力=1477.1455, 切向力X=-384.2458, 切向力Y=-1002.9520 +FPS=29.90, 法向力=1496.3094, 切向力X=-438.7513, 切向力Y=-958.1090 +FPS=31.27, 法向力=1756.4576, 切向力X=470.7868, 切向力Y=-1017.1642 +FPS=29.74, 法向力=1084.8019, 切向力X=-213.5711, 切向力Y=-1330.8063 +FPS=30.19, 法向力=1053.7394, 切向力X=-316.5959, 切向力Y=-1342.6025 +FPS=29.03, 法向力=1451.6663, 切向力X=956.8921, 切向力Y=-1109.3723 +FPS=30.32, 法向力=1399.9690, 切向力X=895.0402, 切向力Y=-1133.9705 +FPS=30.44, 法向力=1451.4008, 切向力X=712.7647, 切向力Y=-1331.9722 +FPS=30.71, 法向力=1474.2228, 切向力X=694.6672, 切向力Y=-1388.1348 +FPS=29.26, 法向力=1751.5208, 切向力X=354.0346, 切向力Y=-1428.3914 +FPS=30.19, 法向力=1751.4348, 切向力X=336.7056, 切向力Y=-1450.6155 +FPS=29.42, 法向力=2262.3525, 切向力X=-194.0633, 切向力Y=-1579.4490 +FPS=28.21, 法向力=1464.7689, 切向力X=-364.8051, 切向力Y=-1667.0000 +FPS=30.74, 法向力=1483.3671, 切向力X=-424.1451, 切向力Y=-1696.3466 +FPS=29.25, 法向力=1156.8097, 切向力X=70.0430, 切向力Y=-1401.7969 +FPS=31.73, 法向力=1129.1608, 切向力X=19.6393, 切向力Y=-1292.7742 +FPS=29.71, 法向力=1523.0820, 切向力X=-317.4930, 切向力Y=-902.5515 +FPS=29.48, 法向力=1594.7914, 切向力X=-200.3260, 切向力Y=-934.5043 +FPS=29.04, 法向力=1652.2904, 切向力X=-17.4105, 切向力Y=-568.1516 +FPS=25.54, 法向力=1845.7181, 切向力X=412.0795, 切向力Y=-1859.5861 +FPS=30.28, 法向力=1860.5295, 切向力X=431.3577, 切向力Y=-1939.5446 +FPS=28.01, 法向力=1810.6746, 切向力X=846.7952, 切向力Y=-1582.9758 +FPS=31.06, 法向力=1813.7036, 切向力X=891.0698, 切向力Y=-1549.2014 +FPS=30.49, 法向力=1797.5496, 切向力X=31.5909, 切向力Y=-1493.2063 +stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-142.27, y_min=-84.58 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000270s, blend=0.002283s (9 tiles incl ref), finalize=0.000055s, total=0.002614s +FPS=19.87, 法向力=1819.4514, 切向力X=82.7294, 切向力Y=-1438.8281 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_180003.log b/examples/logs/qt_viewer_20260519_180003.log new file mode 100644 index 0000000..619fd23 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_180003.log @@ -0,0 +1,1098 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.90, 法向力=2895.2959, 切向力X=-810.4424, 切向力Y=-1102.4087 +FPS=38.99, 法向力=2753.5371, 切向力X=-1623.8577, 切向力Y=-633.1964 +FPS=27.33, 法向力=2767.9890, 切向力X=-1564.6117, 切向力Y=-511.8568 +FPS=29.20, 法向力=2628.1484, 切向力X=-1597.5498, 切向力Y=14.8864 +FPS=30.94, 法向力=2650.5425, 切向力X=-1528.0935, 切向力Y=-29.4649 +FPS=30.99, 法向力=2203.1089, 切向力X=-1426.4719, 切向力Y=-899.2817 +FPS=32.86, 法向力=2172.7949, 切向力X=-1580.3246, 切向力Y=-916.4042 +FPS=31.28, 法向力=2553.8948, 切向力X=-1207.0398, 切向力Y=186.7861 +FPS=28.82, 法向力=2518.0151, 切向力X=728.4277, 切向力Y=84.4643 +FPS=31.40, 法向力=2599.1201, 切向力X=681.4330, 切向力Y=75.1124 +FPS=29.98, 法向力=2763.9685, 切向力X=-2225.4233, 切向力Y=-992.6434 +FPS=31.66, 法向力=2750.1455, 切向力X=-2278.5095, 切向力Y=-999.7633 +FPS=29.25, 法向力=1761.0364, 切向力X=-853.4203, 切向力Y=-249.7454 +FPS=32.45, 法向力=1701.8591, 切向力X=-784.0131, 切向力Y=-228.0715 +FPS=30.07, 法向力=2104.8413, 切向力X=-1390.4749, 切向力Y=-69.8717 +FPS=31.06, 法向力=2187.0405, 切向力X=-1449.9844, 切向力Y=-56.9767 +FPS=32.13, 法向力=2758.7214, 切向力X=714.5766, 切向力Y=-494.6593 +FPS=31.47, 法向力=2749.9062, 切向力X=725.6565, 切向力Y=-493.8979 +FPS=32.61, 法向力=1930.1425, 切向力X=-1111.9833, 切向力Y=-302.7770 +FPS=31.54, 法向力=1857.9637, 切向力X=-1112.3269, 切向力Y=-281.1179 +FPS=32.56, 法向力=2229.4661, 切向力X=-1781.6549, 切向力Y=-475.7628 +FPS=32.95, 法向力=2258.6499, 切向力X=-1763.1685, 切向力Y=-481.0672 +FPS=30.58, 法向力=2692.5598, 切向力X=-2308.7124, 切向力Y=-865.4633 +FPS=28.72, 法向力=2291.7026, 切向力X=-1783.5262, 切向力Y=-317.0926 +FPS=32.43, 法向力=2217.0513, 切向力X=-1754.7281, 切向力Y=-348.5022 +FPS=31.87, 法向力=2891.1421, 切向力X=-1218.4972, 切向力Y=-638.8740 +FPS=32.99, 法向力=2808.1135, 切向力X=-1105.6653, 切向力Y=-638.0067 +stitch_feature_optimized: canvas out_w=543, out_h=418, x_min=-139.48, y_min=-81.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000271s, blend=0.002075s (9 tiles incl ref), finalize=0.000052s, total=0.002405s +FPS=28.27, 法向力=1921.8457, 切向力X=-1697.2709, 切向力Y=-25.3865 +FPS=29.59, 法向力=1824.5594, 切向力X=-1684.2600, 切向力Y=9.9545 +FPS=30.57, 法向力=2866.4043, 切向力X=-1909.0488, 切向力Y=-232.0931 +FPS=31.18, 法向力=1909.6536, 切向力X=-898.0311, 切向力Y=-614.1230 +FPS=31.35, 法向力=1865.7699, 切向力X=-980.1470, 切向力Y=-518.5680 +FPS=29.86, 法向力=2248.0269, 切向力X=-783.4204, 切向力Y=-505.6954 +FPS=30.97, 法向力=2224.9893, 切向力X=-803.7303, 切向力Y=-421.8180 +FPS=29.51, 法向力=1416.7461, 切向力X=-1185.0510, 切向力Y=-254.9584 +FPS=30.25, 法向力=1336.1609, 切向力X=-1137.3130, 切向力Y=-257.1935 +FPS=29.38, 法向力=2036.3301, 切向力X=-1480.4952, 切向力Y=-671.2446 +FPS=29.24, 法向力=1945.9194, 切向力X=-1490.5554, 切向力Y=-656.6998 +FPS=31.36, 法向力=2339.6921, 切向力X=-1776.1472, 切向力Y=-264.9445 +FPS=31.01, 法向力=2338.6187, 切向力X=-1713.3052, 切向力Y=-321.8283 +FPS=28.69, 法向力=2166.9436, 切向力X=-1236.4109, 切向力Y=-1074.6384 +FPS=29.43, 法向力=2180.0493, 切向力X=-1307.9762, 切向力Y=-1148.2571 +FPS=30.71, 法向力=1545.8041, 切向力X=-1649.6047, 切向力Y=-424.5713 +FPS=29.33, 法向力=2395.4302, 切向力X=-870.0664, 切向力Y=-787.6332 +FPS=31.27, 法向力=2404.1514, 切向力X=-856.8262, 切向力Y=-760.1771 +FPS=29.36, 法向力=2059.3633, 切向力X=-856.5074, 切向力Y=-495.8016 +FPS=30.96, 法向力=2119.4463, 切向力X=-892.0996, 切向力Y=-489.3055 +FPS=29.12, 法向力=1824.8604, 切向力X=-749.9576, 切向力Y=249.4846 +FPS=30.07, 法向力=1810.4989, 切向力X=-814.3588, 切向力Y=280.4752 +FPS=28.85, 法向力=1911.6208, 切向力X=-1189.6396, 切向力Y=-243.4989 +FPS=31.66, 法向力=1928.7245, 切向力X=-1312.5822, 切向力Y=-323.8639 +FPS=30.22, 法向力=2145.0542, 切向力X=-1033.1140, 切向力Y=-1679.4142 +FPS=27.05, 法向力=1859.1187, 切向力X=-1000.2681, 切向力Y=-80.9799 +FPS=32.35, 法向力=1803.5730, 切向力X=-1093.8000, 切向力Y=-57.5502 +FPS=28.95, 法向力=1871.8252, 切向力X=-1616.4348, 切向力Y=-502.4246 +FPS=18.86, 法向力=2363.8784, 切向力X=-1751.8022, 切向力Y=-170.2146 +FPS=41.78, 法向力=2498.8496, 切向力X=-1932.7935, 切向力Y=-149.3933 +stitch_feature_optimized: canvas out_w=543, out_h=418, x_min=-139.48, y_min=-81.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000259s, blend=0.002182s (9 tiles incl ref), finalize=0.000059s, total=0.002506s +FPS=34.68, 法向力=2495.1130, 切向力X=-1887.5818, 切向力Y=-161.0216 +FPS=34.54, 法向力=2347.2148, 切向力X=-636.1140, 切向力Y=-651.6076 +FPS=35.08, 法向力=2313.3579, 切向力X=-652.9075, 切向力Y=-624.9236 +FPS=35.35, 法向力=1669.6349, 切向力X=-92.0084, 切向力Y=528.3268 +FPS=34.72, 法向力=1673.4224, 切向力X=-156.7988, 切向力Y=758.7132 +FPS=35.32, 法向力=1584.5630, 切向力X=-412.5010, 切向力Y=46.0664 +FPS=36.19, 法向力=1515.3042, 切向力X=-493.6862, 切向力Y=42.0226 +FPS=34.21, 法向力=1743.2302, 切向力X=-1113.7468, 切向力Y=-478.7025 +FPS=37.00, 法向力=1756.0265, 切向力X=-1074.2504, 切向力Y=-471.8583 +FPS=33.43, 法向力=2476.9487, 切向力X=-631.8368, 切向力Y=-417.3114 +FPS=36.98, 法向力=2440.4675, 切向力X=-622.3453, 切向力Y=-231.9693 +FPS=34.87, 法向力=1946.1877, 切向力X=-987.7139, 切向力Y=-498.2233 +FPS=36.67, 法向力=1935.8247, 切向力X=-966.3936, 切向力Y=-502.5096 +FPS=35.77, 法向力=2149.9968, 切向力X=-583.0354, 切向力Y=-451.5242 +FPS=36.41, 法向力=2088.2051, 切向力X=-501.5498, 切向力Y=-426.7785 +FPS=34.42, 法向力=2114.8667, 切向力X=-538.9442, 切向力Y=-421.4780 +FPS=36.63, 法向力=2063.6182, 切向力X=-847.8455, 切向力Y=-326.7296 +FPS=36.92, 法向力=2103.2322, 切向力X=-867.9254, 切向力Y=-357.1324 +FPS=33.90, 法向力=2039.2998, 切向力X=-341.3616, 切向力Y=-970.8612 +FPS=33.53, 法向力=2093.9629, 切向力X=-384.5024, 切向力Y=-933.1747 +FPS=20.31, 法向力=1529.8044, 切向力X=-1102.9348, 切向力Y=-1079.6028 +FPS=39.35, 法向力=2262.3579, 切向力X=-1133.9902, 切向力Y=-582.1957 +FPS=28.72, 法向力=2314.7300, 切向力X=-1152.8701, 切向力Y=-642.5760 +FPS=29.74, 法向力=2069.8267, 切向力X=-925.9775, 切向力Y=-715.1603 +FPS=30.94, 法向力=2037.3208, 切向力X=-879.2772, 切向力Y=-917.7458 +FPS=29.59, 法向力=1675.1382, 切向力X=-1230.3688, 切向力Y=-231.1855 +FPS=24.85, 法向力=1397.6550, 切向力X=-421.7405, 切向力Y=-682.8987 +FPS=25.82, 法向力=1440.7474, 切向力X=-388.2654, 切向力Y=-691.0203 +FPS=27.46, 法向力=1950.7236, 切向力X=-1594.1436, 切向力Y=-425.2618 +FPS=29.38, 法向力=1945.7155, 切向力X=-1494.3953, 切向力Y=-382.6803 +stitch_feature_optimized: canvas out_w=543, out_h=418, x_min=-139.48, y_min=-81.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000265s, blend=0.002150s (9 tiles incl ref), finalize=0.000052s, total=0.002473s +FPS=27.81, 法向力=1356.4216, 切向力X=-894.2910, 切向力Y=-63.5841 +FPS=28.19, 法向力=1311.2722, 切向力X=-1045.6449, 切向力Y=-121.8391 +FPS=28.33, 法向力=1337.1779, 切向力X=-993.8004, 切向力Y=18.4559 +FPS=28.64, 法向力=1670.3564, 切向力X=-1239.4081, 切向力Y=-430.0616 +FPS=23.72, 法向力=1700.2308, 切向力X=-1178.8525, 切向力Y=-522.6862 +FPS=42.87, 法向力=2304.6245, 切向力X=-1486.5659, 切向力Y=-460.0519 +FPS=33.86, 法向力=2292.9712, 切向力X=-1431.7897, 切向力Y=-526.6185 +FPS=32.76, 法向力=2680.0850, 切向力X=175.6233, 切向力Y=-1209.2723 +FPS=36.06, 法向力=2641.7732, 切向力X=178.1942, 切向力Y=-1240.6580 +FPS=33.51, 法向力=1863.2695, 切向力X=-87.3213, 切向力Y=-740.2678 +FPS=34.65, 法向力=1888.9902, 切向力X=-131.7870, 切向力Y=-901.5574 +FPS=35.50, 法向力=1323.3140, 切向力X=-771.4332, 切向力Y=-856.1656 +FPS=35.64, 法向力=1241.0601, 切向力X=-749.8635, 切向力Y=-798.4080 +FPS=33.46, 法向力=2203.2756, 切向力X=-580.3103, 切向力Y=76.7156 +FPS=35.48, 法向力=2150.2695, 切向力X=-336.3268, 切向力Y=-1.2222 +FPS=31.91, 法向力=2111.7878, 切向力X=-780.2274, 切向力Y=-620.2498 +FPS=34.50, 法向力=2276.5361, 切向力X=-677.7145, 切向力Y=-639.2267 +FPS=17.58, 法向力=2187.5405, 切向力X=-1467.3339, 切向力Y=-98.0387 +FPS=39.71, 法向力=1629.5170, 切向力X=-590.7231, 切向力Y=106.3796 +FPS=27.80, 法向力=1641.9092, 切向力X=-543.0566, 切向力Y=134.7971 +FPS=27.88, 法向力=1982.4264, 切向力X=-1091.5836, 切向力Y=-608.6223 +FPS=28.77, 法向力=1975.3937, 切向力X=-1023.4147, 切向力Y=-650.8094 +FPS=26.46, 法向力=1816.8254, 切向力X=-757.4200, 切向力Y=-119.0160 +FPS=28.29, 法向力=1785.0771, 切向力X=-1259.8391, 切向力Y=-1365.0625 +FPS=28.75, 法向力=1724.6167, 切向力X=-1287.4388, 切向力Y=-1254.9377 +FPS=27.06, 法向力=1972.0852, 切向力X=-677.2499, 切向力Y=-938.0162 +FPS=28.84, 法向力=2044.3372, 切向力X=-566.1908, 切向力Y=-780.3959 +FPS=27.74, 法向力=1665.8745, 切向力X=-978.0413, 切向力Y=-202.0305 +FPS=28.49, 法向力=1832.6960, 切向力X=-488.3443, 切向力Y=-383.5380 +FPS=29.35, 法向力=1771.6771, 切向力X=-559.2518, 切向力Y=-351.9665 +stitch_feature_optimized: canvas out_w=543, out_h=418, x_min=-139.48, y_min=-81.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000265s, blend=0.002229s (9 tiles incl ref), finalize=0.000055s, total=0.002555s +FPS=27.06, 法向力=1797.2982, 切向力X=-1554.0825, 切向力Y=-412.4219 +FPS=27.27, 法向力=2238.3191, 切向力X=-1562.7861, 切向力Y=-157.1392 +FPS=28.04, 法向力=2206.5535, 切向力X=-1499.5959, 切向力Y=-93.8904 +FPS=28.09, 法向力=1916.7579, 切向力X=-1111.8223, 切向力Y=-124.0984 +FPS=28.35, 法向力=1898.5605, 切向力X=-1121.3214, 切向力Y=-49.9889 +FPS=27.10, 法向力=2128.8716, 切向力X=-1645.8848, 切向力Y=-474.7942 +FPS=27.77, 法向力=2092.5264, 切向力X=-1647.3813, 切向力Y=-571.7249 +FPS=26.90, 法向力=1951.1018, 切向力X=-1105.9944, 切向力Y=-312.0542 +FPS=26.83, 法向力=1245.0366, 切向力X=-701.3008, 切向力Y=91.8745 +FPS=27.61, 法向力=1244.6595, 切向力X=-719.4459, 切向力Y=167.1741 +FPS=27.84, 法向力=2043.9170, 切向力X=-525.2451, 切向力Y=-954.1273 +FPS=28.76, 法向力=2131.8765, 切向力X=-691.0046, 切向力Y=-1051.5099 +FPS=27.59, 法向力=1739.9647, 切向力X=-1382.0903, 切向力Y=-419.4310 +FPS=26.95, 法向力=1980.1765, 切向力X=-540.8646, 切向力Y=-38.3374 +FPS=27.08, 法向力=1959.9304, 切向力X=-502.4761, 切向力Y=-18.0503 +FPS=27.11, 法向力=1848.8494, 切向力X=-1246.3817, 切向力Y=-763.4633 +FPS=26.31, 法向力=1794.9495, 切向力X=-1260.3120, 切向力Y=-725.3693 +FPS=28.95, 法向力=1934.8555, 切向力X=-474.0654, 切向力Y=-987.8546 +FPS=27.51, 法向力=2011.4819, 切向力X=-723.3273, 切向力Y=-727.8270 +FPS=28.11, 法向力=2029.3215, 切向力X=-560.6118, 切向力Y=-789.4680 +FPS=26.10, 法向力=2337.9380, 切向力X=-1633.5739, 切向力Y=-431.4769 +FPS=27.65, 法向力=1870.5745, 切向力X=-1415.5498, 切向力Y=-412.9739 +FPS=28.29, 法向力=1843.0709, 切向力X=-1413.5251, 切向力Y=-332.2924 +FPS=26.94, 法向力=2442.5796, 切向力X=-969.2443, 切向力Y=-625.0050 +FPS=28.73, 法向力=2442.6763, 切向力X=-963.4420, 切向力Y=-696.8269 +FPS=26.97, 法向力=2307.5481, 切向力X=-771.3319, 切向力Y=-612.5518 +FPS=28.35, 法向力=2210.9114, 切向力X=-710.4919, 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法向力=2282.0234, 切向力X=-250.6458, 切向力Y=-2048.1726 +FPS=27.01, 法向力=2106.6533, 切向力X=-18.6787, 切向力Y=-2191.7539 +FPS=29.01, 法向力=2284.3870, 切向力X=397.9187, 切向力Y=-1528.5961 +FPS=29.04, 法向力=2285.4412, 切向力X=384.3284, 切向力Y=-1545.8361 +FPS=28.04, 法向力=2093.5115, 切向力X=-8.5949, 切向力Y=-704.1458 +FPS=28.49, 法向力=2059.7058, 切向力X=-115.6069, 切向力Y=-745.1377 +FPS=28.20, 法向力=2278.4668, 切向力X=-625.1855, 切向力Y=-1707.9636 +FPS=26.26, 法向力=2421.2378, 切向力X=-445.6895, 切向力Y=-1369.5708 +FPS=27.29, 法向力=2438.2219, 切向力X=-470.4475, 切向力Y=-1283.2385 +FPS=27.67, 法向力=2373.7764, 切向力X=65.0524, 切向力Y=-1528.9614 +FPS=27.68, 法向力=2371.1648, 切向力X=39.1561, 切向力Y=-1626.0293 +stitch_feature_optimized: canvas out_w=543, out_h=418, x_min=-139.48, y_min=-81.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000276s, blend=0.002149s (9 tiles incl ref), finalize=0.000053s, total=0.002484s +FPS=27.70, 法向力=2121.0854, 切向力X=-90.5869, 切向力Y=-1512.9381 +FPS=29.63, 法向力=2097.9580, 切向力X=-119.9021, 切向力Y=-1573.1367 +FPS=28.16, 法向力=1698.1290, 切向力X=-80.4740, 切向力Y=-1705.8707 +FPS=27.31, 法向力=2020.1418, 切向力X=-401.1536, 切向力Y=-1646.3162 +FPS=30.08, 法向力=2018.0514, 切向力X=-357.3939, 切向力Y=-1768.8054 +FPS=26.39, 法向力=2179.8562, 切向力X=130.0601, 切向力Y=-2039.9424 +FPS=26.90, 法向力=2194.1501, 切向力X=262.3369, 切向力Y=-2077.6196 +FPS=28.70, 法向力=2557.2837, 切向力X=294.0831, 切向力Y=-1985.7393 +FPS=28.95, 法向力=2256.0371, 切向力X=-994.0497, 切向力Y=-1859.9595 +FPS=28.25, 法向力=2251.7410, 切向力X=-1036.2474, 切向力Y=-1861.5273 +FPS=24.96, 法向力=1809.3157, 切向力X=240.5441, 切向力Y=-2111.6279 +FPS=26.31, 法向力=2289.1265, 切向力X=33.8801, 切向力Y=-1486.7095 +FPS=26.79, 法向力=2277.1255, 切向力X=162.0016, 切向力Y=-1595.8130 +FPS=25.47, 法向力=2111.5957, 切向力X=664.0514, 切向力Y=-1464.8472 +FPS=28.35, 法向力=2097.3777, 切向力X=605.3010, 切向力Y=-1545.1006 +FPS=27.63, 法向力=2274.5515, 切向力X=9.6886, 切向力Y=-2225.4780 +FPS=26.99, 法向力=2253.6528, 切向力X=-600.5116, 切向力Y=-1644.3040 +FPS=29.68, 法向力=2195.0796, 切向力X=-479.8078, 切向力Y=-1601.5981 +FPS=26.41, 法向力=2558.9912, 切向力X=238.4284, 切向力Y=-1734.4026 +FPS=29.39, 法向力=2634.0747, 切向力X=220.7429, 切向力Y=-1746.1404 +FPS=27.75, 法向力=2251.2290, 切向力X=60.5828, 切向力Y=-1243.5354 +FPS=27.88, 法向力=2253.0737, 切向力X=-188.1098, 切向力Y=-1491.7329 +FPS=29.15, 法向力=2235.9253, 切向力X=-134.5453, 切向力Y=-1474.7869 +FPS=28.66, 法向力=1875.8728, 切向力X=-422.4057, 切向力Y=-1731.3043 +FPS=15.00, 法向力=1602.7124, 切向力X=-703.1044, 切向力Y=-1474.8733 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_180147.log b/examples/logs/qt_viewer_20260519_180147.log new file mode 100644 index 0000000..c5a3eda --- /dev/null +++ b/examples/logs/qt_viewer_20260519_180147.log @@ -0,0 +1,796 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=2.70, 法向力=1806.5461, 切向力X=1796.2168, 切向力Y=-1360.0217 +FPS=24.02, 法向力=1848.0756, 切向力X=1931.2854, 切向力Y=-1288.7346 +FPS=17.09, 法向力=1864.0115, 切向力X=1919.9912, 切向力Y=-1296.8337 +FPS=16.59, 法向力=1715.5211, 切向力X=1014.4752, 切向力Y=-5.5602 +FPS=18.66, 法向力=1705.4764, 切向力X=1706.4067, 切向力Y=-528.8068 +FPS=18.03, 法向力=1699.8662, 切向力X=1650.2729, 切向力Y=-589.8149 +FPS=18.05, 法向力=1748.2810, 切向力X=1826.2019, 切向力Y=-600.1686 +FPS=18.81, 法向力=1645.3877, 切向力X=1479.4769, 切向力Y=-1529.9136 +FPS=17.82, 法向力=1248.3381, 切向力X=1007.0741, 切向力Y=44.2932 +FPS=16.62, 法向力=1275.1979, 切向力X=1023.1679, 切向力Y=17.3657 +FPS=18.27, 法向力=1801.2439, 切向力X=1964.0254, 切向力Y=101.2645 +FPS=16.94, 法向力=1689.9896, 切向力X=1700.5681, 切向力Y=-1010.7150 +FPS=18.57, 法向力=1632.5029, 切向力X=1774.3121, 切向力Y=-231.2118 +FPS=18.79, 法向力=1685.9790, 切向力X=1821.6923, 切向力Y=-234.9415 +FPS=18.08, 法向力=2345.5767, 切向力X=2519.5454, 切向力Y=-204.8827 +FPS=15.54, 法向力=2920.6001, 切向力X=2895.5664, 切向力Y=-4.7886 +FPS=16.37, 法向力=1543.1409, 切向力X=1499.4176, 切向力Y=-928.4233 +FPS=17.92, 法向力=1521.8444, 切向力X=1469.5596, 切向力Y=-991.7997 +FPS=18.04, 法向力=1434.8276, 切向力X=1759.4976, 切向力Y=-150.7061 +FPS=18.70, 法向力=1959.6747, 切向力X=1288.2419, 切向力Y=190.7071 +FPS=17.41, 法向力=1787.2007, 切向力X=1650.0310, 切向力Y=-717.6364 +FPS=18.34, 法向力=1766.2222, 切向力X=1550.7039, 切向力Y=-678.2123 +FPS=18.45, 法向力=1371.6125, 切向力X=361.0249, 切向力Y=168.1666 +FPS=18.06, 法向力=1355.0360, 切向力X=337.5878, 切向力Y=260.0267 +FPS=19.39, 法向力=2061.7151, 切向力X=1753.3076, 切向力Y=-861.5982 +FPS=25.69, 法向力=1439.2025, 切向力X=1096.2815, 切向力Y=-163.8137 +FPS=28.02, 法向力=1358.0714, 切向力X=1813.7188, 切向力Y=-401.0015 +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-145.91, y_min=-82.39 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000289s, blend=0.002392s (9 tiles incl ref), finalize=0.000052s, total=0.002739s +FPS=31.65, 法向力=1428.4559, 切向力X=1845.5571, 切向力Y=-369.2045 +FPS=27.50, 法向力=1661.2092, 切向力X=2633.9587, 切向力Y=-1246.5781 +FPS=31.47, 法向力=1683.3068, 切向力X=2554.3301, 切向力Y=-1264.3418 +FPS=30.03, 法向力=2379.8760, 切向力X=1452.1992, 切向力Y=-82.5925 +FPS=30.18, 法向力=1798.7858, 切向力X=1470.2009, 切向力Y=-919.9871 +FPS=30.53, 法向力=1780.0477, 切向力X=1430.6960, 切向力Y=-791.7059 +FPS=27.91, 法向力=1598.7927, 切向力X=2220.2766, 切向力Y=-659.9600 +FPS=30.43, 法向力=1713.6050, 切向力X=2275.9021, 切向力Y=-603.7316 +FPS=27.46, 法向力=1727.5232, 切向力X=1629.9496, 切向力Y=-267.3100 +FPS=29.95, 法向力=1796.8729, 切向力X=1623.4902, 切向力Y=-88.0140 +FPS=28.86, 法向力=1498.3646, 切向力X=977.9059, 切向力Y=-560.2225 +FPS=30.26, 法向力=1406.3243, 切向力X=1439.4379, 切向力Y=-1725.2791 +FPS=29.77, 法向力=1413.3762, 切向力X=1521.7041, 切向力Y=-1800.1997 +FPS=27.66, 法向力=1415.6135, 切向力X=1219.1238, 切向力Y=-1059.0319 +FPS=30.05, 法向力=1416.2542, 切向力X=1230.9315, 切向力Y=-968.3167 +FPS=27.94, 法向力=1154.5094, 切向力X=1339.8414, 切向力Y=-951.2441 +FPS=23.08, 法向力=1131.0247, 切向力X=1362.7411, 切向力Y=-984.1442 +FPS=24.77, 法向力=1811.6320, 切向力X=2325.4678, 切向力Y=-166.9122 +FPS=25.10, 法向力=1456.3003, 切向力X=1637.6511, 切向力Y=-568.0537 +FPS=25.70, 法向力=1411.9731, 切向力X=1545.5579, 切向力Y=-681.3398 +FPS=27.24, 法向力=1420.2314, 切向力X=1524.7793, 切向力Y=-808.2432 +FPS=20.85, 法向力=1682.0762, 切向力X=2146.6790, 切向力Y=244.2819 +FPS=25.72, 法向力=1693.5582, 切向力X=2032.6545, 切向力Y=284.3106 +FPS=25.69, 法向力=1471.4861, 切向力X=2067.4136, 切向力Y=-475.1386 +FPS=26.65, 法向力=1307.3806, 切向力X=1784.0239, 切向力Y=-1205.5043 +FPS=24.34, 法向力=1534.1820, 切向力X=1685.3489, 切向力Y=-435.4260 +FPS=26.18, 法向力=1532.6040, 切向力X=1686.6782, 切向力Y=-299.7647 +FPS=26.27, 法向力=1589.0232, 切向力X=821.9620, 切向力Y=-471.4442 +FPS=25.84, 法向力=1579.8969, 切向力X=794.7628, 切向力Y=-555.5645 +FPS=24.26, 法向力=1805.9952, 切向力X=1709.0327, 切向力Y=-115.4289 +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-145.91, y_min=-82.39 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000301s, blend=0.002214s (9 tiles incl ref), finalize=0.000052s, total=0.002574s +FPS=26.09, 法向力=1480.6450, 切向力X=1362.5251, 切向力Y=-638.2090 +FPS=25.48, 法向力=1411.9800, 切向力X=1320.5159, 切向力Y=-691.7954 +FPS=26.05, 法向力=1666.1060, 切向力X=1806.9824, 切向力Y=47.8991 +FPS=25.01, 法向力=1214.2585, 切向力X=355.8386, 切向力Y=-418.9902 +FPS=24.37, 法向力=1202.7720, 切向力X=416.2937, 切向力Y=-460.1119 +FPS=25.97, 法向力=1515.5029, 切向力X=1222.0259, 切向力Y=-599.2031 +FPS=27.98, 法向力=1966.3662, 切向力X=1571.0208, 切向力Y=-272.9273 +FPS=29.98, 法向力=2082.7778, 切向力X=1646.2087, 切向力Y=-225.9712 +FPS=29.35, 法向力=1574.5227, 切向力X=1732.9327, 切向力Y=-128.2897 +FPS=30.36, 法向力=1562.5244, 切向力X=1813.4519, 切向力Y=-208.3117 +FPS=28.83, 法向力=1408.5269, 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法向力=1579.4053, 切向力X=2388.9780, 切向力Y=-1572.0460 +FPS=27.60, 法向力=1326.0990, 切向力X=2227.9055, 切向力Y=-2103.5698 +FPS=28.65, 法向力=1284.7561, 切向力X=2231.5251, 切向力Y=-2043.0605 +FPS=27.40, 法向力=1806.3823, 切向力X=2083.6113, 切向力Y=-2217.4617 +FPS=29.76, 法向力=1767.8374, 切向力X=2113.5408, 切向力Y=-2229.8760 +FPS=27.10, 法向力=1325.9175, 切向力X=2143.5234, 切向力Y=-1435.3384 +FPS=27.64, 法向力=1795.2822, 切向力X=1990.2705, 切向力Y=-2174.9116 +FPS=28.36, 法向力=1818.4326, 切向力X=2031.6189, 切向力Y=-2111.4539 +FPS=26.02, 法向力=1591.3461, 切向力X=2276.7888, 切向力Y=-1524.7744 +FPS=29.60, 法向力=1559.5092, 切向力X=2384.5449, 切向力Y=-1463.0608 +FPS=27.56, 法向力=1537.8000, 切向力X=2510.1714, 切向力Y=-2277.0339 +FPS=28.20, 法向力=1515.0530, 切向力X=2405.1560, 切向力Y=-2312.4907 +FPS=27.48, 法向力=1487.8749, 切向力X=2918.4414, 切向力Y=-1662.7988 +FPS=26.57, 法向力=2152.8950, 切向力X=2849.9185, 切向力Y=-982.5443 +FPS=28.29, 法向力=2125.7063, 切向力X=2811.5225, 切向力Y=-998.2772 +FPS=28.58, 法向力=1666.5662, 切向力X=3033.5044, 切向力Y=-795.7141 +FPS=27.95, 法向力=1639.5995, 切向力X=3086.9487, 切向力Y=-830.3926 +FPS=28.76, 法向力=1304.8654, 切向力X=2231.5747, 切向力Y=-1894.6604 +FPS=26.70, 法向力=1415.7961, 切向力X=2134.1460, 切向力Y=-2498.1709 +FPS=28.73, 法向力=1402.5312, 切向力X=2003.4709, 切向力Y=-2438.0027 +FPS=27.10, 法向力=1393.8335, 切向力X=2377.6990, 切向力Y=-2144.8423 +FPS=26.94, 法向力=1267.2314, 切向力X=2507.2295, 切向力Y=-2362.4998 +FPS=28.44, 法向力=1252.9906, 切向力X=2547.0273, 切向力Y=-2336.6226 +FPS=28.15, 法向力=1750.8379, 切向力X=2481.2205, 切向力Y=-1608.4893 +FPS=29.39, 法向力=1688.6985, 切向力X=2377.2295, 切向力Y=-1665.4861 +FPS=27.65, 法向力=1512.1866, 切向力X=2025.4648, 切向力Y=-1993.5085 +FPS=27.07, 法向力=1199.6925, 切向力X=2122.3208, 切向力Y=-1834.2412 +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-145.91, y_min=-82.39 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000226s, blend=0.002114s (9 tiles incl ref), finalize=0.000045s, total=0.002390s +FPS=27.81, 法向力=1203.4438, 切向力X=2153.9795, 切向力Y=-1827.7035 +FPS=24.97, 法向力=1610.6289, 切向力X=2765.5923, 切向力Y=-1684.4279 +FPS=29.07, 法向力=1739.3490, 切向力X=2789.4307, 切向力Y=-1654.3152 +FPS=27.26, 法向力=1333.7603, 切向力X=2149.6333, 切向力Y=-1141.9011 +FPS=29.19, 法向力=1293.6995, 切向力X=2272.6748, 切向力Y=-1116.7317 +FPS=28.39, 法向力=1593.4160, 切向力X=2339.5278, 切向力Y=-1976.4385 +FPS=27.77, 法向力=1394.4773, 切向力X=2228.8130, 切向力Y=-2763.4692 +FPS=28.35, 法向力=1436.1157, 切向力X=2262.7175, 切向力Y=-2766.4138 +FPS=26.94, 法向力=1536.9316, 切向力X=2673.5298, 切向力Y=-1812.2906 +FPS=27.97, 法向力=1527.8718, 切向力X=2654.8066, 切向力Y=-1881.4460 +FPS=28.39, 法向力=1649.6274, 切向力X=2688.3760, 切向力Y=-2199.6887 +FPS=26.63, 法向力=1470.5084, 切向力X=2258.2063, 切向力Y=-2234.2131 +FPS=28.80, 法向力=1434.9366, 切向力X=2196.7012, 切向力Y=-2243.0098 +FPS=27.78, 法向力=1504.4893, 切向力X=1854.7424, 切向力Y=-1661.8250 +FPS=28.27, 法向力=1474.0023, 切向力X=1823.2126, 切向力Y=-1705.2002 +FPS=29.01, 法向力=1616.8154, 切向力X=2349.9526, 切向力Y=-1194.3689 +FPS=27.77, 法向力=1635.3774, 切向力X=1916.3896, 切向力Y=-1785.9988 +FPS=28.73, 法向力=1644.8799, 切向力X=1904.6328, 切向力Y=-1790.8748 +FPS=26.56, 法向力=1524.8818, 切向力X=2356.3250, 切向力Y=-2439.9255 +FPS=27.89, 法向力=1289.4563, 切向力X=1896.9709, 切向力Y=-1709.8588 +FPS=28.66, 法向力=1360.6704, 切向力X=1724.8246, 切向力Y=-1799.7074 +FPS=28.06, 法向力=1380.0641, 切向力X=2941.4612, 切向力Y=-1772.3324 +FPS=29.98, 法向力=1442.0793, 切向力X=3048.6221, 切向力Y=-1804.5815 +FPS=26.40, 法向力=1416.4030, 切向力X=2451.8523, 切向力Y=-2166.2878 +FPS=18.75, 法向力=1578.2046, 切向力X=2448.9214, 切向力Y=-1486.5625 +FPS=45.07, 法向力=1546.2773, 切向力X=2361.2629, 切向力Y=-1480.7878 +FPS=31.44, 法向力=1575.2407, 切向力X=2124.1279, 切向力Y=-1410.0098 +FPS=36.15, 法向力=1636.1699, 切向力X=2183.5811, 切向力Y=-1370.0181 +FPS=33.46, 法向力=1680.4302, 切向力X=2234.4458, 切向力Y=-1342.3220 +FPS=35.69, 法向力=1703.0000, 切向力X=2489.5679, 切向力Y=-1389.7673 +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-145.91, y_min=-82.39 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000334s, blend=0.002376s (9 tiles incl ref), finalize=0.000051s, total=0.002769s +FPS=31.79, 法向力=1740.1050, 切向力X=2466.3535, 切向力Y=-1404.7054 +FPS=35.46, 法向力=1308.1062, 切向力X=2712.6772, 切向力Y=-1447.5564 +FPS=35.54, 法向力=1277.2415, 切向力X=2745.0718, 切向力Y=-1517.5635 +FPS=34.56, 法向力=1428.0620, 切向力X=2302.5654, 切向力Y=-2171.2258 +FPS=33.72, 法向力=1474.7898, 切向力X=2176.1414, 切向力Y=-2200.7019 +FPS=35.17, 法向力=1370.0607, 切向力X=2110.7930, 切向力Y=-2592.6975 +FPS=31.31, 法向力=1372.1733, 切向力X=2133.6157, 切向力Y=-2449.6018 +FPS=31.66, 法向力=1949.2395, 切向力X=3049.9587, 切向力Y=-1661.1477 +FPS=30.66, 法向力=1877.4604, 切向力X=3067.2971, 切向力Y=-1812.6748 +FPS=33.34, 法向力=1519.1565, 切向力X=2162.6067, 切向力Y=-1688.0139 +FPS=34.82, 法向力=1486.0940, 切向力X=1956.2307, 切向力Y=-1792.3491 +FPS=34.87, 法向力=1651.6465, 切向力X=2759.6267, 切向力Y=-2566.1968 +FPS=33.07, 法向力=1503.7227, 切向力X=2308.0923, 切向力Y=-1818.8079 +FPS=35.78, 法向力=1537.8656, 切向力X=2340.4165, 切向力Y=-1718.3411 +FPS=34.45, 法向力=1560.5284, 切向力X=2305.4221, 切向力Y=-1687.6768 +FPS=34.70, 法向力=1596.1021, 切向力X=1950.1555, 切向力Y=-2287.7593 +FPS=35.79, 法向力=1577.0017, 切向力X=1905.3218, 切向力Y=-2139.2988 +FPS=34.59, 法向力=1654.4797, 切向力X=2137.0828, 切向力Y=-1827.7699 +FPS=35.61, 法向力=1643.5381, 切向力X=2152.9846, 切向力Y=-1793.1322 +FPS=32.20, 法向力=1388.5323, 切向力X=2364.0312, 切向力Y=-2052.5312 +FPS=33.29, 法向力=1364.9226, 切向力X=2341.5269, 切向力Y=-2183.4583 +FPS=34.35, 法向力=1361.3198, 切向力X=2365.7451, 切向力Y=-2554.1277 +FPS=36.05, 法向力=1336.1831, 切向力X=2134.6226, 切向力Y=-2610.9121 +FPS=34.66, 法向力=2142.5596, 切向力X=2860.9275, 切向力Y=-1177.0870 +FPS=35.11, 法向力=2177.5234, 切向力X=2814.1670, 切向力Y=-1133.4369 +FPS=33.16, 法向力=1490.2000, 切向力X=1782.1550, 切向力Y=-1212.3708 +FPS=35.05, 法向力=1567.4447, 切向力X=1733.8862, 切向力Y=-1235.1600 +FPS=31.57, 法向力=1595.2278, 切向力X=2349.8674, 切向力Y=-1879.4240 +FPS=33.84, 法向力=1536.4132, 切向力X=2269.7769, 切向力Y=-1764.1863 +FPS=33.36, 法向力=1513.5164, 切向力X=2432.3049, 切向力Y=-2001.0953 +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-145.91, y_min=-82.39 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000310s, blend=0.002046s (9 tiles incl ref), finalize=0.000047s, total=0.002410s +FPS=35.19, 法向力=1502.2310, 切向力X=2277.6440, 切向力Y=-2173.1511 +FPS=34.06, 法向力=1423.2214, 切向力X=2561.9839, 切向力Y=-2017.6597 +FPS=33.28, 法向力=1416.8181, 切向力X=2436.0825, 切向力Y=-1976.7263 +FPS=31.59, 法向力=1377.2947, 切向力X=2642.7959, 切向力Y=-1755.5256 +FPS=36.35, 法向力=1420.3179, 切向力X=2660.9548, 切向力Y=-1710.2085 +FPS=30.64, 法向力=1376.6206, 切向力X=2431.8940, 切向力Y=-2153.2378 +FPS=35.18, 法向力=1412.1664, 切向力X=2411.9443, 切向力Y=-2128.5322 +FPS=32.31, 法向力=1420.9084, 切向力X=2635.7207, 切向力Y=-1542.4850 +FPS=35.90, 法向力=1449.0187, 切向力X=2533.1987, 切向力Y=-1420.6711 +FPS=33.72, 法向力=1846.7683, 切向力X=2542.4434, 切向力Y=-1795.3293 +FPS=18.09, 法向力=1444.2161, 切向力X=1814.0753, 切向力Y=-1726.3718 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_180300.log b/examples/logs/qt_viewer_20260519_180300.log new file mode 100644 index 0000000..b226640 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_180300.log @@ -0,0 +1,3547 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.43, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.41, 法向力=1827.0762, 切向力X=-539.4608, 切向力Y=-145.6571 +FPS=39.65, 法向力=1893.3712, 切向力X=-543.1390, 切向力Y=-172.5201 +FPS=25.12, 法向力=1884.8828, 切向力X=-588.7415, 切向力Y=422.9417 +FPS=25.92, 法向力=1966.7307, 切向力X=4.9701, 切向力Y=815.6940 +FPS=27.13, 法向力=2074.8086, 切向力X=82.8773, 切向力Y=878.1160 +FPS=24.96, 法向力=1454.5876, 切向力X=31.8030, 切向力Y=-333.5844 +FPS=28.41, 法向力=1475.8257, 切向力X=44.5748, 切向力Y=-279.5045 +FPS=29.52, 法向力=1702.2173, 切向力X=-130.9949, 切向力Y=156.4439 +FPS=29.72, 法向力=1898.7219, 切向力X=-274.1066, 切向力Y=-92.1199 +FPS=30.55, 法向力=2033.8979, 切向力X=-232.9349, 切向力Y=-28.2403 +FPS=27.03, 法向力=2151.1531, 切向力X=1130.9961, 切向力Y=577.5472 +FPS=29.21, 法向力=2278.8057, 切向力X=1208.6206, 切向力Y=756.6035 +FPS=26.83, 法向力=1648.6182, 切向力X=742.0021, 切向力Y=640.6617 +FPS=21.75, 法向力=1545.2959, 切向力X=788.4053, 切向力Y=-395.0084 +FPS=25.55, 法向力=1599.7490, 切向力X=889.1589, 切向力Y=-442.6419 +FPS=27.32, 法向力=1920.4984, 切向力X=-137.3745, 切向力Y=138.5101 +FPS=29.35, 法向力=1497.2494, 切向力X=-13.3075, 切向力Y=-657.0922 +FPS=29.78, 法向力=1459.6312, 切向力X=-46.0574, 切向力Y=-732.4604 +FPS=28.22, 法向力=1713.2588, 切向力X=1040.2754, 切向力Y=-175.7402 +FPS=30.84, 法向力=1796.9099, 切向力X=1066.0150, 切向力Y=-79.7509 +FPS=27.76, 法向力=2711.0310, 切向力X=397.8827, 切向力Y=880.8851 +FPS=26.80, 法向力=1323.5752, 切向力X=422.6057, 切向力Y=-148.6534 +FPS=28.85, 法向力=1355.0385, 切向力X=577.7653, 切向力Y=-269.5269 +FPS=27.00, 法向力=1549.9705, 切向力X=470.3635, 切向力Y=-340.3032 +FPS=27.43, 法向力=1599.7424, 切向力X=477.2999, 切向力Y=-387.6516 +FPS=26.68, 法向力=2056.5654, 切向力X=-1.8319, 切向力Y=312.4902 +FPS=28.20, 法向力=2027.4517, 切向力X=18.1448, 切向力Y=283.4508 +stitch_feature_optimized: canvas out_w=541, out_h=415, x_min=-137.75, y_min=-81.30 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000464s, blend=0.002488s (9 tiles incl ref), finalize=0.000077s, total=0.003036s +FPS=26.71, 法向力=1186.8182, 切向力X=-144.4277, 切向力Y=289.1764 +FPS=24.14, 法向力=1578.0652, 切向力X=534.7509, 切向力Y=932.3696 +FPS=27.55, 法向力=1648.1863, 切向力X=531.7625, 切向力Y=938.0481 +FPS=23.04, 法向力=1153.1499, 切向力X=93.9046, 切向力Y=-284.8481 +FPS=23.82, 法向力=1903.0535, 切向力X=1191.1978, 切向力Y=409.7013 +FPS=28.73, 法向力=2194.5742, 切向力X=1266.0631, 切向力Y=517.3857 +FPS=25.79, 法向力=1911.7056, 切向力X=783.3618, 切向力Y=781.5237 +FPS=25.21, 法向力=1518.3245, 切向力X=511.8562, 切向力Y=204.6243 +FPS=28.65, 法向力=1524.3839, 切向力X=612.1580, 切向力Y=188.6341 +FPS=27.78, 法向力=1528.5715, 切向力X=-306.1627, 切向力Y=357.0570 +FPS=30.36, 法向力=1472.0367, 切向力X=-346.6190, 切向力Y=327.6138 +FPS=27.32, 法向力=1740.2023, 切向力X=612.7241, 切向力Y=-21.7746 +FPS=27.23, 法向力=870.6136, 切向力X=853.0557, 切向力Y=-413.2448 +FPS=27.69, 法向力=869.2267, 切向力X=815.8381, 切向力Y=-523.1061 +FPS=29.03, 法向力=1354.1285, 切向力X=447.4628, 切向力Y=-315.7896 +FPS=28.56, 法向力=1383.4786, 切向力X=458.6999, 切向力Y=-337.2416 +FPS=29.06, 法向力=1473.6453, 切向力X=-3.0418, 切向力Y=415.0578 +FPS=27.92, 法向力=1636.9919, 切向力X=448.7359, 切向力Y=332.1062 +FPS=27.97, 法向力=1634.5918, 切向力X=429.1246, 切向力Y=301.7529 +FPS=26.82, 法向力=1805.6476, 切向力X=96.3126, 切向力Y=941.6848 +FPS=26.72, 法向力=1512.9305, 切向力X=627.0898, 切向力Y=-475.0862 +FPS=22.29, 法向力=1534.8762, 切向力X=599.2909, 切向力Y=-599.5389 +FPS=25.68, 法向力=1568.7593, 切向力X=733.0143, 切向力Y=-333.1029 +FPS=26.72, 法向力=1505.2061, 切向力X=684.8646, 切向力Y=-355.9189 +FPS=26.82, 法向力=1269.0825, 切向力X=546.5451, 切向力Y=145.5456 +FPS=27.55, 法向力=1056.2207, 切向力X=452.3122, 切向力Y=-443.8053 +FPS=28.23, 法向力=1068.9426, 切向力X=479.4041, 切向力Y=-521.9512 +FPS=26.51, 法向力=1935.8307, 切向力X=1095.4143, 切向力Y=621.2079 +FPS=27.92, 法向力=1660.7280, 切向力X=510.1476, 切向力Y=12.3283 +FPS=27.63, 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切向力X=708.6860, 切向力Y=-193.2836 +FPS=21.47, 法向力=1271.1545, 切向力X=733.1943, 切向力Y=-626.9824 +FPS=23.03, 法向力=1916.2130, 切向力X=488.8047, 切向力Y=1169.9321 +FPS=22.95, 法向力=1225.9338, 切向力X=282.3621, 切向力Y=34.2346 +FPS=23.81, 法向力=1202.1206, 切向力X=354.5947, 切向力Y=5.8288 +FPS=23.25, 法向力=1722.2742, 切向力X=-322.2814, 切向力Y=-378.1552 +FPS=22.51, 法向力=1444.7876, 切向力X=-22.1057, 切向力Y=-272.0261 +FPS=24.90, 法向力=1469.0828, 切向力X=-49.6470, 切向力Y=-279.1122 +FPS=22.51, 法向力=1688.5658, 切向力X=594.8531, 切向力Y=-266.5439 +FPS=22.82, 法向力=1536.8689, 切向力X=206.9947, 切向力Y=473.6566 +FPS=26.15, 法向力=1875.1752, 切向力X=122.8984, 切向力Y=60.8768 +FPS=28.56, 法向力=1833.4973, 切向力X=123.4937, 切向力Y=-25.3734 +FPS=25.74, 法向力=1230.5315, 切向力X=51.4215, 切向力Y=-97.3702 +FPS=24.37, 法向力=1205.9182, 切向力X=112.2381, 切向力Y=-70.2079 +FPS=25.47, 法向力=1470.0510, 切向力X=563.9513, 切向力Y=210.2574 +FPS=19.19, 法向力=1699.1691, 切向力X=972.0027, 切向力Y=12.4687 +FPS=23.55, 法向力=1898.6257, 切向力X=59.8452, 切向力Y=-302.5447 +FPS=26.46, 法向力=1943.5793, 切向力X=117.6323, 切向力Y=-330.0889 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法向力=4262.2603, 切向力X=2257.5645, 切向力Y=-1427.2917 +FPS=27.10, 法向力=3616.6904, 切向力X=2696.9287, 切向力Y=-1330.4214 +FPS=26.44, 法向力=4151.9331, 切向力X=2617.0259, 切向力Y=-1627.3282 +FPS=28.31, 法向力=4301.1895, 切向力X=2621.1685, 切向力Y=-1688.8956 +FPS=27.58, 法向力=4338.3794, 切向力X=2372.4709, 切向力Y=-896.8582 +FPS=28.38, 法向力=4308.7529, 切向力X=2367.5569, 切向力Y=-941.4781 +FPS=26.71, 法向力=3934.8713, 切向力X=2406.1807, 切向力Y=-947.3754 +FPS=27.22, 法向力=3880.2749, 切向力X=2371.8564, 切向力Y=-756.2961 +FPS=27.49, 法向力=3968.4666, 切向力X=2336.6633, 切向力Y=-741.5026 +FPS=25.87, 法向力=4142.8789, 切向力X=2861.0903, 切向力Y=-689.6978 +FPS=28.09, 法向力=4159.8916, 切向力X=2560.0354, 切向力Y=-763.9707 +FPS=28.55, 法向力=4192.6357, 切向力X=2582.9536, 切向力Y=-891.5212 +FPS=27.04, 法向力=4254.8369, 切向力X=2798.8428, 切向力Y=-1347.0547 +FPS=28.13, 法向力=4351.0850, 切向力X=2813.0737, 切向力Y=-1324.2045 +FPS=27.17, 法向力=4951.8564, 切向力X=2418.4270, 切向力Y=-613.1248 +FPS=26.66, 法向力=4427.1958, 切向力X=2420.9592, 切向力Y=-974.8430 +FPS=28.42, 法向力=4430.2539, 切向力X=2497.2769, 切向力Y=-977.9324 +FPS=26.67, 法向力=4116.8564, 切向力X=2310.3188, 切向力Y=-769.7484 +FPS=27.90, 法向力=4233.8828, 切向力X=2292.6182, 切向力Y=-845.3256 +FPS=26.63, 法向力=4312.1909, 切向力X=1867.6097, 切向力Y=-821.1847 +FPS=27.19, 法向力=4313.6035, 切向力X=1862.3459, 切向力Y=-774.0570 +FPS=19.38, 法向力=3924.3403, 切向力X=2631.5659, 切向力Y=-1038.8461 +stitch_feature_optimized: canvas out_w=541, out_h=415, x_min=-137.75, y_min=-81.30 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000263s, blend=0.002190s (9 tiles incl ref), finalize=0.000058s, total=0.002518s +FPS=39.14, 法向力=3893.7266, 切向力X=2632.8376, 切向力Y=-1129.9551 +FPS=31.13, 法向力=3926.0220, 切向力X=2611.8643, 切向力Y=-1108.0459 +FPS=35.62, 法向力=4353.3315, 切向力X=2132.9253, 切向力Y=-591.6564 +FPS=35.20, 法向力=4286.2529, 切向力X=2208.9429, 切向力Y=-612.0950 +FPS=32.68, 法向力=3963.5020, 切向力X=2338.3647, 切向力Y=-1958.0950 +FPS=36.19, 法向力=3991.0732, 切向力X=2375.8789, 切向力Y=-2044.8928 +FPS=33.21, 法向力=4140.4004, 切向力X=2356.8984, 切向力Y=-1198.5957 +FPS=36.54, 法向力=4217.3379, 切向力X=2352.6023, 切向力Y=-1335.9309 +FPS=34.90, 法向力=3731.3872, 切向力X=1725.8004, 切向力Y=-1103.0720 +FPS=34.50, 法向力=3639.3459, 切向力X=1816.0078, 切向力Y=-994.2864 +FPS=31.87, 法向力=3640.9585, 切向力X=2768.2334, 切向力Y=-1120.2198 +FPS=36.02, 法向力=3583.2705, 切向力X=2753.5901, 切向力Y=-1201.6371 +FPS=32.44, 法向力=4514.6787, 切向力X=2471.4863, 切向力Y=-735.2240 +FPS=34.71, 法向力=4571.2632, 切向力X=2433.5615, 切向力Y=-752.9751 +FPS=32.96, 法向力=4250.2559, 切向力X=2716.3311, 切向力Y=-1005.0695 +FPS=36.65, 法向力=4273.6250, 切向力X=2741.9712, 切向力Y=-1016.4945 +FPS=32.31, 法向力=4169.6523, 切向力X=1841.3601, 切向力Y=-988.3855 +FPS=34.75, 法向力=4068.1162, 切向力X=1857.0037, 切向力Y=-1058.7354 +FPS=31.78, 法向力=4515.8765, 切向力X=2116.7573, 切向力Y=-1583.7954 +FPS=34.64, 法向力=4569.9258, 切向力X=2178.3455, 切向力Y=-1607.9746 +FPS=32.66, 法向力=4126.2412, 切向力X=2756.2661, 切向力Y=-1201.8737 +FPS=35.45, 法向力=4090.3645, 切向力X=2849.0645, 切向力Y=-1286.4578 +FPS=31.95, 法向力=3907.0371, 切向力X=2110.7998, 切向力Y=-1936.9310 +FPS=33.98, 法向力=3915.6538, 切向力X=2150.7358, 切向力Y=-1927.3242 +FPS=33.10, 法向力=3963.6157, 切向力X=2242.0278, 切向力Y=-1469.2451 +FPS=35.20, 法向力=4044.8345, 切向力X=2273.4785, 切向力Y=-1430.1150 +FPS=33.07, 法向力=4433.7227, 切向力X=2641.5859, 切向力Y=-857.0862 +FPS=33.81, 法向力=4464.7490, 切向力X=2666.0349, 切向力Y=-917.4390 +FPS=33.92, 法向力=3737.2837, 切向力X=2971.8262, 切向力Y=-842.1806 +FPS=36.23, 法向力=3704.6523, 切向力X=2854.2886, 切向力Y=-828.2393 +stitch_feature_optimized: canvas out_w=541, out_h=415, x_min=-137.75, y_min=-81.30 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000388s, blend=0.002980s (9 tiles incl ref), finalize=0.000059s, total=0.003434s +FPS=34.27, 法向力=3687.3523, 切向力X=2882.6367, 切向力Y=-828.2734 +FPS=35.80, 法向力=3518.3303, 切向力X=1777.6001, 切向力Y=-1787.5869 +FPS=31.54, 法向力=3720.3652, 切向力X=2053.0759, 切向力Y=-1596.1669 +FPS=35.82, 法向力=3746.6138, 切向力X=2009.5582, 切向力Y=-1580.8005 +FPS=34.92, 法向力=3791.7598, 切向力X=2572.2634, 切向力Y=-858.2217 +FPS=36.33, 法向力=3792.8843, 切向力X=2686.8760, 切向力Y=-957.9267 +FPS=36.05, 法向力=3785.1599, 切向力X=2674.9971, 切向力Y=-981.8954 +FPS=34.45, 法向力=4076.3530, 切向力X=3180.7725, 切向力Y=-737.2271 +FPS=34.54, 法向力=4108.5962, 切向力X=3199.0085, 切向力Y=-575.9016 +FPS=16.89, 法向力=4476.3604, 切向力X=2796.5161, 切向力Y=-1052.9646 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_180520.log b/examples/logs/qt_viewer_20260519_180520.log new file mode 100644 index 0000000..4b85d19 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_180520.log @@ -0,0 +1,462 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=2.61, 法向力=2638.2883, 切向力X=-829.3009, 切向力Y=-645.5417 +FPS=24.89, 法向力=2740.9460, 切向力X=-799.2577, 切向力Y=-569.5452 +FPS=15.42, 法向力=2157.9189, 切向力X=-1001.4835, 切向力Y=-199.3892 +FPS=16.13, 法向力=1740.7336, 切向力X=787.0735, 切向力Y=-1413.8865 +FPS=16.75, 法向力=2530.5811, 切向力X=356.0433, 切向力Y=-352.8317 +FPS=17.16, 法向力=2519.3003, 切向力X=258.2109, 切向力Y=-346.5233 +FPS=17.48, 法向力=1539.2048, 切向力X=-316.3065, 切向力Y=168.4450 +FPS=17.92, 法向力=1494.7185, 切向力X=165.1584, 切向力Y=254.5421 +FPS=17.32, 法向力=1529.7842, 切向力X=205.9604, 切向力Y=278.2750 +FPS=16.87, 法向力=1578.1880, 切向力X=239.7833, 切向力Y=338.1007 +FPS=16.20, 法向力=1994.8657, 切向力X=284.9402, 切向力Y=-74.2473 +FPS=17.61, 法向力=3349.6519, 切向力X=-779.3038, 切向力Y=139.9696 +FPS=18.79, 法向力=3183.5049, 切向力X=-763.4906, 切向力Y=90.6038 +FPS=18.96, 法向力=3193.3630, 切向力X=-870.1757, 切向力Y=48.6797 +FPS=19.30, 法向力=1746.0339, 切向力X=-12.0440, 切向力Y=-208.1784 +FPS=19.24, 法向力=2325.1089, 切向力X=-1137.2349, 切向力Y=44.7038 +FPS=18.39, 法向力=2566.4407, 切向力X=-526.3292, 切向力Y=-579.0416 +FPS=18.97, 法向力=2627.5317, 切向力X=-617.7433, 切向力Y=-555.2428 +FPS=18.97, 法向力=2551.7754, 切向力X=-1112.7979, 切向力Y=489.6333 +FPS=18.21, 法向力=2799.1831, 切向力X=-926.0392, 切向力Y=-170.9130 +FPS=18.98, 法向力=1669.2721, 切向力X=-260.3915, 切向力Y=-1055.8461 +FPS=17.47, 法向力=1639.8650, 切向力X=-175.9355, 切向力Y=-999.9122 +FPS=17.56, 法向力=1645.9067, 切向力X=-158.5546, 切向力Y=-975.0751 +FPS=15.89, 法向力=1287.7375, 切向力X=360.0312, 切向力Y=-1067.0958 +FPS=16.01, 法向力=1875.9761, 切向力X=-587.7349, 切向力Y=71.2310 +FPS=15.54, 法向力=1953.1809, 切向力X=-708.0760, 切向力Y=105.0055 +FPS=15.77, 法向力=2315.9971, 切向力X=-1160.5884, 切向力Y=-125.6095 +stitch_feature_optimized: canvas out_w=438, out_h=419, x_min=-111.23, y_min=-84.23 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000006s (hit), reset=0.000427s, blend=0.004401s (9 tiles incl ref), finalize=0.000124s, total=0.004964s +FPS=14.05, 法向力=2180.2883, 切向力X=-443.6440, 切向力Y=-525.8157 +FPS=13.17, 法向力=2091.4038, 切向力X=-275.7865, 切向力Y=-534.3018 +FPS=14.52, 法向力=1068.0111, 切向力X=-483.0187, 切向力Y=17.6143 +FPS=14.30, 法向力=3660.1780, 切向力X=-741.7152, 切向力Y=516.2394 +FPS=14.15, 法向力=1205.6044, 切向力X=62.1207, 切向力Y=-644.6194 +FPS=16.39, 法向力=2504.8975, 切向力X=-761.4780, 切向力Y=-125.8246 +FPS=17.11, 法向力=2532.9106, 切向力X=-741.5326, 切向力Y=150.1210 +FPS=17.26, 法向力=1252.1954, 切向力X=-641.0938, 切向力Y=-1069.1951 +FPS=16.41, 法向力=1637.7695, 切向力X=676.8868, 切向力Y=-1019.7322 +FPS=17.34, 法向力=1656.4313, 切向力X=935.6139, 切向力Y=-873.2626 +FPS=16.36, 法向力=1781.7869, 切向力X=-208.9549, 切向力Y=-694.9740 +FPS=17.16, 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切向力Y=-378.3437 +FPS=32.50, 法向力=1689.1394, 切向力X=140.1617, 切向力Y=-1914.2083 +FPS=35.20, 法向力=1698.5431, 切向力X=105.4969, 切向力Y=-1884.8274 +FPS=33.28, 法向力=1689.7970, 切向力X=110.7501, 切向力Y=-1867.5018 +FPS=35.28, 法向力=1513.5083, 切向力X=811.5569, 切向力Y=-944.7057 +FPS=34.21, 法向力=1539.5361, 切向力X=843.1918, 切向力Y=-1059.3826 +FPS=32.29, 法向力=1546.7655, 切向力X=940.8662, 切向力Y=-1217.5924 +FPS=34.71, 法向力=1537.5977, 切向力X=930.1140, 切向力Y=-1230.0870 +FPS=32.66, 法向力=1780.3669, 切向力X=275.4396, 切向力Y=-1531.9810 +FPS=35.04, 法向力=1754.3230, 切向力X=233.3364, 切向力Y=-1561.7646 +FPS=33.93, 法向力=1544.4235, 切向力X=776.3295, 切向力Y=-1105.1783 +FPS=36.48, 法向力=1534.6045, 切向力X=848.6409, 切向力Y=-1041.1797 +FPS=35.30, 法向力=1707.7617, 切向力X=702.7732, 切向力Y=-869.9398 +FPS=36.07, 法向力=1736.4803, 切向力X=765.7349, 切向力Y=-816.5435 +FPS=32.71, 法向力=1631.8423, 切向力X=1232.8560, 切向力Y=-1527.7798 +FPS=35.55, 法向力=1623.2673, 切向力X=1157.0671, 切向力Y=-1506.7754 +FPS=32.17, 法向力=1463.5177, 切向力X=-574.9806, 切向力Y=-1363.0701 +FPS=35.52, 法向力=1497.4131, 切向力X=-589.9885, 切向力Y=-1375.4512 +stitch_feature_optimized: canvas out_w=438, out_h=419, x_min=-111.23, y_min=-84.23 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000209s, blend=0.002138s (9 tiles incl ref), finalize=0.000042s, total=0.002395s +FPS=33.56, 法向力=1727.4747, 切向力X=658.9739, 切向力Y=-1284.5652 +FPS=37.19, 法向力=1756.7021, 切向力X=837.8943, 切向力Y=-1278.7673 +FPS=34.24, 法向力=1732.5754, 切向力X=752.9969, 切向力Y=-867.1399 +FPS=34.55, 法向力=1785.7159, 切向力X=709.1118, 切向力Y=-818.5668 +FPS=33.95, 法向力=1686.4927, 切向力X=119.7986, 切向力Y=-1190.1592 +FPS=36.30, 法向力=1688.4365, 切向力X=91.7443, 切向力Y=-1220.6199 +FPS=35.09, 法向力=1698.9479, 切向力X=105.3233, 切向力Y=-1273.0475 +FPS=33.89, 法向力=2316.7788, 切向力X=260.9607, 切向力Y=-1528.3423 +FPS=32.00, 法向力=1819.3550, 切向力X=534.1852, 切向力Y=-1012.4462 +FPS=36.15, 法向力=1835.8723, 切向力X=604.5371, 切向力Y=-1163.5256 +FPS=34.68, 法向力=1953.3319, 切向力X=1408.0342, 切向力Y=-1719.9246 +FPS=35.56, 法向力=2049.3738, 切向力X=1475.8506, 切向力Y=-1793.1553 +FPS=36.94, 法向力=2015.7625, 切向力X=1472.9137, 切向力Y=-1813.1711 +FPS=35.56, 法向力=1541.0803, 切向力X=554.9705, 切向力Y=-904.6981 +FPS=35.61, 法向力=1590.9580, 切向力X=637.5193, 切向力Y=-984.1843 +FPS=33.58, 法向力=1898.4922, 切向力X=219.5563, 切向力Y=-1285.6033 +FPS=35.28, 法向力=1716.2341, 切向力X=1137.9597, 切向力Y=-720.0061 +FPS=34.57, 法向力=1719.9119, 切向力X=1308.4697, 切向力Y=-713.9144 +FPS=34.61, 法向力=1737.0068, 切向力X=1295.7296, 切向力Y=-718.8691 +FPS=31.85, 法向力=1461.9050, 切向力X=832.5269, 切向力Y=-1149.2415 +FPS=36.17, 法向力=1492.5305, 切向力X=799.4415, 切向力Y=-1115.1401 +FPS=34.10, 法向力=2170.1245, 切向力X=461.9966, 切向力Y=-2000.2502 +FPS=35.64, 法向力=2212.9653, 切向力X=498.7365, 切向力Y=-2065.1375 +FPS=32.26, 法向力=1586.0546, 切向力X=749.0490, 切向力Y=-689.9901 +FPS=35.77, 法向力=1562.4766, 切向力X=824.5837, 切向力Y=-656.0934 +FPS=34.83, 法向力=1706.9730, 切向力X=1113.9236, 切向力Y=-1090.4912 +FPS=37.51, 法向力=1789.9106, 切向力X=1109.2260, 切向力Y=-1145.3555 +FPS=34.66, 法向力=1666.2906, 切向力X=971.0640, 切向力Y=-1441.0762 +FPS=35.62, 法向力=1679.9971, 切向力X=1034.3298, 切向力Y=-1499.4736 +FPS=34.63, 法向力=2245.6606, 切向力X=589.2889, 切向力Y=-1662.1803 +stitch_feature_optimized: canvas out_w=438, out_h=419, x_min=-111.23, y_min=-84.23 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000262s, blend=0.002323s (9 tiles incl ref), finalize=0.000048s, total=0.002639s +FPS=35.09, 法向力=2272.0112, 切向力X=619.3557, 切向力Y=-1714.1311 +FPS=34.05, 法向力=2231.5215, 切向力X=585.2029, 切向力Y=-1718.4111 +FPS=35.61, 法向力=1986.1072, 切向力X=-175.4326, 切向力Y=-548.8101 +FPS=33.04, 法向力=1678.7271, 切向力X=1214.4009, 切向力Y=-1379.0571 +FPS=36.34, 法向力=1683.2704, 切向力X=1190.0161, 切向力Y=-1305.3727 +FPS=35.08, 法向力=1691.8938, 切向力X=1213.9817, 切向力Y=-1349.0114 +FPS=35.97, 法向力=1737.4270, 切向力X=505.7999, 切向力Y=-359.3344 +FPS=35.97, 法向力=1816.1316, 切向力X=491.4626, 切向力Y=-302.7174 +FPS=32.03, 法向力=2042.3030, 切向力X=210.3377, 切向力Y=-1178.1394 +FPS=36.00, 法向力=2076.1824, 切向力X=266.8492, 切向力Y=-1251.4607 +FPS=33.42, 法向力=1836.5333, 切向力X=1364.7627, 切向力Y=-624.2792 +FPS=36.31, 法向力=1947.3798, 切向力X=1501.3905, 切向力Y=-538.7904 +FPS=34.32, 法向力=1646.8184, 切向力X=494.7464, 切向力Y=-1499.6652 +FPS=36.29, 法向力=1697.9514, 切向力X=519.3320, 切向力Y=-1435.3098 +FPS=35.57, 法向力=1620.4429, 切向力X=1373.8137, 切向力Y=-576.7356 +FPS=37.21, 法向力=1643.6514, 切向力X=1456.9523, 切向力Y=-536.2016 +FPS=32.84, 法向力=2144.3193, 切向力X=1176.7717, 切向力Y=-1419.2434 +FPS=35.00, 法向力=2241.1233, 切向力X=1113.5594, 切向力Y=-1766.1791 +FPS=33.80, 法向力=2227.4119, 切向力X=1047.7485, 切向力Y=-1237.1420 +FPS=35.04, 法向力=2312.7427, 切向力X=1195.2477, 切向力Y=-1228.4338 +FPS=34.43, 法向力=1674.7692, 切向力X=141.1298, 切向力Y=-725.6453 +FPS=36.77, 法向力=1776.2163, 切向力X=136.0202, 切向力Y=-748.7538 +FPS=34.75, 法向力=2156.7979, 切向力X=538.3654, 切向力Y=-922.1176 +FPS=35.70, 法向力=2212.3911, 切向力X=688.7983, 切向力Y=-954.7637 +FPS=33.70, 法向力=2219.5005, 切向力X=686.3442, 切向力Y=-960.9362 +FPS=36.76, 法向力=2356.5366, 切向力X=370.9265, 切向力Y=-1445.6726 +FPS=36.46, 法向力=2423.1211, 切向力X=365.9776, 切向力Y=-1523.7383 +FPS=34.15, 法向力=2054.4324, 切向力X=198.5862, 切向力Y=-1723.9636 +FPS=16.12, 法向力=1474.9230, 切向力X=732.8654, 切向力Y=-824.1663 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_180612.log b/examples/logs/qt_viewer_20260519_180612.log new file mode 100644 index 0000000..ba1c376 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_180612.log @@ -0,0 +1,1763 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.48, 法向力=2681.7095, 切向力X=-2559.4272, 切向力Y=-926.8677 +FPS=24.30, 法向力=2719.7339, 切向力X=-2588.3584, 切向力Y=-691.1034 +FPS=14.54, 法向力=2711.3235, 切向力X=-3274.9617, 切向力Y=406.0132 +FPS=14.40, 法向力=2592.3027, 切向力X=-3117.0564, 切向力Y=524.2622 +FPS=17.61, 法向力=1855.3741, 切向力X=-1079.0111, 切向力Y=-155.6314 +FPS=18.22, 法向力=2837.6206, 切向力X=-1925.0924, 切向力Y=518.4491 +FPS=17.73, 法向力=2980.4583, 切向力X=-2234.0986, 切向力Y=731.7405 +FPS=16.65, 法向力=3045.6040, 切向力X=-2202.5132, 切向力Y=846.2874 +FPS=15.92, 法向力=2077.3303, 切向力X=-1241.3051, 切向力Y=405.8798 +FPS=18.08, 法向力=2133.0232, 切向力X=-1611.7517, 切向力Y=-113.2310 +FPS=18.67, 法向力=2247.7876, 切向力X=-1697.0176, 切向力Y=-225.4261 +FPS=17.40, 法向力=1976.7473, 切向力X=-2689.8757, 切向力Y=763.1893 +FPS=18.04, 法向力=2456.5068, 切向力X=-2265.7031, 切向力Y=621.4351 +FPS=16.81, 法向力=2377.0562, 切向力X=-2222.7642, 切向力Y=558.4043 +FPS=19.20, 法向力=1514.3900, 切向力X=-545.5358, 切向力Y=777.9343 +FPS=19.04, 法向力=1519.7765, 切向力X=-554.1377, 切向力Y=784.1481 +FPS=17.81, 法向力=2739.0581, 切向力X=-1808.9922, 切向力Y=4.5363 +FPS=19.39, 法向力=2817.1726, 切向力X=-2262.3359, 切向力Y=16.2357 +FPS=25.66, 法向力=3067.4465, 切向力X=-3014.2854, 切向力Y=254.7424 +FPS=29.77, 法向力=1750.5126, 切向力X=-1533.2144, 切向力Y=453.4376 +FPS=31.97, 法向力=1811.7400, 切向力X=-1523.1399, 切向力Y=477.7274 +FPS=29.53, 法向力=2141.3335, 切向力X=-1915.5671, 切向力Y=428.7823 +FPS=29.79, 法向力=2136.0884, 切向力X=-1960.6743, 切向力Y=423.8580 +FPS=28.24, 法向力=2419.0376, 切向力X=-1744.7311, 切向力Y=457.3168 +FPS=29.70, 法向力=2216.1094, 切向力X=-1584.0667, 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切向力Y=-1083.3358 +FPS=21.05, 法向力=2978.6162, 切向力X=-1547.7288, 切向力Y=-1116.5776 +FPS=21.93, 法向力=2254.7034, 切向力X=-1283.5120, 切向力Y=-916.5388 +FPS=20.02, 法向力=2702.7881, 切向力X=-1729.6827, 切向力Y=-1323.7395 +FPS=20.60, 法向力=3207.6892, 切向力X=-1534.9707, 切向力Y=-1289.2708 +FPS=21.98, 法向力=3253.4731, 切向力X=-1563.4073, 切向力Y=-1301.7498 +FPS=21.83, 法向力=3252.8518, 切向力X=-1611.1230, 切向力Y=-1256.5376 +stitch_feature_optimized: canvas out_w=470, out_h=418, x_min=-145.06, y_min=-83.02 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000008s (hit), reset=0.000496s, blend=0.004578s (9 tiles incl ref), finalize=0.000112s, total=0.005199s +FPS=20.84, 法向力=2525.3584, 切向力X=-1431.6991, 切向力Y=-1978.1213 +FPS=20.67, 法向力=2371.5127, 切向力X=-1077.4727, 切向力Y=-1003.0780 +FPS=21.64, 法向力=2920.2783, 切向力X=-1635.6953, 切向力Y=-2292.9419 +FPS=20.48, 法向力=2930.7686, 切向力X=-1638.6053, 切向力Y=-2441.3955 +FPS=21.70, 法向力=2935.1018, 切向力X=-1625.8599, 切向力Y=-2430.2539 +FPS=22.36, 法向力=2515.0840, 切向力X=-939.4032, 切向力Y=-2267.9729 +FPS=20.30, 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切向力X=-896.8615, 切向力Y=-1908.1230 +FPS=21.16, 法向力=2500.7109, 切向力X=-1387.1572, 切向力Y=-2024.1702 +FPS=22.08, 法向力=2490.5137, 切向力X=-1404.6350, 切向力Y=-2020.3961 +FPS=21.58, 法向力=2830.7473, 切向力X=-1484.2080, 切向力Y=-1793.2710 +FPS=21.88, 法向力=2040.5552, 切向力X=-1603.0398, 切向力Y=-1393.9434 +FPS=20.68, 法向力=2094.8337, 切向力X=-1558.4591, 切向力Y=-1236.7532 +FPS=21.06, 法向力=2077.6655, 切向力X=-1590.1334, 切向力Y=-1259.6685 +FPS=17.05, 法向力=2563.6416, 切向力X=-1080.4408, 切向力Y=-1016.9125 +FPS=19.98, 法向力=2568.7358, 切向力X=-574.8322, 切向力Y=-2104.1997 +FPS=20.84, 法向力=2745.6646, 切向力X=-1484.9850, 切向力Y=-1664.2582 +FPS=20.24, 法向力=2767.7175, 切向力X=-1458.0977, 切向力Y=-1552.8933 +FPS=20.20, 法向力=2835.3481, 切向力X=-1473.6140, 切向力Y=-1006.1208 +FPS=21.01, 法向力=2790.1934, 切向力X=-1262.7650, 切向力Y=-1560.5751 +FPS=20.41, 法向力=2747.9814, 切向力X=-1256.6343, 切向力Y=-1583.0669 +FPS=20.27, 法向力=2552.0479, 切向力X=-1133.7454, 切向力Y=-856.6534 +FPS=20.61, 法向力=2450.7583, 切向力X=-964.9026, 切向力Y=-752.9901 +FPS=16.82, 法向力=2490.8770, 切向力X=-1073.3939, 切向力Y=-1496.3120 +FPS=20.86, 法向力=2496.2268, 切向力X=-1100.6588, 切向力Y=-1665.8540 +FPS=20.51, 法向力=2570.1665, 切向力X=-1179.6715, 切向力Y=-1730.9216 +FPS=19.95, 法向力=2555.2466, 切向力X=-1197.6785, 切向力Y=-1663.0493 +FPS=20.95, 法向力=2761.4409, 切向力X=-655.9523, 切向力Y=-1268.6752 +FPS=21.24, 法向力=2689.2573, 切向力X=-1518.4604, 切向力Y=-1509.1335 +FPS=19.22, 法向力=2546.8682, 切向力X=-489.6516, 切向力Y=-1193.4006 +FPS=19.99, 法向力=2621.9861, 切向力X=-458.2742, 切向力Y=-1217.5862 +FPS=19.40, 法向力=3039.0942, 切向力X=-1532.0164, 切向力Y=-1649.9280 +stitch_feature_optimized: canvas out_w=470, out_h=418, x_min=-145.06, y_min=-83.02 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000006s (hit), reset=0.000420s, blend=0.004483s (9 tiles incl ref), finalize=0.000122s, total=0.005036s +FPS=20.06, 法向力=3077.1733, 切向力X=-1473.4957, 切向力Y=-1703.1252 +FPS=19.63, 法向力=2644.5291, 切向力X=-927.5346, 切向力Y=-1430.5452 +FPS=19.54, 法向力=2590.1648, 切向力X=-876.6591, 切向力Y=-1419.2297 +FPS=15.38, 法向力=2744.4856, 切向力X=-691.4604, 切向力Y=-1899.2764 +FPS=18.18, 法向力=3133.7520, 切向力X=-1367.7816, 切向力Y=-1084.6912 +FPS=19.93, 法向力=2402.3716, 切向力X=-718.7557, 切向力Y=-695.0994 +FPS=19.28, 法向力=2392.8081, 切向力X=-817.4841, 切向力Y=-599.7440 +FPS=20.09, 法向力=2682.0076, 切向力X=-1156.6219, 切向力Y=-1819.7238 +FPS=19.55, 法向力=2303.3823, 切向力X=-932.6126, 切向力Y=-1309.3596 +FPS=20.01, 法向力=2393.1904, 切向力X=-939.8582, 切向力Y=-1443.1711 +FPS=18.39, 法向力=3039.1765, 切向力X=-1687.5497, 切向力Y=-2562.1270 +FPS=21.58, 法向力=3130.1909, 切向力X=-1806.1930, 切向力Y=-2571.9565 +FPS=27.68, 法向力=2457.9248, 切向力X=-1747.6779, 切向力Y=-1304.6675 +FPS=32.34, 法向力=2920.4360, 切向力X=-1081.4956, 切向力Y=-2085.4336 +FPS=33.83, 法向力=2863.8093, 切向力X=-1012.4512, 切向力Y=-1928.0496 +FPS=30.56, 法向力=2552.0977, 切向力X=-1300.4098, 切向力Y=-1486.8237 +FPS=27.18, 法向力=2563.8037, 切向力X=-1383.2078, 切向力Y=-1533.9299 +FPS=29.31, 法向力=2451.0522, 切向力X=-1090.8203, 切向力Y=-1737.9407 +FPS=32.59, 法向力=2372.8457, 切向力X=-1066.7465, 切向力Y=-1736.8386 +FPS=30.27, 法向力=2379.9082, 切向力X=-1197.4775, 切向力Y=-2414.4712 +FPS=23.31, 法向力=2648.6145, 切向力X=-1685.1614, 切向力Y=-1337.4918 +FPS=28.69, 法向力=2683.0347, 切向力X=-1655.6285, 切向力Y=-1328.3054 +FPS=30.91, 法向力=2412.5273, 切向力X=-1256.9680, 切向力Y=-1214.9015 +FPS=32.95, 法向力=2356.4458, 切向力X=-1249.4771, 切向力Y=-1221.0205 +FPS=29.29, 法向力=2570.4216, 切向力X=-1712.7842, 切向力Y=-1666.2102 +FPS=30.74, 法向力=2606.6543, 切向力X=-1884.4769, 切向力Y=-1848.7100 +FPS=29.89, 法向力=2515.3740, 切向力X=-438.1314, 切向力Y=-1931.1436 +FPS=31.32, 法向力=2472.3391, 切向力X=-309.5077, 切向力Y=-1891.4263 +FPS=29.82, 法向力=3098.7788, 切向力X=-1163.7756, 切向力Y=-920.9003 +FPS=32.79, 法向力=3076.9314, 切向力X=-1090.7665, 切向力Y=-855.6912 +stitch_feature_optimized: canvas out_w=470, out_h=418, x_min=-145.06, y_min=-83.02 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000332s, blend=0.002327s (9 tiles incl ref), finalize=0.000056s, total=0.002722s +FPS=32.71, 法向力=2843.0376, 切向力X=-1294.6611, 切向力Y=-1739.8010 +FPS=33.42, 法向力=2852.8811, 切向力X=-1192.7302, 切向力Y=-1736.6997 +FPS=33.40, 法向力=2699.3494, 切向力X=-1351.2437, 切向力Y=-1125.8099 +FPS=34.84, 法向力=2671.5803, 切向力X=-1355.2799, 切向力Y=-1101.1392 +FPS=33.05, 法向力=2914.1587, 切向力X=-992.2370, 切向力Y=-1313.9805 +FPS=34.10, 法向力=2997.4751, 切向力X=-994.2400, 切向力Y=-1409.2266 +FPS=34.54, 法向力=2369.9858, 切向力X=-553.6848, 切向力Y=-1765.0448 +FPS=35.51, 法向力=2519.3442, 切向力X=-656.9257, 切向力Y=-1862.9993 +FPS=30.50, 法向力=2700.3242, 切向力X=-967.9481, 切向力Y=-1293.7622 +FPS=27.82, 法向力=2638.8330, 切向力X=-899.6367, 切向力Y=-1240.8248 +FPS=29.01, 法向力=2480.5735, 切向力X=-1101.0111, 切向力Y=-531.4730 +FPS=30.02, 法向力=2493.5669, 切向力X=-1099.0811, 切向力Y=-438.3374 +FPS=31.09, 法向力=2668.7446, 切向力X=-1325.2158, 切向力Y=-1774.9501 +FPS=31.03, 法向力=2186.5527, 切向力X=-1396.8502, 切向力Y=-1392.3922 +FPS=34.55, 法向力=2180.5415, 切向力X=-1412.3823, 切向力Y=-1370.6692 +FPS=31.74, 法向力=2585.0945, 切向力X=-1014.3226, 切向力Y=-2261.9531 +FPS=32.09, 法向力=2586.9778, 切向力X=-1057.7744, 切向力Y=-2308.6338 +FPS=17.88, 法向力=1754.1188, 切向力X=-796.1248, 切向力Y=-1156.7151 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_180804.log b/examples/logs/qt_viewer_20260519_180804.log new file mode 100644 index 0000000..d5af123 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_180804.log @@ -0,0 +1,1639 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.60, 法向力=2123.8154, 切向力X=-1165.6411, 切向力Y=298.6554 +FPS=38.58, 法向力=1939.4042, 切向力X=462.7669, 切向力Y=847.0203 +FPS=27.57, 法向力=1996.6150, 切向力X=457.2924, 切向力Y=876.4832 +FPS=28.97, 法向力=1697.6934, 切向力X=-228.2945, 切向力Y=-760.2044 +FPS=31.14, 法向力=1809.0791, 切向力X=-542.2157, 切向力Y=-804.6868 +FPS=30.42, 法向力=2037.2440, 切向力X=-1464.9961, 切向力Y=-144.6015 +FPS=30.58, 法向力=2006.9283, 切向力X=-1304.2251, 切向力Y=-115.9140 +FPS=30.54, 法向力=1541.5107, 切向力X=-1422.8547, 切向力Y=290.4225 +FPS=31.03, 法向力=1999.3452, 切向力X=-1632.3290, 切向力Y=45.1644 +FPS=33.06, 法向力=1925.1503, 切向力X=-1405.0254, 切向力Y=165.2303 +FPS=30.06, 法向力=1498.7074, 切向力X=11.2125, 切向力Y=487.1559 +FPS=32.71, 法向力=1547.9738, 切向力X=53.1912, 切向力Y=395.8119 +FPS=30.11, 法向力=1371.3425, 切向力X=581.4484, 切向力Y=-926.3250 +FPS=30.09, 法向力=1368.6302, 切向力X=493.5965, 切向力Y=-1030.6675 +FPS=27.62, 法向力=1280.4301, 切向力X=-32.0627, 切向力Y=-103.7791 +FPS=31.66, 法向力=1427.5784, 切向力X=-278.1455, 切向力Y=-32.2787 +FPS=32.22, 法向力=1697.5149, 切向力X=-1087.9092, 切向力Y=-628.5477 +FPS=31.82, 法向力=1898.0488, 切向力X=-976.7383, 切向力Y=-14.9376 +FPS=31.40, 法向力=1935.4336, 切向力X=-947.4210, 切向力Y=118.4793 +FPS=31.14, 法向力=1896.5222, 切向力X=-908.1169, 切向力Y=112.4005 +FPS=31.81, 法向力=1868.5365, 切向力X=-893.4460, 切向力Y=-396.0858 +FPS=30.21, 法向力=1551.2028, 切向力X=-1088.5129, 切向力Y=438.1341 +FPS=30.04, 法向力=1566.6066, 切向力X=-1058.7305, 切向力Y=476.4047 +FPS=29.25, 法向力=1346.8513, 切向力X=-699.0662, 切向力Y=-692.7577 +FPS=30.74, 法向力=1376.3062, 切向力X=-686.8589, 切向力Y=-633.1421 +FPS=28.44, 法向力=1865.6182, 切向力X=-1286.2312, 切向力Y=-660.2623 +FPS=29.61, 法向力=1883.1184, 切向力X=-1270.9413, 切向力Y=-632.9467 +stitch_feature_optimized: canvas out_w=544, out_h=416, x_min=-140.74, y_min=-84.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000275s, blend=0.002165s (9 tiles incl ref), finalize=0.000059s, total=0.002505s +FPS=28.75, 法向力=1626.3823, 切向力X=-969.1639, 切向力Y=-508.7081 +FPS=26.07, 法向力=1307.8535, 切向力X=-1065.6067, 切向力Y=-588.4448 +FPS=31.73, 法向力=1336.8528, 切向力X=-1061.3501, 切向力Y=-699.0113 +FPS=29.75, 法向力=2297.4177, 切向力X=-981.6252, 切向力Y=-676.0419 +FPS=31.32, 法向力=2334.0173, 切向力X=-939.3984, 切向力Y=-716.7437 +FPS=30.62, 法向力=1502.3176, 切向力X=-1008.2899, 切向力Y=-230.9177 +FPS=31.56, 法向力=1464.4106, 切向力X=-944.4269, 切向力Y=-192.5828 +FPS=29.97, 法向力=1979.2933, 切向力X=79.8511, 切向力Y=536.4713 +FPS=32.03, 法向力=2128.5869, 切向力X=91.7102, 切向力Y=583.4003 +FPS=30.55, 法向力=2202.6050, 切向力X=-191.5545, 切向力Y=560.7707 +FPS=30.30, 法向力=1735.3687, 切向力X=-272.5055, 切向力Y=-549.4262 +FPS=31.10, 法向力=1757.6006, 切向力X=-338.6523, 切向力Y=-572.6774 +FPS=30.90, 法向力=1380.6660, 切向力X=-94.5766, 切向力Y=70.5548 +FPS=31.69, 法向力=1410.1460, 切向力X=-94.3336, 切向力Y=98.6015 +FPS=31.04, 法向力=1673.7842, 切向力X=-888.1257, 切向力Y=-284.1638 +FPS=32.50, 法向力=1728.4016, 切向力X=-965.8964, 切向力Y=-150.2532 +FPS=30.51, 法向力=1767.7241, 切向力X=-515.8728, 切向力Y=-1332.4290 +FPS=30.07, 法向力=1686.0946, 切向力X=-326.1650, 切向力Y=-1461.0887 +FPS=28.68, 法向力=2720.4375, 切向力X=-1299.1436, 切向力Y=347.2938 +FPS=30.52, 法向力=2758.3389, 切向力X=-1295.7913, 切向力Y=392.5523 +FPS=30.10, 法向力=1967.5510, 切向力X=-1150.9426, 切向力Y=-670.4214 +FPS=31.30, 法向力=1990.0620, 切向力X=-1021.8815, 切向力Y=-674.8445 +FPS=32.05, 法向力=1539.8907, 切向力X=-851.8064, 切向力Y=137.6715 +FPS=33.00, 法向力=1537.5408, 切向力X=-815.0259, 切向力Y=180.5053 +FPS=30.17, 法向力=1786.0864, 切向力X=-788.4015, 切向力Y=-591.5817 +FPS=30.20, 法向力=1965.3025, 切向力X=-26.7223, 切向力Y=-682.4618 +FPS=31.41, 法向力=1921.0049, 切向力X=70.4149, 切向力Y=-637.4163 +FPS=28.30, 法向力=1769.9783, 切向力X=-1476.7452, 切向力Y=-666.3320 +FPS=31.72, 法向力=1793.5070, 切向力X=-1604.6726, 切向力Y=-807.8100 +FPS=27.99, 法向力=2544.8291, 切向力X=-1994.8882, 切向力Y=77.2261 +stitch_feature_optimized: canvas out_w=544, out_h=416, x_min=-140.74, y_min=-84.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000255s, blend=0.002126s (9 tiles incl ref), finalize=0.000055s, total=0.002442s +FPS=30.40, 法向力=2551.0405, 切向力X=-1963.0634, 切向力Y=139.0039 +FPS=29.59, 法向力=1986.2234, 切向力X=-56.4889, 切向力Y=-411.0191 +FPS=30.70, 法向力=2460.7827, 切向力X=-1786.2852, 切向力Y=-643.4385 +FPS=31.47, 法向力=2381.7754, 切向力X=-1778.4026, 切向力Y=-698.5608 +FPS=30.23, 法向力=1876.2517, 切向力X=-746.8567, 切向力Y=-1018.3038 +FPS=32.12, 法向力=1895.4708, 切向力X=-912.0443, 切向力Y=-1077.5408 +FPS=30.24, 法向力=1760.4131, 切向力X=18.4096, 切向力Y=-374.3281 +FPS=31.20, 法向力=1763.6199, 切向力X=-13.9006, 切向力Y=-398.0343 +FPS=30.31, 法向力=1208.9375, 切向力X=-477.4033, 切向力Y=-1211.8569 +FPS=31.88, 法向力=1291.8018, 切向力X=-535.5651, 切向力Y=-1378.0903 +FPS=29.92, 法向力=1383.9192, 切向力X=991.7715, 切向力Y=492.0362 +FPS=31.43, 法向力=1372.4358, 切向力X=1024.3496, 切向力Y=438.0659 +FPS=29.55, 法向力=2047.3629, 切向力X=-780.3873, 切向力Y=-257.1129 +FPS=25.57, 法向力=2014.6086, 切向力X=-584.7639, 切向力Y=-172.1744 +FPS=27.46, 法向力=2423.8262, 切向力X=-1246.0295, 切向力Y=-581.8742 +FPS=26.42, 法向力=1437.5876, 切向力X=-769.9657, 切向力Y=-289.6431 +FPS=27.16, 法向力=1512.3767, 切向力X=-756.0363, 切向力Y=-216.8470 +FPS=26.64, 法向力=2408.2056, 切向力X=-1820.7512, 切向力Y=-544.9152 +FPS=25.25, 法向力=1054.1365, 切向力X=1179.1716, 切向力Y=-366.3308 +FPS=26.63, 法向力=1064.0068, 切向力X=1344.3250, 切向力Y=-251.2093 +FPS=25.56, 法向力=2591.8564, 切向力X=-501.7465, 切向力Y=-318.3233 +FPS=26.88, 法向力=2570.9648, 切向力X=-641.4886, 切向力Y=-322.5300 +FPS=30.82, 法向力=1494.6686, 切向力X=389.2383, 切向力Y=168.8510 +FPS=25.14, 法向力=2082.0811, 切向力X=-576.1179, 切向力Y=-638.1890 +FPS=27.73, 法向力=2103.3640, 切向力X=-706.0500, 切向力Y=-702.6415 +FPS=26.21, 法向力=1363.3486, 切向力X=-798.2891, 切向力Y=-1350.9340 +FPS=29.17, 法向力=2030.4532, 切向力X=-351.8532, 切向力Y=144.4155 +FPS=29.58, 法向力=2086.5955, 切向力X=-561.8463, 切向力Y=160.5773 +FPS=26.51, 法向力=2125.3247, 切向力X=-368.2346, 切向力Y=-524.2664 +FPS=28.56, 法向力=2034.7281, 切向力X=-492.4607, 切向力Y=-631.2983 +stitch_feature_optimized: canvas out_w=544, out_h=416, x_min=-140.74, y_min=-84.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000292s, blend=0.002102s (9 tiles incl ref), finalize=0.000052s, total=0.002453s +FPS=29.31, 法向力=2306.2927, 切向力X=-1513.0790, 切向力Y=-562.5406 +FPS=29.70, 法向力=2076.5386, 切向力X=-403.7842, 切向力Y=-437.6359 +FPS=30.74, 法向力=2000.7623, 切向力X=-435.3168, 切向力Y=-621.1829 +FPS=28.77, 法向力=1334.3784, 切向力X=1084.4445, 切向力Y=-614.8835 +FPS=29.82, 法向力=1355.7808, 切向力X=1006.3807, 切向力Y=-553.3375 +FPS=25.73, 法向力=2052.5383, 切向力X=444.8719, 切向力Y=-590.7314 +FPS=28.57, 法向力=2010.4307, 切向力X=513.3759, 切向力Y=-608.4252 +FPS=27.77, 法向力=1597.6361, 切向力X=-1444.7700, 切向力Y=-1132.8848 +FPS=26.55, 法向力=3231.0740, 切向力X=-2485.4209, 切向力Y=39.7952 +FPS=25.66, 法向力=3242.2810, 切向力X=-2161.3467, 切向力Y=-54.5888 +FPS=26.68, 法向力=1601.6864, 切向力X=-847.7960, 切向力Y=-175.5535 +FPS=29.31, 法向力=1578.5198, 切向力X=-743.7177, 切向力Y=-163.0330 +FPS=27.46, 法向力=1758.4938, 切向力X=-675.0431, 切向力Y=-861.7299 +FPS=25.29, 法向力=1209.1584, 切向力X=9.8853, 切向力Y=-739.0060 +FPS=27.75, 法向力=1160.8179, 切向力X=90.3051, 切向力Y=-712.7631 +FPS=28.84, 法向力=1538.3328, 切向力X=290.7262, 切向力Y=288.3012 +FPS=27.63, 法向力=1560.9213, 切向力X=309.8436, 切向力Y=335.4866 +FPS=27.12, 法向力=1721.9856, 切向力X=689.1259, 切向力Y=-380.2230 +FPS=26.36, 法向力=1688.7268, 切向力X=16.6729, 切向力Y=-886.7347 +FPS=28.06, 法向力=1729.2488, 切向力X=-70.3313, 切向力Y=-836.7516 +FPS=28.37, 法向力=1452.9414, 切向力X=852.0624, 切向力Y=-158.9962 +FPS=27.62, 法向力=1895.9302, 切向力X=-399.4396, 切向力Y=-1365.6566 +FPS=28.29, 法向力=1954.5475, 切向力X=-595.5748, 切向力Y=-1404.7352 +FPS=27.02, 法向力=2434.4209, 切向力X=108.8385, 切向力Y=-84.1328 +FPS=28.66, 法向力=2552.8911, 切向力X=121.2415, 切向力Y=-138.0887 +FPS=27.27, 法向力=2044.2401, 切向力X=85.5853, 切向力Y=-845.4570 +FPS=26.94, 法向力=2584.1021, 切向力X=-1317.2351, 切向力Y=-402.2791 +FPS=28.87, 法向力=2585.3252, 切向力X=-1350.0112, 切向力Y=-458.9407 +FPS=26.28, 法向力=1902.2451, 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法向力=2493.5884, 切向力X=303.5413, 切向力Y=-1838.8733 +FPS=34.77, 法向力=2430.8967, 切向力X=414.7561, 切向力Y=-1860.0016 +FPS=33.42, 法向力=2446.8706, 切向力X=404.6956, 切向力Y=-1849.2607 +FPS=35.15, 法向力=2270.1426, 切向力X=995.8655, 切向力Y=-2238.3193 +FPS=36.23, 法向力=2298.4841, 切向力X=974.5186, 切向力Y=-2287.1306 +FPS=33.94, 法向力=1806.0408, 切向力X=451.2784, 切向力Y=-1611.1982 +stitch_feature_optimized: canvas out_w=544, out_h=416, x_min=-140.74, y_min=-84.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000268s, blend=0.002187s (9 tiles incl ref), finalize=0.000066s, total=0.002527s +FPS=36.15, 法向力=1699.4739, 切向力X=444.0715, 切向力Y=-1620.4901 +FPS=33.71, 法向力=1574.9856, 切向力X=1026.6028, 切向力Y=-1670.5349 +FPS=36.47, 法向力=1479.8217, 切向力X=1179.6406, 切向力Y=-1669.2698 +FPS=33.25, 法向力=1573.3867, 切向力X=514.8892, 切向力Y=-2501.8730 +FPS=36.25, 法向力=1515.8765, 切向力X=430.8640, 切向力Y=-2586.4443 +FPS=35.05, 法向力=2109.5957, 切向力X=25.6540, 切向力Y=-1710.8076 +FPS=36.87, 法向力=2154.7007, 切向力X=23.4750, 切向力Y=-1767.3354 +FPS=35.25, 法向力=2268.9429, 切向力X=194.7111, 切向力Y=-2149.9187 +FPS=36.33, 法向力=2229.6321, 切向力X=173.4496, 切向力Y=-2221.7117 +FPS=35.63, 法向力=2254.0249, 切向力X=138.8574, 切向力Y=-2182.0537 +FPS=35.88, 法向力=1622.6384, 切向力X=298.8268, 切向力Y=-1498.6492 +FPS=35.42, 法向力=1714.2615, 切向力X=550.0552, 切向力Y=-1592.8928 +FPS=36.64, 法向力=1702.2407, 切向力X=515.7382, 切向力Y=-1539.9731 +FPS=35.83, 法向力=1678.5293, 切向力X=492.7467, 切向力Y=-1534.0081 +FPS=36.85, 法向力=1703.4005, 切向力X=1077.0219, 切向力Y=-1992.1515 +FPS=37.23, 法向力=1716.1406, 切向力X=1062.1519, 切向力Y=-2100.7871 +FPS=35.12, 法向力=2082.4307, 切向力X=891.3858, 切向力Y=-1356.6772 +FPS=37.38, 法向力=2125.1460, 切向力X=911.7347, 切向力Y=-1396.2737 +FPS=34.14, 法向力=2078.6653, 切向力X=185.2237, 切向力Y=-2273.0405 +FPS=36.87, 法向力=2031.0664, 切向力X=145.6520, 切向力Y=-2370.4897 +FPS=33.07, 法向力=1786.0640, 切向力X=646.2430, 切向力Y=-1392.9338 +FPS=20.27, 法向力=2340.5532, 切向力X=229.4274, 切向力Y=-1043.2461 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_180916.log b/examples/logs/qt_viewer_20260519_180916.log new file mode 100644 index 0000000..8c4ba0e --- /dev/null +++ b/examples/logs/qt_viewer_20260519_180916.log @@ -0,0 +1,387 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +FPS=0.51, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.78, 法向力=1319.9214, 切向力X=-158.2586, 切向力Y=-469.5464 +FPS=34.67, 法向力=1614.2219, 切向力X=-733.6538, 切向力Y=-392.2283 +FPS=26.64, 法向力=1674.6257, 切向力X=-823.2000, 切向力Y=-472.3365 +FPS=28.50, 法向力=1487.2946, 切向力X=-237.6716, 切向力Y=-981.1450 +FPS=30.34, 法向力=1524.4380, 切向力X=-192.1061, 切向力Y=-1060.0020 +FPS=30.77, 法向力=1185.6323, 切向力X=-385.2812, 切向力Y=-1432.8470 +FPS=30.02, 法向力=1407.2581, 切向力X=-1309.8552, 切向力Y=-401.1516 +FPS=31.85, 法向力=1384.0031, 切向力X=-1292.9248, 切向力Y=-342.8344 +FPS=29.92, 法向力=1299.4647, 切向力X=-808.6634, 切向力Y=-392.1310 +FPS=31.29, 法向力=1309.7788, 切向力X=-820.8898, 切向力Y=-539.6555 +FPS=30.00, 法向力=1388.7139, 切向力X=-773.2426, 切向力Y=-685.4021 +FPS=33.55, 法向力=1373.2345, 切向力X=-814.5143, 切向力Y=-676.4857 +FPS=27.79, 法向力=1469.1439, 切向力X=-331.0170, 切向力Y=-350.4691 +FPS=33.18, 法向力=1484.3489, 切向力X=-365.0068, 切向力Y=-403.8424 +FPS=31.07, 法向力=1348.7627, 切向力X=-925.7011, 切向力Y=-698.6892 +FPS=32.91, 法向力=1337.5515, 切向力X=-903.1743, 切向力Y=-624.1057 +FPS=30.69, 法向力=1892.2056, 切向力X=-552.3064, 切向力Y=-597.5526 +FPS=31.08, 法向力=1952.8649, 切向力X=-544.0306, 切向力Y=-1018.4485 +FPS=32.25, 法向力=1997.1619, 切向力X=-602.6927, 切向力Y=-982.6525 +FPS=30.26, 法向力=1727.1904, 切向力X=-68.1497, 切向力Y=-78.1312 +FPS=32.73, 法向力=1694.1979, 切向力X=45.1908, 切向力Y=24.9016 +FPS=26.31, 法向力=1313.0117, 切向力X=-277.5117, 切向力Y=-1086.4465 +FPS=31.28, 法向力=1313.6650, 切向力X=-331.1265, 切向力Y=-1181.2971 +FPS=28.76, 法向力=1298.4138, 切向力X=-644.1656, 切向力Y=-505.6893 +FPS=31.14, 法向力=1265.8157, 切向力X=-593.3033, 切向力Y=-428.1007 +FPS=29.67, 法向力=1672.4282, 切向力X=217.5724, 切向力Y=-434.2036 +FPS=29.59, 法向力=1705.5935, 切向力X=272.0978, 切向力Y=-373.9866 +stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000255s, blend=0.002134s (9 tiles incl ref), finalize=0.000057s, total=0.002452s +FPS=29.38, 法向力=1100.9032, 切向力X=-1126.4363, 切向力Y=-1306.1116 +FPS=27.33, 法向力=1676.6199, 切向力X=-441.2086, 切向力Y=270.4307 +FPS=29.05, 法向力=1752.3738, 切向力X=-531.3379, 切向力Y=468.5292 +FPS=28.53, 法向力=969.5383, 切向力X=-752.4490, 切向力Y=-602.3971 +FPS=32.30, 法向力=1014.4683, 切向力X=-770.4238, 切向力Y=-620.4055 +FPS=31.04, 法向力=1477.0358, 切向力X=-296.2808, 切向力Y=200.1196 +FPS=32.15, 法向力=1464.0955, 切向力X=-408.2822, 切向力Y=201.6814 +FPS=31.46, 法向力=1272.9092, 切向力X=-359.2788, 切向力Y=-366.8872 +FPS=31.82, 法向力=1318.7256, 切向力X=-467.1214, 切向力Y=-387.9624 +FPS=30.65, 法向力=1478.0735, 切向力X=-471.1060, 切向力Y=-1365.2852 +FPS=31.44, 法向力=1429.8256, 切向力X=-525.8002, 切向力Y=-1405.6343 +FPS=29.85, 法向力=1888.3611, 切向力X=-661.2926, 切向力Y=-1753.2478 +FPS=27.80, 法向力=1351.5098, 切向力X=-203.6241, 切向力Y=-1165.4890 +FPS=31.88, 法向力=1326.1023, 切向力X=-12.1503, 切向力Y=-1157.2927 +FPS=28.84, 法向力=1664.9883, 切向力X=-1326.6926, 切向力Y=-729.3677 +FPS=31.46, 法向力=1671.1321, 切向力X=-1316.6617, 切向力Y=-708.8398 +FPS=29.78, 法向力=1338.7979, 切向力X=-960.5823, 切向力Y=-1179.8271 +FPS=31.55, 法向力=1301.9539, 切向力X=-940.6798, 切向力Y=-1155.9268 +FPS=30.99, 法向力=1435.9392, 切向力X=-696.9567, 切向力Y=-267.7921 +FPS=30.20, 法向力=1255.4961, 切向力X=-431.4714, 切向力Y=-400.4008 +FPS=31.06, 法向力=1279.4399, 切向力X=-300.7516, 切向力Y=-423.5645 +FPS=30.34, 法向力=1316.0607, 切向力X=-891.2043, 切向力Y=-93.7807 +FPS=32.23, 法向力=1326.1030, 切向力X=-926.8167, 切向力Y=9.3615 +FPS=31.33, 法向力=1565.6691, 切向力X=-462.8187, 切向力Y=-731.1137 +FPS=30.52, 法向力=1562.2695, 切向力X=-451.3595, 切向力Y=-864.2240 +FPS=30.55, 法向力=1703.7373, 切向力X=-1037.5344, 切向力Y=-646.0696 +FPS=30.42, 法向力=1732.0646, 切向力X=-1036.4324, 切向力Y=-671.8480 +FPS=30.61, 法向力=1294.7955, 切向力X=-397.7844, 切向力Y=-708.2298 +FPS=20.65, 法向力=1178.4083, 切向力X=-244.8753, 切向力Y=-634.0080 +FPS=43.20, 法向力=1248.2864, 切向力X=-263.9541, 切向力Y=-673.7204 +stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000266s, blend=0.002204s (9 tiles incl ref), finalize=0.000057s, total=0.002533s +FPS=36.09, 法向力=1215.1443, 切向力X=-318.7525, 切向力Y=-653.7525 +FPS=35.56, 法向力=1297.8979, 切向力X=-1494.2334, 切向力Y=-417.7034 +FPS=35.90, 法向力=1319.5472, 切向力X=-1441.0637, 切向力Y=-277.8772 +FPS=33.95, 法向力=1287.1705, 切向力X=-810.7155, 切向力Y=-303.0037 +FPS=32.91, 法向力=1304.5160, 切向力X=-817.9982, 切向力Y=-225.3036 +FPS=34.45, 法向力=1359.7322, 切向力X=-83.8878, 切向力Y=-493.8272 +FPS=35.21, 法向力=1344.0352, 切向力X=-150.8553, 切向力Y=-432.6868 +FPS=34.63, 法向力=1526.3000, 切向力X=-74.4283, 切向力Y=-740.7092 +FPS=36.35, 法向力=1599.2832, 切向力X=40.9885, 切向力Y=-801.9966 +FPS=32.50, 法向力=1740.8213, 切向力X=-592.9883, 切向力Y=-842.4139 +FPS=35.59, 法向力=1735.6938, 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+FPS=36.57, 法向力=1416.5532, 切向力X=47.3738, 切向力Y=-38.5360 +FPS=34.15, 法向力=1375.0309, 切向力X=-1015.5626, 切向力Y=-726.8564 +stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000253s, blend=0.002089s (9 tiles incl ref), finalize=0.000051s, total=0.002399s +FPS=36.20, 法向力=1378.0369, 切向力X=-970.6248, 切向力Y=-911.0663 +FPS=34.88, 法向力=1828.3352, 切向力X=310.2231, 切向力Y=-2226.3586 +FPS=35.41, 法向力=1749.1335, 切向力X=334.1512, 切向力Y=-2189.0098 +FPS=35.51, 法向力=1814.5156, 切向力X=325.3218, 切向力Y=-2158.7715 +FPS=34.45, 法向力=1260.0048, 切向力X=-404.6168, 切向力Y=-660.9395 +FPS=32.03, 法向力=1126.2266, 切向力X=-81.3202, 切向力Y=-1585.2430 +FPS=36.01, 法向力=1104.0127, 切向力X=-18.7304, 切向力Y=-1590.6289 +FPS=35.56, 法向力=1717.8768, 切向力X=120.4717, 切向力Y=-472.7245 +FPS=36.28, 法向力=1745.1300, 切向力X=135.9145, 切向力Y=-387.5031 +FPS=35.95, 法向力=1746.3760, 切向力X=157.0260, 切向力Y=-399.5512 +FPS=33.96, 法向力=1941.5046, 切向力X=-522.6513, 切向力Y=-542.2488 +FPS=36.08, 法向力=1985.8857, 切向力X=-582.0458, 切向力Y=-478.6386 +FPS=34.76, 法向力=1387.9082, 切向力X=308.8502, 切向力Y=-924.2922 +FPS=35.87, 法向力=1359.8005, 切向力X=261.4247, 切向力Y=-1025.4387 +FPS=35.89, 法向力=1282.0070, 切向力X=-532.1238, 切向力Y=-543.0283 +FPS=36.47, 法向力=1371.1216, 切向力X=-702.8118, 切向力Y=-599.7687 +FPS=33.63, 法向力=1505.6967, 切向力X=-462.9891, 切向力Y=-1439.8853 +FPS=36.14, 法向力=1530.6504, 切向力X=-417.3665, 切向力Y=-1360.4658 +FPS=33.28, 法向力=1319.2222, 切向力X=-120.7235, 切向力Y=-828.1448 +FPS=35.39, 法向力=1308.4517, 切向力X=-61.1617, 切向力Y=-810.7656 +FPS=35.28, 法向力=1527.3267, 切向力X=-428.6722, 切向力Y=-851.5709 +FPS=35.12, 法向力=1529.3264, 切向力X=-472.5487, 切向力Y=-974.7301 +FPS=33.63, 法向力=1711.5293, 切向力X=215.1370, 切向力Y=-523.9771 +FPS=36.16, 法向力=1726.0521, 切向力X=145.9375, 切向力Y=-489.9862 +FPS=34.75, 法向力=1732.9264, 切向力X=-340.0530, 切向力Y=-426.3213 +FPS=35.76, 法向力=1743.9316, 切向力X=-358.7797, 切向力Y=-622.1417 +FPS=35.37, 法向力=1741.2277, 切向力X=-339.0958, 切向力Y=-613.9616 +FPS=34.47, 法向力=2179.2073, 切向力X=178.3190, 切向力Y=-246.1759 +FPS=36.79, 法向力=2308.4258, 切向力X=188.0968, 切向力Y=-219.3615 +FPS=35.17, 法向力=1159.8406, 切向力X=-1069.2837, 切向力Y=-561.2277 +stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000254s, blend=0.002997s (9 tiles incl ref), finalize=0.000064s, total=0.003322s +FPS=34.81, 法向力=1166.5056, 切向力X=-1099.4390, 切向力Y=-577.9543 +FPS=35.79, 法向力=1148.3140, 切向力X=-1.0514, 切向力Y=-1122.1918 +FPS=35.82, 法向力=1218.0769, 切向力X=-16.7911, 切向力Y=-1309.2372 +FPS=35.24, 法向力=2037.3674, 切向力X=-474.5707, 切向力Y=-1001.7849 +FPS=36.52, 法向力=2158.0474, 切向力X=-586.2899, 切向力Y=-868.6616 +FPS=32.03, 法向力=1176.4392, 切向力X=-123.1555, 切向力Y=-558.3113 +FPS=35.06, 法向力=1179.3711, 切向力X=-230.3242, 切向力Y=-498.8965 +FPS=35.78, 法向力=1688.7603, 切向力X=-886.6921, 切向力Y=-553.6092 +FPS=36.66, 法向力=1716.8549, 切向力X=-937.9288, 切向力Y=-534.9343 +FPS=34.11, 法向力=1179.4302, 切向力X=-101.2316, 切向力Y=-833.8204 +FPS=36.77, 法向力=1212.7964, 切向力X=-119.1747, 切向力Y=-779.4852 +FPS=34.92, 法向力=1397.8770, 切向力X=92.5770, 切向力Y=-985.7136 +FPS=36.35, 法向力=1384.8623, 切向力X=96.4564, 切向力Y=-1009.1639 +FPS=34.96, 法向力=1352.1674, 切向力X=123.1208, 切向力Y=-986.8351 +FPS=36.05, 法向力=1673.1133, 切向力X=-844.9595, 切向力Y=-1125.7491 +FPS=36.57, 法向力=1768.6851, 切向力X=-838.7557, 切向力Y=-1113.4714 +FPS=33.37, 法向力=1244.7351, 切向力X=-653.1801, 切向力Y=-536.5886 +FPS=35.20, 法向力=1224.8921, 切向力X=-582.6150, 切向力Y=-478.4895 +FPS=34.48, 法向力=2105.0076, 切向力X=-378.3293, 切向力Y=-1332.8787 +FPS=36.23, 法向力=2096.8926, 切向力X=-332.5692, 切向力Y=-1292.1443 +FPS=33.18, 法向力=1214.2587, 切向力X=-193.2943, 切向力Y=-279.9274 +FPS=37.00, 法向力=1174.3494, 切向力X=-135.7662, 切向力Y=-417.2205 +FPS=34.31, 法向力=1623.4517, 切向力X=-1148.4655, 切向力Y=-1040.1741 +FPS=35.84, 法向力=1628.6989, 切向力X=-1116.3835, 切向力Y=-1029.1038 +FPS=33.15, 法向力=1451.9187, 切向力X=-526.3905, 切向力Y=-829.6554 +FPS=36.43, 法向力=1475.9447, 切向力X=-518.8229, 切向力Y=-888.0750 +FPS=35.31, 法向力=1714.8287, 切向力X=112.9825, 切向力Y=-583.8636 +FPS=36.63, 法向力=1674.2300, 切向力X=114.9665, 切向力Y=-638.4399 +FPS=32.94, 法向力=1552.6836, 切向力X=-368.3054, 切向力Y=-937.0349 +FPS=35.07, 法向力=1544.9941, 切向力X=-407.6211, 切向力Y=-979.1857 +stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000484s, blend=0.003183s (9 tiles incl ref), finalize=0.000068s, total=0.003742s +FPS=32.46, 法向力=1072.7628, 切向力X=-244.5917, 切向力Y=-1546.2155 +FPS=34.87, 法向力=1102.9590, 切向力X=-223.6809, 切向力Y=-1682.7817 +FPS=35.33, 法向力=1075.8333, 切向力X=-209.6185, 切向力Y=-1592.8741 +FPS=35.14, 法向力=2264.8989, 切向力X=395.7894, 切向力Y=-1501.9189 +FPS=33.99, 法向力=1368.7858, 切向力X=-594.2058, 切向力Y=-786.0956 +FPS=36.13, 法向力=1369.3413, 切向力X=-566.3588, 切向力Y=-787.6959 +FPS=35.96, 法向力=1410.2959, 切向力X=-599.7644, 切向力Y=-809.8091 +FPS=37.36, 法向力=1941.9573, 切向力X=-283.3215, 切向力Y=-889.6237 +FPS=37.17, 法向力=1979.4891, 切向力X=-337.7088, 切向力Y=-798.2481 +FPS=35.09, 法向力=1897.6425, 切向力X=-491.5629, 切向力Y=-745.5021 +FPS=36.67, 法向力=1849.3118, 切向力X=-582.1804, 切向力Y=-763.4520 +FPS=33.96, 法向力=1425.0850, 切向力X=375.7700, 切向力Y=-866.2910 +FPS=6.33, 法向力=1308.1538, 切向力X=697.9539, 切向力Y=-805.1453 +FPS=30.99, 法向力=1154.0986, 切向力X=-567.6235, 切向力Y=-820.8315 +FPS=35.96, 法向力=1173.4374, 切向力X=-551.6211, 切向力Y=-977.2849 +FPS=35.05, 法向力=944.9926, 切向力X=-427.8942, 切向力Y=-463.5816 +FPS=33.82, 法向力=899.0285, 切向力X=-473.4910, 切向力Y=-444.9694 +FPS=34.11, 法向力=976.7125, 切向力X=-713.7779, 切向力Y=-849.0155 +FPS=36.47, 法向力=968.7441, 切向力X=-701.2426, 切向力Y=-816.4717 +FPS=33.13, 法向力=1459.8652, 切向力X=168.5599, 切向力Y=-1549.3154 +FPS=36.78, 法向力=1510.5753, 切向力X=225.0753, 切向力Y=-1520.4617 +FPS=34.85, 法向力=1121.5746, 切向力X=-591.2902, 切向力Y=-599.0059 +FPS=36.89, 法向力=1136.2128, 切向力X=-593.4649, 切向力Y=-592.2684 +FPS=33.97, 法向力=1530.1104, 切向力X=116.9532, 切向力Y=-1037.7996 +FPS=37.08, 法向力=1470.1730, 切向力X=6.6251, 切向力Y=-1077.3152 +FPS=33.38, 法向力=1573.7158, 切向力X=438.8273, 切向力Y=-981.6659 +FPS=37.84, 法向力=1600.3088, 切向力X=325.1666, 切向力Y=-911.0533 +FPS=35.17, 法向力=1624.0181, 切向力X=556.7180, 切向力Y=-741.2314 +FPS=36.78, 法向力=1632.9917, 切向力X=648.3494, 切向力Y=-689.7208 +FPS=35.71, 法向力=1664.1686, 切向力X=706.5590, 切向力Y=-614.6992 +stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000247s, blend=0.002123s (9 tiles incl ref), finalize=0.000055s, total=0.002432s +FPS=34.36, 法向力=1000.7554, 切向力X=68.7531, 切向力Y=-586.7333 +FPS=36.63, 法向力=986.0466, 切向力X=145.7940, 切向力Y=-638.8549 +FPS=35.39, 法向力=1523.7656, 切向力X=67.9698, 切向力Y=-698.0797 +FPS=35.14, 法向力=1581.6689, 切向力X=90.7459, 切向力Y=-787.3896 +FPS=37.05, 法向力=1451.5923, 切向力X=236.1628, 切向力Y=-1398.6223 +FPS=37.18, 法向力=1514.7871, 切向力X=396.4791, 切向力Y=-1434.8282 +FPS=34.81, 法向力=1265.5590, 切向力X=-426.3238, 切向力Y=-715.7582 +FPS=37.39, 法向力=1241.5602, 切向力X=-390.4766, 切向力Y=-582.7720 +FPS=32.66, 法向力=1194.3256, 切向力X=217.2693, 切向力Y=-762.3546 +FPS=35.89, 法向力=1172.6536, 切向力X=189.5504, 切向力Y=-736.2659 +FPS=35.37, 法向力=1176.2617, 切向力X=215.0337, 切向力Y=-705.2465 +FPS=36.64, 法向力=1428.4731, 切向力X=-97.5301, 切向力Y=-912.4619 +FPS=33.33, 法向力=1113.8357, 切向力X=300.8787, 切向力Y=-1829.6265 +FPS=35.37, 法向力=1085.4633, 切向力X=232.2633, 切向力Y=-1838.3000 +FPS=34.08, 法向力=1577.8206, 切向力X=132.4475, 切向力Y=-882.0371 +FPS=36.85, 法向力=1612.9679, 切向力X=135.7787, 切向力Y=-783.5964 +FPS=36.57, 法向力=1585.0809, 切向力X=130.4854, 切向力Y=-667.9366 +FPS=20.58, 法向力=1117.0085, 切向力X=157.8842, 切向力Y=-1198.9209 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_181113.log b/examples/logs/qt_viewer_20260519_181113.log new file mode 100644 index 0000000..ab97889 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_181113.log @@ -0,0 +1,19 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_181213.log b/examples/logs/qt_viewer_20260519_181213.log new file mode 100644 index 0000000..158c129 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_181213.log @@ -0,0 +1,374 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +▶ 数据采集已启动 +FPS=0.15, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=7.28, 法向力=1576.7982, 切向力X=-427.7705, 切向力Y=-872.6123 +FPS=24.89, 法向力=1133.5397, 切向力X=204.3279, 切向力Y=-810.2538 +FPS=29.24, 法向力=1150.5208, 切向力X=409.8198, 切向力Y=-817.8741 +FPS=28.43, 法向力=1965.1377, 切向力X=-1334.7537, 切向力Y=-670.4335 +FPS=30.13, 法向力=2006.6355, 切向力X=-1274.1877, 切向力Y=-772.4546 +FPS=27.42, 法向力=1340.9346, 切向力X=23.4985, 切向力Y=-229.4777 +FPS=28.70, 法向力=1176.8662, 切向力X=-1253.1981, 切向力Y=-397.4724 +FPS=31.55, 法向力=1150.5995, 切向力X=-1299.1277, 切向力Y=-482.1130 +FPS=27.94, 法向力=1308.3608, 切向力X=-406.7530, 切向力Y=97.2981 +FPS=29.61, 法向力=1320.2590, 切向力X=-422.8877, 切向力Y=129.6189 +FPS=29.57, 法向力=1475.7448, 切向力X=-51.2790, 切向力Y=-209.4754 +FPS=31.53, 法向力=1490.8147, 切向力X=-68.6078, 切向力Y=-259.2443 +FPS=29.85, 法向力=1694.1084, 切向力X=-783.6307, 切向力Y=-1509.2748 +FPS=29.74, 法向力=1079.8572, 切向力X=-54.9323, 切向力Y=-458.1743 +FPS=31.32, 法向力=1142.4089, 切向力X=87.5953, 切向力Y=-517.2878 +FPS=31.04, 法向力=1375.7917, 切向力X=1702.4784, 切向力Y=-512.0735 +FPS=30.42, 法向力=1377.7764, 切向力X=1711.8367, 切向力Y=-506.8719 +FPS=29.66, 法向力=1371.4965, 切向力X=-336.7759, 切向力Y=-1025.6532 +FPS=30.87, 法向力=1295.5441, 切向力X=-450.2451, 切向力Y=-1138.8489 +FPS=29.41, 法向力=1032.1868, 切向力X=-253.7252, 切向力Y=-928.0769 +FPS=31.59, 法向力=1064.5188, 切向力X=-253.1237, 切向力Y=-854.4330 +FPS=28.28, 法向力=1152.7476, 切向力X=-348.1566, 切向力Y=-1405.6946 +FPS=29.42, 法向力=1197.6885, 切向力X=-374.4115, 切向力Y=-1433.2506 +FPS=30.13, 法向力=954.9459, 切向力X=-277.9689, 切向力Y=-1171.7195 +FPS=29.03, 法向力=990.2233, 切向力X=501.7299, 切向力Y=-845.6227 +FPS=29.04, 法向力=979.4862, 切向力X=506.5371, 切向力Y=-834.6157 +FPS=27.95, 法向力=1400.7158, 切向力X=30.6373, 切向力Y=-352.8392 +stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-144.62, y_min=-83.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000274s, blend=0.002262s (9 tiles incl ref), finalize=0.000058s, total=0.002601s +FPS=29.81, 法向力=1395.0531, 切向力X=16.8459, 切向力Y=-269.6138 +FPS=25.93, 法向力=2038.5518, 切向力X=-1959.7051, 切向力Y=-971.3922 +FPS=27.44, 法向力=1364.0212, 切向力X=822.7310, 切向力Y=-636.9608 +FPS=29.48, 法向力=1313.9784, 切向力X=834.4109, 切向力Y=-630.6567 +FPS=29.36, 法向力=1837.9366, 切向力X=489.7088, 切向力Y=-1582.6765 +FPS=29.58, 法向力=1801.4629, 切向力X=425.3430, 切向力Y=-1660.3636 +FPS=27.22, 法向力=1260.4036, 切向力X=545.1807, 切向力Y=-825.8208 +FPS=29.47, 法向力=1198.8545, 切向力X=496.3381, 切向力Y=-736.9481 +FPS=30.38, 法向力=1163.5049, 切向力X=-609.2809, 切向力Y=-1122.8933 +FPS=28.53, 法向力=1128.6747, 切向力X=-12.0697, 切向力Y=502.3855 +FPS=30.06, 法向力=1113.1578, 切向力X=60.0922, 切向力Y=473.6891 +FPS=29.21, 法向力=1025.6938, 切向力X=-515.3276, 切向力Y=-879.2186 +FPS=31.10, 法向力=1048.9551, 切向力X=-554.1815, 切向力Y=-889.8282 +FPS=27.75, 法向力=1360.7765, 切向力X=158.7563, 切向力Y=-1286.5643 +FPS=29.74, 法向力=1369.2988, 切向力X=151.2142, 切向力Y=-1126.7302 +FPS=30.45, 法向力=1353.7498, 切向力X=254.8472, 切向力Y=-800.7307 +FPS=29.95, 法向力=1395.2312, 切向力X=237.1423, 切向力Y=-798.1486 +FPS=30.31, 法向力=1770.2302, 切向力X=1118.7161, 切向力Y=-898.7400 +FPS=30.02, 法向力=1156.7489, 切向力X=-953.9138, 切向力Y=-239.6935 +FPS=30.49, 法向力=1185.4108, 切向力X=-1083.6802, 切向力Y=-201.4841 +FPS=29.67, 法向力=1005.6017, 切向力X=-1081.9763, 切向力Y=-1782.8057 +FPS=29.14, 法向力=1010.0448, 切向力X=-1038.2262, 切向力Y=-1864.0618 +FPS=28.38, 法向力=1082.8071, 切向力X=184.4964, 切向力Y=-1097.1750 +FPS=31.65, 法向力=1080.5942, 切向力X=133.0417, 切向力Y=-1055.8777 +FPS=29.49, 法向力=1138.1470, 切向力X=-98.1842, 切向力Y=-379.2375 +FPS=29.92, 法向力=1121.2679, 切向力X=-111.5793, 切向力Y=-337.2263 +FPS=29.79, 法向力=1623.5995, 切向力X=433.5339, 切向力Y=-1530.8960 +FPS=30.07, 法向力=1577.9360, 切向力X=496.7979, 切向力Y=-1448.9304 +FPS=31.11, 法向力=1557.8657, 切向力X=48.9076, 切向力Y=-1226.4204 +FPS=29.57, 法向力=1351.7389, 切向力X=-330.6853, 切向力Y=-1070.7300 +stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-144.62, y_min=-83.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000284s, blend=0.002206s (9 tiles incl ref), finalize=0.000060s, total=0.002556s +FPS=30.82, 法向力=1372.7839, 切向力X=-393.0783, 切向力Y=-1065.0745 +FPS=30.57, 法向力=1342.0505, 切向力X=-4.8505, 切向力Y=-161.8245 +FPS=30.12, 法向力=1370.2759, 切向力X=16.2146, 切向力Y=-38.5216 +FPS=28.61, 法向力=1784.1274, 切向力X=151.7557, 切向力Y=367.8841 +FPS=30.83, 法向力=1768.9829, 切向力X=229.3512, 切向力Y=316.5921 +FPS=30.33, 法向力=1381.5072, 切向力X=-510.6071, 切向力Y=-809.0507 +FPS=29.05, 法向力=1056.9932, 切向力X=-421.3539, 切向力Y=-1036.0034 +FPS=31.19, 法向力=1097.9915, 切向力X=-408.2619, 切向力Y=-1132.1318 +FPS=29.03, 法向力=1225.6091, 切向力X=-454.1177, 切向力Y=-1050.2466 +FPS=31.83, 法向力=1230.1912, 切向力X=-479.2977, 切向力Y=-1066.5864 +FPS=30.03, 法向力=1407.5048, 切向力X=81.8459, 切向力Y=-698.6497 +FPS=31.56, 法向力=1467.3218, 切向力X=93.8288, 切向力Y=-875.7267 +FPS=27.58, 法向力=1329.7153, 切向力X=835.6514, 切向力Y=-1518.9990 +FPS=29.91, 法向力=1907.2723, 切向力X=972.3565, 切向力Y=-302.4730 +FPS=29.96, 法向力=1887.7573, 切向力X=912.6673, 切向力Y=-303.8857 +FPS=29.58, 法向力=1903.6831, 切向力X=619.2207, 切向力Y=-655.1203 +FPS=31.96, 法向力=1906.8750, 切向力X=624.3710, 切向力Y=-653.8468 +FPS=28.70, 法向力=1927.2018, 切向力X=1000.3369, 切向力Y=-416.9410 +FPS=30.21, 法向力=1957.6995, 切向力X=1000.0176, 切向力Y=-389.7835 +FPS=27.86, 法向力=1319.9575, 切向力X=116.2680, 切向力Y=-1228.3188 +FPS=28.68, 法向力=1595.4641, 切向力X=468.2542, 切向力Y=-1215.6837 +FPS=29.17, 法向力=1638.0701, 切向力X=528.9525, 切向力Y=-1267.0564 +FPS=28.88, 法向力=910.1332, 切向力X=369.0546, 切向力Y=-573.0676 +FPS=29.67, 法向力=926.2924, 切向力X=298.4330, 切向力Y=-552.5646 +FPS=26.93, 法向力=1142.6068, 切向力X=580.3483, 切向力Y=-658.2455 +FPS=29.38, 法向力=1163.0391, 切向力X=565.7210, 切向力Y=-612.5231 +FPS=26.45, 法向力=1509.4762, 切向力X=-350.7424, 切向力Y=-1161.3328 +FPS=23.99, 法向力=1159.8755, 切向力X=-389.8702, 切向力Y=-1620.8826 +FPS=27.60, 法向力=1161.5133, 切向力X=-532.0547, 切向力Y=-1580.6455 +FPS=26.10, 法向力=1512.8608, 切向力X=-155.2058, 切向力Y=-663.1074 +stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-144.62, y_min=-83.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000302s, blend=0.003138s (9 tiles incl ref), finalize=0.000057s, total=0.003503s +FPS=27.84, 法向力=1473.2706, 切向力X=-164.2172, 切向力Y=-481.4900 +FPS=28.00, 法向力=1643.8894, 切向力X=-1581.0747, 切向力Y=-201.8255 +FPS=26.64, 法向力=2178.1951, 切向力X=-111.0181, 切向力Y=-1178.1620 +FPS=28.23, 法向力=2136.9531, 切向力X=-31.9543, 切向力Y=-1151.9565 +FPS=26.25, 法向力=1869.1495, 切向力X=829.9144, 切向力Y=-336.7873 +FPS=28.01, 法向力=1075.5034, 切向力X=590.6538, 切向力Y=-828.3640 +FPS=28.27, 法向力=1066.4248, 切向力X=620.7119, 切向力Y=-877.3460 +FPS=27.04, 法向力=902.0599, 切向力X=-518.9929, 切向力Y=-830.0144 +FPS=28.48, 法向力=904.2784, 切向力X=-629.7542, 切向力Y=-817.9653 +FPS=26.80, 法向力=2057.6672, 切向力X=1624.8073, 切向力Y=173.1412 +FPS=27.54, 法向力=2105.9370, 切向力X=1637.3733, 切向力Y=219.4351 +FPS=26.80, 法向力=1451.9617, 切向力X=-611.5716, 切向力Y=-1466.9531 +FPS=26.52, 法向力=1239.7219, 切向力X=-1035.7052, 切向力Y=-1246.8798 +FPS=26.76, 法向力=1268.1244, 切向力X=-939.6058, 切向力Y=-1298.1846 +FPS=27.05, 法向力=1679.1791, 切向力X=966.5663, 切向力Y=-789.3361 +FPS=26.84, 法向力=1632.5784, 切向力X=-1059.2942, 切向力Y=-951.3845 +FPS=27.10, 法向力=1738.8845, 切向力X=-1332.0475, 切向力Y=-911.9177 +FPS=25.59, 法向力=1376.9502, 切向力X=-840.3511, 切向力Y=209.5650 +FPS=26.06, 法向力=1436.5219, 切向力X=679.2175, 切向力Y=-968.5750 +FPS=28.57, 法向力=1414.1062, 切向力X=658.4653, 切向力Y=-942.5966 +FPS=26.56, 法向力=1278.7090, 切向力X=-508.8948, 切向力Y=-930.6238 +FPS=26.98, 法向力=1291.9976, 切向力X=-586.3773, 切向力Y=-1058.3723 +FPS=26.71, 法向力=1866.1807, 切向力X=-855.9395, 切向力Y=-1241.6166 +FPS=26.83, 法向力=1227.7986, 切向力X=-604.7136, 切向力Y=-658.9908 +FPS=27.31, 法向力=1166.3740, 切向力X=-452.9136, 切向力Y=-661.5107 +FPS=26.53, 法向力=1841.6631, 切向力X=150.4030, 切向力Y=-965.4327 +FPS=27.04, 法向力=1886.6863, 切向力X=166.5496, 切向力Y=-1029.1211 +FPS=27.93, 法向力=1305.0635, 切向力X=-1596.0186, 切向力Y=-10.2923 +FPS=26.11, 法向力=1810.0631, 切向力X=-554.0329, 切向力Y=-1125.4583 +FPS=27.46, 法向力=1734.1101, 切向力X=-474.4294, 切向力Y=-1003.8406 +stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-144.62, y_min=-83.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000278s, blend=0.002185s (9 tiles incl ref), finalize=0.000055s, total=0.002524s +FPS=24.27, 法向力=1009.8939, 切向力X=526.0565, 切向力Y=-1396.4312 +FPS=25.20, 法向力=1180.3735, 切向力X=46.1900, 切向力Y=-602.5187 +FPS=27.57, 法向力=1186.0051, 切向力X=21.5179, 切向力Y=-552.6478 +FPS=25.34, 法向力=1134.5741, 切向力X=-586.2609, 切向力Y=-1096.7786 +FPS=26.94, 法向力=1097.6931, 切向力X=-544.5220, 切向力Y=-1111.8562 +FPS=27.01, 法向力=1153.8892, 切向力X=587.3609, 切向力Y=-362.1894 +FPS=26.96, 法向力=1406.1244, 切向力X=-893.3707, 切向力Y=-567.4794 +FPS=25.32, 法向力=1366.8781, 切向力X=-926.2677, 切向力Y=-572.6442 +FPS=27.21, 法向力=1986.7240, 切向力X=-1054.1182, 切向力Y=-8521.4512 +FPS=25.63, 法向力=3693.1465, 切向力X=-574.7476, 切向力Y=-16869.3906 +FPS=26.90, 法向力=3567.9390, 切向力X=-794.3210, 切向力Y=-17525.9062 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+FPS=35.75, 法向力=1717.8157, 切向力X=-830.6033, 切向力Y=-615.7004 +FPS=33.15, 法向力=1257.6802, 切向力X=350.9011, 切向力Y=-937.3870 +FPS=35.94, 法向力=1288.0234, 切向力X=422.4529, 切向力Y=-884.2916 +FPS=36.06, 法向力=1279.9551, 切向力X=818.1611, 切向力Y=-473.4327 +FPS=36.56, 法向力=1274.8135, 切向力X=876.4193, 切向力Y=-371.7927 +FPS=32.86, 法向力=1630.6107, 切向力X=-206.2009, 切向力Y=-1239.8685 +FPS=36.00, 法向力=1682.8055, 切向力X=-184.7336, 切向力Y=-1319.5968 +stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-144.62, y_min=-83.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000393s, blend=0.002183s (9 tiles incl ref), finalize=0.000055s, total=0.002638s +FPS=31.95, 法向力=1121.6602, 切向力X=-114.0876, 切向力Y=-2262.2261 +FPS=37.12, 法向力=1138.8037, 切向力X=-158.4081, 切向力Y=-2198.1501 +FPS=35.27, 法向力=1074.7607, 切向力X=595.1761, 切向力Y=-1127.9908 +FPS=35.74, 法向力=1148.3779, 切向力X=742.3300, 切向力Y=-1145.5381 +FPS=33.79, 法向力=1421.9578, 切向力X=316.5666, 切向力Y=-1228.4857 +FPS=36.57, 法向力=1458.9490, 切向力X=288.1908, 切向力Y=-1203.1606 +FPS=35.54, 法向力=1194.3380, 切向力X=154.0521, 切向力Y=-1061.5540 +FPS=34.47, 法向力=1158.0447, 切向力X=66.8414, 切向力Y=-1139.1794 +FPS=34.67, 法向力=1175.5486, 切向力X=100.0734, 切向力Y=-1056.8529 +FPS=33.62, 法向力=1307.8308, 切向力X=548.3422, 切向力Y=-2087.0100 +FPS=34.02, 法向力=1302.6001, 切向力X=510.2569, 切向力Y=-2046.8054 +FPS=33.26, 法向力=1116.2268, 切向力X=73.9153, 切向力Y=-1481.8369 +FPS=29.71, 法向力=1488.1338, 切向力X=557.2914, 切向力Y=-1303.9215 +FPS=32.84, 法向力=1522.3909, 切向力X=570.5981, 切向力Y=-1406.3584 +FPS=32.59, 法向力=1704.3568, 切向力X=386.3651, 切向力Y=-1835.8091 +FPS=34.87, 法向力=1690.9626, 切向力X=486.2834, 切向力Y=-1876.1479 +FPS=32.54, 法向力=1705.4475, 切向力X=450.1479, 切向力Y=-1928.7300 +FPS=33.48, 法向力=1196.3615, 切向力X=910.5283, 切向力Y=-1114.8787 +FPS=30.16, 法向力=1219.3677, 切向力X=926.7124, 切向力Y=-1142.3610 +FPS=30.91, 法向力=966.0555, 切向力X=143.5274, 切向力Y=-1174.5420 +FPS=27.48, 法向力=1427.1311, 切向力X=829.9333, 切向力Y=-1154.4912 +FPS=33.12, 法向力=1548.1287, 切向力X=896.4020, 切向力Y=-1283.8236 +FPS=32.30, 法向力=1450.1855, 切向力X=842.5953, 切向力Y=-959.2950 +FPS=33.13, 法向力=1425.6737, 切向力X=696.5420, 切向力Y=-901.2310 +FPS=28.58, 法向力=1543.2642, 切向力X=550.9585, 切向力Y=-1111.8287 +FPS=33.55, 法向力=1588.0896, 切向力X=574.3966, 切向力Y=-1125.3247 +FPS=30.23, 法向力=974.2400, 切向力X=-738.9779, 切向力Y=-1538.0002 +FPS=32.18, 法向力=989.5452, 切向力X=-840.2017, 切向力Y=-1593.8279 +FPS=32.27, 法向力=1744.8003, 切向力X=-150.9803, 切向力Y=-1595.6707 +FPS=30.38, 法向力=1793.9746, 切向力X=-148.1826, 切向力Y=-1569.0034 +stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-144.62, y_min=-83.80 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000271s, blend=0.002148s (9 tiles incl ref), finalize=0.000054s, total=0.002479s +FPS=31.89, 法向力=1503.2422, 切向力X=-107.3069, 切向力Y=-605.8840 +FPS=30.63, 法向力=1554.1642, 切向力X=-100.5369, 切向力Y=-546.6801 +FPS=30.37, 法向力=1558.8547, 切向力X=233.0625, 切向力Y=-1941.6067 +FPS=16.45, 法向力=1160.8914, 切向力X=-383.0855, 切向力Y=-1249.2073 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_181413.log b/examples/logs/qt_viewer_20260519_181413.log new file mode 100644 index 0000000..c40fd04 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_181413.log @@ -0,0 +1,619 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +▶ 数据采集已启动 +FPS=0.13, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.99, 法向力=1702.9355, 切向力X=-442.6308, 切向力Y=-147.6628 +FPS=20.02, 法向力=1841.8529, 切向力X=-499.5673, 切向力Y=-219.1732 +FPS=27.55, 法向力=1752.6722, 切向力X=1176.9077, 切向力Y=-361.3784 +FPS=27.40, 法向力=2106.0103, 切向力X=1240.6340, 切向力Y=-234.4766 +FPS=28.86, 法向力=1628.0112, 切向力X=-125.6208, 切向力Y=-13.4125 +FPS=31.07, 法向力=1649.1145, 切向力X=-66.7369, 切向力Y=-12.8685 +FPS=30.21, 法向力=2610.7935, 切向力X=2570.8086, 切向力Y=197.8545 +FPS=27.10, 法向力=2667.2502, 切向力X=2684.3064, 切向力Y=104.0310 +FPS=26.34, 法向力=1427.1755, 切向力X=189.9943, 切向力Y=-817.5212 +FPS=29.19, 法向力=1423.8820, 切向力X=183.6968, 切向力Y=-830.7314 +FPS=29.55, 法向力=1840.6875, 切向力X=625.6335, 切向力Y=155.4571 +FPS=29.57, 法向力=2967.3154, 切向力X=1568.0786, 切向力Y=-669.3877 +FPS=30.61, 法向力=2884.4497, 切向力X=1627.1565, 切向力Y=-822.8403 +FPS=28.17, 法向力=1847.5681, 切向力X=1848.2314, 切向力Y=-874.8524 +FPS=27.15, 法向力=1934.5778, 切向力X=1887.9478, 切向力Y=-792.6390 +FPS=28.04, 法向力=1936.3997, 切向力X=-39.4745, 切向力Y=-830.5004 +FPS=27.14, 法向力=2008.9075, 切向力X=1362.3239, 切向力Y=-490.5577 +FPS=27.96, 法向力=2041.0190, 切向力X=1282.4373, 切向力Y=-493.0601 +FPS=26.84, 法向力=1468.3848, 切向力X=606.9312, 切向力Y=-913.6360 +FPS=30.25, 法向力=1528.1667, 切向力X=798.5591, 切向力Y=-1078.2592 +FPS=29.71, 法向力=1371.6624, 切向力X=255.9281, 切向力Y=-355.3486 +FPS=30.02, 法向力=1369.2432, 切向力X=297.7654, 切向力Y=-304.4737 +FPS=27.57, 法向力=2768.0764, 切向力X=2302.0171, 切向力Y=-231.0809 +FPS=28.07, 法向力=3078.2725, 切向力X=416.2431, 切向力Y=-1197.3381 +FPS=28.30, 法向力=3041.2849, 切向力X=363.0598, 切向力Y=-1301.1665 +FPS=26.89, 法向力=3409.0688, 切向力X=2610.4519, 切向力Y=-26.0908 +FPS=29.45, 法向力=3412.1223, 切向力X=2678.9062, 切向力Y=-28.3028 +stitch_feature_optimized: canvas out_w=544, out_h=421, x_min=-140.33, y_min=-84.18 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000265s, blend=0.002133s (9 tiles incl ref), finalize=0.000058s, total=0.002463s +FPS=28.15, 法向力=1418.4954, 切向力X=306.1003, 切向力Y=198.8883 +FPS=25.13, 法向力=1502.6394, 切向力X=255.1006, 切向力Y=178.0455 +FPS=29.05, 法向力=2981.3774, 切向力X=1335.5426, 切向力Y=-7.2957 +FPS=28.15, 法向力=1860.7820, 切向力X=1930.4313, 切向力Y=515.2683 +FPS=29.17, 法向力=2038.1965, 切向力X=2140.9695, 切向力Y=582.0490 +FPS=28.28, 法向力=2026.2876, 切向力X=112.1254, 切向力Y=-562.0547 +FPS=29.67, 法向力=1958.2308, 切向力X=215.4617, 切向力Y=-599.2866 +FPS=30.29, 法向力=2423.8857, 切向力X=882.9210, 切向力Y=-936.3358 +FPS=29.95, 法向力=1572.8428, 切向力X=-372.1094, 切向力Y=-413.3701 +FPS=30.29, 法向力=1582.7227, 切向力X=-428.1812, 切向力Y=-448.1746 +FPS=29.05, 法向力=3622.4561, 切向力X=3582.1047, 切向力Y=797.7018 +FPS=27.68, 法向力=3479.5312, 切向力X=3590.4233, 切向力Y=780.8295 +FPS=28.75, 法向力=1774.4473, 切向力X=1888.7852, 切向力Y=-56.9613 +FPS=30.59, 法向力=1688.5764, 切向力X=1779.0011, 切向力Y=102.0037 +FPS=28.88, 法向力=1576.3713, 切向力X=1362.9658, 切向力Y=-469.6556 +FPS=28.99, 法向力=1605.5491, 切向力X=1264.1946, 切向力Y=-395.4833 +FPS=29.76, 法向力=2866.4783, 切向力X=1941.3663, 切向力Y=-510.1700 +FPS=28.35, 法向力=2882.9658, 切向力X=1861.6372, 切向力Y=-11.1195 +FPS=31.11, 法向力=2907.6304, 切向力X=1850.4137, 切向力Y=-106.5071 +FPS=26.94, 法向力=1521.9688, 切向力X=753.1469, 切向力Y=341.8974 +FPS=26.08, 法向力=1546.6370, 切向力X=707.0173, 切向力Y=293.2308 +FPS=26.92, 法向力=1817.9535, 切向力X=1836.9987, 切向力Y=-1879.0510 +FPS=25.39, 法向力=2138.8269, 切向力X=21.4339, 切向力Y=-330.6675 +FPS=25.92, 法向力=2394.7290, 切向力X=1262.0327, 切向力Y=-525.3560 +FPS=27.00, 法向力=2357.8320, 切向力X=1228.0509, 切向力Y=-546.1540 +FPS=29.22, 法向力=2404.1475, 切向力X=1850.8867, 切向力Y=-145.1859 +FPS=31.41, 法向力=2367.3359, 切向力X=1660.5812, 切向力Y=-174.7418 +FPS=29.28, 法向力=2823.8579, 切向力X=2579.4824, 切向力Y=-985.2122 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法向力=2173.8188, 切向力X=1759.3394, 切向力Y=-5026.4478 +FPS=28.91, 法向力=2336.7607, 切向力X=1655.2209, 切向力Y=-3766.3750 +FPS=30.73, 法向力=2373.8262, 切向力X=1576.3921, 切向力Y=-3873.2622 +FPS=29.25, 法向力=1899.7583, 切向力X=2044.8687, 切向力Y=-3389.0767 +FPS=30.80, 法向力=1898.6426, 切向力X=2046.6324, 切向力Y=-3549.5076 +FPS=31.24, 法向力=2121.8804, 切向力X=1862.3549, 切向力Y=-2876.2236 +FPS=30.95, 法向力=2083.2363, 切向力X=1853.1838, 切向力Y=-2817.9468 +FPS=29.13, 法向力=2393.6196, 切向力X=1878.8655, 切向力Y=-2744.9512 +FPS=28.35, 法向力=1922.0920, 切向力X=625.1329, 切向力Y=-2063.0425 +FPS=30.80, 法向力=1952.0449, 切向力X=645.1299, 切向力Y=-2063.0127 +FPS=28.66, 法向力=1942.5869, 切向力X=1936.3220, 切向力Y=-2269.8086 +FPS=31.11, 法向力=1976.9583, 切向力X=1944.8149, 切向力Y=-2511.1433 +FPS=29.07, 法向力=1626.5063, 切向力X=1009.9485, 切向力Y=-2324.9473 +FPS=30.66, 法向力=1621.5876, 切向力X=1011.1270, 切向力Y=-2370.4707 +FPS=29.81, 法向力=2093.3679, 切向力X=1670.7383, 切向力Y=-2499.7249 +FPS=29.77, 法向力=2188.8315, 切向力X=1979.5083, 切向力Y=-2341.7329 +FPS=30.58, 法向力=2244.0415, 切向力X=2001.6962, 切向力Y=-2432.8813 +FPS=30.34, 法向力=1369.3184, 切向力X=1795.4141, 切向力Y=-2575.3835 +FPS=31.36, 法向力=1348.7794, 切向力X=1753.8477, 切向力Y=-2629.5127 +FPS=27.97, 法向力=1791.1703, 切向力X=1238.9304, 切向力Y=-1938.9034 +FPS=31.43, 法向力=1865.1521, 切向力X=1265.4236, 切向力Y=-1746.2712 +FPS=28.97, 法向力=2002.3848, 切向力X=1122.0258, 切向力Y=-1940.3553 +FPS=19.67, 法向力=1860.1453, 切向力X=1663.9711, 切向力Y=-1720.6699 +FPS=44.47, 法向力=1862.8285, 切向力X=1690.7302, 切向力Y=-1708.3453 +stitch_feature_optimized: canvas out_w=544, out_h=421, x_min=-140.33, y_min=-84.18 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000270s, blend=0.002152s (9 tiles incl ref), finalize=0.000057s, total=0.002485s +FPS=27.20, 法向力=1940.0266, 切向力X=1213.4636, 切向力Y=-1588.7616 +FPS=31.37, 法向力=1960.0569, 切向力X=1144.4592, 切向力Y=-1689.9082 +FPS=29.82, 法向力=2146.8281, 切向力X=1346.5480, 切向力Y=-1896.3468 +FPS=30.50, 法向力=2141.1865, 切向力X=1333.3950, 切向力Y=-2026.9316 +FPS=29.29, 法向力=2036.5117, 切向力X=1455.1671, 切向力Y=-2309.1299 +FPS=29.81, 法向力=2147.9373, 切向力X=1774.0963, 切向力Y=-1538.2316 +FPS=30.69, 法向力=2162.8032, 切向力X=1799.5577, 切向力Y=-1363.6023 +FPS=30.00, 法向力=2076.8540, 切向力X=1465.1414, 切向力Y=-1458.0621 +FPS=30.68, 法向力=2148.2217, 切向力X=1417.8662, 切向力Y=-1476.1560 +FPS=29.82, 法向力=1820.2214, 切向力X=1618.6240, 切向力Y=-2147.9434 +FPS=30.86, 法向力=1728.5992, 切向力X=1710.3538, 切向力Y=-2087.7129 +FPS=28.96, 法向力=1952.5693, 切向力X=1628.4418, 切向力Y=-2161.2217 +FPS=30.07, 法向力=2006.6195, 切向力X=1602.1273, 切向力Y=-2381.2793 +FPS=30.31, 法向力=1912.2977, 切向力X=2164.3521, 切向力Y=-2004.9802 +FPS=30.25, 法向力=1949.1564, 切向力X=2247.8032, 切向力Y=-1939.9432 +FPS=29.97, 法向力=2307.0718, 切向力X=2531.7075, 切向力Y=-1514.9673 +FPS=16.84, 法向力=2448.1216, 切向力X=1820.6833, 切向力Y=-1669.3943 +FPS=45.61, 法向力=2493.7031, 切向力X=1845.3687, 切向力Y=-1737.9114 +FPS=31.12, 法向力=1904.1946, 切向力X=1152.0359, 切向力Y=-1970.9359 +FPS=33.53, 法向力=1914.9163, 切向力X=1062.7646, 切向力Y=-2005.2612 +FPS=35.06, 法向力=1761.0037, 切向力X=1409.8860, 切向力Y=-1786.8311 +FPS=36.16, 法向力=1701.4595, 切向力X=1466.3734, 切向力Y=-1839.5021 +FPS=33.81, 法向力=2016.7759, 切向力X=1626.5444, 切向力Y=-2044.0778 +FPS=35.82, 法向力=2066.6768, 切向力X=1732.5088, 切向力Y=-2102.0408 +FPS=33.67, 法向力=2212.1807, 切向力X=1695.1666, 切向力Y=-1448.4388 +FPS=36.14, 法向力=2212.5049, 切向力X=1685.1161, 切向力Y=-1425.2891 +FPS=31.94, 法向力=2183.2971, 切向力X=2133.5884, 切向力Y=-1484.4037 +FPS=36.27, 法向力=2260.3350, 切向力X=2255.1311, 切向力Y=-1418.1155 +FPS=34.76, 法向力=1623.6267, 切向力X=2125.7449, 切向力Y=-1865.8424 +FPS=34.12, 法向力=1615.8069, 切向力X=2032.6704, 切向力Y=-1924.1360 +stitch_feature_optimized: canvas out_w=544, out_h=421, x_min=-140.33, y_min=-84.18 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000262s, blend=0.002145s (9 tiles incl ref), finalize=0.000053s, total=0.002466s +FPS=31.79, 法向力=1839.2732, 切向力X=1671.1311, 切向力Y=-1611.5847 +FPS=36.80, 法向力=1825.3818, 切向力X=1630.5792, 切向力Y=-1550.3618 +FPS=31.67, 法向力=2008.4681, 切向力X=2068.6565, 切向力Y=-2354.3376 +FPS=36.72, 法向力=2081.5442, 切向力X=2144.5718, 切向力Y=-2395.7080 +FPS=33.13, 法向力=1657.4152, 切向力X=1235.3440, 切向力Y=-1586.6871 +FPS=34.31, 法向力=1540.7201, 切向力X=1151.7100, 切向力Y=-1629.5222 +FPS=33.38, 法向力=1967.9307, 切向力X=1504.5227, 切向力Y=-2180.0684 +FPS=36.29, 法向力=2063.3298, 切向力X=1507.3274, 切向力Y=-2204.1128 +FPS=34.50, 法向力=1729.3759, 切向力X=1307.7334, 切向力Y=-1152.5803 +FPS=35.92, 法向力=1691.0443, 切向力X=1318.7111, 切向力Y=-1043.2384 +FPS=35.12, 法向力=1718.1860, 切向力X=1366.5610, 切向力Y=-1036.3801 +FPS=36.33, 法向力=2067.6313, 切向力X=1337.4115, 切向力Y=-1674.2390 +FPS=35.79, 法向力=2122.1045, 切向力X=1256.6627, 切向力Y=-1652.2689 +FPS=34.62, 法向力=1895.6555, 切向力X=1166.6963, 切向力Y=-2612.8467 +FPS=34.22, 法向力=1870.6748, 切向力X=1141.4878, 切向力Y=-2589.3899 +FPS=35.90, 法向力=1863.9236, 切向力X=939.2631, 切向力Y=-2305.0557 +FPS=35.81, 法向力=1905.0107, 切向力X=949.9165, 切向力Y=-2409.9182 +FPS=33.87, 法向力=1532.7600, 切向力X=1923.9180, 切向力Y=-2071.8765 +FPS=35.09, 法向力=1501.5948, 切向力X=2031.1487, 切向力Y=-2179.7051 +FPS=33.16, 法向力=1980.3507, 切向力X=1081.5349, 切向力Y=-2011.6572 +FPS=33.82, 法向力=1980.9973, 切向力X=1130.2296, 切向力Y=-2118.9297 +FPS=32.91, 法向力=1921.3885, 切向力X=2228.7126, 切向力Y=-1838.0566 +FPS=12.07, 法向力=2303.5981, 切向力X=1668.5247, 切向力Y=-1278.3542 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260519_181533.log b/examples/logs/qt_viewer_20260519_181533.log new file mode 100644 index 0000000..ab97889 --- /dev/null +++ b/examples/logs/qt_viewer_20260519_181533.log @@ -0,0 +1,19 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260520_090516.log b/examples/logs/qt_viewer_20260520_090516.log new file mode 100644 index 0000000..526a08a --- /dev/null +++ b/examples/logs/qt_viewer_20260520_090516.log @@ -0,0 +1,626 @@ +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False + +按键说明：Q 退出 | S 开始录像 | E 结束录像 +▶ 数据采集已启动 +FPS=0.08, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=3.78, 法向力=1529.9637, 切向力X=897.2119, 切向力Y=-1065.0120 +FPS=24.88, 法向力=1558.6162, 切向力X=970.8785, 切向力Y=-1083.0111 +FPS=28.80, 法向力=1182.5393, 切向力X=732.9607, 切向力Y=-619.6019 +FPS=30.52, 法向力=1399.2260, 切向力X=607.0852, 切向力Y=-841.0908 +FPS=33.31, 法向力=1503.2539, 切向力X=454.9361, 切向力Y=-936.9409 +FPS=31.73, 法向力=1526.3813, 切向力X=514.9081, 切向力Y=-943.8892 +FPS=33.61, 法向力=945.0209, 切向力X=400.7487, 切向力Y=-1106.9086 +FPS=31.10, 法向力=984.5208, 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切向力Y=-1166.6221 +FPS=32.74, 法向力=956.1130, 切向力X=1538.0718, 切向力Y=-1296.1128 +FPS=28.11, 法向力=1486.6305, 切向力X=563.1960, 切向力Y=-744.8497 +stitch_feature_optimized: canvas out_w=473, out_h=421, x_min=-145.18, y_min=-85.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000245s, blend=0.002119s (9 tiles incl ref), finalize=0.000045s, total=0.002415s +FPS=32.73, 法向力=1429.1321, 切向力X=641.9506, 切向力Y=-750.9676 +FPS=26.62, 法向力=1081.8252, 切向力X=981.1674, 切向力Y=-764.2773 +FPS=33.67, 法向力=1055.2429, 切向力X=996.7461, 切向力Y=-774.8104 +FPS=29.55, 法向力=982.1217, 切向力X=233.4435, 切向力Y=-1325.1589 +FPS=29.41, 法向力=1115.6650, 切向力X=175.7496, 切向力Y=-401.9208 +FPS=31.59, 法向力=1096.8228, 切向力X=101.5000, 切向力Y=-399.1467 +FPS=30.26, 法向力=1677.1855, 切向力X=504.3459, 切向力Y=-1065.7140 +FPS=31.42, 法向力=1735.2461, 切向力X=455.1199, 切向力Y=-1111.9432 +FPS=30.15, 法向力=1693.8590, 切向力X=347.1722, 切向力Y=-1551.6848 +FPS=30.54, 法向力=1649.8907, 切向力X=342.7608, 切向力Y=-1585.1748 +FPS=29.41, 法向力=1164.9186, 切向力X=134.6023, 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切向力X=1554.8885, 切向力Y=-3047.8931 +FPS=31.85, 法向力=1084.0229, 切向力X=1622.8796, 切向力Y=-3137.3308 +FPS=28.42, 法向力=1240.7133, 切向力X=896.2908, 切向力Y=-3005.9124 +FPS=30.05, 法向力=1272.5457, 切向力X=821.4844, 切向力Y=-3092.0051 +FPS=29.24, 法向力=1407.6506, 切向力X=1657.3763, 切向力Y=-3968.8857 +FPS=30.20, 法向力=1375.3047, 切向力X=1608.5319, 切向力Y=-4130.7085 +FPS=31.22, 法向力=1024.1523, 切向力X=1494.1888, 切向力Y=-2275.5366 +FPS=27.30, 法向力=1252.7781, 切向力X=1183.0465, 切向力Y=-2097.2441 +FPS=29.88, 法向力=1282.8734, 切向力X=1211.2255, 切向力Y=-2067.0486 +FPS=28.48, 法向力=1044.6116, 切向力X=1118.9402, 切向力Y=-2813.6353 +stitch_feature_optimized: canvas out_w=473, out_h=421, x_min=-145.18, y_min=-85.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000235s, blend=0.002205s (9 tiles incl ref), finalize=0.000048s, total=0.002495s +FPS=30.08, 法向力=1050.7249, 切向力X=1129.3197, 切向力Y=-2846.1064 +FPS=29.36, 法向力=1279.4087, 切向力X=1464.4368, 切向力Y=-3008.3081 +FPS=29.58, 法向力=1395.7473, 切向力X=1405.0603, 切向力Y=-3061.7017 +FPS=30.95, 法向力=1235.8215, 切向力X=1815.4819, 切向力Y=-3586.7710 +FPS=30.11, 法向力=1227.1375, 切向力X=1814.2637, 切向力Y=-3704.7795 +FPS=30.97, 法向力=1027.2694, 切向力X=2238.6699, 切向力Y=-3429.4180 +FPS=27.88, 法向力=1226.5054, 切向力X=1038.9172, 切向力Y=-3016.7014 +FPS=29.30, 法向力=1219.4263, 切向力X=1097.0752, 切向力Y=-3106.6372 +FPS=27.10, 法向力=1210.6887, 切向力X=1399.1477, 切向力Y=-3330.2107 +FPS=30.62, 法向力=1220.3732, 切向力X=1344.3098, 切向力Y=-3416.3452 +FPS=30.87, 法向力=989.3732, 切向力X=1773.5919, 切向力Y=-2963.3186 +FPS=26.61, 法向力=983.8305, 切向力X=1762.6858, 切向力Y=-3018.2522 +FPS=29.07, 法向力=1227.1885, 切向力X=1631.6063, 切向力Y=-3031.2312 +FPS=28.97, 法向力=1224.1844, 切向力X=1157.5851, 切向力Y=-3196.9077 +FPS=30.42, 法向力=1276.8331, 切向力X=1081.6835, 切向力Y=-3276.6631 +FPS=29.04, 法向力=1454.1741, 切向力X=1149.1683, 切向力Y=-3265.8674 +FPS=31.28, 法向力=1499.5549, 切向力X=1221.8652, 切向力Y=-3254.8794 +FPS=28.72, 法向力=1303.0649, 切向力X=866.5492, 切向力Y=-3053.4006 +FPS=29.85, 法向力=1341.5726, 切向力X=816.5562, 切向力Y=-3006.3799 +FPS=30.08, 法向力=1119.2059, 切向力X=1183.6379, 切向力Y=-2801.4824 +FPS=30.67, 法向力=1230.9880, 切向力X=1355.4585, 切向力Y=-3204.1948 +FPS=31.19, 法向力=1168.9778, 切向力X=1367.4055, 切向力Y=-3240.7771 +FPS=28.64, 法向力=959.9601, 切向力X=1923.2827, 切向力Y=-3018.3459 +FPS=30.92, 法向力=942.3821, 切向力X=1763.6396, 切向力Y=-2925.9973 +FPS=27.93, 法向力=1492.7385, 切向力X=1836.4203, 切向力Y=-3768.7209 +FPS=31.14, 法向力=1639.7517, 切向力X=1810.7715, 切向力Y=-3967.4585 +FPS=28.94, 法向力=1051.8313, 切向力X=1131.9760, 切向力Y=-3067.7412 +FPS=30.59, 法向力=1081.6704, 切向力X=1138.0197, 切向力Y=-2980.6445 +FPS=30.29, 法向力=1255.2549, 切向力X=1102.9703, 切向力Y=-3573.3213 +FPS=27.77, 法向力=1160.8160, 切向力X=1390.3440, 切向力Y=-3783.1770 +stitch_feature_optimized: canvas out_w=473, out_h=421, x_min=-145.18, y_min=-85.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000241s, blend=0.002224s (9 tiles incl ref), finalize=0.000046s, total=0.002518s +FPS=30.82, 法向力=1220.4181, 切向力X=1324.1833, 切向力Y=-3856.8081 +FPS=30.52, 法向力=919.5823, 切向力X=1177.5686, 切向力Y=-3172.4595 +FPS=31.24, 法向力=912.6736, 切向力X=1158.7810, 切向力Y=-3138.4478 +FPS=29.16, 法向力=1122.8787, 切向力X=1288.5323, 切向力Y=-3054.2446 +FPS=31.28, 法向力=1150.1018, 切向力X=1288.2192, 切向力Y=-3108.3057 +FPS=29.92, 法向力=1400.2677, 切向力X=1724.7224, 切向力Y=-3246.5874 +FPS=29.65, 法向力=1066.8231, 切向力X=1548.4020, 切向力Y=-3012.0303 +FPS=30.94, 法向力=1042.3152, 切向力X=1629.4856, 切向力Y=-2932.0630 +FPS=29.95, 法向力=1343.0269, 切向力X=1639.8333, 切向力Y=-2607.6260 +FPS=29.99, 法向力=1334.6182, 切向力X=1711.3457, 切向力Y=-2645.1257 +FPS=27.98, 法向力=1210.5969, 切向力X=1055.4600, 切向力Y=-3770.0386 +FPS=31.66, 法向力=1203.3738, 切向力X=1051.9512, 切向力Y=-3754.3357 +FPS=28.43, 法向力=1668.1138, 切向力X=1394.8975, 切向力Y=-3821.4124 +FPS=30.74, 法向力=1728.3171, 切向力X=1372.8601, 切向力Y=-3935.8276 +FPS=30.86, 法向力=1379.6620, 切向力X=1285.7275, 切向力Y=-3064.3640 +FPS=29.81, 法向力=941.5788, 切向力X=1550.4218, 切向力Y=-3051.6211 +FPS=28.91, 法向力=959.8941, 切向力X=1527.3882, 切向力Y=-3015.0562 +FPS=27.61, 法向力=936.0099, 切向力X=1675.8989, 切向力Y=-3291.9121 +FPS=31.12, 法向力=959.9957, 切向力X=1689.4307, 切向力Y=-3285.7881 +FPS=28.60, 法向力=1012.0328, 切向力X=1180.1223, 切向力Y=-3242.1694 +FPS=30.17, 法向力=1015.6680, 切向力X=1136.8867, 切向力Y=-3315.0952 +FPS=29.69, 法向力=1380.6846, 切向力X=1052.4121, 切向力Y=-2326.3042 +FPS=30.07, 法向力=1428.1864, 切向力X=1932.1682, 切向力Y=-3158.6711 +FPS=31.09, 法向力=1461.6042, 切向力X=1969.1737, 切向力Y=-3218.8892 +FPS=29.88, 法向力=1384.7987, 切向力X=883.6381, 切向力Y=-3261.8455 +FPS=30.97, 法向力=1443.8760, 切向力X=767.7334, 切向力Y=-3398.1870 +FPS=29.77, 法向力=900.6025, 切向力X=1626.8831, 切向力Y=-2681.0415 +FPS=31.29, 法向力=888.8187, 切向力X=1520.5002, 切向力Y=-2592.0247 +FPS=28.45, 法向力=938.1382, 切向力X=1738.2601, 切向力Y=-3601.6851 +FPS=30.57, 法向力=940.4343, 切向力X=1831.2322, 切向力Y=-3488.6519 +stitch_feature_optimized: canvas out_w=473, out_h=421, x_min=-145.18, y_min=-85.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000253s, blend=0.002202s (9 tiles incl ref), finalize=0.000050s, total=0.002511s +FPS=27.35, 法向力=1161.0190, 切向力X=1319.8953, 切向力Y=-3274.6855 +FPS=29.58, 法向力=1234.6250, 切向力X=1314.5886, 切向力Y=-3322.8958 +FPS=31.01, 法向力=1086.7762, 切向力X=1395.1240, 切向力Y=-2194.9858 +FPS=29.83, 法向力=1130.2979, 切向力X=1341.8328, 切向力Y=-2117.7471 +FPS=30.71, 法向力=1054.4991, 切向力X=1328.1060, 切向力Y=-3164.1709 +FPS=28.49, 法向力=1017.3755, 切向力X=1619.1422, 切向力Y=-3318.1152 +FPS=30.92, 法向力=1026.8223, 切向力X=1568.9929, 切向力Y=-3281.5361 +FPS=30.40, 法向力=1157.9407, 切向力X=1134.3170, 切向力Y=-2569.9270 +FPS=30.78, 法向力=1125.9553, 切向力X=1139.0360, 切向力Y=-2452.2126 +FPS=29.82, 法向力=986.0760, 切向力X=1346.1702, 切向力Y=-2732.6025 +FPS=30.56, 法向力=1045.1118, 切向力X=1456.6333, 切向力Y=-2713.3203 +FPS=28.63, 法向力=1098.7928, 切向力X=1378.2800, 切向力Y=-2607.4141 +FPS=27.24, 法向力=1194.0991, 切向力X=1617.8164, 切向力Y=-2967.5146 +FPS=30.62, 法向力=1268.0530, 切向力X=1657.3739, 切向力Y=-3009.8789 +FPS=29.56, 法向力=1048.7073, 切向力X=739.2550, 切向力Y=-2971.7034 +FPS=30.81, 法向力=1098.8755, 切向力X=724.8347, 切向力Y=-3014.5105 +FPS=27.83, 法向力=1108.5468, 切向力X=963.2368, 切向力Y=-2609.3135 +FPS=31.48, 法向力=1141.8185, 切向力X=980.5936, 切向力Y=-2629.1174 +FPS=29.54, 法向力=901.8044, 切向力X=2136.2029, 切向力Y=-2775.6206 +FPS=29.45, 法向力=1149.8657, 切向力X=1549.5854, 切向力Y=-2740.4890 +FPS=32.14, 法向力=1135.4417, 切向力X=1567.1758, 切向力Y=-2884.8721 +FPS=28.07, 法向力=925.2925, 切向力X=1415.2324, 切向力Y=-3376.0583 +FPS=30.02, 法向力=948.9966, 切向力X=1442.9431, 切向力Y=-3315.5764 +FPS=29.12, 法向力=1440.5530, 切向力X=1516.1392, 切向力Y=-3030.0537 +FPS=31.34, 法向力=1437.1803, 切向力X=1463.6581, 切向力Y=-3045.1492 +FPS=29.20, 法向力=1421.7463, 切向力X=1051.2524, 切向力Y=-3547.9114 +FPS=24.35, 法向力=1115.1288, 切向力X=1063.0952, 切向力Y=-3477.5710 +FPS=46.39, 法向力=1091.4944, 切向力X=1051.7488, 切向力Y=-3377.7292 +FPS=29.42, 法向力=1100.4504, 切向力X=1067.6602, 切向力Y=-2828.9463 +⏸ 数据采集已暂停 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260520_091054.log b/examples/logs/qt_viewer_20260520_091054.log new file mode 100644 index 0000000..5367ddc --- /dev/null +++ b/examples/logs/qt_viewer_20260520_091054.log @@ -0,0 +1,3213 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.66, 法向力=1441.5935, 切向力X=259.5840, 切向力Y=-128.4651 +FPS=23.55, 法向力=1269.2593, 切向力X=398.1531, 切向力Y=60.2933 +FPS=22.79, 法向力=1074.0784, 切向力X=503.4599, 切向力Y=-119.1638 +FPS=29.33, 法向力=1095.7494, 切向力X=572.7558, 切向力Y=-238.9514 +FPS=27.03, 法向力=2128.8726, 切向力X=417.0304, 切向力Y=-534.2618 +FPS=26.76, 法向力=1384.2944, 切向力X=339.9968, 切向力Y=-397.5471 +FPS=30.45, 法向力=1334.3130, 切向力X=354.3773, 切向力Y=-253.4315 +FPS=27.77, 法向力=1092.0408, 切向力X=393.7903, 切向力Y=-356.4585 +FPS=30.12, 法向力=1171.2040, 切向力X=390.9920, 切向力Y=-338.7957 +FPS=29.16, 法向力=1322.4156, 切向力X=163.5275, 切向力Y=-732.4886 +FPS=27.12, 法向力=1070.3452, 切向力X=77.7198, 切向力Y=-1083.0315 +FPS=29.35, 法向力=1081.8011, 切向力X=198.0236, 切向力Y=-1190.2205 +FPS=27.55, 法向力=1237.2550, 切向力X=529.1117, 切向力Y=-1126.7512 +FPS=30.85, 法向力=1243.3054, 切向力X=511.3861, 切向力Y=-1059.4153 +FPS=27.96, 法向力=1270.6401, 切向力X=517.3398, 切向力Y=-655.8457 +FPS=29.83, 法向力=1309.5166, 切向力X=531.6160, 切向力Y=-655.9561 +FPS=30.63, 法向力=997.3627, 切向力X=248.2957, 切向力Y=-1616.9583 +FPS=30.01, 法向力=1488.4285, 切向力X=198.3116, 切向力Y=-203.9718 +FPS=32.26, 法向力=1495.4020, 切向力X=291.2763, 切向力Y=-56.7077 +FPS=30.81, 法向力=1483.5098, 切向力X=285.2237, 切向力Y=-86.8762 +FPS=31.74, 法向力=1482.9683, 切向力X=623.6492, 切向力Y=-859.5026 +FPS=29.71, 法向力=1033.3157, 切向力X=727.5079, 切向力Y=-1014.1606 +FPS=29.15, 法向力=1028.3527, 切向力X=736.3188, 切向力Y=-1070.2233 +FPS=28.59, 法向力=1164.7771, 切向力X=728.2978, 切向力Y=-634.3218 +FPS=30.64, 法向力=1164.6298, 切向力X=752.2256, 切向力Y=-674.8683 +FPS=29.29, 法向力=1563.8057, 切向力X=210.3383, 切向力Y=-816.5045 +FPS=29.23, 法向力=1553.2322, 切向力X=226.3759, 切向力Y=-671.3084 +stitch_feature_optimized: canvas out_w=466, out_h=418, x_min=-135.36, y_min=-84.12 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000260s, blend=0.002171s (9 tiles incl ref), finalize=0.000053s, total=0.002491s +FPS=27.55, 法向力=1064.2456, 切向力X=-86.2341, 切向力Y=-238.7068 +FPS=26.96, 法向力=1639.1479, 切向力X=131.5865, 切向力Y=-568.3726 +FPS=29.36, 法向力=1717.7412, 切向力X=248.2772, 切向力Y=-446.6496 +FPS=29.23, 法向力=2027.6069, 切向力X=404.0239, 切向力Y=69.0593 +FPS=29.36, 法向力=2177.3306, 切向力X=314.7287, 切向力Y=216.1384 +FPS=27.62, 法向力=1133.3281, 切向力X=342.4857, 切向力Y=-1026.0641 +FPS=29.69, 法向力=1295.6501, 切向力X=-196.6455, 切向力Y=-786.9310 +FPS=28.17, 法向力=1256.4705, 切向力X=-324.3851, 切向力Y=-849.1910 +FPS=27.05, 法向力=1213.1256, 切向力X=105.2316, 切向力Y=2.4068 +FPS=26.12, 法向力=1198.9009, 切向力X=135.2355, 切向力Y=23.2378 +FPS=41.56, 法向力=1426.8325, 切向力X=-60.9202, 切向力Y=-1064.8982 +FPS=28.50, 法向力=1453.3552, 切向力X=-28.3117, 切向力Y=-1050.8792 +Sensor disconnected. +⏸ 已暂停 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.55, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=41.75, 法向力=1298.9883, 切向力X=-10.2410, 切向力Y=-122.8860 +FPS=32.13, 法向力=1343.4940, 切向力X=72.5804, 切向力Y=-172.5443 +FPS=26.36, 法向力=1161.9126, 切向力X=-1230.8367, 切向力Y=675.6045 +FPS=29.99, 法向力=1189.9681, 切向力X=-1330.0552, 切向力Y=676.5552 +FPS=27.58, 法向力=1894.1438, 切向力X=373.6841, 切向力Y=-699.0046 +FPS=29.87, 法向力=1774.9634, 切向力X=215.2836, 切向力Y=900.2439 +FPS=29.40, 法向力=1791.0054, 切向力X=241.0978, 切向力Y=939.9330 +FPS=28.98, 法向力=1619.9242, 切向力X=-380.9661, 切向力Y=-215.7981 +FPS=32.27, 法向力=1585.9612, 切向力X=-394.6917, 切向力Y=-272.2419 +FPS=28.29, 法向力=1488.4437, 切向力X=-388.6616, 切向力Y=-126.1292 +FPS=32.35, 法向力=1469.7860, 切向力X=-363.8102, 切向力Y=-168.8461 +FPS=29.71, 法向力=1445.4202, 切向力X=217.5608, 切向力Y=468.7100 +FPS=29.83, 法向力=1527.5774, 切向力X=346.6711, 切向力Y=540.1328 +FPS=29.79, 法向力=1599.1151, 切向力X=-227.8647, 切向力Y=-127.8295 +FPS=30.35, 法向力=1594.7450, 切向力X=-274.2778, 切向力Y=-115.9648 +FPS=30.78, 法向力=1724.9163, 切向力X=-1943.9922, 切向力Y=-197.6074 +FPS=29.06, 法向力=1715.0691, 切向力X=-1971.7231, 切向力Y=-93.3458 +FPS=29.21, 法向力=1196.4387, 切向力X=201.9909, 切向力Y=173.3129 +FPS=29.68, 法向力=1285.5804, 切向力X=-341.1176, 切向力Y=440.8281 +FPS=30.22, 法向力=1273.5972, 切向力X=-386.8085, 切向力Y=466.9798 +FPS=30.56, 法向力=1516.6830, 切向力X=-639.6776, 切向力Y=169.3137 +FPS=31.02, 法向力=1590.2706, 切向力X=-634.9743, 切向力Y=93.4714 +FPS=29.50, 法向力=985.7657, 切向力X=-63.9042, 切向力Y=180.4547 +FPS=31.44, 法向力=1007.4991, 切向力X=-53.1334, 切向力Y=23.5163 +FPS=30.39, 法向力=1564.9697, 切向力X=586.8240, 切向力Y=126.3478 +FPS=31.46, 法向力=1535.9723, 切向力X=637.4965, 切向力Y=228.9161 +FPS=30.77, 法向力=1498.3398, 切向力X=-795.6975, 切向力Y=-170.9780 +stitch_feature_optimized: canvas out_w=548, out_h=421, x_min=-146.20, y_min=-84.21 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000368s, blend=0.002167s (9 tiles incl ref), finalize=0.000058s, total=0.002599s +FPS=28.80, 法向力=1492.9709, 切向力X=-606.5347, 切向力Y=389.8212 +FPS=32.28, 法向力=1494.5602, 切向力X=-561.5392, 切向力Y=374.3355 +FPS=30.49, 法向力=1412.5468, 切向力X=-104.1399, 切向力Y=-47.8016 +FPS=32.68, 法向力=1415.8510, 切向力X=-118.1320, 切向力Y=-129.6931 +FPS=28.43, 法向力=1155.2354, 切向力X=-1157.3309, 切向力Y=-181.2562 +FPS=32.25, 法向力=1142.1289, 切向力X=-1229.9080, 切向力Y=-218.0139 +FPS=28.45, 法向力=1644.5020, 切向力X=-343.5291, 切向力Y=-190.4886 +FPS=29.29, 法向力=1250.5015, 切向力X=-239.0670, 切向力Y=291.6849 +FPS=29.98, 法向力=1253.3300, 切向力X=-334.0294, 切向力Y=249.4096 +FPS=29.09, 法向力=1359.8406, 切向力X=-24.5257, 切向力Y=52.3952 +FPS=30.80, 法向力=1338.1416, 切向力X=6.6016, 切向力Y=86.9445 +FPS=25.38, 法向力=1202.9845, 切向力X=-377.8779, 切向力Y=475.4814 +FPS=26.04, 法向力=1212.0483, 切向力X=-376.3243, 切向力Y=529.5926 +FPS=28.00, 法向力=1987.4670, 切向力X=-244.6446, 切向力Y=39.9293 +FPS=27.85, 法向力=1156.4164, 切向力X=-4.4619, 切向力Y=470.8722 +FPS=29.52, 法向力=1106.9484, 切向力X=-60.9227, 切向力Y=460.2992 +FPS=28.10, 法向力=1245.1354, 切向力X=-949.6932, 切向力Y=45.3543 +FPS=29.27, 法向力=1258.2278, 切向力X=-966.0189, 切向力Y=23.7211 +FPS=27.34, 法向力=1160.4657, 切向力X=16.4180, 切向力Y=417.2665 +FPS=28.68, 法向力=1151.5409, 切向力X=86.3652, 切向力Y=490.4001 +FPS=27.54, 法向力=1693.9148, 切向力X=-461.6733, 切向力Y=886.9804 +FPS=25.08, 法向力=1370.4286, 切向力X=-841.9734, 切向力Y=-212.6488 +FPS=27.28, 法向力=1382.6616, 切向力X=-849.4971, 切向力Y=-315.7470 +FPS=27.56, 法向力=1790.3228, 切向力X=-269.7536, 切向力Y=-392.3858 +FPS=22.56, 法向力=1346.8701, 切向力X=-594.7762, 切向力Y=135.6853 +FPS=29.62, 法向力=1418.3259, 切向力X=-597.6731, 切向力Y=194.7780 +FPS=25.95, 法向力=1256.5605, 切向力X=-199.8271, 切向力Y=-1116.5198 +FPS=23.22, 法向力=1576.6073, 切向力X=-737.4187, 切向力Y=-45.7405 +FPS=28.13, 法向力=1595.2472, 切向力X=-837.5223, 切向力Y=-120.9317 +FPS=26.17, 法向力=1781.9902, 切向力X=-310.9749, 切向力Y=-78.2045 +stitch_feature_optimized: canvas out_w=548, out_h=421, x_min=-146.20, y_min=-84.21 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000278s, blend=0.003239s (9 tiles incl ref), finalize=0.000065s, total=0.003588s +FPS=26.25, 法向力=1782.5498, 切向力X=-288.8187, 切向力Y=-71.6687 +FPS=24.44, 法向力=1585.2771, 切向力X=159.5374, 切向力Y=-533.4346 +FPS=24.35, 法向力=1127.9685, 切向力X=-591.2854, 切向力Y=241.5198 +FPS=25.31, 法向力=1540.4688, 切向力X=-481.6708, 切向力Y=-119.4061 +FPS=26.02, 法向力=1595.9968, 切向力X=-435.7837, 切向力Y=-171.6315 +FPS=24.72, 法向力=1175.0525, 切向力X=-816.2684, 切向力Y=-137.1128 +FPS=25.94, 法向力=1201.6744, 切向力X=-835.6346, 切向力Y=-145.6023 +FPS=25.53, 法向力=1563.5087, 切向力X=-306.9549, 切向力Y=-37.9458 +FPS=24.69, 法向力=1330.5327, 切向力X=-91.3248, 切向力Y=85.5261 +FPS=24.96, 法向力=1339.7019, 切向力X=-398.7386, 切向力Y=-8.2108 +FPS=23.75, 法向力=1380.9893, 切向力X=-442.0657, 切向力Y=89.1903 +FPS=25.11, 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切向力Y=-14757.0254 +FPS=32.43, 法向力=4843.4492, 切向力X=-23247.2734, 切向力Y=-14766.9062 +FPS=33.36, 法向力=4543.2603, 切向力X=-21614.0508, 切向力Y=-37118.8203 +FPS=32.27, 法向力=6915.8174, 切向力X=-17029.1328, 切向力Y=-42144.7031 +FPS=33.99, 法向力=6984.1445, 切向力X=-16947.6914, 切向力Y=-42356.6953 +FPS=31.17, 法向力=5917.3481, 切向力X=-10688.1035, 切向力Y=-35351.7188 +stitch_feature_optimized: canvas out_w=548, out_h=421, x_min=-146.20, y_min=-84.21 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000265s, blend=0.002146s (9 tiles incl ref), finalize=0.000056s, total=0.002473s +FPS=34.96, 法向力=5956.3174, 切向力X=-10703.7676, 切向力Y=-35384.3125 +FPS=33.53, 法向力=6241.2393, 切向力X=-3592.4019, 切向力Y=-37218.9648 +FPS=35.95, 法向力=6212.7910, 切向力X=-3496.8848, 切向力Y=-37385.5859 +FPS=31.45, 法向力=8310.9873, 切向力X=-4470.5859, 切向力Y=-34606.1172 +FPS=31.68, 法向力=8343.8340, 切向力X=-4381.2759, 切向力Y=-34653.3555 +FPS=31.61, 法向力=10750.4922, 切向力X=-3184.3027, 切向力Y=-29972.3281 +FPS=34.33, 法向力=10712.9844, 切向力X=-3199.4128, 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切向力Y=-5975.1680 +FPS=30.73, 法向力=3103.5686, 切向力X=1010.0439, 切向力Y=-5969.3765 +FPS=31.33, 法向力=1463.2334, 切向力X=214.1198, 切向力Y=-2011.1948 +FPS=31.13, 法向力=1490.0244, 切向力X=216.6458, 切向力Y=-1978.6394 +FPS=33.28, 法向力=1439.6079, 切向力X=205.2429, 切向力Y=-1933.2969 +FPS=33.36, 法向力=1426.2249, 切向力X=164.8943, 切向力Y=-1966.2747 +FPS=32.57, 法向力=1576.9968, 切向力X=-391.7802, 切向力Y=-820.3663 +FPS=34.07, 法向力=1541.8599, 切向力X=-469.9353, 切向力Y=-742.4202 +FPS=31.98, 法向力=1325.4702, 切向力X=-75.8506, 切向力Y=-424.1723 +FPS=33.98, 法向力=1768.7153, 切向力X=32.0157, 切向力Y=-1520.5990 +FPS=34.10, 法向力=1853.0909, 切向力X=-4.1889, 切向力Y=-1698.4258 +FPS=32.87, 法向力=1858.4050, 切向力X=7.0436, 切向力Y=-1702.4167 +FPS=34.57, 法向力=1252.3047, 切向力X=347.0603, 切向力Y=-583.4247 +FPS=34.38, 法向力=1292.9290, 切向力X=366.7520, 切向力Y=-550.1343 +FPS=32.11, 法向力=1045.0065, 切向力X=-333.3239, 切向力Y=-1140.4470 +FPS=34.25, 法向力=992.1475, 切向力X=-256.2017, 切向力Y=-1050.5005 +FPS=31.57, 法向力=1138.3379, 切向力X=802.5599, 切向力Y=-495.5526 +FPS=32.82, 法向力=1201.1450, 切向力X=-48.5419, 切向力Y=-642.1365 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+FPS=36.23, 法向力=1156.7819, 切向力X=181.1653, 切向力Y=-358.5243 +FPS=31.49, 法向力=1134.7471, 切向力X=23.3481, 切向力Y=-740.0668 +FPS=34.12, 法向力=1119.2894, 切向力X=71.5631, 切向力Y=-778.1470 +FPS=32.52, 法向力=1368.2120, 切向力X=589.5123, 切向力Y=-715.8538 +FPS=33.18, 法向力=1341.6567, 切向力X=564.9384, 切向力Y=-757.8514 +FPS=33.71, 法向力=1133.5024, 切向力X=-387.4196, 切向力Y=-1241.7866 +FPS=35.00, 法向力=1141.1282, 切向力X=-425.4177, 切向力Y=-1281.4324 +FPS=31.99, 法向力=1079.3499, 切向力X=-101.2059, 切向力Y=-1000.5016 +FPS=35.56, 法向力=1099.3661, 切向力X=-69.0315, 切向力Y=-966.6258 +FPS=31.92, 法向力=982.5472, 切向力X=841.5170, 切向力Y=-1385.2703 +FPS=29.90, 法向力=965.1602, 切向力X=794.4369, 切向力Y=-1312.0371 +FPS=42.14, 法向力=1372.4592, 切向力X=-194.8004, 切向力Y=-939.0566 +FPS=35.17, 法向力=1377.8462, 切向力X=-162.2351, 切向力Y=-847.5403 +Sensor disconnected. +⏸ 已暂停 +Config: D:/workspace/orisyssdk_git/config/ddjx01_480p.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.08, 'max_aspect_ratio': 100, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 4, 'nominal_ov_pos': 44, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [98, 98]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 1, 'div_threshold': 0.02, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 6} +Connecting to video source... +OpenCV negotiated stream: FOURCC='h264' (int=875967080, hex=0x34363268), size=720x480, fps=29.61, backend_id=1900 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: D:/workspace/orisyssdk_git/data/s1_480p.mp4 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=D:/workspace/orisyssdk_git/data/s1_480p.mp4, 配置=D:/workspace/orisyssdk_git/config/ddjx01_480p.json, 标定=./config/ddjx01.npy +FPS=6.36, 法向力=0.0000, 切向力X=0.0000, 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切向力Y=527.1014 +FPS=72.81, 法向力=306.7071, 切向力X=-924.2227, 切向力Y=577.7429 +FPS=67.74, 法向力=343.5157, 切向力X=-1043.9766, 切向力Y=580.7034 +FPS=67.01, 法向力=373.5689, 切向力X=-1119.6993, 切向力Y=611.8883 +FPS=67.31, 法向力=410.4577, 切向力X=-932.3688, 切向力Y=630.8599 +FPS=65.00, 法向力=428.5929, 切向力X=-733.8895, 切向力Y=671.6589 +FPS=64.21, 法向力=390.2454, 切向力X=-852.1509, 切向力Y=702.4544 +FPS=62.39, 法向力=356.9199, 切向力X=-971.1528, 切向力Y=784.4966 +FPS=61.79, 法向力=320.8052, 切向力X=-1095.8730, 切向力Y=852.4789 +FPS=63.91, 法向力=285.8449, 切向力X=-1214.2664, 切向力Y=913.2327 +stitch_feature_optimized: canvas out_w=253, out_h=226, x_min=-22.79, y_min=-35.40 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000073s, blend=0.000423s (9 tiles incl ref), finalize=0.000010s, total=0.000513s +FPS=60.05, 法向力=270.0255, 切向力X=-1122.3287, 切向力Y=847.2556 +FPS=59.70, 法向力=259.9431, 切向力X=-933.7794, 切向力Y=719.9493 +FPS=61.59, 法向力=226.7207, 切向力X=-675.1130, 切向力Y=502.4216 +FPS=64.25, 法向力=173.6473, 切向力X=-443.1599, 切向力Y=330.0840 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切向力X=71.0659, 切向力Y=47.5042 +FPS=59.70, 法向力=126.3187, 切向力X=76.8178, 切向力Y=48.4679 +FPS=58.19, 法向力=124.7256, 切向力X=73.1715, 切向力Y=61.1527 +FPS=58.82, 法向力=116.7469, 切向力X=75.8184, 切向力Y=59.9515 +FPS=64.94, 法向力=118.8554, 切向力X=75.6519, 切向力Y=61.3818 +FPS=42.02, 法向力=121.5370, 切向力X=64.3192, 切向力Y=63.5301 +FPS=57.45, 法向力=119.8297, 切向力X=61.4470, 切向力Y=49.0569 +FPS=65.44, 法向力=125.4747, 切向力X=66.4300, 切向力Y=48.6406 +stitch_feature_optimized: canvas out_w=253, out_h=226, x_min=-22.79, y_min=-35.40 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000063s, blend=0.000417s (9 tiles incl ref), finalize=0.000011s, total=0.000496s +FPS=63.72, 法向力=121.2672, 切向力X=67.2918, 切向力Y=43.3633 +FPS=67.78, 法向力=121.0846, 切向力X=63.2798, 切向力Y=56.0287 +FPS=65.20, 法向力=107.3965, 切向力X=69.4324, 切向力Y=40.6915 +FPS=61.59, 法向力=117.2480, 切向力X=73.2559, 切向力Y=53.9467 +FPS=64.10, 法向力=108.1107, 切向力X=76.2553, 切向力Y=55.1035 +FPS=69.74, 法向力=130.2339, 切向力X=77.0406, 切向力Y=44.0194 +FPS=66.91, 法向力=130.6858, 切向力X=79.6073, 切向力Y=60.2464 +FPS=63.35, 法向力=130.0433, 切向力X=84.2984, 切向力Y=57.3007 +FPS=61.35, 法向力=124.9931, 切向力X=84.0760, 切向力Y=63.0139 +FPS=40.73, 法向力=140.0407, 切向力X=86.5820, 切向力Y=63.0636 +FPS=64.67, 法向力=129.6784, 切向力X=78.9489, 切向力Y=46.8345 +FPS=68.21, 法向力=127.3902, 切向力X=77.4805, 切向力Y=49.8650 +FPS=64.90, 法向力=133.2662, 切向力X=82.4660, 切向力Y=48.2830 +FPS=65.34, 法向力=138.3058, 切向力X=97.7003, 切向力Y=40.2112 +FPS=64.46, 法向力=136.9514, 切向力X=88.2478, 切向力Y=40.9237 +FPS=60.74, 法向力=122.9324, 切向力X=92.0569, 切向力Y=42.1777 +FPS=64.72, 法向力=118.7277, 切向力X=89.0579, 切向力Y=50.5296 +FPS=65.16, 法向力=120.5591, 切向力X=88.2967, 切向力Y=38.3099 +FPS=64.94, 法向力=136.0999, 切向力X=92.4568, 切向力Y=41.5048 +FPS=61.72, 法向力=134.5027, 切向力X=88.1850, 切向力Y=35.0096 +FPS=64.77, 法向力=133.6844, 切向力X=89.0574, 切向力Y=36.6471 +FPS=68.98, 法向力=137.5516, 切向力X=80.4693, 切向力Y=44.5441 +FPS=66.30, 法向力=131.1443, 切向力X=83.9558, 切向力Y=32.7589 +FPS=67.03, 法向力=127.7261, 切向力X=71.7267, 切向力Y=36.8715 +FPS=70.21, 法向力=118.3494, 切向力X=83.6184, 切向力Y=42.7043 +FPS=68.14, 法向力=119.0203, 切向力X=81.7632, 切向力Y=57.2174 +FPS=68.94, 法向力=117.5993, 切向力X=89.8334, 切向力Y=56.7919 +FPS=69.56, 法向力=118.6144, 切向力X=92.1378, 切向力Y=44.8496 +FPS=70.47, 法向力=120.3506, 切向力X=99.0568, 切向力Y=56.2143 +FPS=67.75, 法向力=130.0313, 切向力X=99.5635, 切向力Y=45.2693 +stitch_feature_optimized: canvas out_w=253, out_h=226, x_min=-22.79, y_min=-35.40 +stitch_feature_optimized steps: brightness=0.000002s, geom=0.000003s (hit), reset=0.000058s, blend=0.000398s (9 tiles incl ref), finalize=0.000010s, total=0.000470s +FPS=68.35, 法向力=124.2406, 切向力X=88.2752, 切向力Y=58.5840 +FPS=69.07, 法向力=120.3355, 切向力X=93.0702, 切向力Y=56.0607 +FPS=68.94, 法向力=121.0095, 切向力X=85.9485, 切向力Y=60.5333 +FPS=66.38, 法向力=119.8969, 切向力X=69.0955, 切向力Y=44.3672 +FPS=67.46, 法向力=125.0465, 切向力X=75.9107, 切向力Y=39.3976 +FPS=66.10, 法向力=115.7513, 切向力X=86.4029, 切向力Y=41.9338 +FPS=64.97, 法向力=123.4711, 切向力X=83.6454, 切向力Y=50.1869 +FPS=67.44, 法向力=124.9936, 切向力X=91.5965, 切向力Y=43.2429 +FPS=64.13, 法向力=121.9897, 切向力X=99.5501, 切向力Y=49.7083 +FPS=67.00, 法向力=113.3931, 切向力X=100.4202, 切向力Y=38.8419 +FPS=67.91, 法向力=121.8626, 切向力X=100.1735, 切向力Y=37.2110 +FPS=71.11, 法向力=119.4147, 切向力X=90.2342, 切向力Y=22.3386 +FPS=60.27, 法向力=111.1310, 切向力X=92.3735, 切向力Y=31.3526 +FPS=59.97, 法向力=109.6651, 切向力X=90.1965, 切向力Y=33.0593 +FPS=62.97, 法向力=114.9788, 切向力X=89.5138, 切向力Y=35.9305 +FPS=64.27, 法向力=115.7155, 切向力X=82.6311, 切向力Y=33.4807 +FPS=66.79, 法向力=118.3192, 切向力X=97.5207, 切向力Y=36.6205 +FPS=58.43, 法向力=120.0897, 切向力X=94.5375, 切向力Y=27.6980 +FPS=61.20, 法向力=120.6662, 切向力X=98.5049, 切向力Y=31.5434 +FPS=62.03, 法向力=117.7827, 切向力X=100.5211, 切向力Y=22.7456 +FPS=65.70, 法向力=106.2473, 切向力X=103.1408, 切向力Y=33.2829 +FPS=66.28, 法向力=108.2443, 切向力X=97.7526, 切向力Y=26.6624 +FPS=66.00, 法向力=107.1763, 切向力X=103.9160, 切向力Y=36.0249 +FPS=68.07, 法向力=111.3645, 切向力X=105.3587, 切向力Y=31.8076 +FPS=68.62, 法向力=117.0643, 切向力X=99.6598, 切向力Y=28.6634 +FPS=68.97, 法向力=116.6557, 切向力X=101.1973, 切向力Y=28.7384 +FPS=63.69, 法向力=117.3896, 切向力X=102.8438, 切向力Y=27.9571 +FPS=65.12, 法向力=116.2497, 切向力X=97.2252, 切向力Y=38.4267 +FPS=64.39, 法向力=111.5719, 切向力X=97.9917, 切向力Y=33.8506 +FPS=62.25, 法向力=111.8936, 切向力X=92.6035, 切向力Y=35.4376 +stitch_feature_optimized: canvas out_w=253, out_h=226, x_min=-22.79, y_min=-35.40 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000059s, blend=0.000420s (9 tiles incl ref), finalize=0.000011s, total=0.000496s +FPS=61.43, 法向力=112.6751, 切向力X=95.7348, 切向力Y=34.6429 +FPS=60.53, 法向力=114.0238, 切向力X=95.4518, 切向力Y=33.2629 +FPS=57.97, 法向力=114.9388, 切向力X=98.4917, 切向力Y=35.9309 +FPS=49.40, 法向力=115.5439, 切向力X=96.1426, 切向力Y=35.0697 +FPS=54.44, 法向力=113.9120, 切向力X=98.5663, 切向力Y=34.3625 +FPS=56.59, 法向力=116.6058, 切向力X=96.2633, 切向力Y=35.6658 +Failed to get_img from video source. +FPS=56.59, 法向力=1971.5591, 切向力X=-1383.8398, 切向力Y=-1284.9283 +Failed to get_img from video source. +FPS=56.59, 法向力=6176.5781, 切向力X=-1792.5973, 切向力Y=-3821.3210 +Failed to get_img from video source. +FPS=56.59, 法向力=7051.2842, 切向力X=1184.0801, 切向力Y=-1033.8890 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Failed to get_img from video source. +FPS=56.59, 法向力=6195.7954, 切向力X=-1792.5299, 切向力Y=-3826.4177 +Failed to get_img from video source. +FPS=56.59, 法向力=7068.9990, 切向力X=1184.1484, 切向力Y=-1038.9956 +Failed to get_img from video source. +FPS=56.59, 法向力=115.6721, 切向力X=95.0973, 切向力Y=34.3309 +Failed to get_img from video source. +FPS=56.59, 法向力=1951.7086, 切向力X=-1383.7729, 切向力Y=-1290.0303 +Sensor disconnected. +⏸ 已暂停 +Config: D:/workspace/orisyssdk_git/config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=D:/workspace/orisyssdk_git/config/ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.53, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=46.36, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=35.92, 法向力=1554.4200, 切向力X=-51.0459, 切向力Y=-242.9036 +FPS=35.41, 法向力=1583.4492, 切向力X=-67.9468, 切向力Y=-228.7940 +FPS=33.65, 法向力=1442.3950, 切向力X=85.1221, 切向力Y=-786.9995 +FPS=35.88, 法向力=1392.4050, 切向力X=153.5770, 切向力Y=-749.8593 +FPS=33.96, 法向力=1109.3337, 切向力X=-399.3765, 切向力Y=37.9484 +FPS=33.63, 法向力=1163.4052, 切向力X=-359.3542, 切向力Y=-259.3742 +FPS=36.25, 法向力=1382.4026, 切向力X=299.6082, 切向力Y=-332.3875 +FPS=35.18, 法向力=1429.0615, 切向力X=357.5531, 切向力Y=-275.0682 +FPS=35.48, 法向力=1171.3809, 切向力X=187.7883, 切向力Y=-429.8169 +FPS=36.39, 法向力=1140.0497, 切向力X=225.5042, 切向力Y=-417.9689 +FPS=33.80, 法向力=1341.8176, 切向力X=-249.2041, 切向力Y=-297.4919 +FPS=40.37, 法向力=1372.1154, 切向力X=-291.5681, 切向力Y=-236.3123 +FPS=49.17, 法向力=1362.1562, 切向力X=-292.4317, 切向力Y=-257.3412 +FPS=37.85, 法向力=1202.3037, 切向力X=280.0033, 切向力Y=-728.6204 +FPS=47.36, 法向力=1250.1388, 切向力X=319.0596, 切向力Y=-784.0060 +FPS=38.51, 法向力=1154.2926, 切向力X=57.8188, 切向力Y=-1085.2817 +FPS=49.01, 法向力=1161.3262, 切向力X=123.6785, 切向力Y=-1033.3149 +FPS=40.00, 法向力=1524.0194, 切向力X=-430.2194, 切向力Y=-775.0120 +FPS=47.16, 法向力=1610.4734, 切向力X=-382.4603, 切向力Y=-716.3809 +FPS=41.62, 法向力=1626.2734, 切向力X=-389.1958, 切向力Y=-741.0554 +FPS=45.80, 法向力=1465.9446, 切向力X=39.3341, 切向力Y=-588.2780 +FPS=41.94, 法向力=1433.0070, 切向力X=0.1216, 切向力Y=-725.2308 +FPS=47.83, 法向力=1448.8462, 切向力X=5.7903, 切向力Y=-718.7426 +FPS=38.86, 法向力=1337.0764, 切向力X=362.8888, 切向力Y=-860.5645 +FPS=48.20, 法向力=1357.8772, 切向力X=444.2977, 切向力Y=-837.2957 +FPS=35.78, 法向力=2306.8201, 切向力X=601.6935, 切向力Y=-1525.7656 +stitch_feature_optimized: canvas out_w=470, out_h=417, x_min=-141.65, y_min=-82.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000216s, blend=0.002126s (9 tiles incl ref), finalize=0.000046s, total=0.002394s +FPS=46.13, 法向力=2362.3987, 切向力X=547.0475, 切向力Y=-1476.4956 +FPS=41.97, 法向力=2402.1426, 切向力X=577.8499, 切向力Y=-1477.7534 +FPS=43.85, 法向力=1386.7448, 切向力X=-43.2224, 切向力Y=-894.8331 +FPS=41.83, 法向力=1449.5027, 切向力X=-63.7067, 切向力Y=-991.8906 +FPS=45.25, 法向力=1420.0742, 切向力X=-59.6280, 切向力Y=-1016.4181 +FPS=40.16, 法向力=1356.3682, 切向力X=-34.4989, 切向力Y=-448.2017 +FPS=48.90, 法向力=1290.7439, 切向力X=-17.1435, 切向力Y=-456.0772 +FPS=37.23, 法向力=1623.9448, 切向力X=433.1262, 切向力Y=-291.9135 +FPS=47.01, 法向力=1582.1045, 切向力X=491.4992, 切向力Y=-313.7307 +FPS=37.90, 法向力=1588.1001, 切向力X=1202.8600, 切向力Y=588.3825 +FPS=44.92, 法向力=1523.2562, 切向力X=1068.9551, 切向力Y=505.6052 +FPS=39.95, 法向力=1525.3501, 切向力X=1099.4803, 切向力Y=533.9778 +FPS=39.37, 法向力=1745.2974, 切向力X=244.2922, 切向力Y=-473.5553 +FPS=47.70, 法向力=1753.4436, 切向力X=194.0554, 切向力Y=-464.3401 +FPS=39.57, 法向力=1742.2483, 切向力X=221.6676, 切向力Y=-406.9799 +FPS=44.19, 法向力=1612.8335, 切向力X=166.8886, 切向力Y=-1066.1118 +FPS=40.44, 法向力=1516.0995, 切向力X=94.0405, 切向力Y=-1064.9722 +FPS=40.14, 法向力=1680.5093, 切向力X=342.0668, 切向力Y=-687.5447 +FPS=41.08, 法向力=1748.2845, 切向力X=375.8349, 切向力Y=-634.8644 +FPS=45.53, 法向力=1370.6644, 切向力X=81.4246, 切向力Y=-315.7801 +FPS=40.18, 法向力=1394.9021, 切向力X=49.9253, 切向力Y=-318.4743 +FPS=46.43, 法向力=1427.9009, 切向力X=96.5852, 切向力Y=-301.2725 +FPS=37.85, 法向力=1428.4353, 切向力X=-10.3843, 切向力Y=27.9253 +FPS=48.10, 法向力=1444.4492, 切向力X=-18.0463, 切向力Y=10.3638 +FPS=34.03, 法向力=1438.9564, 切向力X=-24.8297, 切向力Y=19.8623 +FPS=37.77, 法向力=1309.5657, 切向力X=604.3983, 切向力Y=224.4741 +FPS=34.04, 法向力=1345.2349, 切向力X=515.7574, 切向力Y=222.3699 +FPS=35.95, 法向力=1351.7273, 切向力X=406.8102, 切向力Y=-279.9855 +FPS=31.05, 法向力=1346.7317, 切向力X=405.5836, 切向力Y=-331.0684 +FPS=34.86, 法向力=1063.0488, 切向力X=706.4307, 切向力Y=-193.3919 +stitch_feature_optimized: canvas out_w=470, out_h=417, x_min=-141.65, y_min=-82.07 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000278s, blend=0.003980s (9 tiles incl ref), finalize=0.000103s, total=0.004369s +FPS=29.35, 法向力=1074.0032, 切向力X=702.6146, 切向力Y=-164.1660 +FPS=39.48, 法向力=1195.7080, 切向力X=419.6689, 切向力Y=-441.3815 +FPS=32.35, 法向力=1169.7529, 切向力X=361.1516, 切向力Y=-410.3117 +FPS=37.52, 法向力=1140.0364, 切向力X=60.7046, 切向力Y=-410.0437 +FPS=40.43, 法向力=1182.1207, 切向力X=-27.4405, 切向力Y=-437.9323 +FPS=43.11, 法向力=1150.6304, 切向力X=-118.1418, 切向力Y=-390.4153 +FPS=39.07, 法向力=1108.3572, 切向力X=-112.7579, 切向力Y=-353.7435 +FPS=42.86, 法向力=1137.0372, 切向力X=719.2538, 切向力Y=-808.7844 +FPS=39.02, 法向力=1198.4252, 切向力X=725.5101, 切向力Y=-798.1009 +FPS=44.82, 法向力=1174.4988, 切向力X=765.0526, 切向力Y=-738.3657 +FPS=36.82, 法向力=1566.9265, 切向力X=752.3884, 切向力Y=-1049.6073 +FPS=45.06, 法向力=1629.7601, 切向力X=658.8666, 切向力Y=-943.4999 +FPS=37.06, 法向力=1649.5698, 切向力X=770.2966, 切向力Y=-984.6409 +FPS=46.43, 法向力=1411.1692, 切向力X=-108.3116, 切向力Y=6.3617 +FPS=40.82, 法向力=1436.6509, 切向力X=-110.8073, 切向力Y=49.2877 +FPS=43.32, 法向力=1179.3835, 切向力X=-219.7953, 切向力Y=386.0703 +FPS=39.30, 法向力=1177.5106, 切向力X=-158.5208, 切向力Y=488.1562 +FPS=38.43, 法向力=1300.9965, 切向力X=492.2875, 切向力Y=-34.3398 +FPS=40.64, 法向力=1381.9861, 切向力X=588.8679, 切向力Y=61.5104 +FPS=45.47, 法向力=1412.9521, 切向力X=576.0069, 切向力Y=41.5366 +FPS=38.18, 法向力=1864.8516, 切向力X=517.7242, 切向力Y=177.6333 +FPS=46.66, 法向力=1875.8395, 切向力X=496.0620, 切向力Y=101.4361 +FPS=37.99, 法向力=1873.9617, 切向力X=516.9478, 切向力Y=82.9708 +FPS=46.53, 法向力=1753.6367, 切向力X=-191.5511, 切向力Y=-595.5029 +FPS=40.09, 法向力=1829.4391, 切向力X=-224.1558, 切向力Y=-618.2946 +FPS=41.57, 法向力=1914.5576, 切向力X=786.6123, 切向力Y=-302.7919 +FPS=40.24, 法向力=1854.6061, 切向力X=696.3893, 切向力Y=-280.9282 +FPS=41.74, 法向力=1359.8618, 切向力X=12.7431, 切向力Y=-191.2754 +FPS=40.98, 法向力=1394.7280, 切向力X=-21.8212, 切向力Y=-200.4565 +FPS=45.06, 法向力=1401.6812, 切向力X=-19.8365, 切向力Y=-218.8512 +stitch_feature_optimized: canvas out_w=470, out_h=417, x_min=-141.65, y_min=-82.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000224s, blend=0.002135s (9 tiles incl ref), finalize=0.000047s, total=0.002412s +FPS=38.32, 法向力=1116.5175, 切向力X=212.2254, 切向力Y=-270.0131 +FPS=45.45, 法向力=1098.5464, 切向力X=167.5850, 切向力Y=-300.3919 +FPS=38.02, 法向力=1120.1150, 切向力X=189.3744, 切向力Y=-286.0135 +FPS=45.69, 法向力=1343.4932, 切向力X=713.8818, 切向力Y=-666.4135 +FPS=40.39, 法向力=1353.7168, 切向力X=673.3618, 切向力Y=-622.0938 +FPS=41.89, 法向力=1576.2106, 切向力X=371.9772, 切向力Y=-531.1143 +FPS=40.28, 法向力=1717.1376, 切向力X=584.9565, 切向力Y=-575.7229 +FPS=40.70, 法向力=1515.8794, 切向力X=894.3536, 切向力Y=-556.1189 +FPS=40.32, 法向力=1510.4316, 切向力X=870.7133, 切向力Y=-580.1146 +FPS=43.79, 法向力=1471.1313, 切向力X=810.3613, 切向力Y=-638.3619 +FPS=36.49, 法向力=1573.8673, 切向力X=-347.5500, 切向力Y=-703.5446 +FPS=38.98, 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切向力X=-612.6442, 切向力Y=-1430.5366 +FPS=34.61, 法向力=1713.2272, 切向力X=687.6101, 切向力Y=76.9623 +stitch_feature_optimized: canvas out_w=470, out_h=417, x_min=-141.65, y_min=-82.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000016s (hit), reset=0.000283s, blend=0.002148s (9 tiles incl ref), finalize=0.000048s, total=0.002498s +FPS=34.63, 法向力=1742.9131, 切向力X=675.7267, 切向力Y=220.5902 +FPS=32.93, 法向力=1286.4810, 切向力X=253.1959, 切向力Y=-890.3844 +FPS=35.70, 法向力=1303.9934, 切向力X=333.5082, 切向力Y=-949.2631 +FPS=33.97, 法向力=1500.2146, 切向力X=580.1840, 切向力Y=-566.4702 +FPS=36.01, 法向力=1570.8965, 切向力X=607.0588, 切向力Y=-442.8501 +FPS=32.77, 法向力=1187.1321, 切向力X=689.3886, 切向力Y=-832.2794 +FPS=36.04, 法向力=1176.8151, 切向力X=667.2137, 切向力Y=-815.7399 +FPS=32.04, 法向力=1475.1588, 切向力X=-130.2083, 切向力Y=-426.3364 +FPS=36.09, 法向力=1474.0771, 切向力X=-210.2646, 切向力Y=-376.2865 +FPS=32.36, 法向力=1306.2900, 切向力X=514.6586, 切向力Y=-1244.6975 +FPS=34.79, 法向力=1345.1750, 切向力X=636.9382, 切向力Y=-1088.9606 +FPS=32.04, 法向力=1439.8549, 切向力X=1565.8549, 切向力Y=-878.3777 +FPS=32.60, 法向力=1456.6533, 切向力X=1560.0260, 切向力Y=-902.6729 +FPS=34.15, 法向力=2020.0206, 切向力X=1227.9103, 切向力Y=-1661.9448 +FPS=34.27, 法向力=2048.6794, 切向力X=1260.7573, 切向力Y=-1711.4667 +FPS=31.85, 法向力=1073.0599, 切向力X=-74.1607, 切向力Y=-350.8217 +FPS=35.95, 法向力=1048.8218, 切向力X=-108.5183, 切向力Y=-416.5297 +FPS=31.18, 法向力=1392.7678, 切向力X=675.1425, 切向力Y=-191.4837 +FPS=34.07, 法向力=1510.4602, 切向力X=740.9086, 切向力Y=-352.6789 +FPS=31.73, 法向力=1525.5066, 切向力X=299.8211, 切向力Y=-289.6864 +FPS=35.12, 法向力=1571.5146, 切向力X=315.8233, 切向力Y=-278.3527 +FPS=33.63, 法向力=1593.0225, 切向力X=92.1773, 切向力Y=-1015.2925 +FPS=34.94, 法向力=1632.7815, 切向力X=104.1858, 切向力Y=-1060.3251 +FPS=34.57, 法向力=1980.7607, 切向力X=288.2786, 切向力Y=-354.3898 +FPS=35.79, 法向力=2046.9258, 切向力X=289.6243, 切向力Y=-400.7665 +FPS=35.31, 法向力=1821.7758, 切向力X=624.3735, 切向力Y=-420.6317 +FPS=34.40, 法向力=1835.8691, 切向力X=728.7791, 切向力Y=-392.3283 +FPS=32.83, 法向力=1487.2324, 切向力X=339.2463, 切向力Y=-828.3151 +FPS=35.35, 法向力=1559.0591, 切向力X=398.2304, 切向力Y=-688.1873 +FPS=31.90, 法向力=1858.3452, 切向力X=140.7524, 切向力Y=-750.6912 +stitch_feature_optimized: canvas out_w=470, out_h=417, x_min=-141.65, y_min=-82.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000221s, blend=0.002165s (9 tiles incl ref), finalize=0.000048s, total=0.002440s +FPS=34.01, 法向力=1828.3835, 切向力X=115.4426, 切向力Y=-793.8688 +FPS=32.87, 法向力=1471.6526, 切向力X=773.0721, 切向力Y=-1210.3146 +FPS=36.02, 法向力=1448.6775, 切向力X=800.9050, 切向力Y=-1238.1138 +FPS=34.54, 法向力=1448.0066, 切向力X=791.4268, 切向力Y=-1292.2006 +FPS=34.71, 法向力=1332.3608, 切向力X=995.9510, 切向力Y=-1506.7108 +FPS=32.05, 法向力=1330.2009, 切向力X=39.4039, 切向力Y=-1400.9368 +FPS=36.16, 法向力=1389.2528, 切向力X=20.1353, 切向力Y=-1372.4399 +FPS=34.81, 法向力=1622.5859, 切向力X=481.2976, 切向力Y=-1136.9353 +FPS=35.01, 法向力=1687.3422, 切向力X=523.9801, 切向力Y=-1122.6281 +FPS=34.70, 法向力=1702.0947, 切向力X=551.1376, 切向力Y=-1098.2639 +FPS=34.84, 法向力=1121.9030, 切向力X=552.2411, 切向力Y=-1085.0261 +FPS=35.00, 法向力=1120.0422, 切向力X=588.1660, 切向力Y=-1058.2235 +FPS=32.68, 法向力=1225.7671, 切向力X=-275.1328, 切向力Y=-409.2444 +FPS=33.72, 法向力=1200.2534, 切向力X=-284.9930, 切向力Y=-367.3585 +FPS=34.50, 法向力=1638.8679, 切向力X=204.7014, 切向力Y=-1105.4161 +FPS=34.88, 法向力=1689.8529, 切向力X=224.3905, 切向力Y=-1166.0310 +FPS=32.93, 法向力=1148.6458, 切向力X=150.2329, 切向力Y=-8.6975 +FPS=35.23, 法向力=1168.7097, 切向力X=129.8705, 切向力Y=-187.3680 +FPS=32.97, 法向力=1477.5587, 切向力X=876.7688, 切向力Y=-1015.5008 +FPS=35.90, 法向力=1513.2744, 切向力X=839.0066, 切向力Y=-979.1791 +FPS=33.07, 法向力=1101.4055, 切向力X=863.2429, 切向力Y=-205.3044 +FPS=35.56, 法向力=1101.6346, 切向力X=904.2544, 切向力Y=-132.4372 +FPS=32.99, 法向力=1407.4639, 切向力X=974.2659, 切向力Y=-1196.3784 +FPS=35.99, 法向力=1521.2397, 切向力X=1121.4535, 切向力Y=-1266.0326 +FPS=33.44, 法向力=1703.9761, 切向力X=572.4344, 切向力Y=-1071.2308 +FPS=36.58, 法向力=1646.4861, 切向力X=502.4995, 切向力Y=-1158.3479 +FPS=30.52, 法向力=1107.7219, 切向力X=-306.6658, 切向力Y=-1371.6438 +FPS=34.73, 法向力=1103.2001, 切向力X=-284.9709, 切向力Y=-1315.0483 +FPS=32.00, 法向力=1672.3850, 切向力X=970.7483, 切向力Y=-991.4490 +FPS=34.50, 法向力=1802.0549, 切向力X=1028.6487, 切向力Y=-862.4746 +stitch_feature_optimized: canvas out_w=470, out_h=417, x_min=-141.65, y_min=-82.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000227s, blend=0.002227s (9 tiles incl ref), finalize=0.000049s, total=0.002509s +FPS=32.61, 法向力=1304.8330, 切向力X=24.5558, 切向力Y=-347.1372 +FPS=35.37, 法向力=1317.8091, 切向力X=-88.7256, 切向力Y=-291.3603 +FPS=31.80, 法向力=1782.3820, 切向力X=110.0104, 切向力Y=-359.6126 +FPS=35.52, 法向力=1837.8728, 切向力X=38.5206, 切向力Y=-289.5612 +FPS=31.78, 法向力=1844.3136, 切向力X=339.3281, 切向力Y=-1493.0886 +FPS=35.96, 法向力=1893.7488, 切向力X=306.9018, 切向力Y=-1454.0175 +FPS=33.37, 法向力=1156.6885, 切向力X=181.7385, 切向力Y=-1259.6870 +FPS=35.97, 法向力=1250.7166, 切向力X=229.8921, 切向力Y=-1304.5636 +FPS=32.33, 法向力=1463.7117, 切向力X=836.7436, 切向力Y=-1577.8940 +FPS=35.90, 法向力=1498.7682, 切向力X=823.5721, 切向力Y=-1492.2490 +FPS=32.28, 法向力=1535.6050, 切向力X=725.4143, 切向力Y=401.5067 +FPS=35.20, 法向力=1540.4558, 切向力X=773.6985, 切向力Y=437.0353 +FPS=32.85, 法向力=1387.0320, 切向力X=774.3125, 切向力Y=-1242.9869 +FPS=35.49, 法向力=1391.5890, 切向力X=887.9178, 切向力Y=-1447.9539 +FPS=34.07, 法向力=1397.9087, 切向力X=894.3998, 切向力Y=-1496.3212 +FPS=35.70, 法向力=1251.9867, 切向力X=845.3796, 切向力Y=-812.7211 +FPS=32.29, 法向力=1578.0060, 切向力X=758.5411, 切向力Y=-643.5953 +FPS=35.96, 法向力=1631.3499, 切向力X=764.6985, 切向力Y=-596.8083 +FPS=34.25, 法向力=1010.0829, 切向力X=713.4022, 切向力Y=-119.7859 +FPS=34.35, 法向力=1033.6335, 切向力X=778.4836, 切向力Y=-180.2219 +FPS=33.35, 法向力=1003.6896, 切向力X=749.3198, 切向力Y=-179.7036 +FPS=35.29, 法向力=1334.3190, 切向力X=780.5264, 切向力Y=-1027.0778 +FPS=35.01, 法向力=1411.4067, 切向力X=767.7539, 切向力Y=-1141.2821 +FPS=32.96, 法向力=1295.3773, 切向力X=1340.0005, 切向力Y=-618.6188 +FPS=30.18, 法向力=1202.8267, 切向力X=858.1244, 切向力Y=-783.6224 +FPS=32.12, 法向力=1240.9930, 切向力X=815.7795, 切向力Y=-665.1173 +FPS=20.95, 法向力=1580.0988, 切向力X=931.1101, 切向力Y=-1151.6035 +FPS=34.21, 法向力=1691.0913, 切向力X=855.7661, 切向力Y=-1246.4194 +FPS=32.42, 法向力=1642.5973, 切向力X=815.3763, 切向力Y=147.1288 +FPS=35.24, 法向力=1673.7224, 切向力X=745.8260, 切向力Y=109.2285 +stitch_feature_optimized: canvas out_w=470, out_h=417, x_min=-141.65, y_min=-82.07 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000234s, blend=0.002233s (9 tiles incl ref), finalize=0.000051s, total=0.002523s +FPS=31.55, 法向力=1259.1880, 切向力X=1056.4761, 切向力Y=-898.1990 +FPS=32.73, 法向力=1274.9503, 切向力X=1148.6438, 切向力Y=-1015.6204 +FPS=32.90, 法向力=1391.7148, 切向力X=1085.5352, 切向力Y=-474.2828 +FPS=25.70, 法向力=1421.6865, 切向力X=846.1576, 切向力Y=-609.1039 +FPS=33.79, 法向力=1453.2869, 切向力X=851.4200, 切向力Y=-781.6248 +FPS=33.40, 法向力=1467.1766, 切向力X=856.2073, 切向力Y=-765.0991 +FPS=33.48, 法向力=1457.2778, 切向力X=469.4891, 切向力Y=-889.6221 +FPS=34.27, 法向力=1427.5347, 切向力X=419.4635, 切向力Y=-837.8285 +FPS=30.39, 法向力=1503.0128, 切向力X=-169.6776, 切向力Y=-649.1484 +FPS=30.32, 法向力=1050.4559, 切向力X=692.0534, 切向力Y=-546.6721 +FPS=34.18, 法向力=1030.3582, 切向力X=801.1416, 切向力Y=-557.9227 +FPS=33.81, 法向力=1402.1125, 切向力X=815.0609, 切向力Y=-1081.0281 +FPS=34.59, 法向力=1394.5532, 切向力X=682.9573, 切向力Y=-1087.6431 +FPS=33.52, 法向力=1405.8984, 切向力X=743.8371, 切向力Y=-1085.0828 +FPS=34.87, 法向力=1891.7208, 切向力X=870.5368, 切向力Y=-69.4430 +FPS=33.79, 法向力=1968.2446, 切向力X=907.7023, 切向力Y=-77.9915 +FPS=33.27, 法向力=1076.1836, 切向力X=-349.9731, 切向力Y=-604.5919 +FPS=30.90, 法向力=1616.0206, 切向力X=421.8759, 切向力Y=-1509.7424 +FPS=32.55, 法向力=1592.8906, 切向力X=425.6399, 切向力Y=-1491.9929 +FPS=41.71, 法向力=1563.0757, 切向力X=471.6756, 切向力Y=-1431.5020 +FPS=34.02, 法向力=1707.1924, 切向力X=1376.0251, 切向力Y=-1033.4237 +Sensor disconnected. +⏸ 已暂停 +Config: D:/workspace/orisyssdk_git/config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=D:/workspace/orisyssdk_git/config/ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.57, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=49.17, 法向力=1569.9062, 切向力X=-170.2153, 切向力Y=-1324.7144 +FPS=31.76, 法向力=1584.0834, 切向力X=-40.3191, 切向力Y=-2082.3035 +FPS=31.16, 法向力=1620.8801, 切向力X=-7.0383, 切向力Y=-1986.3756 +FPS=30.03, 法向力=1276.5444, 切向力X=810.8982, 切向力Y=-283.7234 +FPS=39.39, 法向力=1310.7119, 切向力X=895.4761, 切向力Y=-242.2282 +FPS=46.33, 法向力=1319.7369, 切向力X=898.9617, 切向力Y=-161.6167 +FPS=38.75, 法向力=1468.4775, 切向力X=-282.9741, 切向力Y=-436.7594 +FPS=47.11, 法向力=1490.7274, 切向力X=-386.2480, 切向力Y=-417.9005 +FPS=37.46, 法向力=1301.3438, 切向力X=161.8231, 切向力Y=-491.2453 +FPS=39.83, 法向力=1325.4851, 切向力X=127.1287, 切向力Y=-459.3536 +FPS=46.75, 法向力=1937.3193, 切向力X=114.5986, 切向力Y=-1260.9751 +FPS=39.38, 法向力=1933.9420, 切向力X=135.3530, 切向力Y=-1188.4939 +FPS=49.95, 法向力=1911.1157, 切向力X=174.3288, 切向力Y=-1182.3972 +FPS=38.16, 法向力=1709.2041, 切向力X=-885.8975, 切向力Y=-1019.6335 +FPS=38.87, 法向力=1672.1090, 切向力X=-839.3228, 切向力Y=-1068.1770 +FPS=38.49, 法向力=1669.5498, 切向力X=-917.5259, 切向力Y=-1104.9246 +FPS=47.15, 法向力=1362.6992, 切向力X=-482.8840, 切向力Y=-872.2347 +FPS=40.49, 法向力=1398.8538, 切向力X=-504.3969, 切向力Y=-823.1804 +FPS=37.03, 法向力=1056.4851, 切向力X=325.5043, 切向力Y=-686.3237 +FPS=47.59, 法向力=1049.0569, 切向力X=372.9449, 切向力Y=-704.1202 +FPS=38.49, 法向力=1217.6650, 切向力X=392.2286, 切向力Y=-612.7355 +FPS=45.86, 法向力=1234.5012, 切向力X=432.2211, 切向力Y=-530.7917 +FPS=32.81, 法向力=1228.3263, 切向力X=429.0413, 切向力Y=-523.6116 +FPS=42.70, 法向力=1049.8711, 切向力X=13.4098, 切向力Y=-498.1387 +FPS=40.93, 法向力=1047.4846, 切向力X=85.0991, 切向力Y=-442.7187 +FPS=44.15, 法向力=1054.5486, 切向力X=81.6072, 切向力Y=-464.5598 +FPS=40.91, 法向力=2109.6802, 切向力X=302.8363, 切向力Y=-1524.8816 +stitch_feature_optimized: canvas out_w=471, out_h=418, x_min=-141.94, y_min=-82.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000192s, blend=0.002055s (9 tiles incl ref), finalize=0.000046s, total=0.002299s +FPS=45.99, 法向力=2175.9187, 切向力X=247.7280, 切向力Y=-1542.6376 +FPS=36.57, 法向力=1372.4568, 切向力X=478.6490, 切向力Y=-1555.3986 +FPS=39.33, 法向力=1388.6873, 切向力X=435.2117, 切向力Y=-1539.6533 +FPS=42.89, 法向力=2120.6941, 切向力X=-124.8917, 切向力Y=-1311.0261 +FPS=41.61, 法向力=2144.4399, 切向力X=-250.0862, 切向力Y=-1197.6604 +FPS=44.34, 法向力=2127.4810, 切向力X=-198.5149, 切向力Y=-1138.1660 +FPS=38.10, 法向力=1470.5454, 切向力X=724.3531, 切向力Y=-1342.7756 +FPS=47.72, 法向力=1508.0044, 切向力X=717.5388, 切向力Y=-1449.2769 +FPS=39.04, 法向力=1400.5492, 切向力X=-826.6797, 切向力Y=-1035.0449 +FPS=45.21, 法向力=1394.0150, 切向力X=-939.8762, 切向力Y=-868.0807 +FPS=39.34, 法向力=1354.8727, 切向力X=-925.5472, 切向力Y=-821.3052 +FPS=38.09, 法向力=1688.2177, 切向力X=-240.9040, 切向力Y=-1087.6158 +FPS=48.17, 法向力=1760.8351, 切向力X=-234.9210, 切向力Y=-1120.8652 +FPS=38.60, 法向力=1786.9541, 切向力X=-319.6996, 切向力Y=-1015.6631 +FPS=48.30, 法向力=1851.8086, 切向力X=-359.1855, 切向力Y=-1120.1187 +FPS=40.47, 法向力=1856.6589, 切向力X=-366.7734, 切向力Y=-1120.4785 +FPS=45.97, 法向力=1477.8247, 切向力X=510.6281, 切向力Y=-769.6614 +FPS=40.56, 法向力=1522.1619, 切向力X=465.4202, 切向力Y=-812.8711 +FPS=47.00, 法向力=1522.5980, 切向力X=493.0379, 切向力Y=-770.5202 +FPS=38.79, 法向力=1071.4735, 切向力X=882.3436, 切向力Y=-1363.4147 +FPS=48.50, 法向力=1062.5055, 切向力X=929.5386, 切向力Y=-1434.0369 +FPS=36.76, 法向力=1256.2627, 切向力X=-359.7426, 切向力Y=-1374.2782 +FPS=49.05, 法向力=1217.4299, 切向力X=-313.4293, 切向力Y=-1423.7584 +FPS=40.21, 法向力=1295.7517, 切向力X=-62.7900, 切向力Y=-1047.1558 +FPS=48.78, 法向力=1283.8147, 切向力X=-103.6735, 切向力Y=-1000.8076 +FPS=42.04, 法向力=1290.4111, 切向力X=-81.7824, 切向力Y=-1019.4890 +FPS=45.27, 法向力=1641.1582, 切向力X=-486.6124, 切向力Y=-780.8146 +FPS=42.09, 法向力=1748.7847, 切向力X=-455.9236, 切向力Y=-1031.6339 +FPS=44.32, 法向力=1727.6187, 切向力X=-517.6766, 切向力Y=-959.9626 +FPS=36.20, 法向力=1732.3000, 切向力X=439.7261, 切向力Y=-1156.9294 +stitch_feature_optimized: canvas out_w=471, out_h=418, x_min=-141.94, y_min=-82.31 +stitch_feature_optimized steps: brightness=0.000002s, geom=0.000003s (hit), reset=0.000239s, blend=0.002104s (9 tiles incl ref), finalize=0.000052s, total=0.002401s +FPS=44.92, 法向力=1826.4967, 切向力X=518.5652, 切向力Y=-1152.6896 +FPS=39.08, 法向力=1808.0334, 切向力X=543.0120, 切向力Y=-1125.2913 +FPS=43.91, 法向力=1511.0892, 切向力X=-594.0250, 切向力Y=-828.5874 +FPS=38.12, 法向力=1624.0979, 切向力X=-687.2023, 切向力Y=-961.9109 +FPS=39.38, 法向力=1180.6658, 切向力X=894.5117, 切向力Y=-1045.4282 +FPS=47.82, 法向力=1208.0753, 切向力X=956.5886, 切向力Y=-1111.6362 +FPS=36.85, 法向力=1527.1521, 切向力X=43.1636, 切向力Y=-449.8350 +FPS=48.20, 法向力=1529.4122, 切向力X=119.3805, 切向力Y=-449.1947 +FPS=42.49, 法向力=1503.3199, 切向力X=118.1883, 切向力Y=-470.3681 +FPS=45.73, 法向力=1483.5627, 切向力X=-28.9828, 切向力Y=-885.8285 +FPS=41.24, 法向力=1559.0038, 切向力X=-14.9098, 切向力Y=-1040.1760 +FPS=48.42, 法向力=1553.2993, 切向力X=-36.0794, 切向力Y=-1028.0828 +FPS=39.04, 法向力=1631.5375, 切向力X=1.5541, 切向力Y=-1196.6289 +FPS=48.55, 法向力=1648.6752, 切向力X=11.9386, 切向力Y=-1350.4243 +FPS=37.74, 法向力=1162.2939, 切向力X=423.8652, 切向力Y=-940.5989 +FPS=49.08, 法向力=1175.8108, 切向力X=534.0155, 切向力Y=-973.6072 +FPS=40.22, 法向力=1461.5659, 切向力X=391.9992, 切向力Y=-1217.1854 +FPS=47.64, 法向力=1509.1719, 切向力X=368.7948, 切向力Y=-1251.8489 +FPS=42.63, 法向力=1507.2202, 切向力X=358.7886, 切向力Y=-1255.6747 +FPS=43.56, 法向力=1515.7368, 切向力X=347.9162, 切向力Y=-1281.8054 +FPS=39.55, 法向力=2102.2888, 切向力X=588.0462, 切向力Y=-1514.9738 +FPS=40.37, 法向力=2198.2925, 切向力X=469.0827, 切向力Y=-1565.6763 +FPS=36.77, 法向力=1433.1050, 切向力X=-123.2081, 切向力Y=-1070.4487 +FPS=40.25, 法向力=1475.4572, 切向力X=-73.9670, 切向力Y=-1136.0670 +FPS=41.64, 法向力=1748.9486, 切向力X=104.5854, 切向力Y=-1110.2856 +FPS=41.76, 法向力=1801.0239, 切向力X=109.6995, 切向力Y=-1064.2632 +FPS=45.09, 法向力=1133.3049, 切向力X=-302.4031, 切向力Y=-509.6815 +FPS=40.10, 法向力=1140.6245, 切向力X=-194.2304, 切向力Y=-676.6792 +FPS=47.94, 法向力=1208.7505, 切向力X=-293.7769, 切向力Y=-652.0691 +FPS=38.48, 法向力=1878.5021, 切向力X=729.5197, 切向力Y=-1369.8413 +stitch_feature_optimized: canvas out_w=471, out_h=418, x_min=-141.94, y_min=-82.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000224s, blend=0.002131s (9 tiles incl ref), finalize=0.000047s, total=0.002410s +FPS=43.59, 法向力=1935.7368, 切向力X=789.2350, 切向力Y=-1368.6674 +FPS=41.07, 法向力=1945.8295, 切向力X=709.6156, 切向力Y=-1332.1903 +FPS=44.35, 法向力=1773.0959, 切向力X=-9.7738, 切向力Y=-1460.9550 +FPS=41.45, 法向力=1777.7173, 切向力X=18.6087, 切向力Y=-1499.2695 +FPS=43.82, 法向力=1122.0959, 切向力X=767.7313, 切向力Y=-1067.8118 +FPS=42.06, 法向力=1153.6763, 切向力X=814.6545, 切向力Y=-1117.2673 +FPS=46.83, 法向力=1169.5212, 切向力X=762.7219, 切向力Y=-1145.7532 +FPS=40.67, 法向力=1627.3718, 切向力X=-432.3140, 切向力Y=-1029.0588 +FPS=47.94, 法向力=1694.6656, 切向力X=-510.0323, 切向力Y=-1076.6678 +FPS=40.48, 法向力=1638.0007, 切向力X=-542.1169, 切向力Y=-978.6680 +FPS=45.84, 法向力=2110.1775, 切向力X=737.5769, 切向力Y=-1511.4756 +FPS=41.32, 法向力=2197.4216, 切向力X=733.9760, 切向力Y=-1600.1400 +FPS=44.61, 法向力=2171.9009, 切向力X=723.4285, 切向力Y=-1550.4530 +FPS=34.45, 法向力=1763.0276, 切向力X=367.2421, 切向力Y=-1949.6854 +FPS=35.15, 法向力=1800.4652, 切向力X=-515.2211, 切向力Y=-1407.6450 +FPS=36.10, 法向力=1788.9355, 切向力X=-538.5928, 切向力Y=-1484.8361 +FPS=34.73, 法向力=1662.3682, 切向力X=-719.5419, 切向力Y=-1558.0840 +FPS=37.24, 法向力=1701.3721, 切向力X=-718.3876, 切向力Y=-1576.6866 +FPS=34.90, 法向力=1713.4622, 切向力X=-778.8371, 切向力Y=-1607.7275 +FPS=32.75, 法向力=1564.3580, 切向力X=-502.0228, 切向力Y=-1017.2748 +FPS=34.95, 法向力=1625.9375, 切向力X=-525.8380, 切向力Y=-970.4004 +FPS=31.95, 法向力=1607.3513, 切向力X=-86.4184, 切向力Y=-1603.5322 +FPS=34.76, 法向力=2349.5664, 切向力X=374.5618, 切向力Y=-1864.1812 +FPS=34.66, 法向力=2405.7856, 切向力X=330.9663, 切向力Y=-1850.6313 +FPS=33.88, 法向力=2388.3567, 切向力X=299.8044, 切向力Y=-1972.4849 +FPS=36.38, 法向力=1750.6309, 切向力X=-93.0532, 切向力Y=-1514.0963 +FPS=37.22, 法向力=1742.1075, 切向力X=-115.5786, 切向力Y=-1468.0094 +FPS=34.69, 法向力=1250.1792, 切向力X=12.8025, 切向力Y=-790.5503 +FPS=37.63, 法向力=1260.0103, 切向力X=100.1873, 切向力Y=-703.0016 +FPS=33.33, 法向力=1395.4725, 切向力X=-598.5734, 切向力Y=-1005.3989 +stitch_feature_optimized: canvas out_w=471, out_h=418, x_min=-141.94, y_min=-82.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000257s, blend=0.002171s (9 tiles incl ref), finalize=0.000049s, total=0.002483s +FPS=35.32, 法向力=1471.5605, 切向力X=-600.9460, 切向力Y=-1088.2090 +FPS=33.26, 法向力=1859.2499, 切向力X=323.5563, 切向力Y=-823.0128 +FPS=37.45, 法向力=1855.2944, 切向力X=359.8035, 切向力Y=-843.8672 +FPS=33.57, 法向力=1480.0649, 切向力X=-497.1277, 切向力Y=-490.0375 +FPS=36.86, 法向力=1535.5000, 切向力X=-577.2891, 切向力Y=-448.3174 +FPS=35.11, 法向力=1685.6899, 切向力X=-5.4261, 切向力Y=-618.5615 +FPS=37.30, 法向力=1685.3694, 切向力X=139.1251, 切向力Y=-627.2786 +FPS=35.86, 法向力=1686.2510, 切向力X=153.9626, 切向力Y=-625.9304 +FPS=33.79, 法向力=1389.8523, 切向力X=127.6652, 切向力Y=-229.0576 +FPS=33.75, 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切向力X=809.3937, 切向力Y=-1832.6575 +FPS=35.06, 法向力=1319.9913, 切向力X=646.6644, 切向力Y=-412.5490 +FPS=32.68, 法向力=1339.0109, 切向力X=679.6531, 切向力Y=-443.7515 +FPS=34.29, 法向力=1484.6600, 切向力X=294.0522, 切向力Y=-1937.6903 +stitch_feature_optimized: canvas out_w=471, out_h=418, x_min=-141.94, y_min=-82.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000262s, blend=0.002240s (9 tiles incl ref), finalize=0.000048s, total=0.002556s +FPS=34.82, 法向力=1460.4966, 切向力X=305.8319, 切向力Y=-1941.2535 +FPS=32.16, 法向力=2073.9175, 切向力X=-317.6861, 切向力Y=-1625.9268 +FPS=36.71, 法向力=2026.3550, 切向力X=-345.6105, 切向力Y=-1553.6593 +FPS=33.91, 法向力=1556.3748, 切向力X=337.2525, 切向力Y=-1303.8003 +FPS=35.72, 法向力=1527.9874, 切向力X=513.6379, 切向力Y=-1380.3865 +FPS=33.62, 法向力=1509.7039, 切向力X=275.4378, 切向力Y=-841.5850 +FPS=36.58, 法向力=1479.7334, 切向力X=222.6761, 切向力Y=-715.8997 +FPS=35.91, 法向力=2147.4580, 切向力X=-531.6226, 切向力Y=-1242.7456 +FPS=35.65, 法向力=2144.2791, 切向力X=-529.1334, 切向力Y=-1255.1719 +FPS=35.53, 法向力=2219.9043, 切向力X=53.7311, 切向力Y=-1225.2119 +FPS=34.96, 法向力=2223.7485, 切向力X=188.0510, 切向力Y=-1202.5562 +FPS=33.65, 法向力=2221.1055, 切向力X=154.2900, 切向力Y=-1196.0234 +FPS=34.34, 法向力=2241.9419, 切向力X=901.3833, 切向力Y=-2345.4370 +FPS=31.32, 法向力=1802.8057, 切向力X=436.7892, 切向力Y=-1621.5790 +FPS=36.94, 法向力=1805.1001, 切向力X=429.8438, 切向力Y=-1602.9340 +FPS=34.46, 法向力=1638.6223, 切向力X=537.1907, 切向力Y=-1636.0725 +FPS=36.34, 法向力=1583.3977, 切向力X=575.7412, 切向力Y=-1602.3157 +FPS=35.84, 法向力=1595.0933, 切向力X=603.4115, 切向力Y=-1584.5801 +FPS=35.86, 法向力=1711.8313, 切向力X=507.1836, 切向力Y=-1439.9951 +FPS=36.51, 法向力=1711.2141, 切向力X=603.4273, 切向力Y=-1372.6918 +FPS=34.10, 法向力=1728.4639, 切向力X=859.3474, 切向力Y=-1309.4243 +FPS=35.71, 法向力=1718.3154, 切向力X=953.4281, 切向力Y=-1377.3435 +FPS=35.53, 法向力=2061.4412, 切向力X=-605.2619, 切向力Y=-1391.2777 +FPS=35.77, 法向力=2043.3621, 切向力X=-659.1869, 切向力Y=-1317.9614 +FPS=34.62, 法向力=1541.5566, 切向力X=364.5497, 切向力Y=-1498.2429 +FPS=36.89, 法向力=1517.0414, 切向力X=347.0823, 切向力Y=-1505.8412 +FPS=33.50, 法向力=1127.9270, 切向力X=413.9598, 切向力Y=-1461.6807 +FPS=36.08, 法向力=1158.2297, 切向力X=433.8310, 切向力Y=-1544.4370 +FPS=34.58, 法向力=1275.7102, 切向力X=804.1631, 切向力Y=-1540.9663 +FPS=36.27, 法向力=1270.6833, 切向力X=852.3086, 切向力Y=-1429.5464 +stitch_feature_optimized: canvas out_w=471, out_h=418, x_min=-141.94, y_min=-82.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000295s, blend=0.002151s (9 tiles incl ref), finalize=0.000047s, total=0.002499s +FPS=29.74, 法向力=1576.8279, 切向力X=1244.9106, 切向力Y=-1776.9924 +FPS=45.50, 法向力=1578.4829, 切向力X=1276.3191, 切向力Y=-1798.2097 +FPS=34.74, 法向力=1655.8665, 切向力X=-15.9010, 切向力Y=-1226.2568 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260520_091551.log b/examples/logs/qt_viewer_20260520_091551.log new file mode 100644 index 0000000..c878755 --- /dev/null +++ b/examples/logs/qt_viewer_20260520_091551.log @@ -0,0 +1,1073 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.54, 法向力=1219.6539, 切向力X=124.5805, 切向力Y=302.5512 +FPS=24.43, 法向力=1255.1619, 切向力X=154.9517, 切向力Y=322.9883 +FPS=28.90, 法向力=1273.7112, 切向力X=143.7141, 切向力Y=-78.7915 +FPS=28.15, 法向力=3428.1301, 切向力X=54.9850, 切向力Y=-334.7605 +FPS=29.72, 法向力=3477.2148, 切向力X=29.9003, 切向力Y=-332.5405 +FPS=27.98, 法向力=4179.8037, 切向力X=-600.5177, 切向力Y=-389.0809 +FPS=27.86, 法向力=4169.2437, 切向力X=-574.5094, 切向力Y=-386.2158 +FPS=30.82, 法向力=4378.7725, 切向力X=-476.2206, 切向力Y=326.5576 +FPS=29.12, 法向力=3946.0283, 切向力X=-153.7659, 切向力Y=620.2900 +FPS=30.50, 法向力=3922.4512, 切向力X=-15.6381, 切向力Y=464.5954 +FPS=31.26, 法向力=2134.8032, 切向力X=-529.4160, 切向力Y=-409.6815 +FPS=31.28, 法向力=2126.1147, 切向力X=-647.7514, 切向力Y=-543.0353 +FPS=29.15, 法向力=3504.0046, 切向力X=-48.5592, 切向力Y=-129.6161 +FPS=32.06, 法向力=3354.0471, 切向力X=255.5422, 切向力Y=-293.8925 +FPS=30.78, 法向力=1428.6465, 切向力X=-599.7843, 切向力Y=-565.7939 +FPS=31.05, 法向力=1420.1460, 切向力X=-527.8467, 切向力Y=-528.9875 +FPS=29.21, 法向力=3614.6484, 切向力X=-734.5990, 切向力Y=-362.5793 +FPS=30.92, 法向力=3667.5452, 切向力X=-721.4780, 切向力Y=-348.3555 +FPS=30.55, 法向力=1593.2527, 切向力X=167.3763, 切向力Y=-668.1589 +FPS=30.92, 法向力=1573.4907, 切向力X=182.2797, 切向力Y=-643.1422 +FPS=30.63, 法向力=1721.5540, 切向力X=391.7574, 切向力Y=-97.8862 +FPS=28.48, 法向力=3833.7239, 切向力X=-552.7513, 切向力Y=256.9117 +FPS=32.68, 法向力=3831.6895, 切向力X=-364.6142, 切向力Y=273.8491 +FPS=31.11, 法向力=2138.2788, 切向力X=47.9418, 切向力Y=-551.8752 +FPS=32.18, 法向力=2107.4229, 切向力X=82.6121, 切向力Y=-545.7736 +FPS=28.90, 法向力=1927.4574, 切向力X=560.3986, 切向力Y=-416.2896 +FPS=29.56, 法向力=1852.7621, 切向力X=567.0010, 切向力Y=-406.9064 +stitch_feature_optimized: canvas out_w=545, out_h=420, x_min=-143.44, y_min=-84.01 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000274s, blend=0.002184s (9 tiles incl ref), finalize=0.000061s, total=0.002526s +FPS=27.78, 法向力=3725.3301, 切向力X=2.8759, 切向力Y=1086.6152 +FPS=27.76, 法向力=1569.1968, 切向力X=133.8065, 切向力Y=-150.0973 +FPS=29.94, 法向力=1494.1758, 切向力X=162.1581, 切向力Y=-161.1016 +FPS=28.65, 法向力=1021.5372, 切向力X=-110.3496, 切向力Y=197.4413 +FPS=31.02, 法向力=1080.4258, 切向力X=-133.6751, 切向力Y=289.4464 +FPS=25.23, 法向力=2757.2925, 切向力X=9.1153, 切向力Y=-696.6007 +Sensor disconnected. +⏸ 已暂停 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.57, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=45.45, 法向力=1758.7878, 切向力X=-211.5466, 切向力Y=-151.8716 +FPS=30.16, 法向力=2094.2092, 切向力X=-993.4105, 切向力Y=-1399.9390 +FPS=28.37, 法向力=2167.1943, 切向力X=-927.3525, 切向力Y=-1521.1731 +FPS=29.77, 法向力=2726.2808, 切向力X=-135.4751, 切向力Y=-638.6562 +FPS=25.70, 法向力=1345.4612, 切向力X=-277.6022, 切向力Y=-4.0155 +FPS=31.22, 法向力=1356.9012, 切向力X=-325.7434, 切向力Y=-56.4923 +FPS=29.21, 法向力=2379.9744, 切向力X=534.0094, 切向力Y=-1259.3790 +FPS=26.64, 法向力=2412.7415, 切向力X=525.3561, 切向力Y=-1276.6478 +FPS=31.47, 法向力=2218.9043, 切向力X=-529.0197, 切向力Y=-698.9318 +FPS=30.22, 法向力=1761.0603, 切向力X=-512.1407, 切向力Y=-200.1518 +FPS=31.43, 法向力=1864.9106, 切向力X=-521.7641, 切向力Y=-199.5348 +FPS=29.58, 法向力=2434.9250, 切向力X=-435.6130, 切向力Y=-951.0188 +FPS=29.89, 法向力=2503.0508, 切向力X=-589.4537, 切向力Y=-926.4716 +FPS=30.82, 法向力=2182.3162, 切向力X=-596.7332, 切向力Y=-212.2261 +FPS=30.78, 法向力=2244.2722, 切向力X=-606.1642, 切向力Y=-135.6145 +FPS=30.20, 法向力=1565.1504, 切向力X=164.8717, 切向力Y=-483.2203 +FPS=31.45, 法向力=1547.8687, 切向力X=94.4526, 切向力Y=-555.3188 +FPS=30.49, 法向力=1587.0388, 切向力X=-496.2823, 切向力Y=283.0590 +FPS=31.12, 法向力=1686.5100, 切向力X=-535.9144, 切向力Y=349.7194 +FPS=31.29, 法向力=1382.3054, 切向力X=125.1960, 切向力Y=396.1730 +FPS=31.14, 法向力=1343.3862, 切向力X=172.4941, 切向力Y=302.6795 +FPS=29.37, 法向力=2219.2354, 切向力X=-240.8305, 切向力Y=-641.7528 +FPS=25.11, 法向力=1433.9133, 切向力X=-378.9158, 切向力Y=-1601.2290 +FPS=29.78, 法向力=1470.5278, 切向力X=-389.9991, 切向力Y=-1641.4558 +FPS=27.97, 法向力=1418.8337, 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+FPS=34.56, 法向力=2321.0635, 切向力X=528.7910, 切向力Y=-2081.0874 +FPS=33.57, 法向力=2782.8257, 切向力X=947.0515, 切向力Y=-2492.8899 +FPS=37.12, 法向力=2899.3154, 切向力X=1007.7825, 切向力Y=-2620.1123 +FPS=35.68, 法向力=2882.9917, 切向力X=1045.0415, 切向力Y=-2663.7349 +stitch_feature_optimized: canvas out_w=479, out_h=490, x_min=-74.04, y_min=-84.18 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000316s, blend=0.002048s (9 tiles incl ref), finalize=0.000056s, total=0.002426s +FPS=35.07, 法向力=1974.2341, 切向力X=378.4263, 切向力Y=-1597.0803 +FPS=36.10, 法向力=2004.6727, 切向力X=390.9000, 切向力Y=-1671.9895 +FPS=36.10, 法向力=1842.7941, 切向力X=892.6364, 切向力Y=-2136.4082 +FPS=35.59, 法向力=1899.4137, 切向力X=844.1472, 切向力Y=-2169.0181 +FPS=33.21, 法向力=1651.0300, 切向力X=292.8900, 切向力Y=-1867.6777 +FPS=34.73, 法向力=1705.9143, 切向力X=287.1281, 切向力Y=-1899.9312 +FPS=34.08, 法向力=2078.9690, 切向力X=248.1095, 切向力Y=-1947.5010 +FPS=31.49, 法向力=2106.4729, 切向力X=291.3427, 切向力Y=-1974.3529 +FPS=30.45, 法向力=1974.9941, 切向力X=714.3544, 切向力Y=-980.8505 +FPS=36.75, 法向力=2003.7842, 切向力X=718.7026, 切向力Y=-1034.9642 +FPS=34.42, 法向力=2226.7671, 切向力X=1210.1179, 切向力Y=-1626.3068 +FPS=37.11, 法向力=2255.7244, 切向力X=1204.7098, 切向力Y=-1635.6255 +FPS=32.80, 法向力=2310.7549, 切向力X=496.6200, 切向力Y=-2119.8496 +FPS=35.46, 法向力=2245.9297, 切向力X=528.6100, 切向力Y=-2321.4016 +FPS=35.03, 法向力=2410.7510, 切向力X=492.8274, 切向力Y=-2102.0200 +FPS=36.76, 法向力=2438.2463, 切向力X=520.3909, 切向力Y=-2136.7515 +FPS=34.32, 法向力=2294.8401, 切向力X=1227.2891, 切向力Y=-2053.2705 +FPS=34.78, 法向力=2352.2446, 切向力X=1202.7842, 切向力Y=-2016.3994 +FPS=35.67, 法向力=2268.5117, 切向力X=893.4017, 切向力Y=-2517.1914 +FPS=36.19, 法向力=2210.6360, 切向力X=859.9164, 切向力Y=-2434.4497 +FPS=35.14, 法向力=2217.2576, 切向力X=826.6414, 切向力Y=-2414.7544 +FPS=34.28, 法向力=1987.7903, 切向力X=1125.3116, 切向力Y=-1683.9292 +FPS=34.59, 法向力=1892.4678, 切向力X=758.8732, 切向力Y=-1925.1384 +FPS=36.16, 法向力=1872.9905, 切向力X=720.9226, 切向力Y=-2060.1133 +FPS=24.34, 法向力=1599.8600, 切向力X=1348.8245, 切向力Y=-2044.7117 +FPS=37.22, 法向力=1632.7158, 切向力X=1457.9835, 切向力Y=-2031.8278 +FPS=33.45, 法向力=2175.9626, 切向力X=-16.8924, 切向力Y=-1873.4827 +FPS=35.51, 法向力=2185.8481, 切向力X=9.7130, 切向力Y=-1915.0300 +FPS=36.33, 法向力=2182.3220, 切向力X=21.4568, 切向力Y=-1920.7310 +FPS=34.11, 法向力=2424.7656, 切向力X=931.9656, 切向力Y=-2091.9226 +stitch_feature_optimized: canvas out_w=479, out_h=490, x_min=-74.04, y_min=-84.18 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000297s, blend=0.002235s (9 tiles incl ref), finalize=0.000062s, total=0.002600s +FPS=33.45, 法向力=2150.2568, 切向力X=-296.0498, 切向力Y=-2184.0112 +FPS=34.66, 法向力=2184.7100, 切向力X=-315.3892, 切向力Y=-2244.6091 +FPS=34.94, 法向力=2196.2815, 切向力X=-261.7696, 切向力Y=-2273.4246 +FPS=33.48, 法向力=1939.2040, 切向力X=452.4630, 切向力Y=-1691.6160 +FPS=32.92, 法向力=1897.6204, 切向力X=435.5770, 切向力Y=-1696.8445 +FPS=32.88, 法向力=2246.8965, 切向力X=762.2489, 切向力Y=-2098.8857 +FPS=35.92, 法向力=2246.1997, 切向力X=861.4613, 切向力Y=-2158.0061 +FPS=34.16, 法向力=2229.7642, 切向力X=772.3087, 切向力Y=-2157.2202 +FPS=14.13, 法向力=2310.1494, 切向力X=831.5613, 切向力Y=-1844.1069 +FPS=24.23, 法向力=1958.1903, 切向力X=619.3531, 切向力Y=-1734.5281 +FPS=26.96, 法向力=1966.9850, 切向力X=675.1786, 切向力Y=-1738.0443 +FPS=36.29, 法向力=2738.8511, 切向力X=969.6519, 切向力Y=-2157.9592 +FPS=21.55, 法向力=2101.4888, 切向力X=797.7723, 切向力Y=-2853.2769 +FPS=34.39, 法向力=2110.6711, 切向力X=774.9043, 切向力Y=-2844.9915 +FPS=33.34, 法向力=1601.7651, 切向力X=410.6320, 切向力Y=-2216.6401 +FPS=36.77, 法向力=1626.6244, 切向力X=420.5247, 切向力Y=-2174.2278 +FPS=34.65, 法向力=2618.1096, 切向力X=448.3618, 切向力Y=-2930.9470 +FPS=34.21, 法向力=2599.1594, 切向力X=502.6594, 切向力Y=-2929.6121 +FPS=32.82, 法向力=2624.0872, 切向力X=478.3516, 切向力Y=-2921.9087 +FPS=32.69, 法向力=1775.2389, 切向力X=493.4922, 切向力Y=-2719.8018 +FPS=33.56, 法向力=1795.4607, 切向力X=436.2148, 切向力Y=-2704.9353 +FPS=35.10, 法向力=2352.3491, 切向力X=494.5411, 切向力Y=-1999.6935 +FPS=34.77, 法向力=2419.6011, 切向力X=-111.7077, 切向力Y=-2306.0349 +FPS=34.73, 法向力=2454.9722, 切向力X=-213.2512, 切向力Y=-2316.9619 +FPS=34.63, 法向力=2473.4617, 切向力X=-199.1033, 切向力Y=-2399.4243 +FPS=35.09, 法向力=2136.5420, 切向力X=339.5979, 切向力Y=-2604.0620 +FPS=35.94, 法向力=2133.5789, 切向力X=509.3649, 切向力Y=-2536.9434 +FPS=37.13, 法向力=2021.6896, 切向力X=221.1693, 切向力Y=-1666.0099 +FPS=36.14, 法向力=1995.1167, 切向力X=192.9460, 切向力Y=-1572.7493 +FPS=32.99, 法向力=1919.4392, 切向力X=-350.6711, 切向力Y=-1320.5527 +stitch_feature_optimized: canvas out_w=479, out_h=490, x_min=-74.04, y_min=-84.18 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000004s (hit), reset=0.000560s, blend=0.003884s (9 tiles incl ref), finalize=0.000087s, total=0.004541s +FPS=29.05, 法向力=1961.7915, 切向力X=-313.9597, 切向力Y=-1286.2952 +FPS=32.07, 法向力=2266.3599, 切向力X=253.6440, 切向力Y=-2394.1003 +FPS=33.87, 法向力=2214.0166, 切向力X=292.3275, 切向力Y=-2496.3599 +FPS=34.98, 法向力=2517.3892, 切向力X=683.0266, 切向力Y=-2919.1604 +FPS=36.53, 法向力=2520.5393, 切向力X=637.0468, 切向力Y=-3040.0010 +FPS=32.88, 法向力=2080.2358, 切向力X=253.8253, 切向力Y=-1046.1984 +FPS=35.99, 法向力=2179.7686, 切向力X=212.9205, 切向力Y=-1074.4241 +FPS=14.74, 法向力=2388.3193, 切向力X=-45.6921, 切向力Y=-2332.2324 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260520_091712.log b/examples/logs/qt_viewer_20260520_091712.log new file mode 100644 index 0000000..68abc25 --- /dev/null +++ b/examples/logs/qt_viewer_20260520_091712.log @@ -0,0 +1,1282 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.88, 法向力=1478.5011, 切向力X=-34.5655, 切向力Y=-152.0506 +FPS=26.98, 法向力=1505.7190, 切向力X=-2.0938, 切向力Y=-64.8134 +FPS=28.37, 法向力=1888.3978, 切向力X=454.6426, 切向力Y=-525.1335 +FPS=22.24, 法向力=2482.3967, 切向力X=-77.6091, 切向力Y=-961.6775 +FPS=23.00, 法向力=2470.1423, 切向力X=32.9791, 切向力Y=-969.9054 +FPS=23.76, 法向力=1456.9087, 切向力X=466.8401, 切向力Y=-1182.6857 +FPS=29.55, 法向力=1224.9951, 切向力X=572.5200, 切向力Y=-1950.0361 +FPS=33.49, 法向力=1218.3069, 切向力X=655.3970, 切向力Y=-2033.4768 +FPS=29.38, 法向力=2079.7793, 切向力X=-111.3031, 切向力Y=-1013.6720 +FPS=31.45, 法向力=2120.4697, 切向力X=-69.4473, 切向力Y=-1009.1660 +FPS=27.03, 法向力=1520.7495, 切向力X=354.6432, 切向力Y=-985.9442 +FPS=30.12, 法向力=1458.9535, 切向力X=422.0765, 切向力Y=-856.2194 +FPS=32.31, 法向力=1130.1179, 切向力X=880.5366, 切向力Y=-1362.7971 +FPS=32.48, 法向力=1075.8752, 切向力X=844.9215, 切向力Y=-1188.5427 +FPS=32.10, 法向力=1666.8135, 切向力X=359.5995, 切向力Y=-794.2303 +FPS=26.14, 法向力=1734.0173, 切向力X=304.1573, 切向力Y=-845.3541 +FPS=28.66, 法向力=1213.1116, 切向力X=803.0610, 切向力Y=-1507.0737 +FPS=29.07, 法向力=1101.8757, 切向力X=877.1085, 切向力Y=-364.8645 +FPS=31.45, 法向力=1078.3682, 切向力X=800.7847, 切向力Y=-252.0840 +FPS=29.95, 法向力=2078.9131, 切向力X=617.3011, 切向力Y=-1513.1969 +FPS=32.60, 法向力=2055.7151, 切向力X=393.8257, 切向力Y=-1442.6135 +FPS=29.35, 法向力=1040.1797, 切向力X=705.8668, 切向力Y=-466.4432 +FPS=31.61, 法向力=1062.2639, 切向力X=712.9083, 切向力Y=-500.7050 +FPS=30.15, 法向力=1065.1323, 切向力X=535.6996, 切向力Y=-1793.8892 +FPS=29.57, 法向力=1932.9528, 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切向力Y=-2670.5972 +FPS=32.13, 法向力=1245.0056, 切向力X=1803.0710, 切向力Y=-2673.8193 +FPS=30.80, 法向力=1286.9313, 切向力X=1790.7092, 切向力Y=-2658.1714 +FPS=33.35, 法向力=1292.6331, 切向力X=1782.7278, 切向力Y=-2665.7881 +FPS=35.18, 法向力=2056.7920, 切向力X=1653.8105, 切向力Y=-2878.1885 +FPS=36.81, 法向力=2085.3594, 切向力X=1499.5090, 切向力Y=-2760.2520 +FPS=34.30, 法向力=1287.0653, 切向力X=1909.7473, 切向力Y=-2833.6050 +FPS=34.81, 法向力=1541.3406, 切向力X=1625.6938, 切向力Y=-3143.6221 +FPS=35.82, 法向力=1565.7931, 切向力X=1574.7675, 切向力Y=-3220.5210 +FPS=37.04, 法向力=1565.1382, 切向力X=1594.7944, 切向力Y=-3226.4131 +FPS=36.19, 法向力=1609.5099, 切向力X=2261.6226, 切向力Y=-3008.5947 +FPS=37.07, 法向力=1667.5974, 切向力X=2266.0635, 切向力Y=-2923.5640 +FPS=34.43, 法向力=1937.2745, 切向力X=2271.5674, 切向力Y=-3012.6648 +FPS=37.13, 法向力=1949.2795, 切向力X=2285.2903, 切向力Y=-2957.1841 +FPS=34.26, 法向力=1466.7802, 切向力X=2303.7207, 切向力Y=-2102.6270 +FPS=35.49, 法向力=1508.4177, 切向力X=2369.5366, 切向力Y=-2058.5789 +FPS=32.58, 法向力=1483.7395, 切向力X=1164.4031, 切向力Y=-2326.5627 +FPS=37.04, 法向力=1531.0222, 切向力X=1087.2019, 切向力Y=-2259.3010 +stitch_feature_optimized: canvas out_w=472, out_h=418, x_min=-142.99, y_min=-83.23 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000232s, blend=0.003087s (9 tiles incl ref), finalize=0.000049s, total=0.003374s +FPS=34.21, 法向力=1365.7908, 切向力X=2099.2708, 切向力Y=-3188.9336 +FPS=37.12, 法向力=1268.6519, 切向力X=2124.4260, 切向力Y=-3114.6890 +FPS=33.00, 法向力=1246.2534, 切向力X=2132.2842, 切向力Y=-3139.2703 +FPS=36.83, 法向力=1833.1700, 切向力X=2156.7642, 切向力Y=-1995.5972 +FPS=37.40, 法向力=1825.2083, 切向力X=2176.6519, 切向力Y=-1895.6189 +FPS=34.91, 法向力=1764.3467, 切向力X=2196.3745, 切向力Y=-2579.4688 +FPS=36.86, 法向力=1735.0164, 切向力X=2197.6528, 切向力Y=-2595.5554 +FPS=37.77, 法向力=1421.0941, 切向力X=1777.4625, 切向力Y=-2880.7583 +FPS=36.43, 法向力=1397.1895, 切向力X=1803.0265, 切向力Y=-2934.4180 +FPS=35.79, 法向力=1917.7170, 切向力X=2168.3552, 切向力Y=-2849.6594 +FPS=36.96, 法向力=1935.2648, 切向力X=2172.4338, 切向力Y=-2844.2280 +FPS=33.32, 法向力=1294.2288, 切向力X=1275.5405, 切向力Y=-2773.8928 +FPS=33.52, 法向力=1274.6178, 切向力X=1293.5480, 切向力Y=-2565.4717 +FPS=34.29, 法向力=1506.3883, 切向力X=2231.9360, 切向力Y=-3459.6724 +FPS=35.35, 法向力=1475.6326, 切向力X=2281.1213, 切向力Y=-3400.3799 +FPS=34.36, 法向力=1288.8613, 切向力X=1601.5836, 切向力Y=-3147.8687 +FPS=35.36, 法向力=1288.1926, 切向力X=1590.2932, 切向力Y=-3185.0137 +FPS=35.15, 法向力=1484.2104, 切向力X=1534.4364, 切向力Y=-2389.8252 +FPS=36.69, 法向力=1505.6956, 切向力X=1591.2971, 切向力Y=-2325.2747 +FPS=35.88, 法向力=1519.7743, 切向力X=1624.2721, 切向力Y=-2304.2456 +FPS=34.36, 法向力=2000.7002, 切向力X=1903.8247, 切向力Y=-2079.1567 +FPS=35.95, 法向力=2001.1674, 切向力X=1858.5726, 切向力Y=-2120.3462 +FPS=34.39, 法向力=1565.9575, 切向力X=1732.3245, 切向力Y=-2601.2534 +FPS=35.50, 法向力=1659.1318, 切向力X=1929.7797, 切向力Y=-2641.3315 +FPS=35.15, 法向力=1627.9114, 切向力X=1860.2183, 切向力Y=-2653.5630 +FPS=36.25, 法向力=1632.2708, 切向力X=1884.3595, 切向力Y=-2589.0737 +FPS=33.86, 法向力=1535.1483, 切向力X=1120.0210, 切向力Y=-2987.9978 +FPS=34.31, 法向力=1551.6687, 切向力X=1033.3533, 切向力Y=-2980.0867 +FPS=32.70, 法向力=1672.1440, 切向力X=1582.9330, 切向力Y=-2973.8550 +FPS=36.07, 法向力=1686.9803, 切向力X=1650.5640, 切向力Y=-2951.2075 +stitch_feature_optimized: canvas out_w=472, out_h=418, x_min=-142.99, y_min=-83.23 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000241s, blend=0.002158s (9 tiles incl ref), finalize=0.000049s, total=0.002453s +FPS=32.33, 法向力=1691.4000, 切向力X=1693.3240, 切向力Y=-2173.6968 +FPS=34.63, 法向力=1628.7310, 切向力X=1639.6710, 切向力Y=-2135.5488 +FPS=31.84, 法向力=1605.0542, 切向力X=1865.2654, 切向力Y=-2994.9702 +FPS=35.69, 法向力=1594.0594, 切向力X=1916.1951, 切向力Y=-3035.3340 +FPS=35.88, 法向力=1210.8945, 切向力X=1393.9886, 切向力Y=-2160.9319 +FPS=34.95, 法向力=1204.5264, 切向力X=1423.8267, 切向力Y=-2098.7983 +FPS=32.63, 法向力=1625.7906, 切向力X=1437.4780, 切向力Y=-2719.7461 +FPS=36.28, 法向力=1738.4880, 切向力X=1414.4695, 切向力Y=-2664.0005 +FPS=35.87, 法向力=2112.4924, 切向力X=2194.7329, 切向力Y=-3314.1824 +FPS=36.35, 法向力=2196.4185, 切向力X=2180.5037, 切向力Y=-3477.4180 +FPS=32.38, 法向力=1618.7703, 切向力X=2518.6675, 切向力Y=-2994.5696 +FPS=35.88, 法向力=1695.6487, 切向力X=2547.9883, 切向力Y=-2984.3308 +FPS=32.02, 法向力=1442.9670, 切向力X=2272.5120, 切向力Y=-2309.8438 +FPS=36.94, 法向力=1352.7896, 切向力X=2243.4370, 切向力Y=-2210.3877 +FPS=32.90, 法向力=1333.1375, 切向力X=1422.5583, 切向力Y=-3379.2051 +FPS=11.51, 法向力=1549.7546, 切向力X=1766.2220, 切向力Y=-2925.6128 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260520_092100.log b/examples/logs/qt_viewer_20260520_092100.log new file mode 100644 index 0000000..9be439c --- /dev/null +++ b/examples/logs/qt_viewer_20260520_092100.log @@ -0,0 +1,1400 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=30 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.49, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=2.38, 法向力=2224.7910, 切向力X=260.1930, 切向力Y=243.3053 +FPS=25.74, 法向力=1154.5861, 切向力X=667.0301, 切向力Y=223.7947 +FPS=29.56, 法向力=1149.4336, 切向力X=626.4739, 切向力Y=204.3051 +FPS=30.36, 法向力=1864.3063, 切向力X=904.4747, 切向力Y=-262.7321 +FPS=28.23, 法向力=1904.9192, 切向力X=1010.6456, 切向力Y=-287.5845 +FPS=27.58, 法向力=1175.8311, 切向力X=-105.4808, 切向力Y=-203.3131 +FPS=29.30, 法向力=1235.0581, 切向力X=-54.5437, 切向力Y=-107.2201 +FPS=31.67, 法向力=1061.8169, 切向力X=388.2142, 切向力Y=-254.5480 +FPS=30.29, 法向力=1176.3347, 切向力X=403.1379, 切向力Y=-318.2960 +FPS=30.15, 法向力=1249.1508, 切向力X=-66.6550, 切向力Y=-39.7693 +FPS=29.22, 法向力=1100.6628, 切向力X=341.3958, 切向力Y=-369.2255 +FPS=29.94, 法向力=1081.9526, 切向力X=332.7995, 切向力Y=-403.5438 +FPS=29.81, 法向力=1640.2861, 切向力X=521.0195, 切向力Y=502.9885 +FPS=31.18, 法向力=1686.2671, 切向力X=579.4982, 切向力Y=455.4351 +FPS=31.37, 法向力=2328.8516, 切向力X=-479.5275, 切向力Y=-571.0262 +FPS=28.79, 法向力=2364.8032, 切向力X=-430.9138, 切向力Y=-649.2683 +FPS=28.40, 法向力=1780.7195, 切向力X=360.0698, 切向力Y=-319.8290 +FPS=30.22, 法向力=1945.3154, 切向力X=301.7706, 切向力Y=-326.6445 +FPS=30.93, 法向力=1233.6771, 切向力X=368.3489, 切向力Y=-80.8263 +FPS=29.56, 法向力=1467.1481, 切向力X=-769.9725, 切向力Y=-493.9164 +FPS=30.77, 法向力=1416.0013, 切向力X=-687.9279, 切向力Y=-422.3413 +FPS=30.60, 法向力=1825.9172, 切向力X=127.7656, 切向力Y=116.9109 +FPS=30.23, 法向力=1839.7988, 切向力X=252.0081, 切向力Y=143.5939 +FPS=29.79, 法向力=1982.6062, 切向力X=442.3596, 切向力Y=445.0638 +FPS=31.50, 法向力=2013.9106, 切向力X=434.3831, 切向力Y=417.7051 +FPS=30.01, 法向力=1166.0719, 切向力X=-290.2495, 切向力Y=-142.4145 +FPS=29.37, 法向力=1820.3669, 切向力X=438.7110, 切向力Y=467.0408 +stitch_feature_optimized: canvas out_w=471, out_h=417, x_min=-142.94, y_min=-82.84 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000417s, blend=0.002325s (9 tiles incl ref), finalize=0.000049s, total=0.002799s +FPS=32.29, 法向力=1937.1851, 切向力X=518.2728, 切向力Y=532.5547 +FPS=28.54, 法向力=1066.2585, 切向力X=1106.9727, 切向力Y=314.3081 +FPS=30.86, 法向力=1143.2721, 切向力X=1169.7810, 切向力Y=311.6941 +FPS=28.81, 法向力=1503.5436, 切向力X=177.0896, 切向力Y=-540.0121 +FPS=30.38, 法向力=1513.8932, 切向力X=67.1934, 切向力Y=-541.0318 +FPS=27.62, 法向力=1174.3964, 切向力X=471.8552, 切向力Y=-482.4224 +FPS=29.58, 法向力=2200.7002, 切向力X=-194.6575, 切向力Y=-1006.6708 +FPS=28.83, 法向力=2202.4487, 切向力X=-187.0708, 切向力Y=-965.7205 +FPS=27.96, 法向力=1949.7415, 切向力X=527.2256, 切向力Y=-356.1770 +FPS=29.46, 法向力=1969.1282, 切向力X=476.8560, 切向力Y=-365.5957 +FPS=29.38, 法向力=1069.9314, 切向力X=-78.9490, 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法向力=3631.2021, 切向力X=9492.4658, 切向力Y=-1665.2393 +FPS=36.79, 法向力=3607.7375, 切向力X=9510.3945, 切向力Y=-1607.0399 +FPS=34.75, 法向力=3053.8052, 切向力X=3961.3613, 切向力Y=-2134.5217 +FPS=35.87, 法向力=3067.8745, 切向力X=3891.9233, 切向力Y=-2110.3413 +stitch_feature_optimized: canvas out_w=471, out_h=417, x_min=-142.94, y_min=-82.84 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000254s, blend=0.002168s (9 tiles incl ref), finalize=0.000048s, total=0.002477s +FPS=35.30, 法向力=1588.7712, 切向力X=-267.6010, 切向力Y=-2350.9316 +FPS=34.24, 法向力=1636.3323, 切向力X=-370.1512, 切向力Y=-2422.7363 +FPS=35.01, 法向力=2314.9082, 切向力X=-9230.9941, 切向力Y=-3134.5420 +FPS=37.26, 法向力=2282.3442, 切向力X=-9426.5859, 切向力Y=-3189.2937 +FPS=35.78, 法向力=4268.2188, 切向力X=-23146.5957, 切向力Y=-531.3441 +FPS=36.30, 法向力=4341.8823, 切向力X=-23440.1797, 切向力Y=-248.6239 +FPS=32.84, 法向力=4349.4956, 切向力X=-23433.5918, 切向力Y=-234.0342 +FPS=32.03, 法向力=6519.3843, 切向力X=-36488.8594, 切向力Y=5314.5752 +FPS=33.61, 法向力=6658.8613, 切向力X=-37012.3828, 切向力Y=5515.0996 +FPS=35.02, 法向力=8770.1660, 切向力X=-46015.8281, 切向力Y=-4803.5239 +FPS=34.36, 法向力=15462.0146, 切向力X=-38033.9062, 切向力Y=-9382.6309 +FPS=36.34, 法向力=15729.7617, 切向力X=-37944.2656, 切向力Y=-9170.2637 +FPS=36.05, 法向力=15766.1992, 切向力X=-37945.8203, 切向力Y=-9151.1992 +FPS=36.81, 法向力=13240.9355, 切向力X=-16895.7383, 切向力Y=-13010.8486 +FPS=35.35, 法向力=13115.0703, 切向力X=-16757.6758, 切向力Y=-13193.2373 +FPS=31.44, 法向力=8885.7461, 切向力X=-626.6428, 切向力Y=-11983.9121 +FPS=36.99, 法向力=8839.7051, 切向力X=-632.7596, 切向力Y=-11961.8105 +FPS=33.93, 法向力=2126.7852, 切向力X=1254.4185, 切向力Y=-7036.2529 +FPS=36.88, 法向力=2153.1174, 切向力X=1240.1317, 切向力Y=-7075.6123 +FPS=32.53, 法向力=2677.4478, 切向力X=354.8698, 切向力Y=-3114.2971 +FPS=36.53, 法向力=2677.7241, 切向力X=384.9850, 切向力Y=-3128.1729 +FPS=33.82, 法向力=3028.3218, 切向力X=1918.7131, 切向力Y=-2986.4973 +FPS=35.91, 法向力=3054.1367, 切向力X=1998.1335, 切向力Y=-2973.9321 +FPS=32.18, 法向力=3585.9902, 切向力X=1585.7771, 切向力Y=770.0491 +FPS=34.75, 法向力=3616.4409, 切向力X=1576.3989, 切向力Y=822.2565 +FPS=35.55, 法向力=2040.3018, 切向力X=882.5820, 切向力Y=-1965.7012 +FPS=36.37, 法向力=2090.0977, 切向力X=898.4771, 切向力Y=-1974.3644 +FPS=34.42, 法向力=2009.7478, 切向力X=425.7905, 切向力Y=-2398.4658 +FPS=37.59, 法向力=1992.5925, 切向力X=334.4147, 切向力Y=-2435.5181 +FPS=34.92, 法向力=1714.4961, 切向力X=478.4915, 切向力Y=-2629.0613 +stitch_feature_optimized: canvas out_w=471, out_h=417, x_min=-142.94, y_min=-82.84 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000223s, blend=0.002095s (9 tiles incl ref), finalize=0.000051s, total=0.002375s +FPS=34.21, 法向力=1675.5630, 切向力X=516.2595, 切向力Y=-2628.2607 +FPS=36.08, 法向力=1700.9097, 切向力X=532.4196, 切向力Y=-2605.1606 +FPS=33.45, 法向力=2489.0642, 切向力X=607.3575, 切向力Y=-3223.0552 +FPS=36.37, 法向力=2593.7271, 切向力X=613.6004, 切向力Y=-3223.5378 +FPS=34.48, 法向力=1580.3132, 切向力X=1021.5330, 切向力Y=-2038.7483 +FPS=34.83, 法向力=1545.4484, 切向力X=1138.7869, 切向力Y=-2026.3713 +FPS=36.30, 法向力=1824.3617, 切向力X=1239.8447, 切向力Y=-1635.5055 +FPS=36.47, 法向力=1813.3821, 切向力X=1303.4871, 切向力Y=-1645.6832 +FPS=32.38, 法向力=1619.3110, 切向力X=1157.7598, 切向力Y=-2493.4470 +FPS=36.10, 法向力=1663.3945, 切向力X=1178.1313, 切向力Y=-2578.3018 +FPS=34.78, 法向力=2010.1538, 切向力X=795.6165, 切向力Y=-2850.8755 +FPS=35.58, 法向力=2035.6021, 切向力X=841.1971, 切向力Y=-2822.3306 +FPS=34.12, 法向力=1969.0859, 切向力X=-21.9823, 切向力Y=-2317.1855 +FPS=37.34, 法向力=2057.0786, 切向力X=20.1828, 切向力Y=-2381.1370 +FPS=34.55, 法向力=2102.0503, 切向力X=851.7539, 切向力Y=-2979.8130 +FPS=36.76, 法向力=2219.7866, 切向力X=999.4037, 切向力Y=-3067.0234 +FPS=35.30, 法向力=1734.5955, 切向力X=882.1312, 切向力Y=-1886.5547 +FPS=36.07, 法向力=1717.2168, 切向力X=1004.4413, 切向力Y=-1810.2321 +FPS=37.60, 法向力=1714.7163, 切向力X=1001.0863, 切向力Y=-1835.3191 +FPS=35.95, 法向力=2043.6572, 切向力X=387.2714, 切向力Y=-2566.8464 +FPS=36.26, 法向力=2016.3831, 切向力X=404.6742, 切向力Y=-2551.1321 +FPS=34.60, 法向力=2086.9812, 切向力X=706.1119, 切向力Y=-1575.5400 +FPS=37.84, 法向力=2082.7358, 切向力X=700.2651, 切向力Y=-1554.9451 +FPS=34.95, 法向力=1693.9496, 切向力X=906.9939, 切向力Y=-1300.2952 +FPS=36.58, 法向力=1694.3176, 切向力X=927.5142, 切向力Y=-1363.5171 +FPS=32.93, 法向力=1923.6276, 切向力X=521.6646, 切向力Y=-2600.0552 +FPS=36.26, 法向力=1931.7035, 切向力X=503.3510, 切向力Y=-2662.9756 +FPS=34.76, 法向力=1462.3604, 切向力X=901.2136, 切向力Y=-2223.5957 +FPS=35.29, 法向力=1413.7839, 切向力X=1056.8816, 切向力Y=-2166.6316 +FPS=33.94, 法向力=1812.3588, 切向力X=826.1493, 切向力Y=-2186.9336 +stitch_feature_optimized: canvas out_w=471, out_h=417, x_min=-142.94, y_min=-82.84 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000291s, blend=0.002222s (9 tiles incl ref), finalize=0.000047s, total=0.002567s +FPS=36.01, 法向力=1837.9451, 切向力X=877.0823, 切向力Y=-2188.5078 +FPS=32.89, 法向力=1514.2094, 切向力X=929.1779, 切向力Y=-1774.6925 +FPS=36.89, 法向力=1483.4849, 切向力X=1013.9653, 切向力Y=-1790.5868 +FPS=33.47, 法向力=1445.1439, 切向力X=1084.3174, 切向力Y=-1402.4625 +FPS=34.58, 法向力=1410.5166, 切向力X=1240.2404, 切向力Y=-1356.9949 +FPS=34.17, 法向力=1426.2773, 切向力X=1187.9158, 切向力Y=-1354.8345 +FPS=36.42, 法向力=1332.1549, 切向力X=1539.7052, 切向力Y=-2174.3198 +FPS=35.02, 法向力=1418.1345, 切向力X=1499.6105, 切向力Y=-2309.1064 +FPS=32.08, 法向力=1423.7649, 切向力X=1421.5702, 切向力Y=-2103.1353 +FPS=35.24, 法向力=1723.1838, 切向力X=1009.6135, 切向力Y=-2698.8462 +FPS=36.22, 法向力=1737.7438, 切向力X=965.9060, 切向力Y=-2719.8438 +FPS=36.19, 法向力=1764.2278, 切向力X=946.1761, 切向力Y=-2713.6367 +FPS=35.50, 法向力=1829.1726, 切向力X=1495.6699, 切向力Y=-1585.1373 +FPS=34.86, 法向力=1817.1360, 切向力X=1553.8278, 切向力Y=-1446.6487 +FPS=31.44, 法向力=2064.7441, 切向力X=754.2328, 切向力Y=-1046.7781 +FPS=34.20, 法向力=2042.8147, 切向力X=757.1166, 切向力Y=-1092.5403 +FPS=32.48, 法向力=1920.6614, 切向力X=723.6790, 切向力Y=-2378.2866 +FPS=34.55, 法向力=1950.6924, 切向力X=752.5173, 切向力Y=-2391.6724 +FPS=35.68, 法向力=1543.4614, 切向力X=890.1691, 切向力Y=-2051.5359 +FPS=35.81, 法向力=1542.3225, 切向力X=874.7085, 切向力Y=-2010.8184 +FPS=30.64, 法向力=1379.5129, 切向力X=956.8425, 切向力Y=-1300.3250 +FPS=37.40, 法向力=1372.9573, 切向力X=991.1753, 切向力Y=-1433.8511 +FPS=32.24, 法向力=2086.5166, 切向力X=1198.9296, 切向力Y=-1629.7100 +FPS=35.59, 法向力=2091.4312, 切向力X=1256.6863, 切向力Y=-1635.6011 +FPS=31.73, 法向力=2000.6660, 切向力X=1797.3232, 切向力Y=-2011.1664 +FPS=35.59, 法向力=1963.6624, 切向力X=1817.7939, 切向力Y=-2077.9656 +FPS=32.19, 法向力=1634.3835, 切向力X=1669.4845, 切向力Y=-2249.3088 +FPS=36.06, 法向力=1629.9790, 切向力X=1752.3170, 切向力Y=-2344.7432 +FPS=31.62, 法向力=1445.2825, 切向力X=1351.0811, 切向力Y=-1923.5782 +Sensor disconnected. +⏸ 已暂停 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.57, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=32.19, 法向力=1243.5659, 切向力X=99.6040, 切向力Y=-583.1210 +FPS=34.60, 法向力=1225.3621, 切向力X=10.9568, 切向力Y=-643.8452 +FPS=33.83, 法向力=1355.7410, 切向力X=453.7015, 切向力Y=-902.0569 +FPS=34.80, 法向力=1361.8663, 切向力X=473.1851, 切向力Y=-920.5572 +FPS=33.32, 法向力=1384.5637, 切向力X=669.2472, 切向力Y=-148.2449 +FPS=36.03, 法向力=1340.8606, 切向力X=692.2809, 切向力Y=-124.7368 +FPS=30.80, 法向力=1344.7886, 切向力X=667.2860, 切向力Y=-117.5912 +FPS=30.75, 法向力=1347.6514, 切向力X=389.4196, 切向力Y=-817.4030 +FPS=30.33, 法向力=1312.2684, 切向力X=20.2482, 切向力Y=-363.4146 +FPS=35.55, 法向力=1308.0356, 切向力X=30.0677, 切向力Y=-320.0105 +FPS=32.72, 法向力=1152.0444, 切向力X=649.8528, 切向力Y=-920.2737 +FPS=36.50, 法向力=1257.6318, 切向力X=706.5920, 切向力Y=-904.6650 +FPS=34.47, 法向力=1297.5514, 切向力X=248.0617, 切向力Y=-907.5687 +FPS=34.84, 法向力=1290.3044, 切向力X=280.5029, 切向力Y=-875.4135 +FPS=36.25, 法向力=1280.7462, 切向力X=253.9736, 切向力Y=-909.3236 +FPS=34.41, 法向力=1279.2622, 切向力X=305.5483, 切向力Y=60.4644 +FPS=34.59, 法向力=1015.0786, 切向力X=687.4799, 切向力Y=-455.9090 +FPS=35.05, 法向力=1006.8010, 切向力X=715.7974, 切向力Y=-477.1604 +FPS=32.58, 法向力=992.2216, 切向力X=700.4736, 切向力Y=-483.4273 +FPS=31.90, 法向力=1167.7285, 切向力X=90.8234, 切向力Y=-581.5148 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260520_092622.log b/examples/logs/qt_viewer_20260520_092622.log new file mode 100644 index 0000000..345c066 --- /dev/null +++ b/examples/logs/qt_viewer_20260520_092622.log @@ -0,0 +1,2 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 diff --git a/examples/logs/qt_viewer_20260520_092638.log b/examples/logs/qt_viewer_20260520_092638.log new file mode 100644 index 0000000..332d1ed --- /dev/null +++ b/examples/logs/qt_viewer_20260520_092638.log @@ -0,0 +1,979 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.15, 法向力=1094.4734, 切向力X=696.4677, 切向力Y=601.2209 +FPS=27.79, 法向力=1114.3398, 切向力X=645.3075, 切向力Y=518.3024 +FPS=34.22, 法向力=1699.7122, 切向力X=32.0256, 切向力Y=-242.7054 +FPS=31.38, 法向力=1704.6267, 切向力X=-50.1709, 切向力Y=-193.6925 +FPS=31.69, 法向力=1465.4541, 切向力X=902.2238, 切向力Y=93.5436 +FPS=33.01, 法向力=1474.6157, 切向力X=926.4809, 切向力Y=74.4409 +FPS=35.27, 法向力=2340.5415, 切向力X=-155.8630, 切向力Y=165.9135 +FPS=30.31, 法向力=1868.5353, 切向力X=1497.4084, 切向力Y=-633.1014 +FPS=33.26, 法向力=2048.4458, 切向力X=1674.2627, 切向力Y=-623.5648 +FPS=32.59, 法向力=1315.9167, 切向力X=628.2457, 切向力Y=109.3999 +FPS=36.61, 法向力=1308.1570, 切向力X=606.3510, 切向力Y=139.7404 +FPS=33.89, 法向力=1320.4673, 切向力X=657.7085, 切向力Y=150.7382 +FPS=36.41, 法向力=1423.3312, 切向力X=-694.5375, 切向力Y=-481.3663 +FPS=33.24, 法向力=1410.8289, 切向力X=-693.1198, 切向力Y=-461.2762 +FPS=24.83, 法向力=1116.7457, 切向力X=1218.3025, 切向力Y=665.2780 +FPS=30.26, 法向力=1508.7095, 切向力X=-205.0595, 切向力Y=74.5511 +FPS=36.43, 法向力=1702.7312, 切向力X=-325.2204, 切向力Y=164.7885 +FPS=33.38, 法向力=1143.8770, 切向力X=1421.0389, 切向力Y=-189.3422 +FPS=35.73, 法向力=1155.9038, 切向力X=1432.3539, 切向力Y=-234.3890 +FPS=30.26, 法向力=1656.6785, 切向力X=1115.7832, 切向力Y=26.9903 +FPS=35.03, 法向力=1637.3081, 切向力X=1007.4419, 切向力Y=69.5227 +FPS=34.49, 法向力=1610.8750, 切向力X=345.8082, 切向力Y=428.4123 +FPS=35.72, 法向力=1651.3899, 切向力X=261.5859, 切向力Y=414.9450 +FPS=32.80, 法向力=1591.0109, 切向力X=-929.1838, 切向力Y=-172.8665 +FPS=33.66, 法向力=1583.9117, 切向力X=-1010.3701, 切向力Y=-272.4147 +FPS=31.30, 法向力=2225.4961, 切向力X=1602.2861, 切向力Y=-257.0275 +FPS=34.88, 法向力=2486.1709, 切向力X=1882.6686, 切向力Y=-219.0405 +stitch_feature_optimized: canvas out_w=582, out_h=567, x_min=-144.64, y_min=-83.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000415s, blend=0.002214s (9 tiles incl ref), finalize=0.000046s, total=0.002681s +FPS=29.51, 法向力=2395.0356, 切向力X=2244.5337, 切向力Y=-357.5249 +FPS=31.83, 法向力=2414.7866, 切向力X=2237.8953, 切向力Y=-562.8090 +FPS=31.35, 法向力=1814.5928, 切向力X=-110.9853, 切向力Y=-473.6021 +FPS=36.16, 法向力=2015.6991, 切向力X=-381.8309, 切向力Y=-351.6581 +FPS=32.14, 法向力=1552.1832, 切向力X=1209.0979, 切向力Y=632.7275 +FPS=34.63, 法向力=1577.6160, 切向力X=1240.8669, 切向力Y=527.3733 +FPS=34.26, 法向力=1194.8577, 切向力X=337.7086, 切向力Y=-159.4420 +FPS=34.77, 法向力=1232.3546, 切向力X=270.4132, 切向力Y=-161.1233 +FPS=31.97, 法向力=2490.2100, 切向力X=806.7103, 切向力Y=-493.1893 +FPS=34.98, 法向力=2644.9900, 切向力X=681.3234, 切向力Y=-444.6868 +FPS=33.03, 法向力=1307.6694, 切向力X=792.0578, 切向力Y=-386.2836 +FPS=34.63, 法向力=1232.4209, 切向力X=765.5024, 切向力Y=-369.0291 +FPS=32.78, 法向力=2104.3369, 切向力X=1719.5864, 切向力Y=-142.9045 +FPS=34.38, 法向力=2245.5093, 切向力X=1839.6667, 切向力Y=-277.7224 +FPS=30.88, 法向力=1586.8367, 切向力X=398.5107, 切向力Y=-18.2836 +FPS=35.82, 法向力=1679.7216, 切向力X=314.9778, 切向力Y=-17.7823 +FPS=31.53, 法向力=2036.2827, 切向力X=-1379.4766, 切向力Y=430.8544 +FPS=34.64, 法向力=2052.7642, 切向力X=-1410.5087, 切向力Y=411.1612 +FPS=33.45, 法向力=2475.1167, 切向力X=2263.2190, 切向力Y=-11.9310 +FPS=34.23, 法向力=2828.5513, 切向力X=2459.5391, 切向力Y=111.7198 +FPS=30.54, 法向力=2612.3501, 切向力X=2605.8818, 切向力Y=-317.5679 +FPS=34.66, 法向力=2620.0864, 切向力X=2722.8564, 切向力Y=-358.0776 +FPS=31.64, 法向力=2112.6914, 切向力X=1882.2594, 切向力Y=-181.5712 +FPS=35.41, 法向力=2073.6401, 切向力X=1877.8386, 切向力Y=-190.5438 +FPS=33.83, 法向力=1758.3984, 切向力X=1768.3719, 切向力Y=-49.9767 +FPS=35.72, 法向力=1793.8579, 切向力X=1783.2942, 切向力Y=49.7674 +FPS=33.63, 法向力=1405.4756, 切向力X=-156.6176, 切向力Y=-202.9759 +FPS=36.26, 法向力=1583.5112, 切向力X=-387.8794, 切向力Y=-233.4966 +FPS=32.42, 法向力=1320.5001, 切向力X=198.5505, 切向力Y=-696.3425 +FPS=34.59, 法向力=1317.3579, 切向力X=267.0854, 切向力Y=-604.3130 +stitch_feature_optimized: canvas out_w=582, out_h=567, x_min=-144.64, y_min=-83.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000474s, blend=0.002204s (9 tiles incl ref), finalize=0.000045s, total=0.002730s +FPS=31.35, 法向力=1942.7361, 切向力X=1706.2800, 切向力Y=-251.7997 +FPS=35.43, 法向力=1957.7332, 切向力X=1786.3462, 切向力Y=-314.6462 +FPS=35.19, 法向力=1879.9923, 切向力X=-669.6527, 切向力Y=-377.3748 +FPS=35.76, 法向力=2037.3379, 切向力X=-881.4116, 切向力Y=-391.8037 +FPS=34.47, 法向力=2024.6788, 切向力X=-829.6414, 切向力Y=-384.9195 +FPS=33.12, 法向力=1881.0396, 切向力X=-824.7545, 切向力Y=-42.8331 +FPS=32.39, 法向力=2171.9578, 切向力X=320.2819, 切向力Y=907.2009 +FPS=33.79, 法向力=2148.4951, 切向力X=420.8430, 切向力Y=886.6577 +FPS=33.60, 法向力=1923.9921, 切向力X=-457.9956, 切向力Y=-231.4896 +FPS=34.78, 法向力=1941.8142, 切向力X=-553.3647, 切向力Y=-211.1629 +FPS=34.36, 法向力=1940.2031, 切向力X=-578.1033, 切向力Y=-187.3182 +FPS=34.31, 法向力=1620.9297, 切向力X=115.0340, 切向力Y=-553.5657 +FPS=35.68, 法向力=1579.8992, 切向力X=65.6091, 切向力Y=-532.8988 +FPS=32.02, 法向力=891.0448, 切向力X=637.1304, 切向力Y=297.3973 +FPS=33.41, 法向力=2115.8169, 切向力X=1453.8142, 切向力Y=-1087.7595 +FPS=33.61, 法向力=2092.5938, 切向力X=1333.2339, 切向力Y=-1241.2919 +FPS=31.97, 法向力=2095.8853, 切向力X=1398.9187, 切向力Y=-1225.5315 +FPS=35.00, 法向力=1588.6379, 切向力X=1111.9208, 切向力Y=159.7777 +FPS=32.50, 法向力=1592.2301, 切向力X=1120.4005, 切向力Y=171.5562 +FPS=35.21, 法向力=1769.4622, 切向力X=344.6693, 切向力Y=-341.5626 +FPS=35.27, 法向力=1919.0620, 切向力X=265.5082, 切向力Y=-393.9299 +FPS=32.89, 法向力=1291.0200, 切向力X=1108.5396, 切向力Y=197.5114 +FPS=33.23, 法向力=1335.9587, 切向力X=1234.7428, 切向力Y=102.4688 +FPS=33.89, 法向力=1964.0221, 切向力X=2370.9141, 切向力Y=-228.8468 +FPS=35.36, 法向力=2004.7163, 切向力X=2495.7927, 切向力Y=-343.7962 +FPS=34.66, 法向力=1340.0127, 切向力X=1025.1929, 切向力Y=-549.3279 +FPS=35.25, 法向力=1480.6497, 切向力X=837.1270, 切向力Y=-580.0144 +FPS=10.43, 法向力=1463.6377, 切向力X=781.3711, 切向力Y=473.3885 +FPS=38.84, 法向力=1464.9808, 切向力X=739.8652, 切向力Y=467.6989 +FPS=27.16, 法向力=1179.2028, 切向力X=-74.8130, 切向力Y=643.6619 +stitch_feature_optimized: canvas out_w=582, out_h=567, x_min=-144.64, y_min=-83.05 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000006s (hit), reset=0.000599s, blend=0.002441s (9 tiles incl ref), finalize=0.000049s, total=0.003099s +FPS=27.13, 法向力=1406.5654, 切向力X=278.6549, 切向力Y=-520.3248 +FPS=27.29, 法向力=1474.0199, 切向力X=197.6519, 切向力Y=-640.8683 +FPS=26.32, 法向力=1198.0563, 切向力X=373.9411, 切向力Y=851.9882 +FPS=27.46, 法向力=1221.2136, 切向力X=396.8246, 切向力Y=842.9468 +FPS=26.56, 法向力=2922.2905, 切向力X=2561.9849, 切向力Y=-101.8352 +FPS=26.47, 法向力=1416.9740, 切向力X=-298.5217, 切向力Y=-802.4762 +FPS=28.94, 法向力=1420.2760, 切向力X=-307.2034, 切向力Y=-911.5837 +FPS=27.63, 法向力=1675.6292, 切向力X=251.9048, 切向力Y=-923.0216 +FPS=27.12, 法向力=1146.6067, 切向力X=833.0533, 切向力Y=-1104.5055 +FPS=27.76, 法向力=1153.7308, 切向力X=852.3846, 切向力Y=-1122.9236 +FPS=26.47, 法向力=1874.4722, 切向力X=527.8619, 切向力Y=-185.7285 +FPS=28.06, 法向力=1957.8477, 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切向力Y=-1542.2426 +FPS=32.39, 法向力=1209.0132, 切向力X=1833.6987, 切向力Y=-1104.2183 +FPS=34.61, 法向力=1246.9526, 切向力X=1909.6915, 切向力Y=-1101.5166 +FPS=32.71, 法向力=1321.4734, 切向力X=1498.1143, 切向力Y=-1869.5447 +FPS=31.37, 法向力=1388.8721, 切向力X=1384.5454, 切向力Y=-1913.4032 +FPS=34.30, 法向力=1453.8628, 切向力X=1716.9198, 切向力Y=-2032.6072 +FPS=34.66, 法向力=1452.0531, 切向力X=1762.9478, 切向力Y=-2104.1270 +stitch_feature_optimized: canvas out_w=582, out_h=567, x_min=-144.64, y_min=-83.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000406s, blend=0.002193s (9 tiles incl ref), finalize=0.000047s, total=0.002652s +FPS=31.62, 法向力=1207.7206, 切向力X=2031.4388, 切向力Y=-1588.7648 +FPS=32.58, 法向力=1217.6057, 切向力X=2018.0897, 切向力Y=-1681.8949 +FPS=31.85, 法向力=1155.9731, 切向力X=3038.2363, 切向力Y=-1521.1860 +FPS=33.03, 法向力=1238.0190, 切向力X=3040.1934, 切向力Y=-1441.9116 +FPS=31.23, 法向力=1443.5227, 切向力X=1842.9165, 切向力Y=-2449.1216 +FPS=32.80, 法向力=1543.3711, 切向力X=874.6893, 切向力Y=-1729.8335 +FPS=34.15, 法向力=1557.2356, 切向力X=806.0835, 切向力Y=-1685.1313 +FPS=32.89, 法向力=1572.7557, 切向力X=804.5082, 切向力Y=-1694.1096 +FPS=29.59, 法向力=1335.7949, 切向力X=733.5846, 切向力Y=-1986.8940 +FPS=30.16, 法向力=1374.9138, 切向力X=1943.9946, 切向力Y=-2042.3933 +FPS=34.73, 法向力=1394.8281, 切向力X=1972.6548, 切向力Y=-2059.6196 +FPS=34.71, 法向力=1404.6787, 切向力X=1967.1128, 切向力Y=-2054.8398 +FPS=31.46, 法向力=1709.3705, 切向力X=2467.4238, 切向力Y=-2326.0916 +FPS=31.08, 法向力=1357.8217, 切向力X=1710.7124, 切向力Y=-1996.9504 +FPS=35.44, 法向力=1390.8003, 切向力X=1793.7183, 切向力Y=-2114.1582 +FPS=33.63, 法向力=1487.7727, 切向力X=1427.4717, 切向力Y=-2045.6313 +FPS=32.78, 法向力=1481.8951, 切向力X=1423.9263, 切向力Y=-2068.3188 +FPS=32.96, 法向力=1478.1311, 切向力X=1352.4020, 切向力Y=-2032.2260 +FPS=33.60, 法向力=1168.6711, 切向力X=1459.2443, 切向力Y=-1848.8892 +FPS=33.49, 法向力=1140.8391, 切向力X=1471.4156, 切向力Y=-1898.5648 +FPS=34.56, 法向力=1424.9797, 切向力X=1660.7124, 切向力Y=-1409.0232 +FPS=11.13, 法向力=1139.5170, 切向力X=1825.7120, 切向力Y=-1229.6046 +FPS=19.66, 法向力=1665.6506, 切向力X=1210.9421, 切向力Y=-1359.5374 +FPS=24.19, 法向力=1287.8474, 切向力X=1454.4799, 切向力Y=-1921.4751 +FPS=31.27, 法向力=1358.4960, 切向力X=1621.0947, 切向力Y=-2101.1855 +FPS=33.29, 法向力=1264.8508, 切向力X=2376.9944, 切向力Y=-1998.4880 +FPS=31.13, 法向力=1364.9604, 切向力X=1707.0901, 切向力Y=-1814.8379 +FPS=34.29, 法向力=1391.0970, 切向力X=1740.9045, 切向力Y=-1759.7910 +FPS=31.58, 法向力=1305.8430, 切向力X=1682.0837, 切向力Y=-1653.1796 +FPS=34.33, 法向力=1353.0503, 切向力X=1678.5575, 切向力Y=-1632.2950 +stitch_feature_optimized: canvas out_w=582, out_h=567, x_min=-144.64, y_min=-83.05 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000675s, blend=0.002376s (9 tiles incl ref), finalize=0.000047s, total=0.003107s +FPS=29.78, 法向力=1886.4510, 切向力X=1047.1523, 切向力Y=-1243.2192 +FPS=15.61, 法向力=1329.6461, 切向力X=1964.5748, 切向力Y=-1638.2340 +FPS=24.35, 法向力=1616.7637, 切向力X=1850.2095, 切向力Y=-2358.8916 +FPS=25.20, 法向力=1710.7780, 切向力X=1878.5203, 切向力Y=-2440.2869 +FPS=24.43, 法向力=1941.3699, 切向力X=1750.4407, 切向力Y=-2802.4907 +FPS=19.56, 法向力=1170.7460, 切向力X=1806.8184, 切向力Y=-2147.1167 +FPS=21.89, 法向力=1194.3799, 切向力X=1746.2472, 切向力Y=-2061.4790 +FPS=24.11, 法向力=1504.3807, 切向力X=1849.8840, 切向力Y=-1385.1394 +FPS=19.77, 法向力=1083.7434, 切向力X=2070.0166, 切向力Y=-1353.3938 +FPS=20.08, 法向力=1507.7029, 切向力X=1565.6208, 切向力Y=-2366.3301 +FPS=33.99, 法向力=1577.0428, 切向力X=1452.0066, 切向力Y=-2342.9895 +FPS=20.33, 法向力=1422.1692, 切向力X=2034.9604, 切向力Y=-1649.4207 +FPS=21.07, 法向力=1513.3384, 切向力X=1838.4146, 切向力Y=-1854.9849 +FPS=20.03, 法向力=1447.0935, 切向力X=1786.5499, 切向力Y=-1759.6777 +FPS=24.57, 法向力=1364.8906, 切向力X=2825.1030, 切向力Y=-2629.5681 +FPS=19.39, 法向力=1414.2013, 切向力X=1801.0010, 切向力Y=-2545.8650 +FPS=24.03, 法向力=1190.9146, 切向力X=1472.1873, 切向力Y=-1774.4001 +FPS=19.30, 法向力=1276.8269, 切向力X=1519.7717, 切向力Y=-1886.4398 +FPS=32.11, 法向力=1323.9388, 切向力X=1509.7253, 切向力Y=-1835.3032 +FPS=31.87, 法向力=891.6233, 切向力X=1955.3618, 切向力Y=-1210.2085 +FPS=34.24, 法向力=906.9025, 切向力X=2030.2893, 切向力Y=-1151.4722 +FPS=33.41, 法向力=1310.0023, 切向力X=1735.1621, 切向力Y=-1128.4985 +FPS=34.94, 法向力=1347.1133, 切向力X=1767.5793, 切向力Y=-1186.1042 +FPS=33.06, 法向力=1979.5232, 切向力X=1055.1771, 切向力Y=-2455.9646 +FPS=34.68, 法向力=2045.9930, 切向力X=1106.8767, 切向力Y=-2543.0010 +FPS=31.53, 法向力=1358.4036, 切向力X=1874.4556, 切向力Y=-2009.5325 +FPS=34.40, 法向力=1342.8623, 切向力X=1897.7334, 切向力Y=-1877.3633 +FPS=30.90, 法向力=1269.2559, 切向力X=1627.3350, 切向力Y=-2639.2024 +FPS=33.64, 法向力=1271.0427, 切向力X=1686.2251, 切向力Y=-2762.8433 +FPS=14.05, 法向力=1561.9119, 切向力X=2392.8560, 切向力Y=-1491.8711 +stitch_feature_optimized: canvas out_w=582, out_h=567, x_min=-144.64, y_min=-83.05 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000449s, blend=0.002163s (9 tiles incl ref), finalize=0.000047s, total=0.002666s +FPS=23.39, 法向力=1255.2271, 切向力X=1858.6538, 切向力Y=-1486.3843 +FPS=16.84, 法向力=1480.8506, 切向力X=1905.7537, 切向力Y=-2759.1670 +FPS=32.77, 法向力=1490.2095, 切向力X=2188.3208, 切向力Y=-2494.0767 +FPS=20.03, 法向力=1118.5573, 切向力X=1545.6000, 切向力Y=-1397.8196 +FPS=16.37, 法向力=1513.3430, 切向力X=1611.0239, 切向力Y=-2151.0703 +FPS=25.67, 法向力=1514.2207, 切向力X=1499.0171, 切向力Y=-2230.6631 +FPS=24.33, 法向力=1723.8610, 切向力X=1716.2092, 切向力Y=-2372.7197 +FPS=16.48, 法向力=1750.8286, 切向力X=1697.8152, 切向力Y=-2670.2180 +FPS=16.45, 法向力=1493.1824, 切向力X=1556.8789, 切向力Y=-1922.2415 +FPS=21.91, 法向力=1453.5636, 切向力X=1156.6425, 切向力Y=-1662.0259 +FPS=35.41, 法向力=1493.4463, 切向力X=1165.6804, 切向力Y=-1649.8488 +FPS=33.88, 法向力=1422.2634, 切向力X=1513.5854, 切向力Y=-2093.9065 +FPS=33.40, 法向力=1426.4019, 切向力X=1533.2869, 切向力Y=-2084.6714 +FPS=32.64, 法向力=1430.6941, 切向力X=1528.1172, 切向力Y=-2069.1411 +FPS=35.43, 法向力=1389.6836, 切向力X=1811.4309, 切向力Y=-1568.9200 +FPS=32.61, 法向力=1843.5200, 切向力X=863.7366, 切向力Y=-2247.7026 +FPS=33.67, 法向力=1881.1355, 切向力X=808.6345, 切向力Y=-2302.1060 +FPS=30.95, 法向力=1710.2241, 切向力X=1582.0964, 切向力Y=-1856.5107 +FPS=32.74, 法向力=1697.4470, 切向力X=1545.2710, 切向力Y=-1871.2921 +FPS=34.01, 法向力=1372.6316, 切向力X=1262.5776, 切向力Y=-1895.1921 +FPS=34.46, 法向力=1430.0522, 切向力X=1253.5735, 切向力Y=-1950.0688 +FPS=33.17, 法向力=1450.0699, 切向力X=1555.1971, 切向力Y=-1779.5205 +FPS=35.01, 法向力=1418.7834, 切向力X=1517.3917, 切向力Y=-1812.4104 +FPS=31.43, 法向力=1186.6078, 切向力X=1647.3882, 切向力Y=-2567.1641 +FPS=35.17, 法向力=1055.4319, 切向力X=1701.6504, 切向力Y=-2497.0391 +FPS=32.94, 法向力=1155.1508, 切向力X=1656.1727, 切向力Y=-2064.7830 +FPS=34.85, 法向力=1156.2046, 切向力X=1716.6880, 切向力Y=-2110.8911 +FPS=30.11, 法向力=1382.9604, 切向力X=2996.2739, 切向力Y=-1783.9783 +FPS=31.82, 法向力=1419.1531, 切向力X=3065.8989, 切向力Y=-1757.1422 +FPS=31.08, 法向力=1677.1838, 切向力X=2292.7109, 切向力Y=-2320.7043 +stitch_feature_optimized: canvas out_w=582, out_h=567, x_min=-144.64, y_min=-83.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000407s, blend=0.002224s (9 tiles incl ref), finalize=0.000046s, total=0.002683s +FPS=12.78, 法向力=1227.3936, 切向力X=2690.8860, 切向力Y=-1860.0151 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260520_092727.log b/examples/logs/qt_viewer_20260520_092727.log new file mode 100644 index 0000000..35c9e19 --- /dev/null +++ b/examples/logs/qt_viewer_20260520_092727.log @@ -0,0 +1,7 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +启动失败: Failed to open video source. diff --git a/examples/logs/qt_viewer_20260520_092948.log b/examples/logs/qt_viewer_20260520_092948.log new file mode 100644 index 0000000..345c066 --- /dev/null +++ b/examples/logs/qt_viewer_20260520_092948.log @@ -0,0 +1,2 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 diff --git a/examples/logs/qt_viewer_20260520_093931.log b/examples/logs/qt_viewer_20260520_093931.log new file mode 100644 index 0000000..345c066 --- /dev/null +++ b/examples/logs/qt_viewer_20260520_093931.log @@ -0,0 +1,2 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 diff --git a/examples/logs/qt_viewer_20260520_094630.log b/examples/logs/qt_viewer_20260520_094630.log new file mode 100644 index 0000000..8407c72 --- /dev/null +++ b/examples/logs/qt_viewer_20260520_094630.log @@ -0,0 +1,283 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +启动失败: Failed to open video source. +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.53, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.48, 法向力=2213.7305, 切向力X=-831.4543, 切向力Y=116.7666 +FPS=24.15, 法向力=1352.1725, 切向力X=472.3304, 切向力Y=-536.2580 +FPS=27.80, 法向力=1385.1113, 切向力X=428.3097, 切向力Y=488.7756 +FPS=28.06, 法向力=1310.9050, 切向力X=508.8324, 切向力Y=555.9269 +FPS=27.72, 法向力=1504.5223, 切向力X=-85.2128, 切向力Y=-192.2782 +FPS=31.14, 法向力=1506.9099, 切向力X=-98.0718, 切向力Y=-267.8319 +FPS=29.69, 法向力=2387.9897, 切向力X=-673.9766, 切向力Y=-516.9131 +FPS=30.57, 法向力=2483.1816, 切向力X=-720.9071, 切向力Y=-634.8928 +FPS=27.43, 法向力=1200.3954, 切向力X=355.6664, 切向力Y=421.9294 +FPS=29.67, 法向力=1161.9071, 切向力X=440.2039, 切向力Y=5.5120 +FPS=30.39, 法向力=1132.3943, 切向力X=443.7112, 切向力Y=-13.7649 +FPS=29.86, 法向力=1343.8309, 切向力X=-406.3197, 切向力Y=374.9767 +FPS=32.94, 法向力=1338.9937, 切向力X=-322.5110, 切向力Y=386.2465 +FPS=31.71, 法向力=1564.3291, 切向力X=-271.3758, 切向力Y=-524.6351 +FPS=32.26, 法向力=1535.0125, 切向力X=-318.6829, 切向力Y=-374.3928 +FPS=29.90, 法向力=1824.4835, 切向力X=-157.5851, 切向力Y=128.5954 +FPS=31.25, 法向力=1883.1768, 切向力X=-193.6504, 切向力Y=200.8601 +FPS=29.85, 法向力=1021.5721, 切向力X=278.8154, 切向力Y=989.8488 +FPS=31.01, 法向力=1042.1090, 切向力X=279.7223, 切向力Y=964.2007 +FPS=29.52, 法向力=895.2626, 切向力X=799.8497, 切向力Y=90.4654 +FPS=23.87, 法向力=1423.5312, 切向力X=674.5703, 切向力Y=599.8961 +FPS=31.84, 法向力=1477.8154, 切向力X=618.4202, 切向力Y=527.4292 +FPS=31.51, 法向力=1611.7842, 切向力X=189.4609, 切向力Y=447.6461 +FPS=31.72, 法向力=1636.7334, 切向力X=161.5871, 切向力Y=327.7935 +FPS=30.97, 法向力=1111.9639, 切向力X=377.2953, 切向力Y=29.1565 +FPS=30.53, 法向力=1084.5281, 切向力X=412.8310, 切向力Y=193.9559 +FPS=29.58, 法向力=1259.0901, 切向力X=-231.9793, 切向力Y=753.0996 +stitch_feature_optimized: canvas out_w=469, out_h=416, x_min=-141.91, y_min=-81.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000239s, blend=0.002195s (9 tiles incl ref), finalize=0.000051s, total=0.002491s +FPS=32.91, 法向力=1250.9475, 切向力X=-293.4701, 切向力Y=783.0616 +FPS=31.48, 法向力=1219.7708, 切向力X=314.2374, 切向力Y=157.4835 +FPS=32.22, 法向力=1237.5950, 切向力X=393.5325, 切向力Y=171.4568 +FPS=30.46, 法向力=1632.2532, 切向力X=284.0461, 切向力Y=184.4255 +FPS=29.90, 法向力=1435.4365, 切向力X=562.1262, 切向力Y=-578.3645 +FPS=31.12, 法向力=1480.4895, 切向力X=510.3778, 切向力Y=-680.5348 +FPS=29.10, 法向力=1086.3494, 切向力X=456.5355, 切向力Y=-28.1651 +FPS=31.37, 法向力=1172.4097, 切向力X=237.0993, 切向力Y=18.6380 +FPS=29.13, 法向力=1820.7389, 切向力X=324.4179, 切向力Y=345.4702 +FPS=28.97, 法向力=1842.6687, 切向力X=342.2061, 切向力Y=326.9205 +FPS=29.65, 法向力=1580.4092, 切向力X=91.3862, 切向力Y=-445.3371 +FPS=31.06, 法向力=1540.3838, 切向力X=106.6948, 切向力Y=-394.1401 +FPS=30.58, 法向力=1401.4768, 切向力X=280.5891, 切向力Y=269.5541 +FPS=30.63, 法向力=1408.1353, 切向力X=262.1977, 切向力Y=346.0752 +FPS=31.48, 法向力=1663.0859, 切向力X=810.9562, 切向力Y=85.4282 +FPS=29.25, 法向力=1646.5908, 切向力X=935.0238, 切向力Y=25.2124 +FPS=29.27, 法向力=1025.8442, 切向力X=626.1591, 切向力Y=-170.7434 +FPS=25.48, 法向力=1463.7850, 切向力X=320.5577, 切向力Y=-1085.8682 +FPS=28.65, 法向力=1495.1494, 切向力X=273.0444, 切向力Y=-1046.7732 +FPS=29.99, 法向力=1565.0084, 切向力X=604.6854, 切向力Y=413.6804 +FPS=30.47, 法向力=2249.8474, 切向力X=633.8090, 切向力Y=447.5632 +FPS=30.12, 法向力=2278.7788, 切向力X=588.4166, 切向力Y=443.7141 +FPS=30.73, 法向力=1354.9403, 切向力X=705.6375, 切向力Y=108.6115 +FPS=31.40, 法向力=1376.6870, 切向力X=611.2162, 切向力Y=70.4096 +FPS=30.48, 法向力=1660.0551, 切向力X=644.7471, 切向力Y=-345.5451 +FPS=31.02, 法向力=1713.3291, 切向力X=621.5406, 切向力Y=-97.8601 +FPS=29.73, 法向力=1297.5759, 切向力X=454.7149, 切向力Y=-87.1552 +FPS=31.35, 法向力=1280.0862, 切向力X=467.9812, 切向力Y=-114.1216 +FPS=28.22, 法向力=2042.3179, 切向力X=808.8539, 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切向力Y=-1570.6387 +FPS=25.64, 法向力=1130.0383, 切向力X=46.1078, 切向力Y=-270.6610 +FPS=25.30, 法向力=1151.6326, 切向力X=10.2701, 切向力Y=-186.8624 +FPS=25.65, 法向力=1554.7035, 切向力X=514.6339, 切向力Y=-725.1754 +FPS=28.41, 法向力=1548.4341, 切向力X=570.8615, 切向力Y=-615.0480 +FPS=27.76, 法向力=908.3320, 切向力X=793.0337, 切向力Y=-368.2577 +FPS=27.92, 法向力=963.7712, 切向力X=865.3441, 切向力Y=-400.4410 +FPS=27.52, 法向力=1247.5166, 切向力X=860.4816, 切向力Y=-433.9655 +FPS=26.73, 法向力=1319.0897, 切向力X=652.6536, 切向力Y=-782.1179 +FPS=26.96, 法向力=1378.0895, 切向力X=590.1220, 切向力Y=-907.2590 +FPS=27.32, 法向力=1407.3383, 切向力X=1017.8302, 切向力Y=-1327.8243 +FPS=21.37, 法向力=2149.4399, 切向力X=-141.8813, 切向力Y=-889.2643 +FPS=28.77, 法向力=2161.4758, 切向力X=-186.7576, 切向力Y=-991.6332 +FPS=26.14, 法向力=1288.6807, 切向力X=712.0509, 切向力Y=-704.4818 +FPS=25.68, 法向力=1201.6223, 切向力X=836.0437, 切向力Y=-1460.9807 +FPS=27.86, 法向力=1156.9742, 切向力X=817.9822, 切向力Y=-1459.4658 +FPS=26.16, 法向力=1319.7437, 切向力X=468.3740, 切向力Y=-521.3862 +FPS=27.93, 法向力=1310.1798, 切向力X=406.3008, 切向力Y=-644.6112 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canvas out_w=469, out_h=416, x_min=-141.91, y_min=-81.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000236s, blend=0.002425s (9 tiles incl ref), finalize=0.000056s, total=0.002724s +FPS=22.94, 法向力=1738.5911, 切向力X=1383.8320, 切向力Y=-1055.4594 +FPS=23.61, 法向力=1331.7024, 切向力X=1018.1240, 切向力Y=-571.3345 +FPS=26.09, 法向力=1492.7432, 切向力X=932.1890, 切向力Y=-458.4791 +FPS=23.82, 法向力=1622.6483, 切向力X=901.8024, 切向力Y=-1101.5720 +FPS=24.94, 法向力=1082.7585, 切向力X=1421.5881, 切向力Y=-1509.0471 +FPS=26.44, 法向力=1107.9196, 切向力X=1425.1373, 切向力Y=-1444.3092 +FPS=26.67, 法向力=998.4110, 切向力X=1415.0671, 切向力Y=-580.6461 +FPS=26.66, 法向力=976.0671, 切向力X=1407.8914, 切向力Y=-587.7780 +FPS=27.07, 法向力=1475.2485, 切向力X=642.2131, 切向力Y=-1165.3364 +FPS=21.43, 法向力=1232.3171, 切向力X=1235.2515, 切向力Y=-1188.9426 +FPS=24.55, 法向力=1240.6605, 切向力X=1301.1288, 切向力Y=-811.2578 +FPS=26.37, 法向力=1196.7474, 切向力X=1236.7854, 切向力Y=-842.5191 +FPS=23.81, 法向力=1071.1379, 切向力X=1252.4607, 切向力Y=-922.4851 +FPS=25.17, 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+stitch_feature_optimized: canvas out_w=469, out_h=416, x_min=-141.91, y_min=-81.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000324s, blend=0.002248s (9 tiles incl ref), finalize=0.000050s, total=0.002629s +FPS=26.41, 法向力=1512.4058, 切向力X=315.7584, 切向力Y=-288.0522 +FPS=28.00, 法向力=1520.3804, 切向力X=218.6896, 切向力Y=-285.1451 +FPS=24.07, 法向力=1017.6942, 切向力X=1084.4805, 切向力Y=-1323.3542 +FPS=23.58, 法向力=1019.4160, 切向力X=1144.9669, 切向力Y=-1313.2848 +FPS=25.07, 法向力=1070.4648, 切向力X=1221.0421, 切向力Y=-1275.9596 +FPS=23.02, 法向力=1370.5924, 切向力X=566.3164, 切向力Y=-845.7949 +FPS=22.79, 法向力=1442.7651, 切向力X=1554.1388, 切向力Y=-824.0907 +FPS=26.20, 法向力=1407.8208, 切向力X=1599.8915, 切向力Y=-884.2894 +FPS=24.07, 法向力=1578.1875, 切向力X=856.2509, 切向力Y=-1626.1279 +FPS=26.88, 法向力=1236.8921, 切向力X=817.1431, 切向力Y=-667.3502 +FPS=26.19, 法向力=1258.8914, 切向力X=847.5715, 切向力Y=-701.6821 +FPS=26.97, 法向力=1493.5027, 切向力X=866.5480, 切向力Y=-1350.6895 +FPS=25.89, 法向力=1761.4800, 切向力X=538.3744, 切向力Y=-1482.8438 +FPS=23.07, 法向力=1824.9006, 切向力X=523.4816, 切向力Y=-1356.0872 +FPS=25.20, 法向力=1056.4286, 切向力X=1313.6130, 切向力Y=-1153.7074 +FPS=26.16, 法向力=1032.0323, 切向力X=1411.8738, 切向力Y=-1216.4722 +FPS=27.15, 法向力=1171.9570, 切向力X=1061.2703, 切向力Y=-929.0312 +FPS=23.59, 法向力=1239.7258, 切向力X=1442.4045, 切向力Y=-898.9902 +FPS=26.61, 法向力=1206.0400, 切向力X=1353.3654, 切向力Y=-1206.2239 +FPS=27.00, 法向力=1189.6343, 切向力X=1380.4404, 切向力Y=-1298.1243 +FPS=25.41, 法向力=1215.6555, 切向力X=1214.5344, 切向力Y=-1407.6897 +FPS=27.42, 法向力=1185.2683, 切向力X=1267.7083, 切向力Y=-1308.0270 +FPS=25.13, 法向力=1670.1556, 切向力X=1282.4711, 切向力Y=-1376.9255 +FPS=24.59, 法向力=1337.0442, 切向力X=612.4171, 切向力Y=-191.3037 +FPS=26.63, 法向力=1336.5728, 切向力X=623.1633, 切向力Y=-65.7567 +FPS=25.97, 法向力=1586.4735, 切向力X=916.8842, 切向力Y=-771.8341 +FPS=24.74, 法向力=1165.1316, 切向力X=218.4576, 切向力Y=-1802.8108 +FPS=24.75, 法向力=1145.4929, 切向力X=207.1671, 切向力Y=-1842.5125 +FPS=25.12, 法向力=1294.2201, 切向力X=1462.4531, 切向力Y=-1350.6853 +FPS=25.20, 法向力=1329.1221, 切向力X=966.9092, 切向力Y=-1464.0518 +stitch_feature_optimized: canvas out_w=469, out_h=416, x_min=-141.91, y_min=-81.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000252s, blend=0.002321s (9 tiles incl ref), finalize=0.000059s, total=0.002638s +FPS=27.02, 法向力=1339.1987, 切向力X=858.2240, 切向力Y=-1553.5482 +FPS=25.47, 法向力=1569.5408, 切向力X=657.9138, 切向力Y=-1078.0488 +FPS=20.91, 法向力=1267.8187, 切向力X=413.2264, 切向力Y=-1491.8169 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260520_094711.log b/examples/logs/qt_viewer_20260520_094711.log new file mode 100644 index 0000000..89065c1 --- /dev/null +++ b/examples/logs/qt_viewer_20260520_094711.log @@ -0,0 +1,828 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.56, 法向力=1828.1770, 切向力X=-785.6575, 切向力Y=-871.3443 +FPS=24.33, 法向力=1807.3547, 切向力X=-700.9369, 切向力Y=-848.9130 +FPS=23.68, 法向力=1945.7194, 切向力X=-1362.3970, 切向力Y=367.3048 +FPS=24.86, 法向力=1755.9208, 切向力X=-1091.1526, 切向力Y=-712.8917 +FPS=26.25, 法向力=2000.2083, 切向力X=-851.0364, 切向力Y=-802.6946 +FPS=29.17, 法向力=2041.9142, 切向力X=-829.7465, 切向力Y=-843.7858 +FPS=29.44, 法向力=1881.5710, 切向力X=-670.9060, 切向力Y=-957.9948 +FPS=29.86, 法向力=1870.4297, 切向力X=-625.2527, 切向力Y=-1118.6056 +FPS=28.07, 法向力=1446.2812, 切向力X=-612.9667, 切向力Y=-499.3070 +FPS=28.43, 法向力=1463.3025, 切向力X=-608.4498, 切向力Y=-388.4221 +FPS=29.21, 法向力=1886.6147, 切向力X=-1443.3165, 切向力Y=-24.7884 +FPS=27.83, 法向力=1766.2267, 切向力X=-1089.5704, 切向力Y=-371.5650 +FPS=30.00, 法向力=1766.9531, 切向力X=-1123.5204, 切向力Y=-394.4202 +FPS=27.75, 法向力=1300.5217, 切向力X=-897.0081, 切向力Y=-702.9598 +FPS=29.25, 法向力=1251.9482, 切向力X=-692.3052, 切向力Y=-805.0452 +FPS=27.83, 法向力=1587.8490, 切向力X=-1353.8418, 切向力Y=-145.9509 +FPS=28.58, 法向力=1541.3163, 切向力X=-1320.2043, 切向力Y=4.9170 +FPS=29.63, 法向力=1578.4473, 切向力X=-1370.0264, 切向力Y=119.0943 +FPS=28.45, 法向力=1569.1561, 切向力X=-575.7095, 切向力Y=-465.6427 +FPS=30.30, 法向力=1525.1293, 切向力X=-498.6408, 切向力Y=-560.1928 +FPS=25.63, 法向力=1574.7341, 切向力X=-750.3458, 切向力Y=169.6376 +FPS=28.81, 法向力=1585.4419, 切向力X=-783.3746, 切向力Y=187.3873 +FPS=28.34, 法向力=1625.9878, 切向力X=-880.8071, 切向力Y=-488.1566 +FPS=27.65, 法向力=1613.4087, 切向力X=-664.7173, 切向力Y=-393.0927 +FPS=30.36, 法向力=1668.5468, 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+FPS=34.72, 法向力=2338.0547, 切向力X=622.1497, 切向力Y=-1910.8984 +FPS=33.81, 法向力=3161.8232, 切向力X=295.7058, 切向力Y=-1622.0844 +FPS=35.79, 法向力=3158.5471, 切向力X=375.6010, 切向力Y=-1589.4678 +FPS=35.19, 法向力=3458.1785, 切向力X=1537.9458, 切向力Y=-2062.5459 +FPS=31.22, 法向力=3598.1921, 切向力X=1450.4752, 切向力Y=-2115.7056 +FPS=26.76, 法向力=1405.7151, 切向力X=408.6239, 切向力Y=-1425.1882 +FPS=31.50, 法向力=1458.9734, 切向力X=410.4063, 切向力Y=-1411.5220 +FPS=32.13, 法向力=2157.8491, 切向力X=84.8818, 切向力Y=-2034.8695 +FPS=32.97, 法向力=2231.4326, 切向力X=14.2964, 切向力Y=-1976.8909 +FPS=34.10, 法向力=1954.7357, 切向力X=-1014.6609, 切向力Y=-2680.8867 +FPS=34.35, 法向力=2014.2512, 切向力X=-1051.3303, 切向力Y=-2795.7456 +FPS=34.54, 法向力=3158.1294, 切向力X=-1971.7896, 切向力Y=-3044.5881 +FPS=34.60, 法向力=3126.2866, 切向力X=-1912.6284, 切向力Y=-3003.6636 +FPS=32.43, 法向力=1856.2908, 切向力X=1060.2671, 切向力Y=-909.5603 +FPS=34.26, 法向力=1967.3538, 切向力X=973.9484, 切向力Y=-779.2227 +FPS=30.80, 法向力=3668.9082, 切向力X=1384.3872, 切向力Y=-1026.6208 +FPS=34.55, 法向力=3755.7458, 切向力X=1477.1716, 切向力Y=-938.2615 +FPS=32.94, 法向力=1650.4978, 切向力X=74.2725, 切向力Y=-1230.2202 +FPS=34.98, 法向力=1652.3833, 切向力X=99.2284, 切向力Y=-1262.4807 +FPS=33.43, 法向力=2522.4600, 切向力X=1891.9548, 切向力Y=-1540.1848 +FPS=34.78, 法向力=2572.3784, 切向力X=2004.9121, 切向力Y=-1490.8071 +FPS=32.08, 法向力=3132.7078, 切向力X=-2049.4744, 切向力Y=-1187.7965 +FPS=34.66, 法向力=3302.7454, 切向力X=-2121.8020, 切向力Y=-1176.6836 +stitch_feature_optimized: canvas out_w=537, out_h=421, x_min=-133.02, y_min=-84.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000325s, blend=0.002089s (9 tiles incl ref), finalize=0.000055s, total=0.002475s +FPS=30.71, 法向力=2824.3376, 切向力X=-834.9001, 切向力Y=-1973.6854 +FPS=33.44, 法向力=2862.5083, 切向力X=-810.2040, 切向力Y=-1996.0884 +FPS=33.70, 法向力=2122.3525, 切向力X=733.1686, 切向力Y=-1766.9258 +FPS=33.36, 法向力=2073.1055, 切向力X=681.7944, 切向力Y=-1816.8923 +FPS=33.69, 法向力=2364.2009, 切向力X=-165.5998, 切向力Y=-1296.3094 +FPS=35.02, 法向力=2374.2529, 切向力X=-219.5448, 切向力Y=-1323.1741 +FPS=32.02, 法向力=2476.2656, 切向力X=837.9600, 切向力Y=-1805.7805 +FPS=34.73, 法向力=2428.4761, 切向力X=940.1254, 切向力Y=-1809.2004 +FPS=32.91, 法向力=2072.1060, 切向力X=-533.3241, 切向力Y=-1411.3802 +FPS=12.51, 法向力=2657.6628, 切向力X=-639.1046, 切向力Y=-2198.4465 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260520_094853.log b/examples/logs/qt_viewer_20260520_094853.log new file mode 100644 index 0000000..5f9b66f --- /dev/null +++ b/examples/logs/qt_viewer_20260520_094853.log @@ -0,0 +1,4378 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.57, 法向力=1231.1492, 切向力X=-707.9291, 切向力Y=212.3868 +FPS=22.74, 法向力=1314.2478, 切向力X=-728.9180, 切向力Y=258.9423 +FPS=24.18, 法向力=1337.9490, 切向力X=177.8381, 切向力Y=181.3845 +FPS=26.84, 法向力=1585.0554, 切向力X=-698.3687, 切向力Y=-137.2199 +FPS=24.51, 法向力=1173.5237, 切向力X=-849.2720, 切向力Y=60.9972 +FPS=26.24, 法向力=1126.0836, 切向力X=-868.3427, 切向力Y=129.9677 +FPS=26.88, 法向力=1548.7856, 切向力X=-1316.1218, 切向力Y=-268.6992 +FPS=27.39, 法向力=1564.0901, 切向力X=-1412.8960, 切向力Y=-293.2528 +FPS=26.58, 法向力=1408.7039, 切向力X=-593.5147, 切向力Y=447.5714 +FPS=25.82, 法向力=1789.4207, 切向力X=-1612.7916, 切向力Y=474.2899 +FPS=27.66, 法向力=1853.8608, 切向力X=-1746.2871, 切向力Y=473.4360 +FPS=24.12, 法向力=1266.2920, 切向力X=-1378.1532, 切向力Y=47.7978 +FPS=24.48, 法向力=1292.9170, 切向力X=-189.4124, 切向力Y=-251.6770 +FPS=25.97, 法向力=1284.3148, 切向力X=-210.5872, 切向力Y=-220.0520 +FPS=27.61, 法向力=1340.2437, 切向力X=-736.5673, 切向力Y=481.7835 +FPS=26.17, 法向力=1658.6802, 切向力X=-1219.4365, 切向力Y=-175.6703 +FPS=28.48, 法向力=1672.2491, 切向力X=-1205.0717, 切向力Y=-147.3347 +FPS=27.57, 法向力=1453.0056, 切向力X=341.3426, 切向力Y=92.0765 +FPS=28.36, 法向力=1461.0553, 切向力X=437.2757, 切向力Y=101.4333 +FPS=27.44, 法向力=1455.7623, 切向力X=-965.5809, 切向力Y=396.4055 +FPS=27.36, 法向力=1361.4813, 切向力X=-838.9353, 切向力Y=786.2247 +FPS=28.81, 法向力=1440.5101, 切向力X=-845.2801, 切向力Y=849.8527 +FPS=28.24, 法向力=1513.4766, 切向力X=-305.2181, 切向力Y=767.9929 +FPS=29.57, 法向力=1426.0510, 切向力X=-254.7462, 切向力Y=586.2438 +FPS=28.71, 法向力=1380.5017, 切向力X=-291.5704, 切向力Y=280.7581 +FPS=28.40, 法向力=1361.7971, 切向力X=-346.0316, 切向力Y=275.5596 +FPS=29.66, 法向力=1676.9658, 切向力X=-423.4792, 切向力Y=333.4263 +stitch_feature_optimized: canvas out_w=545, out_h=419, x_min=-142.29, y_min=-82.87 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000273s, blend=0.002406s (9 tiles incl ref), finalize=0.000055s, total=0.002741s +FPS=27.62, 法向力=1250.2197, 切向力X=-639.5981, 切向力Y=-172.5197 +FPS=24.51, 法向力=1251.3987, 切向力X=-594.1102, 切向力Y=-212.8070 +FPS=26.95, 法向力=1627.4075, 切向力X=-758.4324, 切向力Y=-63.9899 +FPS=27.35, 法向力=1203.1130, 切向力X=-481.8888, 切向力Y=-331.8053 +FPS=29.15, 法向力=1154.1683, 切向力X=-478.5172, 切向力Y=-366.6011 +FPS=26.61, 法向力=1465.8953, 切向力X=-575.7113, 切向力Y=486.4423 +FPS=28.92, 法向力=1501.8876, 切向力X=-558.8873, 切向力Y=563.7229 +FPS=28.15, 法向力=1601.6558, 切向力X=-82.4473, 切向力Y=549.2173 +FPS=26.13, 法向力=1586.6576, 切向力X=-273.5213, 切向力Y=-767.6433 +FPS=27.99, 法向力=1610.6342, 切向力X=-232.0671, 切向力Y=-866.1633 +FPS=24.90, 法向力=1820.9741, 切向力X=-1587.2969, 切向力Y=10.0570 +FPS=25.34, 法向力=1775.5636, 切向力X=-1527.3691, 切向力Y=-80.8294 +FPS=26.13, 法向力=1325.5642, 切向力X=-475.8200, 切向力Y=432.8549 +FPS=24.96, 法向力=1349.9978, 切向力X=-400.2100, 切向力Y=-111.5916 +FPS=26.02, 法向力=1265.4014, 切向力X=-274.4089, 切向力Y=107.6068 +FPS=25.41, 法向力=1326.9390, 切向力X=-350.1125, 切向力Y=172.7429 +FPS=25.63, 法向力=1677.7111, 切向力X=-976.1406, 切向力Y=132.3795 +FPS=25.90, 法向力=1624.9845, 切向力X=-952.9480, 切向力Y=131.8022 +FPS=26.67, 法向力=1554.3431, 切向力X=-853.4364, 切向力Y=1115.7029 +FPS=26.34, 法向力=1409.6521, 切向力X=-829.9459, 切向力Y=47.7518 +FPS=26.68, 法向力=1390.2814, 切向力X=-773.9141, 切向力Y=-21.5730 +FPS=28.13, 法向力=1379.4332, 切向力X=-455.5691, 切向力Y=233.0484 +FPS=27.06, 法向力=1355.3545, 切向力X=-956.6459, 切向力Y=-1485.5638 +FPS=25.70, 法向力=1386.4336, 切向力X=-1096.6426, 切向力Y=-1515.8081 +FPS=24.56, 法向力=1720.7686, 切向力X=-1339.0011, 切向力Y=-104.6190 +FPS=28.56, 法向力=1731.0144, 切向力X=-1401.8438, 切向力Y=-61.4355 +FPS=24.66, 法向力=1538.8157, 切向力X=-639.5329, 切向力Y=-29.0659 +FPS=25.72, 法向力=1270.3962, 切向力X=-548.9099, 切向力Y=251.3591 +FPS=25.84, 法向力=1242.3958, 切向力X=-590.4425, 切向力Y=175.8942 +FPS=28.06, 法向力=1172.1769, 切向力X=-125.5711, 切向力Y=-590.5886 +stitch_feature_optimized: canvas out_w=545, out_h=419, x_min=-142.29, y_min=-82.87 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000267s, blend=0.002162s (9 tiles incl ref), finalize=0.000055s, total=0.002491s +FPS=26.11, 法向力=1252.6550, 切向力X=-103.4327, 切向力Y=218.6721 +FPS=26.68, 法向力=1277.7203, 切向力X=-136.9331, 切向力Y=281.1144 +FPS=24.53, 法向力=1462.3730, 切向力X=164.9472, 切向力Y=-595.7393 +FPS=24.70, 法向力=1578.4114, 切向力X=-632.9244, 切向力Y=-891.2638 +FPS=27.94, 法向力=1543.2405, 切向力X=-469.8086, 切向力Y=-1005.6100 +FPS=27.07, 法向力=1199.0947, 切向力X=-695.9955, 切向力Y=-39.4492 +FPS=28.25, 法向力=1211.7957, 切向力X=-669.6870, 切向力Y=-55.2691 +FPS=26.08, 法向力=1182.1638, 切向力X=-1022.8317, 切向力Y=-155.4201 +FPS=27.31, 法向力=1381.1838, 切向力X=-47.6519, 切向力Y=-147.8466 +FPS=23.39, 法向力=1414.8650, 切向力X=-96.3300, 切向力Y=-160.8003 +FPS=29.26, 法向力=1642.5906, 切向力X=412.5929, 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x_min=-142.29, y_min=-82.87 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000005s (hit), reset=0.000442s, blend=0.002614s (9 tiles incl ref), finalize=0.000067s, total=0.003132s +FPS=28.94, 法向力=1859.9391, 切向力X=774.0309, 切向力Y=-1613.7217 +FPS=26.56, 法向力=2089.2114, 切向力X=-43.2221, 切向力Y=-1130.8990 +FPS=30.62, 法向力=2079.6243, 切向力X=-59.6839, 切向力Y=-1117.1743 +FPS=30.04, 法向力=1484.8503, 切向力X=296.3089, 切向力Y=-1330.7605 +FPS=30.37, 法向力=2221.7808, 切向力X=483.9171, 切向力Y=-1212.0886 +FPS=29.60, 法向力=2347.4734, 切向力X=312.8439, 切向力Y=-1219.7451 +FPS=28.10, 法向力=1628.2988, 切向力X=1340.4756, 切向力Y=-1390.8026 +FPS=28.32, 法向力=1666.4705, 切向力X=1307.8196, 切向力Y=-1351.4106 +FPS=27.41, 法向力=1396.3046, 切向力X=830.0305, 切向力Y=-1536.0328 +FPS=29.39, 法向力=1457.6733, 切向力X=765.6859, 切向力Y=-1531.6130 +FPS=27.51, 法向力=1594.7629, 切向力X=1767.3655, 切向力Y=-1671.7190 +FPS=26.49, 法向力=1495.4417, 切向力X=-134.9738, 切向力Y=-1051.9716 +FPS=28.39, 法向力=1531.3926, 切向力X=-90.7052, 切向力Y=-1262.5881 +FPS=26.58, 法向力=1840.0371, 切向力X=165.3929, 切向力Y=-1242.9376 +FPS=28.69, 法向力=1842.7119, 切向力X=200.1684, 切向力Y=-1150.9236 +FPS=27.67, 法向力=2019.3727, 切向力X=409.7729, 切向力Y=-2331.6377 +FPS=28.09, 法向力=2033.5823, 切向力X=494.7332, 切向力Y=-2303.2739 +FPS=27.42, 法向力=1268.9865, 切向力X=749.9535, 切向力Y=-1712.2278 +FPS=27.70, 法向力=1525.0884, 切向力X=1360.2782, 切向力Y=-1685.5920 +FPS=28.10, 法向力=1369.2319, 切向力X=1476.2561, 切向力Y=-1471.5447 +FPS=29.64, 法向力=2029.4884, 切向力X=144.7961, 切向力Y=-890.1793 +FPS=27.30, 法向力=1992.5087, 切向力X=138.4038, 切向力Y=-892.5391 +FPS=28.52, 法向力=1925.0416, 切向力X=141.0372, 切向力Y=-1589.1379 +FPS=28.05, 法向力=1692.0723, 切向力X=55.1791, 切向力Y=-2333.7974 +FPS=28.84, 法向力=1630.5359, 切向力X=93.8947, 切向力Y=-2331.8589 +FPS=26.67, 法向力=1420.1077, 切向力X=1406.3940, 切向力Y=-1216.3584 +FPS=29.02, 法向力=1392.3824, 切向力X=588.1572, 切向力Y=-1717.1254 +FPS=28.08, 法向力=1420.0100, 切向力X=545.2219, 切向力Y=-1665.4885 +FPS=25.49, 法向力=1480.9094, 切向力X=1166.5645, 切向力Y=-1531.8405 +FPS=26.30, 法向力=1433.4701, 切向力X=1185.9897, 切向力Y=-1562.3079 +stitch_feature_optimized: canvas out_w=545, out_h=419, x_min=-142.29, y_min=-82.87 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000384s, blend=0.002447s (9 tiles incl ref), finalize=0.000099s, total=0.002938s +FPS=24.48, 法向力=1699.2885, 切向力X=791.2545, 切向力Y=-793.5234 +FPS=24.56, 法向力=1918.6465, 切向力X=677.1990, 切向力Y=-1537.3743 +FPS=26.50, 法向力=1856.2450, 切向力X=643.7941, 切向力Y=-1629.2251 +FPS=27.70, 法向力=1179.9598, 切向力X=1136.1782, 切向力Y=-1381.2546 +FPS=26.95, 法向力=1578.9534, 切向力X=1391.1467, 切向力Y=-912.8605 +FPS=27.81, 法向力=1627.9481, 切向力X=1587.3335, 切向力Y=-891.2347 +FPS=27.66, 法向力=1246.2352, 切向力X=1281.3387, 切向力Y=-1172.8047 +FPS=26.63, 法向力=1250.0259, 切向力X=1345.7765, 切向力Y=-1239.3440 +FPS=27.02, 法向力=2046.5354, 切向力X=275.7148, 切向力Y=-904.1727 +FPS=27.35, 法向力=2029.5392, 切向力X=689.7333, 切向力Y=-700.6884 +FPS=28.45, 法向力=1925.0769, 切向力X=812.3231, 切向力Y=-706.6951 +FPS=27.83, 法向力=1630.4021, 切向力X=575.5098, 切向力Y=-1145.3490 +FPS=25.57, 法向力=1602.4506, 切向力X=623.1864, 切向力Y=-1247.8132 +FPS=29.16, 法向力=1964.8862, 切向力X=919.1649, 切向力Y=-974.8885 +FPS=27.32, 法向力=1584.6798, 切向力X=707.5106, 切向力Y=-1578.5508 +FPS=30.51, 法向力=1581.8446, 切向力X=663.7186, 切向力Y=-1557.1173 +FPS=26.85, 法向力=1582.8037, 切向力X=506.8788, 切向力Y=-1145.9841 +FPS=29.30, 法向力=1602.3181, 切向力X=476.7906, 切向力Y=-1043.1482 +FPS=27.89, 法向力=1633.2064, 切向力X=369.4037, 切向力Y=-1761.3167 +FPS=29.95, 法向力=1371.5616, 切向力X=760.2974, 切向力Y=-1103.7277 +FPS=27.63, 法向力=1351.6343, 切向力X=850.4625, 切向力Y=-1202.3514 +FPS=28.36, 法向力=1479.0132, 切向力X=1062.6219, 切向力Y=-1398.9301 +FPS=29.66, 法向力=1473.8607, 切向力X=1166.7900, 切向力Y=-1353.3201 +FPS=27.11, 法向力=1477.1506, 切向力X=868.1754, 切向力Y=-28.1473 +FPS=18.64, 法向力=1625.6313, 切向力X=655.7838, 切向力Y=-1194.4648 +FPS=24.18, 法向力=1582.1323, 切向力X=762.2919, 切向力Y=-1269.8689 +FPS=24.51, 法向力=1731.7775, 切向力X=596.5486, 切向力Y=-1133.1891 +FPS=25.26, 法向力=1564.1760, 切向力X=982.7653, 切向力Y=-1385.8394 +FPS=26.49, 法向力=1660.7810, 切向力X=1056.7211, 切向力Y=-1336.6482 +FPS=27.99, 法向力=1815.6398, 切向力X=1434.3698, 切向力Y=-1912.3635 +stitch_feature_optimized: canvas out_w=545, out_h=419, x_min=-142.29, y_min=-82.87 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000264s, blend=0.002159s (9 tiles incl ref), finalize=0.000064s, total=0.002493s +FPS=25.57, 法向力=1877.3262, 切向力X=572.2856, 切向力Y=-1699.2906 +FPS=28.03, 法向力=1874.8119, 切向力X=563.3379, 切向力Y=-1655.7344 +FPS=26.94, 法向力=1688.5111, 切向力X=733.7419, 切向力Y=-1570.5288 +FPS=24.76, 法向力=1850.1090, 切向力X=1064.8386, 切向力Y=-1109.7556 +FPS=28.63, 法向力=1837.9283, 切向力X=1086.7635, 切向力Y=-1085.8297 +FPS=22.28, 法向力=1939.0364, 切向力X=293.1880, 切向力Y=-1836.3870 +FPS=26.34, 法向力=1673.2775, 切向力X=574.9993, 切向力Y=-1222.9778 +FPS=27.79, 法向力=1768.0487, 切向力X=702.3082, 切向力Y=-1194.9534 +FPS=28.56, 法向力=1504.0750, 切向力X=448.4930, 切向力Y=-1573.1848 +FPS=26.77, 法向力=1476.3120, 切向力X=551.7473, 切向力Y=-1561.9114 +FPS=23.79, 法向力=1614.9307, 切向力X=1132.2502, 切向力Y=-872.9356 +FPS=26.27, 法向力=1718.8754, 切向力X=1041.5342, 切向力Y=-1739.3618 +FPS=28.04, 法向力=1693.5721, 切向力X=998.0089, 切向力Y=-1823.0425 +FPS=26.77, 法向力=1852.1708, 切向力X=478.6792, 切向力Y=-1379.6364 +FPS=26.14, 法向力=1855.3297, 切向力X=483.1180, 切向力Y=-1352.4675 +FPS=27.76, 法向力=1809.9619, 切向力X=660.0571, 切向力Y=-2257.1304 +FPS=24.95, 法向力=1765.4712, 切向力X=175.2688, 切向力Y=-1737.9257 +FPS=27.04, 法向力=1690.6960, 切向力X=229.1093, 切向力Y=-1795.2889 +FPS=28.44, 法向力=1607.0123, 切向力X=603.9512, 切向力Y=-1131.6676 +FPS=27.80, 法向力=1458.9995, 切向力X=485.9207, 切向力Y=-1144.3308 +FPS=25.36, 法向力=1434.3127, 切向力X=441.9115, 切向力Y=-1183.8508 +FPS=26.90, 法向力=1408.6667, 切向力X=598.7844, 切向力Y=-597.7768 +FPS=27.42, 法向力=2031.5045, 切向力X=1217.5125, 切向力Y=-1902.1946 +FPS=28.29, 法向力=1993.7883, 切向力X=1311.7207, 切向力Y=-1790.9333 +FPS=24.41, 法向力=1275.7898, 切向力X=1582.3190, 切向力Y=-1519.3862 +FPS=23.78, 法向力=1273.8401, 切向力X=1523.9026, 切向力Y=-1362.4126 +Sensor disconnected. +⏸ 已暂停 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.54, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=48.83, 法向力=1532.6925, 切向力X=-1461.2122, 切向力Y=-161.5265 +FPS=33.45, 法向力=1593.4434, 切向力X=-1473.9893, 切向力Y=-212.2158 +FPS=31.04, 法向力=1432.5818, 切向力X=-478.8539, 切向力Y=508.7509 +FPS=34.65, 法向力=1495.7357, 切向力X=-407.4648, 切向力Y=582.3813 +FPS=32.08, 法向力=1183.2432, 切向力X=-358.4644, 切向力Y=-278.2965 +FPS=33.79, 法向力=1173.0107, 切向力X=-379.7285, 切向力Y=-303.2929 +FPS=30.91, 法向力=1441.6565, 切向力X=-102.7388, 切向力Y=-312.1484 +FPS=29.92, 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+FPS=18.76, 法向力=1535.2363, 切向力X=702.1750, 切向力Y=-1509.2333 +FPS=17.41, 法向力=1157.8594, 切向力X=960.5807, 切向力Y=-1511.1521 +FPS=18.73, 法向力=1286.6086, 切向力X=796.0073, 切向力Y=82.0790 +FPS=20.51, 法向力=1267.1235, 切向力X=763.9775, 切向力Y=196.7827 +FPS=18.29, 法向力=1248.6748, 切向力X=761.4197, 切向力Y=205.4388 +FPS=18.96, 法向力=1916.1882, 切向力X=1526.5177, 切向力Y=-1514.7272 +FPS=18.47, 法向力=1341.3148, 切向力X=1356.5457, 切向力Y=-1195.5293 +FPS=18.77, 法向力=1666.6353, 切向力X=1003.1226, 切向力Y=-30.7442 +FPS=19.44, 法向力=1766.2908, 切向力X=922.9171, 切向力Y=16.7613 +FPS=18.74, 法向力=1401.0505, 切向力X=1630.4740, 切向力Y=-633.6674 +FPS=18.55, 法向力=1651.5958, 切向力X=1182.4695, 切向力Y=-1438.3702 +FPS=17.17, 法向力=1792.0618, 切向力X=1195.4188, 切向力Y=-1501.4968 +FPS=17.49, 法向力=1765.5232, 切向力X=1167.8750, 切向力Y=-1462.4456 +FPS=18.55, 法向力=964.6396, 切向力X=1162.4508, 切向力Y=-566.1023 +FPS=17.49, 法向力=960.9885, 切向力X=1092.9940, 切向力Y=-544.2628 +FPS=19.02, 法向力=1886.9028, 切向力X=1126.9998, 切向力Y=-2110.5496 +FPS=18.94, 法向力=1989.6399, 切向力X=1178.7037, 切向力Y=-2294.6636 +FPS=18.36, 法向力=1155.5200, 切向力X=1340.0973, 切向力Y=-1307.3307 +FPS=18.26, 法向力=1680.8125, 切向力X=1801.4225, 切向力Y=-1049.9272 +FPS=17.84, 法向力=1496.9514, 切向力X=1454.5828, 切向力Y=-1561.0659 +stitch_feature_optimized: canvas out_w=470, out_h=418, x_min=-142.34, y_min=-83.33 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000007s (hit), reset=0.000468s, blend=0.004524s (9 tiles incl ref), finalize=0.000158s, total=0.005162s +FPS=17.08, 法向力=1511.3245, 切向力X=1394.9104, 切向力Y=-1565.3713 +FPS=17.85, 法向力=1483.5674, 切向力X=1336.3379, 切向力Y=-1106.9094 +FPS=17.57, 法向力=1792.6799, 切向力X=1475.2867, 切向力Y=-1255.6895 +FPS=18.55, 法向力=1678.9175, 切向力X=838.7579, 切向力Y=-940.8068 +FPS=18.64, 法向力=1735.2844, 切向力X=832.2397, 切向力Y=-885.9619 +FPS=18.84, 法向力=1742.6165, 切向力X=821.1279, 切向力Y=-873.0940 +FPS=17.27, 法向力=1775.1509, 切向力X=1108.9236, 切向力Y=-1417.7742 +FPS=17.03, 法向力=1774.5358, 切向力X=875.3383, 切向力Y=-961.5931 +FPS=17.12, 法向力=1619.0720, 切向力X=780.4746, 切向力Y=-847.0959 +FPS=18.39, 法向力=1618.7531, 切向力X=798.4330, 切向力Y=-870.8599 +FPS=16.06, 法向力=1748.7897, 切向力X=-67.1891, 切向力Y=-677.5476 +FPS=18.54, 法向力=1617.4625, 切向力X=1267.1224, 切向力Y=-1337.8293 +FPS=18.17, 法向力=1584.6771, 切向力X=1382.2781, 切向力Y=-1207.6598 +FPS=17.99, 法向力=1906.1234, 切向力X=626.5140, 切向力Y=-1860.3652 +FPS=18.75, 法向力=1786.2700, 切向力X=806.4196, 切向力Y=-476.0528 +FPS=17.95, 法向力=1600.4502, 切向力X=1649.5509, 切向力Y=-938.2895 +FPS=18.64, 法向力=1592.2336, 切向力X=1626.6123, 切向力Y=-1011.5253 +FPS=17.91, 法向力=1585.6167, 切向力X=1634.0529, 切向力Y=-1044.4547 +FPS=19.41, 法向力=1444.5958, 切向力X=547.2513, 切向力Y=-759.4745 +FPS=18.12, 法向力=1274.8521, 切向力X=773.3216, 切向力Y=-597.2104 +FPS=19.25, 法向力=1031.6990, 切向力X=1083.7283, 切向力Y=-709.6218 +FPS=17.23, 法向力=1043.8413, 切向力X=1159.5588, 切向力Y=-729.9924 +FPS=18.26, 法向力=1307.0417, 切向力X=690.2121, 切向力Y=-1797.3958 +FPS=17.65, 法向力=988.5184, 切向力X=493.3868, 切向力Y=-1347.7373 +FPS=17.84, 法向力=1055.6252, 切向力X=1470.3113, 切向力Y=-1031.1543 +FPS=18.39, 法向力=1070.8132, 切向力X=1535.6831, 切向力Y=-1008.9193 +FPS=18.85, 法向力=1162.5964, 切向力X=1002.1147, 切向力Y=-500.6998 +FPS=19.25, 法向力=1327.2150, 切向力X=1248.3159, 切向力Y=-898.9366 +FPS=26.31, 法向力=1368.5450, 切向力X=1254.7299, 切向力Y=-912.8253 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260520_095230.log b/examples/logs/qt_viewer_20260520_095230.log new file mode 100644 index 0000000..0b0c48f --- /dev/null +++ b/examples/logs/qt_viewer_20260520_095230.log @@ -0,0 +1,1009 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +启动失败: Failed to open video source. +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +启动失败: Failed to open video source. +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.53, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=7.46, 法向力=1663.4773, 切向力X=354.5905, 切向力Y=189.2859 +FPS=27.50, 法向力=1708.9011, 切向力X=269.4960, 切向力Y=376.5486 +FPS=30.85, 法向力=1249.6182, 切向力X=-316.5194, 切向力Y=-234.4214 +FPS=29.17, 法向力=1174.6270, 切向力X=86.2318, 切向力Y=160.9433 +FPS=30.97, 法向力=1286.4908, 切向力X=139.6846, 切向力Y=138.6750 +FPS=28.62, 法向力=1699.5359, 切向力X=-234.2991, 切向力Y=1074.8215 +FPS=32.52, 法向力=1717.4196, 切向力X=-265.1278, 切向力Y=1036.6082 +FPS=29.37, 法向力=1618.4111, 切向力X=364.6024, 切向力Y=433.3301 +FPS=30.87, 法向力=1608.2856, 切向力X=535.5186, 切向力Y=404.6492 +FPS=29.24, 法向力=1915.8879, 切向力X=795.4454, 切向力Y=415.7718 +FPS=32.07, 法向力=1468.9019, 切向力X=322.5037, 切向力Y=132.4677 +FPS=31.90, 法向力=1418.6711, 切向力X=185.3654, 切向力Y=85.2518 +FPS=32.54, 法向力=1570.9341, 切向力X=-145.5833, 切向力Y=-261.0875 +FPS=33.08, 法向力=1568.3969, 切向力X=-154.3360, 切向力Y=-177.3552 +FPS=32.39, 法向力=1565.8218, 切向力X=-161.3190, 切向力Y=-259.6291 +FPS=32.99, 法向力=1231.9819, 切向力X=406.1619, 切向力Y=-0.2091 +FPS=32.87, 法向力=1262.1858, 切向力X=274.8389, 切向力Y=3.7442 +FPS=31.86, 法向力=1556.1847, 切向力X=-10.6869, 切向力Y=479.2644 +FPS=30.30, 法向力=2117.4436, 切向力X=559.1066, 切向力Y=467.2677 +FPS=33.26, 法向力=2095.2375, 切向力X=511.6779, 切向力Y=373.3478 +FPS=31.25, 法向力=1335.9790, 切向力X=10.0361, 切向力Y=-693.3961 +FPS=33.01, 法向力=1243.7524, 切向力X=-33.7943, 切向力Y=-913.6895 +FPS=32.47, 法向力=1543.8970, 切向力X=-837.6188, 切向力Y=225.7609 +FPS=32.08, 法向力=1575.6335, 切向力X=-862.4572, 切向力Y=248.3134 +FPS=29.30, 法向力=1995.0759, 切向力X=667.0200, 切向力Y=-86.8243 +FPS=31.90, 法向力=1905.1520, 切向力X=756.9108, 切向力Y=-119.7163 +FPS=29.48, 法向力=1346.1245, 切向力X=-555.9113, 切向力Y=-553.5449 +stitch_feature_optimized: canvas out_w=470, out_h=418, x_min=-142.36, y_min=-83.20 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000279s, blend=0.002288s (9 tiles incl ref), finalize=0.000050s, total=0.002623s +FPS=31.67, 法向力=1324.0344, 切向力X=-570.4338, 切向力Y=-451.4745 +FPS=31.11, 法向力=1674.2681, 切向力X=83.1153, 切向力Y=-363.6945 +FPS=32.31, 法向力=1753.7773, 切向力X=164.3917, 切向力Y=-473.2710 +FPS=30.68, 法向力=1652.7047, 切向力X=521.5117, 切向力Y=-757.3327 +FPS=32.65, 法向力=1655.0820, 切向力X=555.2964, 切向力Y=-810.0204 +FPS=30.04, 法向力=1778.0110, 切向力X=-877.5884, 切向力Y=277.1005 +FPS=30.65, 法向力=1690.9343, 切向力X=1137.1233, 切向力Y=-353.8065 +FPS=32.01, 法向力=1758.3669, 切向力X=1206.7178, 切向力Y=-396.5017 +FPS=31.19, 法向力=1245.4421, 切向力X=694.7872, 切向力Y=211.6463 +FPS=32.71, 法向力=1241.1936, 切向力X=661.4512, 切向力Y=246.7548 +FPS=30.80, 法向力=1552.9248, 切向力X=308.2050, 切向力Y=-606.1434 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法向力=1386.2388, 切向力X=1094.4788, 切向力Y=-1829.9777 +FPS=29.59, 法向力=1417.8392, 切向力X=673.8109, 切向力Y=-2569.2554 +FPS=29.50, 法向力=1427.8118, 切向力X=740.8434, 切向力Y=-2622.9336 +FPS=28.67, 法向力=1382.2178, 切向力X=910.0863, 切向力Y=-1757.4777 +FPS=28.91, 法向力=1332.2665, 切向力X=930.6614, 切向力Y=-1856.0974 +FPS=27.90, 法向力=1544.2463, 切向力X=1394.9706, 切向力Y=-1947.1127 +FPS=30.52, 法向力=1548.2183, 切向力X=1304.7646, 切向力Y=-1975.4399 +FPS=12.98, 法向力=1592.0999, 切向力X=1020.1528, 切向力Y=-2302.5430 +FPS=44.31, 法向力=1567.9146, 切向力X=1006.3702, 切向力Y=-2259.7888 +FPS=35.16, 法向力=1569.9674, 切向力X=1022.3173, 切向力Y=-2250.4993 +FPS=36.15, 法向力=1779.3594, 切向力X=1039.6147, 切向力Y=-1587.3716 +FPS=38.08, 法向力=1795.2664, 切向力X=1057.4788, 切向力Y=-1555.3066 +FPS=33.65, 法向力=1394.3767, 切向力X=857.7284, 切向力Y=-1957.9816 +FPS=36.38, 法向力=1358.0728, 切向力X=776.3734, 切向力Y=-2001.4355 +FPS=34.36, 法向力=1615.5354, 切向力X=8.4678, 切向力Y=-1825.5112 +FPS=37.78, 法向力=1600.7034, 切向力X=81.9822, 切向力Y=-1819.1135 +FPS=35.20, 法向力=1309.7404, 切向力X=880.4878, 切向力Y=-2214.6455 +FPS=38.84, 法向力=1348.6910, 切向力X=1074.9326, 切向力Y=-2324.9470 +FPS=36.37, 法向力=1437.7874, 切向力X=1349.3501, 切向力Y=-1767.0259 +FPS=39.65, 法向力=1434.9938, 切向力X=1323.6536, 切向力Y=-1719.1022 +FPS=37.73, 法向力=1451.5049, 切向力X=1310.1085, 切向力Y=-1755.1632 +stitch_feature_optimized: canvas out_w=470, out_h=418, x_min=-142.36, y_min=-83.20 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000227s, blend=0.002083s (9 tiles incl ref), finalize=0.000043s, total=0.002359s +FPS=37.85, 法向力=1469.0645, 切向力X=1396.4224, 切向力Y=-1947.4519 +FPS=38.33, 法向力=1429.2438, 切向力X=1501.4326, 切向力Y=-1965.3274 +FPS=34.63, 法向力=1338.6396, 切向力X=1366.5081, 切向力Y=-1335.9508 +FPS=38.94, 法向力=1342.6696, 切向力X=1271.1815, 切向力Y=-1370.0022 +FPS=33.33, 法向力=1772.9531, 切向力X=1286.6250, 切向力Y=-2295.2603 +FPS=33.45, 法向力=1848.7195, 切向力X=1358.5742, 切向力Y=-2340.3730 +FPS=35.46, 法向力=1387.5913, 切向力X=946.4449, 切向力Y=-1974.8719 +FPS=39.40, 法向力=1399.3319, 切向力X=890.1348, 切向力Y=-1858.6489 +FPS=37.43, 法向力=1356.0187, 切向力X=1181.4385, 切向力Y=-2794.9558 +FPS=36.45, 法向力=1364.3676, 切向力X=1288.4556, 切向力Y=-2937.1729 +FPS=36.74, 法向力=1347.6063, 切向力X=1342.2803, 切向力Y=-2916.4204 +FPS=34.99, 法向力=1153.4835, 切向力X=1228.5283, 切向力Y=-1127.5660 +FPS=35.86, 法向力=1127.4176, 切向力X=1247.3217, 切向力Y=-1102.7241 +FPS=37.08, 法向力=1759.5872, 切向力X=996.0415, 切向力Y=-2133.4541 +FPS=36.12, 法向力=1822.1075, 切向力X=955.0073, 切向力Y=-2259.4185 +FPS=34.44, 法向力=1385.4180, 切向力X=1693.7705, 切向力Y=-1349.8488 +FPS=37.36, 法向力=1392.5106, 切向力X=1699.9644, 切向力Y=-1310.9307 +FPS=33.60, 法向力=1673.3955, 切向力X=1335.6946, 切向力Y=-1335.3660 +FPS=38.23, 法向力=1754.5977, 切向力X=1360.3894, 切向力Y=-1388.4628 +FPS=36.52, 法向力=1429.0863, 切向力X=606.9642, 切向力Y=-2046.8406 +FPS=13.97, 法向力=1293.8853, 切向力X=1330.7183, 切向力Y=-2155.9849 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260520_095454.log b/examples/logs/qt_viewer_20260520_095454.log new file mode 100644 index 0000000..885b0ef --- /dev/null +++ b/examples/logs/qt_viewer_20260520_095454.log @@ -0,0 +1,612 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +启动失败: Failed to open video source. +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.53, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=8.11, 法向力=1443.3545, 切向力X=365.1152, 切向力Y=59.8816 +FPS=25.34, 法向力=1302.1393, 切向力X=104.2860, 切向力Y=-92.0542 +FPS=26.44, 法向力=1577.8301, 切向力X=434.0461, 切向力Y=88.0896 +FPS=26.51, 法向力=1580.2581, 切向力X=399.0053, 切向力Y=231.0282 +FPS=28.88, 法向力=1420.2814, 切向力X=174.2422, 切向力Y=-459.5712 +FPS=28.76, 法向力=1479.5392, 切向力X=178.9374, 切向力Y=-450.1873 +FPS=30.21, 法向力=1504.1948, 切向力X=251.4189, 切向力Y=-563.7437 +FPS=28.57, 法向力=1763.3555, 切向力X=264.6392, 切向力Y=-506.6643 +FPS=30.04, 法向力=1804.5819, 切向力X=218.6509, 切向力Y=-553.6842 +FPS=27.04, 法向力=1306.4006, 切向力X=305.1353, 切向力Y=-398.3958 +FPS=29.37, 法向力=1187.2489, 切向力X=569.6050, 切向力Y=-7.5381 +FPS=29.96, 法向力=1205.2751, 切向力X=623.7744, 切向力Y=-42.4617 +FPS=27.63, 法向力=1496.0168, 切向力X=-39.2685, 切向力Y=-431.9637 +FPS=29.34, 法向力=1507.8347, 切向力X=10.8678, 切向力Y=-367.8207 +FPS=27.33, 法向力=1079.7351, 切向力X=1075.4109, 切向力Y=-667.7615 +FPS=30.64, 法向力=1046.7910, 切向力X=1042.3146, 切向力Y=-705.8650 +FPS=27.76, 法向力=1427.2773, 切向力X=690.9922, 切向力Y=-213.1342 +FPS=29.63, 法向力=1239.2627, 切向力X=730.0948, 切向力Y=160.7242 +FPS=30.94, 法向力=1208.8650, 切向力X=674.5093, 切向力Y=334.6900 +FPS=29.04, 法向力=1298.7375, 切向力X=-297.1659, 切向力Y=657.6058 +FPS=29.84, 法向力=1276.9277, 切向力X=-276.2765, 切向力Y=591.1066 +FPS=29.02, 法向力=1732.6313, 切向力X=1392.3577, 切向力Y=-579.8020 +FPS=31.18, 法向力=1769.8274, 切向力X=1463.2506, 切向力Y=-533.1603 +FPS=27.95, 法向力=1798.0565, 切向力X=597.0024, 切向力Y=188.2128 +FPS=29.50, 法向力=1353.1079, 切向力X=298.7138, 切向力Y=-827.8887 +FPS=29.85, 法向力=1318.0618, 切向力X=244.2163, 切向力Y=-846.0054 +FPS=29.53, 法向力=1289.5455, 切向力X=17.7526, 切向力Y=-141.4234 +stitch_feature_optimized: canvas out_w=468, out_h=419, x_min=-140.07, y_min=-85.09 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000223s, blend=0.002150s (9 tiles incl ref), finalize=0.000044s, total=0.002424s +FPS=30.07, 法向力=1377.7805, 切向力X=93.6942, 切向力Y=24.8652 +FPS=28.37, 法向力=1464.8899, 切向力X=594.3412, 切向力Y=-169.4350 +FPS=30.76, 法向力=1456.5334, 切向力X=594.5297, 切向力Y=-239.3648 +FPS=28.56, 法向力=1390.3635, 切向力X=547.6254, 切向力Y=-328.2504 +FPS=30.34, 法向力=1076.1086, 切向力X=767.7515, 切向力Y=-198.5908 +FPS=30.72, 法向力=1072.1851, 切向力X=770.4673, 切向力Y=-238.6718 +FPS=29.39, 法向力=1385.0117, 切向力X=469.8286, 切向力Y=426.2133 +FPS=31.94, 法向力=1332.9834, 切向力X=406.3923, 切向力Y=267.7883 +FPS=29.31, 法向力=1349.6606, 切向力X=468.9458, 切向力Y=321.0406 +FPS=30.36, 法向力=1763.5378, 切向力X=717.9198, 切向力Y=-622.7875 +FPS=29.18, 法向力=1638.6184, 切向力X=344.1155, 切向力Y=-256.3656 +FPS=31.19, 法向力=1595.9841, 切向力X=255.4062, 切向力Y=-304.8394 +FPS=30.05, 法向力=1491.8484, 切向力X=278.1000, 切向力Y=247.4068 +FPS=31.10, 法向力=1473.7982, 切向力X=201.0629, 切向力Y=245.5854 +FPS=30.33, 法向力=1431.3474, 切向力X=666.9401, 切向力Y=-660.6191 +FPS=30.02, 法向力=1469.6260, 切向力X=621.6295, 切向力Y=-715.7148 +FPS=28.88, 法向力=1497.6304, 切向力X=529.8053, 切向力Y=-438.1073 +FPS=29.53, 法向力=1522.0170, 切向力X=660.7517, 切向力Y=-274.5663 +FPS=30.08, 法向力=1696.3823, 切向力X=618.1688, 切向力Y=-389.5458 +FPS=28.68, 法向力=1736.0732, 切向力X=-34.6753, 切向力Y=-202.0779 +FPS=30.40, 法向力=1774.3759, 切向力X=-123.7925, 切向力Y=-207.9318 +FPS=28.05, 法向力=1300.0275, 切向力X=927.9294, 切向力Y=-1434.7432 +FPS=32.42, 法向力=1278.3638, 切向力X=908.8148, 切向力Y=-1414.9180 +FPS=31.58, 法向力=1557.1526, 切向力X=485.9803, 切向力Y=103.1510 +FPS=32.04, 法向力=1569.4917, 切向力X=455.3406, 切向力Y=234.6231 +FPS=28.56, 法向力=1569.0632, 切向力X=948.0121, 切向力Y=-321.4177 +FPS=29.77, 法向力=1317.5078, 切向力X=987.2048, 切向力Y=-319.0060 +FPS=31.69, 法向力=1330.2948, 切向力X=985.2150, 切向力Y=-414.8001 +FPS=29.55, 法向力=1256.6531, 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+FPS=31.11, 法向力=3911.1240, 切向力X=7701.6812, 切向力Y=-24767.0977 +FPS=34.13, 法向力=3521.5488, 切向力X=7557.6553, 切向力Y=-25517.9531 +FPS=32.04, 法向力=10449.2041, 切向力X=17982.7207, 切向力Y=-77198.0781 +FPS=33.96, 法向力=10439.6914, 切向力X=17895.4258, 切向力Y=-77381.4375 +FPS=32.54, 法向力=20815.7930, 切向力X=20246.4316, 切向力Y=-88609.5000 +FPS=32.90, 法向力=20783.0957, 切向力X=20318.8086, 切向力Y=-89057.0000 +FPS=32.64, 法向力=8922.8086, 切向力X=6321.1919, 切向力Y=-11419.7637 +FPS=33.55, 法向力=9056.9902, 切向力X=6358.6792, 切向力Y=-11618.5879 +FPS=31.48, 法向力=6081.6782, 切向力X=830.8002, 切向力Y=6995.0039 +FPS=34.11, 法向力=6080.7598, 切向力X=841.3496, 切向力Y=6971.0059 +FPS=33.21, 法向力=1161.7981, 切向力X=4157.1060, 切向力Y=-9682.6387 +FPS=34.40, 法向力=1193.0520, 切向力X=4113.2061, 切向力Y=-9620.8340 +FPS=31.11, 法向力=3082.3496, 切向力X=6730.8037, 切向力Y=-26593.2578 +FPS=33.92, 法向力=2974.0669, 切向力X=6956.4873, 切向力Y=-27246.2324 +FPS=30.58, 法向力=1992.3423, 切向力X=2097.8274, 切向力Y=-4298.8896 +FPS=34.62, 法向力=1892.8143, 切向力X=2107.3193, 切向力Y=-4408.4849 +FPS=31.82, 法向力=1902.8323, 切向力X=1833.0278, 切向力Y=-3864.5347 +FPS=34.26, 法向力=1880.0020, 切向力X=1805.8970, 切向力Y=-3745.3865 +FPS=34.50, 法向力=1831.2509, 切向力X=1875.6218, 切向力Y=-2695.9214 +FPS=35.67, 法向力=1870.0671, 切向力X=1874.0771, 切向力Y=-2657.7627 +FPS=32.59, 法向力=1657.4302, 切向力X=2385.2280, 切向力Y=-2781.9634 +stitch_feature_optimized: canvas out_w=468, out_h=419, x_min=-140.07, y_min=-85.09 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000005s (hit), reset=0.000220s, blend=0.002158s (9 tiles incl ref), finalize=0.000045s, total=0.002431s +FPS=34.66, 法向力=1676.7106, 切向力X=2489.0410, 切向力Y=-2935.1782 +FPS=34.19, 法向力=1535.6146, 切向力X=1031.1139, 切向力Y=-3330.5215 +FPS=34.78, 法向力=1562.7561, 切向力X=967.0861, 切向力Y=-3465.9275 +FPS=33.30, 法向力=1416.0704, 切向力X=1289.9160, 切向力Y=-2060.2104 +FPS=35.31, 法向力=1405.0820, 切向力X=1423.4761, 切向力Y=-2142.8735 +FPS=32.26, 法向力=1307.8654, 切向力X=1200.5398, 切向力Y=-1875.4727 +FPS=35.55, 法向力=1334.8711, 切向力X=1086.6506, 切向力Y=-1887.4991 +FPS=35.53, 法向力=1691.6405, 切向力X=822.8156, 切向力Y=-2653.1787 +FPS=36.40, 法向力=1729.7839, 切向力X=799.9915, 切向力Y=-2732.8203 +FPS=34.54, 法向力=1732.3250, 切向力X=836.6578, 切向力Y=-2712.6257 +FPS=35.28, 法向力=1144.1023, 切向力X=1268.3743, 切向力Y=-2044.5415 +FPS=33.72, 法向力=1268.4359, 切向力X=1682.1907, 切向力Y=-2238.7539 +FPS=35.95, 法向力=1286.0527, 切向力X=1615.5140, 切向力Y=-2300.3376 +FPS=34.03, 法向力=1152.4012, 切向力X=1671.7808, 切向力Y=-2040.6169 +FPS=36.37, 法向力=1098.5989, 切向力X=1586.6448, 切向力Y=-2065.7971 +FPS=35.88, 法向力=1070.5735, 切向力X=1594.3898, 切向力Y=-2036.3268 +FPS=33.89, 法向力=1521.7804, 切向力X=1364.0171, 切向力Y=-1303.7546 +FPS=36.37, 法向力=1564.5558, 切向力X=1460.7675, 切向力Y=-1191.6777 +FPS=32.72, 法向力=1039.9539, 切向力X=1145.8302, 切向力Y=-2189.2053 +FPS=32.23, 法向力=993.4114, 切向力X=1295.4132, 切向力Y=-2228.6409 +FPS=35.16, 法向力=1244.1157, 切向力X=1929.4905, 切向力Y=-1617.8357 +FPS=36.43, 法向力=1261.9336, 切向力X=2008.1255, 切向力Y=-1662.4573 +FPS=34.36, 法向力=1783.1301, 切向力X=812.7045, 切向力Y=-2639.9041 +FPS=37.11, 法向力=1773.2531, 切向力X=750.8601, 切向力Y=-2834.4839 +FPS=33.34, 法向力=1523.4207, 切向力X=692.1763, 切向力Y=-1449.9697 +FPS=37.06, 法向力=1484.8545, 切向力X=667.4616, 切向力Y=-1275.6334 +FPS=35.23, 法向力=1374.1611, 切向力X=1822.5048, 切向力Y=-2374.3062 +FPS=36.45, 法向力=1401.2046, 切向力X=1979.9037, 切向力Y=-2214.9727 +FPS=33.86, 法向力=1192.0586, 切向力X=1704.4226, 切向力Y=-1874.9019 +FPS=36.87, 法向力=1201.6694, 切向力X=1715.0609, 切向力Y=-1957.1886 +stitch_feature_optimized: canvas out_w=468, out_h=419, x_min=-140.07, y_min=-85.09 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000237s, blend=0.002158s (9 tiles incl ref), finalize=0.000048s, total=0.002449s +FPS=32.44, 法向力=1897.8362, 切向力X=1848.2437, 切向力Y=-1787.0017 +FPS=36.34, 法向力=2001.7084, 切向力X=1946.8403, 切向力Y=-1817.1058 +FPS=35.09, 法向力=2031.8440, 切向力X=1948.5217, 切向力Y=-1882.9624 +FPS=34.34, 法向力=1673.1963, 切向力X=1706.1465, 切向力Y=-2255.4565 +FPS=36.20, 法向力=1659.1908, 切向力X=1639.1283, 切向力Y=-2281.3918 +FPS=33.67, 法向力=1323.0037, 切向力X=1864.9158, 切向力Y=-1608.9131 +FPS=34.92, 法向力=1343.0522, 切向力X=1801.5905, 切向力Y=-1634.3545 +FPS=34.41, 法向力=1571.0530, 切向力X=1235.4141, 切向力Y=-1246.7593 +FPS=36.00, 法向力=1623.2474, 切向力X=1197.7061, 切向力Y=-1269.0781 +FPS=35.98, 法向力=1455.2605, 切向力X=1962.7849, 切向力Y=-1675.7019 +FPS=35.70, 法向力=1475.9427, 切向力X=1925.6794, 切向力Y=-1755.0420 +FPS=34.62, 法向力=1344.8125, 切向力X=1594.0980, 切向力Y=-1677.4706 +FPS=15.62, 法向力=1394.7371, 切向力X=1529.6967, 切向力Y=-2384.6982 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260520_102612.log b/examples/logs/qt_viewer_20260520_102612.log new file mode 100644 index 0000000..61cd310 --- /dev/null +++ b/examples/logs/qt_viewer_20260520_102612.log @@ -0,0 +1,16220 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +RAFT device: cuda +C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and may be removed in the future, please use 'weights' instead. + warnings.warn( +C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and may be removed in the future. The current behavior is equivalent to passing `weights=Raft_Large_Weights.C_T_SKHT_V2`. You can also use `weights=Raft_Large_Weights.DEFAULT` to get the most up-to-date weights. + warnings.warn(msg) +Downloading: "https://download.pytorch.org/models/raft_large_C_T_SKHT_V2-ff5fadd5.pth" to C:\Users\orisys2601/.cache\torch\hub\checkpoints\raft_large_C_T_SKHT_V2-ff5fadd5.pth +RAFT model loaded on cuda +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=25 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: raft + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000006s (hit), reset=0.000385s, blend=0.005487s (9 tiles incl ref), finalize=0.000152s, total=0.006037s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000007s, geom=0.000006s (hit), reset=0.000420s, blend=0.005118s (9 tiles incl ref), finalize=0.000129s, total=0.005680s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000007s, geom=0.000006s (hit), reset=0.000356s, blend=0.005608s (9 tiles incl ref), finalize=0.000130s, total=0.006107s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000005s (hit), reset=0.000307s, blend=0.005179s (9 tiles incl ref), finalize=0.000065s, total=0.005561s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000005s (hit), reset=0.000342s, blend=0.005166s (9 tiles incl ref), finalize=0.000117s, total=0.005636s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000006s (hit), reset=0.000323s, blend=0.005262s (9 tiles incl ref), finalize=0.000069s, total=0.005666s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000005s (hit), reset=0.000310s, blend=0.005014s (9 tiles incl ref), finalize=0.000117s, total=0.005452s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000005s (hit), reset=0.000329s, blend=0.005080s (9 tiles incl ref), finalize=0.000118s, total=0.005539s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000007s, geom=0.000006s (hit), reset=0.000372s, blend=0.005344s (9 tiles incl ref), finalize=0.000134s, total=0.005862s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000006s (hit), reset=0.000323s, blend=0.005078s (9 tiles incl ref), finalize=0.000119s, total=0.005531s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000006s (hit), reset=0.000358s, blend=0.005173s (9 tiles incl ref), finalize=0.000119s, total=0.005662s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000425s, geom=0.000008s (hit), reset=0.000392s, blend=0.005169s (9 tiles incl ref), finalize=0.000119s, total=0.006112s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000007s (hit), reset=0.000356s, blend=0.006524s (9 tiles incl ref), finalize=0.000164s, total=0.007057s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000005s (hit), reset=0.000313s, blend=0.005168s (9 tiles incl ref), finalize=0.000126s, total=0.005617s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000006s (hit), reset=0.000347s, blend=0.005203s (9 tiles incl ref), finalize=0.000118s, total=0.005679s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000323s, blend=0.002883s (9 tiles incl ref), finalize=0.000070s, total=0.003284s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000006s (hit), reset=0.000335s, blend=0.005149s (9 tiles incl ref), finalize=0.000142s, total=0.005638s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000007s, geom=0.000006s (hit), reset=0.000430s, blend=0.005788s (9 tiles incl ref), finalize=0.000131s, total=0.006362s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000006s (hit), reset=0.000324s, blend=0.005866s (9 tiles incl ref), finalize=0.000128s, total=0.006330s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000005s (hit), reset=0.000333s, blend=0.004999s (9 tiles incl ref), finalize=0.000127s, total=0.005471s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000008s, geom=0.000006s (hit), reset=0.000401s, blend=0.003580s (9 tiles incl ref), finalize=0.000081s, total=0.004076s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000005s (hit), reset=0.000300s, blend=0.005108s (9 tiles incl ref), finalize=0.000116s, total=0.005536s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.05, y_min=-84.24 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000006s (hit), reset=0.000468s, blend=0.005161s (9 tiles incl ref), finalize=0.000122s, total=0.005761s +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 457, in _on_timer + sensor.compute_deformation(check_motion=True, threshold=0) + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 311, in compute_deformation + self.compute_flow() + File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 345, in compute_flow + flow = self.__tracker.track(self.img) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 88, in track + return self.track_raft(frame) + ^^^^^^^^^^^^^^^^^^^^^^ + File "C:\workspace\orisyssdk_git\src\orisys\tracker.py", line 274, in track_raft + flow = self.__raft_model(prev_tensor, curr_tensor) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torch\nn\modules\module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\AppData\Roaming\Python\Python311\site-packages\torchvision\models\optical_flow\raft.py", line 490, in forward + raise ValueError(f"input image H and W should be divisible by 8, instead got {h} (h) and {w} (w)") +ValueError: input image H and W should be divisible by 8, instead got 365 (h) and 365 (w) +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260520_175145.log b/examples/logs/qt_viewer_20260520_175145.log new file mode 100644 index 0000000..b6be09a --- /dev/null +++ b/examples/logs/qt_viewer_20260520_175145.log @@ -0,0 +1,1479 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +启动失败: Failed to open video source. +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=5 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=4.07, 法向力=1843.5967, 切向力X=-1754.2795, 切向力Y=-1353.9355 +FPS=21.56, 法向力=1155.2886, 切向力X=-885.4968, 切向力Y=-645.0504 +FPS=24.02, 法向力=1374.6885, 切向力X=-665.4804, 切向力Y=-1570.8580 +FPS=26.65, 法向力=1439.4004, 切向力X=-693.6958, 切向力Y=-1535.1771 +FPS=25.51, 法向力=1444.4576, 切向力X=-41.5067, 切向力Y=-597.2247 +FPS=26.22, 法向力=1468.2714, 切向力X=-3.8920, 切向力Y=-575.5815 +FPS=26.45, 法向力=1471.5750, 切向力X=-743.4324, 切向力Y=-1343.0181 +FPS=24.84, 法向力=1652.6976, 切向力X=-1372.2971, 切向力Y=-1612.5221 +FPS=26.61, 法向力=1661.5000, 切向力X=-1425.9514, 切向力Y=-1514.5294 +FPS=24.29, 法向力=1495.5763, 切向力X=-1620.9019, 切向力Y=-1524.7634 +FPS=23.77, 法向力=1560.1753, 切向力X=-1587.7554, 切向力Y=-1394.9569 +FPS=24.19, 法向力=1778.9276, 切向力X=-1136.0803, 切向力Y=-791.4815 +FPS=26.72, 法向力=1800.6920, 切向力X=-1052.4878, 切向力Y=-847.5103 +FPS=26.79, 法向力=1026.6012, 切向力X=-280.9591, 切向力Y=-721.0289 +FPS=24.45, 法向力=1527.9998, 切向力X=-1359.4891, 切向力Y=-1195.5839 +FPS=28.23, 法向力=1482.6509, 切向力X=-1382.0258, 切向力Y=-1205.0709 +FPS=25.74, 法向力=1693.7617, 切向力X=-1683.2010, 切向力Y=-275.8396 +FPS=27.01, 法向力=1689.6184, 切向力X=-1687.9171, 切向力Y=-221.7421 +FPS=27.26, 法向力=1722.8582, 切向力X=-1544.1586, 切向力Y=-1392.8010 +FPS=28.14, 法向力=1724.6279, 切向力X=-1562.8481, 切向力Y=-1453.5167 +FPS=26.42, 法向力=1476.7251, 切向力X=-1065.8037, 切向力Y=-487.8832 +FPS=26.92, 法向力=2393.7852, 切向力X=-142.6767, 切向力Y=-902.4182 +FPS=26.67, 法向力=2423.1978, 切向力X=-188.4839, 切向力Y=-882.3665 +FPS=24.34, 法向力=1638.4702, 切向力X=-558.5245, 切向力Y=-1618.8652 +FPS=26.77, 法向力=1655.2048, 切向力X=-515.3777, 切向力Y=-1785.4562 +FPS=25.57, 法向力=2040.4253, 切向力X=-1117.2515, 切向力Y=-1251.7507 +FPS=27.34, 法向力=2902.4731, 切向力X=-1610.9296, 切向力Y=-871.1628 +stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000240s (hit), reset=0.000216s, blend=0.002149s (9 tiles incl ref), finalize=0.000053s, total=0.002660s +FPS=25.41, 法向力=3009.6135, 切向力X=-1590.0929, 切向力Y=-716.0477 +FPS=19.22, 法向力=1677.4380, 切向力X=-1369.2493, 切向力Y=-305.7437 +FPS=41.09, 法向力=1634.6833, 切向力X=-1460.6682, 切向力Y=-340.1167 +FPS=32.32, 法向力=1238.8811, 切向力X=-1508.2034, 切向力Y=-844.8652 +FPS=31.98, 法向力=1218.5181, 切向力X=-1599.7506, 切向力Y=-864.7001 +FPS=32.33, 法向力=1185.9958, 切向力X=-1360.1793, 切向力Y=-1312.5896 +FPS=31.28, 法向力=1210.8158, 切向力X=-1424.6853, 切向力Y=-1324.3264 +FPS=31.63, 法向力=1289.0061, 切向力X=-368.2153, 切向力Y=-837.0352 +FPS=31.61, 法向力=1280.6633, 切向力X=-392.7634, 切向力Y=-792.2137 +FPS=31.43, 法向力=1508.9043, 切向力X=-893.2944, 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切向力Y=-370.0137 +FPS=28.19, 法向力=2360.9751, 切向力X=-1575.0972, 切向力Y=492.1984 +FPS=29.11, 法向力=2427.7595, 切向力X=-995.1217, 切向力Y=-654.2582 +FPS=29.68, 法向力=2330.7646, 切向力X=-999.5656, 切向力Y=-520.5527 +FPS=25.44, 法向力=2541.1279, 切向力X=-1668.7266, 切向力Y=-720.0883 +FPS=29.07, 法向力=2491.2739, 切向力X=-1659.3511, 切向力Y=-684.4696 +stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000256s, blend=0.002240s (9 tiles incl ref), finalize=0.000051s, total=0.002554s +FPS=27.37, 法向力=1382.2031, 切向力X=-1065.1167, 切向力Y=-724.8328 +FPS=28.49, 法向力=1395.4387, 切向力X=-1010.1381, 切向力Y=-695.8220 +FPS=24.81, 法向力=2853.6826, 切向力X=-978.5534, 切向力Y=-509.9845 +FPS=28.83, 法向力=3005.6162, 切向力X=-1005.2939, 切向力Y=-475.8262 +FPS=28.16, 法向力=1571.0527, 切向力X=-2402.0430, 切向力Y=861.4403 +FPS=30.06, 法向力=1571.4050, 切向力X=-2414.2227, 切向力Y=787.7050 +FPS=28.20, 法向力=1496.4348, 切向力X=-1414.8042, 切向力Y=-523.8530 +FPS=28.72, 法向力=1492.5094, 切向力X=-1287.8955, 切向力Y=-588.8903 +FPS=30.11, 法向力=2549.0542, 切向力X=-1894.2793, 切向力Y=99.7096 +FPS=27.94, 法向力=3677.3125, 切向力X=-2341.1780, 切向力Y=455.3190 +FPS=27.10, 法向力=3776.3748, 切向力X=-2436.7312, 切向力Y=415.3462 +FPS=29.31, 法向力=3745.1743, 切向力X=-2427.0225, 切向力Y=450.9047 +FPS=25.80, 法向力=2740.0188, 切向力X=-2576.7974, 切向力Y=-173.8992 +FPS=28.56, 法向力=1708.4246, 切向力X=-1978.4592, 切向力Y=489.6651 +FPS=27.92, 法向力=1669.2710, 切向力X=-2007.1923, 切向力Y=654.2249 +FPS=26.13, 法向力=1501.1597, 切向力X=-1855.0562, 切向力Y=477.6156 +FPS=28.50, 法向力=1525.1848, 切向力X=-1801.2090, 切向力Y=452.0168 +FPS=26.52, 法向力=4261.7231, 切向力X=-1671.1112, 切向力Y=371.4687 +FPS=30.05, 法向力=4438.7651, 切向力X=-1649.5051, 切向力Y=422.5551 +FPS=28.46, 法向力=2757.9834, 切向力X=-1497.3215, 切向力Y=448.5571 +FPS=29.87, 法向力=4253.6528, 切向力X=-2314.8953, 切向力Y=447.7567 +FPS=28.25, 法向力=4212.4878, 切向力X=-2368.4951, 切向力Y=517.0353 +FPS=28.74, 法向力=4205.6621, 切向力X=-2338.6548, 切向力Y=520.8772 +FPS=27.37, 法向力=2864.7859, 切向力X=-1415.0371, 切向力Y=161.3586 +FPS=29.02, 法向力=2980.5830, 切向力X=-1467.1035, 切向力Y=217.5855 +FPS=28.05, 法向力=1496.9354, 切向力X=-1412.8730, 切向力Y=792.7416 +FPS=26.67, 法向力=1411.4073, 切向力X=-2453.8628, 切向力Y=-136.0812 +FPS=29.56, 法向力=1429.0635, 切向力X=-2478.6724, 切向力Y=-150.4405 +FPS=27.22, 法向力=1631.6606, 切向力X=-1836.0811, 切向力Y=-215.3919 +FPS=28.73, 法向力=1671.9825, 切向力X=-1753.4829, 切向力Y=-299.2431 +stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000212s, blend=0.002242s (9 tiles incl ref), finalize=0.000051s, total=0.002511s +FPS=26.68, 法向力=2599.6123, 切向力X=-1524.2799, 切向力Y=-1169.1880 +FPS=27.74, 法向力=2618.1499, 切向力X=-1662.0165, 切向力Y=-1116.5635 +FPS=26.16, 法向力=2752.7832, 切向力X=-1945.7686, 切向力Y=-718.2249 +FPS=22.53, 法向力=2833.2280, 切向力X=-1992.1177, 切向力Y=-715.0730 +FPS=27.64, 法向力=4133.8408, 切向力X=-2219.8242, 切向力Y=896.9333 +FPS=30.05, 法向力=4186.0840, 切向力X=-2188.9639, 切向力Y=913.7854 +FPS=29.11, 法向力=2859.7271, 切向力X=-1626.3961, 切向力Y=-1202.8955 +FPS=30.08, 法向力=1453.8704, 切向力X=-2300.6001, 切向力Y=511.9931 +FPS=29.40, 法向力=1458.2524, 切向力X=-2413.5996, 切向力Y=512.2864 +FPS=22.54, 法向力=2782.6233, 切向力X=-1609.8792, 切向力Y=-225.1905 +FPS=24.86, 法向力=2768.4668, 切向力X=-1661.4866, 切向力Y=-145.3961 +FPS=24.23, 法向力=3686.3074, 切向力X=-2735.3953, 切向力Y=421.8853 +FPS=26.09, 法向力=2616.1011, 切向力X=-2131.2275, 切向力Y=496.8198 +FPS=31.31, 法向力=2527.2373, 切向力X=-2236.0889, 切向力Y=453.5410 +FPS=30.57, 法向力=2550.5559, 切向力X=-2232.9551, 切向力Y=464.7611 +FPS=27.55, 法向力=1871.0977, 切向力X=-3099.3457, 切向力Y=-23.1100 +FPS=26.12, 法向力=2475.3975, 切向力X=-2249.7002, 切向力Y=-37.3477 +FPS=27.75, 法向力=2440.7017, 切向力X=-2217.1929, 切向力Y=51.0520 +FPS=27.93, 法向力=2366.4771, 切向力X=-1903.1860, 切向力Y=350.6344 +FPS=29.99, 法向力=2338.5615, 切向力X=-1989.1709, 切向力Y=464.9889 +FPS=27.58, 法向力=2568.0337, 切向力X=-1900.7278, 切向力Y=-288.0329 +FPS=32.04, 法向力=2663.2485, 切向力X=-1964.1000, 切向力Y=-353.3901 +FPS=28.49, 法向力=2939.5239, 切向力X=-869.9413, 切向力Y=595.5620 +FPS=30.90, 法向力=3008.7478, 切向力X=-920.4805, 切向力Y=646.7002 +FPS=30.64, 法向力=1562.6466, 切向力X=-2499.7034, 切向力Y=828.8038 +FPS=31.14, 法向力=1552.5745, 切向力X=-2494.3794, 切向力Y=961.4141 +FPS=27.93, 法向力=1804.7294, 切向力X=-2631.3801, 切向力Y=-158.9045 +FPS=29.89, 法向力=1838.0808, 切向力X=-2574.0425, 切向力Y=-225.8071 +FPS=27.87, 法向力=2193.8303, 切向力X=-2645.4551, 切向力Y=318.4180 +FPS=29.38, 法向力=2166.6680, 切向力X=-2535.7256, 切向力Y=412.2078 +stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000227s, blend=0.002201s (9 tiles incl ref), finalize=0.000061s, total=0.002496s +FPS=29.61, 法向力=2222.5220, 切向力X=-2012.8391, 切向力Y=759.6765 +FPS=31.01, 法向力=2190.0928, 切向力X=-2046.2229, 切向力Y=793.4841 +FPS=29.64, 法向力=2758.2275, 切向力X=-2682.6135, 切向力Y=354.2839 +FPS=31.00, 法向力=2889.7568, 切向力X=-2502.1108, 切向力Y=404.2935 +FPS=27.23, 法向力=2437.3677, 切向力X=-1879.7917, 切向力Y=-273.2677 +FPS=38.88, 法向力=2404.1143, 切向力X=-1957.6194, 切向力Y=-272.7808 +FPS=30.49, 法向力=3278.6423, 切向力X=-2969.1653, 切向力Y=675.3054 +Sensor disconnected. +⏸ 已暂停 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=10 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.53, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=42.14, 法向力=1173.8784, 切向力X=-189.6994, 切向力Y=-695.2877 +FPS=33.11, 法向力=1221.3521, 切向力X=-70.9926, 切向力Y=-676.9893 +FPS=31.22, 法向力=1085.5049, 切向力X=207.7463, 切向力Y=-16.9398 +FPS=33.48, 法向力=1103.0106, 切向力X=270.2598, 切向力Y=14.0813 +FPS=31.18, 法向力=3308.3579, 切向力X=-107.5053, 切向力Y=217.5872 +FPS=33.64, 法向力=3345.1094, 切向力X=-153.5377, 切向力Y=160.7700 +FPS=34.16, 法向力=1320.1626, 切向力X=173.6262, 切向力Y=214.2073 +FPS=37.21, 法向力=1283.5370, 切向力X=317.9001, 切向力Y=287.5009 +FPS=35.93, 法向力=1300.0652, 切向力X=240.3373, 切向力Y=220.4301 +FPS=32.82, 法向力=1392.5779, 切向力X=-305.4032, 切向力Y=-241.5940 +FPS=35.35, 法向力=1497.2429, 切向力X=-215.7257, 切向力Y=-322.9037 +FPS=33.50, 法向力=1403.3623, 切向力X=92.1023, 切向力Y=266.3768 +FPS=36.40, 法向力=1476.9185, 切向力X=144.2484, 切向力Y=344.9301 +FPS=33.85, 法向力=1436.9065, 切向力X=103.7685, 切向力Y=399.3000 +FPS=31.56, 法向力=2146.2043, 切向力X=553.7924, 切向力Y=-152.0836 +FPS=36.32, 法向力=2240.0146, 切向力X=589.8829, 切向力Y=-225.5339 +FPS=32.79, 法向力=2161.6533, 切向力X=-236.9363, 切向力Y=-906.6096 +FPS=37.07, 法向力=2174.6917, 切向力X=-196.7767, 切向力Y=-941.9246 +FPS=33.13, 法向力=1412.6704, 切向力X=-374.0087, 切向力Y=480.9095 +FPS=36.50, 法向力=1356.2882, 切向力X=-418.5195, 切向力Y=544.4687 +FPS=33.04, 法向力=1478.8745, 切向力X=-410.6902, 切向力Y=-1115.3013 +FPS=36.07, 法向力=1527.9739, 切向力X=-315.7131, 切向力Y=-1193.5393 +FPS=34.44, 法向力=1776.8059, 切向力X=-833.5392, 切向力Y=1100.1875 +FPS=33.84, 法向力=1830.5968, 切向力X=-672.8221, 切向力Y=1148.3940 +FPS=34.56, 法向力=1796.3923, 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reset=0.000280s, blend=0.002403s (9 tiles incl ref), finalize=0.000071s, total=0.002761s +FPS=30.48, 法向力=2422.6357, 切向力X=-2647.7295, 切向力Y=1663.8214 +FPS=29.08, 法向力=2026.8214, 切向力X=-2865.6221, 切向力Y=2997.3862 +FPS=30.92, 法向力=2178.6440, 切向力X=-2719.4885, 切向力Y=3126.5227 +FPS=28.75, 法向力=1599.3047, 切向力X=-2197.2527, 切向力Y=3278.2239 +FPS=32.28, 法向力=1644.9111, 切向力X=-2174.4775, 切向力Y=3337.6797 +FPS=31.38, 法向力=1932.9277, 切向力X=-2771.7368, 切向力Y=2562.9575 +FPS=31.11, 法向力=1962.8350, 切向力X=-2789.9136, 切向力Y=2574.8110 +FPS=27.15, 法向力=2383.5713, 切向力X=-1738.7000, 切向力Y=2468.0859 +FPS=31.24, 法向力=2460.0232, 切向力X=-1629.5632, 切向力Y=2473.7498 +FPS=30.07, 法向力=1861.0790, 切向力X=-1918.7815, 切向力Y=2895.5281 +FPS=30.94, 法向力=1761.4965, 切向力X=-1852.1926, 切向力Y=2986.0442 +FPS=29.04, 法向力=1948.8013, 切向力X=-3010.9641, 切向力Y=2418.9014 +FPS=31.47, 法向力=2008.8920, 切向力X=-3088.5327, 切向力Y=2426.9795 +FPS=28.83, 法向力=2836.9622, 切向力X=-2577.8308, 切向力Y=2313.8308 +FPS=32.11, 法向力=2922.7134, 切向力X=-2564.5417, 切向力Y=2300.0552 +FPS=27.92, 法向力=2449.0107, 切向力X=-1357.5306, 切向力Y=1965.3329 +FPS=32.14, 法向力=2320.5659, 切向力X=-1107.7876, 切向力Y=2027.4774 +FPS=28.82, 法向力=1580.8601, 切向力X=-2086.8179, 切向力Y=2602.4014 +FPS=30.30, 法向力=1565.4323, 切向力X=-2191.5579, 切向力Y=2540.1392 +FPS=30.44, 法向力=2177.0073, 切向力X=-2911.2109, 切向力Y=2402.6582 +FPS=32.27, 法向力=2141.1743, 切向力X=-2948.2329, 切向力Y=2434.7351 +FPS=30.19, 法向力=2267.4316, 切向力X=-2294.0706, 切向力Y=2632.7200 +FPS=27.39, 法向力=2239.3206, 切向力X=-2311.8003, 切向力Y=2742.8862 +FPS=29.71, 法向力=2141.1455, 切向力X=-3154.6758, 切向力Y=2627.4248 +FPS=30.59, 法向力=2194.0840, 切向力X=-3127.6338, 切向力Y=2636.5703 +FPS=27.95, 法向力=2361.6262, 切向力X=-2303.7617, 切向力Y=2409.6567 +FPS=30.73, 法向力=2425.5278, 切向力X=-2120.0930, 切向力Y=2456.0686 +FPS=28.62, 法向力=2304.5913, 切向力X=-1976.9294, 切向力Y=2665.5815 +FPS=32.06, 法向力=2346.3452, 切向力X=-2042.1560, 切向力Y=2683.0283 +FPS=29.01, 法向力=2288.8638, 切向力X=-1574.7705, 切向力Y=2632.9390 +stitch_feature_optimized: canvas out_w=409, out_h=418, x_min=-78.46, y_min=-81.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000229s, blend=0.002397s (9 tiles incl ref), finalize=0.000063s, total=0.002696s +FPS=31.72, 法向力=2300.7214, 切向力X=-1533.3657, 切向力Y=2697.2407 +FPS=29.21, 法向力=2274.4238, 切向力X=-1627.1514, 切向力Y=1735.2308 +FPS=31.53, 法向力=2323.5503, 切向力X=-1613.6528, 切向力Y=1825.9744 +FPS=29.84, 法向力=2440.1338, 切向力X=-3006.0122, 切向力Y=2023.3064 +FPS=32.85, 法向力=2381.9521, 切向力X=-3142.5076, 切向力Y=1947.3992 +FPS=29.96, 法向力=1346.5437, 切向力X=-2615.9893, 切向力Y=2414.5337 +FPS=32.84, 法向力=1350.8508, 切向力X=-2598.2654, 切向力Y=2440.8257 +FPS=31.27, 法向力=2340.1523, 切向力X=-2022.7152, 切向力Y=2067.5071 +FPS=32.51, 法向力=2509.0605, 切向力X=-2125.9817, 切向力Y=1991.9790 +FPS=29.73, 法向力=1888.1378, 切向力X=-655.5050, 切向力Y=2396.7866 +FPS=29.25, 法向力=1875.7737, 切向力X=-655.4000, 切向力Y=2535.4587 +FPS=28.95, 法向力=1960.9468, 切向力X=-177.4785, 切向力Y=2767.4529 +FPS=30.53, 法向力=2019.4500, 切向力X=-267.7891, 切向力Y=2752.8145 +FPS=29.73, 法向力=2271.9761, 切向力X=-2875.9648, 切向力Y=2138.0532 +FPS=30.15, 法向力=2305.9526, 切向力X=-2961.7495, 切向力Y=2209.9751 +FPS=28.36, 法向力=2475.5742, 切向力X=-2165.4155, 切向力Y=3275.5024 +FPS=31.87, 法向力=2508.6797, 切向力X=-2142.6724, 切向力Y=3303.3767 +FPS=29.70, 法向力=1983.9211, 切向力X=-3190.0203, 切向力Y=1374.7095 +FPS=33.53, 法向力=2005.7250, 切向力X=-3236.3545, 切向力Y=1318.5510 +FPS=32.59, 法向力=1967.9586, 切向力X=-3279.5437, 切向力Y=1352.8357 +FPS=32.92, 法向力=2019.2260, 切向力X=-2307.3340, 切向力Y=2047.3745 +FPS=32.87, 法向力=2045.2966, 切向力X=-2343.4971, 切向力Y=2059.6912 +FPS=30.12, 法向力=1639.8569, 切向力X=-1097.3970, 切向力Y=2277.6909 +FPS=32.99, 法向力=1654.4800, 切向力X=-1262.7622, 切向力Y=2248.2705 +FPS=31.29, 法向力=2205.9092, 切向力X=-1945.7871, 切向力Y=1990.6168 +FPS=32.35, 法向力=2185.4746, 切向力X=-1988.1877, 切向力Y=2036.6627 +FPS=31.15, 法向力=2074.0649, 切向力X=-2324.8247, 切向力Y=1736.9058 +FPS=30.46, 法向力=1945.0375, 切向力X=-2396.2227, 切向力Y=1725.9131 +FPS=30.71, 法向力=1935.6345, 切向力X=-2561.1350, 切向力Y=2689.3806 +FPS=30.65, 法向力=1920.5503, 切向力X=-2547.6450, 切向力Y=2762.2285 +stitch_feature_optimized: canvas out_w=409, out_h=418, x_min=-78.46, y_min=-81.82 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000204s, blend=0.002201s (9 tiles incl ref), finalize=0.000052s, total=0.002464s +FPS=29.70, 法向力=2228.6387, 切向力X=-2722.6311, 切向力Y=2250.2593 +FPS=33.86, 法向力=2265.9795, 切向力X=-2680.4014, 切向力Y=2230.5366 +FPS=31.08, 法向力=1438.5237, 切向力X=-2078.5066, 切向力Y=1670.5645 +FPS=34.24, 法向力=1380.6084, 切向力X=-2149.7590, 切向力Y=1699.4314 +FPS=32.61, 法向力=1569.9019, 切向力X=-1847.0869, 切向力Y=3712.6499 +FPS=33.79, 法向力=1652.8340, 切向力X=-1760.8864, 切向力Y=3744.8250 +FPS=33.76, 法向力=1652.0508, 切向力X=-1770.8674, 切向力Y=3790.5312 +FPS=32.16, 法向力=1709.7950, 切向力X=-2810.7085, 切向力Y=2024.7411 +FPS=33.49, 法向力=1763.5562, 切向力X=-2770.0679, 切向力Y=1987.8584 +FPS=35.03, 法向力=2493.8428, 切向力X=-3134.2830, 切向力Y=1615.4108 +FPS=34.49, 法向力=2466.7295, 切向力X=-3305.0469, 切向力Y=1690.2045 +FPS=34.22, 法向力=1648.1565, 切向力X=-1278.2415, 切向力Y=1048.1382 +FPS=35.73, 法向力=1647.0176, 切向力X=-1218.6965, 切向力Y=920.0675 +FPS=32.85, 法向力=2478.0986, 切向力X=-2902.0928, 切向力Y=1520.5190 +FPS=34.61, 法向力=2409.8853, 切向力X=-2892.6914, 切向力Y=1577.3595 +FPS=34.15, 法向力=2394.2327, 切向力X=-2873.5068, 切向力Y=1578.2626 +FPS=32.36, 法向力=1749.9476, 切向力X=-2422.2402, 切向力Y=3010.3208 +FPS=33.84, 法向力=1807.4575, 切向力X=-2443.4360, 切向力Y=3237.4233 +FPS=31.12, 法向力=2045.2241, 切向力X=-705.2205, 切向力Y=3083.4265 +FPS=35.81, 法向力=2075.1548, 切向力X=-422.5712, 切向力Y=3260.9238 +FPS=32.53, 法向力=1887.4514, 切向力X=-2658.1768, 切向力Y=3508.0359 +FPS=35.10, 法向力=1862.5013, 切向力X=-2752.9507, 切向力Y=3541.5908 +FPS=29.63, 法向力=2019.2366, 切向力X=-2535.0605, 切向力Y=2606.8984 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260521_092214.log b/examples/logs/qt_viewer_20260521_092214.log new file mode 100644 index 0000000..83ef20f --- /dev/null +++ b/examples/logs/qt_viewer_20260521_092214.log @@ -0,0 +1,4078 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.15, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=1.51, 法向力=1854.3673, 切向力X=-8655.4053, 切向力Y=1817.9220 +FPS=25.69, 法向力=1397.5769, 切向力X=-8312.0859, 切向力Y=2649.2788 +FPS=30.79, 法向力=2305.9746, 切向力X=-7379.4941, 切向力Y=2216.1152 +FPS=33.86, 法向力=2463.6787, 切向力X=-7285.8652, 切向力Y=2002.9424 +FPS=33.39, 法向力=2300.2258, 切向力X=-8614.6113, 切向力Y=1968.2102 +FPS=35.10, 法向力=2154.7842, 切向力X=-8480.7930, 切向力Y=2048.5679 +FPS=34.07, 法向力=1300.4454, 切向力X=-8958.0254, 切向力Y=1840.6002 +FPS=35.01, 法向力=1218.9216, 切向力X=-8754.5645, 切向力Y=1961.7175 +FPS=34.48, 法向力=2017.5076, 切向力X=-8093.2461, 切向力Y=1772.9369 +FPS=35.07, 法向力=2262.9304, 切向力X=-8296.1777, 切向力Y=1666.5986 +FPS=34.94, 法向力=1887.5620, 切向力X=-9154.9609, 切向力Y=2475.3975 +FPS=35.12, 法向力=1602.1211, 切向力X=-7865.8281, 切向力Y=2531.7312 +FPS=36.12, 法向力=1600.3254, 切向力X=-7835.2832, 切向力Y=2494.9888 +FPS=34.14, 法向力=2307.1223, 切向力X=-9616.6113, 切向力Y=2286.4229 +FPS=34.92, 法向力=2169.9868, 切向力X=-9694.8633, 切向力Y=2389.7097 +FPS=36.14, 法向力=1361.9189, 切向力X=-8468.6777, 切向力Y=2496.6936 +FPS=34.22, 法向力=1423.2224, 切向力X=-9685.0176, 切向力Y=3355.7007 +FPS=34.63, 法向力=1512.5671, 切向力X=-9606.1943, 切向力Y=3388.5161 +FPS=34.43, 法向力=1945.7637, 切向力X=-10072.5000, 切向力Y=3034.4692 +FPS=35.37, 法向力=2038.1479, 切向力X=-10088.9824, 切向力Y=3052.8184 +FPS=35.20, 法向力=1604.7922, 切向力X=-8466.9316, 切向力Y=3088.4543 +FPS=35.30, 法向力=1574.1128, 切向力X=-8355.9629, 切向力Y=3148.1482 +FPS=34.57, 法向力=1862.7288, 切向力X=-6988.9092, 切向力Y=2478.7461 +FPS=35.47, 法向力=1879.7603, 切向力X=-7056.0244, 切向力Y=2367.8542 +FPS=34.60, 法向力=1891.6560, 切向力X=-8158.8096, 切向力Y=2464.9800 +FPS=34.74, 法向力=1335.9460, 切向力X=-8285.7129, 切向力Y=2314.6533 +FPS=35.19, 法向力=1655.0730, 切向力X=-8102.5112, 切向力Y=2356.4536 +FPS=34.90, 法向力=2010.4592, 切向力X=-8500.2100, 切向力Y=2661.1660 +FPS=36.04, 法向力=2188.8894, 切向力X=-8764.5352, 切向力Y=2249.4304 +FPS=35.39, 法向力=1818.8475, 切向力X=-8635.4248, 切向力Y=2453.8379 +FPS=34.77, 法向力=1379.8397, 切向力X=-8473.3672, 切向力Y=2993.0745 +FPS=37.50, 法向力=1389.5183, 切向力X=-8624.5117, 切向力Y=2813.8521 +FPS=37.76, 法向力=1433.0681, 切向力X=-8586.1982, 切向力Y=2821.8987 +FPS=36.67, 法向力=1801.0513, 切向力X=-7619.6582, 切向力Y=2641.4961 +FPS=36.81, 法向力=1409.5918, 切向力X=-8671.1074, 切向力Y=2276.0737 +FPS=36.81, 法向力=1371.4735, 切向力X=-9077.1338, 切向力Y=2400.1660 +FPS=36.20, 法向力=1372.4614, 切向力X=-8985.9600, 切向力Y=2406.9973 +FPS=37.90, 法向力=1366.6591, 切向力X=-9089.6055, 切向力Y=2370.8218 +FPS=35.97, 法向力=1451.0708, 切向力X=-7530.0186, 切向力Y=2829.3044 +FPS=37.35, 法向力=1521.5695, 切向力X=-7393.8213, 切向力Y=2962.1204 +FPS=36.43, 法向力=1985.0103, 切向力X=-8614.0635, 切向力Y=2310.6296 +FPS=34.51, 法向力=2526.1321, 切向力X=-9186.2930, 切向力Y=2484.5803 +FPS=34.55, 法向力=2410.6672, 切向力X=-9478.2246, 切向力Y=2536.0073 +FPS=33.29, 法向力=2192.6995, 切向力X=-9234.4961, 切向力Y=2873.3318 +FPS=36.22, 法向力=2212.0745, 切向力X=-9089.7402, 切向力Y=3077.6382 +FPS=36.48, 法向力=2639.0034, 切向力X=-10397.3965, 切向力Y=2216.1465 +FPS=36.83, 法向力=2635.6372, 切向力X=-10659.3711, 切向力Y=2072.7261 +FPS=34.52, 法向力=1638.3636, 切向力X=-11644.4062, 切向力Y=1900.7140 +FPS=35.86, 法向力=1592.4438, 切向力X=-11796.7939, 切向力Y=1905.7737 +FPS=33.99, 法向力=1547.7849, 切向力X=-10618.5020, 切向力Y=2082.3452 +FPS=35.91, 法向力=1541.4155, 切向力X=-10495.8477, 切向力Y=2035.9639 +FPS=35.76, 法向力=1530.6824, 切向力X=-10535.8809, 切向力Y=2081.7961 +FPS=34.68, 法向力=1653.3654, 切向力X=-11116.7031, 切向力Y=2280.5547 +FPS=35.98, 法向力=1617.1743, 切向力X=-11180.9922, 切向力Y=2320.8662 +FPS=34.46, 法向力=1573.7758, 切向力X=-11521.9834, 切向力Y=2160.1221 +FPS=34.36, 法向力=1684.3423, 切向力X=-11520.5625, 切向力Y=2074.6128 +FPS=35.03, 法向力=1969.4872, 切向力X=-11291.9219, 切向力Y=1790.6587 +FPS=34.08, 法向力=2214.5200, 切向力X=-10914.0684, 切向力Y=2496.0908 +FPS=35.60, 法向力=2144.1978, 切向力X=-10846.7627, 切向力Y=2694.8418 +FPS=34.40, 法向力=2309.1455, 切向力X=-11553.7432, 切向力Y=2384.9009 +FPS=35.60, 法向力=2347.5288, 切向力X=-11678.7031, 切向力Y=2208.0352 +FPS=32.48, 法向力=2191.2642, 切向力X=-12074.4727, 切向力Y=2296.1033 +FPS=36.26, 法向力=2266.4390, 切向力X=-11953.7041, 切向力Y=2335.5935 +FPS=35.69, 法向力=2598.8613, 切向力X=-10369.8594, 切向力Y=2394.1279 +FPS=36.53, 法向力=2563.8594, 切向力X=-10362.9355, 切向力Y=2257.2319 +FPS=36.99, 法向力=2538.8198, 切向力X=-10351.4150, 切向力Y=2401.1113 +FPS=35.61, 法向力=1413.5066, 切向力X=-10876.5410, 切向力Y=2961.1963 +FPS=36.05, 法向力=1301.4447, 切向力X=-11025.9238, 切向力Y=2921.6333 +FPS=35.08, 法向力=2069.7725, 切向力X=-11660.9854, 切向力Y=3198.4429 +FPS=36.18, 法向力=2194.9819, 切向力X=-11705.1934, 切向力Y=3230.1079 +FPS=35.29, 法向力=1867.1157, 切向力X=-12070.7559, 切向力Y=3294.0579 +FPS=36.75, 法向力=1875.1598, 切向力X=-12600.2998, 切向力Y=3025.0110 +FPS=37.52, 法向力=1920.5062, 切向力X=-13022.9102, 切向力Y=2865.6072 +FPS=37.38, 法向力=1918.0090, 切向力X=-13044.9570, 切向力Y=2840.3447 +FPS=33.60, 法向力=2660.6533, 切向力X=-10503.0273, 切向力Y=2384.8145 +FPS=33.76, 法向力=2824.7471, 切向力X=-10615.5078, 切向力Y=2478.2383 +FPS=34.83, 法向力=2577.8813, 切向力X=-10830.9941, 切向力Y=2561.5635 +FPS=33.29, 法向力=2583.0234, 切向力X=-12166.8340, 切向力Y=2647.2168 +FPS=34.83, 法向力=2497.8345, 切向力X=-12057.1758, 切向力Y=2800.5640 +FPS=35.05, 法向力=2492.7617, 切向力X=-12105.7480, 切向力Y=2745.4368 +FPS=34.05, 法向力=2323.3032, 切向力X=-11981.1846, 切向力Y=2536.6946 +FPS=35.39, 法向力=2342.0337, 切向力X=-11911.4863, 切向力Y=2414.2671 +FPS=34.85, 法向力=2036.7716, 切向力X=-12561.1797, 切向力Y=2754.5151 +FPS=36.24, 法向力=2164.9092, 切向力X=-12633.8037, 切向力Y=2806.3904 +FPS=35.61, 法向力=1632.6913, 切向力X=-11253.8125, 切向力Y=2485.4414 +FPS=33.25, 法向力=1601.4707, 切向力X=-10951.0977, 切向力Y=2570.3389 +FPS=32.06, 法向力=1651.3052, 切向力X=-12434.4941, 切向力Y=2572.5225 +FPS=33.48, 法向力=1532.1741, 切向力X=-11172.7441, 切向力Y=2637.4995 +FPS=33.14, 法向力=1531.6282, 切向力X=-11015.5127, 切向力Y=2751.3572 +FPS=32.80, 法向力=1632.3142, 切向力X=-10930.3154, 切向力Y=2542.3367 +FPS=34.20, 法向力=1781.8599, 切向力X=-11067.0273, 切向力Y=2530.5261 +FPS=33.66, 法向力=1555.8901, 切向力X=-11750.7764, 切向力Y=2719.1892 +FPS=34.80, 法向力=1536.8218, 切向力X=-11881.5225, 切向力Y=2568.2854 +FPS=35.59, 法向力=1514.7590, 切向力X=-12363.3145, 切向力Y=2318.5752 +FPS=34.80, 法向力=2715.4917, 切向力X=-10005.8594, 切向力Y=3410.3164 +FPS=32.70, 法向力=2634.1421, 切向力X=-10269.6895, 切向力Y=3421.2637 +FPS=33.31, 法向力=1776.8658, 切向力X=-10910.4434, 切向力Y=3106.6560 +FPS=32.73, 法向力=1804.1565, 切向力X=-10830.6777, 切向力Y=3163.9785 +FPS=33.98, 法向力=2372.7395, 切向力X=-11110.3857, 切向力Y=3126.4106 +FPS=34.50, 法向力=2394.1267, 切向力X=-11593.1758, 切向力Y=2527.2783 +FPS=32.96, 法向力=2475.8555, 切向力X=-11603.3008, 切向力Y=2523.2524 +FPS=32.24, 法向力=2214.0581, 切向力X=-11803.9492, 切向力Y=2602.2700 +FPS=32.37, 法向力=2207.3525, 切向力X=-11806.8799, 切向力Y=2570.9751 +FPS=32.29, 法向力=1682.4696, 切向力X=-12444.2393, 切向力Y=2518.8127 +FPS=31.49, 法向力=2136.4509, 切向力X=-12608.2568, 切向力Y=2788.2705 +FPS=32.69, 法向力=2136.9487, 切向力X=-12736.7871, 切向力Y=2847.6353 +FPS=32.17, 法向力=2085.4590, 切向力X=-12826.7012, 切向力Y=2911.8640 +FPS=31.93, 法向力=2767.8186, 切向力X=-11028.3848, 切向力Y=3056.8132 +FPS=30.11, 法向力=2684.5745, 切向力X=-11090.2617, 切向力Y=3160.4058 +FPS=32.48, 法向力=2471.4741, 切向力X=-10054.6719, 切向力Y=3888.7185 +FPS=32.79, 法向力=2439.1465, 切向力X=-9484.3613, 切向力Y=3909.8989 +FPS=31.48, 法向力=1885.6835, 切向力X=-10403.0000, 切向力Y=3938.5142 +FPS=31.69, 法向力=2192.1436, 切向力X=-11854.5195, 切向力Y=3997.4763 +FPS=31.70, 法向力=2286.1504, 切向力X=-11831.6836, 切向力Y=3953.9258 +FPS=31.61, 法向力=2052.1208, 切向力X=-12321.1338, 切向力Y=3294.8740 +FPS=31.09, 法向力=1858.2318, 切向力X=-13470.2793, 切向力Y=3025.6035 +FPS=31.42, 法向力=1696.7463, 切向力X=-13528.3418, 切向力Y=3084.4946 +FPS=31.87, 法向力=2431.6152, 切向力X=-14192.1885, 切向力Y=2748.1406 +FPS=32.55, 法向力=2523.1968, 切向力X=-14371.7949, 切向力Y=2599.8157 +FPS=32.50, 法向力=2520.1582, 切向力X=-14355.5723, 切向力Y=2580.5908 +FPS=31.61, 法向力=1681.9946, 切向力X=-14394.6172, 切向力Y=3049.4531 +FPS=32.67, 法向力=1669.2905, 切向力X=-14475.5527, 切向力Y=3059.5864 +FPS=31.53, 法向力=1886.2969, 切向力X=-14895.1816, 切向力Y=3150.3987 +FPS=31.51, 法向力=2355.1836, 切向力X=-14130.4609, 切向力Y=2764.1807 +FPS=31.20, 法向力=2298.8276, 切向力X=-14014.4023, 切向力Y=2877.5000 +FPS=32.22, 法向力=2053.5537, 切向力X=-12088.1953, 切向力Y=2947.7607 +FPS=31.47, 法向力=2045.9069, 切向力X=-14423.3516, 切向力Y=2551.8337 +FPS=31.88, 法向力=2077.0894, 切向力X=-14563.9668, 切向力Y=2532.5601 +FPS=29.46, 法向力=2087.5588, 切向力X=-13895.4404, 切向力Y=3145.2471 +FPS=28.77, 法向力=2674.9707, 切向力X=-13479.5957, 切向力Y=4074.2378 +FPS=31.06, 法向力=2733.7710, 切向力X=-13256.7422, 切向力Y=4150.6372 +FPS=31.95, 法向力=2766.0645, 切向力X=-13185.6465, 切向力Y=4192.3574 +FPS=32.41, 法向力=2759.8110, 切向力X=-13252.7734, 切向力Y=4202.6636 +FPS=32.72, 法向力=2194.7539, 切向力X=-14917.1572, 切向力Y=3227.8979 +FPS=33.29, 法向力=2111.8438, 切向力X=-14147.3311, 切向力Y=3420.2734 +FPS=32.71, 法向力=2154.6958, 切向力X=-14076.9023, 切向力Y=3349.7466 +FPS=32.69, 法向力=2025.3962, 切向力X=-14470.6191, 切向力Y=3292.9539 +FPS=33.31, 法向力=2034.0624, 切向力X=-14754.2695, 切向力Y=3166.1360 +FPS=33.00, 法向力=2072.8037, 切向力X=-14414.1064, 切向力Y=2663.2241 +FPS=32.59, 法向力=1875.2402, 切向力X=-14478.0723, 切向力Y=3086.8887 +FPS=33.51, 法向力=1953.8118, 切向力X=-14367.9990, 切向力Y=3245.3892 +FPS=32.35, 法向力=2837.9497, 切向力X=-13362.0283, 切向力Y=2781.4314 +FPS=31.41, 法向力=2611.3584, 切向力X=-14063.2070, 切向力Y=3032.8252 +FPS=30.99, 法向力=2434.9636, 切向力X=-14230.1133, 切向力Y=3128.9368 +FPS=31.05, 法向力=2498.2268, 切向力X=-14064.7188, 切向力Y=3152.3691 +FPS=32.07, 法向力=2444.7874, 切向力X=-14116.0156, 切向力Y=3180.9583 +FPS=31.77, 法向力=2450.9146, 切向力X=-13346.7598, 切向力Y=2741.1089 +FPS=31.85, 法向力=2044.1887, 切向力X=-13964.4033, 切向力Y=2765.0896 +FPS=32.19, 法向力=1994.1760, 切向力X=-14155.1914, 切向力Y=2837.3970 +FPS=31.37, 法向力=2198.6240, 切向力X=-14854.8691, 切向力Y=3094.3379 +FPS=31.15, 法向力=1945.7678, 切向力X=-13617.2451, 切向力Y=2833.0820 +FPS=32.13, 法向力=1934.2584, 切向力X=-13604.1162, 切向力Y=2904.1646 +FPS=31.24, 法向力=2258.2686, 切向力X=-12295.9727, 切向力Y=2778.5273 +FPS=31.42, 法向力=2181.9470, 切向力X=-13975.6035, 切向力Y=2662.1567 +FPS=32.57, 法向力=2227.1865, 切向力X=-14402.1035, 切向力Y=2769.7295 +FPS=31.29, 法向力=2418.9556, 切向力X=-13802.1875, 切向力Y=2685.3633 +FPS=31.71, 法向力=2408.9490, 切向力X=-13614.5020, 切向力Y=2523.7144 +FPS=31.70, 法向力=2395.2632, 切向力X=-13594.9482, 切向力Y=2525.7065 +FPS=32.03, 法向力=2407.3042, 切向力X=-13609.0625, 切向力Y=2525.1621 +FPS=30.75, 法向力=1956.1298, 切向力X=-13461.1875, 切向力Y=3012.3079 +FPS=30.65, 法向力=2026.0275, 切向力X=-13845.6240, 切向力Y=3386.6016 +FPS=31.03, 法向力=2142.9333, 切向力X=-14110.8604, 切向力Y=3255.1680 +FPS=32.02, 法向力=2195.5706, 切向力X=-14914.1367, 切向力Y=3343.2456 +FPS=31.22, 法向力=2308.0627, 切向力X=-13990.2734, 切向力Y=2689.4263 +FPS=33.49, 法向力=2629.8252, 切向力X=-13971.0059, 切向力Y=2715.4888 +FPS=32.96, 法向力=1805.3003, 切向力X=-16425.0352, 切向力Y=3528.9136 +FPS=32.37, 法向力=2529.1914, 切向力X=-16146.1709, 切向力Y=3647.6812 +FPS=32.92, 法向力=2634.3979, 切向力X=-16002.3818, 切向力Y=3787.5010 +FPS=31.98, 法向力=2020.0790, 切向力X=-14260.7461, 切向力Y=3305.0750 +FPS=32.09, 法向力=1929.3459, 切向力X=-14489.6504, 切向力Y=3338.5625 +FPS=31.47, 法向力=2029.5758, 切向力X=-14209.2188, 切向力Y=3256.4783 +FPS=30.57, 法向力=2545.9185, 切向力X=-13888.5684, 切向力Y=2951.0449 +FPS=30.92, 法向力=2573.0369, 切向力X=-14048.3164, 切向力Y=2735.4917 +FPS=31.20, 法向力=2033.5962, 切向力X=-14378.7588, 切向力Y=3326.0955 +FPS=30.83, 法向力=1880.5146, 切向力X=-13830.5938, 切向力Y=3891.2495 +FPS=31.35, 法向力=2094.6831, 切向力X=-14053.3945, 切向力Y=3914.0332 +FPS=31.34, 法向力=2663.1587, 切向力X=-14936.7012, 切向力Y=3297.4351 +FPS=31.36, 法向力=1803.6980, 切向力X=-14290.9326, 切向力Y=2977.7954 +FPS=31.48, 法向力=1749.3684, 切向力X=-14277.2354, 切向力Y=3097.2395 +FPS=30.52, 法向力=2014.6833, 切向力X=-14851.5068, 切向力Y=3800.2075 +FPS=31.72, 法向力=2005.2979, 切向力X=-15003.6895, 切向力Y=3967.4570 +FPS=31.26, 法向力=2271.7979, 切向力X=-14629.2744, 切向力Y=4255.5859 +FPS=31.32, 法向力=1859.1492, 切向力X=-14012.8770, 切向力Y=3702.8555 +FPS=31.55, 法向力=1876.7576, 切向力X=-14043.3486, 切向力Y=3583.3506 +FPS=31.12, 法向力=2363.5132, 切向力X=-15100.4199, 切向力Y=4242.6279 +FPS=31.26, 法向力=1907.1932, 切向力X=-14778.6855, 切向力Y=3266.8359 +FPS=31.09, 法向力=1975.4260, 切向力X=-14693.7695, 切向力Y=3216.6870 +FPS=30.73, 法向力=1632.0990, 切向力X=-14099.2354, 切向力Y=3579.7373 +FPS=30.61, 法向力=2212.0991, 切向力X=-14102.3516, 切向力Y=3748.3240 +FPS=31.19, 法向力=2026.0819, 切向力X=-14139.4072, 切向力Y=3709.4934 +FPS=30.82, 法向力=2056.0244, 切向力X=-16013.6631, 切向力Y=3350.1299 +FPS=30.39, 法向力=2161.5178, 切向力X=-16373.6328, 切向力Y=3170.1519 +FPS=31.33, 法向力=2524.3398, 切向力X=-17092.9883, 切向力Y=3281.1455 +FPS=29.97, 法向力=2079.7512, 切向力X=-15024.9805, 切向力Y=3958.1548 +FPS=30.38, 法向力=2246.3198, 切向力X=-14219.4082, 切向力Y=3948.0078 +FPS=30.34, 法向力=2389.6855, 切向力X=-14330.3457, 切向力Y=2927.8008 +FPS=29.43, 法向力=1765.4463, 切向力X=-16392.6250, 切向力Y=2877.1208 +FPS=29.57, 法向力=2360.6929, 切向力X=-15067.9473, 切向力Y=3215.7515 +FPS=30.84, 法向力=2557.9172, 切向力X=-14898.3818, 切向力Y=3171.7090 +FPS=29.68, 法向力=2675.5195, 切向力X=-14689.9551, 切向力Y=2711.5364 +FPS=29.79, 法向力=2949.2837, 切向力X=-15232.5527, 切向力Y=3140.4204 +FPS=30.39, 法向力=2839.2815, 切向力X=-15307.8887, 切向力Y=3395.3308 +FPS=30.05, 法向力=2011.3921, 切向力X=-14128.0020, 切向力Y=3762.5920 +FPS=30.68, 法向力=2049.5637, 切向力X=-13935.0010, 切向力Y=3769.3196 +FPS=30.05, 法向力=2206.1577, 切向力X=-14218.9043, 切向力Y=3277.3235 +FPS=29.40, 法向力=1537.7051, 切向力X=-14706.9238, 切向力Y=4384.1143 +FPS=30.13, 法向力=1571.5178, 切向力X=-14513.9834, 切向力Y=4549.2031 +FPS=30.73, 法向力=2370.6909, 切向力X=-14385.1729, 切向力Y=3389.3979 +FPS=30.52, 法向力=1717.5588, 切向力X=-14474.5332, 切向力Y=3969.6899 +FPS=31.03, 法向力=1734.8086, 切向力X=-14655.4014, 切向力Y=3936.7446 +FPS=30.86, 法向力=1878.0609, 切向力X=-13655.8926, 切向力Y=3885.0916 +FPS=30.36, 法向力=2566.4858, 切向力X=-14658.0723, 切向力Y=3039.6077 +FPS=29.78, 法向力=2384.1990, 切向力X=-15072.2617, 切向力Y=3697.7534 +FPS=31.09, 法向力=2413.1289, 切向力X=-15155.5254, 切向力Y=3853.4888 +FPS=29.64, 法向力=1898.2494, 切向力X=-15037.4609, 切向力Y=2030.1403 +FPS=30.74, 法向力=1884.8171, 切向力X=-15366.9336, 切向力Y=1806.9241 +FPS=30.33, 法向力=2488.8232, 切向力X=-15866.3418, 切向力Y=2204.0757 +FPS=30.42, 法向力=2106.5283, 切向力X=-15845.4707, 切向力Y=2905.0220 +FPS=30.23, 法向力=2220.4595, 切向力X=-15806.0977, 切向力Y=2903.5769 +FPS=29.59, 法向力=2566.4023, 切向力X=-17149.2461, 切向力Y=2716.2053 +FPS=30.03, 法向力=2175.4104, 切向力X=-16717.0020, 切向力Y=2764.3604 +FPS=30.43, 法向力=2066.8369, 切向力X=-16418.2461, 切向力Y=2996.8098 +FPS=30.17, 法向力=2171.1865, 切向力X=-15612.6318, 切向力Y=2670.4692 +FPS=30.36, 法向力=1880.4639, 切向力X=-16824.5117, 切向力Y=3312.7510 +FPS=30.93, 法向力=1915.0510, 切向力X=-17034.5859, 切向力Y=3234.5796 +FPS=30.36, 法向力=2227.0825, 切向力X=-17357.2734, 切向力Y=2323.8828 +FPS=30.76, 法向力=2215.9246, 切向力X=-17312.6973, 切向力Y=2415.8257 +FPS=29.99, 法向力=2261.6897, 切向力X=-15798.9834, 切向力Y=2091.2866 +FPS=29.13, 法向力=2064.3794, 切向力X=-17454.5664, 切向力Y=1410.8446 +FPS=31.16, 法向力=2149.2417, 切向力X=-17352.5703, 切向力Y=1471.4897 +FPS=30.68, 法向力=2182.4299, 切向力X=-17439.2988, 切向力Y=1507.4131 +FPS=31.17, 法向力=2344.4702, 切向力X=-15950.7090, 切向力Y=580.2191 +FPS=32.13, 法向力=2448.2373, 切向力X=-16788.3828, 切向力Y=1053.6034 +FPS=32.10, 法向力=2504.6025, 切向力X=-16897.5234, 切向力Y=946.7429 +FPS=31.35, 法向力=2006.0211, 切向力X=-17025.7227, 切向力Y=1050.4163 +FPS=31.89, 法向力=2086.6672, 切向力X=-18089.7324, 切向力Y=561.9317 +FPS=32.88, 法向力=2154.6682, 切向力X=-18085.3555, 切向力Y=496.8438 +FPS=32.38, 法向力=2160.9111, 切向力X=-17972.5312, 切向力Y=400.2456 +FPS=32.24, 法向力=1729.5649, 切向力X=-15769.4707, 切向力Y=1350.0366 +FPS=32.18, 法向力=2295.0066, 切向力X=-16119.3359, 切向力Y=1118.6724 +FPS=32.85, 法向力=2323.3835, 切向力X=-16045.2871, 切向力Y=1178.5844 +FPS=32.36, 法向力=2413.5796, 切向力X=-14926.8281, 切向力Y=1687.8157 +FPS=32.37, 法向力=2100.7239, 切向力X=-16884.4453, 切向力Y=1595.5217 +FPS=32.88, 法向力=2023.6007, 切向力X=-16794.6172, 切向力Y=1707.7151 +FPS=31.86, 法向力=2074.8096, 切向力X=-16808.4570, 切向力Y=1144.6445 +FPS=32.27, 法向力=2075.6653, 切向力X=-16751.3750, 切向力Y=2270.3491 +FPS=32.57, 法向力=2158.1833, 切向力X=-16806.5078, 切向力Y=2186.6284 +FPS=31.42, 法向力=2029.0879, 切向力X=-15172.2930, 切向力Y=1549.9644 +FPS=32.87, 法向力=1962.4983, 切向力X=-15149.7148, 切向力Y=1656.7598 +FPS=31.73, 法向力=2125.0903, 切向力X=-16512.5117, 切向力Y=884.3358 +FPS=32.54, 法向力=2006.7990, 切向力X=-16590.8398, 切向力Y=956.0047 +FPS=31.90, 法向力=1991.6553, 切向力X=-15762.9795, 切向力Y=1329.5135 +FPS=31.45, 法向力=1809.3442, 切向力X=-15220.5352, 切向力Y=1124.6543 +FPS=31.41, 法向力=2175.3550, 切向力X=-15051.3125, 切向力Y=1139.2230 +FPS=32.53, 法向力=2116.5493, 切向力X=-15351.3271, 切向力Y=1171.7114 +FPS=31.19, 法向力=2334.6943, 切向力X=-16865.3691, 切向力Y=1779.2844 +FPS=32.05, 法向力=2382.1572, 切向力X=-16959.3438, 切向力Y=1822.9893 +FPS=27.99, 法向力=2599.4058, 切向力X=-16324.5977, 切向力Y=2107.4353 +FPS=28.53, 法向力=2001.3121, 切向力X=-15764.9307, 切向力Y=764.1405 +FPS=31.24, 法向力=2955.2556, 切向力X=-15138.1738, 切向力Y=1440.3914 +FPS=31.32, 法向力=2848.9893, 切向力X=-15559.6445, 切向力Y=1406.6514 +FPS=30.42, 法向力=2249.5881, 切向力X=-16079.8877, 切向力Y=1143.7480 +FPS=31.65, 法向力=2397.6992, 切向力X=-15917.0029, 切向力Y=991.3568 +FPS=31.16, 法向力=2447.2256, 切向力X=-16568.9922, 切向力Y=1742.2617 +FPS=31.48, 法向力=1755.2960, 切向力X=-15417.4941, 切向力Y=1397.0554 +FPS=32.37, 法向力=1659.6948, 切向力X=-15158.8994, 切向力Y=1544.0767 +FPS=31.47, 法向力=2366.7139, 切向力X=-16152.6875, 切向力Y=1555.8590 +FPS=32.18, 法向力=2021.9532, 切向力X=-16089.4980, 切向力Y=1551.0743 +FPS=32.23, 法向力=1977.1964, 切向力X=-16127.6611, 切向力Y=1398.0459 +FPS=31.40, 法向力=2518.8926, 切向力X=-15357.4219, 切向力Y=976.0592 +FPS=31.80, 法向力=1922.2095, 切向力X=-16237.7715, 切向力Y=840.2473 +FPS=32.33, 法向力=2015.9030, 切向力X=-17038.8770, 切向力Y=398.2944 +FPS=30.61, 法向力=2080.3608, 切向力X=-17071.9785, 切向力Y=422.6890 +FPS=31.96, 法向力=3421.0496, 切向力X=-17905.3633, 切向力Y=598.1237 +FPS=30.92, 法向力=3641.3779, 切向力X=-17654.6152, 切向力Y=1331.2517 +FPS=31.38, 法向力=3618.0337, 切向力X=-17968.5430, 切向力Y=1291.0645 +FPS=32.70, 法向力=3255.7852, 切向力X=-18583.1055, 切向力Y=1801.3259 +FPS=30.79, 法向力=3606.8208, 切向力X=-21672.6738, 切向力Y=1921.3368 +FPS=32.19, 法向力=3591.6555, 切向力X=-22019.5352, 切向力Y=1985.7858 +FPS=32.26, 法向力=3295.5503, 切向力X=-21719.3008, 切向力Y=1568.6277 +FPS=31.18, 法向力=3521.9160, 切向力X=-22726.9297, 切向力Y=2693.5747 +FPS=32.79, 法向力=3556.3784, 切向力X=-22477.9082, 切向力Y=2840.2871 +FPS=32.94, 法向力=3146.4607, 切向力X=-24092.5488, 切向力Y=1907.4026 +FPS=32.65, 法向力=3138.6138, 切向力X=-24241.0996, 切向力Y=1756.3507 +FPS=32.39, 法向力=3468.4121, 切向力X=-24617.2852, 切向力Y=1142.5789 +FPS=32.20, 法向力=2778.7297, 切向力X=-24909.8906, 切向力Y=1755.3048 +FPS=32.64, 法向力=2777.0950, 切向力X=-24796.1875, 切向力Y=1775.2905 +FPS=31.90, 法向力=2487.0825, 切向力X=-20797.6035, 切向力Y=2002.5388 +FPS=31.75, 法向力=2556.3831, 切向力X=-18961.4414, 切向力Y=1614.5425 +FPS=32.62, 法向力=2784.1929, 切向力X=-19250.2910, 切向力Y=1296.2246 +FPS=32.90, 法向力=3134.3474, 切向力X=-16278.1221, 切向力Y=1374.5256 +FPS=33.77, 法向力=3232.4736, 切向力X=-15939.0312, 切向力Y=1351.0652 +FPS=34.04, 法向力=2419.9302, 切向力X=-15332.8340, 切向力Y=1805.5255 +FPS=33.16, 法向力=3404.4561, 切向力X=-12476.4521, 切向力Y=1414.9595 +FPS=34.74, 法向力=3512.9626, 切向力X=-12454.6973, 切向力Y=1258.4829 +FPS=33.03, 法向力=4727.0049, 切向力X=-7419.1626, 切向力Y=361.6230 +FPS=32.26, 法向力=4649.6455, 切向力X=-7412.5928, 切向力Y=232.1131 +FPS=31.20, 法向力=4284.2256, 切向力X=1645.5500, 切向力Y=635.6538 +FPS=31.98, 法向力=4696.6865, 切向力X=5197.1528, 切向力Y=-207.9811 +FPS=32.62, 法向力=4630.2627, 切向力X=5410.0625, 切向力Y=-310.0229 +FPS=31.43, 法向力=3945.3521, 切向力X=5737.3115, 切向力Y=-226.8023 +FPS=32.05, 法向力=4040.2739, 切向力X=5114.2305, 切向力Y=-806.9020 +FPS=32.59, 法向力=3996.1479, 切向力X=5185.3857, 切向力Y=-753.9819 +FPS=32.11, 法向力=3724.0630, 切向力X=7563.3730, 切向力Y=-524.5935 +FPS=32.56, 法向力=3796.3093, 切向力X=7425.2637, 切向力Y=-508.3745 +FPS=32.88, 法向力=3808.4102, 切向力X=8860.7012, 切向力Y=-1309.6514 +FPS=32.59, 法向力=3746.2622, 切向力X=9677.6367, 切向力Y=-1003.9009 +FPS=34.32, 法向力=3645.4307, 切向力X=9929.8955, 切向力Y=-1086.3667 +FPS=32.47, 法向力=3718.7209, 切向力X=7939.7993, 切向力Y=-1644.5320 +FPS=33.86, 法向力=3823.9619, 切向力X=7692.2363, 切向力Y=-1757.6494 +FPS=32.38, 法向力=2436.2163, 切向力X=2317.8716, 切向力Y=-745.2256 +FPS=33.43, 法向力=1963.0334, 切向力X=-5618.2183, 切向力Y=-1138.8492 +FPS=33.66, 法向力=1962.4757, 切向力X=-5853.2339, 切向力Y=-1101.6287 +FPS=32.06, 法向力=1659.3140, 切向力X=-7121.3179, 切向力Y=-1657.1915 +FPS=32.85, 法向力=1636.7882, 切向力X=-7141.9155, 切向力Y=-1628.0278 +FPS=32.65, 法向力=2115.1982, 切向力X=-15073.5010, 切向力Y=-1581.2090 +FPS=32.11, 法向力=2956.1768, 切向力X=-18389.1836, 切向力Y=-961.0662 +FPS=33.71, 法向力=3021.7764, 切向力X=-18733.4316, 切向力Y=-1145.9269 +FPS=33.33, 法向力=3623.7959, 切向力X=-19380.9199, 切向力Y=-509.1004 +FPS=33.09, 法向力=3997.0044, 切向力X=-21256.9180, 切向力Y=1176.8075 +FPS=33.85, 法向力=3945.0261, 切向力X=-21246.1797, 切向力Y=1235.0374 +FPS=33.69, 法向力=3919.8728, 切向力X=-21254.7070, 切向力Y=1236.4114 +FPS=33.81, 法向力=3196.2192, 切向力X=-22105.0742, 切向力Y=779.4504 +FPS=33.16, 法向力=3555.1826, 切向力X=-23156.7832, 切向力Y=1138.2937 +FPS=33.77, 法向力=3525.0361, 切向力X=-23292.4199, 切向力Y=1137.4614 +FPS=32.86, 法向力=3532.0962, 切向力X=-23993.9766, 切向力Y=1358.9333 +FPS=32.89, 法向力=4016.9272, 切向力X=-22544.6641, 切向力Y=1603.5984 +FPS=33.95, 法向力=3960.6743, 切向力X=-22364.1016, 切向力Y=1703.6641 +FPS=32.63, 法向力=2786.1433, 切向力X=-23820.4258, 切向力Y=804.8038 +FPS=32.57, 法向力=2667.1038, 切向力X=-24021.8633, 切向力Y=793.8174 +FPS=33.85, 法向力=3391.2048, 切向力X=-23224.4922, 切向力Y=1207.0950 +FPS=32.98, 法向力=3103.0513, 切向力X=-23453.6309, 切向力Y=2243.6414 +FPS=34.28, 法向力=3042.0566, 切向力X=-23425.9258, 切向力Y=2339.2334 +FPS=33.33, 法向力=2403.3579, 切向力X=-22074.5508, 切向力Y=2132.1960 +FPS=33.46, 法向力=2319.3306, 切向力X=-21536.6445, 切向力Y=2353.8232 +FPS=33.13, 法向力=2186.6997, 切向力X=-18951.3164, 切向力Y=383.8859 +FPS=33.68, 法向力=2078.6650, 切向力X=-16465.3320, 切向力Y=256.0589 +FPS=35.35, 法向力=2119.7144, 切向力X=-16237.5879, 切向力Y=220.7060 +FPS=34.99, 法向力=2203.3828, 切向力X=-13683.5664, 切向力Y=592.0837 +FPS=35.33, 法向力=2219.0901, 切向力X=-13610.6855, 切向力Y=595.5735 +FPS=33.97, 法向力=4456.2119, 切向力X=-12570.9004, 切向力Y=278.5178 +FPS=35.07, 法向力=5270.4448, 切向力X=-7720.3618, 切向力Y=1065.9517 +FPS=34.35, 法向力=5295.2417, 切向力X=-7646.0410, 切向力Y=1371.7451 +FPS=33.69, 法向力=5262.0820, 切向力X=-3901.7178, 切向力Y=422.7505 +FPS=35.28, 法向力=5407.5049, 切向力X=-3658.1260, 切向力Y=231.4223 +FPS=34.31, 法向力=6248.6650, 切向力X=934.3492, 切向力Y=911.3569 +FPS=34.76, 法向力=6300.5645, 切向力X=1236.6329, 切向力Y=1050.8708 +FPS=33.49, 法向力=6521.0801, 切向力X=6766.0923, 切向力Y=1389.4003 +FPS=35.10, 法向力=6323.2109, 切向力X=7527.5278, 切向力Y=1559.0073 +FPS=34.59, 法向力=5289.0742, 切向力X=10165.4717, 切向力Y=485.4067 +FPS=32.61, 法向力=5757.4053, 切向力X=8498.8799, 切向力Y=606.8059 +FPS=34.53, 法向力=5900.6172, 切向力X=8556.7207, 切向力Y=601.5088 +FPS=34.49, 法向力=5553.3418, 切向力X=8179.8584, 切向力Y=466.8358 +FPS=34.84, 法向力=5229.3535, 切向力X=8795.1416, 切向力Y=616.3668 +FPS=34.58, 法向力=4317.4561, 切向力X=3167.6750, 切向力Y=-851.3644 +FPS=34.21, 法向力=2679.3789, 切向力X=-1796.8606, 切向力Y=680.4720 +FPS=35.11, 法向力=2713.2900, 切向力X=-1764.5931, 切向力Y=793.3672 +FPS=33.80, 法向力=3252.4163, 切向力X=-6825.1943, 切向力Y=-268.1230 +FPS=35.39, 法向力=3263.2703, 切向力X=-7059.9434, 切向力Y=-305.5230 +FPS=33.00, 法向力=2276.8296, 切向力X=-7878.5117, 切向力Y=-1505.3013 +FPS=34.91, 法向力=2415.5791, 切向力X=-7719.0938, 切向力Y=-1406.3716 +FPS=34.29, 法向力=2214.1406, 切向力X=-12192.4180, 切向力Y=-200.3894 +FPS=34.88, 法向力=1801.8826, 切向力X=-13948.2910, 切向力Y=-991.2292 +FPS=34.79, 法向力=1819.4308, 切向力X=-14016.7930, 切向力Y=-1036.0526 +FPS=32.95, 法向力=1992.2117, 切向力X=-14037.6641, 切向力Y=-743.8357 +FPS=34.96, 法向力=2017.7487, 切向力X=-13963.3418, 切向力Y=-645.8250 +FPS=34.90, 法向力=2636.6287, 切向力X=-17006.5156, 切向力Y=-467.7379 +FPS=33.54, 法向力=2134.9509, 切向力X=-16493.2383, 切向力Y=-669.7615 +FPS=34.50, 法向力=2038.5454, 切向力X=-16663.3867, 切向力Y=-832.2269 +FPS=33.31, 法向力=1891.0623, 切向力X=-17419.0938, 切向力Y=-408.0131 +FPS=33.87, 法向力=1822.5753, 切向力X=-17683.6133, 切向力Y=-248.8480 +FPS=32.63, 法向力=2123.1230, 切向力X=-14924.1621, 切向力Y=-131.9226 +FPS=36.04, 法向力=2245.9263, 切向力X=-14643.5234, 切向力Y=-86.2652 +FPS=35.34, 法向力=2005.2761, 切向力X=-14249.4258, 切向力Y=-381.1429 +FPS=37.80, 法向力=2066.3960, 切向力X=-14173.9375, 切向力Y=-155.6860 +FPS=37.89, 法向力=2647.4795, 切向力X=-9062.5938, 切向力Y=-858.2655 +FPS=37.06, 法向力=3104.1274, 切向力X=-3621.6711, 切向力Y=-2212.7178 +FPS=36.01, 法向力=3248.8120, 切向力X=-3418.3523, 切向力Y=-2390.6997 +FPS=34.11, 法向力=2833.8792, 切向力X=4171.0918, 切向力Y=-2862.5405 +FPS=35.94, 法向力=2933.5867, 切向力X=4686.5742, 切向力Y=-2965.7913 +FPS=34.80, 法向力=3879.3782, 切向力X=7986.9541, 切向力Y=-4685.3950 +FPS=35.89, 法向力=4136.3076, 切向力X=11075.8711, 切向力Y=-4215.3623 +FPS=31.71, 法向力=4290.5239, 切向力X=11429.4238, 切向力Y=-4278.0981 +FPS=34.90, 法向力=4320.8340, 切向力X=11428.9111, 切向力Y=-4289.1821 +FPS=34.17, 法向力=4871.8252, 切向力X=11745.8789, 切向力Y=-4650.5889 +FPS=33.67, 法向力=4598.9487, 切向力X=9408.2363, 切向力Y=-4331.4277 +FPS=34.21, 法向力=4583.5859, 切向力X=9304.0205, 切向力Y=-4302.4717 +FPS=33.07, 法向力=3776.3730, 切向力X=6097.0518, 切向力Y=-3756.7446 +FPS=34.33, 法向力=3977.4707, 切向力X=6106.5039, 切向力Y=-4599.8765 +FPS=34.15, 法向力=3969.1699, 切向力X=5897.1372, 切向力Y=-4772.6362 +FPS=32.86, 法向力=3712.8770, 切向力X=4987.3853, 切向力Y=-4757.2422 +FPS=34.50, 法向力=3635.2974, 切向力X=4989.8682, 切向力Y=-4704.2886 +FPS=34.09, 法向力=2980.3235, 切向力X=4901.0674, 切向力Y=-4971.6924 +FPS=31.80, 法向力=2894.3108, 切向力X=5043.5713, 切向力Y=-4121.1660 +FPS=30.85, 法向力=2958.2649, 切向力X=5065.4048, 切向力Y=-4107.2480 +FPS=32.66, 法向力=3608.2520, 切向力X=6051.6694, 切向力Y=-3925.1084 +FPS=34.80, 法向力=3590.9138, 切向力X=5867.0938, 切向力Y=-4087.9150 +FPS=33.66, 法向力=3244.3940, 切向力X=4754.8506, 切向力Y=-4401.9390 +FPS=35.07, 法向力=3350.8823, 切向力X=4672.5420, 切向力Y=-4301.7534 +FPS=34.74, 法向力=2793.4951, 切向力X=5072.2847, 切向力Y=-3501.6826 +FPS=33.42, 法向力=2268.1602, 切向力X=4031.2073, 切向力Y=-5059.2344 +FPS=35.11, 法向力=2274.7095, 切向力X=3977.9976, 切向力Y=-5127.9121 +FPS=34.59, 法向力=2328.6211, 切向力X=6710.7285, 切向力Y=-4499.3623 +FPS=34.26, 法向力=2346.3843, 切向力X=7247.8066, 切向力Y=-4551.4331 +FPS=34.63, 法向力=3043.0161, 切向力X=1893.5869, 切向力Y=-4521.7554 +FPS=33.70, 法向力=2386.3638, 切向力X=4361.3789, 切向力Y=-3899.6121 +FPS=34.94, 法向力=2773.5330, 切向力X=4405.6836, 切向力Y=-3743.5557 +FPS=34.45, 法向力=2283.4521, 切向力X=4752.1240, 切向力Y=-3680.1707 +FPS=34.35, 法向力=2229.2100, 切向力X=5014.4829, 切向力Y=-3729.7212 +FPS=33.35, 法向力=2722.3516, 切向力X=2066.7212, 切向力Y=-3638.6279 +FPS=34.98, 法向力=2839.9788, 切向力X=2240.9653, 切向力Y=-3589.7024 +FPS=36.16, 法向力=2209.0317, 切向力X=-1319.5503, 切向力Y=-4530.6548 +FPS=34.61, 法向力=3457.4006, 切向力X=-1644.3182, 切向力Y=-2227.7744 +FPS=36.42, 法向力=3604.0596, 切向力X=-1677.9229, 切向力Y=-2268.3809 +FPS=34.54, 法向力=2814.2632, 切向力X=-2106.4717, 切向力Y=-2894.1287 +FPS=34.93, 法向力=2939.4248, 切向力X=-1885.6228, 切向力Y=-2969.1389 +FPS=33.48, 法向力=3238.1316, 切向力X=-2404.4128, 切向力Y=-2191.4170 +FPS=34.41, 法向力=3165.5967, 切向力X=-1003.6218, 切向力Y=-2053.5366 +FPS=34.58, 法向力=3280.8623, 切向力X=-649.7543, 切向力Y=-2126.9019 +FPS=32.46, 法向力=2994.9507, 切向力X=-4372.1157, 切向力Y=-2084.5342 +FPS=34.26, 法向力=3066.4128, 切向力X=-4717.7583, 切向力Y=-2088.4370 +FPS=34.17, 法向力=3472.2822, 切向力X=-3533.2476, 切向力Y=-2197.8145 +FPS=35.06, 法向力=3453.6750, 切向力X=-3664.8594, 切向力Y=-2194.1267 +FPS=34.55, 法向力=3080.7363, 切向力X=-4406.9624, 切向力Y=-737.4792 +FPS=34.34, 法向力=3054.7988, 切向力X=-4168.7866, 切向力Y=-787.0994 +FPS=35.47, 法向力=2276.9114, 切向力X=-2893.2241, 切向力Y=-1559.5112 +FPS=35.23, 法向力=1516.2902, 切向力X=-4663.9346, 切向力Y=-1536.4209 +FPS=35.65, 法向力=1507.7917, 切向力X=-4670.9297, 切向力Y=-1541.8586 +FPS=34.94, 法向力=1568.4512, 切向力X=-5190.4585, 切向力Y=-1426.1094 +FPS=35.82, 法向力=1567.5826, 切向力X=-5176.9199, 切向力Y=-1469.2224 +FPS=34.41, 法向力=2132.4407, 切向力X=-5652.4897, 切向力Y=-358.6563 +FPS=33.76, 法向力=1571.4404, 切向力X=-8881.3154, 切向力Y=-1208.8342 +FPS=35.10, 法向力=1545.9569, 切向力X=-8984.6250, 切向力Y=-1140.7992 +FPS=33.30, 法向力=2175.3818, 切向力X=-5543.9287, 切向力Y=-322.5110 +FPS=35.31, 法向力=2161.5752, 切向力X=-5447.5576, 切向力Y=10.7720 +FPS=33.04, 法向力=2096.8718, 切向力X=-1653.9131, 切向力Y=-1076.7173 +FPS=33.70, 法向力=2018.9885, 切向力X=-1526.9204, 切向力Y=-1119.0787 +FPS=33.07, 法向力=2662.3481, 切向力X=-3179.4512, 切向力Y=145.8196 +FPS=33.17, 法向力=1648.5977, 切向力X=-8776.2295, 切向力Y=1214.1555 +FPS=33.06, 法向力=1837.4263, 切向力X=-8954.8945, 切向力Y=1125.5115 +FPS=32.98, 法向力=1668.7675, 切向力X=-12732.4277, 切向力Y=3636.4561 +FPS=32.91, 法向力=2547.9966, 切向力X=-19680.9375, 切向力Y=4348.7183 +FPS=33.84, 法向力=2787.6570, 切向力X=-20184.4258, 切向力Y=4324.2124 +FPS=32.82, 法向力=2740.7209, 切向力X=-20714.7148, 切向力Y=3754.4548 +FPS=33.60, 法向力=2855.7681, 切向力X=-20494.9219, 切向力Y=3619.7871 +FPS=33.54, 法向力=2944.1797, 切向力X=-19598.1094, 切向力Y=3886.6167 +FPS=33.67, 法向力=2876.2573, 切向力X=-19671.7695, 切向力Y=3960.1113 +FPS=33.17, 法向力=2050.7139, 切向力X=-19599.3281, 切向力Y=4522.3418 +FPS=33.17, 法向力=2525.8833, 切向力X=-17790.9043, 切向力Y=3912.2190 +FPS=33.22, 法向力=2600.4031, 切向力X=-17750.4180, 切向力Y=4063.6602 +FPS=33.35, 法向力=2467.5671, 切向力X=-18592.6836, 切向力Y=3909.3364 +FPS=34.54, 法向力=2598.8770, 切向力X=-18612.2812, 切向力Y=3626.7319 +FPS=33.89, 法向力=2733.3408, 切向力X=-16570.1016, 切向力Y=4123.7129 +FPS=33.28, 法向力=1964.7753, 切向力X=-18770.4648, 切向力Y=3552.8096 +FPS=33.02, 法向力=1922.5901, 切向力X=-19083.5176, 切向力Y=3536.6882 +FPS=33.39, 法向力=2341.3782, 切向力X=-16449.2812, 切向力Y=4252.4238 +FPS=34.27, 法向力=2085.5522, 切向力X=-18071.8281, 切向力Y=4118.8906 +FPS=34.33, 法向力=2267.6948, 切向力X=-18596.3789, 切向力Y=4032.2505 +FPS=31.07, 法向力=2595.2168, 切向力X=-18081.6875, 切向力Y=3591.2075 +FPS=34.20, 法向力=2596.9907, 切向力X=-18028.6387, 切向力Y=3557.0222 +FPS=33.84, 法向力=2660.2520, 切向力X=-15592.2002, 切向力Y=4672.7266 +FPS=34.83, 法向力=2505.5762, 切向力X=-15692.3672, 切向力Y=4826.0488 +FPS=33.45, 法向力=3700.5728, 切向力X=-12776.8301, 切向力Y=3862.5803 +FPS=32.51, 法向力=3561.9602, 切向力X=54.8889, 切向力Y=4536.1567 +FPS=34.28, 法向力=3677.7544, 切向力X=-120.4128, 切向力Y=4633.0195 +FPS=32.50, 法向力=4411.6743, 切向力X=9789.8398, 切向力Y=-369.1419 +FPS=33.39, 法向力=4525.6748, 切向力X=10056.7188, 切向力Y=-507.2510 +FPS=33.68, 法向力=2741.2681, 切向力X=14985.9053, 切向力Y=-6561.7188 +FPS=33.11, 法向力=3030.7319, 切向力X=16146.9121, 切向力Y=-6339.2544 +FPS=34.64, 法向力=3087.7244, 切向力X=16607.4492, 切向力Y=-6149.9180 +FPS=33.92, 法向力=2985.4048, 切向力X=15487.4902, 切向力Y=-6233.8320 +FPS=33.44, 法向力=2852.0872, 切向力X=15352.1455, 切向力Y=-6358.4570 +FPS=32.75, 法向力=1919.2638, 切向力X=12875.8828, 切向力Y=-6066.8936 +FPS=33.41, 法向力=1816.7067, 切向力X=12732.3984, 切向力Y=-6075.8354 +FPS=33.78, 法向力=3000.9036, 切向力X=3581.3179, 切向力Y=-4648.1343 +FPS=33.71, 法向力=4258.6143, 切向力X=-4214.2769, 切向力Y=-3454.5535 +FPS=34.21, 法向力=3748.3787, 切向力X=-4778.6763, 切向力Y=-3461.0640 +FPS=33.43, 法向力=4441.5215, 切向力X=-9501.3770, 切向力Y=-2087.7383 +FPS=33.97, 法向力=4366.6846, 切向力X=-9811.1777, 切向力Y=-2221.3745 +FPS=34.17, 法向力=4261.7686, 切向力X=-10232.9727, 切向力Y=-1514.5127 +FPS=33.14, 法向力=3434.0867, 切向力X=-12257.6221, 切向力Y=-826.1802 +FPS=35.74, 法向力=3398.3030, 切向力X=-12370.9834, 切向力Y=-993.8694 +FPS=35.07, 法向力=3125.7007, 切向力X=-12644.1953, 切向力Y=-685.3116 +FPS=35.27, 法向力=3106.7065, 切向力X=-12648.2178, 切向力Y=-658.9072 +FPS=33.92, 法向力=4796.2964, 切向力X=-15060.6006, 切向力Y=446.5286 +FPS=34.09, 法向力=4940.8955, 切向力X=-15252.7441, 切向力Y=497.3152 +FPS=34.12, 法向力=3883.5811, 切向力X=-15283.0391, 切向力Y=936.0081 +FPS=33.86, 法向力=2880.3892, 切向力X=-12862.4219, 切向力Y=1485.4363 +FPS=34.29, 法向力=2831.4834, 切向力X=-12808.6533, 切向力Y=1620.4731 +FPS=32.85, 法向力=2808.5566, 切向力X=-11848.5703, 切向力Y=2685.5610 +FPS=33.09, 法向力=3886.3079, 切向力X=-9139.0332, 切向力Y=4062.3728 +FPS=35.06, 法向力=3881.2607, 切向力X=-9037.7832, 切向力Y=4150.6875 +FPS=33.74, 法向力=2727.0142, 切向力X=-11719.7754, 切向力Y=4682.3408 +FPS=29.97, 法向力=2622.7273, 切向力X=-12231.5303, 切向力Y=4358.5928 +FPS=35.29, 法向力=3000.2598, 切向力X=-14238.2617, 切向力Y=5041.0054 +FPS=34.24, 法向力=3039.8306, 切向力X=-15055.2070, 切向力Y=5498.5952 +FPS=35.53, 法向力=3195.7852, 切向力X=-15106.4297, 切向力Y=5605.9863 +FPS=35.34, 法向力=3246.5425, 切向力X=-15135.9590, 切向力Y=5697.9609 +FPS=35.09, 法向力=3158.9426, 切向力X=-16610.0820, 切向力Y=5561.2349 +FPS=34.92, 法向力=3145.6140, 切向力X=-16049.4668, 切向力Y=5694.0352 +FPS=35.16, 法向力=3031.0681, 切向力X=-15826.6318, 切向力Y=5925.2520 +FPS=34.05, 法向力=2678.8232, 切向力X=-15821.2129, 切向力Y=3558.8169 +FPS=34.06, 法向力=2772.2080, 切向力X=-15743.6680, 切向力Y=3658.2031 +FPS=34.30, 法向力=2720.6226, 切向力X=-14882.4023, 切向力Y=4380.2754 +FPS=33.81, 法向力=2869.6592, 切向力X=-13325.2246, 切向力Y=4255.7148 +FPS=35.30, 法向力=2852.5266, 切向力X=-13224.2188, 切向力Y=4204.5117 +FPS=33.71, 法向力=3635.9126, 切向力X=-12407.8545, 切向力Y=4740.8018 +FPS=33.62, 法向力=3743.8425, 切向力X=-12331.9033, 切向力Y=4779.0840 +FPS=34.40, 法向力=2737.6309, 切向力X=-14746.6123, 切向力Y=3496.1292 +FPS=35.04, 法向力=2676.2480, 切向力X=-15113.2178, 切向力Y=3205.0999 +FPS=35.55, 法向力=2416.6655, 切向力X=-14224.2109, 切向力Y=4409.1699 +FPS=35.54, 法向力=3197.7476, 切向力X=-13649.4746, 切向力Y=4223.2568 +FPS=36.01, 法向力=3154.3682, 切向力X=-13609.3574, 切向力Y=4234.6621 +FPS=34.81, 法向力=3495.9517, 切向力X=-12774.1270, 切向力Y=3993.5308 +FPS=36.54, 法向力=3386.4065, 切向力X=-12902.7402, 切向力Y=4011.9019 +FPS=35.53, 法向力=4571.9199, 切向力X=-8783.7676, 切向力Y=5014.2979 +FPS=35.95, 法向力=4636.4648, 切向力X=-8522.6904, 切向力Y=5150.6030 +FPS=36.61, 法向力=4616.3496, 切向力X=-6359.4404, 切向力Y=5671.5195 +FPS=35.87, 法向力=4225.0034, 切向力X=-3733.4644, 切向力Y=5750.3716 +FPS=36.73, 法向力=4237.0449, 切向力X=-3618.7625, 切向力Y=5935.2378 +FPS=36.10, 法向力=5032.9189, 切向力X=-1130.9143, 切向力Y=5289.4902 +FPS=34.81, 法向力=5005.9375, 切向力X=-1092.7837, 切向力Y=5158.8662 +FPS=34.81, 法向力=4572.9941, 切向力X=1150.1184, 切向力Y=3357.5808 +FPS=34.93, 法向力=4682.6680, 切向力X=1261.0344, 切向力Y=3256.2900 +FPS=34.01, 法向力=3998.1230, 切向力X=4013.3486, 切向力Y=487.3049 +FPS=34.19, 法向力=3959.0605, 切向力X=4147.0088, 切向力Y=301.9606 +FPS=34.82, 法向力=4042.2388, 切向力X=3691.9993, 切向力Y=638.2258 +FPS=35.17, 法向力=3871.1597, 切向力X=-197.0981, 切向力Y=2058.0195 +FPS=35.42, 法向力=3610.0303, 切向力X=-626.2522, 切向力Y=2143.4053 +FPS=34.05, 法向力=3087.9087, 切向力X=-2595.1602, 切向力Y=2399.2954 +FPS=35.70, 法向力=3070.4929, 切向力X=-2892.0493, 切向力Y=2617.2856 +FPS=35.33, 法向力=3847.1768, 切向力X=-1513.0470, 切向力Y=2393.1194 +FPS=34.47, 法向力=2708.9807, 切向力X=-1537.7979, 切向力Y=1310.1937 +FPS=33.96, 法向力=2802.7542, 切向力X=-1281.7450, 切向力Y=1472.7601 +FPS=29.69, 法向力=3919.1350, 切向力X=-783.9117, 切向力Y=2222.5754 +FPS=32.05, 法向力=4069.7385, 切向力X=-161.3580, 切向力Y=2457.6001 +FPS=33.26, 法向力=3621.3196, 切向力X=-4837.9390, 切向力Y=1714.0424 +FPS=34.16, 法向力=3867.1296, 切向力X=-5214.1436, 切向力Y=1945.9707 +FPS=34.86, 法向力=2498.4219, 切向力X=-10245.7588, 切向力Y=3963.1062 +FPS=36.34, 法向力=2389.1367, 切向力X=-10419.4922, 切向力Y=3952.8989 +FPS=36.70, 法向力=2375.3086, 切向力X=-10369.3896, 切向力Y=4032.1953 +FPS=35.00, 法向力=2344.3057, 切向力X=-12518.6035, 切向力Y=6072.0234 +FPS=33.92, 法向力=2321.7954, 切向力X=-12357.8379, 切向力Y=6319.5254 +FPS=35.56, 法向力=2538.4990, 切向力X=-13265.6133, 切向力Y=6111.9580 +FPS=33.08, 法向力=2259.5269, 切向力X=-13571.7305, 切向力Y=7072.1328 +FPS=34.36, 法向力=2176.0879, 切向力X=-13593.8379, 切向力Y=7024.7466 +FPS=33.38, 法向力=3003.2039, 切向力X=-16828.4609, 切向力Y=7528.4219 +FPS=34.85, 法向力=2890.8936, 切向力X=-17457.2852, 切向力Y=7337.8735 +FPS=32.67, 法向力=3468.3826, 切向力X=-20055.3008, 切向力Y=8687.2891 +FPS=32.62, 法向力=3422.9478, 切向力X=-20376.1855, 切向力Y=8777.7363 +FPS=33.19, 法向力=3523.1396, 切向力X=-15353.1104, 切向力Y=6134.1240 +FPS=32.28, 法向力=2961.3843, 切向力X=-14546.3047, 切向力Y=6002.3223 +FPS=34.68, 法向力=2916.3159, 切向力X=-14537.3828, 切向力Y=5956.3535 +FPS=34.27, 法向力=2896.8516, 切向力X=-14571.9316, 切向力Y=5908.6738 +FPS=33.27, 法向力=3827.5635, 切向力X=-12440.3301, 切向力Y=4983.5688 +FPS=34.00, 法向力=3856.4697, 切向力X=-12085.4199, 切向力Y=5230.9395 +FPS=32.37, 法向力=2604.5110, 切向力X=-13671.7637, 切向力Y=3268.6782 +FPS=33.52, 法向力=2552.8821, 切向力X=-13564.9561, 切向力Y=3097.9294 +FPS=33.46, 法向力=2480.8662, 切向力X=-15369.6416, 切向力Y=2967.3596 +FPS=32.64, 法向力=2825.0034, 切向力X=-15749.0332, 切向力Y=3023.0552 +FPS=33.47, 法向力=2785.6572, 切向力X=-15770.6543, 切向力Y=2972.2097 +FPS=32.45, 法向力=4388.7583, 切向力X=-5429.5205, 切向力Y=1618.5232 +FPS=33.67, 法向力=4355.0601, 切向力X=-5456.8516, 切向力Y=1662.5919 +FPS=32.07, 法向力=4634.9131, 切向力X=-4115.4619, 切向力Y=825.1996 +FPS=33.76, 法向力=4622.4434, 切向力X=-4178.8945, 切向力Y=936.9211 +FPS=34.04, 法向力=4719.9072, 切向力X=-7441.1709, 切向力Y=3061.2783 +FPS=34.47, 法向力=4840.5518, 切向力X=-7850.0044, 切向力Y=3024.7803 +FPS=36.05, 法向力=4964.9639, 切向力X=-7968.2109, 切向力Y=3097.2173 +FPS=34.43, 法向力=10117.3984, 切向力X=8465.4531, 切向力Y=3367.7073 +FPS=34.77, 法向力=10031.8945, 切向力X=8615.2959, 切向力Y=3386.4507 +FPS=33.96, 法向力=8005.8574, 切向力X=16809.9805, 切向力Y=-729.1676 +FPS=33.22, 法向力=8085.3657, 切向力X=17218.0898, 切向力Y=-1827.0708 +FPS=33.21, 法向力=7991.4722, 切向力X=17357.4375, 切向力Y=-2025.0531 +FPS=33.99, 法向力=7089.3809, 切向力X=15589.3008, 切向力Y=-2414.3115 +FPS=33.92, 法向力=7091.7349, 切向力X=15558.8037, 切向力Y=-2325.1416 +FPS=32.78, 法向力=7104.1641, 切向力X=12056.9785, 切向力Y=-1237.4941 +FPS=33.85, 法向力=6940.6963, 切向力X=11878.9512, 切向力Y=-1094.0474 +FPS=33.39, 法向力=7012.6162, 切向力X=11142.3291, 切向力Y=-1458.4310 +FPS=33.83, 法向力=8131.5195, 切向力X=11157.9365, 切向力Y=-1107.2959 +FPS=34.11, 法向力=7881.8511, 切向力X=11123.0176, 切向力Y=-1071.8315 +FPS=34.11, 法向力=7947.8682, 切向力X=11068.3252, 切向力Y=-1124.2922 +FPS=33.72, 法向力=5678.7671, 切向力X=9319.4512, 切向力Y=-2800.2715 +FPS=35.00, 法向力=5723.5488, 切向力X=9157.3672, 切向力Y=-2878.0000 +FPS=33.17, 法向力=4636.8779, 切向力X=5005.2598, 切向力Y=-853.4397 +FPS=34.71, 法向力=4716.6450, 切向力X=4879.7803, 切向力Y=-592.3302 +FPS=34.18, 法向力=3511.0234, 切向力X=-819.3466, 切向力Y=1243.9968 +FPS=34.11, 法向力=3318.5176, 切向力X=-1321.3276, 切向力Y=1158.4968 +FPS=32.36, 法向力=3430.8413, 切向力X=276.9530, 切向力Y=-1134.6658 +FPS=33.41, 法向力=3479.1487, 切向力X=10097.8457, 切向力Y=-6365.3408 +FPS=34.09, 法向力=3347.9189, 切向力X=10357.4160, 切向力Y=-7029.5957 +FPS=32.50, 法向力=4753.6357, 切向力X=17983.6191, 切向力Y=-11539.3574 +FPS=33.48, 法向力=4946.5059, 切向力X=18178.3320, 切向力Y=-11860.8672 +FPS=33.36, 法向力=4022.9824, 切向力X=16867.9688, 切向力Y=-12243.8086 +FPS=34.46, 法向力=3909.2249, 切向力X=16787.4668, 切向力Y=-12435.4082 +FPS=33.33, 法向力=3857.6265, 切向力X=16730.2109, 切向力Y=-12442.4590 +FPS=32.28, 法向力=3243.5156, 切向力X=16676.2773, 切向力Y=-12792.0762 +FPS=32.73, 法向力=3152.6812, 切向力X=15266.5547, 切向力Y=-12927.8770 +FPS=33.38, 法向力=3156.1558, 切向力X=15208.1660, 切向力Y=-12960.5986 +FPS=32.07, 法向力=3182.0598, 切向力X=15230.0107, 切向力Y=-12917.2412 +FPS=34.73, 法向力=3599.4573, 切向力X=14397.9043, 切向力Y=-12988.6836 +FPS=33.47, 法向力=3087.5308, 切向力X=14765.2109, 切向力Y=-12852.1797 +FPS=35.24, 法向力=3116.7363, 切向力X=14771.4160, 切向力Y=-13029.4180 +FPS=34.39, 法向力=2980.8594, 切向力X=15149.2773, 切向力Y=-13154.3594 +FPS=34.63, 法向力=3351.9250, 切向力X=12989.1084, 切向力Y=-12479.7910 +FPS=35.40, 法向力=3402.2129, 切向力X=12813.6738, 切向力Y=-12367.2490 +FPS=34.86, 法向力=3640.5601, 切向力X=14607.8027, 切向力Y=-11519.1299 +FPS=35.56, 法向力=3734.9124, 切向力X=14636.6064, 切向力Y=-11295.2109 +FPS=35.89, 法向力=3749.5515, 切向力X=14674.8613, 切向力Y=-11323.4863 +FPS=35.03, 法向力=3762.8147, 切向力X=14694.1250, 切向力Y=-11277.6631 +FPS=34.29, 法向力=4119.9561, 切向力X=12126.0469, 切向力Y=-11696.6826 +FPS=35.50, 法向力=4111.4658, 切向力X=11896.1709, 切向力Y=-11741.5801 +FPS=34.48, 法向力=4857.8823, 切向力X=9285.3164, 切向力Y=-11156.5566 +FPS=34.80, 法向力=3881.0757, 切向力X=5626.9692, 切向力Y=-10663.2012 +FPS=35.49, 法向力=3868.8921, 切向力X=5496.1738, 切向力Y=-10485.7598 +FPS=34.70, 法向力=4494.9180, 切向力X=337.8640, 切向力Y=-10251.0625 +FPS=36.28, 法向力=4607.3813, 切向力X=-584.4390, 切向力Y=-10052.5566 +FPS=35.45, 法向力=5664.3545, 切向力X=-1617.4910, 切向力Y=-9674.2168 +FPS=36.24, 法向力=5666.0098, 切向力X=-1856.3153, 切向力Y=-9619.9902 +FPS=34.75, 法向力=4811.7354, 切向力X=-3889.8105, 切向力Y=-9313.5400 +FPS=35.02, 法向力=4227.9238, 切向力X=-20288.8789, 切向力Y=-4738.3389 +FPS=36.98, 法向力=3931.4780, 切向力X=-20686.5234, 切向力Y=-4381.5562 +FPS=35.34, 法向力=3940.1606, 切向力X=-20615.6875, 切向力Y=-4366.5527 +FPS=35.09, 法向力=3912.7124, 切向力X=-20671.8633, 切向力Y=-4367.2959 +FPS=34.28, 法向力=5015.0547, 切向力X=-25521.2617, 切向力Y=-3224.9541 +FPS=35.61, 法向力=5034.3633, 切向力X=-25828.5586, 切向力Y=-3028.9722 +FPS=35.36, 法向力=5202.1182, 切向力X=-26691.0430, 切向力Y=-2972.7437 +FPS=35.67, 法向力=4432.6216, 切向力X=-28510.6523, 切向力Y=-3652.1411 +FPS=35.85, 法向力=4413.4365, 切向力X=-28591.5293, 切向力Y=-3535.6357 +FPS=35.38, 法向力=4306.4282, 切向力X=-27372.6562, 切向力Y=-2920.7566 +FPS=36.35, 法向力=4271.5811, 切向力X=-27521.2578, 切向力Y=-3098.7695 +FPS=35.50, 法向力=4314.4448, 切向力X=-29471.2734, 切向力Y=-2666.4648 +FPS=35.73, 法向力=4192.2402, 切向力X=-29452.0000, 切向力Y=-2665.3140 +FPS=34.24, 法向力=2897.0454, 切向力X=-25377.2461, 切向力Y=-1719.3894 +FPS=36.16, 法向力=6927.4775, 切向力X=-13798.8027, 切向力Y=-948.0959 +FPS=36.18, 法向力=7106.4883, 切向力X=-13662.9453, 切向力Y=-994.9507 +FPS=35.57, 法向力=7049.2358, 切向力X=-13648.2090, 切向力Y=-988.5319 +FPS=36.76, 法向力=7082.1621, 切向力X=-13619.6777, 切向力Y=-1012.9924 +FPS=35.27, 法向力=5988.4937, 切向力X=10298.3926, 切向力Y=-2344.9282 +FPS=35.88, 法向力=6094.2773, 切向力X=10214.2402, 切向力Y=-2538.5525 +FPS=35.61, 法向力=5597.4292, 切向力X=12281.8330, 切向力Y=-1974.1288 +FPS=35.63, 法向力=5784.2720, 切向力X=11707.9805, 切向力Y=-1699.5763 +FPS=36.25, 法向力=5770.6309, 切向力X=9219.1875, 切向力Y=-1955.2812 +FPS=37.17, 法向力=5979.7935, 切向力X=8854.5117, 切向力Y=-2028.7698 +FPS=35.54, 法向力=6868.2939, 切向力X=9012.7852, 切向力Y=-1382.8600 +FPS=35.76, 法向力=7823.0859, 切向力X=11093.1152, 切向力Y=-964.1639 +FPS=36.00, 法向力=7677.4062, 切向力X=11264.5078, 切向力Y=-831.4346 +FPS=33.25, 法向力=8664.3027, 切向力X=12373.4727, 切向力Y=-737.8341 +FPS=34.48, 法向力=8593.0820, 切向力X=12093.3115, 切向力Y=-768.8455 +FPS=34.21, 法向力=8690.3984, 切向力X=12621.8926, 切向力Y=-105.2630 +FPS=35.05, 法向力=8598.4043, 切向力X=13167.6514, 切向力Y=-227.7809 +FPS=32.74, 法向力=8655.8867, 切向力X=13146.3574, 切向力Y=-189.3435 +FPS=32.49, 法向力=9363.1826, 切向力X=17581.7891, 切向力Y=-1007.4869 +FPS=32.59, 法向力=9516.9551, 切向力X=17692.8906, 切向力Y=-1074.3801 +FPS=31.65, 法向力=9980.4668, 切向力X=16222.3281, 切向力Y=-952.5617 +FPS=33.95, 法向力=9995.2031, 切向力X=16032.8047, 切向力Y=-1100.9954 +FPS=34.38, 法向力=10082.7354, 切向力X=17003.6602, 切向力Y=-1945.6465 +FPS=33.77, 法向力=9915.8115, 切向力X=18481.9531, 切向力Y=-1994.5640 +FPS=34.30, 法向力=9740.1602, 切向力X=18789.6211, 切向力Y=-1962.8954 +FPS=33.03, 法向力=8696.4043, 切向力X=22367.1738, 切向力Y=-3580.7915 +FPS=32.76, 法向力=7046.3809, 切向力X=20492.2930, 切向力Y=-4240.8486 +FPS=34.15, 法向力=7092.9692, 切向力X=20326.3457, 切向力Y=-4315.0713 +FPS=32.68, 法向力=6146.2480, 切向力X=16576.9297, 切向力Y=-4593.9517 +FPS=34.08, 法向力=6058.6230, 切向力X=16649.4414, 切向力Y=-4511.8765 +FPS=33.79, 法向力=6055.9985, 切向力X=16611.6270, 切向力Y=-4447.7334 +FPS=34.00, 法向力=6065.6484, 切向力X=16695.6445, 切向力Y=-4474.7012 +FPS=32.66, 法向力=5663.3354, 切向力X=8167.0249, 切向力Y=-6077.8184 +FPS=33.76, 法向力=4828.9736, 切向力X=6922.1729, 切向力Y=-7060.6943 +FPS=33.77, 法向力=4876.2261, 切向力X=6887.0215, 切向力Y=-7106.0537 +FPS=32.92, 法向力=4525.1870, 切向力X=4182.5479, 切向力Y=-9579.5059 +FPS=34.12, 法向力=4583.5479, 切向力X=4128.2910, 切向力Y=-9531.9648 +FPS=33.36, 法向力=5327.6602, 切向力X=3895.4126, 切向力Y=-9455.9980 +FPS=32.49, 法向力=6034.8115, 切向力X=1770.0973, 切向力Y=-9061.4043 +FPS=33.37, 法向力=6331.5879, 切向力X=1251.2855, 切向力Y=-8948.4512 +FPS=31.67, 法向力=5519.8789, 切向力X=1847.9534, 切向力Y=-8900.7441 +FPS=31.26, 法向力=5587.5977, 切向力X=2131.3870, 切向力Y=-8714.1738 +FPS=29.21, 法向力=6644.2915, 切向力X=-472.5594, 切向力Y=-7972.3760 +FPS=31.99, 法向力=6348.6528, 切向力X=-902.1530, 切向力Y=-6617.2026 +FPS=33.48, 法向力=6386.0742, 切向力X=-986.5115, 切向力Y=-6566.2710 +FPS=31.79, 法向力=6328.6216, 切向力X=2801.7261, 切向力Y=-6358.9551 +FPS=33.13, 法向力=6233.4248, 切向力X=8688.9844, 切向力Y=-5565.6235 +FPS=33.03, 法向力=6197.7080, 切向力X=8860.7988, 切向力Y=-5517.0430 +FPS=32.38, 法向力=7568.3452, 切向力X=-6293.9292, 切向力Y=-5371.7783 +FPS=33.67, 法向力=7392.8452, 切向力X=-6991.2925, 切向力Y=-5399.7959 +FPS=33.75, 法向力=4739.2534, 切向力X=-26417.3516, 切向力Y=-2801.4214 +FPS=34.29, 法向力=2877.1194, 切向力X=-22295.6973, 切向力Y=1640.7698 +FPS=34.77, 法向力=2975.2209, 切向力X=-22463.6289, 切向力Y=1307.9587 +FPS=33.92, 法向力=3300.1533, 切向力X=-22053.6426, 切向力Y=3825.9380 +FPS=34.37, 法向力=3306.8835, 切向力X=-21961.8984, 切向力Y=4190.4473 +FPS=34.45, 法向力=2637.6023, 切向力X=-23996.9023, 切向力Y=2224.6194 +FPS=35.25, 法向力=2578.1104, 切向力X=-24042.7402, 切向力Y=2023.4536 +FPS=35.18, 法向力=3338.5605, 切向力X=-23873.1641, 切向力Y=1635.3000 +FPS=34.54, 法向力=2939.5303, 切向力X=-25000.1094, 切向力Y=3008.1433 +FPS=36.24, 法向力=2984.0691, 切向力X=-25101.4805, 切向力Y=3306.1282 +FPS=34.90, 法向力=3421.2197, 切向力X=-23884.1484, 切向力Y=2816.5566 +FPS=35.45, 法向力=3307.3247, 切向力X=-23916.6055, 切向力Y=2855.8442 +FPS=34.67, 法向力=3028.9575, 切向力X=-22317.3125, 切向力Y=3530.5457 +FPS=34.45, 法向力=3091.8389, 切向力X=-22160.4941, 切向力Y=3577.7920 +FPS=35.10, 法向力=3111.6511, 切向力X=-22316.9805, 切向力Y=3526.7119 +FPS=34.59, 法向力=2431.0466, 切向力X=-22798.5566, 切向力Y=3545.2253 +FPS=35.99, 法向力=2440.9729, 切向力X=-22791.0742, 切向力Y=3816.7671 +FPS=34.56, 法向力=2525.7026, 切向力X=-21958.6016, 切向力Y=3656.3115 +FPS=35.59, 法向力=2568.5381, 切向力X=-22109.5469, 切向力Y=3634.8721 +FPS=33.83, 法向力=2778.7043, 切向力X=-21313.5000, 切向力Y=4769.4077 +FPS=34.59, 法向力=2829.4646, 切向力X=-20980.6250, 切向力Y=4937.6958 +FPS=34.63, 法向力=2953.7007, 切向力X=-21701.3418, 切向力Y=3387.9248 +FPS=34.51, 法向力=2592.2808, 切向力X=-22389.7461, 切向力Y=3354.1606 +FPS=35.86, 法向力=2597.8369, 切向力X=-22107.9785, 切向力Y=3290.8076 +FPS=33.73, 法向力=2941.2861, 切向力X=-21999.1875, 切向力Y=3951.6719 +FPS=35.54, 法向力=2885.7776, 切向力X=-21994.4570, 切向力Y=4122.3467 +FPS=34.74, 法向力=2808.6479, 切向力X=-20289.0234, 切向力Y=4158.2979 +FPS=34.23, 法向力=2783.4277, 切向力X=-21036.2949, 切向力Y=4405.9536 +FPS=35.64, 法向力=2733.9209, 切向力X=-20967.1387, 切向力Y=4454.4922 +FPS=34.92, 法向力=2729.8008, 切向力X=-21026.0547, 切向力Y=4472.1836 +FPS=34.53, 法向力=3094.0205, 切向力X=-21186.4473, 切向力Y=4844.6733 +FPS=33.53, 法向力=3008.3098, 切向力X=-21127.0000, 切向力Y=4663.9482 +FPS=34.51, 法向力=2986.6130, 切向力X=-20991.0078, 切向力Y=4732.9932 +FPS=33.96, 法向力=2996.9072, 切向力X=-19756.9805, 切向力Y=5436.1055 +FPS=35.28, 法向力=2933.2065, 切向力X=-19647.1035, 切向力Y=5514.5708 +FPS=34.99, 法向力=2797.0427, 切向力X=-19865.4160, 切向力Y=6219.1641 +FPS=33.63, 法向力=2857.7246, 切向力X=-19451.8633, 切向力Y=6413.9521 +FPS=34.43, 法向力=2840.1157, 切向力X=-19449.9512, 切向力Y=6259.1699 +FPS=34.28, 法向力=2667.0210, 切向力X=-20272.4023, 切向力Y=6774.5815 +FPS=36.11, 法向力=2737.8096, 切向力X=-20216.8359, 切向力Y=6771.4648 +FPS=37.19, 法向力=2586.6741, 切向力X=-20635.7617, 切向力Y=6198.5215 +FPS=35.13, 法向力=2887.3674, 切向力X=-19351.3496, 切向力Y=7809.2607 +FPS=35.20, 法向力=2991.1685, 切向力X=-19346.2305, 切向力Y=7891.2114 +FPS=36.59, 法向力=2995.1609, 切向力X=-19214.0215, 切向力Y=7812.0728 +FPS=35.96, 法向力=3585.0713, 切向力X=-19747.9805, 切向力Y=7479.9316 +FPS=34.65, 法向力=3027.4990, 切向力X=-18352.1777, 切向力Y=8325.1895 +FPS=35.60, 法向力=3135.1101, 切向力X=-18081.4688, 切向力Y=8422.8496 +FPS=35.91, 法向力=3433.7449, 切向力X=-18428.6816, 切向力Y=7989.0898 +FPS=35.25, 法向力=3469.0269, 切向力X=-18781.3672, 切向力Y=7711.8838 +FPS=34.96, 法向力=3504.1377, 切向力X=-19891.3945, 切向力Y=7205.4546 +FPS=34.80, 法向力=3243.0469, 切向力X=-19137.1973, 切向力Y=6927.3184 +FPS=35.86, 法向力=3212.7734, 切向力X=-19128.4062, 切向力Y=6885.0371 +FPS=33.93, 法向力=3429.0127, 切向力X=-19765.8203, 切向力Y=7620.4956 +FPS=35.63, 法向力=3459.4470, 切向力X=-19799.6406, 切向力Y=7654.0430 +FPS=34.84, 法向力=3364.2256, 切向力X=-19380.1465, 切向力Y=7270.8267 +FPS=35.26, 法向力=3421.8599, 切向力X=-19351.3164, 切向力Y=7410.0791 +FPS=34.52, 法向力=3432.1479, 切向力X=-18972.3047, 切向力Y=7551.6758 +FPS=34.94, 法向力=3457.6477, 切向力X=-18884.5938, 切向力Y=7560.9033 +FPS=34.32, 法向力=3344.6021, 切向力X=-19265.3750, 切向力Y=7420.8447 +FPS=33.93, 法向力=3436.1792, 切向力X=-19283.5547, 切向力Y=7925.5151 +FPS=35.96, 法向力=3496.8562, 切向力X=-19213.4824, 切向力Y=7950.9102 +FPS=34.69, 法向力=3860.9548, 切向力X=-17010.0254, 切向力Y=8713.5000 +FPS=35.20, 法向力=3833.9609, 切向力X=-17064.8750, 切向力Y=8638.9502 +FPS=33.53, 法向力=3332.4155, 切向力X=-18363.7988, 切向力Y=7263.7271 +FPS=34.24, 法向力=3282.8926, 切向力X=-19764.7715, 切向力Y=7049.3584 +FPS=34.65, 法向力=3379.2156, 切向力X=-19712.8320, 切向力Y=6924.4268 +FPS=33.34, 法向力=2876.0620, 切向力X=-19234.6172, 切向力Y=7193.0488 +FPS=35.35, 法向力=2868.1426, 切向力X=-19090.8320, 切向力Y=7261.7251 +FPS=34.20, 法向力=3678.3955, 切向力X=-18637.9238, 切向力Y=8292.4707 +FPS=34.83, 法向力=3645.6152, 切向力X=-19015.2090, 切向力Y=8212.0596 +FPS=34.55, 法向力=3381.2612, 切向力X=-17579.4199, 切向力Y=7936.0010 +FPS=34.62, 法向力=2686.1042, 切向力X=-18948.6074, 切向力Y=6640.8965 +FPS=35.49, 法向力=2702.5715, 切向力X=-18947.5645, 切向力Y=6657.8262 +FPS=33.18, 法向力=2680.3823, 切向力X=-20079.3672, 切向力Y=5493.5151 +FPS=35.10, 法向力=2584.9021, 切向力X=-20443.4082, 切向力Y=5365.6621 +FPS=34.40, 法向力=3181.1819, 切向力X=-19147.9219, 切向力Y=5418.5020 +FPS=33.16, 法向力=3009.9849, 切向力X=-18203.1016, 切向力Y=6610.2031 +FPS=33.90, 法向力=2954.3320, 切向力X=-18362.3262, 切向力Y=6774.0464 +FPS=32.29, 法向力=2816.3071, 切向力X=-19056.2266, 切向力Y=7116.0044 +FPS=34.24, 法向力=2909.9531, 切向力X=-19262.0391, 切向力Y=7049.2803 +FPS=33.01, 法向力=3101.9502, 切向力X=-17766.1719, 切向力Y=8008.7939 +FPS=33.42, 法向力=2997.0088, 切向力X=-18111.4941, 切向力Y=7940.5225 +FPS=32.17, 法向力=2979.8564, 切向力X=-19626.9453, 切向力Y=8625.2715 +FPS=33.16, 法向力=2830.1294, 切向力X=-20903.5117, 切向力Y=8232.9219 +FPS=33.72, 法向力=2809.1887, 切向力X=-21186.5312, 切向力Y=8195.5742 +FPS=34.34, 法向力=3645.2964, 切向力X=-20403.3398, 切向力Y=8775.4775 +FPS=34.38, 法向力=3512.7122, 切向力X=-20454.2637, 切向力Y=8709.4570 +FPS=34.60, 法向力=4084.0220, 切向力X=-16990.7109, 切向力Y=9645.8701 +FPS=33.19, 法向力=3689.4446, 切向力X=-18690.1113, 切向力Y=9291.9551 +FPS=34.35, 法向力=3837.6348, 切向力X=-18510.2402, 切向力Y=9097.3457 +FPS=33.60, 法向力=3623.3564, 切向力X=-19662.1211, 切向力Y=9293.5215 +FPS=33.65, 法向力=3053.9207, 切向力X=-18001.6445, 切向力Y=10210.6377 +FPS=33.89, 法向力=3064.8691, 切向力X=-18249.7695, 切向力Y=10200.5645 +FPS=34.52, 法向力=3045.0503, 切向力X=-18247.0820, 切向力Y=10172.5869 +FPS=34.74, 法向力=3709.4399, 切向力X=-18715.2773, 切向力Y=9808.2109 +FPS=33.41, 法向力=3309.8918, 切向力X=-17576.3828, 切向力Y=9633.1875 +FPS=34.55, 法向力=3520.3870, 切向力X=-17129.5332, 切向力Y=9642.0117 +FPS=32.71, 法向力=3715.1716, 切向力X=-17738.5156, 切向力Y=10531.3926 +FPS=32.64, 法向力=3805.2485, 切向力X=-18117.2266, 切向力Y=10524.5752 +FPS=33.55, 法向力=3234.6309, 切向力X=-18680.1152, 切向力Y=10491.0449 +FPS=32.35, 法向力=3859.4990, 切向力X=-19404.3203, 切向力Y=9925.9277 +FPS=33.64, 法向力=4045.7808, 切向力X=-19428.0078, 切向力Y=9698.4805 +FPS=32.84, 法向力=3374.7041, 切向力X=-19277.8633, 切向力Y=10369.0508 +FPS=32.50, 法向力=4233.0688, 切向力X=-18998.4844, 切向力Y=10558.5215 +FPS=34.08, 法向力=4296.2842, 切向力X=-18829.9609, 切向力Y=10697.5703 +FPS=32.83, 法向力=3046.9756, 切向力X=-18206.4844, 切向力Y=9867.1973 +FPS=34.00, 法向力=3000.8994, 切向力X=-18820.6172, 切向力Y=9564.1699 +FPS=30.78, 法向力=3716.7393, 切向力X=-18625.3047, 切向力Y=9916.5508 +FPS=32.70, 法向力=3117.7603, 切向力X=-19419.8418, 切向力Y=9764.7617 +FPS=34.11, 法向力=3127.0503, 切向力X=-19578.3438, 切向力Y=9695.0908 +FPS=32.91, 法向力=3227.6692, 切向力X=-19292.4219, 切向力Y=9061.1543 +FPS=33.33, 法向力=3239.4832, 切向力X=-19414.7500, 切向力Y=9186.6211 +FPS=32.31, 法向力=3247.4055, 切向力X=-17330.0938, 切向力Y=7852.0464 +FPS=32.04, 法向力=4044.3176, 切向力X=-15007.8535, 切向力Y=8331.8066 +FPS=32.91, 法向力=4169.7383, 切向力X=-15150.6914, 切向力Y=8553.8174 +FPS=32.51, 法向力=3284.3428, 切向力X=-16917.9199, 切向力Y=8899.9062 +FPS=32.42, 法向力=3403.8589, 切向力X=-16265.4219, 切向力Y=9150.0693 +FPS=33.01, 法向力=3396.4277, 切向力X=-16599.0742, 切向力Y=9205.7871 +FPS=32.23, 法向力=3100.1895, 切向力X=-16873.6426, 切向力Y=8643.7275 +FPS=33.49, 法向力=3211.8000, 切向力X=-16844.4844, 切向力Y=8644.1250 +FPS=31.53, 法向力=3365.4519, 切向力X=-17445.2637, 切向力Y=8777.8545 +FPS=33.32, 法向力=3323.9646, 切向力X=-17418.0020, 切向力Y=8819.7988 +FPS=32.44, 法向力=3654.8782, 切向力X=-16086.9756, 切向力Y=9019.7803 +FPS=31.66, 法向力=3256.1824, 切向力X=-15419.0195, 切向力Y=8612.8115 +FPS=32.06, 法向力=3350.1560, 切向力X=-15111.8008, 切向力Y=8879.5674 +FPS=32.89, 法向力=3428.8345, 切向力X=-16732.7539, 切向力Y=9576.0137 +FPS=31.80, 法向力=3007.7878, 切向力X=-17182.6445, 切向力Y=8069.7402 +FPS=32.61, 法向力=3030.7573, 切向力X=-17198.1797, 切向力Y=7988.0166 +FPS=31.82, 法向力=2992.6255, 切向力X=-16215.1299, 切向力Y=8521.0664 +FPS=32.99, 法向力=3077.7637, 切向力X=-16306.9004, 切向力Y=8789.6436 +FPS=30.50, 法向力=3563.3042, 切向力X=-16661.0215, 切向力Y=8248.5371 +FPS=28.72, 法向力=2903.9468, 切向力X=-16705.8945, 切向力Y=7965.4497 +FPS=30.53, 法向力=2925.8640, 切向力X=-16753.3105, 切向力Y=7743.7695 +FPS=32.05, 法向力=3741.3364, 切向力X=-14848.0381, 切向力Y=10076.9473 +FPS=30.86, 法向力=3373.6235, 切向力X=-16598.7969, 切向力Y=8827.5234 +FPS=32.18, 法向力=3367.9033, 切向力X=-16923.1406, 切向力Y=8739.0176 +FPS=32.20, 法向力=3907.3928, 切向力X=-16700.2891, 切向力Y=9553.3398 +FPS=31.15, 法向力=3002.4399, 切向力X=-17359.0312, 切向力Y=8234.7402 +FPS=30.51, 法向力=3104.7036, 切向力X=-17179.9727, 切向力Y=8461.8750 +FPS=31.39, 法向力=3299.8618, 切向力X=-17804.4961, 切向力Y=8221.1924 +FPS=32.02, 法向力=3432.7192, 切向力X=-16385.1914, 切向力Y=8949.3906 +FPS=32.36, 法向力=3473.6379, 切向力X=-16558.3281, 切向力Y=9081.4707 +FPS=31.57, 法向力=3574.3511, 切向力X=-15779.8301, 切向力Y=9060.7656 +FPS=33.39, 法向力=3567.4697, 切向力X=-15459.8936, 切向力Y=8956.1465 +FPS=32.11, 法向力=3030.8799, 切向力X=-16746.1250, 切向力Y=8251.3086 +FPS=32.80, 法向力=2750.3374, 切向力X=-17015.5039, 切向力Y=7465.0806 +FPS=32.31, 法向力=2761.2197, 切向力X=-17177.8926, 切向力Y=7458.3125 +FPS=32.52, 法向力=2989.5088, 切向力X=-17585.9648, 切向力Y=8122.3340 +FPS=32.74, 法向力=2999.1069, 切向力X=-17632.7148, 切向力Y=8143.5137 +FPS=32.24, 法向力=2776.0591, 切向力X=-18214.5371, 切向力Y=6561.7866 +FPS=32.26, 法向力=3467.9941, 切向力X=-17761.4199, 切向力Y=6167.5771 +FPS=33.43, 法向力=3460.0210, 切向力X=-17959.2695, 切向力Y=6290.6006 +FPS=32.98, 法向力=2525.1614, 切向力X=-18708.3184, 切向力Y=6584.7842 +FPS=31.68, 法向力=2468.9446, 切向力X=-18644.8086, 切向力Y=6694.5752 +FPS=32.04, 法向力=2755.3330, 切向力X=-18025.1680, 切向力Y=6945.7290 +FPS=32.44, 法向力=2774.6313, 切向力X=-18618.0332, 切向力Y=6977.9336 +FPS=32.60, 法向力=2800.4529, 切向力X=-18641.9453, 切向力Y=6972.5508 +FPS=32.02, 法向力=2780.0610, 切向力X=-19711.7754, 切向力Y=6628.9004 +FPS=32.53, 法向力=2601.6699, 切向力X=-18187.7832, 切向力Y=7329.9170 +FPS=34.03, 法向力=2611.6616, 切向力X=-18068.7773, 切向力Y=7327.1069 +FPS=33.69, 法向力=3056.7837, 切向力X=-16228.1719, 切向力Y=6249.3906 +FPS=33.82, 法向力=2981.1143, 切向力X=-16384.6660, 切向力Y=6091.6538 +FPS=33.71, 法向力=2761.7583, 切向力X=-16928.6113, 切向力Y=6845.3672 +FPS=33.74, 法向力=2968.4395, 切向力X=-18211.2871, 切向力Y=6430.3584 +FPS=35.01, 法向力=2985.6907, 切向力X=-18182.9043, 切向力Y=6511.9102 +FPS=34.03, 法向力=3373.3569, 切向力X=-18616.5000, 切向力Y=7287.6641 +FPS=34.22, 法向力=3351.9243, 切向力X=-18660.9219, 切向力Y=7381.0107 +FPS=34.04, 法向力=3510.0361, 切向力X=-17841.3828, 切向力Y=7895.3125 +FPS=34.61, 法向力=3507.0645, 切向力X=-17897.4805, 切向力Y=7832.7480 +FPS=34.71, 法向力=2411.9531, 切向力X=-17028.8398, 切向力Y=7863.5718 +FPS=33.53, 法向力=2861.4453, 切向力X=-17208.7051, 切向力Y=6885.0933 +FPS=34.90, 法向力=2848.1333, 切向力X=-17049.5312, 切向力Y=7114.9072 +FPS=32.63, 法向力=2681.4299, 切向力X=-16340.5732, 切向力Y=7279.3491 +FPS=35.48, 法向力=2601.9446, 切向力X=-16404.0508, 切向力Y=7133.8569 +FPS=34.47, 法向力=3113.1592, 切向力X=-17318.8457, 切向力Y=6528.6782 +FPS=32.80, 法向力=2986.9556, 切向力X=-17804.0156, 切向力Y=6452.5439 +FPS=33.22, 法向力=2989.5781, 切向力X=-17848.4297, 切向力Y=6490.5586 +FPS=33.13, 法向力=2595.4817, 切向力X=-18758.4102, 切向力Y=6741.4639 +FPS=33.63, 法向力=2629.8687, 切向力X=-18413.6777, 切向力Y=6757.7324 +FPS=32.37, 法向力=2620.2239, 切向力X=-17701.8906, 切向力Y=7230.0186 +FPS=32.82, 法向力=2573.3232, 切向力X=-17714.4492, 切向力Y=7261.7891 +FPS=32.88, 法向力=2475.4634, 切向力X=-17332.6719, 切向力Y=6416.6880 +FPS=32.41, 法向力=3062.3091, 切向力X=-18650.8145, 切向力Y=6427.9814 +FPS=33.16, 法向力=3130.8884, 切向力X=-18751.0801, 切向力Y=6500.3032 +FPS=32.34, 法向力=2516.3044, 切向力X=-16849.2930, 切向力Y=6701.9131 +FPS=31.80, 法向力=2737.7041, 切向力X=-18521.6719, 切向力Y=6835.1558 +FPS=32.07, 法向力=2597.0146, 切向力X=-18672.9648, 切向力Y=6887.5586 +FPS=31.98, 法向力=2739.5286, 切向力X=-18729.5703, 切向力Y=6561.1260 +FPS=31.98, 法向力=3020.1851, 切向力X=-17465.1758, 切向力Y=7157.8667 +FPS=32.53, 法向力=3261.6545, 切向力X=-17308.0801, 切向力Y=7280.8975 +FPS=31.74, 法向力=3006.0359, 切向力X=-17897.9082, 切向力Y=7763.0718 +FPS=32.20, 法向力=3125.1980, 切向力X=-17909.3848, 切向力Y=7576.0176 +FPS=31.71, 法向力=2972.2505, 切向力X=-15649.5303, 切向力Y=7542.8901 +FPS=32.25, 法向力=2859.6118, 切向力X=-17765.8633, 切向力Y=8139.5688 +FPS=33.04, 法向力=2977.7837, 切向力X=-17957.1289, 切向力Y=8429.5723 +FPS=31.97, 法向力=2864.6257, 切向力X=-16049.1602, 切向力Y=8660.8438 +FPS=33.35, 法向力=2965.4604, 切向力X=-15920.4863, 切向力Y=8697.4844 +FPS=32.81, 法向力=3694.3364, 切向力X=-16931.3438, 切向力Y=8345.4688 +FPS=32.50, 法向力=3237.3137, 切向力X=-16769.9160, 切向力Y=8536.2861 +FPS=32.60, 法向力=3376.0493, 切向力X=-16797.7168, 切向力Y=8478.0605 +FPS=32.76, 法向力=3453.3137, 切向力X=-16556.0234, 切向力Y=9010.6758 +FPS=33.29, 法向力=3221.2822, 切向力X=-16822.5508, 切向力Y=9274.3340 +FPS=35.03, 法向力=3157.5386, 切向力X=-17093.8711, 切向力Y=9421.8008 +FPS=34.68, 法向力=3133.0166, 切向力X=-16949.3320, 切向力Y=9279.8525 +FPS=34.23, 法向力=3559.0759, 切向力X=-16775.4316, 切向力Y=8842.2793 +FPS=31.65, 法向力=3198.8647, 切向力X=-14867.7168, 切向力Y=9221.9844 +FPS=31.45, 法向力=3241.7961, 切向力X=-14947.2725, 切向力Y=9248.4824 +FPS=32.32, 法向力=4012.5984, 切向力X=-15317.5762, 切向力Y=9983.2852 +FPS=30.37, 法向力=3520.7515, 切向力X=-16950.6289, 切向力Y=8273.9258 +FPS=29.65, 法向力=3479.5508, 切向力X=-17394.4980, 切向力Y=7948.3447 +FPS=31.50, 法向力=2961.4971, 切向力X=-17629.5781, 切向力Y=8352.1934 +FPS=31.29, 法向力=2969.9236, 切向力X=-17732.6406, 切向力Y=8190.1831 +FPS=32.17, 法向力=2956.5715, 切向力X=-17860.8086, 切向力Y=8116.2275 +FPS=31.29, 法向力=3370.6162, 切向力X=-16967.7539, 切向力Y=7144.0659 +FPS=33.07, 法向力=3378.7256, 切向力X=-16952.0957, 切向力Y=7304.7783 +FPS=32.93, 法向力=2428.3438, 切向力X=-16111.0078, 切向力Y=7097.7646 +FPS=31.83, 法向力=3256.7749, 切向力X=-17425.9609, 切向力Y=7969.3242 +FPS=32.97, 法向力=3291.7561, 切向力X=-17703.2188, 切向力Y=7756.8936 +FPS=32.23, 法向力=3083.0188, 切向力X=-17336.6328, 切向力Y=7477.3848 +FPS=32.36, 法向力=2462.7102, 切向力X=-18675.8633, 切向力Y=6451.4478 +FPS=32.62, 法向力=2383.7659, 切向力X=-18651.0000, 切向力Y=6384.8135 +FPS=33.23, 法向力=2811.0664, 切向力X=-18276.0234, 切向力Y=5784.7500 +FPS=33.26, 法向力=2856.7456, 切向力X=-18332.6328, 切向力Y=5858.1484 +FPS=33.96, 法向力=2430.0662, 切向力X=-19735.7578, 切向力Y=6600.3696 +FPS=31.09, 法向力=2434.5376, 切向力X=-18512.2930, 切向力Y=6652.0273 +FPS=32.69, 法向力=2441.7124, 切向力X=-18365.0898, 切向力Y=6655.8335 +FPS=30.95, 法向力=3746.0161, 切向力X=-17063.9629, 切向力Y=7029.2534 +FPS=31.81, 法向力=3777.9873, 切向力X=-16999.2207, 切向力Y=7123.8877 +FPS=31.79, 法向力=2713.3052, 切向力X=-17636.9941, 切向力Y=6740.0503 +FPS=31.61, 法向力=3616.5852, 切向力X=-17089.6797, 切向力Y=6246.5962 +FPS=31.25, 法向力=3673.7397, 切向力X=-17023.9062, 切向力Y=6112.5503 +FPS=31.40, 法向力=2973.9663, 切向力X=-16875.8945, 切向力Y=6441.9116 +FPS=30.91, 法向力=3162.5229, 切向力X=-17464.3164, 切向力Y=6949.0244 +FPS=32.66, 法向力=3206.9302, 切向力X=-17262.2852, 切向力Y=6933.5732 +FPS=31.22, 法向力=3205.2263, 切向力X=-17295.8320, 切向力Y=6602.9912 +FPS=31.67, 法向力=3034.2158, 切向力X=-17527.5234, 切向力Y=7404.7363 +FPS=32.21, 法向力=3118.7651, 切向力X=-17384.0430, 切向力Y=7395.5391 +FPS=31.70, 法向力=2939.9475, 切向力X=-16968.2422, 切向力Y=6798.3945 +FPS=31.89, 法向力=2930.4414, 切向力X=-16959.1914, 切向力Y=6755.0601 +FPS=31.27, 法向力=2541.3562, 切向力X=-17272.3652, 切向力Y=7059.8936 +FPS=31.17, 法向力=3220.6362, 切向力X=-18691.4258, 切向力Y=7725.7183 +FPS=32.46, 法向力=3257.4478, 切向力X=-18893.5117, 切向力Y=7669.6890 +FPS=30.86, 法向力=2657.3652, 切向力X=-17653.4883, 切向力Y=6431.2578 +FPS=30.98, 法向力=2616.4277, 切向力X=-19167.5977, 切向力Y=6765.3008 +FPS=33.51, 法向力=2647.1370, 切向力X=-19001.0898, 切向力Y=6844.4170 +FPS=31.17, 法向力=3009.3411, 切向力X=-18952.7852, 切向力Y=7167.1689 +FPS=31.48, 法向力=2503.0591, 切向力X=-17166.3379, 切向力Y=7377.2251 +FPS=32.90, 法向力=2555.6011, 切向力X=-17097.6641, 切向力Y=7584.7349 +FPS=31.39, 法向力=2926.1509, 切向力X=-17171.4883, 切向力Y=8416.4053 +FPS=31.91, 法向力=2928.0767, 切向力X=-16810.0664, 切向力Y=8512.0166 +FPS=31.81, 法向力=3766.0557, 切向力X=-15042.0020, 切向力Y=9606.3926 +FPS=30.16, 法向力=3541.7791, 切向力X=-17107.2812, 切向力Y=8383.6680 +FPS=33.01, 法向力=3547.7058, 切向力X=-17387.5371, 切向力Y=8301.1602 +FPS=31.81, 法向力=3306.2749, 切向力X=-15791.2168, 切向力Y=7899.3770 +FPS=32.44, 法向力=3343.0469, 切向力X=-15558.3438, 切向力Y=7853.0977 +FPS=34.51, 法向力=3276.6306, 切向力X=-17841.0059, 切向力Y=7170.0127 +FPS=32.61, 法向力=3400.4131, 切向力X=-15013.2949, 切向力Y=7206.4917 +FPS=34.61, 法向力=3478.1033, 切向力X=-15184.9121, 切向力Y=7235.2178 +FPS=34.38, 法向力=3131.5142, 切向力X=-16159.3975, 切向力Y=7467.4434 +FPS=33.93, 法向力=3048.8489, 切向力X=-16188.4980, 切向力Y=7374.2090 +FPS=35.52, 法向力=3339.8938, 切向力X=-17006.5078, 切向力Y=7264.5024 +FPS=33.71, 法向力=3099.9189, 切向力X=-13978.8301, 切向力Y=6882.6880 +FPS=34.04, 法向力=3123.1279, 切向力X=-13702.0371, 切向力Y=6824.8076 +FPS=32.12, 法向力=4748.2280, 切向力X=-4793.4795, 切向力Y=6074.7207 +FPS=29.30, 法向力=4738.2729, 切向力X=-4500.7681, 切向力Y=6157.7046 +FPS=29.90, 法向力=5120.1445, 切向力X=8707.3203, 切向力Y=3242.5776 +FPS=31.73, 法向力=4320.0557, 切向力X=16798.2852, 切向力Y=-1786.6001 +FPS=33.70, 法向力=4510.2705, 切向力X=17387.6328, 切向力Y=-2272.8882 +FPS=32.15, 法向力=4541.3604, 切向力X=15280.4014, 切向力Y=-4296.2314 +FPS=32.26, 法向力=2701.6445, 切向力X=7476.8623, 切向力Y=-3216.6084 +FPS=33.57, 法向力=2608.8105, 切向力X=7428.8135, 切向力Y=-3079.9866 +FPS=32.05, 法向力=3146.7195, 切向力X=5494.5620, 切向力Y=-3485.8335 +FPS=32.64, 法向力=3235.6987, 切向力X=5546.4678, 切向力Y=-3360.8652 +FPS=33.10, 法向力=3674.4841, 切向力X=3305.2568, 切向力Y=-3213.1675 +FPS=32.90, 法向力=3475.9604, 切向力X=2893.7158, 切向力Y=-3145.0308 +FPS=33.16, 法向力=2425.1069, 切向力X=585.7417, 切向力Y=-3479.2866 +FPS=32.42, 法向力=2659.8362, 切向力X=1597.5051, 切向力Y=-4729.2900 +FPS=32.64, 法向力=3099.4800, 切向力X=2383.0400, 切向力Y=-4962.4297 +FPS=32.59, 法向力=3443.7017, 切向力X=-4460.2002, 切向力Y=-3287.9761 +FPS=32.60, 法向力=2525.6973, 切向力X=-12038.8164, 切向力Y=-1185.5691 +FPS=33.10, 法向力=2459.8550, 切向力X=-11919.4824, 切向力Y=-900.0103 +FPS=32.16, 法向力=2936.1523, 切向力X=-11715.5430, 切向力Y=2090.9290 +FPS=32.57, 法向力=2517.1445, 切向力X=-12932.4512, 切向力Y=1888.5579 +FPS=33.61, 法向力=2254.0017, 切向力X=-13320.7881, 切向力Y=1810.8933 +FPS=32.13, 法向力=2232.1497, 切向力X=-13923.8916, 切向力Y=1772.6211 +FPS=34.03, 法向力=2217.8572, 切向力X=-14170.7373, 切向力Y=1584.8777 +FPS=33.00, 法向力=2438.8582, 切向力X=-12138.7031, 切向力Y=2072.3765 +FPS=33.47, 法向力=2427.3442, 切向力X=-12112.7070, 切向力Y=1947.0463 +FPS=33.07, 法向力=2677.8442, 切向力X=-13610.8066, 切向力Y=1614.6875 +FPS=31.80, 法向力=2958.3120, 切向力X=-16193.8672, 切向力Y=2254.6323 +FPS=33.03, 法向力=3027.3777, 切向力X=-16236.4668, 切向力Y=2331.2773 +FPS=31.84, 法向力=3015.0596, 切向力X=-21490.3125, 切向力Y=6406.6318 +FPS=30.98, 法向力=3280.9551, 切向力X=-20935.9570, 切向力Y=6605.3374 +FPS=32.94, 法向力=3331.9463, 切向力X=-20836.4766, 切向力Y=6770.4761 +FPS=31.38, 法向力=3061.4229, 切向力X=-19444.4531, 切向力Y=7306.4849 +FPS=31.93, 法向力=3547.8391, 切向力X=-18375.6875, 切向力Y=8195.7822 +FPS=32.63, 法向力=3451.7500, 切向力X=-18471.2285, 切向力Y=8253.8955 +FPS=32.15, 法向力=3011.7061, 切向力X=-20127.5664, 切向力Y=8010.2520 +FPS=33.25, 法向力=2967.2271, 切向力X=-20131.3164, 切向力Y=8176.8599 +FPS=31.75, 法向力=3700.9551, 切向力X=-18946.0059, 切向力Y=9028.6084 +FPS=33.09, 法向力=3716.6514, 切向力X=-19018.5957, 切向力Y=8857.9209 +FPS=32.43, 法向力=3440.1841, 切向力X=-18540.6895, 切向力Y=8880.8008 +FPS=32.85, 法向力=3538.2832, 切向力X=-20044.1992, 切向力Y=8092.6987 +FPS=33.41, 法向力=3610.8413, 切向力X=-20173.9277, 切向力Y=8087.5117 +FPS=33.37, 法向力=3381.6792, 切向力X=-18471.4062, 切向力Y=9213.3896 +FPS=32.65, 法向力=3250.5967, 切向力X=-18881.7949, 切向力Y=8477.7520 +FPS=34.11, 法向力=3259.1235, 切向力X=-18772.0820, 切向力Y=8546.3838 +FPS=33.26, 法向力=4164.0098, 切向力X=-17795.2207, 切向力Y=9267.3066 +FPS=33.10, 法向力=4215.5664, 切向力X=-17639.4375, 切向力Y=9202.8184 +FPS=32.38, 法向力=3417.3413, 切向力X=-17994.6152, 切向力Y=8920.4043 +FPS=33.17, 法向力=3316.9900, 切向力X=-18225.6211, 切向力Y=8763.2520 +FPS=33.67, 法向力=3508.9663, 切向力X=-17788.5762, 切向力Y=9588.6475 +FPS=32.71, 法向力=3211.9512, 切向力X=-19649.7227, 切向力Y=8653.6914 +FPS=33.60, 法向力=3184.1494, 切向力X=-19552.0684, 切向力Y=8408.3389 +FPS=31.73, 法向力=3465.7966, 切向力X=-18201.9570, 切向力Y=9593.7686 +FPS=33.40, 法向力=3419.2256, 切向力X=-17756.9883, 切向力Y=9278.5000 +FPS=34.10, 法向力=3531.8647, 切向力X=-17798.7734, 切向力Y=9288.4727 +FPS=34.20, 法向力=3201.7937, 切向力X=-18070.6328, 切向力Y=9407.0312 +FPS=34.15, 法向力=3186.8545, 切向力X=-18185.0293, 切向力Y=9461.8047 +FPS=35.22, 法向力=3435.3596, 切向力X=-18197.5625, 切向力Y=8448.7363 +FPS=34.82, 法向力=3100.3130, 切向力X=-19253.0352, 切向力Y=8649.5859 +FPS=35.61, 法向力=3105.4702, 切向力X=-19431.2656, 切向力Y=8548.7324 +FPS=34.87, 法向力=3085.3169, 切向力X=-19457.5625, 切向力Y=8546.2217 +FPS=35.41, 法向力=3560.6458, 切向力X=-18668.6680, 切向力Y=8708.0049 +FPS=35.11, 法向力=3229.7407, 切向力X=-20533.6484, 切向力Y=8700.6875 +FPS=35.31, 法向力=3201.8784, 切向力X=-20878.6719, 切向力Y=8809.1797 +FPS=34.14, 法向力=3389.4697, 切向力X=-18908.6211, 切向力Y=9086.5225 +FPS=35.54, 法向力=3389.8721, 切向力X=-19222.9492, 切向力Y=8758.6152 +FPS=35.33, 法向力=3476.4543, 切向力X=-19683.6934, 切向力Y=10028.0391 +FPS=34.39, 法向力=3438.7434, 切向力X=-21736.9766, 切向力Y=9310.7754 +FPS=33.88, 法向力=3432.5222, 切向力X=-21817.0430, 切向力Y=9260.8047 +FPS=33.24, 法向力=3349.7227, 切向力X=-17959.8613, 切向力Y=9088.6211 +FPS=34.10, 法向力=3250.2334, 切向力X=-18083.0508, 切向力Y=9000.8281 +FPS=33.17, 法向力=3031.9797, 切向力X=-19684.3223, 切向力Y=8800.0508 +FPS=34.05, 法向力=3798.3799, 切向力X=-17928.7227, 切向力Y=8624.2861 +FPS=34.58, 法向力=3608.9692, 切向力X=-17976.8828, 切向力Y=8600.6602 +FPS=33.65, 法向力=3656.8694, 切向力X=-16744.3047, 切向力Y=8269.5039 +FPS=34.25, 法向力=3604.4011, 切向力X=-16810.1973, 切向力Y=8222.1455 +FPS=33.40, 法向力=3189.0483, 切向力X=-16727.7578, 切向力Y=7099.4395 +FPS=33.77, 法向力=3169.1965, 切向力X=-17100.7461, 切向力Y=6978.8066 +FPS=33.32, 法向力=3885.6794, 切向力X=-19177.2832, 切向力Y=7626.7554 +FPS=33.58, 法向力=3374.7542, 切向力X=-17060.8223, 切向力Y=8080.5698 +FPS=34.38, 法向力=3399.1108, 切向力X=-17124.7305, 切向力Y=7971.2715 +FPS=33.99, 法向力=3436.7495, 切向力X=-17559.8828, 切向力Y=7986.6367 +FPS=34.47, 法向力=3419.4246, 切向力X=-17811.2734, 切向力Y=7863.0234 +FPS=34.42, 法向力=3743.5347, 切向力X=-19128.1328, 切向力Y=7746.7163 +FPS=33.50, 法向力=3096.8794, 切向力X=-18416.8828, 切向力Y=6070.0732 +FPS=34.46, 法向力=2846.1943, 切向力X=-18415.0566, 切向力Y=5923.6377 +FPS=33.97, 法向力=3582.6143, 切向力X=-17051.1680, 切向力Y=6211.3613 +FPS=34.00, 法向力=3780.3877, 切向力X=-16750.9941, 切向力Y=6446.8506 +FPS=31.31, 法向力=3595.9363, 切向力X=-16376.6641, 切向力Y=7047.3213 +FPS=34.73, 法向力=3663.2148, 切向力X=-16339.9326, 切向力Y=7071.3389 +FPS=34.11, 法向力=3685.5669, 切向力X=-16332.1895, 切向力Y=7143.0767 +FPS=35.69, 法向力=4242.5283, 切向力X=-18019.3926, 切向力Y=5864.7900 +FPS=36.98, 法向力=4279.5928, 切向力X=-18108.5664, 切向力Y=5909.3516 +FPS=35.78, 法向力=4380.7236, 切向力X=-14946.0518, 切向力Y=6033.7441 +FPS=37.38, 法向力=4643.0430, 切向力X=-14923.4609, 切向力Y=6299.7505 +FPS=36.25, 法向力=4085.1172, 切向力X=-18939.4434, 切向力Y=6017.2070 +FPS=36.18, 法向力=2827.2056, 切向力X=-17551.6055, 切向力Y=4855.0332 +FPS=37.39, 法向力=2701.4675, 切向力X=-17531.3965, 切向力Y=4801.8584 +FPS=35.50, 法向力=2634.4619, 切向力X=-18706.6289, 切向力Y=4346.9067 +FPS=36.07, 法向力=2725.8076, 切向力X=-19038.9062, 切向力Y=4254.7666 +FPS=35.30, 法向力=2687.5251, 切向力X=-19074.9004, 切向力Y=4281.8062 +FPS=36.88, 法向力=2855.9956, 切向力X=-20071.5254, 切向力Y=4615.7275 +FPS=35.70, 法向力=2711.0178, 切向力X=-18014.0449, 切向力Y=5033.1680 +FPS=37.35, 法向力=2724.9761, 切向力X=-18103.6582, 切向力Y=4938.3838 +FPS=35.78, 法向力=2718.5891, 切向力X=-18180.9727, 切向力Y=4956.8057 +FPS=35.65, 法向力=2723.8794, 切向力X=-18182.5547, 切向力Y=4965.4854 +FPS=34.48, 法向力=3420.1519, 切向力X=-16938.4219, 切向力Y=5938.2798 +FPS=33.19, 法向力=3311.8218, 切向力X=-16539.7734, 切向力Y=5169.6582 +FPS=33.62, 法向力=3257.8518, 切向力X=-16714.6738, 切向力Y=5126.8340 +FPS=33.18, 法向力=3122.4626, 切向力X=-17699.5508, 切向力Y=6013.7939 +FPS=33.91, 法向力=3078.2588, 切向力X=-17823.5234, 切向力Y=5959.2559 +FPS=34.25, 法向力=2765.3643, 切向力X=-17710.2441, 切向力Y=4476.3223 +FPS=33.58, 法向力=2697.4441, 切向力X=-18085.2051, 切向力Y=4323.4468 +FPS=34.38, 法向力=3319.4043, 切向力X=-16850.1953, 切向力Y=4239.4004 +FPS=34.27, 法向力=2931.9380, 切向力X=-16846.8047, 切向力Y=4336.6719 +FPS=33.96, 法向力=2902.7561, 切向力X=-16990.6641, 切向力Y=4282.2041 +FPS=32.62, 法向力=2925.3403, 切向力X=-16712.2695, 切向力Y=4880.5571 +FPS=33.45, 法向力=2979.4468, 切向力X=-16698.8027, 切向力Y=4855.5386 +FPS=33.77, 法向力=2960.5947, 切向力X=-16481.6641, 切向力Y=4899.7383 +FPS=32.99, 法向力=3774.3628, 切向力X=-15602.6055, 切向力Y=7485.9443 +FPS=34.15, 法向力=3916.0200, 切向力X=-15462.4502, 切向力Y=8032.0293 +FPS=32.71, 法向力=2992.0366, 切向力X=-17744.7578, 切向力Y=9229.5820 +FPS=33.30, 法向力=3268.4900, 切向力X=-18567.6992, 切向力Y=9953.9707 +FPS=32.98, 法向力=3217.2114, 切向力X=-18531.6250, 切向力Y=9947.1621 +FPS=33.56, 法向力=3187.5872, 切向力X=-18586.3770, 切向力Y=9938.3672 +FPS=33.10, 法向力=3080.1094, 切向力X=-18370.3906, 切向力Y=8939.3965 +FPS=32.24, 法向力=2775.6216, 切向力X=-20068.3711, 切向力Y=8856.3467 +FPS=33.14, 法向力=2797.7373, 切向力X=-20379.5781, 切向力Y=8925.3066 +FPS=32.43, 法向力=4051.4512, 切向力X=-19128.5508, 切向力Y=8975.9805 +FPS=31.49, 法向力=3157.4026, 切向力X=-19180.9883, 切向力Y=9709.3281 +FPS=32.15, 法向力=3064.8115, 切向力X=-19097.1133, 切向力Y=9744.9795 +FPS=31.69, 法向力=3036.8826, 切向力X=-19127.7617, 切向力Y=9686.3184 +FPS=31.01, 法向力=3554.9751, 切向力X=-18281.8047, 切向力Y=10811.0947 +FPS=32.29, 法向力=3415.3506, 切向力X=-18727.7090, 切向力Y=10660.5928 +FPS=30.71, 法向力=2825.4509, 切向力X=-19210.8633, 切向力Y=9991.7236 +FPS=30.95, 法向力=3202.3022, 切向力X=-17934.7539, 切向力Y=10778.5781 +FPS=31.71, 法向力=3294.7471, 切向力X=-17890.7617, 切向力Y=10941.2422 +FPS=31.08, 法向力=3370.2698, 切向力X=-17962.8828, 切向力Y=10216.4160 +FPS=31.32, 法向力=3372.5308, 切向力X=-17889.9473, 切向力Y=10190.1543 +FPS=28.52, 法向力=3518.3291, 切向力X=-17672.8594, 切向力Y=11127.1143 +FPS=28.95, 法向力=3717.7065, 切向力X=-18642.0508, 切向力Y=9958.0977 +FPS=31.23, 法向力=3704.5610, 切向力X=-18615.7734, 切向力Y=10155.2227 +FPS=31.64, 法向力=3387.2183, 切向力X=-18572.6445, 切向力Y=9905.2471 +FPS=30.89, 法向力=3454.3757, 切向力X=-18457.3145, 切向力Y=9983.4844 +FPS=31.61, 法向力=3496.5498, 切向力X=-18420.7754, 切向力Y=10002.6367 +FPS=32.66, 法向力=3127.9167, 切向力X=-18051.8047, 切向力Y=10099.7881 +FPS=31.15, 法向力=3202.2170, 切向力X=-18518.9023, 切向力Y=9858.5547 +FPS=32.56, 法向力=3342.0466, 切向力X=-18462.4062, 切向力Y=9699.7168 +FPS=31.48, 法向力=3400.2905, 切向力X=-16777.1934, 切向力Y=9549.2070 +FPS=31.93, 法向力=3523.9937, 切向力X=-17342.7441, 切向力Y=9510.3057 +FPS=31.31, 法向力=3340.7571, 切向力X=-17412.6016, 切向力Y=9128.7266 +FPS=31.69, 法向力=3892.9375, 切向力X=-16052.8848, 切向力Y=9070.7441 +FPS=33.55, 法向力=3971.9966, 切向力X=-16126.8672, 切向力Y=9209.7891 +FPS=32.07, 法向力=3103.9338, 切向力X=-17115.3008, 切向力Y=8404.7432 +FPS=34.53, 法向力=4134.7661, 切向力X=-16159.5684, 切向力Y=7984.2417 +FPS=34.52, 法向力=4000.2825, 切向力X=-16114.3760, 切向力Y=7784.1836 +FPS=34.67, 法向力=3927.3613, 切向力X=-16176.3867, 切向力Y=7783.1865 +FPS=33.13, 法向力=4138.3105, 切向力X=-15954.1055, 切向力Y=7906.1973 +FPS=34.21, 法向力=3211.7773, 切向力X=-16406.0977, 切向力Y=9373.8809 +FPS=34.26, 法向力=2909.4604, 切向力X=-17934.6992, 切向力Y=8732.7354 +FPS=34.79, 法向力=2848.5603, 切向力X=-18034.5234, 切向力Y=8446.0273 +FPS=34.19, 法向力=2814.1001, 切向力X=-18118.5449, 切向力Y=8511.4727 +FPS=33.24, 法向力=2372.8081, 切向力X=-17375.5918, 切向力Y=6524.9082 +FPS=32.88, 法向力=2722.4058, 切向力X=-16901.6914, 切向力Y=7375.3286 +FPS=34.74, 法向力=2822.7437, 切向力X=-16549.8555, 切向力Y=7716.3867 +FPS=33.63, 法向力=3301.8069, 切向力X=-16162.3311, 切向力Y=8218.0801 +FPS=34.16, 法向力=3088.0308, 切向力X=-17926.1719, 切向力Y=7835.3486 +FPS=33.61, 法向力=3183.5825, 切向力X=-18020.6758, 切向力Y=7689.7598 +FPS=32.91, 法向力=2769.4253, 切向力X=-18984.6680, 切向力Y=8073.3643 +FPS=32.60, 法向力=2800.8938, 切向力X=-18868.4785, 切向力Y=7972.2256 +FPS=32.52, 法向力=2796.3115, 切向力X=-18827.5547, 切向力Y=8075.0444 +FPS=32.93, 法向力=3799.3818, 切向力X=-16541.3691, 切向力Y=9793.8857 +FPS=33.38, 法向力=3762.0581, 切向力X=-16493.7188, 切向力Y=9901.0234 +FPS=31.91, 法向力=3476.2419, 切向力X=-17118.3281, 切向力Y=8498.6816 +FPS=33.06, 法向力=3421.2917, 切向力X=-16703.3516, 切向力Y=8620.1846 +FPS=32.02, 法向力=3265.2393, 切向力X=-17604.1660, 切向力Y=8972.1836 +FPS=32.42, 法向力=3263.5408, 切向力X=-18375.8438, 切向力Y=8312.9707 +FPS=32.38, 法向力=3275.5842, 切向力X=-18570.1348, 切向力Y=8411.1133 +FPS=30.71, 法向力=3407.0532, 切向力X=-18108.6504, 切向力Y=9394.8984 +FPS=32.61, 法向力=3091.0977, 切向力X=-18330.7168, 切向力Y=7495.9341 +FPS=33.49, 法向力=3119.1980, 切向力X=-18832.6055, 切向力Y=7305.9639 +FPS=32.68, 法向力=3565.1479, 切向力X=-17796.7969, 切向力Y=7690.0742 +FPS=33.42, 法向力=3522.7263, 切向力X=-17666.1758, 切向力Y=7824.8301 +FPS=32.40, 法向力=3566.9863, 切向力X=-17506.8086, 切向力Y=7881.1265 +FPS=33.47, 法向力=3534.5876, 切向力X=-17543.9023, 切向力Y=7794.7402 +FPS=33.53, 法向力=2528.4336, 切向力X=-16990.8418, 切向力Y=7312.9658 +FPS=32.42, 法向力=2752.1296, 切向力X=-17854.5820, 切向力Y=7614.4346 +FPS=32.81, 法向力=2811.7144, 切向力X=-18297.4102, 切向力Y=7644.7778 +FPS=33.27, 法向力=3621.7280, 切向力X=-16153.2090, 切向力Y=8238.6133 +FPS=32.96, 法向力=3571.7737, 切向力X=-16702.5352, 切向力Y=9448.4092 +FPS=35.19, 法向力=3543.7817, 切向力X=-17071.6289, 切向力Y=9383.5527 +FPS=34.01, 法向力=3773.9365, 切向力X=-16647.7656, 切向力Y=8635.9893 +FPS=34.46, 法向力=3717.8350, 切向力X=-16886.7578, 切向力Y=8579.5596 +FPS=32.98, 法向力=3290.5784, 切向力X=-18316.7363, 切向力Y=8582.5322 +FPS=33.29, 法向力=3138.0820, 切向力X=-18471.6523, 切向力Y=8154.8115 +FPS=32.24, 法向力=3145.8394, 切向力X=-18558.5742, 切向力Y=8315.1455 +FPS=32.78, 法向力=3153.6519, 切向力X=-18723.4043, 切向力Y=8199.1123 +FPS=33.38, 法向力=3135.1499, 切向力X=-18656.5801, 切向力Y=8316.4297 +FPS=32.37, 法向力=3078.6006, 切向力X=-18183.8965, 切向力Y=8670.5391 +FPS=32.91, 法向力=3936.6755, 切向力X=-17435.7148, 切向力Y=8189.2090 +FPS=32.54, 法向力=3848.1316, 切向力X=-17646.1523, 切向力Y=8059.6445 +FPS=33.16, 法向力=3031.2207, 切向力X=-17841.7422, 切向力Y=8662.5605 +FPS=33.10, 法向力=3008.3469, 切向力X=-17804.3516, 切向力Y=8640.9824 +FPS=33.00, 法向力=3441.8691, 切向力X=-15793.8438, 切向力Y=8707.6494 +FPS=32.21, 法向力=3076.2346, 切向力X=-16118.9941, 切向力Y=8143.2114 +FPS=32.74, 法向力=3033.0715, 切向力X=-16299.3848, 切向力Y=8118.7524 +FPS=31.19, 法向力=3249.1138, 切向力X=-16486.3301, 切向力Y=8853.5107 +FPS=32.59, 法向力=3173.4312, 切向力X=-15703.6484, 切向力Y=7773.6475 +FPS=33.28, 法向力=3107.3613, 切向力X=-15736.7881, 切向力Y=7547.0996 +FPS=33.07, 法向力=3144.2031, 切向力X=-15856.1436, 切向力Y=7602.3716 +FPS=33.55, 法向力=3133.3408, 切向力X=-15826.8652, 切向力Y=7557.7852 +FPS=32.55, 法向力=3225.9492, 切向力X=-16527.9629, 切向力Y=8235.7559 +FPS=33.67, 法向力=3106.3892, 切向力X=-16575.2344, 切向力Y=8128.6045 +FPS=32.66, 法向力=3120.8250, 切向力X=-18105.4766, 切向力Y=8054.4053 +FPS=31.31, 法向力=2746.2896, 切向力X=-21211.2695, 切向力Y=6906.5947 +FPS=32.47, 法向力=2702.9155, 切向力X=-21616.1289, 切向力Y=6727.4736 +FPS=31.88, 法向力=2961.1819, 切向力X=-22684.0547, 切向力Y=6163.9971 +FPS=30.98, 法向力=2584.6035, 切向力X=-21867.6738, 切向力Y=5426.7432 +FPS=31.76, 法向力=2557.6384, 切向力X=-22087.8008, 切向力Y=5557.2441 +FPS=32.10, 法向力=2814.5039, 切向力X=-21350.0684, 切向力Y=5865.4717 +FPS=32.40, 法向力=2879.9492, 切向力X=-21213.5273, 切向力Y=5944.7471 +FPS=31.24, 法向力=2586.7256, 切向力X=-20612.7930, 切向力Y=6094.6953 +FPS=32.98, 法向力=4281.6519, 切向力X=-19196.3945, 切向力Y=6228.3716 +FPS=32.17, 法向力=4181.4175, 切向力X=-19233.1953, 切向力Y=6289.9282 +FPS=32.25, 法向力=4635.7822, 切向力X=-21161.9727, 切向力Y=4327.8604 +FPS=32.22, 法向力=4831.4492, 切向力X=-26994.9609, 切向力Y=2850.5283 +FPS=33.65, 法向力=4635.9487, 切向力X=-27333.0664, 切向力Y=2594.8877 +FPS=32.57, 法向力=3728.0879, 切向力X=-29490.6016, 切向力Y=789.5127 +FPS=33.67, 法向力=3920.0559, 切向力X=-29720.6562, 切向力Y=911.2521 +FPS=33.50, 法向力=4339.6738, 切向力X=-31493.3398, 切向力Y=516.8763 +FPS=32.43, 法向力=3926.3596, 切向力X=-33363.0312, 切向力Y=227.9139 +FPS=33.26, 法向力=3886.3477, 切向力X=-33678.7383, 切向力Y=-102.5344 +FPS=32.77, 法向力=3658.7485, 切向力X=-31409.9316, 切向力Y=909.1570 +FPS=34.11, 法向力=3889.7239, 切向力X=-30966.5469, 切向力Y=1260.5017 +FPS=32.61, 法向力=3539.3787, 切向力X=-29477.7402, 切向力Y=1089.4128 +FPS=33.98, 法向力=3585.6560, 切向力X=-29238.5918, 切向力Y=1016.3420 +FPS=34.00, 法向力=3637.8989, 切向力X=-28614.0078, 切向力Y=700.2485 +FPS=32.94, 法向力=2548.4988, 切向力X=-21652.0059, 切向力Y=333.3461 +FPS=33.46, 法向力=2591.1172, 切向力X=-21314.8574, 切向力Y=602.0736 +FPS=33.08, 法向力=3067.8271, 切向力X=-16023.8359, 切向力Y=2219.6990 +FPS=33.56, 法向力=3244.9976, 切向力X=-16539.7578, 切向力Y=2904.6387 +FPS=34.31, 法向力=3227.9438, 切向力X=-16686.6367, 切向力Y=2901.8970 +FPS=31.82, 法向力=3984.9604, 切向力X=-18322.6230, 切向力Y=2658.1792 +FPS=34.10, 法向力=4138.8042, 切向力X=-18602.7617, 切向力Y=2589.8379 +FPS=33.99, 法向力=3908.5625, 切向力X=-19628.9238, 切向力Y=2532.4739 +FPS=33.33, 法向力=4142.6865, 切向力X=-19517.7578, 切向力Y=2558.3667 +FPS=33.06, 法向力=3648.4744, 切向力X=-18909.4453, 切向力Y=965.8127 +FPS=33.86, 法向力=3867.3691, 切向力X=-20466.2754, 切向力Y=1906.8630 +FPS=33.57, 法向力=3603.3467, 切向力X=-20705.1270, 切向力Y=1737.1685 +FPS=31.89, 法向力=2923.1829, 切向力X=-22562.6445, 切向力Y=2434.0271 +FPS=34.62, 法向力=2903.4290, 切向力X=-22757.9844, 切向力Y=2469.5015 +FPS=34.09, 法向力=4085.3293, 切向力X=-23523.9766, 切向力Y=2298.8027 +FPS=33.16, 法向力=3302.8921, 切向力X=-23404.1914, 切向力Y=1123.0488 +FPS=34.50, 法向力=3523.4954, 切向力X=-23136.6172, 切向力Y=1174.0603 +FPS=34.50, 法向力=3022.4712, 切向力X=-21828.0117, 切向力Y=1218.7170 +FPS=34.56, 法向力=3078.7319, 切向力X=-21634.3809, 切向力Y=1334.7944 +FPS=35.51, 法向力=3455.6836, 切向力X=-21881.6309, 切向力Y=1681.0350 +FPS=34.33, 法向力=3367.6880, 切向力X=-22247.4609, 切向力Y=1931.9292 +FPS=35.73, 法向力=3193.3115, 切向力X=-22491.1465, 切向力Y=1908.5719 +FPS=35.50, 法向力=3367.2783, 切向力X=-21398.9531, 切向力Y=486.7220 +FPS=35.78, 法向力=3322.8291, 切向力X=-21697.5312, 切向力Y=238.1730 +FPS=35.49, 法向力=2921.0286, 切向力X=-21219.8770, 切向力Y=194.5390 +FPS=36.73, 法向力=2997.7986, 切向力X=-21185.3906, 切向力Y=199.2005 +FPS=34.03, 法向力=2721.2036, 切向力X=-20622.0586, 切向力Y=1879.8203 +FPS=34.53, 法向力=3588.8813, 切向力X=-19550.0547, 切向力Y=2226.2222 +FPS=34.54, 法向力=3586.6934, 切向力X=-19753.3945, 切向力Y=1996.4513 +FPS=34.47, 法向力=3464.8467, 切向力X=-20106.8008, 切向力Y=1854.9097 +FPS=34.47, 法向力=3387.4089, 切向力X=-20489.9434, 切向力Y=1505.2998 +FPS=33.77, 法向力=4291.0352, 切向力X=-21447.5781, 切向力Y=1066.1190 +FPS=33.30, 法向力=2881.8750, 切向力X=-22138.3555, 切向力Y=-86.6103 +FPS=35.96, 法向力=2971.7217, 切向力X=-22257.1602, 切向力Y=-60.5803 +FPS=35.69, 法向力=2942.1748, 切向力X=-22292.8789, 切向力Y=-89.8932 +FPS=35.90, 法向力=3071.1172, 切向力X=-22697.7246, 切向力Y=-217.6295 +FPS=34.46, 法向力=3161.0957, 切向力X=-23629.0059, 切向力Y=95.6217 +FPS=35.19, 法向力=3077.3979, 切向力X=-23780.3105, 切向力Y=62.9798 +FPS=30.23, 法向力=3858.0249, 切向力X=-21572.3203, 切向力Y=398.3780 +FPS=30.90, 法向力=4152.1646, 切向力X=-20869.4297, 切向力Y=655.7462 +FPS=32.22, 法向力=3944.5830, 切向力X=-22967.4102, 切向力Y=17.3265 +FPS=32.58, 法向力=3622.7349, 切向力X=-21880.0918, 切向力Y=273.2648 +FPS=35.07, 法向力=3871.4053, 切向力X=-21913.6973, 切向力Y=532.6834 +FPS=34.34, 法向力=3538.3606, 切向力X=-22930.7852, 切向力Y=119.3595 +FPS=34.50, 法向力=3111.8599, 切向力X=-22297.6719, 切向力Y=-449.9721 +FPS=34.81, 法向力=3137.3254, 切向力X=-22168.3535, 切向力Y=-550.7166 +FPS=34.87, 法向力=3198.2266, 切向力X=-21951.0781, 切向力Y=-572.4042 +FPS=34.03, 法向力=3103.7197, 切向力X=-14286.4102, 切向力Y=-1441.7413 +FPS=32.73, 法向力=3436.8643, 切向力X=-2486.1089, 切向力Y=-2385.3284 +FPS=33.53, 法向力=3406.0176, 切向力X=-2403.4565, 切向力Y=-2483.4895 +FPS=32.22, 法向力=3948.3770, 切向力X=9973.1328, 切向力Y=-2833.1670 +FPS=32.80, 法向力=4680.4414, 切向力X=20841.4297, 切向力Y=-3667.2793 +FPS=32.10, 法向力=4646.3350, 切向力X=21046.3516, 切向力Y=-4110.3086 +FPS=32.53, 法向力=5072.0293, 切向力X=25314.1758, 切向力Y=-5187.9648 +FPS=32.97, 法向力=5269.5889, 切向力X=25488.6875, 切向力Y=-5948.6270 +FPS=33.28, 法向力=5216.8770, 切向力X=25446.3516, 切向力Y=-6130.5518 +FPS=31.68, 法向力=5855.4214, 切向力X=26373.1660, 切向力Y=-6685.3813 +FPS=33.71, 法向力=5844.2041, 切向力X=26376.5449, 切向力Y=-6671.1982 +FPS=33.02, 法向力=5751.3213, 切向力X=24116.2305, 切向力Y=-6689.1475 +FPS=33.35, 法向力=5787.1396, 切向力X=24350.4453, 切向力Y=-6450.8799 +FPS=32.02, 法向力=5861.4346, 切向力X=24248.9023, 切向力Y=-7905.7754 +FPS=32.82, 法向力=5941.0029, 切向力X=22459.5684, 切向力Y=-8165.3584 +FPS=34.10, 法向力=5903.9922, 切向力X=22243.6445, 切向力Y=-8262.3359 +FPS=32.73, 法向力=6503.0850, 切向力X=20947.4805, 切向力Y=-7600.2070 +FPS=33.50, 法向力=7427.8223, 切向力X=22071.7930, 切向力Y=-8063.6709 +FPS=34.43, 法向力=7439.4951, 切向力X=22023.8984, 切向力Y=-7950.1997 +FPS=33.02, 法向力=6726.1440, 切向力X=19507.6016, 切向力Y=-8417.1328 +FPS=34.35, 法向力=6705.8540, 切向力X=19454.4355, 切向力Y=-8529.4346 +FPS=34.31, 法向力=8533.0586, 切向力X=20082.5918, 切向力Y=-7162.3145 +FPS=33.38, 法向力=7635.7285, 切向力X=19019.2852, 切向力Y=-8551.9248 +FPS=34.81, 法向力=7521.7480, 切向力X=18696.3633, 切向力Y=-8915.0312 +FPS=33.83, 法向力=7555.2979, 切向力X=18727.6074, 切向力Y=-8945.0449 +FPS=34.85, 法向力=7036.5742, 切向力X=20370.2734, 切向力Y=-8671.6582 +FPS=33.04, 法向力=7675.1245, 切向力X=18557.1953, 切向力Y=-8125.1426 +FPS=33.77, 法向力=7633.2988, 切向力X=18287.1328, 切向力Y=-7957.5391 +FPS=32.99, 法向力=9421.1211, 切向力X=16784.1406, 切向力Y=-5871.2476 +FPS=33.55, 法向力=9040.8174, 切向力X=16024.6387, 切向力Y=-4900.0977 +FPS=33.48, 法向力=9187.9404, 切向力X=15986.4922, 切向力Y=-4775.9775 +FPS=33.33, 法向力=7001.5303, 切向力X=14726.5449, 切向力Y=-5222.8125 +FPS=33.82, 法向力=6942.2627, 切向力X=15136.9043, 切向力Y=-4952.6465 +FPS=33.35, 法向力=6463.5898, 切向力X=15427.2236, 切向力Y=-5702.4551 +FPS=34.52, 法向力=5542.2056, 切向力X=11199.7881, 切向力Y=-4198.2583 +FPS=34.59, 法向力=5513.0996, 切向力X=11009.0254, 切向力Y=-4188.0459 +FPS=34.72, 法向力=4556.4336, 切向力X=5560.8218, 切向力Y=-4687.2573 +FPS=35.36, 法向力=4554.9326, 切向力X=4618.8066, 切向力Y=-5198.8306 +FPS=34.18, 法向力=4501.3877, 切向力X=4322.2861, 切向力Y=-5155.9927 +FPS=35.27, 法向力=4404.3760, 切向力X=4338.5225, 切向力Y=-5016.2002 +FPS=34.97, 法向力=3757.6067, 切向力X=3360.9302, 切向力Y=-5568.1357 +FPS=35.31, 法向力=3680.2832, 切向力X=3339.7627, 切向力Y=-5584.1987 +FPS=35.55, 法向力=3776.8613, 切向力X=2645.2227, 切向力Y=-5560.5176 +FPS=35.50, 法向力=3723.6487, 切向力X=2127.9150, 切向力Y=-6791.5605 +FPS=35.30, 法向力=3706.7549, 切向力X=2122.8806, 切向力Y=-7037.7285 +FPS=34.15, 法向力=4053.7095, 切向力X=-119.4397, 切向力Y=-6651.8896 +FPS=35.34, 法向力=4140.3921, 切向力X=-291.1979, 切向力Y=-6461.3135 +FPS=34.50, 法向力=4076.0903, 切向力X=-5053.7661, 切向力Y=-6257.4189 +FPS=33.26, 法向力=4092.4761, 切向力X=-6991.9785, 切向力Y=-6444.6211 +FPS=34.73, 法向力=3969.7178, 切向力X=-7033.8447, 切向力Y=-6616.8042 +FPS=32.76, 法向力=3782.5623, 切向力X=-3298.2568, 切向力Y=-6668.4409 +FPS=33.45, 法向力=3937.6157, 切向力X=-3162.2007, 切向力Y=-6533.2451 +FPS=33.60, 法向力=3977.7878, 切向力X=221.3286, 切向力Y=-6816.1963 +FPS=34.06, 法向力=4088.5854, 切向力X=142.1984, 切向力Y=-6919.1826 +FPS=33.25, 法向力=4636.2881, 切向力X=3579.2783, 切向力Y=-6423.1255 +FPS=33.48, 法向力=6163.3604, 切向力X=1648.0894, 切向力Y=-6091.1089 +FPS=33.95, 法向力=6345.1592, 切向力X=1296.4738, 切向力Y=-6185.2896 +FPS=33.22, 法向力=7096.8564, 切向力X=413.3354, 切向力Y=-5258.5576 +FPS=33.32, 法向力=8173.6475, 切向力X=-1691.3823, 切向力Y=-4428.0698 +FPS=33.86, 法向力=7936.5576, 切向力X=-1676.9739, 切向力Y=-4442.4893 +FPS=32.84, 法向力=10412.7930, 切向力X=-3555.6719, 切向力Y=-3927.7793 +FPS=32.86, 法向力=10467.8818, 切向力X=-3654.5483, 切向力Y=-3975.2507 +FPS=32.47, 法向力=11448.7734, 切向力X=-5241.7119, 切向力Y=-3720.3789 +FPS=34.24, 法向力=11474.2979, 切向力X=-5098.0229, 切向力Y=-3897.5762 +FPS=34.09, 法向力=12686.2637, 切向力X=-6369.2275, 切向力Y=-4783.0000 +FPS=34.06, 法向力=11872.9932, 切向力X=-4795.3491, 切向力Y=-4163.0981 +FPS=34.43, 法向力=11808.2285, 切向力X=-4815.2598, 切向力Y=-4148.8398 +FPS=33.54, 法向力=9569.9912, 切向力X=-3386.0488, 切向力Y=-4061.9072 +FPS=33.85, 法向力=9559.9414, 切向力X=-3516.0088, 切向力Y=-4163.2676 +FPS=34.44, 法向力=8332.3467, 切向力X=1113.0522, 切向力Y=-4558.3940 +FPS=33.03, 法向力=5870.2568, 切向力X=2286.9817, 切向力Y=-3865.8945 +FPS=34.86, 法向力=5979.3379, 切向力X=1921.5339, 切向力Y=-3925.9055 +FPS=34.00, 法向力=4343.5522, 切向力X=2924.5732, 切向力Y=-4589.5322 +FPS=33.38, 法向力=4264.2393, 切向力X=2683.8848, 切向力Y=-4652.0713 +FPS=34.82, 法向力=3459.7197, 切向力X=1984.7627, 切向力Y=-3518.3696 +FPS=35.00, 法向力=3443.9165, 切向力X=1999.4789, 切向力Y=-3467.5464 +FPS=34.49, 法向力=4935.3325, 切向力X=-2065.2205, 切向力Y=-2577.7402 +FPS=33.97, 法向力=4849.4355, 切向力X=-10946.7100, 切向力Y=-2256.0815 +FPS=34.39, 法向力=5000.4199, 切向力X=-11097.6006, 切向力Y=-2012.8893 +FPS=34.45, 法向力=5391.1411, 切向力X=-16141.6074, 切向力Y=-3266.5330 +FPS=36.18, 法向力=5282.3496, 切向力X=-16487.8672, 切向力Y=-3268.7695 +FPS=34.50, 法向力=4979.8618, 切向力X=-20272.0684, 切向力Y=-3787.7031 +FPS=35.11, 法向力=5392.7710, 切向力X=-24214.7188, 切向力Y=-4175.8208 +FPS=34.95, 法向力=5232.7852, 切向力X=-24459.8926, 切向力Y=-4283.2354 +FPS=33.31, 法向力=4324.9004, 切向力X=-21812.4648, 切向力Y=-5133.8901 +FPS=35.13, 法向力=4338.5015, 切向力X=-21862.6875, 切向力Y=-5282.9595 +FPS=34.14, 法向力=4852.5986, 切向力X=-17053.1016, 切向力Y=-5281.8428 +FPS=35.37, 法向力=4841.4717, 切向力X=-16871.6016, 切向力Y=-5275.0488 +FPS=33.31, 法向力=4633.4048, 切向力X=-14566.5049, 切向力Y=-4788.2529 +FPS=34.97, 法向力=4507.6045, 切向力X=-14392.7139, 切向力Y=-4832.9258 +FPS=35.41, 法向力=4048.5620, 切向力X=-14056.0986, 切向力Y=-4870.5283 +FPS=33.88, 法向力=3898.5464, 切向力X=-13870.5264, 切向力Y=-5807.4170 +FPS=34.78, 法向力=3728.7002, 切向力X=-14145.2480, 切向力Y=-5948.8379 +FPS=33.51, 法向力=4045.7288, 切向力X=-9787.8965, 切向力Y=-5537.8135 +FPS=34.45, 法向力=4024.2747, 切向力X=-9819.7686, 切向力Y=-5495.0430 +FPS=34.82, 法向力=5326.3647, 切向力X=-8118.3428, 切向力Y=-5352.4937 +FPS=33.29, 法向力=5490.9683, 切向力X=-5821.0435, 切向力Y=-6128.1772 +FPS=34.37, 法向力=5462.2480, 切向力X=-5565.8008, 切向力Y=-6134.5146 +FPS=34.09, 法向力=4878.1709, 切向力X=-5266.8384, 切向力Y=-6849.5903 +FPS=34.85, 法向力=4946.1514, 切向力X=-5300.6533, 切向力Y=-7000.4678 +FPS=32.55, 法向力=4738.9204, 切向力X=-4682.6572, 切向力Y=-6548.9624 +FPS=34.20, 法向力=5313.2261, 切向力X=-2523.8354, 切向力Y=-6716.4829 +FPS=34.24, 法向力=5358.2505, 切向力X=-2228.4641, 切向力Y=-6645.4106 +FPS=33.72, 法向力=4755.9248, 切向力X=-2584.8770, 切向力Y=-6839.1997 +FPS=34.17, 法向力=4667.2725, 切向力X=-2882.6597, 切向力Y=-6900.2178 +FPS=33.45, 法向力=4170.6758, 切向力X=-3688.9866, 切向力Y=-6424.6025 +FPS=33.80, 法向力=4667.4272, 切向力X=-11653.3066, 切向力Y=-6572.1523 +FPS=35.61, 法向力=4523.2109, 切向力X=-12144.6855, 切向力Y=-6677.3242 +FPS=34.11, 法向力=3712.7690, 切向力X=-17053.9688, 切向力Y=-5059.4468 +FPS=35.53, 法向力=3573.9253, 切向力X=-17176.6758, 切向力Y=-5000.2705 +FPS=34.96, 法向力=3351.3335, 切向力X=-19772.2754, 切向力Y=-4655.6611 +FPS=33.22, 法向力=3321.4956, 切向力X=-19546.1016, 切向力Y=-4346.1143 +FPS=33.41, 法向力=3986.3506, 切向力X=-14603.7051, 切向力Y=-2711.8384 +FPS=32.70, 法向力=4242.5303, 切向力X=-14125.2676, 切向力Y=-2673.5730 +FPS=33.41, 法向力=3897.8191, 切向力X=-13791.3516, 切向力Y=-3233.3960 +FPS=32.35, 法向力=3496.5049, 切向力X=-13203.1660, 切向力Y=-2496.1714 +FPS=33.50, 法向力=3510.2959, 切向力X=-13132.3672, 切向力Y=-2260.6055 +FPS=33.67, 法向力=2985.0469, 切向力X=-15216.3311, 切向力Y=-3344.1455 +FPS=33.36, 法向力=3658.9778, 切向力X=-14446.0566, 切向力Y=-2219.5276 +FPS=34.31, 法向力=3970.4209, 切向力X=-14272.0576, 切向力Y=-2299.1914 +FPS=33.06, 法向力=4254.4736, 切向力X=-15757.9648, 切向力Y=-2657.4854 +FPS=34.47, 法向力=4086.3091, 切向力X=-15743.5342, 切向力Y=-2415.1714 +FPS=32.69, 法向力=2773.1108, 切向力X=-14641.3623, 切向力Y=-1496.3978 +FPS=33.42, 法向力=4361.9980, 切向力X=-13579.5859, 切向力Y=-1659.4612 +FPS=34.12, 法向力=4945.2178, 切向力X=-12997.0303, 切向力Y=-1473.3257 +FPS=33.56, 法向力=3489.2976, 切向力X=-15788.3701, 切向力Y=-2195.7051 +FPS=33.00, 法向力=3465.7905, 切向力X=-15819.7314, 切向力Y=-2167.8535 +FPS=33.06, 法向力=3968.9109, 切向力X=-15127.9668, 切向力Y=194.9916 +FPS=34.54, 法向力=4156.8032, 切向力X=-15060.7227, 切向力Y=395.7747 +FPS=32.55, 法向力=3236.0352, 切向力X=-16025.3477, 切向力Y=1198.3805 +FPS=29.15, 法向力=2345.6436, 切向力X=-17301.0312, 切向力Y=2280.7803 +FPS=31.23, 法向力=2261.6411, 切向力X=-17362.2422, 切向力Y=2377.6479 +FPS=33.17, 法向力=2510.0830, 切向力X=-16831.8086, 切向力Y=2470.6179 +FPS=33.55, 法向力=2841.9939, 切向力X=-16482.5879, 切向力Y=2789.3408 +FPS=33.39, 法向力=2857.1685, 切向力X=-16389.6562, 切向力Y=2788.0623 +FPS=34.08, 法向力=2908.8623, 切向力X=-14662.6621, 切向力Y=4251.3535 +FPS=34.37, 法向力=2883.0015, 切向力X=-17871.4707, 切向力Y=2708.6455 +FPS=35.07, 法向力=2823.4697, 切向力X=-18029.1621, 切向力Y=2432.5315 +FPS=34.17, 法向力=2738.5732, 切向力X=-18110.1406, 切向力Y=2578.6809 +FPS=34.55, 法向力=3994.7419, 切向力X=-18733.1680, 切向力Y=2823.8596 +FPS=33.73, 法向力=2779.6355, 切向力X=-19150.7500, 切向力Y=3147.6914 +FPS=34.53, 法向力=2846.3403, 切向力X=-19374.2324, 切向力Y=3035.1018 +FPS=32.61, 法向力=4055.8823, 切向力X=-17989.0469, 切向力Y=5436.1143 +FPS=33.79, 法向力=4034.8081, 切向力X=-18129.3516, 切向力Y=5384.2412 +FPS=32.86, 法向力=3679.2886, 切向力X=-19171.8184, 切向力Y=7077.4971 +FPS=32.80, 法向力=3856.4971, 切向力X=-16870.9414, 切向力Y=8161.0166 +FPS=34.12, 法向力=3887.0007, 切向力X=-16869.8516, 切向力Y=8092.2368 +FPS=33.27, 法向力=3534.5212, 切向力X=-19169.3672, 切向力Y=7325.9497 +FPS=33.15, 法向力=4311.6255, 切向力X=-18975.6562, 切向力Y=7578.2212 +FPS=32.78, 法向力=4314.9917, 切向力X=-19136.3496, 切向力Y=7457.2158 +FPS=32.13, 法向力=3905.0391, 切向力X=-18060.1875, 切向力Y=6862.8477 +FPS=33.86, 法向力=3738.5256, 切向力X=-18011.6016, 切向力Y=6769.1870 +FPS=33.53, 法向力=3736.8245, 切向力X=-18300.4473, 切向力Y=6835.3604 +FPS=34.09, 法向力=3685.5630, 切向力X=-18408.0625, 切向力Y=6851.9590 +FPS=33.49, 法向力=3545.1450, 切向力X=-18767.5977, 切向力Y=6731.6772 +FPS=33.29, 法向力=2959.4641, 切向力X=-17920.2598, 切向力Y=5819.1533 +FPS=34.82, 法向力=2957.5493, 切向力X=-18049.7344, 切向力Y=5744.5029 +FPS=34.35, 法向力=3409.2109, 切向力X=-18581.1875, 切向力Y=6265.4531 +FPS=34.26, 法向力=3517.1514, 切向力X=-18721.2207, 切向力Y=6223.0801 +FPS=35.26, 法向力=2959.6814, 切向力X=-17939.6172, 切向力Y=5944.2021 +FPS=33.03, 法向力=3121.7617, 切向力X=-19115.7500, 切向力Y=6455.9814 +FPS=35.31, 法向力=3145.5347, 切向力X=-19126.8477, 切向力Y=6502.6758 +FPS=34.46, 法向力=3559.9929, 切向力X=-17964.1641, 切向力Y=6569.0557 +FPS=34.81, 法向力=3710.9683, 切向力X=-17911.7109, 切向力Y=6573.9429 +FPS=34.02, 法向力=3083.1086, 切向力X=-18042.2598, 切向力Y=6564.2363 +FPS=33.87, 法向力=3042.0046, 切向力X=-18171.6816, 切向力Y=6515.6504 +FPS=33.38, 法向力=2895.2612, 切向力X=-17942.8184, 切向力Y=7185.8525 +FPS=33.10, 法向力=3085.0928, 切向力X=-18850.9414, 切向力Y=7706.8213 +FPS=34.09, 法向力=3057.4521, 切向力X=-18988.5820, 切向力Y=7850.3096 +FPS=32.83, 法向力=3899.0652, 切向力X=-17985.2656, 切向力Y=7535.3125 +FPS=33.68, 法向力=3163.6345, 切向力X=-17208.2422, 切向力Y=8258.7949 +FPS=33.64, 法向力=3155.8608, 切向力X=-17054.5000, 切向力Y=8185.1128 +FPS=32.06, 法向力=3604.6096, 切向力X=-17852.4199, 切向力Y=8224.0059 +FPS=33.41, 法向力=3577.5640, 切向力X=-17706.7695, 切向力Y=8097.7324 +FPS=33.65, 法向力=3707.7241, 切向力X=-18148.1035, 切向力Y=7592.0986 +FPS=34.02, 法向力=3636.2803, 切向力X=-18120.3477, 切向力Y=7799.1572 +FPS=32.60, 法向力=3039.9678, 切向力X=-17921.1777, 切向力Y=6746.7959 +FPS=33.11, 法向力=3404.3738, 切向力X=-18128.9258, 切向力Y=7575.9199 +FPS=34.40, 法向力=3418.4990, 切向力X=-18247.6680, 切向力Y=7657.9248 +FPS=33.16, 法向力=3077.5195, 切向力X=-18270.7148, 切向力Y=7348.5547 +FPS=34.05, 法向力=3015.4829, 切向力X=-18411.7188, 切向力Y=7162.8975 +FPS=33.44, 法向力=3539.6675, 切向力X=-16781.6816, 切向力Y=7503.2773 +FPS=33.43, 法向力=3299.2532, 切向力X=-18289.9570, 切向力Y=7978.6318 +FPS=33.54, 法向力=3253.2341, 切向力X=-18389.3242, 切向力Y=8012.2036 +FPS=32.87, 法向力=3208.6243, 切向力X=-17189.7070, 切向力Y=8385.9199 +FPS=33.11, 法向力=3359.7080, 切向力X=-17088.8242, 切向力Y=8120.4917 +FPS=33.90, 法向力=3333.7185, 切向力X=-17358.2031, 切向力Y=8119.5522 +FPS=33.77, 法向力=3323.5977, 切向力X=-17311.9336, 切向力Y=8124.4219 +FPS=33.70, 法向力=3497.7466, 切向力X=-18791.1328, 切向力Y=8251.8848 +FPS=32.84, 法向力=3488.1680, 切向力X=-17183.2695, 切向力Y=8173.5449 +FPS=33.65, 法向力=3333.7461, 切向力X=-16624.9043, 切向力Y=8014.1509 +FPS=32.80, 法向力=3700.5688, 切向力X=-17279.7930, 切向力Y=7871.0654 +FPS=33.55, 法向力=3129.3110, 切向力X=-17997.4531, 切向力Y=7243.0693 +FPS=33.72, 法向力=3078.2002, 切向力X=-18232.8633, 切向力Y=7213.5171 +FPS=33.16, 法向力=3965.6731, 切向力X=-18064.6133, 切向力Y=7622.4414 +FPS=33.50, 法向力=3989.3469, 切向力X=-17991.8516, 切向力Y=7809.0205 +FPS=32.31, 法向力=3060.9932, 切向力X=-17051.3594, 切向力Y=7736.6396 +FPS=32.05, 法向力=3786.4280, 切向力X=-15812.6406, 切向力Y=7638.5386 +FPS=32.51, 法向力=3875.8159, 切向力X=-15862.6680, 切向力Y=7594.4072 +FPS=32.87, 法向力=3479.1201, 切向力X=-16481.9531, 切向力Y=7946.9951 +FPS=33.14, 法向力=3427.3438, 切向力X=-16511.9023, 切向力Y=8035.7520 +FPS=32.00, 法向力=3698.5422, 切向力X=-17080.7871, 切向力Y=8062.4375 +FPS=31.97, 法向力=3679.2351, 切向力X=-17380.5469, 切向力Y=7633.7305 +FPS=32.45, 法向力=3710.2217, 切向力X=-17365.8555, 切向力Y=7635.1255 +FPS=33.04, 法向力=3767.2258, 切向力X=-16108.0918, 切向力Y=7692.6411 +FPS=33.00, 法向力=4336.1299, 切向力X=-17800.5508, 切向力Y=8977.1064 +FPS=32.47, 法向力=4813.9512, 切向力X=-17240.5703, 切向力Y=9127.5801 +FPS=32.12, 法向力=3455.4221, 切向力X=-17345.7754, 切向力Y=8410.7568 +FPS=33.17, 法向力=3503.2368, 切向力X=-17562.7148, 切向力Y=8320.6934 +FPS=32.10, 法向力=2996.3784, 切向力X=-18665.6602, 切向力Y=8204.2539 +FPS=32.16, 法向力=2884.6716, 切向力X=-18050.7852, 切向力Y=8037.3843 +FPS=32.36, 法向力=2891.4336, 切向力X=-17815.8281, 切向力Y=8108.1025 +FPS=32.50, 法向力=3305.3589, 切向力X=-17701.1328, 切向力Y=8163.7925 +FPS=33.02, 法向力=3297.8379, 切向力X=-17749.9746, 切向力Y=8185.5645 +FPS=32.26, 法向力=3672.8589, 切向力X=-17533.3242, 切向力Y=8371.3975 +FPS=31.62, 法向力=3104.5898, 切向力X=-17868.0586, 切向力Y=8126.9497 +FPS=31.33, 法向力=3062.1885, 切向力X=-17835.3223, 切向力Y=8213.3867 +FPS=31.87, 法向力=3163.4150, 切向力X=-17656.7754, 切向力Y=7897.4102 +FPS=32.32, 法向力=3391.8193, 切向力X=-15902.1094, 切向力Y=7796.0801 +FPS=32.48, 法向力=3564.9077, 切向力X=-15552.1230, 切向力Y=7903.8545 +FPS=30.89, 法向力=3558.8601, 切向力X=-16780.7148, 切向力Y=8500.5762 +FPS=32.00, 法向力=2850.3284, 切向力X=-18036.3008, 切向力Y=8458.6191 +FPS=33.68, 法向力=2810.3096, 切向力X=-18123.5723, 切向力Y=8282.9189 +FPS=32.87, 法向力=2790.0596, 切向力X=-18083.2109, 切向力Y=8307.0879 +FPS=31.94, 法向力=3103.4556, 切向力X=-18155.4844, 切向力Y=8174.8242 +FPS=32.51, 法向力=2874.7971, 切向力X=-17239.2949, 切向力Y=7826.1279 +FPS=32.27, 法向力=2846.6226, 切向力X=-17242.5469, 切向力Y=7880.0791 +FPS=32.35, 法向力=3424.7468, 切向力X=-17484.4336, 切向力Y=8382.2598 +FPS=31.92, 法向力=3284.6128, 切向力X=-17398.8887, 切向力Y=7699.7715 +FPS=32.62, 法向力=3257.4746, 切向力X=-17565.7383, 切向力Y=7685.1963 +FPS=31.59, 法向力=3082.3125, 切向力X=-16956.3477, 切向力Y=8541.9141 +FPS=31.22, 法向力=3158.2676, 切向力X=-16359.0762, 切向力Y=8652.0371 +FPS=32.56, 法向力=3064.8467, 切向力X=-16206.5693, 切向力Y=8603.3682 +FPS=31.75, 法向力=3435.8892, 切向力X=-16030.0830, 切向力Y=8740.5479 +FPS=31.56, 法向力=3620.3628, 切向力X=-18139.1992, 切向力Y=8117.0635 +FPS=32.22, 法向力=3687.2075, 切向力X=-18351.4336, 切向力Y=8017.4160 +FPS=31.55, 法向力=3439.5327, 切向力X=-15927.2246, 切向力Y=9001.0088 +FPS=32.01, 法向力=3569.4539, 切向力X=-15754.3125, 切向力Y=9055.9600 +FPS=32.00, 法向力=3426.8589, 切向力X=-16246.7041, 切向力Y=9402.4531 +FPS=30.86, 法向力=4173.6152, 切向力X=-15362.1113, 切向力Y=8987.4043 +FPS=31.68, 法向力=4223.8716, 切向力X=-15368.8838, 切向力Y=9079.5938 +FPS=31.30, 法向力=3638.2112, 切向力X=-16867.2656, 切向力Y=8200.9473 +FPS=31.97, 法向力=3600.1609, 切向力X=-16965.5977, 切向力Y=8650.3164 +FPS=32.12, 法向力=3560.5752, 切向力X=-16958.0781, 切向力Y=8766.9414 +FPS=32.00, 法向力=3180.4692, 切向力X=-17534.7207, 切向力Y=8255.1445 +FPS=31.44, 法向力=3418.5706, 切向力X=-16717.2012, 切向力Y=8325.8203 +FPS=32.19, 法向力=3460.6797, 切向力X=-16808.9844, 切向力Y=8163.6064 +FPS=31.96, 法向力=3462.7119, 切向力X=-16889.0508, 切向力Y=8271.2324 +FPS=32.12, 法向力=3366.2891, 切向力X=-16027.0977, 切向力Y=8878.6602 +FPS=29.99, 法向力=3452.0476, 切向力X=-17979.7383, 切向力Y=9023.7383 +FPS=30.12, 法向力=2877.5154, 切向力X=-16508.5918, 切向力Y=8709.1426 +FPS=31.30, 法向力=2978.0688, 切向力X=-16693.7871, 切向力Y=8630.4160 +FPS=30.77, 法向力=2958.0740, 切向力X=-16584.3105, 切向力Y=8802.5527 +FPS=32.09, 法向力=3076.4849, 切向力X=-16779.6172, 切向力Y=8962.9629 +FPS=31.86, 法向力=3108.2888, 切向力X=-16811.3359, 切向力Y=9029.9229 +FPS=30.52, 法向力=3755.9104, 切向力X=-15846.8613, 切向力Y=8390.0576 +FPS=31.39, 法向力=3779.2622, 切向力X=-16106.7637, 切向力Y=8135.2451 +FPS=31.87, 法向力=3976.7456, 切向力X=-17498.2148, 切向力Y=8147.5249 +FPS=31.86, 法向力=3984.0720, 切向力X=-17372.8379, 切向力Y=8315.7793 +FPS=32.37, 法向力=3308.6482, 切向力X=-17032.8008, 切向力Y=8016.8154 +FPS=30.21, 法向力=3187.6440, 切向力X=-17744.8613, 切向力Y=8600.3359 +FPS=31.02, 法向力=3168.3220, 切向力X=-17547.7383, 切向力Y=8537.8789 +FPS=31.23, 法向力=3762.4819, 切向力X=-15219.7432, 切向力Y=8582.7500 +FPS=30.68, 法向力=3232.9268, 切向力X=-17439.8750, 切向力Y=8221.0293 +FPS=28.73, 法向力=3907.1069, 切向力X=-16281.1699, 切向力Y=9270.0527 +FPS=29.36, 法向力=4044.2334, 切向力X=-16269.3125, 切向力Y=9339.0586 +FPS=30.65, 法向力=3106.9546, 切向力X=-16719.2227, 切向力Y=8957.5742 +FPS=31.57, 法向力=3433.5837, 切向力X=-16364.1543, 切向力Y=9312.0508 +FPS=32.94, 法向力=3462.1841, 切向力X=-16316.8027, 切向力Y=9372.7188 +FPS=31.38, 法向力=3117.0625, 切向力X=-17819.5312, 切向力Y=8843.5410 +FPS=32.84, 法向力=3098.3958, 切向力X=-17965.3047, 切向力Y=8813.6953 +FPS=31.07, 法向力=3273.5098, 切向力X=-16488.1582, 切向力Y=8064.9907 +FPS=32.17, 法向力=3258.7354, 切向力X=-15775.6934, 切向力Y=9212.1738 +FPS=31.89, 法向力=3300.8936, 切向力X=-15709.2559, 切向力Y=9302.5020 +FPS=30.66, 法向力=3223.7158, 切向力X=-17269.4727, 切向力Y=9492.0059 +FPS=31.49, 法向力=3290.4827, 切向力X=-16991.9531, 切向力Y=9351.4502 +FPS=30.93, 法向力=3241.1738, 切向力X=-17137.3984, 切向力Y=9280.9639 +FPS=31.46, 法向力=3162.9192, 切向力X=-16164.8301, 切向力Y=8933.1895 +FPS=31.57, 法向力=3067.0952, 切向力X=-17188.9043, 切向力Y=8977.6895 +FPS=31.66, 法向力=2988.8311, 切向力X=-17027.6523, 切向力Y=9066.6045 +FPS=30.44, 法向力=3411.1221, 切向力X=-18216.7734, 切向力Y=9177.5293 +FPS=31.24, 法向力=3530.4504, 切向力X=-18332.2598, 切向力Y=9081.0596 +FPS=31.49, 法向力=4257.3174, 切向力X=-18159.8164, 切向力Y=8178.8833 +FPS=31.11, 法向力=3799.0667, 切向力X=-16380.1699, 切向力Y=9381.3926 +FPS=31.95, 法向力=3816.8862, 切向力X=-16565.1211, 切向力Y=9328.2305 +FPS=31.33, 法向力=3687.0115, 切向力X=-16831.5371, 切向力Y=8422.0928 +FPS=31.39, 法向力=3150.8403, 切向力X=-17152.4609, 切向力Y=8301.7021 +FPS=31.60, 法向力=3169.6111, 切向力X=-17112.4102, 切向力Y=8310.6914 +FPS=31.22, 法向力=2850.2800, 切向力X=-16713.8242, 切向力Y=8298.7207 +FPS=31.43, 法向力=3190.2959, 切向力X=-16759.7891, 切向力Y=8489.8223 +FPS=32.05, 法向力=3240.0901, 切向力X=-16868.7500, 切向力Y=8477.6553 +FPS=31.42, 法向力=3100.1362, 切向力X=-15828.5000, 切向力Y=9524.8730 +FPS=31.00, 法向力=3150.0156, 切向力X=-15507.9336, 切向力Y=9294.5830 +FPS=30.66, 法向力=3164.3037, 切向力X=-16202.8008, 切向力Y=9311.9688 +FPS=29.93, 法向力=2760.4055, 切向力X=-16383.9316, 切向力Y=8074.8081 +FPS=30.18, 法向力=2750.5498, 切向力X=-16361.1289, 切向力Y=8010.7715 +FPS=30.68, 法向力=2768.2354, 切向力X=-16334.6660, 切向力Y=8146.9297 +FPS=30.70, 法向力=3382.7266, 切向力X=-16310.4639, 切向力Y=9151.5645 +FPS=31.21, 法向力=3344.8154, 切向力X=-16044.4775, 切向力Y=9110.0664 +FPS=29.96, 法向力=3198.9468, 切向力X=-16400.6309, 切向力Y=8577.0352 +FPS=30.51, 法向力=3827.2842, 切向力X=-16483.7148, 切向力Y=7521.2861 +FPS=31.18, 法向力=3873.6790, 切向力X=-16632.2070, 切向力Y=7706.8330 +FPS=29.93, 法向力=3323.9902, 切向力X=-16056.2656, 切向力Y=8569.4492 +FPS=29.76, 法向力=3214.1113, 切向力X=-16286.8887, 切向力Y=8903.2998 +FPS=31.57, 法向力=3212.0146, 切向力X=-16326.1270, 切向力Y=8833.1602 +FPS=29.16, 法向力=3856.8799, 切向力X=-16433.2812, 切向力Y=9010.1133 +FPS=30.56, 法向力=3785.6926, 切向力X=-16556.3086, 切向力Y=8957.3301 +FPS=29.04, 法向力=2829.7539, 切向力X=-16334.0000, 切向力Y=9040.5781 +FPS=30.97, 法向力=2835.3293, 切向力X=-16344.6865, 切向力Y=9010.6035 +FPS=30.58, 法向力=2835.0879, 切向力X=-16324.9277, 切向力Y=9030.1201 +FPS=29.58, 法向力=3909.0952, 切向力X=-14913.3477, 切向力Y=8169.9922 +FPS=29.38, 法向力=3590.8281, 切向力X=-10649.8418, 切向力Y=8116.9385 +FPS=30.27, 法向力=3383.5156, 切向力X=-10827.1816, 切向力Y=8053.2334 +FPS=30.62, 法向力=3310.5371, 切向力X=-11518.1953, 切向力Y=7889.0459 +FPS=28.98, 法向力=3250.6902, 切向力X=-13704.8711, 切向力Y=8392.7461 +FPS=29.98, 法向力=3335.9678, 切向力X=-13789.0195, 切向力Y=8281.0068 +FPS=30.66, 法向力=3358.2388, 切向力X=-12059.6035, 切向力Y=8437.5068 +FPS=29.64, 法向力=3016.8486, 切向力X=-12561.3496, 切向力Y=8303.8789 +FPS=30.80, 法向力=3080.9424, 切向力X=-12557.6953, 切向力Y=8392.7480 +FPS=30.09, 法向力=3420.8887, 切向力X=-12411.0039, 切向力Y=8445.5645 +FPS=30.24, 法向力=3414.4678, 切向力X=-12393.8457, 切向力Y=8475.9258 +FPS=31.45, 法向力=3412.7278, 切向力X=-12316.9199, 切向力Y=8440.3203 +FPS=31.36, 法向力=3456.4844, 切向力X=-12129.5352, 切向力Y=9216.8906 +FPS=30.86, 法向力=3462.2649, 切向力X=-11239.3457, 切向力Y=9069.3828 +FPS=31.05, 法向力=3462.9629, 切向力X=-11456.7568, 切向力Y=9116.6982 +FPS=31.41, 法向力=3546.4714, 切向力X=-11298.1631, 切向力Y=9010.2666 +FPS=31.08, 法向力=3672.8281, 切向力X=-12171.8525, 切向力Y=8870.7373 +FPS=32.05, 法向力=3721.3574, 切向力X=-12359.8340, 切向力Y=8919.3506 +FPS=30.93, 法向力=3263.8062, 切向力X=-10974.3945, 切向力Y=8858.3184 +FPS=31.66, 法向力=3200.7012, 切向力X=-10974.4990, 切向力Y=8824.0420 +FPS=31.86, 法向力=3741.1299, 切向力X=-11201.8887, 切向力Y=9225.2637 +FPS=29.09, 法向力=3979.2869, 切向力X=-10444.9043, 切向力Y=8945.8555 +FPS=32.08, 法向力=4005.7864, 切向力X=-10266.9727, 切向力Y=9095.5527 +FPS=32.65, 法向力=4020.6221, 切向力X=-10488.9629, 切向力Y=9077.8906 +FPS=31.81, 法向力=3727.9116, 切向力X=-12189.8594, 切向力Y=9510.9336 +FPS=34.05, 法向力=3726.6753, 切向力X=-12544.4463, 切向力Y=9487.7969 +FPS=33.83, 法向力=4346.0220, 切向力X=-11689.9453, 切向力Y=8178.5400 +FPS=32.21, 法向力=3614.3857, 切向力X=-12910.6348, 切向力Y=7521.4668 +FPS=33.18, 法向力=3637.6748, 切向力X=-12899.5820, 切向力Y=7465.0938 +FPS=31.21, 法向力=4537.4453, 切向力X=-8139.5859, 切向力Y=6595.2476 +FPS=32.63, 法向力=4444.3760, 切向力X=-8373.6641, 切向力Y=6464.8975 +FPS=31.30, 法向力=5126.2651, 切向力X=811.3776, 切向力Y=3747.3613 +FPS=32.48, 法向力=4238.2446, 切向力X=6342.3076, 切向力Y=2074.1597 +FPS=32.32, 法向力=4344.3008, 切向力X=6405.6562, 切向力Y=1899.6140 +FPS=31.32, 法向力=3593.5811, 切向力X=964.4642, 切向力Y=3547.5083 +FPS=32.37, 法向力=3457.3438, 切向力X=969.5254, 切向力Y=3504.2424 +FPS=32.62, 法向力=3450.4338, 切向力X=983.4877, 切向力Y=3496.2969 +FPS=30.97, 法向力=3564.9736, 切向力X=-19102.2812, 切向力Y=5711.7271 +FPS=32.78, 法向力=3551.4453, 切向力X=-19203.7148, 切向力Y=5959.4463 +FPS=32.22, 法向力=3048.0593, 切向力X=-20407.8789, 切向力Y=4964.4878 +FPS=31.74, 法向力=2895.0549, 切向力X=-20610.9336, 切向力Y=5003.0371 +FPS=32.26, 法向力=3363.7705, 切向力X=-21026.8027, 切向力Y=4590.9629 +FPS=32.02, 法向力=2627.4243, 切向力X=-21745.1426, 切向力Y=3500.0010 +FPS=32.21, 法向力=2658.8132, 切向力X=-21854.0391, 切向力Y=3267.4062 +FPS=32.31, 法向力=2989.0811, 切向力X=-24738.3086, 切向力Y=3569.6973 +FPS=31.28, 法向力=3211.0400, 切向力X=-26928.3672, 切向力Y=3475.9707 +FPS=32.48, 法向力=3277.8882, 切向力X=-27012.6465, 切向力Y=3439.4238 +FPS=30.93, 法向力=3336.2104, 切向力X=-25318.0938, 切向力Y=3520.4453 +FPS=32.26, 法向力=3338.1616, 切向力X=-25491.9453, 切向力Y=3466.3855 +FPS=32.81, 法向力=3320.9683, 切向力X=-25501.1953, 切向力Y=3413.1748 +FPS=31.68, 法向力=3631.4197, 切向力X=-21931.9238, 切向力Y=2388.5129 +FPS=32.36, 法向力=3278.6733, 切向力X=-20594.3574, 切向力Y=1825.1736 +FPS=31.93, 法向力=3387.0798, 切向力X=-20406.3184, 切向力Y=1799.1736 +FPS=31.74, 法向力=3419.1443, 切向力X=-20383.5312, 切向力Y=1877.1658 +FPS=33.13, 法向力=3436.3159, 切向力X=-19416.3633, 切向力Y=166.3328 +FPS=31.82, 法向力=3622.6443, 切向力X=-12533.5391, 切向力Y=37.5410 +FPS=33.22, 法向力=3537.4172, 切向力X=-12449.8350, 切向力Y=6.5364 +FPS=33.60, 法向力=4510.3828, 切向力X=-1529.1382, 切向力Y=-187.6755 +FPS=32.84, 法向力=6397.0078, 切向力X=9994.5674, 切向力Y=-827.2983 +FPS=33.03, 法向力=6366.2139, 切向力X=10126.5938, 切向力Y=-825.8623 +FPS=32.44, 法向力=6124.4976, 切向力X=17102.3535, 切向力Y=-1619.0195 +FPS=33.38, 法向力=6093.6494, 切向力X=17343.5586, 切向力Y=-1508.1260 +FPS=32.67, 法向力=6081.4712, 切向力X=17452.5391, 切向力Y=-1639.9844 +FPS=32.35, 法向力=7194.2275, 切向力X=17003.8457, 切向力Y=-1407.2495 +FPS=33.13, 法向力=7281.0674, 切向力X=17021.5352, 切向力Y=-1483.6008 +FPS=32.47, 法向力=6768.0146, 切向力X=17456.4688, 切向力Y=-2156.4067 +FPS=33.01, 法向力=6834.8228, 切向力X=17536.4492, 切向力Y=-2283.7371 +FPS=32.70, 法向力=7144.3345, 切向力X=18338.5801, 切向力Y=-2815.3660 +FPS=32.48, 法向力=7529.4229, 切向力X=15801.7461, 切向力Y=-2412.9087 +FPS=33.43, 法向力=7517.0283, 切向力X=15315.2490, 切向力Y=-2467.8494 +FPS=33.25, 法向力=8005.8584, 切向力X=17141.1055, 切向力Y=-4468.5728 +FPS=33.08, 法向力=7874.8340, 切向力X=16152.9473, 切向力Y=-4122.9893 +FPS=33.50, 法向力=7837.4521, 切向力X=16106.2686, 切向力Y=-4329.3086 +FPS=32.28, 法向力=7595.3271, 切向力X=13476.7822, 切向力Y=-2500.7910 +FPS=32.84, 法向力=7576.8735, 切向力X=13561.0137, 切向力Y=-2308.6128 +FPS=34.10, 法向力=7632.0142, 切向力X=13293.0293, 切向力Y=-2382.1912 +FPS=32.48, 法向力=6762.4033, 切向力X=11649.8809, 切向力Y=-6188.3447 +FPS=33.48, 法向力=6676.8462, 切向力X=11738.0820, 切向力Y=-6066.3203 +FPS=33.17, 法向力=5925.8232, 切向力X=12026.0830, 切向力Y=-7639.8682 +FPS=33.61, 法向力=5894.3984, 切向力X=11764.5703, 切向力Y=-7627.7197 +FPS=32.81, 法向力=6417.1934, 切向力X=9478.7432, 切向力Y=-7003.7676 +FPS=32.26, 法向力=7020.4111, 切向力X=6301.8271, 切向力Y=-8082.8745 +FPS=34.29, 法向力=7098.0649, 切向力X=6074.0269, 切向力Y=-8192.0742 +FPS=31.48, 法向力=8987.5020, 切向力X=11790.3008, 切向力Y=-9910.0059 +FPS=30.21, 法向力=9375.5967, 切向力X=15876.5547, 切向力Y=-13011.0742 +FPS=31.25, 法向力=9262.2666, 切向力X=15701.3008, 切向力Y=-12941.4980 +FPS=31.22, 法向力=9842.7305, 切向力X=15536.8770, 切向力Y=-13436.1172 +FPS=33.38, 法向力=9731.5332, 切向力X=15317.7861, 切向力Y=-13461.8730 +FPS=33.95, 法向力=9925.0820, 切向力X=15289.9355, 切向力Y=-13410.9414 +FPS=33.05, 法向力=9666.8184, 切向力X=15373.0508, 切向力Y=-13463.5508 +FPS=32.50, 法向力=10437.5234, 切向力X=14103.0762, 切向力Y=-15314.6484 +FPS=32.77, 法向力=9870.7705, 切向力X=17184.0391, 切向力Y=-16511.1680 +FPS=33.41, 法向力=10131.4287, 切向力X=17249.0664, 切向力Y=-16804.6816 +FPS=34.37, 法向力=10473.3398, 切向力X=17601.0039, 切向力Y=-17513.7246 +FPS=33.89, 法向力=11795.4512, 切向力X=16063.1455, 切向力Y=-18164.5605 +FPS=36.20, 法向力=11189.2754, 切向力X=16016.2432, 切向力Y=-18478.7168 +FPS=34.35, 法向力=11850.7246, 切向力X=14155.0596, 切向力Y=-18551.9375 +FPS=35.60, 法向力=11072.1660, 切向力X=14000.2158, 切向力Y=-18471.0977 +FPS=34.86, 法向力=7327.6401, 切向力X=13938.8965, 切向力Y=-18485.9004 +FPS=35.06, 法向力=7465.5352, 切向力X=13561.1465, 切向力Y=-18584.4336 +FPS=34.90, 法向力=7157.8066, 切向力X=15599.3535, 切向力Y=-19162.6602 +FPS=34.24, 法向力=7239.0840, 切向力X=15717.1758, 切向力Y=-19236.5332 +FPS=35.19, 法向力=7278.5474, 切向力X=15703.3105, 切向力Y=-19230.2617 +FPS=33.99, 法向力=6203.7559, 切向力X=17370.8574, 切向力Y=-18716.5000 +FPS=35.12, 法向力=6218.2734, 切向力X=17208.7773, 切向力Y=-18836.8906 +FPS=34.62, 法向力=7048.8872, 切向力X=15462.0586, 切向力Y=-19488.8477 +FPS=35.42, 法向力=7330.5459, 切向力X=15100.2383, 切向力Y=-19524.1055 +FPS=34.88, 法向力=7269.0596, 切向力X=14275.1064, 切向力Y=-20411.1172 +FPS=35.23, 法向力=7412.2690, 切向力X=12637.2900, 切向力Y=-22209.8105 +FPS=36.00, 法向力=7460.2700, 切向力X=12627.6777, 切向力Y=-21968.4043 +FPS=34.50, 法向力=7299.7632, 切向力X=11146.5078, 切向力Y=-22456.7070 +FPS=35.88, 法向力=7273.5439, 切向力X=11219.7432, 切向力Y=-22479.9668 +FPS=34.82, 法向力=7356.9404, 切向力X=10197.4414, 切向力Y=-21606.2637 +FPS=34.88, 法向力=6896.5850, 切向力X=10121.7100, 切向力Y=-21503.2500 +FPS=35.57, 法向力=6694.7354, 切向力X=9652.1299, 切向力Y=-19493.3789 +FPS=34.65, 法向力=6722.9902, 切向力X=9567.7969, 切向力Y=-19599.2715 +FPS=35.82, 法向力=6684.7441, 切向力X=9416.0615, 切向力Y=-19614.6270 +FPS=35.14, 法向力=7595.0176, 切向力X=11583.3438, 切向力Y=-17165.1230 +FPS=35.27, 法向力=7441.5278, 切向力X=11433.3281, 切向力Y=-17779.4004 +FPS=34.52, 法向力=7258.4844, 切向力X=10771.2012, 切向力Y=-16369.0879 +FPS=36.19, 法向力=7407.5146, 切向力X=10433.3252, 切向力Y=-15638.0625 +FPS=35.29, 法向力=7616.1436, 切向力X=9527.4277, 切向力Y=-13159.7344 +FPS=36.48, 法向力=7610.9463, 切向力X=9518.9912, 切向力Y=-13675.6963 +FPS=35.82, 法向力=9037.2275, 切向力X=11350.8555, 切向力Y=-16824.6094 +FPS=36.12, 法向力=10624.9766, 切向力X=16217.2266, 切向力Y=-22597.9805 +FPS=36.28, 法向力=11013.9297, 切向力X=16536.7598, 切向力Y=-22957.5312 +FPS=35.78, 法向力=12092.0000, 切向力X=23310.1895, 切向力Y=-26082.8320 +FPS=35.11, 法向力=12680.2500, 切向力X=23821.4180, 切向力Y=-26072.3320 +FPS=32.89, 法向力=12698.3369, 切向力X=24423.7461, 切向力Y=-26417.6602 +FPS=33.56, 法向力=12907.1406, 切向力X=26313.2734, 切向力Y=-26248.7656 +FPS=33.34, 法向力=12838.2715, 切向力X=25545.3574, 切向力Y=-26658.1309 +FPS=33.33, 法向力=14373.2324, 切向力X=29223.9922, 切向力Y=-28371.8633 +FPS=34.33, 法向力=14631.2158, 切向力X=29428.3555, 切向力Y=-28271.6875 +FPS=32.46, 法向力=15709.9648, 切向力X=30060.3359, 切向力Y=-29352.2734 +FPS=34.08, 法向力=15930.2246, 切向力X=29917.7969, 切向力Y=-29222.4121 +FPS=33.04, 法向力=13959.5322, 切向力X=30181.0879, 切向力Y=-28930.0527 +FPS=32.29, 法向力=15172.6797, 切向力X=29251.4102, 切向力Y=-28966.0820 +FPS=33.80, 法向力=15360.8936, 切向力X=29071.3789, 切向力Y=-29067.9688 +FPS=33.28, 法向力=16372.3174, 切向力X=30737.3418, 切向力Y=-31254.4199 +FPS=33.72, 法向力=16674.9219, 切向力X=31063.5645, 切向力Y=-31319.2969 +FPS=32.68, 法向力=18446.6367, 切向力X=32546.8633, 切向力Y=-33864.1992 +FPS=33.55, 法向力=19118.5840, 切向力X=32094.1406, 切向力Y=-34125.7734 +FPS=33.26, 法向力=17856.7539, 切向力X=34351.7500, 切向力Y=-34189.3047 +FPS=33.43, 法向力=17341.4590, 切向力X=31226.2188, 切向力Y=-33465.3984 +FPS=33.42, 法向力=17762.5547, 切向力X=30787.7324, 切向力Y=-33769.9805 +FPS=33.05, 法向力=18211.5820, 切向力X=32702.8125, 切向力Y=-33797.5000 +FPS=33.37, 法向力=18832.0645, 切向力X=31575.0605, 切向力Y=-35467.6875 +FPS=34.13, 法向力=18879.8184, 切向力X=31630.5020, 切向力Y=-35343.0703 +FPS=33.29, 法向力=18481.9375, 切向力X=30900.3047, 切向力Y=-33287.4062 +FPS=34.76, 法向力=18274.5957, 切向力X=30755.3086, 切向力Y=-33312.7031 +FPS=33.01, 法向力=18430.0820, 切向力X=30414.1953, 切向力Y=-34772.5781 +FPS=33.39, 法向力=18748.4180, 切向力X=29526.1680, 切向力Y=-34407.7773 +FPS=33.89, 法向力=18812.9258, 切向力X=29436.6914, 切向力Y=-34443.0312 +FPS=33.83, 法向力=15665.5898, 切向力X=24749.2656, 切向力Y=-33848.9648 +FPS=34.63, 法向力=16070.7695, 切向力X=25231.5000, 切向力Y=-34187.8477 +FPS=33.14, 法向力=15088.5137, 切向力X=21415.1875, 切向力Y=-33603.4141 +FPS=34.28, 法向力=14809.6504, 切向力X=21608.9336, 切向力Y=-33525.3477 +FPS=33.91, 法向力=14358.2217, 切向力X=13903.9873, 切向力Y=-33440.4727 +FPS=33.46, 法向力=9813.3447, 切向力X=2967.7314, 切向力Y=-29202.8086 +FPS=34.03, 法向力=9831.8848, 切向力X=2289.4614, 切向力Y=-29316.9629 +FPS=33.21, 法向力=8044.2920, 切向力X=-10647.4736, 切向力Y=-26915.9492 +FPS=33.12, 法向力=7847.4688, 切向力X=-11671.4980, 切向力Y=-26819.7305 +FPS=33.81, 法向力=7632.1260, 切向力X=-20011.4727, 切向力Y=-25633.8867 +FPS=33.92, 法向力=6602.6338, 切向力X=-24340.0547, 切向力Y=-25028.0312 +FPS=33.60, 法向力=6341.8105, 切向力X=-25052.4102, 切向力Y=-25001.4961 +FPS=33.62, 法向力=6723.5000, 切向力X=-28588.5938, 切向力Y=-24239.6484 +FPS=34.36, 法向力=7479.3262, 切向力X=-28754.4199, 切向力Y=-24034.4688 +FPS=32.14, 法向力=7182.9077, 切向力X=-37577.3438, 切向力Y=-23299.9453 +FPS=33.41, 法向力=6461.3481, 切向力X=-45196.7891, 切向力Y=-21660.7715 +FPS=33.91, 法向力=6250.4692, 切向力X=-45623.2656, 切向力Y=-21558.2539 +FPS=32.64, 法向力=6603.4800, 切向力X=-50520.3594, 切向力Y=-19874.5859 +FPS=34.58, 法向力=6409.8115, 切向力X=-50959.4609, 切向力Y=-19916.8867 +FPS=33.60, 法向力=6917.3730, 切向力X=-49598.0664, 切向力Y=-19363.1133 +FPS=32.95, 法向力=7839.9038, 切向力X=-45397.3281, 切向力Y=-19367.6406 +FPS=34.89, 法向力=7840.2891, 切向力X=-45051.9531, 切向力Y=-19589.8398 +FPS=32.70, 法向力=7636.6587, 切向力X=-39790.6094, 切向力Y=-20107.0742 +FPS=34.21, 法向力=7602.7949, 切向力X=-39513.3438, 切向力Y=-20209.0391 +FPS=34.14, 法向力=7796.0840, 切向力X=-36019.8594, 切向力Y=-20492.8672 +FPS=34.16, 法向力=7826.9668, 切向力X=-35635.8359, 切向力Y=-20507.4473 +FPS=34.61, 法向力=7517.8682, 切向力X=-33365.6367, 切向力Y=-20621.2266 +FPS=34.24, 法向力=7725.0713, 切向力X=-31399.0859, 切向力Y=-19873.0801 +FPS=33.34, 法向力=7460.0342, 切向力X=-31558.0781, 切向力Y=-20173.9492 +FPS=33.98, 法向力=8485.1299, 切向力X=-29569.7422, 切向力Y=-18928.2734 +FPS=34.90, 法向力=8662.3047, 切向力X=-29337.1387, 切向力Y=-19091.8125 +FPS=33.81, 法向力=9477.3848, 切向力X=-20421.0176, 切向力Y=-14867.9512 +FPS=33.25, 法向力=10235.9043, 切向力X=-8111.6519, 切向力Y=-7277.1201 +FPS=34.34, 法向力=10190.8691, 切向力X=-7869.7412, 切向力Y=-7359.0176 +FPS=33.87, 法向力=9927.6250, 切向力X=-3579.8330, 切向力Y=-8364.5020 +FPS=32.99, 法向力=10202.3057, 切向力X=-3202.3613, 切向力Y=-8519.7715 +FPS=34.42, 法向力=11795.3398, 切向力X=2406.1274, 切向力Y=-6204.5449 +FPS=34.64, 法向力=11595.3809, 切向力X=2506.1416, 切向力Y=-6027.9033 +FPS=33.94, 法向力=14463.8535, 切向力X=5072.5361, 切向力Y=-5852.7812 +FPS=32.37, 法向力=14475.6436, 切向力X=5539.5981, 切向力Y=-7271.2563 +FPS=34.46, 法向力=14353.8613, 切向力X=5525.4570, 切向力Y=-7473.9736 +FPS=33.79, 法向力=13443.2402, 切向力X=2796.9800, 切向力Y=-7228.8320 +FPS=33.61, 法向力=13517.2812, 切向力X=2536.8418, 切向力Y=-7147.2852 +FPS=34.15, 法向力=13635.2324, 切向力X=3522.5918, 切向力Y=-5912.3008 +FPS=34.26, 法向力=13825.0020, 切向力X=290.4201, 切向力Y=-5747.9023 +FPS=36.06, 法向力=13651.5391, 切向力X=20.4086, 切向力Y=-5669.2173 +FPS=34.22, 法向力=13187.1885, 切向力X=-2849.9658, 切向力Y=-5700.2559 +FPS=35.38, 法向力=13377.4238, 切向力X=-3177.8608, 切向力Y=-6077.7642 +FPS=35.03, 法向力=11461.0908, 切向力X=-3896.4358, 切向力Y=-6017.2168 +FPS=35.45, 法向力=11627.6152, 切向力X=-3999.5828, 切向力Y=-5992.2012 +FPS=34.83, 法向力=10188.6221, 切向力X=-4965.1553, 切向力Y=-5514.6963 +FPS=35.54, 法向力=9655.9805, 切向力X=-6439.9277, 切向力Y=-6925.5098 +FPS=34.61, 法向力=9904.8193, 切向力X=-6327.8125, 切向力Y=-7028.0356 +FPS=34.38, 法向力=8716.3789, 切向力X=-5178.2529, 切向力Y=-7884.5293 +FPS=35.86, 法向力=8970.0508, 切向力X=-5184.7139, 切向力Y=-7900.7236 +FPS=34.53, 法向力=8238.0557, 切向力X=-222.9209, 切向力Y=-9596.6670 +FPS=35.07, 法向力=8237.2852, 切向力X=114.4131, 切向力Y=-9878.0898 +FPS=35.63, 法向力=8240.5312, 切向力X=6647.1309, 切向力Y=-14698.1748 +FPS=34.35, 法向力=7032.0435, 切向力X=14720.3965, 切向力Y=-18174.2227 +FPS=35.52, 法向力=6876.2031, 切向力X=15468.9414, 切向力Y=-18629.4062 +FPS=34.63, 法向力=8797.0439, 切向力X=16181.4727, 切向力Y=-22928.2520 +FPS=35.34, 法向力=8978.3350, 切向力X=15265.6992, 切向力Y=-23053.4297 +FPS=34.70, 法向力=7919.5410, 切向力X=15906.0762, 切向力Y=-26230.8398 +FPS=35.79, 法向力=7978.9453, 切向力X=15896.2031, 切向力Y=-26545.6602 +FPS=34.64, 法向力=7199.4434, 切向力X=8791.5547, 切向力Y=-28264.3477 +FPS=35.57, 法向力=7089.8711, 切向力X=8188.8896, 切向力Y=-28503.8613 +FPS=35.07, 法向力=7687.8750, 切向力X=3855.4429, 切向力Y=-29248.4629 +FPS=34.56, 法向力=10189.9727, 切向力X=9579.1016, 切向力Y=-32528.7930 +FPS=35.19, 法向力=10403.9619, 切向力X=10011.1680, 切向力Y=-32693.8477 +FPS=35.25, 法向力=14734.0391, 切向力X=17595.0586, 切向力Y=-36393.3359 +FPS=34.75, 法向力=15708.4150, 切向力X=18638.4609, 切向力Y=-36836.7656 +FPS=32.67, 法向力=14411.0801, 切向力X=31623.3047, 切向力Y=-37493.1719 +FPS=31.30, 法向力=16635.0742, 切向力X=37144.3203, 切向力Y=-37914.9141 +FPS=32.72, 法向力=16543.4453, 切向力X=37830.7344, 切向力Y=-38430.2031 +FPS=35.89, 法向力=16611.3008, 切向力X=39467.5781, 切向力Y=-37974.9883 +FPS=35.08, 法向力=16975.1855, 切向力X=38998.3281, 切向力Y=-38230.7266 +FPS=34.79, 法向力=17543.4883, 切向力X=40556.7812, 切向力Y=-38175.2969 +FPS=36.01, 法向力=17697.7188, 切向力X=40479.4688, 切向力Y=-38276.2188 +FPS=36.08, 法向力=18513.9355, 切向力X=37203.2031, 切向力Y=-38386.1875 +FPS=35.36, 法向力=19123.1230, 切向力X=38940.6562, 切向力Y=-38782.0820 +FPS=35.01, 法向力=19193.3535, 切向力X=39390.8047, 切向力Y=-38879.5547 +FPS=33.81, 法向力=18761.0957, 切向力X=36613.4688, 切向力Y=-38862.0977 +FPS=34.41, 法向力=18735.6484, 切向力X=36733.8242, 切向力Y=-38805.4609 +FPS=34.04, 法向力=20540.1230, 切向力X=37865.9375, 切向力Y=-39472.0078 +FPS=30.51, 法向力=19707.3203, 切向力X=37314.2109, 切向力Y=-39875.7031 +FPS=27.61, 法向力=20188.4375, 切向力X=37278.7930, 切向力Y=-39955.2656 +FPS=33.32, 法向力=19361.2969, 切向力X=36064.1250, 切向力Y=-39889.3047 +FPS=34.09, 法向力=19484.6328, 切向力X=35859.4844, 切向力Y=-39769.5859 +FPS=33.51, 法向力=20212.9219, 切向力X=34155.2500, 切向力Y=-40485.1836 +FPS=33.56, 法向力=20147.3125, 切向力X=38062.5156, 切向力Y=-40607.3438 +FPS=35.17, 法向力=20014.8594, 切向力X=36549.0195, 切向力Y=-40639.2930 +FPS=34.06, 法向力=19711.5938, 切向力X=37186.7500, 切向力Y=-40377.3008 +FPS=35.11, 法向力=20210.9297, 切向力X=37453.6289, 切向力Y=-40552.8750 +FPS=34.50, 法向力=16067.9229, 切向力X=37840.7539, 切向力Y=-37941.0742 +FPS=33.99, 法向力=16209.2012, 切向力X=39975.3984, 切向力Y=-33818.4531 +FPS=34.83, 法向力=16941.2988, 切向力X=39196.8047, 切向力Y=-34104.6953 +FPS=33.20, 法向力=16074.0508, 切向力X=38713.3711, 切向力Y=-33634.7070 +FPS=33.91, 法向力=16314.4297, 切向力X=38479.2031, 切向力Y=-33856.0781 +FPS=34.11, 法向力=16074.3457, 切向力X=39000.9922, 切向力Y=-33561.1289 +FPS=33.77, 法向力=16717.9590, 切向力X=36242.2578, 切向力Y=-32607.5898 +FPS=35.84, 法向力=16724.8477, 切向力X=36762.1133, 切向力Y=-32636.8965 +FPS=35.08, 法向力=16707.3965, 切向力X=33046.8789, 切向力Y=-33387.6953 +FPS=36.07, 法向力=16935.3359, 切向力X=32819.7422, 切向力Y=-33538.1328 +FPS=34.55, 法向力=18114.0527, 切向力X=26192.6152, 切向力Y=-34257.1172 +FPS=35.87, 法向力=18455.8047, 切向力X=26474.1523, 切向力Y=-34190.9219 +FPS=35.14, 法向力=19092.9434, 切向力X=21730.0332, 切向力Y=-33189.6406 +FPS=35.96, 法向力=20312.4102, 切向力X=20816.3672, 切向力Y=-31138.4180 +FPS=36.28, 法向力=20025.5547, 切向力X=20721.1543, 切向力Y=-30996.3125 +FPS=35.13, 法向力=21048.5547, 切向力X=19093.2227, 切向力Y=-30941.7109 +FPS=36.22, 法向力=21189.3867, 切向力X=18779.8555, 切向力Y=-31022.7891 +FPS=35.70, 法向力=23652.6523, 切向力X=18065.1855, 切向力Y=-29956.4707 +FPS=36.53, 法向力=23629.7539, 切向力X=18095.1270, 切向力Y=-29710.0664 +FPS=34.40, 法向力=23263.9004, 切向力X=16884.0117, 切向力Y=-30011.0430 +FPS=37.09, 法向力=23830.5703, 切向力X=16395.0273, 切向力Y=-30499.2227 +FPS=36.08, 法向力=22091.2402, 切向力X=17216.7266, 切向力Y=-29420.1426 +FPS=36.69, 法向力=22207.7500, 切向力X=17897.8242, 切向力Y=-29158.7402 +FPS=36.47, 法向力=21184.5039, 切向力X=20224.4102, 切向力Y=-28323.5352 +FPS=37.21, 法向力=21089.7695, 切向力X=20618.2207, 切向力Y=-28667.2305 +FPS=37.17, 法向力=20357.8066, 切向力X=19668.3242, 切向力Y=-29676.4023 +FPS=34.16, 法向力=20424.3906, 切向力X=18700.9277, 切向力Y=-29868.6523 +FPS=36.02, 法向力=20726.0547, 切向力X=18748.2617, 切向力Y=-29929.3242 +FPS=34.47, 法向力=21129.9121, 切向力X=17861.5625, 切向力Y=-29503.9805 +FPS=36.08, 法向力=20992.4375, 切向力X=17347.1445, 切向力Y=-29286.5352 +FPS=34.06, 法向力=18647.1289, 切向力X=20507.8594, 切向力Y=-30125.2988 +FPS=34.41, 法向力=16069.5771, 切向力X=21720.7930, 切向力Y=-28747.8555 +FPS=35.91, 法向力=16325.2881, 切向力X=22565.4707, 切向力Y=-28773.0859 +FPS=34.38, 法向力=15324.2324, 切向力X=22251.3652, 切向力Y=-28767.3438 +FPS=35.83, 法向力=15359.1475, 切向力X=22216.4141, 切向力Y=-28815.8633 +FPS=34.68, 法向力=15133.2402, 切向力X=19777.9141, 切向力Y=-30164.0664 +FPS=36.11, 法向力=15707.3867, 切向力X=19547.9121, 切向力Y=-30506.9336 +FPS=34.34, 法向力=14222.5273, 切向力X=22063.6133, 切向力Y=-29881.5195 +FPS=35.51, 法向力=14118.7793, 切向力X=21802.0449, 切向力Y=-29947.4492 +FPS=35.30, 法向力=13969.6553, 切向力X=21118.0547, 切向力Y=-30485.0625 +FPS=35.36, 法向力=14017.1846, 切向力X=19948.9648, 切向力Y=-30434.9961 +FPS=34.88, 法向力=13982.4697, 切向力X=19676.8789, 切向力Y=-30459.9062 +FPS=34.14, 法向力=13962.3281, 切向力X=21586.3359, 切向力Y=-30163.5977 +FPS=34.83, 法向力=13855.7520, 切向力X=21516.5586, 切向力Y=-30020.4375 +FPS=34.08, 法向力=15269.5664, 切向力X=20208.2812, 切向力Y=-30910.3438 +FPS=33.88, 法向力=13834.6543, 切向力X=18967.5430, 切向力Y=-30191.7148 +FPS=34.88, 法向力=13803.5859, 切向力X=18848.9199, 切向力Y=-30128.5078 +FPS=34.02, 法向力=13791.2402, 切向力X=19189.6895, 切向力Y=-30013.2656 +FPS=35.16, 法向力=13686.5908, 切向力X=19565.7715, 切向力Y=-30111.1172 +FPS=34.13, 法向力=12679.0615, 切向力X=20599.5898, 切向力Y=-30746.9121 +FPS=37.38, 法向力=12640.7568, 切向力X=20486.9375, 切向力Y=-30847.1855 +FPS=36.42, 法向力=11924.8906, 切向力X=20127.0332, 切向力Y=-30527.4375 +FPS=35.50, 法向力=11978.6641, 切向力X=19966.3086, 切向力Y=-30406.1016 +FPS=36.72, 法向力=12484.7861, 切向力X=19024.4766, 切向力Y=-30851.1035 +FPS=36.06, 法向力=12249.2979, 切向力X=20214.1191, 切向力Y=-30228.7500 +FPS=36.90, 法向力=12383.9072, 切向力X=20268.9258, 切向力Y=-30368.0449 +FPS=35.43, 法向力=13378.2441, 切向力X=19553.6680, 切向力Y=-29922.9219 +FPS=36.72, 法向力=13777.9805, 切向力X=18923.6680, 切向力Y=-30161.2266 +FPS=35.27, 法向力=13406.9229, 切向力X=19119.9492, 切向力Y=-30900.5254 +FPS=35.64, 法向力=12878.2207, 切向力X=19385.5762, 切向力Y=-30617.8633 +FPS=34.02, 法向力=13416.2793, 切向力X=18676.2656, 切向力Y=-30400.6914 +FPS=35.06, 法向力=13697.5898, 切向力X=18349.2578, 切向力Y=-30724.1094 +FPS=34.62, 法向力=13787.2363, 切向力X=20865.9766, 切向力Y=-30147.4102 +FPS=34.43, 法向力=13232.3691, 切向力X=20046.6309, 切向力Y=-29187.4805 +FPS=35.25, 法向力=13278.6641, 切向力X=19456.5781, 切向力Y=-29284.8574 +FPS=33.18, 法向力=11968.0605, 切向力X=21018.4141, 切向力Y=-27238.0547 +FPS=35.68, 法向力=11835.8652, 切向力X=21128.6562, 切向力Y=-27211.4082 +FPS=33.06, 法向力=12954.4316, 切向力X=19518.5078, 切向力Y=-27340.5371 +FPS=33.30, 法向力=12091.8828, 切向力X=22333.4570, 切向力Y=-25882.2168 +FPS=34.31, 法向力=11890.5898, 切向力X=22176.1074, 切向力Y=-25642.0547 +FPS=32.82, 法向力=12690.1309, 切向力X=23191.4023, 切向力Y=-24673.2109 +FPS=33.49, 法向力=12719.7031, 切向力X=23157.1094, 切向力Y=-24536.4375 +FPS=33.61, 法向力=11912.0020, 切向力X=21707.2363, 切向力Y=-22554.9766 +FPS=34.46, 法向力=11768.5684, 切向力X=21389.6055, 切向力Y=-22629.5840 +FPS=32.58, 法向力=12141.7617, 切向力X=20815.2305, 切向力Y=-23063.5605 +FPS=33.82, 法向力=12372.8584, 切向力X=22366.8184, 切向力Y=-21533.3496 +FPS=34.35, 法向力=12346.7217, 切向力X=22123.2656, 切向力Y=-21572.5410 +FPS=32.80, 法向力=12166.8438, 切向力X=22617.2500, 切向力Y=-20610.4082 +FPS=33.04, 法向力=11889.7969, 切向力X=22331.0586, 切向力Y=-20400.6680 +FPS=32.90, 法向力=11080.0996, 切向力X=21157.4648, 切向力Y=-21037.5137 +FPS=33.13, 法向力=11598.5781, 切向力X=23565.0430, 切向力Y=-20875.4219 +FPS=34.13, 法向力=11469.5322, 切向力X=23823.1426, 切向力Y=-21052.8008 +FPS=32.93, 法向力=11970.6582, 切向力X=22177.0234, 切向力Y=-22344.4766 +FPS=33.43, 法向力=11799.0117, 切向力X=22948.5938, 切向力Y=-20847.1055 +FPS=33.67, 法向力=11717.4678, 切向力X=23039.4023, 切向力Y=-20959.4688 +FPS=33.83, 法向力=12061.4590, 切向力X=23854.0312, 切向力Y=-20834.0938 +FPS=34.33, 法向力=11316.9346, 切向力X=22089.5312, 切向力Y=-21442.9883 +FPS=33.30, 法向力=11120.8145, 切向力X=23861.5996, 切向力Y=-20281.4746 +FPS=34.49, 法向力=11134.7148, 切向力X=24436.7090, 切向力Y=-20139.0586 +FPS=33.73, 法向力=11252.9658, 切向力X=23527.5059, 切向力Y=-20248.3789 +FPS=33.85, 法向力=11221.1514, 切向力X=21917.6680, 切向力Y=-21700.2188 +FPS=34.03, 法向力=11247.3486, 切向力X=21997.3984, 切向力Y=-21750.5859 +FPS=33.76, 法向力=11243.2998, 切向力X=22893.9375, 切向力Y=-21083.1270 +FPS=34.56, 法向力=11532.9355, 切向力X=22526.4258, 切向力Y=-21136.0664 +FPS=34.22, 法向力=10816.5039, 切向力X=23759.9883, 切向力Y=-21366.0566 +FPS=33.55, 法向力=11543.0840, 切向力X=23075.7266, 切向力Y=-21832.6816 +FPS=33.93, 法向力=11614.2891, 切向力X=22372.9609, 切向力Y=-21730.8242 +FPS=33.49, 法向力=11699.0020, 切向力X=22347.3047, 切向力Y=-20632.3789 +FPS=33.66, 法向力=11315.7256, 切向力X=22065.5703, 切向力Y=-20361.5977 +FPS=32.31, 法向力=11291.1895, 切向力X=24027.3047, 切向力Y=-21054.4102 +FPS=32.62, 法向力=11272.5586, 切向力X=23824.5586, 切向力Y=-21380.5332 +FPS=33.65, 法向力=10583.9316, 切向力X=24567.1426, 切向力Y=-20291.0000 +FPS=32.53, 法向力=11358.6934, 切向力X=22409.6875, 切向力Y=-20960.8516 +FPS=33.98, 法向力=11719.4629, 切向力X=22541.5781, 切向力Y=-21320.7266 +FPS=33.48, 法向力=11006.8584, 切向力X=23434.5859, 切向力Y=-20395.3223 +FPS=33.01, 法向力=10324.5947, 切向力X=21598.8477, 切向力Y=-21188.4805 +FPS=34.15, 法向力=10448.8818, 切向力X=21638.1250, 切向力Y=-21506.2051 +FPS=33.81, 法向力=12006.3438, 切向力X=20632.2676, 切向力Y=-22161.6641 +FPS=34.51, 法向力=11708.5479, 切向力X=20298.6367, 切向力Y=-21997.3477 +FPS=33.89, 法向力=10580.3252, 切向力X=20402.1309, 切向力Y=-20612.8203 +FPS=34.00, 法向力=10808.4258, 切向力X=20491.6758, 切向力Y=-20436.0820 +FPS=33.17, 法向力=11502.5049, 切向力X=22284.4531, 切向力Y=-20958.6875 +FPS=33.35, 法向力=10485.8008, 切向力X=21998.5898, 切向力Y=-20240.2188 +FPS=34.48, 法向力=10706.6123, 切向力X=21716.0234, 切向力Y=-20207.3145 +FPS=32.42, 法向力=11895.9834, 切向力X=20999.5176, 切向力Y=-20609.7539 +FPS=34.52, 法向力=12344.3398, 切向力X=21120.9922, 切向力Y=-20901.3398 +FPS=33.86, 法向力=10389.0205, 切向力X=25062.7188, 切向力Y=-20427.7832 +FPS=33.05, 法向力=10507.8438, 切向力X=22024.8184, 切向力Y=-20190.2070 +FPS=33.87, 法向力=10912.0977, 切向力X=22255.4336, 切向力Y=-20222.6641 +FPS=31.33, 法向力=10923.1055, 切向力X=22348.2969, 切向力Y=-20569.1973 +FPS=30.23, 法向力=10798.0361, 切向力X=21035.6367, 切向力Y=-20737.7539 +FPS=32.32, 法向力=10747.8350, 切向力X=20329.9551, 切向力Y=-20684.8359 +FPS=32.28, 法向力=11408.0225, 切向力X=21166.4297, 切向力Y=-22905.4297 +FPS=33.18, 法向力=11418.0879, 切向力X=20791.6602, 切向力Y=-23115.3828 +FPS=32.89, 法向力=10960.2900, 切向力X=22649.2676, 切向力Y=-22924.2422 +FPS=33.72, 法向力=10945.0234, 切向力X=22794.8750, 切向力Y=-22836.9590 +FPS=33.63, 法向力=10375.5781, 切向力X=20749.3066, 切向力Y=-22988.1543 +FPS=32.91, 法向力=11032.2773, 切向力X=19519.6055, 切向力Y=-22922.8672 +FPS=33.10, 法向力=10937.5244, 切向力X=19399.3633, 切向力Y=-22899.4336 +FPS=33.47, 法向力=11337.2148, 切向力X=19740.7500, 切向力Y=-23706.9609 +FPS=33.01, 法向力=11217.0840, 切向力X=20272.0293, 切向力Y=-23536.5977 +FPS=33.13, 法向力=11135.5879, 切向力X=20384.6641, 切向力Y=-23350.1211 +FPS=32.45, 法向力=10720.5244, 切向力X=21057.7383, 切向力Y=-22591.9609 +FPS=32.65, 法向力=10552.7529, 切向力X=20322.2598, 切向力Y=-22724.2891 +FPS=33.21, 法向力=10102.5859, 切向力X=20060.8008, 切向力Y=-22411.3945 +FPS=32.65, 法向力=9888.3076, 切向力X=20542.4473, 切向力Y=-22556.9746 +FPS=32.59, 法向力=10802.8516, 切向力X=19181.5742, 切向力Y=-23487.7559 +FPS=32.16, 法向力=11088.9072, 切向力X=19090.3594, 切向力Y=-24156.4258 +FPS=33.20, 法向力=11011.6738, 切向力X=18980.7891, 切向力Y=-24252.2598 +FPS=32.96, 法向力=11174.2490, 切向力X=19506.9824, 切向力Y=-24251.0898 +FPS=31.52, 法向力=11523.8496, 切向力X=18108.1328, 切向力Y=-23871.0840 +FPS=35.08, 法向力=10792.5518, 切向力X=18156.0410, 切向力Y=-23781.1992 +FPS=33.07, 法向力=11041.8242, 切向力X=16804.5898, 切向力Y=-23006.9082 +FPS=34.40, 法向力=10821.5098, 切向力X=16956.7559, 切向力Y=-23001.3086 +FPS=34.10, 法向力=10835.5303, 切向力X=19519.7305, 切向力Y=-23169.4004 +FPS=33.19, 法向力=10330.6895, 切向力X=20484.8906, 切向力Y=-23319.1367 +FPS=33.69, 法向力=10580.0879, 切向力X=19916.2734, 切向力Y=-23416.8574 +FPS=32.96, 法向力=10375.3096, 切向力X=18466.0918, 切向力Y=-23610.8867 +FPS=33.49, 法向力=10339.7051, 切向力X=17938.9668, 切向力Y=-23686.1270 +FPS=32.01, 法向力=11512.1738, 切向力X=19055.4688, 切向力Y=-24247.5645 +FPS=33.32, 法向力=9926.2188, 切向力X=17655.4023, 切向力Y=-23427.2910 +FPS=34.07, 法向力=9841.7070, 切向力X=17486.0723, 切向力Y=-23607.8535 +FPS=31.66, 法向力=10473.7812, 切向力X=20205.2852, 切向力Y=-22885.8789 +FPS=33.43, 法向力=10449.1113, 切向力X=20962.5449, 切向力Y=-22754.9590 +FPS=33.85, 法向力=9756.4688, 切向力X=20563.4824, 切向力Y=-21736.1465 +FPS=32.63, 法向力=11526.7773, 切向力X=20440.2324, 切向力Y=-22638.6719 +FPS=33.55, 法向力=11790.2695, 切向力X=20302.2793, 切向力Y=-22831.2051 +FPS=32.62, 法向力=10002.7119, 切向力X=23140.9297, 切向力Y=-21690.2695 +FPS=33.66, 法向力=9745.3320, 切向力X=23122.5742, 切向力Y=-21408.4883 +FPS=32.49, 法向力=9380.7422, 切向力X=21203.8809, 切向力Y=-20465.6211 +FPS=32.81, 法向力=9409.7188, 切向力X=21231.1328, 切向力Y=-20321.1484 +FPS=33.62, 法向力=9464.7207, 切向力X=21732.3906, 切向力Y=-21036.5840 +FPS=33.22, 法向力=9702.1592, 切向力X=21123.4961, 切向力Y=-21220.3438 +FPS=33.42, 法向力=9737.4062, 切向力X=21007.5137, 切向力Y=-21158.5312 +FPS=33.65, 法向力=10022.9170, 切向力X=19890.8477, 切向力Y=-20674.3750 +FPS=32.12, 法向力=9854.0400, 切向力X=21634.2832, 切向力Y=-21092.9258 +FPS=32.86, 法向力=9873.9268, 切向力X=21337.4668, 切向力Y=-21131.2832 +FPS=31.99, 法向力=10426.3506, 切向力X=20296.4414, 切向力Y=-21137.0215 +FPS=32.55, 法向力=10290.4160, 切向力X=20359.3242, 切向力Y=-20209.8633 +FPS=33.62, 法向力=10155.3613, 切向力X=20293.2402, 切向力Y=-20128.6133 +FPS=33.00, 法向力=9477.1113, 切向力X=22779.4922, 切向力Y=-20450.3633 +FPS=33.59, 法向力=9625.3516, 切向力X=22886.4473, 切向力Y=-20473.8594 +FPS=32.11, 法向力=9678.4121, 切向力X=21500.8730, 切向力Y=-20754.0586 +FPS=31.88, 法向力=9720.0898, 切向力X=21245.3438, 切向力Y=-20903.8086 +FPS=31.32, 法向力=10192.1602, 切向力X=20951.6367, 切向力Y=-21192.1484 +FPS=32.80, 法向力=10727.2900, 切向力X=20428.1875, 切向力Y=-22289.6484 +FPS=32.74, 法向力=11157.8203, 切向力X=20468.7539, 切向力Y=-22438.1680 +FPS=31.83, 法向力=10363.5098, 切向力X=20807.9258, 切向力Y=-21206.8281 +FPS=32.21, 法向力=9633.2334, 切向力X=20900.5469, 切向力Y=-21141.0078 +FPS=33.45, 法向力=9585.2168, 切向力X=21160.1211, 切向力Y=-21196.6172 +FPS=32.12, 法向力=9670.5117, 切向力X=21946.3340, 切向力Y=-20874.8301 +FPS=32.90, 法向力=9298.8848, 切向力X=20070.0215, 切向力Y=-20732.7266 +FPS=33.20, 法向力=9391.6250, 切向力X=19580.0137, 切向力Y=-20697.0820 +FPS=32.92, 法向力=9373.8672, 切向力X=19564.5820, 切向力Y=-20717.4160 +FPS=32.21, 法向力=9030.4199, 切向力X=20450.4902, 切向力Y=-20832.6582 +FPS=32.31, 法向力=10188.6689, 切向力X=21033.0391, 切向力Y=-20230.7852 +FPS=33.28, 法向力=10411.5645, 切向力X=21196.9961, 切向力Y=-20434.0332 +FPS=32.98, 法向力=10456.7803, 切向力X=19721.5078, 切向力Y=-21340.2754 +FPS=32.93, 法向力=9547.9814, 切向力X=20960.9180, 切向力Y=-20753.7109 +FPS=34.08, 法向力=9362.3545, 切向力X=20800.3516, 切向力Y=-20850.4570 +FPS=33.52, 法向力=9608.3564, 切向力X=19141.7949, 切向力Y=-21062.6699 +FPS=33.14, 法向力=9817.6992, 切向力X=19030.0254, 切向力Y=-21131.2266 +FPS=33.73, 法向力=9863.1367, 切向力X=19190.4316, 切向力Y=-21565.8789 +FPS=32.58, 法向力=9659.2109, 切向力X=17325.0078, 切向力Y=-21596.5586 +FPS=33.86, 法向力=9692.6914, 切向力X=17519.3984, 切向力Y=-21801.5840 +FPS=32.55, 法向力=9609.2812, 切向力X=20939.4902, 切向力Y=-22274.2422 +FPS=33.75, 法向力=9477.3086, 切向力X=20568.5664, 切向力Y=-22351.2461 +FPS=33.42, 法向力=9661.2148, 切向力X=18948.4766, 切向力Y=-22706.7793 +FPS=33.20, 法向力=10190.8564, 切向力X=19198.2305, 切向力Y=-22878.0078 +FPS=35.29, 法向力=10166.3105, 切向力X=18901.2812, 切向力Y=-23044.0332 +FPS=34.90, 法向力=10428.4297, 切向力X=17221.0898, 切向力Y=-23122.7617 +FPS=35.01, 法向力=10420.2803, 切向力X=17152.1172, 切向力Y=-22997.1445 +FPS=34.86, 法向力=10694.9180, 切向力X=18578.3965, 切向力Y=-23398.7500 +FPS=34.62, 法向力=10285.2422, 切向力X=17713.0195, 切向力Y=-22490.9961 +FPS=35.89, 法向力=10302.7920, 切向力X=17322.1758, 切向力Y=-22649.8984 +FPS=34.77, 法向力=10363.4619, 切向力X=16916.8438, 切向力Y=-23217.3691 +FPS=35.93, 法向力=10507.0215, 切向力X=17062.7559, 切向力Y=-23294.1211 +FPS=34.79, 法向力=9469.5215, 切向力X=17846.2285, 切向力Y=-21814.3320 +FPS=35.77, 法向力=9311.3809, 切向力X=18181.7227, 切向力Y=-21933.1484 +FPS=35.07, 法向力=10647.1738, 切向力X=18559.4824, 切向力Y=-22127.4688 +FPS=34.17, 法向力=9889.7324, 切向力X=18359.9102, 切向力Y=-22058.9297 +FPS=35.85, 法向力=10149.2852, 切向力X=19813.5547, 切向力Y=-21935.0977 +FPS=36.14, 法向力=9889.1016, 切向力X=20078.8281, 切向力Y=-21693.5742 +FPS=28.47, 法向力=9849.5820, 切向力X=20123.1992, 切向力Y=-21667.8633 +FPS=31.83, 法向力=9823.7441, 切向力X=18731.7637, 切向力Y=-20802.6641 +FPS=32.25, 法向力=9644.8301, 切向力X=20730.4180, 切向力Y=-21277.3320 +FPS=30.33, 法向力=9943.7793, 切向力X=20793.9941, 切向力Y=-21093.2109 +FPS=32.14, 法向力=9192.2812, 切向力X=20650.7773, 切向力Y=-21042.0664 +FPS=31.89, 法向力=9563.5762, 切向力X=20044.8867, 切向力Y=-21682.4141 +FPS=32.38, 法向力=9510.6660, 切向力X=20124.4961, 切向力Y=-21658.9727 +FPS=30.80, 法向力=10008.4395, 切向力X=19886.5293, 切向力Y=-20935.6875 +FPS=32.44, 法向力=10002.6016, 切向力X=20028.4922, 切向力Y=-21108.8555 +FPS=30.79, 法向力=9404.9375, 切向力X=19758.2383, 切向力Y=-21419.0684 +FPS=31.24, 法向力=9516.1875, 切向力X=19880.1758, 切向力Y=-21281.0742 +FPS=31.81, 法向力=10057.0078, 切向力X=19506.4844, 切向力Y=-21444.2812 +FPS=29.68, 法向力=9889.8848, 切向力X=19814.5078, 切向力Y=-21053.9688 +FPS=32.21, 法向力=9749.2119, 切向力X=20362.6992, 切向力Y=-20850.3320 +FPS=33.68, 法向力=9720.2402, 切向力X=19608.2871, 切向力Y=-20838.8594 +FPS=31.93, 法向力=10037.0488, 切向力X=20242.8867, 切向力Y=-20952.3340 +FPS=33.13, 法向力=9791.5928, 切向力X=20409.4961, 切向力Y=-20921.4746 +FPS=31.02, 法向力=10705.0020, 切向力X=19755.3828, 切向力Y=-20283.3008 +FPS=30.03, 法向力=9641.7676, 切向力X=21460.1660, 切向力Y=-21594.9902 +FPS=27.37, 法向力=9539.0430, 切向力X=21371.4609, 切向力Y=-21480.9258 +FPS=32.67, 法向力=9626.6152, 切向力X=19850.0703, 切向力Y=-20986.5625 +FPS=32.95, 法向力=9558.9824, 切向力X=19367.3789, 切向力Y=-21123.4414 +FPS=33.00, 法向力=9790.9805, 切向力X=19736.3984, 切向力Y=-20649.2988 +FPS=31.88, 法向力=10010.4307, 切向力X=20158.7734, 切向力Y=-20840.2734 +FPS=32.99, 法向力=9774.2754, 切向力X=20118.7559, 切向力Y=-20957.1914 +FPS=33.14, 法向力=9543.0449, 切向力X=19969.8203, 切向力Y=-20978.6016 +FPS=30.88, 法向力=9993.3926, 切向力X=18884.7012, 切向力Y=-21565.4609 +FPS=32.07, 法向力=10024.2559, 切向力X=18814.8789, 切向力Y=-21573.5039 +FPS=31.00, 法向力=10139.3965, 切向力X=19204.8730, 切向力Y=-21506.6523 +FPS=31.79, 法向力=9351.0020, 切向力X=20158.2949, 切向力Y=-21259.4609 +FPS=33.34, 法向力=9220.2852, 切向力X=19969.7070, 切向力Y=-21174.3359 +FPS=32.05, 法向力=9294.0605, 切向力X=18954.9570, 切向力Y=-19770.3008 +FPS=31.49, 法向力=9368.5869, 切向力X=19246.2852, 切向力Y=-20019.4785 +FPS=31.82, 法向力=9269.7500, 切向力X=21001.7031, 切向力Y=-20408.6133 +FPS=31.28, 法向力=9149.5176, 切向力X=20877.5586, 切向力Y=-20212.8945 +FPS=32.32, 法向力=9172.6934, 切向力X=20820.3711, 切向力Y=-20215.6074 +FPS=31.93, 法向力=9798.8809, 切向力X=18200.9453, 切向力Y=-20859.0059 +FPS=32.80, 法向力=9979.4805, 切向力X=20600.8164, 切向力Y=-21139.8086 +FPS=32.96, 法向力=9980.8506, 切向力X=20597.2344, 切向力Y=-21087.2520 +FPS=31.22, 法向力=9063.5117, 切向力X=19873.7773, 切向力Y=-21313.0859 +FPS=31.13, 法向力=9125.8262, 切向力X=19687.2754, 切向力Y=-21519.2480 +FPS=30.52, 法向力=10052.5059, 切向力X=19794.5879, 切向力Y=-19753.8496 +FPS=30.52, 法向力=9452.8203, 切向力X=19270.2832, 切向力Y=-20433.1875 +FPS=32.47, 法向力=9420.7988, 切向力X=19237.4355, 切向力Y=-20342.6738 +FPS=29.57, 法向力=8929.2617, 切向力X=19981.2969, 切向力Y=-19809.4668 +FPS=31.96, 法向力=9155.2764, 切向力X=20850.4531, 切向力Y=-20683.2656 +FPS=31.66, 法向力=9366.2324, 切向力X=20555.8066, 切向力Y=-20859.4766 +FPS=31.43, 法向力=9274.6289, 切向力X=20829.8184, 切向力Y=-20801.7402 +FPS=31.10, 法向力=9595.9355, 切向力X=20044.8203, 切向力Y=-20573.9141 +FPS=31.75, 法向力=9668.7822, 切向力X=20123.6504, 切向力Y=-20480.2012 +FPS=29.99, 法向力=9499.3398, 切向力X=20149.8965, 切向力Y=-21882.6055 +FPS=28.66, 法向力=9619.5625, 切向力X=19419.3086, 切向力Y=-21240.4102 +FPS=32.06, 法向力=9579.6113, 切向力X=19277.6797, 切向力Y=-21156.0508 +FPS=30.43, 法向力=9113.5488, 切向力X=20127.0664, 切向力Y=-19583.5996 +FPS=31.16, 法向力=9234.2891, 切向力X=20028.2051, 切向力Y=-19662.7441 +FPS=31.61, 法向力=9560.0059, 切向力X=18204.2148, 切向力Y=-20642.6504 +FPS=31.55, 法向力=8996.3652, 切向力X=20225.6602, 切向力Y=-20843.6836 +FPS=31.85, 法向力=9017.5410, 切向力X=20701.7773, 切向力Y=-20930.7266 +FPS=30.31, 法向力=10083.6191, 切向力X=19671.8379, 切向力Y=-21531.2637 +FPS=31.38, 法向力=10505.2266, 切向力X=19425.1680, 切向力Y=-21635.6055 +FPS=31.04, 法向力=10382.3438, 切向力X=19420.2246, 切向力Y=-21616.4141 +FPS=30.61, 法向力=10201.1797, 切向力X=20132.7109, 切向力Y=-21684.7812 +FPS=30.53, 法向力=10489.5732, 切向力X=19298.4453, 切向力Y=-21213.0469 +FPS=29.97, 法向力=10348.5391, 切向力X=19361.6914, 切向力Y=-21042.6836 +FPS=30.06, 法向力=9688.1562, 切向力X=21629.8203, 切向力Y=-20219.6934 +FPS=30.78, 法向力=9550.7910, 切向力X=21600.1406, 切向力Y=-20072.5195 +FPS=29.61, 法向力=10341.9277, 切向力X=19488.2383, 切向力Y=-20057.2773 +FPS=28.72, 法向力=9267.3994, 切向力X=20652.0039, 切向力Y=-19213.9766 +FPS=30.76, 法向力=9318.7500, 切向力X=20530.9336, 切向力Y=-19315.3711 +FPS=30.44, 法向力=9500.6191, 切向力X=20099.9863, 切向力Y=-19610.7188 +FPS=29.64, 法向力=9976.6143, 切向力X=18944.8320, 切向力Y=-20264.5586 +FPS=31.02, 法向力=10020.7783, 切向力X=18667.6250, 切向力Y=-20474.5703 +FPS=31.11, 法向力=9948.7354, 切向力X=18556.1719, 切向力Y=-20507.9570 +FPS=30.02, 法向力=9218.2803, 切向力X=20878.2852, 切向力Y=-21690.9375 +FPS=30.17, 法向力=9546.3125, 切向力X=19691.8242, 切向力Y=-21346.5215 +FPS=30.99, 法向力=9841.4541, 切向力X=19223.2656, 切向力Y=-21431.1992 +FPS=30.13, 法向力=10545.7031, 切向力X=19594.2188, 切向力Y=-22059.7480 +FPS=30.88, 法向力=10672.1162, 切向力X=19532.3594, 切向力Y=-22163.1855 +FPS=29.90, 法向力=10592.2568, 切向力X=18651.5625, 切向力Y=-21960.6543 +FPS=29.49, 法向力=10180.7383, 切向力X=18889.4961, 切向力Y=-20616.3418 +FPS=30.64, 法向力=10092.2773, 切向力X=19738.6309, 切向力Y=-20252.0273 +FPS=30.08, 法向力=11325.7676, 切向力X=17418.7500, 切向力Y=-21449.5000 +FPS=30.37, 法向力=10429.3262, 切向力X=18505.0156, 切向力Y=-22067.0391 +FPS=28.88, 法向力=10325.1045, 切向力X=18436.7227, 切向力Y=-22271.8438 +FPS=31.60, 法向力=10148.3545, 切向力X=18760.7812, 切向力Y=-22129.0195 +FPS=29.74, 法向力=10153.9170, 切向力X=18724.8379, 切向力Y=-21654.5117 +FPS=30.63, 法向力=10059.6260, 切向力X=18677.0527, 切向力Y=-21561.8145 +FPS=30.91, 法向力=9187.8613, 切向力X=20496.9336, 切向力Y=-20022.3438 +FPS=30.52, 法向力=9152.6855, 切向力X=20342.1055, 切向力Y=-18937.4551 +FPS=31.19, 法向力=9153.4922, 切向力X=20179.3867, 切向力Y=-18845.1055 +FPS=29.68, 法向力=9079.3516, 切向力X=19308.8281, 切向力Y=-18488.8594 +FPS=30.80, 法向力=9690.2168, 切向力X=20128.4844, 切向力Y=-20284.9844 +FPS=32.07, 法向力=9790.2939, 切向力X=19960.0469, 切向力Y=-20519.5332 +FPS=30.12, 法向力=10128.6113, 切向力X=20407.9570, 切向力Y=-19768.7578 +FPS=29.94, 法向力=9179.0459, 切向力X=20734.5312, 切向力Y=-19933.5273 +FPS=30.80, 法向力=9359.6611, 切向力X=20866.5293, 切向力Y=-19709.2754 +FPS=30.92, 法向力=9286.2305, 切向力X=20747.7148, 切向力Y=-19655.8125 +FPS=29.98, 法向力=9553.5889, 切向力X=19961.1719, 切向力Y=-19891.6758 +FPS=31.28, 法向力=9447.1465, 切向力X=19935.7324, 切向力Y=-19829.5840 +FPS=29.74, 法向力=9568.8555, 切向力X=20093.0762, 切向力Y=-19031.5234 +FPS=30.15, 法向力=9512.1250, 切向力X=20010.0312, 切向力Y=-19157.4688 +FPS=29.09, 法向力=8704.6270, 切向力X=19842.9980, 切向力Y=-19444.0996 +FPS=30.61, 法向力=8182.4102, 切向力X=20554.5898, 切向力Y=-19616.1035 +FPS=30.73, 法向力=8246.8799, 切向力X=20699.9199, 切向力Y=-19700.8984 +FPS=31.47, 法向力=9482.0039, 切向力X=19982.0332, 切向力Y=-19717.7305 +FPS=30.87, 法向力=9635.4834, 切向力X=20192.5703, 切向力Y=-19871.6504 +FPS=31.46, 法向力=9923.2246, 切向力X=20078.4980, 切向力Y=-20349.8828 +FPS=31.19, 法向力=9357.2559, 切向力X=20327.6953, 切向力Y=-20249.4844 +FPS=31.19, 法向力=9330.4971, 切向力X=20313.4023, 切向力Y=-20230.8203 +FPS=31.07, 法向力=9361.6309, 切向力X=20431.3242, 切向力Y=-20195.4922 +FPS=30.87, 法向力=9313.5547, 切向力X=22100.0664, 切向力Y=-19570.3340 +FPS=31.27, 法向力=9318.0479, 切向力X=21850.2793, 切向力Y=-19746.3418 +FPS=31.11, 法向力=9218.0166, 切向力X=19489.4805, 切向力Y=-20049.2012 +FPS=29.69, 法向力=9963.0039, 切向力X=18527.3594, 切向力Y=-21194.5605 +FPS=31.35, 法向力=9909.7402, 切向力X=18539.8906, 切向力Y=-20945.2461 +FPS=30.74, 法向力=9417.8555, 切向力X=18807.9297, 切向力Y=-20222.7422 +FPS=30.37, 法向力=9765.7930, 切向力X=19923.8594, 切向力Y=-20561.8828 +FPS=30.73, 法向力=9797.9551, 切向力X=19157.6523, 切向力Y=-20237.2422 +FPS=31.50, 法向力=9770.9199, 切向力X=19057.0977, 切向力Y=-20137.8477 +FPS=29.92, 法向力=9107.8711, 切向力X=21287.4375, 切向力Y=-20953.8203 +FPS=31.31, 法向力=8854.1895, 切向力X=21631.0469, 切向力Y=-20817.2852 +FPS=32.82, 法向力=8784.7930, 切向力X=21597.9727, 切向力Y=-20727.8867 +FPS=31.95, 法向力=10111.7871, 切向力X=19007.8242, 切向力Y=-19855.7207 +FPS=32.14, 法向力=10241.5420, 切向力X=18926.0645, 切向力Y=-19951.9453 +FPS=30.10, 法向力=9717.5605, 切向力X=19328.5410, 切向力Y=-19739.7812 +FPS=30.12, 法向力=9800.2793, 切向力X=20379.1094, 切向力Y=-20635.1133 +FPS=31.61, 法向力=9884.0430, 切向力X=20505.5664, 切向力Y=-20634.6406 +FPS=32.08, 法向力=9613.1113, 切向力X=20067.6484, 切向力Y=-20619.3652 +FPS=31.67, 法向力=10087.9951, 切向力X=19997.0195, 切向力Y=-18870.3906 +FPS=32.01, 法向力=9947.2559, 切向力X=20077.8789, 切向力Y=-18783.9375 +FPS=31.37, 法向力=9045.8027, 切向力X=22541.4336, 切向力Y=-18729.4941 +FPS=32.80, 法向力=8950.9668, 切向力X=22936.9023, 切向力Y=-18316.2754 +FPS=30.62, 法向力=8739.0547, 切向力X=20238.7109, 切向力Y=-19306.0410 +FPS=31.80, 法向力=8685.9414, 切向力X=20001.4219, 切向力Y=-19390.6875 +FPS=32.44, 法向力=8768.5283, 切向力X=19977.8477, 切向力Y=-19401.7305 +FPS=29.90, 法向力=9851.0752, 切向力X=19025.6523, 切向力Y=-19274.4727 +FPS=32.76, 法向力=9659.3398, 切向力X=18981.7559, 切向力Y=-19241.0742 +FPS=32.64, 法向力=10471.8135, 切向力X=18514.6250, 切向力Y=-20007.1016 +FPS=32.09, 法向力=9645.0557, 切向力X=19392.2031, 切向力Y=-19632.5195 +FPS=32.44, 法向力=9296.1875, 切向力X=19329.9414, 切向力Y=-19613.3047 +FPS=32.45, 法向力=9061.5166, 切向力X=19190.4062, 切向力Y=-19285.5898 +FPS=31.64, 法向力=10000.5039, 切向力X=18048.1797, 切向力Y=-20012.7246 +FPS=32.52, 法向力=10188.0273, 切向力X=17959.0078, 切向力Y=-20108.5742 +FPS=31.25, 法向力=9694.7490, 切向力X=18761.7031, 切向力Y=-20107.5879 +FPS=31.78, 法向力=9920.4316, 切向力X=20133.4316, 切向力Y=-21021.3848 +FPS=32.18, 法向力=10098.4170, 切向力X=20270.1035, 切向力Y=-21075.1387 +FPS=32.24, 法向力=10127.1211, 切向力X=20253.5898, 切向力Y=-21050.5684 +FPS=32.03, 法向力=10058.5010, 切向力X=20251.4219, 切向力Y=-21155.4648 +FPS=30.62, 法向力=9717.6270, 切向力X=18587.0977, 切向力Y=-20187.7812 +FPS=32.07, 法向力=9438.2461, 切向力X=16023.1729, 切向力Y=-21772.8574 +FPS=33.34, 法向力=9704.6748, 切向力X=16135.3350, 切向力Y=-21778.1465 +FPS=31.24, 法向力=9326.9688, 切向力X=15637.3486, 切向力Y=-21739.3984 +FPS=32.81, 法向力=9126.1768, 切向力X=15624.5869, 切向力Y=-21580.9648 +FPS=32.94, 法向力=9598.6123, 切向力X=16300.8643, 切向力Y=-21446.8926 +FPS=31.74, 法向力=8756.2402, 切向力X=16167.8398, 切向力Y=-21479.5996 +FPS=32.59, 法向力=8659.3770, 切向力X=15774.5654, 切向力Y=-21463.1484 +FPS=32.23, 法向力=8659.9023, 切向力X=15142.7412, 切向力Y=-23828.8496 +FPS=33.18, 法向力=8679.4629, 切向力X=15167.3184, 切向力Y=-23730.1367 +FPS=31.99, 法向力=7757.6094, 切向力X=7419.1689, 切向力Y=-22551.6641 +FPS=32.78, 法向力=14280.8477, 切向力X=-43305.9492, 切向力Y=-11425.9199 +FPS=32.82, 法向力=14226.7178, 切向力X=-43788.4062, 切向力Y=-11451.2568 +FPS=32.04, 法向力=8328.8916, 切向力X=-60332.5156, 切向力Y=-4329.1011 +FPS=31.70, 法向力=6835.7080, 切向力X=-59656.7461, 切向力Y=-4942.5918 +FPS=32.29, 法向力=6777.8838, 切向力X=-59607.6289, 切向力Y=-4811.9702 +FPS=31.28, 法向力=6986.1685, 切向力X=-59619.1719, 切向力Y=-5807.5786 +FPS=32.06, 法向力=7383.0703, 切向力X=-58372.3047, 切向力Y=-5115.4951 +FPS=32.75, 法向力=7408.8345, 切向力X=-58543.4883, 切向力Y=-5322.2139 +FPS=32.68, 法向力=7434.1094, 切向力X=-57077.1367, 切向力Y=-6943.9243 +FPS=29.89, 法向力=9196.3076, 切向力X=-56723.4297, 切向力Y=-7286.1387 +FPS=29.26, 法向力=9225.3926, 切向力X=-56482.4844, 切向力Y=-7315.7334 +FPS=29.93, 法向力=10578.7031, 切向力X=-56583.6797, 切向力Y=-6860.8691 +FPS=32.81, 法向力=10584.8203, 切向力X=-56497.3984, 切向力Y=-6713.6436 +FPS=31.15, 法向力=10212.7236, 切向力X=-56284.0898, 切向力Y=-7849.6680 +FPS=31.73, 法向力=9870.4336, 切向力X=-57193.4766, 切向力Y=-8105.4688 +FPS=33.12, 法向力=9933.5254, 切向力X=-56800.6484, 切向力Y=-8089.9302 +FPS=32.05, 法向力=9420.0713, 切向力X=-58121.0156, 切向力Y=-8733.5410 +FPS=33.07, 法向力=9484.9697, 切向力X=-58516.3711, 切向力Y=-9391.9297 +FPS=32.73, 法向力=9183.5830, 切向力X=-57391.5977, 切向力Y=-9157.3994 +FPS=32.75, 法向力=9567.6211, 切向力X=-57449.0898, 切向力Y=-9142.8164 +FPS=32.50, 法向力=9807.1289, 切向力X=-56662.0781, 切向力Y=-8501.4766 +FPS=32.51, 法向力=8678.0225, 切向力X=-57568.2891, 切向力Y=-8513.9785 +FPS=33.32, 法向力=8773.3701, 切向力X=-57638.3945, 切向力Y=-8478.2637 +FPS=31.82, 法向力=7197.5850, 切向力X=-60137.2617, 切向力Y=-7066.5947 +FPS=32.67, 法向力=6121.2881, 切向力X=-58062.2188, 切向力Y=-7020.9839 +FPS=33.75, 法向力=6288.6650, 切向力X=-57849.9844, 切向力Y=-6736.4980 +FPS=31.71, 法向力=6268.1968, 切向力X=-55529.8281, 切向力Y=-6951.9414 +FPS=32.82, 法向力=6212.5620, 切向力X=-55736.1055, 切向力Y=-8036.3857 +FPS=34.48, 法向力=5985.6050, 切向力X=-55943.5156, 切向力Y=-8036.1660 +FPS=32.56, 法向力=5947.9219, 切向力X=-49441.9180, 切向力Y=-8148.6841 +FPS=33.88, 法向力=5919.9878, 切向力X=-49296.3359, 切向力Y=-8600.6182 +FPS=34.94, 法向力=5756.1763, 切向力X=-45103.2305, 切向力Y=-7968.1934 +FPS=35.20, 法向力=5384.2764, 切向力X=-44782.2891, 切向力Y=-7712.4609 +FPS=36.57, 法向力=5377.5059, 切向力X=-44824.6406, 切向力Y=-7715.2959 +FPS=35.44, 法向力=5377.9814, 切向力X=-44856.6523, 切向力Y=-7683.9355 +FPS=35.62, 法向力=5962.0439, 切向力X=-43010.2812, 切向力Y=-7408.7627 +FPS=36.06, 法向力=8150.1025, 切向力X=-42787.7227, 切向力Y=-7074.1694 +FPS=36.78, 法向力=7941.2959, 切向力X=-43183.2891, 切向力Y=-7228.4502 +FPS=34.73, 法向力=7784.1001, 切向力X=-41785.5430, 切向力Y=-7787.6753 +FPS=36.56, 法向力=7717.3135, 切向力X=-42212.4531, 切向力Y=-8019.9448 +FPS=35.46, 法向力=7648.2959, 切向力X=-42281.7891, 切向力Y=-7814.5244 +FPS=35.88, 法向力=7479.2197, 切向力X=-42643.0742, 切向力Y=-8100.8491 +FPS=35.57, 法向力=8666.5283, 切向力X=-39345.4531, 切向力Y=-8305.9541 +FPS=35.77, 法向力=9256.2266, 切向力X=-36338.0078, 切向力Y=-10607.4414 +FPS=35.93, 法向力=9122.3984, 切向力X=-36645.7500, 切向力Y=-10822.3262 +FPS=34.67, 法向力=12355.2012, 切向力X=-35238.2227, 切向力Y=-11254.6699 +FPS=37.00, 法向力=12472.8662, 切向力X=-35477.3125, 切向力Y=-11503.8262 +FPS=34.97, 法向力=13021.8418, 切向力X=-32822.7461, 切向力Y=-12443.1924 +FPS=35.70, 法向力=12798.5156, 切向力X=-32819.0273, 切向力Y=-12644.0732 +FPS=35.28, 法向力=14081.2598, 切向力X=-30284.9453, 切向力Y=-13423.0762 +FPS=35.24, 法向力=14124.4795, 切向力X=-30210.2656, 切向力Y=-13154.9111 +FPS=36.38, 法向力=15435.2510, 切向力X=-28680.6875, 切向力Y=-14656.2334 +FPS=36.28, 法向力=16435.4062, 切向力X=-25531.4805, 切向力Y=-16429.7578 +FPS=36.72, 法向力=16516.5312, 切向力X=-25961.5508, 切向力Y=-16700.4961 +FPS=35.51, 法向力=16575.1895, 切向力X=-23139.6875, 切向力Y=-17339.3828 +FPS=37.70, 法向力=16611.9141, 切向力X=-23640.0625, 切向力Y=-17486.0820 +FPS=35.82, 法向力=18284.2656, 切向力X=-20856.3086, 切向力Y=-16064.6416 +FPS=36.08, 法向力=18569.6289, 切向力X=-20864.2422, 切向力Y=-15790.8301 +FPS=35.80, 法向力=18608.7812, 切向力X=-20047.5469, 切向力Y=-16006.9316 +FPS=35.71, 法向力=19729.1230, 切向力X=-19729.0566, 切向力Y=-15362.8027 +FPS=36.49, 法向力=19739.5664, 切向力X=-19740.4434, 切向力Y=-15525.9014 +FPS=36.81, 法向力=19678.3438, 切向力X=-20034.6465, 切向力Y=-15675.4424 +FPS=36.12, 法向力=18593.9199, 切向力X=-16486.5820, 切向力Y=-15992.2861 +FPS=34.81, 法向力=19514.1406, 切向力X=-14106.6328, 切向力Y=-13588.4688 +FPS=36.97, 法向力=19554.3535, 切向力X=-13853.6602, 切向力Y=-13652.4033 +FPS=34.66, 法向力=14605.6777, 切向力X=-9025.4072, 切向力Y=-11120.2520 +FPS=35.51, 法向力=14522.0381, 切向力X=-8541.0713, 切向力Y=-11142.4512 +FPS=36.14, 法向力=10966.6611, 切向力X=-7444.6592, 切向力Y=-9448.7686 +FPS=36.03, 法向力=11203.0410, 切向力X=-7247.3198, 切向力Y=-9267.0664 +FPS=36.75, 法向力=7791.3159, 切向力X=-7607.1543, 切向力Y=-7905.4316 +FPS=35.79, 法向力=8229.4336, 切向力X=-4615.3403, 切向力Y=-6645.7485 +FPS=36.18, 法向力=8542.2500, 切向力X=-4505.7241, 切向力Y=-6712.2920 +FPS=35.50, 法向力=6048.0864, 切向力X=-5881.0698, 切向力Y=-6702.4766 +FPS=35.74, 法向力=6183.1699, 切向力X=-6455.6201, 切向力Y=-6661.2295 +FPS=34.63, 法向力=7305.3984, 切向力X=-6618.5396, 切向力Y=-5616.2178 +FPS=36.55, 法向力=7154.8193, 切向力X=-7192.5361, 切向力Y=-5773.4150 +FPS=35.20, 法向力=5842.4961, 切向力X=-9417.0322, 切向力Y=-6205.3076 +FPS=35.59, 法向力=5776.8281, 切向力X=-10023.9180, 切向力Y=-6420.9893 +FPS=35.85, 法向力=7156.5762, 切向力X=-17880.8496, 切向力Y=-4369.1104 +FPS=35.05, 法向力=6492.2422, 切向力X=-28229.9688, 切向力Y=-4096.3457 +FPS=35.09, 法向力=6428.4395, 切向力X=-28465.1289, 切向力Y=-4118.6123 +FPS=32.90, 法向力=5476.1543, 切向力X=-32525.4277, 切向力Y=-4230.7832 +FPS=34.43, 法向力=5397.2314, 切向力X=-32810.7344, 切向力Y=-4180.5605 +FPS=33.49, 法向力=5232.4370, 切向力X=-34331.0156, 切向力Y=-4241.3608 +FPS=33.37, 法向力=5351.8223, 切向力X=-35266.6406, 切向力Y=-4252.3052 +FPS=33.22, 法向力=5302.4453, 切向力X=-35459.8438, 切向力Y=-4236.6094 +FPS=32.69, 法向力=4658.0996, 切向力X=-34359.2930, 切向力Y=-4563.5107 +FPS=33.58, 法向力=4814.9985, 切向力X=-34265.3281, 切向力Y=-4459.7246 +FPS=33.36, 法向力=5112.1221, 切向力X=-35077.5938, 切向力Y=-4366.3086 +FPS=33.76, 法向力=5011.1157, 切向力X=-35240.0625, 切向力Y=-4474.5493 +FPS=33.12, 法向力=4892.8564, 切向力X=-35241.6406, 切向力Y=-4617.4209 +FPS=32.96, 法向力=5314.8110, 切向力X=-37323.3672, 切向力Y=-3379.6353 +FPS=33.35, 法向力=5334.3853, 切向力X=-37100.9219, 切向力Y=-3299.7925 +FPS=32.91, 法向力=4271.4863, 切向力X=-39680.1016, 切向力Y=-3846.1191 +FPS=31.72, 法向力=4768.5791, 切向力X=-40210.2188, 切向力Y=-4897.8203 +FPS=33.35, 法向力=4704.6387, 切向力X=-40356.7344, 切向力Y=-5113.5918 +FPS=31.92, 法向力=5647.8740, 切向力X=-40311.0547, 切向力Y=-4522.4434 +FPS=33.22, 法向力=5592.1060, 切向力X=-40292.9180, 切向力Y=-4555.8242 +FPS=33.46, 法向力=7738.8394, 切向力X=-37810.8047, 切向力Y=-4350.9175 +FPS=34.04, 法向力=8014.3721, 切向力X=-37378.0078, 切向力Y=-4174.1572 +FPS=34.06, 法向力=11300.0039, 切向力X=-37343.0820, 切向力Y=-3471.5234 +FPS=32.29, 法向力=13339.2461, 切向力X=-36514.1016, 切向力Y=-3037.8257 +FPS=33.96, 法向力=13321.9277, 切向力X=-36590.2773, 切向力Y=-2821.1079 +FPS=32.20, 法向力=15527.3428, 切向力X=-36789.8047, 切向力Y=-2316.0059 +FPS=32.88, 法向力=18462.4531, 切向力X=-37386.6328, 切向力Y=-1252.1091 +FPS=33.67, 法向力=18479.8555, 切向力X=-37675.3594, 切向力Y=-1080.2476 +FPS=32.85, 法向力=19268.4922, 切向力X=-40946.6953, 切向力Y=-3028.1370 +FPS=34.19, 法向力=19298.1367, 切向力X=-40980.1406, 切向力Y=-2758.1428 +FPS=33.76, 法向力=21077.1797, 切向力X=-42438.2812, 切向力Y=-1450.6978 +FPS=33.68, 法向力=22621.0156, 切向力X=-42868.1055, 切向力Y=-303.6241 +FPS=34.36, 法向力=22764.5078, 切向力X=-43025.8203, 切向力Y=-203.6789 +FPS=33.56, 法向力=24619.0742, 切向力X=-39731.3203, 切向力Y=-124.6735 +FPS=34.40, 法向力=24656.9492, 切向力X=-39781.5820, 切向力Y=-221.6915 +FPS=32.16, 法向力=23805.4375, 切向力X=-38885.6406, 切向力Y=-1282.3800 +FPS=34.67, 法向力=23840.0508, 切向力X=-39271.3125, 切向力Y=-1488.0403 +FPS=34.60, 法向力=19110.3359, 切向力X=-37342.2969, 切向力Y=-1823.4121 +FPS=33.92, 法向力=12541.9775, 切向力X=-40708.7305, 切向力Y=-3854.1255 +FPS=34.56, 法向力=12335.1201, 切向力X=-41040.6016, 切向力Y=-4027.9480 +FPS=33.12, 法向力=9384.6846, 切向力X=-44175.0820, 切向力Y=-4633.0635 +FPS=34.21, 法向力=9027.6719, 切向力X=-44567.2812, 切向力Y=-4881.9707 +FPS=33.84, 法向力=7425.0415, 切向力X=-44170.8516, 切向力Y=-5175.6582 +FPS=33.61, 法向力=5634.0625, 切向力X=-41438.7617, 切向力Y=-7004.6206 +FPS=34.18, 法向力=5744.4985, 切向力X=-41142.2734, 切向力Y=-7283.7397 +FPS=33.77, 法向力=4688.3945, 切向力X=-35345.9258, 切向力Y=-6249.9868 +FPS=34.38, 法向力=5124.5625, 切向力X=-35094.8789, 切向力Y=-6048.7920 +FPS=34.33, 法向力=4439.2417, 切向力X=-28635.0938, 切向力Y=-6053.6401 +FPS=34.06, 法向力=4640.6357, 切向力X=-28424.2930, 切向力Y=-5828.3037 +FPS=34.51, 法向力=4862.2197, 切向力X=-23527.3828, 切向力Y=-5695.5586 +FPS=32.09, 法向力=5137.3223, 切向力X=-19135.7812, 切向力Y=-5327.2358 +FPS=34.74, 法向力=5033.0264, 切向力X=-18872.9844, 切向力Y=-5381.4473 +FPS=33.45, 法向力=6470.3887, 切向力X=-20938.4082, 切向力Y=-6209.9844 +FPS=33.94, 法向力=6439.4893, 切向力X=-20829.1914, 切向力Y=-6130.0635 +FPS=34.70, 法向力=5652.9736, 切向力X=-25857.4961, 切向力Y=-5127.4473 +FPS=33.97, 法向力=6350.5718, 切向力X=-29053.3105, 切向力Y=-4723.7666 +FPS=33.81, 法向力=6016.4971, 切向力X=-29475.9902, 切向力Y=-4876.0684 +FPS=35.32, 法向力=5562.0093, 切向力X=-28019.0078, 切向力Y=-4680.3813 +FPS=35.73, 法向力=5556.0747, 切向力X=-28145.4785, 切向力Y=-4761.8823 +FPS=34.45, 法向力=6274.9956, 切向力X=-29502.4961, 切向力Y=-4240.9473 +FPS=36.17, 法向力=6337.1880, 切向力X=-29715.4727, 切向力Y=-3999.8174 +FPS=35.04, 法向力=6130.8730, 切向力X=-31053.4219, 切向力Y=-4109.0537 +FPS=35.56, 法向力=6293.9531, 切向力X=-34724.7773, 切向力Y=-4192.5771 +FPS=35.80, 法向力=6250.2959, 切向力X=-34602.8594, 切向力Y=-4377.5190 +FPS=35.65, 法向力=5772.6562, 切向力X=-34702.0625, 切向力Y=-4441.1406 +FPS=36.54, 法向力=5593.9399, 切向力X=-34827.6641, 切向力Y=-4617.0459 +FPS=35.72, 法向力=7211.1494, 切向力X=-36815.7031, 切向力Y=-3458.5181 +FPS=36.69, 法向力=7307.5361, 切向力X=-36761.9141, 切向力Y=-3300.2930 +FPS=35.91, 法向力=7176.3291, 切向力X=-37823.0742, 切向力Y=-2658.4717 +FPS=35.59, 法向力=8989.6895, 切向力X=-37503.4609, 切向力Y=-2526.8677 +FPS=37.17, 法向力=9087.6250, 切向力X=-37802.6055, 切向力Y=-2563.9097 +FPS=35.64, 法向力=10184.7529, 切向力X=-39106.0234, 切向力Y=-1738.7571 +FPS=32.30, 法向力=10109.7744, 切向力X=-39247.6641, 切向力Y=-1714.8779 +FPS=31.81, 法向力=12874.2305, 切向力X=-41106.5703, 切向力Y=-854.8483 +FPS=33.65, 法向力=12942.2832, 切向力X=-41349.1172, 切向力Y=-676.4113 +FPS=35.08, 法向力=17715.7910, 切向力X=-41690.0078, 切向力Y=1390.1880 +FPS=34.61, 法向力=17828.3379, 切向力X=-41710.9648, 切向力Y=1256.8435 +FPS=35.72, 法向力=23674.9375, 切向力X=-44841.5625, 切向力Y=1965.3594 +FPS=34.58, 法向力=28236.6855, 切向力X=-43901.2656, 切向力Y=2406.5793 +FPS=34.09, 法向力=28269.5684, 切向力X=-44392.2578, 切向力Y=2319.0303 +FPS=33.80, 法向力=29965.3906, 切向力X=-41971.2734, 切向力Y=3989.8704 +FPS=33.99, 法向力=32709.9609, 切向力X=-40571.3828, 切向力Y=6597.6333 +FPS=33.92, 法向力=32795.0117, 切向力X=-40462.6133, 切向力Y=6641.0020 +FPS=32.49, 法向力=33475.7969, 切向力X=-36367.3594, 切向力Y=6066.3853 +FPS=34.16, 法向力=33354.1992, 切向力X=-36407.6406, 切向力Y=6009.2158 +FPS=32.74, 法向力=28046.9746, 切向力X=-32251.9785, 切向力Y=4280.3706 +FPS=34.01, 法向力=27899.3066, 切向力X=-31637.1328, 切向力Y=4230.3164 +FPS=33.55, 法向力=18663.0625, 切向力X=-28417.5898, 切向力Y=867.3359 +FPS=32.31, 法向力=10721.7617, 切向力X=-23216.0195, 切向力Y=774.6001 +FPS=33.49, 法向力=10673.7207, 切向力X=-23486.2285, 切向力Y=881.9086 +FPS=31.05, 法向力=6552.9053, 切向力X=-7250.7715, 切向力Y=-1439.8279 +FPS=32.08, 法向力=6208.8018, 切向力X=2554.2749, 切向力Y=-1050.0496 +FPS=34.67, 法向力=6400.4028, 切向力X=2985.8640, 切向力Y=-1123.5247 +FPS=31.87, 法向力=7717.7646, 切向力X=385.1655, 切向力Y=-621.4264 +FPS=33.22, 法向力=7633.4775, 切向力X=480.2900, 切向力Y=-467.5118 +FPS=32.98, 法向力=10397.9746, 切向力X=-7307.2305, 切向力Y=-577.2048 +FPS=32.87, 法向力=7116.5400, 切向力X=-24694.2695, 切向力Y=-731.8326 +FPS=33.84, 法向力=7099.0166, 切向力X=-25228.8398, 切向力Y=-742.5552 +FPS=33.30, 法向力=5822.4570, 切向力X=-26063.8750, 切向力Y=95.3662 +FPS=33.96, 法向力=5695.6436, 切向力X=-26327.2793, 切向力Y=235.5183 +FPS=32.18, 法向力=6148.6729, 切向力X=-28379.3438, 切向力Y=465.9362 +FPS=33.83, 法向力=6121.8711, 切向力X=-28600.8906, 切向力Y=339.2037 +FPS=33.58, 法向力=5114.2969, 切向力X=-26135.7617, 切向力Y=330.3613 +FPS=33.44, 法向力=4974.8833, 切向力X=-27031.1094, 切向力Y=1115.0977 +FPS=34.11, 法向力=5017.2471, 切向力X=-27119.4570, 切向力Y=1208.7029 +FPS=33.64, 法向力=4464.4297, 切向力X=-25924.7598, 切向力Y=650.7322 +FPS=32.55, 法向力=4826.8320, 切向力X=-26804.9453, 切向力Y=1208.1304 +FPS=34.37, 法向力=4911.7642, 切向力X=-26906.9590, 切向力Y=1263.4106 +FPS=33.20, 法向力=4857.8555, 切向力X=-25756.2617, 切向力Y=815.9897 +FPS=34.47, 法向力=4894.3340, 切向力X=-25414.8125, 切向力Y=932.1869 +FPS=34.29, 法向力=6121.2217, 切向力X=-23839.0723, 切向力Y=269.4527 +FPS=35.06, 法向力=6409.7456, 切向力X=-23496.6602, 切向力Y=394.3321 +FPS=34.24, 法向力=6071.5171, 切向力X=-22302.2422, 切向力Y=-860.4720 +FPS=34.95, 法向力=6125.9346, 切向力X=-22014.9922, 切向力Y=-904.5914 +FPS=34.90, 法向力=6717.3096, 切向力X=-20725.8809, 切向力Y=-796.9995 +FPS=34.21, 法向力=6304.9238, 切向力X=-22752.2559, 切向力Y=-1477.2195 +FPS=33.77, 法向力=6236.3296, 切向力X=-22846.7891, 切向力Y=-1486.2512 +FPS=33.06, 法向力=5955.4580, 切向力X=-22737.1035, 切向力Y=-828.6123 +FPS=34.52, 法向力=6115.3027, 切向力X=-26560.6543, 切向力Y=-939.4847 +FPS=36.83, 法向力=6071.0391, 切向力X=-26727.0234, 切向力Y=-859.1450 +FPS=36.17, 法向力=7772.7998, 切向力X=-26098.4531, 切向力Y=-1060.2870 +FPS=36.73, 法向力=7807.7451, 切向力X=-26177.2852, 切向力Y=-1129.3562 +FPS=35.88, 法向力=7827.7285, 切向力X=-26156.1211, 切向力Y=-1166.7480 +FPS=36.18, 法向力=8349.0645, 切向力X=-29755.2383, 切向力Y=-1425.9663 +FPS=35.66, 法向力=8815.1680, 切向力X=-28490.2363, 切向力Y=-2454.1621 +FPS=36.89, 法向力=8823.1055, 切向力X=-28468.8711, 切向力Y=-2569.4233 +FPS=35.55, 法向力=9141.3711, 切向力X=-27478.4062, 切向力Y=-2101.3970 +FPS=36.72, 法向力=9170.9893, 切向力X=-27187.5977, 切向力Y=-2062.2422 +FPS=35.86, 法向力=6606.8867, 切向力X=-28251.7109, 切向力Y=449.4763 +FPS=34.60, 法向力=5217.4863, 切向力X=-27469.7969, 切向力Y=710.5413 +FPS=36.58, 法向力=5095.0220, 切向力X=-27369.1055, 切向力Y=684.9105 +FPS=34.94, 法向力=5772.6162, 切向力X=-26296.7109, 切向力Y=1182.7437 +FPS=35.97, 法向力=5927.9658, 切向力X=-26266.8848, 切向力Y=1262.4449 +FPS=35.46, 法向力=4080.8455, 切向力X=-25076.1621, 切向力Y=2345.7825 +FPS=36.15, 法向力=4111.7056, 切向力X=-25029.4629, 切向力Y=2456.3311 +FPS=35.04, 法向力=3866.8257, 切向力X=-23420.1406, 切向力Y=4528.4004 +FPS=35.31, 法向力=3912.0500, 切向力X=-23514.2578, 切向力Y=4626.5156 +FPS=35.17, 法向力=4167.9277, 切向力X=-22432.6289, 切向力Y=5486.3975 +FPS=36.66, 法向力=4243.0747, 切向力X=-22208.2207, 切向力Y=5638.9077 +FPS=36.04, 法向力=3758.0422, 切向力X=-22719.9141, 切向力Y=6514.7334 +FPS=34.69, 法向力=5100.6680, 切向力X=-21771.8984, 切向力Y=9345.2715 +FPS=34.56, 法向力=5223.6235, 切向力X=-21662.5781, 切向力Y=9545.4121 +FPS=33.85, 法向力=4248.8359, 切向力X=-23352.8555, 切向力Y=9224.5264 +FPS=34.48, 法向力=4857.1680, 切向力X=-21286.3184, 切向力Y=10305.1074 +FPS=34.32, 法向力=4739.2456, 切向力X=-21487.0547, 切向力Y=10192.5186 +FPS=34.73, 法向力=4142.1685, 切向力X=-23080.5215, 切向力Y=9402.8047 +FPS=34.58, 法向力=4228.1660, 切向力X=-23056.8906, 切向力Y=9417.1963 +FPS=34.62, 法向力=4771.0161, 切向力X=-21732.9160, 切向力Y=9494.1309 +FPS=35.54, 法向力=4906.2236, 切向力X=-21362.2188, 切向力Y=9777.5000 +FPS=33.88, 法向力=4065.2061, 切向力X=-23858.3125, 切向力Y=8950.9023 +FPS=35.50, 法向力=4183.6265, 切向力X=-23782.9922, 切向力Y=9083.2188 +FPS=34.62, 法向力=3869.7397, 切向力X=-24549.1309, 切向力Y=8524.4404 +FPS=34.48, 法向力=4217.0674, 切向力X=-21122.8164, 切向力Y=9204.4658 +FPS=35.69, 法向力=4122.6187, 切向力X=-21469.0039, 切向力Y=9153.3047 +FPS=33.94, 法向力=4450.8076, 切向力X=-22140.0938, 切向力Y=8786.8174 +FPS=35.00, 法向力=4627.0405, 切向力X=-22026.8398, 切向力Y=8898.9434 +FPS=34.81, 法向力=3987.7981, 切向力X=-22398.5332, 切向力Y=8216.3066 +FPS=34.39, 法向力=4035.5469, 切向力X=-21332.7324, 切向力Y=8341.6406 +FPS=36.19, 法向力=3938.2839, 切向力X=-21533.4277, 切向力Y=8094.6670 +FPS=34.07, 法向力=4757.3770, 切向力X=-24268.5449, 切向力Y=7978.1035 +FPS=35.32, 法向力=4802.2852, 切向力X=-24381.8047, 切向力Y=8010.6523 +FPS=35.41, 法向力=3651.2295, 切向力X=-24525.9863, 切向力Y=6483.5933 +FPS=34.57, 法向力=3595.5076, 切向力X=-24446.1367, 切向力Y=6414.9790 +FPS=35.20, 法向力=3760.3018, 切向力X=-24475.9648, 切向力Y=6271.6299 +FPS=34.20, 法向力=3795.5471, 切向力X=-24550.8457, 切向力Y=6505.9766 +FPS=34.69, 法向力=4059.7979, 切向力X=-24901.4023, 切向力Y=6018.8467 +FPS=34.37, 法向力=3877.0295, 切向力X=-25294.8320, 切向力Y=6309.8350 +FPS=35.18, 法向力=3735.9390, 切向力X=-25242.0625, 切向力Y=6347.4102 +FPS=34.09, 法向力=4446.3857, 切向力X=-25818.1562, 切向力Y=6243.1318 +FPS=34.92, 法向力=4670.9678, 切向力X=-25873.2148, 切向力Y=6276.8188 +FPS=34.63, 法向力=3981.8901, 切向力X=-24995.6797, 切向力Y=7073.7715 +FPS=34.49, 法向力=4097.0283, 切向力X=-24244.1387, 切向力Y=7566.9863 +FPS=34.42, 法向力=4120.6685, 切向力X=-24353.0742, 切向力Y=7492.3730 +FPS=33.12, 法向力=4030.9116, 切向力X=-24217.2734, 切向力Y=8025.9497 +FPS=34.70, 法向力=4040.4634, 切向力X=-24028.3555, 切向力Y=8043.1372 +FPS=34.03, 法向力=3809.2122, 切向力X=-23873.3613, 切向力Y=8303.7402 +FPS=34.22, 法向力=3901.5959, 切向力X=-23396.8242, 切向力Y=8579.9482 +FPS=34.86, 法向力=4205.8374, 切向力X=-24288.9062, 切向力Y=9168.3555 +FPS=32.93, 法向力=3703.5803, 切向力X=-25004.6621, 切向力Y=8284.5488 +FPS=33.25, 法向力=3683.6145, 切向力X=-25039.5000, 切向力Y=8136.3076 +FPS=32.32, 法向力=4020.9375, 切向力X=-23822.1211, 切向力Y=7996.7993 +FPS=33.82, 法向力=3982.0486, 切向力X=-23901.5469, 切向力Y=7881.4258 +FPS=33.11, 法向力=4055.5715, 切向力X=-24594.0352, 切向力Y=8591.2520 +FPS=32.43, 法向力=3749.1868, 切向力X=-24296.3984, 切向力Y=8191.5547 +FPS=32.98, 法向力=3692.9988, 切向力X=-24262.9727, 切向力Y=8226.2129 +FPS=32.95, 法向力=3932.8667, 切向力X=-23648.9336, 切向力Y=8135.3184 +FPS=33.92, 法向力=3929.8462, 切向力X=-23691.1289, 切向力Y=8133.0034 +FPS=33.27, 法向力=4207.0044, 切向力X=-24831.8477, 切向力Y=8858.1797 +FPS=32.63, 法向力=3852.7261, 切向力X=-23851.8242, 切向力Y=8227.7129 +FPS=33.99, 法向力=3810.2708, 切向力X=-23750.1133, 切向力Y=8357.6855 +FPS=33.31, 法向力=3772.4956, 切向力X=-24003.2227, 切向力Y=8753.9102 +FPS=34.12, 法向力=3862.2671, 切向力X=-23885.7266, 切向力Y=8964.5352 +FPS=33.32, 法向力=4010.3948, 切向力X=-22997.2148, 切向力Y=8550.7803 +FPS=32.57, 法向力=4154.3633, 切向力X=-25223.0234, 切向力Y=8224.2246 +FPS=34.51, 法向力=4297.5361, 切向力X=-25413.5410, 切向力Y=8331.6445 +FPS=34.14, 法向力=3696.5117, 切向力X=-23188.8242, 切向力Y=9540.9805 +FPS=35.09, 法向力=3684.4116, 切向力X=-23266.9551, 切向力Y=9605.9238 +FPS=34.16, 法向力=3883.3296, 切向力X=-23066.3125, 切向力Y=8484.2969 +FPS=33.03, 法向力=3635.0339, 切向力X=-24327.1094, 切向力Y=9129.8779 +FPS=34.73, 法向力=3545.5664, 切向力X=-24432.6992, 切向力Y=9072.7910 +FPS=33.17, 法向力=3829.8757, 切向力X=-22947.5020, 切向力Y=9270.7246 +FPS=34.97, 法向力=3906.5110, 切向力X=-23064.9473, 切向力Y=9345.4541 +FPS=34.36, 法向力=3690.5806, 切向力X=-23882.6055, 切向力Y=8600.2383 +FPS=34.46, 法向力=3702.2400, 切向力X=-23846.9531, 切向力Y=8669.4209 +FPS=33.73, 法向力=3625.7300, 切向力X=-23131.2695, 切向力Y=8284.3652 +FPS=33.79, 法向力=4188.0732, 切向力X=-24748.7266, 切向力Y=9222.9531 +FPS=34.81, 法向力=4154.9033, 切向力X=-24755.1680, 切向力Y=9301.9883 +FPS=34.18, 法向力=3887.4351, 切向力X=-24094.8555, 切向力Y=8070.3584 +FPS=34.83, 法向力=3796.9131, 切向力X=-24130.7793, 切向力Y=7963.7705 +FPS=34.03, 法向力=3787.9448, 切向力X=-23357.8008, 切向力Y=7898.2173 +FPS=33.20, 法向力=4060.7153, 切向力X=-24207.0566, 切向力Y=7946.0562 +FPS=35.17, 法向力=3943.6384, 切向力X=-24214.3242, 切向力Y=7954.3730 +FPS=33.04, 法向力=3918.7441, 切向力X=-24249.0078, 切向力Y=7991.5854 +FPS=29.25, 法向力=3880.0474, 切向力X=-24329.0156, 切向力Y=7825.3594 +FPS=31.44, 法向力=3587.1816, 切向力X=-23933.3320, 切向力Y=7959.7729 +FPS=34.13, 法向力=3676.8367, 切向力X=-21850.4922, 切向力Y=8320.0332 +FPS=34.28, 法向力=3733.3682, 切向力X=-21756.3828, 切向力Y=8350.0693 +FPS=33.80, 法向力=4289.0615, 切向力X=-22467.2812, 切向力Y=8677.2129 +FPS=34.26, 法向力=4218.1772, 切向力X=-22373.8770, 切向力Y=8662.5449 +FPS=34.98, 法向力=4356.6846, 切向力X=-22768.1465, 切向力Y=8940.0654 +FPS=35.00, 法向力=4258.4458, 切向力X=-20559.6016, 切向力Y=9558.9316 +FPS=34.35, 法向力=4262.3110, 切向力X=-20437.5078, 切向力Y=9604.9707 +FPS=33.70, 法向力=4094.2788, 切向力X=-21857.2988, 切向力Y=9020.8086 +FPS=36.12, 法向力=4031.7241, 切向力X=-22038.1230, 切向力Y=9006.0898 +FPS=34.57, 法向力=4278.1304, 切向力X=-22040.3086, 切向力Y=9311.8027 +FPS=35.54, 法向力=4285.6133, 切向力X=-22028.7188, 切向力Y=9339.9707 +FPS=33.46, 法向力=4212.3242, 切向力X=-23326.9023, 切向力Y=9266.2236 +FPS=33.99, 法向力=4125.8394, 切向力X=-23622.5000, 切向力Y=9010.3535 +FPS=32.84, 法向力=3870.6702, 切向力X=-23797.2480, 切向力Y=9801.6182 +FPS=32.83, 法向力=3732.0522, 切向力X=-23297.1914, 切向力Y=10892.2344 +FPS=32.35, 法向力=3732.8025, 切向力X=-23524.4766, 切向力Y=10918.8945 +FPS=32.41, 法向力=3905.4766, 切向力X=-25120.7637, 切向力Y=11251.0332 +FPS=30.88, 法向力=4227.9600, 切向力X=-25056.8789, 切向力Y=11609.2500 +FPS=31.94, 法向力=4218.9448, 切向力X=-25214.7969, 切向力Y=11547.9287 +FPS=31.30, 法向力=4166.0532, 切向力X=-25718.7090, 切向力Y=11345.9727 +FPS=31.81, 法向力=4602.3965, 切向力X=-23759.9219, 切向力Y=11458.9883 +FPS=31.78, 法向力=4562.2153, 切向力X=-23611.0801, 切向力Y=11480.3945 +FPS=31.28, 法向力=4185.3501, 切向力X=-22222.2383, 切向力Y=11662.7695 +FPS=32.16, 法向力=4315.4844, 切向力X=-22350.9883, 切向力Y=11693.1387 +FPS=31.27, 法向力=4192.6152, 切向力X=-24043.4668, 切向力Y=12124.8525 +FPS=31.61, 法向力=4177.4062, 切向力X=-23754.5859, 切向力Y=11883.1025 +FPS=32.56, 法向力=4138.9780, 切向力X=-23506.0859, 切向力Y=11905.1211 +FPS=30.74, 法向力=3727.5647, 切向力X=-24228.4277, 切向力Y=11717.4746 +FPS=30.42, 法向力=3821.6707, 切向力X=-23030.9258, 切向力Y=10807.2939 +FPS=31.22, 法向力=3779.9575, 切向力X=-22925.4102, 切向力Y=10526.3789 +FPS=31.31, 法向力=4328.7612, 切向力X=-23637.2578, 切向力Y=11849.3564 +FPS=30.97, 法向力=3661.3943, 切向力X=-22918.8672, 切向力Y=10921.8008 +FPS=31.95, 法向力=3688.8218, 切向力X=-22930.0859, 切向力Y=11038.4414 +FPS=30.82, 法向力=3695.3184, 切向力X=-24629.0605, 切向力Y=10987.9336 +FPS=32.04, 法向力=3678.2708, 切向力X=-25105.2734, 切向力Y=10864.1670 +FPS=31.07, 法向力=4093.6130, 切向力X=-23014.8438, 切向力Y=12067.5156 +FPS=31.50, 法向力=3941.8777, 切向力X=-22422.7949, 切向力Y=10979.2832 +FPS=32.03, 法向力=3984.8784, 切向力X=-22645.8867, 切向力Y=10958.4082 +FPS=32.13, 法向力=4121.1890, 切向力X=-21958.6152, 切向力Y=11090.1729 +FPS=31.26, 法向力=3902.2104, 切向力X=-23288.0410, 切向力Y=11204.4941 +FPS=32.11, 法向力=3811.2617, 切向力X=-23388.3047, 切向力Y=11055.0508 +FPS=30.41, 法向力=3903.6699, 切向力X=-21822.0566, 切向力Y=10288.8828 +FPS=31.42, 法向力=4127.4282, 切向力X=-21858.3945, 切向力Y=10893.7793 +FPS=31.97, 法向力=4156.7681, 切向力X=-21910.5684, 切向力Y=10921.6855 +FPS=31.41, 法向力=3931.6028, 切向力X=-22665.1758, 切向力Y=10868.6885 +FPS=32.64, 法向力=3835.9060, 切向力X=-23019.5156, 切向力Y=10808.4932 +FPS=31.98, 法向力=3840.8242, 切向力X=-24162.8047, 切向力Y=10876.3516 +FPS=32.29, 法向力=3823.7188, 切向力X=-24425.5762, 切向力Y=10645.7041 +FPS=32.77, 法向力=3274.7231, 切向力X=-24102.9648, 切向力Y=11489.7275 +FPS=31.72, 法向力=3863.1082, 切向力X=-23724.1836, 切向力Y=10859.0254 +FPS=34.86, 法向力=3929.9238, 切向力X=-23532.0234, 切向力Y=10871.2734 +FPS=32.15, 法向力=4336.8975, 切向力X=-21590.0977, 切向力Y=11671.5977 +FPS=29.05, 法向力=4375.7080, 切向力X=-21461.9766, 切向力Y=11721.6309 +FPS=27.41, 法向力=4426.2021, 切向力X=-21386.0586, 切向力Y=11715.6787 +FPS=31.67, 法向力=4404.9531, 切向力X=-21409.4492, 切向力Y=11719.6074 +FPS=31.33, 法向力=4420.4131, 切向力X=-21326.9590, 切向力Y=11733.4521 +FPS=29.43, 法向力=4370.5264, 切向力X=-21420.5508, 切向力Y=11651.4492 +FPS=28.76, 法向力=4417.7471, 切向力X=-21370.1777, 切向力Y=11640.1074 +FPS=29.81, 法向力=4396.6836, 切向力X=-21384.9727, 切向力Y=11675.0371 +FPS=30.01, 法向力=4335.5957, 切向力X=-21627.0566, 切向力Y=11575.1484 +FPS=24.20, 法向力=4409.1504, 切向力X=-21408.3828, 切向力Y=11687.4639 +FPS=29.16, 法向力=4433.4102, 切向力X=-21342.9121, 切向力Y=11700.2793 +FPS=30.03, 法向力=4415.6748, 切向力X=-21386.7207, 切向力Y=11721.9668 +FPS=21.02, 法向力=4350.8564, 切向力X=-21614.4199, 切向力Y=11586.8203 +FPS=31.50, 法向力=4410.2134, 切向力X=-21392.2852, 切向力Y=11691.5029 +FPS=31.74, 法向力=4432.7754, 切向力X=-21349.2852, 切向力Y=11671.8271 +FPS=31.35, 法向力=4411.6953, 切向力X=-21403.4883, 切向力Y=11720.0166 +FPS=31.54, 法向力=4362.0981, 切向力X=-21512.9922, 切向力Y=11615.6963 +FPS=28.98, 法向力=4379.4346, 切向力X=-21443.5977, 切向力Y=11678.5664 +FPS=28.08, 法向力=4427.1562, 切向力X=-21345.0957, 切向力Y=11679.0430 +FPS=20.42, 法向力=4404.5225, 切向力X=-21413.8164, 切向力Y=11680.6299 +FPS=29.86, 法向力=4435.5234, 切向力X=-21336.8457, 切向力Y=11713.3916 +FPS=31.21, 法向力=4349.7344, 切向力X=-21495.9414, 切向力Y=11715.6279 +FPS=31.37, 法向力=4396.3994, 切向力X=-21406.6172, 切向力Y=11662.1602 +FPS=29.49, 法向力=4404.0293, 切向力X=-21385.9043, 切向力Y=11686.0547 +FPS=27.95, 法向力=4429.5801, 切向力X=-21357.2734, 切向力Y=11688.2490 +FPS=31.41, 法向力=4405.7090, 切向力X=-21397.0430, 切向力Y=11679.1309 +FPS=31.74, 法向力=4444.6328, 切向力X=-21350.0059, 切向力Y=11701.6016 +FPS=31.43, 法向力=4412.8174, 切向力X=-21387.7773, 切向力Y=11719.6436 +FPS=32.11, 法向力=4435.6035, 切向力X=-21336.3223, 切向力Y=11697.6934 +FPS=22.82, 法向力=4415.4985, 切向力X=-21396.0586, 切向力Y=11690.1484 +FPS=31.32, 法向力=4444.0283, 切向力X=-21345.9688, 切向力Y=11704.4902 +FPS=32.30, 法向力=4419.7334, 切向力X=-21389.7930, 切向力Y=11719.1211 +FPS=30.57, 法向力=4427.0117, 切向力X=-21331.3242, 切向力Y=11692.7432 +FPS=34.99, 法向力=4395.3623, 切向力X=-21480.8887, 切向力Y=11759.8408 +FPS=33.50, 法向力=4410.1055, 切向力X=-21387.4238, 切向力Y=11689.7627 +FPS=34.78, 法向力=4407.9976, 切向力X=-21402.7285, 切向力Y=11722.4395 +FPS=34.09, 法向力=4437.6899, 切向力X=-21320.4043, 切向力Y=11716.3770 +FPS=33.61, 法向力=4362.0249, 切向力X=-21500.4746, 切向力Y=11723.5352 +FPS=35.03, 法向力=4396.8896, 切向力X=-21411.8340, 切向力Y=11660.7178 +FPS=35.34, 法向力=4402.2124, 切向力X=-21381.9707, 切向力Y=11684.0391 +FPS=34.43, 法向力=4426.1909, 切向力X=-21357.0938, 切向力Y=11692.9648 +FPS=34.27, 法向力=4411.9951, 切向力X=-21400.0508, 切向力Y=11680.8350 +FPS=34.42, 法向力=4442.4844, 切向力X=-21349.9941, 切向力Y=11702.1318 +FPS=34.39, 法向力=4420.4121, 切向力X=-21391.5391, 切向力Y=11719.5508 +FPS=35.56, 法向力=4426.9395, 切向力X=-21331.8750, 切向力Y=11692.6484 +FPS=34.86, 法向力=4395.3491, 切向力X=-21481.0859, 切向力Y=11759.8145 +FPS=32.57, 法向力=4411.3770, 切向力X=-21389.5977, 切向力Y=11689.1240 +FPS=32.97, 法向力=4407.7886, 切向力X=-21404.1367, 切向力Y=11721.6035 +FPS=33.70, 法向力=4437.4702, 切向力X=-21321.1191, 切向力Y=11715.9336 +FPS=33.71, 法向力=4361.9678, 切向力X=-21500.7559, 切向力Y=11723.3643 +FPS=33.23, 法向力=4396.8711, 切向力X=-21411.9512, 切向力Y=11660.6514 +FPS=33.80, 法向力=4405.4697, 切向力X=-21382.6172, 切向力Y=11686.1094 +FPS=33.82, 法向力=4426.5215, 切向力X=-21356.8555, 切向力Y=11692.8730 +FPS=33.69, 法向力=4414.9497, 切向力X=-21406.0293, 切向力Y=11686.2646 +FPS=33.32, 法向力=4442.6406, 切向力X=-21350.3477, 切向力Y=11702.2969 +FPS=33.01, 法向力=4420.4438, 切向力X=-21391.6367, 切向力Y=11719.5645 +FPS=31.97, 法向力=4432.2002, 切向力X=-21337.3770, 切向力Y=11696.0635 +FPS=27.54, 法向力=4395.4663, 切向力X=-21481.0215, 切向力Y=11761.5645 +FPS=28.38, 法向力=4410.0781, 切向力X=-21400.7910, 切向力Y=11693.6309 +FPS=30.78, 法向力=4408.1729, 切向力X=-21403.9355, 切向力Y=11722.5449 +FPS=31.89, 法向力=4437.6646, 切向力X=-21320.7422, 切向力Y=11716.1963 +FPS=32.15, 法向力=4362.0195, 切向力X=-21500.5918, 切向力Y=11723.4463 +FPS=32.40, 法向力=4396.8901, 切向力X=-21411.8867, 切向力Y=11660.6816 +FPS=32.32, 法向力=4402.2090, 切向力X=-21381.9961, 切向力Y=11684.0234 +FPS=32.06, 法向力=4426.1924, 切向力X=-21357.1016, 切向力Y=11692.9590 +FPS=31.75, 法向力=4411.9956, 切向力X=-21400.0547, 切向力Y=11680.8281 +FPS=31.22, 法向力=4442.4844, 切向力X=-21349.9980, 切向力Y=11702.1289 +FPS=32.36, 法向力=4420.4121, 切向力X=-21391.5332, 切向力Y=11719.5488 +FPS=31.74, 法向力=4426.7930, 切向力X=-21332.0938, 切向力Y=11692.5371 +FPS=32.18, 法向力=4394.9121, 切向力X=-21481.7227, 切向力Y=11759.4893 +FPS=30.78, 法向力=4411.1558, 切向力X=-21389.9453, 切向力Y=11688.9219 +FPS=30.56, 法向力=4407.7480, 切向力X=-21404.2207, 切向力Y=11721.5322 +FPS=31.16, 法向力=4437.4614, 切向力X=-21321.1484, 切向力Y=11715.9004 +FPS=29.94, 法向力=4361.9629, 切向力X=-21500.7637, 切向力Y=11723.3574 +FPS=30.07, 法向力=4396.8711, 切向力X=-21411.9375, 切向力Y=11660.6475 +FPS=30.65, 法向力=4405.4702, 切向力X=-21382.6191, 切向力Y=11686.1084 +FPS=27.01, 法向力=4426.5176, 切向力X=-21356.8555, 切向力Y=11692.8730 +FPS=27.23, 法向力=4414.9487, 切向力X=-21406.0273, 切向力Y=11686.2656 +FPS=29.45, 法向力=4442.6406, 切向力X=-21350.3359, 切向力Y=11702.2939 +FPS=29.23, 法向力=4420.4434, 切向力X=-21391.6348, 切向力Y=11719.5645 +FPS=29.66, 法向力=4432.1982, 切向力X=-21337.3711, 切向力Y=11696.0625 +FPS=29.96, 法向力=4411.0327, 切向力X=-21392.2109, 切向力Y=11690.5664 +FPS=30.17, 法向力=4436.7656, 切向力X=-21352.5195, 切向力Y=11709.7510 +FPS=30.15, 法向力=4324.4170, 切向力X=-21658.8359, 切向力Y=11604.7432 +FPS=29.51, 法向力=4432.5347, 切向力X=-21341.1797, 切向力Y=11697.2051 +FPS=30.86, 法向力=4412.6670, 切向力X=-21394.4902, 切向力Y=11681.8281 +FPS=29.25, 法向力=4439.7637, 切向力X=-21338.9023, 切向力Y=11703.6035 +FPS=28.41, 法向力=4416.4316, 切向力X=-21388.6426, 切向力Y=11718.9268 +FPS=29.58, 法向力=4343.2275, 切向力X=-21609.2227, 切向力Y=11582.6572 +FPS=30.01, 法向力=4404.2051, 切向力X=-21392.7500, 切向力Y=11687.1055 +FPS=29.24, 法向力=4417.3755, 切向力X=-21435.6914, 切向力Y=11778.3154 +FPS=29.81, 法向力=4401.6880, 切向力X=-21425.6934, 切向力Y=11738.2090 +FPS=29.61, 法向力=4434.3506, 切向力X=-21337.8047, 切向力Y=11699.8887 +FPS=29.09, 法向力=4416.0586, 切向力X=-21399.8438, 切向力Y=11688.6885 +FPS=29.42, 法向力=4437.8867, 切向力X=-21354.9004, 切向力Y=11709.1309 +FPS=28.58, 法向力=4421.1030, 切向力X=-21394.0762, 切向力Y=11718.0273 +FPS=29.12, 法向力=4440.1064, 切向力X=-21340.3672, 切向力Y=11699.5420 +FPS=30.82, 法向力=4409.0903, 切向力X=-21392.5508, 切向力Y=11686.0986 +FPS=28.98, 法向力=4434.4126, 切向力X=-21327.1289, 切向力Y=11705.9668 +FPS=28.29, 法向力=4418.7285, 切向力X=-21390.2754, 切向力Y=11720.8730 +FPS=30.34, 法向力=4425.4170, 切向力X=-21332.1250, 切向力Y=11690.4512 +FPS=29.72, 法向力=4397.8662, 切向力X=-21479.9492, 切向力Y=11758.3281 +FPS=26.96, 法向力=4418.8965, 切向力X=-21379.5527, 切向力Y=11723.3125 +FPS=27.04, 法向力=4417.4756, 切向力X=-21389.6953, 切向力Y=11725.9941 +FPS=26.34, 法向力=4435.0483, 切向力X=-21336.4336, 切向力Y=11696.1367 +FPS=26.59, 法向力=4414.6025, 切向力X=-21398.1484, 切向力Y=11689.1152 +FPS=26.55, 法向力=4439.0293, 切向力X=-21355.7695, 切向力Y=11708.2930 +FPS=26.49, 法向力=4411.0859, 切向力X=-21387.9258, 切向力Y=11718.8271 +FPS=26.23, 法向力=4433.3311, 切向力X=-21333.6797, 切向力Y=11697.0596 +FPS=26.67, 法向力=4414.1987, 切向力X=-21397.9492, 切向力Y=11687.0469 +FPS=26.28, 法向力=4440.6328, 切向力X=-21344.3145, 切向力Y=11704.3848 +FPS=26.76, 法向力=4410.9844, 切向力X=-21385.3809, 切向力Y=11717.5527 +FPS=26.50, 法向力=4431.4775, 切向力X=-21334.0742, 切向力Y=11691.7676 +FPS=26.59, 法向力=4416.2021, 切向力X=-21397.2988, 切向力Y=11688.8340 +FPS=26.27, 法向力=4442.6426, 切向力X=-21359.5039, 切向力Y=11707.9375 +FPS=26.80, 法向力=4419.5566, 切向力X=-21391.1406, 切向力Y=11719.0645 +FPS=27.31, 法向力=4427.0073, 切向力X=-21331.5703, 切向力Y=11692.6260 +FPS=27.55, 法向力=4395.3730, 切向力X=-21480.9844, 切向力Y=11759.7676 +FPS=26.50, 法向力=4415.7549, 切向力X=-21376.5273, 切向力Y=11723.4434 +FPS=26.06, 法向力=4417.6606, 切向力X=-21391.9414, 切向力Y=11725.0371 +FPS=26.78, 法向力=4435.7944, 切向力X=-21337.3945, 切向力Y=11694.8770 +FPS=27.05, 法向力=4410.9238, 切向力X=-21394.6328, 切向力Y=11687.1357 +FPS=26.32, 法向力=4444.3740, 切向力X=-21345.7871, 切向力Y=11705.1367 +FPS=27.54, 法向力=4421.4023, 切向力X=-21393.3301, 切向力Y=11718.0977 +FPS=27.66, 法向力=4423.2324, 切向力X=-21329.6309, 切向力Y=11691.4238 +FPS=28.13, 法向力=4413.5684, 切向力X=-21389.4199, 切向力Y=11685.8008 +FPS=26.77, 法向力=4441.4302, 切向力X=-21343.0742, 切向力Y=11705.3916 +FPS=26.82, 法向力=4323.9033, 切向力X=-21658.6777, 切向力Y=11604.8477 +FPS=26.33, 法向力=4428.9385, 切向力X=-21338.5039, 切向力Y=11697.9219 +FPS=26.02, 法向力=4409.8477, 切向力X=-21373.3711, 切向力Y=11682.3516 +FPS=26.49, 法向力=4436.9902, 切向力X=-21349.6953, 切向力Y=11708.5918 +FPS=25.96, 法向力=4324.4297, 切向力X=-21658.4219, 切向力Y=11604.3848 +FPS=27.00, 法向力=4437.8281, 切向力X=-21341.6641, 切向力Y=11698.7148 +FPS=27.76, 法向力=4413.3462, 切向力X=-21397.3398, 切向力Y=11685.2471 +FPS=27.50, 法向力=4348.4268, 切向力X=-21627.0684, 切向力Y=11594.9863 +FPS=28.08, 法向力=4413.3145, 切向力X=-21387.5977, 切向力Y=11721.2822 +FPS=27.32, 法向力=4429.8076, 切向力X=-21332.5430, 切向力Y=11695.2129 +FPS=27.05, 法向力=4418.3633, 切向力X=-21398.1484, 切向力Y=11686.3105 +FPS=27.38, 法向力=4437.8467, 切向力X=-21355.7578, 切向力Y=11706.6016 +FPS=26.65, 法向力=4412.6074, 切向力X=-21385.8828, 切向力Y=11721.5840 +FPS=26.77, 法向力=4438.2109, 切向力X=-21336.4023, 切向力Y=11699.3809 +FPS=26.47, 法向力=4413.8281, 切向力X=-21397.1699, 切向力Y=11691.2461 +FPS=27.27, 法向力=4439.0913, 切向力X=-21355.8789, 切向力Y=11708.3535 +FPS=26.48, 法向力=4411.1611, 切向力X=-21385.2949, 切向力Y=11718.8174 +FPS=26.12, 法向力=4433.4111, 切向力X=-21333.4961, 切向力Y=11697.0586 +FPS=27.22, 法向力=4414.1123, 切向力X=-21398.8125, 切向力Y=11687.4971 +FPS=26.97, 法向力=4440.5869, 切向力X=-21344.4668, 切向力Y=11704.4346 +FPS=27.18, 法向力=4410.9717, 切向力X=-21385.4238, 切向力Y=11717.5645 +FPS=25.12, 法向力=4431.4707, 切向力X=-21334.0820, 切向力Y=11691.7744 +FPS=27.46, 法向力=4416.1787, 切向力X=-21397.2891, 切向力Y=11688.8389 +FPS=27.67, 法向力=4442.6348, 切向力X=-21359.4902, 切向力Y=11707.9443 +FPS=28.51, 法向力=4419.5537, 切向力X=-21391.1348, 切向力Y=11719.0742 +FPS=27.91, 法向力=4427.0078, 切向力X=-21331.5781, 切向力Y=11692.6279 +FPS=27.45, 法向力=4395.3721, 切向力X=-21480.9883, 切向力Y=11759.7686 +FPS=27.77, 法向力=4415.7534, 切向力X=-21376.5352, 切向力Y=11723.4414 +FPS=27.88, 法向力=4417.5088, 切向力X=-21392.1758, 切向力Y=11724.9248 +FPS=27.99, 法向力=4435.7710, 切向力X=-21337.4375, 切向力Y=11694.8506 +FPS=27.58, 法向力=4410.8955, 切向力X=-21394.6211, 切向力Y=11687.1201 +FPS=28.56, 法向力=4443.8701, 切向力X=-21341.0273, 切向力Y=11705.5410 +FPS=28.94, 法向力=4340.8154, 切向力X=-21587.8945, 切向力Y=11627.9229 +FPS=28.34, 法向力=4399.0996, 切向力X=-21389.0918, 切向力Y=11679.9512 +FPS=27.95, 法向力=4404.1465, 切向力X=-21393.9902, 切向力Y=11681.6523 +FPS=27.37, 法向力=4442.6558, 切向力X=-21357.1445, 切向力Y=11693.9639 +FPS=27.83, 法向力=4413.5586, 切向力X=-21391.0312, 切向力Y=11718.5381 +FPS=27.53, 法向力=4349.8330, 切向力X=-21508.9805, 切向力Y=11584.0732 +FPS=26.99, 法向力=4378.4185, 切向力X=-21446.9023, 切向力Y=11719.8379 +FPS=26.84, 法向力=4430.8779, 切向力X=-21340.5684, 切向力Y=11692.5957 +FPS=26.04, 法向力=4411.4219, 切向力X=-21399.3242, 切向力Y=11690.2666 +FPS=27.28, 法向力=4443.0439, 切向力X=-21344.4492, 切向力Y=11704.5400 +FPS=27.06, 法向力=4419.3384, 切向力X=-21392.1055, 切向力Y=11713.5801 +FPS=27.03, 法向力=4424.9688, 切向力X=-21331.9648, 切向力Y=11691.0508 +FPS=27.04, 法向力=4411.4111, 切向力X=-21388.0977, 切向力Y=11687.1777 +FPS=26.63, 法向力=4441.3677, 切向力X=-21341.9219, 切向力Y=11706.9844 +FPS=27.19, 法向力=4323.9902, 切向力X=-21658.2969, 切向力Y=11605.0391 +FPS=27.52, 法向力=4423.5415, 切向力X=-21333.1797, 切向力Y=11694.4395 +FPS=25.77, 法向力=4411.6885, 切向力X=-21387.0000, 切向力Y=11686.2012 +FPS=27.09, 法向力=4438.0327, 切向力X=-21340.3750, 切向力Y=11705.1025 +FPS=26.21, 法向力=4324.0229, 切向力X=-21661.3828, 切向力Y=11603.7012 +FPS=26.91, 法向力=4437.6621, 切向力X=-21342.0996, 切向力Y=11698.5371 +FPS=26.28, 法向力=4413.1680, 切向力X=-21398.4570, 切向力Y=11685.6367 +FPS=26.73, 法向力=4351.2148, 切向力X=-21617.4531, 切向力Y=11588.5684 +FPS=25.80, 法向力=4412.1270, 切向力X=-21386.6875, 切向力Y=11720.9990 +FPS=25.60, 法向力=4431.6875, 切向力X=-21335.3984, 切向力Y=11692.9600 +FPS=26.12, 法向力=4416.2812, 切向力X=-21397.6309, 切向力Y=11689.1660 +FPS=26.12, 法向力=4442.6675, 切向力X=-21359.5781, 切向力Y=11708.0410 +FPS=26.59, 法向力=4419.5615, 切向力X=-21391.1523, 切向力Y=11719.1006 +FPS=26.91, 法向力=4432.4082, 切向力X=-21336.8242, 切向力Y=11696.1631 +FPS=26.52, 法向力=4393.7046, 切向力X=-21467.2969, 切向力Y=11756.0029 +FPS=25.92, 法向力=4414.6665, 切向力X=-21385.8828, 切向力Y=11726.9297 +FPS=22.57, 法向力=4418.0298, 切向力X=-21391.7207, 切向力Y=11725.4824 +FPS=25.82, 法向力=4435.9961, 切向力X=-21337.0469, 切向力Y=11694.9473 +FPS=25.01, 法向力=4411.0068, 切向力X=-21394.4844, 切向力Y=11687.1631 +FPS=25.57, 法向力=4444.4102, 切向力X=-21345.7266, 切向力Y=11705.1445 +FPS=25.40, 法向力=4421.4180, 切向力X=-21393.3164, 切向力Y=11718.1025 +FPS=24.77, 法向力=4423.2402, 切向力X=-21329.6172, 切向力Y=11691.4277 +FPS=25.59, 法向力=4413.5728, 切向力X=-21389.4121, 切向力Y=11685.8008 +FPS=25.38, 法向力=4441.4312, 切向力X=-21343.0664, 切向力Y=11705.3887 +FPS=25.42, 法向力=4323.9009, 切向力X=-21658.6797, 切向力Y=11604.8457 +FPS=25.42, 法向力=4428.9380, 切向力X=-21338.5078, 切向力Y=11697.9199 +FPS=25.27, 法向力=4409.8467, 切向力X=-21373.3887, 切向力Y=11682.3535 +FPS=25.46, 法向力=4436.9907, 切向力X=-21349.7012, 切向力Y=11708.5918 +FPS=25.54, 法向力=4324.4302, 切向力X=-21658.4297, 切向力Y=11604.3867 +FPS=24.28, 法向力=4437.8252, 切向力X=-21341.6641, 切向力Y=11698.7139 +FPS=24.86, 法向力=4413.3467, 切向力X=-21397.3398, 切向力Y=11685.2451 +FPS=24.83, 法向力=4348.4268, 切向力X=-21627.0703, 切向力Y=11594.9824 +FPS=24.79, 法向力=4413.3154, 切向力X=-21387.5898, 切向力Y=11721.2812 +FPS=24.05, 法向力=4429.8066, 切向力X=-21332.5430, 切向力Y=11695.2148 +FPS=23.99, 法向力=4418.2393, 切向力X=-21399.0938, 切向力Y=11686.7637 +FPS=24.05, 法向力=4438.8809, 切向力X=-21343.9766, 切向力Y=11702.3174 +FPS=24.42, 法向力=4410.1445, 切向力X=-21382.6797, 切向力Y=11717.3203 +FPS=24.35, 法向力=4433.9053, 切向力X=-21334.7773, 切向力Y=11693.6250 +FPS=24.61, 法向力=4394.9219, 切向力X=-21486.1992, 切向力Y=11758.4434 +FPS=24.44, 法向力=4417.8252, 切向力X=-21376.6953, 切向力Y=11723.6416 +FPS=24.30, 法向力=4417.0723, 切向力X=-21392.2930, 切向力Y=11725.3906 +FPS=24.59, 法向力=4434.5566, 切向力X=-21337.4355, 切向力Y=11690.7197 +FPS=24.58, 法向力=4410.2432, 切向力X=-21395.2852, 切向力Y=11687.4453 +FPS=24.81, 法向力=4445.2207, 切向力X=-21342.6191, 切向力Y=11708.5107 +FPS=24.58, 法向力=4337.3467, 切向力X=-21583.9922, 切向力Y=11629.3232 +FPS=23.96, 法向力=4401.7314, 切向力X=-21394.0059, 切向力Y=11681.3057 +FPS=23.92, 法向力=4407.1421, 切向力X=-21390.6660, 切向力Y=11686.8564 +FPS=24.27, 法向力=4437.9355, 切向力X=-21376.2305, 切向力Y=11672.5723 +FPS=25.21, 法向力=4390.0039, 切向力X=-21366.4531, 切向力Y=11708.7900 +FPS=23.53, 法向力=4359.9995, 切向力X=-21508.0469, 切向力Y=11632.9219 +FPS=24.51, 法向力=4385.7822, 切向力X=-21443.9902, 切向力Y=11685.8525 +FPS=24.45, 法向力=4429.6514, 切向力X=-21348.3828, 切向力Y=11683.8984 +FPS=23.80, 法向力=4406.8770, 切向力X=-21390.5938, 切向力Y=11719.7012 +FPS=24.06, 法向力=4435.3735, 切向力X=-21316.2676, 切向力Y=11709.5635 +FPS=24.17, 法向力=4356.0762, 切向力X=-21502.6113, 切向力Y=11729.1904 +FPS=24.49, 法向力=4394.2324, 切向力X=-21404.4570, 切向力Y=11666.0664 +FPS=24.46, 法向力=4404.4160, 切向力X=-21383.9141, 切向力Y=11683.2422 +FPS=24.17, 法向力=4431.6411, 切向力X=-21363.6562, 切向力Y=11688.9199 +FPS=24.83, 法向力=4402.0127, 切向力X=-21400.7031, 切向力Y=11685.6484 +FPS=25.45, 法向力=4432.5400, 切向力X=-21337.5605, 切向力Y=11703.2451 +FPS=24.20, 法向力=4413.8726, 切向力X=-21399.2695, 切向力Y=11719.4697 +FPS=25.40, 法向力=4431.4092, 切向力X=-21338.5566, 切向力Y=11694.0117 +FPS=25.31, 法向力=4414.0186, 切向力X=-21392.5020, 切向力Y=11694.0742 +FPS=25.76, 法向力=4436.4482, 切向力X=-21354.6699, 切向力Y=11672.1953 +FPS=24.99, 法向力=4398.5068, 切向力X=-21400.9062, 切向力Y=11713.8662 +FPS=25.05, 法向力=4432.2988, 切向力X=-21314.5469, 切向力Y=11716.1494 +FPS=26.37, 法向力=4336.7695, 切向力X=-21571.3789, 切向力Y=11625.0234 +FPS=26.00, 法向力=4396.5889, 切向力X=-21405.2266, 切向力Y=11659.9707 +FPS=25.90, 法向力=4407.9658, 切向力X=-21386.0625, 切向力Y=11687.2852 +FPS=25.59, 法向力=4430.1245, 切向力X=-21360.3438, 切向力Y=11692.6191 +FPS=26.48, 法向力=4399.4644, 切向力X=-21391.3711, 切向力Y=11677.2861 +FPS=26.16, 法向力=4434.2139, 切向力X=-21338.0117, 切向力Y=11702.7705 +FPS=26.24, 法向力=4415.1494, 切向力X=-21399.5430, 切向力Y=11720.6240 +FPS=25.41, 法向力=4428.6396, 切向力X=-21336.5391, 切向力Y=11696.2852 +FPS=25.84, 法向力=4413.8916, 切向力X=-21391.0117, 切向力Y=11690.3975 +FPS=25.84, 法向力=4437.4521, 切向力X=-21356.1211, 切向力Y=11671.3125 +FPS=26.22, 法向力=4399.2007, 切向力X=-21397.4395, 切向力Y=11713.3096 +FPS=26.10, 法向力=4430.0342, 切向力X=-21312.8047, 切向力Y=11717.7061 +FPS=26.08, 法向力=4338.8364, 切向力X=-21573.8594, 切向力Y=11624.4043 +FPS=25.48, 法向力=4396.6445, 切向力X=-21406.7070, 切向力Y=11658.1523 +FPS=24.49, 法向力=4408.0127, 切向力X=-21386.3320, 切向力Y=11687.1309 +FPS=24.38, 法向力=4430.1392, 切向力X=-21360.4219, 切向力Y=11692.5762 +FPS=24.25, 法向力=4398.9883, 切向力X=-21391.2227, 切向力Y=11678.4561 +FPS=24.33, 法向力=4435.1172, 切向力X=-21340.4902, 切向力Y=11701.6553 +FPS=24.93, 法向力=4415.3193, 切向力X=-21399.8711, 切向力Y=11720.5195 +FPS=24.47, 法向力=4428.7866, 切向力X=-21336.4961, 切向力Y=11694.0625 +FPS=25.15, 法向力=4413.4663, 切向力X=-21390.7793, 切向力Y=11689.0234 +FPS=24.64, 法向力=4437.3687, 切向力X=-21356.0234, 切向力Y=11671.2285 +FPS=24.06, 法向力=4399.1782, 切向力X=-21397.4043, 切向力Y=11713.2764 +FPS=25.10, 法向力=4430.1758, 切向力X=-21312.5625, 切向力Y=11717.7949 +FPS=25.11, 法向力=4339.2568, 切向力X=-21573.2031, 切向力Y=11624.7168 +FPS=25.29, 法向力=4396.5449, 切向力X=-21406.8184, 切向力Y=11658.1250 +FPS=24.40, 法向力=4407.8550, 切向力X=-21386.5781, 切向力Y=11687.0234 +FPS=24.58, 法向力=4430.1147, 切向力X=-21360.4746, 切向力Y=11692.5469 +FPS=24.23, 法向力=4398.9795, 切向力X=-21391.2344, 切向力Y=11678.4375 +FPS=24.79, 法向力=4435.4976, 切向力X=-21340.7812, 切向力Y=11702.6934 +FPS=26.00, 法向力=4415.3857, 切向力X=-21399.9824, 切向力Y=11720.5371 +FPS=25.14, 法向力=4428.6914, 切向力X=-21336.6367, 切向力Y=11696.2891 +FPS=25.39, 法向力=4398.7334, 切向力X=-21479.8828, 切向力Y=11761.2812 +FPS=24.97, 法向力=4417.7749, 切向力X=-21390.5996, 切向力Y=11727.8574 +FPS=25.12, 法向力=4417.9771, 切向力X=-21389.4648, 切向力Y=11726.8535 +FPS=25.39, 法向力=4435.1895, 切向力X=-21336.1836, 切向力Y=11696.3535 +FPS=26.13, 法向力=4412.9263, 切向力X=-21397.1953, 切向力Y=11687.9971 +FPS=25.26, 法向力=4439.8320, 切向力X=-21344.0703, 切向力Y=11703.9434 +FPS=26.15, 法向力=4410.5391, 切向力X=-21385.1953, 切向力Y=11717.9512 +FPS=25.94, 法向力=4433.1387, 切向力X=-21333.7422, 切向力Y=11696.8545 +FPS=27.03, 法向力=4414.1323, 切向力X=-21398.0078, 切向力Y=11686.9658 +FPS=26.08, 法向力=4439.4941, 切向力X=-21356.3125, 切向力Y=11708.6875 +FPS=26.96, 法向力=4411.0703, 切向力X=-21385.7109, 切向力Y=11718.2354 +FPS=26.66, 法向力=4431.7500, 切向力X=-21332.9883, 切向力Y=11693.1240 +FPS=27.03, 法向力=4399.2471, 切向力X=-21484.5781, 切向力Y=11758.9551 +FPS=25.92, 法向力=4419.6953, 切向力X=-21379.6016, 切向力Y=11722.6279 +FPS=26.54, 法向力=4417.6909, 切向力X=-21390.0469, 切向力Y=11725.5586 +FPS=25.86, 法向力=4435.1304, 切向力X=-21336.6172, 切向力Y=11695.9141 +FPS=25.86, 法向力=4413.2852, 切向力X=-21396.8711, 切向力Y=11688.0723 +FPS=25.38, 法向力=4438.7632, 切向力X=-21356.0469, 切向力Y=11708.2520 +FPS=26.22, 法向力=4410.9312, 切向力X=-21385.5000, 切向力Y=11718.7803 +FPS=25.83, 法向力=4433.3018, 切向力X=-21333.5938, 切向力Y=11697.0566 +FPS=24.96, 法向力=4414.0723, 切向力X=-21398.8594, 切向力Y=11687.4980 +FPS=22.49, 法向力=4440.3408, 切向力X=-21357.3047, 切向力Y=11705.8701 +FPS=24.47, 法向力=4411.1094, 切向力X=-21385.3203, 切向力Y=11717.5605 +FPS=25.60, 法向力=4430.1011, 切向力X=-21330.9180, 切向力Y=11694.8838 +FPS=25.99, 法向力=4415.6084, 切向力X=-21394.9961, 切向力Y=11686.5342 +FPS=25.37, 法向力=4443.1724, 切向力X=-21344.3828, 切向力Y=11704.2891 +FPS=25.06, 法向力=4329.0039, 切向力X=-21577.1328, 切向力Y=11626.9258 +FPS=24.91, 法向力=4406.5605, 切向力X=-21394.7832, 切向力Y=11688.2695 +FPS=24.72, 法向力=4411.6416, 切向力X=-21394.6660, 切向力Y=11686.6787 +FPS=25.43, 法向力=4431.1025, 切向力X=-21339.6113, 切向力Y=11703.2900 +FPS=25.52, 法向力=4330.8604, 切向力X=-21579.7676, 切向力Y=11631.9336 +FPS=25.54, 法向力=4403.9038, 切向力X=-21387.9688, 切向力Y=11679.6875 +FPS=26.05, 法向力=4416.2852, 切向力X=-21406.4297, 切向力Y=11686.9004 +FPS=25.96, 法向力=4423.5449, 切向力X=-21346.2227, 切向力Y=11709.1152 +FPS=25.11, 法向力=4333.8828, 切向力X=-21568.3711, 切向力Y=11644.3086 +FPS=25.76, 法向力=4400.9277, 切向力X=-21387.3340, 切向力Y=11674.5000 +FPS=24.81, 法向力=4414.4468, 切向力X=-21396.7500, 切向力Y=11691.0117 +FPS=25.95, 法向力=4426.1523, 切向力X=-21374.2188, 切向力Y=11669.2773 +FPS=24.85, 法向力=4397.0356, 切向力X=-21367.0957, 切向力Y=11712.6289 +FPS=25.45, 法向力=4357.6211, 切向力X=-21523.8672, 切向力Y=11620.7002 +FPS=24.65, 法向力=4380.2842, 切向力X=-21442.6641, 切向力Y=11686.1562 +FPS=25.39, 法向力=4431.8330, 切向力X=-21345.3066, 切向力Y=11682.3906 +FPS=25.20, 法向力=4409.7485, 切向力X=-21392.6250, 切向力Y=11719.0605 +FPS=25.80, 法向力=4429.7490, 切向力X=-21314.8008, 切向力Y=11709.9668 +FPS=25.78, 法向力=4357.4380, 切向力X=-21504.0410, 切向力Y=11727.1758 +FPS=25.02, 法向力=4397.7393, 切向力X=-21404.5039, 切向力Y=11660.3555 +FPS=25.50, 法向力=4401.1953, 切向力X=-21384.9316, 切向力Y=11682.4258 +FPS=25.17, 法向力=4428.9907, 切向力X=-21360.0156, 切向力Y=11690.0957 +FPS=25.40, 法向力=4415.0376, 切向力X=-21407.8203, 切向力Y=11689.7402 +FPS=25.87, 法向力=4440.7822, 切向力X=-21346.4414, 切向力Y=11703.9717 +FPS=25.41, 法向力=4324.5537, 切向力X=-21573.7539, 切向力Y=11625.3955 +FPS=25.15, 法向力=4406.9658, 切向力X=-21395.9473, 切向力Y=11686.9531 +FPS=25.76, 法向力=4411.6538, 切向力X=-21387.9980, 切向力Y=11692.4600 +FPS=25.46, 法向力=4431.0156, 切向力X=-21360.6523, 切向力Y=11672.7715 +FPS=24.05, 法向力=4413.7939, 切向力X=-21405.1172, 切向力Y=11719.9873 +FPS=25.39, 法向力=4297.0283, 切向力X=-21730.1523, 切向力Y=11562.0986 +FPS=26.60, 法向力=4373.6582, 切向力X=-21457.9023, 切向力Y=11676.4863 +FPS=26.92, 法向力=4423.4307, 切向力X=-21347.8770, 切向力Y=11681.5293 +FPS=27.72, 法向力=4412.4702, 切向力X=-21421.0020, 切向力Y=11686.4951 +FPS=26.99, 法向力=4436.4487, 切向力X=-21340.6152, 切向力Y=11716.9971 +FPS=27.24, 法向力=4357.7744, 切向力X=-21503.0430, 切向力Y=11717.7207 +FPS=25.98, 法向力=4399.8965, 切向力X=-21412.0938, 切向力Y=11655.4316 +FPS=25.93, 法向力=4402.9985, 切向力X=-21383.4277, 切向力Y=11679.8535 +FPS=26.77, 法向力=4426.5771, 切向力X=-21357.8594, 切向力Y=11691.1191 +FPS=27.06, 法向力=4414.9399, 切向力X=-21406.8379, 切向力Y=11685.3008 +FPS=26.33, 法向力=4440.4453, 切向力X=-21346.5801, 切向力Y=11704.3184 +FPS=25.89, 法向力=4422.6543, 切向力X=-21394.4414, 切向力Y=11722.1152 +FPS=26.98, 法向力=4431.6206, 切向力X=-21335.0898, 切向力Y=11693.9385 +FPS=26.88, 法向力=4395.5273, 切向力X=-21481.1836, 切向力Y=11760.1328 +FPS=27.11, 法向力=4411.0156, 切向力X=-21388.9727, 切向力Y=11688.8965 +FPS=27.70, 法向力=4406.3545, 切向力X=-21401.6680, 切向力Y=11720.5469 +FPS=26.88, 法向力=4363.3955, 切向力X=-21515.0977, 切向力Y=11618.0488 +FPS=27.56, 法向力=4377.2217, 切向力X=-21440.9473, 切向力Y=11676.8066 +FPS=27.51, 法向力=4423.9629, 切向力X=-21347.7773, 切向力Y=11680.0459 +FPS=26.17, 法向力=4412.8193, 切向力X=-21420.8164, 切向力Y=11686.1406 +FPS=27.26, 法向力=4433.0327, 切向力X=-21338.2754, 切向力Y=11714.9766 +FPS=27.14, 法向力=4350.0693, 切向力X=-21493.8379, 切向力Y=11717.4434 +FPS=27.65, 法向力=4400.6519, 切向力X=-21407.3477, 切向力Y=11661.0352 +FPS=26.46, 法向力=4405.8564, 切向力X=-21383.7910, 切向力Y=11686.3066 +FPS=26.66, 法向力=4426.6553, 切向力X=-21354.4805, 切向力Y=11689.6904 +FPS=27.36, 法向力=4411.3218, 切向力X=-21397.9141, 切向力Y=11679.8477 +FPS=27.31, 法向力=4440.5713, 切向力X=-21347.2402, 切向力Y=11703.9863 +FPS=25.40, 法向力=4421.3877, 切向力X=-21392.0469, 切向力Y=11719.2988 +FPS=28.59, 法向力=4431.0933, 切向力X=-21335.5430, 切向力Y=11695.6631 +FPS=30.77, 法向力=4395.4346, 切向力X=-21482.2188, 切向力Y=11761.0586 +FPS=29.78, 法向力=4410.9888, 切向力X=-21389.3066, 切向力Y=11688.8359 +FPS=30.72, 法向力=4406.3345, 切向力X=-21401.7715, 切向力Y=11720.5137 +FPS=29.66, 法向力=4363.3906, 切向力X=-21515.1289, 切向力Y=11618.0420 +FPS=30.60, 法向力=4377.2212, 切向力X=-21440.9590, 切向力Y=11676.8018 +FPS=29.80, 法向力=4423.9619, 切向力X=-21347.7754, 切向力Y=11680.0430 +FPS=28.58, 法向力=4412.8198, 切向力X=-21420.8105, 切向力Y=11686.1406 +FPS=29.89, 法向力=4433.0322, 切向力X=-21338.2734, 切向力Y=11714.9766 +FPS=29.36, 法向力=4350.0713, 切向力X=-21493.8398, 切向力Y=11717.4443 +FPS=29.05, 法向力=4400.6504, 切向力X=-21407.3477, 切向力Y=11661.0352 +FPS=29.56, 法向力=4405.8574, 切向力X=-21383.7793, 切向力Y=11686.3047 +FPS=28.58, 法向力=4426.6558, 切向力X=-21354.4805, 切向力Y=11689.6895 +FPS=27.87, 法向力=4411.3223, 切向力X=-21397.9102, 切向力Y=11679.8438 +FPS=28.21, 法向力=4440.5723, 切向力X=-21347.2383, 切向力Y=11703.9863 +FPS=28.88, 法向力=4421.3867, 切向力X=-21392.0508, 切向力Y=11719.3018 +FPS=29.76, 法向力=4431.0923, 切向力X=-21335.5391, 切向力Y=11695.6641 +FPS=28.77, 法向力=4395.4351, 切向力X=-21482.2188, 切向力Y=11761.0576 +FPS=28.10, 法向力=4410.9858, 切向力X=-21389.3066, 切向力Y=11688.8359 +FPS=28.12, 法向力=4406.3340, 切向力X=-21401.7715, 切向力Y=11720.5137 +FPS=27.15, 法向力=4363.3926, 切向力X=-21515.1289, 切向力Y=11618.0391 +FPS=27.09, 法向力=4377.2197, 切向力X=-21440.9570, 切向力Y=11676.8047 +FPS=28.30, 法向力=4423.9629, 切向力X=-21347.7773, 切向力Y=11680.0449 +FPS=27.52, 法向力=4412.8188, 切向力X=-21420.8164, 切向力Y=11686.1406 +FPS=26.77, 法向力=4433.0327, 切向力X=-21338.2695, 切向力Y=11714.9766 +FPS=27.92, 法向力=4350.0703, 切向力X=-21493.8398, 切向力Y=11717.4395 +FPS=26.58, 法向力=4400.6514, 切向力X=-21407.3516, 切向力Y=11661.0361 +FPS=27.32, 法向力=4405.8555, 切向力X=-21383.7812, 切向力Y=11686.3066 +FPS=26.74, 法向力=4426.6533, 切向力X=-21354.4766, 切向力Y=11689.6885 +FPS=26.93, 法向力=4411.3228, 切向力X=-21397.9141, 切向力Y=11679.8418 +FPS=27.92, 法向力=4440.5718, 切向力X=-21347.2422, 切向力Y=11703.9883 +FPS=27.73, 法向力=4421.3857, 切向力X=-21392.0469, 切向力Y=11719.2969 +FPS=28.40, 法向力=4431.0933, 切向力X=-21335.5391, 切向力Y=11695.6621 +FPS=28.81, 法向力=4395.4365, 切向力X=-21482.2266, 切向力Y=11761.0586 +FPS=27.79, 法向力=4410.9858, 切向力X=-21389.3047, 切向力Y=11688.8350 +FPS=27.82, 法向力=4406.3354, 切向力X=-21401.7695, 切向力Y=11720.5117 +FPS=29.04, 法向力=4363.3916, 切向力X=-21515.1230, 切向力Y=11618.0410 +FPS=29.28, 法向力=4377.2207, 切向力X=-21440.9473, 切向力Y=11676.8047 +FPS=28.66, 法向力=4423.9619, 切向力X=-21347.7793, 切向力Y=11680.0469 +FPS=29.35, 法向力=4412.8188, 切向力X=-21420.8086, 切向力Y=11686.1406 +FPS=28.23, 法向力=4433.0332, 切向力X=-21338.2754, 切向力Y=11714.9785 +FPS=28.93, 法向力=4350.0703, 切向力X=-21493.8438, 切向力Y=11717.4414 +FPS=28.66, 法向力=4400.6523, 切向力X=-21407.3477, 切向力Y=11661.0371 +FPS=28.17, 法向力=4405.8560, 切向力X=-21383.7793, 切向力Y=11686.3086 +FPS=27.90, 法向力=4426.6533, 切向力X=-21354.4883, 切向力Y=11689.6895 +FPS=28.23, 法向力=4411.3208, 切向力X=-21397.9062, 切向力Y=11679.8447 +FPS=28.39, 法向力=4440.5713, 切向力X=-21347.2383, 切向力Y=11703.9873 +FPS=28.44, 法向力=4421.3872, 切向力X=-21392.0352, 切向力Y=11719.2988 +FPS=27.15, 法向力=4431.0938, 切向力X=-21335.5488, 切向力Y=11695.6621 +FPS=26.01, 法向力=4395.4351, 切向力X=-21482.2188, 切向力Y=11761.0605 +FPS=24.95, 法向力=4410.9883, 切向力X=-21389.3125, 切向力Y=11688.8340 +FPS=27.07, 法向力=4406.3335, 切向力X=-21401.7676, 切向力Y=11720.5156 +FPS=28.01, 法向力=4363.3916, 切向力X=-21515.1270, 切向力Y=11618.0430 +FPS=27.38, 法向力=4377.2217, 切向力X=-21440.9531, 切向力Y=11676.8037 +FPS=27.25, 法向力=4423.9639, 切向力X=-21347.7754, 切向力Y=11680.0449 +FPS=27.18, 法向力=4412.8169, 切向力X=-21420.8203, 切向力Y=11686.1426 +FPS=27.94, 法向力=4433.0337, 切向力X=-21338.2734, 切向力Y=11714.9766 +FPS=28.23, 法向力=4350.0688, 切向力X=-21493.8418, 切向力Y=11717.4424 +FPS=28.03, 法向力=4400.6523, 切向力X=-21407.3438, 切向力Y=11661.0332 +FPS=27.00, 法向力=4405.8574, 切向力X=-21383.7812, 切向力Y=11686.3066 +FPS=27.69, 法向力=4426.6543, 切向力X=-21354.4805, 切向力Y=11689.6904 +FPS=26.94, 法向力=4414.0737, 切向力X=-21404.1875, 切向力Y=11684.7695 +FPS=26.26, 法向力=4441.5024, 切向力X=-21347.3477, 切向力Y=11703.0244 +FPS=26.41, 法向力=4337.2368, 切向力X=-21583.8711, 切向力Y=11627.6797 +FPS=27.11, 法向力=4407.1484, 切向力X=-21400.4258, 切向力Y=11684.6875 +FPS=27.07, 法向力=4404.3525, 切向力X=-21402.1992, 切向力Y=11684.1816 +FPS=27.46, 法向力=4429.1216, 切向力X=-21351.9414, 切向力Y=11682.7461 +FPS=27.93, 法向力=4415.9609, 切向力X=-21409.7617, 切向力Y=11686.9844 +FPS=27.00, 法向力=4438.6221, 切向力X=-21347.8750, 切向力Y=11703.0342 +FPS=27.88, 法向力=4419.7021, 切向力X=-21391.7891, 切向力Y=11716.5605 +FPS=27.80, 法向力=4430.0459, 切向力X=-21334.8555, 切向力Y=11689.0400 +FPS=27.74, 法向力=4395.4512, 切向力X=-21482.6758, 切向力Y=11763.0439 +FPS=27.29, 法向力=4411.7324, 切向力X=-21389.0371, 切向力Y=11691.0488 +FPS=25.70, 法向力=4406.4395, 切向力X=-21403.0898, 切向力Y=11721.6650 +FPS=25.19, 法向力=4439.3018, 切向力X=-21323.2129, 切向力Y=11714.6406 +FPS=25.70, 法向力=4359.3623, 切向力X=-21498.9316, 切向力Y=11724.0107 +FPS=24.37, 法向力=4396.8540, 切向力X=-21410.3359, 切向力Y=11662.6143 +FPS=24.73, 法向力=4405.5557, 切向力X=-21382.0957, 切向力Y=11686.4199 +FPS=24.84, 法向力=4426.5186, 切向力X=-21356.7344, 切向力Y=11692.9746 +FPS=24.70, 法向力=4415.4336, 切向力X=-21406.1562, 切向力Y=11685.1250 +FPS=24.16, 法向力=4442.0508, 切向力X=-21347.3848, 切向力Y=11703.6621 +FPS=23.89, 法向力=4420.4736, 切向力X=-21390.9609, 切向力Y=11719.8574 +FPS=24.57, 法向力=4432.3379, 切向力X=-21337.0000, 切向力Y=11696.2393 +FPS=23.87, 法向力=4411.4756, 切向力X=-21391.5391, 切向力Y=11690.9150 +FPS=24.92, 法向力=4437.1558, 切向力X=-21351.9023, 切向力Y=11710.0918 +FPS=24.64, 法向力=4324.7129, 切向力X=-21661.1172, 切向力Y=11604.9121 +FPS=24.87, 法向力=4432.6162, 切向力X=-21341.2266, 切向力Y=11697.2344 +FPS=25.57, 法向力=4412.1030, 切向力X=-21395.2910, 切向力Y=11683.4707 +FPS=25.07, 法向力=4440.6099, 切向力X=-21341.5918, 切向力Y=11702.5508 +FPS=25.89, 法向力=4416.5796, 切向力X=-21389.0215, 切向力Y=11718.8447 +FPS=25.82, 法向力=4343.3882, 切向力X=-21609.1699, 切向力Y=11580.4375 +FPS=24.57, 法向力=4403.7725, 切向力X=-21392.5234, 切向力Y=11685.7305 +FPS=24.52, 法向力=4417.2939, 切向力X=-21435.5898, 切向力Y=11778.2285 +FPS=25.81, 法向力=4401.6689, 切向力X=-21425.6602, 切向力Y=11738.1768 +FPS=26.16, 法向力=4434.3408, 切向力X=-21337.8125, 切向力Y=11699.8691 +FPS=26.55, 法向力=4416.0728, 切向力X=-21399.8496, 切向力Y=11688.6777 +FPS=26.01, 法向力=4437.5723, 切向力X=-21355.3984, 切向力Y=11708.8828 +FPS=26.12, 法向力=4420.6680, 切向力X=-21391.5332, 切向力Y=11718.3477 +FPS=25.53, 法向力=4440.2622, 切向力X=-21339.9688, 切向力Y=11699.9834 +FPS=25.91, 法向力=4409.0820, 切向力X=-21393.2461, 切向力Y=11686.7344 +FPS=25.52, 法向力=4436.3008, 切向力X=-21339.0488, 切向力Y=11705.7109 +FPS=26.59, 法向力=4419.5605, 切向力X=-21394.0508, 切向力Y=11723.2197 +FPS=25.99, 法向力=4429.4170, 切向力X=-21335.0703, 切向力Y=11694.6543 +FPS=26.64, 法向力=4413.6318, 切向力X=-21390.4258, 切向力Y=11689.3301 +FPS=26.30, 法向力=4440.5576, 切向力X=-21354.9160, 切向力Y=11709.8271 +FPS=26.51, 法向力=4420.8330, 切向力X=-21390.5586, 切向力Y=11719.4180 +FPS=26.20, 法向力=4427.4863, 切向力X=-21331.9961, 切向力Y=11691.7881 +FPS=25.95, 法向力=4396.9346, 切向力X=-21482.1719, 切向力Y=11760.5264 +FPS=25.72, 法向力=4415.7505, 切向力X=-21389.0352, 切向力Y=11728.9541 +FPS=26.80, 法向力=4418.1382, 切向力X=-21393.8984, 切向力Y=11726.9033 +FPS=26.20, 法向力=4436.0547, 切向力X=-21338.1152, 切向力Y=11695.0449 +FPS=26.40, 法向力=4411.0103, 切向力X=-21394.7461, 切向力Y=11687.2129 +FPS=26.68, 法向力=4443.2803, 切向力X=-21357.7695, 切向力Y=11709.4961 +FPS=25.94, 法向力=4421.5459, 切向力X=-21393.7578, 切向力Y=11718.5059 +FPS=26.80, 法向力=4423.3252, 切向力X=-21329.5625, 切向力Y=11691.4980 +FPS=27.45, 法向力=4414.9785, 切向力X=-21390.7617, 切向力Y=11686.7500 +FPS=26.85, 法向力=4440.2969, 切向力X=-21355.2617, 切向力Y=11709.4707 +FPS=26.84, 法向力=4323.9863, 切向力X=-21659.2734, 切向力Y=11605.1475 +FPS=26.99, 法向力=4423.6025, 切向力X=-21333.2617, 切向力Y=11694.4121 +FPS=27.76, 法向力=4411.6938, 切向力X=-21386.9902, 切向力Y=11686.1777 +FPS=27.38, 法向力=4438.3525, 切向力X=-21339.8828, 切向力Y=11705.3398 +FPS=27.66, 法向力=4324.2705, 切向力X=-21661.0781, 切向力Y=11603.8926 +FPS=27.49, 法向力=4437.7080, 切向力X=-21342.0488, 切向力Y=11698.5840 +FPS=27.75, 法向力=4413.1826, 切向力X=-21398.4570, 切向力Y=11685.6523 +FPS=27.68, 法向力=4351.2192, 切向力X=-21617.4414, 切向力Y=11588.5723 +FPS=26.97, 法向力=4412.1260, 切向力X=-21386.6934, 切向力Y=11721.0020 +FPS=27.13, 法向力=4431.6890, 切向力X=-21335.3984, 切向力Y=11692.9590 +FPS=26.69, 法向力=4416.2822, 切向力X=-21397.6172, 切向力Y=11689.1689 +FPS=27.15, 法向力=4442.6680, 切向力X=-21359.5742, 切向力Y=11708.0420 +FPS=27.26, 法向力=4419.5615, 切向力X=-21391.1445, 切向力Y=11719.1016 +FPS=27.64, 法向力=4427.0117, 切向力X=-21331.5586, 切向力Y=11692.6348 +FPS=27.29, 法向力=4395.3750, 切向力X=-21480.9883, 切向力Y=11759.7705 +FPS=26.99, 法向力=4415.7544, 切向力X=-21376.5352, 切向力Y=11723.4434 +FPS=26.42, 法向力=4417.5098, 切向力X=-21392.1719, 切向力Y=11724.9248 +FPS=26.49, 法向力=4435.7715, 切向力X=-21337.4375, 切向力Y=11694.8496 +FPS=27.54, 法向力=4410.8970, 切向力X=-21394.6250, 切向力Y=11687.1211 +FPS=27.37, 法向力=4444.3682, 切向力X=-21345.7715, 切向力Y=11705.1348 +FPS=27.06, 法向力=4421.4019, 切向力X=-21393.3359, 切向力Y=11718.0996 +FPS=27.60, 法向力=4423.2334, 切向力X=-21329.6289, 切向力Y=11691.4238 +FPS=27.38, 法向力=4413.5518, 切向力X=-21389.4102, 切向力Y=11685.7988 +FPS=27.07, 法向力=4441.4268, 切向力X=-21343.0508, 切向力Y=11705.3984 +FPS=27.88, 法向力=4323.9048, 切向力X=-21658.6719, 切向力Y=11604.8564 +FPS=26.54, 法向力=4428.9351, 切向力X=-21338.5039, 切向力Y=11697.9199 +FPS=26.16, 法向力=4409.8472, 切向力X=-21373.3711, 切向力Y=11682.3516 +FPS=27.02, 法向力=4436.9902, 切向力X=-21349.6914, 切向力Y=11708.5889 +FPS=27.06, 法向力=4324.4287, 切向力X=-21658.4297, 切向力Y=11604.3848 +FPS=26.54, 法向力=4437.8247, 切向力X=-21341.6641, 切向力Y=11698.7168 +FPS=25.40, 法向力=4413.3472, 切向力X=-21397.3320, 切向力Y=11685.2500 +FPS=25.05, 法向力=4348.4287, 切向力X=-21627.0781, 切向力Y=11594.9834 +FPS=25.67, 法向力=4413.3125, 切向力X=-21387.5879, 切向力Y=11721.2812 +FPS=26.00, 法向力=4429.8062, 切向力X=-21332.5469, 切向力Y=11695.2139 +FPS=26.43, 法向力=4418.2373, 切向力X=-21399.0957, 切向力Y=11686.7637 +FPS=26.79, 法向力=4438.8828, 切向力X=-21343.9746, 切向力Y=11702.3164 +FPS=26.67, 法向力=4410.1450, 切向力X=-21382.6836, 切向力Y=11717.3184 +FPS=26.24, 法向力=4433.9067, 切向力X=-21334.7695, 切向力Y=11693.6270 +FPS=26.64, 法向力=4394.9238, 切向力X=-21486.2031, 切向力Y=11758.4414 +FPS=25.25, 法向力=4417.8262, 切向力X=-21376.6855, 切向力Y=11723.6426 +FPS=23.22, 法向力=4417.0732, 切向力X=-21392.2891, 切向力Y=11725.3867 +FPS=25.55, 法向力=4434.5586, 切向力X=-21337.4355, 切向力Y=11690.7178 +FPS=25.72, 法向力=4410.2427, 切向力X=-21395.2930, 切向力Y=11687.4443 +FPS=26.16, 法向力=4445.2178, 切向力X=-21342.6211, 切向力Y=11708.5088 +FPS=26.17, 法向力=4337.3447, 切向力X=-21583.9883, 切向力Y=11629.3223 +FPS=26.65, 法向力=4401.8491, 切向力X=-21393.8438, 切向力Y=11681.3906 +FPS=26.55, 法向力=4407.3125, 切向力X=-21390.3906, 切向力Y=11687.0000 +FPS=25.61, 法向力=4437.7061, 切向力X=-21376.5508, 切向力Y=11672.4238 +FPS=26.19, 法向力=4389.8223, 切向力X=-21366.6875, 切向力Y=11708.6523 +FPS=26.24, 法向力=4359.9678, 切向力X=-21508.0938, 切向力Y=11632.8770 +FPS=25.78, 法向力=4385.9102, 切向力X=-21443.7910, 切向力Y=11685.9375 +FPS=26.06, 法向力=4429.8008, 切向力X=-21348.1250, 切向力Y=11684.0195 +FPS=26.50, 法向力=4406.8975, 切向力X=-21390.5273, 切向力Y=11719.7344 +FPS=25.83, 法向力=4435.3838, 切向力X=-21316.2461, 切向力Y=11709.5781 +FPS=25.27, 法向力=4356.0796, 切向力X=-21502.5977, 切向力Y=11729.1973 +FPS=25.30, 法向力=4394.2354, 切向力X=-21404.4531, 切向力Y=11666.0664 +FPS=25.43, 法向力=4404.4165, 切向力X=-21383.9043, 切向力Y=11683.2441 +FPS=25.29, 法向力=4431.6450, 切向力X=-21363.6523, 切向力Y=11688.9219 +FPS=25.87, 法向力=4402.2715, 切向力X=-21400.3242, 切向力Y=11685.8408 +FPS=24.95, 法向力=4432.4155, 切向力X=-21337.6836, 切向力Y=11703.1934 +FPS=25.37, 法向力=4413.6851, 切向力X=-21399.5449, 切向力Y=11719.3398 +FPS=25.46, 法向力=4431.2275, 切向力X=-21338.8477, 切向力Y=11693.8633 +FPS=25.74, 法向力=4413.9922, 切向力X=-21392.5703, 切向力Y=11694.0225 +FPS=26.03, 法向力=4435.3965, 切向力X=-21366.6875, 切向力Y=11676.5459 +FPS=25.04, 法向力=4398.3833, 切向力X=-21398.2051, 切向力Y=11712.7422 +FPS=25.58, 法向力=4432.3594, 切向力X=-21314.3594, 切向力Y=11716.0078 +FPS=26.32, 法向力=4335.2383, 切向力X=-21570.1289, 切向力Y=11624.5723 +FPS=25.98, 法向力=4401.3682, 切向力X=-21412.4805, 切向力Y=11665.8555 +FPS=26.34, 法向力=4404.9912, 切向力X=-21386.0801, 切向力Y=11684.7168 +FPS=26.12, 法向力=4429.8301, 切向力X=-21360.9102, 切向力Y=11692.4307 +FPS=26.69, 法向力=4399.3706, 切向力X=-21391.5234, 切向力Y=11677.2383 +FPS=26.67, 法向力=4434.1748, 切向力X=-21338.0703, 切向力Y=11702.7549 +FPS=26.67, 法向力=4415.1304, 切向力X=-21399.5645, 切向力Y=11720.6201 +FPS=25.80, 法向力=4428.6328, 切向力X=-21336.5508, 切向力Y=11696.2812 +FPS=25.36, 法向力=4398.7178, 切向力X=-21479.8672, 切向力Y=11761.2744 +FPS=26.04, 法向力=4417.7705, 切向力X=-21390.5977, 切向力Y=11727.8555 +FPS=25.44, 法向力=4417.9775, 切向力X=-21389.4609, 切向力Y=11726.8535 +FPS=25.42, 法向力=4435.3364, 切向力X=-21335.9531, 切向力Y=11696.4639 +FPS=25.40, 法向力=4413.3701, 切向力X=-21396.5449, 切向力Y=11688.3242 +FPS=25.19, 法向力=4439.9058, 切向力X=-21343.9297, 切向力Y=11704.0332 +FPS=25.68, 法向力=4410.6040, 切向力X=-21385.1738, 切向力Y=11717.9883 +FPS=25.72, 法向力=4433.1533, 切向力X=-21333.7617, 切向力Y=11696.8574 +FPS=26.05, 法向力=4414.1201, 切向力X=-21398.0078, 切向力Y=11686.9639 +FPS=25.48, 法向力=4439.4868, 切向力X=-21356.2969, 切向力Y=11708.6865 +FPS=25.63, 法向力=4411.0684, 切向力X=-21385.6992, 切向力Y=11718.2354 +FPS=24.80, 法向力=4431.7529, 切向力X=-21332.9785, 切向力Y=11693.1221 +FPS=25.25, 法向力=4399.2471, 切向力X=-21484.5781, 切向力Y=11758.9570 +FPS=25.13, 法向力=4419.6963, 切向力X=-21379.6016, 切向力Y=11722.6270 +FPS=25.69, 法向力=4417.6929, 切向力X=-21390.0371, 切向力Y=11725.5586 +FPS=25.76, 法向力=4435.1318, 切向力X=-21336.6172, 切向力Y=11695.9141 +FPS=26.46, 法向力=4414.6362, 切向力X=-21398.2402, 切向力Y=11689.0068 +FPS=25.87, 法向力=4440.1475, 切向力X=-21343.8398, 切向力Y=11703.9121 +FPS=26.85, 法向力=4410.7471, 切向力X=-21387.6836, 切向力Y=11717.9570 +FPS=26.56, 法向力=4433.1768, 切向力X=-21333.8652, 切向力Y=11696.8164 +FPS=26.65, 法向力=4414.1377, 切向力X=-21398.0586, 切向力Y=11686.9473 +FPS=26.29, 法向力=4439.4873, 切向力X=-21356.3359, 切向力Y=11708.6729 +FPS=26.13, 法向力=4411.0674, 切向力X=-21385.7246, 切向力Y=11718.2246 +FPS=26.40, 法向力=4431.7471, 切向力X=-21332.9961, 切向力Y=11693.1211 +FPS=25.85, 法向力=4399.2461, 切向力X=-21484.5859, 切向力Y=11758.9590 +FPS=26.19, 法向力=4419.6934, 切向力X=-21379.6055, 切向力Y=11722.6260 +FPS=26.33, 法向力=4417.6924, 切向力X=-21390.0508, 切向力Y=11725.5576 +FPS=26.41, 法向力=4435.1309, 切向力X=-21336.6172, 切向力Y=11695.9131 +FPS=26.57, 法向力=4413.2861, 切向力X=-21396.8750, 切向力Y=11688.0723 +FPS=27.06, 法向力=4438.7627, 切向力X=-21356.0469, 切向力Y=11708.2500 +FPS=28.35, 法向力=4410.9341, 切向力X=-21385.5039, 切向力Y=11718.7783 +FPS=26.72, 法向力=4433.3032, 切向力X=-21333.5996, 切向力Y=11697.0576 +FPS=25.95, 法向力=4414.0684, 切向力X=-21398.8594, 切向力Y=11687.5010 +FPS=26.31, 法向力=4440.3403, 切向力X=-21357.3086, 切向力Y=11705.8711 +FPS=26.46, 法向力=4411.1104, 切向力X=-21385.3242, 切向力Y=11717.5596 +FPS=26.24, 法向力=4430.1025, 切向力X=-21330.9258, 切向力Y=11694.8877 +FPS=25.92, 法向力=4415.6064, 切向力X=-21394.9961, 切向力Y=11686.5361 +FPS=26.00, 法向力=4443.1748, 切向力X=-21344.3848, 切向力Y=11704.2920 +FPS=25.58, 法向力=4329.0054, 切向力X=-21577.1289, 切向力Y=11626.9277 +FPS=26.34, 法向力=4406.5596, 切向力X=-21394.7773, 切向力Y=11688.2666 +FPS=25.98, 法向力=4411.6401, 切向力X=-21394.6621, 切向力Y=11686.6807 +FPS=26.59, 法向力=4431.1021, 切向力X=-21339.6035, 切向力Y=11703.2900 +FPS=26.68, 法向力=4331.1216, 切向力X=-21579.4004, 切向力Y=11632.1240 +FPS=26.30, 法向力=4403.6904, 切向力X=-21388.3320, 切向力Y=11679.5332 +FPS=24.81, 法向力=4414.6968, 切向力X=-21405.3867, 切向力Y=11685.7549 +FPS=26.31, 法向力=4421.2139, 切向力X=-21324.8691, 切向力Y=11705.3145 +FPS=26.33, 法向力=4334.4375, 切向力X=-21568.3809, 切向力Y=11645.6387 +FPS=26.08, 法向力=4402.7905, 切向力X=-21393.9746, 切向力Y=11680.6660 +FPS=25.80, 法向力=4400.7285, 切向力X=-21409.2207, 切向力Y=11683.7441 +FPS=26.02, 法向力=4441.1348, 切向力X=-21341.1660, 切向力Y=11714.6055 +FPS=26.36, 法向力=4352.4829, 切向力X=-21503.2949, 切向力Y=11715.3320 +FPS=25.74, 法向力=4395.6016, 切向力X=-21409.5547, 切向力Y=11656.2988 +FPS=25.66, 法向力=4406.3696, 切向力X=-21391.8789, 切向力Y=11678.0176 +FPS=25.99, 法向力=4435.8994, 切向力X=-21338.3066, 切向力Y=11715.8047 +FPS=26.46, 法向力=4357.4419, 切向力X=-21503.4727, 切向力Y=11716.8008 +FPS=26.23, 法向力=4399.8179, 切向力X=-21412.1074, 切向力Y=11655.2324 +FPS=25.80, 法向力=4402.9771, 切向力X=-21383.4316, 切向力Y=11679.7871 +FPS=25.67, 法向力=4426.5693, 切向力X=-21357.8809, 切向力Y=11691.0957 +FPS=24.67, 法向力=4412.2734, 切向力X=-21400.2070, 切向力Y=11680.6055 +FPS=25.57, 法向力=4440.8882, 切向力X=-21348.1309, 切向力Y=11703.9775 +FPS=25.12, 法向力=4421.4966, 切向力X=-21392.3281, 切向力Y=11719.2188 +FPS=24.53, 法向力=4431.1372, 切向力X=-21335.6445, 切向力Y=11695.6016 +FPS=25.69, 法向力=4395.4492, 切向力X=-21482.2637, 切向力Y=11761.0107 +FPS=25.75, 法向力=4410.1250, 切向力X=-21401.0977, 切向力Y=11693.3164 +FPS=25.79, 法向力=4408.1973, 切向力X=-21404.0469, 切向力Y=11722.3945 +FPS=25.79, 法向力=4437.6782, 切向力X=-21320.7969, 切向力Y=11716.1299 +FPS=25.65, 法向力=4362.0234, 切向力X=-21500.6152, 切向力Y=11723.4043 +FPS=25.47, 法向力=4396.8931, 切向力X=-21411.8945, 切向力Y=11660.6650 +FPS=25.37, 法向力=4405.4775, 切向力X=-21382.6035, 切向力Y=11686.1172 +FPS=26.25, 法向力=4426.5225, 切向力X=-21356.8555, 切向力Y=11692.8789 +FPS=25.92, 法向力=4414.9517, 切向力X=-21406.0273, 切向力Y=11686.2676 +FPS=25.67, 法向力=4442.6396, 切向力X=-21350.3418, 切向力Y=11702.2939 +FPS=22.77, 法向力=4420.4453, 切向力X=-21391.6289, 切向力Y=11719.5654 +FPS=24.26, 法向力=4426.8042, 切向力X=-21332.1211, 切向力Y=11692.5342 +FPS=25.08, 法向力=4394.9126, 切向力X=-21481.7246, 切向力Y=11759.4824 +FPS=26.01, 法向力=4415.5225, 切向力X=-21376.9141, 切向力Y=11723.2500 +FPS=26.01, 法向力=4417.6133, 切向力X=-21392.0391, 切向力Y=11724.9736 +FPS=25.09, 法向力=4435.7812, 切向力X=-21337.4062, 切向力Y=11694.8496 +FPS=25.39, 法向力=4410.9185, 切向力X=-21394.6387, 切向力Y=11687.1250 +FPS=25.92, 法向力=4444.3716, 切向力X=-21345.7812, 切向力Y=11705.1338 +FPS=25.40, 法向力=4421.4033, 切向力X=-21393.3398, 切向力Y=11718.0977 +FPS=26.52, 法向力=4423.2275, 切向力X=-21329.6289, 切向力Y=11691.4248 +FPS=25.93, 法向力=4414.9463, 切向力X=-21390.8066, 切向力Y=11686.7334 +FPS=26.22, 法向力=4440.2842, 切向力X=-21355.2930, 切向力Y=11709.4648 +FPS=25.80, 法向力=4323.9810, 切向力X=-21659.2832, 切向力Y=11605.1426 +FPS=25.65, 法向力=4423.6006, 切向力X=-21333.2539, 切向力Y=11694.4121 +FPS=26.39, 法向力=4413.0659, 切向力X=-21388.3789, 切向力Y=11687.1094 +FPS=26.28, 法向力=4436.8984, 切向力X=-21352.5820, 切向力Y=11709.1768 +FPS=26.21, 法向力=4324.2979, 切向力X=-21659.1758, 切向力Y=11604.4883 +FPS=26.48, 法向力=4437.7622, 切向力X=-21341.8828, 切向力Y=11698.7480 +FPS=25.25, 法向力=4413.2124, 切向力X=-21398.3555, 切向力Y=11685.7080 +FPS=24.28, 法向力=4351.6074, 切向力X=-21617.6875, 切向力Y=11589.6445 +FPS=26.51, 法向力=4412.2031, 切向力X=-21386.7754, 切向力Y=11721.0273 +FPS=26.72, 法向力=4431.5928, 切向力X=-21335.5312, 切向力Y=11695.1895 +FPS=25.72, 法向力=4416.7158, 切向力X=-21397.8789, 切向力Y=11690.5518 +FPS=26.16, 法向力=4442.7539, 切向力X=-21359.6992, 切向力Y=11708.1309 +FPS=26.13, 法向力=4419.5811, 切向力X=-21391.1797, 切向力Y=11719.1309 +FPS=25.49, 法向力=4427.0171, 切向力X=-21331.5820, 切向力Y=11692.6475 +FPS=25.54, 法向力=4395.3770, 切向力X=-21480.9844, 切向力Y=11759.7793 +FPS=25.84, 法向力=4415.7534, 切向力X=-21376.5273, 切向力Y=11723.4473 +FPS=26.41, 法向力=4416.9668, 切向力X=-21391.5625, 切向力Y=11725.3096 +FPS=25.98, 法向力=4434.5498, 切向力X=-21337.0625, 切向力Y=11690.8594 +FPS=26.00, 法向力=4410.2354, 切向力X=-21395.1211, 切向力Y=11687.5410 +FPS=25.54, 法向力=4445.6460, 切向力X=-21344.6387, 切向力Y=11708.2070 +FPS=26.31, 法向力=4420.1274, 切向力X=-21390.9102, 切向力Y=11720.3154 +FPS=25.04, 法向力=4421.5664, 切向力X=-21328.1367, 切向力Y=11686.2852 +FPS=24.96, 法向力=4415.2080, 切向力X=-21392.2930, 切向力Y=11686.5752 +FPS=25.84, 法向力=4440.9448, 切向力X=-21356.8340, 切向力Y=11712.5723 +FPS=25.93, 法向力=4320.3218, 切向力X=-21656.4688, 切向力Y=11604.0654 +FPS=25.62, 法向力=4424.5117, 切向力X=-21332.8145, 切向力Y=11690.6914 +FPS=26.16, 法向力=4414.4683, 切向力X=-21391.7500, 切向力Y=11688.8330 +FPS=24.61, 法向力=4435.7021, 切向力X=-21352.1094, 切向力Y=11712.2188 +FPS=25.44, 法向力=4322.6548, 切向力X=-21657.8438, 切向力Y=11601.5332 +FPS=25.60, 法向力=4439.0522, 切向力X=-21342.1758, 切向力Y=11693.4082 +FPS=25.40, 法向力=4416.3350, 切向力X=-21402.3984, 切向力Y=11690.2617 +FPS=26.34, 法向力=4443.7466, 切向力X=-21358.3281, 切向力Y=11712.5859 +FPS=26.48, 法向力=4410.0552, 切向力X=-21387.6914, 切向力Y=11717.3682 +FPS=24.96, 法向力=4435.7334, 切向力X=-21334.4141, 切向力Y=11690.9062 +FPS=25.97, 法向力=4417.2773, 切向力X=-21399.8047, 切向力Y=11691.4219 +FPS=26.29, 法向力=4441.5029, 切向力X=-21359.2344, 切向力Y=11713.9258 +FPS=25.92, 法向力=4420.8657, 切向力X=-21391.8125, 切向力Y=11716.1377 +FPS=26.19, 法向力=4427.5215, 切向力X=-21331.2734, 切向力Y=11687.6924 +FPS=26.54, 法向力=4413.5488, 切向力X=-21395.2891, 切向力Y=11692.0693 +FPS=26.22, 法向力=4437.1763, 切向力X=-21355.0547, 切向力Y=11712.8262 +FPS=26.27, 法向力=4409.5303, 切向力X=-21384.1816, 切向力Y=11717.1309 +FPS=26.26, 法向力=4434.6924, 切向力X=-21334.5586, 切向力Y=11691.0146 +FPS=25.89, 法向力=4412.9692, 切向力X=-21399.5781, 切向力Y=11691.1973 +FPS=27.39, 法向力=4443.3330, 切向力X=-21357.0000, 切向力Y=11712.9082 +FPS=26.42, 法向力=4410.0542, 切向力X=-21387.2539, 切向力Y=11717.1670 +FPS=26.20, 法向力=4435.5054, 切向力X=-21334.4688, 切向力Y=11690.5840 +FPS=26.86, 法向力=4418.5439, 切向力X=-21401.3086, 切向力Y=11692.2363 +FPS=27.16, 法向力=4441.4224, 切向力X=-21359.5605, 切向力Y=11713.6230 +FPS=26.26, 法向力=4420.5825, 切向力X=-21392.2070, 切向力Y=11715.5615 +FPS=27.51, 法向力=4427.4219, 切向力X=-21331.4922, 切向力Y=11687.4844 +FPS=26.70, 法向力=4413.5044, 切向力X=-21395.4062, 切向力Y=11691.9727 +FPS=27.56, 法向力=4437.1587, 切向力X=-21355.1094, 切向力Y=11712.7871 +FPS=27.19, 法向力=4409.5244, 切向力X=-21384.1992, 切向力Y=11717.1123 +FPS=26.26, 法向力=4434.6880, 切向力X=-21334.5605, 切向力Y=11691.0049 +FPS=27.82, 法向力=4412.9668, 切向力X=-21399.5977, 切向力Y=11691.1914 +FPS=27.37, 法向力=4443.3330, 切向力X=-21357.0039, 切向力Y=11712.9023 +FPS=27.92, 法向力=4410.3369, 切向力X=-21386.8281, 切向力Y=11717.3711 +FPS=28.54, 法向力=4435.5488, 切向力X=-21334.3691, 切向力Y=11690.6465 +FPS=27.06, 法向力=4418.8623, 切向力X=-21400.9414, 切向力Y=11692.4629 +FPS=27.85, 法向力=4441.7256, 切向力X=-21359.1113, 切向力Y=11713.8711 +FPS=28.35, 法向力=4420.5098, 切向力X=-21392.2812, 切向力Y=11715.5410 +FPS=28.89, 法向力=4427.5830, 切向力X=-21331.2461, 切向力Y=11687.6074 +FPS=28.31, 法向力=4413.6768, 切向力X=-21395.1211, 切向力Y=11692.1182 +FPS=27.92, 法向力=4437.1855, 切向力X=-21355.0391, 切向力Y=11712.8320 +FPS=27.92, 法向力=4409.5312, 切向力X=-21384.1914, 切向力Y=11717.1338 +FPS=28.61, 法向力=4435.0088, 切向力X=-21334.0820, 切向力Y=11691.2520 +FPS=28.95, 法向力=4412.5044, 切向力X=-21398.8574, 切向力Y=11691.6445 +FPS=28.31, 法向力=4442.2568, 切向力X=-21356.3555, 切向力Y=11709.0508 +FPS=29.17, 法向力=4410.3198, 切向力X=-21387.1035, 切向力Y=11717.8926 +FPS=27.63, 法向力=4434.2285, 切向力X=-21335.7734, 切向力Y=11693.2422 +FPS=28.66, 法向力=4417.1064, 切向力X=-21398.9531, 切向力Y=11693.6826 +FPS=28.76, 法向力=4441.7764, 切向力X=-21358.3633, 切向力Y=11708.9453 +FPS=28.88, 法向力=4418.3877, 切向力X=-21391.9141, 切向力Y=11717.7832 +FPS=27.83, 法向力=4428.9819, 切向力X=-21333.5781, 切向力Y=11690.6309 +FPS=27.88, 法向力=4392.8320, 切向力X=-21479.2598, 切向力Y=11760.0078 +FPS=28.40, 法向力=4415.3066, 切向力X=-21375.6699, 切向力Y=11724.9141 +FPS=28.24, 法向力=4417.5391, 切向力X=-21391.8320, 切向力Y=11725.0752 +FPS=28.89, 法向力=4435.8804, 切向力X=-21337.2617, 切向力Y=11692.6523 +FPS=28.71, 法向力=4410.4766, 切向力X=-21394.3867, 切向力Y=11685.7520 +FPS=27.83, 法向力=4444.2861, 切向力X=-21345.6680, 切向力Y=11705.0469 +FPS=27.27, 法向力=4421.3813, 切向力X=-21393.3066, 切向力Y=11718.0576 +FPS=25.28, 法向力=4423.2246, 切向力X=-21329.6230, 切向力Y=11691.4072 +FPS=26.55, 法向力=4413.5708, 切向力X=-21389.4219, 切向力Y=11685.7930 +FPS=26.81, 法向力=4441.4297, 切向力X=-21343.0625, 切向力Y=11705.3916 +FPS=25.67, 法向力=4323.9028, 切向力X=-21658.6680, 切向力Y=11604.8486 +FPS=25.66, 法向力=4428.9370, 切向力X=-21338.5039, 切向力Y=11697.9219 +FPS=26.15, 法向力=4409.8486, 切向力X=-21373.3633, 切向力Y=11682.3525 +FPS=26.93, 法向力=4436.9912, 切向力X=-21349.6836, 切向力Y=11708.5898 +FPS=25.36, 法向力=4324.4307, 切向力X=-21658.4336, 切向力Y=11604.3838 +FPS=25.82, 法向力=4437.8271, 切向力X=-21341.6680, 切向力Y=11698.7178 +FPS=25.67, 法向力=4413.3467, 切向力X=-21397.3379, 切向力Y=11685.2490 +FPS=26.34, 法向力=4348.4277, 切向力X=-21627.0703, 切向力Y=11594.9844 +FPS=25.65, 法向力=4413.3135, 切向力X=-21387.5918, 切向力Y=11721.2822 +FPS=25.64, 法向力=4429.8057, 切向力X=-21332.5430, 切向力Y=11695.2158 +FPS=25.86, 法向力=4418.2383, 切向力X=-21399.0996, 切向力Y=11686.7637 +FPS=25.77, 法向力=4438.8809, 切向力X=-21343.9844, 切向力Y=11702.3174 +FPS=24.04, 法向力=4410.1450, 切向力X=-21382.6895, 切向力Y=11717.3223 +FPS=23.76, 法向力=4433.8257, 切向力X=-21334.1250, 切向力Y=11694.4355 +FPS=25.26, 法向力=4393.8389, 切向力X=-21484.7461, 切向力Y=11757.3613 +FPS=26.23, 法向力=4417.2549, 切向力X=-21374.3789, 切向力Y=11726.5801 +FPS=26.42, 法向力=4359.2881, 切向力X=-21488.0547, 切向力Y=11567.5234 +FPS=25.18, 法向力=4316.1685, 切向力X=-21626.4570, 切向力Y=11539.3340 +FPS=25.43, 法向力=4371.1768, 切向力X=-21524.1680, 切向力Y=11731.3184 +FPS=25.90, 法向力=4421.5718, 切向力X=-21375.5312, 切向力Y=11732.8184 +FPS=25.19, 法向力=4373.4316, 切向力X=-21438.6445, 切向力Y=11654.6309 +FPS=24.95, 法向力=4407.4102, 切向力X=-21368.6152, 切向力Y=11637.7148 +FPS=25.09, 法向力=4403.6572, 切向力X=-21385.2383, 切向力Y=11675.3867 +FPS=25.30, 法向力=4431.3525, 切向力X=-21362.4922, 切向力Y=11689.7285 +FPS=25.27, 法向力=4397.3970, 切向力X=-21390.9219, 切向力Y=11677.2363 +FPS=25.96, 法向力=4419.8418, 切向力X=-21429.2402, 切向力Y=11776.1582 +FPS=25.31, 法向力=4400.0513, 切向力X=-21438.7852, 切向力Y=11744.1670 +FPS=25.98, 法向力=4437.3984, 切向力X=-21341.4648, 切向力Y=11708.7197 +FPS=25.50, 法向力=4419.6353, 切向力X=-21398.7734, 切向力Y=11692.3008 +FPS=26.00, 法向力=4426.4692, 切向力X=-21330.1992, 切向力Y=11704.9639 +FPS=25.10, 法向力=4416.8062, 切向力X=-21386.1465, 切向力Y=11718.6250 +FPS=26.05, 法向力=4439.9014, 切向力X=-21340.0000, 切向力Y=11699.6484 +FPS=26.47, 法向力=4417.8994, 切向力X=-21398.8281, 切向力Y=11685.3311 +FPS=25.01, 法向力=4442.6455, 切向力X=-21343.1270, 切向力Y=11707.8379 +FPS=25.86, 法向力=4324.7397, 切向力X=-21661.8262, 切向力Y=11604.7725 +FPS=25.91, 法向力=4421.0903, 切向力X=-21328.0977, 切向力Y=11693.6406 +FPS=25.74, 法向力=4415.2124, 切向力X=-21391.5352, 切向力Y=11688.1562 +FPS=25.24, 法向力=4440.4102, 切向力X=-21355.5273, 切向力Y=11709.4004 +FPS=25.40, 法向力=4420.4121, 切向力X=-21391.1875, 切向力Y=11718.7861 +FPS=25.75, 法向力=4427.1660, 切向力X=-21332.5508, 切向力Y=11691.4395 +FPS=26.07, 法向力=4395.0420, 切向力X=-21481.6035, 切向力Y=11759.1562 +FPS=26.24, 法向力=4416.5098, 切向力X=-21377.5039, 切向力Y=11724.4883 +FPS=26.07, 法向力=4417.6753, 切向力X=-21390.9844, 切向力Y=11726.0947 +FPS=25.28, 法向力=4435.8643, 切向力X=-21338.1367, 切向力Y=11694.8555 +FPS=26.13, 法向力=4410.9453, 切向力X=-21394.7891, 切向力Y=11687.1426 +FPS=26.47, 法向力=4444.3901, 切向力X=-21345.8262, 切向力Y=11705.1406 +FPS=26.52, 法向力=4421.4092, 切向力X=-21393.3379, 切向力Y=11718.0977 +FPS=26.16, 法向力=4423.2349, 切向力X=-21329.6289, 切向力Y=11691.4219 +FPS=24.24, 法向力=4414.9492, 切向力X=-21390.8125, 切向力Y=11686.7305 +FPS=26.15, 法向力=4440.2852, 切向力X=-21355.2871, 切向力Y=11709.4629 +FPS=26.41, 法向力=4323.9810, 切向力X=-21659.2812, 切向力Y=11605.1426 +FPS=26.36, 法向力=4423.5996, 切向力X=-21333.2656, 切向力Y=11694.4131 +FPS=27.01, 法向力=4411.6924, 切向力X=-21386.9922, 切向力Y=11686.1787 +FPS=26.85, 法向力=4438.3535, 切向力X=-21339.8809, 切向力Y=11705.3389 +FPS=25.91, 法向力=4324.2729, 切向力X=-21661.0820, 切向力Y=11603.8936 +FPS=26.53, 法向力=4437.7065, 切向力X=-21342.0547, 切向力Y=11698.5820 +FPS=26.64, 法向力=4411.9214, 切向力X=-21396.1074, 切向力Y=11684.2695 +FPS=27.56, 法向力=4349.6587, 切向力X=-21614.9180, 切向力Y=11590.8848 +FPS=26.90, 法向力=4413.2207, 切向力X=-21387.0098, 切向力Y=11720.9775 +FPS=27.40, 法向力=4429.8164, 切向力X=-21333.1836, 切向力Y=11694.3779 +FPS=26.87, 法向力=4418.0469, 切向力X=-21398.1816, 切向力Y=11686.7969 +FPS=27.13, 法向力=4437.8193, 切向力X=-21355.4961, 切向力Y=11706.6777 +FPS=27.54, 法向力=4410.3555, 切向力X=-21382.8906, 切向力Y=11717.6680 +FPS=26.21, 法向力=4434.0034, 切向力X=-21333.8633, 切向力Y=11694.5781 +FPS=26.84, 法向力=4393.9067, 切向力X=-21484.6211, 切向力Y=11757.4043 +FPS=28.41, 法向力=4417.2842, 切向力X=-21374.3281, 切向力Y=11726.6064 +FPS=28.34, 法向力=4359.2959, 切向力X=-21488.0312, 切向力Y=11567.5283 +FPS=26.19, 法向力=4316.1689, 切向力X=-21626.4453, 切向力Y=11539.3398 +FPS=27.83, 法向力=4371.1777, 切向力X=-21524.1699, 切向力Y=11731.3164 +FPS=27.80, 法向力=4421.8296, 切向力X=-21375.1602, 切向力Y=11733.0137 +FPS=27.54, 法向力=4373.7280, 切向力X=-21438.1875, 切向力Y=11654.8750 +FPS=27.99, 法向力=4407.3379, 切向力X=-21368.6758, 切向力Y=11637.7148 +FPS=27.61, 法向力=4403.8149, 切向力X=-21384.9922, 切向力Y=11675.5156 +FPS=27.61, 法向力=4431.5264, 切向力X=-21362.2070, 切向力Y=11689.8789 +FPS=27.16, 法向力=4397.8750, 切向力X=-21391.0781, 切向力Y=11677.1602 +FPS=28.31, 法向力=4419.7612, 切向力X=-21429.5801, 切向力Y=11775.9307 +FPS=27.97, 法向力=4399.6523, 切向力X=-21439.5078, 切向力Y=11743.7598 +FPS=26.86, 法向力=4437.0869, 切向力X=-21342.0195, 切向力Y=11708.3945 +FPS=27.62, 法向力=4419.7046, 切向力X=-21398.7266, 切向力Y=11692.2891 +FPS=27.31, 法向力=4425.2339, 切向力X=-21342.4258, 切向力Y=11709.1602 +FPS=27.53, 法向力=4414.2480, 切向力X=-21382.2988, 切向力Y=11720.0957 +FPS=26.85, 法向力=4434.4946, 切向力X=-21338.3438, 切向力Y=11698.3779 +FPS=27.75, 法向力=4414.8447, 切向力X=-21399.7305, 切向力Y=11687.3379 +FPS=27.70, 法向力=4439.6421, 切向力X=-21354.9258, 切向力Y=11707.2578 +FPS=27.65, 法向力=4411.1089, 切向力X=-21385.0488, 切向力Y=11717.3555 +FPS=27.93, 法向力=4429.7871, 切向力X=-21331.2109, 切向力Y=11696.7070 +FPS=26.77, 法向力=4417.3203, 切向力X=-21396.8086, 切向力Y=11688.6699 +FPS=27.19, 法向力=4443.6641, 切向力X=-21346.9629, 切向力Y=11703.6963 +FPS=28.24, 法向力=4419.3789, 切向力X=-21390.5449, 切向力Y=11718.6963 +FPS=28.09, 法向力=4426.8960, 切向力X=-21331.6094, 切向力Y=11692.5791 +FPS=27.33, 法向力=4395.3345, 切向力X=-21481.0078, 切向力Y=11759.7734 +FPS=25.46, 法向力=4415.7373, 切向力X=-21376.5547, 切向力Y=11723.4414 +FPS=26.92, 法向力=4416.9575, 切向力X=-21391.5703, 切向力Y=11725.3086 +FPS=27.60, 法向力=4434.5439, 切向力X=-21337.0645, 切向力Y=11690.8613 +FPS=27.66, 法向力=4410.2339, 切向力X=-21395.1250, 切向力Y=11687.5430 +FPS=25.74, 法向力=4444.4658, 切向力X=-21341.1934, 切向力Y=11706.4492 +FPS=26.78, 法向力=4420.0659, 切向力X=-21390.6211, 切向力Y=11720.2344 +FPS=26.96, 法向力=4421.5586, 切向力X=-21328.0625, 切向力Y=11686.2686 +FPS=25.30, 法向力=4415.2090, 切向力X=-21392.2656, 切向力Y=11686.5732 +FPS=25.97, 法向力=4440.9482, 切向力X=-21356.8203, 切向力Y=11712.5732 +FPS=25.47, 法向力=4320.3208, 切向力X=-21656.4727, 切向力Y=11604.0684 +FPS=27.29, 法向力=4424.5098, 切向力X=-21332.8125, 切向力Y=11690.6895 +FPS=26.06, 法向力=4414.6074, 切向力X=-21391.5527, 切向力Y=11688.9404 +FPS=25.24, 法向力=4433.9399, 切向力X=-21340.0703, 切向力Y=11712.7480 +FPS=25.71, 法向力=4324.1475, 切向力X=-21656.9141, 切向力Y=11603.3203 +FPS=26.32, 法向力=4424.9355, 切向力X=-21332.2461, 切向力Y=11690.3398 +FPS=26.66, 法向力=4406.2842, 切向力X=-21390.7070, 切向力Y=11688.1221 +FPS=25.97, 法向力=4434.8384, 切向力X=-21335.4258, 切向力Y=11709.2168 +FPS=26.62, 法向力=4340.6440, 切向力X=-21571.8359, 切向力Y=11638.1279 +FPS=25.87, 法向力=4406.5254, 切向力X=-21397.3438, 切向力Y=11684.3555 +FPS=25.77, 法向力=4415.9189, 切向力X=-21406.7441, 切向力Y=11688.1777 +FPS=26.41, 法向力=4422.0479, 切向力X=-21335.5215, 切向力Y=11706.8145 +FPS=25.99, 法向力=4411.6748, 切向力X=-21393.6250, 切向力Y=11718.3545 +FPS=25.49, 法向力=4445.3242, 切向力X=-21332.9688, 切向力Y=11691.4004 +FPS=26.09, 法向力=4421.2637, 切向力X=-21404.7930, 切向力Y=11692.0098 +FPS=27.36, 法向力=4428.2285, 切向力X=-21331.2617, 切向力Y=11707.3438 +FPS=27.49, 法向力=4412.5161, 切向力X=-21379.7441, 切向力Y=11719.8018 +FPS=26.31, 法向力=4438.6367, 切向力X=-21339.6484, 切向力Y=11695.6104 +FPS=26.71, 法向力=4417.9473, 切向力X=-21401.0117, 切向力Y=11691.3662 +FPS=26.03, 法向力=4438.1797, 切向力X=-21353.3789, 切向力Y=11711.7363 +FPS=23.54, 法向力=4334.1758, 切向力X=-21577.6328, 切向力Y=11626.4072 +FPS=23.51, 法向力=4402.6562, 切向力X=-21395.7598, 切向力Y=11676.8965 +FPS=25.32, 法向力=4408.4980, 切向力X=-21394.1465, 切向力Y=11684.0889 +FPS=25.90, 法向力=4436.1509, 切向力X=-21342.0781, 切向力Y=11704.0762 +FPS=25.61, 法向力=4418.3862, 切向力X=-21389.4766, 切向力Y=11712.6855 +FPS=25.61, 法向力=4441.7788, 切向力X=-21342.3945, 切向力Y=11696.8730 +FPS=26.71, 法向力=4405.7061, 切向力X=-21391.1289, 切向力Y=11686.0264 +FPS=25.47, 法向力=4435.0103, 切向力X=-21333.1914, 切向力Y=11709.6494 +FPS=25.61, 法向力=4335.1138, 切向力X=-21585.5547, 切向力Y=11631.1914 +FPS=26.11, 法向力=4403.7705, 切向力X=-21393.3711, 切向力Y=11685.4902 +FPS=25.49, 法向力=4408.7510, 切向力X=-21410.5391, 切向力Y=11686.4600 +FPS=25.89, 法向力=4424.0830, 切向力X=-21333.1875, 切向力Y=11709.7090 +FPS=24.91, 法向力=4354.9380, 切向力X=-21502.1543, 切向力Y=11724.0801 +FPS=25.86, 法向力=4396.0181, 切向力X=-21410.3867, 切向力Y=11661.7031 +FPS=24.55, 法向力=4400.6240, 切向力X=-21381.5566, 切向力Y=11682.0293 +FPS=25.25, 法向力=4428.7974, 切向力X=-21360.5625, 切向力Y=11689.7197 +FPS=26.09, 法向力=4412.2119, 切向力X=-21401.7305, 切向力Y=11684.7178 +FPS=25.94, 法向力=4441.4102, 切向力X=-21348.7930, 切向力Y=11702.8906 +FPS=25.98, 法向力=4419.3975, 切向力X=-21392.0156, 切向力Y=11718.2949 +FPS=26.26, 法向力=4434.5352, 切向力X=-21338.8633, 切向力Y=11694.2949 +FPS=25.28, 法向力=4394.9482, 切向力X=-21468.4297, 切向力Y=11760.5283 +FPS=25.93, 法向力=4410.3062, 切向力X=-21397.8691, 切向力Y=11695.4707 +FPS=26.18, 法向力=4410.7158, 切向力X=-21394.0938, 切向力Y=11721.6436 +FPS=25.71, 法向力=4363.7080, 切向力X=-21514.1719, 切向力Y=11620.7324 +FPS=25.32, 法向力=4377.7549, 切向力X=-21440.9375, 切向力Y=11678.3672 +FPS=26.65, 法向力=4424.0723, 切向力X=-21347.8047, 切向力Y=11680.2070 +FPS=26.14, 法向力=4413.1133, 切向力X=-21420.4473, 切向力Y=11686.3936 +FPS=26.24, 法向力=4433.3228, 切向力X=-21337.8203, 切向力Y=11715.2490 +FPS=26.72, 法向力=4350.0039, 切向力X=-21493.9082, 切向力Y=11717.4385 +FPS=26.55, 法向力=4400.8174, 切向力X=-21407.1016, 切向力Y=11661.1709 +FPS=26.46, 法向力=4406.1660, 切向力X=-21383.2910, 切向力Y=11686.5537 +FPS=25.57, 法向力=4426.9512, 切向力X=-21354.0586, 切向力Y=11687.6484 +FPS=26.42, 法向力=4410.9238, 切向力X=-21397.5898, 切向力Y=11678.5254 +FPS=26.70, 法向力=4440.8154, 切向力X=-21346.6270, 切向力Y=11704.1631 +FPS=26.96, 法向力=4421.5698, 切向力X=-21391.6621, 切向力Y=11719.4590 +FPS=26.23, 法向力=4431.2617, 切向力X=-21335.2305, 切向力Y=11695.8193 +FPS=27.53, 法向力=4395.8623, 切向力X=-21481.5508, 切向力Y=11761.4072 +FPS=26.71, 法向力=4411.3711, 切向力X=-21388.6758, 切向力Y=11689.1758 +FPS=27.24, 法向力=4405.7573, 切向力X=-21401.2520, 切向力Y=11720.8945 +FPS=27.63, 法向力=4362.1543, 切向力X=-21512.0195, 切向力Y=11616.4277 +FPS=27.63, 法向力=4377.8408, 切向力X=-21441.1719, 切向力Y=11678.8486 +FPS=27.95, 法向力=4425.3169, 切向力X=-21349.5898, 切向力Y=11683.0176 +FPS=27.94, 法向力=4411.4150, 切向力X=-21418.8281, 切向力Y=11688.1719 +FPS=27.30, 法向力=4433.3730, 切向力X=-21337.1328, 切向力Y=11710.6172 +FPS=27.64, 法向力=4349.5449, 切向力X=-21495.5508, 切向力Y=11717.7314 +FPS=27.18, 法向力=4401.0186, 切向力X=-21410.1484, 切向力Y=11664.2109 +FPS=27.58, 法向力=4398.5596, 切向力X=-21378.1445, 切向力Y=11682.8096 +FPS=27.67, 法向力=4430.7261, 切向力X=-21345.7852, 切向力Y=11682.3867 +FPS=26.32, 法向力=4409.2500, 切向力X=-21401.1348, 切向力Y=11681.0840 +FPS=25.71, 法向力=4438.5757, 切向力X=-21344.4668, 切向力Y=11706.7480 +FPS=26.00, 法向力=4419.1377, 切向力X=-21389.8086, 切向力Y=11715.0195 +FPS=25.87, 法向力=4428.6191, 切向力X=-21332.9258, 切向力Y=11685.8496 +FPS=26.31, 法向力=4397.9937, 切向力X=-21486.2188, 切向力Y=11761.7246 +FPS=25.97, 法向力=4414.6753, 切向力X=-21389.4004, 切向力Y=11733.7695 +FPS=26.38, 法向力=4416.8164, 切向力X=-21390.3535, 切向力Y=11725.1396 +FPS=26.17, 法向力=4437.3828, 切向力X=-21338.4531, 切向力Y=11689.7188 +FPS=26.42, 法向力=4413.1045, 切向力X=-21399.8047, 切向力Y=11689.6758 +FPS=25.87, 法向力=4441.7896, 切向力X=-21355.0273, 切向力Y=11714.5957 +FPS=25.86, 法向力=4420.2021, 切向力X=-21392.7090, 切向力Y=11716.8984 +FPS=25.58, 法向力=4424.8491, 切向力X=-21329.6289, 切向力Y=11688.6846 +FPS=24.94, 法向力=4414.9141, 切向力X=-21392.6641, 切向力Y=11689.1777 +FPS=26.47, 法向力=4438.9863, 切向力X=-21342.4863, 切向力Y=11706.7383 +FPS=26.62, 法向力=4418.9268, 切向力X=-21389.9375, 切向力Y=11717.4043 +FPS=25.36, 法向力=4430.1338, 切向力X=-21334.0352, 切向力Y=11689.3584 +FPS=25.58, 法向力=4395.5664, 切向力X=-21482.5117, 切向力Y=11763.0068 +FPS=25.94, 法向力=4410.7241, 切向力X=-21388.6445, 切向力Y=11689.5654 +FPS=26.33, 法向力=4406.4487, 切向力X=-21402.5293, 切向力Y=11719.9814 +FPS=26.35, 法向力=4439.4336, 切向力X=-21323.0859, 切向力Y=11713.8203 +FPS=26.02, 法向力=4359.2725, 切向力X=-21499.2246, 切向力Y=11723.4355 +FPS=26.02, 法向力=4396.7217, 切向力X=-21410.6641, 切向力Y=11662.2969 +FPS=25.26, 法向力=4405.5444, 切向力X=-21382.1875, 切向力Y=11686.2969 +FPS=25.50, 法向力=4426.5205, 切向力X=-21356.7578, 切向力Y=11692.9180 +FPS=26.54, 法向力=4415.4365, 切向力X=-21406.1719, 切向力Y=11685.0996 +FPS=25.93, 法向力=4441.7344, 切向力X=-21347.8574, 切向力Y=11703.4150 +FPS=26.27, 法向力=4420.2754, 切向力X=-21391.2891, 切向力Y=11719.6738 +FPS=26.59, 法向力=4432.1611, 切向力X=-21337.3008, 切向力Y=11696.0693 +FPS=27.07, 法向力=4395.7559, 切向力X=-21480.5957, 切向力Y=11761.7686 +FPS=26.56, 法向力=4410.1260, 切向力X=-21400.7031, 切向力Y=11693.6855 +FPS=26.59, 法向力=4408.1885, 切向力X=-21403.8945, 切向力Y=11722.5664 +FPS=26.77, 法向力=4437.6689, 切向力X=-21320.7402, 切向力Y=11716.2109 +FPS=26.69, 法向力=4362.0249, 切向力X=-21500.5898, 切向力Y=11723.4473 +FPS=26.05, 法向力=4396.8911, 切向力X=-21411.8789, 切向力Y=11660.6816 +FPS=25.55, 法向力=4405.4766, 切向力X=-21382.5898, 切向力Y=11686.1230 +FPS=26.64, 法向力=4426.5234, 切向力X=-21356.8516, 切向力Y=11692.8799 +FPS=25.63, 法向力=4412.1963, 切向力X=-21399.7461, 切向力Y=11681.3447 +FPS=25.64, 法向力=4442.0439, 切向力X=-21347.7812, 切向力Y=11702.5156 +FPS=25.47, 法向力=4419.3115, 切向力X=-21390.5898, 切向力Y=11718.5596 +FPS=25.52, 法向力=4426.8774, 切向力X=-21331.7422, 切向力Y=11690.1934 +FPS=24.84, 法向力=4394.4580, 切向力X=-21481.4199, 切向力Y=11758.0332 +FPS=24.87, 法向力=4415.2671, 切向力X=-21377.0703, 切向力Y=11723.0117 +FPS=25.24, 法向力=4417.3682, 切向力X=-21392.2793, 切向力Y=11724.7744 +FPS=25.63, 法向力=4435.7368, 切向力X=-21337.4453, 切向力Y=11694.7969 +FPS=25.63, 法向力=4410.8877, 切向力X=-21394.6289, 切向力Y=11687.1055 +FPS=25.17, 法向力=4444.3643, 切向力X=-21345.7715, 切向力Y=11705.1348 +FPS=24.05, 法向力=4421.4014, 切向力X=-21393.3379, 切向力Y=11718.0928 +FPS=25.18, 法向力=4423.2339, 切向力X=-21329.6367, 切向力Y=11691.4248 +FPS=25.51, 法向力=4413.5713, 切向力X=-21389.4141, 切向力Y=11685.8018 +FPS=25.37, 法向力=4441.4312, 切向力X=-21343.0625, 切向力Y=11705.3848 +FPS=25.08, 法向力=4323.9038, 切向力X=-21658.6797, 切向力Y=11604.8467 +FPS=25.82, 法向力=4428.9370, 切向力X=-21338.5078, 切向力Y=11697.9199 +FPS=24.90, 法向力=4409.8447, 切向力X=-21373.3711, 切向力Y=11682.3516 +FPS=26.39, 法向力=4437.3071, 切向力X=-21349.2109, 切向力Y=11708.8281 +FPS=25.90, 法向力=4324.7090, 切向力X=-21660.7520, 切向力Y=11604.5215 +FPS=26.06, 法向力=4437.9014, 切向力X=-21341.7227, 切向力Y=11698.7305 +FPS=26.08, 法向力=4413.3691, 切向力X=-21397.3477, 切向力Y=11685.2520 +FPS=25.56, 法向力=4348.4316, 切向力X=-21627.0781, 切向力Y=11594.9844 +FPS=25.55, 法向力=4413.3159, 切向力X=-21387.5957, 切向力Y=11721.2822 +FPS=23.29, 法向力=4429.8076, 切向力X=-21332.5430, 切向力Y=11695.2129 +FPS=25.02, 法向力=4418.2368, 切向力X=-21399.1016, 切向力Y=11686.7637 +FPS=25.69, 法向力=4438.8799, 切向力X=-21343.9883, 切向力Y=11702.3154 +FPS=25.43, 法向力=4410.1465, 切向力X=-21382.6934, 切向力Y=11717.3164 +FPS=25.09, 法向力=4433.8228, 切向力X=-21334.1133, 切向力Y=11694.4346 +FPS=26.05, 法向力=4411.2690, 切向力X=-21397.2305, 切向力Y=11688.1191 +FPS=26.11, 法向力=4433.7725, 切向力X=-21351.3477, 切向力Y=11705.1250 +FPS=26.44, 法向力=4414.8237, 切向力X=-21386.1172, 切向力Y=11721.3457 +FPS=26.06, 法向力=4346.8848, 切向力X=-21611.4961, 切向力Y=11582.5664 +FPS=26.86, 法向力=4402.7168, 切向力X=-21388.4668, 切向力Y=11684.4580 +FPS=25.93, 法向力=4434.3184, 切向力X=-21342.8945, 切向力Y=11710.2832 +FPS=25.82, 法向力=4336.8623, 切向力X=-21574.2227, 切向力Y=11642.3691 +FPS=25.38, 法向力=4398.1196, 切向力X=-21386.1172, 切向力Y=11679.0625 +FPS=25.86, 法向力=4411.2388, 切向力X=-21413.6055, 切向力Y=11690.5391 +FPS=25.62, 法向力=4422.0352, 切向力X=-21330.2715, 切向力Y=11709.1445 +FPS=26.08, 法向力=4354.3340, 切向力X=-21499.6738, 切向力Y=11716.8809 +FPS=26.05, 法向力=4397.0361, 切向力X=-21412.2578, 切向力Y=11661.8555 +FPS=25.09, 法向力=4404.6025, 切向力X=-21388.6738, 切向力Y=11681.7109 +FPS=26.99, 法向力=4430.5879, 切向力X=-21332.6777, 切向力Y=11713.8965 +FPS=27.83, 法向力=4359.2759, 切向力X=-21509.3750, 切向力Y=11717.2559 +FPS=27.84, 法向力=4395.4077, 切向力X=-21406.5078, 切向力Y=11658.6191 +FPS=26.04, 法向力=4398.5996, 切向力X=-21380.7969, 切向力Y=11678.8398 +FPS=26.38, 法向力=4433.8945, 切向力X=-21361.3047, 切向力Y=11685.5352 +FPS=27.53, 法向力=4414.4248, 切向力X=-21411.5312, 切向力Y=11687.4834 +FPS=26.91, 法向力=4437.1084, 切向力X=-21345.4414, 切向力Y=11709.8477 +FPS=26.49, 法向力=4326.2178, 切向力X=-21576.1230, 切向力Y=11625.5527 +FPS=26.80, 法向力=4404.1270, 切向力X=-21390.5332, 切向力Y=11682.1514 +FPS=26.21, 法向力=4407.8506, 切向力X=-21412.3711, 切向力Y=11691.0684 +FPS=26.54, 法向力=4434.1562, 切向力X=-21334.4277, 切向力Y=11716.2715 +FPS=26.41, 法向力=4332.4336, 切向力X=-21570.1914, 切向力Y=11624.4004 +FPS=26.57, 法向力=4392.9937, 切向力X=-21411.2266, 切向力Y=11658.3389 +FPS=26.40, 法向力=4404.0771, 切向力X=-21386.3516, 切向力Y=11683.7070 +FPS=26.37, 法向力=4429.7021, 切向力X=-21360.9023, 切向力Y=11692.0566 +FPS=26.04, 法向力=4399.3442, 切向力X=-21391.5488, 切向力Y=11677.1006 +FPS=26.76, 法向力=4434.1709, 切向力X=-21338.0762, 切向力Y=11702.7021 +FPS=27.39, 法向力=4415.1333, 切向力X=-21399.5820, 切向力Y=11720.5977 +FPS=27.72, 法向力=4428.6338, 切向力X=-21336.5527, 切向力Y=11696.2773 +FPS=27.23, 法向力=4413.8882, 切向力X=-21391.0117, 切向力Y=11690.3926 +FPS=28.00, 法向力=4436.4229, 切向力X=-21368.1445, 切向力Y=11675.6855 +FPS=27.71, 法向力=4399.5391, 切向力X=-21397.5410, 切向力Y=11714.0762 +FPS=28.23, 法向力=4430.1865, 切向力X=-21312.5957, 切向力Y=11717.9043 +FPS=27.51, 法向力=4337.9609, 切向力X=-21572.5254, 切向力Y=11624.0098 +FPS=26.66, 法向力=4401.5244, 切向力X=-21413.9648, 切向力Y=11663.9834 +FPS=27.06, 法向力=4405.0327, 切向力X=-21386.3418, 切向力Y=11684.6270 +FPS=26.91, 法向力=4429.8394, 切向力X=-21360.9707, 切向力Y=11692.3984 +FPS=26.58, 法向力=4399.3711, 切向力X=-21391.5449, 切向力Y=11677.2256 +FPS=26.56, 法向力=4434.1758, 切向力X=-21338.0723, 切向力Y=11702.7520 +FPS=26.42, 法向力=4415.1323, 切向力X=-21399.5625, 切向力Y=11720.6172 +FPS=27.10, 法向力=4428.6328, 切向力X=-21336.5488, 切向力Y=11696.2842 +FPS=27.10, 法向力=4413.8867, 切向力X=-21391.0156, 切向力Y=11690.3984 +FPS=26.89, 法向力=4440.5752, 切向力X=-21355.1738, 切向力Y=11709.7832 +FPS=26.23, 法向力=4420.8301, 切向力X=-21390.6484, 切向力Y=11719.3926 +FPS=26.70, 法向力=4427.4819, 切向力X=-21332.0391, 切向力Y=11691.7773 +FPS=27.25, 法向力=4396.9312, 切向力X=-21482.1934, 切向力Y=11760.5205 +FPS=26.55, 法向力=4416.8887, 切向力X=-21377.0664, 切向力Y=11724.6182 +FPS=26.72, 法向力=4417.2021, 切向力X=-21392.9648, 切向力Y=11726.9326 +FPS=26.97, 法向力=4440.1992, 切向力X=-21342.9336, 切向力Y=11694.5469 +FPS=27.20, 法向力=4406.1182, 切向力X=-21388.4375, 切向力Y=11687.4150 +FPS=26.03, 法向力=4436.1582, 切向力X=-21345.9180, 切向力Y=11711.7930 +FPS=25.88, 法向力=4320.2109, 切向力X=-21654.8516, 切向力Y=11609.1484 +FPS=25.40, 法向力=4436.7744, 切向力X=-21336.2539, 切向力Y=11693.6514 +FPS=25.33, 法向力=4408.1621, 切向力X=-21395.1445, 切向力Y=11684.6973 +FPS=25.09, 法向力=4419.8770, 切向力X=-21439.0508, 切向力Y=11782.8887 +FPS=25.35, 法向力=4398.9834, 切向力X=-21425.1484, 切向力Y=11739.2344 +FPS=25.62, 法向力=4435.8394, 切向力X=-21337.6523, 切向力Y=11698.4512 +FPS=25.55, 法向力=4416.1221, 切向力X=-21402.2734, 切向力Y=11690.0098 +FPS=25.55, 法向力=4436.3896, 切向力X=-21354.6914, 切向力Y=11712.4453 +FPS=26.12, 法向力=4419.1724, 切向力X=-21390.2285, 切向力Y=11715.1582 +FPS=25.44, 法向力=4441.3481, 切向力X=-21340.5000, 切向力Y=11694.2832 +FPS=25.73, 法向力=4409.7041, 切向力X=-21397.1172, 切向力Y=11688.1279 +FPS=25.71, 法向力=4434.2744, 切向力X=-21334.0039, 切向力Y=11711.1748 +FPS=26.22, 法向力=4416.3418, 切向力X=-21388.8281, 切向力Y=11718.1445 +FPS=25.12, 法向力=4427.0078, 切向力X=-21332.0332, 切向力Y=11687.3232 +FPS=26.22, 法向力=4400.5039, 切向力X=-21484.6777, 切向力Y=11762.4414 +FPS=25.98, 法向力=4415.3076, 切向力X=-21391.2363, 切向力Y=11728.6582 +FPS=26.21, 法向力=4416.4795, 切向力X=-21389.5527, 切向力Y=11725.4531 +FPS=26.47, 法向力=4438.0259, 切向力X=-21338.1758, 切向力Y=11694.0400 +FPS=26.87, 法向力=4413.4229, 切向力X=-21398.1348, 切向力Y=11691.9336 +FPS=25.94, 法向力=4438.3828, 切向力X=-21354.5234, 切向力Y=11709.1924 +FPS=26.41, 法向力=4409.8228, 切向力X=-21386.1406, 切向力Y=11717.3965 +FPS=25.86, 法向力=4435.3887, 切向力X=-21336.2148, 切向力Y=11694.2139 +FPS=25.92, 法向力=4409.7158, 切向力X=-21394.2090, 切向力Y=11689.8232 +FPS=26.37, 法向力=4446.0713, 切向力X=-21343.6133, 切向力Y=11705.1641 +FPS=26.24, 法向力=4411.3779, 切向力X=-21387.2559, 切向力Y=11718.6270 +FPS=25.97, 法向力=4431.4839, 切向力X=-21333.7031, 切向力Y=11695.5547 +FPS=25.08, 法向力=4416.9722, 切向力X=-21397.4883, 切向力Y=11690.0244 +FPS=24.74, 法向力=4444.1846, 切向力X=-21347.3926, 切向力Y=11703.9893 +FPS=26.02, 法向力=4418.9565, 切向力X=-21390.0938, 切向力Y=11719.1611 +FPS=26.21, 法向力=4425.6733, 切向力X=-21331.2773, 切向力Y=11688.6094 +FPS=25.96, 法向力=4396.4985, 切向力X=-21482.9258, 切向力Y=11761.1289 +FPS=26.47, 法向力=4415.6396, 切向力X=-21390.7852, 切向力Y=11730.2217 +FPS=26.67, 法向力=4416.5254, 切向力X=-21390.4258, 切向力Y=11727.7051 +FPS=27.65, 法向力=4436.2139, 切向力X=-21336.1523, 切向力Y=11690.6562 +FPS=27.61, 法向力=4410.4844, 切向力X=-21396.2539, 切向力Y=11687.4600 +FPS=27.23, 法向力=4443.2676, 切向力X=-21354.4902, 切向力Y=11713.2344 +FPS=27.47, 法向力=4335.7090, 切向力X=-21580.5273, 切向力Y=11626.5957 +FPS=26.12, 法向力=4398.4712, 切向力X=-21389.1074, 切向力Y=11675.3809 +FPS=26.56, 法向力=4407.0137, 切向力X=-21392.5156, 切向力Y=11688.0850 +FPS=27.15, 法向力=4434.5269, 切向力X=-21376.9473, 切向力Y=11669.8711 +FPS=26.90, 法向力=4391.9492, 切向力X=-21370.4023, 切向力Y=11708.7090 +FPS=26.53, 法向力=4361.9541, 切向力X=-21511.3359, 切向力Y=11634.0215 +FPS=26.34, 法向力=4384.6406, 切向力X=-21442.4277, 切向力Y=11687.8164 +FPS=25.95, 法向力=4429.7461, 切向力X=-21347.7227, 切向力Y=11679.2725 +FPS=26.47, 法向力=4408.6475, 切向力X=-21403.9375, 切向力Y=11719.6699 +FPS=26.33, 法向力=4436.9014, 切向力X=-21321.1328, 切向力Y=11715.3340 +FPS=26.63, 法向力=4348.9883, 切向力X=-21491.8379, 切向力Y=11724.8867 +FPS=27.32, 法向力=4393.2798, 切向力X=-21403.5977, 切向力Y=11662.7949 +FPS=25.16, 法向力=4407.8926, 切向力X=-21385.9863, 切向力Y=11686.9082 +FPS=23.76, 法向力=4430.1689, 切向力X=-21360.2656, 切向力Y=11692.4189 +FPS=24.84, 法向力=4399.4917, 切向力X=-21391.3477, 切向力Y=11677.2090 +FPS=25.88, 法向力=4434.2290, 切向力X=-21338.0059, 切向力Y=11702.7383 +FPS=27.00, 法向力=4415.1533, 切向力X=-21399.5391, 切向力Y=11720.6113 +FPS=26.55, 法向力=4428.6440, 切向力X=-21336.5352, 切向力Y=11696.2793 +FPS=27.22, 法向力=4413.8931, 切向力X=-21391.0078, 切向力Y=11690.3945 +FPS=26.66, 法向力=4437.4507, 切向力X=-21356.1250, 切向力Y=11671.3105 +FPS=27.07, 法向力=4399.1978, 切向力X=-21397.4297, 切向力Y=11713.3105 +FPS=26.63, 法向力=4430.0322, 切向力X=-21312.8008, 切向力Y=11717.7041 +FPS=26.39, 法向力=4338.8384, 切向力X=-21573.8594, 切向力Y=11624.3994 +FPS=25.38, 法向力=4396.6455, 切向力X=-21406.7031, 切向力Y=11658.1484 +FPS=27.74, 法向力=4408.0137, 切向力X=-21386.3262, 切向力Y=11687.1309 +FPS=26.96, 法向力=4430.1367, 切向力X=-21360.4258, 切向力Y=11692.5771 +FPS=27.24, 法向力=4398.9883, 切向力X=-21391.2227, 切向力Y=11678.4541 +FPS=28.27, 法向力=4435.1172, 切向力X=-21340.4902, 切向力Y=11701.6572 +FPS=27.76, 法向力=4415.3193, 切向力X=-21399.8711, 切向力Y=11720.5195 +FPS=27.89, 法向力=4428.7856, 切向力X=-21336.4922, 切向力Y=11694.0605 +FPS=27.51, 法向力=4413.4668, 切向力X=-21390.7773, 切向力Y=11689.0254 +FPS=27.99, 法向力=4437.3701, 切向力X=-21356.0195, 切向力Y=11671.2305 +FPS=28.03, 法向力=4399.1772, 切向力X=-21397.4121, 切向力Y=11713.2783 +FPS=27.49, 法向力=4430.1748, 切向力X=-21312.5625, 切向力Y=11717.7969 +FPS=28.15, 法向力=4339.2549, 切向力X=-21573.2031, 切向力Y=11624.7188 +FPS=27.02, 法向力=4396.5449, 切向力X=-21406.8281, 切向力Y=11658.1250 +FPS=27.57, 法向力=4407.8574, 切向力X=-21386.5742, 切向力Y=11687.0234 +FPS=27.27, 法向力=4430.1167, 切向力X=-21360.4727, 切向力Y=11692.5479 +FPS=27.48, 法向力=4398.9805, 切向力X=-21391.2383, 切向力Y=11678.4404 +FPS=27.11, 法向力=4435.4985, 切向力X=-21340.7812, 切向力Y=11702.6914 +FPS=27.53, 法向力=4415.3872, 切向力X=-21399.9844, 切向力Y=11720.5352 +FPS=28.24, 法向力=4428.6924, 切向力X=-21336.6387, 切向力Y=11696.2891 +FPS=28.22, 法向力=4413.9023, 切向力X=-21391.0371, 切向力Y=11690.4082 +FPS=27.55, 法向力=4437.4517, 切向力X=-21356.1289, 切向力Y=11671.3145 +FPS=27.80, 法向力=4399.1982, 切向力X=-21397.4355, 切向力Y=11713.3154 +FPS=28.13, 法向力=4430.1777, 切向力X=-21312.5742, 切向力Y=11717.8145 +FPS=28.35, 法向力=4339.2534, 切向力X=-21573.2070, 切向力Y=11624.7227 +FPS=27.78, 法向力=4396.5439, 切向力X=-21406.8223, 切向力Y=11658.1289 +FPS=27.93, 法向力=4407.8765, 切向力X=-21386.5840, 切向力Y=11687.0234 +FPS=27.38, 法向力=4430.1206, 切向力X=-21360.4766, 切向力Y=11692.5449 +FPS=28.31, 法向力=4399.4385, 切向力X=-21391.3984, 切向力Y=11677.2549 +FPS=29.05, 法向力=4434.2070, 切向力X=-21338.0215, 切向力Y=11702.7676 +FPS=29.23, 法向力=4415.1445, 切向力X=-21399.5430, 切向力Y=11720.6260 +FPS=29.64, 法向力=4428.6392, 切向力X=-21336.5430, 切向力Y=11696.2871 +FPS=28.64, 法向力=4413.8911, 切向力X=-21391.0117, 切向力Y=11690.3994 +FPS=29.30, 法向力=4437.4521, 切向力X=-21356.1289, 切向力Y=11671.3125 +FPS=28.56, 法向力=4399.1997, 切向力X=-21397.4375, 切向力Y=11713.3105 +FPS=28.47, 法向力=4430.0327, 切向力X=-21312.7969, 切向力Y=11717.7051 +FPS=28.71, 法向力=4338.8379, 切向力X=-21573.8555, 切向力Y=11624.4004 +FPS=28.54, 法向力=4396.6460, 切向力X=-21406.7109, 切向力Y=11658.1553 +FPS=28.92, 法向力=4408.0132, 切向力X=-21386.3281, 切向力Y=11687.1309 +FPS=28.27, 法向力=4430.1367, 切向力X=-21360.4238, 切向力Y=11692.5771 +FPS=27.95, 法向力=4398.9883, 切向力X=-21391.2188, 切向力Y=11678.4561 +FPS=28.94, 法向力=4435.1172, 切向力X=-21340.4961, 切向力Y=11701.6533 +FPS=28.40, 法向力=4415.3193, 切向力X=-21399.8750, 切向力Y=11720.5215 +FPS=26.12, 法向力=4428.7861, 切向力X=-21336.4961, 切向力Y=11694.0605 +FPS=26.53, 法向力=4413.4683, 切向力X=-21390.7754, 切向力Y=11689.0254 +FPS=26.57, 法向力=4437.3706, 切向力X=-21356.0273, 切向力Y=11671.2305 +FPS=25.47, 法向力=4399.1797, 切向力X=-21397.4082, 切向力Y=11713.2793 +FPS=26.04, 法向力=4430.1763, 切向力X=-21312.5527, 切向力Y=11717.7988 +FPS=25.39, 法向力=4339.2563, 切向力X=-21573.2031, 切向力Y=11624.7188 +FPS=25.59, 法向力=4396.5425, 切向力X=-21406.8125, 切向力Y=11658.1250 +FPS=25.30, 法向力=4407.8535, 切向力X=-21386.5781, 切向力Y=11687.0215 +FPS=25.84, 法向力=4430.1172, 切向力X=-21360.4766, 切向力Y=11692.5498 +FPS=25.27, 法向力=4398.9824, 切向力X=-21391.2305, 切向力Y=11678.4385 +FPS=25.69, 法向力=4435.4976, 切向力X=-21340.7812, 切向力Y=11702.6904 +FPS=25.01, 法向力=4415.3887, 切向力X=-21399.9785, 切向力Y=11720.5342 +FPS=25.64, 法向力=4428.6914, 切向力X=-21336.6367, 切向力Y=11696.2910 +FPS=25.58, 法向力=4398.7334, 切向力X=-21479.8945, 切向力Y=11761.2812 +FPS=25.96, 法向力=4417.7734, 切向力X=-21390.5996, 切向力Y=11727.8613 +FPS=25.08, 法向力=4417.9756, 切向力X=-21389.4609, 切向力Y=11726.8545 +FPS=25.84, 法向力=4435.3369, 切向力X=-21335.9492, 切向力Y=11696.4639 +FPS=25.95, 法向力=4413.3716, 切向力X=-21396.5527, 切向力Y=11688.3242 +FPS=25.11, 法向力=4439.9082, 切向力X=-21343.9297, 切向力Y=11704.0361 +FPS=25.73, 法向力=4410.6050, 切向力X=-21385.1758, 切向力Y=11717.9883 +FPS=25.71, 法向力=4433.1548, 切向力X=-21333.7656, 切向力Y=11696.8555 +FPS=25.34, 法向力=4414.1182, 切向力X=-21398.0117, 切向力Y=11686.9648 +FPS=25.37, 法向力=4439.4863, 切向力X=-21356.2949, 切向力Y=11708.6836 +FPS=26.52, 法向力=4411.0703, 切向力X=-21385.6973, 切向力Y=11718.2324 +FPS=26.00, 法向力=4431.7500, 切向力X=-21332.9824, 切向力Y=11693.1230 +FPS=26.19, 法向力=4399.2471, 切向力X=-21484.5742, 切向力Y=11758.9580 +FPS=25.23, 法向力=4419.6973, 切向力X=-21379.6016, 切向力Y=11722.6270 +FPS=26.19, 法向力=4417.6943, 切向力X=-21390.0352, 切向力Y=11725.5566 +FPS=25.89, 法向力=4435.1309, 切向力X=-21336.6133, 切向力Y=11695.9121 +FPS=25.74, 法向力=4413.2856, 切向力X=-21396.8633, 切向力Y=11688.0723 +FPS=26.15, 法向力=4438.7622, 切向力X=-21356.0508, 切向力Y=11708.2490 +FPS=26.18, 法向力=4410.9331, 切向力X=-21385.5039, 切向力Y=11718.7764 +FPS=25.83, 法向力=4433.3027, 切向力X=-21333.6055, 切向力Y=11697.0547 +FPS=25.76, 法向力=4414.1753, 切向力X=-21397.9141, 切向力Y=11687.0430 +FPS=26.04, 法向力=4439.5127, 切向力X=-21356.2461, 切向力Y=11708.7178 +FPS=25.84, 法向力=4411.1646, 切向力X=-21385.7539, 切向力Y=11717.8760 +FPS=25.51, 法向力=4429.8735, 切向力X=-21331.2461, 切向力Y=11694.7686 +FPS=25.29, 法向力=4416.8682, 切向力X=-21396.5664, 切向力Y=11687.4219 +FPS=26.15, 法向力=4443.5664, 切向力X=-21346.8359, 切向力Y=11703.6660 +FPS=24.11, 法向力=4419.3525, 切向力X=-21390.4961, 切向力Y=11718.6875 +FPS=25.81, 法向力=4426.8872, 切向力X=-21331.5977, 切向力Y=11692.5762 +FPS=25.50, 法向力=4395.3325, 切向力X=-21481.0117, 切向力Y=11759.7695 +FPS=25.47, 法向力=4415.7373, 切向力X=-21376.5391, 切向力Y=11723.4434 +FPS=25.77, 法向力=4417.6514, 切向力X=-21391.9570, 切向力Y=11725.0361 +FPS=25.45, 法向力=4435.7886, 切向力X=-21337.4082, 切向力Y=11694.8770 +FPS=25.91, 法向力=4410.9229, 切向力X=-21394.6367, 切向力Y=11687.1367 +FPS=25.35, 法向力=4444.3716, 切向力X=-21345.7852, 切向力Y=11705.1406 +FPS=25.77, 法向力=4421.4028, 切向力X=-21393.3398, 切向力Y=11718.0947 +FPS=25.89, 法向力=4423.2319, 切向力X=-21329.6445, 切向力Y=11691.4248 +FPS=26.04, 法向力=4414.9463, 切向力X=-21390.8086, 切向力Y=11686.7324 +FPS=25.95, 法向力=4440.2827, 切向力X=-21355.2930, 切向力Y=11709.4609 +FPS=26.22, 法向力=4323.9795, 切向力X=-21659.2852, 切向力Y=11605.1426 +FPS=26.54, 法向力=4423.6006, 切向力X=-21333.2500, 切向力Y=11694.4082 +FPS=25.66, 法向力=4411.6934, 切向力X=-21386.9922, 切向力Y=11686.1797 +FPS=26.09, 法向力=4438.0371, 切向力X=-21340.3594, 切向力Y=11705.1006 +FPS=26.33, 法向力=4324.0264, 切向力X=-21661.3828, 切向力Y=11603.7061 +FPS=24.77, 法向力=4437.5205, 切向力X=-21342.3242, 切向力Y=11698.4277 +FPS=23.28, 法向力=4412.7256, 切向力X=-21399.0918, 切向力Y=11685.3066 +FPS=24.02, 法向力=4351.3037, 切向力X=-21614.6973, 切向力Y=11588.6387 +FPS=25.77, 法向力=4412.2524, 切向力X=-21386.3125, 切向力Y=11721.1426 +FPS=25.39, 法向力=4431.5879, 切向力X=-21335.4199, 切向力Y=11695.2207 +FPS=25.93, 法向力=4416.7134, 切向力X=-21397.8672, 切向力Y=11690.5645 +FPS=24.93, 法向力=4442.7578, 切向力X=-21359.6953, 切向力Y=11708.1377 +FPS=25.61, 法向力=4419.5835, 切向力X=-21391.1758, 切向力Y=11719.1348 +FPS=25.47, 法向力=4432.4121, 切向力X=-21336.8320, 切向力Y=11696.1758 +FPS=25.85, 法向力=4393.7080, 切向力X=-21467.3027, 切向力Y=11756.0039 +FPS=25.86, 法向力=4414.6660, 切向力X=-21385.8770, 切向力Y=11726.9316 +FPS=25.96, 法向力=4417.1855, 切向力X=-21391.5645, 切向力Y=11725.6484 +FPS=26.63, 法向力=4434.8418, 切向力X=-21336.5488, 切向力Y=11690.9980 +FPS=26.31, 法向力=4411.6914, 切向力X=-21396.3281, 切向力Y=11688.5205 +FPS=25.41, 法向力=4445.6914, 切向力X=-21344.8613, 切向力Y=11707.9727 +FPS=26.53, 法向力=4420.0981, 切向力X=-21391.0977, 切向力Y=11720.1992 +FPS=25.73, 法向力=4421.5513, 切向力X=-21328.2285, 切向力Y=11686.2305 +FPS=26.43, 法向力=4415.2061, 切向力X=-21392.3242, 切向力Y=11686.5527 +FPS=25.96, 法向力=4440.9453, 切向力X=-21356.8477, 切向力Y=11712.5625 +FPS=26.31, 法向力=4320.3154, 切向力X=-21656.4785, 切向力Y=11604.0586 +FPS=26.13, 法向力=4424.5107, 切向力X=-21332.8086, 切向力Y=11690.6895 +FPS=25.80, 法向力=4414.4683, 切向力X=-21391.7578, 切向力Y=11688.8330 +FPS=25.99, 法向力=4433.7905, 切向力X=-21340.3008, 切向力Y=11712.6191 +FPS=25.92, 法向力=4324.1206, 切向力X=-21656.9648, 切向力Y=11603.2715 +FPS=25.12, 法向力=4424.9287, 切向力X=-21332.2617, 切向力Y=11690.3193 +FPS=25.81, 法向力=4406.2812, 切向力X=-21390.7070, 切向力Y=11688.1152 +FPS=26.67, 法向力=4435.3428, 切向力X=-21337.5645, 切向力Y=11708.9238 +FPS=26.17, 法向力=4414.7168, 切向力X=-21384.9219, 切向力Y=11717.6699 +FPS=26.13, 法向力=4345.5254, 切向力X=-21609.5762, 切向力Y=11576.7500 +FPS=26.78, 法向力=4413.3320, 切向力X=-21405.1445, 切向力Y=11690.5400 +FPS=26.02, 法向力=4435.6646, 切向力X=-21337.7793, 切向力Y=11710.8965 +FPS=25.93, 法向力=4321.4707, 切向力X=-21654.1816, 切向力Y=11606.1270 +FPS=25.80, 法向力=4429.0273, 切向力X=-21336.2109, 切向力Y=11691.6982 +FPS=26.50, 法向力=4411.5977, 切向力X=-21395.7266, 切向力Y=11691.3057 +FPS=25.12, 法向力=4439.1338, 切向力X=-21355.7930, 切向力Y=11714.9297 +FPS=25.69, 法向力=4420.0781, 切向力X=-21390.0039, 切向力Y=11717.7119 +FPS=25.40, 法向力=4428.8911, 切向力X=-21332.6406, 切向力Y=11686.3906 +FPS=25.61, 法向力=4396.7158, 切向力X=-21484.6387, 切向力Y=11761.0439 +FPS=26.29, 法向力=4415.0073, 切向力X=-21374.5312, 切向力Y=11730.6738 +FPS=25.84, 法向力=4354.8848, 切向力X=-21485.1367, 切向力Y=11564.1230 +FPS=25.52, 法向力=4318.8833, 切向力X=-21628.0879, 切向力Y=11537.8682 +FPS=26.05, 法向力=4372.4053, 切向力X=-21523.0762, 切向力Y=11730.8633 +FPS=26.23, 法向力=4418.8584, 切向力X=-21378.0977, 切向力Y=11735.8027 +FPS=25.70, 法向力=4373.4102, 切向力X=-21430.2695, 切向力Y=11651.2148 +FPS=25.38, 法向力=4408.7012, 切向力X=-21368.3574, 切向力Y=11637.8770 +FPS=25.55, 法向力=4405.5566, 切向力X=-21386.7949, 切向力Y=11678.2637 +FPS=25.62, 法向力=4430.2900, 切向力X=-21349.3672, 切向力Y=11687.8965 +FPS=25.33, 法向力=4400.2529, 切向力X=-21392.4395, 切向力Y=11676.3037 +FPS=26.01, 法向力=4419.9336, 切向力X=-21430.7578, 切向力Y=11774.2090 +FPS=25.36, 法向力=4399.7070, 切向力X=-21439.7305, 切向力Y=11743.6465 +FPS=25.09, 法向力=4437.2090, 切向力X=-21341.9746, 切向力Y=11706.1494 +FPS=24.31, 法向力=4420.4346, 切向力X=-21387.9746, 切向力Y=11690.5508 +FPS=25.24, 法向力=4422.0161, 切向力X=-21354.0234, 切向力Y=11673.9697 +FPS=26.00, 法向力=4406.7305, 切向力X=-21385.3359, 切向力Y=11717.0225 +FPS=24.43, 法向力=4435.1606, 切向力X=-21318.7773, 切向力Y=11715.5430 +FPS=24.57, 法向力=4359.5459, 切向力X=-21498.7617, 切向力Y=11720.2549 +FPS=18.81, 法向力=4397.0244, 切向力X=-21411.3535, 切向力Y=11658.6855 +FPS=21.96, 法向力=4402.2222, 切向力X=-21382.1367, 切向力Y=11683.0586 +FPS=21.91, 法向力=4426.1855, 切向力X=-21357.2754, 切向力Y=11692.5723 +FPS=25.61, 法向力=4414.8501, 切向力X=-21406.1445, 切向力Y=11686.1895 +FPS=25.05, 法向力=4442.1396, 切向力X=-21348.4004, 切向力Y=11702.7656 +FPS=24.96, 法向力=4419.3223, 切向力X=-21390.7188, 切向力Y=11718.5986 +FPS=26.01, 法向力=4427.0288, 切向力X=-21331.5547, 切向力Y=11690.3086 +FPS=26.00, 法向力=4394.8799, 切向力X=-21480.7812, 切向力Y=11758.3564 +FPS=26.50, 法向力=4410.9702, 切向力X=-21389.9531, 切向力Y=11688.7715 +FPS=26.33, 法向力=4407.5654, 切向力X=-21404.4336, 切向力Y=11721.3760 +FPS=26.28, 法向力=4437.4365, 切向力X=-21321.1895, 切向力Y=11715.8516 +FPS=26.42, 法向力=4361.9365, 切向力X=-21500.7539, 切向力Y=11723.3330 +FPS=25.80, 法向力=4396.8643, 切向力X=-21411.9277, 切向力Y=11660.6445 +FPS=25.64, 法向力=4405.4702, 切向力X=-21382.6113, 切向力Y=11686.1055 +FPS=26.03, 法向力=4426.5229, 切向力X=-21356.8555, 切向力Y=11692.8740 +FPS=25.86, 法向力=4412.1958, 切向力X=-21399.7598, 切向力Y=11681.3398 +FPS=26.56, 法向力=4442.0410, 切向力X=-21347.7832, 切向力Y=11702.5088 +FPS=26.15, 法向力=4419.3105, 切向力X=-21390.5938, 切向力Y=11718.5596 +FPS=27.07, 法向力=4426.7632, 切向力X=-21331.8711, 切向力Y=11692.4102 +FPS=26.54, 法向力=4394.9019, 切向力X=-21481.6758, 切向力Y=11759.4082 +FPS=26.35, 法向力=4415.5225, 切向力X=-21376.9199, 切向力Y=11723.2197 +FPS=27.11, 法向力=4417.7197, 切向力X=-21391.7578, 切向力Y=11725.5645 +FPS=26.60, 法向力=4435.8013, 切向力X=-21337.3359, 切向力Y=11694.9766 +FPS=27.12, 法向力=4410.9292, 切向力X=-21394.5977, 切向力Y=11687.1758 +FPS=26.84, 法向力=4443.8804, 切向力X=-21341.0117, 切向力Y=11705.5566 +FPS=27.35, 法向力=4340.8174, 切向力X=-21587.8828, 切向力Y=11627.9277 +FPS=27.47, 法向力=4399.1025, 切向力X=-21389.0938, 切向力Y=11679.9531 +FPS=26.82, 法向力=4404.1465, 切向力X=-21393.9980, 切向力Y=11681.6504 +FPS=26.87, 法向力=4442.6538, 切向力X=-21357.1445, 切向力Y=11693.9619 +FPS=27.68, 法向力=4413.5596, 切向力X=-21391.0312, 切向力Y=11718.5381 +FPS=27.16, 法向力=4349.8340, 切向力X=-21508.9824, 切向力Y=11584.0742 +FPS=26.87, 法向力=4378.4189, 切向力X=-21446.8945, 切向力Y=11719.8340 +FPS=26.66, 法向力=4430.8799, 切向力X=-21340.5703, 切向力Y=11692.5938 +FPS=26.89, 法向力=4411.4233, 切向力X=-21399.3242, 切向力Y=11690.2666 +FPS=26.59, 法向力=4443.0439, 切向力X=-21344.4473, 切向力Y=11704.5410 +FPS=27.32, 法向力=4419.3398, 切向力X=-21392.1074, 切向力Y=11713.5801 +FPS=27.00, 法向力=4424.9692, 切向力X=-21331.9727, 切向力Y=11691.0498 +FPS=26.82, 法向力=4411.4111, 切向力X=-21388.1016, 切向力Y=11687.1787 +FPS=26.98, 法向力=4441.5161, 切向力X=-21341.6914, 切向力Y=11707.0996 +FPS=27.30, 法向力=4324.0210, 切向力X=-21658.2500, 切向力Y=11605.0732 +FPS=27.13, 法向力=4423.5444, 切向力X=-21333.1719, 切向力Y=11694.4512 +FPS=27.11, 法向力=4411.6914, 切向力X=-21386.9980, 切向力Y=11686.2041 +FPS=26.32, 法向力=4438.0361, 切向力X=-21340.3750, 切向力Y=11705.1035 +FPS=26.90, 法向力=4324.0244, 切向力X=-21661.3867, 切向力Y=11603.7012 +FPS=25.69, 法向力=4437.6650, 切向力X=-21342.0938, 切向力Y=11698.5352 +FPS=25.91, 法向力=4413.1699, 切向力X=-21398.4609, 切向力Y=11685.6348 +FPS=26.04, 法向力=4351.2139, 切向力X=-21617.4492, 切向力Y=11588.5693 +FPS=26.51, 法向力=4412.1260, 切向力X=-21386.6914, 切向力Y=11721.0000 +FPS=26.55, 法向力=4431.6865, 切向力X=-21335.3906, 切向力Y=11692.9629 +FPS=26.12, 法向力=4416.2832, 切向力X=-21397.6270, 切向力Y=11689.1699 +FPS=26.35, 法向力=4442.6694, 切向力X=-21359.5820, 切向力Y=11708.0391 +FPS=23.80, 法向力=4419.5610, 切向力X=-21391.1484, 切向力Y=11719.0967 +FPS=23.74, 法向力=4427.0122, 切向力X=-21331.5645, 切向力Y=11692.6357 +FPS=25.58, 法向力=4395.3755, 切向力X=-21480.9805, 切向力Y=11759.7715 +FPS=26.17, 法向力=4415.7539, 切向力X=-21376.5312, 切向力Y=11723.4434 +FPS=25.52, 法向力=4417.5103, 切向力X=-21392.1719, 切向力Y=11724.9258 +FPS=26.64, 法向力=4435.7705, 切向力X=-21337.4414, 切向力Y=11694.8486 +FPS=27.25, 法向力=4410.8955, 切向力X=-21394.6211, 切向力Y=11687.1230 +FPS=26.97, 法向力=4443.8691, 切向力X=-21341.0254, 切向力Y=11705.5420 +FPS=26.73, 法向力=4340.8154, 切向力X=-21587.8867, 切向力Y=11627.9219 +FPS=25.41, 法向力=4399.1016, 切向力X=-21389.0957, 切向力Y=11679.9492 +FPS=25.56, 法向力=4404.1489, 切向力X=-21393.9922, 切向力Y=11681.6562 +FPS=25.05, 法向力=4442.6553, 切向力X=-21357.1445, 切向力Y=11693.9629 +FPS=26.81, 法向力=4413.5566, 切向力X=-21391.0352, 切向力Y=11718.5371 +FPS=26.57, 法向力=4349.8345, 切向力X=-21508.9805, 切向力Y=11584.0742 +FPS=25.54, 法向力=4378.4175, 切向力X=-21446.8984, 切向力Y=11719.8379 +FPS=26.11, 法向力=4430.8799, 切向力X=-21340.5703, 切向力Y=11692.5957 +FPS=26.39, 法向力=4411.4229, 切向力X=-21399.3203, 切向力Y=11690.2676 +FPS=26.28, 法向力=4443.0435, 切向力X=-21344.4473, 切向力Y=11704.5400 +FPS=25.33, 法向力=4419.3394, 切向力X=-21392.1133, 切向力Y=11713.5801 +FPS=26.64, 法向力=4424.9697, 切向力X=-21331.9688, 切向力Y=11691.0518 +FPS=26.93, 法向力=4411.4121, 切向力X=-21388.1055, 切向力Y=11687.1797 +FPS=25.52, 法向力=4441.5161, 切向力X=-21341.6816, 切向力Y=11707.0986 +FPS=27.02, 法向力=4324.0225, 切向力X=-21658.2461, 切向力Y=11605.0762 +FPS=26.92, 法向力=4423.5449, 切向力X=-21333.1758, 切向力Y=11694.4512 +FPS=27.21, 法向力=4411.6934, 切向力X=-21387.0000, 切向力Y=11686.2031 +FPS=26.20, 法向力=4438.3516, 切向力X=-21339.8945, 切向力Y=11705.3418 +FPS=27.03, 法向力=4324.2705, 切向力X=-21661.0859, 切向力Y=11603.8945 +FPS=27.08, 法向力=4437.7075, 切向力X=-21342.0508, 切向力Y=11698.5859 +FPS=27.02, 法向力=4413.1846, 切向力X=-21398.4453, 切向力Y=11685.6504 +FPS=26.64, 法向力=4351.2197, 切向力X=-21617.4531, 切向力Y=11588.5723 +FPS=25.61, 法向力=4412.1240, 切向力X=-21386.6895, 切向力Y=11721.0020 +FPS=26.55, 法向力=4431.6875, 切向力X=-21335.3945, 切向力Y=11692.9600 +FPS=27.44, 法向力=4416.2812, 切向力X=-21397.6250, 切向力Y=11689.1670 +FPS=26.79, 法向力=4442.6660, 切向力X=-21359.5781, 切向力Y=11708.0430 +FPS=24.97, 法向力=4419.5605, 切向力X=-21391.1543, 切向力Y=11719.0996 +FPS=25.78, 法向力=4427.0117, 切向力X=-21331.5781, 切向力Y=11692.6348 +FPS=25.89, 法向力=4395.3755, 切向力X=-21480.9902, 切向力Y=11759.7725 +FPS=25.10, 法向力=4415.7539, 切向力X=-21376.5391, 切向力Y=11723.4453 +FPS=24.69, 法向力=4416.9189, 切向力X=-21391.4902, 切向力Y=11725.7998 +FPS=25.56, 法向力=4434.6567, 切向力X=-21336.8125, 切向力Y=11691.0566 +FPS=26.18, 法向力=4411.6230, 切向力X=-21396.4238, 切向力Y=11688.5479 +FPS=25.44, 法向力=4444.5337, 切向力X=-21356.8711, 切向力Y=11712.3086 +FPS=25.25, 法向力=4420.2168, 切向力X=-21391.5391, 切向力Y=11720.6064 +FPS=25.50, 法向力=4424.0811, 切向力X=-21328.5508, 切向力Y=11689.3291 +FPS=25.39, 法向力=4415.2061, 切向力X=-21392.5098, 切向力Y=11687.2461 +FPS=25.11, 法向力=4440.9541, 切向力X=-21356.9219, 切向力Y=11712.7422 +FPS=26.04, 法向力=4416.7930, 切向力X=-21388.0957, 切向力Y=11717.9316 +FPS=25.02, 法向力=4428.7383, 切向力X=-21331.0117, 切向力Y=11688.2979 +FPS=25.15, 法向力=4398.1846, 切向力X=-21485.5020, 切向力Y=11762.3008 +FPS=25.25, 法向力=4414.8193, 切向力X=-21389.0898, 切向力Y=11731.7490 +FPS=24.16, 法向力=4416.3945, 切向力X=-21390.0332, 切向力Y=11723.8398 +FPS=24.49, 法向力=4437.3027, 切向力X=-21338.3145, 切向力Y=11689.6738 +FPS=25.18, 法向力=4413.0859, 切向力X=-21399.7734, 切向力Y=11689.6562 +FPS=24.99, 法向力=4441.7847, 切向力X=-21355.0195, 切向力Y=11714.5898 +FPS=24.84, 法向力=4420.2021, 切向力X=-21392.6914, 切向力Y=11716.8896 +FPS=24.21, 法向力=4424.8477, 切向力X=-21329.6328, 切向力Y=11688.6836 +FPS=24.78, 法向力=4414.9121, 切向力X=-21392.6562, 切向力Y=11689.1738 +FPS=25.10, 法向力=4438.9854, 切向力X=-21342.4805, 切向力Y=11706.7363 +FPS=25.01, 法向力=4418.9277, 切向力X=-21389.9414, 切向力Y=11717.4043 +FPS=25.20, 法向力=4430.1323, 切向力X=-21334.0312, 切向力Y=11689.3574 +FPS=24.80, 法向力=4395.5674, 切向力X=-21482.5117, 切向力Y=11763.0020 +FPS=24.35, 法向力=4410.7285, 切向力X=-21388.6406, 切向力Y=11689.5664 +FPS=25.00, 法向力=4406.4482, 切向力X=-21402.5293, 切向力Y=11719.9834 +FPS=24.83, 法向力=4439.4336, 切向力X=-21323.0938, 切向力Y=11713.8203 +FPS=25.68, 法向力=4359.2744, 切向力X=-21499.2207, 切向力Y=11723.4336 +FPS=24.88, 法向力=4396.7192, 切向力X=-21410.6562, 切向力Y=11662.2949 +FPS=24.99, 法向力=4405.5415, 切向力X=-21382.1777, 切向力Y=11686.2969 +FPS=24.13, 法向力=4426.5186, 切向力X=-21356.7559, 切向力Y=11692.9180 +FPS=25.38, 法向力=4412.1924, 切向力X=-21399.7285, 切向力Y=11681.3584 +FPS=25.75, 法向力=4442.3594, 切向力X=-21347.3086, 切向力Y=11702.7510 +FPS=24.98, 法向力=4418.8218, 切向力X=-21389.8594, 切向力Y=11719.0127 +FPS=25.80, 法向力=4425.6660, 切向力X=-21331.2188, 切向力Y=11688.5635 +FPS=25.79, 法向力=4396.4990, 切向力X=-21482.9180, 切向力Y=11761.0957 +FPS=25.43, 法向力=4415.7759, 切向力X=-21390.5938, 切向力Y=11730.3174 +FPS=24.16, 法向力=4416.6821, 切向力X=-21390.1895, 切向力Y=11727.8350 +FPS=25.57, 法向力=4436.2432, 切向力X=-21336.1055, 切向力Y=11690.6992 +FPS=25.72, 法向力=4410.4277, 切向力X=-21395.4824, 切向力Y=11686.6699 +FPS=25.55, 法向力=4443.9258, 切向力X=-21356.1953, 切向力Y=11713.0576 +FPS=25.45, 法向力=4417.5806, 切向力X=-21390.8711, 切向力Y=11717.1982 +FPS=25.10, 法向力=4424.3994, 切向力X=-21328.7031, 切向力Y=11690.1934 +FPS=25.08, 法向力=4415.4766, 切向力X=-21392.9258, 切向力Y=11688.9590 +FPS=25.84, 法向力=4439.0845, 切向力X=-21354.7734, 切向力Y=11715.0957 +FPS=26.32, 法向力=4420.0127, 切向力X=-21389.6914, 切向力Y=11717.8428 +FPS=26.45, 法向力=4428.8574, 切向力X=-21332.5586, 切向力Y=11686.4619 +FPS=25.96, 法向力=4396.6787, 切向力X=-21484.9258, 切向力Y=11760.7773 +FPS=26.37, 法向力=4414.8032, 切向力X=-21376.8145, 切向力Y=11728.2168 +FPS=27.06, 法向力=4416.1128, 切向力X=-21388.7930, 切向力Y=11723.0527 +FPS=27.22, 法向力=4437.2651, 切向力X=-21337.5273, 切向力Y=11689.6230 +FPS=27.16, 法向力=4413.3281, 切向力X=-21399.2402, 切向力Y=11689.8193 +FPS=27.14, 法向力=4441.9307, 切向力X=-21354.7266, 切向力Y=11714.7305 +FPS=27.25, 法向力=4420.2168, 切向力X=-21392.6328, 切向力Y=11716.9453 +FPS=25.80, 法向力=4424.8506, 切向力X=-21329.6094, 切向力Y=11688.7051 +FPS=27.10, 法向力=4414.9121, 切向力X=-21392.6602, 切向力Y=11689.1816 +FPS=26.83, 法向力=4438.9873, 切向力X=-21342.4863, 切向力Y=11706.7373 +FPS=27.73, 法向力=4418.9248, 切向力X=-21389.9453, 切向力Y=11717.4053 +FPS=26.00, 法向力=4430.1338, 切向力X=-21334.0312, 切向力Y=11689.3584 +FPS=27.61, 法向力=4395.5664, 切向力X=-21482.4961, 切向力Y=11763.0039 +FPS=25.52, 法向力=4410.7295, 切向力X=-21388.6406, 切向力Y=11689.5684 +FPS=26.21, 法向力=4406.4492, 切向力X=-21402.5254, 切向力Y=11719.9824 +FPS=25.56, 法向力=4439.4326, 切向力X=-21323.0859, 切向力Y=11713.8223 +FPS=26.51, 法向力=4359.2744, 切向力X=-21499.2246, 切向力Y=11723.4326 +FPS=26.02, 法向力=4396.6787, 切向力X=-21410.6250, 切向力Y=11662.2939 +FPS=26.12, 法向力=4405.5322, 切向力X=-21382.1621, 切向力Y=11686.3047 +FPS=26.55, 法向力=4426.5176, 切向力X=-21356.7500, 切向力Y=11692.9268 +FPS=27.31, 法向力=4415.4355, 切向力X=-21406.1602, 切向力Y=11685.0986 +FPS=26.40, 法向力=4441.7363, 切向力X=-21347.8496, 切向力Y=11703.4209 +FPS=23.91, 法向力=4420.2734, 切向力X=-21391.2930, 切向力Y=11719.6777 +FPS=24.48, 法向力=4432.3115, 切向力X=-21337.0820, 切向力Y=11696.1758 +FPS=26.48, 法向力=4395.8794, 切向力X=-21480.3477, 切向力Y=11761.8926 +FPS=26.81, 法向力=4409.9717, 切向力X=-21400.8945, 切向力Y=11693.5996 +FPS=27.49, 法向力=4408.0107, 切向力X=-21404.1738, 切向力Y=11722.4375 +FPS=27.87, 法向力=4437.6460, 切向力X=-21320.8066, 切向力Y=11716.1738 +FPS=27.65, 法向力=4361.9951, 切向力X=-21500.5996, 切向力Y=11723.4355 +FPS=28.71, 法向力=4396.8833, 切向力X=-21411.8672, 切向力Y=11660.6797 +FPS=26.82, 法向力=4402.2090, 切向力X=-21381.9844, 切向力Y=11684.0195 +FPS=27.93, 法向力=4426.1934, 切向力X=-21357.0957, 切向力Y=11692.9609 +FPS=26.75, 法向力=4411.9971, 切向力X=-21400.0625, 切向力Y=11680.8301 +FPS=26.33, 法向力=4442.4858, 切向力X=-21349.9961, 切向力Y=11702.1289 +FPS=27.53, 法向力=4420.4131, 切向力X=-21391.5391, 切向力Y=11719.5557 +FPS=26.73, 法向力=4426.7930, 切向力X=-21332.1055, 切向力Y=11692.5381 +FPS=26.25, 法向力=4394.9102, 切向力X=-21481.7188, 切向力Y=11759.4873 +FPS=26.70, 法向力=4411.1553, 切向力X=-21389.9531, 切向力Y=11688.9209 +FPS=27.30, 法向力=4407.7500, 切向力X=-21404.2148, 切向力Y=11721.5312 +FPS=25.82, 法向力=4437.4595, 切向力X=-21321.1367, 切向力Y=11715.9014 +FPS=26.45, 法向力=4361.9629, 切向力X=-21500.7656, 切向力Y=11723.3574 +FPS=26.19, 法向力=4396.8711, 切向力X=-21411.9395, 切向力Y=11660.6445 +FPS=26.69, 法向力=4405.4692, 切向力X=-21382.6211, 切向力Y=11686.1074 +FPS=26.28, 法向力=4426.5190, 切向力X=-21356.8477, 切向力Y=11692.8740 +FPS=26.89, 法向力=4414.9502, 切向力X=-21406.0293, 切向力Y=11686.2646 +FPS=26.05, 法向力=4442.6406, 切向力X=-21350.3418, 切向力Y=11702.2969 +FPS=25.37, 法向力=4420.4448, 切向力X=-21391.6289, 切向力Y=11719.5645 +FPS=23.58, 法向力=4432.1982, 切向力X=-21337.3711, 切向力Y=11696.0625 +FPS=23.74, 法向力=4395.4673, 切向力X=-21481.0195, 切向力Y=11761.5684 +FPS=23.45, 法向力=4410.0762, 切向力X=-21400.7930, 切向力Y=11693.6328 +FPS=22.82, 法向力=4408.1719, 切向力X=-21403.9297, 切向力Y=11722.5439 +FPS=23.29, 法向力=4437.6670, 切向力X=-21320.7500, 切向力Y=11716.2012 +FPS=23.40, 法向力=4362.0200, 切向力X=-21500.6016, 切向力Y=11723.4463 +FPS=23.25, 法向力=4396.8906, 切向力X=-21411.8789, 切向力Y=11660.6855 +FPS=22.96, 法向力=4405.4766, 切向力X=-21382.6016, 切向力Y=11686.1270 +FPS=23.19, 法向力=4426.5244, 切向力X=-21356.8359, 切向力Y=11692.8809 +FPS=22.94, 法向力=4414.9502, 切向力X=-21406.0293, 切向力Y=11686.2695 +FPS=22.64, 法向力=4442.6396, 切向力X=-21350.3438, 切向力Y=11702.2949 +FPS=23.41, 法向力=4420.4434, 切向力X=-21391.6309, 切向力Y=11719.5645 +FPS=22.98, 法向力=4432.1992, 切向力X=-21337.3730, 切向力Y=11696.0645 +FPS=22.98, 法向力=4395.4668, 切向力X=-21481.0312, 切向力Y=11761.5684 +FPS=22.50, 法向力=4410.0771, 切向力X=-21400.7891, 切向力Y=11693.6289 +FPS=22.14, 法向力=4408.1724, 切向力X=-21403.9258, 切向力Y=11722.5459 +FPS=22.54, 法向力=4437.6646, 切向力X=-21320.7500, 切向力Y=11716.2012 +FPS=22.37, 法向力=4362.0200, 切向力X=-21500.5918, 切向力Y=11723.4482 +FPS=21.90, 法向力=4396.8916, 切向力X=-21411.8887, 切向力Y=11660.6855 +FPS=22.39, 法向力=4405.4766, 切向力X=-21382.5996, 切向力Y=11686.1260 +FPS=22.70, 法向力=4426.5239, 切向力X=-21356.8438, 切向力Y=11692.8779 +FPS=22.32, 法向力=4412.1992, 切向力X=-21399.7539, 切向力Y=11681.3447 +FPS=22.38, 法向力=4442.0425, 切向力X=-21347.7852, 切向力Y=11702.5127 +FPS=21.76, 法向力=4419.3086, 切向力X=-21390.5977, 切向力Y=11718.5596 +FPS=22.43, 法向力=4426.9102, 切向力X=-21331.6367, 切向力Y=11692.5234 +FPS=22.46, 法向力=4395.3418, 切向力X=-21481.0332, 切向力Y=11759.7363 +FPS=21.47, 法向力=4411.3799, 切向力X=-21389.5938, 切向力Y=11689.0928 +FPS=22.09, 法向力=4407.6396, 切向力X=-21404.3633, 切向力Y=11721.4736 +FPS=23.35, 法向力=4437.4512, 切向力X=-21321.1758, 切向力Y=11715.8945 +FPS=23.02, 法向力=4361.9614, 切向力X=-21500.7656, 切向力Y=11723.3496 +FPS=23.03, 法向力=4396.8716, 切向力X=-21411.9492, 切向力Y=11660.6426 +FPS=22.59, 法向力=4405.4702, 切向力X=-21382.6152, 切向力Y=11686.1045 +FPS=22.82, 法向力=4426.5195, 切向力X=-21356.8574, 切向力Y=11692.8721 +FPS=23.89, 法向力=4414.9482, 切向力X=-21406.0234, 切向力Y=11686.2646 +FPS=24.02, 法向力=4442.6426, 切向力X=-21350.3457, 切向力Y=11702.2988 +FPS=23.55, 法向力=4420.4473, 切向力X=-21391.6328, 切向力Y=11719.5635 +FPS=23.23, 法向力=4426.8047, 切向力X=-21332.1250, 切向力Y=11692.5342 +FPS=23.52, 法向力=4394.9136, 切向力X=-21481.7363, 切向力Y=11759.4854 +FPS=23.08, 法向力=4414.6431, 切向力X=-21374.3477, 切向力Y=11724.1348 +FPS=23.03, 法向力=4358.4072, 切向力X=-21487.7930, 切向力Y=11565.3018 +FPS=23.42, 法向力=4313.1426, 切向力X=-21621.9453, 切向力Y=11535.8867 +FPS=25.61, 法向力=4375.2949, 切向力X=-21506.9199, 切向力Y=11727.5898 +FPS=26.31, 法向力=4422.4165, 切向力X=-21387.6777, 切向力Y=11722.6445 +FPS=26.30, 法向力=4419.1270, 切向力X=-21393.5195, 切向力Y=11725.9473 +FPS=26.46, 法向力=4433.4834, 切向力X=-21337.9219, 切向力Y=11692.2607 +FPS=26.18, 法向力=4421.4561, 切向力X=-21400.5391, 切向力Y=11693.5645 +FPS=26.23, 法向力=4425.6240, 切向力X=-21361.1641, 切向力Y=11674.8496 +FPS=26.66, 法向力=4440.0029, 切向力X=-21358.7324, 切向力Y=11860.5254 +FPS=26.76, 法向力=4257.2295, 切向力X=-21767.4375, 切向力Y=11497.3750 +FPS=26.54, 法向力=4404.5684, 切向力X=-21432.1953, 切向力Y=11706.8008 +FPS=28.25, 法向力=4431.4766, 切向力X=-21345.4219, 切向力Y=11715.5029 +FPS=28.34, 法向力=4306.6440, 切向力X=-21678.6211, 切向力Y=11604.5859 +FPS=28.49, 法向力=4434.1650, 切向力X=-21332.9453, 切向力Y=11733.0977 +FPS=27.83, 法向力=4353.3950, 切向力X=-21469.2461, 切向力Y=11563.4570 +FPS=27.75, 法向力=4313.2769, 切向力X=-21617.5059, 切向力Y=11537.1221 +FPS=27.94, 法向力=4375.8120, 切向力X=-21507.1680, 切向力Y=11728.6553 +FPS=27.83, 法向力=4422.9971, 切向力X=-21392.8906, 切向力Y=11728.2500 +FPS=28.08, 法向力=4418.8691, 切向力X=-21391.1934, 切向力Y=11728.5586 +FPS=28.23, 法向力=4435.0659, 切向力X=-21336.9375, 切向力Y=11692.0547 +FPS=28.40, 法向力=4421.1523, 切向力X=-21401.5703, 切向力Y=11692.3477 +FPS=27.69, 法向力=4425.7915, 切向力X=-21349.0449, 切向力Y=11670.7715 +FPS=27.63, 法向力=4438.5840, 切向力X=-21356.9512, 切向力Y=11853.9375 +FPS=28.28, 法向力=4253.1172, 切向力X=-21765.6953, 切向力Y=11495.2441 +FPS=28.00, 法向力=4401.2285, 切向力X=-21424.5684, 切向力Y=11700.1797 +FPS=26.71, 法向力=4429.0659, 切向力X=-21343.4805, 切向力Y=11716.2812 +FPS=28.25, 法向力=4304.2095, 切向力X=-21674.7461, 切向力Y=11589.6602 +FPS=27.45, 法向力=4432.3945, 切向力X=-21337.2559, 切向力Y=11725.1035 +FPS=27.23, 法向力=4374.4116, 切向力X=-21432.8945, 切向力Y=11650.3867 +FPS=27.05, 法向力=4406.4668, 切向力X=-21363.2305, 切向力Y=11636.7461 +FPS=25.88, 法向力=4403.0820, 切向力X=-21382.7812, 切向力Y=11677.2461 +FPS=27.37, 法向力=4422.8315, 切向力X=-21352.1914, 切向力Y=11686.6279 +FPS=27.24, 法向力=4407.3550, 切向力X=-21395.0039, 切向力Y=11683.7998 +FPS=27.78, 法向力=4435.6211, 切向力X=-21339.7324, 切向力Y=11704.5156 +FPS=25.82, 法向力=4322.6582, 切向力X=-21659.5430, 切向力Y=11602.1641 +FPS=27.35, 法向力=4439.6006, 切向力X=-21344.0664, 切向力Y=11696.4551 +FPS=26.69, 法向力=4412.8828, 切向力X=-21397.3281, 切向力Y=11688.7471 +FPS=27.03, 法向力=4444.9839, 切向力X=-21357.4961, 切向力Y=11708.8975 +FPS=27.61, 法向力=4411.7114, 切向力X=-21388.1250, 切向力Y=11718.8945 +FPS=23.79, 法向力=4431.5659, 切向力X=-21334.6719, 切向力Y=11694.6152 +FPS=25.60, 法向力=4417.1890, 切向力X=-21397.7539, 切向力Y=11689.2686 +FPS=27.51, 法向力=4442.9561, 切向力X=-21345.1484, 切向力Y=11704.8984 +FPS=27.51, 法向力=4419.2876, 切向力X=-21390.3711, 切向力Y=11718.8379 +FPS=28.82, 法向力=4426.8960, 切向力X=-21331.5742, 切向力Y=11692.5859 +FPS=28.57, 法向力=4395.3184, 切向力X=-21480.9980, 切向力Y=11759.7637 +FPS=28.20, 法向力=4411.3711, 切向力X=-21389.5664, 切向力Y=11689.1113 +FPS=29.52, 法向力=4407.7871, 切向力X=-21404.1230, 切向力Y=11721.5947 +FPS=28.42, 法向力=4437.4707, 切向力X=-21321.1348, 切向力Y=11715.9297 +FPS=29.37, 法向力=4361.9683, 切向力X=-21500.7520, 切向力Y=11723.3613 +FPS=28.54, 法向力=4396.8721, 切向力X=-21411.9414, 切向力Y=11660.6504 +FPS=29.72, 法向力=4405.4678, 切向力X=-21382.6211, 切向力Y=11686.1074 +FPS=29.39, 法向力=4426.5225, 切向力X=-21356.8477, 切向力Y=11692.8730 +FPS=28.42, 法向力=4414.9492, 切向力X=-21406.0195, 切向力Y=11686.2637 +FPS=27.93, 法向力=4442.6396, 切向力X=-21350.3457, 切向力Y=11702.2949 +FPS=28.56, 法向力=4420.4458, 切向力X=-21391.6348, 切向力Y=11719.5645 +FPS=28.83, 法向力=4432.1997, 切向力X=-21337.3730, 切向力Y=11696.0625 +FPS=28.65, 法向力=4395.4644, 切向力X=-21481.0195, 切向力Y=11761.5684 +FPS=29.09, 法向力=4410.0776, 切向力X=-21400.7812, 切向力Y=11693.6318 +FPS=28.92, 法向力=4408.1733, 切向力X=-21403.9219, 切向力Y=11722.5430 +FPS=29.39, 法向力=4437.6655, 切向力X=-21320.7500, 切向力Y=11716.1992 +FPS=29.01, 法向力=4362.0195, 切向力X=-21500.5918, 切向力Y=11723.4443 +FPS=30.15, 法向力=4396.8896, 切向力X=-21411.8809, 切向力Y=11660.6855 +FPS=29.72, 法向力=4405.4746, 切向力X=-21382.5879, 切向力Y=11686.1270 +FPS=30.64, 法向力=4426.5229, 切向力X=-21356.8398, 切向力Y=11692.8838 +FPS=30.12, 法向力=4414.9487, 切向力X=-21406.0195, 切向力Y=11686.2705 +FPS=28.66, 法向力=4442.6455, 切向力X=-21350.3359, 切向力Y=11702.2988 +FPS=29.31, 法向力=4420.4463, 切向力X=-21391.6289, 切向力Y=11719.5664 +FPS=29.93, 法向力=4426.8027, 切向力X=-21332.1211, 切向力Y=11692.5352 +FPS=29.45, 法向力=4394.9121, 切向力X=-21481.7383, 切向力Y=11759.4844 +FPS=28.46, 法向力=4411.1582, 切向力X=-21389.9531, 切向力Y=11688.9160 +FPS=29.53, 法向力=4407.7485, 切向力X=-21404.2207, 切向力Y=11721.5312 +FPS=29.68, 法向力=4437.4604, 切向力X=-21321.1504, 切向力Y=11715.9023 +FPS=28.96, 法向力=4361.9644, 切向力X=-21500.7617, 切向力Y=11723.3555 +FPS=29.65, 法向力=4396.8735, 切向力X=-21411.9453, 切向力Y=11660.6445 +FPS=30.04, 法向力=4405.4697, 切向力X=-21382.6250, 切向力Y=11686.1045 +FPS=30.42, 法向力=4426.5215, 切向力X=-21356.8555, 切向力Y=11692.8740 +FPS=27.77, 法向力=4414.9492, 切向力X=-21406.0195, 切向力Y=11686.2656 +FPS=28.08, 法向力=4442.6411, 切向力X=-21350.3379, 切向力Y=11702.2930 +FPS=29.59, 法向力=4420.4458, 切向力X=-21391.6250, 切向力Y=11719.5615 +FPS=29.48, 法向力=4432.1973, 切向力X=-21337.3789, 切向力Y=11696.0645 +FPS=29.44, 法向力=4411.0342, 切向力X=-21392.2109, 切向力Y=11690.5684 +FPS=30.19, 法向力=4436.7661, 切向力X=-21352.5234, 切向力Y=11709.7520 +FPS=29.95, 法向力=4324.4150, 切向力X=-21658.8320, 切向力Y=11604.7461 +FPS=28.39, 法向力=4432.5352, 切向力X=-21341.1758, 切向力Y=11697.2051 +FPS=28.42, 法向力=4412.6680, 切向力X=-21394.4961, 切向力Y=11681.8271 +FPS=29.38, 法向力=4439.7632, 切向力X=-21338.9121, 切向力Y=11703.6035 +FPS=28.32, 法向力=4416.4316, 切向力X=-21388.6406, 切向力Y=11718.9287 +FPS=29.31, 法向力=4343.2290, 切向力X=-21609.2207, 切向力Y=11582.6562 +FPS=29.17, 法向力=4404.0854, 切向力X=-21393.6934, 切向力Y=11687.5566 +FPS=28.25, 法向力=4417.3086, 切向力X=-21435.8750, 切向力Y=11778.4160 +FPS=28.13, 法向力=4401.6631, 切向力X=-21425.7500, 切向力Y=11738.2324 +FPS=28.69, 法向力=4434.3379, 切向力X=-21337.8242, 切向力Y=11699.8984 +FPS=28.28, 法向力=4416.0508, 切向力X=-21399.8438, 切向力Y=11688.6904 +FPS=29.06, 法向力=4437.8843, 切向力X=-21354.9023, 切向力Y=11709.1328 +FPS=28.67, 法向力=4421.1016, 切向力X=-21394.0781, 切向力Y=11718.0283 +FPS=28.36, 法向力=4440.1055, 切向力X=-21340.3867, 切向力Y=11699.5420 +FPS=28.60, 法向力=4409.0908, 切向力X=-21392.5547, 切向力Y=11686.0977 +FPS=29.44, 法向力=4434.4141, 切向力X=-21327.1367, 切向力Y=11705.9629 +FPS=28.34, 法向力=4418.7295, 切向力X=-21390.2812, 切向力Y=11720.8730 +FPS=20.91, 法向力=4425.4180, 切向力X=-21332.1172, 切向力Y=11690.4512 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260521_092459.log b/examples/logs/qt_viewer_20260521_092459.log new file mode 100644 index 0000000..b83e936 --- /dev/null +++ b/examples/logs/qt_viewer_20260521_092459.log @@ -0,0 +1,1680 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.16, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.51, 法向力=2172.6685, 切向力X=870.0769, 切向力Y=951.6963 +FPS=25.66, 法向力=1187.8502, 切向力X=871.8135, 切向力Y=152.8956 +FPS=28.42, 法向力=2638.9019, 切向力X=-552.2895, 切向力Y=24.5655 +FPS=30.17, 法向力=2628.2974, 切向力X=-727.6421, 切向力Y=184.3500 +FPS=31.14, 法向力=1544.8818, 切向力X=930.8024, 切向力Y=99.1287 +FPS=32.23, 法向力=1955.0068, 切向力X=22.1116, 切向力Y=289.4786 +FPS=35.59, 法向力=1999.2163, 切向力X=94.6102, 切向力Y=365.9236 +FPS=35.63, 法向力=2407.2439, 切向力X=-361.9163, 切向力Y=521.6348 +FPS=34.97, 法向力=2246.2048, 切向力X=-606.2387, 切向力Y=636.5973 +FPS=35.79, 法向力=1584.5598, 切向力X=-326.0251, 切向力Y=1698.3118 +FPS=35.32, 法向力=1046.8389, 切向力X=970.7283, 切向力Y=1058.4934 +FPS=36.14, 法向力=1098.9314, 切向力X=994.5197, 切向力Y=919.2953 +FPS=35.75, 法向力=1660.8271, 切向力X=672.5299, 切向力Y=1124.2991 +FPS=36.37, 法向力=1566.3893, 切向力X=707.4013, 切向力Y=1143.8691 +FPS=35.76, 法向力=1188.2942, 切向力X=259.7344, 切向力Y=876.8434 +FPS=37.11, 法向力=1291.5887, 切向力X=264.3340, 切向力Y=804.9575 +FPS=35.94, 法向力=2610.9175, 切向力X=-409.7172, 切向力Y=1349.1997 +FPS=36.46, 法向力=2733.9961, 切向力X=-455.3935, 切向力Y=1414.9768 +FPS=35.64, 法向力=1148.0457, 切向力X=-180.3989, 切向力Y=1466.8325 +FPS=35.31, 法向力=1258.3499, 切向力X=1473.6460, 切向力Y=505.9050 +FPS=36.59, 法向力=1223.6747, 切向力X=1367.9473, 切向力Y=527.2805 +FPS=34.75, 法向力=2309.2319, 切向力X=-784.3849, 切向力Y=671.8121 +FPS=35.90, 法向力=2188.6826, 切向力X=-726.0610, 切向力Y=846.2162 +FPS=34.97, 法向力=1133.1206, 切向力X=269.6026, 切向力Y=685.7845 +FPS=36.38, 法向力=1097.8622, 切向力X=516.7888, 切向力Y=604.5398 +FPS=35.88, 法向力=2291.0227, 切向力X=-1034.0684, 切向力Y=1194.3275 +FPS=35.79, 法向力=2476.8474, 切向力X=-1225.3269, 切向力Y=1142.2319 +FPS=36.09, 法向力=2562.5894, 切向力X=1534.0874, 切向力Y=-65.1297 +FPS=36.40, 法向力=2499.8379, 切向力X=1613.6520, 切向力Y=99.4144 +FPS=36.38, 法向力=2255.7622, 切向力X=1186.2158, 切向力Y=543.6909 +FPS=36.95, 法向力=1253.7517, 切向力X=885.4461, 切向力Y=827.7715 +FPS=36.59, 法向力=1365.1055, 切向力X=664.2802, 切向力Y=862.4194 +FPS=35.34, 法向力=1292.6622, 切向力X=956.4595, 切向力Y=1201.8036 +FPS=36.71, 法向力=1230.3323, 切向力X=839.3955, 切向力Y=1241.6185 +FPS=34.82, 法向力=1174.7249, 切向力X=346.7443, 切向力Y=1337.5034 +FPS=36.14, 法向力=1179.3175, 切向力X=420.6754, 切向力Y=1294.4869 +FPS=37.13, 法向力=2756.3965, 切向力X=-618.0290, 切向力Y=514.7264 +FPS=35.78, 法向力=1770.0170, 切向力X=747.6647, 切向力Y=1484.3862 +FPS=35.73, 法向力=1783.1005, 切向力X=1003.8954, 切向力Y=1662.5532 +FPS=35.35, 法向力=2600.3125, 切向力X=273.6676, 切向力Y=1534.7449 +FPS=36.03, 法向力=2813.8105, 切向力X=82.5529, 切向力Y=1605.9603 +FPS=34.10, 法向力=1370.7500, 切向力X=1073.3164, 切向力Y=1634.9037 +FPS=34.96, 法向力=1412.1443, 切向力X=1065.4104, 切向力Y=1657.3125 +FPS=33.85, 法向力=2091.7427, 切向力X=-781.6524, 切向力Y=1283.9280 +FPS=34.74, 法向力=2139.3230, 切向力X=-778.7296, 切向力Y=1070.2341 +FPS=35.05, 法向力=1649.8032, 切向力X=304.0379, 切向力Y=1240.9233 +FPS=34.64, 法向力=1750.1633, 切向力X=1380.3121, 切向力Y=514.0326 +FPS=35.51, 法向力=1722.8044, 切向力X=1355.2070, 切向力Y=505.9990 +FPS=33.62, 法向力=1775.9048, 切向力X=-195.6132, 切向力Y=811.8879 +FPS=34.39, 法向力=1789.3701, 切向力X=-497.3979, 切向力Y=1028.0968 +FPS=34.93, 法向力=1214.7007, 切向力X=-416.0356, 切向力Y=1028.7131 +FPS=33.91, 法向力=2112.7397, 切向力X=1102.8442, 切向力Y=1058.6373 +FPS=36.30, 法向力=2107.7334, 切向力X=1083.7616, 切向力Y=1053.4250 +FPS=35.93, 法向力=3032.8740, 切向力X=4735.2871, 切向力Y=990.9369 +FPS=36.93, 法向力=2949.9751, 切向力X=4981.9077, 切向力Y=1064.3608 +FPS=35.60, 法向力=2522.1436, 切向力X=7516.7466, 切向力Y=501.6677 +FPS=35.84, 法向力=2543.6841, 切向力X=7609.9077, 切向力Y=565.3545 +FPS=34.94, 法向力=2531.0493, 切向力X=7664.7300, 切向力Y=566.1096 +FPS=36.28, 法向力=2549.3201, 切向力X=7667.3828, 切向力Y=560.3786 +FPS=35.58, 法向力=2081.6353, 切向力X=9461.2402, 切向力Y=-45.2380 +FPS=35.83, 法向力=1641.5562, 切向力X=7867.0586, 切向力Y=606.2340 +FPS=36.33, 法向力=1681.5413, 切向力X=6975.6777, 切向力Y=526.2098 +FPS=34.75, 法向力=2256.7883, 切向力X=7322.2402, 切向力Y=1277.0049 +FPS=36.22, 法向力=2240.8823, 切向力X=7386.8413, 切向力Y=1381.9899 +FPS=35.63, 法向力=1828.2590, 切向力X=6063.3301, 切向力Y=1871.5579 +FPS=33.46, 法向力=2108.1233, 切向力X=4677.0107, 切向力Y=1463.9752 +FPS=35.31, 法向力=2170.6260, 切向力X=4698.7910, 切向力Y=1437.7058 +FPS=35.26, 法向力=2159.4895, 切向力X=4694.6670, 切向力Y=1431.5308 +FPS=34.60, 法向力=2533.2976, 切向力X=5157.1279, 切向力Y=1847.7681 +FPS=34.03, 法向力=2822.4084, 切向力X=6464.5850, 切向力Y=2658.9451 +FPS=33.04, 法向力=2700.9414, 切向力X=6815.9229, 切向力Y=2701.9766 +FPS=33.42, 法向力=2659.7993, 切向力X=6861.6182, 切向力Y=2697.1343 +FPS=33.57, 法向力=2662.6777, 切向力X=6916.5391, 切向力Y=2750.9363 +FPS=34.62, 法向力=5223.1553, 切向力X=8979.4688, 切向力Y=3440.5261 +FPS=32.99, 法向力=5607.7949, 切向力X=9503.7812, 切向力Y=2941.3142 +FPS=33.86, 法向力=5704.5796, 切向力X=9716.7598, 切向力Y=2957.3394 +FPS=33.56, 法向力=7162.0957, 切向力X=9793.3652, 切向力Y=1997.1832 +FPS=33.17, 法向力=6425.9883, 切向力X=9222.6230, 切向力Y=3919.2224 +FPS=34.93, 法向力=6091.6660, 切向力X=9678.6211, 切向力Y=4033.5737 +FPS=35.68, 法向力=6127.8892, 切向力X=9682.2920, 切向力Y=4105.2666 +FPS=31.38, 法向力=6997.4932, 切向力X=7481.9932, 切向力Y=3112.9705 +FPS=34.33, 法向力=8458.3203, 切向力X=7297.5020, 切向力Y=3582.9131 +FPS=34.65, 法向力=8498.9375, 切向力X=7243.2559, 切向力Y=3605.3271 +FPS=35.41, 法向力=5967.5996, 切向力X=7365.2295, 切向力Y=4144.9473 +FPS=36.50, 法向力=6015.4106, 切向力X=7586.2871, 切向力Y=4285.6035 +FPS=33.76, 法向力=5896.8965, 切向力X=7623.2456, 切向力Y=4199.5859 +FPS=33.90, 法向力=4083.2832, 切向力X=9514.2227, 切向力Y=3936.9336 +FPS=34.53, 法向力=3957.0962, 切向力X=9480.6006, 切向力Y=4044.5459 +FPS=33.26, 法向力=3791.3418, 切向力X=9809.3613, 切向力Y=3776.2268 +FPS=34.13, 法向力=3533.7466, 切向力X=9184.0674, 切向力Y=4184.0596 +FPS=34.46, 法向力=3559.9431, 切向力X=9292.9355, 切向力Y=4230.5342 +FPS=35.36, 法向力=3537.1304, 切向力X=9242.9424, 切向力Y=4200.5820 +FPS=34.57, 法向力=3608.0308, 切向力X=6545.5537, 切向力Y=2314.3384 +FPS=34.95, 法向力=3170.4058, 切向力X=6937.4326, 切向力Y=3513.8643 +FPS=35.84, 法向力=3198.5728, 切向力X=7107.3042, 切向力Y=3600.6191 +FPS=33.33, 法向力=2591.9048, 切向力X=6957.5513, 切向力Y=4007.0398 +FPS=34.48, 法向力=2506.6785, 切向力X=7167.0010, 切向力Y=4045.6094 +FPS=34.56, 法向力=2787.1304, 切向力X=7282.3652, 切向力Y=4117.3906 +FPS=35.40, 法向力=2807.7878, 切向力X=7332.5098, 切向力Y=4209.5420 +FPS=35.25, 法向力=2841.7070, 切向力X=7333.9609, 切向力Y=4217.2051 +FPS=33.14, 法向力=3831.8181, 切向力X=6013.1855, 切向力Y=4582.3916 +FPS=34.38, 法向力=3773.6514, 切向力X=6031.8018, 切向力Y=4577.6738 +FPS=34.39, 法向力=3740.5596, 切向力X=7197.3066, 切向力Y=4247.8574 +FPS=34.27, 法向力=4863.7812, 切向力X=6035.3794, 切向力Y=3798.4912 +FPS=34.66, 法向力=4957.4375, 切向力X=6010.3315, 切向力Y=3897.6250 +FPS=33.89, 法向力=6288.9092, 切向力X=7092.0078, 切向力Y=4495.3540 +FPS=34.54, 法向力=6447.7471, 切向力X=7274.7769, 切向力Y=4615.7012 +FPS=33.07, 法向力=6840.4834, 切向力X=5781.4844, 切向力Y=5553.9609 +FPS=33.47, 法向力=7136.6885, 切向力X=5683.3228, 切向力Y=5548.3062 +FPS=35.94, 法向力=8091.0928, 切向力X=5516.5771, 切向力Y=5161.9736 +FPS=35.47, 法向力=8825.2705, 切向力X=6112.7432, 切向力Y=4409.4648 +FPS=35.94, 法向力=8810.5430, 切向力X=6321.4565, 切向力Y=4318.5103 +FPS=35.82, 法向力=8789.0605, 切向力X=6375.6836, 切向力Y=4262.3369 +FPS=35.89, 法向力=8817.8184, 切向力X=6338.6885, 切向力Y=4242.6748 +FPS=35.11, 法向力=8944.3789, 切向力X=11797.2285, 切向力Y=3033.2927 +FPS=34.55, 法向力=8996.9414, 切向力X=11924.3389, 切向力Y=2938.4062 +FPS=34.04, 法向力=8966.7070, 切向力X=11502.0098, 切向力Y=3332.4497 +FPS=33.99, 法向力=8857.4668, 切向力X=11544.8936, 切向力Y=3404.8145 +FPS=33.51, 法向力=8519.0420, 切向力X=13180.0352, 切向力Y=3742.0635 +FPS=33.43, 法向力=7451.7681, 切向力X=11335.5195, 切向力Y=3222.3926 +FPS=33.65, 法向力=7419.5195, 切向力X=11186.9805, 切向力Y=3337.7375 +FPS=33.82, 法向力=7229.4858, 切向力X=11745.6055, 切向力Y=2713.5063 +FPS=34.92, 法向力=7165.2192, 切向力X=12242.8096, 切向力Y=2984.2798 +FPS=34.37, 法向力=7309.2690, 切向力X=13030.9453, 切向力Y=3248.9419 +FPS=33.87, 法向力=7739.2588, 切向力X=12654.1797, 切向力Y=2813.0198 +FPS=35.20, 法向力=7843.9209, 切向力X=12640.6611, 切向力Y=2774.7219 +FPS=34.50, 法向力=7818.7900, 切向力X=12562.6250, 切向力Y=2667.9531 +FPS=33.98, 法向力=7809.2124, 切向力X=12612.6797, 切向力Y=2708.4219 +FPS=34.60, 法向力=7950.6958, 切向力X=13152.2314, 切向力Y=2852.6963 +FPS=34.11, 法向力=7852.1270, 切向力X=13238.6465, 切向力Y=2771.9619 +FPS=34.16, 法向力=7604.8750, 切向力X=13242.1445, 切向力Y=3848.0730 +FPS=33.84, 法向力=8410.5879, 切向力X=12409.5654, 切向力Y=5112.0669 +FPS=33.38, 法向力=8590.9990, 切向力X=11974.6660, 切向力Y=5034.0410 +FPS=33.28, 法向力=8104.4736, 切向力X=13957.6338, 切向力Y=4507.9746 +FPS=35.52, 法向力=8109.8740, 切向力X=14121.8086, 切向力Y=4580.6611 +FPS=33.71, 法向力=7579.9697, 切向力X=12454.2520, 切向力Y=2914.2964 +FPS=34.08, 法向力=6466.2217, 切向力X=9971.8320, 切向力Y=2304.8557 +FPS=35.08, 法向力=6401.2070, 切向力X=9697.3613, 切向力Y=2382.3892 +FPS=34.24, 法向力=5805.4551, 切向力X=8217.4316, 切向力Y=1412.9478 +FPS=34.13, 法向力=5674.9814, 切向力X=8170.4736, 切向力Y=1223.9348 +FPS=35.07, 法向力=5695.2612, 切向力X=8197.2090, 切向力Y=1186.5527 +FPS=34.24, 法向力=5060.5254, 切向力X=6742.1475, 切向力Y=-254.7138 +FPS=35.34, 法向力=4891.2793, 切向力X=6861.5625, 切向力Y=-370.3061 +FPS=34.15, 法向力=4622.0947, 切向力X=8441.3555, 切向力Y=-796.8215 +FPS=34.76, 法向力=4606.8018, 切向力X=8493.8672, 切向力Y=-895.8123 +FPS=33.71, 法向力=4262.9131, 切向力X=9649.2490, 切向力Y=-1440.3093 +FPS=34.41, 法向力=4309.8799, 切向力X=9607.4609, 切向力Y=-1495.7228 +FPS=33.60, 法向力=4222.6875, 切向力X=8194.1973, 切向力Y=-1989.6470 +FPS=34.62, 法向力=3486.0344, 切向力X=8332.7012, 切向力Y=-1665.6334 +FPS=35.17, 法向力=3471.2832, 切向力X=8426.2441, 切向力Y=-1652.6776 +FPS=33.12, 法向力=3368.1958, 切向力X=9068.5752, 切向力Y=-1246.2761 +FPS=34.94, 法向力=3396.4189, 切向力X=9247.0977, 切向力Y=-1203.6907 +FPS=34.80, 法向力=3656.4521, 切向力X=10749.0264, 切向力Y=-1748.9636 +FPS=34.95, 法向力=3727.3425, 切向力X=10509.3613, 切向力Y=-1821.3558 +FPS=35.16, 法向力=3705.3330, 切向力X=10481.0176, 切向力Y=-1838.7690 +FPS=34.74, 法向力=4713.8936, 切向力X=10790.5635, 切向力Y=-110.3131 +FPS=34.39, 法向力=4812.2158, 切向力X=10599.2793, 切向力Y=-41.3942 +FPS=34.50, 法向力=3864.8862, 切向力X=9604.1406, 切向力Y=468.8262 +FPS=34.37, 法向力=3798.5962, 切向力X=9795.6182, 切向力Y=433.6150 +FPS=33.85, 法向力=3496.5757, 切向力X=9085.4336, 切向力Y=42.1140 +FPS=34.64, 法向力=3549.1597, 切向力X=9065.6348, 切向力Y=-16.9782 +FPS=35.37, 法向力=3290.9717, 切向力X=4632.9971, 切向力Y=-1116.3918 +FPS=34.04, 法向力=4149.7690, 切向力X=3528.3442, 切向力Y=-978.7891 +FPS=35.68, 法向力=4161.9834, 切向力X=3781.6924, 切向力Y=-914.0449 +FPS=34.27, 法向力=3184.4341, 切向力X=1707.8972, 切向力Y=-1547.0310 +FPS=35.14, 法向力=3125.9634, 切向力X=1710.4407, 切向力Y=-1509.7217 +FPS=35.14, 法向力=2984.2329, 切向力X=112.6603, 切向力Y=-1608.4882 +FPS=34.09, 法向力=2983.2976, 切向力X=15.2198, 切向力Y=-1346.0599 +FPS=34.77, 法向力=3037.0122, 切向力X=11.2237, 切向力Y=-1292.9136 +FPS=34.48, 法向力=2858.5327, 切向力X=1766.0784, 切向力Y=-1284.2218 +FPS=34.91, 法向力=2836.2739, 切向力X=2010.3083, 切向力Y=-1342.8279 +FPS=32.89, 法向力=2583.2363, 切向力X=3063.3245, 切向力Y=-4.0285 +FPS=34.29, 法向力=2829.4609, 切向力X=3191.3625, 切向力Y=199.1735 +FPS=34.50, 法向力=3131.1392, 切向力X=4416.4941, 切向力Y=-160.4495 +FPS=35.39, 法向力=3314.4824, 切向力X=6295.0483, 切向力Y=-454.4189 +FPS=35.73, 法向力=3351.2615, 切向力X=6656.7456, 切向力Y=-450.8231 +FPS=34.60, 法向力=3362.0122, 切向力X=5231.9492, 切向力Y=-56.3398 +FPS=35.62, 法向力=3261.3923, 切向力X=5270.2705, 切向力Y=175.0675 +FPS=34.99, 法向力=4198.8823, 切向力X=5563.5586, 切向力Y=100.2135 +FPS=35.37, 法向力=4437.1406, 切向力X=5141.1831, 切向力Y=56.5727 +FPS=34.87, 法向力=3672.7913, 切向力X=5596.7529, 切向力Y=692.9067 +FPS=35.43, 法向力=3594.3911, 切向力X=5556.9111, 切向力Y=568.7348 +FPS=36.50, 法向力=3571.5439, 切向力X=5579.0576, 切向力Y=720.9308 +FPS=35.79, 法向力=3642.5930, 切向力X=5562.7388, 切向力Y=661.7030 +FPS=35.34, 法向力=3895.2944, 切向力X=4803.5918, 切向力Y=265.8785 +FPS=35.60, 法向力=3039.5740, 切向力X=5063.1860, 切向力Y=366.4303 +FPS=36.11, 法向力=3001.7202, 切向力X=5157.2559, 切向力Y=264.9539 +FPS=34.84, 法向力=3728.5298, 切向力X=5013.6108, 切向力Y=-73.7895 +FPS=35.36, 法向力=3632.8374, 切向力X=4882.1880, 切向力Y=-152.6212 +FPS=35.97, 法向力=4433.3369, 切向力X=5846.2529, 切向力Y=-424.2643 +FPS=35.98, 法向力=3168.2144, 切向力X=962.1770, 切向力Y=-661.1524 +FPS=36.05, 法向力=3164.6929, 切向力X=209.3998, 切向力Y=-615.9210 +FPS=35.31, 法向力=2958.0513, 切向力X=1824.7346, 切向力Y=82.1914 +FPS=37.42, 法向力=2906.0366, 切向力X=2527.9858, 切向力Y=256.5264 +FPS=37.09, 法向力=3158.2124, 切向力X=2483.0073, 切向力Y=-966.7864 +FPS=39.19, 法向力=3104.3594, 切向力X=2487.4351, 切向力Y=-1256.8297 +FPS=38.47, 法向力=3368.5376, 切向力X=3514.4863, 切向力Y=-916.5555 +FPS=37.82, 法向力=3142.8223, 切向力X=3245.8789, 切向力Y=-992.5978 +FPS=36.47, 法向力=3386.8452, 切向力X=841.8658, 切向力Y=-31.1360 +FPS=37.51, 法向力=3464.0728, 切向力X=935.5746, 切向力Y=-97.8114 +FPS=36.48, 法向力=3008.5444, 切向力X=2090.1372, 切向力Y=-1485.2528 +FPS=37.59, 法向力=3006.4138, 切向力X=2129.0046, 切向力Y=-1565.3945 +FPS=37.12, 法向力=2651.2397, 切向力X=2202.9155, 切向力Y=-2130.2478 +FPS=34.64, 法向力=2949.2832, 切向力X=3355.9062, 切向力Y=-2995.9785 +FPS=36.59, 法向力=2987.7317, 切向力X=3220.0581, 切向力Y=-3061.5122 +FPS=35.49, 法向力=2477.5288, 切向力X=2335.1479, 切向力Y=-2849.1375 +FPS=36.05, 法向力=2445.6406, 切向力X=2231.8574, 切向力Y=-3014.8330 +FPS=36.82, 法向力=2308.9854, 切向力X=2664.9614, 切向力Y=-2541.5984 +FPS=37.59, 法向力=2209.5137, 切向力X=3151.5303, 切向力Y=-2600.0793 +FPS=36.23, 法向力=2863.7036, 切向力X=1651.0245, 切向力Y=-2293.5361 +FPS=36.39, 法向力=3030.4607, 切向力X=1524.0149, 切向力Y=-2125.5342 +FPS=35.54, 法向力=2193.9561, 切向力X=-290.6703, 切向力Y=-4739.4746 +FPS=35.23, 法向力=2328.3975, 切向力X=-507.6223, 切向力Y=-4980.5630 +FPS=33.54, 法向力=2063.9043, 切向力X=1865.6008, 切向力Y=-3620.1296 +FPS=32.22, 法向力=3230.0728, 切向力X=9732.0840, 切向力Y=-3408.3164 +FPS=32.06, 法向力=3201.7798, 切向力X=9725.1035, 切向力Y=-3497.0076 +FPS=33.64, 法向力=4414.0537, 切向力X=20145.4512, 切向力Y=-3294.5293 +FPS=33.40, 法向力=4552.2397, 切向力X=8440.8555, 切向力Y=-3777.6587 +FPS=35.20, 法向力=4487.0020, 切向力X=8418.9287, 切向力Y=-3895.8999 +FPS=34.24, 法向力=2092.8555, 切向力X=2077.6389, 切向力Y=-4021.4841 +FPS=35.44, 法向力=2100.2253, 切向力X=1908.0887, 切向力Y=-4160.2900 +FPS=34.45, 法向力=2863.1514, 切向力X=1656.2179, 切向力Y=-4169.6768 +FPS=35.24, 法向力=2806.8669, 切向力X=1780.5642, 切向力Y=-4223.7930 +FPS=35.26, 法向力=1580.7299, 切向力X=1139.7000, 切向力Y=-3939.0376 +FPS=34.93, 法向力=1586.1285, 切向力X=1252.6964, 切向力Y=-3956.9792 +FPS=35.11, 法向力=1774.2727, 切向力X=-300.8472, 切向力Y=-4745.0449 +FPS=35.15, 法向力=1830.5703, 切向力X=-777.9242, 切向力Y=-4844.5474 +FPS=35.70, 法向力=2136.4023, 切向力X=-258.2324, 切向力Y=-4880.5791 +FPS=35.23, 法向力=2213.7600, 切向力X=-1745.1832, 切向力Y=-4418.1182 +FPS=34.27, 法向力=2347.4292, 切向力X=-1983.9568, 切向力Y=-4470.4238 +FPS=35.08, 法向力=1793.1498, 切向力X=1336.1504, 切向力Y=-3895.7690 +FPS=33.78, 法向力=2671.1882, 切向力X=495.7852, 切向力Y=-4296.8560 +FPS=35.51, 法向力=2717.4636, 切向力X=482.7389, 切向力Y=-4279.7793 +FPS=34.06, 法向力=2980.9019, 切向力X=1351.2327, 切向力Y=-3887.0469 +FPS=35.19, 法向力=2854.7854, 切向力X=1993.8005, 切向力Y=-3889.4248 +FPS=34.80, 法向力=2169.7449, 切向力X=1922.4473, 切向力Y=-4177.3169 +FPS=35.24, 法向力=1906.1257, 切向力X=1825.6045, 切向力Y=-4228.6455 +FPS=33.96, 法向力=2261.3293, 切向力X=1688.0815, 切向力Y=-4130.4658 +FPS=34.63, 法向力=2288.7034, 切向力X=1723.9231, 切向力Y=-3945.2566 +FPS=34.77, 法向力=1812.3422, 切向力X=2082.0708, 切向力Y=-3344.6421 +FPS=33.70, 法向力=2515.0273, 切向力X=516.8674, 切向力Y=-2956.0986 +FPS=35.54, 法向力=2505.9912, 切向力X=532.0764, 切向力Y=-2979.3723 +FPS=33.14, 法向力=2803.6646, 切向力X=1764.4054, 切向力Y=-2620.9834 +FPS=33.71, 法向力=3912.0337, 切向力X=600.2146, 切向力Y=-2397.3845 +FPS=33.87, 法向力=4019.0933, 切向力X=697.6040, 切向力Y=-2472.3230 +FPS=34.08, 法向力=5255.9204, 切向力X=-1107.0791, 切向力Y=-996.7070 +FPS=34.49, 法向力=5244.7246, 切向力X=-1193.6360, 切向力Y=-873.5867 +FPS=33.42, 法向力=7585.8306, 切向力X=1000.9364, 切向力Y=-830.6636 +FPS=34.95, 法向力=7416.4644, 切向力X=1686.7867, 切向力Y=-754.0025 +FPS=33.60, 法向力=8708.3203, 切向力X=1831.6613, 切向力Y=11.9013 +FPS=33.79, 法向力=9102.2412, 切向力X=1611.8405, 切向力Y=15.9477 +FPS=34.38, 法向力=8734.9492, 切向力X=1798.8198, 切向力Y=-1499.0454 +FPS=33.78, 法向力=8500.4766, 切向力X=1899.2524, 切向力Y=-1115.1389 +FPS=34.17, 法向力=8675.4785, 切向力X=1681.5981, 切向力Y=-1092.7355 +FPS=33.97, 法向力=8803.9023, 切向力X=2297.9204, 切向力Y=-1446.5923 +FPS=35.19, 法向力=5675.0708, 切向力X=381.0706, 切向力Y=-3450.3425 +FPS=36.37, 法向力=5633.4653, 切向力X=268.8886, 切向力Y=-3375.5298 +FPS=35.04, 法向力=4145.0396, 切向力X=-2692.4521, 切向力Y=-5680.4858 +FPS=34.56, 法向力=4254.9727, 切向力X=-3037.6152, 切向力Y=-5945.3931 +FPS=33.94, 法向力=4713.8330, 切向力X=-4423.2935, 切向力Y=-8231.7959 +FPS=33.14, 法向力=4907.3408, 切向力X=-3972.3794, 切向力Y=-8215.2197 +FPS=34.67, 法向力=6555.1538, 切向力X=-4629.5972, 切向力Y=-7732.2456 +FPS=35.07, 法向力=6662.5229, 切向力X=-4950.0859, 切向力Y=-7759.9688 +FPS=34.23, 法向力=5749.7847, 切向力X=-4833.9243, 切向力Y=-6771.0078 +FPS=34.18, 法向力=4549.3560, 切向力X=-4432.4170, 切向力Y=-4515.0649 +FPS=35.14, 法向力=4518.5112, 切向力X=-4628.3989, 切向力Y=-4491.0396 +FPS=33.74, 法向力=2566.6824, 切向力X=-4941.8301, 切向力Y=-4448.4404 +FPS=34.43, 法向力=2525.5405, 切向力X=-5422.8433, 切向力Y=-4562.5059 +FPS=34.62, 法向力=3186.6631, 切向力X=-4633.6494, 切向力Y=-3213.6787 +FPS=33.98, 法向力=4243.0605, 切向力X=-4741.2085, 切向力Y=-3414.1074 +FPS=35.29, 法向力=4444.9746, 切向力X=-5108.2061, 切向力Y=-3603.0569 +FPS=33.90, 法向力=4337.8604, 切向力X=-3753.7466, 切向力Y=-1550.9617 +FPS=34.58, 法向力=4366.6060, 切向力X=-3509.2207, 切向力Y=-1494.3545 +FPS=34.43, 法向力=4298.1025, 切向力X=-2446.0830, 切向力Y=-2503.1638 +FPS=34.25, 法向力=4541.2539, 切向力X=-2351.5771, 切向力Y=-2530.7407 +FPS=34.11, 法向力=4117.2773, 切向力X=-1843.9841, 切向力Y=-3350.0730 +FPS=34.21, 法向力=2763.6187, 切向力X=-50.2039, 切向力Y=-2667.6899 +FPS=35.74, 法向力=2664.2075, 切向力X=393.3086, 切向力Y=-2481.4360 +FPS=33.63, 法向力=2378.0559, 切向力X=362.2570, 切向力Y=-3199.0737 +FPS=35.75, 法向力=2389.1260, 切向力X=338.6566, 切向力Y=-3242.4028 +FPS=35.72, 法向力=2510.3618, 切向力X=-653.0927, 切向力Y=-2609.8208 +FPS=35.55, 法向力=4104.0200, 切向力X=-1976.2522, 切向力Y=-1489.0386 +FPS=36.10, 法向力=4283.3784, 切向力X=-1963.9719, 切向力Y=-1368.8837 +FPS=35.45, 法向力=4783.2876, 切向力X=-1900.0862, 切向力Y=-1526.6820 +FPS=36.19, 法向力=4576.3291, 切向力X=-1168.8860, 切向力Y=-1607.4838 +FPS=35.57, 法向力=4625.4375, 切向力X=-1177.9509, 切向力Y=-1579.1279 +FPS=36.57, 法向力=5942.9907, 切向力X=-1511.5178, 切向力Y=-1063.6217 +FPS=35.23, 法向力=5626.7764, 切向力X=-763.0868, 切向力Y=-2950.2131 +FPS=36.36, 法向力=5648.0869, 切向力X=-786.0925, 切向力Y=-2984.5869 +FPS=35.11, 法向力=5706.2061, 切向力X=-1172.3965, 切向力Y=-2246.4907 +FPS=36.45, 法向力=5688.3193, 切向力X=-1082.7262, 切向力Y=-2119.5046 +FPS=35.96, 法向力=5247.1182, 切向力X=-1947.6873, 切向力Y=-2630.9192 +FPS=36.91, 法向力=4265.6157, 切向力X=-970.7272, 切向力Y=-4681.7031 +FPS=37.84, 法向力=4121.3574, 切向力X=-520.8319, 切向力Y=-4623.5815 +FPS=36.66, 法向力=4710.3730, 切向力X=4390.5503, 切向力Y=-7288.5449 +FPS=37.39, 法向力=4873.7490, 切向力X=4732.4297, 切向力Y=-7745.5547 +FPS=36.28, 法向力=8320.7578, 切向力X=6449.9331, 切向力Y=-9413.0312 +FPS=36.93, 法向力=8618.3242, 切向力X=6553.0342, 切向力Y=-9776.4834 +FPS=36.98, 法向力=11025.9648, 切向力X=5303.5073, 切向力Y=-11095.6641 +FPS=36.42, 法向力=11026.6797, 切向力X=5140.2100, 切向力Y=-11208.3242 +FPS=35.28, 法向力=11873.8262, 切向力X=729.2661, 切向力Y=-12193.8906 +FPS=36.72, 法向力=11902.3369, 切向力X=486.8496, 切向力Y=-12086.9863 +FPS=34.47, 法向力=12512.7939, 切向力X=655.5971, 切向力Y=-12578.0771 +FPS=35.72, 法向力=12657.4941, 切向力X=926.1681, 切向力Y=-12652.2139 +FPS=36.60, 法向力=12290.1523, 切向力X=-2196.4348, 切向力Y=-13353.7109 +FPS=35.41, 法向力=13112.8818, 切向力X=-1868.2512, 切向力Y=-10830.5176 +FPS=36.58, 法向力=13391.0410, 切向力X=-2041.2684, 切向力Y=-10796.2822 +FPS=35.46, 法向力=13649.1641, 切向力X=-3242.6572, 切向力Y=-11483.0273 +FPS=35.33, 法向力=12928.1973, 切向力X=-2485.5894, 切向力Y=-8918.0127 +FPS=36.06, 法向力=12817.1250, 切向力X=-2427.9419, 切向力Y=-9102.1816 +FPS=35.70, 法向力=10852.1895, 切向力X=-4888.2471, 切向力Y=-9029.9092 +FPS=35.69, 法向力=10803.2461, 切向力X=-5085.8452, 切向力Y=-9247.1055 +FPS=36.34, 法向力=10771.6729, 切向力X=-5114.0898, 切向力Y=-9250.6855 +FPS=36.42, 法向力=7817.2964, 切向力X=-8572.2910, 切向力Y=-6966.4131 +FPS=34.03, 法向力=6926.0635, 切向力X=-8033.2686, 切向力Y=-4125.1177 +FPS=34.94, 法向力=6823.9951, 切向力X=-8200.2598, 切向力Y=-4211.7002 +FPS=34.65, 法向力=10124.3887, 切向力X=-3852.0051, 切向力Y=-2365.8823 +FPS=35.06, 法向力=10017.7148, 切向力X=-3830.3462, 切向力Y=-2456.8831 +FPS=34.93, 法向力=8394.3789, 切向力X=-591.1952, 切向力Y=-1437.0458 +FPS=34.00, 法向力=6144.4111, 切向力X=864.3985, 切向力Y=-2421.6365 +FPS=35.93, 法向力=5934.6680, 切向力X=987.4811, 切向力Y=-2448.9292 +FPS=33.38, 法向力=6277.5225, 切向力X=-2429.1924, 切向力Y=-2259.8125 +FPS=35.07, 法向力=6479.2412, 切向力X=-2755.1885, 切向力Y=-2355.4224 +FPS=34.44, 法向力=6854.5591, 切向力X=-5.0367, 切向力Y=-2942.7910 +FPS=34.82, 法向力=6649.2021, 切向力X=296.3488, 切向力Y=-3062.2056 +FPS=34.26, 法向力=6828.7949, 切向力X=2620.4800, 切向力Y=-2685.1182 +FPS=35.75, 法向力=6567.5977, 切向力X=3305.2036, 切向力Y=-2904.2332 +FPS=35.39, 法向力=6809.4893, 切向力X=6448.0020, 切向力Y=-6381.1704 +FPS=34.05, 法向力=8626.4492, 切向力X=9767.6436, 切向力Y=-8547.7607 +FPS=35.42, 法向力=8705.8164, 切向力X=9917.3633, 切向力Y=-8729.1797 +FPS=34.29, 法向力=11008.6367, 切向力X=7615.5020, 切向力Y=-10353.6729 +FPS=35.73, 法向力=11075.6484, 切向力X=7358.0000, 切向力Y=-10179.8105 +FPS=35.21, 法向力=11106.8896, 切向力X=1978.0747, 切向力Y=-9457.9004 +FPS=35.44, 法向力=8136.0737, 切向力X=-210.2376, 切向力Y=-8377.4102 +FPS=36.23, 法向力=8042.8164, 切向力X=-249.5782, 切向力Y=-8482.1582 +FPS=35.22, 法向力=5113.3105, 切向力X=-384.4426, 切向力Y=-7601.0117 +FPS=36.41, 法向力=4975.9453, 切向力X=-118.2395, 切向力Y=-7549.1641 +FPS=35.58, 法向力=5098.3506, 切向力X=-1248.4563, 切向力Y=-5074.8389 +FPS=36.17, 法向力=5127.1768, 切向力X=-1293.9247, 切向力Y=-5020.5015 +FPS=34.93, 法向力=3073.6553, 切向力X=-768.3793, 切向力Y=-4956.5435 +FPS=35.62, 法向力=3072.8940, 切向力X=-1102.8113, 切向力Y=-4942.0981 +FPS=36.12, 法向力=2356.7358, 切向力X=-530.6401, 切向力Y=-4119.6226 +FPS=35.66, 法向力=3169.2405, 切向力X=2036.4938, 切向力Y=-3087.4700 +FPS=36.55, 法向力=3379.1284, 切向力X=2636.8716, 切向力Y=-3029.6787 +FPS=35.83, 法向力=3468.5000, 切向力X=1581.5664, 切向力Y=-2320.3005 +FPS=36.60, 法向力=3518.1294, 切向力X=1467.3210, 切向力Y=-2301.2607 +FPS=34.97, 法向力=3359.9111, 切向力X=-477.5672, 切向力Y=-1442.5322 +FPS=36.01, 法向力=3398.1582, 切向力X=-1023.9125, 切向力Y=-1489.4058 +FPS=35.98, 法向力=3490.5671, 切向力X=-1138.8506, 切向力Y=-2217.1655 +FPS=35.72, 法向力=3182.4158, 切向力X=648.3667, 切向力Y=-3380.3647 +FPS=37.08, 法向力=3173.7007, 切向力X=505.7746, 切向力Y=-3468.4399 +FPS=34.66, 法向力=3139.8359, 切向力X=543.1187, 切向力Y=-3510.4121 +FPS=34.05, 法向力=3710.8892, 切向力X=-1072.6663, 切向力Y=-3382.9282 +FPS=34.66, 法向力=3461.8496, 切向力X=-676.1835, 切向力Y=-3496.5029 +FPS=34.88, 法向力=3429.8301, 切向力X=-683.3676, 切向力Y=-3541.4297 +FPS=34.72, 法向力=2881.5044, 切向力X=-2542.7454, 切向力Y=-4357.9771 +FPS=36.88, 法向力=2788.9805, 切向力X=-2709.9922, 切向力Y=-4629.8096 +FPS=35.44, 法向力=3078.8240, 切向力X=-2752.1702, 切向力Y=-5226.2568 +FPS=33.36, 法向力=2426.5803, 切向力X=-1045.4071, 切向力Y=-6010.4346 +FPS=31.92, 法向力=2660.9727, 切向力X=-893.2688, 切向力Y=-5975.0752 +FPS=32.14, 法向力=2640.2009, 切向力X=264.3869, 切向力Y=-4924.3516 +FPS=35.93, 法向力=2747.1958, 切向力X=385.2295, 切向力Y=-4912.8018 +FPS=35.26, 法向力=2676.3472, 切向力X=-785.5441, 切向力Y=-5861.1392 +FPS=36.54, 法向力=2511.4839, 切向力X=-1003.0474, 切向力Y=-5878.8398 +FPS=35.09, 法向力=2371.0713, 切向力X=1147.9890, 切向力Y=-3983.8638 +FPS=37.51, 法向力=2358.2678, 切向力X=1267.3853, 切向力Y=-3909.0615 +FPS=38.27, 法向力=3211.7056, 切向力X=3859.9346, 切向力Y=-4013.8362 +FPS=36.45, 法向力=2442.0679, 切向力X=3064.8862, 切向力Y=-3818.4412 +FPS=37.58, 法向力=2456.0889, 切向力X=3278.1040, 切向力Y=-3844.6562 +FPS=36.77, 法向力=2762.6868, 切向力X=1671.1506, 切向力Y=-3042.1697 +FPS=37.40, 法向力=2830.7854, 切向力X=1714.5466, 切向力Y=-2928.1792 +FPS=36.76, 法向力=2113.4329, 切向力X=3429.7783, 切向力Y=-2806.0674 +FPS=36.44, 法向力=2563.8091, 切向力X=3922.2715, 切向力Y=-2688.7686 +FPS=35.19, 法向力=2340.2500, 切向力X=3758.1777, 切向力Y=-3882.6094 +FPS=35.93, 法向力=2901.0840, 切向力X=2281.3105, 切向力Y=-5401.3213 +FPS=37.11, 法向力=2843.6682, 切向力X=2194.5178, 切向力Y=-5574.7539 +FPS=35.18, 法向力=4262.4165, 切向力X=423.5702, 切向力Y=-5923.1509 +FPS=38.14, 法向力=4468.5903, 切向力X=604.1680, 切向力Y=-5922.7471 +FPS=37.76, 法向力=4495.2129, 切向力X=646.0365, 切向力Y=-5936.9805 +FPS=36.64, 法向力=4830.0547, 切向力X=219.6323, 切向力Y=-6280.5479 +FPS=37.17, 法向力=6742.7295, 切向力X=1146.6686, 切向力Y=-6343.7871 +FPS=37.33, 法向力=6762.1191, 切向力X=1072.7019, 切向力Y=-6421.6191 +FPS=36.57, 法向力=6897.5801, 切向力X=502.7555, 切向力Y=-6627.3574 +FPS=37.88, 法向力=7023.3086, 切向力X=183.8562, 切向力Y=-6836.8301 +FPS=36.87, 法向力=7196.1431, 切向力X=-1421.3719, 切向力Y=-7233.5625 +FPS=36.89, 法向力=7109.1948, 切向力X=-1494.0479, 切向力Y=-7355.2949 +FPS=36.55, 法向力=6488.8472, 切向力X=-1372.2522, 切向力Y=-6289.9258 +FPS=35.54, 法向力=6807.9141, 切向力X=-417.2506, 切向力Y=-7094.9341 +FPS=36.37, 法向力=6905.9058, 切向力X=-240.4921, 切向力Y=-7069.8975 +FPS=34.64, 法向力=7637.2065, 切向力X=317.9535, 切向力Y=-6235.2812 +FPS=36.87, 法向力=7636.0781, 切向力X=645.9365, 切向力Y=-6237.1011 +FPS=35.17, 法向力=7558.0269, 切向力X=-676.7334, 切向力Y=-7041.5166 +FPS=36.98, 法向力=7415.8223, 切向力X=-726.9161, 切向力Y=-7374.4658 +FPS=35.84, 法向力=6914.3838, 切向力X=-2421.9106, 切向力Y=-7110.6509 +FPS=36.39, 法向力=6884.0425, 切向力X=-2532.0159, 切向力Y=-7058.9463 +FPS=36.65, 法向力=6450.3760, 切向力X=-836.0551, 切向力Y=-6361.9468 +FPS=36.61, 法向力=6440.5771, 切向力X=-664.1189, 切向力Y=-6264.0532 +FPS=36.72, 法向力=7156.5190, 切向力X=-415.1573, 切向力Y=-4946.8467 +FPS=36.63, 法向力=5770.4072, 切向力X=314.9588, 切向力Y=-5383.6064 +FPS=37.98, 法向力=5681.2373, 切向力X=284.2320, 切向力Y=-5380.7695 +FPS=38.39, 法向力=4994.1387, 切向力X=3495.0059, 切向力Y=-4703.7974 +FPS=38.04, 法向力=5024.7588, 切向力X=3486.5647, 切向力Y=-4568.2075 +FPS=36.87, 法向力=3092.1904, 切向力X=2806.8252, 切向力Y=-3823.2097 +FPS=37.94, 法向力=3051.4937, 切向力X=2608.0122, 切向力Y=-3824.4810 +FPS=36.44, 法向力=2679.1680, 切向力X=382.6719, 切向力Y=-2787.8213 +FPS=38.94, 法向力=2737.4019, 切向力X=541.1644, 切向力Y=-2563.8801 +FPS=36.53, 法向力=2550.2600, 切向力X=939.4005, 切向力Y=-1646.7172 +FPS=37.81, 法向力=2625.9331, 切向力X=660.3533, 切向力Y=-1881.9899 +FPS=35.81, 法向力=2976.2578, 切向力X=1262.2802, 切向力Y=-2453.3108 +FPS=36.05, 法向力=2979.9475, 切向力X=1185.7327, 切向力Y=-2614.9463 +FPS=36.21, 法向力=3008.5933, 切向力X=1627.7858, 切向力Y=-2302.0171 +FPS=35.68, 法向力=1839.1765, 切向力X=769.3738, 切向力Y=-2527.4946 +FPS=36.82, 法向力=1869.0476, 切向力X=552.6923, 切向力Y=-2830.2925 +FPS=35.99, 法向力=2796.8843, 切向力X=250.8130, 切向力Y=-2133.9268 +FPS=34.68, 法向力=2728.0225, 切向力X=368.9731, 切向力Y=-2091.1631 +FPS=34.54, 法向力=3210.0479, 切向力X=-772.6166, 切向力Y=-1759.7557 +FPS=35.18, 法向力=3314.2026, 切向力X=-866.1022, 切向力Y=-1615.0994 +FPS=35.48, 法向力=4349.9473, 切向力X=-206.6030, 切向力Y=-2071.2393 +FPS=35.72, 法向力=4473.3188, 切向力X=-158.3917, 切向力Y=-1977.4365 +FPS=34.46, 法向力=3682.4954, 切向力X=-1935.4917, 切向力Y=-2559.6270 +FPS=34.92, 法向力=3774.9878, 切向力X=-948.9553, 切向力Y=-2845.7153 +FPS=34.64, 法向力=3724.4685, 切向力X=-798.0944, 切向力Y=-2890.3032 +FPS=35.19, 法向力=4763.3389, 切向力X=-1414.4626, 切向力Y=-2251.5225 +FPS=34.87, 法向力=4828.3516, 切向力X=-1337.7605, 切向力Y=-2238.3564 +FPS=34.70, 法向力=5398.1553, 切向力X=-1686.2412, 切向力Y=-3021.7542 +FPS=35.04, 法向力=5437.6113, 切向力X=-1804.5681, 切向力Y=-3253.7793 +FPS=34.74, 法向力=4665.7617, 切向力X=-2883.9424, 切向力Y=-3518.5417 +FPS=33.77, 法向力=5578.6895, 切向力X=-4110.5508, 切向力Y=-2565.3772 +FPS=36.08, 法向力=5585.8687, 切向力X=-4261.4297, 切向力Y=-2552.1094 +FPS=34.44, 法向力=4220.8066, 切向力X=-4372.1514, 切向力Y=-3184.5337 +FPS=34.68, 法向力=4094.8672, 切向力X=-4428.1289, 切向力Y=-3333.5420 +FPS=34.33, 法向力=3714.5103, 切向力X=-3094.5754, 切向力Y=-3088.6531 +FPS=35.25, 法向力=3800.1687, 切向力X=-2998.1433, 切向力Y=-3014.3608 +FPS=33.30, 法向力=3834.3823, 切向力X=-3703.3691, 切向力Y=-2779.3120 +FPS=33.12, 法向力=3983.0540, 切向力X=-3597.8325, 切向力Y=-2684.5950 +FPS=35.31, 法向力=3979.8057, 切向力X=-3689.3689, 切向力Y=-2652.1765 +FPS=33.81, 法向力=3561.2437, 切向力X=-4186.7012, 切向力Y=-3103.0447 +FPS=34.58, 法向力=3590.6934, 切向力X=-4064.5366, 切向力Y=-3165.9082 +FPS=33.51, 法向力=3029.0476, 切向力X=-3429.0940, 切向力Y=-3524.4214 +FPS=34.71, 法向力=4324.5176, 切向力X=-483.8741, 切向力Y=-3482.3032 +FPS=35.48, 法向力=4399.0298, 切向力X=-576.3848, 切向力Y=-3294.8389 +FPS=34.13, 法向力=3539.6401, 切向力X=-664.7647, 切向力Y=-3636.2561 +FPS=34.29, 法向力=3829.2595, 切向力X=-159.0461, 切向力Y=-3703.8423 +FPS=35.59, 法向力=3273.5417, 切向力X=2254.8223, 切向力Y=-2486.4487 +FPS=34.61, 法向力=3155.7573, 切向力X=2278.8931, 切向力Y=-2505.4009 +FPS=34.81, 法向力=3166.6101, 切向力X=2708.9766, 切向力Y=-1897.4336 +FPS=34.37, 法向力=3023.6409, 切向力X=2750.1282, 切向力Y=-2101.7361 +FPS=34.73, 法向力=3901.1069, 切向力X=4253.3711, 切向力Y=-1650.6121 +FPS=33.61, 法向力=2956.7754, 切向力X=2963.5610, 切向力Y=-2116.7769 +FPS=34.78, 法向力=2930.2578, 切向力X=2719.2192, 切向力Y=-2253.2456 +FPS=33.99, 法向力=2345.3557, 切向力X=2837.1199, 切向力Y=-1870.5205 +FPS=34.72, 法向力=3982.8342, 切向力X=4178.2402, 切向力Y=-520.0320 +FPS=34.63, 法向力=4125.2290, 切向力X=4014.5977, 切向力Y=-435.0590 +FPS=33.23, 法向力=6682.0781, 切向力X=18439.7988, 切向力Y=-1576.1755 +FPS=34.74, 法向力=6575.8501, 切向力X=18860.3770, 切向力Y=-1470.0798 +FPS=33.97, 法向力=5614.8682, 切向力X=25265.1250, 切向力Y=-1428.8333 +FPS=34.38, 法向力=5614.1841, 切向力X=25572.5234, 切向力Y=-1492.5142 +FPS=34.32, 法向力=6677.3965, 切向力X=26760.1445, 切向力Y=-2120.2832 +FPS=34.91, 法向力=6617.8936, 切向力X=26789.2793, 切向力Y=-2347.5635 +FPS=35.02, 法向力=6663.8477, 切向力X=26571.8730, 切向力Y=-2638.3496 +FPS=33.73, 法向力=7849.3022, 切向力X=24282.6914, 切向力Y=-2414.0208 +FPS=33.51, 法向力=7804.9346, 切向力X=24186.5723, 切向力Y=-2515.3843 +FPS=34.06, 法向力=8567.4131, 切向力X=23621.4648, 切向力Y=-2416.4463 +FPS=34.70, 法向力=8537.1328, 切向力X=23490.2129, 切向力Y=-2295.6621 +FPS=34.30, 法向力=8506.3477, 切向力X=21570.1445, 切向力Y=-2572.4604 +FPS=33.73, 法向力=8164.4277, 切向力X=21304.8438, 切向力Y=-3470.1274 +FPS=34.77, 法向力=8071.1216, 切向力X=21287.1562, 切向力Y=-3571.1702 +FPS=34.07, 法向力=8197.5498, 切向力X=19885.3750, 切向力Y=-2809.0889 +FPS=34.21, 法向力=8136.3125, 切向力X=19796.6973, 切向力Y=-2755.3970 +FPS=33.31, 法向力=7535.5288, 切向力X=17173.3105, 切向力Y=-1890.9863 +FPS=34.56, 法向力=7496.4795, 切向力X=17033.2500, 切向力Y=-1886.5455 +FPS=34.04, 法向力=6175.7031, 切向力X=12856.8193, 切向力Y=-1351.0494 +FPS=33.32, 法向力=5493.5576, 切向力X=10554.6660, 切向力Y=1904.9017 +FPS=35.00, 法向力=5701.3760, 切向力X=10562.6309, 切向力Y=2199.5933 +FPS=34.26, 法向力=4963.7744, 切向力X=12530.9482, 切向力Y=3074.2754 +FPS=35.33, 法向力=5022.9727, 切向力X=12752.2139, 切向力Y=3163.4414 +FPS=34.36, 法向力=4577.5928, 切向力X=12738.6621, 切向力Y=3007.6787 +FPS=34.42, 法向力=6068.6328, 切向力X=14272.0684, 切向力Y=3867.1230 +FPS=35.14, 法向力=6203.3281, 切向力X=14264.5605, 切向力Y=3987.6394 +FPS=33.80, 法向力=5007.8721, 切向力X=14907.4668, 切向力Y=4039.4565 +FPS=34.46, 法向力=4812.8203, 切向力X=14941.4062, 切向力Y=4127.6201 +FPS=35.25, 法向力=5334.1211, 切向力X=13260.4209, 切向力Y=3200.9873 +FPS=34.94, 法向力=5617.8613, 切向力X=12665.5264, 切向力Y=2732.3403 +FPS=34.63, 法向力=5676.4102, 切向力X=14705.0225, 切向力Y=2145.1206 +FPS=36.06, 法向力=6609.9062, 切向力X=15341.2754, 切向力Y=2925.1030 +FPS=36.30, 法向力=6581.0068, 切向力X=15299.7852, 切向力Y=2926.9614 +FPS=36.28, 法向力=6144.5581, 切向力X=14347.6475, 切向力Y=3616.2139 +FPS=36.64, 法向力=6168.3291, 切向力X=14261.1816, 切向力Y=3707.5630 +FPS=34.86, 法向力=6808.5366, 切向力X=10704.5840, 切向力Y=3021.9863 +FPS=37.99, 法向力=7027.3530, 切向力X=9996.1885, 切向力Y=2749.8198 +FPS=38.00, 法向力=6368.9092, 切向力X=10956.3164, 切向力Y=2925.8477 +FPS=37.70, 法向力=5599.7969, 切向力X=11069.4531, 切向力Y=1705.0918 +FPS=37.51, 法向力=5568.5767, 切向力X=11350.2383, 切向力Y=1749.6956 +FPS=36.86, 法向力=5131.4023, 切向力X=9147.3125, 切向力Y=1338.9082 +FPS=37.73, 法向力=5148.3418, 切向力X=9068.1338, 切向力Y=1082.4257 +FPS=36.67, 法向力=5133.0039, 切向力X=8906.1621, 切向力Y=1119.0725 +FPS=37.24, 法向力=5330.8623, 切向力X=7607.7549, 切向力Y=596.7780 +FPS=36.74, 法向力=4927.6777, 切向力X=3475.3335, 切向力Y=-119.8976 +FPS=36.88, 法向力=4846.4146, 切向力X=3194.2070, 切向力Y=-197.2498 +FPS=36.83, 法向力=3765.4414, 切向力X=-764.0173, 切向力Y=-807.8948 +FPS=37.22, 法向力=3851.6924, 切向力X=-778.4346, 切向力Y=-972.7154 +FPS=36.99, 法向力=3767.6714, 切向力X=-1529.8845, 切向力Y=-121.8180 +FPS=37.19, 法向力=3744.2375, 切向力X=-1414.5970, 切向力Y=102.5861 +FPS=36.92, 法向力=3602.4780, 切向力X=-1746.2786, 切向力Y=-682.9407 +FPS=34.49, 法向力=3559.7314, 切向力X=-1783.6143, 切向力Y=-629.7729 +FPS=32.33, 法向力=4221.7334, 切向力X=-2706.3018, 切向力Y=374.3294 +FPS=32.80, 法向力=5014.0059, 切向力X=5575.1221, 切向力Y=33.6993 +FPS=36.44, 法向力=4740.0142, 切向力X=6262.0869, 切向力Y=135.5963 +FPS=35.82, 法向力=3816.8020, 切向力X=7571.5601, 切向力Y=402.5173 +FPS=37.48, 法向力=3934.4590, 切向力X=7379.0518, 切向力Y=124.6791 +FPS=35.96, 法向力=3831.1353, 切向力X=6704.2476, 切向力Y=855.1068 +FPS=36.98, 法向力=3746.1172, 切向力X=6936.2710, 切向力Y=946.8561 +FPS=34.46, 法向力=4141.4580, 切向力X=2644.9744, 切向力Y=416.7325 +FPS=36.07, 法向力=4120.6196, 切向力X=2097.2090, 切向力Y=649.8945 +FPS=36.04, 法向力=5815.8145, 切向力X=1425.4933, 切向力Y=536.9144 +FPS=35.03, 法向力=5707.9141, 切向力X=-1191.6862, 切向力Y=277.0313 +FPS=36.00, 法向力=5742.7969, 切向力X=-1417.7517, 切向力Y=138.9081 +FPS=35.42, 法向力=6831.7036, 切向力X=5589.5122, 切向力Y=-384.5887 +FPS=35.62, 法向力=6655.5264, 切向力X=6138.1514, 切向力Y=-269.2306 +FPS=35.41, 法向力=7349.2095, 切向力X=22600.8516, 切向力Y=-1350.5979 +FPS=35.29, 法向力=5264.5317, 切向力X=33208.3945, 切向力Y=-4351.0264 +FPS=35.28, 法向力=5241.6016, 切向力X=33460.8203, 切向力Y=-4413.3853 +FPS=35.04, 法向力=5254.0059, 切向力X=33450.8594, 切向力Y=-4479.6797 +FPS=33.89, 法向力=6108.5889, 切向力X=35819.8594, 切向力Y=-4403.8252 +FPS=34.44, 法向力=6210.6499, 切向力X=38694.7539, 切向力Y=-4381.6279 +FPS=34.52, 法向力=6177.7271, 切向力X=38889.6016, 切向力Y=-4195.4995 +FPS=33.42, 法向力=7316.9121, 切向力X=37112.7031, 切向力Y=-5061.2627 +FPS=35.06, 法向力=7379.3594, 切向力X=37025.1328, 切向力Y=-5064.2471 +FPS=34.34, 法向力=6432.7529, 切向力X=36803.3516, 切向力Y=-5435.4790 +FPS=34.22, 法向力=7398.2261, 切向力X=36311.0078, 切向力Y=-4607.6392 +FPS=35.28, 法向力=7364.7793, 切向力X=36242.0703, 切向力Y=-4587.8750 +FPS=33.89, 法向力=6981.9277, 切向力X=34125.5000, 切向力Y=-4795.9370 +FPS=33.78, 法向力=6923.1318, 切向力X=34107.2227, 切向力Y=-4636.9629 +FPS=35.45, 法向力=6000.6362, 切向力X=31498.1641, 切向力Y=-3277.3320 +FPS=34.42, 法向力=6078.4678, 切向力X=31516.8242, 切向力Y=-2871.2300 +FPS=34.49, 法向力=5383.7715, 切向力X=27728.5000, 切向力Y=-3689.2290 +FPS=33.69, 法向力=3644.1787, 切向力X=19607.8926, 切向力Y=-430.4415 +FPS=34.67, 法向力=3520.6846, 切向力X=19547.1621, 切向力Y=-537.0923 +FPS=34.39, 法向力=3937.1426, 切向力X=4207.2480, 切向力Y=3342.5342 +FPS=35.86, 法向力=3688.2461, 切向力X=4027.9695, 切向力Y=3542.7383 +FPS=36.58, 法向力=5454.4863, 切向力X=-3363.3271, 切向力Y=4190.6172 +FPS=35.46, 法向力=5263.1855, 切向力X=-3619.5938, 切向力Y=3266.6489 +FPS=36.37, 法向力=5222.3408, 切向力X=-3785.1802, 切向力Y=3189.8840 +FPS=36.48, 法向力=5285.9482, 切向力X=-2875.1572, 切向力Y=3409.8279 +FPS=36.90, 法向力=5321.4697, 切向力X=-2836.0620, 切向力Y=3457.6702 +FPS=35.43, 法向力=5098.2383, 切向力X=-1725.7590, 切向力Y=3733.8303 +FPS=36.92, 法向力=4971.2007, 切向力X=-1721.2109, 切向力Y=3792.8162 +FPS=35.71, 法向力=4772.5449, 切向力X=-1713.8190, 切向力Y=4468.9541 +FPS=36.82, 法向力=4679.2188, 切向力X=-1867.1497, 切向力Y=4558.0317 +FPS=35.79, 法向力=4322.1919, 切向力X=-111.3772, 切向力Y=3743.3481 +FPS=35.85, 法向力=4159.5371, 切向力X=361.0692, 切向力Y=3633.4260 +FPS=34.72, 法向力=5621.7393, 切向力X=1162.4548, 切向力Y=3823.6882 +FPS=35.23, 法向力=7001.3433, 切向力X=5819.0898, 切向力Y=3366.6289 +FPS=34.93, 法向力=7156.7920, 切向力X=6013.5391, 切向力Y=3284.6890 +FPS=33.59, 法向力=7026.6279, 切向力X=21125.5664, 切向力Y=3393.3828 +FPS=35.26, 法向力=6857.4189, 切向力X=21261.6934, 切向力Y=3345.7017 +FPS=34.61, 法向力=6734.8696, 切向力X=33284.6875, 切向力Y=1603.1152 +FPS=34.37, 法向力=5303.5483, 切向力X=35493.8594, 切向力Y=-458.3622 +FPS=34.58, 法向力=5275.7578, 切向力X=35484.2812, 切向力Y=-770.3247 +FPS=34.22, 法向力=6403.8203, 切向力X=38232.2148, 切向力Y=-2161.2754 +FPS=35.05, 法向力=6267.1416, 切向力X=38367.9375, 切向力Y=-2133.2773 +FPS=33.79, 法向力=6238.7021, 切向力X=39208.6133, 切向力Y=-2638.0459 +FPS=34.10, 法向力=6033.2363, 切向力X=39209.4688, 切向力Y=-2899.1284 +FPS=33.80, 法向力=6990.5771, 切向力X=42153.1211, 切向力Y=-2750.6963 +FPS=33.68, 法向力=6803.5903, 切向力X=42353.4766, 切向力Y=-2559.7285 +FPS=34.52, 法向力=7081.7695, 切向力X=42540.7266, 切向力Y=-2478.4812 +FPS=32.28, 法向力=6090.5557, 切向力X=39779.7031, 切向力Y=-2910.3276 +FPS=33.86, 法向力=6280.7329, 切向力X=39321.4883, 切向力Y=-3196.7456 +FPS=33.85, 法向力=6877.4849, 切向力X=39485.8906, 切向力Y=-2973.6196 +FPS=34.13, 法向力=6478.2256, 切向力X=37200.0469, 切向力Y=-4040.0952 +FPS=34.76, 法向力=6541.2554, 切向力X=37042.4375, 切向力Y=-4001.8091 +FPS=33.91, 法向力=4327.7119, 切向力X=29108.2539, 切向力Y=-1363.0015 +FPS=34.66, 法向力=4447.9146, 切向力X=28884.8730, 切向力Y=-901.0653 +FPS=34.61, 法向力=3723.8164, 切向力X=12890.0762, 切向力Y=3316.6616 +FPS=36.37, 法向力=3902.6035, 切向力X=12727.8896, 切向力Y=3672.9685 +FPS=34.02, 法向力=5335.1099, 切向力X=-619.0996, 切向力Y=6089.1621 +FPS=34.93, 法向力=5395.4482, 切向力X=-767.3969, 切向力Y=5920.7764 +FPS=34.05, 法向力=5303.9092, 切向力X=-672.6941, 切向力Y=6018.4023 +FPS=34.48, 法向力=6465.5435, 切向力X=-2593.5459, 切向力Y=6434.0088 +FPS=34.96, 法向力=6574.0820, 切向力X=-2923.0078, 切向力Y=6396.8779 +FPS=34.16, 法向力=7412.5776, 切向力X=-276.5687, 切向力Y=5057.5923 +FPS=34.79, 法向力=7196.6138, 切向力X=345.5853, 切向力Y=5155.3711 +FPS=34.80, 法向力=6826.5503, 切向力X=-37.4768, 切向力Y=6020.3477 +FPS=34.24, 法向力=7055.7485, 切向力X=-2170.7175, 切向力Y=5808.4395 +FPS=34.83, 法向力=6833.5757, 切向力X=-2266.2656, 切向力Y=5946.3604 +FPS=33.87, 法向力=6928.3828, 切向力X=-571.7144, 切向力Y=6784.0703 +FPS=34.79, 法向力=6826.5557, 切向力X=-420.9900, 切向力Y=6869.4248 +FPS=33.86, 法向力=8735.8809, 切向力X=4956.9268, 切向力Y=6451.6255 +FPS=34.30, 法向力=8791.7705, 切向力X=5280.3281, 切向力Y=6502.4854 +FPS=33.31, 法向力=10363.2266, 切向力X=20308.7012, 切向力Y=7649.7778 +FPS=34.90, 法向力=9911.4639, 切向力X=21195.2070, 切向力Y=7878.1494 +FPS=36.59, 法向力=10045.3184, 切向力X=21195.6914, 切向力Y=7835.2891 +FPS=35.72, 法向力=7934.3823, 切向力X=42151.2070, 切向力Y=3600.6028 +FPS=35.44, 法向力=8051.3423, 切向力X=41989.2578, 切向力Y=3438.7527 +FPS=35.90, 法向力=6714.2666, 切向力X=39858.8594, 切向力Y=3854.4058 +FPS=34.66, 法向力=8196.0801, 切向力X=41389.1016, 切向力Y=3567.6758 +FPS=36.42, 法向力=8174.2554, 切向力X=41221.1641, 切向力Y=3642.9507 +FPS=35.45, 法向力=7543.6904, 切向力X=41908.9648, 切向力Y=2128.1646 +FPS=35.48, 法向力=7431.6201, 切向力X=41847.3789, 切向力Y=2410.6316 +FPS=34.97, 法向力=7959.6777, 切向力X=42286.1641, 切向力Y=1896.7456 +FPS=35.72, 法向力=8057.1211, 切向力X=42294.2812, 切向力Y=1857.4407 +FPS=34.56, 法向力=8102.1904, 切向力X=41539.1953, 切向力Y=2673.8162 +FPS=35.60, 法向力=8044.3940, 切向力X=41622.5547, 切向力Y=2870.4473 +FPS=34.93, 法向力=8266.3369, 切向力X=41045.8672, 切向力Y=1607.2878 +FPS=36.14, 法向力=8244.1982, 切向力X=40977.9141, 切向力Y=1579.0769 +FPS=35.43, 法向力=8214.7402, 切向力X=41080.2734, 切向力Y=1580.7086 +FPS=32.82, 法向力=7289.8091, 切向力X=39463.3750, 切向力Y=2039.1193 +FPS=36.48, 法向力=7304.0303, 切向力X=39097.0664, 切向力Y=1864.2446 +FPS=35.24, 法向力=7335.2666, 切向力X=37798.5078, 切向力Y=1413.7190 +FPS=33.94, 法向力=7620.9883, 切向力X=38044.2930, 切向力Y=2058.0986 +FPS=35.29, 法向力=7590.7446, 切向力X=38343.0703, 切向力Y=2301.0547 +FPS=34.92, 法向力=6868.1333, 切向力X=40136.4805, 切向力Y=3196.2922 +FPS=35.27, 法向力=6900.1104, 切向力X=40182.8750, 切向力Y=3253.9819 +FPS=35.22, 法向力=7147.6040, 切向力X=38388.3164, 切向力Y=3137.4622 +FPS=36.20, 法向力=7362.1318, 切向力X=38183.9023, 切向力Y=3045.1453 +FPS=33.80, 法向力=7403.4297, 切向力X=37718.5977, 切向力Y=2570.9331 +FPS=36.55, 法向力=7455.6172, 切向力X=37649.2344, 切向力Y=2322.1787 +FPS=36.79, 法向力=7093.8896, 切向力X=37762.9922, 切向力Y=3068.7678 +FPS=37.74, 法向力=7164.3853, 切向力X=37719.1484, 切向力Y=3355.5510 +FPS=37.57, 法向力=7168.5059, 切向力X=37699.7891, 切向力Y=3414.8208 +FPS=38.06, 法向力=7014.6162, 切向力X=38626.7578, 切向力Y=3298.5347 +FPS=37.38, 法向力=6980.5371, 切向力X=38512.7461, 切向力Y=3283.9019 +FPS=37.89, 法向力=6875.5962, 切向力X=37792.9453, 切向力Y=3570.0859 +FPS=38.58, 法向力=6898.5205, 切向力X=37542.8516, 切向力Y=3610.9087 +FPS=36.41, 法向力=7148.8008, 切向力X=38686.2578, 切向力Y=3904.2515 +FPS=39.23, 法向力=7262.1714, 切向力X=38694.6680, 切向力Y=3942.9836 +FPS=38.38, 法向力=7165.3213, 切向力X=38762.1328, 切向力Y=3882.5806 +FPS=38.19, 法向力=7386.4541, 切向力X=38316.7539, 切向力Y=4009.1975 +FPS=37.18, 法向力=7029.3853, 切向力X=37410.4141, 切向力Y=3219.4976 +FPS=35.90, 法向力=7108.8950, 切向力X=37473.8906, 切向力Y=3260.4329 +FPS=36.42, 法向力=6944.4854, 切向力X=35605.0234, 切向力Y=3938.3140 +FPS=36.40, 法向力=7197.3184, 切向力X=35590.5312, 切向力Y=4212.0859 +FPS=36.29, 法向力=6031.3027, 切向力X=21062.4414, 切向力Y=6860.6465 +FPS=36.54, 法向力=5862.8174, 切向力X=20786.5059, 切向力Y=6863.2124 +FPS=36.63, 法向力=5815.4961, 切向力X=20694.4922, 切向力Y=6743.0283 +FPS=36.76, 法向力=6531.9541, 切向力X=-2762.0547, 切向力Y=8315.9922 +FPS=37.05, 法向力=6273.6035, 切向力X=-3039.8159, 切向力Y=8065.6035 +FPS=36.09, 法向力=8126.5400, 切向力X=2420.3162, 切向力Y=7554.7251 +FPS=36.59, 法向力=8207.2402, 切向力X=2365.0981, 切向力Y=7493.8101 +FPS=35.71, 法向力=6923.5645, 切向力X=14936.2246, 切向力Y=6792.4287 +FPS=35.97, 法向力=6899.0981, 切向力X=15563.9980, 切向力Y=6790.3257 +FPS=34.49, 法向力=5919.4131, 切向力X=10545.7617, 切向力Y=7248.1357 +FPS=35.54, 法向力=5788.2285, 切向力X=10146.5723, 切向力Y=7024.3311 +FPS=33.18, 法向力=5864.2686, 切向力X=7933.8921, 切向力Y=6343.6855 +FPS=33.56, 法向力=5519.0049, 切向力X=8683.8984, 切向力Y=7389.1514 +FPS=34.69, 法向力=5522.9658, 切向力X=8470.6680, 切向力Y=7499.5557 +FPS=33.25, 法向力=7908.2637, 切向力X=11480.8193, 切向力Y=5915.3066 +FPS=34.62, 法向力=7993.7383, 切向力X=11849.2520, 切向力Y=5703.3291 +FPS=33.23, 法向力=8025.0366, 切向力X=11758.0137, 切向力Y=5726.7646 +FPS=30.30, 法向力=7390.8296, 切向力X=23720.4512, 切向力Y=3969.6199 +FPS=31.10, 法向力=7044.3281, 切向力X=24309.7773, 切向力Y=4196.6460 +FPS=33.13, 法向力=7369.6182, 切向力X=29991.5352, 切向力Y=4958.0850 +FPS=34.07, 法向力=7290.4414, 切向力X=30268.0039, 切向力Y=5256.6055 +FPS=33.93, 法向力=8916.8027, 切向力X=42329.1758, 切向力Y=2154.5784 +FPS=33.44, 法向力=7740.1411, 切向力X=53645.2461, 切向力Y=-2115.0815 +FPS=33.40, 法向力=7560.6333, 切向力X=54131.9336, 切向力Y=-2197.8540 +FPS=33.06, 法向力=7460.8145, 切向力X=52611.7578, 切向力Y=-3091.7793 +FPS=34.70, 法向力=7330.8594, 切向力X=52606.4727, 切向力Y=-3478.3867 +FPS=34.64, 法向力=8110.2598, 切向力X=52107.1172, 切向力Y=-3940.6411 +FPS=33.60, 法向力=7844.9932, 切向力X=52281.9414, 切向力Y=-4088.5964 +FPS=34.04, 法向力=7825.4985, 切向力X=52448.2188, 切向力Y=-4015.6685 +FPS=34.32, 法向力=7826.6455, 切向力X=52445.3242, 切向力Y=-4035.9902 +FPS=35.29, 法向力=7804.2603, 切向力X=52616.3672, 切向力Y=-4248.0986 +FPS=35.73, 法向力=6727.3335, 切向力X=45232.5781, 切向力Y=-3757.0786 +FPS=35.52, 法向力=6650.8091, 切向力X=44818.0273, 切向力Y=-3770.8933 +FPS=35.13, 法向力=5894.2305, 切向力X=37869.1680, 切向力Y=140.7930 +FPS=35.53, 法向力=6054.9502, 切向力X=37747.8906, 切向力Y=508.3615 +FPS=35.38, 法向力=6190.7129, 切向力X=17890.2324, 切向力Y=6808.5088 +FPS=35.54, 法向力=5313.7939, 切向力X=2415.7944, 切向力Y=9562.2656 +FPS=36.40, 法向力=5312.3379, 切向力X=2155.8145, 切向力Y=9798.7852 +FPS=34.55, 法向力=6053.2598, 切向力X=-666.0480, 切向力Y=9806.7051 +FPS=34.97, 法向力=5848.2148, 切向力X=-573.2400, 切向力Y=9801.4932 +FPS=35.23, 法向力=6028.8994, 切向力X=-1100.2557, 切向力Y=9961.3604 +FPS=34.70, 法向力=5780.5205, 切向力X=-185.2845, 切向力Y=10119.8574 +FPS=34.44, 法向力=5724.3271, 切向力X=-212.3076, 切向力Y=10100.6367 +FPS=33.99, 法向力=5726.7021, 切向力X=-241.2204, 切向力Y=10099.5410 +FPS=34.70, 法向力=5738.1719, 切向力X=-226.3079, 切向力Y=10068.5820 +FPS=34.07, 法向力=6717.1509, 切向力X=881.9371, 切向力Y=8988.9629 +FPS=34.28, 法向力=6633.7593, 切向力X=760.9933, 切向力Y=8889.9961 +FPS=33.77, 法向力=8844.7363, 切向力X=7465.9922, 切向力Y=8313.9043 +FPS=33.87, 法向力=8506.6953, 切向力X=7876.0371, 切向力Y=8247.8574 +FPS=34.90, 法向力=11265.5654, 切向力X=31640.5195, 切向力Y=4990.5244 +FPS=34.44, 法向力=8683.4805, 切向力X=49334.2969, 切向力Y=-847.1010 +FPS=34.98, 法向力=8608.6797, 切向力X=48920.9844, 切向力Y=-1239.3350 +FPS=35.12, 法向力=7874.0869, 切向力X=50266.6406, 切向力Y=-1134.4412 +FPS=35.32, 法向力=7781.2583, 切向力X=50523.1250, 切向力Y=-1141.9001 +FPS=35.34, 法向力=7773.9980, 切向力X=50256.9727, 切向力Y=-2663.5977 +FPS=34.83, 法向力=6735.9023, 切向力X=47711.8867, 切向力Y=-2901.6824 +FPS=36.54, 法向力=6843.5615, 切向力X=47574.8242, 切向力Y=-2761.7920 +FPS=35.84, 法向力=6934.3931, 切向力X=47593.8047, 切向力Y=-2672.9712 +FPS=35.52, 法向力=6911.2061, 切向力X=47595.4453, 切向力Y=-2685.5527 +FPS=34.59, 法向力=6701.8130, 切向力X=41986.7031, 切向力Y=-683.2799 +FPS=36.10, 法向力=6630.1655, 切向力X=41563.1133, 切向力Y=-933.5259 +FPS=34.76, 法向力=7278.6870, 切向力X=25147.7324, 切向力Y=3012.1497 +FPS=35.90, 法向力=7447.3506, 切向力X=25666.3477, 切向力Y=3332.7336 +FPS=34.94, 法向力=5903.9414, 切向力X=1076.8611, 切向力Y=7723.9668 +FPS=34.81, 法向力=7287.8340, 切向力X=-411.8542, 切向力Y=7999.2627 +FPS=35.79, 法向力=7458.3213, 切向力X=-827.0844, 切向力Y=7777.5957 +FPS=36.85, 法向力=9159.7139, 切向力X=-603.3135, 切向力Y=7886.5488 +FPS=37.48, 法向力=8949.0557, 切向力X=-323.2191, 切向力Y=7615.0498 +FPS=36.30, 法向力=7813.3916, 切向力X=-825.9873, 切向力Y=7951.4570 +FPS=37.33, 法向力=7829.7920, 切向力X=-859.5331, 切向力Y=7809.2261 +FPS=37.59, 法向力=7751.5884, 切向力X=2677.6531, 切向力Y=8533.1094 +FPS=37.33, 法向力=7618.2373, 切向力X=2935.6255, 切向力Y=8524.2334 +FPS=37.39, 法向力=7612.4438, 切向力X=2739.7578, 切向力Y=8553.5664 +FPS=37.42, 法向力=7667.2236, 切向力X=2716.5220, 切向力Y=8599.6328 +FPS=36.74, 法向力=12013.5947, 切向力X=30049.8496, 切向力Y=8462.1641 +FPS=35.72, 法向力=11743.8047, 切向力X=30352.8594, 切向力Y=8565.3076 +FPS=36.81, 法向力=9985.6084, 切向力X=43868.0625, 切向力Y=5888.6372 +FPS=36.59, 法向力=9277.2930, 切向力X=42599.3672, 切向力Y=3997.3804 +FPS=37.14, 法向力=9411.0049, 切向力X=42172.7031, 切向力Y=3946.3469 +FPS=35.65, 法向力=8106.4248, 切向力X=38027.2500, 切向力Y=4957.2061 +FPS=36.70, 法向力=7989.1836, 切向力X=37656.5977, 切向力Y=4936.2793 +FPS=36.04, 法向力=6885.9253, 切向力X=32108.8008, 切向力Y=4556.5884 +FPS=36.18, 法向力=6892.1484, 切向力X=31550.9043, 切向力Y=4602.8315 +FPS=36.60, 法向力=6353.2485, 切向力X=25015.0684, 切向力Y=6035.2373 +FPS=35.85, 法向力=5122.1855, 切向力X=16595.7031, 切向力Y=6770.4033 +FPS=36.91, 法向力=5241.7520, 切向力X=16007.8008, 切向力Y=6820.3486 +FPS=36.95, 法向力=5292.2256, 切向力X=15991.2520, 切向力Y=6877.8394 +FPS=36.90, 法向力=5246.8096, 切向力X=15996.6543, 切向力Y=6804.8838 +FPS=35.71, 法向力=6515.6221, 切向力X=7876.8276, 切向力Y=7368.3115 +FPS=35.25, 法向力=6567.8652, 切向力X=7670.8535, 切向力Y=7352.5264 +FPS=35.83, 法向力=7006.4541, 切向力X=7945.6475, 切向力Y=8717.3564 +FPS=36.82, 法向力=7024.7163, 切向力X=7844.5977, 切向力Y=9136.5605 +FPS=36.13, 法向力=7275.4707, 切向力X=5529.6973, 切向力Y=8807.8652 +FPS=36.86, 法向力=7318.2793, 切向力X=8776.9756, 切向力Y=9006.2656 +FPS=37.01, 法向力=7362.0024, 切向力X=8709.5859, 切向力Y=9078.0781 +FPS=36.00, 法向力=8614.5557, 切向力X=8265.6553, 切向力Y=9619.9775 +FPS=37.00, 法向力=8579.3691, 切向力X=8643.9912, 切向力Y=9682.3389 +FPS=35.90, 法向力=12555.6396, 切向力X=25437.4746, 切向力Y=8900.2695 +FPS=36.63, 法向力=12272.7119, 切向力X=26056.9727, 切向力Y=8943.0029 +FPS=36.02, 法向力=9793.3711, 切向力X=47770.7070, 切向力Y=4047.4922 +FPS=37.04, 法向力=9593.4375, 切向力X=47792.2891, 切向力Y=4154.7466 +FPS=34.99, 法向力=6984.9712, 切向力X=43942.1953, 切向力Y=2293.8511 +FPS=36.50, 法向力=6787.4751, 切向力X=43912.2031, 切向力Y=2219.7275 +FPS=36.12, 法向力=8461.6914, 切向力X=40299.1094, 切向力Y=2705.3335 +FPS=35.94, 法向力=8634.3799, 切向力X=40154.7305, 切向力Y=2685.5522 +FPS=36.42, 法向力=7407.6318, 切向力X=33886.6016, 切向力Y=3360.2542 +FPS=34.67, 法向力=6579.3057, 切向力X=28199.3008, 切向力Y=5384.4873 +FPS=35.27, 法向力=6483.2617, 切向力X=27890.0898, 切向力Y=5597.9590 +FPS=34.17, 法向力=6097.2720, 切向力X=20784.9238, 切向力Y=5555.8975 +FPS=35.79, 法向力=6056.9131, 切向力X=20424.9023, 切向力Y=5814.6475 +FPS=34.73, 法向力=6870.2808, 切向力X=13822.0928, 切向力Y=5552.0815 +FPS=35.40, 法向力=6821.7246, 切向力X=13902.8730, 切向力Y=5682.0957 +FPS=34.93, 法向力=6839.7837, 切向力X=10389.2051, 切向力Y=4818.1357 +FPS=35.13, 法向力=6807.1841, 切向力X=10020.0391, 切向力Y=4669.1348 +FPS=34.94, 法向力=7308.7627, 切向力X=5661.9888, 切向力Y=6844.5254 +FPS=34.51, 法向力=7694.2637, 切向力X=3376.0637, 切向力Y=8117.9072 +FPS=35.68, 法向力=7816.7402, 切向力X=3323.0415, 切向力Y=8518.9375 +FPS=34.47, 法向力=7205.5083, 切向力X=3394.0164, 切向力Y=9200.1729 +FPS=35.54, 法向力=7094.7476, 切向力X=3658.3447, 切向力Y=9462.4678 +FPS=35.50, 法向力=8227.4355, 切向力X=3433.1296, 切向力Y=9651.2344 +FPS=34.92, 法向力=12939.5752, 切向力X=25140.7031, 切向力Y=7148.8281 +FPS=35.54, 法向力=12808.2773, 切向力X=25110.3555, 切向力Y=7353.6377 +FPS=34.97, 法向力=8500.8574, 切向力X=44194.1914, 切向力Y=2464.7671 +FPS=35.72, 法向力=8345.4297, 切向力X=44218.6094, 切向力Y=2113.1216 +FPS=35.19, 法向力=8293.6641, 切向力X=44475.8555, 切向力Y=1237.5615 +FPS=34.91, 法向力=8243.3242, 切向力X=44532.4609, 切向力Y=1445.2725 +FPS=34.88, 法向力=8502.1328, 切向力X=43044.3984, 切向力Y=745.9309 +FPS=35.52, 法向力=8682.1182, 切向力X=43155.0742, 切向力Y=653.2169 +FPS=35.14, 法向力=8446.3613, 切向力X=43664.5625, 切向力Y=625.2316 +FPS=34.86, 法向力=7880.0176, 切向力X=43810.9141, 切向力Y=-1177.3259 +FPS=35.83, 法向力=7807.1562, 切向力X=44136.1641, 切向力Y=-1077.2166 +FPS=33.58, 法向力=8010.8179, 切向力X=44173.3594, 切向力Y=902.2740 +FPS=34.22, 法向力=7978.0146, 切向力X=44527.3125, 切向力Y=1192.7961 +FPS=33.08, 法向力=8771.9355, 切向力X=45618.1250, 切向力Y=-1311.8665 +FPS=34.01, 法向力=8286.3652, 切向力X=44279.6328, 切向力Y=-1278.4514 +FPS=33.78, 法向力=8222.4873, 切向力X=44169.2500, 切向力Y=-1162.3774 +FPS=33.89, 法向力=7760.1182, 切向力X=44662.7227, 切向力Y=-1319.5999 +FPS=33.33, 法向力=7660.9478, 切向力X=44723.2422, 切向力Y=-1262.6029 +FPS=33.51, 法向力=7807.5811, 切向力X=43404.3750, 切向力Y=-1658.7117 +FPS=33.78, 法向力=8548.7305, 切向力X=41388.6914, 切向力Y=-255.9965 +FPS=33.76, 法向力=8532.0352, 切向力X=41488.3828, 切向力Y=-121.0019 +FPS=33.27, 法向力=7196.7480, 切向力X=41409.8477, 切向力Y=-595.6332 +FPS=34.10, 法向力=7237.3633, 切向力X=41187.8281, 切向力Y=-590.8507 +FPS=32.37, 法向力=6557.4561, 切向力X=36557.9453, 切向力Y=-1932.1384 +FPS=33.09, 法向力=6968.5205, 切向力X=33102.1562, 切向力Y=33.3986 +FPS=33.34, 法向力=7242.9707, 切向力X=32905.7656, 切向力Y=453.3264 +FPS=34.03, 法向力=7587.6152, 切向力X=30528.8477, 切向力Y=2909.8604 +FPS=35.70, 法向力=7788.4761, 切向力X=30900.7734, 切向力Y=3188.1223 +FPS=34.50, 法向力=8253.1914, 切向力X=29245.7383, 切向力Y=5110.3994 +FPS=34.49, 法向力=7722.7441, 切向力X=29979.4668, 切向力Y=5567.9336 +FPS=35.14, 法向力=7819.5391, 切向力X=30099.7324, 切向力Y=5681.0225 +FPS=34.81, 法向力=7831.1401, 切向力X=30132.6367, 切向力Y=5729.8066 +FPS=35.23, 法向力=8660.9160, 切向力X=28590.7930, 切向力Y=6641.0405 +FPS=34.36, 法向力=7116.1079, 切向力X=24328.1641, 切向力Y=7770.5854 +FPS=35.83, 法向力=7045.5771, 切向力X=24173.1250, 切向力Y=7796.1025 +FPS=35.10, 法向力=7730.7622, 切向力X=12905.5762, 切向力Y=10782.5684 +FPS=34.48, 法向力=7806.1187, 切向力X=12788.7070, 切向力Y=11093.0078 +FPS=34.36, 法向力=8759.7461, 切向力X=13131.0898, 切向力Y=10981.0078 +FPS=34.46, 法向力=10582.0010, 切向力X=18641.0703, 切向力Y=10689.9668 +FPS=35.02, 法向力=10684.7490, 切向力X=18769.2852, 切向力Y=10489.7373 +FPS=32.17, 法向力=10582.0420, 切向力X=26045.1426, 切向力Y=8845.2559 +FPS=29.82, 法向力=8037.8076, 切向力X=29841.9941, 切向力Y=6929.1792 +FPS=31.41, 法向力=7878.0044, 切向力X=30203.3867, 切向力Y=7088.8008 +FPS=33.18, 法向力=6386.4502, 切向力X=26159.1211, 切向力Y=5965.3110 +FPS=34.51, 法向力=6493.9365, 切向力X=26118.9375, 切向力Y=5925.1011 +FPS=34.35, 法向力=6607.4414, 切向力X=21718.9707, 切向力Y=5339.7402 +FPS=34.57, 法向力=6493.6680, 切向力X=21736.7969, 切向力Y=5210.0205 +FPS=34.51, 法向力=7355.6504, 切向力X=20646.8594, 切向力Y=5653.9600 +FPS=34.54, 法向力=7312.2148, 切向力X=23019.5352, 切向力Y=5384.1284 +FPS=35.40, 法向力=7428.0151, 切向力X=22986.5391, 切向力Y=5256.4146 +FPS=33.76, 法向力=7280.3794, 切向力X=22202.9688, 切向力Y=5295.1685 +FPS=34.58, 法向力=7191.9590, 切向力X=22243.1445, 切向力Y=5361.6133 +FPS=34.35, 法向力=7468.0425, 切向力X=21506.5195, 切向力Y=4435.1221 +FPS=34.53, 法向力=6920.4678, 切向力X=22923.7520, 切向力Y=3371.2280 +FPS=35.60, 法向力=6832.8130, 切向力X=22874.4766, 切向力Y=3231.2285 +FPS=35.97, 法向力=6875.0576, 切向力X=22904.3555, 切向力Y=3192.2344 +FPS=34.67, 法向力=5377.0000, 切向力X=24881.1562, 切向力Y=1997.0410 +FPS=35.69, 法向力=5543.7222, 切向力X=29996.8594, 切向力Y=1576.0015 +FPS=34.81, 法向力=5664.6714, 切向力X=30664.0117, 切向力Y=1401.5037 +FPS=35.20, 法向力=5859.9907, 切向力X=36379.4219, 切向力Y=41.4768 +FPS=35.84, 法向力=5933.2656, 切向力X=36378.6680, 切向力Y=-217.8078 +FPS=35.36, 法向力=6826.7490, 切向力X=40968.7578, 切向力Y=351.1204 +FPS=34.83, 法向力=7124.8291, 切向力X=42566.1953, 切向力Y=-235.5049 +FPS=35.37, 法向力=7286.3906, 切向力X=42730.0039, 切向力Y=-96.5834 +FPS=36.15, 法向力=6751.1089, 切向力X=41937.7422, 切向力Y=-849.6254 +FPS=35.43, 法向力=6791.5942, 切向力X=42083.0000, 切向力Y=-666.3175 +FPS=34.45, 法向力=6604.5293, 切向力X=41339.5859, 切向力Y=-955.4755 +FPS=34.31, 法向力=8440.0879, 切向力X=40329.0469, 切向力Y=576.6099 +FPS=35.80, 法向力=8680.3730, 切向力X=40376.6016, 切向力Y=719.2469 +FPS=35.60, 法向力=8707.3916, 切向力X=40448.7891, 切向力Y=723.1136 +FPS=34.58, 法向力=7622.0029, 切向力X=38926.8125, 切向力Y=-917.0851 +FPS=35.48, 法向力=7777.4927, 切向力X=32239.0391, 切向力Y=-369.2261 +FPS=35.37, 法向力=7836.5449, 切向力X=31964.0156, 切向力Y=-569.3034 +FPS=34.91, 法向力=7420.5752, 切向力X=27481.8672, 切向力Y=1307.1932 +FPS=35.38, 法向力=7493.5039, 切向力X=27070.6426, 切向力Y=1593.6045 +FPS=34.47, 法向力=8165.6270, 切向力X=22960.7812, 切向力Y=2780.5200 +FPS=34.24, 法向力=8315.6396, 切向力X=13558.1387, 切向力Y=6628.9473 +FPS=36.25, 法向力=8471.1895, 切向力X=13706.8330, 切向力Y=6558.9751 +FPS=36.28, 法向力=7373.6670, 切向力X=5644.8247, 切向力Y=6618.8018 +FPS=37.85, 法向力=7341.1738, 切向力X=5512.9014, 切向力Y=6856.6875 +FPS=35.30, 法向力=8580.5703, 切向力X=5215.3896, 切向力Y=8615.6875 +FPS=34.94, 法向力=8567.4395, 切向力X=5329.6807, 切向力Y=8848.3770 +FPS=34.11, 法向力=8571.1865, 切向力X=5014.3071, 切向力Y=9790.4766 +FPS=35.96, 法向力=8737.7119, 切向力X=5119.4824, 切向力Y=9950.0381 +FPS=34.48, 法向力=9150.6699, 切向力X=6483.2588, 切向力Y=9343.5762 +FPS=36.35, 法向力=9234.2432, 切向力X=6703.2949, 切向力Y=9325.6445 +FPS=35.78, 法向力=9864.7412, 切向力X=6505.6699, 切向力Y=9380.3711 +FPS=34.42, 法向力=10789.9336, 切向力X=13620.1152, 切向力Y=10387.5723 +FPS=35.36, 法向力=10904.6367, 切向力X=14113.3418, 切向力Y=10563.0703 +FPS=35.20, 法向力=9786.2285, 切向力X=22148.1055, 切向力Y=10324.2119 +FPS=35.56, 法向力=9835.7842, 切向力X=22045.5801, 切向力Y=10191.7520 +FPS=37.20, 法向力=10296.8477, 切向力X=33504.9727, 切向力Y=9344.1172 +FPS=36.63, 法向力=9420.4512, 切向力X=41913.3438, 切向力Y=7333.6748 +FPS=37.00, 法向力=9282.1211, 切向力X=42168.7109, 切向力Y=7210.5527 +FPS=35.81, 法向力=9290.3965, 切向力X=42195.3516, 切向力Y=7219.7305 +FPS=36.06, 法向力=8321.1240, 切向力X=45721.9766, 切向力Y=4678.6738 +FPS=35.60, 法向力=8089.1074, 切向力X=45833.3750, 切向力Y=5144.3843 +FPS=35.86, 法向力=7803.8730, 切向力X=42957.6680, 切向力Y=4918.4658 +FPS=36.25, 法向力=6738.8813, 切向力X=38577.7852, 切向力Y=4990.3936 +FPS=36.64, 法向力=6643.2314, 切向力X=38552.1719, 切向力Y=4973.8286 +FPS=36.05, 法向力=6678.1050, 切向力X=38743.6680, 切向力Y=5376.2363 +FPS=35.59, 法向力=6603.8691, 切向力X=38595.5625, 切向力Y=5134.7197 +FPS=36.05, 法向力=6856.5117, 切向力X=37001.6641, 切向力Y=4057.7231 +FPS=34.52, 法向力=6093.2588, 切向力X=37751.9961, 切向力Y=3249.6606 +FPS=36.80, 法向力=5995.2354, 切向力X=37738.4258, 切向力Y=3238.0569 +FPS=33.94, 法向力=6354.1982, 切向力X=39211.5820, 切向力Y=2563.7209 +FPS=35.43, 法向力=6529.5703, 切向力X=39351.3242, 切向力Y=2580.8074 +FPS=35.19, 法向力=6565.5479, 切向力X=41757.5547, 切向力Y=1741.1733 +FPS=35.93, 法向力=6594.0259, 切向力X=42019.8984, 切向力Y=1733.8733 +FPS=34.90, 法向力=6846.3232, 切向力X=44030.5781, 切向力Y=395.4034 +FPS=35.52, 法向力=6853.7983, 切向力X=44200.3047, 切向力Y=367.1706 +FPS=35.44, 法向力=7391.3857, 切向力X=47323.1211, 切向力Y=-1066.5809 +FPS=35.36, 法向力=7111.0215, 切向力X=46186.8672, 切向力Y=-1399.5875 +FPS=35.52, 法向力=7475.7705, 切向力X=46346.5586, 切向力Y=-1361.3060 +FPS=34.98, 法向力=7595.6621, 切向力X=46935.2773, 切向力Y=-3643.0298 +FPS=31.46, 法向力=7653.9038, 切向力X=46986.0469, 切向力Y=-3682.5015 +FPS=33.98, 法向力=8507.0938, 切向力X=46613.6328, 切向力Y=-3227.6729 +FPS=33.67, 法向力=7499.7031, 切向力X=43163.7578, 切向力Y=-3235.1230 +FPS=34.95, 法向力=7543.8672, 切向力X=42939.1484, 切向力Y=-3119.4314 +FPS=34.44, 法向力=8395.8838, 切向力X=41616.2695, 切向力Y=-2162.9844 +FPS=34.49, 法向力=8291.8242, 切向力X=41544.8008, 切向力Y=-2055.5737 +FPS=33.66, 法向力=7292.5684, 切向力X=36154.4961, 切向力Y=-1791.6106 +FPS=34.80, 法向力=7357.9707, 切向力X=36356.7148, 切向力Y=-1882.1742 +FPS=34.16, 法向力=8562.3516, 切向力X=30781.3438, 切向力Y=1293.0405 +FPS=34.12, 法向力=7655.4189, 切向力X=24488.9727, 切向力Y=4324.0137 +FPS=34.58, 法向力=7965.4297, 切向力X=24283.7480, 切向力Y=4719.3398 +FPS=34.36, 法向力=7615.6758, 切向力X=18837.2637, 切向力Y=7049.4595 +FPS=34.71, 法向力=7687.6250, 切向力X=18807.1758, 切向力Y=6657.7158 +FPS=34.21, 法向力=6995.8965, 切向力X=10651.6670, 切向力Y=9231.2549 +FPS=33.91, 法向力=8890.1543, 切向力X=8796.6523, 切向力Y=10578.1055 +FPS=36.05, 法向力=8892.0654, 切向力X=8930.1016, 切向力Y=10477.0879 +FPS=34.52, 法向力=9482.5703, 切向力X=10770.5898, 切向力Y=10353.7734 +FPS=36.20, 法向力=9610.5820, 切向力X=10810.7910, 切向力Y=10396.1055 +FPS=34.95, 法向力=10730.8398, 切向力X=15687.7695, 切向力Y=10596.2061 +FPS=36.28, 法向力=10803.2109, 切向力X=15998.1191, 切向力Y=10663.8887 +FPS=34.48, 法向力=10718.3887, 切向力X=24245.4062, 切向力Y=9224.4297 +FPS=36.47, 法向力=10421.5176, 切向力X=24426.1602, 切向力Y=8975.0938 +FPS=37.14, 法向力=8263.4014, 切向力X=31147.3906, 切向力Y=6977.3193 +FPS=37.28, 法向力=8174.1362, 切向力X=31240.4531, 切向力Y=6936.0811 +FPS=37.07, 法向力=7855.5449, 切向力X=35859.0273, 切向力Y=5853.1660 +FPS=36.95, 法向力=6825.9062, 切向力X=31632.7344, 切向力Y=4911.3467 +FPS=37.91, 法向力=6901.8643, 切向力X=31087.1113, 切向力Y=4647.2476 +FPS=37.20, 法向力=5588.6650, 切向力X=29573.8379, 切向力Y=4213.6372 +FPS=37.33, 法向力=5534.2773, 切向力X=29582.9141, 切向力Y=4216.7949 +FPS=36.48, 法向力=5258.7012, 切向力X=30631.9062, 切向力Y=4265.2642 +FPS=35.84, 法向力=5391.9004, 切向力X=30830.8047, 切向力Y=4459.2192 +FPS=35.41, 法向力=5748.6885, 切向力X=32719.2012, 切向力Y=2604.8867 +FPS=36.30, 法向力=5650.2500, 切向力X=32984.2188, 切向力Y=2278.6248 +FPS=35.44, 法向力=5173.2207, 切向力X=36851.2422, 切向力Y=496.4796 +FPS=35.53, 法向力=5411.8184, 切向力X=36814.0312, 切向力Y=733.6835 +FPS=34.82, 法向力=5203.1475, 切向力X=38143.9141, 切向力Y=-549.5234 +FPS=35.22, 法向力=6610.2456, 切向力X=38872.0469, 切向力Y=-1384.2922 +FPS=34.83, 法向力=6740.1641, 切向力X=39042.7812, 切向力Y=-1514.5719 +FPS=34.91, 法向力=6406.1484, 切向力X=37853.1367, 切向力Y=-2332.1082 +FPS=36.33, 法向力=6360.4297, 切向力X=37708.5156, 切向力Y=-2356.0432 +FPS=35.51, 法向力=7078.0996, 切向力X=37176.6680, 切向力Y=-1561.9432 +FPS=35.60, 法向力=6681.2568, 切向力X=35573.4922, 切向力Y=-2022.0557 +FPS=36.01, 法向力=7038.3379, 切向力X=35267.0820, 切向力Y=-1911.8237 +FPS=34.87, 法向力=7621.2324, 切向力X=33430.4219, 切向力Y=-747.6010 +FPS=36.17, 法向力=7459.5054, 切向力X=33466.4297, 切向力Y=-772.7994 +FPS=34.91, 法向力=8131.8066, 切向力X=28177.1445, 切向力Y=2369.7534 +FPS=36.22, 法向力=8089.9639, 切向力X=27713.1309, 切向力Y=2605.8501 +FPS=35.38, 法向力=8014.5112, 切向力X=17569.8750, 切向力Y=6983.6309 +FPS=36.67, 法向力=8202.7979, 切向力X=17570.8867, 切向力Y=7307.4771 +FPS=36.77, 法向力=7940.6992, 切向力X=8004.9775, 切向力Y=9273.9619 +FPS=37.03, 法向力=8205.3203, 切向力X=7616.0103, 切向力Y=9145.4658 +FPS=36.63, 法向力=8411.6328, 切向力X=8165.5244, 切向力Y=10309.8486 +FPS=36.96, 法向力=9455.8877, 切向力X=8296.0371, 切向力Y=10888.0020 +FPS=36.22, 法向力=9388.8359, 切向力X=8405.3555, 切向力Y=10718.4707 +FPS=35.67, 法向力=10868.6143, 切向力X=11659.4551, 切向力Y=10897.4941 +FPS=35.72, 法向力=10761.5586, 切向力X=12256.2998, 切向力Y=11041.2695 +FPS=35.27, 法向力=11320.7969, 切向力X=17746.3438, 切向力Y=10924.2324 +FPS=36.24, 法向力=11522.1182, 切向力X=18116.5684, 切向力Y=11096.7051 +FPS=36.08, 法向力=10105.8545, 切向力X=24223.5879, 切向力Y=11357.6006 +FPS=36.69, 法向力=10226.3496, 切向力X=24491.8516, 切向力Y=11202.5049 +FPS=35.26, 法向力=9451.4004, 切向力X=29377.3535, 切向力Y=10807.5156 +FPS=36.24, 法向力=9423.3154, 切向力X=29121.6719, 切向力Y=10715.8574 +FPS=36.11, 法向力=8983.4453, 切向力X=34087.2188, 切向力Y=9457.6133 +FPS=35.96, 法向力=6947.5127, 切向力X=28625.8691, 切向力Y=8810.1611 +FPS=36.51, 法向力=7068.3872, 切向力X=28491.8809, 切向力Y=9107.0898 +FPS=35.14, 法向力=5005.3765, 切向力X=13751.6738, 切向力Y=11243.5947 +FPS=36.09, 法向力=4921.0796, 切向力X=13313.4258, 切向力Y=11250.7109 +FPS=35.46, 法向力=5548.6362, 切向力X=6166.5430, 切向力Y=10614.0723 +FPS=34.64, 法向力=5467.4702, 切向力X=6306.7524, 切向力Y=10472.9180 +FPS=35.34, 法向力=5122.5684, 切向力X=4444.8262, 切向力Y=9709.3516 +FPS=33.89, 法向力=4128.8159, 切向力X=6009.6255, 切向力Y=8964.9922 +FPS=31.45, 法向力=3968.1836, 切向力X=6316.2891, 切向力Y=8895.3145 +FPS=31.00, 法向力=4190.8887, 切向力X=7924.8633, 切向力Y=8072.0361 +FPS=33.26, 法向力=4271.6396, 切向力X=8421.2324, 切向力Y=8011.6885 +FPS=33.08, 法向力=5004.5117, 切向力X=14333.1758, 切向力Y=7032.4941 +FPS=34.25, 法向力=5352.4263, 切向力X=29612.7539, 切向力Y=4952.2803 +FPS=35.30, 法向力=5656.4917, 切向力X=29696.8203, 切向力Y=5239.1138 +FPS=33.35, 法向力=4924.4658, 切向力X=37769.3281, 切向力Y=2330.0386 +FPS=34.40, 法向力=5148.1436, 切向力X=38573.2109, 切向力Y=2418.9458 +FPS=34.00, 法向力=6820.7188, 切向力X=43710.6719, 切向力Y=2088.8840 +FPS=33.82, 法向力=8232.8223, 切向力X=43837.3984, 切向力Y=1732.1826 +FPS=34.59, 法向力=8339.2969, 切向力X=43569.6562, 切向力Y=1624.0547 +FPS=33.99, 法向力=8437.4316, 切向力X=45069.2031, 切向力Y=1414.4900 +FPS=35.85, 法向力=8630.4727, 切向力X=45457.1523, 切向力Y=1660.7061 +FPS=35.33, 法向力=10570.1191, 切向力X=50313.4766, 切向力Y=2448.1255 +FPS=35.17, 法向力=10751.6592, 切向力X=50509.6250, 切向力Y=2799.3662 +FPS=34.36, 法向力=7766.2051, 切向力X=46767.9180, 切向力Y=481.9455 +FPS=35.94, 法向力=7608.5591, 切向力X=46282.0625, 切向力Y=447.4708 +FPS=35.55, 法向力=7394.1382, 切向力X=41551.2539, 切向力Y=2873.5972 +FPS=34.18, 法向力=6666.7866, 切向力X=36805.3984, 切向力Y=2590.2798 +FPS=35.60, 法向力=6828.9414, 切向力X=36700.2344, 切向力Y=2912.4053 +FPS=33.93, 法向力=5196.4771, 切向力X=30845.6602, 切向力Y=4177.0278 +FPS=34.84, 法向力=5161.5430, 切向力X=30442.6289, 切向力Y=4053.7354 +FPS=35.61, 法向力=4392.4097, 切向力X=22166.2188, 切向力Y=5647.5923 +FPS=36.11, 法向力=5039.0381, 切向力X=17657.8398, 切向力Y=7338.9834 +FPS=36.39, 法向力=5032.4932, 切向力X=17176.3711, 切向力Y=7552.7246 +FPS=34.20, 法向力=5012.4043, 切向力X=17166.2773, 切向力Y=9330.2393 +FPS=37.91, 法向力=4946.9336, 切向力X=17103.2422, 切向力Y=9429.0820 +FPS=36.27, 法向力=7317.4590, 切向力X=15592.2285, 切向力Y=8934.4551 +FPS=36.50, 法向力=7466.1470, 切向力X=15990.2256, 切向力Y=9210.8721 +FPS=36.29, 法向力=5927.7212, 切向力X=17080.1289, 切向力Y=10097.4492 +FPS=35.57, 法向力=5660.7085, 切向力X=17435.9727, 切向力Y=10157.9004 +FPS=33.97, 法向力=6699.7266, 切向力X=16489.2891, 切向力Y=9932.1484 +FPS=34.70, 法向力=6320.7656, 切向力X=15777.8545, 切向力Y=10507.6426 +FPS=35.67, 法向力=6289.8872, 切向力X=15977.3486, 切向力Y=10562.5352 +FPS=34.79, 法向力=3918.1340, 切向力X=6452.7925, 切向力Y=9662.4180 +FPS=34.42, 法向力=3981.1372, 切向力X=6367.2544, 切向力Y=9551.6064 +FPS=34.12, 法向力=5228.0703, 切向力X=1071.7615, 切向力Y=9029.8867 +FPS=34.39, 法向力=3887.7583, 切向力X=1520.4612, 切向力Y=8100.8945 +FPS=35.45, 法向力=3910.9653, 切向力X=1427.2861, 切向力Y=8070.1460 +FPS=33.97, 法向力=3893.9546, 切向力X=1254.6757, 切向力Y=7968.7471 +FPS=34.02, 法向力=4088.3435, 切向力X=1722.0988, 切向力Y=8436.6152 +FPS=34.35, 法向力=4761.2520, 切向力X=1547.2605, 切向力Y=7656.7505 +FPS=34.92, 法向力=4824.0459, 切向力X=1705.5212, 切向力Y=7688.0205 +FPS=34.41, 法向力=5336.8374, 切向力X=1762.3259, 切向力Y=7873.6621 +FPS=33.77, 法向力=5186.7676, 切向力X=1605.5103, 切向力Y=8008.7148 +FPS=34.47, 法向力=5580.9448, 切向力X=2365.0815, 切向力Y=8947.8066 +FPS=33.69, 法向力=5008.5898, 切向力X=3447.3694, 切向力Y=8143.4233 +FPS=34.76, 法向力=5085.3799, 切向力X=3381.7944, 切向力Y=8063.1074 +FPS=34.52, 法向力=5409.3926, 切向力X=6202.3545, 切向力Y=8690.9922 +FPS=34.88, 法向力=5339.1421, 切向力X=6020.5122, 切向力Y=8649.0078 +FPS=34.05, 法向力=5045.7949, 切向力X=6421.6133, 切向力Y=8971.9971 +FPS=34.14, 法向力=4531.4580, 切向力X=7603.0015, 切向力Y=8694.7168 +FPS=35.09, 法向力=4493.5610, 切向力X=7784.8652, 切向力Y=8775.0938 +FPS=34.51, 法向力=4517.1299, 切向力X=5025.6133, 切向力Y=9072.7764 +FPS=34.59, 法向力=4502.9434, 切向力X=4925.6958, 切向力Y=9274.8086 +FPS=33.43, 法向力=4509.8140, 切向力X=3508.0767, 切向力Y=9399.8105 +FPS=34.38, 法向力=4431.5469, 切向力X=3334.0640, 切向力Y=9335.7666 +FPS=34.09, 法向力=5707.1548, 切向力X=5638.0273, 切向力Y=8289.9531 +FPS=34.90, 法向力=4982.2754, 切向力X=7049.4512, 切向力Y=8719.5479 +FPS=37.48, 法向力=5039.6113, 切向力X=7052.1460, 切向力Y=8699.9434 +FPS=36.60, 法向力=5336.7021, 切向力X=6150.0654, 切向力Y=8255.5918 +FPS=36.83, 法向力=5571.8530, 切向力X=5993.5762, 切向力Y=8153.5361 +FPS=38.16, 法向力=4739.8413, 切向力X=4361.6313, 切向力Y=9889.6055 +FPS=38.44, 法向力=4726.2271, 切向力X=4347.4624, 切向力Y=9879.3975 +FPS=39.20, 法向力=5305.2480, 切向力X=4773.8247, 切向力Y=9958.9180 +FPS=38.39, 法向力=5237.8438, 切向力X=4671.0879, 切向力Y=9928.0576 +FPS=37.47, 法向力=5159.3164, 切向力X=6028.8735, 切向力Y=10133.9082 +FPS=38.95, 法向力=5245.0957, 切向力X=6070.2173, 切向力Y=10108.8008 +FPS=37.33, 法向力=6584.2373, 切向力X=8706.2695, 切向力Y=9150.6885 +FPS=37.24, 法向力=6542.6445, 切向力X=8881.8047, 切向力Y=9188.2432 +FPS=35.41, 法向力=5095.5508, 切向力X=10894.4844, 切向力Y=9969.3311 +FPS=35.35, 法向力=5554.6865, 切向力X=9463.4199, 切向力Y=11513.5801 +FPS=36.91, 法向力=5482.8604, 切向力X=9642.6094, 切向力Y=11579.8301 +FPS=36.30, 法向力=5524.1982, 切向力X=11534.1318, 切向力Y=10959.2754 +FPS=37.06, 法向力=5624.1436, 切向力X=11820.5566, 切向力Y=10917.6475 +FPS=35.94, 法向力=5587.4209, 切向力X=10000.0371, 切向力Y=9829.8262 +FPS=37.66, 法向力=5490.3066, 切向力X=9726.1875, 切向力Y=9746.0303 +FPS=36.38, 法向力=4775.0439, 切向力X=10446.0391, 切向力Y=10296.2715 +FPS=36.93, 法向力=4784.4058, 切向力X=10534.0996, 切向力Y=10188.4043 +FPS=35.11, 法向力=5394.8765, 切向力X=11100.0684, 切向力Y=10483.5264 +FPS=37.17, 法向力=5365.1499, 切向力X=10974.7891, 切向力Y=10370.5869 +FPS=35.98, 法向力=6391.4844, 切向力X=10043.2666, 切向力Y=11726.0127 +FPS=36.56, 法向力=6592.3750, 切向力X=9924.0254, 切向力Y=12127.8164 +FPS=36.86, 法向力=5251.2363, 切向力X=12473.6562, 切向力Y=12581.0977 +FPS=36.09, 法向力=5412.4639, 切向力X=10448.2070, 切向力Y=12961.9326 +FPS=36.77, 法向力=5406.4473, 切向力X=10193.4551, 切向力Y=13048.0293 +FPS=36.12, 法向力=5819.6768, 切向力X=11676.8135, 切向力Y=12530.6045 +FPS=35.53, 法向力=6049.9951, 切向力X=11457.0234, 切向力Y=12595.4932 +FPS=34.45, 法向力=5808.2241, 切向力X=12905.6338, 切向力Y=12159.7412 +FPS=35.85, 法向力=5934.0469, 切向力X=12629.2227, 切向力Y=12069.7061 +FPS=35.46, 法向力=5253.3877, 切向力X=9069.5117, 切向力Y=11962.2178 +FPS=34.37, 法向力=5185.1943, 切向力X=9893.0762, 切向力Y=10799.3184 +FPS=36.36, 法向力=5158.4678, 切向力X=9812.5879, 切向力Y=10781.1113 +FPS=35.01, 法向力=5164.2637, 切向力X=9741.9355, 切向力Y=10786.4844 +FPS=36.46, 法向力=4702.3242, 切向力X=7982.1748, 切向力Y=10530.8242 +FPS=35.02, 法向力=4520.0796, 切向力X=10236.5576, 切向力Y=10605.0879 +FPS=35.94, 法向力=4559.6494, 切向力X=10425.5059, 切向力Y=10594.0859 +FPS=35.39, 法向力=6656.3862, 切向力X=6925.7490, 切向力Y=9924.4199 +FPS=35.91, 法向力=6639.1348, 切向力X=7051.5254, 切向力Y=9873.6934 +FPS=35.74, 法向力=4828.9482, 切向力X=8158.8726, 切向力Y=10091.8848 +FPS=36.02, 法向力=5147.7217, 切向力X=8768.3848, 切向力Y=10579.3828 +FPS=36.49, 法向力=5200.1250, 切向力X=9181.9980, 切向力Y=10964.2559 +FPS=34.87, 法向力=5820.2935, 切向力X=8287.5098, 切向力Y=11619.2422 +FPS=35.63, 法向力=5923.0967, 切向力X=8271.2061, 切向力Y=11738.3281 +FPS=36.62, 法向力=5608.3438, 切向力X=10364.8340, 切向力Y=11496.3135 +FPS=36.98, 法向力=5529.3735, 切向力X=10323.6367, 切向力Y=11492.1016 +FPS=35.26, 法向力=6033.8062, 切向力X=9070.6719, 切向力Y=10817.6738 +FPS=36.31, 法向力=6224.5107, 切向力X=8831.9375, 切向力Y=10608.4023 +FPS=35.47, 法向力=5571.5459, 切向力X=8925.0449, 切向力Y=11246.5566 +FPS=35.82, 法向力=5640.7471, 切向力X=8525.5781, 切向力Y=11109.8047 +FPS=37.06, 法向力=5372.9443, 切向力X=9053.5879, 切向力Y=10799.2891 +FPS=36.92, 法向力=5616.0693, 切向力X=5736.3701, 切向力Y=9099.4736 +FPS=37.66, 法向力=5624.7412, 切向力X=5748.9531, 切向力Y=9167.3271 +FPS=37.01, 法向力=4544.2485, 切向力X=7266.1748, 切向力Y=10494.6367 +FPS=37.90, 法向力=4332.2744, 切向力X=7689.4478, 切向力Y=10633.2490 +FPS=34.28, 法向力=4516.5249, 切向力X=7967.8936, 切向力Y=9822.8496 +FPS=35.48, 法向力=4542.1455, 切向力X=7818.3896, 切向力Y=9699.5400 +FPS=34.16, 法向力=5567.4258, 切向力X=7266.5479, 切向力Y=9804.2969 +FPS=33.78, 法向力=5425.1362, 切向力X=6438.5435, 切向力Y=9428.7559 +FPS=34.51, 法向力=5382.3813, 切向力X=6388.4746, 切向力Y=9530.2256 +FPS=34.85, 法向力=4736.9829, 切向力X=7950.9111, 切向力Y=10322.2793 +FPS=34.49, 法向力=4671.8110, 切向力X=7914.1108, 切向力Y=10391.5781 +FPS=33.69, 法向力=5240.8447, 切向力X=7182.1982, 切向力Y=10595.3516 +FPS=33.92, 法向力=5240.5615, 切向力X=7187.1606, 切向力Y=10401.0020 +FPS=34.04, 法向力=5668.3682, 切向力X=8521.9375, 切向力Y=10296.7705 +FPS=32.64, 法向力=5554.6069, 切向力X=8652.6914, 切向力Y=10485.9062 +FPS=33.42, 法向力=5604.1035, 切向力X=8913.2764, 切向力Y=10652.2695 +FPS=32.21, 法向力=5398.6084, 切向力X=8975.0742, 切向力Y=11626.0410 +FPS=33.87, 法向力=6628.1582, 切向力X=9034.2266, 切向力Y=12281.6523 +FPS=33.56, 法向力=6580.4092, 切向力X=9059.3848, 切向力Y=12411.2236 +FPS=32.74, 法向力=5359.0830, 切向力X=11547.1816, 切向力Y=11302.7930 +FPS=33.39, 法向力=5274.8950, 切向力X=12009.5977, 切向力Y=11347.1162 +FPS=32.62, 法向力=4769.2607, 切向力X=10479.9023, 切向力Y=13014.9023 +FPS=32.38, 法向力=4881.8682, 切向力X=10551.9531, 切向力Y=13144.2266 +FPS=32.92, 法向力=5704.9683, 切向力X=11851.3672, 切向力Y=13110.7959 +FPS=33.07, 法向力=5202.0601, 切向力X=10810.5645, 切向力Y=12812.5781 +FPS=33.57, 法向力=5280.5962, 切向力X=10536.0781, 切向力Y=12975.2627 +FPS=32.52, 法向力=4931.0244, 切向力X=10162.7676, 切向力Y=12553.2910 +FPS=33.47, 法向力=5117.6104, 切向力X=9444.8037, 切向力Y=12966.6953 +FPS=34.02, 法向力=5175.6924, 切向力X=9444.3125, 切向力Y=13005.4883 +FPS=32.89, 法向力=6684.6367, 切向力X=9494.0273, 切向力Y=13673.0205 +FPS=33.45, 法向力=6636.3945, 切向力X=9551.5879, 切向力Y=13690.7451 +FPS=33.31, 法向力=5997.3296, 切向力X=9805.4941, 切向力Y=12437.4746 +FPS=31.35, 法向力=5849.6514, 切向力X=9878.5615, 切向力Y=12339.9414 +FPS=29.60, 法向力=5631.1436, 切向力X=9139.7979, 切向力Y=12606.1504 +FPS=29.77, 法向力=6252.4385, 切向力X=11635.8516, 切向力Y=13178.6426 +FPS=33.04, 法向力=6216.6641, 切向力X=11754.7969, 切向力Y=13247.0879 +FPS=33.80, 法向力=4975.3555, 切向力X=12131.2949, 切向力Y=12768.0508 +FPS=33.70, 法向力=5307.3682, 切向力X=10868.5303, 切向力Y=12185.8760 +FPS=33.25, 法向力=5340.4775, 切向力X=10601.5869, 切向力Y=12264.8770 +FPS=33.37, 法向力=5404.8623, 切向力X=10517.9629, 切向力Y=12058.9424 +FPS=33.24, 法向力=5451.9683, 切向力X=10290.9863, 切向力Y=12011.4023 +FPS=33.32, 法向力=5175.2402, 切向力X=9087.2051, 切向力Y=11913.1309 +FPS=33.06, 法向力=5108.3218, 切向力X=10708.1191, 切向力Y=11002.5303 +FPS=33.57, 法向力=4941.9224, 切向力X=10548.2598, 切向力Y=10836.5869 +FPS=33.32, 法向力=4817.9570, 切向力X=10238.2539, 切向力Y=11084.6934 +FPS=33.50, 法向力=4917.8828, 切向力X=10253.8701, 切向力Y=11373.8809 +FPS=32.77, 法向力=5936.5054, 切向力X=9400.0293, 切向力Y=10634.3301 +FPS=33.37, 法向力=6639.7676, 切向力X=9599.2275, 切向力Y=11748.7090 +FPS=33.71, 法向力=6644.3667, 切向力X=9845.2861, 切向力Y=12038.5840 +FPS=33.19, 法向力=6745.9502, 切向力X=9698.5820, 切向力Y=11608.9414 +FPS=33.73, 法向力=6584.0264, 切向力X=9721.0273, 切向力Y=11769.2217 +FPS=34.01, 法向力=6552.4268, 切向力X=10302.0059, 切向力Y=10231.2744 +FPS=33.92, 法向力=5360.7744, 切向力X=11447.0430, 切向力Y=10559.7051 +FPS=33.40, 法向力=5402.7119, 切向力X=11270.9727, 切向力Y=10654.1445 +FPS=31.42, 法向力=5537.6064, 切向力X=9237.2988, 切向力Y=9998.8574 +FPS=31.74, 法向力=5731.8838, 切向力X=10256.3174, 切向力Y=11028.9805 +FPS=33.27, 法向力=5811.2490, 切向力X=10370.3613, 切向力Y=11310.1738 +FPS=32.02, 法向力=5936.5410, 切向力X=9703.3203, 切向力Y=11455.8936 +FPS=32.87, 法向力=5943.9893, 切向力X=9663.4756, 切向力Y=11439.7109 +FPS=30.40, 法向力=5614.2119, 切向力X=12211.8291, 切向力Y=12003.9473 +FPS=33.01, 法向力=5603.0488, 切向力X=12439.7139, 切向力Y=12055.6348 +FPS=33.24, 法向力=5634.5684, 切向力X=12477.0625, 切向力Y=12083.4092 +FPS=31.23, 法向力=5854.8652, 切向力X=9031.3682, 切向力Y=10416.5449 +FPS=32.84, 法向力=5716.3438, 切向力X=9379.4805, 切向力Y=10859.7402 +FPS=32.48, 法向力=5706.2734, 切向力X=8851.8994, 切向力Y=11236.3223 +FPS=32.90, 法向力=5252.4341, 切向力X=9116.0879, 切向力Y=9266.3945 +FPS=32.35, 法向力=5307.0894, 切向力X=9025.0449, 切向力Y=9275.6875 +FPS=31.72, 法向力=5429.8955, 切向力X=7676.0620, 切向力Y=9252.4160 +FPS=32.58, 法向力=5543.0098, 切向力X=7482.6792, 切向力Y=9348.1592 +FPS=32.11, 法向力=5454.6372, 切向力X=8503.8613, 切向力Y=9403.0703 +FPS=31.66, 法向力=5572.4985, 切向力X=8547.1348, 切向力Y=9500.9707 +FPS=32.94, 法向力=5677.6450, 切向力X=8508.4580, 切向力Y=9664.2773 +FPS=31.48, 法向力=5563.7188, 切向力X=7662.8564, 切向力Y=9437.1416 +FPS=32.65, 法向力=5470.8271, 切向力X=7684.5371, 切向力Y=9480.3457 +FPS=33.78, 法向力=5377.7793, 切向力X=7685.5234, 切向力Y=9548.0859 +FPS=33.40, 法向力=5577.0425, 切向力X=8344.0498, 切向力Y=10945.4961 +FPS=34.75, 法向力=5616.5176, 切向力X=8838.2354, 切向力Y=11137.4863 +FPS=33.29, 法向力=6338.3774, 切向力X=8563.0449, 切向力Y=10738.8750 +FPS=34.73, 法向力=5093.5498, 切向力X=10085.8828, 切向力Y=10694.4189 +FPS=35.66, 法向力=5007.0176, 切向力X=10126.5732, 切向力Y=10692.0898 +FPS=34.40, 法向力=5773.7305, 切向力X=10044.8242, 切向力Y=10757.9658 +FPS=35.84, 法向力=5635.8647, 切向力X=9885.3027, 切向力Y=10701.7773 +FPS=35.45, 法向力=5112.9614, 切向力X=9865.4531, 切向力Y=10525.8516 +FPS=34.89, 法向力=5143.5518, 切向力X=9858.5078, 切向力Y=10621.3027 +FPS=33.51, 法向力=5719.1489, 切向力X=9189.2178, 切向力Y=9761.3613 +FPS=34.73, 法向力=5836.0386, 切向力X=9266.4883, 切向力Y=9842.0488 +FPS=35.37, 法向力=4985.3091, 切向力X=9024.8643, 切向力Y=8896.6133 +FPS=34.24, 法向力=5020.7363, 切向力X=9072.3691, 切向力Y=8842.9580 +FPS=34.81, 法向力=4986.2734, 切向力X=9061.2158, 切向力Y=8924.3770 +FPS=33.10, 法向力=4543.4121, 切向力X=9035.4004, 切向力Y=8958.5547 +FPS=34.54, 法向力=4613.0068, 切向力X=9078.6719, 切向力Y=8953.1914 +FPS=33.80, 法向力=4705.8086, 切向力X=8423.9941, 切向力Y=10023.7764 +FPS=33.49, 法向力=4586.4575, 切向力X=9602.9775, 切向力Y=9648.2500 +FPS=34.24, 法向力=4466.9072, 切向力X=9980.2607, 切向力Y=9688.3125 +FPS=33.47, 法向力=5546.6646, 切向力X=9297.4316, 切向力Y=11370.1445 +FPS=33.80, 法向力=5518.4077, 切向力X=9576.3887, 切向力Y=11633.6113 +FPS=32.14, 法向力=6105.9214, 切向力X=7858.9028, 切向力Y=10491.2881 +FPS=34.52, 法向力=6059.8809, 切向力X=7698.5918, 切向力Y=10567.0469 +FPS=33.95, 法向力=5083.0454, 切向力X=8585.6855, 切向力Y=10453.0293 +FPS=33.91, 法向力=4697.2041, 切向力X=10172.1914, 切向力Y=10366.8750 +FPS=34.25, 法向力=4721.9785, 切向力X=10361.8672, 切向力Y=10316.9551 +FPS=34.59, 法向力=4679.1045, 切向力X=10479.7188, 切向力Y=10245.4648 +FPS=33.88, 法向力=4697.0571, 切向力X=10457.3105, 切向力Y=10210.8828 +FPS=34.67, 法向力=5891.6201, 切向力X=8257.1367, 切向力Y=11823.8184 +FPS=31.61, 法向力=5915.5259, 切向力X=10377.6279, 切向力Y=12956.3809 +FPS=33.01, 法向力=5942.1157, 切向力X=10423.8262, 切向力Y=13053.5908 +FPS=32.84, 法向力=6638.3330, 切向力X=9286.4961, 切向力Y=10924.5508 +FPS=32.03, 法向力=6680.1729, 切向力X=9153.5645, 切向力Y=10740.9814 +FPS=32.98, 法向力=5017.7842, 切向力X=8473.5166, 切向力Y=10900.4150 +FPS=31.92, 法向力=5690.9053, 切向力X=8459.1943, 切向力Y=9504.9766 +FPS=32.76, 法向力=5726.9932, 切向力X=8448.4043, 切向力Y=9665.8652 +FPS=32.41, 法向力=5350.5386, 切向力X=10811.4180, 切向力Y=9518.1270 +FPS=32.33, 法向力=5167.6758, 切向力X=9103.6406, 切向力Y=10007.1143 +FPS=33.75, 法向力=5493.9839, 切向力X=8721.5801, 切向力Y=10116.5469 +FPS=33.52, 法向力=5388.3271, 切向力X=8740.9199, 切向力Y=10141.8438 +FPS=34.27, 法向力=5391.9165, 切向力X=8735.9736, 切向力Y=10119.3057 +FPS=33.03, 法向力=5308.2500, 切向力X=8655.1406, 切向力Y=10926.9805 +FPS=34.00, 法向力=5571.4292, 切向力X=10106.6143, 切向力Y=10481.8018 +FPS=33.33, 法向力=5691.6982, 切向力X=10464.8418, 切向力Y=10671.0254 +FPS=33.32, 法向力=6100.9727, 切向力X=8828.0293, 切向力Y=10532.0020 +FPS=33.50, 法向力=6141.2197, 切向力X=8758.6680, 切向力Y=10365.4717 +FPS=32.61, 法向力=5614.1260, 切向力X=10269.1377, 切向力Y=11347.9951 +FPS=33.75, 法向力=5494.0947, 切向力X=10591.1367, 切向力Y=11487.7031 +FPS=32.61, 法向力=5105.0918, 切向力X=10762.7197, 切向力Y=12006.2793 +FPS=32.35, 法向力=5051.1284, 切向力X=9922.5186, 切向力Y=12691.2051 +FPS=33.53, 法向力=5073.5566, 切向力X=10061.2988, 切向力Y=12731.7754 +FPS=32.40, 法向力=5561.5381, 切向力X=10709.3291, 切向力Y=11887.1543 +FPS=33.43, 法向力=5629.4229, 切向力X=10572.9043, 切向力Y=11895.7207 +FPS=33.43, 法向力=5638.9541, 切向力X=10596.0205, 切向力Y=11926.9512 +FPS=33.15, 法向力=5148.9922, 切向力X=8987.7207, 切向力Y=11164.2725 +FPS=34.43, 法向力=5217.2197, 切向力X=8768.1504, 切向力Y=11208.4961 +FPS=31.24, 法向力=4973.7822, 切向力X=9066.0430, 切向力Y=11522.8438 +FPS=33.13, 法向力=4851.3525, 切向力X=9159.4902, 切向力Y=11621.1465 +FPS=31.32, 法向力=5293.6973, 切向力X=7858.5225, 切向力Y=11198.4453 +FPS=33.05, 法向力=5382.0908, 切向力X=7179.0117, 切向力Y=9650.9385 +FPS=33.22, 法向力=5434.7539, 切向力X=6936.2402, 切向力Y=9603.0117 +FPS=33.86, 法向力=5000.3027, 切向力X=7751.5732, 切向力Y=9795.1953 +FPS=32.69, 法向力=5371.3833, 切向力X=8244.9316, 切向力Y=8909.6797 +FPS=33.52, 法向力=5367.9370, 切向力X=8249.4922, 切向力Y=8851.8887 +FPS=33.41, 法向力=4960.6802, 切向力X=6862.4551, 切向力Y=9488.4902 +FPS=33.61, 法向力=4870.5620, 切向力X=6757.8779, 切向力Y=9506.6270 +FPS=34.28, 法向力=4887.9297, 切向力X=6870.0439, 切向力Y=9594.3799 +FPS=32.60, 法向力=5244.8818, 切向力X=7493.1851, 切向力Y=11199.6562 +FPS=34.69, 法向力=5245.4590, 切向力X=7599.9482, 切向力Y=11206.4062 +FPS=34.02, 法向力=5751.9746, 切向力X=8345.7266, 切向力Y=10831.5010 +FPS=34.26, 法向力=5866.9937, 切向力X=8503.7930, 切向力Y=10999.1641 +FPS=33.06, 法向力=6213.1484, 切向力X=8551.0840, 切向力Y=11297.9570 +FPS=34.01, 法向力=6156.5918, 切向力X=8651.8477, 切向力Y=11459.5732 +FPS=34.92, 法向力=4767.9287, 切向力X=10591.6953, 切向力Y=11495.2480 +FPS=33.45, 法向力=5146.0312, 切向力X=9861.6338, 切向力Y=11436.9492 +FPS=33.21, 法向力=5160.8330, 切向力X=9751.4004, 切向力Y=11309.5293 +FPS=32.47, 法向力=4964.9829, 切向力X=9436.6074, 切向力Y=12063.9180 +FPS=32.12, 法向力=5092.4062, 切向力X=9809.6738, 切向力Y=12679.1279 +FPS=32.77, 法向力=5165.3350, 切向力X=10165.1641, 切向力Y=12805.7627 +FPS=33.22, 法向力=5131.6582, 切向力X=10132.4365, 切向力Y=12868.3496 +FPS=33.23, 法向力=5120.1006, 切向力X=10131.1016, 切向力Y=12786.7832 +FPS=32.29, 法向力=5878.2959, 切向力X=8321.0967, 切向力Y=11478.3691 +FPS=32.74, 法向力=5778.9434, 切向力X=8488.8320, 切向力Y=11450.5186 +FPS=31.79, 法向力=4187.9307, 切向力X=7865.0435, 切向力Y=10969.8242 +FPS=32.73, 法向力=5475.6528, 切向力X=6317.0479, 切向力Y=10502.4590 +FPS=33.21, 法向力=5201.1802, 切向力X=5981.6201, 切向力Y=10851.6719 +FPS=34.32, 法向力=6568.1143, 切向力X=7397.0195, 切向力Y=9894.4424 +FPS=34.21, 法向力=6315.6992, 切向力X=7005.1807, 切向力Y=9767.5742 +FPS=34.97, 法向力=6242.3325, 切向力X=7109.9600, 切向力Y=9719.4502 +FPS=33.30, 法向力=4970.5596, 切向力X=9472.8730, 切向力Y=11106.5176 +FPS=34.01, 法向力=4896.1460, 切向力X=9768.8203, 切向力Y=11448.1113 +FPS=33.96, 法向力=4899.5293, 切向力X=10476.7090, 切向力Y=12294.3789 +FPS=34.54, 法向力=4903.4746, 切向力X=10556.9316, 切向力Y=12391.5898 +FPS=32.70, 法向力=4938.0205, 切向力X=10609.0449, 切向力Y=12389.4883 +FPS=30.09, 法向力=5530.2910, 切向力X=9826.5820, 切向力Y=11723.0566 +FPS=30.58, 法向力=5463.7588, 切向力X=9761.1553, 切向力Y=11776.4141 +FPS=31.44, 法向力=5013.0215, 切向力X=8625.1328, 切向力Y=10664.4160 +FPS=33.54, 法向力=5921.1631, 切向力X=7493.3540, 切向力Y=10612.7832 +FPS=33.88, 法向力=6148.4165, 切向力X=7304.5107, 切向力Y=10814.9326 +FPS=33.53, 法向力=4785.3027, 切向力X=7629.0166, 切向力Y=10060.4619 +FPS=33.57, 法向力=4611.7183, 切向力X=7498.0122, 切向力Y=10008.5918 +FPS=33.59, 法向力=4680.7734, 切向力X=8664.9492, 切向力Y=10485.8223 +FPS=33.51, 法向力=5586.4663, 切向力X=8587.8271, 切向力Y=11095.2383 +FPS=33.39, 法向力=5549.1104, 切向力X=8685.2617, 切向力Y=11224.4883 +FPS=33.68, 法向力=5720.6328, 切向力X=8782.2568, 切向力Y=11407.6846 +FPS=34.03, 法向力=5742.9082, 切向力X=8823.1260, 切向力Y=11502.2129 +FPS=34.31, 法向力=5726.1948, 切向力X=8866.0537, 切向力Y=11541.2734 +FPS=34.10, 法向力=5725.4688, 切向力X=8893.6377, 切向力Y=11540.9648 +FPS=33.47, 法向力=5424.0908, 切向力X=10710.0586, 切向力Y=11790.8721 +FPS=33.77, 法向力=4819.0356, 切向力X=11869.6748, 切向力Y=11416.9160 +FPS=35.03, 法向力=4861.7480, 切向力X=11963.5371, 切向力Y=11322.3975 +FPS=34.13, 法向力=4760.3945, 切向力X=10437.1992, 切向力Y=11537.8223 +FPS=34.63, 法向力=4729.4209, 切向力X=10294.7422, 切向力Y=11541.7598 +FPS=33.24, 法向力=6122.8096, 切向力X=8725.6953, 切向力Y=10823.5078 +FPS=33.37, 法向力=5140.0962, 切向力X=8037.9443, 切向力Y=9667.2363 +FPS=33.29, 法向力=5150.2461, 切向力X=7900.8813, 切向力Y=9554.4541 +FPS=33.08, 法向力=5972.1729, 切向力X=8872.8672, 切向力Y=10837.8066 +FPS=34.58, 法向力=6077.2744, 切向力X=9246.5840, 切向力Y=10934.3564 +FPS=32.62, 法向力=6711.1729, 切向力X=9351.6826, 切向力Y=10604.7422 +FPS=31.76, 法向力=5376.4272, 切向力X=8160.1387, 切向力Y=10810.9902 +FPS=32.72, 法向力=5279.2666, 切向力X=8036.5137, 切向力Y=10915.3652 +FPS=31.21, 法向力=4845.4346, 切向力X=9421.1387, 切向力Y=12311.2090 +FPS=31.99, 法向力=4782.4453, 切向力X=9711.2158, 切向力Y=12368.9512 +FPS=30.97, 法向力=6145.9941, 切向力X=9437.8730, 切向力Y=12276.9355 +FPS=31.10, 法向力=5020.5957, 切向力X=8229.1299, 切向力Y=12392.9443 +FPS=33.02, 法向力=4974.2373, 切向力X=8480.9307, 切向力Y=12619.9824 +FPS=32.06, 法向力=5369.5117, 切向力X=9023.4170, 切向力Y=12321.7939 +FPS=32.19, 法向力=5704.5234, 切向力X=9389.6895, 切向力Y=11765.4346 +FPS=31.66, 法向力=5691.2119, 切向力X=9378.6387, 切向力Y=11799.9199 +FPS=31.92, 法向力=5522.5615, 切向力X=9449.0664, 切向力Y=11820.6660 +FPS=32.88, 法向力=5453.8594, 切向力X=9583.3896, 切向力Y=11858.0166 +FPS=32.26, 法向力=5300.8213, 切向力X=9379.3037, 切向力Y=11994.2383 +FPS=32.29, 法向力=5375.0005, 切向力X=9364.4395, 切向力Y=11247.4297 +FPS=32.94, 法向力=5015.2285, 切向力X=9597.9551, 切向力Y=11068.4062 +FPS=31.37, 法向力=5288.0469, 切向力X=9705.0488, 切向力Y=12319.0117 +FPS=32.07, 法向力=5099.0962, 切向力X=9287.6094, 切向力Y=11897.8232 +FPS=32.03, 法向力=5084.0840, 切向力X=8926.1152, 切向力Y=11817.0010 +FPS=32.77, 法向力=4867.1807, 切向力X=9288.6377, 切向力Y=11781.2793 +FPS=32.69, 法向力=5910.6084, 切向力X=8648.6035, 切向力Y=11907.4102 +FPS=32.75, 法向力=6012.7446, 切向力X=8720.8779, 切向力Y=11866.3496 +FPS=32.20, 法向力=5170.3301, 切向力X=9929.9043, 切向力Y=12160.8994 +FPS=33.89, 法向力=5265.8154, 切向力X=10021.5879, 切向力Y=12256.2412 +FPS=33.95, 法向力=4760.0684, 切向力X=9727.9863, 切向力Y=12238.9453 +FPS=34.60, 法向力=4752.8340, 切向力X=9674.4834, 切向力Y=12219.9375 +FPS=34.21, 法向力=6055.8955, 切向力X=8536.4814, 切向力Y=12613.7031 +FPS=34.66, 法向力=4732.1777, 切向力X=9239.1230, 切向力Y=11583.2334 +FPS=33.93, 法向力=4765.8682, 切向力X=9259.4756, 切向力Y=11607.0215 +FPS=32.85, 法向力=5150.1851, 切向力X=9227.4414, 切向力Y=11004.2227 +FPS=34.60, 法向力=5169.2495, 切向力X=9147.9072, 切向力Y=10869.9209 +FPS=35.25, 法向力=6083.9922, 切向力X=9373.0918, 切向力Y=11807.3555 +FPS=34.55, 法向力=5920.7578, 切向力X=10575.0020, 切向力Y=12103.1074 +FPS=34.41, 法向力=5699.4814, 切向力X=10934.0859, 切向力Y=12203.6523 +FPS=33.47, 法向力=5798.7905, 切向力X=10014.2773, 切向力Y=11990.1787 +FPS=34.94, 法向力=6028.6411, 切向力X=9980.4492, 切向力Y=11992.5205 +FPS=34.51, 法向力=5274.5723, 切向力X=9905.2578, 切向力Y=11237.1338 +FPS=35.43, 法向力=5323.0664, 切向力X=9977.3135, 切向力Y=11252.9668 +FPS=35.51, 法向力=4807.5391, 切向力X=8955.6328, 切向力Y=10851.0098 +FPS=36.36, 法向力=4930.6631, 切向力X=8670.5293, 切向力Y=10941.2988 +FPS=36.05, 法向力=4387.5835, 切向力X=8393.1328, 切向力Y=11263.9385 +FPS=36.43, 法向力=7070.9209, 切向力X=7483.8281, 切向力Y=9454.9551 +FPS=35.39, 法向力=7347.3657, 切向力X=7168.0186, 切向力Y=9409.9590 +FPS=35.17, 法向力=5786.3579, 切向力X=8797.9580, 切向力Y=10131.1074 +FPS=35.59, 法向力=5532.2676, 切向力X=9038.8457, 切向力Y=10243.0908 +FPS=34.55, 法向力=5550.0713, 切向力X=8853.8965, 切向力Y=10489.4141 +FPS=33.76, 法向力=5186.0815, 切向力X=9540.1592, 切向力Y=11520.0430 +FPS=33.83, 法向力=5105.6001, 切向力X=9690.7559, 切向力Y=11664.4297 +FPS=33.09, 法向力=5684.8203, 切向力X=8168.6787, 切向力Y=11190.4043 +FPS=34.54, 法向力=5693.4839, 切向力X=7821.5474, 切向力Y=11164.9922 +FPS=33.21, 法向力=4961.9043, 切向力X=10472.3662, 切向力Y=12155.4824 +FPS=33.08, 法向力=5033.0396, 切向力X=10751.3789, 切向力Y=12261.3301 +FPS=33.18, 法向力=4883.3096, 切向力X=10034.9395, 切向力Y=12326.1309 +FPS=33.59, 法向力=5599.3789, 切向力X=9686.1074, 切向力Y=12034.0674 +FPS=33.79, 法向力=5572.5254, 切向力X=9472.5820, 切向力Y=11860.5273 +FPS=32.97, 法向力=4937.3164, 切向力X=10008.2891, 切向力Y=11575.7188 +FPS=33.81, 法向力=4874.0039, 切向力X=10206.4834, 切向力Y=11662.9512 +FPS=32.84, 法向力=5538.8545, 切向力X=8743.8789, 切向力Y=11509.0342 +FPS=33.15, 法向力=5078.2925, 切向力X=9286.0020, 切向力Y=12029.0820 +FPS=34.02, 法向力=5005.5508, 切向力X=9448.2881, 切向力Y=11878.4141 +FPS=33.36, 法向力=5471.2012, 切向力X=9036.9561, 切向力Y=11995.9531 +FPS=33.94, 法向力=5387.6543, 切向力X=9123.4043, 切向力Y=12113.2920 +FPS=33.31, 法向力=4950.7871, 切向力X=10042.7861, 切向力Y=11874.4062 +FPS=34.42, 法向力=4951.6162, 切向力X=10023.5488, 切向力Y=11852.2832 +FPS=33.51, 法向力=5540.1484, 切向力X=8030.6665, 切向力Y=11760.2490 +FPS=32.23, 法向力=5593.6738, 切向力X=8833.0967, 切向力Y=12138.0078 +FPS=34.23, 法向力=5750.1074, 切向力X=8744.4316, 切向力Y=12198.2930 +FPS=34.25, 法向力=4487.0991, 切向力X=10321.0840, 切向力Y=12156.8672 +FPS=33.06, 法向力=5346.7729, 切向力X=8673.5410, 切向力Y=11455.0859 +FPS=32.67, 法向力=5386.3813, 切向力X=8480.4648, 切向力Y=11467.2207 +FPS=31.87, 法向力=5265.4375, 切向力X=9215.2324, 切向力Y=11083.2412 +FPS=31.95, 法向力=5238.7520, 切向力X=8995.3809, 切向力Y=10900.5859 +FPS=32.53, 法向力=5149.5566, 切向力X=7620.8662, 切向力Y=10116.7734 +FPS=32.12, 法向力=4779.9043, 切向力X=8625.0273, 切向力Y=11031.1426 +FPS=32.74, 法向力=4790.8232, 切向力X=8888.5176, 切向力Y=11003.7021 +FPS=32.43, 法向力=5576.9922, 切向力X=8603.2070, 切向力Y=11136.5879 +FPS=32.52, 法向力=5438.1890, 切向力X=8636.8320, 切向力Y=11187.7227 +FPS=33.17, 法向力=5256.8237, 切向力X=8231.7715, 切向力Y=10823.3779 +FPS=32.40, 法向力=4620.0801, 切向力X=9927.0801, 切向力Y=11863.9434 +FPS=32.87, 法向力=4529.2432, 切向力X=10376.0195, 切向力Y=12094.2676 +FPS=31.84, 法向力=5265.9282, 切向力X=9533.8477, 切向力Y=13126.2676 +FPS=32.09, 法向力=5957.2734, 切向力X=9756.5918, 切向力Y=11981.9609 +FPS=33.09, 法向力=5944.0518, 切向力X=9778.5801, 切向力Y=11939.4355 +FPS=32.45, 法向力=5549.2729, 切向力X=9590.7734, 切向力Y=12071.5547 +FPS=32.87, 法向力=5554.1880, 切向力X=9867.9785, 切向力Y=12359.8691 +FPS=32.14, 法向力=5429.1704, 切向力X=10257.3281, 切向力Y=12365.0283 +FPS=32.78, 法向力=5468.2441, 切向力X=10372.2891, 切向力Y=12325.9639 +FPS=32.60, 法向力=4707.3042, 切向力X=10069.0430, 切向力Y=12709.6807 +FPS=31.47, 法向力=6052.8682, 切向力X=7871.2949, 切向力Y=10393.5293 +FPS=32.15, 法向力=6138.1963, 切向力X=7433.0068, 切向力Y=10104.2051 +FPS=32.28, 法向力=4669.1611, 切向力X=8667.8848, 切向力Y=10982.8184 +FPS=33.17, 法向力=5320.7598, 切向力X=7833.0015, 切向力Y=10477.2852 +FPS=32.69, 法向力=5347.8320, 切向力X=7772.2041, 切向力Y=10489.3232 +FPS=33.46, 法向力=5188.9272, 切向力X=8238.1797, 切向力Y=10323.6846 +FPS=33.31, 法向力=5563.5732, 切向力X=8631.1211, 切向力Y=10918.4297 +FPS=33.26, 法向力=5608.9160, 切向力X=9089.9980, 切向力Y=11219.4414 +FPS=32.38, 法向力=4606.4424, 切向力X=9393.9102, 切向力Y=11785.9258 +FPS=32.65, 法向力=4724.9365, 切向力X=9673.3945, 切向力Y=11852.9316 +FPS=32.79, 法向力=5479.1426, 切向力X=9887.7754, 切向力Y=12567.4727 +FPS=32.91, 法向力=5370.2920, 切向力X=10114.7969, 切向力Y=12482.6377 +FPS=33.06, 法向力=4882.2212, 切向力X=9343.5137, 切向力Y=12618.6279 +FPS=32.92, 法向力=4885.8848, 切向力X=9679.5918, 切向力Y=11806.2891 +FPS=33.57, 法向力=4937.0215, 切向力X=9678.4482, 切向力Y=11857.3477 +FPS=32.41, 法向力=5409.1440, 切向力X=10140.1230, 切向力Y=11756.2422 +FPS=32.89, 法向力=5219.6484, 切向力X=9454.9219, 切向力Y=12564.6895 +FPS=32.50, 法向力=5288.0728, 切向力X=9462.6973, 切向力Y=12638.4561 +FPS=32.77, 法向力=5526.4277, 切向力X=9036.0938, 切向力Y=12245.2656 +FPS=34.30, 法向力=5422.1743, 切向力X=8837.1152, 切向力Y=12110.6738 +FPS=34.14, 法向力=4975.1069, 切向力X=9675.0469, 切向力Y=12005.5479 +FPS=34.18, 法向力=5000.0532, 切向力X=10023.4219, 切向力Y=12040.8037 +FPS=35.26, 法向力=4953.1499, 切向力X=9939.7637, 切向力Y=12036.5176 +FPS=33.96, 法向力=5741.4775, 切向力X=9472.3887, 切向力Y=11970.2012 +FPS=32.71, 法向力=5782.2866, 切向力X=9190.0195, 切向力Y=11934.3398 +FPS=30.65, 法向力=5333.0806, 切向力X=8443.2793, 切向力Y=12742.6035 +FPS=30.90, 法向力=5352.9360, 切向力X=8506.1699, 切向力Y=12816.0381 +FPS=34.10, 法向力=5228.8799, 切向力X=8263.4258, 切向力Y=12088.0166 +FPS=33.80, 法向力=5352.4194, 切向力X=4752.7627, 切向力Y=11232.0137 +FPS=34.36, 法向力=5236.6016, 切向力X=4644.5156, 切向力Y=11200.7031 +FPS=34.40, 法向力=4998.3789, 切向力X=7422.2490, 切向力Y=11897.9697 +FPS=34.34, 法向力=4557.9736, 切向力X=5124.2686, 切向力Y=10638.1396 +FPS=35.21, 法向力=4592.1255, 切向力X=4769.6685, 切向力Y=10647.6006 +FPS=33.45, 法向力=5043.2510, 切向力X=3776.3633, 切向力Y=10136.6660 +FPS=34.92, 法向力=5152.1318, 切向力X=3440.3459, 切向力Y=9903.1172 +FPS=34.49, 法向力=4722.6533, 切向力X=3345.4387, 切向力Y=8644.9873 +FPS=33.73, 法向力=4694.1421, 切向力X=3493.8267, 切向力Y=8700.0381 +FPS=31.58, 法向力=4364.2026, 切向力X=-581.7034, 切向力Y=10373.9570 +FPS=33.44, 法向力=4536.0796, 切向力X=-2627.9175, 切向力Y=9851.8438 +FPS=33.35, 法向力=4368.1187, 切向力X=-2652.9578, 切向力Y=9990.5215 +FPS=32.62, 法向力=5042.0845, 切向力X=-5915.6191, 切向力Y=8811.1543 +FPS=33.79, 法向力=4791.4482, 切向力X=-6125.4746, 切向力Y=8746.5352 +FPS=33.17, 法向力=3900.9604, 切向力X=-1942.1731, 切向力Y=9112.9980 +FPS=32.98, 法向力=4471.5459, 切向力X=-399.7739, 切向力Y=7771.0483 +FPS=33.94, 法向力=4574.3018, 切向力X=-220.2938, 切向力Y=7629.7876 +FPS=33.37, 法向力=3644.0444, 切向力X=2613.1543, 切向力Y=8079.2354 +FPS=34.05, 法向力=3762.0752, 切向力X=2690.6282, 切向力Y=8135.2803 +FPS=32.83, 法向力=4587.1118, 切向力X=3082.5151, 切向力Y=8385.2676 +FPS=33.00, 法向力=4581.9141, 切向力X=3043.6570, 切向力Y=8230.8613 +FPS=32.67, 法向力=4496.1582, 切向力X=4277.1772, 切向力Y=6306.7812 +FPS=33.68, 法向力=4148.7217, 切向力X=5408.2549, 切向力Y=9155.6338 +FPS=34.20, 法向力=4114.5200, 切向力X=5640.3887, 切向力Y=9079.5547 +FPS=33.50, 法向力=3688.1548, 切向力X=3842.5894, 切向力Y=8483.7148 +FPS=34.05, 法向力=3524.2078, 切向力X=4983.9775, 切向力Y=8695.1504 +FPS=34.33, 法向力=3643.2273, 切向力X=5049.7568, 切向力Y=8779.9541 +FPS=32.67, 法向力=5023.6753, 切向力X=5199.1802, 切向力Y=7531.0723 +FPS=34.27, 法向力=4897.2637, 切向力X=5221.1318, 切向力Y=7450.7603 +FPS=33.18, 法向力=4280.2905, 切向力X=5079.9033, 切向力Y=8971.0645 +FPS=33.48, 法向力=3397.9807, 切向力X=5448.4268, 切向力Y=8240.3281 +FPS=34.35, 法向力=3452.1343, 切向力X=5589.2495, 切向力Y=8297.1836 +FPS=33.93, 法向力=4728.1196, 切向力X=4795.2153, 切向力Y=9258.5801 +FPS=34.08, 法向力=4829.2354, 切向力X=4869.9097, 切向力Y=9180.8223 +FPS=33.05, 法向力=3836.1248, 切向力X=5678.3521, 切向力Y=8607.9551 +FPS=32.93, 法向力=3740.8240, 切向力X=5705.9492, 切向力Y=8481.4326 +FPS=34.27, 法向力=4223.7358, 切向力X=4791.0000, 切向力Y=7868.0273 +FPS=33.42, 法向力=4152.8828, 切向力X=5025.9326, 切向力Y=7509.3086 +FPS=34.34, 法向力=4138.5684, 切向力X=5241.2856, 切向力Y=7557.0991 +FPS=33.45, 法向力=3473.5869, 切向力X=506.5648, 切向力Y=7822.9502 +FPS=33.59, 法向力=3389.2659, 切向力X=108.7036, 切向力Y=7757.6387 +FPS=34.04, 法向力=4128.5410, 切向力X=2454.1152, 切向力Y=7528.4941 +FPS=33.08, 法向力=3759.1016, 切向力X=5102.0498, 切向力Y=7797.3330 +FPS=34.06, 法向力=3837.3394, 切向力X=5189.9131, 切向力Y=7858.1938 +FPS=33.10, 法向力=4399.9883, 切向力X=5444.4985, 切向力Y=7442.5752 +FPS=34.33, 法向力=4486.7588, 切向力X=5372.9292, 切向力Y=7486.4141 +FPS=33.13, 法向力=3486.6797, 切向力X=4674.9932, 切向力Y=8208.4941 +FPS=34.97, 法向力=3582.3691, 切向力X=5083.1899, 切向力Y=8276.1328 +FPS=34.65, 法向力=4567.4727, 切向力X=2538.0269, 切向力Y=8208.0742 +FPS=34.97, 法向力=3764.3193, 切向力X=4112.0269, 切向力Y=8002.1104 +FPS=36.10, 法向力=3734.3853, 切向力X=4215.1152, 切向力Y=7972.1123 +FPS=33.51, 法向力=3660.8564, 切向力X=4504.4248, 切向力Y=7505.3369 +FPS=30.32, 法向力=3960.8301, 切向力X=4003.2305, 切向力Y=7531.6387 +FPS=29.92, 法向力=3944.1006, 切向力X=4167.4004, 切向力Y=7628.8667 +FPS=29.62, 法向力=4022.8999, 切向力X=4811.2061, 切向力Y=7676.2612 +FPS=30.01, 法向力=3742.5818, 切向力X=5693.8071, 切向力Y=8079.5571 +FPS=30.95, 法向力=3782.9268, 切向力X=5544.6797, 切向力Y=8030.9453 +FPS=30.53, 法向力=3611.2866, 切向力X=4449.1396, 切向力Y=7733.2441 +FPS=30.49, 法向力=3578.9011, 切向力X=4408.9492, 切向力Y=7847.5498 +FPS=32.64, 法向力=3874.1348, 切向力X=4744.2080, 切向力Y=7728.6250 +FPS=35.62, 法向力=3702.7170, 切向力X=3821.4841, 切向力Y=7572.1284 +FPS=37.64, 法向力=3687.2383, 切向力X=3708.4331, 切向力Y=7554.0107 +FPS=34.92, 法向力=4488.2695, 切向力X=4830.6895, 切向力Y=7442.2998 +FPS=38.94, 法向力=4302.8008, 切向力X=4937.9385, 切向力Y=7348.5820 +FPS=35.94, 法向力=4266.3623, 切向力X=4461.5693, 切向力Y=8250.5020 +FPS=35.47, 法向力=4243.8457, 切向力X=4296.4346, 切向力Y=8401.6855 +FPS=35.51, 法向力=3871.9487, 切向力X=4201.1396, 切向力Y=7946.5391 +FPS=34.87, 法向力=4412.5098, 切向力X=5494.4102, 切向力Y=8313.2109 +FPS=34.28, 法向力=4412.1978, 切向力X=5638.6987, 切向力Y=8464.6543 +FPS=34.07, 法向力=4082.3242, 切向力X=4581.8579, 切向力Y=8546.2627 +FPS=35.68, 法向力=4151.1709, 切向力X=4356.2266, 切向力Y=8468.2676 +FPS=34.63, 法向力=4233.2222, 切向力X=7058.8438, 切向力Y=7876.2280 +FPS=36.14, 法向力=4173.0386, 切向力X=6906.6924, 切向力Y=7911.8154 +FPS=35.32, 法向力=4249.5020, 切向力X=5042.8877, 切向力Y=8590.5293 +FPS=34.85, 法向力=4224.4258, 切向力X=4660.9658, 切向力Y=8461.9521 +FPS=33.50, 法向力=3937.3594, 切向力X=4731.0186, 切向力Y=7805.4678 +FPS=33.67, 法向力=4118.8564, 切向力X=5400.0264, 切向力Y=8668.9355 +FPS=34.07, 法向力=4078.8320, 切向力X=5313.1279, 切向力Y=8646.2520 +FPS=33.20, 法向力=4066.4919, 切向力X=4561.2324, 切向力Y=6799.9053 +FPS=34.05, 法向力=4116.2251, 切向力X=5672.6787, 切向力Y=8572.8770 +FPS=33.79, 法向力=4085.7271, 切向力X=5718.5615, 切向力Y=8816.4512 +FPS=33.41, 法向力=4052.4795, 切向力X=3947.8057, 切向力Y=8350.1562 +FPS=34.18, 法向力=3938.0059, 切向力X=3881.0957, 切向力Y=8465.3291 +FPS=33.54, 法向力=4592.0698, 切向力X=5953.5122, 切向力Y=8950.8135 +FPS=33.88, 法向力=4586.8271, 切向力X=5963.3311, 切向力Y=8973.4736 +FPS=33.44, 法向力=4198.7422, 切向力X=7275.9229, 切向力Y=8383.9941 +FPS=32.78, 法向力=4058.8621, 切向力X=8144.7930, 切向力Y=8112.8564 +FPS=32.43, 法向力=4011.7207, 切向力X=7904.5117, 切向力Y=7958.1426 +FPS=32.45, 法向力=3699.8704, 切向力X=5101.9561, 切向力Y=8608.3477 +FPS=33.26, 法向力=3736.3857, 切向力X=5038.5806, 切向力Y=8748.7734 +FPS=33.11, 法向力=3410.5703, 切向力X=5602.6348, 切向力Y=9479.4648 +FPS=33.77, 法向力=3807.9678, 切向力X=6018.6816, 切向力Y=8118.6914 +FPS=34.89, 法向力=3944.0271, 切向力X=5721.7686, 切向力Y=8039.5059 +FPS=34.33, 法向力=4749.6533, 切向力X=4775.6128, 切向力Y=8018.5557 +FPS=34.00, 法向力=4633.2808, 切向力X=4924.7363, 切向力Y=8115.7520 +FPS=34.02, 法向力=3861.9785, 切向力X=7270.9697, 切向力Y=9046.1895 +FPS=34.11, 法向力=3802.3887, 切向力X=7409.3525, 切向力Y=9278.3047 +FPS=33.69, 法向力=3875.6721, 切向力X=6473.0000, 切向力Y=8792.7402 +FPS=33.48, 法向力=3895.6064, 切向力X=6165.7256, 切向力Y=8971.0469 +FPS=33.27, 法向力=3869.2720, 切向力X=6262.0908, 切向力Y=9032.1738 +FPS=32.56, 法向力=4074.5566, 切向力X=6925.5625, 切向力Y=8835.9258 +FPS=32.09, 法向力=4015.7234, 切向力X=6503.0239, 切向力Y=8622.1689 +FPS=32.94, 法向力=4077.6646, 切向力X=6379.5342, 切向力Y=8582.5566 +FPS=32.04, 法向力=3858.2195, 切向力X=4512.5205, 切向力Y=7985.7695 +FPS=32.08, 法向力=3816.0864, 切向力X=6900.6040, 切向力Y=8486.3711 +FPS=32.21, 法向力=3741.5281, 切向力X=6746.0947, 切向力Y=8509.5547 +FPS=32.21, 法向力=3536.0427, 切向力X=6673.1758, 切向力Y=9191.0703 +FPS=32.31, 法向力=3604.9182, 切向力X=6718.4487, 切向力Y=9257.4746 +FPS=31.96, 法向力=3896.0679, 切向力X=6798.2207, 切向力Y=9361.1348 +FPS=32.75, 法向力=3972.3130, 切向力X=6743.1943, 切向力Y=9451.8926 +FPS=32.28, 法向力=3473.3909, 切向力X=6631.8579, 切向力Y=8657.4395 +FPS=31.97, 法向力=4306.9731, 切向力X=6930.5117, 切向力Y=7200.0928 +FPS=31.50, 法向力=4509.1743, 切向力X=7142.1680, 切向力Y=7215.3789 +FPS=32.16, 法向力=5032.3755, 切向力X=8537.7832, 切向力Y=8241.4922 +FPS=31.64, 法向力=5357.7729, 切向力X=8092.2549, 切向力Y=7962.2979 +FPS=33.41, 法向力=5253.6992, 切向力X=7863.0713, 切向力Y=7743.6226 +FPS=31.49, 法向力=5077.4414, 切向力X=7818.4194, 切向力Y=8598.2041 +FPS=32.25, 法向力=4863.7148, 切向力X=7987.8799, 切向力Y=8542.7520 +FPS=31.64, 法向力=3918.3975, 切向力X=6180.5107, 切向力Y=9478.4766 +FPS=31.82, 法向力=4370.4995, 切向力X=2880.4622, 切向力Y=9460.6113 +FPS=32.10, 法向力=4340.2407, 切向力X=2727.0054, 切向力Y=9372.5518 +FPS=31.44, 法向力=3838.7976, 切向力X=2272.1238, 切向力Y=8902.5811 +FPS=32.03, 法向力=3230.0669, 切向力X=2580.7605, 切向力Y=8268.9492 +FPS=32.07, 法向力=3196.0767, 切向力X=2684.2852, 切向力Y=8268.0605 +FPS=32.10, 法向力=3660.1816, 切向力X=3606.0469, 切向力Y=6633.8066 +FPS=31.87, 法向力=3797.8225, 切向力X=3455.3882, 切向力Y=6706.5742 +FPS=32.57, 法向力=4827.5000, 切向力X=1781.3350, 切向力Y=7095.2686 +FPS=31.30, 法向力=4409.9604, 切向力X=2938.6787, 切向力Y=7613.9248 +FPS=32.23, 法向力=4337.5107, 切向力X=2550.6987, 切向力Y=7332.3809 +FPS=32.31, 法向力=4896.3525, 切向力X=4418.1289, 切向力Y=7971.8652 +FPS=32.80, 法向力=5043.3789, 切向力X=4460.2529, 切向力Y=8026.5625 +FPS=32.58, 法向力=3749.0623, 切向力X=3205.3372, 切向力Y=7780.9219 +FPS=30.79, 法向力=3560.9141, 切向力X=2996.2603, 切向力Y=7602.6919 +FPS=30.02, 法向力=3570.5525, 切向力X=3035.5557, 切向力Y=7631.5054 +FPS=30.41, 法向力=3948.7354, 切向力X=2994.1521, 切向力Y=8666.2100 +FPS=32.07, 法向力=4241.3022, 切向力X=5316.9604, 切向力Y=8226.4102 +FPS=32.56, 法向力=4488.1465, 切向力X=5236.6328, 切向力Y=8466.4043 +FPS=32.15, 法向力=4992.2798, 切向力X=4582.0225, 切向力Y=9440.5898 +FPS=32.52, 法向力=5537.6055, 切向力X=4404.0596, 切向力Y=10105.5625 +FPS=33.46, 法向力=5686.0493, 切向力X=4299.9077, 切向力Y=10284.8438 +FPS=33.01, 法向力=7069.2148, 切向力X=5715.0127, 切向力Y=10900.8203 +FPS=32.73, 法向力=7171.1655, 切向力X=5786.3467, 切向力Y=11121.1641 +FPS=32.34, 法向力=9240.6406, 切向力X=2445.4595, 切向力Y=11300.1729 +FPS=32.71, 法向力=9432.8232, 切向力X=2305.1958, 切向力Y=11041.6973 +FPS=33.73, 法向力=10580.3965, 切向力X=2268.4194, 切向力Y=11225.8438 +FPS=32.62, 法向力=10967.0078, 切向力X=1854.7515, 切向力Y=12220.8389 +FPS=33.80, 法向力=11059.5117, 切向力X=1856.9072, 切向力Y=12493.8027 +FPS=33.44, 法向力=12531.3691, 切向力X=-60.4406, 切向力Y=12627.1309 +FPS=33.44, 法向力=11983.1670, 切向力X=1270.7025, 切向力Y=12235.5918 +FPS=34.81, 法向力=11912.6279, 切向力X=1120.1838, 切向力Y=12282.7979 +FPS=33.07, 法向力=9244.3242, 切向力X=4765.1294, 切向力Y=10726.0859 +FPS=34.17, 法向力=9194.0908, 切向力X=4853.6592, 切向力Y=10599.1611 +FPS=34.86, 法向力=7506.8716, 切向力X=4980.8330, 切向力Y=9986.9365 +FPS=34.20, 法向力=6737.7798, 切向力X=6858.6562, 切向力Y=10745.9775 +FPS=34.61, 法向力=6671.1514, 切向力X=7037.0835, 切向力Y=10810.4355 +FPS=33.64, 法向力=6215.8066, 切向力X=6402.2881, 切向力Y=9799.5781 +FPS=34.73, 法向力=6163.4248, 切向力X=6358.1753, 切向力Y=9635.4473 +FPS=33.61, 法向力=6208.8018, 切向力X=5264.9165, 切向力Y=10069.1084 +FPS=34.38, 法向力=6204.7334, 切向力X=5438.5488, 切向力Y=10023.9385 +FPS=34.07, 法向力=5466.3613, 切向力X=5992.1016, 切向力Y=9930.2227 +FPS=34.75, 法向力=5249.0537, 切向力X=6637.0591, 切向力Y=10113.6729 +FPS=34.65, 法向力=5247.2793, 切向力X=6638.5332, 切向力Y=10304.3047 +FPS=34.65, 法向力=6882.2534, 切向力X=6407.0928, 切向力Y=10840.1328 +FPS=34.04, 法向力=6906.5947, 切向力X=6447.1079, 切向力Y=10858.9727 +FPS=34.57, 法向力=7768.6279, 切向力X=6888.4829, 切向力Y=10514.0088 +FPS=34.70, 法向力=8327.7842, 切向力X=6091.7939, 切向力Y=10156.5020 +FPS=35.27, 法向力=8318.6699, 切向力X=5886.0825, 切向力Y=10128.5830 +FPS=34.59, 法向力=8316.6289, 切向力X=5929.1450, 切向力Y=10141.3809 +FPS=34.08, 法向力=9116.7500, 切向力X=5861.5781, 切向力Y=11443.5625 +FPS=34.43, 法向力=10283.3359, 切向力X=5799.1436, 切向力Y=11243.7139 +FPS=35.17, 法向力=10190.4932, 切向力X=5806.6919, 切向力Y=11276.0625 +FPS=34.75, 法向力=11138.4424, 切向力X=7179.0586, 切向力Y=11643.6289 +FPS=35.12, 法向力=11281.6875, 切向力X=7179.7656, 切向力Y=11744.2383 +FPS=35.68, 法向力=10854.3779, 切向力X=7553.8105, 切向力Y=11015.0166 +FPS=35.50, 法向力=10309.3604, 切向力X=7275.8418, 切向力Y=11112.0654 +FPS=37.89, 法向力=9763.0684, 切向力X=8237.0273, 切向力Y=11119.9473 +FPS=37.68, 法向力=9330.0859, 切向力X=9577.1934, 切向力Y=10277.2051 +FPS=36.95, 法向力=9281.1895, 切向力X=9454.8398, 切向力Y=10128.5156 +FPS=36.78, 法向力=8214.3320, 切向力X=10953.6953, 切向力Y=9334.5254 +FPS=37.14, 法向力=8144.3403, 切向力X=11164.4961, 切向力Y=9434.2188 +FPS=36.85, 法向力=6908.5352, 切向力X=12123.4678, 切向力Y=8682.6299 +FPS=37.00, 法向力=6918.1846, 切向力X=12012.3086, 切向力Y=8688.1484 +FPS=36.17, 法向力=6873.1997, 切向力X=10338.6055, 切向力Y=8754.4336 +FPS=36.80, 法向力=6802.8066, 切向力X=10553.2305, 切向力Y=8790.8008 +FPS=36.74, 法向力=5360.0942, 切向力X=8975.6436, 切向力Y=10091.1357 +FPS=35.59, 法向力=5408.8164, 切向力X=7256.3076, 切向力Y=10230.8535 +FPS=37.16, 法向力=5280.1484, 切向力X=7074.1113, 切向力Y=10346.6406 +FPS=35.88, 法向力=6182.3496, 切向力X=6419.3101, 切向力Y=10424.1152 +FPS=38.38, 法向力=6235.2769, 切向力X=6398.5674, 切向力Y=10603.1797 +FPS=36.57, 法向力=6001.1572, 切向力X=6583.8179, 切向力Y=11106.7891 +FPS=37.46, 法向力=5978.2466, 切向力X=6838.3369, 切向力Y=11049.0469 +FPS=36.90, 法向力=5171.4805, 切向力X=7600.0938, 切向力Y=11150.2031 +FPS=38.02, 法向力=5050.6099, 切向力X=7578.2256, 切向力Y=11071.1465 +FPS=36.52, 法向力=6185.1348, 切向力X=5921.5283, 切向力Y=10847.9004 +FPS=36.90, 法向力=6376.1738, 切向力X=5931.2642, 切向力Y=10957.7949 +FPS=36.33, 法向力=6284.2646, 切向力X=7118.8691, 切向力Y=11533.3477 +FPS=37.45, 法向力=6370.8110, 切向力X=7213.8398, 切向力Y=11597.5684 +FPS=36.97, 法向力=6304.8770, 切向力X=8361.8877, 切向力Y=11011.3145 +FPS=36.24, 法向力=6582.5112, 切向力X=6929.6460, 切向力Y=11173.2656 +FPS=37.65, 法向力=6651.2930, 切向力X=7187.3906, 切向力Y=11237.9033 +FPS=36.65, 法向力=5992.3384, 切向力X=7366.0039, 切向力Y=11886.6045 +FPS=37.03, 法向力=6039.1777, 切向力X=7246.3330, 切向力Y=11761.7012 +FPS=36.96, 法向力=5177.8027, 切向力X=7710.0547, 切向力Y=11428.2451 +FPS=37.60, 法向力=5220.3467, 切向力X=7770.9814, 切向力Y=11452.6416 +FPS=36.49, 法向力=5870.1274, 切向力X=5209.5078, 切向力Y=10586.2637 +FPS=37.95, 法向力=5979.3604, 切向力X=5092.9004, 切向力Y=10396.2451 +FPS=36.48, 法向力=5443.8213, 切向力X=8078.3276, 切向力Y=10102.5869 +FPS=38.47, 法向力=5323.4258, 切向力X=8260.3857, 切向力Y=10252.5762 +FPS=37.62, 法向力=5233.7568, 切向力X=7311.7578, 切向力Y=10766.9795 +FPS=38.77, 法向力=5144.7744, 切向力X=7362.0977, 切向力Y=10929.4414 +FPS=38.26, 法向力=5922.2876, 切向力X=7680.8652, 切向力Y=10161.2129 +FPS=39.12, 法向力=6082.6543, 切向力X=7359.5762, 切向力Y=10142.0762 +FPS=38.32, 法向力=5014.9189, 切向力X=7273.3525, 切向力Y=10657.8242 +FPS=35.26, 法向力=4644.9844, 切向力X=6810.5742, 切向力Y=10479.6484 +FPS=38.52, 法向力=4720.5811, 切向力X=6793.7314, 切向力Y=10543.6445 +FPS=38.52, 法向力=5437.8931, 切向力X=6672.2822, 切向力Y=10188.7129 +FPS=38.91, 法向力=5542.6865, 切向力X=6853.8823, 切向力Y=10238.7656 +FPS=38.35, 法向力=5244.2656, 切向力X=7451.9434, 切向力Y=10278.0010 +FPS=39.10, 法向力=5283.6621, 切向力X=7372.4336, 切向力Y=10240.6543 +FPS=37.90, 法向力=4147.2246, 切向力X=7478.0791, 切向力Y=10441.0312 +FPS=38.26, 法向力=4117.9014, 切向力X=7366.2158, 切向力Y=10411.6562 +FPS=36.93, 法向力=3826.5037, 切向力X=5977.0122, 切向力Y=10408.2227 +FPS=39.55, 法向力=3905.9221, 切向力X=5987.8604, 切向力Y=10478.8828 +FPS=38.41, 法向力=3760.8794, 切向力X=5557.5435, 切向力Y=10686.2070 +FPS=38.84, 法向力=3722.7256, 切向力X=5346.0537, 切向力Y=10755.9668 +FPS=34.81, 法向力=3834.5479, 切向力X=9122.9053, 切向力Y=12336.0898 +FPS=36.60, 法向力=3857.3135, 切向力X=9444.0586, 切向力Y=12449.2891 +FPS=35.25, 法向力=4455.6035, 切向力X=8502.0703, 切向力Y=11917.9238 +FPS=35.86, 法向力=4589.8862, 切向力X=7430.0352, 切向力Y=10879.3672 +FPS=33.08, 法向力=4532.6982, 切向力X=7267.2842, 切向力Y=10876.0527 +FPS=34.77, 法向力=4715.3276, 切向力X=6972.3008, 切向力Y=12612.1035 +FPS=35.89, 法向力=4989.4658, 切向力X=6988.3018, 切向力Y=12454.4053 +FPS=35.84, 法向力=5364.2627, 切向力X=6251.7896, 切向力Y=11771.6230 +FPS=36.42, 法向力=5192.1401, 切向力X=6216.9561, 切向力Y=12059.3477 +FPS=36.42, 法向力=6320.7217, 切向力X=6193.3843, 切向力Y=12262.4395 +FPS=36.55, 法向力=6312.3354, 切向力X=5925.7134, 切向力Y=12354.0947 +FPS=35.19, 法向力=6440.9092, 切向力X=3190.0112, 切向力Y=12115.3535 +FPS=35.52, 法向力=6595.8174, 切向力X=3105.5723, 切向力Y=12051.5762 +FPS=35.29, 法向力=6579.7983, 切向力X=4084.1094, 切向力Y=12158.5635 +FPS=35.25, 法向力=4947.0649, 切向力X=4095.0884, 切向力Y=13061.4141 +FPS=36.63, 法向力=4937.0942, 切向力X=4115.1641, 切向力Y=13126.9297 +FPS=35.54, 法向力=4494.0742, 切向力X=5592.0093, 切向力Y=11618.9824 +FPS=36.25, 法向力=4568.9575, 切向力X=5215.7886, 切向力Y=11589.7324 +FPS=35.49, 法向力=4184.4399, 切向力X=6517.3555, 切向力Y=10859.5234 +FPS=35.64, 法向力=5003.1250, 切向力X=5746.2861, 切向力Y=10616.9941 +FPS=35.24, 法向力=5176.1201, 切向力X=5670.8359, 切向力Y=10760.2139 +FPS=35.34, 法向力=4654.1064, 切向力X=6539.3369, 切向力Y=10258.3193 +FPS=35.42, 法向力=4622.2246, 切向力X=6459.8984, 切向力Y=10348.7939 +FPS=33.46, 法向力=4960.6479, 切向力X=6433.5732, 切向力Y=10414.1475 +FPS=34.50, 法向力=4973.9321, 切向力X=6429.3223, 切向力Y=10496.1660 +FPS=33.24, 法向力=4215.5596, 切向力X=7060.3433, 切向力Y=10373.5420 +FPS=33.76, 法向力=4143.5654, 切向力X=6980.2388, 切向力Y=10457.9102 +FPS=33.09, 法向力=4136.0889, 切向力X=7011.4048, 切向力Y=10394.4219 +FPS=31.36, 法向力=4652.4268, 切向力X=6479.5049, 切向力Y=11150.7197 +FPS=33.28, 法向力=4673.2266, 切向力X=6697.9404, 切向力Y=11111.2568 +FPS=33.25, 法向力=5064.7983, 切向力X=8038.9453, 切向力Y=11867.2188 +FPS=33.75, 法向力=5280.1445, 切向力X=7198.4810, 切向力Y=11426.5986 +FPS=33.54, 法向力=5373.7217, 切向力X=6798.2324, 切向力Y=11331.0762 +FPS=32.48, 法向力=4919.3027, 切向力X=7490.2793, 切向力Y=11798.2559 +FPS=33.87, 法向力=4933.9497, 切向力X=7727.2041, 切向力Y=11871.0986 +FPS=33.49, 法向力=5222.2310, 切向力X=8146.6758, 切向力Y=11139.5840 +FPS=34.11, 法向力=5198.9932, 切向力X=7786.5322, 切向力Y=10986.0938 +FPS=34.26, 法向力=5068.0249, 切向力X=7418.8896, 切向力Y=11115.9658 +FPS=32.67, 法向力=5278.0771, 切向力X=7076.3398, 切向力Y=11161.8105 +FPS=33.83, 法向力=5349.7310, 切向力X=7054.3887, 切向力Y=10848.4395 +FPS=32.98, 法向力=5327.2632, 切向力X=7033.5610, 切向力Y=10800.9668 +FPS=35.66, 法向力=5327.0298, 切向力X=7027.1318, 切向力Y=10765.6738 +FPS=35.28, 法向力=5095.2148, 切向力X=6672.6670, 切向力Y=11696.8916 +FPS=35.18, 法向力=4795.0195, 切向力X=7920.4878, 切向力Y=11102.9141 +FPS=36.16, 法向力=4786.2920, 切向力X=7919.2764, 切向力Y=11265.6426 +FPS=35.15, 法向力=3934.1152, 切向力X=7482.6357, 切向力Y=10945.0850 +FPS=35.52, 法向力=3946.1128, 切向力X=7510.7998, 切向力Y=10936.8701 +FPS=35.32, 法向力=4358.2500, 切向力X=7466.3213, 切向力Y=10551.5498 +FPS=36.61, 法向力=4280.8281, 切向力X=7487.4126, 切向力Y=10499.6865 +FPS=34.62, 法向力=5429.5859, 切向力X=8753.9395, 切向力Y=10599.6729 +FPS=36.43, 法向力=5374.6636, 切向力X=8543.3955, 切向力Y=10671.5391 +FPS=34.45, 法向力=4840.6074, 切向力X=7778.4355, 切向力Y=11512.1055 +FPS=27.44, 法向力=4767.5049, 切向力X=7434.7090, 切向力Y=10986.1680 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260521_094129.log b/examples/logs/qt_viewer_20260521_094129.log new file mode 100644 index 0000000..35c9e19 --- /dev/null +++ b/examples/logs/qt_viewer_20260521_094129.log @@ -0,0 +1,7 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +启动失败: Failed to open video source. diff --git a/examples/logs/qt_viewer_20260521_094136.log b/examples/logs/qt_viewer_20260521_094136.log new file mode 100644 index 0000000..2c5f5c5 --- /dev/null +++ b/examples/logs/qt_viewer_20260521_094136.log @@ -0,0 +1,895 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +启动失败: Failed to open video source. +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.16, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=7.58, 法向力=1500.2373, 切向力X=1241.9663, 切向力Y=878.7347 +FPS=33.18, 法向力=1649.5902, 切向力X=1920.0994, 切向力Y=782.3289 +FPS=35.66, 法向力=1682.6711, 切向力X=1977.4347, 切向力Y=682.5355 +FPS=35.06, 法向力=1185.6074, 切向力X=1267.9526, 切向力Y=600.4734 +FPS=34.39, 法向力=1423.1113, 切向力X=2032.7036, 切向力Y=581.2205 +FPS=36.64, 法向力=1416.4817, 切向力X=2100.8174, 切向力Y=593.5751 +FPS=36.32, 法向力=1421.6937, 切向力X=2105.7703, 切向力Y=587.6776 +FPS=36.37, 法向力=2102.3679, 切向力X=2515.7908, 切向力Y=551.4786 +FPS=36.58, 法向力=1330.5112, 切向力X=2227.8213, 切向力Y=293.8397 +FPS=36.24, 法向力=1284.3416, 切向力X=2246.7319, 切向力Y=258.8161 +FPS=34.59, 法向力=1965.2679, 切向力X=2104.8945, 切向力Y=188.8034 +FPS=36.69, 法向力=1961.6182, 切向力X=2088.8076, 切向力Y=171.6129 +FPS=35.28, 法向力=2216.3193, 切向力X=1222.7634, 切向力Y=1336.0674 +FPS=36.22, 法向力=2080.2271, 切向力X=879.3025, 切向力Y=1360.3875 +FPS=36.63, 法向力=1645.2512, 切向力X=1541.1204, 切向力Y=1147.4343 +FPS=35.49, 法向力=1903.1841, 切向力X=1726.2043, 切向力Y=1344.3486 +FPS=36.16, 法向力=1866.2454, 切向力X=1584.7900, 切向力Y=1366.3069 +FPS=35.67, 法向力=1460.7115, 切向力X=1179.7356, 切向力Y=160.6975 +FPS=33.57, 法向力=1544.8857, 切向力X=1184.8521, 切向力Y=111.7895 +FPS=34.92, 法向力=1314.1880, 切向力X=-494.1546, 切向力Y=504.9424 +FPS=36.07, 法向力=1287.5818, 切向力X=-422.0466, 切向力Y=529.9293 +FPS=34.12, 法向力=2820.5842, 切向力X=914.5112, 切向力Y=1155.4307 +FPS=35.80, 法向力=3088.9819, 切向力X=942.1092, 切向力Y=1277.1606 +FPS=34.90, 法向力=3483.2612, 切向力X=2553.8118, 切向力Y=755.1749 +FPS=34.70, 法向力=1674.0188, 切向力X=2526.7998, 切向力Y=351.4157 +FPS=36.77, 法向力=1561.4463, 切向力X=2500.6819, 切向力Y=335.1104 +FPS=35.18, 法向力=1564.1667, 切向力X=1729.0461, 切向力Y=-151.2926 +FPS=36.82, 法向力=1747.7856, 切向力X=1816.7510, 切向力Y=-29.4547 +FPS=35.38, 法向力=1469.3827, 切向力X=2095.8142, 切向力Y=660.9269 +FPS=36.55, 法向力=1285.1191, 切向力X=299.2894, 切向力Y=708.8621 +FPS=36.85, 法向力=1367.3087, 切向力X=260.1201, 切向力Y=655.3097 +FPS=36.76, 法向力=1374.6465, 切向力X=267.1357, 切向力Y=661.1792 +FPS=35.01, 法向力=1646.0159, 切向力X=1118.1042, 切向力Y=867.8461 +FPS=36.68, 法向力=1800.4092, 切向力X=1238.1799, 切向力Y=777.3973 +FPS=36.02, 法向力=1767.5626, 切向力X=477.5141, 切向力Y=1271.3855 +FPS=35.89, 法向力=1066.4800, 切向力X=472.1626, 切向力Y=845.2040 +FPS=37.00, 法向力=1086.5383, 切向力X=355.2025, 切向力Y=736.5168 +FPS=35.63, 法向力=1483.6084, 切向力X=1272.0237, 切向力Y=427.9226 +FPS=36.24, 法向力=1689.1221, 切向力X=943.1884, 切向力Y=305.6628 +FPS=36.20, 法向力=1427.1785, 切向力X=1516.9409, 切向力Y=1064.1110 +FPS=35.90, 法向力=2237.6528, 切向力X=2992.2578, 切向力Y=1196.3518 +FPS=35.47, 法向力=2145.1689, 切向力X=3191.6511, 切向力Y=1158.6396 +FPS=34.72, 法向力=1670.2360, 切向力X=-155.2621, 切向力Y=774.1915 +FPS=35.28, 法向力=1366.0076, 切向力X=-575.5950, 切向力Y=815.2359 +FPS=34.42, 法向力=2064.0244, 切向力X=756.5276, 切向力Y=1393.7861 +FPS=36.21, 法向力=2188.6104, 切向力X=1231.2184, 切向力Y=1588.3076 +FPS=34.66, 法向力=1611.8536, 切向力X=1796.5269, 切向力Y=1795.3204 +FPS=35.97, 法向力=1582.5720, 切向力X=1925.9700, 切向力Y=1650.7385 +FPS=34.91, 法向力=2844.7227, 切向力X=1969.2654, 切向力Y=1296.7881 +FPS=35.97, 法向力=3003.1267, 切向力X=1923.2418, 切向力Y=1319.2124 +FPS=36.59, 法向力=1736.4169, 切向力X=690.0979, 切向力Y=696.5712 +FPS=35.71, 法向力=1942.2375, 切向力X=2531.9111, 切向力Y=781.2133 +FPS=37.89, 法向力=2369.1223, 切向力X=3053.4951, 切向力Y=985.6056 +FPS=36.12, 法向力=2300.7991, 切向力X=2329.8770, 切向力Y=1045.8035 +FPS=36.85, 法向力=2372.5081, 切向力X=2160.8501, 切向力Y=1117.4160 +FPS=35.59, 法向力=1799.3201, 切向力X=1543.3312, 切向力Y=1247.7273 +FPS=36.31, 法向力=1731.9786, 切向力X=1567.8008, 切向力Y=1199.3462 +FPS=36.04, 法向力=2214.5874, 切向力X=1774.1038, 切向力Y=1092.9988 +FPS=36.39, 法向力=2192.7607, 切向力X=1650.9800, 切向力Y=1023.6499 +FPS=35.74, 法向力=1549.1387, 切向力X=1768.8595, 切向力Y=888.0588 +FPS=37.70, 法向力=1613.7375, 切向力X=1583.6481, 切向力Y=950.8063 +FPS=35.36, 法向力=2110.8000, 切向力X=2290.5552, 切向力Y=1203.0758 +FPS=36.82, 法向力=2068.9363, 切向力X=2301.5293, 切向力Y=1111.5449 +FPS=38.30, 法向力=2224.1123, 切向力X=2110.9546, 切向力Y=1205.8987 +FPS=35.20, 法向力=1790.8241, 切向力X=685.2659, 切向力Y=1002.5814 +FPS=36.45, 法向力=1629.4993, 切向力X=266.0943, 切向力Y=949.5205 +FPS=36.64, 法向力=1389.5032, 切向力X=882.4469, 切向力Y=529.8169 +FPS=37.10, 法向力=1381.4238, 切向力X=876.1016, 切向力Y=557.4786 +FPS=38.30, 法向力=1331.3711, 切向力X=25.3332, 切向力Y=303.2182 +FPS=37.80, 法向力=1685.5305, 切向力X=1831.3110, 切向力Y=1216.5745 +FPS=38.89, 法向力=1688.4578, 切向力X=1834.8049, 切向力Y=1239.3745 +FPS=39.10, 法向力=1693.1276, 切向力X=1814.8947, 切向力Y=1214.7040 +FPS=38.48, 法向力=1688.4636, 切向力X=633.1301, 切向力Y=1035.2019 +FPS=32.87, 法向力=2711.0469, 切向力X=1564.6365, 切向力Y=815.9111 +FPS=35.59, 法向力=2644.5759, 切向力X=1977.4656, 切向力Y=799.7216 +FPS=33.68, 法向力=2097.4604, 切向力X=2517.7681, 切向力Y=474.3457 +FPS=35.74, 法向力=2114.8667, 切向力X=2513.8523, 切向力Y=385.9440 +FPS=37.57, 法向力=2109.7861, 切向力X=2534.4207, 切向力Y=409.7509 +FPS=38.49, 法向力=2075.7168, 切向力X=2483.3130, 切向力Y=357.4618 +FPS=38.30, 法向力=1838.4734, 切向力X=1768.0854, 切向力Y=849.9336 +FPS=38.77, 法向力=1905.2399, 切向力X=1732.4146, 切向力Y=925.4768 +FPS=39.86, 法向力=1714.7893, 切向力X=1766.2458, 切向力Y=1040.5160 +FPS=39.10, 法向力=1454.3347, 切向力X=1767.0745, 切向力Y=882.4572 +FPS=37.87, 法向力=1484.2042, 切向力X=1108.9004, 切向力Y=901.2821 +FPS=38.30, 法向力=1470.7363, 切向力X=1621.9156, 切向力Y=1077.6510 +FPS=37.64, 法向力=1417.0701, 切向力X=1461.4819, 切向力Y=1158.7921 +FPS=37.34, 法向力=1417.9219, 切向力X=1431.8015, 切向力Y=1162.3741 +FPS=35.66, 法向力=1113.6641, 切向力X=686.6075, 切向力Y=1024.2145 +FPS=36.56, 法向力=1072.0171, 切向力X=577.1309, 切向力Y=998.2266 +FPS=36.36, 法向力=1373.1985, 切向力X=839.4132, 切向力Y=1148.5521 +FPS=37.77, 法向力=1822.9971, 切向力X=416.3419, 切向力Y=1303.5051 +FPS=37.40, 法向力=1806.7335, 切向力X=579.5292, 切向力Y=1293.0151 +FPS=38.69, 法向力=1812.0281, 切向力X=569.4437, 切向力Y=1276.9187 +FPS=38.03, 法向力=1795.5542, 切向力X=580.0250, 切向力Y=1292.5184 +FPS=35.92, 法向力=1296.5299, 切向力X=1881.0488, 切向力Y=395.4251 +FPS=35.66, 法向力=1370.4846, 切向力X=1910.3879, 切向力Y=414.6091 +FPS=34.93, 法向力=1750.8411, 切向力X=643.2124, 切向力Y=894.7766 +FPS=36.06, 法向力=1653.7224, 切向力X=1224.2201, 切向力Y=812.3893 +FPS=36.93, 法向力=1749.0393, 切向力X=1078.7595, 切向力Y=780.3699 +FPS=36.40, 法向力=1833.5621, 切向力X=1016.5876, 切向力Y=776.2791 +FPS=35.72, 法向力=2336.8840, 切向力X=2093.8589, 切向力Y=426.3578 +FPS=35.06, 法向力=1897.6558, 切向力X=792.7240, 切向力Y=723.8428 +FPS=34.32, 法向力=1860.8401, 切向力X=888.8778, 切向力Y=721.5574 +FPS=34.84, 法向力=1661.1971, 切向力X=923.2448, 切向力Y=931.7357 +FPS=36.26, 法向力=1719.8975, 切向力X=675.2078, 切向力Y=1002.9069 +FPS=35.30, 法向力=1727.3081, 切向力X=2709.3145, 切向力Y=1098.3457 +FPS=35.58, 法向力=1680.9966, 切向力X=2864.1567, 切向力Y=946.0024 +FPS=34.09, 法向力=1730.7184, 切向力X=2870.1934, 切向力Y=942.6976 +FPS=35.22, 法向力=1727.6533, 切向力X=1466.5688, 切向力Y=966.6063 +FPS=35.14, 法向力=1765.7941, 切向力X=886.9783, 切向力Y=1061.7263 +FPS=35.22, 法向力=1626.9700, 切向力X=2292.6592, 切向力Y=1594.7648 +FPS=35.00, 法向力=1336.7485, 切向力X=1202.2847, 切向力Y=647.3260 +FPS=35.74, 法向力=1550.0591, 切向力X=312.1722, 切向力Y=577.6693 +FPS=36.08, 法向力=1591.7224, 切向力X=212.6367, 切向力Y=540.9569 +FPS=34.66, 法向力=1882.9905, 切向力X=254.5043, 切向力Y=1082.3705 +FPS=34.86, 法向力=1828.9662, 切向力X=2166.8210, 切向力Y=1347.2021 +FPS=34.75, 法向力=1979.5552, 切向力X=2411.3613, 切向力Y=1338.4597 +FPS=34.36, 法向力=1519.0297, 切向力X=2189.5991, 切向力Y=451.9449 +FPS=35.10, 法向力=1458.6536, 切向力X=2260.9502, 切向力Y=482.0545 +FPS=34.44, 法向力=1494.2085, 切向力X=2246.0798, 切向力Y=1181.0886 +FPS=35.47, 法向力=1536.5878, 切向力X=1946.5319, 切向力Y=1183.2313 +FPS=35.36, 法向力=1525.1016, 切向力X=1974.7548, 切向力Y=1176.3733 +FPS=33.76, 法向力=1221.6184, 切向力X=1044.5940, 切向力Y=834.7009 +FPS=34.43, 法向力=1250.1533, 切向力X=1010.3422, 切向力Y=811.4508 +FPS=34.89, 法向力=2075.2212, 切向力X=3338.5063, 切向力Y=830.8818 +FPS=34.48, 法向力=2088.4199, 切向力X=3396.3638, 切向力Y=914.7073 +FPS=34.21, 法向力=1035.0132, 切向力X=-608.4481, 切向力Y=1223.7454 +FPS=32.45, 法向力=1075.0266, 切向力X=-703.4575, 切向力Y=1190.6077 +FPS=31.81, 法向力=1764.5095, 切向力X=1177.4709, 切向力Y=1030.0173 +FPS=31.70, 法向力=1635.2001, 切向力X=1666.8650, 切向力Y=956.5203 +FPS=33.31, 法向力=1666.9789, 切向力X=1699.7075, 切向力Y=1042.8237 +FPS=31.66, 法向力=1293.9087, 切向力X=1179.5360, 切向力Y=918.3908 +FPS=32.58, 法向力=1189.5420, 切向力X=2024.2432, 切向力Y=1509.5857 +FPS=32.72, 法向力=1192.4274, 切向力X=2123.7188, 切向力Y=1584.9032 +FPS=32.94, 法向力=1167.3445, 切向力X=2132.5552, 切向力Y=1575.1028 +FPS=31.26, 法向力=1440.7463, 切向力X=771.9148, 切向力Y=703.8612 +FPS=32.88, 法向力=1392.4324, 切向力X=795.2798, 切向力Y=709.6312 +FPS=31.75, 法向力=1882.7668, 切向力X=2331.6011, 切向力Y=1055.2451 +FPS=32.88, 法向力=1816.8589, 切向力X=2210.1680, 切向力Y=1048.2579 +FPS=31.44, 法向力=1756.3315, 切向力X=1134.8352, 切向力Y=1435.7739 +FPS=33.02, 法向力=1729.8512, 切向力X=1154.8016, 切向力Y=901.6847 +FPS=32.74, 法向力=1816.6222, 切向力X=1054.8463, 切向力Y=869.2914 +FPS=31.67, 法向力=1224.3352, 切向力X=-719.1248, 切向力Y=1522.1687 +FPS=33.15, 法向力=1240.0225, 切向力X=-851.2621, 切向力Y=1413.9832 +FPS=33.54, 法向力=1338.4987, 切向力X=-134.4340, 切向力Y=889.5425 +FPS=32.69, 法向力=2192.4473, 切向力X=2591.3149, 切向力Y=1002.3043 +FPS=33.08, 法向力=2215.0188, 切向力X=2667.2769, 切向力Y=1072.1638 +FPS=32.86, 法向力=2228.6929, 切向力X=2647.6379, 切向力Y=1088.4709 +FPS=32.43, 法向力=3441.5317, 切向力X=21124.9082, 切向力Y=908.3248 +FPS=34.40, 法向力=3330.3174, 切向力X=21294.1992, 切向力Y=864.8845 +FPS=33.62, 法向力=3202.1841, 切向力X=21798.8223, 切向力Y=733.9050 +FPS=33.96, 法向力=3224.5244, 切向力X=21780.0430, 切向力Y=877.7842 +FPS=31.71, 法向力=2642.7119, 切向力X=20721.0430, 切向力Y=818.4839 +FPS=33.51, 法向力=2615.5820, 切向力X=20463.8359, 切向力Y=726.3066 +FPS=33.16, 法向力=4734.7812, 切向力X=26529.9180, 切向力Y=2128.7070 +FPS=32.64, 法向力=3921.8052, 切向力X=32037.3164, 切向力Y=853.8621 +FPS=34.52, 法向力=3945.0522, 切向力X=32110.2539, 切向力Y=717.9772 +FPS=33.50, 法向力=4849.6035, 切向力X=34643.8984, 切向力Y=566.9580 +FPS=32.99, 法向力=6048.8379, 切向力X=35101.7422, 切向力Y=962.8904 +FPS=34.09, 法向力=6089.2349, 切向力X=35056.2031, 切向力Y=1197.3372 +FPS=32.71, 法向力=6183.9048, 切向力X=35227.7148, 切向力Y=1177.8533 +FPS=34.40, 法向力=6162.7256, 切向力X=35139.3398, 切向力Y=1125.6310 +FPS=31.92, 法向力=4148.2974, 切向力X=33619.4141, 切向力Y=-387.1152 +FPS=34.22, 法向力=4041.2661, 切向力X=33593.2031, 切向力Y=-448.0546 +FPS=32.64, 法向力=3804.6365, 切向力X=32997.5820, 切向力Y=-234.5170 +FPS=32.90, 法向力=3834.0579, 切向力X=32838.8672, 切向力Y=120.7606 +FPS=33.59, 法向力=4017.4758, 切向力X=32846.7734, 切向力Y=262.3415 +FPS=32.87, 法向力=4121.6392, 切向力X=31101.6758, 切向力Y=694.7045 +FPS=34.78, 法向力=4015.1287, 切向力X=30884.8516, 切向力Y=666.0518 +FPS=34.27, 法向力=5180.1250, 切向力X=31059.1484, 切向力Y=630.8490 +FPS=31.62, 法向力=4979.9966, 切向力X=35689.4492, 切向力Y=-600.7502 +FPS=34.01, 法向力=4987.0181, 切向力X=35805.3711, 切向力Y=-584.9944 +FPS=32.57, 法向力=5066.7832, 切向力X=36584.0391, 切向力Y=-789.9689 +FPS=34.63, 法向力=5075.8984, 切向力X=36457.1875, 切向力Y=-1071.5525 +FPS=34.41, 法向力=5071.5479, 切向力X=36465.7422, 切向力Y=-1121.7867 +FPS=34.15, 法向力=5067.8115, 切向力X=36416.2109, 切向力Y=-1178.6609 +FPS=33.99, 法向力=6595.1606, 切向力X=34277.9219, 切向力Y=-847.4672 +FPS=33.90, 法向力=6587.7769, 切向力X=34861.3086, 切向力Y=-520.4359 +FPS=33.62, 法向力=6576.7793, 切向力X=34883.4492, 切向力Y=-853.0195 +FPS=33.70, 法向力=7239.2500, 切向力X=34314.2500, 切向力Y=-1278.3318 +FPS=34.89, 法向力=7369.4976, 切向力X=34222.9609, 切向力Y=-1345.1382 +FPS=35.35, 法向力=6566.6641, 切向力X=35141.2578, 切向力Y=-436.6352 +FPS=34.17, 法向力=7162.5059, 切向力X=33516.9844, 切向力Y=-468.5026 +FPS=34.02, 法向力=7102.1489, 切向力X=33470.7578, 切向力Y=-577.4084 +FPS=33.38, 法向力=6377.3945, 切向力X=36762.8047, 切向力Y=230.4981 +FPS=33.37, 法向力=5679.3716, 切向力X=39037.8594, 切向力Y=-1087.2844 +FPS=35.42, 法向力=5678.6553, 切向力X=39166.9219, 切向力Y=-1252.2798 +FPS=34.78, 法向力=5643.2529, 切向力X=39201.9219, 切向力Y=-1202.7383 +FPS=35.42, 法向力=5631.3721, 切向力X=39201.9180, 切向力Y=-1270.6971 +FPS=35.34, 法向力=3747.2542, 切向力X=40261.9297, 切向力Y=-3999.0979 +FPS=34.40, 法向力=3716.8699, 切向力X=40175.9375, 切向力Y=-4042.8579 +FPS=34.56, 法向力=4155.5527, 切向力X=39022.8750, 切向力Y=-3957.5894 +FPS=33.69, 法向力=4319.1807, 切向力X=38906.9453, 切向力Y=-3843.5864 +FPS=35.06, 法向力=3397.0234, 切向力X=39553.3672, 切向力Y=-3726.2993 +FPS=34.10, 法向力=3417.1899, 切向力X=38442.9141, 切向力Y=-4596.4858 +FPS=34.61, 法向力=3549.6445, 切向力X=38881.3906, 切向力Y=-4446.1328 +FPS=34.04, 法向力=4908.7852, 切向力X=40828.2227, 切向力Y=-5079.8369 +FPS=34.50, 法向力=4976.4082, 切向力X=40897.9766, 切向力Y=-5124.5244 +FPS=34.48, 法向力=5075.6797, 切向力X=42209.0039, 切向力Y=-5220.9697 +FPS=34.00, 法向力=5052.8848, 切向力X=42246.2539, 切向力Y=-5197.9663 +FPS=33.76, 法向力=5883.4268, 切向力X=42531.6562, 切向力Y=-5623.1738 +FPS=33.26, 法向力=6448.6431, 切向力X=41930.3594, 切向力Y=-6149.4229 +FPS=35.09, 法向力=6479.5752, 切向力X=41683.3828, 切向力Y=-6150.5889 +FPS=33.59, 法向力=7152.7681, 切向力X=41693.4570, 切向力Y=-5481.0977 +FPS=35.86, 法向力=7049.5850, 切向力X=41658.3359, 切向力Y=-5571.5264 +FPS=35.34, 法向力=7198.9658, 切向力X=41464.4766, 切向力Y=-4473.6250 +FPS=36.14, 法向力=7042.0879, 切向力X=39899.3125, 切向力Y=-4857.5630 +FPS=37.13, 法向力=6934.3896, 切向力X=39790.2070, 切向力Y=-4886.7266 +FPS=36.82, 法向力=6997.6035, 切向力X=38040.0547, 切向力Y=-5892.2871 +FPS=37.03, 法向力=6990.0928, 切向力X=38122.0078, 切向力Y=-6308.3696 +FPS=36.07, 法向力=6722.5835, 切向力X=38718.7812, 切向力Y=-6136.3218 +FPS=37.17, 法向力=6707.9404, 切向力X=38819.7969, 切向力Y=-5911.5259 +FPS=36.01, 法向力=6825.5825, 切向力X=37745.4414, 切向力Y=-5471.5444 +FPS=37.16, 法向力=6973.8984, 切向力X=37164.5859, 切向力Y=-5382.4219 +FPS=35.53, 法向力=7045.6719, 切向力X=36745.7773, 切向力Y=-5715.1377 +FPS=36.05, 法向力=7055.6040, 切向力X=36902.0781, 切向力Y=-5603.9116 +FPS=35.77, 法向力=6115.4336, 切向力X=35674.8398, 切向力Y=-6681.9287 +FPS=34.16, 法向力=5478.0635, 切向力X=31703.9102, 切向力Y=-5213.4600 +FPS=34.69, 法向力=5701.7222, 切向力X=31363.8438, 切向力Y=-4961.0288 +FPS=33.37, 法向力=2890.5957, 切向力X=4178.2368, 切向力Y=-254.5611 +FPS=35.63, 法向力=2878.3696, 切向力X=4147.6509, 切向力Y=-384.4308 +FPS=35.70, 法向力=2512.4336, 切向力X=2539.4844, 切向力Y=894.1882 +FPS=37.11, 法向力=2604.6458, 切向力X=2662.6836, 切向力Y=1056.8435 +FPS=36.72, 法向力=2084.1650, 切向力X=894.8892, 切向力Y=1261.5010 +FPS=38.21, 法向力=1927.4175, 切向力X=47.9874, 切向力Y=1403.4675 +FPS=38.62, 法向力=1950.0010, 切向力X=313.8868, 切向力Y=1212.0485 +FPS=38.79, 法向力=1803.5498, 切向力X=226.3412, 切向力Y=1272.3005 +FPS=36.04, 法向力=1423.3494, 切向力X=-1121.8529, 切向力Y=930.5731 +FPS=35.86, 法向力=1430.8315, 切向力X=-1297.5620, 切向力Y=1025.6802 +FPS=34.71, 法向力=2246.0984, 切向力X=-1337.3490, 切向力Y=1691.0260 +FPS=34.61, 法向力=1651.2416, 切向力X=947.2570, 切向力Y=1948.9801 +FPS=35.40, 法向力=1772.2336, 切向力X=1166.8685, 切向力Y=2057.4954 +FPS=34.26, 法向力=2080.9243, 切向力X=2204.0464, 切向力Y=1925.4562 +FPS=34.64, 法向力=2080.5527, 切向力X=2148.5190, 切向力Y=1971.4435 +FPS=34.98, 法向力=1767.4998, 切向力X=1219.7383, 切向力Y=1924.9198 +FPS=35.66, 法向力=2436.1899, 切向力X=2636.0410, 切向力Y=1871.3331 +FPS=36.34, 法向力=2518.5479, 切向力X=2607.4941, 切向力Y=1908.9531 +FPS=35.05, 法向力=2608.0649, 切向力X=2631.7349, 切向力Y=1759.9076 +FPS=36.00, 法向力=2691.5591, 切向力X=2803.0903, 切向力Y=1667.5056 +FPS=34.11, 法向力=1543.4958, 切向力X=2076.4832, 切向力Y=2096.2520 +FPS=36.02, 法向力=1516.2644, 切向力X=2061.3176, 切向力Y=2120.6455 +FPS=33.84, 法向力=1780.7437, 切向力X=2238.7224, 切向力Y=2237.4031 +FPS=35.71, 法向力=1784.3872, 切向力X=2162.2163, 切向力Y=2193.9580 +FPS=35.31, 法向力=1396.9222, 切向力X=1191.0229, 切向力Y=2054.3462 +FPS=35.06, 法向力=1000.6516, 切向力X=-1144.3225, 切向力Y=1923.6519 +FPS=36.50, 法向力=995.7216, 切向力X=-1661.9226, 切向力Y=1875.8357 +FPS=34.93, 法向力=1904.5327, 切向力X=-5355.8560, 切向力Y=1651.2710 +FPS=36.36, 法向力=1967.7034, 切向力X=-5383.8955, 切向力Y=1506.5466 +FPS=35.25, 法向力=2441.2305, 切向力X=-8811.3945, 切向力Y=1042.5463 +FPS=35.13, 法向力=2772.9954, 切向力X=-10546.0664, 切向力Y=1543.1831 +FPS=35.19, 法向力=2924.5884, 切向力X=-10701.7441, 切向力Y=1552.6707 +FPS=34.09, 法向力=3428.4700, 切向力X=-10693.4258, 切向力Y=1776.5864 +FPS=35.83, 法向力=3482.1094, 切向力X=-10528.2344, 切向力Y=1752.4088 +FPS=35.55, 法向力=3371.6973, 切向力X=-10199.9121, 切向力Y=2076.4011 +FPS=35.63, 法向力=3406.2085, 切向力X=-10116.4199, 切向力Y=2116.0894 +FPS=34.80, 法向力=2925.1379, 切向力X=-10200.6582, 切向力Y=1741.2291 +FPS=35.80, 法向力=2900.2361, 切向力X=-10180.5713, 切向力Y=1675.0719 +FPS=34.77, 法向力=2213.1311, 切向力X=-11639.4717, 切向力Y=1507.7388 +FPS=35.04, 法向力=1974.8220, 切向力X=-11308.9570, 切向力Y=880.3932 +FPS=36.77, 法向力=2060.4443, 切向力X=-11185.9170, 切向力Y=965.3015 +FPS=34.31, 法向力=2137.3704, 切向力X=-12260.7559, 切向力Y=373.1710 +FPS=35.53, 法向力=2119.0928, 切向力X=-12391.2930, 切向力Y=390.6347 +FPS=35.17, 法向力=2317.8921, 切向力X=-14049.3076, 切向力Y=-442.2196 +FPS=35.17, 法向力=2410.7256, 切向力X=-14178.3135, 切向力Y=-415.4506 +FPS=35.95, 法向力=2001.0894, 切向力X=-14580.0859, 切向力Y=848.2812 +FPS=37.45, 法向力=2032.8298, 切向力X=-14422.7656, 切向力Y=933.4669 +FPS=34.29, 法向力=2182.2578, 切向力X=-12007.3398, 切向力Y=678.9722 +FPS=36.46, 法向力=2212.5215, 切向力X=-11886.9531, 切向力Y=639.9390 +FPS=36.48, 法向力=2378.3528, 切向力X=-11789.7910, 切向力Y=-277.9805 +FPS=36.11, 法向力=3354.4561, 切向力X=-9365.8311, 切向力Y=-1047.8435 +FPS=38.05, 法向力=3462.4141, 切向力X=-9418.3564, 切向力Y=-1053.5055 +FPS=37.86, 法向力=4455.5757, 切向力X=-6882.5869, 切向力Y=-1372.1311 +FPS=39.10, 法向力=4559.5527, 切向力X=-6491.0830, 切向力Y=-1393.9302 +FPS=38.13, 法向力=4683.4404, 切向力X=-8611.4668, 切向力Y=-1646.7866 +FPS=38.07, 法向力=4797.2651, 切向力X=-8724.3096, 切向力Y=-1696.8354 +FPS=38.38, 法向力=4591.5371, 切向力X=-7180.3506, 切向力Y=-1976.9967 +FPS=38.36, 法向力=4714.1494, 切向力X=-7294.1201, 切向力Y=-2047.7380 +FPS=37.74, 法向力=3442.2222, 切向力X=-10463.3730, 切向力Y=-1159.1869 +FPS=37.91, 法向力=3779.0312, 切向力X=-10044.8213, 切向力Y=-2049.2827 +FPS=38.27, 法向力=3757.3835, 切向力X=-9765.0195, 切向力Y=-1994.8855 +FPS=39.41, 法向力=3761.7351, 切向力X=-9772.7324, 切向力Y=-2032.6169 +FPS=36.62, 法向力=4220.3613, 切向力X=-9784.8037, 切向力Y=-1630.1246 +FPS=37.90, 法向力=4109.1680, 切向力X=-9799.7988, 切向力Y=-1659.8790 +FPS=36.19, 法向力=4920.6787, 切向力X=-8978.0645, 切向力Y=-1704.8363 +FPS=36.86, 法向力=6172.6396, 切向力X=-8118.3232, 切向力Y=-2223.0845 +FPS=37.23, 法向力=6436.1328, 切向力X=-7683.7251, 切向力Y=-2044.4961 +FPS=35.42, 法向力=4506.9092, 切向力X=-8851.2695, 切向力Y=-2058.7188 +FPS=38.08, 法向力=4411.3115, 切向力X=-8682.5996, 切向力Y=-1963.1222 +FPS=37.52, 法向力=2286.4480, 切向力X=-9465.5107, 切向力Y=-1875.0811 +FPS=38.74, 法向力=2221.7407, 切向力X=-9314.7871, 切向力Y=-1713.1107 +FPS=37.51, 法向力=2018.4490, 切向力X=-7427.8672, 切向力Y=-663.0042 +FPS=38.56, 法向力=2052.1360, 切向力X=-7455.6094, 切向力Y=-716.0159 +FPS=37.57, 法向力=1703.1200, 切向力X=-4116.9482, 切向力Y=113.0770 +FPS=38.34, 法向力=1801.0372, 切向力X=-3778.3203, 切向力Y=92.5382 +FPS=37.57, 法向力=3594.2041, 切向力X=-993.0405, 切向力Y=876.9606 +FPS=37.69, 法向力=3555.1863, 切向力X=-1032.0718, 切向力Y=864.3875 +FPS=37.65, 法向力=2420.8491, 切向力X=531.8468, 切向力Y=721.9088 +FPS=37.02, 法向力=2245.3467, 切向力X=750.0093, 切向力Y=627.5901 +FPS=37.76, 法向力=2459.7014, 切向力X=-1060.8921, 切向力Y=895.9047 +FPS=37.30, 法向力=5364.8130, 切向力X=13766.8965, 切向力Y=1123.2557 +FPS=38.84, 法向力=5347.5000, 切向力X=13913.1523, 切向力Y=1175.2614 +FPS=36.16, 法向力=5603.3804, 切向力X=32768.9023, 切向力Y=434.9012 +FPS=36.02, 法向力=5672.4277, 切向力X=32763.5078, 切向力Y=445.7847 +FPS=36.11, 法向力=5438.1763, 切向力X=33569.8398, 切向力Y=-158.2396 +FPS=36.84, 法向力=5305.3032, 切向力X=33619.4375, 切向力Y=-379.1350 +FPS=36.07, 法向力=4851.2759, 切向力X=35208.6172, 切向力Y=-917.2913 +FPS=37.10, 法向力=4634.9473, 切向力X=35331.3633, 切向力Y=-1159.6357 +FPS=36.04, 法向力=4836.4185, 切向力X=35010.8359, 切向力Y=-1182.8248 +FPS=37.45, 法向力=5047.9150, 切向力X=35114.3828, 切向力Y=-1043.0769 +FPS=35.90, 法向力=5087.0586, 切向力X=34102.9336, 切向力Y=-835.0460 +FPS=38.30, 法向力=5290.8589, 切向力X=34090.2578, 切向力Y=-655.2649 +FPS=36.46, 法向力=5074.0889, 切向力X=34089.1641, 切向力Y=-2121.7485 +FPS=35.89, 法向力=6117.7168, 切向力X=32929.9375, 切向力Y=-2040.2278 +FPS=36.52, 法向力=6196.8320, 切向力X=32980.2422, 切向力Y=-1995.7504 +FPS=35.58, 法向力=6860.2920, 切向力X=32928.7344, 切向力Y=-2951.3740 +FPS=36.63, 法向力=6857.2939, 切向力X=32908.2109, 切向力Y=-3050.2913 +FPS=35.47, 法向力=7093.5723, 切向力X=31770.8672, 切向力Y=-2855.4863 +FPS=35.77, 法向力=6850.9019, 切向力X=31623.9766, 切向力Y=-2993.8262 +FPS=33.68, 法向力=6284.7578, 切向力X=31568.9961, 切向力Y=-3370.6472 +FPS=34.76, 法向力=6114.1514, 切向力X=32089.8359, 切向力Y=-3118.1401 +FPS=35.25, 法向力=5828.9434, 切向力X=32039.2598, 切向力Y=-3319.9451 +FPS=34.86, 法向力=6517.0664, 切向力X=30977.4531, 切向力Y=-2476.7021 +FPS=35.21, 法向力=6646.5713, 切向力X=30978.5918, 切向力Y=-2335.8848 +FPS=33.49, 法向力=5239.5781, 切向力X=30717.2188, 切向力Y=-3348.5571 +FPS=36.13, 法向力=5352.1016, 切向力X=30761.6367, 切向力Y=-3277.3408 +FPS=34.87, 法向力=6025.1177, 切向力X=32302.1543, 切向力Y=-2218.7578 +FPS=35.07, 法向力=5267.3750, 切向力X=31604.7715, 切向力Y=-1890.7162 +FPS=35.83, 法向力=5210.4790, 切向力X=31548.5488, 切向力Y=-1899.3508 +FPS=35.11, 法向力=5289.2251, 切向力X=32560.5820, 切向力Y=-1771.2703 +FPS=34.85, 法向力=5144.7500, 切向力X=32579.9355, 切向力Y=-1879.9232 +FPS=34.88, 法向力=5132.6006, 切向力X=32418.7578, 切向力Y=-1571.0208 +FPS=36.06, 法向力=5143.6426, 切向力X=32089.3164, 切向力Y=-1393.5549 +FPS=36.79, 法向力=5742.7666, 切向力X=34161.2539, 切向力Y=-871.4706 +FPS=35.61, 法向力=6006.9985, 切向力X=34020.0742, 切向力Y=-882.3016 +FPS=34.51, 法向力=6633.3076, 切向力X=35155.8828, 切向力Y=-395.7230 +FPS=35.07, 法向力=6653.3110, 切向力X=35255.3281, 切向力Y=-427.3937 +FPS=36.21, 法向力=6992.5088, 切向力X=35960.4297, 切向力Y=911.2382 +FPS=35.06, 法向力=7175.0693, 切向力X=36028.8750, 切向力Y=1193.4336 +FPS=35.62, 法向力=7241.7461, 切向力X=35991.3164, 切向力Y=1172.1827 +FPS=35.01, 法向力=7294.6367, 切向力X=37118.8750, 切向力Y=1109.1892 +FPS=35.48, 法向力=7256.3384, 切向力X=37287.0781, 切向力Y=1262.5950 +FPS=35.32, 法向力=7161.8145, 切向力X=37164.5547, 切向力Y=910.9801 +FPS=33.80, 法向力=7397.9404, 切向力X=38700.3398, 切向力Y=1554.6775 +FPS=35.50, 法向力=7368.2139, 切向力X=38748.5547, 切向力Y=1768.6157 +FPS=33.15, 法向力=6837.7100, 切向力X=38059.6289, 切向力Y=1048.2937 +FPS=35.84, 法向力=6825.7666, 切向力X=38075.4492, 切向力Y=899.2216 +FPS=34.15, 法向力=7197.9756, 切向力X=38213.8906, 切向力Y=1067.3595 +FPS=35.87, 法向力=7223.6655, 切向力X=38249.5078, 切向力Y=967.7665 +FPS=35.54, 法向力=7473.0303, 切向力X=38457.7422, 切向力Y=853.9133 +FPS=35.44, 法向力=7490.6030, 切向力X=38508.1914, 切向力Y=817.6711 +FPS=35.10, 法向力=7886.8096, 切向力X=37022.3359, 切向力Y=519.5291 +FPS=34.83, 法向力=8130.8184, 切向力X=36045.9609, 切向力Y=-41.5781 +FPS=35.21, 法向力=8059.6152, 切向力X=36191.0234, 切向力Y=-152.8496 +FPS=34.51, 法向力=7517.9570, 切向力X=36768.2148, 切向力Y=162.9727 +FPS=35.17, 法向力=7596.9766, 切向力X=36828.4688, 切向力Y=167.9647 +FPS=36.08, 法向力=6535.8418, 切向力X=34854.6133, 切向力Y=-1476.3793 +FPS=33.42, 法向力=6481.8579, 切向力X=33805.7734, 切向力Y=-1406.0981 +FPS=35.41, 法向力=6444.0342, 切向力X=33733.6328, 切向力Y=-1354.8666 +FPS=34.69, 法向力=5516.9141, 切向力X=32532.8496, 切向力Y=-2104.8464 +FPS=35.67, 法向力=5486.3018, 切向力X=32575.0371, 切向力Y=-1985.8634 +FPS=34.46, 法向力=6362.4106, 切向力X=32723.2344, 切向力Y=-2044.9163 +FPS=35.49, 法向力=6501.4072, 切向力X=32706.2266, 切向力Y=-1961.9645 +FPS=35.03, 法向力=5185.2358, 切向力X=31512.3965, 切向力Y=-3400.6377 +FPS=35.29, 法向力=5098.6260, 切向力X=31393.7305, 切向力Y=-3526.3093 +FPS=35.22, 法向力=4875.7139, 切向力X=31430.8535, 切向力Y=-4161.7739 +FPS=34.06, 法向力=4752.7461, 切向力X=32563.8008, 切向力Y=-3633.3984 +FPS=33.46, 法向力=4743.8198, 切向力X=32417.4102, 切向力Y=-3694.3047 +FPS=32.75, 法向力=5447.1787, 切向力X=30769.1270, 切向力Y=-3243.1721 +FPS=33.13, 法向力=5270.0146, 切向力X=30277.5039, 切向力Y=-2917.9307 +FPS=34.60, 法向力=5342.2427, 切向力X=30338.7266, 切向力Y=-2882.0879 +FPS=34.04, 法向力=5406.3223, 切向力X=30396.7070, 切向力Y=-2748.4912 +FPS=34.44, 法向力=5432.8760, 切向力X=30339.0664, 切向力Y=-2673.5867 +FPS=34.71, 法向力=5288.2754, 切向力X=30445.7617, 切向力Y=-2874.0010 +FPS=35.78, 法向力=5098.2217, 切向力X=30520.7363, 切向力Y=-3091.2959 +FPS=35.07, 法向力=4894.4521, 切向力X=30534.4453, 切向力Y=-2883.2048 +FPS=35.08, 法向力=4932.1802, 切向力X=30535.3262, 切向力Y=-2768.2900 +FPS=34.15, 法向力=5759.7563, 切向力X=31759.8730, 切向力Y=-2420.7793 +FPS=34.68, 法向力=5039.2642, 切向力X=31852.3320, 切向力Y=-1977.3772 +FPS=36.35, 法向力=5058.0825, 切向力X=32177.4961, 切向力Y=-1851.6577 +FPS=35.15, 法向力=5065.3750, 切向力X=33946.6562, 切向力Y=-1289.8208 +FPS=37.08, 法向力=5117.5884, 切向力X=34025.6484, 切向力Y=-1261.2115 +FPS=33.74, 法向力=4936.0640, 切向力X=32962.9609, 切向力Y=-520.7709 +FPS=35.83, 法向力=6122.5840, 切向力X=34707.1328, 切向力Y=-403.8955 +FPS=36.02, 法向力=6242.3525, 切向力X=34718.2422, 切向力Y=-261.8661 +FPS=36.20, 法向力=6521.0723, 切向力X=34631.7109, 切向力Y=-221.1947 +FPS=36.74, 法向力=6589.3862, 切向力X=34657.9805, 切向力Y=-233.9467 +FPS=36.14, 法向力=7454.7725, 切向力X=34332.8750, 切向力Y=-23.7568 +FPS=35.87, 法向力=7314.2832, 切向力X=34394.2656, 切向力Y=111.4175 +FPS=35.97, 法向力=6945.8594, 切向力X=34350.2422, 切向力Y=889.8773 +FPS=35.76, 法向力=6939.3613, 切向力X=34328.8242, 切向力Y=902.7222 +FPS=35.65, 法向力=7296.1279, 切向力X=36476.3750, 切向力Y=1075.4138 +FPS=37.50, 法向力=7281.6211, 切向力X=36678.6953, 切向力Y=1076.0732 +FPS=36.97, 法向力=7288.7729, 切向力X=36524.8516, 切向力Y=777.0177 +FPS=35.71, 法向力=6667.3457, 切向力X=36142.7148, 切向力Y=629.8137 +FPS=36.79, 法向力=6691.1782, 切向力X=36233.9570, 切向力Y=451.1425 +FPS=35.35, 法向力=6183.7422, 切向力X=33733.5312, 切向力Y=1071.1927 +FPS=36.15, 法向力=6215.3555, 切向力X=33369.0312, 切向力Y=1139.9058 +FPS=36.18, 法向力=6233.7056, 切向力X=34948.1094, 切向力Y=6.0900 +FPS=37.12, 法向力=6157.1738, 切向力X=34950.5000, 切向力Y=-92.7984 +FPS=35.96, 法向力=5335.0137, 切向力X=34582.4570, 切向力Y=-320.9246 +FPS=36.42, 法向力=5318.3618, 切向力X=34316.9258, 切向力Y=-369.9006 +FPS=35.53, 法向力=4991.5293, 切向力X=33521.0781, 切向力Y=-1051.0557 +FPS=35.64, 法向力=4977.7241, 切向力X=33537.3594, 切向力Y=-1037.9119 +FPS=35.62, 法向力=4631.5615, 切向力X=34149.6562, 切向力Y=-1663.6729 +FPS=36.20, 法向力=4326.6348, 切向力X=36542.5078, 切向力Y=-2743.6860 +FPS=36.85, 法向力=4523.9033, 切向力X=36795.6719, 切向力Y=-2746.9270 +FPS=35.05, 法向力=4154.9697, 切向力X=38116.0273, 切向力Y=-2678.8625 +FPS=36.95, 法向力=4237.6108, 切向力X=38184.8945, 切向力Y=-2577.1274 +FPS=35.45, 法向力=4170.4922, 切向力X=38467.5234, 切向力Y=-2486.3003 +FPS=36.59, 法向力=4222.0283, 切向力X=38412.2578, 切向力Y=-2420.0845 +FPS=36.31, 法向力=4926.1235, 切向力X=38586.3633, 切向力Y=-2137.4600 +FPS=36.99, 法向力=4992.3022, 切向力X=38330.9688, 切向力Y=-2033.0457 +FPS=34.48, 法向力=4458.7109, 切向力X=39975.0742, 切向力Y=-1379.7532 +FPS=37.06, 法向力=4503.4131, 切向力X=40217.5000, 切向力Y=-1338.4829 +FPS=36.37, 法向力=4867.0776, 切向力X=38653.1445, 切向力Y=-2336.4165 +FPS=36.00, 法向力=5336.9316, 切向力X=39144.9219, 切向力Y=-1572.6725 +FPS=37.23, 法向力=5452.9170, 切向力X=39167.4688, 切向力Y=-1529.7960 +FPS=36.09, 法向力=4206.1729, 切向力X=40525.1289, 切向力Y=-2460.0815 +FPS=36.38, 法向力=4305.1694, 切向力X=40348.2188, 切向力Y=-2448.4651 +FPS=35.82, 法向力=4039.4602, 切向力X=40381.4609, 切向力Y=-1701.1161 +FPS=36.61, 法向力=4035.8169, 切向力X=40252.8281, 切向力Y=-1691.5759 +FPS=36.95, 法向力=5547.8672, 切向力X=40254.2969, 切向力Y=-2423.8418 +FPS=35.65, 法向力=4882.2285, 切向力X=38418.2383, 切向力Y=-1901.5674 +FPS=37.33, 法向力=4602.5654, 切向力X=38458.9844, 切向力Y=-2083.6580 +FPS=34.64, 法向力=5193.4092, 切向力X=35716.1875, 切向力Y=-1334.4509 +FPS=36.34, 法向力=5091.1055, 切向力X=35394.7578, 切向力Y=-1565.6959 +FPS=35.61, 法向力=4907.4512, 切向力X=31718.3945, 切向力Y=-1914.2997 +FPS=36.64, 法向力=4698.2363, 切向力X=31397.3555, 切向力Y=-2226.6309 +FPS=36.69, 法向力=5481.3555, 切向力X=30977.8242, 切向力Y=-1401.4628 +FPS=37.26, 法向力=5486.0449, 切向力X=30990.5996, 切向力Y=-1317.6206 +FPS=35.84, 法向力=5924.3730, 切向力X=34696.4961, 切向力Y=-2544.3428 +FPS=36.63, 法向力=5841.1895, 切向力X=34764.6836, 切向力Y=-2681.9380 +FPS=36.00, 法向力=6266.9644, 切向力X=34138.1328, 切向力Y=-3181.3811 +FPS=36.02, 法向力=5895.1318, 切向力X=33375.5977, 切向力Y=-5180.5635 +FPS=34.36, 法向力=5707.5645, 切向力X=33329.0703, 切向力Y=-5288.9917 +FPS=33.68, 法向力=6407.0176, 切向力X=33168.7969, 切向力Y=-4809.9336 +FPS=34.85, 法向力=6416.4897, 切向力X=33159.5273, 切向力Y=-4761.1006 +FPS=35.22, 法向力=5785.8369, 切向力X=32684.5273, 切向力Y=-5761.0820 +FPS=34.17, 法向力=5700.3311, 切向力X=32492.9512, 切向力Y=-5826.0879 +FPS=33.59, 法向力=5915.3291, 切向力X=35782.1055, 切向力Y=-5724.4199 +FPS=35.88, 法向力=6031.4287, 切向力X=35759.7578, 切向力Y=-5676.9482 +FPS=35.37, 法向力=6283.0234, 切向力X=35299.7266, 切向力Y=-5327.1270 +FPS=35.46, 法向力=5249.8213, 切向力X=36654.3867, 切向力Y=-4092.1897 +FPS=35.06, 法向力=5181.9980, 切向力X=36630.0234, 切向力Y=-4132.6802 +FPS=37.40, 法向力=5155.4126, 切向力X=40112.0625, 切向力Y=-3892.5137 +FPS=36.97, 法向力=5258.2725, 切向力X=39829.1797, 切向力Y=-3732.4932 +FPS=36.50, 法向力=5560.7881, 切向力X=42337.4844, 切向力Y=-2970.7559 +FPS=35.51, 法向力=5128.1392, 切向力X=42510.3281, 切向力Y=-3483.1450 +FPS=35.62, 法向力=5081.2188, 切向力X=42684.0625, 切向力Y=-3474.2090 +FPS=33.05, 法向力=5050.8467, 切向力X=43739.5000, 切向力Y=-2463.3276 +FPS=36.09, 法向力=5088.3350, 切向力X=43732.8789, 切向力Y=-2385.7524 +FPS=34.17, 法向力=4577.3594, 切向力X=45189.6758, 切向力Y=-3444.0884 +FPS=35.50, 法向力=4566.8350, 切向力X=45431.5234, 切向力Y=-3522.7686 +FPS=33.23, 法向力=5332.3701, 切向力X=48201.1289, 切向力Y=-3253.7246 +FPS=34.82, 法向力=5437.2988, 切向力X=48134.0820, 切向力Y=-2994.0479 +FPS=33.43, 法向力=5710.5293, 切向力X=51230.6172, 切向力Y=-4181.3477 +FPS=34.85, 法向力=5476.1538, 切向力X=53453.1328, 切向力Y=-4821.1709 +FPS=35.30, 法向力=5484.6152, 切向力X=53606.1484, 切向力Y=-4840.3232 +FPS=34.76, 法向力=5687.0371, 切向力X=51996.1016, 切向力Y=-5222.2705 +FPS=35.08, 法向力=5817.5400, 切向力X=51696.3945, 切向力Y=-5211.1680 +FPS=34.49, 法向力=6149.0859, 切向力X=52371.3281, 切向力Y=-5796.9570 +FPS=35.27, 法向力=6862.5039, 切向力X=51296.8008, 切向力Y=-4625.0073 +FPS=35.13, 法向力=6830.1147, 切向力X=51322.2891, 切向力Y=-4339.3130 +FPS=34.02, 法向力=7093.0117, 切向力X=51536.0586, 切向力Y=-4409.9595 +FPS=34.33, 法向力=7151.8574, 切向力X=51586.9531, 切向力Y=-4348.3057 +FPS=34.41, 法向力=6951.2524, 切向力X=49307.7109, 切向力Y=-4255.7954 +FPS=34.82, 法向力=6960.1904, 切向力X=49348.1641, 切向力Y=-4190.0591 +FPS=34.50, 法向力=6097.3394, 切向力X=47923.4922, 切向力Y=-4283.1875 +FPS=33.85, 法向力=6397.3525, 切向力X=48017.0938, 切向力Y=-3940.5215 +FPS=34.72, 法向力=5881.1729, 切向力X=45114.2266, 切向力Y=-4737.6436 +FPS=35.21, 法向力=4776.9854, 切向力X=44338.2930, 切向力Y=-6511.6045 +FPS=35.58, 法向力=4893.0996, 切向力X=44090.1680, 切向力Y=-6212.2222 +FPS=33.69, 法向力=5614.6514, 切向力X=42548.7812, 切向力Y=-6176.9404 +FPS=34.67, 法向力=5352.2998, 切向力X=39689.6875, 切向力Y=-6365.9805 +FPS=34.79, 法向力=5293.7422, 切向力X=39469.9609, 切向力Y=-6183.4678 +FPS=33.17, 法向力=3143.8215, 切向力X=31276.9961, 切向力Y=-4318.3838 +FPS=34.94, 法向力=3222.1543, 切向力X=31150.6328, 切向力Y=-3849.1543 +FPS=33.87, 法向力=4312.1470, 切向力X=16837.5117, 切向力Y=1642.9309 +FPS=34.79, 法向力=4545.0537, 切向力X=16607.9746, 切向力Y=1948.8384 +FPS=33.73, 法向力=2510.7764, 切向力X=7572.8174, 切向力Y=3378.1313 +FPS=35.59, 法向力=2608.1362, 切向力X=7469.3794, 切向力Y=3407.0989 +FPS=35.70, 法向力=2048.4417, 切向力X=6312.4448, 切向力Y=3304.1387 +FPS=34.66, 法向力=1911.5366, 切向力X=6748.8779, 切向力Y=3552.4834 +FPS=36.13, 法向力=1918.3018, 切向力X=6981.6431, 切向力Y=3532.9700 +FPS=34.62, 法向力=1885.5236, 切向力X=5451.8965, 切向力Y=3579.1113 +FPS=35.17, 法向力=1868.5997, 切向力X=5359.7593, 切向力Y=3611.4443 +FPS=34.51, 法向力=1806.4928, 切向力X=4387.5884, 切向力Y=3783.6953 +FPS=34.57, 法向力=1965.7549, 切向力X=4931.7319, 切向力Y=3064.9492 +FPS=35.93, 法向力=1958.7289, 切向力X=5004.0591, 切向力Y=3119.9128 +FPS=34.91, 法向力=2078.4133, 切向力X=3773.6147, 切向力Y=3345.9622 +FPS=36.69, 法向力=2093.2568, 切向力X=3719.8972, 切向力Y=3430.2168 +FPS=34.75, 法向力=2224.6753, 切向力X=3555.5298, 切向力Y=3441.4487 +FPS=36.01, 法向力=2283.1411, 切向力X=3515.3054, 切向力Y=3388.2988 +FPS=35.17, 法向力=2288.1265, 切向力X=4986.9766, 切向力Y=3952.6338 +FPS=35.72, 法向力=2238.7468, 切向力X=4794.0361, 切向力Y=4073.4749 +FPS=35.38, 法向力=1685.2612, 切向力X=4950.5576, 切向力Y=4409.1963 +FPS=35.04, 法向力=1616.8684, 切向力X=4847.1621, 切向力Y=4439.0312 +FPS=35.82, 法向力=2441.0273, 切向力X=5506.2749, 切向力Y=4727.6851 +FPS=35.03, 法向力=4575.6699, 切向力X=16357.8525, 切向力Y=5121.0698 +FPS=35.48, 法向力=4508.8936, 切向力X=17017.5801, 切向力Y=5219.5010 +FPS=34.81, 法向力=5175.9292, 切向力X=27335.9844, 切向力Y=5034.6055 +FPS=35.49, 法向力=5149.4648, 切向力X=27448.4766, 切向力Y=5151.1064 +FPS=36.15, 法向力=4294.1475, 切向力X=27111.2715, 切向力Y=5127.7847 +FPS=36.29, 法向力=4233.0391, 切向力X=26905.9375, 切向力Y=5023.2290 +FPS=34.62, 法向力=6473.6846, 切向力X=27664.7832, 切向力Y=6397.5117 +FPS=35.55, 法向力=6548.1460, 切向力X=27720.0762, 切向力Y=6500.5244 +FPS=36.09, 法向力=7235.1807, 切向力X=26782.5371, 切向力Y=6697.8301 +FPS=35.58, 法向力=7927.3154, 切向力X=25401.4062, 切向力Y=6268.3438 +FPS=36.01, 法向力=7859.2144, 切向力X=25172.2637, 切向力Y=6434.7334 +FPS=34.37, 法向力=8430.0752, 切向力X=26184.9062, 切向力Y=6889.7222 +FPS=35.54, 法向力=8409.4453, 切向力X=26339.6426, 切向力Y=7050.7051 +FPS=34.73, 法向力=9348.5674, 切向力X=25636.8203, 切向力Y=7522.5186 +FPS=31.58, 法向力=8979.3223, 切向力X=25267.9492, 切向力Y=7896.2212 +FPS=31.07, 法向力=8869.9697, 切向力X=25152.4531, 切向力Y=7839.1851 +FPS=33.86, 法向力=10163.6270, 切向力X=25198.9023, 切向力Y=7379.3291 +FPS=36.53, 法向力=10285.6836, 切向力X=25184.0391, 切向力Y=7470.0801 +FPS=35.62, 法向力=10001.1504, 切向力X=25721.7109, 切向力Y=7270.1533 +FPS=36.09, 法向力=9939.2480, 切向力X=25635.8652, 切向力Y=7179.1523 +FPS=36.86, 法向力=9140.7012, 切向力X=24063.2031, 切向力Y=7556.4082 +FPS=37.00, 法向力=8936.0244, 切向力X=23841.6328, 切向力Y=7603.2847 +FPS=38.38, 法向力=8923.5908, 切向力X=23675.9375, 切向力Y=7107.0620 +FPS=36.07, 法向力=10504.0254, 切向力X=24144.9531, 切向力Y=7605.1104 +FPS=36.92, 法向力=10534.9941, 切向力X=24158.2070, 切向力Y=7675.5791 +FPS=36.22, 法向力=10440.3301, 切向力X=22966.4648, 切向力Y=8021.1904 +FPS=37.00, 法向力=10414.4268, 切向力X=22889.1660, 切向力Y=8047.3379 +FPS=36.79, 法向力=11314.2734, 切向力X=21933.8047, 切向力Y=7559.4863 +FPS=37.36, 法向力=11317.3877, 切向力X=22014.7344, 切向力Y=7497.2476 +FPS=35.90, 法向力=11315.9531, 切向力X=22974.5625, 切向力Y=7538.9019 +FPS=36.31, 法向力=11870.3477, 切向力X=21394.2539, 切向力Y=7838.2852 +FPS=37.81, 法向力=11969.2207, 切向力X=21501.7266, 切向力Y=7719.6885 +FPS=36.62, 法向力=11887.2871, 切向力X=21443.4766, 切向力Y=7682.3379 +FPS=36.34, 法向力=9900.9082, 切向力X=19833.5781, 切向力Y=7177.9409 +FPS=37.32, 法向力=9704.9160, 切向力X=19743.4414, 切向力Y=7190.2344 +FPS=36.51, 法向力=10334.9590, 切向力X=18145.8555, 切向力Y=8138.6992 +FPS=36.68, 法向力=9160.1260, 切向力X=19227.5703, 切向力Y=7857.0312 +FPS=36.67, 法向力=9354.1211, 切向力X=19585.3906, 切向力Y=8091.2959 +FPS=35.75, 法向力=8917.3779, 切向力X=18990.6914, 切向力Y=6318.0547 +FPS=37.58, 法向力=8927.5059, 切向力X=18931.6035, 切向力Y=6324.7954 +FPS=36.33, 法向力=8085.7578, 切向力X=17439.5664, 切向力Y=5508.1494 +FPS=36.37, 法向力=7833.9609, 切向力X=17277.5547, 切向力Y=5352.8330 +FPS=38.34, 法向力=8008.2051, 切向力X=17676.9043, 切向力Y=5552.1641 +FPS=36.29, 法向力=7199.2979, 切向力X=17383.9141, 切向力Y=4210.7651 +FPS=37.29, 法向力=7162.8506, 切向力X=17490.5039, 切向力Y=4230.1875 +FPS=37.29, 法向力=7082.0415, 切向力X=17420.5586, 切向力Y=4213.1934 +FPS=36.18, 法向力=6802.3008, 切向力X=15447.9355, 切向力Y=3965.0188 +FPS=36.48, 法向力=6610.9321, 切向力X=15027.8965, 切向力Y=3962.5718 +FPS=36.93, 法向力=6588.6885, 切向力X=15960.5889, 切向力Y=4000.0613 +FPS=35.43, 法向力=6748.2002, 切向力X=18956.1914, 切向力Y=3374.5215 +FPS=36.32, 法向力=6712.1094, 切向力X=18897.8535, 切向力Y=3318.6177 +FPS=35.44, 法向力=5728.8447, 切向力X=20999.6250, 切向力Y=3630.1770 +FPS=37.36, 法向力=5708.7998, 切向力X=20815.3867, 切向力Y=3733.0139 +FPS=36.86, 法向力=5107.0347, 切向力X=21354.4492, 切向力Y=4357.1465 +FPS=36.86, 法向力=5947.0830, 切向力X=7696.7856, 切向力Y=5337.6719 +FPS=36.21, 法向力=5683.0259, 切向力X=7437.3271, 切向力Y=5294.9707 +FPS=37.06, 法向力=2369.2769, 切向力X=259.2141, 切向力Y=5809.0537 +FPS=36.89, 法向力=2406.1831, 切向力X=-304.7282, 切向力Y=6007.0840 +FPS=38.20, 法向力=2701.0542, 切向力X=1720.1215, 切向力Y=6453.0171 +FPS=38.13, 法向力=2932.2910, 切向力X=2122.5957, 切向力Y=6454.8193 +FPS=38.37, 法向力=2308.4033, 切向力X=865.2682, 切向力Y=6029.3481 +FPS=38.52, 法向力=2243.1948, 切向力X=640.1136, 切向力Y=6052.4600 +FPS=37.22, 法向力=2308.1587, 切向力X=338.9266, 切向力Y=5131.2334 +FPS=37.84, 法向力=2300.2476, 切向力X=406.9339, 切向力Y=5157.4834 +FPS=38.09, 法向力=3063.1777, 切向力X=3163.0918, 切向力Y=6157.2051 +FPS=38.60, 法向力=3227.5220, 切向力X=3673.8162, 切向力Y=6267.0654 +FPS=37.34, 法向力=2636.2134, 切向力X=-250.8926, 切向力Y=5206.0991 +FPS=37.85, 法向力=2759.5264, 切向力X=-132.0459, 切向力Y=5379.6313 +FPS=38.85, 法向力=2687.0435, 切向力X=1536.5723, 切向力Y=6397.8325 +FPS=38.76, 法向力=2638.4917, 切向力X=1695.4962, 切向力Y=6408.3242 +FPS=38.61, 法向力=3209.7949, 切向力X=718.4028, 切向力Y=6149.7227 +FPS=37.75, 法向力=3230.0840, 切向力X=1333.8008, 切向力Y=6496.0361 +FPS=38.35, 法向力=3259.8013, 切向力X=1390.3320, 切向力Y=6538.5518 +FPS=37.30, 法向力=3311.7009, 切向力X=1508.1101, 切向力Y=6514.0352 +FPS=35.94, 法向力=3852.3584, 切向力X=4279.3916, 切向力Y=6916.5073 +FPS=37.92, 法向力=3983.1919, 切向力X=4402.1011, 切向力Y=7034.5352 +FPS=37.12, 法向力=4185.6616, 切向力X=6844.7051, 切向力Y=7043.2300 +FPS=36.91, 法向力=4041.4756, 切向力X=7739.8525, 切向力Y=6316.0693 +FPS=36.95, 法向力=3969.6309, 切向力X=7743.2363, 切向力Y=6307.0229 +FPS=35.77, 法向力=4331.4189, 切向力X=12957.5908, 切向力Y=6850.8105 +FPS=37.04, 法向力=4272.1279, 切向力X=13253.6074, 切向力Y=6752.0977 +FPS=35.96, 法向力=4599.0234, 切向力X=21207.3984, 切向力Y=8026.5156 +FPS=36.88, 法向力=4448.8247, 切向力X=21930.9062, 切向力Y=7983.8438 +FPS=37.16, 法向力=4499.7754, 切向力X=28101.0059, 切向力Y=8086.1729 +FPS=35.00, 法向力=4328.2471, 切向力X=28208.2539, 切向力Y=8197.3379 +FPS=36.96, 法向力=4324.0894, 切向力X=28094.5742, 切向力Y=8181.3369 +FPS=37.16, 法向力=4305.0049, 切向力X=28075.7012, 切向力Y=8148.2939 +FPS=36.14, 法向力=3616.0918, 切向力X=28058.9434, 切向力Y=6724.3086 +FPS=36.50, 法向力=3761.1733, 切向力X=30045.5703, 切向力Y=6748.3350 +FPS=36.99, 法向力=3711.7620, 切向力X=30447.7227, 切向力Y=6832.7178 +FPS=37.08, 法向力=3793.4883, 切向力X=30293.4004, 切向力Y=6823.3423 +FPS=38.52, 法向力=3716.4524, 切向力X=30528.4727, 切向力Y=6837.0488 +FPS=37.39, 法向力=4939.8452, 切向力X=27291.6641, 切向力Y=5517.3882 +FPS=36.58, 法向力=4852.2764, 切向力X=27017.1484, 切向力Y=5410.8125 +FPS=36.46, 法向力=4325.5547, 切向力X=24036.8926, 切向力Y=5474.9858 +FPS=37.08, 法向力=4375.0635, 切向力X=23895.8672, 切向力Y=5599.0005 +FPS=36.29, 法向力=3829.1951, 切向力X=23453.7051, 切向力Y=5526.2754 +FPS=36.49, 法向力=4238.1880, 切向力X=19509.4551, 切向力Y=5415.7637 +FPS=37.06, 法向力=4298.7876, 切向力X=19315.7656, 切向力Y=5407.2432 +FPS=35.12, 法向力=4696.5762, 切向力X=18949.3125, 切向力Y=6314.7607 +FPS=36.26, 法向力=4679.3911, 切向力X=18990.2480, 切向力Y=6435.8115 +FPS=35.98, 法向力=4994.1162, 切向力X=19285.9102, 切向力Y=7052.7939 +FPS=35.70, 法向力=5136.2026, 切向力X=19257.4766, 切向力Y=7118.4434 +FPS=34.81, 法向力=5194.9746, 切向力X=19391.1855, 切向力Y=6624.6143 +FPS=35.98, 法向力=5284.5820, 切向力X=19425.8496, 切向力Y=6631.6665 +FPS=35.88, 法向力=5260.5200, 切向力X=19456.5664, 切向力Y=6601.7617 +FPS=36.36, 法向力=5256.6367, 切向力X=19475.8418, 切向力Y=6609.2812 +FPS=35.67, 法向力=5203.2412, 切向力X=21056.7871, 切向力Y=7005.3784 +FPS=35.33, 法向力=4422.8105, 切向力X=22824.1523, 切向力Y=7179.7617 +FPS=36.20, 法向力=4346.7734, 切向力X=22958.7344, 切向力Y=7162.4326 +FPS=35.75, 法向力=4420.3506, 切向力X=24209.6875, 切向力Y=7281.5957 +FPS=35.81, 法向力=4426.0195, 切向力X=24340.1660, 切向力Y=7375.2671 +FPS=36.51, 法向力=4859.4424, 切向力X=25310.2969, 切向力Y=7616.7139 +FPS=35.74, 法向力=4864.2363, 切向力X=25471.7227, 切向力Y=7706.3193 +FPS=33.92, 法向力=4707.7939, 切向力X=24792.1758, 切向力Y=6926.4824 +FPS=37.87, 法向力=4724.7334, 切向力X=24745.9883, 切向力Y=6942.1455 +FPS=36.55, 法向力=4683.5459, 切向力X=23954.2773, 切向力Y=5982.4146 +FPS=37.62, 法向力=4687.7681, 切向力X=23983.7852, 切向力Y=5897.1133 +FPS=38.76, 法向力=4647.8193, 切向力X=27447.3867, 切向力Y=6495.7036 +FPS=38.55, 法向力=4601.4106, 切向力X=27441.7695, 切向力Y=6439.5918 +FPS=38.46, 法向力=4580.3984, 切向力X=27487.3086, 切向力Y=6410.3926 +FPS=37.91, 法向力=4908.4053, 切向力X=21654.1953, 切向力Y=5331.6968 +FPS=38.44, 法向力=4674.1504, 切向力X=21905.8359, 切向力Y=5306.4087 +FPS=37.38, 法向力=5838.2705, 切向力X=19247.8086, 切向力Y=4759.6562 +FPS=39.62, 法向力=6046.2344, 切向力X=19287.7793, 切向力Y=4948.1836 +FPS=38.10, 法向力=4980.4927, 切向力X=18871.6758, 切向力Y=3655.0557 +FPS=39.02, 法向力=4985.1094, 切向力X=18648.0371, 切向力Y=3547.9114 +FPS=39.42, 法向力=5690.8877, 切向力X=17154.0234, 切向力Y=4293.7500 +FPS=39.57, 法向力=5693.7085, 切向力X=16958.4375, 切向力Y=4339.4575 +FPS=39.29, 法向力=5395.5410, 切向力X=14642.1426, 切向力Y=3138.2949 +FPS=37.24, 法向力=5432.7930, 切向力X=14608.4678, 切向力Y=3070.6816 +FPS=36.95, 法向力=7136.8579, 切向力X=13842.3311, 切向力Y=4224.6475 +FPS=37.16, 法向力=7228.6445, 切向力X=13912.9121, 切向力Y=4253.6602 +FPS=35.42, 法向力=8505.8711, 切向力X=13188.3047, 切向力Y=5795.6562 +FPS=37.23, 法向力=8600.3789, 切向力X=13133.7559, 切向力Y=5849.1963 +FPS=36.24, 法向力=8605.5068, 切向力X=13172.4062, 切向力Y=5860.1797 +FPS=32.81, 法向力=9432.6748, 切向力X=16964.7910, 切向力Y=6924.5791 +FPS=36.77, 法向力=9452.0059, 切向力X=17041.3945, 切向力Y=6957.8320 +FPS=35.37, 法向力=7030.7690, 切向力X=18702.1953, 切向力Y=7008.7969 +FPS=36.51, 法向力=7137.6494, 切向力X=18681.5312, 切向力Y=7019.7349 +FPS=36.20, 法向力=4416.1738, 切向力X=22031.0332, 切向力Y=7259.1904 +FPS=36.46, 法向力=4353.4243, 切向力X=21855.3359, 切向力Y=7094.0503 +FPS=35.01, 法向力=4444.4404, 切向力X=22584.6445, 切向力Y=6939.9331 +FPS=36.81, 法向力=4374.8008, 切向力X=22585.3203, 切向力Y=6756.6064 +FPS=36.08, 法向力=3698.5796, 切向力X=21729.0293, 切向力Y=6482.8672 +FPS=35.69, 法向力=2873.0969, 切向力X=23035.4844, 切向力Y=6332.4927 +FPS=37.30, 法向力=2912.3765, 切向力X=23179.3047, 切向力Y=6370.0835 +FPS=36.11, 法向力=4519.9629, 切向力X=25743.1113, 切向力Y=4923.3643 +FPS=36.68, 法向力=4563.5439, 切向力X=25765.8086, 切向力Y=4816.5312 +FPS=35.92, 法向力=4581.4404, 切向力X=25734.7109, 切向力Y=4826.4961 +FPS=36.63, 法向力=4576.0928, 切向力X=25735.6855, 切向力Y=4830.3301 +FPS=35.68, 法向力=4320.3135, 切向力X=22287.9082, 切向力Y=2499.6106 +FPS=36.77, 法向力=5381.4707, 切向力X=21512.4844, 切向力Y=2465.4380 +FPS=36.80, 法向力=5352.4204, 切向力X=21415.7969, 切向力Y=2483.8606 +FPS=36.89, 法向力=5347.2754, 切向力X=21613.8906, 切向力Y=2441.2273 +FPS=34.89, 法向力=5417.6914, 切向力X=22734.2109, 切向力Y=3219.0908 +FPS=36.55, 法向力=5356.2935, 切向力X=22694.7305, 切向力Y=3157.5439 +FPS=35.13, 法向力=6203.0840, 切向力X=22810.3945, 切向力Y=3194.3413 +FPS=35.17, 法向力=6531.4204, 切向力X=22298.7207, 切向力Y=2721.4138 +FPS=34.96, 法向力=6499.7803, 切向力X=22212.4355, 切向力Y=2650.0254 +FPS=34.16, 法向力=6259.0439, 切向力X=20644.0977, 切向力Y=3368.4153 +FPS=35.63, 法向力=6358.9141, 切向力X=20584.8574, 切向力Y=3461.1497 +FPS=35.02, 法向力=5152.7378, 切向力X=19204.8359, 切向力Y=3215.2544 +FPS=35.43, 法向力=5273.3223, 切向力X=18873.8242, 切向力Y=3297.6338 +FPS=34.51, 法向力=5296.4609, 切向力X=18864.9492, 切向力Y=3262.6616 +FPS=31.06, 法向力=4422.9224, 切向力X=17521.0859, 切向力Y=3933.6782 +FPS=32.51, 法向力=4760.6152, 切向力X=18381.7070, 切向力Y=3837.0195 +FPS=34.41, 法向力=4909.9834, 切向力X=18476.5117, 切向力Y=3843.0618 +FPS=35.19, 法向力=4893.0669, 切向力X=18418.2148, 切向力Y=3873.8853 +FPS=34.92, 法向力=4578.6704, 切向力X=19667.4062, 切向力Y=4124.7891 +FPS=34.14, 法向力=4272.9180, 切向力X=21688.5117, 切向力Y=4922.8218 +FPS=35.54, 法向力=4299.6641, 切向力X=21689.9355, 切向力Y=4922.5967 +FPS=34.35, 法向力=5450.3350, 切向力X=22334.4277, 切向力Y=6294.2915 +FPS=35.44, 法向力=5554.4902, 切向力X=22367.3086, 切向力Y=6351.8643 +FPS=34.67, 法向力=7450.7168, 切向力X=22724.0469, 切向力Y=7616.1060 +FPS=35.65, 法向力=9191.2451, 切向力X=23042.5547, 切向力Y=8064.2583 +FPS=35.14, 法向力=9164.9053, 切向力X=22896.8125, 切向力Y=8113.5444 +FPS=35.43, 法向力=9162.4473, 切向力X=22856.8711, 切向力Y=8150.8135 +FPS=36.37, 法向力=9202.8496, 切向力X=22852.7168, 切向力Y=8111.7842 +FPS=35.99, 法向力=9998.0020, 切向力X=22790.1953, 切向力Y=8729.4355 +FPS=35.05, 法向力=9906.6748, 切向力X=22835.3711, 切向力Y=8887.1543 +FPS=33.15, 法向力=10400.5039, 切向力X=25866.1953, 切向力Y=9873.2949 +FPS=34.86, 法向力=10433.1074, 切向力X=25935.8945, 切向力Y=9888.4258 +FPS=34.36, 法向力=10996.2168, 切向力X=23084.8809, 切向力Y=9628.8311 +FPS=34.12, 法向力=9199.6602, 切向力X=24342.7930, 切向力Y=9546.0996 +FPS=34.84, 法向力=9145.3086, 切向力X=24098.3438, 切向力Y=9479.8164 +FPS=34.69, 法向力=9557.7480, 切向力X=20856.2793, 切向力Y=7431.5352 +FPS=36.28, 法向力=9628.3418, 切向力X=20625.4492, 切向力Y=7249.6572 +FPS=35.28, 法向力=8465.5332, 切向力X=18896.3242, 切向力Y=5910.4404 +FPS=35.13, 法向力=9011.8066, 切向力X=17243.6836, 切向力Y=5624.2769 +FPS=35.59, 法向力=8943.9512, 切向力X=17137.7676, 切向力Y=5558.3052 +FPS=34.97, 法向力=8794.7832, 切向力X=17309.2266, 切向力Y=5560.0786 +FPS=34.97, 法向力=8986.2744, 切向力X=17076.0898, 切向力Y=5477.0269 +FPS=34.73, 法向力=7092.4556, 切向力X=17500.9082, 切向力Y=4585.2495 +FPS=35.79, 法向力=7014.4453, 切向力X=17484.1094, 切向力Y=4605.6025 +FPS=33.38, 法向力=7882.6152, 切向力X=17519.4434, 切向力Y=4859.5898 +FPS=36.10, 法向力=7918.1846, 切向力X=17540.9805, 切向力Y=4905.9692 +FPS=34.00, 法向力=7809.1904, 切向力X=14938.1172, 切向力Y=5220.5542 +FPS=35.35, 法向力=6098.9639, 切向力X=14342.9141, 切向力Y=3685.3909 +FPS=35.44, 法向力=6068.2764, 切向力X=14565.7773, 切向力Y=3819.8296 +FPS=34.76, 法向力=6337.3369, 切向力X=17139.6133, 切向力Y=2187.3984 +FPS=35.51, 法向力=6386.0723, 切向力X=17350.0781, 切向力Y=2042.7838 +FPS=34.83, 法向力=5521.7695, 切向力X=18879.4668, 切向力Y=3170.7383 +FPS=34.93, 法向力=5489.4517, 切向力X=18818.9102, 切向力Y=2979.9924 +FPS=35.70, 法向力=5402.8252, 切向力X=18890.3750, 切向力Y=3126.1479 +FPS=35.25, 法向力=5352.9229, 切向力X=18596.1484, 切向力Y=2924.2715 +FPS=35.83, 法向力=5337.5293, 切向力X=18578.5156, 切向力Y=2881.0044 +FPS=34.67, 法向力=5213.3945, 切向力X=18142.1602, 切向力Y=3516.6340 +FPS=35.28, 法向力=5235.5713, 切向力X=18369.3965, 切向力Y=3698.2646 +FPS=33.89, 法向力=5217.9448, 切向力X=18788.6328, 切向力Y=4064.7178 +FPS=35.80, 法向力=5330.2803, 切向力X=18640.8340, 切向力Y=4093.5010 +FPS=36.34, 法向力=5009.2466, 切向力X=18174.2305, 切向力Y=3577.0566 +FPS=35.37, 法向力=5602.8232, 切向力X=18743.0293, 切向力Y=4581.1035 +FPS=36.38, 法向力=5703.9980, 切向力X=18621.7578, 切向力Y=4481.0649 +FPS=36.22, 法向力=5316.8306, 切向力X=19157.5723, 切向力Y=4785.6875 +FPS=35.78, 法向力=5325.8809, 切向力X=19248.9688, 切向力Y=4889.5942 +FPS=35.43, 法向力=4775.2075, 切向力X=19853.5137, 切向力Y=4356.3770 +FPS=36.54, 法向力=4791.6997, 切向力X=19845.5605, 切向力Y=4475.6250 +FPS=35.09, 法向力=4797.8369, 切向力X=21328.9121, 切向力Y=6177.5488 +FPS=37.93, 法向力=4797.7139, 切向力X=21704.6348, 切向力Y=6158.9897 +FPS=36.88, 法向力=4772.8750, 切向力X=21775.6523, 切向力Y=6183.7544 +FPS=35.94, 法向力=4769.8984, 切向力X=21785.3711, 切向力Y=6184.8438 +FPS=34.36, 法向力=8760.7217, 切向力X=22238.6426, 切向力Y=8492.0625 +FPS=36.39, 法向力=9281.1211, 切向力X=22073.0723, 切向力Y=7649.3799 +FPS=36.70, 法向力=9237.2539, 切向力X=22076.2988, 切向力Y=7604.3345 +FPS=34.95, 法向力=9105.7861, 切向力X=22120.4102, 切向力Y=8006.1958 +FPS=38.37, 法向力=9001.7266, 切向力X=22205.5176, 切向力Y=7843.8423 +FPS=37.59, 法向力=10919.0898, 切向力X=20094.0195, 切向力Y=7493.4746 +FPS=37.64, 法向力=11351.3223, 切向力X=19758.6699, 切向力Y=7387.3701 +FPS=36.45, 法向力=9434.9434, 切向力X=22064.6172, 切向力Y=7400.0205 +FPS=36.25, 法向力=9118.5234, 切向力X=21182.1562, 切向力Y=7949.4639 +FPS=37.06, 法向力=9215.4219, 切向力X=21068.7441, 切向力Y=7952.2520 +FPS=36.24, 法向力=9086.0586, 切向力X=22195.4531, 切向力Y=8248.0518 +FPS=36.93, 法向力=9013.9395, 切向力X=22296.0684, 切向力Y=8314.6318 +FPS=36.81, 法向力=9053.3818, 切向力X=22272.9219, 切向力Y=8324.0342 +FPS=34.80, 法向力=8109.2705, 切向力X=21462.5039, 切向力Y=7137.5879 +FPS=35.65, 法向力=8381.7559, 切向力X=20972.2949, 切向力Y=7889.0244 +FPS=36.99, 法向力=8418.7969, 切向力X=21191.7344, 切向力Y=7754.2700 +FPS=35.79, 法向力=7129.9561, 切向力X=21411.8047, 切向力Y=7328.3716 +FPS=36.03, 法向力=7148.3750, 切向力X=21473.9609, 切向力Y=7304.0752 +FPS=34.81, 法向力=6318.5000, 切向力X=20711.0645, 切向力Y=6706.7007 +FPS=35.34, 法向力=5877.5928, 切向力X=20262.7305, 切向力Y=5387.7021 +FPS=36.52, 法向力=5912.1396, 切向力X=20131.3906, 切向力Y=5280.5225 +FPS=36.01, 法向力=4943.1846, 切向力X=18114.7188, 切向力Y=6650.1143 +FPS=36.71, 法向力=4939.4180, 切向力X=18041.5137, 切向力Y=6781.1816 +FPS=35.97, 法向力=3159.6638, 切向力X=10399.8711, 切向力Y=6524.5938 +FPS=36.96, 法向力=3185.2769, 切向力X=10307.0859, 切向力Y=6574.3652 +FPS=35.62, 法向力=3796.0439, 切向力X=3611.6101, 切向力Y=6312.9771 +FPS=36.20, 法向力=4251.8379, 切向力X=3017.4473, 切向力Y=6318.9805 +FPS=35.14, 法向力=2706.9014, 切向力X=2545.9258, 切向力Y=5850.2725 +FPS=36.47, 法向力=2629.0298, 切向力X=2732.9675, 切向力Y=5941.9570 +FPS=36.16, 法向力=2680.0190, 切向力X=3669.8066, 切向力Y=5521.3213 +FPS=36.23, 法向力=4038.7471, 切向力X=3800.2397, 切向力Y=7052.1597 +FPS=36.51, 法向力=4059.0369, 切向力X=3948.3794, 切向力Y=7108.5801 +FPS=34.80, 法向力=2707.7124, 切向力X=3541.7046, 切向力Y=6389.8242 +FPS=37.50, 法向力=2700.6230, 切向力X=3542.0935, 切向力Y=6325.8438 +FPS=35.58, 法向力=3188.0750, 切向力X=3492.6265, 切向力Y=5888.3057 +FPS=36.66, 法向力=3276.8440, 切向力X=3138.6318, 切向力Y=5931.4360 +FPS=36.43, 法向力=2443.5063, 切向力X=3706.4062, 切向力Y=6687.0195 +FPS=37.07, 法向力=2382.9160, 切向力X=4072.0337, 切向力Y=6720.2402 +FPS=36.45, 法向力=2810.4834, 切向力X=5150.5430, 切向力Y=5866.5347 +FPS=37.14, 法向力=2848.6919, 切向力X=5131.1279, 切向力Y=5909.7129 +FPS=36.28, 法向力=2347.8247, 切向力X=4062.4680, 切向力Y=6485.7852 +FPS=36.48, 法向力=3227.8413, 切向力X=5307.0469, 切向力Y=7561.7598 +FPS=36.70, 法向力=3359.5283, 切向力X=5538.0967, 切向力Y=7577.1182 +FPS=36.22, 法向力=3523.6074, 切向力X=4995.7368, 切向力Y=6880.9414 +FPS=37.63, 法向力=3760.2947, 切向力X=4481.5879, 切向力Y=6642.0469 +FPS=34.77, 法向力=3430.4873, 切向力X=4167.5078, 切向力Y=6700.7739 +FPS=36.81, 法向力=3358.0303, 切向力X=4307.8857, 切向力Y=6742.8076 +FPS=37.00, 法向力=3120.7671, 切向力X=4307.3574, 切向力Y=7532.3154 +FPS=36.25, 法向力=3003.1582, 切向力X=4857.0420, 切向力Y=6054.5166 +FPS=36.39, 法向力=3021.4653, 切向力X=5075.5415, 切向力Y=6037.1030 +FPS=36.44, 法向力=3082.6560, 切向力X=4674.3584, 切向力Y=6248.5708 +FPS=36.56, 法向力=2983.4434, 切向力X=4555.2988, 切向力Y=6272.8091 +FPS=35.32, 法向力=3088.6223, 切向力X=4777.7744, 切向力Y=6247.0767 +FPS=22.91, 法向力=2914.3340, 切向力X=4564.1406, 切向力Y=5982.9844 +FPS=52.53, 法向力=2978.8955, 切向力X=4614.8711, 切向力Y=6745.1108 +FPS=36.17, 法向力=3022.0703, 切向力X=4729.7236, 切向力Y=6776.8174 +FPS=36.43, 法向力=3156.1064, 切向力X=5581.2905, 切向力Y=6441.4868 +FPS=37.49, 法向力=3093.6313, 切向力X=5405.7920, 切向力Y=6428.9702 +FPS=37.65, 法向力=2962.4424, 切向力X=3850.6455, 切向力Y=6749.5732 +FPS=36.69, 法向力=2711.8325, 切向力X=5186.2280, 切向力Y=6871.9263 +FPS=37.71, 法向力=2614.1897, 切向力X=5134.6553, 切向力Y=6810.2271 +FPS=33.97, 法向力=3598.0586, 切向力X=3767.8008, 切向力Y=6826.8477 +FPS=35.06, 法向力=3547.3950, 切向力X=3794.6985, 切向力Y=6820.6665 +FPS=35.77, 法向力=3069.5481, 切向力X=5760.8438, 切向力Y=5837.1460 +FPS=35.96, 法向力=3074.9297, 切向力X=5808.2080, 切向力Y=5751.0625 +FPS=35.38, 法向力=3485.2363, 切向力X=4983.3555, 切向力Y=7674.2222 +FPS=35.38, 法向力=3571.7915, 切向力X=4963.2656, 切向力Y=7751.0298 +FPS=35.35, 法向力=3376.3171, 切向力X=4629.5366, 切向力Y=7308.5303 +FPS=34.85, 法向力=3340.9097, 切向力X=4118.8223, 切向力Y=6804.4995 +FPS=34.98, 法向力=3179.9004, 切向力X=3904.6689, 切向力Y=6716.8770 +FPS=35.27, 法向力=2962.0884, 切向力X=5046.8735, 切向力Y=6866.7417 +FPS=36.13, 法向力=2945.8486, 切向力X=4896.3608, 切向力Y=7021.8213 +FPS=34.94, 法向力=3692.4619, 切向力X=4637.8281, 切向力Y=6860.5029 +FPS=36.15, 法向力=3173.7141, 切向力X=4334.7949, 切向力Y=6718.7656 +FPS=35.51, 法向力=3009.5708, 切向力X=4065.0205, 切向力Y=6695.1162 +FPS=34.75, 法向力=2867.5371, 切向力X=5640.5967, 切向力Y=6875.8506 +FPS=35.51, 法向力=2831.4214, 切向力X=5915.4648, 切向力Y=6864.7349 +FPS=16.77, 法向力=3357.7356, 切向力X=5410.6025, 切向力Y=8052.8843 +FPS=53.53, 法向力=2657.4944, 切向力X=4255.6387, 切向力Y=6856.1553 +FPS=40.51, 法向力=2618.5820, 切向力X=4258.4814, 切向力Y=6856.6143 +FPS=38.13, 法向力=2546.5405, 切向力X=5198.8154, 切向力Y=5915.3877 +FPS=41.22, 法向力=2561.2820, 切向力X=5147.2280, 切向力Y=5914.5859 +FPS=39.58, 法向力=3508.8076, 切向力X=4061.8579, 切向力Y=6474.7104 +FPS=40.76, 法向力=3738.9556, 切向力X=4099.9380, 切向力Y=6613.7603 +FPS=40.60, 法向力=3303.7896, 切向力X=4097.6592, 切向力Y=6737.0542 +FPS=39.97, 法向力=3328.0750, 切向力X=4113.1602, 切向力Y=6780.3657 +FPS=39.93, 法向力=2885.5649, 切向力X=6113.1089, 切向力Y=6260.9102 +FPS=41.84, 法向力=2906.9370, 切向力X=6195.6123, 切向力Y=6311.1377 +FPS=38.76, 法向力=2970.6868, 切向力X=6139.8779, 切向力Y=7364.6689 +FPS=38.70, 法向力=3049.9187, 切向力X=6107.3877, 切向力Y=7393.0312 +FPS=36.95, 法向力=3157.9250, 切向力X=6246.0088, 切向力Y=6404.6494 +FPS=36.87, 法向力=3203.8379, 切向力X=6294.1484, 切向力Y=6531.5312 +FPS=35.79, 法向力=2918.0679, 切向力X=4258.5615, 切向力Y=7093.9160 +FPS=40.98, 法向力=2987.3633, 切向力X=4101.2891, 切向力Y=7166.0254 +FPS=40.46, 法向力=2683.1514, 切向力X=4417.9546, 切向力Y=6832.8750 +FPS=42.42, 法向力=2717.1328, 切向力X=4206.7412, 切向力Y=6754.1836 +FPS=42.06, 法向力=2691.1018, 切向力X=5855.3838, 切向力Y=6909.8511 +FPS=43.01, 法向力=2692.3789, 切向力X=6200.2764, 切向力Y=7007.6577 +FPS=41.65, 法向力=2657.1926, 切向力X=2949.4814, 切向力Y=6853.0176 +FPS=43.59, 法向力=2548.2019, 切向力X=2940.9131, 切向力Y=6840.8711 +FPS=40.62, 法向力=2947.1584, 切向力X=5788.0430, 切向力Y=6875.1377 +FPS=43.75, 法向力=2903.3389, 切向力X=5813.2578, 切向力Y=7028.9170 +FPS=41.26, 法向力=3092.4253, 切向力X=5653.8350, 切向力Y=6414.0264 +FPS=42.19, 法向力=3074.6091, 切向力X=5629.4019, 切向力Y=6385.8721 +FPS=41.20, 法向力=3320.6675, 切向力X=4074.2988, 切向力Y=6330.3936 +FPS=42.60, 法向力=3403.8550, 切向力X=4055.2625, 切向力Y=6364.5508 +FPS=41.37, 法向力=3404.4873, 切向力X=4140.0625, 切向力Y=6384.4819 +FPS=39.27, 法向力=3053.9243, 切向力X=6131.0547, 切向力Y=6981.3652 +FPS=41.69, 法向力=3140.0696, 切向力X=6223.6982, 切向力Y=6978.2930 +FPS=40.95, 法向力=4012.3062, 切向力X=8398.1025, 切向力Y=6897.3813 +FPS=42.32, 法向力=3976.2454, 切向力X=8554.2832, 切向力Y=6930.3506 +FPS=40.57, 法向力=3114.7231, 切向力X=6018.2754, 切向力Y=5990.1362 +FPS=42.62, 法向力=3173.9006, 切向力X=5749.1890, 切向力Y=5953.1533 +FPS=40.99, 法向力=3012.5415, 切向力X=5225.4458, 切向力Y=5836.8491 +FPS=40.76, 法向力=3045.2212, 切向力X=5124.8691, 切向力Y=5842.0020 +FPS=40.42, 法向力=2897.9734, 切向力X=4245.0894, 切向力Y=6641.8613 +FPS=41.86, 法向力=2862.8135, 切向力X=4635.1328, 切向力Y=6667.6904 +FPS=40.04, 法向力=2766.3516, 切向力X=4746.5059, 切向力Y=6694.2451 +FPS=41.54, 法向力=2764.4951, 切向力X=4519.0273, 切向力Y=6657.1934 +FPS=40.27, 法向力=2616.0063, 切向力X=4854.7881, 切向力Y=6759.3203 +FPS=41.81, 法向力=2640.2578, 切向力X=4864.0269, 切向力Y=6751.6885 +FPS=40.45, 法向力=2883.4434, 切向力X=4610.6001, 切向力Y=6594.9736 +FPS=41.51, 法向力=2987.4282, 切向力X=4591.5957, 切向力Y=6591.2974 +FPS=39.76, 法向力=2928.9729, 切向力X=3935.8860, 切向力Y=6122.9795 +FPS=39.62, 法向力=2957.2354, 切向力X=3865.5930, 切向力Y=6170.0635 +FPS=17.75, 法向力=2914.5410, 切向力X=5037.4268, 切向力Y=7305.3145 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260521_094409.log b/examples/logs/qt_viewer_20260521_094409.log new file mode 100644 index 0000000..0d56569 --- /dev/null +++ b/examples/logs/qt_viewer_20260521_094409.log @@ -0,0 +1,1352 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=5 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.42, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.06, 法向力=1438.5386, 切向力X=-488.4243, 切向力Y=-1650.4192 +FPS=24.50, 法向力=1378.7656, 切向力X=534.1270, 切向力Y=141.2998 +FPS=26.98, 法向力=1443.4989, 切向力X=559.2498, 切向力Y=200.5832 +FPS=26.50, 法向力=1497.2136, 切向力X=1094.7920, 切向力Y=-12.8871 +FPS=28.67, 法向力=1444.3639, 切向力X=1120.6185, 切向力Y=-189.3757 +FPS=28.18, 法向力=1857.9512, 切向力X=1620.8540, 切向力Y=985.1566 +FPS=28.35, 法向力=1795.5994, 切向力X=1613.9824, 切向力Y=903.7990 +FPS=27.99, 法向力=1605.2213, 切向力X=215.4098, 切向力Y=177.6675 +FPS=30.00, 法向力=1611.4176, 切向力X=203.3417, 切向力Y=217.9774 +FPS=26.71, 法向力=1629.7028, 切向力X=1374.9814, 切向力Y=805.7857 +FPS=29.11, 法向力=1674.3793, 切向力X=1556.9619, 切向力Y=762.3766 +FPS=27.57, 法向力=1650.5903, 切向力X=1484.1387, 切向力Y=1427.6914 +FPS=27.54, 法向力=1312.8590, 切向力X=-207.2944, 切向力Y=733.8717 +FPS=29.38, 法向力=1297.5643, 切向力X=-206.0568, 切向力Y=745.1630 +FPS=27.12, 法向力=1441.5972, 切向力X=-12.0911, 切向力Y=691.6959 +FPS=29.06, 法向力=1455.0166, 切向力X=-23.6034, 切向力Y=563.4197 +FPS=26.89, 法向力=1724.7454, 切向力X=-71.5938, 切向力Y=52.1169 +FPS=28.91, 法向力=1805.4116, 切向力X=-93.5513, 切向力Y=31.3223 +FPS=27.65, 法向力=1471.0142, 切向力X=-965.7539, 切向力Y=406.7866 +FPS=28.94, 法向力=1472.1266, 切向力X=-909.3256, 切向力Y=325.9155 +FPS=26.04, 法向力=2442.6152, 切向力X=-366.9246, 切向力Y=772.7400 +FPS=28.96, 法向力=2515.5684, 切向力X=-345.0911, 切向力Y=988.3388 +FPS=28.02, 法向力=1502.2760, 切向力X=-1211.2722, 切向力Y=415.4500 +FPS=25.51, 法向力=1503.3955, 切向力X=-1221.8617, 切向力Y=390.0587 +FPS=27.47, 法向力=2385.3257, 切向力X=-511.0248, 切向力Y=-144.7561 +FPS=25.80, 法向力=1877.3065, 切向力X=-246.1144, 切向力Y=769.4176 +FPS=27.63, 法向力=2087.3906, 切向力X=-82.2832, 切向力Y=695.2109 +stitch_feature_optimized: canvas out_w=402, out_h=415, x_min=-73.65, y_min=-79.35 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000213s, blend=0.002146s (9 tiles incl ref), finalize=0.000051s, total=0.002417s +FPS=25.68, 法向力=1559.3513, 切向力X=-464.6951, 切向力Y=581.3288 +FPS=28.26, 法向力=1532.4133, 切向力X=-176.2245, 切向力Y=636.2676 +FPS=27.77, 法向力=1564.0823, 切向力X=520.9689, 切向力Y=882.0822 +FPS=29.22, 法向力=1543.0342, 切向力X=538.3631, 切向力Y=860.1930 +FPS=25.90, 法向力=1576.4264, 切向力X=800.9782, 切向力Y=1235.4116 +FPS=29.57, 法向力=1560.1414, 切向力X=801.8523, 切向力Y=1232.3445 +FPS=27.35, 法向力=1479.8732, 切向力X=1744.6526, 切向力Y=726.2324 +FPS=28.14, 法向力=1474.8906, 切向力X=1760.2443, 切向力Y=662.0955 +FPS=28.33, 法向力=2087.8997, 切向力X=981.4520, 切向力Y=466.8643 +FPS=28.11, 法向力=1756.9109, 切向力X=-37.5865, 切向力Y=524.6310 +FPS=27.47, 法向力=1783.8228, 切向力X=-58.4775, 切向力Y=568.0756 +FPS=27.92, 法向力=1429.8987, 切向力X=-823.3949, 切向力Y=1025.9421 +FPS=29.39, 法向力=1477.0217, 切向力X=-1023.1370, 切向力Y=903.9842 +FPS=28.40, 法向力=1630.7971, 切向力X=-537.4642, 切向力Y=347.6845 +FPS=28.41, 法向力=1695.0974, 切向力X=-527.0812, 切向力Y=286.0585 +FPS=26.42, 法向力=1525.4370, 切向力X=-651.9270, 切向力Y=1484.5962 +FPS=28.40, 法向力=1502.5277, 切向力X=-577.8876, 切向力Y=1441.2327 +FPS=27.12, 法向力=2653.6982, 切向力X=1418.9739, 切向力Y=1316.8540 +FPS=28.06, 法向力=2645.7915, 切向力X=1241.7161, 切向力Y=1379.5811 +FPS=26.47, 法向力=1776.9414, 切向力X=-417.9080, 切向力Y=126.2538 +FPS=27.45, 法向力=2292.6255, 切向力X=777.2328, 切向力Y=67.7245 +FPS=27.25, 法向力=2239.3667, 切向力X=652.6652, 切向力Y=-6.8218 +FPS=27.14, 法向力=2003.8265, 切向力X=-262.9919, 切向力Y=10.4856 +FPS=29.09, 法向力=2067.7441, 切向力X=-339.0182, 切向力Y=61.8741 +FPS=27.49, 法向力=2355.9590, 切向力X=-117.0594, 切向力Y=824.1171 +FPS=27.58, 法向力=2418.3669, 切向力X=-106.5228, 切向力Y=863.8153 +FPS=28.26, 法向力=1823.9529, 切向力X=-501.9908, 切向力Y=1329.5386 +FPS=27.44, 法向力=2047.1934, 切向力X=-356.9548, 切向力Y=1424.9023 +FPS=26.10, 法向力=1080.2927, 切向力X=-1437.7842, 切向力Y=547.9575 +FPS=27.31, 法向力=1045.9050, 切向力X=-1684.0626, 切向力Y=527.4115 +stitch_feature_optimized: canvas out_w=402, out_h=415, x_min=-73.65, y_min=-79.35 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000207s, blend=0.002158s (9 tiles incl ref), finalize=0.000075s, total=0.002447s +FPS=26.93, 法向力=1529.7087, 切向力X=281.8969, 切向力Y=1233.1176 +FPS=27.43, 法向力=1497.6348, 切向力X=1140.0071, 切向力Y=1216.9612 +FPS=27.80, 法向力=1448.4771, 切向力X=1082.1340, 切向力Y=1270.3777 +FPS=27.19, 法向力=1999.7322, 切向力X=1059.4452, 切向力Y=1768.6023 +FPS=28.69, 法向力=1940.2095, 切向力X=1066.1282, 切向力Y=1647.1617 +FPS=27.00, 法向力=1568.9175, 切向力X=-908.4364, 切向力Y=1519.6573 +FPS=27.62, 法向力=1412.0746, 切向力X=-1126.6042, 切向力Y=1398.9979 +FPS=27.11, 法向力=1944.8368, 切向力X=975.6024, 切向力Y=1329.3064 +FPS=28.79, 法向力=1957.9376, 切向力X=1078.9174, 切向力Y=1375.6882 +FPS=26.82, 法向力=1203.6238, 切向力X=-92.0480, 切向力Y=1210.8615 +FPS=28.25, 法向力=1182.5551, 切向力X=-104.2974, 切向力Y=1216.3135 +FPS=27.09, 法向力=1752.7375, 切向力X=-677.6926, 切向力Y=2263.4321 +FPS=27.51, 法向力=1781.9879, 切向力X=-812.7368, 切向力Y=2258.0830 +FPS=28.73, 法向力=1476.5591, 切向力X=229.7392, 切向力Y=1310.6704 +FPS=29.23, 法向力=1481.4847, 切向力X=195.3121, 切向力Y=1190.0151 +FPS=26.72, 法向力=2081.6841, 切向力X=-556.7018, 切向力Y=1799.7140 +FPS=27.79, 法向力=2002.8987, 切向力X=-658.6716, 切向力Y=1859.0728 +FPS=27.14, 法向力=1382.7426, 切向力X=1683.3763, 切向力Y=1238.4719 +FPS=22.73, 法向力=1639.7756, 切向力X=200.0146, 切向力Y=1010.5528 +FPS=16.79, 法向力=1655.3967, 切向力X=218.8199, 切向力Y=-2190.4165 +FPS=23.43, 法向力=1568.9517, 切向力X=124.9579, 切向力Y=-2294.2019 +FPS=24.32, 法向力=3688.1270, 切向力X=-6079.5132, 切向力Y=-25226.3730 +FPS=25.68, 法向力=11062.8711, 切向力X=-7067.8188, 切向力Y=-65072.8594 +FPS=26.62, 法向力=10623.7520, 切向力X=-6999.8633, 切向力Y=-65450.7109 +FPS=28.01, 法向力=20557.7773, 切向力X=-11501.1406, 切向力Y=-49797.2656 +FPS=27.55, 法向力=20557.5977, 切向力X=-11460.0371, 切向力Y=-49927.8945 +FPS=25.64, 法向力=19255.0918, 切向力X=-16896.8672, 切向力Y=-32062.1172 +FPS=28.52, 法向力=19210.6738, 切向力X=-16988.7461, 切向力Y=-31943.2480 +FPS=25.20, 法向力=14174.5703, 切向力X=-17966.1152, 切向力Y=-17398.6836 +FPS=26.13, 法向力=14127.7754, 切向力X=-17650.5625, 切向力Y=-17479.1875 +stitch_feature_optimized: canvas out_w=402, out_h=415, x_min=-73.65, y_min=-79.35 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000203s, blend=0.002167s (9 tiles incl ref), finalize=0.000061s, total=0.002437s +FPS=26.53, 法向力=8901.0000, 切向力X=-8126.9380, 切向力Y=-9084.1680 +FPS=25.63, 法向力=4188.9331, 切向力X=-3418.5859, 切向力Y=-2509.7397 +FPS=26.94, 法向力=4190.8003, 切向力X=-3533.6243, 切向力Y=-2526.2639 +FPS=25.39, 法向力=2556.7124, 切向力X=-3786.5403, 切向力Y=1120.1099 +FPS=28.09, 法向力=2535.4556, 切向力X=-3751.4080, 切向力Y=1254.1232 +FPS=25.58, 法向力=2419.7729, 切向力X=-2966.8076, 切向力Y=9323.9404 +FPS=28.02, 法向力=2516.1782, 切向力X=-2881.7212, 切向力Y=9733.3799 +FPS=25.62, 法向力=6150.5869, 切向力X=2138.2300, 切向力Y=37791.7852 +FPS=26.13, 法向力=7620.0552, 切向力X=4790.3896, 切向力Y=58836.4336 +FPS=26.54, 法向力=7278.2261, 切向力X=5049.1064, 切向力Y=59237.5391 +FPS=25.29, 法向力=9062.0889, 切向力X=-349.3274, 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+FPS=32.26, 法向力=5159.1621, 切向力X=-1740.5802, 切向力Y=5434.3936 +FPS=35.93, 法向力=5191.5034, 切向力X=-1874.1504, 切向力Y=5428.2900 +FPS=34.66, 法向力=5077.6685, 切向力X=-1996.3806, 切向力Y=5553.2427 +FPS=35.86, 法向力=5101.7432, 切向力X=-2006.6372, 切向力Y=5583.3877 +FPS=35.38, 法向力=5107.8018, 切向力X=-2011.2585, 切向力Y=5549.2109 +FPS=32.51, 法向力=5156.0225, 切向力X=-536.4159, 切向力Y=4384.4756 +FPS=34.25, 法向力=5220.1631, 切向力X=-482.2823, 切向力Y=4366.9717 +FPS=34.77, 法向力=5701.0674, 切向力X=-2195.9863, 切向力Y=4626.2979 +FPS=35.83, 法向力=5659.9385, 切向力X=-2109.8765, 切向力Y=4590.6118 +FPS=35.03, 法向力=5661.9644, 切向力X=-2072.8525, 切向力Y=4598.5229 +FPS=14.66, 法向力=5591.3154, 切向力X=-2514.0508, 切向力Y=5010.8584 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260521_094501.log b/examples/logs/qt_viewer_20260521_094501.log new file mode 100644 index 0000000..f361684 --- /dev/null +++ b/examples/logs/qt_viewer_20260521_094501.log @@ -0,0 +1,525 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=10 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.59, 法向力=1351.7986, 切向力X=586.7537, 切向力Y=-421.8537 +FPS=22.43, 法向力=1438.6997, 切向力X=-256.4315, 切向力Y=474.1641 +FPS=25.51, 法向力=1433.4691, 切向力X=-163.9402, 切向力Y=449.4901 +FPS=24.64, 法向力=1728.5864, 切向力X=1405.2549, 切向力Y=-357.8538 +FPS=25.54, 法向力=1682.8336, 切向力X=1348.2159, 切向力Y=-407.8076 +FPS=27.70, 法向力=1533.1704, 切向力X=507.8833, 切向力Y=244.4678 +FPS=26.89, 法向力=1654.3816, 切向力X=727.6646, 切向力Y=-108.2622 +FPS=27.90, 法向力=1663.7815, 切向力X=866.7712, 切向力Y=-142.1101 +FPS=26.11, 法向力=1376.8279, 切向力X=258.5244, 切向力Y=-161.8405 +FPS=28.11, 法向力=1413.8682, 切向力X=290.4792, 切向力Y=-136.3971 +FPS=28.32, 法向力=1368.7402, 切向力X=425.5537, 切向力Y=-185.3469 +FPS=29.77, 法向力=1348.4706, 切向力X=378.8184, 切向力Y=-47.8732 +FPS=28.22, 法向力=1852.6814, 切向力X=61.7642, 切向力Y=1034.8177 +FPS=30.00, 法向力=1830.9255, 切向力X=-10.8048, 切向力Y=1042.8644 +FPS=27.10, 法向力=1379.1412, 切向力X=1339.2854, 切向力Y=899.6252 +FPS=30.62, 法向力=1361.4714, 切向力X=1305.5244, 切向力Y=809.3119 +FPS=27.63, 法向力=1509.7434, 切向力X=453.7438, 切向力Y=117.9268 +FPS=29.88, 法向力=1493.0149, 切向力X=429.8770, 切向力Y=211.1447 +FPS=30.01, 法向力=1924.8248, 切向力X=880.2858, 切向力Y=-191.8444 +FPS=29.65, 法向力=1949.3987, 切向力X=776.1313, 切向力Y=-293.1425 +FPS=29.51, 法向力=1696.2687, 切向力X=719.8542, 切向力Y=-683.6431 +FPS=29.48, 法向力=1253.7900, 切向力X=148.8750, 切向力Y=-162.5087 +FPS=29.92, 法向力=1277.0615, 切向力X=218.0565, 切向力Y=-86.8268 +FPS=30.62, 法向力=1288.7998, 切向力X=239.0373, 切向力Y=-84.2321 +FPS=27.96, 法向力=4666.8477, 切向力X=-1797.5237, 切向力Y=3549.3398 +FPS=28.40, 法向力=4588.4746, 切向力X=-1811.3416, 切向力Y=3451.7393 +FPS=29.79, 法向力=6366.3779, 切向力X=5010.6519, 切向力Y=-32387.3281 +stitch_feature_optimized: canvas out_w=406, out_h=418, x_min=-77.09, y_min=-81.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000235s, blend=0.002967s (9 tiles incl ref), finalize=0.000051s, total=0.003261s +FPS=29.30, 法向力=6460.9053, 切向力X=4948.4678, 切向力Y=-32258.6562 +FPS=28.16, 法向力=10495.4199, 切向力X=24472.7227, 切向力Y=-74805.6016 +FPS=29.27, 法向力=24078.4863, 切向力X=26239.3242, 切向力Y=-60347.3672 +FPS=30.04, 法向力=24065.6055, 切向力X=25976.8789, 切向力Y=-60409.5742 +FPS=28.14, 法向力=15626.0596, 切向力X=12805.5723, 切向力Y=-37696.1367 +FPS=27.69, 法向力=15407.5244, 切向力X=12612.2480, 切向力Y=-37032.2422 +FPS=27.40, 法向力=7531.4932, 切向力X=4390.0977, 切向力Y=-15900.4570 +FPS=30.64, 法向力=7436.5000, 切向力X=4344.6582, 切向力Y=-15751.2578 +FPS=28.98, 法向力=3933.2805, 切向力X=975.9615, 切向力Y=-1686.8074 +FPS=30.51, 法向力=3923.8691, 切向力X=941.2154, 切向力Y=-1667.3481 +FPS=28.56, 法向力=3393.7834, 切向力X=-7190.3408, 切向力Y=19396.4609 +FPS=30.34, 法向力=3378.8953, 切向力X=-7154.0176, 切向力Y=19589.2539 +FPS=27.28, 法向力=9486.8418, 切向力X=-15962.2676, 切向力Y=59069.5234 +FPS=30.89, 法向力=9610.1201, 切向力X=-16136.0684, 切向力Y=59261.1562 +FPS=26.95, 法向力=11922.8438, 切向力X=-25864.9941, 切向力Y=86933.0625 +FPS=28.92, 法向力=11724.3242, 切向力X=-26134.6973, 切向力Y=87139.1094 +FPS=26.25, 法向力=14442.3145, 切向力X=-24075.9688, 切向力Y=64560.5547 +FPS=28.33, 法向力=13915.7734, 切向力X=-24544.4023, 切向力Y=63754.8008 +FPS=28.39, 法向力=16409.1641, 切向力X=-10579.3223, 切向力Y=46874.8984 +FPS=25.18, 法向力=16570.0195, 切向力X=-10438.0898, 切向力Y=46899.3828 +FPS=27.72, 法向力=14954.2891, 切向力X=11142.5176, 切向力Y=32296.2715 +FPS=28.42, 法向力=11258.0918, 切向力X=32036.6797, 切向力Y=4583.2866 +FPS=28.35, 法向力=11352.3877, 切向力X=32241.5586, 切向力Y=4547.3164 +FPS=28.14, 法向力=4936.3608, 切向力X=29034.5312, 切向力Y=-28661.7559 +FPS=29.29, 法向力=4997.6406, 切向力X=29090.5312, 切向力Y=-28636.5918 +FPS=26.84, 法向力=11356.5410, 切向力X=29766.5234, 切向力Y=-27605.2188 +FPS=30.45, 法向力=11423.9717, 切向力X=29772.1348, 切向力Y=-27660.8906 +FPS=28.00, 法向力=11073.7461, 切向力X=40741.3438, 切向力Y=-3691.3364 +FPS=29.14, 法向力=11003.9033, 切向力X=40729.0859, 切向力Y=-3606.1519 +FPS=29.02, 法向力=9504.9971, 切向力X=29789.5352, 切向力Y=8164.0684 +stitch_feature_optimized: canvas out_w=406, out_h=418, x_min=-77.09, y_min=-81.31 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000005s (hit), reset=0.000373s, blend=0.002226s (9 tiles incl ref), finalize=0.000057s, total=0.002664s +FPS=29.27, 法向力=9329.0039, 切向力X=29788.0547, 切向力Y=8271.7676 +FPS=27.91, 法向力=5666.3188, 切向力X=17979.9082, 切向力Y=16489.7773 +FPS=30.79, 法向力=5579.6709, 切向力X=17941.8711, 切向力Y=16555.5195 +FPS=28.25, 法向力=4306.6484, 切向力X=-14460.5312, 切向力Y=18327.8301 +FPS=30.85, 法向力=4293.7251, 切向力X=-14413.0400, 切向力Y=18349.4609 +FPS=28.95, 法向力=3893.6724, 切向力X=-43452.6953, 切向力Y=2177.9722 +FPS=30.74, 法向力=3736.6152, 切向力X=-43582.8750, 切向力Y=2201.9739 +FPS=29.05, 法向力=6094.4951, 切向力X=-56070.9844, 切向力Y=-25337.7891 +FPS=31.11, 法向力=5669.0640, 切向力X=-56411.2578, 切向力Y=-25759.5410 +FPS=28.99, 法向力=8618.5791, 切向力X=-72349.5938, 切向力Y=-34018.1250 +FPS=31.22, 法向力=8158.3286, 切向力X=-72760.6094, 切向力Y=-34542.2188 +FPS=28.31, 法向力=23680.7109, 切向力X=-83399.8438, 切向力Y=-34230.8359 +FPS=32.79, 法向力=23523.7305, 切向力X=-84097.0078, 切向力Y=-34312.2734 +FPS=29.59, 法向力=27396.8965, 切向力X=-53177.3477, 切向力Y=-19210.3867 +FPS=31.07, 法向力=27265.2578, 切向力X=-53292.2266, 切向力Y=-19416.3926 +FPS=28.53, 法向力=7728.7314, 切向力X=-9802.9482, 切向力Y=-6936.0967 +FPS=31.10, 法向力=7714.4590, 切向力X=-9733.8438, 切向力Y=-6944.1665 +FPS=28.00, 法向力=6132.3462, 切向力X=31492.9414, 切向力Y=-7764.5371 +FPS=28.67, 法向力=6018.7852, 切向力X=31647.7246, 切向力Y=-7711.2759 +FPS=29.05, 法向力=13480.3418, 切向力X=101132.5000, 切向力Y=-5516.4004 +FPS=28.90, 法向力=13870.2373, 切向力X=101289.3125, 切向力Y=-4976.5273 +FPS=29.67, 法向力=26665.8750, 切向力X=158331.8750, 切向力Y=13821.0195 +FPS=30.51, 法向力=26418.7012, 切向力X=158706.8906, 切向力Y=14086.0059 +FPS=29.32, 法向力=34848.0234, 切向力X=154375.2812, 切向力Y=24181.9766 +FPS=30.20, 法向力=35129.2188, 切向力X=153980.0312, 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+FPS=31.01, 法向力=11147.1758, 切向力X=83056.6875, 切向力Y=-4149.2344 +FPS=27.69, 法向力=17944.4922, 切向力X=97365.8203, 切向力Y=-2521.9771 +FPS=31.44, 法向力=17570.1875, 切向力X=97301.7188, 切向力Y=-1382.5056 +FPS=28.77, 法向力=23419.1211, 切向力X=83327.5781, 切向力Y=3403.5461 +FPS=30.03, 法向力=23357.1270, 切向力X=83089.5312, 切向力Y=3409.4585 +FPS=29.27, 法向力=22956.1445, 切向力X=57085.6016, 切向力Y=5105.4463 +FPS=29.67, 法向力=22854.3438, 切向力X=56544.1016, 切向力Y=5068.7227 +FPS=28.61, 法向力=11628.8682, 切向力X=29547.5059, 切向力Y=5328.9980 +FPS=29.86, 法向力=11545.6855, 切向力X=29430.7871, 切向力Y=5411.9565 +FPS=27.66, 法向力=6564.1074, 切向力X=7645.2222, 切向力Y=-1057.9612 +FPS=29.96, 法向力=6603.9204, 切向力X=7591.0020, 切向力Y=-934.2906 +FPS=28.80, 法向力=5789.0977, 切向力X=-33170.2656, 切向力Y=7163.2822 +FPS=30.63, 法向力=5661.0337, 切向力X=-33479.9297, 切向力Y=7291.8506 +FPS=29.25, 法向力=11270.7070, 切向力X=-57387.0508, 切向力Y=10562.1084 +FPS=30.57, 法向力=11096.5098, 切向力X=-57874.8750, 切向力Y=10102.2969 +FPS=29.60, 法向力=27536.2871, 切向力X=-67417.5000, 切向力Y=9253.7852 +FPS=30.69, 法向力=27493.2852, 切向力X=-67528.0234, 切向力Y=9271.9707 +FPS=27.46, 法向力=14391.6934, 切向力X=-27655.4355, 切向力Y=5272.0317 +FPS=30.05, 法向力=13994.4707, 切向力X=-27362.1465, 切向力Y=5264.3623 +FPS=27.70, 法向力=4960.6631, 切向力X=-4639.4658, 切向力Y=2079.7756 +FPS=31.27, 法向力=5014.2266, 切向力X=-4627.7324, 切向力Y=2054.2778 +stitch_feature_optimized: canvas out_w=406, out_h=418, x_min=-77.09, y_min=-81.31 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000212s, blend=0.002102s (9 tiles incl ref), finalize=0.000046s, total=0.002367s +FPS=28.55, 法向力=2387.1182, 切向力X=-2746.8157, 切向力Y=1775.3198 +FPS=29.94, 法向力=2311.6360, 切向力X=-2827.7466, 切向力Y=1850.6265 +FPS=28.79, 法向力=2785.8936, 切向力X=-2320.3491, 切向力Y=1607.5765 +FPS=30.11, 法向力=2879.6558, 切向力X=-2296.9277, 切向力Y=1524.9333 +FPS=30.24, 法向力=1317.6919, 切向力X=-1788.3115, 切向力Y=1734.1278 +FPS=30.85, 法向力=1305.5800, 切向力X=-1860.5829, 切向力Y=1676.8497 +FPS=28.94, 法向力=2186.9546, 切向力X=-52.4731, 切向力Y=219.6610 +FPS=31.99, 法向力=2254.8792, 切向力X=-103.5750, 切向力Y=177.9173 +FPS=28.03, 法向力=1722.5767, 切向力X=-1286.9404, 切向力Y=1927.6685 +FPS=31.45, 法向力=1693.4760, 切向力X=-1225.2493, 切向力Y=1877.3564 +FPS=29.65, 法向力=1261.7747, 切向力X=-745.2392, 切向力Y=1002.9061 +FPS=30.55, 法向力=1278.5538, 切向力X=-862.3309, 切向力Y=948.4484 +FPS=29.40, 法向力=2906.4167, 切向力X=588.9861, 切向力Y=1066.2036 +FPS=30.41, 法向力=2859.9822, 切向力X=555.4321, 切向力Y=1068.6591 +FPS=28.61, 法向力=1649.1428, 切向力X=-948.7809, 切向力Y=514.2030 +FPS=30.80, 法向力=1675.3401, 切向力X=-924.1661, 切向力Y=517.5527 +FPS=28.67, 法向力=2425.9917, 切向力X=359.5904, 切向力Y=-1157.7559 +FPS=22.98, 法向力=2523.8184, 切向力X=79.3885, 切向力Y=-1147.8442 +FPS=43.80, 法向力=1705.3433, 切向力X=320.5683, 切向力Y=895.6641 +FPS=35.05, 法向力=1619.7244, 切向力X=174.4504, 切向力Y=873.1293 +FPS=31.79, 法向力=1469.2158, 切向力X=276.2856, 切向力Y=1045.7561 +FPS=35.19, 法向力=1446.5903, 切向力X=182.2836, 切向力Y=914.3402 +FPS=33.26, 法向力=2511.6763, 切向力X=1101.0753, 切向力Y=873.9871 +FPS=31.25, 法向力=2475.0527, 切向力X=1028.2581, 切向力Y=733.7524 +FPS=30.61, 法向力=1922.8274, 切向力X=310.0358, 切向力Y=915.5975 +FPS=33.56, 法向力=1892.5703, 切向力X=211.4229, 切向力Y=818.7439 +FPS=34.02, 法向力=1749.3999, 切向力X=-1473.8685, 切向力Y=-65.9540 +FPS=33.93, 法向力=1768.2288, 切向力X=-1546.7701, 切向力Y=-193.9357 +FPS=35.33, 法向力=1743.5188, 切向力X=-1563.5625, 切向力Y=-163.1676 +FPS=34.04, 法向力=2236.0515, 切向力X=-118.3321, 切向力Y=-41.8835 +stitch_feature_optimized: canvas out_w=406, out_h=418, x_min=-77.09, y_min=-81.31 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000258s, blend=0.002222s (9 tiles incl ref), finalize=0.000053s, total=0.002539s +FPS=35.82, 法向力=2254.2119, 切向力X=-110.2483, 切向力Y=0.1212 +FPS=34.84, 法向力=2062.9946, 切向力X=346.8817, 切向力Y=815.7223 +FPS=34.98, 法向力=2022.3398, 切向力X=272.9713, 切向力Y=829.6489 +FPS=33.44, 法向力=2031.3250, 切向力X=248.3222, 切向力Y=868.4673 +FPS=31.83, 法向力=1462.4193, 切向力X=-1333.7509, 切向力Y=405.9786 +FPS=34.04, 法向力=1496.5229, 切向力X=-1401.2429, 切向力Y=305.9943 +FPS=32.75, 法向力=1131.2784, 切向力X=-1237.3887, 切向力Y=1072.8718 +FPS=33.55, 法向力=1236.3207, 切向力X=-933.6129, 切向力Y=1036.1542 +FPS=29.68, 法向力=1301.2302, 切向力X=-1072.0885, 切向力Y=1566.8831 +FPS=34.25, 法向力=1275.4872, 切向力X=-1100.1532, 切向力Y=1649.8512 +FPS=29.01, 法向力=1051.9365, 切向力X=-370.8828, 切向力Y=487.9473 +FPS=34.87, 法向力=1052.7744, 切向力X=-380.8271, 切向力Y=478.4661 +FPS=28.51, 法向力=1558.3593, 切向力X=1733.0237, 切向力Y=1242.4617 +FPS=34.20, 法向力=1571.6941, 切向力X=1848.5437, 切向力Y=1208.9673 +FPS=32.76, 法向力=1390.0925, 切向力X=572.6583, 切向力Y=674.1569 +FPS=32.61, 法向力=1481.6060, 切向力X=579.8555, 切向力Y=683.8323 +FPS=33.35, 法向力=1497.0518, 切向力X=588.9718, 切向力Y=689.7255 +FPS=32.92, 法向力=1747.3929, 切向力X=930.2512, 切向力Y=1139.4772 +FPS=33.56, 法向力=1792.1885, 切向力X=1065.6594, 切向力Y=1133.7319 +FPS=34.98, 法向力=1312.5846, 切向力X=-643.6093, 切向力Y=1227.4324 +FPS=35.54, 法向力=1313.0581, 切向力X=-704.4987, 切向力Y=1246.3311 +FPS=32.75, 法向力=1816.0579, 切向力X=-1556.4292, 切向力Y=668.3011 +FPS=34.26, 法向力=1891.3258, 切向力X=-1502.7268, 切向力Y=556.1063 +FPS=32.11, 法向力=2287.0093, 切向力X=-2084.0122, 切向力Y=739.7820 +FPS=34.55, 法向力=2327.3230, 切向力X=-2099.9219, 切向力Y=819.1427 +FPS=32.71, 法向力=2290.7749, 切向力X=-2073.0762, 切向力Y=848.7835 +FPS=12.11, 法向力=1383.1367, 切向力X=-378.4599, 切向力Y=1204.9136 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260521_094546.log b/examples/logs/qt_viewer_20260521_094546.log new file mode 100644 index 0000000..71a044f --- /dev/null +++ b/examples/logs/qt_viewer_20260521_094546.log @@ -0,0 +1,312 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.14, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=7.65, 法向力=224453.5312, 切向力X=105677.2500, 切向力Y=-137233.5938 +FPS=29.33, 法向力=190772.9219, 切向力X=31408.4512, 切向力Y=-140179.3750 +FPS=31.38, 法向力=174432.2969, 切向力X=-565.1555, 切向力Y=-125150.0938 +FPS=33.96, 法向力=129789.8906, 切向力X=-15265.1953, 切向力Y=-116074.5703 +FPS=34.40, 法向力=137878.8750, 切向力X=-120411.2031, 切向力Y=-17694.6797 +FPS=34.48, 法向力=150854.0938, 切向力X=-115894.1016, 切向力Y=3930.0454 +FPS=34.84, 法向力=120976.8125, 切向力X=-52758.3906, 切向力Y=-774.1121 +FPS=33.93, 法向力=155809.3125, 切向力X=96204.1094, 切向力Y=109260.4062 +FPS=35.17, 法向力=126811.0469, 切向力X=30006.9883, 切向力Y=97343.3438 +FPS=34.77, 法向力=125295.3359, 切向力X=23732.3672, 切向力Y=91633.0625 +FPS=34.74, 法向力=115097.4531, 切向力X=123466.6250, 切向力Y=29059.3555 +FPS=33.67, 法向力=119201.2969, 切向力X=133447.3125, 切向力Y=16923.9727 +FPS=34.12, 法向力=131970.1562, 切向力X=177247.4531, 切向力Y=52158.2969 +FPS=33.97, 法向力=139380.2500, 切向力X=183730.8594, 切向力Y=60313.9219 +FPS=34.62, 法向力=166963.5312, 切向力X=220618.9375, 切向力Y=75233.3359 +FPS=33.45, 法向力=232641.7031, 切向力X=151362.7500, 切向力Y=123763.6875 +FPS=33.71, 法向力=162928.1094, 切向力X=79726.2031, 切向力Y=92062.7031 +FPS=34.58, 法向力=213334.8281, 切向力X=62400.6875, 切向力Y=-4936.7725 +FPS=33.67, 法向力=253929.4688, 切向力X=157997.2656, 切向力Y=-28523.7227 +FPS=34.27, 法向力=250184.1875, 切向力X=195129.0625, 切向力Y=-35222.2773 +FPS=34.95, 法向力=147292.6719, 切向力X=123614.3125, 切向力Y=-8367.5879 +FPS=33.72, 法向力=142309.7500, 切向力X=53881.3867, 切向力Y=5593.4502 +FPS=34.97, 法向力=82469.0000, 切向力X=38280.5586, 切向力Y=27875.8496 +FPS=33.40, 法向力=113871.9766, 切向力X=29057.9219, 切向力Y=-13808.4268 +FPS=35.23, 法向力=96571.1719, 切向力X=26497.0488, 切向力Y=-25734.8965 +FPS=33.98, 法向力=128917.6328, 切向力X=-59596.5391, 切向力Y=-20075.1992 +FPS=35.95, 法向力=119127.3906, 切向力X=-65284.6719, 切向力Y=-16402.8848 +FPS=35.51, 法向力=122390.0312, 切向力X=-60723.5391, 切向力Y=-12377.0039 +FPS=35.01, 法向力=144031.0625, 切向力X=-171145.3438, 切向力Y=-31691.8867 +FPS=35.30, 法向力=149344.2188, 切向力X=-177265.5469, 切向力Y=-14347.6143 +FPS=33.88, 法向力=167409.7188, 切向力X=-260458.7656, 切向力Y=-44878.2734 +FPS=35.05, 法向力=243857.9219, 切向力X=-92339.5391, 切向力Y=-70656.5156 +FPS=34.98, 法向力=122388.4219, 切向力X=-83505.7422, 切向力Y=15795.5801 +FPS=34.51, 法向力=189179.5000, 切向力X=-83765.3438, 切向力Y=23625.9648 +FPS=35.21, 法向力=217090.2812, 切向力X=-75090.2656, 切向力Y=-16966.3516 +FPS=35.75, 法向力=250836.4375, 切向力X=-48344.9062, 切向力Y=-53936.5547 +FPS=35.50, 法向力=134251.5469, 切向力X=-12139.8086, 切向力Y=44505.5820 +FPS=35.25, 法向力=133528.0938, 切向力X=-7245.9160, 切向力Y=137295.0625 +FPS=35.50, 法向力=143753.5625, 切向力X=-7715.3730, 切向力Y=87373.0156 +FPS=34.53, 法向力=118795.4375, 切向力X=156601.0156, 切向力Y=134420.9688 +FPS=35.38, 法向力=149753.5625, 切向力X=228416.0938, 切向力Y=132141.0000 +FPS=34.59, 法向力=165087.5625, 切向力X=297630.5625, 切向力Y=135698.1094 +FPS=33.68, 法向力=103383.4219, 切向力X=265659.3750, 切向力Y=119538.6484 +FPS=34.42, 法向力=117029.4062, 切向力X=268357.1875, 切向力Y=117230.7266 +FPS=33.75, 法向力=130364.2656, 切向力X=317519.5625, 切向力Y=67630.4453 +FPS=34.82, 法向力=152826.9531, 切向力X=360163.8125, 切向力Y=62873.3438 +FPS=35.33, 法向力=144766.1562, 切向力X=308462.3125, 切向力Y=108671.7031 +FPS=36.27, 法向力=169450.4688, 切向力X=259079.6094, 切向力Y=118589.5312 +FPS=34.62, 法向力=176607.0312, 切向力X=97924.7344, 切向力Y=58916.4766 +FPS=36.56, 法向力=138086.4219, 切向力X=25253.1465, 切向力Y=28088.7871 +FPS=35.05, 法向力=75342.1562, 切向力X=-34257.0234, 切向力Y=86453.6484 +FPS=35.19, 法向力=151519.1250, 切向力X=-46344.3320, 切向力Y=-1559.9192 +FPS=35.38, 法向力=185916.4062, 切向力X=-57073.1719, 切向力Y=-17278.7812 +FPS=34.39, 法向力=170350.0312, 切向力X=1788.7952, 切向力Y=-28683.3223 +FPS=35.77, 法向力=148680.0312, 切向力X=134856.0781, 切向力Y=-55962.7109 +FPS=34.93, 法向力=141790.7656, 切向力X=167034.6875, 切向力Y=-65564.9766 +FPS=34.89, 法向力=99838.0625, 切向力X=291098.2812, 切向力Y=-54872.7305 +FPS=35.72, 法向力=125511.9219, 切向力X=305577.3438, 切向力Y=16772.1836 +FPS=34.17, 法向力=130853.7969, 切向力X=270878.3438, 切向力Y=-2966.2468 +FPS=35.45, 法向力=153290.9375, 切向力X=296172.4062, 切向力Y=-48994.2891 +FPS=34.28, 法向力=195820.4531, 切向力X=173898.4062, 切向力Y=-1631.2551 +FPS=36.10, 法向力=166799.2812, 切向力X=84400.7734, 切向力Y=22266.9883 +FPS=34.66, 法向力=140270.9062, 切向力X=57307.8828, 切向力Y=44544.7188 +FPS=37.31, 法向力=157973.9375, 切向力X=36385.5273, 切向力Y=-14314.4961 +FPS=36.33, 法向力=113027.9609, 切向力X=-11917.6357, 切向力Y=52009.9453 +FPS=34.85, 法向力=83498.5547, 切向力X=8112.1123, 切向力Y=48999.9961 +FPS=37.25, 法向力=69951.8281, 切向力X=7272.8633, 切向力Y=37528.6094 +FPS=37.33, 法向力=150311.3906, 切向力X=-18893.7266, 切向力Y=-55748.1172 +FPS=36.97, 法向力=186697.6875, 切向力X=-114995.2031, 切向力Y=-81331.8359 +FPS=37.26, 法向力=209046.7500, 切向力X=-177284.9688, 切向力Y=-93718.9844 +FPS=37.37, 法向力=190936.0938, 切向力X=-215401.2500, 切向力Y=-102835.3359 +FPS=36.32, 法向力=133929.2656, 切向力X=-121121.8281, 切向力Y=24603.1309 +FPS=39.64, 法向力=129253.2188, 切向力X=-91443.1875, 切向力Y=250.6514 +FPS=39.44, 法向力=137050.2969, 切向力X=-186932.0000, 切向力Y=-3349.4810 +FPS=36.60, 法向力=171849.0000, 切向力X=-182298.7188, 切向力Y=-3782.9580 +FPS=36.01, 法向力=159542.2188, 切向力X=-183806.9844, 切向力Y=-363.3768 +FPS=37.53, 法向力=158010.0938, 切向力X=-73804.7891, 切向力Y=-32585.9609 +FPS=35.14, 法向力=231802.3281, 切向力X=37141.9102, 切向力Y=-12091.0771 +FPS=37.39, 法向力=287087.9688, 切向力X=253362.1875, 切向力Y=-10117.1758 +FPS=35.57, 法向力=217088.8125, 切向力X=325597.3125, 切向力Y=-18662.5273 +FPS=35.74, 法向力=174035.0000, 切向力X=365366.8125, 切向力Y=-64146.8281 +FPS=35.29, 法向力=157974.0938, 切向力X=467472.1875, 切向力Y=-48369.6992 +FPS=34.76, 法向力=226380.0625, 切向力X=516435.3125, 切向力Y=-29252.0938 +FPS=35.24, 法向力=227965.7812, 切向力X=519355.5312, 切向力Y=7729.1621 +FPS=35.28, 法向力=225801.1250, 切向力X=520292.6875, 切向力Y=8244.2812 +FPS=31.87, 法向力=270386.3125, 切向力X=406727.9688, 切向力Y=24864.7480 +FPS=32.98, 法向力=282664.7500, 切向力X=380032.3125, 切向力Y=-23878.4980 +FPS=32.80, 法向力=233244.8438, 切向力X=257556.5000, 切向力Y=16692.7500 +FPS=33.91, 法向力=209923.1250, 切向力X=252465.9375, 切向力Y=1762.7810 +FPS=32.05, 法向力=214726.8438, 切向力X=150792.3750, 切向力Y=-56837.9766 +FPS=33.66, 法向力=177342.5469, 切向力X=110634.3594, 切向力Y=-17275.4023 +FPS=33.30, 法向力=230847.6406, 切向力X=-18269.5391, 切向力Y=73372.6250 +FPS=32.58, 法向力=258909.0312, 切向力X=-120212.8438, 切向力Y=54928.2070 +FPS=34.19, 法向力=339226.3750, 切向力X=-172262.3750, 切向力Y=-98566.4844 +FPS=34.27, 法向力=310207.4062, 切向力X=-86198.7031, 切向力Y=-74165.8438 +FPS=32.64, 法向力=316947.6250, 切向力X=-11091.8115, 切向力Y=-115221.7656 +FPS=33.70, 法向力=314901.4375, 切向力X=6480.4316, 切向力Y=-133186.3125 +FPS=31.92, 法向力=307901.5625, 切向力X=87.0325, 切向力Y=-147380.4688 +FPS=31.77, 法向力=263183.3125, 切向力X=81235.9844, 切向力Y=-58465.1016 +FPS=32.13, 法向力=257320.2812, 切向力X=55023.7578, 切向力Y=-49582.0430 +FPS=30.51, 法向力=301083.2188, 切向力X=6271.2290, 切向力Y=-34851.9336 +FPS=31.03, 法向力=319917.7500, 切向力X=-3027.9917, 切向力Y=-57003.8438 +FPS=29.36, 法向力=385162.6562, 切向力X=-43276.0234, 切向力Y=-20019.5605 +FPS=30.53, 法向力=283836.9375, 切向力X=4600.0981, 切向力Y=-118089.9609 +FPS=31.88, 法向力=237719.9062, 切向力X=40077.5391, 切向力Y=-93086.7188 +FPS=31.32, 法向力=249853.4688, 切向力X=183193.5938, 切向力Y=-18315.2812 +FPS=32.54, 法向力=215421.7344, 切向力X=201106.8281, 切向力Y=-21382.2070 +FPS=33.33, 法向力=215644.7500, 切向力X=204623.6719, 切向力Y=-31300.1055 +FPS=32.17, 法向力=205953.7188, 切向力X=203893.4531, 切向力Y=-68913.7188 +FPS=34.37, 法向力=200831.7969, 切向力X=288948.5000, 切向力Y=-85217.3359 +FPS=34.48, 法向力=189531.4688, 切向力X=326425.0625, 切向力Y=-82915.4062 +FPS=34.21, 法向力=230855.2031, 切向力X=427960.9688, 切向力Y=-79471.3281 +FPS=32.64, 法向力=177066.6562, 切向力X=360020.3125, 切向力Y=-76677.4219 +FPS=34.00, 法向力=206731.7344, 切向力X=386438.6250, 切向力Y=-55871.7500 +FPS=34.14, 法向力=189122.8438, 切向力X=490429.8125, 切向力Y=-9337.9102 +FPS=33.19, 法向力=103459.5156, 切向力X=568298.5625, 切向力Y=-10531.2480 +FPS=33.76, 法向力=102507.2031, 切向力X=554308.5000, 切向力Y=-19227.6816 +FPS=32.73, 法向力=188712.8438, 切向力X=895778.5000, 切向力Y=-70180.4844 +FPS=33.35, 法向力=191121.6875, 切向力X=857320.3125, 切向力Y=-26826.6934 +FPS=33.70, 法向力=186016.2812, 切向力X=849857.1250, 切向力Y=-3332.8523 +FPS=31.12, 法向力=421469.1875, 切向力X=492613.5000, 切向力Y=56222.9531 +FPS=32.88, 法向力=264973.4062, 切向力X=199272.0000, 切向力Y=-12865.6270 +FPS=35.01, 法向力=197372.6250, 切向力X=169636.2344, 切向力Y=-45059.2969 +FPS=35.17, 法向力=163785.1875, 切向力X=158082.9531, 切向力Y=-48299.3281 +FPS=35.30, 法向力=115732.2812, 切向力X=110828.5547, 切向力Y=-90934.6953 +FPS=33.88, 法向力=120117.3906, 切向力X=163347.4375, 切向力Y=-30467.1172 +FPS=34.90, 法向力=109986.6250, 切向力X=204859.5781, 切向力Y=-15413.6523 +FPS=34.70, 法向力=120261.4688, 切向力X=219495.7812, 切向力Y=5039.7412 +FPS=34.22, 法向力=123506.3125, 切向力X=219633.7812, 切向力Y=14657.0547 +FPS=34.73, 法向力=120495.6953, 切向力X=185125.9375, 切向力Y=-10334.8184 +FPS=33.32, 法向力=102120.0312, 切向力X=93418.2500, 切向力Y=-4485.8335 +FPS=35.05, 法向力=162671.7344, 切向力X=175717.3125, 切向力Y=-58526.0195 +FPS=34.83, 法向力=118584.5781, 切向力X=193755.3750, 切向力Y=-44500.2930 +FPS=34.26, 法向力=108157.8906, 切向力X=197006.3438, 切向力Y=-63104.1055 +FPS=35.08, 法向力=153928.6875, 切向力X=154526.5938, 切向力Y=-140088.8750 +FPS=33.98, 法向力=143373.5781, 切向力X=130583.4531, 切向力Y=-144740.3438 +FPS=34.73, 法向力=114770.8828, 切向力X=123238.0938, 切向力Y=-97919.9922 +FPS=34.52, 法向力=101838.6406, 切向力X=108380.5391, 切向力Y=-70873.5703 +FPS=33.63, 法向力=115856.4219, 切向力X=108929.4062, 切向力Y=-74013.1719 +FPS=31.72, 法向力=136642.8125, 切向力X=120341.8750, 切向力Y=-82326.1797 +FPS=33.14, 法向力=124151.1250, 切向力X=125945.1719, 切向力Y=-92402.6250 +FPS=33.67, 法向力=110759.8750, 切向力X=47434.4336, 切向力Y=-28628.7891 +FPS=32.92, 法向力=144477.1250, 切向力X=18077.9902, 切向力Y=-11114.1680 +FPS=30.86, 法向力=159958.2812, 切向力X=11527.1113, 切向力Y=13224.5576 +FPS=30.79, 法向力=78962.0391, 切向力X=-83368.8750, 切向力Y=52402.1250 +FPS=31.08, 法向力=175198.1719, 切向力X=-206043.3438, 切向力Y=31749.8633 +FPS=31.28, 法向力=255933.5938, 切向力X=-439311.3750, 切向力Y=39781.7578 +FPS=32.46, 法向力=240885.2812, 切向力X=-258770.2812, 切向力Y=12768.6270 +FPS=32.62, 法向力=169527.6562, 切向力X=-358099.5312, 切向力Y=34467.9609 +FPS=32.03, 法向力=199112.7656, 切向力X=-323519.5000, 切向力Y=142099.2344 +FPS=31.93, 法向力=248148.8125, 切向力X=-236347.5625, 切向力Y=175890.5938 +FPS=34.32, 法向力=238974.1875, 切向力X=-243335.1875, 切向力Y=129796.5703 +FPS=33.74, 法向力=90310.0312, 切向力X=-22360.1328, 切向力Y=44773.4766 +FPS=33.95, 法向力=57989.3438, 切向力X=1295.7135, 切向力Y=48768.0859 +FPS=33.45, 法向力=96483.9219, 切向力X=218051.8281, 切向力Y=26965.2148 +FPS=31.07, 法向力=120461.2656, 切向力X=164003.5000, 切向力Y=73705.3125 +FPS=33.86, 法向力=99368.0000, 切向力X=122540.0000, 切向力Y=83916.2344 +FPS=32.91, 法向力=195594.3125, 切向力X=116971.4062, 切向力Y=42233.5898 +FPS=33.69, 法向力=206798.7969, 切向力X=157555.7031, 切向力Y=71516.8594 +FPS=34.47, 法向力=243140.3438, 切向力X=151835.4062, 切向力Y=-7814.0244 +FPS=33.26, 法向力=196349.1562, 切向力X=74722.8984, 切向力Y=-90954.8594 +FPS=34.15, 法向力=186278.6250, 切向力X=68931.8438, 切向力Y=-97184.7969 +FPS=32.88, 法向力=180870.9062, 切向力X=23280.1992, 切向力Y=-123362.0938 +FPS=34.10, 法向力=245460.4688, 切向力X=90952.0938, 切向力Y=-119856.6406 +FPS=33.41, 法向力=249500.5781, 切向力X=55171.2695, 切向力Y=-113264.8125 +FPS=33.56, 法向力=345186.1562, 切向力X=132832.5625, 切向力Y=-231637.1250 +FPS=33.41, 法向力=350393.3750, 切向力X=141480.0000, 切向力Y=-241812.4062 +FPS=33.66, 法向力=456486.3438, 切向力X=172170.3438, 切向力Y=-94203.9688 +FPS=34.32, 法向力=384499.0312, 切向力X=30373.6172, 切向力Y=-64012.3906 +FPS=33.58, 法向力=363546.7188, 切向力X=3406.3972, 切向力Y=-41646.1953 +FPS=33.73, 法向力=322472.8438, 切向力X=97526.5469, 切向力Y=-30004.7852 +FPS=34.34, 法向力=272703.5625, 切向力X=104399.8359, 切向力Y=-43220.2734 +FPS=33.73, 法向力=273517.7500, 切向力X=197722.7500, 切向力Y=-23484.9609 +FPS=34.07, 法向力=252710.1719, 切向力X=241043.9375, 切向力Y=15503.5840 +FPS=33.38, 法向力=197286.2188, 切向力X=211447.3438, 切向力Y=43528.2617 +FPS=34.23, 法向力=168440.8438, 切向力X=186821.8125, 切向力Y=6481.9155 +FPS=34.63, 法向力=200745.0938, 切向力X=204049.5938, 切向力Y=-35922.8281 +FPS=34.44, 法向力=259130.6094, 切向力X=456683.8438, 切向力Y=31086.6992 +FPS=35.29, 法向力=248478.2188, 切向力X=531902.6250, 切向力Y=16913.7949 +FPS=34.87, 法向力=146965.5312, 切向力X=392775.0938, 切向力Y=-12520.3379 +FPS=35.03, 法向力=100347.2344, 切向力X=393311.1250, 切向力Y=6394.7871 +FPS=34.80, 法向力=80165.6562, 切向力X=378123.5938, 切向力Y=32750.7305 +FPS=34.45, 法向力=139117.9688, 切向力X=274635.9062, 切向力Y=40587.4453 +FPS=34.69, 法向力=157262.3750, 切向力X=286208.5000, 切向力Y=39328.6055 +FPS=34.50, 法向力=217772.7969, 切向力X=346060.6562, 切向力Y=48989.3750 +FPS=35.03, 法向力=259113.5625, 切向力X=309471.3438, 切向力Y=34580.4258 +FPS=32.95, 法向力=245582.1719, 切向力X=262230.0312, 切向力Y=4680.4023 +FPS=34.69, 法向力=212581.5469, 切向力X=220635.3438, 切向力Y=40556.4062 +FPS=34.90, 法向力=250840.7188, 切向力X=359731.8438, 切向力Y=12832.6289 +FPS=33.92, 法向力=214256.3438, 切向力X=150973.7812, 切向力Y=21969.5625 +FPS=34.78, 法向力=266688.3125, 切向力X=62862.9023, 切向力Y=-12482.6738 +FPS=33.86, 法向力=234925.1562, 切向力X=27788.5586, 切向力Y=-18026.8438 +FPS=35.42, 法向力=245754.5312, 切向力X=-40038.2812, 切向力Y=-40201.6406 +FPS=35.61, 法向力=292069.9688, 切向力X=-63866.3828, 切向力Y=-90086.8516 +FPS=37.88, 法向力=310191.3750, 切向力X=14509.1250, 切向力Y=-37657.0859 +FPS=35.99, 法向力=317671.3750, 切向力X=45403.4609, 切向力Y=-23377.1426 +FPS=36.43, 法向力=178966.0625, 切向力X=45047.9258, 切向力Y=-21344.0059 +FPS=37.85, 法向力=146273.3125, 切向力X=42381.4141, 切向力Y=-41344.8750 +FPS=35.89, 法向力=127630.1562, 切向力X=147548.8125, 切向力Y=29034.9961 +FPS=38.06, 法向力=110597.2500, 切向力X=177933.5781, 切向力Y=63700.0352 +FPS=37.91, 法向力=195417.0000, 切向力X=272605.3125, 切向力Y=40272.3867 +FPS=37.59, 法向力=224917.5938, 切向力X=393779.3750, 切向力Y=31542.7812 +FPS=36.73, 法向力=251118.1875, 切向力X=410359.6875, 切向力Y=48920.3867 +FPS=38.16, 法向力=261199.3125, 切向力X=442149.5000, 切向力Y=50270.5547 +FPS=36.55, 法向力=369507.2812, 切向力X=381980.0625, 切向力Y=104311.8984 +FPS=38.20, 法向力=393220.0625, 切向力X=335950.5000, 切向力Y=96959.5234 +FPS=36.63, 法向力=457789.6875, 切向力X=533376.0625, 切向力Y=39386.1914 +FPS=34.79, 法向力=285283.7500, 切向力X=555159.5000, 切向力Y=93536.8281 +FPS=35.96, 法向力=201927.5938, 切向力X=656819.3750, 切向力Y=129897.0000 +FPS=35.01, 法向力=221795.1250, 切向力X=675367.1250, 切向力Y=174921.2344 +FPS=35.95, 法向力=312940.0625, 切向力X=572473.5000, 切向力Y=163286.6719 +FPS=34.58, 法向力=121059.7578, 切向力X=636973.1250, 切向力Y=140823.8906 +FPS=32.01, 法向力=79356.0938, 切向力X=657323.6250, 切向力Y=158378.0469 +FPS=29.69, 法向力=217976.4219, 切向力X=606130.1875, 切向力Y=158462.9844 +FPS=32.57, 法向力=228291.6250, 切向力X=511236.6875, 切向力Y=83483.7109 +FPS=34.25, 法向力=251794.6094, 切向力X=473424.6875, 切向力Y=50407.0000 +FPS=31.94, 法向力=113238.4531, 切向力X=349159.9688, 切向力Y=95429.6250 +FPS=32.59, 法向力=122747.2109, 切向力X=371477.0000, 切向力Y=48616.0469 +FPS=30.84, 法向力=113857.8047, 切向力X=254987.8750, 切向力Y=-15548.8662 +FPS=30.13, 法向力=203438.7344, 切向力X=407795.1562, 切向力Y=1576.9922 +FPS=30.43, 法向力=229389.7188, 切向力X=450198.5625, 切向力Y=43307.3398 +FPS=30.83, 法向力=224082.7188, 切向力X=207294.4062, 切向力Y=97936.7344 +FPS=30.37, 法向力=186271.7500, 切向力X=57429.4102, 切向力Y=123546.1875 +FPS=34.31, 法向力=252747.6719, 切向力X=-133960.8750, 切向力Y=203677.1719 +FPS=34.06, 法向力=273111.6875, 切向力X=-127703.6953, 切向力Y=176227.8125 +FPS=33.43, 法向力=252717.1875, 切向力X=-125715.3359, 切向力Y=160602.8750 +FPS=32.88, 法向力=255609.7656, 切向力X=-153736.6250, 切向力Y=146821.0938 +FPS=32.51, 法向力=289216.0000, 切向力X=-118630.1641, 切向力Y=101421.3281 +FPS=33.80, 法向力=318176.7500, 切向力X=-146877.4375, 切向力Y=70553.0938 +FPS=33.13, 法向力=220446.5000, 切向力X=-40246.4844, 切向力Y=107674.9766 +FPS=34.91, 法向力=186485.6250, 切向力X=-45827.3789, 切向力Y=112287.5000 +FPS=35.15, 法向力=221296.8906, 切向力X=79250.1562, 切向力Y=63662.0625 +FPS=34.27, 法向力=325745.3750, 切向力X=84241.5781, 切向力Y=-58443.9609 +FPS=35.03, 法向力=348910.5312, 切向力X=73334.4375, 切向力Y=-85564.5469 +FPS=34.07, 法向力=285056.2500, 切向力X=101649.9609, 切向力Y=-36715.3672 +FPS=34.84, 法向力=277433.6875, 切向力X=101269.0312, 切向力Y=-100666.1641 +FPS=33.63, 法向力=360224.7812, 切向力X=57234.1328, 切向力Y=-78412.0000 +FPS=34.38, 法向力=349683.9375, 切向力X=71135.5078, 切向力Y=-60307.8086 +FPS=34.52, 法向力=243110.7656, 切向力X=13771.0146, 切向力Y=32226.8242 +FPS=34.41, 法向力=350988.5625, 切向力X=101105.2344, 切向力Y=-22599.0078 +FPS=34.21, 法向力=359471.3438, 切向力X=83299.0234, 切向力Y=-28710.1113 +FPS=31.64, 法向力=265972.3438, 切向力X=100510.9297, 切向力Y=-3843.5776 +FPS=31.83, 法向力=240641.5156, 切向力X=117516.4688, 切向力Y=-23468.0449 +FPS=30.08, 法向力=240731.6094, 切向力X=176372.7656, 切向力Y=25452.7949 +FPS=30.60, 法向力=215127.1250, 切向力X=133427.2812, 切向力Y=15151.2969 +FPS=33.28, 法向力=237776.8125, 切向力X=104450.2344, 切向力Y=46200.7578 +FPS=34.25, 法向力=346079.2188, 切向力X=-25781.4258, 切向力Y=102661.9297 +FPS=34.12, 法向力=283333.6875, 切向力X=-91694.2344, 切向力Y=4990.2827 +FPS=34.94, 法向力=225397.6406, 切向力X=-103375.5625, 切向力Y=-19580.0547 +FPS=35.85, 法向力=165065.4531, 切向力X=-42148.5664, 切向力Y=-1364.9316 +FPS=36.58, 法向力=141598.6250, 切向力X=-14496.3213, 切向力Y=-10255.5918 +FPS=34.25, 法向力=101316.2031, 切向力X=-132669.9688, 切向力Y=38137.2266 +FPS=34.67, 法向力=117543.9062, 切向力X=-150520.9688, 切向力Y=72856.4844 +FPS=35.97, 法向力=100756.8438, 切向力X=-213030.4531, 切向力Y=124388.9844 +FPS=34.24, 法向力=85405.4375, 切向力X=-162787.3594, 切向力Y=94953.6875 +FPS=35.12, 法向力=103404.1406, 切向力X=-151662.1094, 切向力Y=91935.9531 +FPS=33.75, 法向力=124583.7891, 切向力X=-79597.1562, 切向力Y=-76474.3672 +FPS=35.25, 法向力=146494.0781, 切向力X=-47013.9727, 切向力Y=-97864.0312 +FPS=33.69, 法向力=173504.7656, 切向力X=-81566.9688, 切向力Y=-110744.7109 +FPS=34.56, 法向力=245224.5625, 切向力X=-107212.2500, 切向力Y=-100354.3359 +FPS=35.25, 法向力=288278.7500, 切向力X=-164214.5625, 切向力Y=-91031.6562 +FPS=32.72, 法向力=369899.2500, 切向力X=-113566.0938, 切向力Y=-75696.6094 +FPS=34.78, 法向力=367165.4062, 切向力X=-106961.6406, 切向力Y=-30194.9023 +FPS=33.89, 法向力=211987.5312, 切向力X=-150581.5781, 切向力Y=-39586.9648 +FPS=34.82, 法向力=242283.8281, 切向力X=-170847.3438, 切向力Y=-74650.9922 +FPS=34.58, 法向力=366823.1250, 切向力X=-98809.1172, 切向力Y=-98102.0625 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260521_095040.log b/examples/logs/qt_viewer_20260521_095040.log new file mode 100644 index 0000000..6ca178b --- /dev/null +++ b/examples/logs/qt_viewer_20260521_095040.log @@ -0,0 +1,1358 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=10 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.49, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.36, 法向力=1531.8375, 切向力X=-850.3668, 切向力Y=-748.8601 +FPS=24.59, 法向力=2269.2971, 切向力X=40.2216, 切向力Y=-519.9357 +FPS=26.78, 法向力=2307.8467, 切向力X=58.6629, 切向力Y=-533.4066 +FPS=25.62, 法向力=2366.3464, 切向力X=-854.9002, 切向力Y=-222.9382 +FPS=29.62, 法向力=2409.0366, 切向力X=-839.8696, 切向力Y=-143.2048 +FPS=26.20, 法向力=1664.6904, 切向力X=-716.0243, 切向力Y=-1055.5620 +FPS=29.20, 法向力=1642.7150, 切向力X=-719.6075, 切向力Y=-1107.4397 +FPS=27.66, 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切向力Y=-7419.7856 +FPS=25.68, 法向力=5553.9868, 切向力X=19429.9609, 切向力Y=3829.7349 +FPS=24.69, 法向力=6057.6235, 切向力X=124.0912, 切向力Y=16967.7617 +FPS=26.60, 法向力=6075.4106, 切向力X=57.6183, 切向力Y=16928.7617 +FPS=23.99, 法向力=2338.9214, 切向力X=-16358.7490, 切向力Y=-12450.3281 +FPS=25.52, 法向力=11712.5469, 切向力X=-8041.4844, 切向力Y=-62517.5078 +FPS=25.51, 法向力=11647.8574, 切向力X=-7929.4482, 切向力Y=-62606.5859 +stitch_feature_optimized: canvas out_w=409, out_h=415, x_min=-79.32, y_min=-80.62 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000214s, blend=0.002121s (9 tiles incl ref), finalize=0.000048s, total=0.002389s +FPS=24.07, 法向力=4074.4458, 切向力X=-2579.5962, 切向力Y=807.8302 +FPS=25.46, 法向力=4005.0088, 切向力X=-2653.8564, 切向力Y=885.9533 +FPS=25.81, 法向力=4947.8701, 切向力X=-11349.1855, 切向力Y=45628.5156 +FPS=25.73, 法向力=5056.8320, 切向力X=-11359.4463, 切向力Y=45713.8516 +FPS=24.85, 法向力=8496.5928, 切向力X=-23323.1406, 切向力Y=-33896.1797 +FPS=24.65, 法向力=16103.1768, 切向力X=7113.5576, 切向力Y=-68796.4062 +FPS=25.45, 法向力=16215.6621, 切向力X=7231.2305, 切向力Y=-69187.3281 +FPS=23.94, 法向力=5482.2334, 切向力X=11695.6367, 切向力Y=24631.1211 +FPS=23.14, 法向力=6800.1143, 切向力X=-23612.7949, 切向力Y=8527.7266 +FPS=23.81, 法向力=6764.4116, 切向力X=-23254.6562, 切向力Y=8725.4277 +FPS=23.50, 法向力=15579.1172, 切向力X=-4448.9375, 切向力Y=-70119.4375 +FPS=25.07, 法向力=5076.4834, 切向力X=-508.9660, 切向力Y=-647.0803 +FPS=25.20, 法向力=4989.8516, 切向力X=-517.1548, 切向力Y=-601.5481 +FPS=24.57, 法向力=5880.2715, 切向力X=-12649.4961, 切向力Y=29704.6094 +FPS=24.82, 法向力=5759.5225, 切向力X=-12754.3994, 切向力Y=30024.7383 +FPS=24.10, 法向力=5763.2568, 切向力X=-14731.6631, 切向力Y=-14784.5645 +FPS=24.71, 法向力=5758.7583, 切向力X=-14706.9590, 切向力Y=-14736.3691 +FPS=25.43, 法向力=7172.9658, 切向力X=8694.8477, 切向力Y=-51704.9375 +FPS=23.83, 法向力=6106.5938, 切向力X=3481.6521, 切向力Y=-5623.5498 +FPS=26.66, 法向力=6098.2686, 切向力X=3491.9922, 切向力Y=-5617.4580 +FPS=25.39, 法向力=4844.2651, 切向力X=-2629.8291, 切向力Y=-1256.3160 +FPS=26.39, 法向力=3300.7395, 切向力X=-1442.3418, 切向力Y=-278.2329 +FPS=26.68, 法向力=3338.3687, 切向力X=-1476.4171, 切向力Y=-283.5959 +FPS=26.56, 法向力=3302.3301, 切向力X=-1522.4423, 切向力Y=-251.1930 +FPS=26.34, 法向力=3245.5088, 切向力X=-1491.8303, 切向力Y=457.7529 +FPS=25.53, 法向力=3555.6648, 切向力X=-1423.9768, 切向力Y=299.5822 +FPS=27.90, 法向力=3591.9973, 切向力X=-1349.1624, 切向力Y=254.0583 +FPS=25.59, 法向力=3531.0974, 切向力X=-3076.9470, 切向力Y=647.7551 +FPS=27.59, 法向力=3520.9917, 切向力X=-3066.4270, 切向力Y=611.9266 +FPS=27.05, 法向力=3522.6099, 切向力X=-1824.5934, 切向力Y=-392.2183 +stitch_feature_optimized: canvas out_w=409, out_h=415, x_min=-79.32, y_min=-80.62 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000217s, blend=0.002288s (9 tiles incl ref), finalize=0.000066s, total=0.002577s +FPS=27.06, 法向力=3324.9395, 切向力X=-902.5704, 切向力Y=293.4327 +FPS=27.92, 法向力=3433.9431, 切向力X=-880.5656, 切向力Y=235.6920 +FPS=26.68, 法向力=3528.0220, 切向力X=-938.5248, 切向力Y=980.6135 +FPS=27.94, 法向力=3546.4932, 切向力X=-882.7323, 切向力Y=902.3640 +FPS=26.40, 法向力=3550.7344, 切向力X=-1328.4224, 切向力Y=1051.7894 +FPS=28.82, 法向力=3516.4097, 切向力X=-1242.3746, 切向力Y=1034.5293 +FPS=25.92, 法向力=3480.6289, 切向力X=-874.0490, 切向力Y=819.2908 +FPS=29.34, 法向力=3502.4800, 切向力X=-923.5050, 切向力Y=823.9638 +FPS=26.80, 法向力=3896.7961, 切向力X=-1972.8013, 切向力Y=-23.3152 +FPS=27.30, 法向力=3986.5171, 切向力X=-1949.9120, 切向力Y=-150.0854 +FPS=26.17, 法向力=4362.4150, 切向力X=-2149.6831, 切向力Y=415.6891 +FPS=27.95, 法向力=2758.5776, 切向力X=-2732.5454, 切向力Y=603.4487 +FPS=28.22, 法向力=2751.9336, 切向力X=-2783.0488, 切向力Y=554.7042 +FPS=28.08, 法向力=2738.2446, 切向力X=-2769.0913, 切向力Y=544.3480 +FPS=27.45, 法向力=3221.9287, 切向力X=-1138.2151, 切向力Y=1305.4158 +FPS=26.26, 法向力=4233.5049, 切向力X=-2283.7056, 切向力Y=-233.7704 +FPS=27.35, 法向力=4163.6973, 切向力X=-2197.0781, 切向力Y=-251.8224 +FPS=26.12, 法向力=3670.0715, 切向力X=-1213.0811, 切向力Y=798.0181 +FPS=26.44, 法向力=3583.0449, 切向力X=-1090.1570, 切向力Y=788.8099 +FPS=24.28, 法向力=4328.7368, 切向力X=-2461.3218, 切向力Y=907.2283 +FPS=27.54, 法向力=3901.9849, 切向力X=-2343.7817, 切向力Y=693.3452 +FPS=26.94, 法向力=3949.6650, 切向力X=-2355.3765, 切向力Y=731.4276 +FPS=25.57, 法向力=4881.6348, 切向力X=-1804.4913, 切向力Y=629.5782 +Sensor disconnected. +⏸ 已暂停 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=5 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.57, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=50.57, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=27.14, 法向力=2580.9097, 切向力X=-735.6903, 切向力Y=-444.7810 +FPS=29.79, 法向力=2774.1548, 切向力X=-594.5504, 切向力Y=-436.0616 +FPS=27.15, 法向力=2423.5327, 切向力X=279.2560, 切向力Y=-1137.0571 +FPS=28.55, 法向力=2389.6248, 切向力X=218.5755, 切向力Y=-1254.1838 +FPS=26.67, 法向力=2248.0642, 切向力X=781.5734, 切向力Y=-140.4047 +FPS=31.45, 法向力=2270.5303, 切向力X=863.3885, 切向力Y=-79.5599 +FPS=30.17, 法向力=1768.2976, 切向力X=-845.9907, 切向力Y=-656.3776 +FPS=30.75, 法向力=1813.0096, 切向力X=-832.3342, 切向力Y=-600.6630 +FPS=30.75, 法向力=2265.0166, 切向力X=763.0352, 切向力Y=-771.7941 +FPS=30.51, 法向力=2193.9329, 切向力X=823.3427, 切向力Y=-907.2082 +FPS=30.69, 法向力=1938.2358, 切向力X=507.5762, 切向力Y=-19.0562 +FPS=31.72, 法向力=1956.7937, 切向力X=451.7248, 切向力Y=38.8127 +FPS=29.13, 法向力=1796.0322, 切向力X=173.8585, 切向力Y=-235.4453 +FPS=31.82, 法向力=1786.8506, 切向力X=115.1228, 切向力Y=-187.5636 +FPS=30.45, 法向力=4271.6221, 切向力X=736.3994, 切向力Y=-370.3740 +FPS=32.83, 法向力=4343.0869, 切向力X=793.4999, 切向力Y=-331.1870 +FPS=30.46, 法向力=1627.0066, 切向力X=184.3590, 切向力Y=-1406.1763 +FPS=33.19, 法向力=1484.0648, 切向力X=-24.3168, 切向力Y=-1364.0354 +FPS=30.24, 法向力=2251.4578, 切向力X=17.1437, 切向力Y=-1986.1010 +FPS=33.14, 法向力=2352.7583, 切向力X=19.8501, 切向力Y=-1856.6287 +FPS=30.36, 法向力=3001.1665, 切向力X=3725.1462, 切向力Y=-16255.3828 +FPS=33.33, 法向力=3172.2747, 切向力X=3927.5518, 切向力Y=-16427.2539 +FPS=29.10, 法向力=7536.8359, 切向力X=24708.1523, 切向力Y=-55243.9453 +FPS=32.65, 法向力=7737.3843, 切向力X=25079.1855, 切向力Y=-55458.5000 +FPS=31.43, 法向力=7782.5195, 切向力X=25138.1152, 切向力Y=-55429.3516 +FPS=30.58, 法向力=13141.4023, 切向力X=42308.4062, 切向力Y=-16129.0732 +stitch_feature_optimized: canvas out_w=404, out_h=417, x_min=-78.77, y_min=-79.14 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000274s, blend=0.002997s (9 tiles incl ref), finalize=0.000052s, total=0.003330s +FPS=31.21, 法向力=13420.1855, 切向力X=42195.1953, 切向力Y=-15928.1289 +FPS=32.50, 法向力=10082.1904, 切向力X=6319.3301, 切向力Y=56815.8086 +FPS=31.46, 法向力=10256.6367, 切向力X=6268.7007, 切向力Y=57114.5469 +FPS=30.76, 法向力=9206.8291, 切向力X=-10152.4980, 切向力Y=9809.4160 +FPS=30.43, 法向力=9047.7715, 切向力X=-10271.9180, 切向力Y=9556.8340 +FPS=30.50, 法向力=8523.3838, 切向力X=-8351.1855, 切向力Y=-48330.0039 +FPS=30.13, 法向力=8438.9434, 切向力X=-8287.6758, 切向力Y=-48497.1094 +FPS=31.76, 法向力=9837.5371, 切向力X=-1056.1943, 切向力Y=-19390.2500 +FPS=32.11, 法向力=9803.3691, 切向力X=-932.3432, 切向力Y=-19331.5410 +FPS=30.05, 法向力=4624.7734, 切向力X=-4929.1992, 切向力Y=33507.0977 +FPS=32.02, 法向力=4625.2642, 切向力X=-4982.2407, 切向力Y=33540.8633 +FPS=29.25, 法向力=10183.2686, 切向力X=-20219.5039, 切向力Y=22816.5508 +FPS=31.73, 法向力=10080.6270, 切向力X=-20955.8613, 切向力Y=22592.8047 +FPS=30.12, 法向力=8628.6855, 切向力X=-12041.0898, 切向力Y=-48160.5547 +FPS=30.85, 法向力=8250.2002, 切向力X=-12075.0391, 切向力Y=-48408.7930 +FPS=28.46, 法向力=7818.5552, 切向力X=2356.6719, 切向力Y=-19624.5312 +FPS=31.23, 法向力=7783.1509, 切向力X=2347.2173, 切向力Y=-19560.9297 +FPS=29.32, 法向力=2584.9075, 切向力X=3634.1038, 切向力Y=14208.8691 +FPS=29.53, 法向力=2536.9805, 切向力X=3574.2673, 切向力Y=14195.8379 +FPS=30.45, 法向力=5810.5791, 切向力X=-232.3758, 切向力Y=18140.8027 +FPS=30.87, 法向力=5969.0820, 切向力X=-463.0755, 切向力Y=18388.1445 +FPS=28.50, 法向力=4497.6025, 切向力X=-16077.0684, 切向力Y=-1651.4021 +FPS=32.11, 法向力=4307.3638, 切向力X=-16374.0605, 切向力Y=-1754.1858 +FPS=29.60, 法向力=5482.2178, 切向力X=-11854.4199, 切向力Y=-14672.8027 +FPS=30.26, 法向力=5576.8701, 切向力X=-11542.9727, 切向力Y=-14782.2773 +FPS=30.76, 法向力=2815.2498, 切向力X=6899.5078, 切向力Y=-9460.7012 +FPS=31.91, 法向力=2937.9387, 切向力X=6809.3701, 切向力Y=-9428.7227 +FPS=29.40, 法向力=6772.9570, 切向力X=56603.1914, 切向力Y=-31732.8574 +FPS=32.35, 法向力=6776.4146, 切向力X=56655.7031, 切向力Y=-31629.1602 +FPS=31.01, 法向力=6071.8379, 切向力X=23198.5000, 切向力Y=-7118.0254 +stitch_feature_optimized: canvas out_w=404, out_h=417, x_min=-78.77, y_min=-79.14 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000198s, blend=0.002121s (9 tiles incl ref), finalize=0.000047s, total=0.002371s +FPS=31.82, 法向力=6186.6777, 切向力X=23294.6680, 切向力Y=-7063.8867 +FPS=29.51, 法向力=2294.6025, 切向力X=1763.0183, 切向力Y=3795.7869 +FPS=31.27, 法向力=2255.9246, 切向力X=1834.9258, 切向力Y=3746.7715 +FPS=30.24, 法向力=6111.2627, 切向力X=-28134.5547, 切向力Y=-2809.4814 +FPS=32.00, 法向力=6048.2339, 切向力X=-28151.3086, 切向力Y=-2793.3721 +FPS=30.25, 法向力=8311.3584, 切向力X=-54958.5625, 切向力Y=-14109.4834 +FPS=31.40, 法向力=8325.3770, 切向力X=-55544.4453, 切向力Y=-14869.4766 +FPS=31.42, 法向力=17428.4805, 切向力X=-12215.3975, 切向力Y=-31821.4023 +FPS=31.70, 法向力=17294.6992, 切向力X=-12029.3418, 切向力Y=-31882.1328 +FPS=29.96, 法向力=11852.1143, 切向力X=29008.0547, 切向力Y=-51482.1953 +FPS=31.40, 法向力=12522.4326, 切向力X=29956.6172, 切向力Y=-51628.9180 +FPS=30.25, 法向力=2706.4072, 切向力X=2805.5654, 切向力Y=-834.4159 +FPS=31.60, 法向力=2648.5125, 切向力X=2649.6104, 切向力Y=-945.8795 +FPS=30.81, 法向力=3541.3647, 切向力X=-6161.9258, 切向力Y=19278.7090 +FPS=32.45, 法向力=3512.8047, 切向力X=-6190.7988, 切向力Y=19459.5664 +FPS=32.07, 法向力=3510.0557, 切向力X=-6175.6768, 切向力Y=19464.5020 +FPS=28.95, 法向力=4528.0039, 切向力X=-11116.8145, 切向力Y=-10818.4707 +FPS=31.34, 法向力=4520.0625, 切向力X=-11044.8184, 切向力Y=-10843.5986 +FPS=29.10, 法向力=8985.4941, 切向力X=-6417.6104, 切向力Y=-56866.3398 +FPS=30.95, 法向力=8943.1523, 切向力X=-6154.5410, 切向力Y=-57139.9336 +FPS=30.14, 法向力=5998.5107, 切向力X=3960.5806, 切向力Y=-12518.9766 +FPS=31.89, 法向力=5932.9292, 切向力X=3869.8838, 切向力Y=-12532.3711 +FPS=30.49, 法向力=4800.5068, 切向力X=-9974.4355, 切向力Y=30396.5469 +FPS=30.81, 法向力=4773.2256, 切向力X=-9965.5254, 切向力Y=30401.3672 +FPS=31.33, 法向力=8014.0249, 切向力X=-19239.6309, 切向力Y=-30809.5391 +FPS=30.83, 法向力=7794.8975, 切向力X=-19254.4688, 切向力Y=-30949.5898 +FPS=30.28, 法向力=14929.8564, 切向力X=10548.1699, 切向力Y=-80051.0781 +FPS=31.33, 法向力=14486.6201, 切向力X=10381.3242, 切向力Y=-79677.9531 +FPS=28.87, 法向力=3264.7168, 切向力X=6634.6777, 切向力Y=5677.0400 +FPS=32.07, 法向力=3347.2957, 切向力X=6741.6841, 切向力Y=5623.4893 +stitch_feature_optimized: canvas out_w=404, out_h=417, x_min=-78.77, y_min=-79.14 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000202s, blend=0.002134s (9 tiles incl ref), finalize=0.000046s, total=0.002387s +FPS=28.34, 法向力=10334.5664, 切向力X=-36351.8906, 切向力Y=56521.2578 +FPS=31.66, 法向力=10152.9941, 切向力X=-36446.7539, 切向力Y=56829.0312 +FPS=29.00, 法向力=15797.1709, 切向力X=-37916.6562, 切向力Y=-32791.9453 +FPS=31.81, 法向力=15949.9551, 切向力X=-37935.9492, 切向力Y=-32782.6172 +FPS=29.41, 法向力=21487.3828, 切向力X=26570.4766, 切向力Y=-75817.3281 +FPS=31.28, 法向力=21387.2812, 切向力X=26582.5605, 切向力Y=-76207.0625 +FPS=30.81, 法向力=3918.3308, 切向力X=12557.3535, 切向力Y=27245.7051 +FPS=32.14, 法向力=3875.1045, 切向力X=12443.4180, 切向力Y=27266.8281 +FPS=30.25, 法向力=7700.7881, 切向力X=-19895.0020, 切向力Y=7765.7622 +FPS=32.06, 法向力=7713.7637, 切向力X=-19981.1992, 切向力Y=7726.9971 +FPS=31.70, 法向力=13014.5840, 切向力X=7635.0073, 切向力Y=-77335.8281 +FPS=31.56, 法向力=12991.5586, 切向力X=7810.7354, 切向力Y=-77474.8750 +FPS=27.17, 法向力=4296.7393, 切向力X=9981.0527, 切向力Y=-13738.6045 +FPS=27.47, 法向力=4365.2871, 切向力X=9944.2246, 切向力Y=-13803.3584 +FPS=27.67, 法向力=5817.9443, 切向力X=-16073.9648, 切向力Y=40624.0820 +FPS=28.48, 法向力=5939.7559, 切向力X=-16019.9014, 切向力Y=40706.7578 +FPS=27.02, 法向力=10550.9443, 切向力X=-21083.5977, 切向力Y=-22105.3359 +FPS=28.07, 法向力=10620.4717, 切向力X=-21396.3359, 切向力Y=-21886.7578 +FPS=28.28, 法向力=12558.3262, 切向力X=12433.5684, 切向力Y=-57364.9844 +FPS=28.26, 法向力=12404.9854, 切向力X=12530.2510, 切向力Y=-57708.7422 +FPS=27.04, 法向力=2578.5562, 切向力X=4571.7002, 切向力Y=14553.7461 +FPS=28.72, 法向力=2560.0620, 切向力X=4646.2710, 切向力Y=14610.0566 +FPS=26.74, 法向力=6111.8354, 切向力X=-33306.3984, 切向力Y=-14256.9033 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切向力Y=-806.4938 +FPS=21.20, 法向力=2394.1184, 切向力X=401.9061, 切向力Y=-1789.4487 +FPS=44.64, 法向力=2412.3069, 切向力X=439.8738, 切向力Y=-1799.2478 +FPS=32.06, 法向力=2969.4971, 切向力X=771.3633, 切向力Y=-980.8633 +FPS=35.58, 法向力=2972.2158, 切向力X=691.7831, 切向力Y=-928.6819 +FPS=34.65, 法向力=2685.3813, 切向力X=215.7426, 切向力Y=-48.1157 +FPS=35.33, 法向力=2667.0339, 切向力X=192.7509, 切向力Y=10.6616 +FPS=34.97, 法向力=2701.2246, 切向力X=87.5337, 切向力Y=-30.7714 +FPS=31.36, 法向力=2570.2876, 切向力X=-241.3622, 切向力Y=-561.2350 +FPS=34.49, 法向力=2549.1873, 切向力X=-335.7554, 切向力Y=-681.2014 +FPS=31.01, 法向力=3028.8638, 切向力X=1452.1553, 切向力Y=-1050.7571 +FPS=34.12, 法向力=3073.6299, 切向力X=1519.8281, 切向力Y=-1007.8834 +FPS=33.62, 法向力=2044.9943, 切向力X=497.7878, 切向力Y=-706.8559 +FPS=32.94, 法向力=1978.4658, 切向力X=442.3237, 切向力Y=-723.8891 +FPS=32.37, 法向力=1987.6191, 切向力X=-96.7974, 切向力Y=-759.0131 +FPS=33.28, 法向力=2050.3125, 切向力X=24.3558, 切向力Y=-771.8405 +FPS=33.46, 法向力=1942.5613, 切向力X=366.8683, 切向力Y=-897.2997 +FPS=33.75, 法向力=1841.6575, 切向力X=222.8561, 切向力Y=-854.1732 +FPS=34.10, 法向力=1859.7297, 切向力X=194.7733, 切向力Y=-868.8749 +FPS=31.04, 法向力=2708.2847, 切向力X=-199.5523, 切向力Y=162.5120 +FPS=33.92, 法向力=2747.3130, 切向力X=-215.9413, 切向力Y=189.8559 +FPS=33.36, 法向力=2025.3384, 切向力X=502.6971, 切向力Y=-436.9402 +FPS=34.60, 法向力=1950.5095, 切向力X=491.8651, 切向力Y=-503.5201 +FPS=32.83, 法向力=3027.9094, 切向力X=-162.9804, 切向力Y=-1296.6495 +FPS=33.34, 法向力=2937.1743, 切向力X=-327.2424, 切向力Y=-1188.7227 +stitch_feature_optimized: canvas out_w=404, out_h=417, x_min=-78.77, y_min=-79.14 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000195s, blend=0.002118s (9 tiles incl ref), finalize=0.000160s, total=0.002480s +FPS=33.43, 法向力=2973.4546, 切向力X=-308.5685, 切向力Y=-1174.4584 +FPS=33.62, 法向力=1930.0427, 切向力X=10.8768, 切向力Y=-857.4177 +FPS=33.09, 法向力=1966.3909, 切向力X=23.4874, 切向力Y=-804.9843 +FPS=34.75, 法向力=2131.4116, 切向力X=-102.5817, 切向力Y=-89.2674 +FPS=35.54, 法向力=2129.3328, 切向力X=-381.5652, 切向力Y=-134.3795 +FPS=33.23, 法向力=2947.3755, 切向力X=354.8855, 切向力Y=-2128.8992 +FPS=34.24, 法向力=3020.1782, 切向力X=400.2916, 切向力Y=-2088.6628 +FPS=35.98, 法向力=3083.6685, 切向力X=459.0925, 切向力Y=-2118.8657 +FPS=33.75, 法向力=2092.0547, 切向力X=-842.8965, 切向力Y=341.9479 +FPS=34.13, 法向力=2042.5631, 切向力X=-874.0501, 切向力Y=412.8281 +FPS=32.50, 法向力=2723.1592, 切向力X=1379.2249, 切向力Y=-68.6888 +FPS=34.79, 法向力=2604.0300, 切向力X=1426.4290, 切向力Y=-151.5612 +FPS=32.27, 法向力=3967.8604, 切向力X=1168.7570, 切向力Y=-173.7586 +FPS=33.99, 法向力=4105.0850, 切向力X=1201.8459, 切向力Y=-128.1475 +FPS=32.08, 法向力=3113.2056, 切向力X=583.4606, 切向力Y=104.2182 +FPS=35.37, 法向力=3089.1143, 切向力X=639.4694, 切向力Y=190.4670 +FPS=34.40, 法向力=2000.0214, 切向力X=-1184.4094, 切向力Y=-977.4653 +FPS=35.33, 法向力=2062.0356, 切向力X=-1092.0364, 切向力Y=-1002.1272 +FPS=34.47, 法向力=2077.9741, 切向力X=-1089.1956, 切向力Y=-968.4044 +FPS=14.53, 法向力=2223.3149, 切向力X=1027.1923, 切向力Y=-682.7178 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260521_095135.log b/examples/logs/qt_viewer_20260521_095135.log new file mode 100644 index 0000000..a5f627b --- /dev/null +++ b/examples/logs/qt_viewer_20260521_095135.log @@ -0,0 +1,1560 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=5 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.51, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=7.15, 法向力=1616.1335, 切向力X=1010.1733, 切向力Y=-771.6599 +FPS=23.41, 法向力=2381.0557, 切向力X=1267.9663, 切向力Y=-416.2838 +FPS=23.72, 法向力=1702.0085, 切向力X=1342.8551, 切向力Y=-117.7181 +FPS=25.75, 法向力=1714.2877, 切向力X=1195.9978, 切向力Y=-287.8855 +FPS=24.30, 法向力=1506.3164, 切向力X=1754.6913, 切向力Y=348.8516 +FPS=27.15, 法向力=1562.4136, 切向力X=1749.9653, 切向力Y=373.9652 +FPS=26.85, 法向力=1915.4000, 切向力X=954.5024, 切向力Y=-1395.8945 +FPS=26.31, 法向力=1944.1067, 切向力X=979.7914, 切向力Y=-1372.5409 +FPS=27.10, 法向力=1471.2290, 切向力X=409.2384, 切向力Y=-810.1882 +FPS=29.41, 法向力=1681.2450, 切向力X=1480.1875, 切向力Y=-750.6880 +FPS=29.74, 法向力=1638.3875, 切向力X=1393.4772, 切向力Y=-675.9097 +FPS=28.46, 法向力=1067.2653, 切向力X=648.3156, 切向力Y=237.9874 +FPS=30.43, 法向力=1105.6908, 切向力X=717.0347, 切向力Y=277.5873 +FPS=28.43, 法向力=2085.9751, 切向力X=891.3061, 切向力Y=-575.6879 +FPS=30.29, 法向力=2173.2905, 切向力X=914.8411, 切向力Y=-743.8215 +FPS=29.16, 法向力=2200.0847, 切向力X=852.4115, 切向力Y=-706.8064 +FPS=29.64, 法向力=1708.5500, 切向力X=1829.2186, 切向力Y=-1027.4578 +FPS=29.37, 法向力=2438.2078, 切向力X=2171.3940, 切向力Y=80.8027 +FPS=29.29, 法向力=2446.1025, 切向力X=2200.8975, 切向力Y=37.9530 +FPS=29.00, 法向力=2209.6453, 切向力X=198.6450, 切向力Y=-413.7323 +FPS=30.27, 法向力=2182.6025, 切向力X=98.4476, 切向力Y=-356.9652 +FPS=28.64, 法向力=2047.9309, 切向力X=3067.3337, 切向力Y=-6086.6753 +FPS=30.42, 法向力=1971.9915, 切向力X=3002.4475, 切向力Y=-6191.9990 +FPS=27.40, 法向力=7021.8721, 切向力X=13841.6758, 切向力Y=-52901.8750 +FPS=31.26, 法向力=7094.2383, 切向力X=13897.6357, 切向力Y=-53049.6562 +FPS=29.11, 法向力=6204.9902, 切向力X=4465.5947, 切向力Y=-22743.7070 +FPS=29.91, 法向力=6112.4419, 切向力X=4566.9692, 切向力Y=-22641.1309 +stitch_feature_optimized: canvas out_w=407, out_h=415, x_min=-78.67, y_min=-79.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000206s, blend=0.003336s (9 tiles incl ref), finalize=0.000065s, total=0.003613s +FPS=28.21, 法向力=6579.1694, 切向力X=-4051.1162, 切向力Y=33221.4062 +FPS=29.29, 法向力=6541.9463, 切向力X=-4075.2649, 切向力Y=33253.5938 +FPS=27.78, 法向力=11042.4512, 切向力X=-14981.1523, 切向力Y=56024.5156 +FPS=31.68, 法向力=11012.7236, 切向力X=-14893.6523, 切向力Y=56032.9375 +FPS=28.60, 法向力=3830.6211, 切向力X=-14632.9297, 切向力Y=-11980.3320 +FPS=29.79, 法向力=3853.0989, 切向力X=-14685.6387, 切向力Y=-11964.6211 +FPS=27.77, 法向力=8067.4375, 切向力X=1264.8613, 切向力Y=-59370.3516 +FPS=30.06, 法向力=8002.7144, 切向力X=1176.9277, 切向力Y=-59542.9062 +FPS=28.51, 法向力=8416.8809, 切向力X=7217.6880, 切向力Y=10378.6914 +FPS=31.09, 法向力=8366.2842, 切向力X=7410.8867, 切向力Y=10346.1797 +FPS=28.29, 法向力=2947.2820, 切向力X=-3799.8271, 切向力Y=5535.7002 +FPS=29.05, 法向力=2923.5503, 切向力X=-3743.2261, 切向力Y=5731.4438 +FPS=25.87, 法向力=4621.5283, 切向力X=-2693.0244, 切向力Y=-43628.2578 +FPS=28.74, 法向力=4597.3691, 切向力X=-2696.5437, 切向力Y=-43716.2148 +FPS=28.48, 法向力=20121.8945, 切向力X=17625.9668, 切向力Y=-64567.8359 +FPS=28.24, 法向力=17123.0078, 切向力X=29006.8672, 切向力Y=-12236.4619 +FPS=28.78, 法向力=16985.2305, 切向力X=28587.8008, 切向力Y=-12262.5498 +FPS=27.45, 法向力=9506.6045, 切向力X=9158.3613, 切向力Y=39811.5000 +FPS=30.21, 法向力=9626.9922, 切向力X=9065.3145, 切向力Y=39489.4219 +FPS=28.26, 法向力=9045.4834, 切向力X=9830.8975, 切向力Y=18533.3516 +FPS=30.21, 法向力=9110.5645, 切向力X=9755.8457, 切向力Y=18620.1348 +FPS=29.16, 法向力=1618.5508, 切向力X=1627.9678, 切向力Y=-2676.8535 +FPS=29.34, 法向力=1597.8240, 切向力X=1424.8943, 切向力Y=-2638.6348 +FPS=29.02, 法向力=2557.3091, 切向力X=-11589.9160, 切向力Y=-14831.9258 +FPS=28.80, 法向力=2439.4739, 切向力X=-11772.3926, 切向力Y=-14954.5781 +FPS=28.37, 法向力=3962.8186, 切向力X=-8830.3486, 切向力Y=-12031.1816 +FPS=28.84, 法向力=3894.0908, 切向力X=-8912.1680, 切向力Y=-12078.0605 +FPS=28.34, 法向力=5931.8848, 切向力X=2513.9346, 切向力Y=17219.1523 +FPS=29.91, 法向力=5914.6372, 切向力X=2594.8779, 切向力Y=17200.3047 +FPS=27.76, 法向力=5536.7656, 切向力X=-3779.7202, 切向力Y=16964.8574 +stitch_feature_optimized: canvas out_w=407, out_h=415, x_min=-78.67, y_min=-79.91 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000005s (hit), reset=0.000288s, blend=0.003047s (9 tiles incl ref), finalize=0.000055s, total=0.003399s +FPS=27.89, 法向力=5480.1650, 切向力X=-3879.3457, 切向力Y=17015.2617 +FPS=29.27, 法向力=4360.1104, 切向力X=-26615.3750, 切向力Y=-8134.0215 +FPS=29.69, 法向力=4302.8062, 切向力X=-26652.0664, 切向力Y=-8141.6396 +FPS=27.79, 法向力=6370.9448, 切向力X=-20912.8672, 切向力Y=-26293.1758 +FPS=29.86, 法向力=6354.8477, 切向力X=-20960.3867, 切向力Y=-26265.4375 +FPS=27.90, 法向力=6663.1660, 切向力X=-12101.4893, 切向力Y=-22749.7812 +FPS=29.73, 法向力=6734.1831, 切向力X=-11961.1348, 切向力Y=-22653.3613 +FPS=28.35, 法向力=6128.7173, 切向力X=46727.5391, 切向力Y=-21073.8066 +FPS=28.93, 法向力=6317.2925, 切向力X=46804.0312, 切向力Y=-21118.6152 +FPS=30.22, 法向力=15901.3027, 切向力X=79137.8438, 切向力Y=-20535.3750 +FPS=30.18, 法向力=15368.6406, 切向力X=61942.0859, 切向力Y=-10532.3613 +FPS=30.64, 法向力=15499.8037, 切向力X=61988.7852, 切向力Y=-10494.5176 +FPS=31.06, 法向力=15514.6074, 切向力X=61931.3516, 切向力Y=-10388.6328 +FPS=30.35, 法向力=3305.6899, 切向力X=12052.7998, 切向力Y=-13937.3066 +FPS=32.93, 法向力=3330.8188, 切向力X=11964.6816, 切向力Y=-14042.4609 +FPS=30.59, 法向力=5965.0010, 切向力X=-36416.0820, 切向力Y=-16135.8721 +FPS=31.94, 法向力=5863.0713, 切向力X=-36339.8672, 切向力Y=-16212.9033 +FPS=28.88, 法向力=9287.6943, 切向力X=-23666.9531, 切向力Y=-18080.1543 +FPS=30.90, 法向力=9220.9180, 切向力X=-23896.5508, 切向力Y=-18125.0977 +FPS=29.72, 法向力=11565.9307, 切向力X=42499.5469, 切向力Y=-43694.1445 +FPS=30.52, 法向力=11573.6953, 切向力X=42457.1797, 切向力Y=-43688.7812 +FPS=28.87, 法向力=14015.6094, 切向力X=87674.1953, 切向力Y=-18114.8809 +FPS=30.40, 法向力=14072.8799, 切向力X=87973.4609, 切向力Y=-17884.9980 +FPS=29.55, 法向力=8714.7578, 切向力X=41514.7422, 切向力Y=-3114.5396 +FPS=31.25, 法向力=8611.5332, 切向力X=41645.5625, 切向力Y=-3352.1665 +FPS=29.49, 法向力=7007.5264, 切向力X=-39068.3672, 切向力Y=-18750.5820 +FPS=31.69, 法向力=7038.8647, 切向力X=-39161.0469, 切向力Y=-18787.9512 +FPS=29.03, 法向力=14389.8779, 切向力X=-29103.1191, 切向力Y=-32350.8301 +FPS=29.83, 法向力=14334.8105, 切向力X=-29355.0820, 切向力Y=-32613.7539 +FPS=28.31, 法向力=10069.7461, 切向力X=53712.1250, 切向力Y=-38585.8281 +stitch_feature_optimized: canvas out_w=407, out_h=415, x_min=-78.67, y_min=-79.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000210s, blend=0.002278s (9 tiles incl ref), finalize=0.000064s, total=0.002558s +FPS=29.95, 法向力=10257.5859, 切向力X=53724.3906, 切向力Y=-38641.7930 +FPS=28.93, 法向力=24744.5586, 切向力X=108908.5234, 切向力Y=36782.9297 +FPS=28.59, 法向力=24624.6953, 切向力X=109146.4688, 切向力Y=37141.2969 +FPS=29.86, 法向力=11062.5508, 切向力X=21227.2559, 切向力Y=27883.1855 +FPS=29.39, 法向力=11284.0703, 切向力X=21108.4180, 切向力Y=27947.9844 +FPS=29.08, 法向力=2341.7959, 切向力X=6351.9658, 切向力Y=-1688.8550 +FPS=29.89, 法向力=2327.2349, 切向力X=6105.0215, 切向力Y=-1701.4348 +FPS=28.31, 法向力=4812.0479, 切向力X=10317.6855, 切向力Y=-42245.1289 +FPS=28.54, 法向力=4750.4160, 切向力X=10352.7871, 切向力Y=-42481.8516 +FPS=27.48, 法向力=20557.1758, 切向力X=33841.3164, 切向力Y=-55381.0312 +FPS=27.31, 法向力=20611.5820, 切向力X=33893.5312, 切向力Y=-55566.3906 +FPS=28.68, 法向力=10624.2500, 切向力X=39731.3984, 切向力Y=55705.2266 +FPS=26.78, 法向力=12298.8984, 切向力X=-36774.1094, 切向力Y=33580.3672 +FPS=28.66, 法向力=12081.0840, 切向力X=-37138.8125, 切向力Y=33510.4766 +FPS=26.87, 法向力=11562.6279, 切向力X=-30311.6074, 切向力Y=-63877.6719 +FPS=27.57, 法向力=11168.5254, 切向力X=-30797.1719, 切向力Y=-64539.0547 +FPS=25.52, 法向力=13053.1973, 切向力X=5383.7954, 切向力Y=-48859.3359 +FPS=28.74, 法向力=13099.4375, 切向力X=5322.9976, 切向力Y=-49030.0664 +FPS=26.83, 法向力=4181.2310, 切向力X=8344.6562, 切向力Y=18059.0820 +FPS=28.49, 法向力=3952.7812, 切向力X=8411.1104, 切向力Y=18265.8926 +FPS=26.98, 法向力=5259.1426, 切向力X=-13112.7100, 切向力Y=49276.0898 +FPS=28.48, 法向力=4197.6006, 切向力X=-25755.9688, 切向力Y=-25295.9336 +FPS=29.09, 法向力=4319.3540, 切向力X=-25744.0117, 切向力Y=-25277.3164 +FPS=26.82, 法向力=17854.3672, 切向力X=704.9875, 切向力Y=-86204.1641 +FPS=27.92, 法向力=17234.8867, 切向力X=395.2578, 切向力Y=-87138.6094 +FPS=26.17, 法向力=5253.8716, 切向力X=2632.3149, 切向力Y=6438.7979 +FPS=26.15, 法向力=5162.0747, 切向力X=2619.0894, 切向力Y=6392.9639 +FPS=27.14, 法向力=6851.6738, 切向力X=-13405.3408, 切向力Y=35722.3398 +FPS=29.15, 法向力=6884.8838, 切向力X=-13496.5693, 切向力Y=35807.1484 +FPS=26.06, 法向力=6665.1846, 切向力X=-22693.7109, 切向力Y=-64056.8320 +stitch_feature_optimized: canvas out_w=407, out_h=415, x_min=-78.67, y_min=-79.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000239s, blend=0.002281s (9 tiles incl ref), finalize=0.000046s, total=0.002573s +FPS=27.65, 法向力=6240.3252, 切向力X=-22889.0020, 切向力Y=-64561.3828 +FPS=27.41, 法向力=24477.6387, 切向力X=-3268.8274, 切向力Y=-97235.0156 +FPS=27.48, 法向力=4238.7900, 切向力X=3495.2393, 切向力Y=2857.0020 +FPS=28.15, 法向力=4339.9619, 切向力X=3385.1997, 切向力Y=2834.6680 +FPS=27.09, 法向力=4675.9014, 切向力X=-10988.0898, 切向力Y=17049.7832 +FPS=28.18, 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法向力=4024.9346, 切向力X=-512.2932, 切向力Y=1742.0642 +FPS=29.20, 法向力=2942.5671, 切向力X=-1852.0332, 切向力Y=1772.8604 +FPS=30.08, 法向力=2882.0796, 切向力X=-1892.0408, 切向力Y=1691.9893 +FPS=28.82, 法向力=3139.1899, 切向力X=-715.8914, 切向力Y=1804.4795 +FPS=29.77, 法向力=3144.6812, 切向力X=-720.9294, 切向力Y=1679.7205 +FPS=27.29, 法向力=2535.1938, 切向力X=-731.2528, 切向力Y=90.4852 +FPS=20.68, 法向力=2885.4219, 切向力X=-836.7045, 切向力Y=2212.9321 +FPS=45.19, 法向力=2932.6631, 切向力X=-775.5547, 切向力Y=2239.7539 +FPS=35.01, 法向力=2943.1411, 切向力X=-774.8799, 切向力Y=2224.6328 +FPS=31.71, 法向力=3057.1362, 切向力X=-524.1720, 切向力Y=2217.6836 +FPS=34.91, 法向力=3240.7490, 切向力X=-520.1906, 切向力Y=2138.9443 +FPS=33.84, 法向力=3216.6169, 切向力X=-1172.5359, 切向力Y=1630.2355 +FPS=35.17, 法向力=3195.5879, 切向力X=-1181.8994, 切向力Y=1608.3901 +FPS=33.97, 法向力=3349.6914, 切向力X=97.7430, 切向力Y=980.8152 +stitch_feature_optimized: canvas out_w=407, out_h=415, x_min=-78.67, y_min=-79.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000235s, blend=0.002222s (9 tiles incl ref), finalize=0.000049s, total=0.002512s +FPS=35.07, 法向力=3377.9814, 切向力X=132.8561, 切向力Y=1139.4761 +FPS=35.12, 法向力=3374.1943, 切向力X=103.8727, 切向力Y=1153.4886 +FPS=33.27, 法向力=2988.4819, 切向力X=-721.0442, 切向力Y=2548.2170 +FPS=35.77, 法向力=3057.8154, 切向力X=-774.6268, 切向力Y=2481.9951 +FPS=32.05, 法向力=2065.1084, 切向力X=-807.1783, 切向力Y=1590.8853 +FPS=33.75, 法向力=2001.9097, 切向力X=-865.6256, 切向力Y=1581.5173 +FPS=31.33, 法向力=2349.4517, 切向力X=-413.9826, 切向力Y=1610.5546 +FPS=33.48, 法向力=2305.2209, 切向力X=-465.1051, 切向力Y=1605.8020 +FPS=32.42, 法向力=2726.5588, 切向力X=-816.1158, 切向力Y=1179.9851 +FPS=32.85, 法向力=2801.9561, 切向力X=-825.0695, 切向力Y=1126.0732 +FPS=31.23, 法向力=3711.4175, 切向力X=410.4973, 切向力Y=716.6652 +FPS=29.50, 法向力=3670.8579, 切向力X=404.9125, 切向力Y=827.6680 +FPS=26.94, 法向力=2590.9578, 切向力X=-596.3747, 切向力Y=1466.7814 +FPS=27.51, 法向力=2579.2129, 切向力X=-548.2468, 切向力Y=1465.9629 +FPS=26.79, 法向力=3478.1274, 切向力X=-192.3898, 切向力Y=1186.7292 +FPS=29.50, 法向力=3435.2542, 切向力X=-302.5063, 切向力Y=1129.5374 +FPS=27.48, 法向力=2382.9663, 切向力X=-374.1112, 切向力Y=273.5668 +FPS=34.07, 法向力=2415.4355, 切向力X=-530.9785, 切向力Y=398.5128 +FPS=31.47, 法向力=2301.0173, 切向力X=-436.6700, 切向力Y=1073.5850 +FPS=33.10, 法向力=2304.2385, 切向力X=-316.1467, 切向力Y=1047.1553 +FPS=32.70, 法向力=2295.2900, 切向力X=-330.0450, 切向力Y=761.1014 +FPS=29.87, 法向力=2400.7034, 切向力X=-344.2219, 切向力Y=677.8317 +FPS=29.11, 法向力=2676.1860, 切向力X=611.7551, 切向力Y=951.7328 +FPS=30.42, 法向力=2700.4690, 切向力X=552.1305, 切向力Y=960.1654 +FPS=30.76, 法向力=2466.6555, 切向力X=-579.0359, 切向力Y=129.4221 +FPS=33.44, 法向力=2510.4075, 切向力X=-566.2874, 切向力Y=151.1263 +FPS=30.84, 法向力=2782.3618, 切向力X=-791.2374, 切向力Y=1423.1874 +FPS=35.33, 法向力=2858.9243, 切向力X=-886.2780, 切向力Y=1540.2642 +FPS=33.40, 法向力=2798.1836, 切向力X=621.6669, 切向力Y=1588.1768 +FPS=34.22, 法向力=2868.3723, 切向力X=688.7463, 切向力Y=1459.9359 +stitch_feature_optimized: canvas out_w=407, out_h=415, x_min=-78.67, y_min=-79.91 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000235s, blend=0.002132s (9 tiles incl ref), finalize=0.000048s, total=0.002422s +FPS=33.60, 法向力=2859.4089, 切向力X=697.7776, 切向力Y=1482.0012 +FPS=32.29, 法向力=2504.7827, 切向力X=-1931.7974, 切向力Y=1364.2146 +FPS=35.94, 法向力=2640.3193, 切向力X=-1973.4529, 切向力Y=1340.0352 +FPS=32.72, 法向力=2612.1963, 切向力X=-514.9406, 切向力Y=2056.2129 +FPS=33.88, 法向力=2628.2175, 切向力X=-484.8871, 切向力Y=2009.5197 +FPS=14.95, 法向力=3304.2524, 切向力X=322.6810, 切向力Y=1890.6135 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260521_095251.log b/examples/logs/qt_viewer_20260521_095251.log new file mode 100644 index 0000000..733daf7 --- /dev/null +++ b/examples/logs/qt_viewer_20260521_095251.log @@ -0,0 +1,1820 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=10 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.80, 法向力=2230.1914, 切向力X=-966.5762, 切向力Y=163.0812 +FPS=23.46, 法向力=2205.2881, 切向力X=-913.9067, 切向力Y=181.8431 +FPS=21.63, 法向力=2342.9487, 切向力X=-1320.9517, 切向力Y=659.3472 +FPS=24.44, 法向力=1909.8655, 切向力X=888.0979, 切向力Y=-390.2289 +FPS=26.08, 法向力=1914.7500, 切向力X=1079.0903, 切向力Y=-358.0943 +FPS=23.51, 法向力=3858.6311, 切向力X=4493.9727, 切向力Y=68.1100 +FPS=26.43, 法向力=2357.7690, 切向力X=1095.4268, 切向力Y=-32.1493 +FPS=25.05, 法向力=2294.3604, 切向力X=857.7033, 切向力Y=-129.1539 +FPS=27.26, 法向力=1588.7513, 切向力X=1932.4390, 切向力Y=772.1984 +FPS=30.17, 法向力=1690.7063, 切向力X=2077.8164, 切向力Y=730.2428 +FPS=26.08, 法向力=1972.9888, 切向力X=456.1791, 切向力Y=1532.2601 +FPS=30.81, 法向力=2017.5261, 切向力X=372.9841, 切向力Y=1599.7357 +FPS=26.57, 法向力=1957.5793, 切向力X=1889.3511, 切向力Y=-76.8233 +FPS=29.15, 法向力=1961.8447, 切向力X=1830.4707, 切向力Y=-78.4681 +FPS=26.02, 法向力=1803.2743, 切向力X=1390.8408, 切向力Y=375.6336 +FPS=29.38, 法向力=1799.9048, 切向力X=1457.5076, 切向力Y=408.6994 +FPS=28.10, 法向力=3114.4165, 切向力X=1585.4386, 切向力Y=972.7230 +FPS=28.06, 法向力=2391.8540, 切向力X=1047.4800, 切向力Y=220.6175 +FPS=29.72, 法向力=2460.4292, 切向力X=1139.0303, 切向力Y=221.8066 +FPS=29.26, 法向力=2435.8184, 切向力X=1176.0046, 切向力Y=216.9491 +FPS=26.00, 法向力=2194.5125, 切向力X=797.5543, 切向力Y=-315.3304 +FPS=27.85, 法向力=2219.9563, 切向力X=835.3136, 切向力Y=-328.4631 +FPS=27.89, 法向力=3901.7202, 切向力X=4513.0361, 切向力Y=1862.8018 +FPS=29.00, 法向力=2767.8708, 切向力X=-578.4596, 切向力Y=852.7501 +FPS=27.62, 法向力=2783.7566, 切向力X=-568.8226, 切向力Y=815.4047 +FPS=26.54, 法向力=2657.9487, 切向力X=2265.6868, 切向力Y=-1130.3842 +FPS=28.99, 法向力=2754.6792, 切向力X=2368.6958, 切向力Y=-1238.8572 +stitch_feature_optimized: canvas out_w=407, out_h=415, x_min=-76.37, y_min=-79.50 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000381s, blend=0.002330s (9 tiles incl ref), finalize=0.000059s, total=0.002777s +FPS=24.63, 法向力=2943.1514, 切向力X=-1049.4927, 切向力Y=507.8080 +FPS=27.81, 法向力=3103.0571, 切向力X=-1152.0065, 切向力Y=548.7947 +FPS=27.49, 法向力=2213.7588, 切向力X=1875.3691, 切向力Y=217.5137 +FPS=30.13, 法向力=2172.4634, 切向力X=2085.5059, 切向力Y=234.4075 +FPS=27.72, 法向力=2130.9971, 切向力X=-718.5931, 切向力Y=-40.2568 +FPS=29.69, 法向力=2193.4419, 切向力X=-610.8550, 切向力Y=-35.0522 +FPS=28.08, 法向力=1950.3998, 切向力X=1654.0197, 切向力Y=-376.9158 +FPS=26.29, 法向力=3078.4106, 切向力X=-1225.6118, 切向力Y=1013.3898 +FPS=29.31, 法向力=3001.3560, 切向力X=-1138.3174, 切向力Y=992.0225 +FPS=27.19, 法向力=2798.7070, 切向力X=2179.0156, 切向力Y=-941.0503 +FPS=29.00, 法向力=2878.5034, 切向力X=2155.9995, 切向力Y=-879.6653 +FPS=27.51, 法向力=2897.7893, 切向力X=3438.9624, 切向力Y=181.6982 +FPS=29.04, 法向力=2943.0276, 切向力X=3553.4243, 切向力Y=197.4560 +FPS=26.79, 法向力=1481.4966, 切向力X=392.1276, 切向力Y=-327.0577 +FPS=27.79, 法向力=1491.4812, 切向力X=334.4558, 切向力Y=-405.3669 +FPS=26.80, 法向力=2351.7710, 切向力X=2565.7708, 切向力Y=1178.4574 +FPS=28.71, 法向力=2612.3721, 切向力X=2740.3958, 切向力Y=1240.9421 +FPS=26.63, 法向力=3160.5642, 切向力X=-5409.7920, 切向力Y=-3890.5527 +FPS=27.46, 法向力=3019.2866, 切向力X=-5403.4463, 切向力Y=-3980.0430 +FPS=29.09, 法向力=8390.6416, 切向力X=-20620.8047, 切向力Y=-35516.6562 +FPS=27.20, 法向力=18289.7910, 切向力X=-50239.7422, 切向力Y=-86474.9141 +FPS=28.56, 法向力=18412.0117, 切向力X=-50512.4375, 切向力Y=-86798.8516 +FPS=25.31, 法向力=29855.8926, 切向力X=-56925.7656, 切向力Y=-91938.6250 +FPS=28.38, 法向力=29284.6914, 切向力X=-57138.6602, 切向力Y=-92336.4375 +FPS=26.71, 法向力=26932.8340, 切向力X=-28958.9668, 切向力Y=-45943.2344 +FPS=29.10, 法向力=26700.0449, 切向力X=-28928.2969, 切向力Y=-45751.7344 +FPS=27.61, 法向力=19166.6895, 切向力X=-18340.2480, 切向力Y=-30099.6250 +FPS=28.63, 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切向力Y=750.7209 +FPS=23.28, 法向力=2311.8525, 切向力X=-335.1507, 切向力Y=892.6266 +FPS=24.97, 法向力=2675.1606, 切向力X=73.4459, 切向力Y=644.7163 +FPS=24.76, 法向力=2692.5618, 切向力X=143.6443, 切向力Y=661.8875 +FPS=23.48, 法向力=2779.2739, 切向力X=-545.8285, 切向力Y=978.8342 +stitch_feature_optimized: canvas out_w=407, out_h=415, x_min=-76.37, y_min=-79.50 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000228s, blend=0.002321s (9 tiles incl ref), finalize=0.000051s, total=0.002606s +FPS=24.96, 法向力=2782.6833, 切向力X=-619.3631, 切向力Y=1044.4958 +FPS=22.80, 法向力=2123.7981, 切向力X=-964.3737, 切向力Y=1412.9088 +FPS=24.51, 法向力=2127.3518, 切向力X=-969.5629, 切向力Y=1433.8700 +FPS=25.81, 法向力=3221.9629, 切向力X=-297.2048, 切向力Y=1110.8875 +FPS=24.82, 法向力=3217.4036, 切向力X=59.9151, 切向力Y=1318.7280 +FPS=25.82, 法向力=3202.2073, 切向力X=64.1250, 切向力Y=1357.2671 +FPS=23.97, 法向力=2184.4995, 切向力X=-160.8745, 切向力Y=1291.9750 +FPS=23.35, 法向力=3225.2583, 切向力X=4.6052, 切向力Y=413.7681 +FPS=25.54, 法向力=3306.7715, 切向力X=-9.7241, 切向力Y=364.4336 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260521_164650.log b/examples/logs/qt_viewer_20260521_164650.log new file mode 100644 index 0000000..bd9a0c1 --- /dev/null +++ b/examples/logs/qt_viewer_20260521_164650.log @@ -0,0 +1,1252 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=15 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.47, 法向力=1110.8788, 切向力X=-862.2000, 切向力Y=1099.3020 +FPS=25.64, 法向力=1435.4114, 切向力X=-1097.2944, 切向力Y=102.4981 +FPS=25.68, 法向力=1199.3734, 切向力X=-574.1724, 切向力Y=-94.3155 +FPS=27.34, 法向力=1166.1532, 切向力X=-519.8554, 切向力Y=-24.2220 +FPS=24.41, 法向力=1244.4895, 切向力X=-1314.5222, 切向力Y=475.3911 +FPS=26.49, 法向力=1257.6781, 切向力X=-1328.5446, 切向力Y=368.5893 +FPS=26.79, 法向力=1224.2852, 切向力X=-942.2589, 切向力Y=351.6863 +FPS=25.98, 法向力=1497.4509, 切向力X=-1023.1582, 切向力Y=495.9643 +FPS=28.26, 法向力=1501.2384, 切向力X=-1011.4794, 切向力Y=586.1338 +FPS=24.88, 法向力=1043.3248, 切向力X=-1174.5005, 切向力Y=188.2349 +FPS=27.49, 法向力=1049.6329, 切向力X=-1158.1147, 切向力Y=195.0803 +FPS=25.26, 法向力=1173.5862, 切向力X=-967.5171, 切向力Y=543.7513 +FPS=27.92, 法向力=1147.2954, 切向力X=-1012.3068, 切向力Y=600.6174 +FPS=26.26, 法向力=1012.1270, 切向力X=-610.9782, 切向力Y=248.3728 +FPS=27.59, 法向力=918.4143, 切向力X=-888.1172, 切向力Y=526.2783 +FPS=28.16, 法向力=945.1426, 切向力X=-957.8689, 切向力Y=490.7055 +FPS=25.95, 法向力=1048.8145, 切向力X=-669.2894, 切向力Y=116.3540 +FPS=29.14, 法向力=1036.5974, 切向力X=-642.5497, 切向力Y=145.5176 +FPS=26.47, 法向力=1312.7692, 切向力X=-18.2492, 切向力Y=237.5331 +FPS=28.25, 法向力=1357.5420, 切向力X=-4.3469, 切向力Y=214.8639 +FPS=25.53, 法向力=1465.5833, 切向力X=-968.7383, 切向力Y=760.9022 +FPS=29.16, 法向力=1524.7236, 切向力X=-1018.4034, 切向力Y=653.9048 +FPS=25.59, 法向力=1362.8219, 切向力X=-329.4482, 切向力Y=952.6019 +FPS=26.00, 法向力=1357.7307, 切向力X=-240.6112, 切向力Y=954.1401 +FPS=27.17, 法向力=916.2562, 切向力X=-1107.8641, 切向力Y=1025.0973 +FPS=25.52, 法向力=1273.1448, 切向力X=-942.3230, 切向力Y=1243.8762 +FPS=27.82, 法向力=1225.8087, 切向力X=-1049.2913, 切向力Y=1177.4775 +stitch_feature_optimized: canvas out_w=414, out_h=427, x_min=-81.76, y_min=-88.25 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000219s, blend=0.002167s (9 tiles incl ref), finalize=0.000050s, total=0.002443s +FPS=25.71, 法向力=1240.8619, 切向力X=-544.6352, 切向力Y=515.7477 +FPS=27.08, 法向力=1267.9553, 切向力X=-543.6371, 切向力Y=562.6793 +FPS=25.97, 法向力=1240.7048, 切向力X=-754.7663, 切向力Y=526.1150 +FPS=25.26, 法向力=1296.5222, 切向力X=-728.7504, 切向力Y=432.7159 +FPS=24.76, 法向力=1265.3363, 切向力X=-458.4677, 切向力Y=1098.0164 +FPS=26.07, 法向力=1452.2708, 切向力X=-1145.3059, 切向力Y=647.2719 +FPS=27.21, 法向力=1408.8650, 切向力X=-1110.6782, 切向力Y=862.5941 +FPS=27.20, 法向力=1542.4546, 切向力X=-694.6810, 切向力Y=327.9360 +FPS=29.13, 法向力=1514.2417, 切向力X=-644.9724, 切向力Y=393.5295 +FPS=26.76, 法向力=1290.5649, 切向力X=-854.5187, 切向力Y=382.8697 +FPS=28.29, 法向力=1282.1172, 切向力X=-799.9261, 切向力Y=387.5700 +FPS=27.74, 法向力=1025.5912, 切向力X=-1134.7830, 切向力Y=934.0269 +FPS=29.13, 法向力=1397.8162, 切向力X=-848.0836, 切向力Y=144.7008 +FPS=28.71, 法向力=1452.9529, 切向力X=-831.9817, 切向力Y=161.5762 +FPS=28.11, 法向力=1537.6943, 切向力X=-839.8217, 切向力Y=30.5706 +FPS=26.66, 法向力=1306.7449, 切向力X=-686.2249, 切向力Y=367.1736 +FPS=27.39, 法向力=1384.1248, 切向力X=-119.9441, 切向力Y=821.4709 +FPS=28.23, 法向力=1426.4373, 切向力X=-75.3056, 切向力Y=746.1132 +FPS=25.67, 法向力=1391.5100, 切向力X=-702.8026, 切向力Y=381.6550 +FPS=28.44, 法向力=1439.5133, 切向力X=-788.4283, 切向力Y=265.2368 +FPS=21.12, 法向力=1347.2771, 切向力X=-649.1501, 切向力Y=-446.6877 +FPS=24.13, 法向力=1284.7598, 切向力X=-1335.4282, 切向力Y=112.0947 +FPS=27.57, 法向力=1280.2101, 切向力X=-1332.6390, 切向力Y=225.2010 +FPS=23.57, 法向力=1239.7271, 切向力X=-472.6339, 切向力Y=374.0707 +FPS=27.30, 法向力=1247.2734, 切向力X=-476.5503, 切向力Y=472.4491 +FPS=25.63, 法向力=1205.8837, 切向力X=-748.3930, 切向力Y=-673.4141 +FPS=26.72, 法向力=1192.6444, 切向力X=-771.5264, 切向力Y=-739.3972 +FPS=25.20, 法向力=2847.4150, 切向力X=341.6055, 切向力Y=-16343.5654 +FPS=24.84, 法向力=6695.6245, 切向力X=5577.0708, 切向力Y=-53601.0312 +FPS=26.33, 法向力=6417.2666, 切向力X=5625.3838, 切向力Y=-54052.0859 +stitch_feature_optimized: canvas out_w=414, out_h=427, x_min=-81.76, y_min=-88.25 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000405s, blend=0.002502s (9 tiles incl ref), finalize=0.000055s, total=0.002968s +FPS=24.76, 法向力=15662.7773, 切向力X=8033.2446, 切向力Y=-78437.9062 +FPS=27.58, 法向力=15151.4795, 切向力X=8225.9336, 切向力Y=-79057.4219 +FPS=26.23, 法向力=19234.5742, 切向力X=3580.2639, 切向力Y=-72954.3359 +FPS=24.90, 法向力=19171.9473, 切向力X=3272.5129, 切向力Y=-73278.1406 +FPS=26.51, 法向力=17960.2012, 切向力X=-75.6888, 切向力Y=-48678.8125 +FPS=27.72, 法向力=15121.3975, 切向力X=1532.4988, 切向力Y=-31219.5352 +FPS=26.84, 法向力=15089.9521, 切向力X=1662.3767, 切向力Y=-31051.5117 +FPS=25.72, 法向力=12485.4570, 切向力X=5567.3096, 切向力Y=-19826.5957 +FPS=28.58, 法向力=12478.3984, 切向力X=5810.7490, 切向力Y=-19932.0391 +FPS=26.74, 法向力=9508.4082, 切向力X=14387.2051, 切向力Y=-258.6204 +FPS=26.89, 法向力=9520.2598, 切向力X=14425.8984, 切向力Y=-205.6775 +FPS=27.53, 法向力=4305.7749, 切向力X=13527.4717, 切向力Y=26433.6641 +FPS=25.67, 法向力=4666.2393, 切向力X=8835.7266, 切向力Y=45534.3477 +FPS=28.75, 法向力=4322.9668, 切向力X=8825.1133, 切向力Y=46226.7617 +FPS=26.16, 法向力=4256.5972, 切向力X=8837.4033, 切向力Y=46330.5000 +FPS=27.55, 法向力=8651.6211, 切向力X=3868.2319, 切向力Y=58415.5781 +FPS=26.21, 法向力=17066.1465, 切向力X=-3974.1294, 切向力Y=47856.3516 +FPS=26.18, 法向力=17325.2129, 切向力X=-4434.0391, 切向力Y=48388.2266 +FPS=24.66, 法向力=8734.7520, 切向力X=-2501.5247, 切向力Y=19540.7461 +FPS=26.16, 法向力=5350.6816, 切向力X=-351.1999, 切向力Y=8061.1104 +FPS=26.21, 法向力=5313.9277, 切向力X=-361.6883, 切向力Y=8017.8335 +FPS=25.46, 法向力=3396.8428, 切向力X=-130.5754, 切向力Y=2607.6094 +FPS=26.95, 法向力=3408.3696, 切向力X=-94.1687, 切向力Y=2528.0557 +FPS=25.43, 法向力=1833.4487, 切向力X=576.3171, 切向力Y=-9130.9414 +FPS=28.67, 法向力=1849.9565, 切向力X=632.5308, 切向力Y=-9321.9023 +FPS=24.64, 法向力=3585.9468, 切向力X=1740.8276, 切向力Y=-28479.0430 +FPS=26.23, 法向力=3512.0601, 切向力X=1738.0667, 切向力Y=-28617.3477 +FPS=27.35, 法向力=9086.2852, 切向力X=5054.9502, 切向力Y=-50704.4453 +FPS=25.36, 法向力=11962.9785, 切向力X=5824.8564, 切向力Y=-46865.3164 +FPS=25.34, 法向力=11931.4238, 切向力X=5819.8003, 切向力Y=-47008.5312 +stitch_feature_optimized: canvas out_w=414, out_h=427, x_min=-81.76, y_min=-88.25 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000216s, blend=0.002127s (9 tiles incl ref), finalize=0.000051s, total=0.002400s +FPS=24.65, 法向力=18789.4785, 切向力X=9930.4248, 切向力Y=-48979.6172 +FPS=26.53, 法向力=18977.4805, 切向力X=9867.7207, 切向力Y=-48975.4922 +FPS=26.51, 法向力=18523.6484, 切向力X=7212.5352, 切向力Y=-45507.8516 +FPS=25.79, 法向力=11145.7764, 切向力X=4702.8799, 切向力Y=-22265.0430 +FPS=27.95, 法向力=11166.1797, 切向力X=4760.2705, 切向力Y=-22308.8672 +FPS=26.80, 法向力=3729.0833, 切向力X=-401.6367, 切向力Y=-3900.3088 +FPS=27.95, 法向力=3628.6692, 切向力X=-299.0754, 切向力Y=-3867.5105 +FPS=26.48, 法向力=2349.6353, 切向力X=531.9065, 切向力Y=-2118.6841 +FPS=26.83, 法向力=2368.3413, 切向力X=483.7238, 切向力Y=-2125.4102 +FPS=24.68, 法向力=1868.4812, 切向力X=-145.0259, 切向力Y=-1221.2877 +FPS=25.98, 法向力=1861.9971, 切向力X=-123.7365, 切向力Y=-1201.2844 +FPS=25.54, 法向力=1741.3557, 切向力X=-7.9803, 切向力Y=-741.5631 +FPS=23.89, 法向力=2254.2754, 切向力X=3178.4922, 切向力Y=229.7062 +FPS=26.35, 法向力=2211.9033, 切向力X=3235.4578, 切向力Y=306.0237 +FPS=24.39, 法向力=3001.5674, 切向力X=16173.2148, 切向力Y=6940.7217 +FPS=26.53, 法向力=2985.8447, 切向力X=16103.2080, 切向力Y=6975.7520 +FPS=25.52, 法向力=3121.1292, 切向力X=17970.0234, 切向力Y=9481.8711 +FPS=25.00, 法向力=4561.8677, 切向力X=15419.5957, 切向力Y=9189.9834 +FPS=26.44, 法向力=4577.8164, 切向力X=15378.2520, 切向力Y=9177.0781 +FPS=24.90, 法向力=4408.3340, 切向力X=8072.0752, 切向力Y=1262.1958 +FPS=25.88, 法向力=4323.5093, 切向力X=8092.4189, 切向力Y=1417.3945 +FPS=25.90, 法向力=2964.5884, 切向力X=2822.4497, 切向力Y=635.7766 +FPS=25.91, 法向力=1986.2437, 切向力X=-264.4076, 切向力Y=2049.4641 +FPS=26.24, 法向力=1977.2639, 切向力X=-262.3953, 切向力Y=2046.5249 +FPS=25.84, 法向力=1996.8242, 切向力X=-2.2272, 切向力Y=500.4203 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+FPS=24.85, 法向力=11838.0615, 切向力X=-453.3429, 切向力Y=21416.6504 +FPS=26.78, 法向力=11912.3438, 切向力X=-551.5300, 切向力Y=21572.8809 +FPS=23.79, 法向力=7668.1289, 切向力X=-580.3264, 切向力Y=11183.2002 +FPS=26.00, 法向力=7713.2646, 切向力X=-506.4145, 切向力Y=11177.7510 +FPS=27.84, 法向力=5411.1162, 切向力X=261.3982, 切向力Y=6060.5479 +FPS=25.53, 法向力=4248.0068, 切向力X=904.2131, 切向力Y=2504.6560 +FPS=27.95, 法向力=4349.8838, 切向力X=990.9568, 切向力Y=2498.3350 +FPS=25.97, 法向力=4050.2732, 切向力X=491.3417, 切向力Y=2016.0422 +FPS=28.16, 法向力=4103.7241, 切向力X=437.5002, 切向力Y=1938.6115 +FPS=18.90, 法向力=3686.3301, 切向力X=-41.8737, 切向力Y=1631.1700 +FPS=36.28, 法向力=3471.9875, 切向力X=315.3099, 切向力Y=2214.3003 +FPS=33.20, 法向力=3416.3862, 切向力X=343.2712, 切向力Y=2275.9802 +FPS=34.21, 法向力=3442.4810, 切向力X=338.3306, 切向力Y=2258.8936 +FPS=26.00, 法向力=3159.0439, 切向力X=613.8008, 切向力Y=2320.6194 +FPS=30.27, 法向力=3119.4460, 切向力X=615.7520, 切向力Y=2325.9170 +FPS=31.38, 法向力=3241.7661, 切向力X=515.9553, 切向力Y=1351.0361 +FPS=33.41, 法向力=3294.0291, 切向力X=445.9364, 切向力Y=1450.7689 +FPS=29.32, 法向力=3445.3086, 切向力X=490.3114, 切向力Y=574.4155 +FPS=32.84, 法向力=3437.1665, 切向力X=457.0804, 切向力Y=585.2664 +FPS=31.37, 法向力=3290.0623, 切向力X=-268.2282, 切向力Y=1730.8735 +FPS=34.85, 法向力=3302.3582, 切向力X=-376.2631, 切向力Y=1698.3889 +FPS=30.46, 法向力=3465.5112, 切向力X=-100.9575, 切向力Y=1661.8541 +FPS=34.69, 法向力=3543.3276, 切向力X=-175.1599, 切向力Y=1604.2209 +FPS=32.57, 法向力=3240.7434, 切向力X=104.2169, 切向力Y=1222.5980 +FPS=34.35, 法向力=3271.5234, 切向力X=89.6136, 切向力Y=1252.4141 +FPS=34.33, 法向力=3279.0864, 切向力X=85.0933, 切向力Y=1207.5979 +FPS=32.89, 法向力=3028.7788, 切向力X=566.9396, 切向力Y=1608.5544 +stitch_feature_optimized: canvas out_w=414, out_h=427, x_min=-81.76, y_min=-88.25 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000284s, blend=0.002273s (9 tiles incl ref), finalize=0.000056s, total=0.002619s +FPS=32.75, 法向力=2995.8115, 切向力X=554.1344, 切向力Y=1636.8696 +FPS=30.65, 法向力=3187.2629, 切向力X=297.2060, 切向力Y=1880.9448 +FPS=32.64, 法向力=3239.1523, 切向力X=429.5314, 切向力Y=1759.9551 +FPS=29.27, 法向力=3196.0454, 切向力X=346.3334, 切向力Y=1249.5372 +FPS=24.66, 法向力=3211.2090, 切向力X=232.0993, 切向力Y=1297.1265 +FPS=25.44, 法向力=3222.1655, 切向力X=-5.1224, 切向力Y=1509.5366 +FPS=27.61, 法向力=2990.0247, 切向力X=-275.4416, 切向力Y=2194.8594 +FPS=30.88, 法向力=2972.4399, 切向力X=-325.4347, 切向力Y=2238.8438 +FPS=31.45, 法向力=3088.2720, 切向力X=367.5927, 切向力Y=1628.2021 +FPS=35.39, 法向力=3116.8716, 切向力X=336.0786, 切向力Y=1617.7764 +FPS=33.26, 法向力=3112.9451, 切向力X=370.7191, 切向力Y=1607.1707 +FPS=31.53, 法向力=3087.0171, 切向力X=248.9024, 切向力Y=1582.0806 +FPS=33.27, 法向力=3081.7412, 切向力X=161.7426, 切向力Y=1671.2764 +FPS=29.52, 法向力=2845.0767, 切向力X=671.0372, 切向力Y=1428.9270 +FPS=33.75, 法向力=2911.2627, 切向力X=670.6356, 切向力Y=1445.6660 +FPS=30.79, 法向力=3202.3901, 切向力X=-143.0158, 切向力Y=1558.5984 +FPS=33.79, 法向力=3260.3142, 切向力X=-280.5200, 切向力Y=1463.9546 +FPS=32.12, 法向力=2936.3447, 切向力X=-161.2616, 切向力Y=1458.4236 +FPS=34.46, 法向力=2926.9795, 切向力X=-127.1064, 切向力Y=1487.2327 +FPS=30.68, 法向力=2906.7744, 切向力X=-293.5975, 切向力Y=1398.0048 +FPS=31.13, 法向力=2865.9443, 切向力X=-396.4758, 切向力Y=1494.3447 +FPS=31.24, 法向力=2913.9609, 切向力X=291.3473, 切向力Y=945.6815 +FPS=32.97, 法向力=2912.0459, 切向力X=316.3859, 切向力Y=953.5131 +FPS=34.60, 法向力=2908.5637, 切向力X=334.8342, 切向力Y=944.4224 +FPS=31.57, 法向力=2989.7700, 切向力X=332.5081, 切向力Y=2035.4738 +FPS=34.31, 法向力=3048.7688, 切向力X=388.2379, 切向力Y=2097.2803 +FPS=30.57, 法向力=3158.7971, 切向力X=188.7369, 切向力Y=1320.9064 +FPS=30.78, 法向力=3126.6504, 切向力X=152.9611, 切向力Y=1364.9143 +FPS=30.50, 法向力=2841.7041, 切向力X=-106.3137, 切向力Y=1229.1426 +FPS=32.44, 法向力=2851.7412, 切向力X=-36.4015, 切向力Y=1299.9944 +stitch_feature_optimized: canvas out_w=414, out_h=427, x_min=-81.76, y_min=-88.25 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000215s, blend=0.002225s (9 tiles incl ref), finalize=0.000053s, total=0.002499s +FPS=29.05, 法向力=3049.7129, 切向力X=-117.8512, 切向力Y=1434.5264 +FPS=32.70, 法向力=3056.5469, 切向力X=-90.9075, 切向力Y=1429.3682 +FPS=30.60, 法向力=2811.4250, 切向力X=75.4930, 切向力Y=1689.4683 +FPS=33.14, 法向力=2841.7344, 切向力X=33.9012, 切向力Y=1677.0588 +FPS=28.90, 法向力=2775.7168, 切向力X=3.5102, 切向力Y=1172.2532 +FPS=32.05, 法向力=2780.4072, 切向力X=40.2569, 切向力Y=1139.1027 +FPS=29.12, 法向力=2617.3145, 切向力X=425.2295, 切向力Y=1950.7639 +FPS=31.74, 法向力=2584.1372, 切向力X=493.7502, 切向力Y=1970.7499 +FPS=31.30, 法向力=3124.2007, 切向力X=-49.1986, 切向力Y=1754.0300 +FPS=32.34, 法向力=3109.1694, 切向力X=-109.3354, 切向力Y=1802.4270 +FPS=30.16, 法向力=3029.0037, 切向力X=562.5579, 切向力Y=965.3508 +FPS=33.71, 法向力=3088.1963, 切向力X=496.4328, 切向力Y=942.9108 +FPS=29.79, 法向力=3044.1252, 切向力X=205.2628, 切向力Y=1400.8429 +FPS=31.27, 法向力=3107.1646, 切向力X=233.4172, 切向力Y=1426.0424 +FPS=29.42, 法向力=2891.0088, 切向力X=347.5569, 切向力Y=1896.1564 +FPS=30.60, 法向力=2988.2695, 切向力X=297.8064, 切向力Y=1883.4320 +FPS=15.03, 法向力=2857.7134, 切向力X=614.6525, 切向力Y=1755.3428 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260521_172408.log b/examples/logs/qt_viewer_20260521_172408.log new file mode 100644 index 0000000..e8c1563 --- /dev/null +++ b/examples/logs/qt_viewer_20260521_172408.log @@ -0,0 +1,1240 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=15 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.51, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.91, 法向力=1208.3295, 切向力X=170.7828, 切向力Y=-531.7628 +FPS=25.44, 法向力=1284.1650, 切向力X=189.4366, 切向力Y=-501.4926 +FPS=25.00, 法向力=1311.5454, 切向力X=-464.1741, 切向力Y=398.2270 +FPS=26.33, 法向力=1306.0166, 切向力X=-456.4132, 切向力Y=308.3281 +FPS=25.08, 法向力=1225.8538, 切向力X=262.3375, 切向力Y=339.9913 +FPS=30.21, 法向力=1265.1401, 切向力X=280.0720, 切向力Y=253.2452 +FPS=27.95, 法向力=1322.1704, 切向力X=40.3511, 切向力Y=-146.7547 +FPS=29.29, 法向力=1345.1777, 切向力X=164.4913, 切向力Y=-209.4820 +FPS=28.82, 法向力=1130.3025, 切向力X=-463.6233, 切向力Y=-148.3671 +FPS=28.83, 法向力=1287.5355, 切向力X=-348.6975, 切向力Y=221.8279 +FPS=30.00, 法向力=1322.0945, 切向力X=-294.4237, 切向力Y=176.3985 +FPS=28.60, 法向力=967.7486, 切向力X=-330.8090, 切向力Y=12.1744 +FPS=29.05, 法向力=967.2078, 切向力X=-364.4242, 切向力Y=-45.9496 +FPS=27.82, 法向力=879.8047, 切向力X=429.7134, 切向力Y=-162.2457 +FPS=31.54, 法向力=848.1332, 切向力X=415.5143, 切向力Y=-120.6384 +FPS=30.28, 法向力=873.8665, 切向力X=407.4091, 切向力Y=-170.9529 +FPS=28.76, 法向力=1025.6549, 切向力X=7.9710, 切向力Y=-205.0848 +FPS=29.00, 法向力=1083.6641, 切向力X=-65.2635, 切向力Y=-153.1176 +FPS=29.40, 法向力=961.6581, 切向力X=-300.5448, 切向力Y=100.8697 +FPS=27.97, 法向力=1505.7427, 切向力X=-16.2610, 切向力Y=-432.3199 +FPS=29.21, 法向力=1637.5415, 切向力X=-59.4752, 切向力Y=-464.2013 +FPS=27.93, 法向力=1229.3206, 切向力X=-505.1118, 切向力Y=-352.6297 +FPS=29.75, 法向力=1198.8248, 切向力X=-559.7476, 切向力Y=-383.7953 +FPS=26.89, 法向力=863.7087, 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法向力=1321.1793, 切向力X=-9.6263, 切向力Y=138.1847 +FPS=26.61, 法向力=1250.1788, 切向力X=36.0557, 切向力Y=231.6486 +FPS=26.80, 法向力=989.0413, 切向力X=-218.1687, 切向力Y=379.9441 +FPS=26.24, 法向力=1312.1881, 切向力X=-184.6958, 切向力Y=768.3153 +FPS=26.57, 法向力=1330.0820, 切向力X=-180.8425, 切向力Y=849.0814 +FPS=27.10, 法向力=1303.0311, 切向力X=-145.6540, 切向力Y=899.7926 +FPS=26.19, 法向力=1007.0243, 切向力X=-669.7086, 切向力Y=388.1837 +FPS=25.16, 法向力=953.5640, 切向力X=280.7957, 切向力Y=-529.0968 +FPS=27.30, 法向力=1039.7954, 切向力X=338.5999, 切向力Y=-600.6161 +FPS=26.16, 法向力=1134.6162, 切向力X=-323.1088, 切向力Y=713.3136 +FPS=26.43, 法向力=1221.0199, 切向力X=-224.6568, 切向力Y=49.6630 +FPS=26.57, 法向力=1240.7576, 切向力X=-108.3270, 切向力Y=-18.1684 +FPS=25.49, 法向力=1505.4524, 切向力X=26.4792, 切向力Y=-10.2373 +FPS=26.95, 法向力=1589.5101, 切向力X=-15.6161, 切向力Y=-96.0397 +FPS=24.94, 法向力=962.5725, 切向力X=-149.3208, 切向力Y=416.7509 +FPS=27.30, 法向力=956.4462, 切向力X=-232.3147, 切向力Y=323.5969 +FPS=25.39, 法向力=1068.0995, 切向力X=373.2129, 切向力Y=164.6867 +FPS=26.25, 法向力=1060.5485, 切向力X=508.5422, 切向力Y=230.3137 +FPS=25.58, 法向力=1101.1643, 切向力X=-42.9482, 切向力Y=-91.8667 +FPS=25.15, 法向力=1284.9207, 切向力X=-28.9393, 切向力Y=191.1778 +FPS=27.80, 法向力=1249.1061, 切向力X=1.5994, 切向力Y=164.5056 +FPS=25.44, 法向力=1270.6096, 切向力X=-396.1722, 切向力Y=682.1700 +FPS=27.13, 法向力=1297.7172, 切向力X=-357.4157, 切向力Y=637.1817 +FPS=25.46, 法向力=1108.0281, 切向力X=-282.4602, 切向力Y=756.7039 +stitch_feature_optimized: canvas out_w=410, out_h=427, x_min=-80.23, y_min=-88.97 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000216s, blend=0.002336s (9 tiles incl ref), finalize=0.000064s, total=0.002622s +FPS=27.41, 法向力=1113.2344, 切向力X=-338.8839, 切向力Y=766.8379 +FPS=24.85, 法向力=1058.4865, 切向力X=-20.6912, 切向力Y=-180.9770 +FPS=25.10, 法向力=910.1110, 切向力X=-308.8967, 切向力Y=188.0007 +FPS=26.49, 法向力=859.2725, 切向力X=-237.0785, 切向力Y=201.2703 +FPS=23.26, 法向力=1341.8853, 切向力X=57.5292, 切向力Y=102.8111 +FPS=24.61, 法向力=954.4180, 切向力X=434.6430, 切向力Y=74.9508 +FPS=25.80, 法向力=943.3089, 切向力X=407.8328, 切向力Y=105.4969 +FPS=23.75, 法向力=1466.3318, 切向力X=465.6228, 切向力Y=-8.6195 +FPS=27.05, 法向力=1498.7410, 切向力X=469.8677, 切向力Y=24.2034 +FPS=24.76, 法向力=1378.7008, 切向力X=-62.0094, 切向力Y=-156.9310 +FPS=26.46, 法向力=1459.0847, 切向力X=-197.4525, 切向力Y=-183.5327 +FPS=25.28, 法向力=888.9610, 切向力X=-14.7182, 切向力Y=167.5012 +FPS=25.41, 法向力=1018.0121, 切向力X=250.7907, 切向力Y=436.1769 +FPS=26.38, 法向力=1012.5949, 切向力X=270.0811, 切向力Y=428.6383 +FPS=25.64, 法向力=1015.3085, 切向力X=-933.8672, 切向力Y=598.2537 +FPS=27.20, 法向力=1050.0400, 切向力X=-1035.4031, 切向力Y=603.3604 +FPS=24.54, 法向力=1230.2039, 切向力X=-389.6947, 切向力Y=395.2893 +FPS=26.49, 法向力=1487.3320, 切向力X=-720.1320, 切向力Y=-309.0146 +FPS=25.98, 法向力=1538.2218, 切向力X=-855.8607, 切向力Y=-387.1943 +FPS=25.58, 法向力=1352.2549, 切向力X=271.9738, 切向力Y=-394.0684 +FPS=27.04, 法向力=1322.7197, 切向力X=306.7471, 切向力Y=-370.3055 +FPS=24.88, 法向力=1257.2717, 切向力X=643.6802, 切向力Y=559.3414 +FPS=25.61, 法向力=1254.4778, 切向力X=634.6095, 切向力Y=605.8256 +FPS=25.12, 法向力=1215.9606, 切向力X=-417.6476, 切向力Y=141.0045 +FPS=25.28, 法向力=1416.2977, 切向力X=-171.9291, 切向力Y=45.7481 +FPS=25.77, 法向力=1449.3417, 切向力X=-206.4808, 切向力Y=10.9793 +FPS=24.88, 法向力=1233.2308, 切向力X=-308.2110, 切向力Y=-182.4032 +FPS=27.17, 法向力=1278.6177, 切向力X=-282.9911, 切向力Y=-162.4798 +FPS=25.14, 法向力=1273.2021, 切向力X=-11.0102, 切向力Y=134.4702 +FPS=26.83, 法向力=1172.9220, 切向力X=-55.1555, 切向力Y=309.8802 +stitch_feature_optimized: canvas out_w=410, out_h=427, x_min=-80.23, y_min=-88.97 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000212s, blend=0.002368s (9 tiles incl ref), finalize=0.000050s, total=0.002636s +FPS=27.07, 法向力=1112.9777, 切向力X=31.2663, 切向力Y=327.6357 +FPS=25.37, 法向力=1121.6685, 切向力X=39.1813, 切向力Y=387.0703 +FPS=24.82, 法向力=1373.6373, 切向力X=99.3852, 切向力Y=423.7040 +FPS=23.38, 法向力=1084.5769, 切向力X=95.2240, 切向力Y=-101.9991 +FPS=26.74, 法向力=1109.7500, 切向力X=198.6519, 切向力Y=-104.7718 +FPS=25.92, 法向力=970.3624, 切向力X=-60.5136, 切向力Y=-129.5081 +FPS=26.64, 法向力=1008.1046, 切向力X=242.0060, 切向力Y=-392.2070 +FPS=26.56, 法向力=966.2236, 切向力X=262.7605, 切向力Y=-411.9272 +FPS=26.10, 法向力=766.2422, 切向力X=550.7084, 切向力Y=-106.9327 +FPS=26.53, 法向力=743.1271, 切向力X=613.1639, 切向力Y=-159.0211 +FPS=25.68, 法向力=1074.9131, 切向力X=-118.0590, 切向力Y=65.4645 +FPS=26.91, 法向力=1157.0155, 切向力X=-202.0450, 切向力Y=22.0579 +FPS=24.23, 法向力=1269.1272, 切向力X=215.6601, 切向力Y=-521.3871 +FPS=26.23, 法向力=1194.1926, 切向力X=-235.2869, 切向力Y=583.1320 +FPS=25.93, 法向力=1208.7883, 切向力X=-134.3594, 切向力Y=590.9316 +FPS=26.17, 法向力=1057.2166, 切向力X=-34.1577, 切向力Y=243.9811 +FPS=27.35, 法向力=1027.4091, 切向力X=-65.7930, 切向力Y=232.6643 +FPS=25.40, 法向力=1135.5388, 切向力X=220.0984, 切向力Y=449.1449 +FPS=26.63, 法向力=1585.6375, 切向力X=-226.2304, 切向力Y=-509.2707 +FPS=26.26, 法向力=1651.6882, 切向力X=-212.8519, 切向力Y=-438.9800 +FPS=26.73, 法向力=1640.8203, 切向力X=-240.1971, 切向力Y=-424.9811 +FPS=24.94, 法向力=1140.1572, 切向力X=55.4358, 切向力Y=-353.3746 +FPS=25.44, 法向力=1109.9294, 切向力X=-773.9791, 切向力Y=541.3027 +FPS=26.52, 法向力=1112.4124, 切向力X=-719.8418, 切向力Y=577.1079 +FPS=25.63, 法向力=1205.2151, 切向力X=458.4541, 切向力Y=525.3944 +FPS=26.01, 法向力=885.0034, 切向力X=322.8387, 切向力Y=-301.0107 +FPS=26.24, 法向力=944.6306, 切向力X=271.8415, 切向力Y=-275.6125 +FPS=25.57, 法向力=1046.0115, 切向力X=37.3479, 切向力Y=441.7516 +FPS=26.52, 法向力=1054.9412, 切向力X=-36.4413, 切向力Y=440.6640 +FPS=20.98, 法向力=740.7197, 切向力X=750.9317, 切向力Y=123.6020 +stitch_feature_optimized: canvas out_w=410, out_h=427, x_min=-80.23, y_min=-88.97 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000209s, blend=0.002167s (9 tiles incl ref), finalize=0.000048s, total=0.002429s +FPS=44.26, 法向力=717.9286, 切向力X=775.3319, 切向力Y=111.1036 +FPS=33.78, 法向力=1258.7958, 切向力X=-371.4878, 切向力Y=-161.6618 +FPS=31.37, 法向力=1364.3228, 切向力X=-464.4173, 切向力Y=-161.3728 +FPS=31.48, 法向力=921.1327, 切向力X=-180.1913, 切向力Y=408.4833 +FPS=32.59, 法向力=919.7930, 切向力X=-149.0877, 切向力Y=422.0995 +FPS=32.82, 法向力=929.3101, 切向力X=232.8282, 切向力Y=275.1112 +FPS=33.60, 法向力=983.1147, 切向力X=196.3976, 切向力Y=231.6415 +FPS=33.88, 法向力=970.1553, 切向力X=188.3800, 切向力Y=206.0457 +FPS=33.71, 法向力=1279.2214, 切向力X=-284.3865, 切向力Y=-82.5260 +FPS=35.12, 法向力=1388.7778, 切向力X=-417.5936, 切向力Y=-68.5311 +FPS=33.82, 法向力=1113.0769, 切向力X=-118.1618, 切向力Y=32.5391 +FPS=34.33, 法向力=1116.8365, 切向力X=-161.5012, 切向力Y=34.7574 +FPS=31.96, 法向力=1369.4365, 切向力X=-182.7336, 切向力Y=304.3021 +FPS=34.16, 法向力=1391.0308, 切向力X=-118.0172, 切向力Y=282.0544 +FPS=33.90, 法向力=1399.7416, 切向力X=-100.7173, 切向力Y=268.5258 +FPS=33.78, 法向力=1564.6340, 切向力X=439.6772, 切向力Y=24.1645 +FPS=34.77, 法向力=1643.9742, 切向力X=447.9824, 切向力Y=-145.2702 +FPS=32.20, 法向力=1030.9141, 切向力X=188.5740, 切向力Y=392.1425 +FPS=32.37, 法向力=1039.4395, 切向力X=174.1530, 切向力Y=361.8413 +FPS=32.38, 法向力=992.6078, 切向力X=-239.0903, 切向力Y=-4.4529 +FPS=35.17, 法向力=1020.4680, 切向力X=-262.0010, 切向力Y=89.4918 +FPS=32.84, 法向力=1310.9252, 切向力X=-332.4427, 切向力Y=41.4407 +FPS=33.48, 法向力=1324.1423, 切向力X=-415.0562, 切向力Y=43.9048 +FPS=30.14, 法向力=987.7043, 切向力X=44.2537, 切向力Y=-156.6718 +FPS=33.11, 法向力=1004.1346, 切向力X=59.7639, 切向力Y=-66.8057 +FPS=32.70, 法向力=1076.3308, 切向力X=160.2976, 切向力Y=-71.7847 +FPS=36.57, 法向力=1108.9529, 切向力X=175.2035, 切向力Y=-142.8805 +FPS=36.57, 法向力=1126.5244, 切向力X=158.6156, 切向力Y=-133.3640 +FPS=33.49, 法向力=1084.6536, 切向力X=-287.8323, 切向力Y=289.8422 +FPS=36.37, 法向力=1106.9266, 切向力X=-249.0991, 切向力Y=282.4050 +stitch_feature_optimized: canvas out_w=410, out_h=427, x_min=-80.23, y_min=-88.97 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000246s, blend=0.003146s (9 tiles incl ref), finalize=0.000058s, total=0.003456s +FPS=32.45, 法向力=912.9800, 切向力X=-366.9188, 切向力Y=153.1772 +FPS=36.50, 法向力=949.4054, 切向力X=-348.8837, 切向力Y=141.0132 +FPS=35.31, 法向力=945.3455, 切向力X=-352.6959, 切向力Y=116.3002 +FPS=34.44, 法向力=911.1512, 切向力X=598.2603, 切向力Y=3.0580 +FPS=20.88, 法向力=949.9145, 切向力X=683.2307, 切向力Y=274.0442 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260521_181155.log b/examples/logs/qt_viewer_20260521_181155.log new file mode 100644 index 0000000..13d46d7 --- /dev/null +++ b/examples/logs/qt_viewer_20260521_181155.log @@ -0,0 +1,505 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=10 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.05, 法向力=1120.8092, 切向力X=361.5073, 切向力Y=887.4753 +FPS=25.67, 法向力=1167.3499, 切向力X=399.4277, 切向力Y=893.3405 +FPS=26.71, 法向力=1797.5063, 切向力X=380.2451, 切向力Y=2392.5020 +FPS=25.33, 法向力=1667.9683, 切向力X=201.6793, 切向力Y=1491.8158 +FPS=27.90, 法向力=1687.1688, 切向力X=118.1516, 切向力Y=1407.7906 +FPS=26.47, 法向力=1407.8928, 切向力X=-1311.3906, 切向力Y=650.8329 +FPS=27.77, 法向力=1395.1001, 切向力X=-1379.3811, 切向力Y=680.6016 +FPS=26.17, 法向力=1748.1805, 切向力X=342.2592, 切向力Y=1144.3341 +FPS=26.72, 法向力=1240.5216, 切向力X=176.4465, 切向力Y=1070.7268 +FPS=28.71, 法向力=1247.5322, 切向力X=210.8829, 切向力Y=1104.1304 +FPS=25.21, 法向力=1351.0144, 切向力X=420.3193, 切向力Y=1735.9177 +FPS=28.04, 法向力=1369.8835, 切向力X=450.2319, 切向力Y=1785.4502 +FPS=26.37, 法向力=1263.2644, 切向力X=-236.7368, 切向力Y=1499.2238 +FPS=28.18, 法向力=1352.4548, 切向力X=-194.1116, 切向力Y=1500.6996 +FPS=24.76, 法向力=1808.0907, 切向力X=966.9449, 切向力Y=1683.8499 +FPS=27.18, 法向力=1823.6296, 切向力X=1017.2910, 切向力Y=1634.3240 +FPS=25.81, 法向力=1266.7659, 切向力X=861.6906, 切向力Y=1299.2756 +FPS=28.10, 法向力=1312.7874, 切向力X=858.4397, 切向力Y=1296.1072 +FPS=28.55, 法向力=1323.9136, 切向力X=881.4550, 切向力Y=1288.1698 +FPS=24.39, 法向力=1458.1416, 切向力X=-7.7370, 切向力Y=1115.6759 +FPS=29.11, 法向力=1461.2144, 切向力X=-59.2144, 切向力Y=1169.0508 +FPS=26.26, 法向力=1483.3783, 切向力X=603.6841, 切向力Y=1028.2640 +FPS=27.46, 法向力=1468.6537, 切向力X=758.8301, 切向力Y=1047.2236 +FPS=24.64, 法向力=1069.0741, 切向力X=356.6425, 切向力Y=1832.2019 +FPS=29.12, 法向力=1063.2385, 切向力X=353.7829, 切向力Y=1845.1870 +FPS=27.11, 法向力=1545.4303, 切向力X=851.0117, 切向力Y=1439.8219 +FPS=27.71, 法向力=1603.0911, 切向力X=815.4397, 切向力Y=1466.7061 +stitch_feature_optimized: canvas out_w=690, out_h=461, x_min=-154.75, y_min=-122.55 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000533s, blend=0.002279s (9 tiles incl ref), finalize=0.000055s, total=0.002874s +FPS=27.55, 法向力=1364.0505, 切向力X=132.8717, 切向力Y=1531.5206 +FPS=25.57, 法向力=1305.0098, 切向力X=-594.0548, 切向力Y=1032.5059 +FPS=28.80, 法向力=1293.0103, 切向力X=-660.7664, 切向力Y=996.3488 +FPS=27.18, 法向力=1422.3545, 切向力X=-48.1123, 切向力Y=1099.2522 +FPS=29.54, 法向力=1406.2278, 切向力X=15.1477, 切向力Y=1089.9393 +FPS=28.01, 法向力=1514.6740, 切向力X=-1217.4558, 切向力Y=-8261.1895 +FPS=20.15, 法向力=1522.2224, 切向力X=-1063.8696, 切向力Y=-8614.5938 +FPS=22.41, 法向力=5467.0605, 切向力X=-5254.4531, 切向力Y=-51327.3203 +FPS=24.91, 法向力=32719.0332, 切向力X=-9671.5439, 切向力Y=-118420.1016 +FPS=26.39, 法向力=32787.2891, 切向力X=-9870.5137, 切向力Y=-118453.5078 +FPS=25.35, 法向力=36886.7617, 切向力X=6787.2632, 切向力Y=-106699.6797 +FPS=26.85, 法向力=37002.1016, 切向力X=6580.4424, 切向力Y=-106312.5312 +FPS=27.00, 法向力=29619.5781, 切向力X=7185.9434, 切向力Y=-69446.6875 +FPS=26.34, 法向力=19357.0352, 切向力X=669.8577, 切向力Y=-36108.5703 +FPS=26.78, 法向力=19377.6367, 切向力X=714.6093, 切向力Y=-36370.7422 +FPS=26.72, 法向力=13626.5488, 切向力X=-888.9678, 切向力Y=-22264.9180 +FPS=26.81, 法向力=13631.2910, 切向力X=-874.7398, 切向力Y=-22461.8008 +FPS=24.27, 法向力=9341.9209, 切向力X=-187.0757, 切向力Y=-12907.3242 +FPS=27.31, 法向力=9393.0586, 切向力X=-221.2109, 切向力Y=-12995.3574 +FPS=26.54, 法向力=5715.7969, 切向力X=6805.5903, 切向力Y=5882.5562 +FPS=26.83, 法向力=4511.9951, 切向力X=16701.2812, 切向力Y=72598.6250 +FPS=26.64, 法向力=4487.2295, 切向力X=16536.0742, 切向力Y=72739.6875 +FPS=25.61, 法向力=26464.7441, 切向力X=6822.6572, 切向力Y=100329.6562 +FPS=26.52, 法向力=26140.6055, 切向力X=7602.5708, 切向力Y=100277.7188 +FPS=25.13, 法向力=13401.7002, 切向力X=557.0789, 切向力Y=32416.3652 +FPS=27.00, 法向力=13455.4414, 切向力X=508.3835, 切向力Y=32281.2188 +FPS=25.88, 法向力=8323.0195, 切向力X=-3533.5144, 切向力Y=5162.2441 +FPS=26.24, 法向力=8275.9043, 切向力X=-3508.1416, 切向力Y=5057.9199 +FPS=26.78, 法向力=6090.6328, 切向力X=-1858.6093, 切向力Y=-3146.3325 +FPS=25.96, 法向力=4883.0654, 切向力X=1789.5205, 切向力Y=3601.5664 +stitch_feature_optimized: canvas out_w=690, out_h=461, x_min=-154.75, y_min=-122.55 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000382s, blend=0.002260s (9 tiles incl ref), finalize=0.000054s, total=0.002704s +FPS=26.44, 法向力=4886.0605, 切向力X=1813.8877, 切向力Y=3603.6914 +FPS=25.96, 法向力=2325.8594, 切向力X=1376.1954, 切向力Y=1340.8755 +FPS=26.17, 法向力=2297.7075, 切向力X=1395.0527, 切向力Y=1370.6433 +FPS=26.30, 法向力=2289.1812, 切向力X=687.2548, 切向力Y=1397.2522 +FPS=27.30, 法向力=2291.8540, 切向力X=729.8469, 切向力Y=1382.1249 +FPS=23.27, 法向力=2055.7075, 切向力X=1240.7222, 切向力Y=1853.6204 +FPS=23.47, 法向力=2023.1107, 切向力X=532.5033, 切向力Y=1997.2249 +FPS=25.29, 法向力=2055.7112, 切向力X=466.4653, 切向力Y=1973.3881 +FPS=24.24, 法向力=2089.0796, 切向力X=859.5671, 切向力Y=2502.9463 +FPS=25.60, 法向力=1964.0978, 切向力X=1021.4695, 切向力Y=2149.3379 +FPS=26.53, 法向力=1942.9731, 切向力X=1058.6399, 切向力Y=2101.7451 +FPS=24.48, 法向力=2417.8135, 切向力X=7159.3994, 切向力Y=-13282.0605 +FPS=27.56, 法向力=2444.8423, 切向力X=7224.5820, 切向力Y=-13356.7480 +FPS=25.73, 法向力=10970.4492, 切向力X=23739.9785, 切向力Y=-55479.5000 +FPS=28.32, 法向力=10914.7500, 切向力X=23564.2109, 切向力Y=-55748.3906 +FPS=25.16, 法向力=12484.6709, 切向力X=46551.2266, 切向力Y=-31886.0859 +FPS=27.57, 法向力=12558.1367, 切向力X=46655.7227, 切向力Y=-31906.4883 +FPS=25.60, 法向力=14981.7920, 切向力X=58286.3672, 切向力Y=37004.0781 +FPS=25.39, 法向力=24721.3320, 切向力X=38422.3828, 切向力Y=41919.3438 +FPS=27.03, 法向力=24947.0977, 切向力X=38301.2266, 切向力Y=42352.4922 +FPS=25.44, 法向力=12400.7559, 切向力X=18713.4727, 切向力Y=15718.5645 +FPS=27.35, 法向力=12374.9746, 切向力X=18507.6758, 切向力Y=15760.5703 +FPS=28.16, 法向力=6562.3193, 切向力X=3521.4678, 切向力Y=-6490.0264 +FPS=26.72, 法向力=5382.5039, 切向力X=-30881.1113, 切向力Y=-27108.8906 +FPS=28.51, 法向力=5168.1689, 切向力X=-31166.0625, 切向力Y=-27041.7402 +FPS=27.50, 法向力=5161.2266, 切向力X=-31194.9805, 切向力Y=-26992.6016 +FPS=28.14, 法向力=21742.1094, 切向力X=-83969.2812, 切向力Y=-35985.8672 +FPS=27.40, 法向力=40804.7344, 切向力X=-97235.5000, 切向力Y=-28944.0820 +FPS=26.87, 法向力=40752.5234, 切向力X=-97808.2344, 切向力Y=-29129.7070 +FPS=24.06, 法向力=30816.0137, 切向力X=-78345.2266, 切向力Y=-19011.0547 +stitch_feature_optimized: canvas out_w=690, out_h=461, x_min=-154.75, y_min=-122.55 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000624s, blend=0.002227s (9 tiles incl ref), finalize=0.000049s, total=0.002908s +FPS=27.22, 法向力=30360.7969, 切向力X=-78265.7109, 切向力Y=-19016.5469 +FPS=25.64, 法向力=21971.2324, 切向力X=-59810.2656, 切向力Y=-2418.1436 +FPS=25.25, 法向力=19100.9492, 切向力X=-56302.5742, 切向力Y=10052.7402 +FPS=27.71, 法向力=19054.9883, 切向力X=-56580.5156, 切向力Y=11225.8779 +FPS=24.85, 法向力=18031.3711, 切向力X=-45817.7070, 切向力Y=24662.5938 +FPS=27.65, 法向力=17730.8848, 切向力X=-45799.4766, 切向力Y=25073.5547 +FPS=24.24, 法向力=18528.9668, 切向力X=-9397.8994, 切向力Y=45676.6172 +FPS=28.07, 法向力=18639.5039, 切向力X=-9658.3242, 切向力Y=45870.7812 +FPS=25.09, 法向力=17500.6641, 切向力X=39444.1641, 切向力Y=25953.1660 +FPS=23.16, 法向力=18258.2188, 切向力X=38136.2656, 切向力Y=-5841.4873 +FPS=26.27, 法向力=18415.9180, 切向力X=38155.3906, 切向力Y=-5964.5063 +FPS=24.05, 法向力=9784.7881, 切向力X=14040.7861, 切向力Y=-2510.4690 +FPS=25.92, 法向力=9888.9102, 切向力X=14114.4854, 切向力Y=-2485.0308 +FPS=26.13, 法向力=6434.9102, 切向力X=1824.3218, 切向力Y=820.5674 +FPS=24.68, 法向力=6447.2910, 切向力X=1661.9404, 切向力Y=661.0104 +FPS=25.63, 法向力=3188.9114, 切向力X=-28688.7715, 切向力Y=-17794.8828 +FPS=24.48, 法向力=9031.4199, 切向力X=-46018.5547, 切向力Y=-53450.6016 +FPS=25.24, 法向力=9107.6172, 切向力X=-46341.2344, 切向力Y=-53151.8633 +FPS=23.90, 法向力=24067.3906, 切向力X=-48125.7383, 切向力Y=-80759.1953 +FPS=23.44, 法向力=32350.7266, 切向力X=-78131.1641, 切向力Y=-42940.3594 +FPS=26.04, 法向力=32441.9609, 切向力X=-78709.6250, 切向力Y=-43085.0195 +FPS=23.64, 法向力=30920.4121, 切向力X=-89322.5781, 切向力Y=36749.9922 +FPS=24.78, 法向力=24288.1895, 切向力X=-70611.9844, 切向力Y=41959.2422 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+stitch_feature_optimized: canvas out_w=690, out_h=461, x_min=-154.75, y_min=-122.55 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000004s (hit), reset=0.000513s, blend=0.003268s (9 tiles incl ref), finalize=0.000144s, total=0.003934s +FPS=26.66, 法向力=2587.9980, 切向力X=512.4854, 切向力Y=2881.5552 +FPS=24.59, 法向力=2585.6245, 切向力X=817.1166, 切向力Y=2705.8228 +FPS=23.56, 法向力=2088.5281, 切向力X=428.9790, 切向力Y=2184.8684 +FPS=27.78, 法向力=2087.0303, 切向力X=459.3483, 切向力Y=2160.0527 +FPS=27.53, 法向力=2989.4617, 切向力X=652.4785, 切向力Y=2957.7002 +FPS=24.45, 法向力=3132.1299, 切向力X=568.7077, 切向力Y=3019.1157 +FPS=26.62, 法向力=2641.6685, 切向力X=761.0745, 切向力Y=2664.3828 +FPS=24.42, 法向力=2375.0635, 切向力X=431.7762, 切向力Y=2398.4194 +FPS=28.29, 法向力=2389.0649, 切向力X=373.9220, 切向力Y=2357.5386 +FPS=28.07, 法向力=2464.5654, 切向力X=1043.5935, 切向力Y=2767.3027 +FPS=30.42, 法向力=2425.5586, 切向力X=1028.5645, 切向力Y=2721.6409 +FPS=30.31, 法向力=2288.4546, 切向力X=813.2670, 切向力Y=2968.0498 +FPS=29.65, 法向力=2276.6121, 切向力X=859.2776, 切向力Y=3001.9551 +FPS=27.88, 法向力=1952.3125, 切向力X=414.2675, 切向力Y=2567.4519 +FPS=31.77, 法向力=2013.7804, 切向力X=464.8361, 切向力Y=2549.5103 +FPS=29.14, 法向力=2629.0103, 切向力X=707.0354, 切向力Y=2228.5259 +FPS=32.47, 法向力=2703.0405, 切向力X=619.9830, 切向力Y=2297.6479 +FPS=29.59, 法向力=2341.4548, 切向力X=887.3431, 切向力Y=3213.8506 +FPS=30.18, 法向力=2348.5173, 切向力X=786.0128, 切向力Y=3237.3879 +FPS=27.80, 法向力=2755.6484, 切向力X=923.1786, 切向力Y=2694.4739 +FPS=31.15, 法向力=2800.3369, 切向力X=886.2067, 切向力Y=2664.3276 +FPS=27.27, 法向力=2497.4365, 切向力X=751.8107, 切向力Y=3065.2031 +FPS=31.39, 法向力=2486.3892, 切向力X=857.8232, 切向力Y=3006.1516 +FPS=23.96, 法向力=2227.1550, 切向力X=876.9158, 切向力Y=3262.1123 +FPS=31.31, 法向力=2234.5256, 切向力X=902.7571, 切向力Y=3171.4873 +FPS=27.61, 法向力=2455.0061, 切向力X=563.6036, 切向力Y=2503.4099 +FPS=28.69, 法向力=2535.2117, 切向力X=553.0726, 切向力Y=2606.3933 +FPS=28.86, 法向力=2372.1885, 切向力X=737.6921, 切向力Y=2892.0728 +FPS=28.83, 法向力=2382.9009, 切向力X=831.3954, 切向力Y=2861.9209 +FPS=28.28, 法向力=2473.0508, 切向力X=402.6498, 切向力Y=2708.8867 +stitch_feature_optimized: canvas out_w=690, out_h=461, x_min=-154.75, y_min=-122.55 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000410s, blend=0.002540s (9 tiles incl ref), finalize=0.000065s, total=0.003022s +FPS=28.46, 法向力=2265.6462, 切向力X=1407.0300, 切向力Y=2739.5662 +FPS=29.20, 法向力=2227.4563, 切向力X=1362.4844, 切向力Y=2675.2280 +FPS=26.72, 法向力=2184.6162, 切向力X=1399.7980, 切向力Y=2680.4644 +FPS=28.65, 法向力=2161.3271, 切向力X=336.9849, 切向力Y=2044.5209 +FPS=29.49, 法向力=2135.7178, 切向力X=352.6859, 切向力Y=2039.4753 +FPS=13.70, 法向力=2739.0693, 切向力X=741.7117, 切向力Y=3098.8860 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260522_093104.log b/examples/logs/qt_viewer_20260522_093104.log new file mode 100644 index 0000000..752b4ee --- /dev/null +++ b/examples/logs/qt_viewer_20260522_093104.log @@ -0,0 +1,870 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=15 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.49, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=2.72, 法向力=1008.3411, 切向力X=894.9000, 切向力Y=844.7822 +FPS=24.55, 法向力=1531.5785, 切向力X=103.7165, 切向力Y=909.7520 +FPS=28.76, 法向力=1562.3738, 切向力X=5.8504, 切向力Y=860.5283 +FPS=27.46, 法向力=945.3837, 切向力X=-2.6076, 切向力Y=2043.4183 +FPS=28.33, 法向力=954.5406, 切向力X=13.8000, 切向力Y=2042.2795 +FPS=28.62, 法向力=1078.8572, 切向力X=330.4813, 切向力Y=755.0425 +FPS=28.42, 法向力=1322.8661, 切向力X=1030.8799, 切向力Y=972.7887 +FPS=30.26, 法向力=1340.6543, 切向力X=1039.3901, 切向力Y=977.2653 +FPS=26.80, 法向力=1341.5687, 切向力X=1032.5072, 切向力Y=1005.8669 +FPS=28.66, 法向力=1076.9963, 切向力X=1376.8215, 切向力Y=347.2527 +FPS=27.85, 法向力=1097.9683, 切向力X=1364.2290, 切向力Y=443.0828 +FPS=29.61, 法向力=1399.3429, 切向力X=317.9954, 切向力Y=627.3911 +FPS=29.29, 法向力=1008.7791, 切向力X=915.5912, 切向力Y=1227.6306 +FPS=29.74, 法向力=1033.6781, 切向力X=958.6271, 切向力Y=1325.3013 +FPS=27.76, 法向力=1314.7351, 切向力X=1085.5833, 切向力Y=1002.0349 +FPS=29.91, 法向力=1287.3215, 切向力X=1030.4453, 切向力Y=976.4238 +FPS=28.18, 法向力=983.6094, 切向力X=287.2825, 切向力Y=1376.7333 +FPS=30.64, 法向力=933.6232, 切向力X=208.4402, 切向力Y=1415.2927 +FPS=28.09, 法向力=1034.3070, 切向力X=66.7321, 切向力Y=302.2269 +FPS=29.93, 法向力=1053.0165, 切向力X=94.2181, 切向力Y=322.5650 +FPS=28.18, 法向力=940.1251, 切向力X=779.0869, 切向力Y=1097.7408 +FPS=30.57, 法向力=940.5947, 切向力X=744.6600, 切向力Y=1089.7322 +FPS=27.52, 法向力=2530.0400, 切向力X=4424.5181, 切向力Y=-8944.7285 +FPS=26.48, 法向力=2563.8989, 切向力X=4361.0093, 切向力Y=-9091.8906 +FPS=28.83, 法向力=3465.5471, 切向力X=14075.6465, 切向力Y=-36893.5039 +FPS=30.03, 法向力=3491.1699, 切向力X=14181.2822, 切向力Y=-37123.9141 +FPS=26.36, 法向力=6664.8945, 切向力X=10330.6777, 切向力Y=-40530.5391 +stitch_feature_optimized: canvas out_w=414, out_h=424, x_min=-81.93, y_min=-85.66 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000444s, blend=0.002549s (9 tiles incl ref), finalize=0.000073s, total=0.003074s +FPS=26.01, 法向力=8038.8345, 切向力X=637.6550, 切向力Y=-25154.2109 +FPS=26.76, 法向力=8022.3154, 切向力X=600.4397, 切向力Y=-25262.6562 +FPS=27.88, 法向力=7973.9663, 切向力X=624.4829, 切向力Y=-25266.9062 +FPS=29.07, 法向力=4442.4863, 切向力X=-1708.1172, 切向力Y=-7500.1309 +FPS=28.54, 法向力=1431.1375, 切向力X=102.8397, 切向力Y=-166.7471 +FPS=28.80, 法向力=1501.5359, 切向力X=100.5186, 切向力Y=-49.4151 +FPS=27.50, 法向力=1466.2228, 切向力X=3759.4878, 切向力Y=7869.6211 +FPS=30.42, 法向力=1592.7734, 切向力X=3766.6318, 切向力Y=7996.6440 +FPS=28.76, 法向力=4674.4004, 切向力X=5253.6343, 切向力Y=41788.7070 +FPS=30.79, 法向力=4583.1812, 切向力X=5202.9053, 切向力Y=42128.3672 +FPS=27.59, 法向力=10664.8672, 切向力X=-2449.7144, 切向力Y=31657.2969 +FPS=30.54, 法向力=10715.8672, 切向力X=-2639.5613, 切向力Y=31965.2188 +FPS=27.74, 法向力=2475.4072, 切向力X=-460.1162, 切向力Y=6130.8672 +FPS=30.44, 法向力=2490.5144, 切向力X=-499.7531, 切向力Y=6132.1011 +FPS=28.06, 法向力=1307.2136, 切向力X=969.2096, 切向力Y=-2531.0107 +FPS=29.57, 法向力=1297.9115, 切向力X=1010.5717, 切向力Y=-2598.0752 +FPS=28.27, 法向力=1821.7560, 切向力X=946.0269, 切向力Y=-9039.4580 +FPS=29.82, 法向力=1900.1570, 切向力X=914.7170, 切向力Y=-9271.9395 +FPS=28.15, 法向力=2270.8311, 切向力X=1087.9270, 切向力Y=-12745.2266 +FPS=29.54, 法向力=2348.6655, 切向力X=1150.2029, 切向力Y=-12999.8457 +FPS=28.87, 法向力=5045.1440, 切向力X=3416.9580, 切向力Y=-23966.0703 +FPS=28.87, 法向力=5039.4233, 切向力X=3542.5947, 切向力Y=-24395.2031 +FPS=29.93, 法向力=6564.4795, 切向力X=4766.7607, 切向力Y=-41665.2031 +FPS=28.76, 法向力=6230.5977, 切向力X=4954.4170, 切向力Y=-42254.2734 +FPS=29.32, 法向力=8220.5029, 切向力X=6691.7974, 切向力Y=-38756.2422 +FPS=29.37, 法向力=8032.9858, 切向力X=6697.1895, 切向力Y=-38959.6328 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切向力X=932.3624, 切向力Y=786.9360 +FPS=34.09, 法向力=1666.5226, 切向力X=950.4372, 切向力Y=783.6360 +FPS=34.62, 法向力=2243.3047, 切向力X=835.1754, 切向力Y=458.7982 +FPS=37.53, 法向力=2216.1536, 切向力X=772.1888, 切向力Y=462.0177 +FPS=35.60, 法向力=1734.3413, 切向力X=405.0243, 切向力Y=560.4016 +FPS=36.20, 法向力=1769.4323, 切向力X=501.7748, 切向力Y=485.7083 +FPS=36.23, 法向力=1771.5995, 切向力X=456.6538, 切向力Y=539.8597 +FPS=33.27, 法向力=1859.2103, 切向力X=1315.2717, 切向力Y=980.1446 +FPS=37.94, 法向力=1888.7848, 切向力X=1427.1820, 切向力Y=990.0759 +FPS=34.94, 法向力=1715.8616, 切向力X=480.7648, 切向力Y=947.4922 +FPS=39.04, 法向力=1767.5321, 切向力X=415.5776, 切向力Y=955.9318 +FPS=36.62, 法向力=1765.9541, 切向力X=417.7160, 切向力Y=936.6578 +FPS=36.43, 法向力=1868.2610, 切向力X=850.4635, 切向力Y=368.6622 +FPS=37.37, 法向力=1864.4108, 切向力X=846.0425, 切向力Y=374.1185 +FPS=35.91, 法向力=1854.5784, 切向力X=774.5822, 切向力Y=989.3580 +FPS=37.35, 法向力=1877.8289, 切向力X=769.9161, 切向力Y=975.8861 +FPS=34.42, 法向力=1951.6116, 切向力X=1445.6506, 切向力Y=244.6369 +FPS=36.40, 法向力=1918.7102, 切向力X=1501.4478, 切向力Y=287.8691 +FPS=35.68, 法向力=1914.9719, 切向力X=1495.3936, 切向力Y=282.2696 +FPS=33.20, 法向力=1440.5045, 切向力X=1234.5422, 切向力Y=568.3420 +FPS=35.84, 法向力=1505.3298, 切向力X=1282.5430, 切向力Y=656.2789 +FPS=32.49, 法向力=1728.1140, 切向力X=420.2743, 切向力Y=1206.9113 +FPS=34.76, 法向力=1759.4800, 切向力X=465.0744, 切向力Y=1198.6699 +FPS=34.51, 法向力=2098.5234, 切向力X=1126.2363, 切向力Y=619.4061 +FPS=34.84, 法向力=2195.3748, 切向力X=1182.7540, 切向力Y=611.5054 +FPS=34.47, 法向力=2216.3870, 切向力X=1203.7869, 切向力Y=591.9064 +stitch_feature_optimized: canvas out_w=414, out_h=424, x_min=-81.93, y_min=-85.66 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000208s, blend=0.002226s (9 tiles incl ref), finalize=0.000070s, total=0.002509s +FPS=35.24, 法向力=1865.8499, 切向力X=344.6657, 切向力Y=867.1514 +FPS=35.29, 法向力=1794.1799, 切向力X=265.5179, 切向力Y=860.8984 +FPS=31.29, 法向力=1746.9888, 切向力X=874.6543, 切向力Y=1274.8999 +FPS=36.05, 法向力=1770.0569, 切向力X=871.9587, 切向力Y=1268.1714 +FPS=33.06, 法向力=1768.1206, 切向力X=783.1807, 切向力Y=577.1537 +FPS=36.47, 法向力=1837.0461, 切向力X=690.2770, 切向力Y=581.3356 +FPS=35.82, 法向力=1852.9485, 切向力X=690.7212, 切向力Y=578.2793 +FPS=33.03, 法向力=1875.8284, 切向力X=756.1205, 切向力Y=1388.0653 +FPS=37.29, 法向力=1890.3879, 切向力X=719.6774, 切向力Y=1400.3152 +FPS=33.17, 法向力=1709.7297, 切向力X=1149.5907, 切向力Y=1517.5654 +FPS=35.93, 法向力=1732.6738, 切向力X=1116.7686, 切向力Y=1587.8094 +FPS=33.07, 法向力=1621.4692, 切向力X=359.0057, 切向力Y=1506.2776 +FPS=36.34, 法向力=1640.9769, 切向力X=367.7102, 切向力Y=1477.1624 +FPS=34.78, 法向力=1751.9083, 切向力X=579.7318, 切向力Y=877.2634 +FPS=35.05, 法向力=1807.0364, 切向力X=523.0088, 切向力Y=902.1093 +FPS=36.83, 法向力=1814.7988, 切向力X=521.0359, 切向力Y=906.9956 +FPS=34.93, 法向力=1651.7645, 切向力X=358.8739, 切向力Y=1285.2781 +FPS=36.58, 法向力=1708.3733, 切向力X=253.0756, 切向力Y=1306.4692 +FPS=16.77, 法向力=2294.6904, 切向力X=1213.5209, 切向力Y=740.9520 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260522_093402.log b/examples/logs/qt_viewer_20260522_093402.log new file mode 100644 index 0000000..37ef538 --- /dev/null +++ b/examples/logs/qt_viewer_20260522_093402.log @@ -0,0 +1,304 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=15 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.73, 法向力=1035.3951, 切向力X=-562.9237, 切向力Y=556.0328 +FPS=25.15, 法向力=1092.3784, 切向力X=-605.9675, 切向力Y=625.8650 +FPS=26.87, 法向力=1044.9928, 切向力X=-242.9358, 切向力Y=709.2133 +FPS=27.37, 法向力=1022.5588, 切向力X=-228.1326, 切向力Y=665.0051 +FPS=25.64, 法向力=998.6650, 切向力X=-434.7711, 切向力Y=326.8503 +FPS=27.02, 法向力=980.7809, 切向力X=510.6605, 切向力Y=1215.0649 +FPS=28.72, 法向力=972.6769, 切向力X=496.5228, 切向力Y=1232.7205 +FPS=26.54, 法向力=1049.7661, 切向力X=230.6791, 切向力Y=339.5351 +FPS=28.38, 法向力=1025.7745, 切向力X=235.7835, 切向力Y=388.0245 +FPS=27.03, 法向力=1005.5511, 切向力X=-72.5621, 切向力Y=693.2332 +FPS=28.00, 法向力=960.8903, 切向力X=-47.8342, 切向力Y=773.9542 +FPS=26.98, 法向力=1331.3281, 切向力X=246.2559, 切向力Y=180.8957 +FPS=27.81, 法向力=1381.4292, 切向力X=-848.0020, 切向力Y=866.7671 +FPS=27.36, 法向力=1354.0544, 切向力X=-825.5880, 切向力Y=965.5184 +FPS=26.66, 法向力=1366.8511, 切向力X=-917.8975, 切向力Y=912.7979 +FPS=23.87, 法向力=1200.1771, 切向力X=47.9849, 切向力Y=242.5642 +FPS=24.63, 法向力=1116.1024, 切向力X=-652.5360, 切向力Y=477.5759 +FPS=27.83, 法向力=1148.3933, 切向力X=-643.5023, 切向力Y=598.0950 +FPS=25.60, 法向力=1133.5962, 切向力X=-501.4767, 切向力Y=591.0363 +FPS=26.55, 法向力=1135.5734, 切向力X=-493.0293, 切向力Y=579.2626 +FPS=27.32, 法向力=1342.0974, 切向力X=-578.0264, 切向力Y=206.0850 +FPS=26.05, 法向力=1437.8906, 切向力X=201.0901, 切向力Y=1270.2998 +FPS=28.17, 法向力=1514.4065, 切向力X=319.8844, 切向力Y=1274.1077 +FPS=26.24, 法向力=1057.8091, 切向力X=-346.7721, 切向力Y=993.2660 +FPS=27.10, 法向力=1080.8909, 切向力X=-311.9991, 切向力Y=1009.8441 +FPS=25.40, 法向力=996.9058, 切向力X=-320.6533, 切向力Y=207.5610 +FPS=27.14, 法向力=991.6169, 切向力X=-338.0674, 切向力Y=178.7451 +stitch_feature_optimized: canvas out_w=502, out_h=425, x_min=-169.25, y_min=-84.29 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000268s, blend=0.002346s (9 tiles incl ref), finalize=0.000066s, total=0.002687s +FPS=25.71, 法向力=1183.5217, 切向力X=-499.8571, 切向力Y=494.8633 +FPS=25.79, 法向力=963.7303, 切向力X=216.2267, 切向力Y=-48.1073 +FPS=26.21, 法向力=958.2749, 切向力X=168.7062, 切向力Y=-46.4660 +FPS=25.75, 法向力=1297.5469, 切向力X=366.7794, 切向力Y=374.5215 +FPS=27.70, 法向力=1346.0131, 切向力X=349.1224, 切向力Y=485.8223 +FPS=25.85, 法向力=1166.5789, 切向力X=-83.6682, 切向力Y=42.2573 +FPS=27.09, 法向力=1291.9683, 切向力X=35.0600, 切向力Y=72.0055 +FPS=24.08, 法向力=1293.5872, 切向力X=-61.4859, 切向力Y=826.4216 +FPS=24.28, 法向力=1294.2118, 切向力X=66.7475, 切向力Y=969.6627 +FPS=25.58, 法向力=1379.2170, 切向力X=-619.9703, 切向力Y=191.7504 +FPS=23.80, 法向力=1123.6609, 切向力X=-127.8385, 切向力Y=1302.9437 +FPS=25.84, 法向力=1164.1649, 切向力X=-95.0170, 切向力Y=1332.2465 +FPS=26.76, 法向力=1003.9589, 切向力X=186.3757, 切向力Y=587.2573 +FPS=24.80, 法向力=952.0126, 切向力X=-184.2285, 切向力Y=85.5376 +FPS=27.07, 法向力=950.5667, 切向力X=-177.5126, 切向力Y=77.9992 +FPS=24.73, 法向力=980.1348, 切向力X=-843.3127, 切向力Y=658.6221 +FPS=26.57, 法向力=925.3174, 切向力X=-816.1013, 切向力Y=772.9613 +FPS=25.43, 法向力=971.0336, 切向力X=-88.8263, 切向力Y=869.6464 +FPS=25.53, 法向力=1012.0298, 切向力X=-58.6125, 切向力Y=892.5924 +FPS=27.68, 法向力=1152.6702, 切向力X=-418.7958, 切向力Y=631.7865 +FPS=29.34, 法向力=1044.6030, 切向力X=-1075.0000, 切向力Y=929.2674 +FPS=29.88, 法向力=1091.1531, 切向力X=-1120.0280, 切向力Y=870.1364 +FPS=28.95, 法向力=958.8875, 切向力X=-87.8288, 切向力Y=892.6929 +FPS=30.77, 法向力=941.2539, 切向力X=-136.4617, 切向力Y=893.2441 +FPS=29.10, 法向力=918.6948, 切向力X=-14.4761, 切向力Y=63.5166 +FPS=29.71, 法向力=940.0192, 切向力X=-70.0947, 切向力Y=72.8545 +FPS=29.64, 法向力=1571.6083, 切向力X=768.5121, 切向力Y=-942.0684 +FPS=30.13, 法向力=1570.6093, 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切向力X=663.6064, 切向力Y=1646.6123 +FPS=26.39, 法向力=1760.4365, 切向力X=895.9210, 切向力Y=1609.4749 +FPS=28.97, 法向力=1799.1030, 切向力X=887.5403, 切向力Y=1611.1512 +FPS=26.94, 法向力=1429.6349, 切向力X=309.1245, 切向力Y=1668.0811 +FPS=28.10, 法向力=1354.7209, 切向力X=251.5467, 切向力Y=1632.3242 +FPS=28.14, 法向力=1761.8892, 切向力X=398.8503, 切向力Y=1062.1879 +FPS=29.02, 法向力=1746.0868, 切向力X=343.6420, 切向力Y=1056.1246 +FPS=27.59, 法向力=1635.3625, 切向力X=806.2924, 切向力Y=1002.2137 +FPS=27.30, 法向力=1635.2239, 切向力X=736.3281, 切向力Y=1044.2339 +FPS=26.59, 法向力=1181.3909, 切向力X=172.6235, 切向力Y=1277.3995 +FPS=28.52, 法向力=2257.1807, 切向力X=492.3875, 切向力Y=1081.4917 +FPS=28.46, 法向力=2332.0381, 切向力X=547.2349, 切向力Y=1112.7334 +FPS=27.50, 法向力=1445.3027, 切向力X=188.0903, 切向力Y=966.1503 +FPS=28.96, 法向力=1461.8767, 切向力X=199.1088, 切向力Y=1019.4740 +FPS=27.23, 法向力=1598.4690, 切向力X=504.5639, 切向力Y=752.0299 +FPS=29.54, 法向力=1555.9561, 切向力X=511.2390, 切向力Y=746.6235 +FPS=27.82, 法向力=1232.3362, 切向力X=-293.7700, 切向力Y=1165.9923 +FPS=29.63, 法向力=1240.5334, 切向力X=-250.8247, 切向力Y=1221.3611 +FPS=20.30, 法向力=1619.4895, 切向力X=237.2066, 切向力Y=908.4945 +FPS=43.69, 法向力=1627.6466, 切向力X=306.1307, 切向力Y=790.6519 +FPS=31.14, 法向力=1122.7159, 切向力X=134.2353, 切向力Y=596.0657 +FPS=33.72, 法向力=1132.2090, 切向力X=7.0170, 切向力Y=666.5733 +FPS=33.51, 法向力=1424.3419, 切向力X=512.1647, 切向力Y=353.9237 +FPS=34.70, 法向力=1445.1372, 切向力X=584.4874, 切向力Y=416.7013 +FPS=32.11, 法向力=1253.3679, 切向力X=-451.1646, 切向力Y=17.3786 +FPS=33.76, 法向力=1215.0830, 切向力X=-454.1541, 切向力Y=-13.1661 +FPS=33.95, 法向力=1678.0310, 切向力X=-481.6189, 切向力Y=1246.0938 +stitch_feature_optimized: canvas out_w=502, out_h=425, x_min=-169.25, y_min=-84.29 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000246s, blend=0.002213s (9 tiles incl ref), finalize=0.000056s, total=0.002521s +FPS=31.87, 法向力=1772.1675, 切向力X=-367.0275, 切向力Y=1254.8230 +FPS=31.35, 法向力=1284.2159, 切向力X=-67.3589, 切向力Y=791.9357 +FPS=34.24, 法向力=1289.9536, 切向力X=-90.3947, 切向力Y=845.1924 +FPS=35.32, 法向力=1271.4409, 切向力X=-39.2307, 切向力Y=809.1313 +FPS=31.62, 法向力=1573.6633, 切向力X=119.9794, 切向力Y=754.0172 +FPS=34.12, 法向力=1584.4644, 切向力X=134.0657, 切向力Y=757.7758 +FPS=30.01, 法向力=1398.3230, 切向力X=-125.3735, 切向力Y=532.7859 +FPS=32.75, 法向力=1425.1249, 切向力X=-132.9762, 切向力Y=608.8389 +FPS=32.85, 法向力=1294.7629, 切向力X=183.7687, 切向力Y=798.2037 +FPS=34.98, 法向力=1336.7596, 切向力X=256.0571, 切向力Y=853.0864 +FPS=32.22, 法向力=1041.0225, 切向力X=216.8869, 切向力Y=768.6940 +FPS=32.28, 法向力=1029.3336, 切向力X=213.0532, 切向力Y=752.2904 +FPS=31.61, 法向力=1255.3726, 切向力X=-118.5576, 切向力Y=521.3762 +FPS=31.90, 法向力=1279.0491, 切向力X=-177.3952, 切向力Y=516.7032 +FPS=31.38, 法向力=1277.7686, 切向力X=-186.6876, 切向力Y=520.5501 +FPS=32.00, 法向力=1195.6560, 切向力X=41.9039, 切向力Y=745.5138 +FPS=32.64, 法向力=1172.8457, 切向力X=62.0198, 切向力Y=705.6522 +FPS=30.88, 法向力=2111.1562, 切向力X=108.1490, 切向力Y=1187.7566 +FPS=34.18, 法向力=2141.3135, 切向力X=93.8798, 切向力Y=1199.2388 +FPS=31.63, 法向力=1100.5195, 切向力X=-523.2179, 切向力Y=160.4965 +FPS=33.40, 法向力=1033.8052, 切向力X=-515.2098, 切向力Y=158.9509 +FPS=31.85, 法向力=1265.2461, 切向力X=241.7889, 切向力Y=161.7425 +FPS=35.13, 法向力=1315.6449, 切向力X=342.5026, 切向力Y=172.2238 +FPS=32.79, 法向力=1324.7698, 切向力X=-45.4076, 切向力Y=1137.7932 +FPS=33.30, 法向力=1320.2371, 切向力X=39.7012, 切向力Y=1216.6458 +FPS=32.53, 法向力=1157.2395, 切向力X=-281.2100, 切向力Y=692.6057 +FPS=31.63, 法向力=1174.9852, 切向力X=-389.5584, 切向力Y=804.6363 +FPS=32.87, 法向力=1179.2024, 切向力X=-340.5978, 切向力Y=781.3436 +FPS=11.45, 法向力=1548.6279, 切向力X=-441.3518, 切向力Y=348.2505 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260601_093816.log b/examples/logs/qt_viewer_20260601_093816.log new file mode 100644 index 0000000..35c9e19 --- /dev/null +++ b/examples/logs/qt_viewer_20260601_093816.log @@ -0,0 +1,7 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +启动失败: Failed to open video source. diff --git a/examples/logs/qt_viewer_20260601_093827.log b/examples/logs/qt_viewer_20260601_093827.log new file mode 100644 index 0000000..994fea5 --- /dev/null +++ b/examples/logs/qt_viewer_20260601_093827.log @@ -0,0 +1,10457 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='h264' (int=875967080, hex=0x34363268), size=1920x1080, fps=29.61, backend_id=1900 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: C:/workspace/orisyssdk_git/data/s1.mp4 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=C:/workspace/orisyssdk_git/data/s1.mp4, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.68, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=1.31, 法向力=842.8547, 切向力X=-236.6273, 切向力Y=289.0540 +FPS=20.62, 法向力=910.9097, 切向力X=-202.1947, 切向力Y=587.2911 +FPS=24.09, 法向力=790.2144, 切向力X=-73.0330, 切向力Y=375.4962 +FPS=25.88, 法向力=810.1365, 切向力X=-329.9669, 切向力Y=369.4888 +FPS=24.96, 法向力=859.9016, 切向力X=-353.3741, 切向力Y=234.7152 +FPS=25.63, 法向力=752.7759, 切向力X=-460.9481, 切向力Y=489.3648 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=29.25, 法向力=840.4014, 切向力X=-371.2679, 切向力Y=320.9215 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=33.41, 法向力=802.0932, 切向力X=-281.0016, 切向力Y=27.7608 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=32.49, 法向力=741.5422, 切向力X=-24.3321, 切向力Y=196.3690 +FPS=32.78, 法向力=741.5422, 切向力X=-24.3321, 切向力Y=196.3690 +FPS=30.32, 法向力=741.5422, 切向力X=-24.3321, 切向力Y=196.3690 +FPS=30.02, 法向力=741.5422, 切向力X=-24.3321, 切向力Y=196.3690 +FPS=29.47, 法向力=741.5422, 切向力X=-24.3321, 切向力Y=196.3690 +FPS=30.03, 法向力=741.5422, 切向力X=-24.3321, 切向力Y=196.3690 +FPS=30.14, 法向力=741.5422, 切向力X=-24.3321, 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image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed 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source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from 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video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Failed to get_img from video source. +Failed to get image +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260601_160657.log b/examples/logs/qt_viewer_20260601_160657.log new file mode 100644 index 0000000..9eb9142 --- /dev/null +++ b/examples/logs/qt_viewer_20260601_160657.log @@ -0,0 +1,793 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=15 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=./config/ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.19, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=0.28, 法向力=1774.6710, 切向力X=-46.3814, 切向力Y=84.9638 +FPS=21.62, 法向力=2145.9795, 切向力X=564.9188, 切向力Y=1082.8726 +FPS=26.69, 法向力=2186.3076, 切向力X=642.8738, 切向力Y=1111.6708 +FPS=27.50, 法向力=1958.6351, 切向力X=629.5684, 切向力Y=1189.4938 +FPS=29.80, 法向力=1967.9738, 切向力X=635.8688, 切向力Y=1312.3884 +FPS=29.26, 法向力=1926.5682, 切向力X=484.8242, 切向力Y=676.8449 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=29.07, 法向力=1881.1187, 切向力X=438.5834, 切向力Y=720.7773 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=35.14, 法向力=1804.6692, 切向力X=405.3328, 切向力Y=698.5037 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=37.38, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063 +FPS=33.97, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063 +FPS=34.20, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063 +FPS=31.32, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063 +FPS=31.84, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063 +FPS=32.24, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063 +FPS=33.13, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063 +FPS=32.91, 法向力=1813.4116, 切向力X=401.5273, 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切向力X=-1324.4565, 切向力Y=748.7432 +FPS=28.11, 法向力=3019.3535, 切向力X=-1341.8738, 切向力Y=755.9875 +FPS=25.17, 法向力=2171.3123, 切向力X=-64.7176, 切向力Y=-13082.4199 +FPS=26.32, 法向力=2082.5229, 切向力X=-115.6474, 切向力Y=-13327.6221 +FPS=25.95, 法向力=3712.1128, 切向力X=119.9500, 切向力Y=-33559.9453 +FPS=27.50, 法向力=3509.5527, 切向力X=192.4712, 切向力Y=-34063.4531 +FPS=27.40, 法向力=5338.9189, 切向力X=3318.3999, 切向力Y=-52445.8750 +FPS=25.87, 法向力=8435.9180, 切向力X=12136.8691, 切向力Y=-63146.1094 +FPS=27.82, 法向力=8258.5986, 切向力X=12274.4346, 切向力Y=-63947.6602 +FPS=26.21, 法向力=13295.8711, 切向力X=13879.5322, 切向力Y=-59690.3008 +FPS=27.82, 法向力=13388.1357, 切向力X=14085.9658, 切向力Y=-59972.9453 +FPS=26.48, 法向力=17336.4824, 切向力X=8167.1699, 切向力Y=-45985.9688 +FPS=27.35, 法向力=17257.1094, 切向力X=7827.9927, 切向力Y=-45919.0703 +FPS=25.67, 法向力=15862.7344, 切向力X=3710.2329, 切向力Y=-31718.3906 +FPS=26.30, 法向力=15668.4854, 切向力X=3509.2979, 切向力Y=-31555.6152 +FPS=27.86, 法向力=12121.4453, 切向力X=294.8546, 切向力Y=-18227.1211 +FPS=24.41, 法向力=8499.4717, 切向力X=-215.4891, 切向力Y=-10846.7129 +FPS=28.46, 法向力=8404.4258, 切向力X=-263.6830, 切向力Y=-10918.2988 +FPS=26.21, 法向力=6889.6885, 切向力X=-444.8161, 切向力Y=-5479.3169 +stitch_feature_optimized: canvas out_w=413, out_h=424, x_min=-82.49, y_min=-86.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000219s, blend=0.002186s (9 tiles incl ref), finalize=0.000055s, total=0.002466s +FPS=27.50, 法向力=6803.1841, 切向力X=-505.2768, 切向力Y=-5402.2285 +FPS=25.80, 法向力=1511.4458, 切向力X=4992.9565, 切向力Y=14956.9033 +FPS=27.52, 法向力=1557.3643, 切向力X=4986.0410, 切向力Y=15051.4404 +FPS=25.99, 法向力=3712.0327, 切向力X=12634.3926, 切向力Y=46672.3516 +FPS=26.47, 法向力=7130.0938, 切向力X=21465.2891, 切向力Y=68953.8125 +FPS=27.12, 法向力=6912.5908, 切向力X=21619.1992, 切向力Y=69327.7812 +FPS=26.49, 法向力=11911.7285, 切向力X=12296.4268, 切向力Y=69553.3438 +FPS=27.59, 法向力=11948.2646, 切向力X=12277.0234, 切向力Y=69647.9375 +FPS=25.62, 法向力=13214.1777, 切向力X=2747.8811, 切向力Y=58123.8672 +FPS=27.44, 法向力=13155.9072, 切向力X=2316.8569, 切向力Y=57894.6328 +FPS=26.32, 法向力=11900.9922, 切向力X=-1807.0791, 切向力Y=38498.4375 +FPS=26.76, 法向力=9975.9355, 切向力X=-2511.3789, 切向力Y=23971.7930 +FPS=27.34, 法向力=9954.6680, 切向力X=-2524.8257, 切向力Y=23885.7148 +FPS=27.62, 法向力=9957.3809, 切向力X=-2530.4998, 切向力Y=23877.5117 +FPS=27.09, 法向力=7936.1094, 切向力X=5091.1665, 切向力Y=-5389.2666 +FPS=26.37, 法向力=6688.0918, 切向力X=-6743.6226, 切向力Y=-43395.3203 +FPS=25.85, 法向力=6466.9604, 切向力X=-6862.3057, 切向力Y=-43800.1992 +FPS=23.43, 法向力=11061.2305, 切向力X=-11416.2256, 切向力Y=-60266.9766 +FPS=24.75, 法向力=14214.3740, 切向力X=-12338.5186, 切向力Y=-70670.1484 +FPS=26.35, 法向力=14160.2979, 切向力X=-12544.0469, 切向力Y=-71041.1641 +FPS=25.43, 法向力=18107.8789, 切向力X=-18376.5391, 切向力Y=-69445.2734 +FPS=27.87, 法向力=18382.6953, 切向力X=-19072.2461, 切向力Y=-69420.1094 +FPS=26.63, 法向力=17480.8711, 切向力X=-17573.5430, 切向力Y=-40682.6562 +FPS=28.16, 法向力=17094.5234, 切向力X=-17380.6211, 切向力Y=-40017.7734 +FPS=23.20, 法向力=5614.1680, 切向力X=-2370.6157, 切向力Y=-6724.5195 +FPS=26.34, 法向力=5650.7227, 切向力X=-2452.4280, 切向力Y=-6564.1777 +FPS=26.54, 法向力=2940.1333, 切向力X=-168.3538, 切向力Y=-575.7982 +FPS=26.07, 法向力=2318.0122, 切向力X=314.8483, 切向力Y=77.7030 +FPS=26.99, 法向力=2319.3186, 切向力X=314.2320, 切向力Y=89.7364 +FPS=24.73, 法向力=2013.3866, 切向力X=778.2410, 切向力Y=209.0720 +stitch_feature_optimized: canvas out_w=413, out_h=424, x_min=-82.49, y_min=-86.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000255s, blend=0.003135s (9 tiles incl ref), finalize=0.000059s, total=0.003455s +FPS=25.94, 法向力=1943.4105, 切向力X=759.4857, 切向力Y=248.4039 +FPS=26.72, 法向力=1704.3812, 切向力X=161.5973, 切向力Y=1088.7295 +FPS=25.39, 法向力=1504.9802, 切向力X=663.4978, 切向力Y=1525.1732 +FPS=27.00, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=25.42, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.31, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=28.81, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.56, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=27.56, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.96, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=28.15, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.03, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=28.92, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=30.35, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=27.42, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=30.41, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=27.62, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.75, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=30.03, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.78, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=28.49, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=28.59, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=30.10, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.22, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.84, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.49, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.84, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=31.34, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=28.48, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +FPS=29.86, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964 +stitch_feature_optimized: canvas out_w=413, out_h=424, x_min=-82.49, y_min=-86.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000211s, blend=0.002129s (9 tiles incl ref), finalize=0.000051s, total=0.002398s \ No newline at end of file diff --git a/examples/logs/qt_viewer_20260602_092701.log b/examples/logs/qt_viewer_20260602_092701.log new file mode 100644 index 0000000..5a0c1c7 --- /dev/null +++ b/examples/logs/qt_viewer_20260602_092701.log @@ -0,0 +1,1425 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.16, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=2.13, 法向力=10840.9775, 切向力X=6602.2314, 切向力Y=-1192.1008 +FPS=20.72, 法向力=8323.0762, 切向力X=-3794.2905, 切向力Y=-2363.1533 +FPS=26.51, 法向力=17328.5156, 切向力X=-8786.6611, 切向力Y=352.3972 +FPS=29.50, 法向力=18079.8945, 切向力X=-9394.6484, 切向力Y=535.1186 +FPS=26.33, 法向力=8396.3926, 切向力X=-2563.2983, 切向力Y=178.8717 +FPS=28.08, 法向力=16822.3047, 切向力X=-7624.9033, 切向力Y=3.2806 +FPS=30.23, 法向力=9619.6309, 切向力X=-4284.2510, 切向力Y=-5147.0146 +FPS=32.05, 法向力=7091.9448, 切向力X=-2428.0854, 切向力Y=-3949.7075 +FPS=30.02, 法向力=7937.0522, 切向力X=6441.2354, 切向力Y=432.2573 +FPS=29.58, 法向力=7859.9736, 切向力X=-65.0332, 切向力Y=-2044.0376 +FPS=31.18, 法向力=11036.8926, 切向力X=-3106.1772, 切向力Y=-2676.8945 +FPS=26.78, 法向力=4622.2148, 切向力X=-1945.8296, 切向力Y=-955.9878 +FPS=27.70, 法向力=2389.9199, 切向力X=-118.4950, 切向力Y=430.3420 +FPS=16.08, 法向力=6567.7168, 切向力X=574.7975, 切向力Y=2081.3271 +FPS=25.21, 法向力=9770.8867, 切向力X=-3458.0264, 切向力Y=-17.7118 +FPS=24.39, 法向力=10308.9219, 切向力X=-3480.1057, 切向力Y=82.2602 +FPS=24.75, 法向力=15804.3535, 切向力X=-3675.0457, 切向力Y=8728.0684 +FPS=29.69, 法向力=7739.7407, 切向力X=-1352.1265, 切向力Y=-420.6399 +FPS=28.74, 法向力=7948.7637, 切向力X=-1879.1400, 切向力Y=1412.3807 +FPS=31.46, 法向力=8086.9766, 切向力X=-1893.5718, 切向力Y=1359.6951 +FPS=31.73, 法向力=6415.1719, 切向力X=-2058.9653, 切向力Y=656.8481 +FPS=29.53, 法向力=5083.2285, 切向力X=-2924.5889, 切向力Y=-824.7534 +FPS=31.58, 法向力=4627.4111, 切向力X=-2700.7676, 切向力Y=-1230.7318 +FPS=32.82, 法向力=8133.6963, 切向力X=-1235.6079, 切向力Y=-1377.1116 +FPS=32.12, 法向力=9350.1250, 切向力X=-2517.2964, 切向力Y=-2323.8298 +FPS=30.46, 法向力=36012.8906, 切向力X=-12867.0674, 切向力Y=8473.0234 +FPS=32.53, 法向力=16363.6621, 切向力X=10898.9121, 切向力Y=4322.3135 +FPS=32.59, 法向力=16775.4805, 切向力X=11319.9629, 切向力Y=4508.1982 +FPS=32.92, 法向力=14091.1562, 切向力X=-2610.2158, 切向力Y=10941.0322 +FPS=31.53, 法向力=13106.3203, 切向力X=-6646.1104, 切向力Y=1481.8691 +FPS=33.17, 法向力=15843.3799, 切向力X=-8761.5547, 切向力Y=293.5550 +FPS=33.16, 法向力=12425.0254, 切向力X=-5460.6484, 切向力Y=-1458.4644 +FPS=30.44, 法向力=17212.3984, 切向力X=-6176.1372, 切向力Y=-911.7644 +FPS=32.72, 法向力=18357.0273, 切向力X=-6741.1328, 切向力Y=-1064.1266 +FPS=31.58, 法向力=14581.5625, 切向力X=-5983.1387, 切向力Y=615.6357 +FPS=31.98, 法向力=14576.0215, 切向力X=-6003.1357, 切向力Y=297.4081 +FPS=34.03, 法向力=17210.6055, 切向力X=-6407.5664, 切向力Y=421.3564 +FPS=33.62, 法向力=18569.0312, 切向力X=-6644.9771, 切向力Y=1661.9564 +FPS=33.03, 法向力=31886.0039, 切向力X=19364.0742, 切向力Y=-12261.0410 +FPS=33.26, 法向力=32213.3652, 切向力X=17595.8379, 切向力Y=-9452.0771 +FPS=33.64, 法向力=32238.3125, 切向力X=17384.0723, 切向力Y=-9239.8652 +FPS=30.72, 法向力=5503.5259, 切向力X=3014.4443, 切向力Y=-1567.7197 +FPS=28.96, 法向力=16417.7422, 切向力X=-6235.9717, 切向力Y=5114.0610 +FPS=28.01, 法向力=16716.0859, 切向力X=-6509.5283, 切向力Y=5310.3965 +FPS=25.12, 法向力=8785.6641, 切向力X=-5686.5908, 切向力Y=1967.3519 +FPS=30.78, 法向力=13718.3467, 切向力X=-5493.8726, 切向力Y=2003.5649 +FPS=30.99, 法向力=16338.8691, 切向力X=-7021.9629, 切向力Y=2261.6333 +FPS=30.65, 法向力=3750.7920, 切向力X=1864.2257, 切向力Y=-1552.3104 +FPS=31.16, 法向力=1582.8420, 切向力X=757.5526, 切向力Y=-1269.4835 +FPS=33.16, 法向力=1538.4425, 切向力X=698.8495, 切向力Y=-1558.0454 +FPS=32.42, 法向力=13977.2344, 切向力X=-5003.1660, 切向力Y=-402.3594 +FPS=32.40, 法向力=19921.2266, 切向力X=-7142.7627, 切向力Y=624.2780 +FPS=32.37, 法向力=21329.4727, 切向力X=-7383.6006, 切向力Y=490.8179 +FPS=32.46, 法向力=28058.1445, 切向力X=-17662.8750, 切向力Y=1375.9385 +FPS=26.02, 法向力=30519.6289, 切向力X=-16443.1562, 切向力Y=6114.1768 +FPS=29.95, 法向力=30697.7832, 切向力X=-16402.4648, 切向力Y=6553.7900 +FPS=30.19, 法向力=7743.5391, 切向力X=5906.9277, 切向力Y=-2287.7856 +FPS=27.84, 法向力=15105.1543, 切向力X=-3681.9126, 切向力Y=3213.0894 +FPS=30.78, 法向力=14750.0098, 切向力X=-3555.0811, 切向力Y=3768.5215 +FPS=30.33, 法向力=8243.3691, 切向力X=4357.0518, 切向力Y=-1341.0394 +FPS=33.06, 法向力=9668.8984, 切向力X=4913.4609, 切向力Y=-1774.2002 +FPS=32.45, 法向力=2503.2510, 切向力X=866.0054, 切向力Y=658.7499 +FPS=31.91, 法向力=11339.1270, 切向力X=-4536.1323, 切向力Y=-1333.9594 +FPS=32.25, 法向力=11757.6348, 切向力X=-4665.3848, 切向力Y=-997.9512 +FPS=31.09, 法向力=11944.6895, 切向力X=-4815.4746, 切向力Y=-1325.7716 +FPS=31.34, 法向力=2443.6741, 切向力X=466.6971, 切向力Y=-1072.0039 +FPS=34.08, 法向力=2941.7988, 切向力X=657.6008, 切向力Y=-440.2979 +FPS=33.31, 法向力=15405.6865, 切向力X=-6982.2793, 切向力Y=-25.5674 +FPS=34.64, 法向力=4492.9580, 切向力X=-725.1725, 切向力Y=1100.9937 +FPS=33.32, 法向力=3422.5735, 切向力X=-334.4625, 切向力Y=-105.3883 +FPS=28.58, 法向力=5777.3633, 切向力X=-1709.4004, 切向力Y=605.4764 +FPS=34.82, 法向力=5184.0566, 切向力X=-1609.2904, 切向力Y=42.0645 +FPS=32.13, 法向力=25018.3398, 切向力X=-12227.8838, 切向力Y=1988.0210 +FPS=34.02, 法向力=24801.9316, 切向力X=-12213.4150, 切向力Y=1428.3704 +FPS=31.05, 法向力=4669.2188, 切向力X=-192.5729, 切向力Y=1610.3508 +FPS=23.83, 法向力=10476.5400, 切向力X=5130.8926, 切向力Y=1408.1934 +FPS=31.01, 法向力=10582.7686, 切向力X=3420.9038, 切向力Y=-306.5782 +FPS=32.84, 法向力=10547.1426, 切向力X=3152.4048, 切向力Y=-600.3593 +FPS=29.99, 法向力=21088.2031, 切向力X=-11648.4512, 切向力Y=-1367.8739 +FPS=31.76, 法向力=23892.3887, 切向力X=-8673.6387, 切向力Y=3210.1074 +FPS=35.06, 法向力=25311.9473, 切向力X=-8882.5625, 切向力Y=4439.4688 +FPS=32.43, 法向力=23978.3555, 切向力X=-12656.2979, 切向力Y=-968.4545 +FPS=36.26, 法向力=24650.8984, 切向力X=-12977.2480, 切向力Y=-725.5489 +FPS=34.31, 法向力=15786.0879, 切向力X=-6379.5200, 切向力Y=7495.9517 +FPS=26.35, 法向力=15136.0156, 切向力X=-6253.0137, 切向力Y=7386.5703 +FPS=27.38, 法向力=10940.9570, 切向力X=-6491.7388, 切向力Y=-3783.7283 +FPS=20.02, 法向力=6875.2412, 切向力X=840.1992, 切向力Y=4040.5825 +FPS=25.13, 法向力=9886.0371, 切向力X=-4176.6992, 切向力Y=139.0848 +FPS=30.45, 法向力=10821.7354, 切向力X=-5114.3223, 切向力Y=-27.0420 +FPS=29.49, 法向力=8277.0762, 切向力X=-4359.6143, 切向力Y=909.6205 +FPS=33.44, 法向力=7954.7520, 切向力X=-4112.8271, 切向力Y=731.1338 +FPS=31.65, 法向力=14977.7031, 切向力X=-7913.2246, 切向力Y=-167.3426 +FPS=35.18, 法向力=14810.5420, 切向力X=-7816.1885, 切向力Y=-256.6406 +FPS=33.13, 法向力=46907.7461, 切向力X=-15462.6562, 切向力Y=9378.2344 +FPS=31.88, 法向力=52500.3164, 切向力X=-20573.2891, 切向力Y=13478.9473 +FPS=28.33, 法向力=33947.8633, 切向力X=-18374.3730, 切向力Y=7815.8223 +FPS=28.19, 法向力=9431.4727, 切向力X=-6484.0781, 切向力Y=-2149.4507 +FPS=26.54, 法向力=18611.4453, 切向力X=-10299.1992, 切向力Y=4133.9219 +FPS=27.50, 法向力=18808.3555, 切向力X=-10267.4961, 切向力Y=4811.7373 +FPS=28.73, 法向力=1752.4673, 切向力X=-529.8942, 切向力Y=256.0568 +FPS=23.47, 法向力=1707.1099, 切向力X=-667.3757, 切向力Y=213.2002 +FPS=28.03, 法向力=16076.6484, 切向力X=-6377.8140, 切向力Y=1189.5454 +FPS=27.03, 法向力=17966.7148, 切向力X=-7371.2744, 切向力Y=1630.9066 +FPS=28.02, 法向力=15493.3271, 切向力X=-4742.6875, 切向力Y=2084.7163 +FPS=26.87, 法向力=9003.3770, 切向力X=-2857.8462, 切向力Y=-6.5085 +FPS=28.41, 法向力=7915.2295, 切向力X=-2175.2456, 切向力Y=-708.9560 +FPS=28.78, 法向力=6452.6831, 切向力X=-3518.4995, 切向力Y=1147.3752 +FPS=27.53, 法向力=19581.2617, 切向力X=-9302.3926, 切向力Y=1809.5446 +FPS=28.54, 法向力=10355.2500, 切向力X=-2684.2676, 切向力Y=-392.2860 +FPS=29.27, 法向力=9825.7588, 切向力X=-2225.9583, 切向力Y=-342.1813 +FPS=28.45, 法向力=11290.1309, 切向力X=-4531.3955, 切向力Y=-68.0669 +FPS=25.27, 法向力=11529.7666, 切向力X=-4790.0596, 切向力Y=-134.0264 +FPS=27.93, 法向力=10465.6953, 切向力X=-4211.9229, 切向力Y=-769.9165 +FPS=28.08, 法向力=11015.3398, 切向力X=-4321.2275, 切向力Y=-334.4476 +FPS=27.94, 法向力=9040.9297, 切向力X=6726.0410, 切向力Y=-1485.7952 +FPS=27.74, 法向力=9539.9717, 切向力X=-166.1832, 切向力Y=-56.1561 +FPS=26.56, 法向力=17505.5859, 切向力X=-6141.6650, 切向力Y=-1897.2373 +FPS=28.14, 法向力=10693.2578, 切向力X=-295.3478, 切向力Y=8433.7129 +FPS=28.60, 法向力=30559.9531, 切向力X=-14935.5918, 切向力Y=9572.0000 +FPS=28.88, 法向力=3924.5037, 切向力X=4100.4834, 切向力Y=-955.5471 +FPS=30.82, 法向力=4892.1396, 切向力X=5482.3213, 切向力Y=-796.9623 +FPS=30.77, 法向力=4143.6147, 切向力X=3412.1062, 切向力Y=-2057.0010 +FPS=29.80, 法向力=4669.8286, 切向力X=3604.0229, 切向力Y=-2922.8474 +FPS=30.39, 法向力=4632.7881, 切向力X=3587.0615, 切向力Y=-2885.4258 +FPS=30.41, 法向力=6614.4463, 切向力X=3568.4126, 切向力Y=4329.2744 +FPS=30.89, 法向力=6571.3916, 切向力X=3431.8499, 切向力Y=3364.3645 +FPS=30.01, 法向力=5410.2153, 切向力X=4310.9736, 切向力Y=-802.5604 +FPS=30.50, 法向力=18599.4570, 切向力X=-9626.1084, 切向力Y=1651.4575 +FPS=32.72, 法向力=18562.4023, 切向力X=-9722.9189, 切向力Y=1210.2480 +FPS=30.95, 法向力=8337.9580, 切向力X=-2577.2441, 切向力Y=-1927.2192 +FPS=30.61, 法向力=9171.4238, 切向力X=7094.7412, 切向力Y=3735.1240 +FPS=32.80, 法向力=10300.0137, 切向力X=7954.0044, 切向力Y=2755.3325 +FPS=30.20, 法向力=9049.9102, 切向力X=770.8853, 切向力Y=1054.0206 +FPS=31.63, 法向力=7302.0967, 切向力X=3806.0566, 切向力Y=885.3199 +FPS=31.60, 法向力=9940.7383, 切向力X=5210.5420, 切向力Y=585.2952 +FPS=27.98, 法向力=11136.6797, 切向力X=5666.3809, 切向力Y=-717.3618 +FPS=27.78, 法向力=11663.8955, 切向力X=5855.5801, 切向力Y=-1303.4199 +FPS=23.79, 法向力=7066.3584, 切向力X=5820.1328, 切向力Y=-936.4370 +FPS=26.72, 法向力=5332.7471, 切向力X=-2941.3950, 切向力Y=82.3674 +FPS=27.20, 法向力=2455.5439, 切向力X=-315.7371, 切向力Y=391.0825 +FPS=30.53, 法向力=3002.3057, 切向力X=-2094.6826, 切向力Y=2433.1265 +FPS=31.14, 法向力=3569.5596, 切向力X=-2949.0869, 切向力Y=2144.4312 +FPS=29.31, 法向力=10150.0566, 切向力X=-5984.2085, 切向力Y=1074.8673 +FPS=29.11, 法向力=11728.4883, 切向力X=-8965.2021, 切向力Y=164.6212 +FPS=31.20, 法向力=8559.5498, 切向力X=-7047.8564, 切向力Y=107.8268 +FPS=30.34, 法向力=8072.6201, 切向力X=5147.4785, 切向力Y=5711.9048 +FPS=30.96, 法向力=8030.0381, 切向力X=5246.8281, 切向力Y=6516.3911 +FPS=30.98, 法向力=8415.5449, 切向力X=4903.3198, 切向力Y=6060.3594 +FPS=30.84, 法向力=70329.4922, 切向力X=-32909.2930, 切向力Y=20090.7812 +FPS=30.31, 法向力=72177.0859, 切向力X=-35506.8438, 切向力Y=12453.2871 +FPS=30.51, 法向力=47711.5859, 切向力X=-23507.4570, 切向力Y=2558.2700 +FPS=30.45, 法向力=60776.1719, 切向力X=-29433.8945, 切向力Y=1674.8859 +FPS=30.80, 法向力=59923.7422, 切向力X=-30436.0625, 切向力Y=3438.6709 +FPS=30.50, 法向力=10109.7891, 切向力X=3846.9399, 切向力Y=-955.1019 +FPS=30.37, 法向力=35092.5469, 切向力X=-12838.9570, 切向力Y=3403.3923 +FPS=30.93, 法向力=44009.8867, 切向力X=-19030.9414, 切向力Y=117.3910 +FPS=30.40, 法向力=12174.9121, 切向力X=-5313.7988, 切向力Y=677.1469 +FPS=30.45, 法向力=11369.1787, 切向力X=-5456.0830, 切向力Y=231.0541 +FPS=30.43, 法向力=5330.5615, 切向力X=4672.7563, 切向力Y=-475.8512 +FPS=29.50, 法向力=18697.3047, 切向力X=-1883.4391, 切向力Y=6055.9854 +FPS=29.66, 法向力=12542.1719, 切向力X=-3803.1448, 切向力Y=1830.2511 +FPS=30.65, 法向力=12797.1504, 切向力X=-4025.3911, 切向力Y=1628.2770 +FPS=29.60, 法向力=20809.8574, 切向力X=-7213.5527, 切向力Y=-637.3204 +FPS=29.48, 法向力=6477.7251, 切向力X=-1854.6244, 切向力Y=1004.3877 +FPS=30.50, 法向力=6216.4805, 切向力X=-1822.9912, 切向力Y=560.3765 +FPS=30.60, 法向力=8207.9326, 切向力X=-3445.8667, 切向力Y=1518.2952 +FPS=30.80, 法向力=6940.3975, 切向力X=3956.5259, 切向力Y=157.9701 +FPS=30.71, 法向力=9200.2109, 切向力X=5819.3179, 切向力Y=-251.9214 +FPS=30.60, 法向力=6286.3711, 切向力X=1350.1206, 切向力Y=4885.6768 +FPS=30.48, 法向力=6306.7886, 切向力X=857.3851, 切向力Y=5592.7783 +FPS=30.91, 法向力=6843.1592, 切向力X=-2000.9167, 切向力Y=1470.4790 +FPS=30.47, 法向力=4831.7988, 切向力X=4059.6660, 切向力Y=-474.8691 +FPS=29.51, 法向力=17308.5469, 切向力X=10546.9609, 切向力Y=-5834.9307 +FPS=30.15, 法向力=17228.3906, 切向力X=10413.5176, 切向力Y=-6388.1357 +FPS=28.79, 法向力=14714.2402, 切向力X=8684.6445, 切向力Y=-2283.1519 +FPS=29.90, 法向力=21575.0117, 切向力X=12789.8438, 切向力Y=7848.3140 +FPS=31.90, 法向力=20777.4902, 切向力X=-2987.2720, 切向力Y=8424.6934 +FPS=31.33, 法向力=3322.4497, 切向力X=769.0745, 切向力Y=986.0558 +FPS=30.81, 法向力=7449.6851, 切向力X=4600.9150, 切向力Y=-2315.7795 +FPS=32.43, 法向力=7592.9932, 切向力X=4717.3979, 切向力Y=-2455.7761 +FPS=31.76, 法向力=12328.7480, 切向力X=-3149.0938, 切向力Y=-2324.0095 +FPS=32.76, 法向力=13704.5020, 切向力X=-4062.7971, 切向力Y=-2391.0134 +FPS=31.05, 法向力=10012.0020, 切向力X=-5469.4868, 切向力Y=429.3552 +FPS=31.75, 法向力=4984.0957, 切向力X=-2166.8181, 切向力Y=1569.2784 +FPS=33.20, 法向力=4814.5156, 切向力X=-2486.4497, 切向力Y=1104.0258 +FPS=31.51, 法向力=27839.0547, 切向力X=-13281.2637, 切向力Y=5261.8135 +FPS=32.86, 法向力=26658.2734, 切向力X=-12573.3232, 切向力Y=5013.6436 +FPS=31.98, 法向力=16077.4160, 切向力X=-7205.8408, 切向力Y=-2000.1016 +FPS=31.63, 法向力=12113.9316, 切向力X=-4773.0522, 切向力Y=-193.8298 +FPS=31.86, 法向力=11847.3223, 切向力X=-4540.8066, 切向力Y=678.0172 +FPS=32.54, 法向力=17429.6699, 切向力X=-7057.6851, 切向力Y=-1154.4938 +FPS=31.38, 法向力=19659.9336, 切向力X=-7963.8730, 切向力Y=1598.8516 +FPS=32.16, 法向力=9936.3281, 切向力X=5780.6226, 切向力Y=-330.2480 +FPS=31.08, 法向力=5936.8262, 切向力X=2056.7549, 切向力Y=-1233.9808 +FPS=31.76, 法向力=7879.1387, 切向力X=-232.1205, 切向力Y=-2052.3110 +FPS=28.43, 法向力=8985.4941, 切向力X=-1102.9246, 切向力Y=1.9491 +FPS=31.12, 法向力=13773.6289, 切向力X=9983.3496, 切向力Y=5468.9189 +FPS=32.39, 法向力=2887.1406, 切向力X=1346.8896, 切向力Y=-3768.1382 +FPS=31.82, 法向力=2994.4258, 切向力X=2137.6958, 切向力Y=-4177.0352 +FPS=32.71, 法向力=4380.5649, 切向力X=2181.2925, 切向力Y=-423.0932 +FPS=32.73, 法向力=5220.5474, 切向力X=1968.5347, 切向力Y=2486.3579 +FPS=32.46, 法向力=32507.2480, 切向力X=-16092.7227, 切向力Y=4253.7324 +FPS=32.46, 法向力=4281.2026, 切向力X=3010.7207, 切向力Y=-755.1512 +FPS=33.38, 法向力=4317.7388, 切向力X=2910.7163, 切向力Y=-626.9292 +FPS=32.00, 法向力=14623.0000, 切向力X=9285.3037, 切向力Y=-1775.6228 +FPS=33.43, 法向力=14854.9219, 切向力X=9302.0225, 切向力Y=-1545.9507 +FPS=30.97, 法向力=2780.4194, 切向力X=870.2529, 切向力Y=-596.0521 +FPS=31.98, 法向力=5750.3252, 切向力X=-1428.6709, 切向力Y=-806.6808 +FPS=33.60, 法向力=5858.5361, 切向力X=-1317.3719, 切向力Y=-201.5381 +FPS=31.29, 法向力=3703.9219, 切向力X=1673.3892, 切向力Y=-102.3586 +FPS=33.49, 法向力=3296.6699, 切向力X=2043.3524, 切向力Y=-257.6536 +FPS=34.38, 法向力=8803.6230, 切向力X=-232.5608, 切向力Y=1676.7229 +FPS=32.54, 法向力=9617.2686, 切向力X=1170.9320, 切向力Y=808.9246 +FPS=34.00, 法向力=9999.8672, 切向力X=1390.7891, 切向力Y=638.5494 +FPS=33.32, 法向力=6467.1211, 切向力X=8751.8604, 切向力Y=-445.8556 +FPS=33.30, 法向力=7042.0654, 切向力X=9177.8184, 切向力Y=171.9810 +FPS=32.27, 法向力=16000.1738, 切向力X=17393.7812, 切向力Y=2398.8330 +FPS=32.36, 法向力=14989.5176, 切向力X=16745.8008, 切向力Y=3145.5513 +FPS=30.88, 法向力=8528.8193, 切向力X=13741.1836, 切向力Y=2195.2617 +FPS=31.16, 法向力=13216.7852, 切向力X=18865.9336, 切向力Y=-2756.8730 +FPS=33.48, 法向力=14709.7695, 切向力X=19176.6992, 切向力Y=-4495.9160 +FPS=32.96, 法向力=10477.7568, 切向力X=17811.8594, 切向力Y=103.4424 +FPS=32.27, 法向力=16305.8887, 切向力X=25017.1074, 切向力Y=-1587.0894 +FPS=33.12, 法向力=15583.3320, 切向力X=24923.1836, 切向力Y=-1135.1755 +FPS=32.64, 法向力=8047.3750, 切向力X=13372.0371, 切向力Y=-50.8002 +FPS=33.15, 法向力=7968.3931, 切向力X=16754.8887, 切向力Y=-2120.9526 +FPS=33.79, 法向力=7835.1558, 切向力X=16691.7285, 切向力Y=-2133.3818 +FPS=32.17, 法向力=12902.3535, 切向力X=3484.3799, 切向力Y=2051.3140 +FPS=33.69, 法向力=14595.8799, 切向力X=2509.8286, 切向力Y=2773.7427 +FPS=32.63, 法向力=11601.3154, 切向力X=5784.3228, 切向力Y=-282.1060 +FPS=33.28, 法向力=11351.6816, 切向力X=5849.5742, 切向力Y=-1432.1160 +FPS=33.67, 法向力=6394.0195, 切向力X=7959.8223, 切向力Y=-2835.5679 +FPS=32.44, 法向力=5712.2861, 切向力X=8481.9707, 切向力Y=-3250.8813 +FPS=33.68, 法向力=5973.1709, 切向力X=8689.5771, 切向力Y=-3198.8044 +FPS=33.70, 法向力=7913.8027, 切向力X=3852.5615, 切向力Y=406.9848 +FPS=33.56, 法向力=6241.2007, 切向力X=4909.7520, 切向力Y=611.2939 +FPS=34.40, 法向力=6317.5225, 切向力X=4954.2529, 切向力Y=121.3412 +FPS=32.57, 法向力=8609.7100, 切向力X=-2444.1565, 切向力Y=-883.4995 +FPS=34.45, 法向力=11347.4238, 切向力X=-3153.5981, 切向力Y=974.0815 +FPS=33.09, 法向力=2733.1533, 切向力X=1917.7114, 切向力Y=-266.0231 +FPS=32.60, 法向力=4061.6409, 切向力X=3350.5303, 切向力Y=336.5035 +FPS=32.26, 法向力=9664.7549, 切向力X=6955.6377, 切向力Y=110.8684 +FPS=32.09, 法向力=21773.2969, 切向力X=12301.0264, 切向力Y=-2530.8142 +FPS=31.74, 法向力=23688.2832, 切向力X=13279.2871, 切向力Y=-4385.9980 +FPS=31.95, 法向力=17689.8262, 切向力X=12242.2090, 切向力Y=-1924.8040 +FPS=31.94, 法向力=6806.2969, 切向力X=-948.9073, 切向力Y=-629.0283 +FPS=33.05, 法向力=9283.5410, 切向力X=-2812.7046, 切向力Y=-469.5695 +FPS=30.71, 法向力=46280.6016, 切向力X=-16821.4609, 切向力Y=18883.5078 +FPS=30.85, 法向力=3506.6221, 切向力X=-746.0198, 切向力Y=816.4135 +FPS=32.30, 法向力=4352.5625, 切向力X=-763.8464, 切向力Y=1072.7911 +FPS=30.19, 法向力=8116.6562, 切向力X=5561.4141, 切向力Y=-3546.4297 +FPS=31.78, 法向力=8742.4043, 切向力X=5462.0225, 切向力Y=-4127.6646 +FPS=30.94, 法向力=11321.5234, 切向力X=8430.7539, 切向力Y=395.2739 +FPS=31.08, 法向力=43826.0117, 切向力X=-19572.9883, 切向力Y=3551.2021 +FPS=31.47, 法向力=57184.0000, 切向力X=-27119.9238, 切向力Y=5139.1714 +FPS=31.15, 法向力=44099.4062, 切向力X=-19403.9199, 切向力Y=12661.8555 +FPS=31.05, 法向力=15017.8652, 切向力X=-3307.4644, 切向力Y=3200.8411 +FPS=31.39, 法向力=15158.8428, 切向力X=-3571.9875, 切向力Y=2633.0986 +FPS=30.45, 法向力=6022.2539, 切向力X=4520.4160, 切向力Y=-2540.0466 +FPS=30.42, 法向力=3478.7244, 切向力X=0.7532, 切向力Y=1161.2515 +FPS=32.37, 法向力=3316.0513, 切向力X=-179.6647, 切向力Y=826.5212 +FPS=30.65, 法向力=21560.8242, 切向力X=-245.5282, 切向力Y=14845.8770 +FPS=29.96, 法向力=10971.7998, 切向力X=7876.3223, 切向力Y=-1009.2401 +FPS=31.67, 法向力=11256.4277, 切向力X=7886.2197, 切向力Y=-287.2079 +FPS=31.23, 法向力=30855.1797, 切向力X=22918.5586, 切向力Y=2767.4443 +FPS=31.91, 法向力=28793.0000, 切向力X=20766.5098, 切向力Y=-454.7320 +FPS=29.48, 法向力=4851.2275, 切向力X=7328.0103, 切向力Y=4201.4375 +FPS=27.92, 法向力=26073.6816, 切向力X=-5650.9492, 切向力Y=7183.1377 +FPS=27.80, 法向力=26273.6602, 切向力X=-5568.2710, 切向力Y=7497.9326 +FPS=30.00, 法向力=14160.6406, 切向力X=11832.1504, 切向力Y=6133.4600 +FPS=30.13, 法向力=10902.0547, 切向力X=17502.5898, 切向力Y=4558.8789 +FPS=29.40, 法向力=21860.5801, 切向力X=5836.5430, 切向力Y=7684.2002 +FPS=31.13, 法向力=20684.7422, 切向力X=6644.3506, 切向力Y=8293.6895 +FPS=31.09, 法向力=7490.8267, 切向力X=18717.9844, 切向力Y=6408.1104 +FPS=31.52, 法向力=8925.3516, 切向力X=21970.4922, 切向力Y=5282.5908 +FPS=30.30, 法向力=10262.3301, 切向力X=18888.7520, 切向力Y=8396.9521 +FPS=28.39, 法向力=9084.7168, 切向力X=14486.4609, 切向力Y=6496.3037 +FPS=31.27, 法向力=8420.6602, 切向力X=15176.7080, 切向力Y=6762.7588 +FPS=30.36, 法向力=62713.8906, 切向力X=-14611.6602, 切向力Y=18599.8594 +FPS=29.81, 法向力=9996.3320, 切向力X=23516.1719, 切向力Y=5815.0459 +FPS=31.16, 法向力=13999.7305, 切向力X=26127.7305, 切向力Y=2018.7559 +FPS=30.51, 法向力=13351.9277, 切向力X=25141.3984, 切向力Y=4545.5210 +FPS=29.87, 法向力=18272.6816, 切向力X=11179.4160, 切向力Y=-3317.4160 +FPS=30.89, 法向力=20530.6562, 切向力X=8834.3857, 切向力Y=-2337.0815 +FPS=30.83, 法向力=18945.3574, 切向力X=11459.0352, 切向力Y=11950.4805 +FPS=29.53, 法向力=18509.0117, 切向力X=11508.6855, 切向力Y=12461.6016 +FPS=30.76, 法向力=13871.2002, 切向力X=20854.2031, 切向力Y=7511.0449 +FPS=29.47, 法向力=6885.0205, 切向力X=10329.8799, 切向力Y=984.1262 +FPS=30.30, 法向力=7862.2080, 切向力X=3535.6641, 切向力Y=4628.9551 +FPS=29.78, 法向力=7097.6216, 切向力X=3608.0369, 切向力Y=4421.2617 +FPS=30.19, 法向力=10272.9727, 切向力X=1116.8455, 切向力Y=3474.1169 +FPS=30.60, 法向力=4304.7539, 切向力X=7695.6709, 切向力Y=1860.4822 +FPS=31.38, 法向力=5477.8115, 切向力X=8685.7139, 切向力Y=2787.7551 +FPS=30.16, 法向力=7269.9424, 切向力X=5241.0396, 切向力Y=822.1171 +FPS=29.67, 法向力=12736.7051, 切向力X=11506.6270, 切向力Y=-2878.0835 +FPS=30.91, 法向力=12571.1680, 切向力X=11404.6953, 切向力Y=-3052.6594 +FPS=30.37, 法向力=19189.0781, 切向力X=-5080.0762, 切向力Y=3115.9998 +FPS=30.78, 法向力=22499.7812, 切向力X=-5125.1753, 切向力Y=7800.2812 +FPS=30.41, 法向力=9348.1748, 切向力X=10952.0664, 切向力Y=263.7417 +FPS=29.70, 法向力=22119.5020, 切向力X=-5862.4258, 切向力Y=-2944.3079 +FPS=30.67, 法向力=25019.8320, 切向力X=-7414.2549, 切向力Y=-2254.3940 +FPS=31.38, 法向力=2303.1758, 切向力X=6012.2261, 切向力Y=906.3104 +FPS=30.26, 法向力=17472.9082, 切向力X=13671.4121, 切向力Y=515.8186 +FPS=31.53, 法向力=17694.8594, 切向力X=13765.3398, 切向力Y=-69.6104 +FPS=31.44, 法向力=3862.9504, 切向力X=4933.6157, 切向力Y=408.4615 +FPS=31.78, 法向力=8748.4766, 切向力X=6751.8740, 切向力Y=-50.7179 +FPS=28.74, 法向力=23762.9492, 切向力X=15380.6953, 切向力Y=-7875.1543 +FPS=31.55, 法向力=23791.8301, 切向力X=14820.5996, 切向力Y=-9461.5303 +FPS=31.06, 法向力=23976.4043, 切向力X=14770.1885, 切向力Y=-9711.1182 +FPS=30.48, 法向力=9913.8877, 切向力X=10941.2812, 切向力Y=-1670.6492 +FPS=30.67, 法向力=27117.3711, 切向力X=-9041.3740, 切向力Y=-864.8564 +FPS=31.47, 法向力=8955.7461, 切向力X=889.3872, 切向力Y=1912.5830 +FPS=30.84, 法向力=7901.5225, 切向力X=1141.4933, 切向力Y=1329.2339 +FPS=30.33, 法向力=10451.3672, 切向力X=7884.2153, 切向力Y=1271.5630 +FPS=30.98, 法向力=4246.6562, 切向力X=3652.6270, 切向力Y=1573.0281 +FPS=31.86, 法向力=3858.3037, 切向力X=2145.8872, 切向力Y=-684.9913 +FPS=30.93, 法向力=10994.9453, 切向力X=8080.2993, 切向力Y=-436.6141 +FPS=30.86, 法向力=6628.3916, 切向力X=2196.0356, 切向力Y=5150.5430 +FPS=32.41, 法向力=14657.8203, 切向力X=-1730.4722, 切向力Y=9262.1152 +FPS=31.10, 法向力=7232.2422, 切向力X=746.1727, 切向力Y=-10.0924 +FPS=31.42, 法向力=7590.7656, 切向力X=494.1716, 切向力Y=-417.6302 +FPS=30.68, 法向力=8003.1328, 切向力X=-228.1992, 切向力Y=1475.0963 +FPS=31.31, 法向力=14312.3164, 切向力X=-3869.1086, 切向力Y=18.0699 +FPS=32.64, 法向力=14657.6943, 切向力X=-3915.8628, 切向力Y=-192.7074 +FPS=31.84, 法向力=7166.0649, 切向力X=6302.4175, 切向力Y=994.3315 +FPS=32.39, 法向力=5749.9648, 切向力X=5088.5781, 切向力Y=-473.5037 +FPS=32.91, 法向力=16722.0586, 切向力X=-5648.2705, 切向力Y=10607.3154 +FPS=31.14, 法向力=28125.8438, 切向力X=-9170.8145, 切向力Y=8985.4844 +FPS=32.79, 法向力=28098.0625, 切向力X=-9477.2139, 切向力Y=10372.7217 +FPS=32.46, 法向力=12368.5127, 切向力X=3078.9797, 切向力Y=-3269.0469 +FPS=31.60, 法向力=25420.8926, 切向力X=-18701.7031, 切向力Y=-661.3156 +FPS=31.69, 法向力=21578.2559, 切向力X=-16870.0723, 切向力Y=-2956.7339 +FPS=30.56, 法向力=9459.4736, 切向力X=-9989.5645, 切向力Y=-1758.1423 +FPS=30.04, 法向力=9073.0195, 切向力X=-9152.2051, 切向力Y=-1906.5657 +FPS=31.48, 法向力=16208.1680, 切向力X=-17021.7227, 切向力Y=-2837.6450 +FPS=31.77, 法向力=16644.4746, 切向力X=-17033.1680, 切向力Y=-4392.8438 +FPS=32.69, 法向力=16963.5039, 切向力X=-17097.7148, 切向力Y=-4409.6724 +FPS=28.93, 法向力=11654.4941, 切向力X=-12723.6758, 切向力Y=-3217.5471 +FPS=29.03, 法向力=12019.4141, 切向力X=-3230.2227, 切向力Y=-2329.9065 +FPS=32.86, 法向力=13281.9180, 切向力X=-2510.2927, 切向力Y=-799.5688 +FPS=32.81, 法向力=7787.2676, 切向力X=-5501.3301, 切向力Y=-3570.7817 +FPS=32.09, 法向力=9574.4463, 切向力X=-5130.6016, 切向力Y=-2732.4126 +FPS=33.85, 法向力=9392.7656, 切向力X=-5320.9551, 切向力Y=-2590.6025 +FPS=32.88, 法向力=9556.1641, 切向力X=-12914.6182, 切向力Y=-2457.4905 +FPS=33.61, 法向力=18901.0762, 切向力X=-18843.6602, 切向力Y=-2899.9509 +FPS=33.05, 法向力=10417.5605, 切向力X=-3734.0098, 切向力Y=-3468.8237 +FPS=32.66, 法向力=11302.8652, 切向力X=606.9654, 切向力Y=-2500.8157 +FPS=33.96, 法向力=11310.7891, 切向力X=508.4700, 切向力Y=-2406.4819 +FPS=31.25, 法向力=4810.8501, 切向力X=-4937.7539, 切向力Y=-1511.7843 +FPS=32.46, 法向力=6049.3496, 切向力X=-4473.2676, 切向力Y=3853.7214 +FPS=31.82, 法向力=14721.4395, 切向力X=4463.6846, 切向力Y=-371.7032 +FPS=31.53, 法向力=5035.0117, 切向力X=-3729.5898, 切向力Y=-1651.4426 +FPS=32.93, 法向力=9841.2090, 切向力X=-6765.5293, 切向力Y=-1266.7520 +FPS=32.66, 法向力=20521.3867, 切向力X=-12030.3008, 切向力Y=4973.8140 +FPS=32.02, 法向力=7084.0732, 切向力X=2664.6997, 切向力Y=7790.2383 +FPS=31.48, 法向力=3975.0347, 切向力X=-139.1964, 切向力Y=885.5980 +FPS=30.38, 法向力=17057.0703, 切向力X=9611.3105, 切向力Y=147.1700 +FPS=30.79, 法向力=18885.3320, 切向力X=10650.4463, 切向力Y=-886.8795 +FPS=28.22, 法向力=14302.5938, 切向力X=7862.7383, 切向力Y=-2901.2522 +FPS=26.95, 法向力=9797.0312, 切向力X=-3937.7639, 切向力Y=-517.5539 +FPS=30.21, 法向力=10874.2734, 切向力X=-1553.5125, 切向力Y=7409.8403 +FPS=31.49, 法向力=12041.5576, 切向力X=-2467.5806, 切向力Y=7763.6768 +FPS=31.39, 法向力=2727.0249, 切向力X=-1026.6523, 切向力Y=-1142.4817 +FPS=31.05, 法向力=3736.3010, 切向力X=1279.5873, 切向力Y=-2365.1299 +FPS=31.48, 法向力=5562.6470, 切向力X=2441.1018, 切向力Y=-3070.7388 +FPS=30.89, 法向力=8363.3516, 切向力X=4124.2715, 切向力Y=-1163.9009 +FPS=31.62, 法向力=9421.0479, 切向力X=4218.3486, 切向力Y=-1527.5264 +FPS=31.71, 法向力=18341.1328, 切向力X=-7273.5127, 切向力Y=83.6043 +FPS=31.23, 法向力=7707.0312, 切向力X=3537.2173, 切向力Y=620.6329 +FPS=32.41, 法向力=8310.3193, 切向力X=3725.8076, 切向力Y=825.0997 +FPS=30.99, 法向力=11031.1230, 切向力X=5419.2734, 切向力Y=400.4734 +FPS=31.64, 法向力=8217.1660, 切向力X=4735.6641, 切向力Y=323.3738 +FPS=32.52, 法向力=6344.2026, 切向力X=3622.7461, 切向力Y=158.5107 +FPS=31.78, 法向力=5999.6484, 切向力X=4196.8545, 切向力Y=29.2312 +FPS=33.15, 法向力=5531.8916, 切向力X=3871.1135, 切向力Y=205.9616 +FPS=33.21, 法向力=2453.2722, 切向力X=1190.0341, 切向力Y=556.4269 +FPS=33.17, 法向力=8431.7617, 切向力X=-2265.3357, 切向力Y=795.1705 +FPS=33.01, 法向力=11302.5020, 切向力X=-3922.1265, 切向力Y=-354.5823 +FPS=32.97, 法向力=6226.0176, 切向力X=4427.6919, 切向力Y=-1903.1715 +FPS=30.68, 法向力=9303.8096, 切向力X=6817.1592, 切向力Y=-497.9553 +FPS=30.24, 法向力=10377.2324, 切向力X=-1051.8513, 切向力Y=-1133.2483 +FPS=29.56, 法向力=5269.7422, 切向力X=2752.6870, 切向力Y=-2381.4517 +FPS=29.74, 法向力=4831.5889, 切向力X=4053.2444, 切向力Y=-1625.4731 +FPS=29.94, 法向力=3931.1992, 切向力X=3586.8013, 切向力Y=-1277.3994 +FPS=29.20, 法向力=3750.6755, 切向力X=-1329.8823, 切向力Y=-1340.9038 +FPS=29.61, 法向力=8162.6782, 切向力X=-9977.3848, 切向力Y=-2623.9893 +FPS=30.62, 法向力=8804.0723, 切向力X=-10820.0029, 切向力Y=-2239.5767 +FPS=29.46, 法向力=8949.0840, 切向力X=-10872.1426, 切向力Y=-3497.7104 +FPS=29.31, 法向力=16402.9219, 切向力X=-18779.0977, 切向力Y=-1964.2563 +FPS=30.01, 法向力=18308.3438, 切向力X=-19626.9453, 切向力Y=-1249.7770 +FPS=29.78, 法向力=13047.2168, 切向力X=-10196.2354, 切向力Y=-4678.6152 +FPS=30.11, 法向力=13316.4062, 切向力X=-9922.3584, 切向力Y=-4713.4521 +FPS=29.93, 法向力=22188.8340, 切向力X=-22411.6328, 切向力Y=-2911.2312 +FPS=30.16, 法向力=8974.5820, 切向力X=-8408.2979, 切向力Y=-4706.5557 +FPS=28.69, 法向力=22103.9805, 切向力X=-18213.8984, 切向力Y=1262.2026 +FPS=26.66, 法向力=22962.0488, 切向力X=-18379.2344, 切向力Y=-108.3152 +FPS=24.93, 法向力=9648.7988, 切向力X=-8179.6396, 切向力Y=26.0036 +FPS=26.88, 法向力=4865.7378, 切向力X=-9071.4238, 切向力Y=-3891.0933 +FPS=29.94, 法向力=9548.7881, 切向力X=-5478.7041, 切向力Y=1209.9059 +FPS=31.02, 法向力=10095.9951, 切向力X=-5492.6670, 切向力Y=-3451.8413 +FPS=29.82, 法向力=12208.1572, 切向力X=-4056.0486, 切向力Y=-4309.8848 +FPS=30.71, 法向力=12187.7305, 切向力X=-3810.6277, 切向力Y=-4021.2144 +FPS=28.07, 法向力=5017.5225, 切向力X=-6560.7637, 切向力Y=-779.4828 +FPS=29.83, 法向力=6107.1055, 切向力X=-7919.2988, 切向力Y=-3079.2241 +FPS=30.48, 法向力=7481.3438, 切向力X=-8608.2266, 切向力Y=-3697.9045 +FPS=31.07, 法向力=10632.2676, 切向力X=-11264.1309, 切向力Y=-2978.2090 +FPS=30.93, 法向力=17219.3340, 切向力X=-10713.2285, 切向力Y=-482.8918 +FPS=31.47, 法向力=18068.7227, 切向力X=-11097.8428, 切向力Y=-182.7051 +FPS=29.51, 法向力=5309.2354, 切向力X=-1010.9647, 切向力Y=-2235.3940 +FPS=29.62, 法向力=7941.0967, 切向力X=-3834.1499, 切向力Y=26.6984 +FPS=30.53, 法向力=5656.3223, 切向力X=-3129.7905, 切向力Y=-258.3355 +FPS=30.12, 法向力=5203.4741, 切向力X=-2871.9648, 切向力Y=-681.0897 +FPS=30.29, 法向力=9058.9434, 切向力X=-3961.3989, 切向力Y=-1076.3788 +FPS=30.38, 法向力=7548.0098, 切向力X=-3354.0664, 切向力Y=-1222.3635 +FPS=29.89, 法向力=3473.1313, 切向力X=122.0542, 切向力Y=406.0594 +FPS=29.79, 法向力=5181.8613, 切向力X=2265.4253, 切向力Y=1186.7092 +FPS=29.92, 法向力=6149.5171, 切向力X=2898.7441, 切向力Y=1505.4371 +FPS=29.70, 法向力=3772.0361, 切向力X=758.4678, 切向力Y=452.7246 +FPS=29.12, 法向力=25790.4590, 切向力X=-11710.1328, 切向力Y=10019.7012 +FPS=29.95, 法向力=32117.7383, 切向力X=-15356.5195, 切向力Y=8688.9766 +FPS=30.03, 法向力=11639.0449, 切向力X=-3669.6292, 切向力Y=6416.6548 +FPS=29.33, 法向力=10549.4844, 切向力X=6920.5000, 切向力Y=-2004.9094 +FPS=30.30, 法向力=11494.6523, 切向力X=7748.1943, 切向力Y=-730.7887 +FPS=29.71, 法向力=3595.1411, 切向力X=1957.1503, 切向力Y=-930.7698 +FPS=30.04, 法向力=10255.3770, 切向力X=9054.6348, 切向力Y=-1077.1132 +FPS=29.97, 法向力=10330.6201, 切向力X=9251.7832, 切向力Y=-1402.9988 +FPS=30.45, 法向力=10015.0254, 切向力X=9136.5000, 切向力Y=-330.5016 +FPS=29.94, 法向力=7757.5381, 切向力X=10589.9141, 切向力Y=-1296.8228 +FPS=30.25, 法向力=7419.8296, 切向力X=10501.0098, 切向力Y=-1779.5449 +FPS=28.96, 法向力=9410.8730, 切向力X=9872.8926, 切向力Y=-4734.4766 +FPS=29.57, 法向力=15527.4102, 切向力X=7819.0239, 切向力Y=-4488.4229 +FPS=29.64, 法向力=10712.5898, 切向力X=13110.4775, 切向力Y=-4800.3799 +FPS=31.42, 法向力=10813.4160, 切向力X=13456.4268, 切向力Y=-4669.6538 +FPS=30.59, 法向力=11672.3008, 切向力X=10594.6035, 切向力Y=-2531.2061 +FPS=31.21, 法向力=11603.5195, 切向力X=10730.2988, 切向力Y=-2603.7798 +FPS=29.21, 法向力=10594.1465, 切向力X=9916.1543, 切向力Y=-1466.1902 +FPS=30.59, 法向力=13671.5195, 切向力X=14857.9453, 切向力Y=-4684.0176 +FPS=30.37, 法向力=14076.4863, 切向力X=14612.8965, 切向力Y=-4992.2275 +FPS=30.32, 法向力=13655.5527, 切向力X=15917.0117, 切向力Y=-4360.4375 +FPS=29.42, 法向力=14845.8711, 切向力X=12778.3047, 切向力Y=-5802.4209 +FPS=30.14, 法向力=14927.7383, 切向力X=12605.9863, 切向力Y=-6017.5283 +FPS=29.76, 法向力=14791.7695, 切向力X=13402.8652, 切向力Y=-4762.3857 +FPS=29.96, 法向力=14958.4824, 切向力X=14458.0723, 切向力Y=-5880.1880 +FPS=31.19, 法向力=14969.3047, 切向力X=14485.1113, 切向力Y=-5984.8423 +FPS=30.82, 法向力=15200.5840, 切向力X=15044.9229, 切向力Y=-4778.6523 +FPS=30.27, 法向力=15048.8496, 切向力X=15153.3193, 切向力Y=-4487.5767 +FPS=31.58, 法向力=14581.8438, 切向力X=16947.5898, 切向力Y=-7212.2437 +FPS=31.22, 法向力=13906.2715, 切向力X=14896.2109, 切向力Y=-5061.5625 +FPS=32.04, 法向力=13756.8535, 切向力X=14609.2812, 切向力Y=-5760.1602 +FPS=32.65, 法向力=16095.9355, 切向力X=18895.8340, 切向力Y=-7337.5342 +FPS=32.01, 法向力=11449.6094, 切向力X=11860.5352, 切向力Y=-4090.9094 +FPS=32.41, 法向力=11495.5488, 切向力X=11903.2734, 切向力Y=-4233.5220 +FPS=33.24, 法向力=13394.6748, 切向力X=8451.7920, 切向力Y=-1886.4978 +FPS=32.01, 法向力=12396.0371, 切向力X=5972.4131, 切向力Y=-432.9780 +FPS=32.60, 法向力=12531.8672, 切向力X=6073.6304, 切向力Y=-1015.0947 +FPS=32.13, 法向力=11196.4463, 切向力X=3555.1077, 切向力Y=-1882.7424 +FPS=33.50, 法向力=10723.2686, 切向力X=3817.1548, 切向力Y=-1913.1477 +FPS=29.80, 法向力=7412.9160, 切向力X=1372.3900, 切向力Y=-367.2078 +FPS=30.42, 法向力=22956.4258, 切向力X=-4975.3086, 切向力Y=-3063.6362 +FPS=31.98, 法向力=27428.8164, 切向力X=-6915.8032, 切向力Y=-3067.2998 +FPS=32.04, 法向力=6347.9487, 切向力X=4718.3701, 切向力Y=1678.0522 +FPS=31.69, 法向力=6344.1377, 切向力X=3936.3232, 切向力Y=1861.4087 +FPS=33.61, 法向力=8605.7666, 切向力X=6418.7764, 切向力Y=4341.1841 +FPS=31.74, 法向力=10897.3037, 切向力X=-151.9736, 切向力Y=-289.9187 +FPS=31.75, 法向力=14605.6064, 切向力X=-1976.9972, 切向力Y=-1134.1431 +FPS=32.74, 法向力=7664.0508, 切向力X=5942.0688, 切向力Y=-2463.6431 +FPS=32.28, 法向力=6931.4434, 切向力X=-2975.9561, 切向力Y=-2391.7957 +FPS=32.65, 法向力=7322.3691, 切向力X=-3552.7422, 切向力Y=-2405.8679 +FPS=32.71, 法向力=20610.6992, 切向力X=-13753.4395, 切向力Y=6615.6699 +FPS=33.07, 法向力=19840.4180, 切向力X=-13836.4277, 切向力Y=6513.9795 +FPS=31.96, 法向力=8604.6855, 切向力X=-6362.1265, 切向力Y=-3314.1240 +FPS=32.00, 法向力=9151.9600, 切向力X=-9628.6943, 切向力Y=-2330.3103 +FPS=33.39, 法向力=9343.2178, 切向力X=-9751.5205, 切向力Y=-2378.8213 +FPS=32.98, 法向力=20981.2734, 切向力X=-5149.3750, 切向力Y=-4434.2451 +FPS=32.77, 法向力=14147.1113, 切向力X=-13337.0703, 切向力Y=-4588.2563 +FPS=36.14, 法向力=13541.1230, 切向力X=-13751.0293, 切向力Y=-3864.5972 +FPS=32.11, 法向力=11342.4531, 切向力X=-13651.5703, 切向力Y=2000.6260 +FPS=33.06, 法向力=10612.8076, 切向力X=-15538.7305, 切向力Y=-730.0645 +FPS=33.46, 法向力=9289.5957, 切向力X=-12312.7539, 切向力Y=-4582.8560 +FPS=32.71, 法向力=7527.8613, 切向力X=-12636.5312, 切向力Y=-4371.8955 +FPS=34.83, 法向力=7669.1265, 切向力X=-12185.0801, 切向力Y=-4604.1846 +FPS=34.02, 法向力=10186.4248, 切向力X=-9140.2607, 切向力Y=275.1848 +FPS=33.89, 法向力=8894.7383, 切向力X=-9443.6289, 切向力Y=-2789.5276 +FPS=32.46, 法向力=4324.1040, 切向力X=-5633.3335, 切向力Y=-3772.1367 +FPS=33.60, 法向力=4528.2041, 切向力X=-5511.5508, 切向力Y=-3749.2729 +FPS=33.36, 法向力=6224.0879, 切向力X=-6153.7080, 切向力Y=-2323.5142 +FPS=33.36, 法向力=7416.1523, 切向力X=-5883.2803, 切向力Y=-355.8192 +FPS=34.38, 法向力=7286.8193, 切向力X=-5548.8008, 切向力Y=398.7098 +FPS=33.50, 法向力=7071.6582, 切向力X=-3856.0220, 切向力Y=-1984.2428 +FPS=34.08, 法向力=7529.0215, 切向力X=-3594.6355, 切向力Y=-1190.5437 +FPS=34.76, 法向力=7708.9946, 切向力X=-2806.2708, 切向力Y=1830.2035 +FPS=33.72, 法向力=5339.2954, 切向力X=3268.2422, 切向力Y=204.7537 +FPS=34.84, 法向力=9167.4609, 切向力X=5864.3057, 切向力Y=-957.7563 +FPS=31.89, 法向力=2476.0732, 切向力X=-597.8885, 切向力Y=-617.1965 +FPS=33.14, 法向力=3116.7422, 切向力X=-1340.0005, 切向力Y=101.2920 +FPS=31.94, 法向力=2554.6528, 切向力X=-294.3497, 切向力Y=-728.2612 +FPS=33.20, 法向力=2667.5693, 切向力X=-354.5980, 切向力Y=-515.6520 +FPS=33.31, 法向力=2696.5452, 切向力X=-250.6836, 切向力Y=-422.8476 +FPS=32.64, 法向力=10883.1309, 切向力X=-9488.0703, 切向力Y=-1351.0709 +FPS=33.48, 法向力=13911.2383, 切向力X=-11526.9062, 切向力Y=-1730.2313 +FPS=33.58, 法向力=33969.8867, 切向力X=-24245.5684, 切向力Y=7322.8242 +FPS=32.31, 法向力=17774.8594, 切向力X=-9649.7520, 切向力Y=-3903.7112 +FPS=32.61, 法向力=18634.4121, 切向力X=-9771.1152, 切向力Y=-3531.0703 +FPS=33.48, 法向力=20541.2695, 切向力X=-13828.8154, 切向力Y=-5237.5996 +FPS=32.77, 法向力=15812.4580, 切向力X=-17118.3750, 切向力Y=-4255.1211 +FPS=33.32, 法向力=15095.6211, 切向力X=-19592.2930, 切向力Y=-5155.3643 +FPS=32.34, 法向力=16270.0273, 切向力X=-23029.7910, 切向力Y=-7201.5664 +FPS=32.75, 法向力=16300.5879, 切向力X=-22751.5996, 切向力Y=-6648.8750 +FPS=32.41, 法向力=16177.8418, 切向力X=-21649.0156, 切向力Y=-7661.9712 +FPS=32.29, 法向力=16186.5801, 切向力X=-21650.1406, 切向力Y=-7627.3687 +FPS=31.38, 法向力=16203.6484, 切向力X=-21679.2910, 切向力Y=-7655.0527 +FPS=31.19, 法向力=16515.6406, 切向力X=-27595.3320, 切向力Y=-6406.0654 +FPS=32.01, 法向力=17967.5859, 切向力X=-28804.1562, 切向力Y=-7423.3789 +FPS=32.11, 法向力=16974.1270, 切向力X=-17199.4395, 切向力Y=-6140.1982 +FPS=31.43, 法向力=12676.1211, 切向力X=-20082.7852, 切向力Y=-7441.5269 +FPS=31.75, 法向力=12409.1562, 切向力X=-20679.0625, 切向力Y=-8196.8799 +FPS=31.23, 法向力=11357.8477, 切向力X=-18089.4512, 切向力Y=-6596.9565 +FPS=31.64, 法向力=11041.4336, 切向力X=-18823.6836, 切向力Y=-7247.0991 +FPS=31.26, 法向力=13260.9229, 切向力X=-12791.1807, 切向力Y=-7346.7754 +FPS=31.20, 法向力=13658.8691, 切向力X=-19642.0820, 切向力Y=-6949.2749 +FPS=32.01, 法向力=15311.6035, 切向力X=-20454.4961, 切向力Y=-6886.3042 +FPS=32.08, 法向力=6036.7549, 切向力X=-12909.6318, 切向力Y=-3981.9451 +FPS=32.67, 法向力=5964.0068, 切向力X=-12794.1689, 切向力Y=-4073.1353 +FPS=29.86, 法向力=5866.7407, 切向力X=-12586.6836, 切向力Y=-4079.1611 +FPS=26.26, 法向力=15792.1123, 切向力X=-5444.8428, 切向力Y=-1218.5814 +FPS=25.26, 法向力=17007.9492, 切向力X=5136.3701, 切向力Y=2457.3120 +FPS=27.92, 法向力=20030.4453, 切向力X=-537.0015, 切向力Y=-540.1201 +FPS=29.40, 法向力=19885.8770, 切向力X=701.8062, 切向力Y=-244.8137 +FPS=29.85, 法向力=29287.4805, 切向力X=-5994.2188, 切向力Y=988.3474 +FPS=29.64, 法向力=25547.2188, 切向力X=6194.1670, 切向力Y=-857.8058 +FPS=29.96, 法向力=25963.6465, 切向力X=6272.3540, 切向力Y=-608.8109 +FPS=29.56, 法向力=21135.4004, 切向力X=10111.8350, 切向力Y=-440.3754 +FPS=33.22, 法向力=27583.1582, 切向力X=10500.0312, 切向力Y=-3489.6343 +FPS=33.27, 法向力=33006.4531, 切向力X=-322.1852, 切向力Y=-2170.8115 +FPS=32.86, 法向力=41718.0547, 切向力X=-6956.0215, 切向力Y=-819.8520 +FPS=32.44, 法向力=41397.0469, 切向力X=-6774.2812, 切向力Y=-221.6935 +FPS=33.16, 法向力=24076.2148, 切向力X=4908.9160, 切向力Y=-4219.7832 +FPS=31.51, 法向力=21353.4922, 切向力X=7946.4717, 切向力Y=-5083.1626 +FPS=34.06, 法向力=21353.9102, 切向力X=7778.6611, 切向力Y=-5158.5684 +FPS=33.91, 法向力=20642.8789, 切向力X=5918.7256, 切向力Y=-3735.1675 +FPS=34.76, 法向力=20635.4824, 切向力X=5629.2090, 切向力Y=-3952.4578 +FPS=33.62, 法向力=24531.7227, 切向力X=1807.8654, 切向力Y=-6160.7217 +FPS=32.56, 法向力=24910.2969, 切向力X=2434.5146, 切向力Y=3021.6150 +FPS=32.71, 法向力=25633.2812, 切向力X=1899.3495, 切向力Y=3877.4138 +FPS=32.54, 法向力=17552.4746, 切向力X=7170.8818, 切向力Y=-3366.2666 +FPS=34.08, 法向力=17581.5156, 切向力X=7494.5229, 切向力Y=-3578.9204 +FPS=35.43, 法向力=17557.2266, 切向力X=-2782.6833, 切向力Y=3277.1553 +FPS=34.89, 法向力=18436.4512, 切向力X=-3094.3789, 切向力Y=3981.5049 +FPS=35.42, 法向力=18858.3496, 切向力X=-3395.1042, 切向力Y=4093.9182 +FPS=34.10, 法向力=13146.5225, 切向力X=2287.6235, 切向力Y=354.8823 +FPS=34.56, 法向力=13066.8652, 切向力X=2673.6685, 切向力Y=217.2332 +FPS=33.31, 法向力=15798.7256, 切向力X=-2496.4573, 切向力Y=34.6085 +FPS=34.18, 法向力=17094.9844, 切向力X=-3235.8860, 切向力Y=-846.1805 +FPS=32.93, 法向力=8856.4707, 切向力X=845.6509, 切向力Y=1103.2012 +FPS=33.90, 法向力=8502.1855, 切向力X=1328.4852, 切向力Y=476.3114 +FPS=33.50, 法向力=8805.3125, 切向力X=5293.7207, 切向力Y=-1588.2214 +FPS=32.41, 法向力=9628.2402, 切向力X=2317.1006, 切向力Y=-2570.7627 +FPS=33.70, 法向力=10257.7852, 切向力X=1370.3384, 切向力Y=-2597.2002 +FPS=32.39, 法向力=8241.5459, 切向力X=4641.5493, 切向力Y=-653.6262 +FPS=33.00, 法向力=7130.1650, 切向力X=3893.7048, 切向力Y=-239.1429 +FPS=33.84, 法向力=8350.4980, 切向力X=5293.6787, 切向力Y=-1155.2808 +FPS=32.94, 法向力=8672.2559, 切向力X=5632.4873, 切向力Y=-1191.9819 +FPS=33.69, 法向力=5152.8086, 切向力X=4232.8555, 切向力Y=-859.5454 +FPS=35.07, 法向力=5195.8145, 切向力X=4288.8867, 切向力Y=-549.9750 +FPS=34.53, 法向力=25606.8457, 切向力X=-6057.6562, 切向力Y=-1004.1299 +FPS=34.81, 法向力=28394.9258, 切向力X=-7463.0898, 切向力Y=-809.1250 +FPS=33.09, 法向力=9462.8711, 切向力X=7942.0811, 切向力Y=-734.7266 +FPS=34.93, 法向力=9078.3574, 切向力X=8938.8926, 切向力Y=-1315.4814 +FPS=33.33, 法向力=13593.7744, 切向力X=11006.5996, 切向力Y=-2912.9692 +FPS=35.25, 法向力=14141.8555, 切向力X=12069.7324, 切向力Y=-2317.4458 +FPS=35.16, 法向力=9352.1641, 切向力X=9525.7871, 切向力Y=-2638.4727 +FPS=34.93, 法向力=11171.2383, 切向力X=11516.8066, 切向力Y=-3889.4805 +FPS=35.48, 法向力=12073.4697, 切向力X=11548.9170, 切向力Y=-3626.8367 +FPS=34.29, 法向力=11510.2012, 切向力X=12176.5352, 切向力Y=-4300.3477 +FPS=34.91, 法向力=11430.3896, 切向力X=12536.5439, 切向力Y=-4226.8770 +FPS=35.97, 法向力=11368.3496, 切向力X=12624.2832, 切向力Y=-4120.7588 +FPS=35.35, 法向力=13640.7861, 切向力X=16901.7812, 切向力Y=-3023.5522 +FPS=35.61, 法向力=14726.5908, 切向力X=15753.6543, 切向力Y=-2825.7263 +FPS=35.50, 法向力=14774.0645, 切向力X=15590.5898, 切向力Y=-2834.7432 +FPS=35.28, 法向力=34362.0352, 切向力X=2954.3064, 切向力Y=-1961.1145 +FPS=35.16, 法向力=21550.8242, 切向力X=12408.2793, 切向力Y=-4179.7100 +FPS=34.86, 法向力=21148.8984, 切向力X=12616.7539, 切向力Y=-4365.0415 +FPS=34.76, 法向力=10476.9014, 切向力X=10981.6104, 切向力Y=581.4586 +FPS=35.77, 法向力=10238.8691, 切向力X=10892.2275, 切向力Y=-1177.0398 +FPS=35.10, 法向力=8248.0820, 切向力X=8889.6680, 切向力Y=-1398.7206 +FPS=35.43, 法向力=21313.2227, 切向力X=-2296.5420, 切向力Y=-932.6144 +FPS=34.69, 法向力=22772.6797, 切向力X=-2824.3403, 切向力Y=218.7314 +FPS=34.43, 法向力=16188.6904, 切向力X=8.0123, 切向力Y=-1297.0154 +FPS=33.32, 法向力=16197.1299, 切向力X=549.5298, 切向力Y=-1113.0551 +FPS=35.67, 法向力=16409.7109, 切向力X=419.8642, 切向力Y=-1056.5371 +FPS=35.66, 法向力=16459.4766, 切向力X=366.5362, 切向力Y=-1122.7061 +FPS=33.18, 法向力=4895.3926, 切向力X=2806.5559, 切向力Y=454.6179 +FPS=33.99, 法向力=4674.2505, 切向力X=3373.4011, 切向力Y=141.1817 +FPS=34.99, 法向力=12063.4668, 切向力X=-896.2719, 切向力Y=1865.1760 +FPS=33.22, 法向力=14511.5449, 切向力X=-2031.3694, 切向力Y=-41.4976 +FPS=34.21, 法向力=15262.6943, 切向力X=-2410.2302, 切向力Y=-217.3498 +FPS=32.36, 法向力=5700.0498, 切向力X=5884.0825, 切向力Y=-2104.1079 +FPS=34.31, 法向力=14506.9092, 切向力X=186.7773, 切向力Y=5768.0547 +FPS=34.40, 法向力=17213.3379, 切向力X=253.2870, 切向力Y=9570.0820 +FPS=32.56, 法向力=4490.2212, 切向力X=3621.1577, 切向力Y=-1402.5542 +FPS=32.93, 法向力=3971.4824, 切向力X=5121.9761, 切向力Y=-1211.8831 +FPS=32.37, 法向力=4223.1465, 切向力X=1084.3953, 切向力Y=711.9447 +FPS=33.76, 法向力=4565.1714, 切向力X=561.5508, 切向力Y=313.3227 +FPS=33.89, 法向力=4610.0117, 切向力X=420.3106, 切向力Y=206.6233 +FPS=34.28, 法向力=7413.2183, 切向力X=326.8326, 切向力Y=641.5728 +FPS=35.44, 法向力=7423.1685, 切向力X=-207.6052, 切向力Y=125.4970 +FPS=32.01, 法向力=3586.7007, 切向力X=2341.3306, 切向力Y=-1962.8438 +FPS=33.67, 法向力=3408.1619, 切向力X=2355.5115, 切向力Y=-2167.3267 +FPS=33.89, 法向力=11040.8057, 切向力X=-5085.7715, 切向力Y=-1496.3831 +FPS=33.40, 法向力=12438.3711, 切向力X=-8484.9209, 切向力Y=321.7382 +FPS=34.31, 法向力=12824.5312, 切向力X=-8701.8281, 切向力Y=551.6488 +FPS=34.22, 法向力=8282.0254, 切向力X=-4559.1777, 切向力Y=-280.5325 +FPS=33.83, 法向力=4819.5161, 切向力X=-6841.1357, 切向力Y=-1110.9204 +FPS=33.10, 法向力=4974.5361, 切向力X=-7057.7881, 切向力Y=-1099.3921 +FPS=31.87, 法向力=5196.0957, 切向力X=-7962.7744, 切向力Y=-2187.2637 +FPS=33.26, 法向力=5101.5234, 切向力X=-7990.2910, 切向力Y=-2465.9163 +FPS=32.79, 法向力=5109.6465, 切向力X=-7966.3350, 切向力Y=-2450.8330 +FPS=33.13, 法向力=5129.7109, 切向力X=-7967.7842, 切向力Y=-2440.9023 +FPS=32.34, 法向力=6927.6777, 切向力X=-10261.2852, 切向力Y=-2849.6868 +FPS=32.90, 法向力=6905.4990, 切向力X=-4756.7773, 切向力Y=-5697.3750 +FPS=33.84, 法向力=14328.5723, 切向力X=-6716.3584, 切向力Y=-320.5337 +FPS=31.46, 法向力=3386.7383, 切向力X=-3458.1157, 切向力Y=151.8679 +FPS=32.60, 法向力=5922.2437, 切向力X=1998.9735, 切向力Y=-1005.7538 +FPS=32.68, 法向力=6021.9917, 切向力X=2208.2039, 切向力Y=-305.1129 +FPS=31.82, 法向力=7147.6577, 切向力X=-661.6333, 切向力Y=-1230.1191 +FPS=33.00, 法向力=8198.9551, 切向力X=-1322.1558, 切向力Y=-1479.2712 +FPS=32.68, 法向力=7532.0166, 切向力X=-228.0920, 切向力Y=122.5870 +FPS=32.91, 法向力=7716.7007, 切向力X=-566.0836, 切向力Y=-218.7327 +FPS=32.63, 法向力=8192.1729, 切向力X=-704.3859, 切向力Y=-1155.3801 +FPS=32.16, 法向力=7455.1572, 切向力X=-2146.8999, 切向力Y=976.9927 +FPS=33.59, 法向力=7594.3887, 切向力X=-2409.6755, 切向力Y=994.8368 +FPS=32.64, 法向力=16542.6484, 切向力X=-4975.2109, 切向力Y=6168.9312 +FPS=32.55, 法向力=7802.1411, 切向力X=-326.9847, 切向力Y=-1304.7068 +FPS=32.67, 法向力=7864.5039, 切向力X=-266.1085, 切向力Y=-1823.7092 +FPS=31.41, 法向力=11917.8896, 切向力X=-2070.4263, 切向力Y=-1314.1787 +FPS=32.86, 法向力=9701.1826, 切向力X=-2016.9165, 切向力Y=505.1721 +FPS=32.96, 法向力=9735.6543, 切向力X=-1927.7849, 切向力Y=905.7154 +FPS=31.59, 法向力=4682.8818, 切向力X=594.4337, 切向力Y=-1242.9956 +FPS=31.97, 法向力=4484.2710, 切向力X=703.6296, 切向力Y=-1174.2532 +FPS=31.03, 法向力=6714.2686, 切向力X=-164.5864, 切向力Y=479.0869 +FPS=32.98, 法向力=6764.5283, 切向力X=-231.4220, 切向力Y=175.2577 +FPS=32.11, 法向力=12232.3262, 切向力X=2104.0820, 切向力Y=-1439.5879 +FPS=31.94, 法向力=5925.1113, 切向力X=-1561.9910, 切向力Y=1401.4080 +FPS=32.20, 法向力=5472.5283, 切向力X=-1405.4924, 切向力Y=1536.2233 +FPS=31.71, 法向力=5123.6294, 切向力X=1173.4731, 切向力Y=-2.7824 +FPS=31.90, 法向力=10131.1553, 切向力X=710.8318, 切向力Y=143.1045 +FPS=32.55, 法向力=11097.3086, 切向力X=-83.1796, 切向力Y=-300.6530 +FPS=32.31, 法向力=5997.2217, 切向力X=15.2529, 切向力Y=-204.2016 +FPS=32.56, 法向力=6795.8125, 切向力X=3593.8955, 切向力Y=695.2441 +FPS=33.10, 法向力=7162.8711, 切向力X=3689.6218, 切向力Y=797.2628 +FPS=32.31, 法向力=8694.8701, 切向力X=-1744.0652, 切向力Y=199.6691 +FPS=33.79, 法向力=16479.3477, 切向力X=-6652.6377, 切向力Y=-1622.9832 +FPS=32.19, 法向力=9731.6680, 切向力X=6877.3726, 切向力Y=6157.5156 +FPS=33.49, 法向力=7959.3086, 切向力X=5419.7871, 切向力Y=1625.6503 +FPS=32.98, 法向力=5902.4956, 切向力X=1060.0083, 切向力Y=-394.2842 +FPS=32.76, 法向力=16342.1064, 切向力X=-3688.9292, 切向力Y=-1691.0212 +FPS=33.11, 法向力=19432.8672, 切向力X=-4412.5605, 切向力Y=-1216.6326 +FPS=32.11, 法向力=8943.4346, 切向力X=6218.1572, 切向力Y=-204.4308 +FPS=31.47, 法向力=5629.2305, 切向力X=1920.1790, 切向力Y=-822.4359 +FPS=32.83, 法向力=5828.5581, 切向力X=2333.5923, 切向力Y=-819.6813 +FPS=32.28, 法向力=13083.9688, 切向力X=-5062.7959, 切向力Y=287.7120 +FPS=27.93, 法向力=6827.0059, 切向力X=-1512.6362, 切向力Y=700.4443 +FPS=28.43, 法向力=5504.1504, 切向力X=-609.1902, 切向力Y=1095.1233 +FPS=31.14, 法向力=4824.0483, 切向力X=749.2793, 切向力Y=721.0566 +FPS=34.22, 法向力=4730.6318, 切向力X=867.8859, 切向力Y=484.2651 +FPS=32.69, 法向力=4008.8950, 切向力X=167.2423, 切向力Y=1127.4542 +FPS=35.78, 法向力=9158.1396, 切向力X=5447.2275, 切向力Y=1849.4963 +FPS=35.32, 法向力=10752.2520, 切向力X=6734.7949, 切向力Y=1525.7305 +FPS=33.29, 法向力=5299.8965, 切向力X=3144.9666, 切向力Y=1195.2042 +FPS=35.77, 法向力=4973.3633, 切向力X=2867.6821, 切向力Y=908.9504 +FPS=34.80, 法向力=4781.0137, 切向力X=1272.6182, 切向力Y=2779.7134 +FPS=35.53, 法向力=5330.2598, 切向力X=3244.0801, 切向力Y=-526.6077 +FPS=35.50, 法向力=6231.0898, 切向力X=4194.3267, 切向力Y=-354.8003 +FPS=35.07, 法向力=8652.3330, 切向力X=133.7342, 切向力Y=2731.2056 +FPS=35.53, 法向力=10713.5996, 切向力X=-1736.4163, 切向力Y=2484.1094 +FPS=34.81, 法向力=6388.5557, 切向力X=-231.4615, 切向力Y=2169.0371 +FPS=36.35, 法向力=5170.5195, 切向力X=-143.3375, 切向力Y=777.2517 +FPS=32.19, 法向力=5999.4014, 切向力X=2968.8799, 切向力Y=609.8664 +FPS=34.45, 法向力=6282.6714, 切向力X=3203.7139, 切向力Y=682.3132 +FPS=32.93, 法向力=7292.3721, 切向力X=5484.2119, 切向力Y=127.0303 +FPS=31.95, 法向力=7035.5176, 切向力X=4704.2822, 切向力Y=1533.9109 +FPS=33.20, 法向力=7026.9824, 切向力X=4595.6152, 切向力Y=1258.9480 +FPS=32.72, 法向力=3816.0415, 切向力X=589.5950, 切向力Y=1939.8611 +FPS=32.47, 法向力=11712.4414, 切向力X=-3211.8799, 切向力Y=835.7821 +FPS=32.16, 法向力=12731.4766, 切向力X=-3703.0156, 切向力Y=761.0088 +FPS=32.46, 法向力=10434.7021, 切向力X=-1084.9666, 切向力Y=2820.1636 +FPS=31.85, 法向力=11545.0352, 切向力X=-2354.7419, 切向力Y=-1109.9661 +FPS=32.95, 法向力=11848.5566, 切向力X=-2628.9824, 切向力Y=-969.2454 +FPS=31.95, 法向力=11922.3691, 切向力X=-2611.1726, 切向力Y=-871.2114 +FPS=31.64, 法向力=10811.5908, 切向力X=1119.5638, 切向力Y=162.5811 +FPS=30.94, 法向力=6426.2808, 切向力X=2884.2058, 切向力Y=236.3671 +FPS=32.20, 法向力=6106.5068, 切向力X=3402.8403, 切向力Y=-634.9267 +FPS=32.21, 法向力=8918.2432, 切向力X=4039.7334, 切向力Y=5154.4985 +FPS=31.04, 法向力=5215.9888, 切向力X=235.9790, 切向力Y=4521.7812 +FPS=31.76, 法向力=3566.2615, 切向力X=-763.9454, 切向力Y=1057.9650 +FPS=31.67, 法向力=3719.1548, 切向力X=1088.1211, 切向力Y=183.0820 +FPS=33.24, 法向力=6786.6562, 切向力X=4460.8262, 切向力Y=-1506.8483 +FPS=33.27, 法向力=7000.9521, 切向力X=2184.1489, 切向力Y=-1505.9155 +FPS=31.06, 法向力=4886.7798, 切向力X=890.1209, 切向力Y=1426.8433 +FPS=31.70, 法向力=3720.5225, 切向力X=-1477.0835, 切向力Y=59.0974 +FPS=32.65, 法向力=3681.0935, 切向力X=-1455.7909, 切向力Y=251.4866 +FPS=30.39, 法向力=6220.8662, 切向力X=-2144.4404, 切向力Y=2221.0801 +FPS=31.74, 法向力=6038.6611, 切向力X=-2234.3469, 切向力Y=2113.0369 +FPS=31.34, 法向力=5744.0273, 切向力X=-4360.6465, 切向力Y=233.8926 +FPS=31.88, 法向力=8938.2266, 切向力X=-3990.3516, 切向力Y=-2659.5933 +FPS=32.11, 法向力=10650.2158, 切向力X=-4992.4043, 切向力Y=-2410.1106 +FPS=31.06, 法向力=2736.5107, 切向力X=-1154.4351, 切向力Y=-569.1962 +FPS=31.22, 法向力=8730.6270, 切向力X=4855.3223, 切向力Y=-1680.4178 +FPS=31.68, 法向力=8553.4570, 切向力X=3746.8110, 切向力Y=-1177.2639 +FPS=31.10, 法向力=3832.6802, 切向力X=752.9825, 切向力Y=379.2531 +FPS=31.20, 法向力=4382.6436, 切向力X=2067.4480, 切向力Y=557.1121 +FPS=32.37, 法向力=4446.9512, 切向力X=2171.8110, 切向力Y=-58.9452 +FPS=32.66, 法向力=7141.6592, 切向力X=-168.7801, 切向力Y=758.7319 +FPS=32.91, 法向力=10306.0273, 切向力X=-2734.7546, 切向力Y=1177.6472 +FPS=32.33, 法向力=6581.0469, 切向力X=3171.4194, 切向力Y=148.1192 +FPS=32.67, 法向力=9018.0830, 切向力X=1265.5789, 切向力Y=-298.8719 +FPS=32.05, 法向力=6687.5913, 切向力X=930.6583, 切向力Y=-1431.9565 +FPS=31.29, 法向力=4298.2764, 切向力X=674.0923, 切向力Y=1533.7395 +FPS=32.66, 法向力=7250.2124, 切向力X=2924.2773, 切向力Y=2404.9431 +FPS=30.22, 法向力=12901.3262, 切向力X=-7590.9355, 切向力Y=3431.0063 +FPS=29.56, 法向力=6312.0273, 切向力X=-1151.5352, 切向力Y=1920.0486 +FPS=29.97, 法向力=5989.8711, 切向力X=1216.2468, 切向力Y=990.2281 +FPS=30.65, 法向力=5954.9092, 切向力X=1374.6221, 切向力Y=610.2959 +FPS=28.92, 法向力=5712.1055, 切向力X=1491.6617, 切向力Y=2567.3992 +FPS=30.07, 法向力=5797.0078, 切向力X=1631.6198, 切向力Y=2635.1113 +FPS=29.32, 法向力=7785.7070, 切向力X=4815.2095, 切向力Y=-484.9290 +FPS=29.66, 法向力=14988.1719, 切向力X=-4797.6968, 切向力Y=173.8857 +FPS=30.22, 法向力=15184.7480, 切向力X=-4274.4219, 切向力Y=1928.9182 +FPS=30.74, 法向力=8890.7227, 切向力X=1419.1855, 切向力Y=-1566.0208 +FPS=30.38, 法向力=6895.6694, 切向力X=202.8553, 切向力Y=363.7396 +FPS=31.32, 法向力=6609.8018, 切向力X=147.8414, 切向力Y=104.3510 +FPS=30.84, 法向力=6868.9326, 切向力X=429.1948, 切向力Y=-795.2448 +FPS=31.50, 法向力=9634.8008, 切向力X=703.7422, 切向力Y=-2103.8875 +FPS=32.42, 法向力=10381.2070, 切向力X=756.1438, 切向力Y=-2477.2212 +FPS=31.97, 法向力=21445.1211, 切向力X=-2662.4346, 切向力Y=689.6110 +FPS=30.56, 法向力=23780.2773, 切向力X=-4813.9072, 切向力Y=-954.9746 +FPS=30.71, 法向力=11106.8945, 切向力X=4862.4463, 切向力Y=-1869.3711 +FPS=30.97, 法向力=12570.3223, 切向力X=1093.2441, 切向力Y=-3777.7854 +FPS=30.14, 法向力=12963.8613, 切向力X=1464.2701, 切向力Y=-4161.6270 +FPS=30.92, 法向力=12697.0918, 切向力X=5494.8667, 切向力Y=-2924.1780 +FPS=28.93, 法向力=15041.0332, 切向力X=10159.1660, 切向力Y=-2470.0779 +FPS=30.58, 法向力=13856.6270, 切向力X=6864.1802, 切向力Y=-2977.6572 +FPS=31.00, 法向力=14013.2734, 切向力X=7170.9722, 切向力Y=-2601.3447 +FPS=30.89, 法向力=13003.1299, 切向力X=7864.1958, 切向力Y=-2660.9229 +FPS=31.64, 法向力=12599.6885, 切向力X=4451.8892, 切向力Y=-2793.0742 +FPS=31.79, 法向力=13557.6680, 切向力X=3467.4475, 切向力Y=-3068.4941 +FPS=31.05, 法向力=12804.6504, 切向力X=3895.9678, 切向力Y=-3302.8467 +FPS=31.59, 法向力=12687.8057, 切向力X=3935.1924, 切向力Y=-3411.7119 +FPS=31.81, 法向力=14185.1426, 切向力X=-953.6384, 切向力Y=-2541.1646 +FPS=31.34, 法向力=15189.6465, 切向力X=-1697.4143, 切向力Y=-871.1501 +FPS=32.18, 法向力=14593.0078, 切向力X=-1355.0938, 切向力Y=-1205.9399 +FPS=30.44, 法向力=12065.8691, 切向力X=-774.1801, 切向力Y=1221.6665 +FPS=31.52, 法向力=12459.7461, 切向力X=-917.0068, 切向力Y=-1524.6730 +FPS=31.72, 法向力=12425.2852, 切向力X=-924.7088, 切向力Y=-1719.6328 +FPS=30.87, 法向力=15397.1455, 切向力X=-3610.5728, 切向力Y=-1008.3901 +FPS=31.25, 法向力=16881.3379, 切向力X=-3668.2944, 切向力Y=512.7587 +FPS=32.08, 法向力=8096.4746, 切向力X=1880.8774, 切向力Y=-1733.5845 +FPS=30.26, 法向力=17003.8965, 切向力X=-4497.8789, 切向力Y=78.0541 +FPS=31.65, 法向力=18545.6328, 切向力X=-5209.5381, 切向力Y=443.4240 +FPS=30.95, 法向力=12289.3301, 切向力X=808.0361, 切向力Y=-163.1483 +FPS=32.06, 法向力=11596.2559, 切向力X=1055.8154, 切向力Y=-26.0610 +FPS=32.66, 法向力=5667.9766, 切向力X=1039.7617, 切向力Y=1279.6591 +FPS=31.81, 法向力=24574.8203, 切向力X=-9695.3828, 切向力Y=3440.6040 +FPS=32.04, 法向力=24557.0430, 切向力X=-9669.4434, 切向力Y=4088.0608 +FPS=31.76, 法向力=12265.5078, 切向力X=-2942.2520, 切向力Y=264.4563 +FPS=31.76, 法向力=6208.1357, 切向力X=1262.9258, 切向力Y=561.2584 +FPS=31.85, 法向力=6453.7983, 切向力X=1563.9766, 切向力Y=1277.7280 +FPS=31.56, 法向力=8075.0625, 切向力X=2469.1367, 切向力Y=2117.2363 +FPS=32.26, 法向力=10126.6621, 切向力X=1475.8683, 切向力Y=4562.0566 +FPS=32.77, 法向力=9445.0859, 切向力X=524.9660, 切向力Y=3526.1492 +FPS=30.91, 法向力=9960.3750, 切向力X=-2143.5229, 切向力Y=3456.7026 +FPS=32.39, 法向力=10186.7969, 切向力X=-2196.5127, 切向力Y=3477.8081 +FPS=31.69, 法向力=8106.8555, 切向力X=552.8284, 切向力Y=2059.2241 +FPS=30.06, 法向力=13131.4141, 切向力X=8949.0957, 切向力Y=-918.3772 +FPS=31.33, 法向力=13595.3135, 切向力X=9366.7441, 切向力Y=-873.9935 +FPS=31.73, 法向力=13162.4824, 切向力X=-1695.9016, 切向力Y=852.2652 +FPS=31.27, 法向力=13518.5703, 切向力X=-3198.3853, 切向力Y=1150.8928 +FPS=30.81, 法向力=13266.9668, 切向力X=-3076.4548, 切向力Y=1455.6428 +FPS=30.75, 法向力=9650.7314, 切向力X=1029.8882, 切向力Y=1130.2668 +FPS=32.96, 法向力=12020.5010, 切向力X=6786.0352, 切向力Y=-41.6861 +FPS=33.45, 法向力=12684.0283, 切向力X=7373.4062, 切向力Y=697.4143 +FPS=33.24, 法向力=21970.6172, 切向力X=-5630.7549, 切向力Y=3205.6357 +FPS=33.34, 法向力=26566.8633, 切向力X=-7619.6958, 切向力Y=5083.8945 +FPS=32.39, 法向力=11640.5664, 切向力X=-807.7551, 切向力Y=3130.2263 +FPS=31.79, 法向力=11100.4824, 切向力X=-664.8497, 切向力Y=2475.0820 +FPS=33.43, 法向力=11843.1934, 切向力X=631.5234, 切向力Y=-2069.8687 +FPS=31.86, 法向力=13885.2637, 切向力X=-2625.2505, 切向力Y=2353.9583 +FPS=30.71, 法向力=14689.3184, 切向力X=-3128.7053, 切向力Y=2391.5127 +FPS=30.66, 法向力=11703.4951, 切向力X=3250.6523, 切向力Y=3211.0435 +FPS=31.59, 法向力=15038.6113, 切向力X=-1849.1068, 切向力Y=-1326.2277 +FPS=32.89, 法向力=16549.9004, 切向力X=-2889.7129, 切向力Y=-1754.8046 +FPS=32.92, 法向力=15647.4785, 切向力X=-1921.8394, 切向力Y=-826.1422 +FPS=30.16, 法向力=6110.0996, 切向力X=3384.7373, 切向力Y=-17.6012 +FPS=28.08, 法向力=6061.0371, 切向力X=3311.3940, 切向力Y=51.7425 +FPS=28.23, 法向力=7572.8364, 切向力X=-832.8072, 切向力Y=290.4797 +FPS=30.93, 法向力=9239.8457, 切向力X=-483.7587, 切向力Y=1086.4154 +FPS=32.37, 法向力=9488.3398, 切向力X=-597.5786, 切向力Y=1342.1394 +FPS=31.68, 法向力=6113.1465, 切向力X=2559.7429, 切向力Y=3272.3374 +FPS=31.38, 法向力=8131.3286, 切向力X=3346.1858, 切向力Y=1049.8755 +FPS=32.99, 法向力=7387.6396, 切向力X=-174.9215, 切向力Y=-55.6826 +FPS=31.93, 法向力=15114.1162, 切向力X=-2840.6914, 切向力Y=-442.0789 +FPS=32.82, 法向力=16134.4756, 切向力X=-3192.6602, 切向力Y=-567.9210 +FPS=32.86, 法向力=12627.5625, 切向力X=738.5412, 切向力Y=-403.1403 +FPS=32.49, 法向力=9692.1582, 切向力X=7101.5869, 切向力Y=-882.1589 +FPS=32.78, 法向力=9970.0352, 切向力X=7419.8354, 切向力Y=-453.1640 +FPS=32.43, 法向力=5285.7910, 切向力X=1937.0302, 切向力Y=1932.0391 +FPS=33.71, 法向力=5610.9268, 切向力X=1407.0854, 切向力Y=1856.7822 +FPS=32.52, 法向力=7229.7266, 切向力X=6683.4805, 切向力Y=2583.0864 +FPS=31.50, 法向力=7602.9956, 切向力X=2314.8081, 切向力Y=-235.2072 +FPS=32.55, 法向力=8836.6904, 切向力X=1269.2515, 切向力Y=-335.9426 +FPS=32.00, 法向力=14838.2168, 切向力X=-3283.5764, 切向力Y=425.1312 +FPS=31.05, 法向力=6626.4951, 切向力X=4722.1172, 切向力Y=-619.1058 +FPS=32.16, 法向力=7455.6787, 切向力X=5437.9697, 切向力Y=-619.0571 +FPS=32.09, 法向力=19068.8613, 切向力X=-6921.6265, 切向力Y=299.7276 +FPS=31.29, 法向力=19148.8359, 切向力X=-6431.4053, 切向力Y=2078.2739 +FPS=32.77, 法向力=19455.2891, 切向力X=-6569.6870, 切向力Y=2199.0122 +FPS=30.90, 法向力=13598.8105, 切向力X=325.8119, 切向力Y=4512.2910 +FPS=33.17, 法向力=14881.0420, 切向力X=165.8284, 切向力Y=4923.9219 +FPS=32.36, 法向力=5588.1162, 切向力X=1864.6492, 切向力Y=-201.6895 +FPS=32.78, 法向力=5523.7188, 切向力X=2509.5684, 切向力Y=520.9521 +FPS=32.47, 法向力=5639.8086, 切向力X=5284.4829, 切向力Y=-521.5285 +FPS=30.54, 法向力=7879.2979, 切向力X=1779.2844, 切向力Y=-440.6580 +Sensor disconnected. +⏸ 已暂停 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.16, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=54.54, 法向力=24189.5859, 切向力X=10205.7510, 切向力Y=-2487.5503 +FPS=35.92, 法向力=20338.5449, 切向力X=8095.4658, 切向力Y=-686.2598 +FPS=35.20, 法向力=20409.8477, 切向力X=9795.0342, 切向力Y=-422.5620 +FPS=40.87, 法向力=19460.8984, 切向力X=9304.1250, 切向力Y=-286.3355 +FPS=39.32, 法向力=14476.5342, 切向力X=5893.6260, 切向力Y=-163.4692 +FPS=40.92, 法向力=12615.2031, 切向力X=4802.3301, 切向力Y=175.2771 +FPS=39.27, 法向力=11459.8359, 切向力X=4096.1094, 切向力Y=134.6445 +FPS=40.04, 法向力=7328.6167, 切向力X=-3397.4138, 切向力Y=2176.8635 +FPS=41.83, 法向力=12917.9033, 切向力X=-6884.4229, 切向力Y=2614.3555 +FPS=40.03, 法向力=20471.7969, 切向力X=-11392.8105, 切向力Y=246.6952 +FPS=40.59, 法向力=20190.3672, 切向力X=-11181.9805, 切向力Y=-233.4160 +FPS=40.88, 法向力=6697.6826, 切向力X=-2789.4309, 切向力Y=-47.3880 +FPS=40.28, 法向力=5114.0151, 切向力X=-1652.2930, 切向力Y=-42.2316 +FPS=40.63, 法向力=8551.4023, 切向力X=3046.1965, 切向力Y=1131.0312 +FPS=40.61, 法向力=12427.3232, 切向力X=5375.4180, 切向力Y=-954.6091 +FPS=41.11, 法向力=12773.1562, 切向力X=5651.0781, 切向力Y=-1165.3386 +FPS=40.52, 法向力=10621.0586, 切向力X=5125.1040, 切向力Y=-384.5731 +FPS=42.90, 法向力=9753.6016, 切向力X=4465.9565, 切向力Y=-369.0423 +FPS=42.89, 法向力=9657.5996, 切向力X=4390.2314, 切向力Y=169.8988 +FPS=44.06, 法向力=25917.7578, 切向力X=11851.1406, 切向力Y=-1001.7773 +FPS=42.31, 法向力=26058.8379, 切向力X=11904.3174, 切向力Y=-613.7216 +FPS=37.63, 法向力=10171.7598, 切向力X=3250.0215, 切向力Y=274.5258 +FPS=37.48, 法向力=6108.1636, 切向力X=1103.4789, 切向力Y=576.6541 +FPS=37.58, 法向力=24255.6992, 切向力X=11205.1816, 切向力Y=-708.4057 +FPS=41.51, 法向力=25600.8613, 切向力X=11808.8047, 切向力Y=-172.3313 +FPS=40.53, 法向力=25432.6406, 切向力X=13317.6816, 切向力Y=-195.0313 +FPS=43.67, 法向力=25346.9297, 切向力X=13448.4375, 切向力Y=-39.4299 +FPS=44.57, 法向力=1463.2493, 切向力X=268.1919, 切向力Y=232.4698 +FPS=45.28, 法向力=1441.3619, 切向力X=361.2697, 切向力Y=137.3736 +FPS=44.48, 法向力=6268.7251, 切向力X=3034.5076, 切向力Y=497.4050 +FPS=46.50, 法向力=6713.7500, 切向力X=3284.3364, 切向力Y=142.3716 +FPS=43.86, 法向力=18496.6016, 切向力X=7881.3022, 切向力Y=-2496.7290 +FPS=46.03, 法向力=20605.4395, 切向力X=9142.2363, 切向力Y=-2485.1914 +FPS=43.41, 法向力=26541.8223, 切向力X=11194.6514, 切向力Y=-4723.9150 +FPS=42.64, 法向力=27486.0977, 切向力X=11825.6992, 切向力Y=-4919.6704 +FPS=41.42, 法向力=12761.4746, 切向力X=6242.9639, 切向力Y=-2036.4701 +FPS=44.48, 法向力=10588.0557, 切向力X=5326.4648, 切向力Y=-1143.0688 +FPS=44.69, 法向力=10236.8770, 切向力X=5115.7070, 切向力Y=-1211.6176 +FPS=41.48, 法向力=17624.0508, 切向力X=8774.6045, 切向力Y=-63.4560 +FPS=42.77, 法向力=15375.9102, 切向力X=7146.3350, 切向力Y=63.9244 +FPS=41.32, 法向力=8144.0967, 切向力X=-3824.4644, 切向力Y=-2091.0591 +FPS=43.26, 法向力=8650.6387, 切向力X=-3869.0620, 切向力Y=-2139.9287 +FPS=43.56, 法向力=11253.7041, 切向力X=5093.4375, 切向力Y=-2878.8003 +FPS=44.28, 法向力=15239.1328, 切向力X=7132.9941, 切向力Y=-3870.9622 +FPS=41.67, 法向力=15544.8691, 切向力X=7886.1836, 切向力Y=-1715.8466 +FPS=43.95, 法向力=15711.0059, 切向力X=8143.3257, 切向力Y=-1158.3622 +FPS=43.30, 法向力=3798.0723, 切向力X=-2906.2878, 切向力Y=2099.0437 +FPS=44.17, 法向力=3832.3760, 切向力X=-3027.5283, 切向力Y=2121.6550 +FPS=44.86, 法向力=3904.0425, 切向力X=-3063.4333, 切向力Y=2125.0232 +FPS=43.18, 法向力=16638.1875, 切向力X=7001.8984, 切向力Y=-803.8579 +FPS=44.04, 法向力=20434.4258, 切向力X=9101.4141, 切向力Y=1098.7853 +FPS=45.03, 法向力=4659.5713, 切向力X=1858.8231, 切向力Y=-631.6981 +FPS=45.92, 法向力=3917.8359, 切向力X=-90.4138, 切向力Y=-1014.7170 +FPS=44.96, 法向力=7150.5698, 切向力X=-1880.7217, 切向力Y=782.0698 +FPS=45.51, 法向力=7618.6245, 切向力X=-1776.8456, 切向力Y=757.3513 +FPS=45.67, 法向力=7796.3423, 切向力X=-1830.9243, 切向力Y=767.6512 +FPS=44.81, 法向力=6584.9297, 切向力X=-2211.1211, 切向力Y=1437.1035 +FPS=45.00, 法向力=6535.5591, 切向力X=-2090.7583, 切向力Y=1389.9541 +FPS=45.29, 法向力=53297.6953, 切向力X=27193.4141, 切向力Y=4341.9780 +FPS=42.94, 法向力=60375.7891, 切向力X=29821.3184, 切向力Y=-352.1655 +FPS=43.63, 法向力=40861.7812, 切向力X=20662.2852, 切向力Y=1281.0774 +FPS=43.01, 法向力=21233.8496, 切向力X=10757.7715, 切向力Y=-755.9417 +FPS=40.75, 法向力=21818.4492, 切向力X=10626.2012, 切向力Y=-968.1445 +FPS=43.87, 法向力=21621.2383, 切向力X=10396.0117, 切向力Y=-441.5711 +FPS=42.09, 法向力=1780.8516, 切向力X=-421.9231, 切向力Y=-382.2454 +FPS=44.01, 法向力=1880.5322, 切向力X=-420.0556, 切向力Y=-221.1367 +FPS=40.64, 法向力=2677.7183, 切向力X=1273.8782, 切向力Y=1168.9658 +FPS=42.50, 法向力=2878.9771, 切向力X=1308.8975, 切向力Y=1212.1560 +FPS=42.71, 法向力=4238.3447, 切向力X=-1497.5250, 切向力Y=3894.4978 +FPS=44.74, 法向力=5135.9575, 切向力X=-2682.4714, 切向力Y=4222.2437 +FPS=45.26, 法向力=5437.5469, 切向力X=-2953.7869, 切向力Y=4234.6157 +FPS=43.05, 法向力=10946.7734, 切向力X=4976.5713, 切向力Y=1806.2678 +FPS=44.19, 法向力=12953.7109, 切向力X=5897.6099, 切向力Y=1644.7628 +FPS=42.98, 法向力=22273.5020, 切向力X=10302.9336, 切向力Y=442.4793 +FPS=42.55, 法向力=20951.2441, 切向力X=9518.2949, 切向力Y=716.5750 +FPS=44.24, 法向力=21033.3672, 切向力X=9601.4902, 切向力Y=429.2836 +FPS=45.00, 法向力=20994.7246, 切向力X=9570.2734, 切向力Y=398.0462 +FPS=43.30, 法向力=2876.8774, 切向力X=2673.9541, 切向力Y=-996.9468 +FPS=44.33, 法向力=1941.6025, 切向力X=2134.5000, 切向力Y=-1445.7158 +FPS=43.71, 法向力=4704.8506, 切向力X=1559.6287, 切向力Y=-1798.4087 +FPS=44.66, 法向力=4950.3125, 切向力X=1341.6683, 切向力Y=-1962.7612 +FPS=42.39, 法向力=5024.5811, 切向力X=1321.8793, 切向力Y=-2020.2101 +FPS=43.76, 法向力=3766.1216, 切向力X=-2010.7461, 切向力Y=552.1945 +FPS=45.53, 法向力=5664.7251, 切向力X=-2953.4668, 切向力Y=1099.8014 +FPS=45.36, 法向力=6570.0186, 切向力X=2358.2039, 切向力Y=-965.9708 +FPS=46.37, 法向力=11453.9209, 切向力X=5539.3833, 切向力Y=-2500.3750 +FPS=45.97, 法向力=11892.6152, 切向力X=5935.4395, 切向力Y=-2431.8933 +FPS=46.79, 法向力=4492.0093, 切向力X=2199.1455, 切向力Y=-1724.2725 +FPS=48.70, 法向力=4709.3174, 切向力X=2272.6311, 切向力Y=-1719.9211 +FPS=57.39, 法向力=17718.4395, 切向力X=8287.9023, 切向力Y=366.2271 +FPS=49.78, 法向力=15876.7197, 切向力X=7037.6270, 切向力Y=475.6821 +FPS=59.39, 法向力=15568.6777, 切向力X=6762.7617, 切向力Y=495.2838 +FPS=50.40, 法向力=23696.3867, 切向力X=10614.0322, 切向力Y=-7187.6641 +FPS=58.63, 法向力=23227.8359, 切向力X=10912.0527, 切向力Y=-6542.1318 +FPS=47.34, 法向力=23915.7949, 切向力X=11265.1494, 切向力Y=-6637.0146 +FPS=48.04, 法向力=23655.1133, 切向力X=11036.7070, 切向力Y=-7022.3784 +FPS=45.81, 法向力=14829.8320, 切向力X=7948.3008, 切向力Y=-1278.7390 +FPS=48.20, 法向力=10739.2539, 切向力X=6177.3926, 切向力Y=-537.2397 +FPS=47.67, 法向力=9904.1660, 切向力X=5776.9824, 切向力Y=-121.1660 +FPS=42.96, 法向力=20962.9727, 切向力X=12472.1895, 切向力Y=-3515.0955 +FPS=41.16, 法向力=20413.6934, 切向力X=12522.5000, 切向力Y=-2046.5435 +FPS=42.16, 法向力=5568.2856, 切向力X=3319.9822, 切向力Y=-719.7435 +FPS=41.06, 法向力=2427.6133, 切向力X=340.5691, 切向力Y=-1077.1809 +FPS=41.36, 法向力=5636.9868, 切向力X=-3435.0425, 切向力Y=532.7582 +FPS=41.16, 法向力=5575.3350, 切向力X=-3699.4241, 切向力Y=683.8087 +FPS=38.78, 法向力=3526.0579, 切向力X=-1240.3292, 切向力Y=3515.6392 +FPS=41.24, 法向力=2732.7910, 切向力X=-1070.6790, 切向力Y=-177.4426 +FPS=38.89, 法向力=36422.2812, 切向力X=19036.2266, 切向力Y=-5572.3184 +FPS=41.90, 法向力=38430.4766, 切向力X=20554.1406, 切向力Y=-4576.7910 +FPS=40.25, 法向力=41055.2031, 切向力X=19427.8672, 切向力Y=-8447.1387 +FPS=40.13, 法向力=42633.4336, 切向力X=20064.5117, 切向力Y=-10275.8105 +FPS=40.15, 法向力=39351.7539, 切向力X=18572.7832, 切向力Y=-11255.6465 +FPS=39.17, 法向力=38496.3945, 切向力X=18628.4785, 切向力Y=-9450.4873 +FPS=38.77, 法向力=8999.7002, 切向力X=4285.1221, 切向力Y=1181.0153 +FPS=40.34, 法向力=6023.8286, 切向力X=2716.4072, 切向力Y=1070.1890 +FPS=40.04, 法向力=2952.2104, 切向力X=1967.9629, 切向力Y=-101.6224 +FPS=39.84, 法向力=2827.5576, 切向力X=1981.0016, 切向力Y=-219.1791 +FPS=39.73, 法向力=22650.1562, 切向力X=11049.8516, 切向力Y=1519.5277 +FPS=40.39, 法向力=21557.1309, 切向力X=10100.8496, 切向力Y=771.7377 +FPS=39.14, 法向力=28018.1855, 切向力X=13687.4805, 切向力Y=-163.2004 +FPS=39.70, 法向力=31779.6777, 切向力X=15681.6426, 切向力Y=-566.3944 +FPS=37.96, 法向力=18449.5449, 切向力X=9466.3867, 切向力Y=-2831.7188 +FPS=39.56, 法向力=15505.6982, 切向力X=7938.8867, 切向力Y=-2203.1216 +FPS=39.47, 法向力=5319.5103, 切向力X=-1618.1558, 切向力Y=-106.0010 +FPS=40.59, 法向力=14272.1426, 切向力X=-6174.9170, 切向力Y=2011.9059 +FPS=39.09, 法向力=1997.8025, 切向力X=-1155.3497, 切向力Y=1356.1913 +FPS=41.70, 法向力=4640.6294, 切向力X=267.4801, 切向力Y=1744.9072 +FPS=39.77, 法向力=4588.3760, 切向力X=347.0578, 切向力Y=1737.6035 +FPS=41.13, 法向力=4565.3564, 切向力X=208.5807, 切向力Y=1652.6685 +FPS=38.77, 法向力=4731.3613, 切向力X=532.4744, 切向力Y=1753.8444 +FPS=39.50, 法向力=3972.3616, 切向力X=-1116.1333, 切向力Y=1086.2585 +FPS=39.37, 法向力=3932.5049, 切向力X=-1545.9900, 切向力Y=445.6501 +FPS=40.13, 法向力=1937.4418, 切向力X=361.6883, 切向力Y=-769.3799 +FPS=40.34, 法向力=15972.7812, 切向力X=7556.8218, 切向力Y=-655.4622 +FPS=39.56, 法向力=17328.5898, 切向力X=7944.9199, 切向力Y=-1002.3135 +FPS=38.21, 法向力=17736.1914, 切向力X=8445.4863, 切向力Y=-4507.1465 +FPS=39.52, 法向力=17355.4707, 切向力X=8531.5439, 切向力Y=-4183.7266 +FPS=37.93, 法向力=8522.8770, 切向力X=3993.9758, 切向力Y=607.8517 +FPS=40.62, 法向力=7760.0039, 切向力X=3655.6455, 切向力Y=1227.8376 +FPS=39.94, 法向力=50079.2578, 切向力X=22360.9727, 切向力Y=-9419.0312 +FPS=42.10, 法向力=49066.3047, 切向力X=22570.6953, 切向力Y=-9564.3301 +FPS=41.16, 法向力=15141.9023, 切向力X=4471.8730, 切向力Y=-3373.6318 +FPS=42.48, 法向力=15486.6357, 切向力X=5297.3306, 切向力Y=-3768.9690 +FPS=41.99, 法向力=15714.5742, 切向力X=5249.0303, 切向力Y=-3052.3118 +FPS=42.32, 法向力=14373.2012, 切向力X=4641.7417, 切向力Y=-3300.4082 +FPS=41.33, 法向力=18113.6543, 切向力X=6905.1318, 切向力Y=101.2809 +FPS=41.82, 法向力=18104.0938, 切向力X=7047.1060, 切向力Y=1370.7830 +FPS=40.65, 法向力=10027.1533, 切向力X=3049.1355, 切向力Y=-2213.6370 +FPS=39.67, 法向力=9078.1143, 切向力X=2391.8328, 切向力Y=-2518.4653 +FPS=39.97, 法向力=8925.8291, 切向力X=2304.4497, 切向力Y=-2534.2471 +FPS=42.30, 法向力=36626.3711, 切向力X=16218.3486, 切向力Y=-3532.9785 +FPS=44.11, 法向力=37006.7109, 切向力X=16237.2422, 切向力Y=-3828.7156 +FPS=43.51, 法向力=9647.2979, 切向力X=1351.2029, 切向力Y=975.5166 +FPS=44.28, 法向力=9316.9648, 切向力X=907.3239, 切向力Y=1315.3378 +FPS=43.82, 法向力=1758.6776, 切向力X=917.9835, 切向力Y=473.3937 +FPS=43.64, 法向力=4713.0889, 切向力X=-1954.5068, 切向力Y=1046.7632 +FPS=41.25, 法向力=6548.8428, 切向力X=-3471.9299, 切向力Y=1326.2058 +FPS=41.80, 法向力=6423.5078, 切向力X=-3545.7908, 切向力Y=1114.2974 +FPS=42.92, 法向力=4481.8076, 切向力X=1999.8120, 切向力Y=1276.8494 +FPS=41.14, 法向力=4898.8804, 切向力X=2111.3960, 切向力Y=1004.6230 +FPS=40.61, 法向力=5001.4961, 切向力X=2113.3428, 切向力Y=1019.2372 +FPS=41.38, 法向力=5073.5908, 切向力X=2199.0225, 切向力Y=1017.1225 +FPS=40.02, 法向力=5338.9004, 切向力X=2543.0703, 切向力Y=1215.6741 +FPS=40.66, 法向力=5158.2256, 切向力X=2357.1714, 切向力Y=1315.6140 +FPS=39.62, 法向力=6781.3447, 切向力X=3184.1367, 切向力Y=496.1024 +FPS=40.43, 法向力=7056.8506, 切向力X=3383.3225, 切向力Y=324.0033 +FPS=39.28, 法向力=6831.7559, 切向力X=1984.2023, 切向力Y=1553.1001 +FPS=39.96, 法向力=6503.0879, 切向力X=1603.8325, 切向力Y=1797.0054 +FPS=38.76, 法向力=8132.2080, 切向力X=4817.3286, 切向力Y=-607.7057 +FPS=41.04, 法向力=8687.1328, 切向力X=5413.9722, 切向力Y=-193.8736 +FPS=39.39, 法向力=13067.0752, 切向力X=6639.8809, 切向力Y=291.1353 +FPS=39.47, 法向力=13525.0576, 切向力X=6794.3638, 切向力Y=324.4037 +FPS=39.16, 法向力=4011.0352, 切向力X=2992.3489, 切向力Y=1074.3851 +FPS=40.97, 法向力=2850.8669, 切向力X=2304.0439, 切向力Y=1635.2107 +FPS=38.87, 法向力=18872.6367, 切向力X=8288.0293, 切向力Y=2609.8396 +FPS=40.63, 法向力=19748.9395, 切向力X=8528.6504, 切向力Y=3394.0757 +FPS=39.19, 法向力=20493.4297, 切向力X=8782.1592, 切向力Y=3922.3721 +FPS=40.12, 法向力=21107.8320, 切向力X=8869.9141, 切向力Y=4440.9902 +FPS=39.98, 法向力=14731.3877, 切向力X=-5768.0396, 切向力Y=2182.5420 +FPS=39.21, 法向力=15388.3584, 切向力X=-6249.8677, 切向力Y=1414.3788 +FPS=39.81, 法向力=4402.2686, 切向力X=216.5047, 切向力Y=510.3122 +FPS=40.72, 法向力=10933.2637, 切向力X=3844.5352, 切向力Y=647.0255 +FPS=38.95, 法向力=11124.5010, 切向力X=5070.0576, 切向力Y=338.9807 +FPS=40.82, 法向力=10852.6836, 切向力X=4688.5479, 切向力Y=595.0031 +FPS=38.46, 法向力=14926.8271, 切向力X=7437.1587, 切向力Y=-620.7648 +FPS=41.22, 法向力=15891.6289, 切向力X=7988.8242, 切向力Y=-723.2235 +FPS=39.41, 法向力=19186.8945, 切向力X=8615.7090, 切向力Y=-1539.9187 +FPS=41.88, 法向力=19924.0449, 切向力X=9006.1367, 切向力Y=-1686.1082 +FPS=40.78, 法向力=21785.1504, 切向力X=10493.7539, 切向力Y=-1820.5159 +FPS=42.79, 法向力=22978.6621, 切向力X=11142.6172, 切向力Y=-1766.6541 +FPS=40.94, 法向力=19407.6328, 切向力X=9081.3418, 切向力Y=-1324.5630 +FPS=42.21, 法向力=18931.7598, 切向力X=8644.2051, 切向力Y=-1425.8071 +FPS=41.23, 法向力=19127.4023, 切向力X=8742.8184, 切向力Y=-1432.5563 +FPS=42.65, 法向力=18941.8945, 切向力X=8676.0518, 切向力Y=-1443.9948 +FPS=41.84, 法向力=18654.3945, 切向力X=8514.8047, 切向力Y=-1268.1382 +FPS=39.10, 法向力=5509.1489, 切向力X=3018.5200, 切向力Y=-2059.6384 +FPS=36.46, 法向力=1048.2430, 切向力X=486.9425, 切向力Y=479.6570 +FPS=35.82, 法向力=5009.0127, 切向力X=-1861.6434, 切向力Y=1559.5681 +FPS=36.15, 法向力=5417.2300, 切向力X=-2046.4901, 切向力Y=1003.6674 +FPS=40.37, 法向力=5322.1147, 切向力X=-2020.3376, 切向力Y=1055.0300 +FPS=40.26, 法向力=11302.7910, 切向力X=5967.5381, 切向力Y=-209.3346 +FPS=42.70, 法向力=12112.3438, 切向力X=6286.2808, 切向力Y=-171.3354 +FPS=40.49, 法向力=10572.2949, 切向力X=-4394.7002, 切向力Y=-273.9254 +FPS=43.20, 法向力=11717.8584, 切向力X=-4863.6611, 切向力Y=-933.0347 +FPS=40.52, 法向力=8121.4287, 切向力X=-3272.9771, 切向力Y=-294.0728 +FPS=43.09, 法向力=8192.0166, 切向力X=-3252.3457, 切向力Y=-314.0481 +FPS=42.42, 法向力=11476.7793, 切向力X=6299.5049, 切向力Y=-157.4872 +FPS=42.85, 法向力=13055.5156, 切向力X=7146.1221, 切向力Y=250.8985 +FPS=43.53, 法向力=13173.7695, 切向力X=7113.9282, 切向力Y=245.6939 +FPS=43.09, 法向力=13084.2158, 切向力X=7087.3818, 切向力Y=152.8166 +FPS=44.13, 法向力=13126.5791, 切向力X=7060.9229, 切向力Y=248.6395 +FPS=41.32, 法向力=1565.5280, 切向力X=1038.7614, 切向力Y=212.7767 +FPS=42.27, 法向力=7689.7988, 切向力X=-2240.2234, 切向力Y=866.1787 +FPS=41.23, 法向力=24480.1406, 切向力X=13702.3906, 切向力Y=-1695.5835 +FPS=40.56, 法向力=25805.0391, 切向力X=14245.6816, 切向力Y=-1069.3923 +FPS=38.54, 法向力=13813.0898, 切向力X=5987.9092, 切向力Y=2220.8398 +FPS=40.07, 法向力=15086.6074, 切向力X=6394.7471, 切向力Y=2853.4917 +FPS=41.19, 法向力=7699.4741, 切向力X=4622.6665, 切向力Y=-1202.8262 +FPS=42.27, 法向力=4391.1592, 切向力X=3035.3799, 切向力Y=-921.7406 +FPS=41.80, 法向力=8602.5488, 切向力X=-3061.1863, 切向力Y=-314.6958 +FPS=44.25, 法向力=8903.7578, 切向力X=-3238.0361, 切向力Y=-638.8470 +FPS=42.33, 法向力=13114.9619, 切向力X=7202.8877, 切向力Y=-552.3316 +FPS=43.80, 法向力=13942.4775, 切向力X=7640.5361, 切向力Y=-264.1791 +FPS=41.81, 法向力=11016.1914, 切向力X=5009.9121, 切向力Y=-341.9484 +FPS=44.23, 法向力=9041.4961, 切向力X=4072.0020, 切向力Y=-237.6487 +FPS=43.83, 法向力=7801.4097, 切向力X=3413.1599, 切向力Y=132.0509 +FPS=44.08, 法向力=6722.2471, 切向力X=2844.8560, 切向力Y=327.2451 +FPS=44.02, 法向力=6142.4531, 切向力X=2543.2480, 切向力Y=341.1742 +FPS=41.20, 法向力=16620.0508, 切向力X=6781.4209, 切向力Y=-1066.2466 +FPS=42.96, 法向力=17074.2812, 切向力X=6717.5176, 切向力Y=-1368.6886 +FPS=42.35, 法向力=10005.6230, 切向力X=3128.5679, 切向力Y=486.0580 +FPS=41.64, 法向力=6158.9893, 切向力X=1178.7419, 切向力Y=955.4503 +FPS=41.66, 法向力=15961.4434, 切向力X=7005.2178, 切向力Y=-763.8612 +FPS=42.99, 法向力=17290.5293, 切向力X=7704.6353, 切向力Y=-756.9528 +FPS=41.63, 法向力=8869.9531, 切向力X=-3442.2417, 切向力Y=349.2512 +FPS=43.27, 法向力=9787.8545, 切向力X=-3623.3657, 切向力Y=104.0741 +FPS=42.79, 法向力=18788.1211, 切向力X=8497.3311, 切向力Y=-1152.2068 +FPS=42.92, 法向力=19526.8555, 切向力X=8592.6719, 切向力Y=-1208.2009 +FPS=43.70, 法向力=13103.2168, 切向力X=-6470.2080, 切向力Y=429.9729 +FPS=41.82, 法向力=13790.5312, 切向力X=-6653.3418, 切向力Y=401.6560 +FPS=42.81, 法向力=13932.8691, 切向力X=-6720.9170, 切向力Y=477.9322 +FPS=39.23, 法向力=21459.1035, 切向力X=9891.0527, 切向力Y=-2037.4175 +FPS=41.05, 法向力=27073.6328, 切向力X=12810.6475, 切向力Y=-2911.2065 +FPS=40.74, 法向力=23723.1055, 切向力X=12066.5254, 切向力Y=-3666.0181 +FPS=39.49, 法向力=23777.8418, 切向力X=12123.8525, 切向力Y=-3721.8315 +FPS=39.58, 法向力=11461.3926, 切向力X=5278.2129, 切向力Y=-117.6653 +FPS=39.72, 法向力=2045.3724, 切向力X=-336.7587, 切向力Y=1165.7606 +FPS=39.54, 法向力=5746.6416, 切向力X=-3486.2358, 切向力Y=1626.3220 +FPS=39.53, 法向力=7737.8325, 切向力X=3831.1382, 切向力Y=929.8680 +FPS=40.89, 法向力=16998.9883, 切向力X=8957.9795, 切向力Y=-91.1719 +FPS=38.48, 法向力=13946.7363, 切向力X=5469.7471, 切向力Y=21.6792 +FPS=40.41, 法向力=13258.5156, 切向力X=4786.9590, 切向力Y=478.8987 +FPS=39.17, 法向力=13501.1377, 切向力X=5756.9277, 切向力Y=-648.7408 +FPS=40.18, 法向力=13284.3105, 切向力X=5792.6357, 切向力Y=-829.5928 +FPS=39.49, 法向力=18221.4316, 切向力X=6699.4590, 切向力Y=-1111.0088 +FPS=39.53, 法向力=18874.8828, 切向力X=6645.2354, 切向力Y=-1043.7781 +FPS=39.69, 法向力=18918.6016, 切向力X=6588.2881, 切向力Y=-931.6204 +FPS=39.19, 法向力=7246.7598, 切向力X=3476.1218, 切向力Y=-1812.5571 +FPS=39.69, 法向力=7762.0654, 切向力X=-1927.7993, 切向力Y=-44.2398 +FPS=41.08, 法向力=8465.1523, 切向力X=-2163.0366, 切向力Y=-78.0058 +FPS=39.59, 法向力=1557.9172, 切向力X=-118.5243, 切向力Y=-436.0798 +FPS=41.14, 法向力=15448.2178, 切向力X=8126.4639, 切向力Y=-2968.4287 +FPS=39.23, 法向力=17059.4668, 切向力X=8504.9668, 切向力Y=-1037.3647 +FPS=40.02, 法向力=17558.3281, 切向力X=8534.5840, 切向力Y=-588.0751 +FPS=39.76, 法向力=18164.7266, 切向力X=9392.6465, 切向力Y=-1359.2242 +FPS=40.87, 法向力=18608.4453, 切向力X=9739.4648, 切向力Y=-1672.7428 +FPS=39.46, 法向力=15525.2412, 切向力X=7794.3018, 切向力Y=-684.4314 +FPS=40.67, 法向力=18759.8242, 切向力X=9109.6250, 切向力Y=-1109.1365 +FPS=39.41, 法向力=16395.3047, 切向力X=8499.4316, 切向力Y=-821.9531 +FPS=40.40, 法向力=17856.5391, 切向力X=9431.0039, 切向力Y=-800.1354 +FPS=38.68, 法向力=17759.7402, 切向力X=9441.4922, 切向力Y=-1053.1849 +FPS=39.54, 法向力=3469.7866, 切向力X=319.0032, 切向力Y=-704.7170 +FPS=40.17, 法向力=3030.9478, 切向力X=54.6383, 切向力Y=-731.7159 +FPS=39.62, 法向力=14325.8008, 切向力X=6367.8906, 切向力Y=2407.9856 +FPS=39.83, 法向力=18296.8379, 切向力X=7867.9521, 切向力Y=296.3436 +FPS=41.08, 法向力=18600.6719, 切向力X=7866.5967, 切向力Y=403.8872 +FPS=41.28, 法向力=13917.5820, 切向力X=7124.6045, 切向力Y=-1312.3503 +FPS=41.87, 法向力=13386.1699, 切向力X=6969.7495, 切向力Y=-1183.5370 +FPS=40.52, 法向力=8536.7100, 切向力X=-2779.7983, 切向力Y=587.8142 +FPS=41.24, 法向力=9483.7246, 切向力X=-3178.2446, 切向力Y=116.2535 +FPS=42.52, 法向力=7227.1089, 切向力X=-3389.7261, 切向力Y=3238.7139 +FPS=44.68, 法向力=7341.7222, 切向力X=-3098.4082, 切向力Y=3583.8237 +FPS=43.41, 法向力=6643.8848, 切向力X=-2831.5239, 切向力Y=3115.4844 +FPS=42.62, 法向力=9714.6816, 切向力X=3634.1091, 切向力Y=1590.5540 +FPS=43.78, 法向力=12470.7969, 切向力X=5172.9399, 切向力Y=1224.9683 +FPS=42.49, 法向力=11200.9668, 切向力X=3538.4844, 切向力Y=471.2865 +FPS=42.30, 法向力=10603.6377, 切向力X=3090.0540, 切向力Y=421.2924 +FPS=42.21, 法向力=13559.8008, 切向力X=4534.6562, 切向力Y=300.7291 +FPS=40.25, 法向力=14215.8672, 切向力X=5050.7930, 切向力Y=279.0010 +FPS=40.75, 法向力=3921.0605, 切向力X=1586.6138, 切向力Y=-750.1292 +FPS=41.59, 法向力=3414.6855, 切向力X=1377.7782, 切向力Y=-403.3033 +FPS=41.56, 法向力=7185.5117, 切向力X=3253.0190, 切向力Y=-769.8018 +FPS=41.81, 法向力=7549.7031, 切向力X=3452.7073, 切向力Y=-869.7471 +FPS=41.39, 法向力=15183.8906, 切向力X=6390.6162, 切向力Y=-488.7696 +FPS=41.44, 法向力=15221.5312, 切向力X=6463.3340, 切向力Y=-1076.5941 +FPS=40.60, 法向力=4295.8135, 切向力X=-1510.5250, 切向力Y=-15.2375 +FPS=42.98, 法向力=4423.4062, 切向力X=-1532.8618, 切向力Y=-30.8276 +FPS=38.94, 法向力=2459.8901, 切向力X=-1441.3406, 切向力Y=455.5610 +FPS=40.58, 法向力=2530.6436, 切向力X=-1681.8740, 切向力Y=413.9301 +FPS=39.02, 法向力=4577.4526, 切向力X=-1110.8445, 切向力Y=-8.8323 +FPS=41.08, 法向力=4748.8462, 切向力X=-1130.4517, 切向力Y=-62.5916 +FPS=40.62, 法向力=4762.0498, 切向力X=-1113.6473, 切向力Y=-97.2563 +FPS=40.53, 法向力=9390.7979, 切向力X=-3110.2915, 切向力Y=-1033.3000 +FPS=41.45, 法向力=9700.7734, 切向力X=-3231.5532, 切向力Y=-1012.0795 +FPS=41.70, 法向力=2886.7056, 切向力X=99.9226, 切向力Y=650.7402 +FPS=41.07, 法向力=2772.2278, 切向力X=410.2950, 切向力Y=894.0927 +FPS=38.59, 法向力=9469.7109, 切向力X=-3828.1489, 切向力Y=-464.8805 +FPS=42.67, 法向力=9424.7881, 切向力X=-3558.8210, 切向力Y=-83.5208 +FPS=40.39, 法向力=7329.7656, 切向力X=-2546.5417, 切向力Y=-551.8565 +FPS=42.22, 法向力=6786.7490, 切向力X=-2272.4211, 切向力Y=-318.6181 +FPS=41.51, 法向力=10655.1699, 切向力X=-4343.1152, 切向力Y=337.8279 +FPS=43.24, 法向力=10372.4551, 切向力X=-4333.3091, 切向力Y=27.9637 +FPS=41.95, 法向力=2271.0583, 切向力X=1549.0980, 切向力Y=1009.1354 +FPS=42.08, 法向力=6577.6138, 切向力X=3956.3169, 切向力Y=1381.2073 +FPS=40.81, 法向力=16226.8340, 切向力X=7996.3379, 切向力Y=470.5894 +FPS=39.28, 法向力=16938.4531, 切向力X=8173.6870, 切向力Y=426.6404 +FPS=38.35, 法向力=12804.9053, 切向力X=7188.7061, 切向力Y=-2062.4900 +FPS=40.44, 法向力=12447.7812, 切向力X=6988.4004, 切向力Y=-2000.1021 +FPS=40.08, 法向力=6780.7544, 切向力X=4738.0469, 切向力Y=-437.8581 +FPS=41.16, 法向力=5717.8198, 切向力X=4212.9917, 切向力Y=-326.6906 +FPS=41.25, 法向力=17177.9727, 切向力X=8123.9434, 切向力Y=-1261.4332 +FPS=43.18, 法向力=18657.6289, 切向力X=8761.5781, 切向力Y=-817.1515 +FPS=41.39, 法向力=8224.0332, 切向力X=3836.4492, 切向力Y=-201.5165 +FPS=43.42, 法向力=7419.1387, 切向力X=3432.8818, 切向力Y=-60.8034 +FPS=42.27, 法向力=12813.5762, 切向力X=5881.3950, 切向力Y=851.7380 +FPS=41.95, 法向力=13492.5225, 切向力X=6237.9780, 切向力Y=751.0421 +FPS=40.97, 法向力=26791.7539, 切向力X=12437.3555, 切向力Y=-2616.9426 +FPS=41.51, 法向力=28305.7109, 切向力X=13306.0879, 切向力Y=-2449.7349 +FPS=40.30, 法向力=3239.3403, 切向力X=670.2466, 切向力Y=524.0367 +FPS=41.94, 法向力=2521.2417, 切向力X=-80.8673, 切向力Y=1004.4038 +FPS=41.77, 法向力=2477.6475, 切向力X=-246.6535, 切向力Y=1137.7642 +FPS=40.32, 法向力=17511.9805, 切向力X=7866.6694, 切向力Y=-1166.2322 +FPS=41.06, 法向力=19928.4727, 切向力X=8987.2734, 切向力Y=-738.4434 +FPS=40.02, 法向力=18963.3828, 切向力X=7647.2900, 切向力Y=534.8740 +FPS=40.97, 法向力=18482.3164, 切向力X=7382.9775, 切向力Y=835.6869 +FPS=39.53, 法向力=1779.3403, 切向力X=-400.6326, 切向力Y=-581.6628 +FPS=40.49, 法向力=1672.3687, 切向力X=-693.9484, 切向力Y=-409.1992 +FPS=39.83, 法向力=3651.8291, 切向力X=-199.3438, 切向力Y=458.8109 +FPS=40.98, 法向力=12375.6602, 切向力X=6187.8994, 切向力Y=-65.3264 +FPS=41.58, 法向力=12765.8496, 切向力X=6168.1230, 切向力Y=-102.2545 +FPS=39.67, 法向力=4128.2920, 切向力X=1495.1064, 切向力Y=255.2671 +FPS=40.70, 法向力=2541.0312, 切向力X=610.1777, 切向力Y=454.3644 +FPS=39.69, 法向力=8073.5864, 切向力X=2561.6611, 切向力Y=1584.7928 +FPS=41.49, 法向力=9005.2588, 切向力X=2898.3667, 切向力Y=1808.0505 +FPS=40.44, 法向力=10866.6650, 切向力X=5078.2485, 切向力Y=-1281.0403 +FPS=39.23, 法向力=10911.6406, 切向力X=4993.7007, 切向力Y=-1544.1003 +FPS=38.57, 法向力=10892.5176, 切向力X=5007.1011, 切向力Y=-1569.0862 +FPS=38.26, 法向力=7069.3994, 切向力X=3359.2908, 切向力Y=-460.1501 +FPS=39.41, 法向力=7350.4092, 切向力X=3622.6880, 切向力Y=-25.4638 +FPS=39.57, 法向力=6400.3242, 切向力X=2909.4607, 切向力Y=420.1250 +FPS=38.94, 法向力=6474.0986, 切向力X=2991.7769, 切向力Y=413.5209 +FPS=39.22, 法向力=7887.9805, 切向力X=3414.7981, 切向力Y=-95.3163 +FPS=39.90, 法向力=15552.9336, 切向力X=6726.0713, 切向力Y=799.7520 +FPS=41.13, 法向力=15712.3857, 切向力X=6813.8945, 切向力Y=543.0751 +FPS=40.09, 法向力=3648.3589, 切向力X=2262.1284, 切向力Y=778.7671 +FPS=41.09, 法向力=3523.7769, 切向力X=2060.6885, 切向力Y=512.8480 +FPS=40.12, 法向力=13510.9375, 切向力X=6154.3955, 切向力Y=-1685.2255 +FPS=41.62, 法向力=16046.6465, 切向力X=7307.3818, 切向力Y=-2284.0662 +FPS=38.05, 法向力=11587.4453, 切向力X=5252.9238, 切向力Y=-1491.3752 +FPS=40.95, 法向力=8545.3613, 切向力X=3721.1699, 切向力Y=-800.8005 +FPS=41.49, 法向力=6877.4712, 切向力X=2760.0591, 切向力Y=-699.9992 +FPS=39.15, 法向力=16781.6641, 切向力X=7711.9937, 切向力Y=-766.7286 +FPS=39.84, 法向力=17027.8770, 切向力X=7820.4937, 切向力Y=-595.7239 +FPS=36.86, 法向力=5345.1865, 切向力X=1874.2230, 切向力Y=1978.2024 +FPS=35.48, 法向力=2701.5330, 切向力X=-734.2211, 切向力Y=2427.7163 +FPS=35.60, 法向力=8321.1816, 切向力X=3873.5359, 切向力Y=538.9910 +FPS=36.41, 法向力=8916.0527, 切向力X=3991.6851, 切向力Y=328.7551 +FPS=40.09, 法向力=8818.1621, 切向力X=3898.9673, 切向力Y=490.1978 +FPS=38.81, 法向力=4841.6523, 切向力X=1869.4656, 切向力Y=-108.1439 +FPS=40.93, 法向力=2080.1255, 切向力X=81.5728, 切向力Y=-4.6582 +FPS=40.95, 法向力=3088.2446, 切向力X=458.2786, 切向力Y=980.5240 +FPS=41.03, 法向力=3397.1033, 切向力X=593.6286, 切向力Y=890.5552 +FPS=39.97, 法向力=1928.6577, 切向力X=-137.2816, 切向力Y=1514.2961 +FPS=41.19, 法向力=2007.6196, 切向力X=-520.5551, 切向力Y=1471.6746 +FPS=37.70, 法向力=25895.7734, 切向力X=11331.3857, 切向力Y=-1601.7841 +FPS=34.67, 法向力=27812.4746, 切向力X=12138.7656, 切向力Y=-1394.1259 +FPS=39.37, 法向力=5942.9370, 切向力X=2727.5913, 切向力Y=-323.6643 +FPS=39.80, 法向力=6394.3823, 切向力X=3042.7200, 切向力Y=-411.1023 +FPS=40.15, 法向力=11119.5820, 切向力X=5171.5845, 切向力Y=881.3913 +FPS=40.40, 法向力=12816.1250, 切向力X=6107.1567, 切向力Y=144.5793 +FPS=38.32, 法向力=13218.6924, 切向力X=5826.7827, 切向力Y=1165.1464 +FPS=40.86, 法向力=13529.6445, 切向力X=5870.0786, 切向力Y=1222.8936 +FPS=41.44, 法向力=9990.7041, 切向力X=4448.4556, 切向力Y=-322.4110 +FPS=42.06, 法向力=10153.1348, 切向力X=4557.8970, 切向力Y=-299.5115 +FPS=37.23, 法向力=15553.6582, 切向力X=7146.5195, 切向力Y=100.5720 +FPS=38.16, 法向力=16244.8408, 切向力X=7291.1392, 切向力Y=-40.8943 +FPS=40.45, 法向力=14863.9199, 切向力X=5894.1445, 切向力Y=303.2972 +FPS=40.59, 法向力=14528.2461, 切向力X=5612.0596, 切向力Y=439.3242 +FPS=39.40, 法向力=25223.1172, 切向力X=12953.1875, 切向力Y=511.0917 +FPS=39.54, 法向力=26076.4688, 切向力X=13670.0654, 切向力Y=-104.9275 +FPS=38.73, 法向力=24767.7578, 切向力X=12182.1680, 切向力Y=-1600.4001 +FPS=40.68, 法向力=24297.4922, 切向力X=11932.4492, 切向力Y=-1577.0406 +FPS=38.27, 法向力=17689.8887, 切向力X=8280.1895, 切向力Y=-1280.9772 +FPS=40.50, 法向力=16997.7480, 切向力X=7959.6675, 切向力Y=-662.8426 +FPS=37.58, 法向力=12312.2363, 切向力X=5546.4541, 切向力Y=863.2726 +FPS=39.57, 法向力=8804.4082, 切向力X=3422.5806, 切向力Y=1160.2142 +FPS=39.81, 法向力=25195.6992, 切向力X=11845.8164, 切向力Y=-2001.5929 +FPS=40.73, 法向力=25547.5176, 切向力X=12105.9229, 切向力Y=-2358.8281 +FPS=38.83, 法向力=3120.9971, 切向力X=513.8493, 切向力Y=-1180.1664 +FPS=39.97, 法向力=3307.1541, 切向力X=383.0723, 切向力Y=-1647.0001 +FPS=40.02, 法向力=18333.4531, 切向力X=8809.2256, 切向力Y=-761.9786 +FPS=40.73, 法向力=21808.8477, 切向力X=10524.7930, 切向力Y=-1018.6342 +FPS=39.92, 法向力=8534.2109, 切向力X=3363.3811, 切向力Y=-40.9651 +FPS=41.54, 法向力=4196.2817, 切向力X=1038.3838, 切向力Y=439.4992 +FPS=40.82, 法向力=9051.2178, 切向力X=4330.1699, 切向力Y=185.9218 +FPS=40.31, 法向力=9854.7236, 切向力X=4786.0850, 切向力Y=-180.4946 +FPS=40.32, 法向力=14268.9141, 切向力X=6561.6455, 切向力Y=-1766.3293 +FPS=39.89, 法向力=14002.9980, 切向力X=6334.2090, 切向力Y=-1288.2622 +FPS=38.98, 法向力=8256.2227, 切向力X=5674.3984, 切向力Y=-696.6281 +FPS=40.72, 法向力=8320.2949, 切向力X=5866.4150, 切向力Y=-348.2563 +FPS=40.35, 法向力=22543.5859, 切向力X=10195.6699, 切向力Y=-491.8372 +FPS=39.85, 法向力=27403.1758, 切向力X=12162.3701, 切向力Y=-1691.4111 +FPS=40.11, 法向力=24127.3887, 切向力X=11071.2109, 切向力Y=-2274.0569 +FPS=42.56, 法向力=20523.4688, 切向力X=8859.1025, 切向力Y=-1962.5298 +FPS=38.64, 法向力=28453.5977, 切向力X=13552.2773, 切向力Y=-898.7637 +FPS=40.09, 法向力=28351.7188, 切向力X=13378.8398, 切向力Y=-734.0651 +FPS=40.26, 法向力=15474.9180, 切向力X=6295.3125, 切向力Y=-1070.4463 +FPS=41.18, 法向力=14659.2637, 切向力X=5923.1719, 切向力Y=-39.2895 +FPS=39.50, 法向力=19261.7734, 切向力X=7995.5122, 切向力Y=-129.9921 +FPS=41.48, 法向力=20668.0723, 切向力X=8636.5352, 切向力Y=-162.2986 +FPS=40.78, 法向力=20413.5957, 切向力X=9172.8564, 切向力Y=442.2277 +FPS=40.99, 法向力=20639.6836, 切向力X=9356.6387, 切向力Y=453.4797 +FPS=40.17, 法向力=18610.6270, 切向力X=9592.3066, 切向力Y=-2302.8735 +FPS=40.78, 法向力=18808.9141, 切向力X=9870.7441, 切向力Y=-2124.6997 +FPS=39.79, 法向力=4512.2119, 切向力X=-580.1178, 切向力Y=182.2475 +FPS=40.79, 法向力=7293.7959, 切向力X=-1822.3578, 切向力Y=1437.5708 +FPS=38.52, 法向力=2050.6855, 切向力X=-86.0505, 切向力Y=863.0294 +FPS=41.02, 法向力=2691.9939, 切向力X=469.0017, 切向力Y=886.2213 +FPS=38.63, 法向力=8082.1924, 切向力X=3720.2720, 切向力Y=-244.0907 +FPS=40.77, 法向力=8571.6484, 切向力X=3922.0820, 切向力Y=-79.8720 +FPS=39.44, 法向力=4530.0391, 切向力X=1566.7263, 切向力Y=853.7419 +FPS=40.01, 法向力=2938.7705, 切向力X=516.1541, 切向力Y=1411.3309 +FPS=39.93, 法向力=6685.7671, 切向力X=2616.1792, 切向力Y=-144.3571 +FPS=40.47, 法向力=6561.5312, 切向力X=2624.7852, 切向力Y=-183.9100 +FPS=39.57, 法向力=6491.0942, 切向力X=2568.4365, 切向力Y=-243.6323 +FPS=39.19, 法向力=5183.2930, 切向力X=2416.8926, 切向力Y=-588.7756 +FPS=39.15, 法向力=18149.9199, 切向力X=7307.9844, 切向力Y=-641.4875 +FPS=39.19, 法向力=19235.9746, 切向力X=7709.0957, 切向力Y=-606.9393 +FPS=38.07, 法向力=14079.7969, 切向力X=6662.1338, 切向力Y=-192.6559 +FPS=38.68, 法向力=13263.6348, 切向力X=6137.6392, 切向力Y=-629.6287 +FPS=37.24, 法向力=19425.0586, 切向力X=10167.5703, 切向力Y=-206.1477 +FPS=39.44, 法向力=19199.4375, 切向力X=10161.1719, 切向力Y=-6.9177 +FPS=38.16, 法向力=9732.5703, 切向力X=-4579.9878, 切向力Y=746.8568 +FPS=38.63, 法向力=9870.6709, 切向力X=-4341.5527, 切向力Y=614.2938 +FPS=37.33, 法向力=7228.0122, 切向力X=2728.9873, 切向力Y=945.2427 +FPS=39.01, 法向力=13874.6855, 切向力X=6263.3574, 切向力Y=267.7480 +FPS=38.57, 法向力=18117.6992, 切向力X=8126.7197, 切向力Y=169.1560 +FPS=38.38, 法向力=21979.9062, 切向力X=10333.4434, 切向力Y=2525.8550 +FPS=39.34, 法向力=22930.4961, 切向力X=10777.7080, 切向力Y=3949.6655 +FPS=38.75, 法向力=23469.6445, 切向力X=11025.5586, 切向力Y=4427.9150 +FPS=36.55, 法向力=23932.8438, 切向力X=10590.9141, 切向力Y=698.1116 +FPS=36.97, 法向力=24733.8320, 切向力X=10804.6504, 切向力Y=147.3075 +FPS=38.87, 法向力=11551.3389, 切向力X=6233.6348, 切向力Y=-651.8633 +FPS=39.54, 法向力=6574.6992, 切向力X=3405.0759, 切向力Y=-511.2509 +FPS=39.35, 法向力=6276.3281, 切向力X=3600.7910, 切向力Y=311.0488 +FPS=37.38, 法向力=4947.2241, 切向力X=1619.7479, 切向力Y=241.6996 +FPS=38.67, 法向力=4548.1836, 切向力X=1386.3934, 切向力Y=151.7977 +FPS=37.63, 法向力=20533.2695, 切向力X=9492.8760, 切向力Y=-751.1521 +FPS=39.36, 法向力=21084.3770, 切向力X=9682.3672, 切向力Y=-867.0985 +FPS=37.80, 法向力=8671.2686, 切向力X=3414.6125, 切向力Y=-1031.1334 +FPS=40.00, 法向力=6189.3955, 切向力X=2143.2805, 切向力Y=-647.0553 +FPS=37.88, 法向力=5615.3223, 切向力X=3285.8975, 切向力Y=89.5593 +FPS=40.11, 法向力=5721.1416, 切向力X=3286.4504, 切向力Y=342.1184 +FPS=38.84, 法向力=5657.6885, 切向力X=3234.3936, 切向力Y=364.8921 +FPS=41.46, 法向力=11341.1680, 切向力X=5164.4937, 切向力Y=-435.3757 +FPS=39.48, 法向力=9935.8711, 切向力X=4025.1140, 切向力Y=-620.8889 +FPS=40.62, 法向力=10365.5479, 切向力X=4183.9570, 切向力Y=-481.3141 +FPS=40.19, 法向力=10875.8262, 切向力X=-4335.3613, 切向力Y=858.0928 +FPS=39.93, 法向力=11401.2227, 切向力X=-4619.6250, 切向力Y=472.9238 +FPS=39.60, 法向力=9484.6660, 切向力X=-4182.7373, 切向力Y=-587.6945 +FPS=40.45, 法向力=9596.2793, 切向力X=-4094.3826, 切向力Y=-924.2383 +FPS=39.25, 法向力=6363.8232, 切向力X=-3276.3545, 切向力Y=-458.9441 +FPS=41.25, 法向力=5476.6982, 切向力X=-2951.1670, 切向力Y=113.3950 +FPS=38.45, 法向力=1862.7186, 切向力X=391.9864, 切向力Y=559.0524 +FPS=40.34, 法向力=1857.3103, 切向力X=662.2793, 切向力Y=701.9222 +FPS=36.94, 法向力=2244.2017, 切向力X=1334.6055, 切向力Y=640.7714 +FPS=40.74, 法向力=2475.8955, 切向力X=1432.2473, 切向力Y=627.4365 +FPS=42.12, 法向力=2454.1782, 切向力X=1390.9790, 切向力Y=758.4084 +FPS=41.96, 法向力=16910.7695, 切向力X=7896.8057, 切向力Y=-2215.9712 +FPS=40.46, 法向力=18469.9180, 切向力X=8599.2402, 切向力Y=-1909.5757 +FPS=41.33, 法向力=10245.0957, 切向力X=5048.9902, 切向力Y=558.6210 +FPS=41.47, 法向力=8888.2422, 切向力X=4258.5425, 切向力Y=1299.2905 +FPS=41.18, 法向力=12864.5508, 切向力X=5451.9990, 切向力Y=-838.8430 +FPS=42.04, 法向力=13368.1914, 切向力X=5601.7632, 切向力Y=-432.5276 +FPS=40.79, 法向力=12713.5020, 切向力X=6640.0410, 切向力Y=-1569.4916 +FPS=40.71, 法向力=12108.4424, 切向力X=6253.6504, 切向力Y=-1583.6035 +FPS=39.86, 法向力=12079.9092, 切向力X=5507.9902, 切向力Y=-716.6719 +FPS=40.23, 法向力=1751.1990, 切向力X=882.5042, 切向力Y=1100.5122 +FPS=41.60, 法向力=3938.2361, 切向力X=-879.0901, 切向力Y=2397.6797 +FPS=42.15, 法向力=13548.7422, 切向力X=7034.4458, 切向力Y=-915.1790 +FPS=40.77, 法向力=15474.2363, 切向力X=8018.9116, 切向力Y=-856.0416 +FPS=40.47, 法向力=5924.1113, 切向力X=3446.0527, 切向力Y=-529.6077 +FPS=41.67, 法向力=5067.7529, 切向力X=3108.8569, 切向力Y=-712.8599 +FPS=41.58, 法向力=4950.5410, 切向力X=3072.4395, 切向力Y=-662.0635 +FPS=39.63, 法向力=6278.7612, 切向力X=3670.2725, 切向力Y=-816.7588 +FPS=41.87, 法向力=6804.9126, 切向力X=3990.9092, 切向力Y=-912.9155 +FPS=39.29, 法向力=17669.3633, 切向力X=7726.7500, 切向力Y=674.8752 +FPS=41.45, 法向力=17959.9727, 切向力X=7551.9697, 切向力Y=80.4361 +FPS=39.33, 法向力=8430.8340, 切向力X=3355.6885, 切向力Y=-373.2196 +FPS=40.14, 法向力=6028.8184, 切向力X=2070.7336, 切向力Y=-286.5875 +FPS=38.51, 法向力=6193.1865, 切向力X=2265.3945, 切向力Y=954.6937 +FPS=39.75, 法向力=6262.8350, 切向力X=2262.7783, 切向力Y=1334.5597 +FPS=38.64, 法向力=11849.0664, 切向力X=5387.9912, 切向力Y=-139.9107 +FPS=39.46, 法向力=11506.1797, 切向力X=5126.8916, 切向力Y=-222.4436 +FPS=39.17, 法向力=8141.4180, 切向力X=3132.4121, 切向力Y=154.7341 +FPS=37.98, 法向力=7783.8394, 切向力X=3112.6421, 切向力Y=1226.7744 +FPS=40.63, 法向力=7111.3662, 切向力X=2662.8882, 切向力Y=1640.4506 +FPS=41.16, 法向力=6462.3652, 切向力X=2256.1211, 切向力Y=1684.9512 +FPS=39.25, 法向力=18374.5938, 切向力X=7763.7686, 切向力Y=-798.8356 +FPS=41.37, 法向力=23732.8711, 切向力X=10957.5371, 切向力Y=-2047.2959 +FPS=38.92, 法向力=2976.4990, 切向力X=1696.8739, 切向力Y=194.8464 +FPS=41.39, 法向力=2302.0010, 切向力X=1384.2126, 切向力Y=14.6674 +FPS=41.63, 法向力=14549.4023, 切向力X=-7009.4082, 切向力Y=-1288.3761 +FPS=41.00, 法向力=14902.5762, 切向力X=-7033.1055, 切向力Y=-946.9810 +FPS=39.23, 法向力=13939.4873, 切向力X=6394.9673, 切向力Y=-800.8488 +FPS=39.67, 法向力=15083.9980, 切向力X=6972.4087, 切向力Y=-992.0421 +FPS=38.98, 法向力=16339.2090, 切向力X=8482.9502, 切向力Y=-815.1548 +FPS=39.72, 法向力=17180.8223, 切向力X=9005.2627, 切向力Y=-742.5521 +FPS=38.37, 法向力=5177.6763, 切向力X=-2143.0884, 切向力Y=-92.9999 +FPS=40.47, 法向力=5594.4907, 切向力X=-2465.6392, 切向力Y=-333.1218 +FPS=40.92, 法向力=1318.0040, 切向力X=110.0367, 切向力Y=365.0157 +FPS=6.66, 法向力=14906.8965, 切向力X=6496.5493, 切向力Y=-1749.8074 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260602_095911.log b/examples/logs/qt_viewer_20260602_095911.log new file mode 100644 index 0000000..8fd031f --- /dev/null +++ b/examples/logs/qt_viewer_20260602_095911.log @@ -0,0 +1,3470 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1280x720, fps=20.00, backend_id=1400 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Detected 0 candidate boxes with bk_thresh=150 +Timeout finding vision units. +Sensor: non-stitch mode +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: False + Optical flow algorithm: dis + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.15, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=4.80, 法向力=9696.3457, 切向力X=-6455.1855, 切向力Y=0.0324 +FPS=27.32, 法向力=6741.6201, 切向力X=-4242.0342, 切向力Y=99.3638 +FPS=31.99, 法向力=5165.9922, 切向力X=-2058.7170, 切向力Y=-215.1796 +FPS=34.88, 法向力=5163.8179, 切向力X=-2038.6260, 切向力Y=-113.3921 +FPS=33.12, 法向力=11106.0410, 切向力X=-6390.0127, 切向力Y=2501.8591 +FPS=34.14, 法向力=11898.1855, 切向力X=-6882.9092, 切向力Y=3499.6116 +FPS=33.86, 法向力=10457.0391, 切向力X=-5628.3398, 切向力Y=358.7316 +FPS=33.73, 法向力=5370.1328, 切向力X=-2964.2244, 切向力Y=-896.1353 +FPS=32.94, 法向力=5356.1992, 切向力X=-3100.1111, 切向力Y=-1310.0984 +FPS=32.09, 法向力=13382.7031, 切向力X=-6044.9902, 切向力Y=1291.2791 +FPS=33.30, 法向力=13262.0234, 切向力X=-5956.2607, 切向力Y=2112.2402 +FPS=33.44, 法向力=1343.6818, 切向力X=728.8246, 切向力Y=-1275.8174 +FPS=33.38, 法向力=2329.3232, 切向力X=1822.9343, 切向力Y=-1374.8838 +FPS=33.51, 法向力=1722.8679, 切向力X=985.7754, 切向力Y=-99.3548 +FPS=33.54, 法向力=2892.0830, 切向力X=-1579.8807, 切向力Y=-1767.6855 +FPS=31.77, 法向力=3076.0718, 切向力X=-1716.4109, 切向力Y=-1765.9750 +FPS=33.59, 法向力=7740.2778, 切向力X=-3844.7070, 切向力Y=374.3269 +FPS=33.67, 法向力=1449.7399, 切向力X=685.7407, 切向力Y=-1116.7911 +FPS=35.17, 法向力=1882.4260, 切向力X=1483.4644, 切向力Y=-1182.7395 +FPS=33.78, 法向力=3298.8340, 切向力X=1729.6283, 切向力Y=342.5248 +FPS=34.13, 法向力=4802.5439, 切向力X=268.1587, 切向力Y=3235.7573 +FPS=34.06, 法向力=4563.3159, 切向力X=1847.0073, 切向力Y=3100.1514 +FPS=35.31, 法向力=4639.4297, 切向力X=1746.6296, 切向力Y=3156.2017 +FPS=34.14, 法向力=6869.7070, 切向力X=-4527.9292, 切向力Y=-994.5882 +FPS=35.24, 法向力=12497.2354, 切向力X=-6369.6016, 切向力Y=2895.1577 +FPS=34.89, 法向力=9814.2168, 切向力X=-5348.3379, 切向力Y=1416.6470 +FPS=31.86, 法向力=16570.8926, 切向力X=-8497.8770, 切向力Y=4395.4854 +FPS=33.77, 法向力=13915.6416, 切向力X=-7267.9541, 切向力Y=4188.3291 +FPS=25.76, 法向力=6710.8960, 切向力X=-3030.8323, 切向力Y=2494.7451 +FPS=50.38, 法向力=3204.8975, 切向力X=-1050.3379, 切向力Y=110.6954 +FPS=42.49, 法向力=2703.0889, 切向力X=-710.8865, 切向力Y=-690.2076 +FPS=42.00, 法向力=4875.8140, 切向力X=1060.6036, 切向力Y=-2639.0518 +FPS=42.18, 法向力=5262.1162, 切向力X=1320.6243, 切向力Y=-2586.5488 +FPS=39.66, 法向力=7384.3662, 切向力X=4649.2256, 切向力Y=-532.5238 +FPS=40.39, 法向力=7658.2036, 切向力X=4976.5889, 切向力Y=-431.5424 +FPS=40.73, 法向力=7674.1821, 切向力X=4958.7334, 切向力Y=-401.2947 +FPS=39.62, 法向力=4791.2354, 切向力X=3576.6812, 切向力Y=-1949.3867 +FPS=38.82, 法向力=4779.0186, 切向力X=3468.0225, 切向力Y=-2060.2317 +FPS=40.41, 法向力=1752.3508, 切向力X=142.0183, 切向力Y=-1041.3018 +FPS=40.74, 法向力=2051.2942, 切向力X=-418.4260, 切向力Y=-1296.4958 +FPS=39.44, 法向力=6153.4473, 切向力X=4185.0381, 切向力Y=56.0732 +FPS=40.12, 法向力=6171.6143, 切向力X=4248.6895, 切向力Y=-406.8878 +FPS=39.47, 法向力=3205.5552, 切向力X=1652.6316, 切向力Y=741.8480 +FPS=40.20, 法向力=2238.2827, 切向力X=814.7972, 切向力Y=882.7129 +FPS=41.01, 法向力=6024.5972, 切向力X=-1792.4536, 切向力Y=6866.1235 +FPS=38.51, 法向力=3201.4834, 切向力X=-736.7658, 切向力Y=-2898.8005 +FPS=41.71, 法向力=3285.7161, 切向力X=-619.3410, 切向力Y=-3239.3330 +FPS=39.13, 法向力=3858.0327, 切向力X=1959.4330, 切向力Y=1559.0199 +FPS=41.48, 法向力=8554.2988, 切向力X=-2373.1572, 切向力Y=1477.4158 +FPS=40.99, 法向力=8245.2158, 切向力X=-2778.3848, 切向力Y=2929.4927 +FPS=39.02, 法向力=4643.5825, 切向力X=-2323.4023, 切向力Y=1347.7529 +FPS=41.87, 法向力=1671.1321, 切向力X=-104.7401, 切向力Y=881.9505 +FPS=39.43, 法向力=11632.4609, 切向力X=-6720.8486, 切向力Y=-1079.5901 +FPS=41.88, 法向力=13433.0723, 切向力X=-7771.2012, 切向力Y=141.8590 +FPS=41.64, 法向力=13613.1328, 切向力X=-7920.8291, 切向力Y=113.3178 +FPS=42.46, 法向力=13516.5605, 切向力X=-7839.2793, 切向力Y=305.9652 +FPS=41.45, 法向力=4916.3574, 切向力X=-2746.8462, 切向力Y=-691.0409 +FPS=43.64, 法向力=2266.8013, 切向力X=-1096.5260, 切向力Y=-1078.8027 +FPS=41.71, 法向力=1484.7991, 切向力X=403.4583, 切向力Y=-939.8987 +FPS=42.84, 法向力=1591.7390, 切向力X=306.6012, 切向力Y=-557.0338 +FPS=42.23, 法向力=8121.0161, 切向力X=-4481.6343, 切向力Y=348.5810 +FPS=16.41, 法向力=13394.9668, 切向力X=-7814.1104, 切向力Y=-24.0741 +FPS=17.92, 法向力=8854.2275, 切向力X=-5702.5483, 切向力Y=-1432.8726 +FPS=21.24, 法向力=6511.5693, 切向力X=-2903.6226, 切向力Y=1061.3533 +FPS=21.28, 法向力=11835.6230, 切向力X=-6500.7739, 切向力Y=1876.7271 +FPS=19.16, 法向力=11713.1865, 切向力X=-6545.6899, 切向力Y=1968.3667 +FPS=18.72, 法向力=2479.1147, 切向力X=-103.4280, 切向力Y=919.1989 +FPS=35.33, 法向力=17017.5586, 切向力X=-9514.4922, 切向力Y=2850.3875 +FPS=35.58, 法向力=17690.3047, 切向力X=-10228.5967, 切向力Y=4450.7236 +FPS=35.46, 法向力=5719.1826, 切向力X=-2630.3545, 切向力Y=1230.0638 +FPS=37.41, 法向力=5815.9805, 切向力X=-2684.4136, 切向力Y=1299.6290 +FPS=37.46, 法向力=4094.4751, 切向力X=-364.1044, 切向力Y=-300.4377 +FPS=40.59, 法向力=4709.6987, 切向力X=-651.9414, 切向力Y=81.8790 +FPS=38.81, 法向力=9050.5166, 切向力X=-5494.8481, 切向力Y=-2642.5967 +FPS=40.44, 法向力=9873.4736, 切向力X=-5899.3125, 切向力Y=-3079.9348 +FPS=36.05, 法向力=7820.8042, 切向力X=-4455.7402, 切向力Y=-350.3592 +FPS=40.41, 法向力=7869.6548, 切向力X=-4432.2275, 切向力Y=-363.9045 +FPS=36.42, 法向力=1676.7700, 切向力X=-223.3615, 切向力Y=-1023.5752 +FPS=34.85, 法向力=1147.4193, 切向力X=424.9918, 切向力Y=-1058.9698 +FPS=36.51, 法向力=1224.9087, 切向力X=698.8575, 切向力Y=-990.5770 +FPS=35.80, 法向力=2551.8682, 切向力X=1577.3774, 切向力Y=221.9760 +FPS=37.51, 法向力=2703.6211, 切向力X=1810.3097, 切向力Y=121.0616 +FPS=37.01, 法向力=1294.6003, 切向力X=376.9189, 切向力Y=-827.0363 +FPS=39.64, 法向力=2803.3726, 切向力X=-970.6490, 切向力Y=-1001.1375 +FPS=38.06, 法向力=10263.5303, 切向力X=6112.4678, 切向力Y=-1269.7432 +FPS=39.86, 法向力=10633.7227, 切向力X=6389.3887, 切向力Y=-1413.9895 +FPS=40.21, 法向力=10803.3994, 切向力X=6491.5142, 切向力Y=-1429.1543 +FPS=37.81, 法向力=2819.8813, 切向力X=-689.1772, 切向力Y=-1111.8127 +FPS=37.28, 法向力=8540.0166, 切向力X=-4449.9829, 切向力Y=1671.2520 +FPS=39.27, 法向力=8902.2021, 切向力X=-4639.0430, 切向力Y=1923.8383 +FPS=37.94, 法向力=2821.1289, 切向力X=1053.4397, 切向力Y=110.0705 +FPS=38.86, 法向力=3073.5012, 切向力X=1095.7651, 切向力Y=-112.1570 +FPS=37.86, 法向力=2133.5068, 切向力X=369.6595, 切向力Y=-1712.5844 +FPS=38.19, 法向力=1961.0863, 切向力X=509.1027, 切向力Y=-1549.5446 +FPS=39.61, 法向力=2013.0396, 切向力X=488.2711, 切向力Y=-1681.5447 +FPS=41.90, 法向力=2025.5156, 切向力X=501.4167, 切向力Y=-1646.9902 +FPS=38.76, 法向力=5870.9033, 切向力X=3746.7129, 切向力Y=902.1420 +FPS=40.18, 法向力=6133.0889, 切向力X=3782.2617, 切向力Y=656.3036 +FPS=39.47, 法向力=2572.8293, 切向力X=1788.7314, 切向力Y=-723.1655 +FPS=40.97, 法向力=2268.1494, 切向力X=1541.0867, 切向力Y=-829.2451 +FPS=38.98, 法向力=3784.9810, 切向力X=3256.4299, 切向力Y=-1426.7777 +FPS=39.11, 法向力=3859.4653, 切向力X=3250.8357, 切向力Y=-1591.9203 +FPS=38.26, 法向力=3873.4233, 切向力X=2695.8652, 切向力Y=-1842.1082 +FPS=39.07, 法向力=3896.5132, 切向力X=2705.8689, 切向力Y=-1919.8770 +FPS=37.42, 法向力=3245.0713, 切向力X=2302.8652, 切向力Y=1637.6896 +FPS=39.81, 法向力=3245.4373, 切向力X=2160.7195, 切向力Y=1949.1593 +FPS=38.46, 法向力=3043.5034, 切向力X=-637.8522, 切向力Y=-152.4882 +FPS=39.23, 法向力=3297.1621, 切向力X=-809.6173, 切向力Y=-286.7740 +FPS=38.14, 法向力=2717.7236, 切向力X=117.4159, 切向力Y=346.0759 +FPS=40.33, 法向力=2774.5903, 切向力X=142.7758, 切向力Y=448.3594 +FPS=39.65, 法向力=2789.8174, 切向力X=105.6443, 切向力Y=419.7335 +FPS=41.27, 法向力=2782.5056, 切向力X=110.3486, 切向力Y=412.7190 +FPS=39.78, 法向力=5920.4717, 切向力X=-2578.2627, 切向力Y=-1622.9719 +FPS=42.24, 法向力=5983.6299, 切向力X=-2644.0713, 切向力Y=-1592.8657 +FPS=41.12, 法向力=5706.5537, 切向力X=3456.6282, 切向力Y=-2484.7114 +FPS=41.93, 法向力=5630.0132, 切向力X=3384.9619, 切向力Y=-2627.8721 +FPS=40.14, 法向力=3617.5498, 切向力X=2243.2410, 切向力Y=-1710.2335 +FPS=41.62, 法向力=3610.1543, 切向力X=2066.7505, 切向力Y=-1542.0527 +FPS=40.77, 法向力=6869.7598, 切向力X=-2645.0801, 切向力Y=313.6602 +FPS=40.69, 法向力=7436.7056, 切向力X=-2860.6746, 切向力Y=859.6393 +FPS=36.06, 法向力=5954.1353, 切向力X=-3172.1924, 切向力Y=1629.3335 +FPS=40.41, 法向力=5437.2349, 切向力X=-3106.2637, 切向力Y=1587.1277 +FPS=39.25, 法向力=3922.4656, 切向力X=2620.8484, 切向力Y=-1180.4573 +FPS=40.46, 法向力=3946.3433, 切向力X=2631.0581, 切向力Y=-1264.1088 +FPS=38.71, 法向力=3042.6919, 切向力X=-1144.3438, 切向力Y=-966.6567 +FPS=41.00, 法向力=8832.0332, 切向力X=-4492.3623, 切向力Y=1756.2035 +FPS=42.24, 法向力=9745.8203, 切向力X=-4999.5957, 切向力Y=1994.1721 +FPS=42.64, 法向力=9785.5908, 切向力X=-5033.1973, 切向力Y=2004.4650 +FPS=40.66, 法向力=1840.0513, 切向力X=859.6615, 切向力Y=-964.2018 +FPS=42.70, 法向力=1870.8567, 切向力X=963.3384, 切向力Y=-1066.1406 +FPS=41.73, 法向力=1910.4554, 切向力X=1039.5383, 切向力Y=-1064.8749 +FPS=41.86, 法向力=2513.9822, 切向力X=1226.2601, 切向力Y=807.2974 +FPS=42.41, 法向力=3691.6604, 切向力X=-1454.9891, 切向力Y=-326.8595 +FPS=41.90, 法向力=5426.8535, 切向力X=-2454.4248, 切向力Y=438.3253 +FPS=42.85, 法向力=5635.2598, 切向力X=-2619.7090, 切向力Y=435.1035 +FPS=43.46, 法向力=3390.9565, 切向力X=2152.8975, 切向力Y=-265.6691 +FPS=36.80, 法向力=3377.0010, 切向力X=2151.2051, 切向力Y=-570.9891 +FPS=42.18, 法向力=2248.8840, 切向力X=-225.2339, 切向力Y=-749.1905 +FPS=41.83, 法向力=9137.1602, 切向力X=-4098.0127, 切向力Y=348.1574 +FPS=41.61, 法向力=6145.8481, 切向力X=3430.8398, 切向力Y=-493.0697 +FPS=41.61, 法向力=6849.3813, 切向力X=3867.8411, 切向力Y=-1792.5864 +FPS=42.16, 法向力=3313.7363, 切向力X=-937.5225, 切向力Y=-3207.9409 +FPS=40.94, 法向力=3323.0210, 切向力X=-1090.6169, 切向力Y=-3003.3794 +FPS=41.96, 法向力=3311.8706, 切向力X=-1075.0996, 切向力Y=-2886.6650 +FPS=39.48, 法向力=3312.5847, 切向力X=-1085.1761, 切向力Y=-2973.6387 +FPS=40.46, 法向力=9286.6699, 切向力X=-4250.8154, 切向力Y=-538.2122 +FPS=40.38, 法向力=9195.3711, 切向力X=-4102.4951, 切向力Y=-512.0707 +FPS=39.13, 法向力=13858.0586, 切向力X=-7620.8379, 切向力Y=892.4355 +FPS=41.20, 法向力=13887.1699, 切向力X=-7631.3438, 切向力Y=1262.6361 +FPS=37.71, 法向力=1998.1117, 切向力X=1899.8516, 切向力Y=-1081.8955 +FPS=41.00, 法向力=1886.9741, 切向力X=1865.0961, 切向力Y=-1154.3525 +FPS=39.61, 法向力=1203.3104, 切向力X=426.0700, 切向力Y=-879.4029 +FPS=41.09, 法向力=5328.9043, 切向力X=-2308.8745, 切向力Y=-160.4403 +FPS=41.31, 法向力=5180.6338, 切向力X=3392.0054, 切向力Y=-2187.7356 +FPS=41.34, 法向力=5050.2480, 切向力X=3380.4817, 切向力Y=-2214.7629 +FPS=40.34, 法向力=3840.8506, 切向力X=2148.6760, 切向力Y=-1454.2672 +FPS=40.51, 法向力=3932.0137, 切向力X=2035.3429, 切向力Y=-1468.5363 +FPS=39.64, 法向力=3048.6270, 切向力X=-1570.9830, 切向力Y=-2.1644 +FPS=41.22, 法向力=4967.5332, 切向力X=-2742.9438, 切向力Y=1457.2034 +FPS=40.87, 法向力=5143.5420, 切向力X=-2902.8047, 切向力Y=1538.5826 +FPS=39.18, 法向力=5136.6743, 切向力X=-2889.6836, 切向力Y=1496.0334 +FPS=40.09, 法向力=1881.2549, 切向力X=1389.1296, 切向力Y=-68.8923 +FPS=41.57, 法向力=2818.8152, 切向力X=2115.1584, 切向力Y=-220.3689 +FPS=39.35, 法向力=3858.8579, 切向力X=1594.7971, 切向力Y=-84.8438 +FPS=40.89, 法向力=3865.5078, 切向力X=1566.4915, 切向力Y=-474.9651 +FPS=39.50, 法向力=7178.4780, 切向力X=-3155.0146, 切向力Y=853.2339 +FPS=39.29, 法向力=8030.0933, 切向力X=-3495.6318, 切向力Y=1955.8339 +FPS=39.22, 法向力=1792.7893, 切向力X=494.8726, 切向力Y=-125.4419 +FPS=41.41, 法向力=1806.7323, 切向力X=1137.8845, 切向力Y=-249.4284 +FPS=38.15, 法向力=7873.0625, 切向力X=-3582.7097, 切向力Y=1829.8427 +FPS=38.86, 法向力=7518.2817, 切向力X=-3378.0679, 切向力Y=1602.2693 +FPS=38.50, 法向力=1681.1857, 切向力X=-339.2296, 切向力Y=-197.7664 +FPS=39.82, 法向力=1354.2360, 切向力X=9.6580, 切向力Y=-256.3090 +FPS=38.45, 法向力=1216.4750, 切向力X=467.7189, 切向力Y=-1126.7953 +FPS=38.99, 法向力=1127.4678, 切向力X=475.6850, 切向力Y=-935.9591 +FPS=39.09, 法向力=1163.1670, 切向力X=534.2462, 切向力Y=-1059.5710 +FPS=39.09, 法向力=1130.4366, 切向力X=549.8777, 切向力Y=-874.7219 +FPS=37.45, 法向力=8078.3506, 切向力X=-4179.4614, 切向力Y=-620.7953 +FPS=38.85, 法向力=10375.2715, 切向力X=-5487.5645, 切向力Y=315.5780 +FPS=36.98, 法向力=4815.9644, 切向力X=2694.3853, 切向力Y=2407.3921 +FPS=39.05, 法向力=4839.5752, 切向力X=2600.4827, 切向力Y=2465.4219 +FPS=39.10, 法向力=5078.8604, 切向力X=1129.2017, 切向力Y=-2419.4819 +FPS=38.62, 法向力=5464.0166, 切向力X=1137.2112, 切向力Y=-2526.6521 +FPS=36.41, 法向力=6550.9346, 切向力X=1418.8345, 切向力Y=-2641.4038 +FPS=38.82, 法向力=6215.5371, 切向力X=-2594.7334, 切向力Y=-2387.0234 +FPS=36.89, 法向力=6161.3208, 切向力X=-2582.1125, 切向力Y=-1465.5005 +FPS=36.39, 法向力=7066.6611, 切向力X=-11692.7822, 切向力Y=1819.6714 +FPS=38.78, 法向力=7091.8467, 切向力X=-11412.8750, 切向力Y=2391.5596 +FPS=36.91, 法向力=14740.0781, 切向力X=-16668.3008, 切向力Y=-1537.0032 +FPS=34.34, 法向力=14694.2500, 切向力X=-16564.5547, 切向力Y=-1943.7491 +FPS=38.52, 法向力=14735.2363, 切向力X=-16530.5391, 切向力Y=-1967.9065 +FPS=39.17, 法向力=14666.0635, 切向力X=-16551.4258, 切向力Y=-2017.2681 +FPS=37.37, 法向力=13208.2285, 切向力X=-22306.9375, 切向力Y=-2936.8052 +FPS=38.83, 法向力=13224.5752, 切向力X=-22476.3477, 切向力Y=-2974.8032 +FPS=37.74, 法向力=11635.1221, 切向力X=-26090.3809, 切向力Y=-2337.7231 +FPS=38.72, 法向力=11398.8086, 切向力X=-28528.0625, 切向力Y=-2285.1538 +FPS=38.67, 法向力=16678.8320, 切向力X=-24200.5371, 切向力Y=1228.1682 +FPS=38.81, 法向力=17613.0996, 切向力X=-23262.2070, 切向力Y=982.0501 +FPS=38.60, 法向力=15633.5332, 切向力X=-31170.7559, 切向力Y=1816.0259 +FPS=38.26, 法向力=15541.5322, 切向力X=-29226.2207, 切向力Y=-2328.6792 +FPS=38.33, 法向力=15414.9248, 切向力X=-29119.9844, 切向力Y=-2679.6521 +FPS=38.07, 法向力=15479.1582, 切向力X=-29388.8613, 切向力Y=-6096.1562 +FPS=38.77, 法向力=15366.8379, 切向力X=-29287.3438, 切向力Y=-6198.2002 +FPS=38.84, 法向力=15376.7402, 切向力X=-29302.5664, 切向力Y=-6208.3613 +FPS=38.49, 法向力=16951.6289, 切向力X=-32435.8281, 切向力Y=-3365.0657 +FPS=38.51, 法向力=16879.4414, 切向力X=-32514.5020, 切向力Y=-3104.7471 +FPS=38.08, 法向力=14706.0605, 切向力X=-33107.7617, 切向力Y=-4675.1494 +FPS=37.61, 法向力=13909.6699, 切向力X=-23638.5586, 切向力Y=-3244.6980 +FPS=39.41, 法向力=14102.4648, 切向力X=-23570.9219, 切向力Y=-3352.4219 +FPS=36.86, 法向力=11544.9375, 切向力X=-21513.5098, 切向力Y=-8871.7051 +FPS=39.54, 法向力=11768.0400, 切向力X=-22634.9023, 切向力Y=-7826.2275 +FPS=37.33, 法向力=12985.1211, 切向力X=-18425.8145, 切向力Y=-6626.6543 +FPS=37.98, 法向力=13368.2773, 切向力X=-18155.1797, 切向力Y=-6822.9600 +FPS=36.89, 法向力=12279.7539, 切向力X=-23074.1328, 切向力Y=-1863.8765 +FPS=39.45, 法向力=12386.5273, 切向力X=-23325.4688, 切向力Y=-1502.5221 +FPS=38.50, 法向力=14958.2705, 切向力X=-30185.3594, 切向力Y=-8424.2168 +FPS=38.08, 法向力=15662.1348, 切向力X=-31049.8223, 切向力Y=-6825.9746 +FPS=38.79, 法向力=13084.4219, 切向力X=-25578.8730, 切向力Y=-18441.4844 +FPS=37.89, 法向力=13317.7979, 切向力X=-25414.8027, 切向力Y=-18419.2188 +FPS=37.87, 法向力=15218.7402, 切向力X=-25726.6582, 切向力Y=-25230.1738 +FPS=38.95, 法向力=15633.7969, 切向力X=-25242.3516, 切向力Y=-25289.2793 +FPS=37.42, 法向力=14684.0322, 切向力X=-27301.1211, 切向力Y=-23836.2500 +FPS=38.74, 法向力=14562.4961, 切向力X=-27464.1758, 切向力Y=-23166.2344 +FPS=37.80, 法向力=15004.6211, 切向力X=-27950.9453, 切向力Y=-22277.6250 +FPS=40.79, 法向力=14991.7012, 切向力X=-28226.8984, 切向力Y=-21987.8340 +FPS=39.72, 法向力=13698.9717, 切向力X=-27766.2930, 切向力Y=-19557.4609 +FPS=39.19, 法向力=12499.7754, 切向力X=-28786.9277, 切向力Y=-19313.5254 +FPS=39.76, 法向力=12857.0850, 切向力X=-27274.3066, 切向力Y=-14124.2002 +FPS=40.44, 法向力=11432.8672, 切向力X=-26270.1035, 切向力Y=-13534.6875 +FPS=40.36, 法向力=11487.7559, 切向力X=-26163.5625, 切向力Y=-13445.2598 +FPS=40.44, 法向力=10585.2480, 切向力X=-26826.3867, 切向力Y=-13489.2715 +FPS=40.65, 法向力=10007.4141, 切向力X=-27450.8203, 切向力Y=-12847.7344 +FPS=41.66, 法向力=10081.1445, 切向力X=-27433.6328, 切向力Y=-12748.1895 +FPS=39.56, 法向力=12241.6289, 切向力X=-24261.2891, 切向力Y=-12195.3008 +FPS=42.17, 法向力=12335.0605, 切向力X=-23919.4023, 切向力Y=-11782.4297 +FPS=40.58, 法向力=13825.5381, 切向力X=-23400.2227, 切向力Y=-6069.6895 +FPS=42.24, 法向力=13404.2627, 切向力X=-23535.5859, 切向力Y=-6080.9146 +FPS=40.19, 法向力=8369.0107, 切向力X=-25312.0156, 切向力Y=-476.7610 +FPS=40.24, 法向力=8454.6465, 切向力X=-26154.3477, 切向力Y=336.2178 +FPS=40.26, 法向力=14405.1416, 切向力X=-19282.3887, 切向力Y=1173.3372 +FPS=40.46, 法向力=16019.1250, 切向力X=-18314.4258, 切向力Y=1123.1409 +FPS=38.96, 法向力=13447.4893, 切向力X=-25560.1777, 切向力Y=6192.1885 +FPS=35.25, 法向力=13384.1016, 切向力X=-25495.3477, 切向力Y=6364.9238 +FPS=34.92, 法向力=14893.5000, 切向力X=-28943.8672, 切向力Y=5180.8223 +FPS=35.16, 法向力=16970.6992, 切向力X=-27567.5781, 切向力Y=4594.4707 +FPS=37.01, 法向力=17201.1953, 切向力X=-27373.1133, 切向力Y=4687.9062 +FPS=37.66, 法向力=17214.9355, 切向力X=-27385.9238, 切向力Y=4782.3921 +FPS=38.87, 法向力=16605.9727, 切向力X=-31811.3516, 切向力Y=5743.1782 +FPS=39.80, 法向力=16565.1055, 切向力X=-31989.6602, 切向力Y=5769.9854 +FPS=39.93, 法向力=19043.9570, 切向力X=-29216.0234, 切向力Y=8087.2354 +FPS=38.29, 法向力=15244.5527, 切向力X=-34231.5391, 切向力Y=7132.6377 +FPS=39.11, 法向力=15967.1104, 切向力X=-38283.4062, 切向力Y=8026.3350 +FPS=37.88, 法向力=15948.5244, 切向力X=-34384.0078, 切向力Y=8764.7637 +FPS=38.97, 法向力=16056.9541, 切向力X=-34098.5898, 切向力Y=8637.5391 +FPS=37.66, 法向力=18463.2812, 切向力X=-30956.6445, 切向力Y=3545.6860 +FPS=39.64, 法向力=18619.7617, 切向力X=-30973.7383, 切向力Y=3636.9082 +FPS=38.58, 法向力=17371.8945, 切向力X=-30471.9883, 切向力Y=-180.0862 +FPS=39.48, 法向力=17384.7324, 切向力X=-30519.5820, 切向力Y=-233.7374 +FPS=38.38, 法向力=13820.6133, 切向力X=-32064.5898, 切向力Y=-2124.5884 +FPS=39.37, 法向力=13536.2520, 切向力X=-32108.8848, 切向力Y=-1866.4021 +FPS=37.67, 法向力=15172.2852, 切向力X=-25854.3633, 切向力Y=-4255.9023 +FPS=39.57, 法向力=15352.7314, 切向力X=-25517.3789, 切向力Y=-4585.8711 +FPS=37.47, 法向力=11863.5801, 切向力X=-28340.0332, 切向力Y=-6136.2935 +FPS=39.53, 法向力=12645.8848, 切向力X=-29733.4473, 切向力Y=-4832.9941 +FPS=37.20, 法向力=11788.8408, 切向力X=-23319.1777, 切向力Y=-8501.3604 +FPS=38.72, 法向力=13083.6113, 切向力X=-22184.3379, 切向力Y=-8207.9619 +FPS=37.67, 法向力=12608.3789, 切向力X=-21327.8008, 切向力Y=-9835.0859 +FPS=38.42, 法向力=12678.9473, 切向力X=-21333.2070, 切向力Y=-9864.9238 +FPS=38.75, 法向力=15056.9531, 切向力X=-18941.9102, 切向力Y=-12441.1924 +FPS=38.72, 法向力=15036.4727, 切向力X=-18892.8867, 切向力Y=-12713.3730 +FPS=40.05, 法向力=11756.8828, 切向力X=-20485.3008, 切向力Y=-13043.3203 +FPS=38.36, 法向力=12142.6621, 切向力X=-20035.5527, 切向力Y=-13169.0850 +FPS=38.89, 法向力=12183.2559, 切向力X=-20039.6367, 切向力Y=-13216.2422 +FPS=37.66, 法向力=14058.8291, 切向力X=-18433.7383, 切向力Y=-13138.2861 +FPS=39.87, 法向力=13706.9512, 切向力X=-18615.6230, 切向力Y=-13002.8359 +FPS=39.48, 法向力=13675.5918, 切向力X=-18580.2930, 切向力Y=-12997.8086 +FPS=38.35, 法向力=12119.4766, 切向力X=-20825.5645, 切向力Y=-8983.6934 +FPS=40.73, 法向力=11611.7773, 切向力X=-21338.4727, 切向力Y=-8536.1240 +FPS=42.20, 法向力=10299.2451, 切向力X=-24558.4277, 切向力Y=-3456.9119 +FPS=42.32, 法向力=10425.4180, 切向力X=-24532.2383, 切向力Y=-3248.4790 +FPS=39.33, 法向力=14214.1641, 切向力X=-25832.6133, 切向力Y=-2402.4795 +FPS=39.42, 法向力=14338.1152, 切向力X=-25634.6367, 切向力Y=-2701.1675 +FPS=39.70, 法向力=16674.8789, 切向力X=-26210.1719, 切向力Y=-1116.6842 +FPS=39.58, 法向力=15212.0371, 切向力X=-30830.1992, 切向力Y=903.1335 +FPS=40.27, 法向力=15049.3477, 切向力X=-31074.0273, 切向力Y=162.0108 +FPS=39.53, 法向力=14282.9512, 切向力X=-35985.0859, 切向力Y=-1146.1658 +FPS=40.61, 法向力=14097.5586, 切向力X=-36191.6484, 切向力Y=-825.7756 +FPS=39.04, 法向力=16396.9180, 切向力X=-25608.1562, 切向力Y=-3508.5303 +FPS=38.94, 法向力=16820.7793, 切向力X=-25186.5762, 切向力Y=-3221.6086 +FPS=38.55, 法向力=15559.2266, 切向力X=-18169.4863, 切向力Y=-4483.2744 +FPS=40.68, 法向力=15662.7041, 切向力X=-17787.6387, 切向力Y=-4509.9014 +FPS=39.26, 法向力=15657.2793, 切向力X=-17793.6250, 切向力Y=-4515.6040 +FPS=39.24, 法向力=13091.7812, 切向力X=-9529.9834, 切向力Y=-3013.2417 +FPS=38.97, 法向力=13135.9834, 切向力X=-9424.8418, 切向力Y=-3550.2041 +FPS=38.94, 法向力=8419.6289, 切向力X=-13616.2246, 切向力Y=-4488.5874 +FPS=40.20, 法向力=11899.1055, 切向力X=-15822.0127, 切向力Y=1224.2949 +FPS=39.59, 法向力=12430.9502, 切向力X=-16114.3574, 切向力Y=1760.3416 +FPS=39.48, 法向力=8717.6787, 切向力X=-11882.8027, 切向力Y=-704.4624 +FPS=40.32, 法向力=8798.2979, 切向力X=-11830.8691, 切向力Y=-845.6349 +FPS=37.83, 法向力=7014.6196, 切向力X=-8809.6211, 切向力Y=-1091.8838 +FPS=39.11, 法向力=6803.7310, 切向力X=-8168.1436, 切向力Y=-1720.1265 +FPS=38.85, 法向力=8135.2666, 切向力X=-4215.0264, 切向力Y=-3105.2935 +FPS=40.04, 法向力=8945.7070, 切向力X=-3590.4048, 切向力Y=-3311.6528 +FPS=38.63, 法向力=7667.4160, 切向力X=-8792.1670, 切向力Y=-594.7989 +FPS=38.68, 法向力=7458.9507, 切向力X=-8930.8066, 切向力Y=-252.9403 +FPS=38.17, 法向力=7565.7217, 切向力X=-2856.6406, 切向力Y=-1793.6906 +FPS=41.02, 法向力=7646.4761, 切向力X=-2839.8394, 切向力Y=-1225.9983 +FPS=35.02, 法向力=5592.0176, 切向力X=-4347.7021, 切向力Y=-1696.1343 +FPS=40.45, 法向力=6390.5435, 切向力X=-6045.4033, 切向力Y=-259.0276 +FPS=38.33, 法向力=6601.6240, 切向力X=-2975.5518, 切向力Y=-2205.2026 +FPS=41.37, 法向力=6584.9917, 切向力X=-2967.9639, 切向力Y=-2237.4985 +FPS=38.67, 法向力=8533.8867, 切向力X=-2385.5417, 切向力Y=61.4779 +FPS=40.57, 法向力=8165.8491, 切向力X=-2388.5986, 切向力Y=-1033.1240 +FPS=40.03, 法向力=6934.9194, 切向力X=-8141.6919, 切向力Y=-2982.2283 +FPS=40.78, 法向力=8265.7383, 切向力X=-9750.3145, 切向力Y=-1685.4299 +FPS=39.54, 法向力=9777.4824, 切向力X=-10612.1289, 切向力Y=294.8554 +FPS=40.61, 法向力=9561.2051, 切向力X=-10543.2480, 切向力Y=294.5947 +FPS=36.90, 法向力=4622.2539, 切向力X=-3545.0535, 切向力Y=-2210.9702 +FPS=40.17, 法向力=4749.1372, 切向力X=-3375.7476, 切向力Y=-2401.4001 +FPS=38.97, 法向力=13282.3457, 切向力X=2552.5427, 切向力Y=-2301.0317 +FPS=39.76, 法向力=15205.3994, 切向力X=3497.9529, 切向力Y=-2563.6282 +FPS=38.25, 法向力=9241.2939, 切向力X=713.0939, 切向力Y=-2294.9209 +FPS=39.27, 法向力=8359.8848, 切向力X=194.5774, 切向力Y=-2049.9258 +FPS=39.46, 法向力=6972.2246, 切向力X=-7106.4639, 切向力Y=-1178.4058 +FPS=39.71, 法向力=6943.9541, 切向力X=-7102.1836, 切向力Y=-1543.8280 +FPS=37.84, 法向力=6120.6846, 切向力X=-7186.8955, 切向力Y=-1311.4165 +FPS=38.63, 法向力=5861.5918, 切向力X=-6878.1196, 切向力Y=-1088.9954 +FPS=37.98, 法向力=6256.6719, 切向力X=-6067.0850, 切向力Y=-1297.4043 +FPS=38.70, 法向力=6132.8442, 切向力X=-5898.1953, 切向力Y=-1273.8774 +FPS=38.55, 法向力=5926.9746, 切向力X=-3885.4194, 切向力Y=-2768.3215 +FPS=38.03, 法向力=5167.0615, 切向力X=-3994.7307, 切向力Y=-1914.9159 +FPS=39.77, 法向力=5534.0190, 切向力X=-4428.3330, 切向力Y=-1842.4105 +FPS=38.70, 法向力=4246.9307, 切向力X=-1566.2947, 切向力Y=-2183.1870 +FPS=39.18, 法向力=4313.7417, 切向力X=-1524.1450, 切向力Y=-2147.0303 +FPS=38.84, 法向力=4317.6235, 切向力X=-1494.2911, 切向力Y=-2206.1150 +FPS=38.88, 法向力=5225.7822, 切向力X=-5198.5537, 切向力Y=-3643.9106 +FPS=39.60, 法向力=5749.9863, 切向力X=-5793.1187, 切向力Y=-3401.0295 +FPS=38.38, 法向力=4924.6777, 切向力X=-2649.1042, 切向力Y=-3639.5952 +FPS=38.91, 法向力=4763.5059, 切向力X=-2692.8857, 切向力Y=-3923.5051 +FPS=38.85, 法向力=13874.2578, 切向力X=-10346.7930, 切向力Y=1495.8425 +FPS=39.08, 法向力=8757.8184, 切向力X=1668.4681, 切向力Y=-3832.3276 +FPS=38.52, 法向力=9930.1689, 切向力X=2518.7876, 切向力Y=-4030.0693 +FPS=38.25, 法向力=4411.9658, 切向力X=-4067.6689, 切向力Y=-1877.6439 +FPS=38.41, 法向力=8732.2480, 切向力X=-7976.2593, 切向力Y=-1223.8468 +FPS=36.44, 法向力=6246.1699, 切向力X=-232.9280, 切向力Y=-2287.1584 +FPS=39.14, 法向力=8136.9321, 切向力X=1162.5909, 切向力Y=-2702.5649 +FPS=37.44, 法向力=5538.2129, 切向力X=-5073.9556, 切向力Y=-449.3666 +FPS=40.51, 法向力=6428.2031, 切向力X=-5888.8447, 切向力Y=-47.7041 +FPS=39.77, 法向力=6582.5547, 切向力X=-6032.0835, 切向力Y=-59.1444 +FPS=40.10, 法向力=4419.3711, 切向力X=-4084.0850, 切向力Y=-1585.6450 +FPS=39.53, 法向力=5616.2852, 切向力X=-3481.7285, 切向力Y=33.6231 +FPS=40.75, 法向力=5510.0063, 切向力X=-3428.3430, 切向力Y=-232.1144 +FPS=38.25, 法向力=9132.9023, 切向力X=-7297.5908, 切向力Y=-215.3271 +FPS=38.99, 法向力=9208.4453, 切向力X=-7558.8745, 切向力Y=-246.8716 +FPS=37.79, 法向力=5749.0879, 切向力X=-1673.4460, 切向力Y=437.0125 +FPS=39.20, 法向力=5602.3301, 切向力X=-1568.2639, 切向力Y=436.2197 +FPS=37.83, 法向力=4981.8066, 切向力X=-4153.6074, 切向力Y=555.0197 +FPS=38.94, 法向力=5057.1299, 切向力X=-4501.5527, 切向力Y=584.0286 +FPS=37.77, 法向力=12509.3975, 切向力X=-8011.7188, 切向力Y=1927.8497 +FPS=38.15, 法向力=13439.5498, 切向力X=-8650.4043, 切向力Y=2213.8601 +FPS=38.17, 法向力=5703.1499, 切向力X=-719.6707, 切向力Y=-2086.4941 +FPS=37.76, 法向力=5783.0342, 切向力X=-711.7794, 切向力Y=-2051.8296 +FPS=37.14, 法向力=12246.0742, 切向力X=4982.3545, 切向力Y=150.2702 +FPS=37.96, 法向力=12461.4707, 切向力X=5137.6709, 切向力Y=523.4480 +FPS=37.05, 法向力=5676.9814, 切向力X=-3978.7007, 切向力Y=-740.2142 +FPS=39.70, 法向力=11202.1445, 切向力X=-8050.5049, 切向力Y=598.1751 +FPS=37.53, 法向力=22488.3457, 切向力X=-14857.0664, 切向力Y=3294.8950 +FPS=40.54, 法向力=21171.6953, 切向力X=-14227.5000, 切向力Y=2193.3662 +FPS=39.98, 法向力=5071.3545, 切向力X=-512.8550, 切向力Y=-3416.8381 +FPS=39.63, 法向力=5726.3516, 切向力X=76.0496, 切向力Y=-4056.9375 +FPS=38.51, 法向力=5950.7251, 切向力X=527.5940, 切向力Y=-2999.0146 +FPS=37.13, 法向力=3927.8911, 切向力X=-2510.4551, 切向力Y=-1788.9286 +FPS=38.98, 法向力=3906.4026, 切向力X=-2701.3401, 切向力Y=-1567.2357 +FPS=37.40, 法向力=4823.1055, 切向力X=-1321.9399, 切向力Y=153.4807 +FPS=39.61, 法向力=4813.9688, 切向力X=-1048.6023, 切向力Y=273.2286 +FPS=37.72, 法向力=4576.7627, 切向力X=-946.7509, 切向力Y=-2670.0278 +FPS=39.23, 法向力=5008.0571, 切向力X=-389.8601, 切向力Y=-3245.6016 +FPS=38.06, 法向力=5009.1250, 切向力X=-361.4766, 切向力Y=-3168.7622 +FPS=39.04, 法向力=8023.3901, 切向力X=-4688.4355, 切向力Y=-3154.4602 +FPS=37.94, 法向力=4442.3311, 切向力X=-2763.5593, 切向力Y=-2674.4751 +FPS=39.13, 法向力=4439.7764, 切向力X=-2717.5811, 切向力Y=-2541.3025 +FPS=37.50, 法向力=6766.5811, 切向力X=-5147.0273, 切向力Y=-1056.9784 +FPS=39.10, 法向力=6738.9580, 切向力X=-5168.6162, 切向力Y=-1168.0024 +FPS=38.07, 法向力=6452.7012, 切向力X=366.1068, 切向力Y=-848.7766 +FPS=38.98, 法向力=6613.7207, 切向力X=586.2089, 切向力Y=-834.5466 +FPS=38.08, 法向力=8025.8281, 切向力X=-4530.7305, 切向力Y=-106.7452 +FPS=39.74, 法向力=8755.1582, 切向力X=-4993.8608, 切向力Y=395.6162 +FPS=39.63, 法向力=4994.5215, 切向力X=-526.7115, 切向力Y=-1478.3030 +FPS=39.18, 法向力=5198.9575, 切向力X=-217.7806, 切向力Y=-1512.2129 +FPS=38.23, 法向力=6508.0557, 切向力X=604.6273, 切向力Y=-1771.9041 +FPS=39.64, 法向力=5820.7852, 切向力X=227.9938, 切向力Y=-1289.1769 +FPS=38.97, 法向力=5253.3433, 切向力X=-3614.6226, 切向力Y=-2153.9126 +FPS=39.43, 法向力=5447.4175, 切向力X=-3657.8052, 切向力Y=-2241.4038 +FPS=37.24, 法向力=6694.3584, 切向力X=-2989.8909, 切向力Y=-1696.2513 +FPS=39.65, 法向力=6787.8232, 切向力X=-3063.0627, 切向力Y=-1648.2195 +FPS=37.20, 法向力=16516.1602, 切向力X=-10590.9375, 切向力Y=-717.4333 +FPS=39.65, 法向力=18673.3184, 切向力X=-11940.6367, 切向力Y=1172.6172 +FPS=38.12, 法向力=9825.8613, 切向力X=-6132.9629, 切向力Y=-30.2504 +FPS=38.92, 法向力=10230.4580, 切向力X=-6161.4951, 切向力Y=246.1786 +FPS=37.65, 法向力=4356.3198, 切向力X=-2657.3616, 切向力Y=-730.7034 +FPS=38.07, 法向力=12283.7637, 切向力X=-8558.8096, 切向力Y=-1518.2080 +FPS=39.16, 法向力=13298.5957, 切向力X=-9129.9805, 切向力Y=-1348.0179 +FPS=36.82, 法向力=3650.2134, 切向力X=-847.9817, 切向力Y=-1531.8040 +FPS=34.58, 法向力=3541.2505, 切向力X=-1007.9148, 切向力Y=-984.2608 +FPS=34.17, 法向力=4025.9631, 切向力X=289.0971, 切向力Y=-692.2594 +FPS=31.70, 法向力=4103.0967, 切向力X=262.7986, 切向力Y=-286.6676 +FPS=35.05, 法向力=5036.7402, 切向力X=-2902.4233, 切向力Y=-279.5270 +FPS=38.31, 法向力=5071.5786, 切向力X=-2934.3042, 切向力Y=-391.5558 +FPS=37.58, 法向力=4165.7368, 切向力X=-1858.7849, 切向力Y=6.3918 +FPS=39.29, 法向力=4014.7939, 切向力X=-1674.3186, 切向力Y=-212.6890 +FPS=38.10, 法向力=8807.1572, 切向力X=-6072.3594, 切向力Y=-427.3567 +FPS=38.06, 法向力=3283.7849, 切向力X=-1051.9250, 切向力Y=576.4834 +FPS=39.24, 法向力=3244.2468, 切向力X=-1010.5006, 切向力Y=612.6110 +FPS=38.16, 法向力=9341.9863, 切向力X=-6334.8306, 切向力Y=-2281.4028 +FPS=38.51, 法向力=19108.2734, 切向力X=-12066.3711, 切向力Y=-1330.0321 +FPS=37.04, 法向力=10063.1426, 切向力X=-5699.0850, 切向力Y=2012.7577 +FPS=38.44, 法向力=9786.9170, 切向力X=-5499.8018, 切向力Y=1750.3165 +FPS=38.26, 法向力=3931.6589, 切向力X=1252.1577, 切向力Y=-572.5958 +FPS=39.08, 法向力=4380.1392, 切向力X=1569.5381, 切向力Y=-456.1118 +FPS=37.29, 法向力=5256.0420, 切向力X=2649.8647, 切向力Y=420.9556 +FPS=39.50, 法向力=5295.6475, 切向力X=2580.6431, 切向力Y=384.4125 +FPS=40.34, 法向力=4196.2891, 切向力X=-1671.3048, 切向力Y=-568.6127 +FPS=41.79, 法向力=5032.0254, 切向力X=-2837.3386, 切向力Y=-714.6860 +FPS=40.99, 法向力=4964.8403, 切向力X=-3387.8877, 切向力Y=-1706.1520 +FPS=42.27, 法向力=5697.8750, 切向力X=-4122.0186, 切向力Y=-1918.2709 +FPS=41.97, 法向力=7470.3857, 切向力X=-5147.4199, 切向力Y=-2903.3369 +FPS=42.89, 法向力=8513.5889, 切向力X=-5740.7612, 切向力Y=-2241.4954 +FPS=41.91, 法向力=3407.6118, 切向力X=-1513.9797, 切向力Y=-1434.7894 +FPS=42.58, 法向力=3041.9541, 切向力X=-594.0685, 切向力Y=-1771.0144 +FPS=40.64, 法向力=5080.8340, 切向力X=-3078.7808, 切向力Y=248.4016 +FPS=42.61, 法向力=4982.3799, 切向力X=-3027.5225, 切向力Y=600.2063 +FPS=41.00, 法向力=4450.3013, 切向力X=827.1532, 切向力Y=-857.8238 +FPS=41.20, 法向力=4634.3340, 切向力X=840.0599, 切向力Y=-1090.6027 +FPS=42.29, 法向力=4705.9736, 切向力X=958.1185, 切向力Y=-1126.9995 +FPS=40.41, 法向力=7131.4463, 切向力X=-4021.4971, 切向力Y=-848.2594 +FPS=42.21, 法向力=10201.4531, 切向力X=-6045.8467, 切向力Y=532.2328 +FPS=41.01, 法向力=2657.8779, 切向力X=-378.6118, 切向力Y=-2805.7886 +FPS=43.21, 法向力=3806.1997, 切向力X=922.6403, 切向力Y=-3182.6177 +FPS=40.75, 法向力=4077.3662, 切向力X=-2431.8521, 切向力Y=-1403.1813 +FPS=42.05, 法向力=5445.6763, 切向力X=-3955.6108, 切向力Y=-714.8223 +FPS=39.81, 法向力=6719.7935, 切向力X=-4474.6787, 切向力Y=-2307.3474 +FPS=41.67, 法向力=6819.1313, 切向力X=-4457.7119, 切向力Y=-2415.9487 +FPS=40.12, 法向力=7998.2007, 切向力X=-5524.0908, 切向力Y=-525.1157 +FPS=41.93, 法向力=7857.3530, 切向力X=-5485.4067, 切向力Y=-244.1848 +FPS=41.62, 法向力=11280.0811, 切向力X=-5458.2129, 切向力Y=-1057.8096 +FPS=41.96, 法向力=14340.6543, 切向力X=-7398.6255, 切向力Y=-1318.0532 +FPS=42.66, 法向力=3141.8296, 切向力X=-1457.0634, 切向力Y=-921.5352 +FPS=41.69, 法向力=3077.5708, 切向力X=-1346.9756, 切向力Y=-863.3481 +FPS=41.99, 法向力=4098.9912, 切向力X=425.7854, 切向力Y=-2351.6309 +FPS=42.00, 法向力=4128.2188, 切向力X=323.0633, 切向力Y=-2328.5444 +FPS=41.96, 法向力=4110.9585, 切向力X=275.4842, 切向力Y=-2379.7830 +FPS=41.68, 法向力=3909.2527, 切向力X=-2339.9297, 切向力Y=-2017.4062 +FPS=41.70, 法向力=8127.9316, 切向力X=-5550.0151, 切向力Y=-365.0317 +FPS=41.76, 法向力=8232.6016, 切向力X=-5846.6133, 切向力Y=-945.9531 +FPS=42.35, 法向力=9628.5449, 切向力X=-6635.7412, 切向力Y=-521.5959 +FPS=41.22, 法向力=3713.2583, 切向力X=-14.0046, 切向力Y=-2619.8110 +FPS=43.42, 法向力=3819.9363, 切向力X=157.5410, 切向力Y=-2690.0630 +FPS=41.69, 法向力=9000.7471, 切向力X=3778.2603, 切向力Y=-1327.3422 +FPS=41.54, 法向力=8765.9961, 切向力X=4023.4216, 切向力Y=-1426.3577 +FPS=41.77, 法向力=5213.3623, 切向力X=2646.0068, 切向力Y=-1610.6765 +FPS=43.86, 法向力=4356.8281, 切向力X=1970.8497, 切向力Y=-1587.6254 +FPS=43.90, 法向力=4100.1895, 切向力X=1867.1665, 切向力Y=-1731.8127 +FPS=43.72, 法向力=4116.4424, 切向力X=1805.5674, 切向力Y=-1708.8616 +FPS=42.27, 法向力=3047.4023, 切向力X=-446.0790, 切向力Y=-1677.0408 +FPS=43.06, 法向力=9227.8438, 切向力X=-4706.3057, 切向力Y=133.9283 +FPS=42.84, 法向力=10453.5684, 切向力X=-5424.8643, 切向力Y=376.2812 +FPS=42.49, 法向力=3414.4614, 切向力X=1155.5376, 切向力Y=769.9565 +FPS=39.54, 法向力=3555.2322, 切向力X=1286.2273, 切向力Y=970.4725 +FPS=35.26, 法向力=4517.9902, 切向力X=2772.2312, 切向力Y=905.3630 +FPS=38.45, 法向力=2383.6575, 切向力X=887.3900, 切向力Y=-1014.5880 +FPS=38.73, 法向力=2339.6162, 切向力X=806.3507, 切向力Y=-1238.9111 +FPS=38.89, 法向力=5018.6177, 切向力X=-1904.4021, 切向力Y=-1363.9104 +FPS=39.12, 法向力=4917.8223, 切向力X=-1793.6689, 切向力Y=-1005.7792 +FPS=37.68, 法向力=2414.6506, 切向力X=1108.3339, 切向力Y=-1647.7142 +FPS=39.64, 法向力=2636.2227, 切向力X=1240.7388, 切向力Y=-2023.2906 +FPS=38.01, 法向力=4207.7197, 切向力X=2173.1140, 切向力Y=-638.5192 +FPS=39.54, 法向力=4099.3662, 切向力X=2039.2467, 切向力Y=-116.2346 +FPS=37.42, 法向力=3420.4304, 切向力X=-1425.6133, 切向力Y=-1018.4722 +FPS=38.93, 法向力=3474.1199, 切向力X=-1559.5635, 切向力Y=-671.8126 +FPS=40.40, 法向力=9788.7754, 切向力X=-4390.8970, 切向力Y=335.2291 +FPS=40.21, 法向力=9463.5820, 切向力X=-4257.0518, 切向力Y=393.1611 +FPS=38.68, 法向力=4106.3193, 切向力X=-1022.6160, 切向力Y=-275.7953 +FPS=39.89, 法向力=4157.7979, 切向力X=-1029.4968, 切向力Y=-422.0374 +FPS=39.64, 法向力=5622.8076, 切向力X=-1668.5905, 切向力Y=-179.2993 +FPS=39.90, 法向力=5914.0625, 切向力X=-1744.9688, 切向力Y=-251.9034 +FPS=38.77, 法向力=2543.8616, 切向力X=2304.6167, 切向力Y=548.1780 +FPS=39.63, 法向力=2755.2815, 切向力X=2584.4023, 切向力Y=350.3479 +FPS=38.29, 法向力=3579.6375, 切向力X=3378.5049, 切向力Y=-1011.1058 +FPS=39.62, 法向力=3617.1345, 切向力X=3362.9365, 切向力Y=-989.3916 +FPS=39.60, 法向力=6376.5615, 切向力X=4495.6289, 切向力Y=-1126.6008 +FPS=39.66, 法向力=6538.2988, 切向力X=4595.1753, 切向力Y=-1077.5847 +FPS=39.64, 法向力=2339.0186, 切向力X=297.3825, 切向力Y=-1168.2241 +FPS=37.73, 法向力=8558.7412, 切向力X=7166.5913, 切向力Y=-533.0907 +FPS=39.59, 法向力=8837.8984, 切向力X=7436.8853, 切向力Y=-646.9706 +FPS=38.91, 法向力=8886.3438, 切向力X=7468.9463, 切向力Y=-609.7771 +FPS=38.47, 法向力=1969.7186, 切向力X=1499.4792, 切向力Y=-2051.0166 +FPS=37.25, 法向力=5960.4980, 切向力X=-1056.0107, 切向力Y=-1868.3323 +FPS=39.01, 法向力=2488.6040, 切向力X=1446.2109, 切向力Y=565.4114 +FPS=38.53, 法向力=2880.8130, 切向力X=1837.2344, 切向力Y=491.4472 +FPS=37.34, 法向力=5178.4688, 切向力X=-3283.5691, 切向力Y=327.4070 +FPS=40.05, 法向力=3790.4290, 切向力X=-768.0863, 切向力Y=737.0101 +FPS=40.51, 法向力=3702.1624, 切向力X=-638.4739, 切向力Y=709.1061 +FPS=38.94, 法向力=4805.4380, 切向力X=-4465.1689, 切向力Y=450.9936 +FPS=40.67, 法向力=4162.1172, 切向力X=-4110.7793, 切向力Y=477.6784 +FPS=39.38, 法向力=4124.9819, 切向力X=-4020.9810, 切向力Y=1331.4612 +FPS=40.83, 法向力=3959.6860, 切向力X=-3956.9939, 切向力Y=1003.9583 +FPS=38.85, 法向力=5623.7808, 切向力X=-3519.4028, 切向力Y=2042.5308 +FPS=38.44, 法向力=5810.3291, 切向力X=-3389.9238, 切向力Y=2243.0122 +FPS=39.55, 法向力=5782.7695, 切向力X=-3417.2378, 切向力Y=2134.4338 +FPS=38.75, 法向力=6000.9834, 切向力X=-5670.6191, 切向力Y=1795.1631 +FPS=39.65, 法向力=7523.9595, 切向力X=-8644.0293, 切向力Y=2971.5598 +FPS=38.83, 法向力=9973.6299, 切向力X=-11424.6865, 切向力Y=1958.5054 +FPS=38.35, 法向力=9563.3076, 切向力X=-7173.6895, 切向力Y=888.3143 +FPS=39.28, 法向力=9487.9707, 切向力X=-7458.1187, 切向力Y=1032.7173 +FPS=39.43, 法向力=13676.6543, 切向力X=-7233.0059, 切向力Y=2437.7522 +FPS=38.44, 法向力=13709.4883, 切向力X=-7170.6489, 切向力Y=2730.9834 +FPS=38.41, 法向力=11708.1328, 切向力X=-9635.3164, 切向力Y=1440.7642 +FPS=38.90, 法向力=11792.8721, 切向力X=-9829.6143, 切向力Y=1783.4624 +FPS=38.18, 法向力=11470.1846, 切向力X=-14670.2344, 切向力Y=4182.1758 +FPS=39.09, 法向力=11357.9189, 切向力X=-14490.6689, 切向力Y=4131.2383 +FPS=38.92, 法向力=9411.5508, 切向力X=-12944.1543, 切向力Y=4094.6824 +FPS=39.31, 法向力=9338.5527, 切向力X=-12660.2949, 切向力Y=4102.9287 +FPS=39.74, 法向力=8833.2197, 切向力X=-13966.9229, 切向力Y=4262.7852 +FPS=39.63, 法向力=8645.0879, 切向力X=-13952.7480, 切向力Y=4248.3633 +FPS=37.84, 法向力=8830.5547, 切向力X=-13551.0166, 切向力Y=4348.8901 +FPS=39.00, 法向力=9748.0703, 切向力X=-12024.5850, 切向力Y=3425.1575 +FPS=36.30, 法向力=8944.4434, 切向力X=-10854.1641, 切向力Y=4804.6216 +FPS=39.72, 法向力=9182.4639, 切向力X=-10823.3457, 切向力Y=5138.0557 +FPS=38.08, 法向力=10276.6982, 切向力X=-9233.5723, 切向力Y=3781.3757 +FPS=38.26, 法向力=10377.3047, 切向力X=-9098.3574, 切向力Y=4271.0376 +FPS=39.20, 法向力=8069.6582, 切向力X=-12046.2920, 切向力Y=2990.6477 +FPS=39.00, 法向力=8029.7070, 切向力X=-13404.5576, 切向力Y=3025.1226 +FPS=38.47, 法向力=9279.8809, 切向力X=-10939.7578, 切向力Y=3412.7292 +FPS=37.10, 法向力=9519.5859, 切向力X=-10622.1074, 切向力Y=3610.8262 +FPS=39.73, 法向力=9859.8447, 切向力X=-9621.2480, 切向力Y=2585.6855 +FPS=37.53, 法向力=11563.2598, 切向力X=-6174.1064, 切向力Y=3647.8379 +FPS=38.74, 法向力=11847.2539, 切向力X=-5642.6230, 切向力Y=3444.5388 +FPS=38.76, 法向力=11888.4443, 切向力X=-5617.0874, 切向力Y=3295.1060 +FPS=38.40, 法向力=8863.8535, 切向力X=-9074.6592, 切向力Y=2475.7529 +FPS=38.60, 法向力=8795.1855, 切向力X=-9073.5645, 切向力Y=2608.3909 +FPS=39.22, 法向力=9686.2988, 切向力X=-2444.7554, 切向力Y=2007.2197 +FPS=39.35, 法向力=9713.4512, 切向力X=-2419.9175, 切向力Y=1982.6279 +FPS=39.48, 法向力=4333.1807, 切向力X=-5046.0713, 切向力Y=-809.6825 +FPS=40.73, 法向力=3304.6973, 切向力X=-3078.9604, 切向力Y=725.2101 +FPS=41.96, 法向力=4029.6562, 切向力X=-3681.1155, 切向力Y=1477.7834 +FPS=42.87, 法向力=4110.5859, 切向力X=-3779.9534, 切向力Y=1480.0026 +FPS=40.73, 法向力=6781.6133, 切向力X=-5352.6421, 切向力Y=216.8313 +FPS=40.93, 法向力=5159.4033, 切向力X=1138.3784, 切向力Y=201.5985 +FPS=40.85, 法向力=5770.8652, 切向力X=1694.4756, 切向力Y=523.9285 +FPS=40.22, 法向力=6798.3501, 切向力X=2056.3960, 切向力Y=134.6595 +FPS=39.97, 法向力=7056.1987, 切向力X=1904.9575, 切向力Y=170.0932 +FPS=41.26, 法向力=7212.9863, 切向力X=2095.8345, 切向力Y=73.4086 +FPS=40.01, 法向力=8381.6523, 切向力X=736.6287, 切向力Y=2231.7566 +FPS=40.95, 法向力=8633.1104, 切向力X=868.1835, 切向力Y=2413.8049 +FPS=39.90, 法向力=9015.4629, 切向力X=3392.8135, 切向力Y=1161.3743 +FPS=40.25, 法向力=9090.8438, 切向力X=3494.7974, 切向力Y=1239.6787 +FPS=38.26, 法向力=9050.3242, 切向力X=1549.4624, 切向力Y=1060.9836 +FPS=39.39, 法向力=9338.5010, 切向力X=1652.1105, 切向力Y=1060.5104 +FPS=38.64, 法向力=10012.4355, 切向力X=159.3658, 切向力Y=1023.3376 +FPS=40.54, 法向力=10291.6113, 切向力X=-722.0035, 切向力Y=1414.4474 +FPS=40.15, 法向力=11207.1963, 切向力X=-2478.5557, 切向力Y=2896.3911 +FPS=41.43, 法向力=11659.1484, 切向力X=-2834.6848, 切向力Y=3035.5796 +FPS=40.05, 法向力=5856.8799, 切向力X=-354.3632, 切向力Y=961.6590 +FPS=40.86, 法向力=5446.9297, 切向力X=1.1505, 切向力Y=663.0834 +FPS=41.38, 法向力=8152.3955, 切向力X=-2810.5256, 切向力Y=778.3961 +FPS=41.16, 法向力=7721.3589, 切向力X=-2497.9011, 切向力Y=807.6686 +FPS=39.88, 法向力=3721.0894, 切向力X=2657.1855, 切向力Y=-1871.0161 +FPS=38.98, 法向力=4010.0942, 切向力X=3020.4048, 切向力Y=-1766.5747 +FPS=34.36, 法向力=4484.2822, 切向力X=3667.6016, 切向力Y=-1619.0701 +FPS=37.20, 法向力=4411.1768, 切向力X=3648.7107, 切向力Y=-1477.8757 +FPS=37.42, 法向力=2912.4536, 切向力X=1231.1176, 切向力Y=-1194.1577 +FPS=39.96, 法向力=3273.3726, 切向力X=-135.4699, 切向力Y=-324.6486 +FPS=42.13, 法向力=5038.5283, 切向力X=-1030.3723, 切向力Y=1164.4597 +FPS=42.02, 法向力=4728.5688, 切向力X=-788.7667, 切向力Y=1041.7183 +FPS=42.87, 法向力=2873.0222, 切向力X=-734.8754, 切向力Y=-1351.4199 +FPS=42.67, 法向力=2683.4937, 切向力X=-814.1176, 切向力Y=-1282.8442 +FPS=42.42, 法向力=2615.2871, 切向力X=-275.2145, 切向力Y=-441.3439 +FPS=41.13, 法向力=2682.7900, 切向力X=-214.6685, 切向力Y=-393.0059 +FPS=39.81, 法向力=5462.5078, 切向力X=-6148.9463, 切向力Y=303.6125 +FPS=42.95, 法向力=5805.9136, 切向力X=-6471.7178, 切向力Y=513.1085 +FPS=42.09, 法向力=7551.1904, 切向力X=194.8233, 切向力Y=732.4635 +FPS=42.27, 法向力=7611.3633, 切向力X=343.0700, 切向力Y=368.5949 +FPS=42.07, 法向力=4230.0742, 切向力X=-8104.7490, 切向力Y=-1314.8870 +FPS=43.30, 法向力=4403.0635, 切向力X=-8437.3633, 切向力Y=-1115.9460 +FPS=43.58, 法向力=4757.0474, 切向力X=-4104.4707, 切向力Y=-234.5351 +FPS=45.39, 法向力=4994.6729, 切向力X=-3986.4207, 切向力Y=-126.7756 +FPS=43.23, 法向力=5038.7876, 切向力X=-3936.7493, 切向力Y=-104.2539 +FPS=42.36, 法向力=2773.0999, 切向力X=-2393.7729, 切向力Y=-590.7082 +FPS=44.84, 法向力=2777.6343, 切向力X=-2394.1404, 切向力Y=-606.3955 +FPS=43.05, 法向力=2685.3169, 切向力X=-1301.9865, 切向力Y=-192.6528 +FPS=45.39, 法向力=2585.7285, 切向力X=-1083.1123, 切向力Y=-378.8004 +FPS=42.76, 法向力=7079.4131, 切向力X=-4065.0698, 切向力Y=-632.5331 +FPS=44.90, 法向力=8736.7471, 切向力X=-5112.1240, 切向力Y=-126.7772 +FPS=43.68, 法向力=2646.4365, 切向力X=593.6125, 切向力Y=-1599.9595 +FPS=42.58, 法向力=2703.4292, 切向力X=803.5339, 切向力Y=-1787.6880 +FPS=40.68, 法向力=3792.6853, 切向力X=723.6075, 切向力Y=-1398.6128 +FPS=40.22, 法向力=3899.6848, 切向力X=889.3344, 切向力Y=-1143.0557 +FPS=38.52, 法向力=5973.7568, 切向力X=3505.3582, 切向力Y=-775.4456 +FPS=39.35, 法向力=6335.8403, 切向力X=3520.7173, 切向力Y=-832.3955 +FPS=39.37, 法向力=4812.1465, 切向力X=-93.3083, 切向力Y=-428.8879 +FPS=39.19, 法向力=5193.6084, 切向力X=-589.1357, 切向力Y=-187.7236 +FPS=38.35, 法向力=5127.5815, 切向力X=1121.2025, 切向力Y=-268.6384 +FPS=38.92, 法向力=5139.5894, 切向力X=1246.5062, 切向力Y=-417.0295 +FPS=39.34, 法向力=4272.0928, 切向力X=3890.1506, 切向力Y=730.4477 +FPS=40.27, 法向力=4457.6836, 切向力X=3954.8247, 切向力Y=720.2252 +FPS=37.85, 法向力=2447.6892, 切向力X=1664.4690, 切向力Y=1313.2155 +FPS=39.92, 法向力=2438.3330, 切向力X=1263.8872, 切向力Y=1027.0205 +FPS=38.63, 法向力=3493.8298, 切向力X=3447.0137, 切向力Y=-93.2857 +FPS=39.97, 法向力=3739.0532, 切向力X=3788.3176, 切向力Y=-156.3689 +FPS=39.73, 法向力=4217.3555, 切向力X=-1989.5095, 切向力Y=-706.4371 +FPS=40.05, 法向力=4160.6504, 切向力X=-1898.2307, 切向力Y=-727.8896 +FPS=41.19, 法向力=5755.6221, 切向力X=-279.1748, 切向力Y=152.4632 +FPS=39.78, 法向力=5898.5581, 切向力X=-121.9382, 切向力Y=-21.3472 +FPS=40.43, 法向力=11183.0166, 切向力X=1352.4407, 切向力Y=112.7847 +FPS=40.40, 法向力=11787.7402, 切向力X=1699.5947, 切向力Y=-136.6154 +FPS=38.77, 法向力=7972.3950, 切向力X=-2999.5544, 切向力Y=-62.3706 +FPS=39.92, 法向力=7799.4736, 切向力X=-3422.1826, 切向力Y=505.2454 +FPS=39.72, 法向力=7688.8438, 切向力X=-5124.9819, 切向力Y=-1317.4344 +FPS=39.86, 法向力=7747.7754, 切向力X=-5199.7266, 切向力Y=-1371.6636 +FPS=38.67, 法向力=8013.2939, 切向力X=-2258.0239, 切向力Y=-1195.7419 +FPS=39.84, 法向力=8143.7080, 切向力X=-2250.6104, 切向力Y=-1425.5625 +FPS=38.67, 法向力=10230.6631, 切向力X=-1181.5256, 切向力Y=-4028.6492 +FPS=39.77, 法向力=10196.3652, 切向力X=-1035.3506, 切向力Y=-4516.8628 +FPS=40.28, 法向力=6934.7197, 切向力X=-4730.2251, 切向力Y=-4080.0393 +FPS=39.98, 法向力=7331.6538, 切向力X=-8688.4258, 切向力Y=-2808.5684 +FPS=40.67, 法向力=6551.8750, 切向力X=-3119.9595, 切向力Y=-4069.0906 +FPS=40.04, 法向力=6561.9404, 切向力X=-3165.4316, 切向力Y=-4308.5347 +FPS=38.77, 法向力=12359.1396, 切向力X=706.3784, 切向力Y=-6646.7139 +FPS=40.04, 法向力=11986.4238, 切向力X=237.7748, 切向力Y=-6915.3359 +FPS=37.79, 法向力=4431.6865, 切向力X=-5129.7393, 切向力Y=-3200.7605 +FPS=39.97, 法向力=4285.3848, 切向力X=-5396.3516, 切向力Y=-3086.3560 +FPS=38.84, 法向力=4286.3081, 切向力X=-4771.7002, 切向力Y=-3528.6509 +FPS=39.88, 法向力=4283.5054, 切向力X=-5420.9834, 切向力Y=-3054.6934 +FPS=38.95, 法向力=3996.1780, 切向力X=-4466.5859, 切向力Y=-1946.5055 +FPS=40.39, 法向力=4035.7625, 切向力X=-4927.3252, 切向力Y=-1778.1400 +FPS=39.45, 法向力=3779.7722, 切向力X=-3149.4861, 切向力Y=-492.4708 +FPS=39.11, 法向力=3852.8643, 切向力X=-3176.0342, 切向力Y=-643.6024 +FPS=39.42, 法向力=5087.7759, 切向力X=-2954.4722, 切向力Y=1356.4100 +FPS=36.92, 法向力=3033.9658, 切向力X=-895.1479, 切向力Y=497.2094 +FPS=39.44, 法向力=3026.4707, 切向力X=-802.6108, 切向力Y=591.2009 +FPS=36.57, 法向力=4844.3936, 切向力X=1128.3579, 切向力Y=-776.8480 +FPS=39.24, 法向力=5073.1108, 切向力X=1175.1481, 切向力Y=-747.0040 +FPS=39.94, 法向力=5129.5781, 切向力X=1274.3892, 切向力Y=-872.1331 +FPS=39.58, 法向力=5243.8633, 切向力X=1012.2452, 切向力Y=-2610.9941 +FPS=39.88, 法向力=5036.3550, 切向力X=411.3622, 切向力Y=-2994.7061 +FPS=38.34, 法向力=5022.6948, 切向力X=1248.0344, 切向力Y=-3766.4653 +FPS=39.85, 法向力=5119.7261, 切向力X=1355.8954, 切向力Y=-3832.0876 +FPS=40.14, 法向力=5117.2197, 切向力X=1306.1270, 切向力Y=-3821.6423 +FPS=39.48, 法向力=5116.3389, 切向力X=1394.1494, 切向力Y=-3858.5732 +FPS=39.76, 法向力=5188.3052, 切向力X=837.9312, 切向力Y=-1746.6055 +FPS=39.31, 法向力=4616.7876, 切向力X=-140.3172, 切向力Y=-1350.1461 +FPS=39.98, 法向力=5876.4424, 切向力X=-2131.8506, 切向力Y=-1045.4099 +FPS=39.69, 法向力=6769.6396, 切向力X=-3297.7021, 切向力Y=-1577.7290 +FPS=41.00, 法向力=6689.7456, 切向力X=-3360.4695, 切向力Y=-1471.0200 +FPS=40.99, 法向力=5705.5894, 切向力X=2929.6306, 切向力Y=-1093.6616 +FPS=41.57, 法向力=5966.1680, 切向力X=3099.9758, 切向力Y=-959.9682 +FPS=41.09, 法向力=5976.4277, 切向力X=3082.5320, 切向力Y=-967.7465 +FPS=40.71, 法向力=3009.6309, 切向力X=1689.3567, 切向力Y=262.5423 +FPS=40.22, 法向力=6636.9668, 切向力X=-1828.4796, 切向力Y=965.0042 +FPS=39.00, 法向力=6858.0381, 切向力X=-3159.4448, 切向力Y=725.3719 +FPS=40.18, 法向力=7079.5283, 切向力X=-3390.0435, 切向力Y=823.1857 +FPS=35.28, 法向力=2511.7017, 切向力X=-455.4164, 切向力Y=1689.9243 +FPS=37.57, 法向力=2557.8232, 切向力X=-275.6264, 切向力Y=1723.1952 +FPS=41.50, 法向力=2543.8130, 切向力X=-241.3261, 切向力Y=1699.5281 +FPS=41.55, 法向力=4552.1416, 切向力X=1754.9618, 切向力Y=2124.9326 +FPS=41.76, 法向力=4663.6118, 切向力X=1824.7397, 切向力Y=2069.0005 +FPS=42.23, 法向力=4693.2852, 切向力X=1847.7178, 切向力Y=2114.7441 +FPS=43.17, 法向力=2219.4648, 切向力X=-612.0521, 切向力Y=721.1805 +FPS=40.09, 法向力=5047.8760, 切向力X=1165.2933, 切向力Y=-1247.9493 +FPS=41.00, 法向力=5043.4551, 切向力X=1183.9048, 切向力Y=-1242.5806 +FPS=41.55, 法向力=4988.2261, 切向力X=1131.0175, 切向力Y=-1302.4181 +FPS=38.79, 法向力=2992.7847, 切向力X=221.9788, 切向力Y=-121.4833 +FPS=41.04, 法向力=2993.5679, 切向力X=-317.3541, 切向力Y=310.8822 +FPS=38.55, 法向力=4456.2891, 切向力X=-2400.6021, 切向力Y=-242.9227 +FPS=39.64, 法向力=4472.8188, 切向力X=-2378.8628, 切向力Y=-377.6785 +FPS=37.73, 法向力=7202.6089, 切向力X=-4020.0007, 切向力Y=1423.9170 +FPS=39.96, 法向力=7440.1807, 切向力X=-4192.7441, 切向力Y=1584.0488 +FPS=40.10, 法向力=3884.8804, 切向力X=1137.4187, 切向力Y=1768.8418 +FPS=39.17, 法向力=3864.1021, 切向力X=1122.8610, 切向力Y=1500.3685 +FPS=39.58, 法向力=3863.8333, 切向力X=1143.0504, 切向力Y=1502.5327 +FPS=38.03, 法向力=3851.6289, 切向力X=1137.0325, 切向力Y=1447.4270 +FPS=39.21, 法向力=2277.8149, 切向力X=438.9709, 切向力Y=-939.1300 +FPS=39.20, 法向力=4132.0352, 切向力X=-2211.3025, 切向力Y=-431.4895 +FPS=40.68, 法向力=4257.2070, 切向力X=-2287.9644, 切向力Y=-555.2300 +FPS=39.35, 法向力=12215.3535, 切向力X=-6157.9668, 切向力Y=4804.7637 +FPS=40.33, 法向力=12576.8740, 切向力X=-6299.3262, 切向力Y=5438.5210 +FPS=38.81, 法向力=12322.3867, 切向力X=-6190.7852, 切向力Y=5239.9824 +FPS=39.07, 法向力=15632.6367, 切向力X=-8791.2139, 切向力Y=2545.6006 +FPS=38.22, 法向力=15935.8447, 切向力X=-9242.6650, 切向力Y=1816.2246 +FPS=36.04, 法向力=4896.2803, 切向力X=-2683.3120, 切向力Y=1957.1436 +FPS=37.75, 法向力=3642.2131, 切向力X=-3191.4216, 切向力Y=2618.4392 +FPS=38.98, 法向力=3756.2883, 切向力X=-3229.0845, 切向力Y=2575.4312 +FPS=37.65, 法向力=8883.3574, 切向力X=-4686.9751, 切向力Y=2861.7241 +FPS=37.39, 法向力=9144.8477, 切向力X=-4982.2734, 切向力Y=3124.9277 +FPS=36.12, 法向力=8760.1309, 切向力X=-4730.0122, 切向力Y=3180.9995 +FPS=36.45, 法向力=8940.9219, 切向力X=-4770.8604, 切向力Y=3125.7664 +FPS=19.80, 法向力=12818.2383, 切向力X=691.1904, 切向力Y=3996.7891 +FPS=23.18, 法向力=11736.1475, 切向力X=670.4866, 切向力Y=3619.2407 +FPS=20.68, 法向力=5859.2383, 切向力X=-1465.2559, 切向力Y=2417.1353 +FPS=20.57, 法向力=5247.8955, 切向力X=-1361.0421, 切向力Y=84.0949 +FPS=21.26, 法向力=5431.2583, 切向力X=-2586.9434, 切向力Y=252.6325 +FPS=21.09, 法向力=3501.9966, 切向力X=571.1863, 切向力Y=2103.6262 +FPS=31.90, 法向力=3211.1099, 切向力X=749.8444, 切向力Y=719.1107 +FPS=33.44, 法向力=3033.3806, 切向力X=635.8916, 切向力Y=720.7150 +FPS=35.32, 法向力=3032.1284, 切向力X=616.1107, 切向力Y=750.9106 +FPS=36.33, 法向力=3083.0161, 切向力X=698.7537, 切向力Y=757.3430 +FPS=36.96, 法向力=2950.6606, 切向力X=1387.3956, 切向力Y=148.8619 +FPS=37.12, 法向力=2883.3135, 切向力X=-210.8111, 切向力Y=766.8829 +FPS=37.84, 法向力=3093.1843, 切向力X=-456.2375, 切向力Y=849.1246 +FPS=38.82, 法向力=3098.7310, 切向力X=-453.7525, 切向力Y=797.1775 +FPS=37.57, 法向力=8204.9756, 切向力X=-4254.5439, 切向力Y=1609.0164 +FPS=37.52, 法向力=8623.7529, 切向力X=-4556.5830, 切向力Y=1594.8922 +FPS=37.70, 法向力=2386.9082, 切向力X=389.2439, 切向力Y=-10.5255 +FPS=38.22, 法向力=2220.0586, 切向力X=397.2056, 切向力Y=-443.4116 +FPS=37.83, 法向力=9427.7559, 切向力X=-3480.1455, 切向力Y=2483.8381 +FPS=39.75, 法向力=1942.8738, 切向力X=629.1506, 切向力Y=773.1486 +FPS=39.39, 法向力=4382.0361, 切向力X=2861.5889, 切向力Y=933.0188 +FPS=38.77, 法向力=2280.1343, 切向力X=-527.5297, 切向力Y=292.1650 +FPS=39.71, 法向力=2816.6260, 切向力X=-1127.7909, 切向力Y=758.0167 +FPS=39.94, 法向力=3676.1265, 切向力X=-1747.9323, 切向力Y=1224.1228 +FPS=39.00, 法向力=3330.7954, 切向力X=-1530.8098, 切向力Y=1151.1338 +FPS=39.48, 法向力=2456.8894, 切向力X=-93.4092, 切向力Y=654.0620 +FPS=40.19, 法向力=2373.3650, 切向力X=-208.4561, 切向力Y=573.6609 +FPS=39.86, 法向力=2357.8904, 切向力X=-256.5646, 切向力Y=573.0105 +FPS=40.14, 法向力=2341.4880, 切向力X=741.0903, 切向力Y=808.5134 +FPS=39.32, 法向力=2856.5776, 切向力X=853.7984, 切向力Y=682.0126 +FPS=36.23, 法向力=3036.4385, 切向力X=917.8140, 切向力Y=778.0275 +FPS=34.54, 法向力=2711.4854, 切向力X=-1216.7634, 切向力Y=292.6992 +FPS=35.37, 法向力=2892.0962, 切向力X=-1309.6892, 切向力Y=334.5055 +FPS=33.65, 法向力=8649.1611, 切向力X=-4861.3916, 切向力Y=-140.7806 +FPS=35.26, 法向力=9095.8232, 切向力X=-5187.0386, 切向力Y=-228.5404 +FPS=36.70, 法向力=2184.7886, 切向力X=-250.3795, 切向力Y=1670.9690 +FPS=37.07, 法向力=2469.7534, 切向力X=-1121.2699, 切向力Y=159.4990 +FPS=37.97, 法向力=2353.7158, 切向力X=-963.0212, 切向力Y=75.1208 +FPS=39.99, 法向力=2349.2358, 切向力X=-922.7199, 切向力Y=15.7225 +FPS=40.85, 法向力=2343.7983, 切向力X=-935.0461, 切向力Y=25.2603 +FPS=40.25, 法向力=2350.2627, 切向力X=-902.0018, 切向力Y=24.8555 +FPS=38.03, 法向力=2415.1763, 切向力X=-426.0887, 切向力Y=-722.5428 +FPS=39.95, 法向力=3437.8350, 切向力X=-1092.0613, 切向力Y=-501.9076 +FPS=39.23, 法向力=1879.0002, 切向力X=2168.3789, 切向力Y=-616.2160 +FPS=39.84, 法向力=2004.2043, 切向力X=2172.8794, 切向力Y=-189.5506 +FPS=40.44, 法向力=4629.8604, 切向力X=4308.5098, 切向力Y=-1944.7866 +FPS=38.50, 法向力=4971.9604, 切向力X=4448.3457, 切向力Y=-2059.0117 +FPS=38.67, 法向力=4972.6729, 切向力X=4838.9229, 切向力Y=-1201.3549 +FPS=36.61, 法向力=3371.3926, 切向力X=3243.6389, 切向力Y=-1467.5544 +FPS=38.14, 法向力=3458.2361, 切向力X=3203.7026, 切向力Y=-1508.4608 +FPS=36.11, 法向力=2030.5266, 切向力X=-738.6637, 切向力Y=-2050.8232 +FPS=38.45, 法向力=3392.3406, 切向力X=-2004.5857, 切向力Y=-1764.8534 +FPS=36.10, 法向力=3511.7827, 切向力X=-2010.4628, 切向力Y=-654.6252 +FPS=37.07, 法向力=3457.0752, 切向力X=-2052.4893, 切向力Y=-590.0017 +FPS=37.62, 法向力=3515.9136, 切向力X=-1995.9680, 切向力Y=-653.7399 +FPS=37.59, 法向力=3471.7568, 切向力X=-2020.1895, 切向力Y=-612.5264 +FPS=38.27, 法向力=3063.5728, 切向力X=-2798.6404, 切向力Y=-79.3479 +FPS=38.30, 法向力=2970.9927, 切向力X=-2787.0979, 切向力Y=135.1200 +FPS=37.82, 法向力=3595.8184, 切向力X=-3273.4648, 切向力Y=130.1029 +FPS=38.82, 法向力=2504.8789, 切向力X=-2516.6091, 切向力Y=-431.6339 +FPS=38.50, 法向力=2930.4043, 切向力X=-1524.0457, 切向力Y=-2598.4614 +FPS=39.05, 法向力=3068.3950, 切向力X=-1656.8053, 切向力Y=-2552.8491 +FPS=38.31, 法向力=3749.3979, 切向力X=-1214.2750, 切向力Y=-2776.3550 +FPS=37.57, 法向力=1636.9858, 切向力X=1570.9611, 切向力Y=-1240.8335 +FPS=38.35, 法向力=1611.0081, 切向力X=1731.6541, 切向力Y=-1313.2764 +FPS=37.78, 法向力=3936.8225, 切向力X=3646.3931, 切向力Y=-810.4512 +FPS=37.68, 法向力=4035.2888, 切向力X=3647.0320, 切向力Y=-1127.8021 +FPS=36.44, 法向力=3462.7290, 切向力X=708.8375, 切向力Y=-2304.9932 +FPS=38.74, 法向力=3436.2671, 切向力X=1044.2502, 切向力Y=-2372.0938 +FPS=38.32, 法向力=3476.7380, 切向力X=1022.5108, 切向力Y=-2322.3662 +FPS=38.57, 法向力=3461.2871, 切向力X=1021.6890, 切向力Y=-2298.9121 +FPS=37.35, 法向力=3088.8618, 切向力X=480.4450, 切向力Y=-2385.7703 +FPS=36.38, 法向力=3054.8071, 切向力X=402.7224, 切向力Y=-2442.7097 +FPS=38.21, 法向力=1885.4854, 切向力X=512.1118, 切向力Y=-2392.9097 +FPS=39.16, 法向力=2357.3921, 切向力X=72.6459, 切向力Y=-1859.7922 +FPS=38.95, 法向力=2395.1138, 切向力X=243.1858, 切向力Y=-2271.0483 +FPS=39.61, 法向力=2585.1792, 切向力X=71.7431, 切向力Y=-2188.1870 +FPS=38.96, 法向力=5424.8276, 切向力X=4687.3271, 切向力Y=-925.0036 +FPS=40.30, 法向力=5479.9688, 切向力X=4994.4980, 切向力Y=-536.9692 +FPS=37.40, 法向力=3221.6807, 切向力X=3088.5898, 切向力Y=-583.2307 +FPS=37.76, 法向力=3018.7754, 切向力X=2948.4810, 切向力Y=-555.5322 +FPS=37.46, 法向力=2187.9790, 切向力X=1083.7361, 切向力Y=-933.5675 +FPS=36.54, 法向力=2290.7168, 切向力X=717.7910, 切向力Y=-2644.6191 +FPS=37.66, 法向力=2263.2388, 切向力X=749.4501, 切向力Y=-2795.4980 +FPS=38.40, 法向力=2287.7832, 切向力X=737.9731, 切向力Y=-2784.9409 +FPS=36.42, 法向力=2042.5369, 切向力X=598.9980, 切向力Y=-2887.3972 +FPS=37.87, 法向力=3429.2476, 切向力X=-1073.4662, 切向力Y=-2493.3560 +FPS=38.66, 法向力=4391.1260, 切向力X=2473.2212, 切向力Y=-954.6718 +FPS=39.24, 法向力=2015.2585, 切向力X=27.0413, 切向力Y=-1474.7686 +FPS=41.19, 法向力=1994.9626, 切向力X=208.7946, 切向力Y=-1509.3716 +FPS=39.31, 法向力=1876.6338, 切向力X=-1389.8553, 切向力Y=-1508.8446 +FPS=40.71, 法向力=1916.1270, 切向力X=-1535.0359, 切向力Y=-1272.7343 +FPS=38.28, 法向力=3747.4995, 切向力X=-458.4323, 切向力Y=-889.3225 +FPS=36.28, 法向力=3584.3340, 切向力X=-678.2375, 切向力Y=-835.1385 +FPS=34.08, 法向力=4148.6646, 切向力X=-1623.4783, 切向力Y=-286.0540 +FPS=37.87, 法向力=4309.9863, 切向力X=-1801.9265, 切向力Y=-283.8135 +FPS=37.55, 法向力=2768.8965, 切向力X=-4725.7002, 切向力Y=-195.9723 +FPS=38.05, 法向力=3191.3777, 切向力X=-5323.2529, 切向力Y=475.0848 +FPS=36.77, 法向力=3795.5784, 切向力X=-2993.4624, 切向力Y=2091.6099 +FPS=37.62, 法向力=3754.0610, 切向力X=-3019.4893, 切向力Y=2036.1272 +FPS=36.91, 法向力=3857.7578, 切向力X=-425.2543, 切向力Y=-522.8413 +FPS=39.06, 法向力=3703.9500, 切向力X=-484.7081, 切向力Y=-565.0660 +FPS=37.87, 法向力=1858.7461, 切向力X=-980.8937, 切向力Y=15.6481 +FPS=38.42, 法向力=3505.6606, 切向力X=-2498.8989, 切向力Y=1408.5536 +FPS=38.44, 法向力=2947.4492, 切向力X=-2307.7495, 切向力Y=1204.5503 +FPS=37.76, 法向力=2653.3298, 切向力X=-46.3815, 切向力Y=318.4764 +FPS=38.52, 法向力=2609.9436, 切向力X=-245.4964, 切向力Y=476.5966 +FPS=37.58, 法向力=3032.1973, 切向力X=-1317.9338, 切向力Y=756.4033 +FPS=38.40, 法向力=3161.1353, 切向力X=-1496.6919, 切向力Y=953.5193 +FPS=38.03, 法向力=3202.2319, 切向力X=729.3058, 切向力Y=1563.4873 +FPS=38.76, 法向力=3223.5806, 切向力X=826.6132, 切向力Y=1688.5823 +FPS=37.54, 法向力=3239.2964, 切向力X=810.4984, 切向力Y=1702.6418 +FPS=38.17, 法向力=3282.2407, 切向力X=1863.8676, 切向力Y=299.5562 +FPS=38.67, 法向力=3708.1328, 切向力X=3005.9812, 切向力Y=-331.5933 +FPS=39.22, 法向力=3821.3435, 切向力X=3132.9067, 切向力Y=-154.3016 +FPS=35.93, 法向力=5689.9619, 切向力X=4557.7520, 切向力Y=74.1944 +FPS=38.25, 法向力=5818.2588, 切向力X=4601.0225, 切向力Y=185.2669 +FPS=38.42, 法向力=3832.5044, 切向力X=2409.1758, 切向力Y=908.6769 +FPS=39.62, 法向力=3867.1367, 切向力X=2341.9097, 切向力Y=599.5446 +FPS=38.99, 法向力=4272.0859, 切向力X=3208.0256, 切向力Y=-360.2957 +FPS=40.79, 法向力=4422.8115, 切向力X=3372.6626, 切向力Y=-346.0533 +FPS=37.71, 法向力=4083.7834, 切向力X=916.0574, 切向力Y=1136.1232 +FPS=39.44, 法向力=3883.8896, 切向力X=1205.6727, 切向力Y=1415.3043 +FPS=39.55, 法向力=7701.5283, 切向力X=-2224.2017, 切向力Y=-174.8857 +FPS=39.37, 法向力=8157.5190, 切向力X=-2549.5149, 切向力Y=-382.4929 +FPS=40.51, 法向力=5986.8540, 切向力X=-1954.3955, 切向力Y=890.4688 +FPS=40.35, 法向力=5786.7051, 切向力X=-1844.4011, 切向力Y=929.0359 +FPS=39.17, 法向力=3852.0518, 切向力X=-767.3628, 切向力Y=1005.0627 +FPS=40.65, 法向力=3756.1235, 切向力X=-797.8827, 切向力Y=970.8122 +FPS=37.74, 法向力=3032.6714, 切向力X=2224.6528, 切向力Y=778.8356 +FPS=39.57, 法向力=3196.4766, 切向力X=2621.2373, 切向力Y=747.1260 +FPS=37.89, 法向力=3512.7825, 切向力X=998.8598, 切向力Y=-1838.9062 +FPS=36.62, 法向力=3581.6172, 切向力X=968.4854, 切向力Y=-2156.6440 +FPS=35.53, 法向力=2986.7744, 切向力X=914.0005, 切向力Y=-112.8788 +FPS=34.08, 法向力=3609.1763, 切向力X=583.5869, 切向力Y=-545.5616 +FPS=35.90, 法向力=3782.3838, 切向力X=411.4780, 切向力Y=-433.8104 +FPS=38.43, 法向力=2848.3738, 切向力X=1307.0325, 切向力Y=268.1387 +FPS=40.32, 法向力=2912.6096, 切向力X=1183.4771, 切向力Y=440.5247 +FPS=39.13, 法向力=3728.4026, 切向力X=-1193.0852, 切向力Y=225.5149 +FPS=40.29, 法向力=3808.2681, 切向力X=-1260.1962, 切向力Y=303.3969 +FPS=39.53, 法向力=3030.9546, 切向力X=-338.3313, 切向力Y=-153.3669 +FPS=39.50, 法向力=3047.2876, 切向力X=-335.2401, 切向力Y=-313.2883 +FPS=38.83, 法向力=2908.1794, 切向力X=760.0638, 切向力Y=280.1938 +FPS=40.33, 法向力=2875.4236, 切向力X=837.8632, 切向力Y=230.4020 +FPS=40.03, 法向力=3197.5933, 切向力X=-106.2169, 切向力Y=-474.5843 +FPS=40.46, 法向力=3206.0806, 切向力X=-301.1991, 切向力Y=-370.2960 +FPS=39.20, 法向力=2995.2017, 切向力X=280.1996, 切向力Y=-810.2607 +FPS=41.26, 法向力=3618.9150, 切向力X=-671.3851, 切向力Y=-668.1652 +FPS=39.46, 法向力=3892.6528, 切向力X=50.7739, 切向力Y=1101.4893 +FPS=41.56, 法向力=3889.7725, 切向力X=80.1640, 切向力Y=1134.1270 +FPS=40.87, 法向力=2801.3384, 切向力X=858.3993, 切向力Y=-309.1881 +FPS=40.74, 法向力=2845.5308, 切向力X=1068.9531, 切向力Y=-982.7222 +FPS=39.37, 法向力=2701.0371, 切向力X=55.7190, 切向力Y=793.6680 +FPS=41.30, 法向力=2783.2119, 切向力X=-44.8534, 切向力Y=934.4924 +FPS=41.39, 法向力=2808.9011, 切向力X=-19.9185, 切向力Y=918.4080 +FPS=40.00, 法向力=4552.6323, 切向力X=-1876.6582, 切向力Y=412.0609 +FPS=39.44, 法向力=4759.9980, 切向力X=-2118.1440, 切向力Y=406.6570 +FPS=39.15, 法向力=4622.4351, 切向力X=-1932.0317, 切向力Y=197.9763 +FPS=40.50, 法向力=3757.1724, 切向力X=2560.1089, 切向力Y=-852.4918 +FPS=40.96, 法向力=3889.2329, 切向力X=2630.5640, 切向力Y=-493.8536 +FPS=40.14, 法向力=2716.5586, 切向力X=-976.4332, 切向力Y=-863.8695 +FPS=43.03, 法向力=2707.6533, 切向力X=-920.9596, 切向力Y=-740.7504 +FPS=42.42, 法向力=5443.6953, 切向力X=3517.2012, 切向力Y=-872.6716 +FPS=42.14, 法向力=5626.6035, 切向力X=3515.9321, 切向力Y=-893.6497 +FPS=41.68, 法向力=5618.7041, 切向力X=3517.7837, 切向力Y=-898.8200 +FPS=41.77, 法向力=2820.0405, 切向力X=1934.3759, 切向力Y=-671.9701 +FPS=40.11, 法向力=4867.8008, 切向力X=2977.1841, 切向力Y=-812.9888 +FPS=41.08, 法向力=4884.1816, 切向力X=2877.9771, 切向力Y=-941.5704 +FPS=39.99, 法向力=2660.1689, 切向力X=460.3548, 切向力Y=-529.8118 +FPS=42.00, 法向力=2455.7266, 切向力X=170.3963, 切向力Y=-190.6383 +FPS=41.80, 法向力=2484.1555, 切向力X=91.9646, 切向力Y=-199.4781 +FPS=38.75, 法向力=2612.6841, 切向力X=1104.6858, 切向力Y=385.0524 +FPS=38.48, 法向力=2748.6829, 切向力X=1244.1160, 切向力Y=370.6230 +FPS=38.16, 法向力=3915.8462, 切向力X=-1498.1577, 切向力Y=165.5112 +FPS=39.74, 法向力=6100.8057, 切向力X=-2810.6697, 切向力Y=665.9590 +FPS=40.65, 法向力=8961.0586, 切向力X=-5185.2388, 切向力Y=-759.7212 +FPS=40.20, 法向力=9479.7285, 切向力X=-5563.4263, 切向力Y=-603.4384 +FPS=39.06, 法向力=3398.7788, 切向力X=-1565.8699, 切向力Y=6.6953 +FPS=37.05, 法向力=3117.5308, 切向力X=1200.0452, 切向力Y=22.4901 +FPS=39.40, 法向力=2291.7900, 切向力X=1039.6431, 切向力Y=393.7536 +FPS=37.87, 法向力=2693.9487, 切向力X=-187.1432, 切向力Y=1395.2964 +FPS=40.10, 法向力=2797.5806, 切向力X=-277.1671, 切向力Y=1544.8118 +FPS=38.97, 法向力=2465.8457, 切向力X=-342.4302, 切向力Y=1583.8065 +FPS=38.49, 法向力=2350.1316, 切向力X=-222.5891, 切向力Y=1429.7593 +FPS=38.42, 法向力=2383.5012, 切向力X=-202.9585, 切向力Y=1471.3792 +FPS=38.79, 法向力=2494.0334, 切向力X=-495.5887, 切向力Y=162.1083 +FPS=38.08, 法向力=5417.4590, 切向力X=-2195.4136, 切向力Y=415.4509 +FPS=37.66, 法向力=5635.1768, 切向力X=-2309.6582, 切向力Y=506.6438 +FPS=37.12, 法向力=3006.4692, 切向力X=2874.4341, 切向力Y=268.5978 +FPS=34.51, 法向力=3149.2554, 切向力X=3171.2646, 切向力Y=348.2345 +FPS=32.81, 法向力=2480.8359, 切向力X=563.5293, 切向力Y=1318.8818 +FPS=30.16, 法向力=1881.1340, 切向力X=1047.5608, 切向力Y=-182.5339 +FPS=33.48, 法向力=1953.2581, 切向力X=1293.6868, 切向力Y=-240.4459 +FPS=34.89, 法向力=3358.5276, 切向力X=2263.8711, 切向力Y=-861.8282 +FPS=36.04, 法向力=3257.1997, 切向力X=2178.7161, 切向力Y=-938.4105 +FPS=36.76, 法向力=4045.0974, 切向力X=3719.6328, 切向力Y=-1393.6843 +FPS=38.86, 法向力=4210.5244, 切向力X=3766.1177, 切向力Y=-1491.7266 +FPS=38.98, 法向力=2989.4460, 切向力X=1976.7715, 切向力Y=653.0657 +FPS=38.86, 法向力=2860.2778, 切向力X=1879.8835, 切向力Y=1073.7491 +FPS=35.60, 法向力=2807.9863, 切向力X=541.3741, 切向力Y=109.4024 +FPS=10.23, 法向力=12897.0400, 切向力X=-6617.5024, 切向力Y=1746.8407 +FPS=23.41, 法向力=2246.7886, 切向力X=888.3329, 切向力Y=-190.7593 +FPS=21.27, 法向力=2944.0977, 切向力X=1722.3898, 切向力Y=-82.8435 +FPS=20.73, 法向力=2512.0176, 切向力X=-173.3730, 切向力Y=549.9604 +FPS=37.46, 法向力=2949.6807, 切向力X=-854.4015, 切向力Y=1421.7095 +FPS=37.03, 法向力=10452.4629, 切向力X=-5514.1914, 切向力Y=1635.0833 +FPS=37.80, 法向力=11139.7871, 切向力X=-5878.9448, 切向力Y=1960.9076 +FPS=37.36, 法向力=3870.4126, 切向力X=2821.0503, 切向力Y=89.0570 +FPS=38.42, 法向力=4131.0234, 切向力X=2946.2603, 切向力Y=131.8119 +FPS=34.04, 法向力=2878.4192, 切向力X=-1006.7793, 切向力Y=916.4673 +FPS=36.13, 法向力=2629.2068, 切向力X=-831.4750, 切向力Y=701.6848 +FPS=37.43, 法向力=2355.6978, 切向力X=297.9049, 切向力Y=703.7233 +FPS=38.65, 法向力=2327.6726, 切向力X=280.0119, 切向力Y=767.2504 +FPS=37.24, 法向力=2585.5923, 切向力X=-326.3672, 切向力Y=-775.3550 +FPS=38.74, 法向力=2631.9570, 切向力X=-402.2248, 切向力Y=-814.1841 +FPS=37.64, 法向力=2134.9590, 切向力X=-337.1654, 切向力Y=-713.1889 +FPS=37.76, 法向力=7652.9448, 切向力X=-4047.6799, 切向力Y=336.6436 +FPS=37.98, 法向力=8085.9209, 切向力X=-4222.1484, 切向力Y=979.4376 +FPS=37.25, 法向力=7908.9028, 切向力X=-3747.5974, 切向力Y=555.3829 +FPS=38.27, 法向力=7350.4160, 切向力X=-3472.4792, 切向力Y=341.4423 +FPS=32.76, 法向力=2668.7151, 切向力X=-103.3855, 切向力Y=431.4147 +FPS=38.47, 法向力=2141.4065, 切向力X=996.0859, 切向力Y=-400.9373 +FPS=37.10, 法向力=4023.4641, 切向力X=2315.8682, 切向力Y=-1010.5467 +FPS=37.39, 法向力=4391.9546, 切向力X=2628.0371, 切向力Y=-1087.9506 +FPS=37.62, 法向力=2969.6069, 切向力X=1930.8718, 切向力Y=-195.3856 +FPS=38.77, 法向力=2973.5562, 切向力X=1903.8391, 切向力Y=192.3554 +FPS=37.13, 法向力=4168.3613, 切向力X=-1196.3254, 切向力Y=445.4666 +FPS=38.13, 法向力=4329.1235, 切向力X=-1311.8418, 切向力Y=348.4330 +FPS=38.41, 法向力=2921.3276, 切向力X=1915.4186, 切向力Y=944.1603 +FPS=38.21, 法向力=4351.0933, 切向力X=3141.0740, 切向力Y=-570.4088 +FPS=38.05, 法向力=2399.0498, 切向力X=1629.2424, 切向力Y=614.5522 +FPS=38.66, 法向力=4079.5249, 切向力X=2193.0972, 切向力Y=241.3817 +FPS=40.69, 法向力=4484.5767, 切向力X=2480.9495, 切向力Y=266.9511 +FPS=39.97, 法向力=1784.7356, 切向力X=1105.1572, 切向力Y=-623.6479 +FPS=37.81, 法向力=1826.0222, 切向力X=1213.3403, 切向力Y=-423.2709 +FPS=36.39, 法向力=1790.7734, 切向力X=1199.0732, 切向力Y=-443.6907 +FPS=36.44, 法向力=2710.6108, 切向力X=1406.5261, 切向力Y=236.3562 +FPS=36.22, 法向力=6865.5835, 切向力X=-3159.1123, 切向力Y=1018.8999 +FPS=37.20, 法向力=7546.0244, 切向力X=-3665.1731, 切向力Y=984.6846 +FPS=36.49, 法向力=4409.2681, 切向力X=-2085.7344, 切向力Y=126.1886 +FPS=38.70, 法向力=4076.6042, 切向力X=-1844.8799, 切向力Y=-35.5014 +FPS=36.29, 法向力=6279.6133, 切向力X=3730.1807, 切向力Y=-1825.8191 +FPS=36.31, 法向力=6082.4131, 切向力X=3557.7188, 切向力Y=-1662.7097 +FPS=35.45, 法向力=1815.6477, 切向力X=299.0659, 切向力Y=256.7515 +FPS=35.06, 法向力=2004.9875, 切向力X=60.8411, 切向力Y=565.8015 +FPS=38.73, 法向力=1887.1187, 切向力X=1159.5548, 切向力Y=-314.2576 +FPS=38.97, 法向力=3540.2529, 切向力X=-1533.8391, 切向力Y=1095.3007 +FPS=39.50, 法向力=3919.7234, 切向力X=-1890.0864, 切向力Y=1398.6544 +FPS=39.50, 法向力=3963.3535, 切向力X=-1902.2714, 切向力Y=1396.6565 +FPS=37.80, 法向力=3297.1812, 切向力X=-1537.8008, 切向力Y=481.6353 +FPS=40.21, 法向力=2159.4058, 切向力X=-164.8842, 切向力Y=-64.7248 +FPS=38.82, 法向力=3081.0254, 切向力X=1830.4269, 切向力Y=-648.8174 +FPS=40.08, 法向力=3149.7229, 切向力X=1907.8882, 切向力Y=-650.8566 +FPS=40.08, 法向力=2124.6807, 切向力X=506.4012, 切向力Y=851.3879 +FPS=39.37, 法向力=2139.4590, 切向力X=532.0201, 切向力Y=920.0035 +FPS=38.29, 法向力=2207.1357, 切向力X=1054.6340, 切向力Y=-200.4504 +FPS=40.43, 法向力=2357.1655, 切向力X=-1035.8594, 切向力Y=314.1236 +FPS=41.04, 法向力=2568.9951, 切向力X=-1053.9548, 切向力Y=177.8083 +FPS=38.73, 法向力=2573.6816, 切向力X=62.7178, 切向力Y=-148.9027 +FPS=40.08, 法向力=2534.6284, 切向力X=106.7349, 切向力Y=-402.8037 +FPS=39.42, 法向力=2784.6812, 切向力X=728.2455, 切向力Y=1147.4504 +FPS=40.38, 法向力=2897.2607, 切向力X=845.2175, 切向力Y=1277.4109 +FPS=39.66, 法向力=2914.0635, 切向力X=830.5992, 切向力Y=1304.1787 +FPS=40.40, 法向力=3955.7019, 切向力X=-1469.1785, 切向力Y=507.5355 +FPS=40.90, 法向力=3647.8569, 切向力X=-1418.9388, 切向力Y=626.5444 +FPS=42.34, 法向力=1990.3964, 切向力X=505.0605, 切向力Y=-278.4825 +FPS=41.62, 法向力=2055.2046, 切向力X=723.1973, 切向力Y=-289.8988 +FPS=40.49, 法向力=2618.7910, 切向力X=1941.5690, 切向力Y=-123.4866 +FPS=43.37, 法向力=2170.1580, 切向力X=1639.6514, 切向力Y=-112.0370 +FPS=42.05, 法向力=2426.7690, 切向力X=-305.6926, 切向力Y=-856.1444 +FPS=42.35, 法向力=4386.9463, 切向力X=-1782.3024, 切向力Y=-946.6870 +FPS=41.76, 法向力=3108.5486, 切向力X=-589.0605, 切向力Y=-311.8318 +FPS=42.74, 法向力=2997.8687, 切向力X=-468.6476, 切向力Y=-314.3547 +FPS=41.60, 法向力=1977.7295, 切向力X=-173.1393, 切向力Y=-248.5706 +FPS=42.81, 法向力=1988.6572, 切向力X=-84.8236, 切向力Y=-224.2072 +FPS=42.46, 法向力=2662.8611, 切向力X=-26.1346, 切向力Y=347.0189 +FPS=42.52, 法向力=2809.1123, 切向力X=-76.1813, 切向力Y=415.3165 +FPS=40.54, 法向力=2521.7266, 切向力X=-90.0478, 切向力Y=-239.5099 +FPS=41.95, 法向力=2677.7065, 切向力X=-144.3645, 切向力Y=-355.9099 +FPS=41.38, 法向力=2671.1665, 切向力X=-111.4324, 切向力Y=-341.2523 +FPS=42.16, 法向力=5729.5088, 切向力X=-2729.2109, 切向力Y=1122.3806 +FPS=41.24, 法向力=2968.9253, 切向力X=-595.1923, 切向力Y=215.7742 +FPS=42.17, 法向力=2966.7573, 切向力X=-547.3176, 切向力Y=244.1293 +FPS=41.53, 法向力=7565.0293, 切向力X=-3633.2017, 切向力Y=514.2161 +FPS=41.06, 法向力=7276.4189, 切向力X=-3403.4575, 切向力Y=645.7720 +FPS=40.10, 法向力=1967.8905, 切向力X=138.7724, 切向力Y=594.3940 +FPS=41.59, 法向力=1936.7515, 切向力X=177.4219, 切向力Y=635.7128 +FPS=41.04, 法向力=2201.2117, 切向力X=194.3552, 切向力Y=-109.9853 +FPS=43.04, 法向力=2091.3760, 切向力X=900.4799, 切向力Y=230.0496 +FPS=42.58, 法向力=15130.7988, 切向力X=-7502.1587, 切向力Y=3409.9231 +FPS=33.70, 法向力=15701.1299, 切向力X=-8037.7012, 切向力Y=3484.8208 +FPS=35.98, 法向力=5083.1953, 切向力X=-2297.3760, 切向力Y=484.0024 +FPS=38.47, 法向力=4804.0239, 切向力X=-2113.3484, 切向力Y=111.7109 +FPS=36.56, 法向力=4663.2612, 切向力X=-2041.2241, 切向力Y=158.7733 +FPS=27.51, 法向力=1782.0173, 切向力X=1193.6179, 切向力Y=-186.9440 +FPS=29.00, 法向力=3245.4360, 切向力X=-966.5317, 切向力Y=467.3069 +FPS=32.85, 法向力=4773.5859, 切向力X=-2486.4827, 切向力Y=445.4604 +FPS=34.71, 法向力=5144.5898, 切向力X=-2685.5024, 切向力Y=706.0935 +FPS=34.89, 法向力=3663.7622, 切向力X=2572.1189, 切向力Y=260.4757 +FPS=19.98, 法向力=3611.1230, 切向力X=2671.4795, 切向力Y=456.4105 +FPS=19.99, 法向力=2571.4102, 切向力X=1530.9814, 切向力Y=-477.2791 +FPS=21.26, 法向力=2103.5417, 切向力X=1073.0598, 切向力Y=-523.9568 +FPS=20.56, 法向力=1889.6292, 切向力X=-207.7282, 切向力Y=203.1091 +FPS=20.53, 法向力=2265.5876, 切向力X=-381.6844, 切向力Y=883.1694 +FPS=21.53, 法向力=2249.4910, 切向力X=517.2557, 切向力Y=-207.7243 +FPS=20.12, 法向力=2438.9678, 切向力X=-1032.1278, 切向力Y=-1268.4945 +FPS=18.25, 法向力=2986.4543, 切向力X=1825.8792, 切向力Y=85.6923 +FPS=21.86, 法向力=7805.6890, 切向力X=4742.4795, 切向力Y=-106.1433 +FPS=29.89, 法向力=2158.6257, 切向力X=536.3069, 切向力Y=746.2415 +FPS=34.03, 法向力=3615.3784, 切向力X=3058.6885, 切向力Y=-1234.8245 +FPS=36.34, 法向力=2657.1719, 切向力X=1823.2161, 切向力Y=-685.5281 +FPS=36.29, 法向力=2776.7900, 切向力X=1883.9424, 切向力Y=-716.4750 +FPS=36.91, 法向力=2856.5742, 切向力X=1938.7257, 切向力Y=-554.2687 +FPS=34.83, 法向力=2095.0586, 切向力X=-100.8901, 切向力Y=-677.2413 +FPS=34.16, 法向力=2089.6069, 切向力X=1219.7834, 切向力Y=-497.0762 +FPS=37.48, 法向力=2096.2395, 切向力X=1240.0991, 切向力Y=-604.9429 +FPS=36.36, 法向力=5759.1074, 切向力X=-3123.7810, 切向力Y=-100.8102 +FPS=39.09, 法向力=6630.1533, 切向力X=-3645.1353, 切向力Y=260.0281 +FPS=39.49, 法向力=2165.0723, 切向力X=855.0205, 切向力Y=-334.0081 +FPS=41.31, 法向力=3121.9116, 切向力X=1872.7804, 切向力Y=-163.1095 +FPS=39.28, 法向力=3062.5654, 切向力X=2529.5569, 切向力Y=-351.5940 +FPS=38.84, 法向力=2719.7407, 切向力X=2197.2002, 切向力Y=225.6647 +FPS=37.77, 法向力=3040.9258, 切向力X=-1621.0232, 切向力Y=623.5713 +FPS=40.09, 法向力=2851.2100, 切向力X=-1482.8799, 切向力Y=278.8502 +FPS=39.24, 法向力=1629.1205, 切向力X=64.3069, 切向力Y=-149.3873 +FPS=39.39, 法向力=1648.9885, 切向力X=179.8727, 切向力Y=-58.7608 +FPS=37.78, 法向力=1862.2739, 切向力X=817.1378, 切向力Y=-649.0782 +FPS=38.14, 法向力=1822.1095, 切向力X=832.4463, 切向力Y=-642.8833 +FPS=37.44, 法向力=4375.1069, 切向力X=3205.3708, 切向力Y=-837.8719 +FPS=37.65, 法向力=3832.0796, 切向力X=2841.6738, 切向力Y=-554.1451 +FPS=37.77, 法向力=2542.9165, 切向力X=1378.9180, 切向力Y=-454.8034 +FPS=38.54, 法向力=2518.8481, 切向力X=1277.1177, 切向力Y=-495.0074 +FPS=38.65, 法向力=3027.1575, 切向力X=2204.3262, 切向力Y=255.2995 +FPS=40.69, 法向力=3010.7007, 切向力X=2324.8521, 切向力Y=46.8831 +FPS=40.22, 法向力=2633.4944, 切向力X=-370.4693, 切向力Y=335.8334 +FPS=38.66, 法向力=2642.1587, 切向力X=-460.1020, 切向力Y=326.5521 +FPS=36.73, 法向力=2142.0945, 切向力X=47.6531, 切向力Y=-108.2592 +FPS=34.84, 法向力=3182.0647, 切向力X=-1582.5996, 切向力Y=-836.8405 +FPS=36.75, 法向力=3316.2056, 切向力X=-1630.5824, 切向力Y=-921.6127 +FPS=24.83, 法向力=1869.5188, 切向力X=896.1659, 切向力Y=457.1773 +FPS=22.76, 法向力=1779.6482, 切向力X=602.5346, 切向力Y=-68.0670 +FPS=29.64, 法向力=1767.9775, 切向力X=609.4403, 切向力Y=-11.4136 +FPS=21.52, 法向力=1794.2295, 切向力X=572.1313, 切向力Y=-4.1489 +FPS=21.32, 法向力=2221.3740, 切向力X=892.6151, 切向力Y=-624.6449 +FPS=21.30, 法向力=3410.7981, 切向力X=-387.9447, 切向力Y=-456.3190 +FPS=21.86, 法向力=2407.1135, 切向力X=1013.6742, 切向力Y=158.1702 +FPS=21.38, 法向力=2224.5039, 切向力X=456.6711, 切向力Y=794.3401 +FPS=22.04, 法向力=2183.9189, 切向力X=-210.5405, 切向力Y=-119.6914 +FPS=23.75, 法向力=2188.7388, 切向力X=-73.0141, 切向力Y=-170.0975 +FPS=23.39, 法向力=3866.5808, 切向力X=-1055.3612, 切向力Y=-634.6233 +FPS=21.02, 法向力=4654.2798, 切向力X=-2567.3794, 切向力Y=-20.6909 +FPS=21.25, 法向力=1737.0361, 切向力X=933.8088, 切向力Y=-440.8294 +FPS=22.36, 法向力=5453.8218, 切向力X=4287.0864, 切向力Y=-365.5880 +FPS=23.16, 法向力=4325.2041, 切向力X=2262.3865, 切向力Y=-576.1703 +FPS=23.05, 法向力=2219.5671, 切向力X=746.9336, 切向力Y=-969.5285 +FPS=21.31, 法向力=6355.8047, 切向力X=-3590.0359, 切向力Y=-1253.5798 +FPS=22.27, 法向力=5386.1914, 切向力X=-1927.5139, 切向力Y=745.4468 +FPS=20.96, 法向力=7651.0425, 切向力X=5189.7119, 切向力Y=-835.6388 +FPS=21.07, 法向力=7002.4487, 切向力X=4815.5337, 切向力Y=-912.9158 +FPS=20.51, 法向力=6376.6191, 切向力X=4517.4365, 切向力Y=-273.1023 +FPS=20.71, 法向力=1980.4142, 切向力X=262.2003, 切向力Y=385.2782 +FPS=22.24, 法向力=2584.1836, 切向力X=1152.5787, 切向力Y=1048.1987 +FPS=21.72, 法向力=3447.3000, 切向力X=2141.4109, 切向力Y=8.0793 +FPS=21.98, 法向力=2559.3262, 切向力X=1996.9497, 切向力Y=-1152.5874 +FPS=21.41, 法向力=1625.1821, 切向力X=574.8785, 切向力Y=-170.4750 +FPS=19.75, 法向力=2397.5400, 切向力X=790.5162, 切向力Y=-84.3800 +FPS=20.20, 法向力=2233.5376, 切向力X=1077.8159, 切向力Y=845.0992 +FPS=20.52, 法向力=6177.3179, 切向力X=4794.7471, 切向力Y=-637.0422 +FPS=18.19, 法向力=4079.4395, 切向力X=2777.4199, 切向力Y=-1024.9836 +FPS=21.81, 法向力=3753.8494, 切向力X=-1162.6151, 切向力Y=-669.6717 +FPS=22.65, 法向力=4616.2285, 切向力X=-2069.0640, 切向力Y=-297.1849 +FPS=22.71, 法向力=3612.9055, 切向力X=-1297.2637, 切向力Y=841.1158 +FPS=21.47, 法向力=1924.4023, 切向力X=805.9910, 切向力Y=445.0706 +FPS=21.85, 法向力=1688.2820, 切向力X=589.1509, 切向力Y=-937.8813 +FPS=22.04, 法向力=5636.2422, 切向力X=-2178.6182, 切向力Y=-578.9468 +FPS=21.23, 法向力=8499.8633, 切向力X=-4028.1772, 切向力Y=473.7655 +FPS=22.42, 法向力=3938.3643, 切向力X=2981.5686, 切向力Y=-240.9406 +FPS=21.03, 法向力=2643.7969, 切向力X=-151.6595, 切向力Y=-155.0126 +FPS=22.11, 法向力=4348.1426, 切向力X=-1121.6973, 切向力Y=-237.1475 +FPS=22.93, 法向力=4050.1172, 切向力X=-1043.5513, 切向力Y=-233.9850 +FPS=22.33, 法向力=1807.8250, 切向力X=888.7242, 切向力Y=-171.4252 +FPS=22.51, 法向力=2236.4595, 切向力X=1337.1071, 切向力Y=-69.3924 +FPS=25.48, 法向力=2599.6873, 切向力X=716.5106, 切向力Y=480.0748 +FPS=23.61, 法向力=2666.4556, 切向力X=424.8923, 切向力Y=609.8112 +FPS=25.10, 法向力=3943.4805, 切向力X=-1524.7920, 切向力Y=253.9421 +FPS=24.17, 法向力=1800.7927, 切向力X=1440.3806, 切向力Y=-260.9318 +FPS=24.25, 法向力=3728.3552, 切向力X=-1282.3542, 切向力Y=686.2942 +FPS=25.24, 法向力=2384.1921, 切向力X=553.6981, 切向力Y=-326.3288 +FPS=24.63, 法向力=4547.8027, 切向力X=-1984.9241, 切向力Y=679.2087 +FPS=21.57, 法向力=4597.7266, 切向力X=-1996.2340, 切向力Y=763.1110 +FPS=23.65, 法向力=2993.3311, 切向力X=127.0362, 切向力Y=28.1490 +FPS=21.73, 法向力=3756.9932, 切向力X=-1564.9414, 切向力Y=-2744.1172 +FPS=22.12, 法向力=2952.4839, 切向力X=-1111.7349, 切向力Y=-50.6745 +FPS=21.60, 法向力=6046.9473, 切向力X=-2661.2100, 切向力Y=369.8235 +FPS=20.92, 法向力=2796.5276, 切向力X=2725.8323, 切向力Y=474.5557 +FPS=21.75, 法向力=3619.7700, 切向力X=2182.5815, 切向力Y=-64.3847 +FPS=21.40, 法向力=3683.7986, 切向力X=-1218.2522, 切向力Y=-1326.8383 +FPS=21.44, 法向力=5963.0938, 切向力X=-2275.2573, 切向力Y=-1355.8704 +FPS=22.16, 法向力=7807.0952, 切向力X=-3423.1931, 切向力Y=-1107.5001 +FPS=19.96, 法向力=4241.5361, 切向力X=-1167.9536, 切向力Y=582.1515 +FPS=21.55, 法向力=2152.6982, 切向力X=354.0181, 切向力Y=1152.6708 +FPS=22.22, 法向力=7432.3701, 切向力X=-3171.7783, 切向力Y=320.4750 +FPS=21.18, 法向力=3843.7114, 切向力X=3235.4741, 切向力Y=-172.1308 +FPS=22.55, 法向力=1695.3800, 切向力X=638.7335, 切向力Y=-128.3760 +FPS=21.65, 法向力=2076.8340, 切向力X=364.6330, 切向力Y=-150.6292 +FPS=22.33, 法向力=5557.1611, 切向力X=3472.5342, 切向力Y=-1029.3375 +FPS=21.30, 法向力=3418.1597, 切向力X=3529.3032, 切向力Y=115.1839 +FPS=21.75, 法向力=1555.2783, 切向力X=1217.4028, 切向力Y=-1056.2828 +FPS=21.54, 法向力=1648.2957, 切向力X=1198.7168, 切向力Y=-315.0512 +FPS=20.87, 法向力=3829.9521, 切向力X=-509.2352, 切向力Y=1128.0739 +FPS=22.11, 法向力=10161.9277, 切向力X=-5072.9238, 切向力Y=671.7399 +FPS=21.32, 法向力=3863.3750, 切向力X=-1382.3608, 切向力Y=1976.3472 +FPS=21.15, 法向力=1643.5671, 切向力X=1340.5706, 切向力Y=494.2621 +FPS=21.47, 法向力=1545.8142, 切向力X=122.5171, 切向力Y=-371.4996 +FPS=21.91, 法向力=5940.8066, 切向力X=4374.8013, 切向力Y=565.4174 +FPS=21.58, 法向力=5856.2324, 切向力X=4458.1030, 切向力Y=256.4552 +FPS=22.25, 法向力=1577.5315, 切向力X=622.7616, 切向力Y=-434.2683 +FPS=21.66, 法向力=1779.2239, 切向力X=479.6147, 切向力Y=-18.2378 +FPS=21.13, 法向力=6813.6729, 切向力X=-2588.5117, 切向力Y=-954.7622 +FPS=22.77, 法向力=4867.5815, 切向力X=-2297.3750, 切向力Y=-14.8571 +FPS=22.15, 法向力=2138.9722, 切向力X=500.9489, 切向力Y=1811.0265 +FPS=21.90, 法向力=2916.7808, 切向力X=-543.8156, 切向力Y=-268.6677 +FPS=21.83, 法向力=3484.6978, 切向力X=-339.8331, 切向力Y=1620.6357 +FPS=21.50, 法向力=2445.9382, 切向力X=-507.4092, 切向力Y=-189.2455 +FPS=21.94, 法向力=4004.6013, 切向力X=3086.6519, 切向力Y=585.2913 +FPS=21.44, 法向力=3529.1035, 切向力X=2352.1436, 切向力Y=-888.3062 +FPS=21.55, 法向力=1890.4910, 切向力X=1487.9380, 切向力Y=-4.0768 +FPS=21.32, 法向力=1908.7855, 切向力X=1393.6956, 切向力Y=-71.1212 +FPS=20.20, 法向力=2826.3247, 切向力X=155.0252, 切向力Y=40.1976 +FPS=20.73, 法向力=3369.3018, 切向力X=-108.7372, 切向力Y=340.8074 +FPS=20.84, 法向力=4102.4839, 切向力X=-862.6456, 切向力Y=567.4138 +FPS=21.94, 法向力=2069.4578, 切向力X=2227.8796, 切向力Y=324.7794 +FPS=21.68, 法向力=4005.0806, 切向力X=-1896.3464, 切向力Y=1418.1606 +FPS=21.32, 法向力=4718.5669, 切向力X=-2359.3667, 切向力Y=1802.8149 +FPS=22.16, 法向力=1357.7091, 切向力X=494.5781, 切向力Y=-1018.8549 +FPS=22.00, 法向力=2300.0415, 切向力X=362.9602, 切向力Y=88.9211 +FPS=21.22, 法向力=3797.2568, 切向力X=-1086.5178, 切向力Y=477.1542 +FPS=20.76, 法向力=4025.8406, 切向力X=3682.4709, 切向力Y=500.8190 +FPS=22.07, 法向力=1844.0563, 切向力X=962.8802, 切向力Y=437.2996 +FPS=22.95, 法向力=2938.4807, 切向力X=1736.6812, 切向力Y=-1080.3757 +FPS=24.02, 法向力=3014.7734, 切向力X=1719.5264, 切向力Y=-1441.4480 +FPS=24.67, 法向力=2949.4324, 切向力X=1597.3604, 切向力Y=-1320.8120 +FPS=23.85, 法向力=1932.6224, 切向力X=1060.3116, 切向力Y=-1153.8777 +FPS=22.71, 法向力=1636.1150, 切向力X=248.7328, 切向力Y=-1227.7463 +FPS=23.93, 法向力=2007.2640, 切向力X=-49.9903, 切向力Y=488.3055 +FPS=23.95, 法向力=1686.5552, 切向力X=355.0229, 切向力Y=-1337.6927 +FPS=23.72, 法向力=2349.5464, 切向力X=1855.6643, 切向力Y=-885.1370 +FPS=23.81, 法向力=2406.5981, 切向力X=1924.9725, 切向力Y=-841.1805 +FPS=23.59, 法向力=2034.1858, 切向力X=488.4531, 切向力Y=-678.3146 +FPS=23.23, 法向力=1387.2959, 切向力X=952.9333, 切向力Y=-286.0241 +FPS=23.78, 法向力=1447.5599, 切向力X=863.1412, 切向力Y=-20.3203 +FPS=23.24, 法向力=5374.7939, 切向力X=-1827.3370, 切向力Y=-95.5698 +FPS=24.45, 法向力=1635.8472, 切向力X=238.7118, 切向力Y=33.1722 +FPS=23.95, 法向力=1696.6465, 切向力X=190.8149, 切向力Y=192.5474 +FPS=22.28, 法向力=2444.0967, 切向力X=82.6778, 切向力Y=749.4410 +FPS=22.97, 法向力=1744.1543, 切向力X=656.1680, 切向力Y=640.0087 +FPS=23.79, 法向力=1775.7675, 切向力X=513.8906, 切向力Y=-229.1675 +FPS=23.37, 法向力=4259.3423, 切向力X=-1468.9524, 切向力Y=1177.5645 +FPS=21.85, 法向力=3963.5952, 切向力X=-1207.4678, 切向力Y=1176.9636 +FPS=22.69, 法向力=6675.7490, 切向力X=-2986.3604, 切向力Y=985.3153 +FPS=23.50, 法向力=3229.4722, 切向力X=3167.0791, 切向力Y=-189.0245 +FPS=23.89, 法向力=3288.5586, 切向力X=3297.9395, 切向力Y=-172.1560 +FPS=23.34, 法向力=1783.5278, 切向力X=959.4659, 切向力Y=-1896.8794 +FPS=23.26, 法向力=1953.5729, 切向力X=403.3136, 切向力Y=93.3933 +FPS=23.50, 法向力=1570.6167, 切向力X=953.6683, 切向力Y=-1196.7745 +FPS=24.47, 法向力=1623.1039, 切向力X=1037.7003, 切向力Y=-1443.9053 +FPS=24.23, 法向力=5149.0557, 切向力X=3886.7346, 切向力Y=-971.7457 +FPS=23.36, 法向力=5485.8174, 切向力X=4116.6743, 切向力Y=-856.8776 +FPS=23.21, 法向力=4282.1289, 切向力X=3539.5454, 切向力Y=-423.6898 +FPS=22.40, 法向力=2809.4934, 切向力X=1997.7346, 切向力Y=-1112.6813 +FPS=22.30, 法向力=4942.2603, 切向力X=3978.9099, 切向力Y=-1643.4823 +FPS=23.33, 法向力=1899.3767, 切向力X=708.9875, 切向力Y=220.6018 +FPS=23.72, 法向力=2268.0420, 切向力X=495.1937, 切向力Y=397.0252 +FPS=23.04, 法向力=4913.1426, 切向力X=4003.2681, 切向力Y=124.0810 +FPS=21.86, 法向力=4035.6636, 切向力X=-1364.3643, 切向力Y=-674.8792 +FPS=23.02, 法向力=2253.2856, 切向力X=2092.6570, 切向力Y=-642.0250 +FPS=23.70, 法向力=2669.5913, 切向力X=2489.4204, 切向力Y=-542.5492 +FPS=22.33, 法向力=1729.6974, 切向力X=1781.9143, 切向力Y=-561.1144 +FPS=23.82, 法向力=1837.0464, 切向力X=1428.1368, 切向力Y=-154.9254 +FPS=24.09, 法向力=1910.4153, 切向力X=2300.1333, 切向力Y=582.5330 +FPS=24.16, 法向力=1955.2400, 切向力X=2515.3523, 切向力Y=639.4902 +FPS=22.22, 法向力=4624.6641, 切向力X=3733.8823, 切向力Y=1160.9724 +FPS=24.24, 法向力=2437.5229, 切向力X=1914.4429, 切向力Y=-667.6490 +FPS=23.76, 法向力=1799.0779, 切向力X=244.9333, 切向力Y=-190.0448 +FPS=24.10, 法向力=2191.7134, 切向力X=-46.0748, 切向力Y=-311.4282 +FPS=22.76, 法向力=3960.7551, 切向力X=-1390.2695, 切向力Y=769.7012 +FPS=22.32, 法向力=2289.4131, 切向力X=-348.0092, 切向力Y=-43.9543 +FPS=24.28, 法向力=1662.3232, 切向力X=619.4658, 切向力Y=59.6364 +FPS=24.18, 法向力=4341.5151, 切向力X=-926.0304, 切向力Y=212.4309 +FPS=24.62, 法向力=4451.7749, 切向力X=-1011.6104, 切向力Y=159.5564 +FPS=23.42, 法向力=1685.0474, 切向力X=1573.3457, 切向力Y=-136.9053 +FPS=21.52, 法向力=2796.8406, 切向力X=116.8449, 切向力Y=253.5320 +FPS=24.31, 法向力=1489.2621, 切向力X=1313.0233, 切向力Y=-189.9707 +FPS=23.56, 法向力=1560.9993, 切向力X=1422.8258, 切向力Y=-232.7247 +FPS=23.47, 法向力=1594.3298, 切向力X=1394.9491, 切向力Y=-208.8634 +FPS=24.11, 法向力=1644.3225, 切向力X=941.9720, 切向力Y=-506.2301 +FPS=23.35, 法向力=1734.3114, 切向力X=1559.5520, 切向力Y=470.9316 +FPS=21.35, 法向力=1605.5681, 切向力X=315.4302, 切向力Y=794.7224 +FPS=23.31, 法向力=2688.8008, 切向力X=-617.1208, 切向力Y=-316.1621 +FPS=24.53, 法向力=3740.5232, 切向力X=-724.9281, 切向力Y=1756.2980 +FPS=22.85, 法向力=2219.6514, 切向力X=-469.1989, 切向力Y=-366.9579 +FPS=22.80, 法向力=2281.6069, 切向力X=-485.0282, 切向力Y=-588.4229 +FPS=23.12, 法向力=2190.7515, 切向力X=-377.6498, 切向力Y=-690.4352 +FPS=23.72, 法向力=1628.8362, 切向力X=1950.9661, 切向力Y=116.8445 +FPS=23.40, 法向力=3195.0471, 切向力X=-864.4020, 切向力Y=267.0286 +FPS=23.06, 法向力=2674.9097, 切向力X=1687.0800, 切向力Y=-165.9742 +FPS=22.45, 法向力=2233.7236, 切向力X=1634.9812, 切向力Y=19.8781 +FPS=22.20, 法向力=1879.3706, 切向力X=492.8125, 切向力Y=529.4070 +FPS=22.33, 法向力=1768.3647, 切向力X=1143.7156, 切向力Y=-565.4249 +FPS=23.18, 法向力=2252.8379, 切向力X=1781.0303, 切向力Y=-793.3242 +FPS=23.17, 法向力=2027.2173, 切向力X=1600.3879, 切向力Y=-785.4185 +FPS=22.73, 法向力=7877.2070, 切向力X=-3736.3931, 切向力Y=4.0130 +FPS=22.90, 法向力=4366.6289, 切向力X=3562.9229, 切向力Y=-676.1959 +FPS=20.42, 法向力=2141.4241, 切向力X=1126.5967, 切向力Y=-979.8418 +FPS=22.02, 法向力=7740.3862, 切向力X=-3583.6050, 切向力Y=-67.9225 +FPS=22.43, 法向力=2183.9275, 切向力X=-220.8206, 切向力Y=-43.9643 +FPS=20.94, 法向力=3262.7043, 切向力X=3747.8711, 切向力Y=-15.0942 +FPS=20.19, 法向力=3067.6230, 切向力X=81.1249, 切向力Y=455.8679 +FPS=21.12, 法向力=3707.5547, 切向力X=-259.8461, 切向力Y=276.4659 +FPS=22.05, 法向力=3839.5508, 切向力X=2901.0522, 切向力Y=-1684.3521 +FPS=21.45, 法向力=1610.7542, 切向力X=1210.6802, 切向力Y=-944.1603 +FPS=22.07, 法向力=2919.1262, 切向力X=-610.8101, 切向力Y=-1306.0204 +FPS=20.39, 法向力=3661.2397, 切向力X=-1019.9795, 切向力Y=-833.1654 +FPS=20.66, 法向力=2895.1829, 切向力X=-443.9185, 切向力Y=291.8082 +FPS=21.30, 法向力=6725.4678, 切向力X=5072.1108, 切向力Y=-269.2311 +FPS=21.65, 法向力=1709.4330, 切向力X=139.1535, 切向力Y=-1142.0269 +FPS=22.21, 法向力=4343.8027, 切向力X=-1504.3340, 切向力Y=1541.1899 +FPS=22.11, 法向力=3467.8677, 切向力X=-864.5850, 切向力Y=906.9906 +FPS=20.91, 法向力=2021.6467, 切向力X=2093.0259, 切向力Y=-177.5865 +FPS=20.77, 法向力=2928.9902, 切向力X=1669.4622, 切向力Y=-25.2070 +FPS=21.03, 法向力=1481.9714, 切向力X=350.1649, 切向力Y=-300.6918 +FPS=21.55, 法向力=3648.9146, 切向力X=-1087.0999, 切向力Y=-859.2416 +FPS=22.17, 法向力=1570.0464, 切向力X=927.9576, 切向力Y=-181.7403 +FPS=22.09, 法向力=1519.6243, 切向力X=807.3569, 切向力Y=-793.9824 +FPS=22.31, 法向力=2003.3651, 切向力X=1308.7837, 切向力Y=1091.5099 +FPS=21.01, 法向力=1763.1865, 切向力X=1650.6052, 切向力Y=699.7838 +FPS=22.21, 法向力=1791.0198, 切向力X=1940.6936, 切向力Y=189.8624 +FPS=21.14, 法向力=1363.2891, 切向力X=2091.4600, 切向力Y=-94.8157 +FPS=21.59, 法向力=1343.0721, 切向力X=2060.1357, 切向力Y=-145.3540 +FPS=21.32, 法向力=2324.4570, 切向力X=1918.0222, 切向力Y=-1973.0710 +FPS=21.85, 法向力=3254.5649, 切向力X=3102.0552, 切向力Y=-568.2158 +FPS=20.61, 法向力=1899.4169, 切向力X=1134.1377, 切向力Y=527.8060 +FPS=21.97, 法向力=1307.0254, 切向力X=1129.4753, 切向力Y=-102.4774 +FPS=20.85, 法向力=2159.9277, 切向力X=1778.7281, 切向力Y=-167.0186 +FPS=19.95, 法向力=3375.1821, 切向力X=3260.0251, 切向力Y=359.1802 +FPS=21.93, 法向力=6146.5620, 切向力X=-2137.8604, 切向力Y=1129.4841 +FPS=21.48, 法向力=6929.6606, 切向力X=-2517.1279, 切向力Y=1228.2898 +FPS=21.71, 法向力=2179.9587, 切向力X=672.2762, 切向力Y=2225.4087 +FPS=21.49, 法向力=1550.5481, 切向力X=1328.4636, 切向力Y=1.3722 +FPS=21.77, 法向力=2017.5482, 切向力X=1803.3617, 切向力Y=-675.9435 +FPS=21.35, 法向力=1346.5360, 切向力X=1200.2059, 切向力Y=-301.5860 +FPS=21.91, 法向力=3838.4758, 切向力X=-1073.3871, 切向力Y=2370.9033 +FPS=22.27, 法向力=4745.6973, 切向力X=3611.0068, 切向力Y=1725.4956 +FPS=22.80, 法向力=2874.5977, 切向力X=-274.0031, 切向力Y=194.4015 +FPS=23.23, 法向力=2874.3308, 切向力X=-462.2305, 切向力Y=177.6874 +FPS=23.24, 法向力=2174.6997, 切向力X=1116.2261, 切向力Y=-769.3958 +FPS=21.82, 法向力=2412.1382, 切向力X=2339.3989, 切向力Y=-1498.6644 +FPS=22.69, 法向力=1439.1184, 切向力X=1734.1987, 切向力Y=-1.2867 +FPS=22.89, 法向力=7324.6514, 切向力X=-3164.7429, 切向力Y=947.2113 +FPS=20.66, 法向力=7809.4111, 切向力X=-3396.0034, 切向力Y=1388.8931 +FPS=21.81, 法向力=1888.8444, 切向力X=1027.1073, 切向力Y=790.8784 +FPS=22.20, 法向力=2988.8572, 切向力X=2160.6555, 切向力Y=1055.9524 +FPS=22.70, 法向力=3149.5005, 切向力X=-712.9258, 切向力Y=98.5491 +FPS=22.16, 法向力=1967.8416, 切向力X=551.3058, 切向力Y=-706.4954 +FPS=21.57, 法向力=2374.4773, 切向力X=2594.9734, 切向力Y=-703.4403 +FPS=22.04, 法向力=7592.6748, 切向力X=-3554.8635, 切向力Y=639.1478 +FPS=23.50, 法向力=1632.5829, 切向力X=559.8239, 切向力Y=36.3762 +FPS=19.06, 法向力=1587.8499, 切向力X=603.1996, 切向力Y=660.3577 +FPS=23.27, 法向力=3331.6274, 切向力X=-1368.9504, 切向力Y=1740.2091 +FPS=23.50, 法向力=1900.3140, 切向力X=2267.4233, 切向力Y=-1253.9027 +FPS=22.35, 法向力=1985.2927, 切向力X=2409.3430, 切向力Y=-1357.6602 +FPS=22.79, 法向力=1268.1132, 切向力X=1172.0135, 切向力Y=55.7123 +FPS=22.12, 法向力=1852.8508, 切向力X=2260.9158, 切向力Y=168.4378 +FPS=22.39, 法向力=2421.7676, 切向力X=-149.9635, 切向力Y=174.5452 +FPS=21.73, 法向力=2633.1213, 切向力X=-857.7767, 切向力Y=406.0819 +FPS=22.10, 法向力=6670.8086, 切向力X=-2431.6201, 切向力Y=408.8544 +FPS=22.80, 法向力=1967.9500, 切向力X=1334.6077, 切向力Y=1021.7815 +FPS=23.93, 法向力=3884.3174, 切向力X=320.8088, 切向力Y=31.4951 +FPS=23.82, 法向力=1895.0963, 切向力X=619.5688, 切向力Y=880.6142 +FPS=23.93, 法向力=1964.2965, 切向力X=2164.3923, 切向力Y=950.5332 +FPS=22.95, 法向力=1625.5452, 切向力X=1000.7951, 切向力Y=-224.0527 +FPS=22.77, 法向力=1503.1659, 切向力X=515.7269, 切向力Y=-450.3058 +FPS=23.42, 法向力=1961.5355, 切向力X=492.0736, 切向力Y=936.4073 +FPS=22.36, 法向力=5040.9312, 切向力X=-1478.8689, 切向力Y=894.9272 +FPS=22.54, 法向力=3014.1299, 切向力X=3167.1331, 切向力Y=-1187.9573 +FPS=23.23, 法向力=6458.9727, 切向力X=-2167.8604, 切向力Y=1151.5525 +FPS=22.46, 法向力=1872.8781, 切向力X=807.9364, 切向力Y=221.7269 +FPS=23.13, 法向力=1769.6534, 切向力X=2196.3672, 切向力Y=24.2654 +FPS=22.61, 法向力=2240.8779, 切向力X=-730.2775, 切向力Y=-430.2975 +FPS=24.05, 法向力=4531.7119, 切向力X=-1709.5697, 切向力Y=-948.6504 +FPS=23.95, 法向力=1563.1001, 切向力X=1410.5627, 切向力Y=-728.6152 +FPS=23.81, 法向力=1620.5813, 切向力X=1365.6749, 切向力Y=-630.0199 +FPS=23.66, 法向力=4697.8579, 切向力X=-1799.8384, 切向力Y=1342.6848 +FPS=21.79, 法向力=3926.4719, 切向力X=-1554.8992, 切向力Y=789.8580 +FPS=24.28, 法向力=3203.9233, 切向力X=-771.5215, 切向力Y=85.0143 +FPS=22.84, 法向力=7206.9556, 切向力X=-3237.9551, 切向力Y=247.6946 +FPS=23.30, 法向力=2341.9731, 切向力X=2498.2268, 切向力Y=658.7056 +FPS=24.63, 法向力=1392.1282, 切向力X=921.3937, 切向力Y=-178.4103 +FPS=24.76, 法向力=1357.2756, 切向力X=1114.2921, 切向力Y=-336.3422 +FPS=24.97, 法向力=2097.8984, 切向力X=2224.8408, 切向力Y=-1229.0603 +FPS=24.72, 法向力=1335.9048, 切向力X=969.3563, 切向力Y=-1109.3538 +FPS=24.78, 法向力=1575.0603, 切向力X=1803.5654, 切向力Y=229.4735 +FPS=25.05, 法向力=2263.8516, 切向力X=-168.8724, 切向力Y=490.5543 +FPS=23.70, 法向力=4535.1006, 切向力X=-1543.1587, 切向力Y=-847.5693 +FPS=24.04, 法向力=4630.3779, 切向力X=-1729.1748, 切向力Y=-748.1475 +FPS=24.58, 法向力=3389.2903, 切向力X=-639.1224, 切向力Y=-390.6830 +FPS=22.16, 法向力=4317.7358, 切向力X=-1440.7419, 切向力Y=243.3593 +FPS=23.78, 法向力=2037.7649, 切向力X=1906.8849, 切向力Y=732.8510 +FPS=24.21, 法向力=3358.0959, 切向力X=-841.1445, 切向力Y=237.3030 +FPS=22.71, 法向力=3226.1440, 切向力X=-54.2613, 切向力Y=493.4532 +FPS=23.39, 法向力=3885.7249, 切向力X=-764.4325, 切向力Y=746.5365 +FPS=23.01, 法向力=3786.6523, 切向力X=-728.4479, 切向力Y=736.8606 +FPS=21.90, 法向力=2147.4067, 切向力X=770.2059, 切向力Y=264.1497 +FPS=22.19, 法向力=1468.2938, 切向力X=1480.1543, 切向力Y=-147.0123 +FPS=21.29, 法向力=3498.0327, 切向力X=-545.6826, 切向力Y=-102.3689 +FPS=21.11, 法向力=2684.1506, 切向力X=478.8525, 切向力Y=1160.1404 +FPS=20.66, 法向力=1298.4722, 切向力X=485.3844, 切向力Y=-1021.6500 +FPS=20.72, 法向力=5829.6514, 切向力X=-2840.1863, 切向力Y=288.7711 +FPS=21.96, 法向力=3547.2261, 切向力X=-315.3734, 切向力Y=286.5280 +FPS=22.51, 法向力=3755.0159, 切向力X=-928.4713, 切向力Y=161.9965 +FPS=22.38, 法向力=1472.7634, 切向力X=1798.6169, 切向力Y=-507.8560 +FPS=22.37, 法向力=2921.3030, 切向力X=-668.5408, 切向力Y=-393.8646 +FPS=22.23, 法向力=3224.6467, 切向力X=-852.3761, 切向力Y=-252.3151 +FPS=23.19, 法向力=1829.6426, 切向力X=784.4283, 切向力Y=-20.0866 +FPS=22.66, 法向力=1688.6836, 切向力X=895.7461, 切向力Y=-400.3006 +FPS=22.64, 法向力=6983.7559, 切向力X=5293.8145, 切向力Y=-405.7411 +FPS=21.95, 法向力=1522.5225, 切向力X=818.8619, 切向力Y=178.5046 +FPS=23.12, 法向力=2692.2188, 切向力X=194.4151, 切向力Y=-310.6718 +FPS=22.70, 法向力=2792.5156, 切向力X=-601.5907, 切向力Y=-141.9064 +FPS=21.31, 法向力=1539.3623, 切向力X=1595.1425, 切向力Y=-533.1978 +FPS=21.25, 法向力=2175.2095, 切向力X=2469.4893, 切向力Y=26.8641 +FPS=18.43, 法向力=2170.2961, 切向力X=2609.5776, 切向力Y=195.5001 +FPS=22.72, 法向力=2029.5042, 切向力X=2605.5605, 切向力Y=-406.5576 +FPS=21.59, 法向力=4913.5049, 切向力X=-1195.8600, 切向力Y=-599.7013 +FPS=20.82, 法向力=1871.4382, 切向力X=314.7932, 切向力Y=287.0116 +FPS=22.50, 法向力=1431.1313, 切向力X=1129.2366, 切向力Y=-654.8086 +FPS=22.83, 法向力=1804.9912, 切向力X=939.1244, 切向力Y=1555.9609 +FPS=19.78, 法向力=1476.2039, 切向力X=791.0620, 切向力Y=-1121.5146 +FPS=21.86, 法向力=4734.8750, 切向力X=-1560.8890, 切向力Y=-62.2956 +FPS=23.30, 法向力=1824.2273, 切向力X=2047.3894, 切向力Y=-1210.2745 +FPS=21.73, 法向力=3585.9087, 切向力X=-583.6974, 切向力Y=-75.1663 +FPS=21.27, 法向力=5249.6841, 切向力X=-1894.0406, 切向力Y=-66.1191 +FPS=21.16, 法向力=3041.3120, 切向力X=-670.5781, 切向力Y=-683.6636 +FPS=20.95, 法向力=1589.4839, 切向力X=2386.3154, 切向力Y=324.5993 +FPS=23.11, 法向力=2580.7932, 切向力X=91.6758, 切向力Y=126.4436 +FPS=22.22, 法向力=3516.5571, 切向力X=-335.2752, 切向力Y=575.8858 +FPS=21.41, 法向力=2292.2761, 切向力X=595.6002, 切向力Y=887.7909 +FPS=22.56, 法向力=1705.9781, 切向力X=1275.8181, 切向力Y=-693.9749 +FPS=20.98, 法向力=3667.5518, 切向力X=3216.5938, 切向力Y=-2045.5790 +FPS=21.90, 法向力=3870.6348, 切向力X=-1163.7792, 切向力Y=-774.4945 +FPS=22.85, 法向力=2002.8107, 切向力X=821.8290, 切向力Y=390.4929 +FPS=22.04, 法向力=3277.2529, 切向力X=-215.4523, 切向力Y=1710.1980 +FPS=21.28, 法向力=3563.6797, 切向力X=2532.6831, 切向力Y=374.3501 +FPS=20.52, 法向力=1874.3273, 切向力X=1171.3010, 切向力Y=900.7107 +FPS=21.56, 法向力=1402.3390, 切向力X=1793.7126, 切向力Y=192.8916 +FPS=22.05, 法向力=2561.9717, 切向力X=2082.0237, 切向力Y=-516.1924 +FPS=23.47, 法向力=2736.0886, 切向力X=2164.2808, 切向力Y=-636.5385 +FPS=22.60, 法向力=1684.1528, 切向力X=1722.7836, 切向力Y=-149.5874 +FPS=23.60, 法向力=2886.5327, 切向力X=591.2679, 切向力Y=1241.0540 +FPS=23.28, 法向力=3095.2969, 切向力X=-484.3298, 切向力Y=287.2898 +FPS=22.44, 法向力=2106.1113, 切向力X=65.4400, 切向力Y=715.4545 +FPS=21.30, 法向力=2332.5688, 切向力X=1717.9364, 切向力Y=-2029.5073 +FPS=18.01, 法向力=1766.4460, 切向力X=1576.8230, 切向力Y=-1487.7146 +FPS=21.02, 法向力=2048.6064, 切向力X=754.8389, 切向力Y=61.3088 +FPS=21.47, 法向力=3791.3765, 切向力X=-1381.7832, 切向力Y=1182.1016 +FPS=21.91, 法向力=1862.6257, 切向力X=1533.2605, 切向力Y=192.8123 +FPS=21.19, 法向力=2502.3950, 切向力X=157.6493, 切向力Y=-78.9668 +FPS=21.56, 法向力=2191.5112, 切向力X=-85.0915, 切向力Y=-19.0237 +FPS=20.42, 法向力=2014.4415, 切向力X=-14.1195, 切向力Y=-113.1997 +FPS=21.66, 法向力=1525.7638, 切向力X=831.6115, 切向力Y=257.6895 +FPS=21.70, 法向力=1569.8696, 切向力X=824.4957, 切向力Y=182.9155 +FPS=20.75, 法向力=3107.4392, 切向力X=293.0167, 切向力Y=1279.1382 +FPS=20.92, 法向力=1409.3403, 切向力X=1485.0421, 切向力Y=441.8773 +FPS=20.28, 法向力=2033.6168, 切向力X=2367.9717, 切向力Y=10.9200 +FPS=20.72, 法向力=2163.0349, 切向力X=2260.6738, 切向力Y=-159.2882 +FPS=19.61, 法向力=2442.0361, 切向力X=1056.8341, 切向力Y=-1144.7858 +FPS=21.22, 法向力=3278.6138, 切向力X=-263.0070, 切向力Y=476.6988 +FPS=21.24, 法向力=3300.5295, 切向力X=-203.2768, 切向力Y=546.9769 +FPS=21.27, 法向力=2583.4187, 切向力X=-338.5016, 切向力Y=865.4813 +FPS=20.81, 法向力=1594.5619, 切向力X=205.6846, 切向力Y=-526.3167 +FPS=20.49, 法向力=1615.9136, 切向力X=619.4845, 切向力Y=-80.4677 +FPS=20.53, 法向力=2040.8467, 切向力X=813.6288, 切向力Y=871.6078 +FPS=21.10, 法向力=3991.8652, 切向力X=3257.1169, 切向力Y=-524.3409 +FPS=21.14, 法向力=2143.4597, 切向力X=743.9539, 切向力Y=214.2830 +FPS=21.09, 法向力=2336.5581, 切向力X=427.4745, 切向力Y=367.4025 +FPS=20.93, 法向力=4413.7891, 切向力X=-899.4367, 切向力Y=1167.7411 +FPS=18.91, 法向力=4103.9980, 切向力X=-411.3688, 切向力Y=534.5687 +FPS=20.38, 法向力=1853.2188, 切向力X=976.4075, 切向力Y=194.3008 +FPS=19.85, 法向力=2773.8259, 切向力X=225.3068, 切向力Y=233.9600 +FPS=20.38, 法向力=2206.8208, 切向力X=523.2877, 切向力Y=815.0276 +FPS=21.99, 法向力=3013.8186, 切向力X=455.0511, 切向力Y=-873.2522 +FPS=22.08, 法向力=1516.6599, 切向力X=1948.8445, 切向力Y=-529.0604 +FPS=21.85, 法向力=2586.5591, 切向力X=-152.4437, 切向力Y=189.6290 +FPS=22.31, 法向力=2523.8723, 切向力X=-182.7620, 切向力Y=219.3223 +FPS=24.92, 法向力=9788.2734, 切向力X=-4337.9014, 切向力Y=772.1656 +FPS=22.30, 法向力=1706.3134, 切向力X=1909.9028, 切向力Y=-498.7496 +FPS=21.82, 法向力=1381.3979, 切向力X=1021.4380, 切向力Y=-1139.2551 +FPS=21.08, 法向力=2653.8984, 切向力X=-171.8814, 切向力Y=-1524.3560 +FPS=21.93, 法向力=1534.8906, 切向力X=2437.2510, 切向力Y=-943.0233 +FPS=21.49, 法向力=2416.1206, 切向力X=193.6853, 切向力Y=-272.7481 +FPS=21.55, 法向力=3434.9248, 切向力X=-491.0773, 切向力Y=-144.8952 +FPS=22.59, 法向力=9066.5664, 切向力X=-3861.7502, 切向力Y=384.4998 +FPS=21.63, 法向力=9338.2852, 切向力X=-3954.7227, 切向力Y=393.1080 +FPS=20.42, 法向力=5568.0938, 切向力X=-2393.4668, 切向力Y=591.9299 +FPS=21.34, 法向力=1345.6409, 切向力X=918.9989, 切向力Y=227.4655 +FPS=20.64, 法向力=2497.5200, 切向力X=3055.7188, 切向力Y=445.1791 +FPS=20.40, 法向力=2635.6406, 切向力X=1968.4146, 切向力Y=-893.7143 +FPS=21.64, 法向力=1701.9025, 切向力X=1948.4377, 切向力Y=-154.3249 +FPS=21.88, 法向力=1551.6150, 切向力X=495.3107, 切向力Y=-1792.3286 +FPS=22.56, 法向力=1890.6466, 切向力X=294.6707, 切向力Y=926.7214 +FPS=21.54, 法向力=1351.4490, 切向力X=861.8093, 切向力Y=178.4563 +FPS=22.15, 法向力=6058.6924, 切向力X=-2062.1497, 切向力Y=-59.4284 +FPS=21.63, 法向力=1568.8252, 切向力X=1661.0811, 切向力Y=397.2775 +FPS=21.55, 法向力=1269.5981, 切向力X=1439.5309, 切向力Y=288.3331 +FPS=22.22, 法向力=2677.7690, 切向力X=833.0580, 切向力Y=-644.7700 +FPS=22.79, 法向力=2076.8171, 切向力X=394.0162, 切向力Y=138.5062 +FPS=21.99, 法向力=3260.4536, 切向力X=-10.4724, 切向力Y=317.6964 +FPS=21.25, 法向力=3493.6697, 切向力X=-95.6340, 切向力Y=28.3934 +FPS=22.44, 法向力=1638.0831, 切向力X=1626.8601, 切向力Y=1121.0409 +FPS=21.01, 法向力=4494.0337, 切向力X=-1066.6453, 切向力Y=1410.6206 +FPS=22.44, 法向力=2415.0984, 切向力X=828.7893, 切向力Y=-43.1836 +FPS=23.55, 法向力=2026.7900, 切向力X=1085.7036, 切向力Y=-1118.8521 +FPS=21.95, 法向力=1730.7156, 切向力X=862.2906, 切向力Y=-688.3366 +FPS=22.63, 法向力=3212.0503, 切向力X=-266.6547, 切向力Y=-760.5270 +FPS=23.37, 法向力=4592.5186, 切向力X=-1778.1396, 切向力Y=-308.7904 +FPS=22.63, 法向力=1347.5631, 切向力X=1796.9419, 切向力Y=515.6656 +FPS=22.93, 法向力=1483.2026, 切向力X=1750.1776, 切向力Y=806.4480 +FPS=22.59, 法向力=2490.8101, 切向力X=-16.1447, 切向力Y=315.0689 +FPS=22.41, 法向力=1718.2517, 切向力X=2023.4272, 切向力Y=594.3142 +FPS=22.79, 法向力=2224.3181, 切向力X=344.4713, 切向力Y=738.9854 +FPS=23.59, 法向力=2256.5317, 切向力X=2638.2471, 切向力Y=591.8555 +FPS=21.64, 法向力=1410.7560, 切向力X=1239.3215, 切向力Y=234.0232 +FPS=22.74, 法向力=1903.8350, 切向力X=1936.1245, 切向力Y=-1262.2988 +FPS=22.10, 法向力=1556.1776, 切向力X=1449.2139, 切向力Y=-500.0783 +FPS=21.22, 法向力=1378.7238, 切向力X=1047.8828, 切向力Y=-328.6828 +FPS=23.78, 法向力=1533.0474, 切向力X=1034.7312, 切向力Y=318.1248 +FPS=23.59, 法向力=2089.5227, 切向力X=83.5475, 切向力Y=649.4659 +FPS=23.08, 法向力=5072.3096, 切向力X=-1549.9902, 切向力Y=271.7802 +FPS=23.47, 法向力=1769.3171, 切向力X=672.4584, 切向力Y=883.0786 +FPS=23.78, 法向力=2304.4497, 切向力X=413.2512, 切向力Y=-1068.6530 +FPS=23.53, 法向力=1589.1511, 切向力X=1220.8975, 切向力Y=-607.5598 +FPS=23.36, 法向力=1480.7346, 切向力X=1351.1320, 切向力Y=-250.7189 +FPS=22.45, 法向力=1676.2065, 切向力X=1030.1553, 切向力Y=272.5932 +FPS=23.43, 法向力=2442.8091, 切向力X=471.0173, 切向力Y=640.0778 +FPS=23.55, 法向力=4948.8042, 切向力X=-1829.9948, 切向力Y=805.2955 +FPS=23.48, 法向力=2683.6851, 切向力X=-480.7975, 切向力Y=629.5981 +FPS=22.51, 法向力=3624.5703, 切向力X=-1078.8684, 切向力Y=-124.8177 +FPS=23.88, 法向力=3773.2568, 切向力X=-1270.5923, 切向力Y=-113.5716 +FPS=22.98, 法向力=3466.6196, 切向力X=-728.0692, 切向力Y=-354.3717 +FPS=22.32, 法向力=2520.1084, 切向力X=-412.1042, 切向力Y=498.8386 +FPS=21.74, 法向力=1358.3346, 切向力X=660.1700, 切向力Y=-799.7458 +FPS=21.44, 法向力=1857.9713, 切向力X=818.7682, 切向力Y=2.2875 +FPS=22.80, 法向力=4058.5964, 切向力X=-502.9230, 切向力Y=-95.0076 +FPS=24.26, 法向力=6695.8643, 切向力X=-2542.3552, 切向力Y=776.5228 +FPS=23.49, 法向力=6392.0264, 切向力X=-3058.5188, 切向力Y=1407.7877 +FPS=21.71, 法向力=2380.6836, 切向力X=81.5640, 切向力Y=75.0878 +FPS=23.58, 法向力=3024.9883, 切向力X=2625.9155, 切向力Y=-980.1399 +FPS=22.81, 法向力=1610.5325, 切向力X=883.6957, 切向力Y=-240.6960 +FPS=24.23, 法向力=3020.5444, 切向力X=-324.6430, 切向力Y=792.0888 +FPS=22.81, 法向力=1734.4365, 切向力X=1709.8660, 切向力Y=5.3163 +FPS=23.18, 法向力=2839.9004, 切向力X=2744.3115, 切向力Y=740.9308 +FPS=22.79, 法向力=3211.9331, 切向力X=-758.1650, 切向力Y=1079.0742 +FPS=23.59, 法向力=1895.7664, 切向力X=2386.3108, 切向力Y=-4.9404 +FPS=22.99, 法向力=2676.6311, 切向力X=2857.0537, 切向力Y=-717.8419 +FPS=23.45, 法向力=2603.8018, 切向力X=2809.0825, 切向力Y=-770.1495 +FPS=23.49, 法向力=2593.1123, 切向力X=2766.8687, 切向力Y=-760.1814 +FPS=23.38, 法向力=1753.3599, 切向力X=458.7817, 切向力Y=407.1182 +FPS=22.82, 法向力=1570.8727, 切向力X=1308.2690, 切向力Y=-89.6278 +FPS=23.26, 法向力=1246.9904, 切向力X=1790.6205, 切向力Y=973.2140 +FPS=19.04, 法向力=1266.6552, 切向力X=1160.2317, 切向力Y=174.4473 +FPS=21.55, 法向力=2525.2168, 切向力X=616.8745, 切向力Y=-146.6700 +FPS=22.81, 法向力=1406.6484, 切向力X=1497.9233, 切向力Y=-877.8236 +FPS=22.82, 法向力=1437.6887, 切向力X=1488.9821, 切向力Y=-924.9620 +FPS=23.30, 法向力=1327.4314, 切向力X=837.7809, 切向力Y=-336.1963 +FPS=22.64, 法向力=1603.4353, 切向力X=463.3006, 切向力Y=185.3348 +FPS=22.07, 法向力=2137.7349, 切向力X=2038.9438, 切向力Y=777.9723 +FPS=23.04, 法向力=1435.3960, 切向力X=1583.6257, 切向力Y=933.7811 +FPS=21.84, 法向力=1313.6194, 切向力X=2240.4419, 切向力Y=-185.9844 +FPS=22.45, 法向力=1805.6786, 切向力X=432.8014, 切向力Y=947.5781 +FPS=21.46, 法向力=1374.5138, 切向力X=1942.3550, 切向力Y=547.4878 +FPS=23.15, 法向力=2483.9951, 切向力X=-250.3096, 切向力Y=901.3967 +FPS=22.79, 法向力=2612.7817, 切向力X=-382.0507, 切向力Y=911.1483 +FPS=22.68, 法向力=2627.7700, 切向力X=-411.5805, 切向力Y=920.2021 +FPS=19.63, 法向力=2260.5603, 切向力X=752.0936, 切向力Y=484.7729 +FPS=21.35, 法向力=3113.5066, 切向力X=3.9659, 切向力Y=-890.4909 +FPS=21.76, 法向力=1987.5347, 切向力X=449.7883, 切向力Y=319.1545 +FPS=20.39, 法向力=1289.2408, 切向力X=1207.0613, 切向力Y=-53.4253 +FPS=22.56, 法向力=6548.8550, 切向力X=-1800.6057, 切向力Y=1502.5045 +FPS=20.59, 法向力=1683.8612, 切向力X=1104.3190, 切向力Y=-594.2308 +FPS=20.33, 法向力=1511.0583, 切向力X=1651.6919, 切向力Y=-1212.9004 +FPS=20.94, 法向力=3262.3083, 切向力X=2718.8635, 切向力Y=-708.0653 +FPS=21.78, 法向力=2611.3164, 切向力X=1358.4912, 切向力Y=28.6274 +FPS=22.57, 法向力=3091.8369, 切向力X=-211.4273, 切向力Y=385.5731 +FPS=22.09, 法向力=1699.8636, 切向力X=1469.2244, 切向力Y=956.7733 +FPS=22.02, 法向力=1646.5969, 切向力X=1474.0912, 切向力Y=962.8810 +FPS=21.86, 法向力=2321.2812, 切向力X=1869.4307, 切向力Y=-1740.9244 +FPS=21.30, 法向力=2245.0461, 切向力X=876.8102, 切向力Y=-1438.7754 +FPS=18.71, 法向力=1819.5161, 切向力X=948.0910, 切向力Y=-769.3640 +FPS=20.15, 法向力=1492.0499, 切向力X=571.3932, 切向力Y=-96.8055 +FPS=19.86, 法向力=2676.6396, 切向力X=264.1437, 切向力Y=-87.7562 +FPS=21.46, 法向力=2596.7070, 切向力X=273.7236, 切向力Y=-117.5908 +FPS=20.33, 法向力=1681.3342, 切向力X=1661.4873, 切向力Y=-160.2727 +FPS=20.16, 法向力=1814.2980, 切向力X=1895.8174, 切向力Y=440.7023 +FPS=20.83, 法向力=1238.8577, 切向力X=1301.7391, 切向力Y=572.1824 +FPS=21.36, 法向力=2011.3904, 切向力X=1068.3772, 切向力Y=-811.0336 +FPS=21.81, 法向力=2025.1359, 切向力X=1135.4082, 切向力Y=-726.3635 +FPS=21.33, 法向力=5148.3848, 切向力X=-1874.9677, 切向力Y=-440.6523 +FPS=20.71, 法向力=2299.4272, 切向力X=211.1744, 切向力Y=-899.5009 +FPS=21.76, 法向力=9941.2773, 切向力X=-3903.7090, 切向力Y=-119.3746 +FPS=20.09, 法向力=1642.5504, 切向力X=1580.8973, 切向力Y=-525.6956 +FPS=20.78, 法向力=2374.2180, 切向力X=713.8542, 切向力Y=-359.9087 +FPS=20.42, 法向力=2161.5068, 切向力X=-57.1367, 切向力Y=207.6116 +FPS=20.43, 法向力=2181.3999, 切向力X=-197.9399, 切向力Y=162.5432 +FPS=21.93, 法向力=2918.8904, 切向力X=-369.8965, 切向力Y=542.9906 +FPS=21.42, 法向力=1188.9460, 切向力X=690.2651, 切向力Y=-281.6822 +FPS=20.99, 法向力=1252.2002, 切向力X=1875.7404, 切向力Y=-417.9558 +FPS=22.11, 法向力=1220.9172, 切向力X=1862.2169, 切向力Y=-215.2635 +FPS=20.89, 法向力=2430.1604, 切向力X=488.6377, 切向力Y=-509.5685 +FPS=21.68, 法向力=2389.3750, 切向力X=-58.4195, 切向力Y=-919.8178 +FPS=21.39, 法向力=7478.6963, 切向力X=-3008.9312, 切向力Y=518.0497 +FPS=21.24, 法向力=8292.5947, 切向力X=-3405.1694, 切向力Y=427.9522 +FPS=20.46, 法向力=5157.9658, 切向力X=-1707.9923, 切向力Y=1191.1235 +FPS=21.58, 法向力=4029.6885, 切向力X=-751.2825, 切向力Y=-129.6458 +FPS=21.84, 法向力=4038.9976, 切向力X=-700.0233, 切向力Y=-328.1066 +FPS=19.85, 法向力=6867.0142, 切向力X=-3156.3530, 切向力Y=338.8863 +FPS=20.86, 法向力=1654.7921, 切向力X=835.2177, 切向力Y=-1047.0942 +FPS=21.02, 法向力=1890.9469, 切向力X=1660.3103, 切向力Y=-1113.8665 +FPS=21.43, 法向力=2154.9409, 切向力X=2428.5244, 切向力Y=-1090.3767 +FPS=21.59, 法向力=1911.5706, 切向力X=2311.1968, 切向力Y=-1083.8018 +FPS=21.82, 法向力=2384.9663, 切向力X=138.7430, 切向力Y=29.4606 +FPS=21.63, 法向力=2152.5505, 切向力X=3074.7397, 切向力Y=1269.5034 +FPS=21.93, 法向力=1899.6755, 切向力X=1000.0720, 切向力Y=-1757.6232 +FPS=22.33, 法向力=1939.4357, 切向力X=962.1722, 切向力Y=-2104.1990 +FPS=20.91, 法向力=2863.0874, 切向力X=500.4583, 切向力Y=733.7330 +FPS=22.29, 法向力=2439.9126, 切向力X=384.9514, 切向力Y=-653.0709 +FPS=21.30, 法向力=5859.6836, 切向力X=-2330.4946, 切向力Y=1356.0626 +FPS=20.68, 法向力=5143.7812, 切向力X=-1965.7224, 切向力Y=264.9507 +FPS=22.13, 法向力=5167.8115, 切向力X=-2086.3474, 切向力Y=217.4664 +FPS=21.39, 法向力=2564.0837, 切向力X=108.0683, 切向力Y=431.6445 +FPS=21.86, 法向力=3381.3115, 切向力X=-430.5185, 切向力Y=182.2145 +FPS=23.02, 法向力=1430.4174, 切向力X=1031.6187, 切向力Y=1019.5817 +FPS=22.51, 法向力=1641.8521, 切向力X=39.2435, 切向力Y=362.7910 +FPS=22.25, 法向力=3485.8257, 切向力X=-828.2142, 切向力Y=-18.8006 +FPS=22.29, 法向力=3333.7542, 切向力X=-701.4102, 切向力Y=-86.3567 +FPS=21.98, 法向力=1655.8618, 切向力X=1245.4220, 切向力Y=180.1143 +FPS=21.09, 法向力=1691.9425, 切向力X=1209.6290, 切向力Y=186.9766 +FPS=21.37, 法向力=2085.8367, 切向力X=2057.9634, 切向力Y=-1016.1222 +FPS=21.79, 法向力=3392.3301, 切向力X=-816.0557, 切向力Y=-627.0770 +FPS=21.01, 法向力=2649.8716, 切向力X=407.7177, 切向力Y=-163.4282 +FPS=20.33, 法向力=3593.9556, 切向力X=-1186.5232, 切向力Y=-358.7091 +FPS=21.16, 法向力=6046.9834, 切向力X=-2047.1826, 切向力Y=833.8955 +FPS=22.01, 法向力=4823.0469, 切向力X=-902.5345, 切向力Y=302.4193 +FPS=22.29, 法向力=3229.0579, 切向力X=-66.1722, 切向力Y=579.0928 +FPS=22.51, 法向力=4270.6670, 切向力X=-815.4269, 切向力Y=-256.1382 +FPS=21.97, 法向力=2341.2927, 切向力X=825.7007, 切向力Y=689.4171 +FPS=23.70, 法向力=3518.3142, 切向力X=-209.2433, 切向力Y=-537.8206 +FPS=24.37, 法向力=3521.0286, 切向力X=-130.9559, 切向力Y=-495.2476 +FPS=24.00, 法向力=5851.3545, 切向力X=-2024.9087, 切向力Y=1116.0449 +FPS=22.51, 法向力=1480.6577, 切向力X=2496.5706, 切向力Y=-707.4720 +FPS=24.58, 法向力=1194.0100, 切向力X=1282.5636, 切向力Y=-208.3095 +FPS=24.57, 法向力=2581.1572, 切向力X=-146.2664, 切向力Y=1126.6860 +FPS=24.71, 法向力=3681.8132, 切向力X=-463.3595, 切向力Y=1640.1057 +FPS=22.52, 法向力=3013.8403, 切向力X=-184.2294, 切向力Y=1253.1219 +FPS=22.96, 法向力=3194.7080, 切向力X=-294.1087, 切向力Y=1468.4252 +FPS=23.71, 法向力=1624.4399, 切向力X=640.1986, 切向力Y=58.7330 +FPS=21.92, 法向力=2356.8684, 切向力X=797.3701, 切向力Y=-1094.7152 +FPS=24.29, 法向力=2845.7520, 切向力X=-66.7731, 切向力Y=-822.6938 +FPS=23.11, 法向力=2437.3779, 切向力X=2552.4023, 切向力Y=-1484.1257 +FPS=24.15, 法向力=2131.3901, 切向力X=159.8866, 切向力Y=-470.6962 +FPS=23.76, 法向力=4223.3599, 切向力X=-964.4199, 切向力Y=635.9552 +FPS=24.24, 法向力=4576.8384, 切向力X=-1196.3218, 切向力Y=587.9309 +FPS=22.41, 法向力=1437.4927, 切向力X=1252.5876, 切向力Y=1169.8136 +FPS=21.67, 法向力=1524.3698, 切向力X=696.5018, 切向力Y=81.0787 +FPS=23.02, 法向力=1927.3737, 切向力X=1923.1860, 切向力Y=-1344.8438 +FPS=23.23, 法向力=4067.0859, 切向力X=-557.4337, 切向力Y=-742.2313 +FPS=22.53, 法向力=1863.0029, 切向力X=1075.6018, 切向力Y=165.0886 +FPS=19.29, 法向力=1394.5793, 切向力X=1391.0376, 切向力Y=486.7636 +FPS=22.65, 法向力=1388.3002, 切向力X=1394.1334, 切向力Y=696.0911 +FPS=22.88, 法向力=3237.6431, 切向力X=-310.6058, 切向力Y=849.2217 +FPS=23.60, 法向力=2821.2017, 切向力X=-33.5604, 切向力Y=-466.5682 +FPS=23.99, 法向力=7629.1133, 切向力X=-3137.9995, 切向力Y=1136.0032 +FPS=22.62, 法向力=6001.9634, 切向力X=-1715.3958, 切向力Y=-966.9121 +FPS=23.59, 法向力=7713.9438, 切向力X=-3150.8699, 切向力Y=1631.7008 +FPS=21.73, 法向力=2168.4819, 切向力X=599.4938, 切向力Y=-167.4378 +FPS=22.43, 法向力=2142.3940, 切向力X=2761.6125, 切向力Y=-714.2717 +FPS=23.48, 法向力=2949.3406, 切向力X=380.2498, 切向力Y=285.0546 +FPS=22.24, 法向力=3000.1099, 切向力X=295.5546, 切向力Y=87.4700 +FPS=22.94, 法向力=3148.1233, 切向力X=-660.3709, 切向力Y=896.1978 +FPS=21.67, 法向力=2011.1306, 切向力X=530.5469, 切向力Y=170.7577 +FPS=22.63, 法向力=2182.3110, 切向力X=1718.3849, 切向力Y=-1008.8654 +FPS=22.22, 法向力=1888.7577, 切向力X=891.8944, 切向力Y=-178.0021 +FPS=23.71, 法向力=2647.3276, 切向力X=775.8197, 切向力Y=-1478.4586 +FPS=24.39, 法向力=4098.6357, 切向力X=-734.3590, 切向力Y=-1234.5757 +FPS=23.08, 法向力=3716.7710, 切向力X=68.9110, 切向力Y=134.3052 +FPS=25.21, 法向力=3975.0859, 切向力X=-42.9233, 切向力Y=431.9604 +FPS=25.31, 法向力=1188.2810, 切向力X=2356.4175, 切向力Y=-575.5800 +FPS=23.18, 法向力=2780.0630, 切向力X=3120.7476, 切向力Y=-1357.2667 +FPS=22.42, 法向力=1714.9807, 切向力X=2111.1909, 切向力Y=120.3256 +FPS=22.29, 法向力=2501.9905, 切向力X=3026.0256, 切向力Y=-229.2256 +FPS=22.62, 法向力=2775.0532, 切向力X=2063.7720, 切向力Y=-324.0939 +FPS=22.43, 法向力=2705.6206, 切向力X=-37.2174, 切向力Y=762.4528 +FPS=21.71, 法向力=2969.6826, 切向力X=-1213.6189, 切向力Y=1062.0872 +FPS=21.84, 法向力=1607.3818, 切向力X=1366.2466, 切向力Y=294.9698 +FPS=23.34, 法向力=2611.1128, 切向力X=633.3545, 切向力Y=560.9586 +FPS=22.30, 法向力=1292.5070, 切向力X=1912.1957, 切向力Y=505.0549 +FPS=22.40, 法向力=2092.5510, 切向力X=744.1375, 切向力Y=823.3419 +FPS=20.73, 法向力=2095.6548, 切向力X=1715.4565, 切向力Y=-346.3112 +FPS=21.60, 法向力=4695.1494, 切向力X=-1892.0161, 切向力Y=94.8413 +FPS=22.42, 法向力=3450.8923, 切向力X=-242.9732, 切向力Y=-201.5608 +FPS=21.94, 法向力=1320.9844, 切向力X=1443.5237, 切向力Y=793.6880 +FPS=22.13, 法向力=2030.0917, 切向力X=-264.3502, 切向力Y=-700.4158 +FPS=22.46, 法向力=4420.7681, 切向力X=-1906.1788, 切向力Y=517.2120 +FPS=22.32, 法向力=8105.1963, 切向力X=-3412.1611, 切向力Y=379.1591 +FPS=21.39, 法向力=1869.4219, 切向力X=1726.5122, 切向力Y=-713.7005 +FPS=21.85, 法向力=3773.4763, 切向力X=-1097.4541, 切向力Y=339.7062 +FPS=20.69, 法向力=2595.2717, 切向力X=-109.7451, 切向力Y=6.8674 +FPS=21.30, 法向力=2685.0122, 切向力X=896.4731, 切向力Y=-34.6944 +FPS=20.48, 法向力=1626.3264, 切向力X=2040.5559, 切向力Y=349.6055 +FPS=21.36, 法向力=1925.0703, 切向力X=2081.8193, 切向力Y=-229.6930 +FPS=20.55, 法向力=2020.2815, 切向力X=2265.8511, 切向力Y=216.6710 +FPS=21.54, 法向力=2035.0845, 切向力X=2144.2485, 切向力Y=449.9493 +FPS=22.18, 法向力=2783.7808, 切向力X=-235.6389, 切向力Y=358.4007 +FPS=21.10, 法向力=2138.0532, 切向力X=913.5513, 切向力Y=6.3047 +FPS=21.26, 法向力=4935.3774, 切向力X=-1251.3242, 切向力Y=732.9866 +FPS=22.77, 法向力=2278.4868, 切向力X=196.0991, 切向力Y=-591.9784 +FPS=22.66, 法向力=1566.2698, 切向力X=982.3795, 切向力Y=-985.2507 +FPS=23.06, 法向力=1573.8173, 切向力X=1093.0726, 切向力Y=-877.1553 +FPS=21.67, 法向力=1881.4426, 切向力X=1126.8264, 切向力Y=-1262.5673 +FPS=21.67, 法向力=1377.1138, 切向力X=833.4788, 切向力Y=-1477.2755 +FPS=19.53, 法向力=3741.2822, 切向力X=497.5152, 切向力Y=563.9779 +FPS=22.88, 法向力=1675.4763, 切向力X=1490.4764, 切向力Y=869.9457 +FPS=22.65, 法向力=1418.1868, 切向力X=822.4346, 切向力Y=-872.3422 +FPS=22.63, 法向力=2799.1606, 切向力X=235.1478, 切向力Y=28.2320 +FPS=20.99, 法向力=3847.8486, 切向力X=-822.8575, 切向力Y=208.3826 +FPS=21.56, 法向力=1484.9581, 切向力X=640.4949, 切向力Y=-98.0061 +FPS=22.62, 法向力=2333.7097, 切向力X=366.9010, 切向力Y=-290.8213 +FPS=23.57, 法向力=2342.0654, 切向力X=443.5148, 切向力Y=-283.0645 +FPS=21.81, 法向力=1231.0138, 切向力X=832.9166, 切向力Y=109.8990 +FPS=22.50, 法向力=4250.6572, 切向力X=-1190.4207, 切向力Y=883.5840 +FPS=22.40, 法向力=1761.7878, 切向力X=1883.0209, 切向力Y=-1852.6454 +FPS=22.67, 法向力=1442.8823, 切向力X=1448.5569, 切向力Y=-25.9410 +FPS=22.29, 法向力=2797.6184, 切向力X=202.0829, 切向力Y=220.1089 +FPS=21.94, 法向力=1654.6760, 切向力X=1288.8041, 切向力Y=941.2072 +FPS=22.48, 法向力=3089.2090, 切向力X=-368.0150, 切向力Y=-513.5713 +FPS=22.65, 法向力=3189.9800, 切向力X=-325.2013, 切向力Y=349.9453 +FPS=21.66, 法向力=1748.7642, 切向力X=802.7613, 切向力Y=-806.8639 +FPS=22.82, 法向力=1726.4741, 切向力X=943.8994, 切向力Y=-1041.3787 +FPS=22.84, 法向力=1199.1328, 切向力X=891.3747, 切向力Y=92.7121 +FPS=22.51, 法向力=2519.0659, 切向力X=382.3286, 切向力Y=-181.9075 +FPS=23.98, 法向力=2383.1357, 切向力X=921.3201, 切向力Y=-752.6055 +FPS=23.88, 法向力=2202.4019, 切向力X=2251.8125, 切向力Y=815.9617 +FPS=22.04, 法向力=2018.0352, 切向力X=818.6263, 切向力Y=645.4324 +FPS=22.36, 法向力=2622.3721, 切向力X=534.8376, 切向力Y=1052.6454 +FPS=23.60, 法向力=6005.1152, 切向力X=-2133.0376, 切向力Y=375.3419 +FPS=21.61, 法向力=2444.3384, 切向力X=440.9341, 切向力Y=99.1092 +FPS=22.68, 法向力=3553.9666, 切向力X=-309.5298, 切向力Y=1270.1659 +FPS=22.78, 法向力=4509.9033, 切向力X=-795.8517, 切向力Y=1154.6096 +FPS=23.80, 法向力=3122.3447, 切向力X=-26.2807, 切向力Y=-384.4809 +FPS=23.88, 法向力=3494.3940, 切向力X=-443.0353, 切向力Y=420.7010 +FPS=22.95, 法向力=2501.4641, 切向力X=2434.5798, 切向力Y=186.8854 +FPS=23.52, 法向力=2786.0806, 切向力X=2440.7905, 切向力Y=448.0065 +FPS=22.83, 法向力=2411.3464, 切向力X=2766.3394, 切向力Y=203.2099 +FPS=22.31, 法向力=1710.2417, 切向力X=1162.2905, 切向力Y=-1454.6622 +FPS=22.51, 法向力=6236.3745, 切向力X=-1835.9032, 切向力Y=430.5988 +FPS=22.93, 法向力=1851.5200, 切向力X=1537.4574, 切向力Y=-519.4790 +FPS=22.83, 法向力=1400.5918, 切向力X=1739.3069, 切向力Y=-745.1852 +FPS=22.98, 法向力=2323.7075, 切向力X=2456.2815, 切向力Y=344.6588 +FPS=23.46, 法向力=2587.4570, 切向力X=169.9433, 切向力Y=376.3186 +FPS=23.20, 法向力=2893.7686, 切向力X=26.9777, 切向力Y=581.7139 +FPS=23.42, 法向力=2422.8999, 切向力X=2518.5583, 切向力Y=1488.8135 +FPS=23.11, 法向力=1657.6118, 切向力X=1393.8065, 切向力Y=-1600.0155 +FPS=22.74, 法向力=2515.3867, 切向力X=894.8014, 切向力Y=-277.3954 +FPS=22.35, 法向力=3017.6035, 切向力X=-295.0755, 切向力Y=-581.3790 +FPS=22.82, 法向力=1896.1327, 切向力X=2582.1523, 切向力Y=-398.2401 +FPS=22.96, 法向力=1562.4907, 切向力X=1335.2827, 切向力Y=106.7487 +FPS=22.00, 法向力=2107.9326, 切向力X=334.8235, 切向力Y=-90.4106 +FPS=22.59, 法向力=1961.5524, 切向力X=727.0448, 切向力Y=-9.1976 +FPS=22.84, 法向力=1988.2463, 切向力X=679.9733, 切向力Y=-20.0639 +FPS=23.04, 法向力=6879.4268, 切向力X=-2699.3203, 切向力Y=1591.4075 +FPS=23.43, 法向力=1586.3444, 切向力X=66.4225, 切向力Y=354.9224 +FPS=22.46, 法向力=2107.3267, 切向力X=811.9713, 切向力Y=484.3734 +FPS=21.86, 法向力=5402.5894, 切向力X=-1782.1202, 切向力Y=695.2694 +FPS=23.44, 法向力=5459.8511, 切向力X=-1853.3647, 切向力Y=894.5117 +FPS=22.64, 法向力=5641.2344, 切向力X=-1460.5651, 切向力Y=1381.5403 +FPS=22.04, 法向力=4021.7266, 切向力X=-1375.0999, 切向力Y=410.1157 +FPS=23.65, 法向力=2710.5415, 切向力X=-249.6213, 切向力Y=1727.7642 +FPS=23.41, 法向力=2027.1033, 切向力X=1083.9125, 切向力Y=952.1593 +FPS=22.77, 法向力=1913.3580, 切向力X=887.5162, 切向力Y=245.2612 +FPS=21.64, 法向力=1753.0743, 切向力X=472.5385, 切向力Y=-589.3392 +FPS=23.63, 法向力=6236.1021, 切向力X=-2134.9941, 切向力Y=962.5475 +FPS=22.77, 法向力=2553.0654, 切向力X=61.2466, 切向力Y=-0.7262 +FPS=23.23, 法向力=1639.8677, 切向力X=2275.2883, 切向力Y=-347.3586 +FPS=22.14, 法向力=1648.0878, 切向力X=1896.4042, 切向力Y=393.2758 +FPS=22.40, 法向力=2589.3896, 切向力X=-21.8047, 切向力Y=381.6489 +FPS=21.60, 法向力=1458.5068, 切向力X=1993.6334, 切向力Y=-723.1152 +FPS=21.24, 法向力=2708.0059, 切向力X=-1125.0649, 切向力Y=88.8300 +FPS=22.20, 法向力=1474.6140, 切向力X=1823.8766, 切向力Y=-149.6925 +FPS=21.16, 法向力=3543.7424, 切向力X=-907.5570, 切向力Y=-41.7419 +FPS=21.47, 法向力=5270.2627, 切向力X=-1007.7303, 切向力Y=-960.4156 +FPS=21.19, 法向力=1411.0593, 切向力X=576.8230, 切向力Y=-762.3337 +FPS=20.59, 法向力=2809.2510, 切向力X=2599.7639, 切向力Y=-1687.4280 +FPS=21.18, 法向力=1630.8811, 切向力X=1285.0295, 切向力Y=-490.6606 +FPS=21.94, 法向力=2101.6299, 切向力X=2687.2007, 切向力Y=-657.3900 +FPS=21.77, 法向力=1544.8469, 切向力X=1919.6924, 切向力Y=-384.5723 +FPS=21.79, 法向力=1437.2595, 切向力X=1774.8971, 切向力Y=-472.9369 +FPS=23.06, 法向力=2113.5522, 切向力X=988.6306, 切向力Y=-50.7338 +FPS=19.14, 法向力=2133.4248, 切向力X=785.4539, 切向力Y=-701.0286 +FPS=20.88, 法向力=1938.2800, 切向力X=561.8112, 切向力Y=-538.2833 +FPS=21.01, 法向力=1945.7782, 切向力X=185.0718, 切向力Y=-414.2075 +FPS=20.89, 法向力=2282.2212, 切向力X=245.1154, 切向力Y=-429.7557 +FPS=21.45, 法向力=3910.8025, 切向力X=-444.6107, 切向力Y=-209.8627 +FPS=22.31, 法向力=1653.6355, 切向力X=1285.1230, 切向力Y=797.7382 +FPS=21.64, 法向力=2898.6201, 切向力X=-300.5524, 切向力Y=-849.2488 +FPS=21.80, 法向力=1597.4611, 切向力X=607.8898, 切向力Y=83.8323 +FPS=21.33, 法向力=1278.8887, 切向力X=2018.3148, 切向力Y=-709.5811 +FPS=21.88, 法向力=2586.3516, 切向力X=358.9276, 切向力Y=-201.2811 +FPS=22.73, 法向力=4077.7520, 切向力X=-703.0264, 切向力Y=-562.1173 +FPS=21.74, 法向力=3914.6086, 切向力X=-1166.9663, 切向力Y=83.3941 +FPS=20.64, 法向力=2272.0015, 切向力X=765.9615, 切向力Y=56.3111 +FPS=23.09, 法向力=1648.0649, 切向力X=288.1118, 切向力Y=-197.2157 +FPS=22.64, 法向力=2968.9973, 切向力X=-147.1366, 切向力Y=-17.6324 +FPS=21.54, 法向力=2961.0854, 切向力X=-77.3899, 切向力Y=-28.5496 +FPS=22.10, 法向力=1387.4098, 切向力X=845.6106, 切向力Y=366.1461 +FPS=22.24, 法向力=3122.9529, 切向力X=-51.9007, 切向力Y=619.0598 +FPS=22.12, 法向力=4316.9722, 切向力X=-1220.6254, 切向力Y=1018.4208 +FPS=21.83, 法向力=2754.4731, 切向力X=-624.3378, 切向力Y=190.2616 +FPS=21.87, 法向力=1303.3955, 切向力X=1125.8882, 切向力Y=22.2828 +FPS=22.73, 法向力=2793.9612, 切向力X=3375.2002, 切向力Y=-651.9993 +FPS=22.78, 法向力=2084.6680, 切向力X=452.7532, 切向力Y=97.0029 +FPS=22.65, 法向力=4669.8169, 切向力X=-1606.8052, 切向力Y=-18.1660 +FPS=21.64, 法向力=1984.8572, 切向力X=1558.5791, 切向力Y=-1073.9611 +FPS=22.54, 法向力=1392.7529, 切向力X=1310.1664, 切向力Y=162.8154 +FPS=22.35, 法向力=1603.5786, 切向力X=1773.1644, 切向力Y=97.9247 +FPS=22.43, 法向力=2885.2188, 切向力X=110.4004, 切向力Y=-1029.3638 +FPS=21.46, 法向力=1829.5024, 切向力X=992.9901, 切向力Y=2112.4595 +FPS=21.08, 法向力=2045.3517, 切向力X=907.7240, 切向力Y=-580.6591 +FPS=20.65, 法向力=2008.7773, 切向力X=1903.1198, 切向力Y=-1858.7637 +FPS=21.54, 法向力=2440.3828, 切向力X=2826.4858, 切向力Y=-1215.7809 +FPS=21.76, 法向力=1502.8853, 切向力X=961.3917, 切向力Y=37.3431 +FPS=23.59, 法向力=1540.0884, 切向力X=1077.3110, 切向力Y=-45.0057 +FPS=21.81, 法向力=1987.9176, 切向力X=508.0914, 切向力Y=-605.0206 +FPS=23.01, 法向力=1104.6575, 切向力X=1605.6766, 切向力Y=-805.0439 +FPS=21.76, 法向力=2120.6323, 切向力X=2496.7935, 切向力Y=-581.9933 +FPS=20.27, 法向力=1546.8618, 切向力X=1415.0341, 切向力Y=-181.6980 +FPS=21.52, 法向力=3687.2466, 切向力X=-525.8823, 切向力Y=-349.4667 +FPS=20.96, 法向力=3386.7900, 切向力X=-411.0271, 切向力Y=680.9401 +FPS=20.73, 法向力=1269.8073, 切向力X=1416.9392, 切向力Y=-441.2729 +FPS=21.52, 法向力=1130.2362, 切向力X=1413.7563, 切向力Y=907.9769 +FPS=21.87, 法向力=1850.8092, 切向力X=510.0118, 切向力Y=369.8636 +FPS=19.80, 法向力=2701.1233, 切向力X=196.0829, 切向力Y=-607.4243 +FPS=21.89, 法向力=1369.9805, 切向力X=1890.9087, 切向力Y=-822.2037 +FPS=19.91, 法向力=1369.7458, 切向力X=2235.5059, 切向力Y=341.4518 +FPS=22.03, 法向力=7426.8242, 切向力X=-2640.1626, 切向力Y=196.7509 +FPS=21.93, 法向力=3629.8699, 切向力X=-1313.9207, 切向力Y=1072.4427 +FPS=22.65, 法向力=3386.5796, 切向力X=-1222.5896, 切向力Y=1191.1777 +FPS=22.28, 法向力=2066.6675, 切向力X=905.8522, 切向力Y=-686.1418 +FPS=20.55, 法向力=1642.0066, 切向力X=863.4404, 切向力Y=73.9148 +FPS=22.54, 法向力=1743.5122, 切向力X=1953.9829, 切向力Y=-728.4679 +FPS=22.40, 法向力=2020.2644, 切向力X=329.8883, 切向力Y=-445.8731 +FPS=22.11, 法向力=5709.6436, 切向力X=-1426.4226, 切向力Y=1025.1193 +FPS=22.62, 法向力=1710.1675, 切向力X=1211.6863, 切向力Y=1168.8619 +FPS=22.91, 法向力=4710.5425, 切向力X=-1355.5283, 切向力Y=1045.9497 +FPS=22.78, 法向力=1286.9758, 切向力X=861.9582, 切向力Y=1049.3223 +FPS=24.11, 法向力=1327.5405, 切向力X=790.8346, 切向力Y=1060.1195 +FPS=22.44, 法向力=2445.7893, 切向力X=426.1025, 切向力Y=-1156.4724 +FPS=23.00, 法向力=1433.5562, 切向力X=1287.4075, 切向力Y=186.8412 +FPS=22.20, 法向力=5407.5542, 切向力X=-1727.5510, 切向力Y=1642.0432 +FPS=22.63, 法向力=1497.2156, 切向力X=1655.8790, 切向力Y=1352.5676 +FPS=23.05, 法向力=1815.0001, 切向力X=1381.3401, 切向力Y=-1337.5029 +FPS=22.82, 法向力=1673.7554, 切向力X=2030.4807, 切向力Y=-1054.7828 +FPS=23.16, 法向力=1812.8748, 切向力X=1969.0481, 切向力Y=-1364.9927 +FPS=23.02, 法向力=1804.3801, 切向力X=1916.4148, 切向力Y=-1325.1013 +FPS=21.62, 法向力=1152.8562, 切向力X=2017.6309, 切向力Y=-873.8118 +FPS=21.55, 法向力=5076.4697, 切向力X=-1024.0327, 切向力Y=-562.3660 +FPS=21.95, 法向力=1791.9077, 切向力X=1837.7573, 切向力Y=-944.2837 +FPS=21.55, 法向力=1151.9910, 切向力X=1683.3337, 切向力Y=-759.2913 +FPS=22.68, 法向力=1465.1023, 切向力X=1215.0974, 切向力Y=-1001.1652 +FPS=22.73, 法向力=2464.1147, 切向力X=-451.0723, 切向力Y=-778.4634 +FPS=22.52, 法向力=5630.0234, 切向力X=-1837.9343, 切向力Y=-696.5373 +FPS=22.17, 法向力=4109.6104, 切向力X=3838.0869, 切向力Y=-844.7321 +FPS=23.32, 法向力=2527.6919, 切向力X=387.4166, 切向力Y=-1315.1378 +FPS=21.25, 法向力=6331.1519, 切向力X=-2523.8535, 切向力Y=1350.7194 +FPS=23.56, 法向力=5818.9043, 切向力X=-2091.1675, 切向力Y=1327.8435 +FPS=23.48, 法向力=1709.5269, 切向力X=1289.6381, 切向力Y=1171.4541 +FPS=21.46, 法向力=3384.8091, 切向力X=-541.4496, 切向力Y=820.7526 +FPS=22.88, 法向力=3496.3779, 切向力X=-13.7453, 切向力Y=-15.5009 +FPS=24.13, 法向力=6934.0459, 切向力X=-2082.9194, 切向力Y=246.8114 +FPS=22.71, 法向力=8162.8203, 切向力X=-2830.6819, 切向力Y=1246.1321 +FPS=20.32, 法向力=3112.1699, 切向力X=-23.4533, 切向力Y=-839.4165 +FPS=22.08, 法向力=3207.1948, 切向力X=79.4176, 切向力Y=-1020.3572 +FPS=20.62, 法向力=7798.4053, 切向力X=-3077.1895, 切向力Y=1291.1425 +FPS=22.10, 法向力=2716.1458, 切向力X=414.5295, 切向力Y=-641.1630 +FPS=21.96, 法向力=2566.0125, 切向力X=708.2327, 切向力Y=-789.4375 +FPS=21.08, 法向力=5836.1797, 切向力X=-2376.8271, 切向力Y=1121.1843 +FPS=21.74, 法向力=3425.5923, 切向力X=-908.7976, 切向力Y=1146.9498 +FPS=21.40, 法向力=1304.2335, 切向力X=1715.8274, 切向力Y=-1123.8069 +FPS=21.33, 法向力=2268.9094, 切向力X=279.5004, 切向力Y=-283.4072 +FPS=21.15, 法向力=2314.9583, 切向力X=417.2007, 切向力Y=646.7224 +FPS=21.14, 法向力=1198.4890, 切向力X=1875.8333, 切向力Y=388.2460 +FPS=21.34, 法向力=1205.9689, 切向力X=1847.0095, 切向力Y=417.1862 +FPS=21.65, 法向力=2900.3022, 切向力X=3461.2124, 切向力Y=-668.9484 +FPS=21.55, 法向力=1695.1089, 切向力X=1184.4880, 切向力Y=-1099.5736 +FPS=21.19, 法向力=1641.3774, 切向力X=2321.8611, 切向力Y=-451.2438 +FPS=21.76, 法向力=1761.2913, 切向力X=2157.6882, 切向力Y=-399.1081 +FPS=21.86, 法向力=3435.9963, 切向力X=114.5350, 切向力Y=-692.2986 +FPS=20.64, 法向力=5362.7988, 切向力X=-1901.1836, 切向力Y=327.7941 +FPS=20.86, 法向力=2028.9082, 切向力X=-215.4186, 切向力Y=361.9661 +FPS=22.05, 法向力=1803.0310, 切向力X=-48.8063, 切向力Y=317.6942 +FPS=22.64, 法向力=2888.4224, 切向力X=237.0119, 切向力Y=1636.3309 +FPS=22.69, 法向力=8749.3496, 切向力X=-2705.7148, 切向力Y=702.7717 +FPS=20.42, 法向力=1939.9880, 切向力X=939.1063, 切向力Y=208.8071 +FPS=20.59, 法向力=3130.2852, 切向力X=152.5455, 切向力Y=-534.5542 +FPS=21.78, 法向力=2459.6836, 切向力X=565.7816, 切向力Y=207.9512 +FPS=20.75, 法向力=2384.6348, 切向力X=491.4015, 切向力Y=230.0410 +FPS=21.12, 法向力=1599.9788, 切向力X=1845.4897, 切向力Y=-279.1204 +FPS=23.20, 法向力=1610.8779, 切向力X=1852.9939, 切向力Y=-349.7484 +FPS=23.75, 法向力=1448.4189, 切向力X=1396.5820, 切向力Y=630.9346 +FPS=22.68, 法向力=1774.0184, 切向力X=1192.3591, 切向力Y=686.0777 +FPS=23.08, 法向力=1542.4617, 切向力X=1430.3029, 切向力Y=634.1060 +FPS=22.41, 法向力=2516.9136, 切向力X=374.8539, 切向力Y=424.5876 +FPS=22.24, 法向力=2398.6218, 切向力X=2781.0366, 切向力Y=-514.9714 +FPS=22.59, 法向力=1523.3286, 切向力X=1015.6064, 切向力Y=649.1862 +FPS=23.23, 法向力=4407.0186, 切向力X=-675.6400, 切向力Y=703.5081 +FPS=22.79, 法向力=4363.2617, 切向力X=-576.9672, 切向力Y=709.7290 +FPS=23.79, 法向力=2331.6506, 切向力X=129.9819, 切向力Y=276.4070 +FPS=22.81, 法向力=4205.9932, 切向力X=-890.8037, 切向力Y=-249.9946 +FPS=23.95, 法向力=4457.3027, 切向力X=-998.0616, 切向力Y=-246.4488 +FPS=23.12, 法向力=3706.4277, 切向力X=-379.6872, 切向力Y=-536.1627 +FPS=21.56, 法向力=1551.2228, 切向力X=1431.6345, 切向力Y=30.1742 +FPS=23.99, 法向力=1625.0974, 切向力X=1106.5039, 切向力Y=-101.4634 +FPS=23.91, 法向力=1651.4808, 切向力X=1132.4449, 切向力Y=-137.9290 +FPS=23.61, 法向力=2176.3091, 切向力X=2132.3130, 切向力Y=36.3355 +FPS=22.74, 法向力=2226.4299, 切向力X=2123.4463, 切向力Y=139.6184 +FPS=23.69, 法向力=1181.3650, 切向力X=1161.2740, 切向力Y=-267.1069 +FPS=22.76, 法向力=1615.3717, 切向力X=1090.3950, 切向力Y=1188.4995 +FPS=22.35, 法向力=1483.0330, 切向力X=818.2936, 切向力Y=442.5413 +FPS=21.87, 法向力=1901.4878, 切向力X=1959.8821, 切向力Y=605.1429 +FPS=23.06, 法向力=1237.8479, 切向力X=2134.7896, 切向力Y=560.1044 +FPS=22.97, 法向力=1592.5955, 切向力X=2100.7751, 切向力Y=678.5809 +FPS=22.82, 法向力=1651.5371, 切向力X=2144.4380, 切向力Y=823.3916 +FPS=23.12, 法向力=1439.1072, 切向力X=1742.0278, 切向力Y=-686.2023 +FPS=22.09, 法向力=1483.5491, 切向力X=1785.2220, 切向力Y=-990.9945 +FPS=21.79, 法向力=1717.8564, 切向力X=1673.2725, 切向力Y=-909.3839 +FPS=21.46, 法向力=1762.2507, 切向力X=2223.5537, 切向力Y=-1252.3591 +FPS=22.10, 法向力=4411.7300, 切向力X=-1449.6226, 切向力Y=816.1145 +FPS=22.17, 法向力=6411.5654, 切向力X=-2294.3064, 切向力Y=1038.1744 +FPS=21.76, 法向力=2194.5125, 切向力X=75.7849, 切向力Y=960.6818 +FPS=21.89, 法向力=3296.3274, 切向力X=-271.9619, 切向力Y=340.3914 +FPS=22.76, 法向力=3284.7334, 切向力X=-173.3374, 切向力Y=284.1964 +FPS=21.61, 法向力=1778.8125, 切向力X=859.5839, 切向力Y=-320.3218 +FPS=23.08, 法向力=2028.1777, 切向力X=2430.9114, 切向力Y=-484.9877 +FPS=22.08, 法向力=2236.2527, 切向力X=2640.3413, 切向力Y=-365.9749 +FPS=21.48, 法向力=2184.7007, 切向力X=1199.2723, 切向力Y=-501.4496 +FPS=21.91, 法向力=1722.3726, 切向力X=1037.2485, 切向力Y=1189.5775 +FPS=21.51, 法向力=4947.7690, 切向力X=-1118.9191, 切向力Y=-398.1804 +FPS=22.22, 法向力=3328.4050, 切向力X=-621.1212, 切向力Y=1021.1985 +FPS=21.56, 法向力=3293.0042, 切向力X=-637.7888, 切向力Y=943.6517 +FPS=21.86, 法向力=1953.4648, 切向力X=1209.4780, 切向力Y=41.8795 +FPS=21.49, 法向力=1683.6680, 切向力X=2054.7271, 切向力Y=-468.2800 +FPS=22.21, 法向力=1764.0881, 切向力X=1915.5225, 切向力Y=-65.2808 +FPS=22.45, 法向力=2547.3682, 切向力X=374.5352, 切向力Y=169.9930 +FPS=22.47, 法向力=5299.2266, 切向力X=-1308.4790, 切向力Y=244.2806 +FPS=22.89, 法向力=2377.6597, 切向力X=-239.2125, 切向力Y=-211.3880 +FPS=21.73, 法向力=6917.7871, 切向力X=-2925.1357, 切向力Y=614.6457 +FPS=22.17, 法向力=5152.4209, 切向力X=-1959.1589, 切向力Y=-78.3007 +FPS=21.74, 法向力=5063.2939, 切向力X=-1866.6135, 切向力Y=-140.2859 +FPS=21.69, 法向力=1927.7937, 切向力X=1655.7297, 切向力Y=1117.7915 +FPS=20.75, 法向力=4173.2129, 切向力X=-811.3975, 切向力Y=-517.3625 +FPS=22.37, 法向力=4674.4702, 切向力X=-1920.8630, 切向力Y=-97.4587 +FPS=22.60, 法向力=3225.5669, 切向力X=-79.0907, 切向力Y=507.4563 +FPS=23.38, 法向力=3503.8635, 切向力X=-644.6990, 切向力Y=631.3519 +FPS=22.82, 法向力=1549.8727, 切向力X=2119.4265, 切向力Y=-207.9635 +FPS=23.56, 法向力=1559.6431, 切向力X=2260.4407, 切向力Y=-356.8362 +FPS=23.82, 法向力=1584.3296, 切向力X=2305.4863, 切向力Y=-542.6246 +FPS=24.08, 法向力=2159.5989, 切向力X=1652.6875, 切向力Y=-1403.8175 +FPS=24.05, 法向力=1790.2754, 切向力X=997.5460, 切向力Y=-519.7413 +FPS=22.39, 法向力=1693.8196, 切向力X=1656.3936, 切向力Y=-480.5699 +FPS=20.98, 法向力=2005.8491, 切向力X=1698.0199, 切向力Y=-97.4153 +FPS=23.28, 法向力=2099.6357, 切向力X=1952.4670, 切向力Y=-285.8333 +FPS=22.69, 法向力=5084.2715, 切向力X=-2066.7107, 切向力Y=-347.1550 +FPS=22.07, 法向力=2692.3140, 切向力X=2780.0854, 切向力Y=-1734.3887 +FPS=20.95, 法向力=1824.4760, 切向力X=889.3008, 切向力Y=-573.4427 +FPS=19.85, 法向力=2065.7480, 切向力X=325.4164, 切向力Y=47.3011 +FPS=21.35, 法向力=3019.2847, 切向力X=2.9981, 切向力Y=-171.5604 +FPS=21.51, 法向力=2666.0862, 切向力X=160.9724, 切向力Y=1473.3763 +FPS=21.37, 法向力=2042.4884, 切向力X=1145.9987, 切向力Y=113.4773 +FPS=20.82, 法向力=2123.3457, 切向力X=2097.8145, 切向力Y=-704.6461 +FPS=21.92, 法向力=2133.2324, 切向力X=1733.9336, 切向力Y=-293.2570 +FPS=21.77, 法向力=1044.3201, 切向力X=969.1198, 切向力Y=43.5640 +FPS=21.67, 法向力=3463.3228, 切向力X=-300.1167, 切向力Y=1088.6019 +FPS=21.95, 法向力=1927.5581, 切向力X=48.5500, 切向力Y=266.5677 +FPS=21.31, 法向力=3497.4248, 切向力X=-176.7091, 切向力Y=197.3012 +FPS=20.53, 法向力=2374.5869, 切向力X=1130.9082, 切向力Y=64.3568 +FPS=21.73, 法向力=2363.8213, 切向力X=1477.6786, 切向力Y=-50.3025 +FPS=20.95, 法向力=1692.1986, 切向力X=2060.6357, 切向力Y=-324.5649 +FPS=19.20, 法向力=1578.7012, 切向力X=733.5797, 切向力Y=615.0813 +FPS=22.25, 法向力=1605.9674, 切向力X=1399.4128, 切向力Y=-431.4816 +FPS=21.86, 法向力=1536.8798, 切向力X=801.9440, 切向力Y=686.4645 +FPS=21.25, 法向力=2433.5027, 切向力X=239.0475, 切向力Y=-909.4078 +FPS=21.91, 法向力=3699.0562, 切向力X=-218.5343, 切向力Y=-413.2191 +FPS=20.21, 法向力=2041.1991, 切向力X=16.4951, 切向力Y=453.5276 +FPS=21.62, 法向力=1425.1320, 切向力X=2010.7578, 切向力Y=-971.0918 +FPS=21.49, 法向力=1709.1321, 切向力X=952.3148, 切向力Y=24.1009 +FPS=20.41, 法向力=1358.7477, 切向力X=1094.8315, 切向力Y=-810.7479 +FPS=22.47, 法向力=1577.3866, 切向力X=2592.5813, 切向力Y=-890.5649 +FPS=21.53, 法向力=1448.9749, 切向力X=1736.6812, 切向力Y=-452.6707 +FPS=21.63, 法向力=3129.1963, 切向力X=-56.4879, 切向力Y=392.0229 +FPS=21.52, 法向力=1772.9713, 切向力X=641.7147, 切向力Y=756.6119 +FPS=22.22, 法向力=1775.1165, 切向力X=587.5760, 切向力Y=669.2101 +FPS=21.59, 法向力=2945.4253, 切向力X=302.2317, 切向力Y=-497.4647 +FPS=21.35, 法向力=5632.9233, 切向力X=-636.5389, 切向力Y=-495.4695 +FPS=21.22, 法向力=6029.2344, 切向力X=-2968.4302, 切向力Y=646.5173 +FPS=20.92, 法向力=1773.8491, 切向力X=-258.4498, 切向力Y=-263.5193 +FPS=20.90, 法向力=1622.5337, 切向力X=1483.4255, 切向力Y=-1042.0320 +FPS=20.53, 法向力=1506.5715, 切向力X=1183.9082, 切向力Y=-1095.6202 +FPS=20.31, 法向力=1597.5870, 切向力X=1248.4358, 切向力Y=112.6244 +FPS=21.22, 法向力=2519.1350, 切向力X=1297.9758, 切向力Y=675.8892 +FPS=21.33, 法向力=7291.8779, 切向力X=-2606.7075, 切向力Y=2246.0283 +FPS=20.96, 法向力=1647.7279, 切向力X=2028.6426, 切向力Y=775.8569 +FPS=20.89, 法向力=2363.9038, 切向力X=203.1732, 切向力Y=1199.5673 +FPS=21.11, 法向力=1319.7759, 切向力X=1427.6946, 切向力Y=-325.2510 +FPS=21.49, 法向力=4428.6274, 切向力X=-336.8097, 切向力Y=245.0813 +FPS=22.07, 法向力=1397.0988, 切向力X=796.4672, 切向力Y=-589.5559 +FPS=21.46, 法向力=5119.3931, 切向力X=-1092.9604, 切向力Y=-90.0751 +FPS=21.34, 法向力=2972.3174, 切向力X=406.2066, 切向力Y=1204.2935 +FPS=21.95, 法向力=3042.9800, 切向力X=395.7866, 切向力Y=1126.0623 +FPS=21.49, 法向力=3217.5557, 切向力X=269.2340, 切向力Y=-738.1980 +FPS=21.24, 法向力=1378.5952, 切向力X=1087.9526, 切向力Y=650.7808 +FPS=21.69, 法向力=4449.2061, 切向力X=-573.0591, 切向力Y=379.0965 +FPS=21.14, 法向力=1896.9552, 切向力X=1416.1833, 切向力Y=590.1875 +FPS=20.70, 法向力=1381.1968, 切向力X=910.7610, 切向力Y=233.8200 +FPS=21.41, 法向力=1763.7751, 切向力X=802.8033, 切向力Y=-350.5254 +FPS=20.36, 法向力=4710.2354, 切向力X=-1344.0811, 切向力Y=621.2190 +FPS=20.92, 法向力=1605.2354, 切向力X=1504.8767, 切向力Y=1012.1257 +FPS=22.10, 法向力=1574.6084, 切向力X=672.4678, 切向力Y=-1631.0039 +FPS=20.35, 法向力=1224.5273, 切向力X=1266.3092, 切向力Y=-637.4016 +FPS=20.86, 法向力=2311.5566, 切向力X=34.0299, 切向力Y=1020.5088 +FPS=22.10, 法向力=3028.8413, 切向力X=-438.6516, 切向力Y=963.3570 +FPS=22.99, 法向力=2016.9120, 切向力X=660.6724, 切向力Y=847.4644 +FPS=22.92, 法向力=3067.2290, 切向力X=-465.5236, 切向力Y=373.4296 +FPS=22.17, 法向力=1133.0634, 切向力X=823.8176, 切向力Y=-842.4553 +FPS=22.45, 法向力=3055.3169, 切向力X=2561.1511, 切向力Y=-1358.3519 +FPS=21.67, 法向力=2714.8301, 切向力X=2176.6924, 切向力Y=-615.4774 +FPS=22.46, 法向力=2001.7103, 切向力X=2003.1930, 切向力Y=-875.4502 +FPS=23.07, 法向力=1678.9126, 切向力X=2079.8042, 切向力Y=-1348.6753 +FPS=24.39, 法向力=1417.4634, 切向力X=977.4244, 切向力Y=-934.3560 +FPS=24.51, 法向力=4155.8242, 切向力X=-1230.4810, 切向力Y=23.3050 +FPS=23.79, 法向力=3337.2881, 切向力X=3460.5037, 切向力Y=-368.7602 +FPS=22.91, 法向力=1711.2244, 切向力X=990.4666, 切向力Y=-768.2727 +FPS=21.74, 法向力=2076.6421, 切向力X=9.8985, 切向力Y=-844.0182 +FPS=21.97, 法向力=1805.5061, 切向力X=1334.2019, 切向力Y=153.7436 +FPS=22.13, 法向力=1560.6135, 切向力X=2235.3850, 切向力Y=21.7059 +FPS=22.31, 法向力=3928.6628, 切向力X=-113.7609, 切向力Y=262.5732 +FPS=23.13, 法向力=2412.7126, 切向力X=78.6565, 切向力Y=1165.8938 +FPS=22.59, 法向力=1509.8790, 切向力X=1436.8982, 切向力Y=174.5666 +FPS=21.67, 法向力=2204.1550, 切向力X=513.8541, 切向力Y=-59.7590 +FPS=20.46, 法向力=2008.8201, 切向力X=417.2281, 切向力Y=-1785.5013 +FPS=21.25, 法向力=2142.5437, 切向力X=513.7606, 切向力Y=-1938.0101 +FPS=22.77, 法向力=1906.6969, 切向力X=430.8871, 切向力Y=1263.2842 +FPS=22.63, 法向力=1047.3784, 切向力X=1652.9678, 切向力Y=-107.3606 +FPS=22.87, 法向力=2013.8711, 切向力X=1924.8345, 切向力Y=773.4492 +FPS=22.31, 法向力=5907.6011, 切向力X=-2438.0017, 切向力Y=1058.0178 +FPS=22.28, 法向力=1722.4976, 切向力X=1413.9285, 切向力Y=726.8369 +FPS=22.11, 法向力=2095.3906, 切向力X=942.3261, 切向力Y=-485.0207 +FPS=21.33, 法向力=3796.5364, 切向力X=89.0626, 切向力Y=-55.4101 +FPS=21.80, 法向力=4961.3506, 切向力X=-926.7920, 切向力Y=-1199.9346 +FPS=21.02, 法向力=4810.5142, 切向力X=-761.5690, 切向力Y=-1241.4031 +FPS=22.05, 法向力=2483.1624, 切向力X=-48.4888, 切向力Y=-734.5229 +FPS=21.67, 法向力=1830.0388, 切向力X=904.7217, 切向力Y=186.6795 +FPS=21.40, 法向力=2335.4766, 切向力X=596.5038, 切向力Y=1028.3000 +FPS=22.32, 法向力=1335.0874, 切向力X=1596.0381, 切向力Y=543.9053 +FPS=21.72, 法向力=2994.2949, 切向力X=367.5427, 切向力Y=-2.5986 +FPS=22.77, 法向力=3862.2017, 切向力X=-741.7893, 切向力Y=375.6979 +FPS=21.46, 法向力=1955.0222, 切向力X=858.6173, 切向力Y=311.1989 +FPS=22.26, 法向力=2476.8838, 切向力X=64.7796, 切向力Y=-288.0586 +FPS=22.88, 法向力=2984.4988, 切向力X=-221.6687, 切向力Y=-272.3557 +FPS=22.26, 法向力=2697.1870, 切向力X=-56.4358, 切向力Y=-686.2067 +FPS=23.62, 法向力=1526.8950, 切向力X=1334.7200, 切向力Y=-39.0469 +FPS=23.21, 法向力=1870.8704, 切向力X=1189.8889, 切向力Y=-820.3197 +FPS=22.44, 法向力=1753.1555, 切向力X=594.7581, 切向力Y=-616.2880 +FPS=23.23, 法向力=4809.5151, 切向力X=-1717.1350, 切向力Y=1063.0541 +FPS=23.65, 法向力=4555.6191, 切向力X=-950.8823, 切向力Y=-763.2302 +FPS=21.61, 法向力=1758.3237, 切向力X=890.8086, 切向力Y=-79.3526 +FPS=25.19, 法向力=1583.3828, 切向力X=1103.4266, 切向力Y=158.7223 +FPS=25.18, 法向力=1900.7172, 切向力X=1728.0605, 切向力Y=-1461.1398 +FPS=24.89, 法向力=3288.7385, 切向力X=-752.5829, 切向力Y=-720.2980 +FPS=25.01, 法向力=4543.0312, 切向力X=-829.9792, 切向力Y=380.7834 +FPS=24.67, 法向力=1863.8054, 切向力X=800.4642, 切向力Y=876.3563 +FPS=25.38, 法向力=2025.7057, 切向力X=1255.5168, 切向力Y=-932.8337 +FPS=24.32, 法向力=1789.9015, 切向力X=931.2465, 切向力Y=-852.1323 +FPS=24.38, 法向力=1869.8375, 切向力X=768.8605, 切向力Y=-776.6398 +FPS=23.47, 法向力=4864.9473, 切向力X=-1192.0125, 切向力Y=512.3617 +FPS=23.24, 法向力=1638.0552, 切向力X=1606.8550, 切向力Y=-581.9375 +FPS=22.75, 法向力=1890.0662, 切向力X=1895.8210, 切向力Y=-1164.1052 +FPS=23.10, 法向力=1614.1345, 切向力X=1067.1267, 切向力Y=-186.8970 +FPS=23.54, 法向力=2094.5320, 切向力X=762.8682, 切向力Y=401.7939 +FPS=22.57, 法向力=1902.6385, 切向力X=2191.2502, 切向力Y=-277.0368 +FPS=22.43, 法向力=1849.3945, 切向力X=2287.8232, 切向力Y=-165.8806 +FPS=23.51, 法向力=3198.7622, 切向力X=-309.2143, 切向力Y=1956.9166 +FPS=22.13, 法向力=2999.6797, 切向力X=-131.3782, 切向力Y=-769.8838 +FPS=23.01, 法向力=3055.6191, 切向力X=3285.5605, 切向力Y=223.1454 +FPS=21.75, 法向力=3125.3789, 切向力X=-1042.6121, 切向力Y=357.5536 +FPS=22.95, 法向力=6697.1162, 切向力X=-3289.0762, 切向力Y=266.5501 +FPS=22.32, 法向力=7089.5283, 切向力X=-3461.0557, 切向力Y=322.8858 +FPS=21.80, 法向力=3277.4326, 切向力X=-478.9032, 切向力Y=984.6121 +FPS=21.39, 法向力=6158.0000, 切向力X=-2678.6489, 切向力Y=1524.9241 +FPS=22.40, 法向力=1320.0759, 切向力X=824.5306, 切向力Y=255.8737 +FPS=23.88, 法向力=2823.6899, 切向力X=394.4651, 切向力Y=415.9290 +FPS=23.39, 法向力=2091.7571, 切向力X=2400.8901, 切向力Y=677.4797 +FPS=23.34, 法向力=2520.9321, 切向力X=553.4691, 切向力Y=-172.0537 +FPS=24.29, 法向力=2251.3774, 切向力X=-551.9622, 切向力Y=-71.2243 +FPS=22.56, 法向力=3020.3872, 切向力X=-226.0444, 切向力Y=220.9563 +FPS=22.91, 法向力=2656.0144, 切向力X=121.2136, 切向力Y=-285.0546 +FPS=23.15, 法向力=2365.7676, 切向力X=286.4839, 切向力Y=-549.1770 +FPS=22.32, 法向力=3768.5911, 切向力X=-449.2512, 切向力Y=428.8393 +FPS=22.72, 法向力=1747.3413, 切向力X=149.0205, 切向力Y=205.3457 +FPS=23.84, 法向力=1662.9380, 切向力X=2082.3230, 切向力Y=73.4715 +FPS=23.66, 法向力=3458.6250, 切向力X=-460.9475, 切向力Y=85.5247 +FPS=20.01, 法向力=3750.8694, 切向力X=-716.7365, 切向力Y=155.0956 +FPS=20.19, 法向力=2908.6367, 切向力X=577.0745, 切向力Y=447.1475 +FPS=20.78, 法向力=1724.7017, 切向力X=1029.2045, 切向力Y=1574.5370 +FPS=21.79, 法向力=2008.5151, 切向力X=1012.6373, 切向力Y=-181.3442 +FPS=20.24, 法向力=2469.5293, 切向力X=483.4003, 切向力Y=350.4102 +FPS=21.28, 法向力=1453.2753, 切向力X=1117.7827, 切向力Y=699.2866 +FPS=21.16, 法向力=1418.2291, 切向力X=1231.5513, 切向力Y=754.7225 +FPS=21.13, 法向力=2824.1953, 切向力X=-316.9772, 切向力Y=752.2151 +FPS=20.79, 法向力=2330.8015, 切向力X=2724.5598, 切向力Y=-293.3589 +FPS=20.80, 法向力=2062.9114, 切向力X=2085.9814, 切向力Y=617.8992 +FPS=21.54, 法向力=2946.8242, 切向力X=2988.4382, 切向力Y=-1026.3938 +FPS=23.35, 法向力=1782.5664, 切向力X=1373.0594, 切向力Y=-195.4026 +FPS=22.87, 法向力=3062.8206, 切向力X=3150.8730, 切向力Y=381.1201 +FPS=22.72, 法向力=1384.2317, 切向力X=1826.8331, 切向力Y=-975.3722 +FPS=22.78, 法向力=1423.1622, 切向力X=1872.2068, 切向力Y=840.5974 +FPS=22.86, 法向力=5230.2183, 切向力X=3849.4421, 切向力Y=-1478.8311 +FPS=21.94, 法向力=6480.9390, 切向力X=-2538.1614, 切向力Y=1065.8557 +FPS=21.86, 法向力=6601.2905, 切向力X=-2503.0012, 切向力Y=1162.6379 +FPS=22.13, 法向力=4581.2812, 切向力X=-1376.9319, 切向力Y=89.4635 +FPS=21.33, 法向力=7834.3506, 切向力X=-3308.2690, 切向力Y=930.7010 +FPS=20.59, 法向力=1478.7844, 切向力X=548.0157, 切向力Y=675.7576 +FPS=21.41, 法向力=1817.9883, 切向力X=338.8034, 切向力Y=-1365.2937 +FPS=20.58, 法向力=6733.5112, 切向力X=-2167.9568, 切向力Y=541.4248 +FPS=21.46, 法向力=4406.0015, 切向力X=-1255.8113, 切向力Y=730.5142 +FPS=21.67, 法向力=1474.4802, 切向力X=1552.0699, 切向力Y=241.5960 +FPS=22.54, 法向力=2436.6382, 切向力X=2340.6509, 切向力Y=866.8912 +FPS=22.96, 法向力=1199.2770, 切向力X=1555.2048, 切向力Y=-391.5185 +FPS=21.82, 法向力=5323.4678, 切向力X=-1814.5330, 切向力Y=602.3828 +FPS=21.61, 法向力=2547.2495, 切向力X=-29.6898, 切向力Y=505.9330 +FPS=20.67, 法向力=3412.3601, 切向力X=-547.6019, 切向力Y=1163.4897 +FPS=21.84, 法向力=6533.4966, 切向力X=-2224.4712, 切向力Y=1009.7153 +FPS=20.75, 法向力=6852.9775, 切向力X=-2320.1750, 切向力Y=998.5445 +FPS=21.75, 法向力=1266.2961, 切向力X=1379.4495, 切向力Y=685.3443 +FPS=22.76, 法向力=3011.8828, 切向力X=-234.2078, 切向力Y=1027.3381 +FPS=23.10, 法向力=2034.5469, 切向力X=260.3484, 切向力Y=528.1498 +FPS=22.54, 法向力=2617.2153, 切向力X=332.5674, 切向力Y=1083.1410 +FPS=23.09, 法向力=5902.6816, 切向力X=-1879.2783, 切向力Y=1141.7872 +FPS=22.53, 法向力=8135.3799, 切向力X=-3577.7078, 切向力Y=-1021.7440 +FPS=22.98, 法向力=6595.5605, 切向力X=-3022.4060, 切向力Y=-56.8820 +FPS=22.20, 法向力=6393.2144, 切向力X=-2819.1257, 切向力Y=-29.2168 +FPS=20.94, 法向力=3381.0664, 切向力X=3169.7974, 切向力Y=645.6833 +FPS=21.94, 法向力=1795.8799, 切向力X=1253.2356, 切向力Y=317.9665 +FPS=20.41, 法向力=2350.3911, 切向力X=-111.0156, 切向力Y=1832.5806 +FPS=21.08, 法向力=1423.0244, 切向力X=2161.6162, 切向力Y=507.3863 +FPS=21.29, 法向力=1730.9482, 切向力X=975.9477, 切向力Y=-139.2979 +FPS=20.59, 法向力=2847.9814, 切向力X=155.2077, 切向力Y=-215.0664 +FPS=21.62, 法向力=3083.2822, 切向力X=-592.2054, 切向力Y=1105.3291 +FPS=21.93, 法向力=4561.6641, 切向力X=-1161.9622, 切向力Y=-1121.0288 +FPS=21.80, 法向力=1741.1384, 切向力X=480.7161, 切向力Y=-209.6516 +FPS=22.19, 法向力=2478.3296, 切向力X=855.3461, 切向力Y=-807.9862 +FPS=21.41, 法向力=1465.3425, 切向力X=1723.3662, 切向力Y=227.1875 +FPS=21.82, 法向力=9479.6875, 切向力X=-4609.0732, 切向力Y=1223.9480 +FPS=20.81, 法向力=12110.6885, 切向力X=-5398.0610, 切向力Y=2312.4138 +FPS=19.42, 法向力=2507.4741, 切向力X=494.5652, 切向力Y=144.9493 +FPS=22.05, 法向力=3970.0605, 切向力X=-658.9511, 切向力Y=577.7122 +FPS=22.37, 法向力=4124.1792, 切向力X=-623.8788, 切向力Y=663.6045 +FPS=22.30, 法向力=5604.6514, 切向力X=-1713.0851, 切向力Y=959.6389 +FPS=22.03, 法向力=10201.9697, 切向力X=-4927.5732, 切向力Y=-118.0106 +FPS=21.66, 法向力=2669.9600, 切向力X=299.3040, 切向力Y=1614.2888 +FPS=22.03, 法向力=3703.9565, 切向力X=-139.5406, 切向力Y=-380.1690 +FPS=21.12, 法向力=3882.8816, 切向力X=-575.5433, 切向力Y=-33.7189 +FPS=21.24, 法向力=1454.9745, 切向力X=1215.3706, 切向力Y=138.9172 +FPS=20.50, 法向力=2033.2592, 切向力X=1661.4421, 切向力Y=154.0421 +FPS=20.83, 法向力=3021.5859, 切向力X=-32.2150, 切向力Y=434.6501 +FPS=21.66, 法向力=2369.6797, 切向力X=1695.3269, 切向力Y=-1221.8879 +FPS=20.83, 法向力=3157.4092, 切向力X=2994.0703, 切向力Y=-42.9432 +FPS=21.91, 法向力=3300.7871, 切向力X=3150.0422, 切向力Y=-169.3960 +FPS=21.13, 法向力=2108.1763, 切向力X=451.1593, 切向力Y=-786.9172 +FPS=21.55, 法向力=2298.7444, 切向力X=1569.5308, 切向力Y=-469.2659 +FPS=20.40, 法向力=1778.7469, 切向力X=1786.2656, 切向力Y=-453.9816 +FPS=21.86, 法向力=4091.3347, 切向力X=-1425.2876, 切向力Y=16.5463 +FPS=21.77, 法向力=2076.0479, 切向力X=1840.9196, 切向力Y=-731.7606 +FPS=20.39, 法向力=2623.8921, 切向力X=-555.9954, 切向力Y=-865.6517 +FPS=21.69, 法向力=7120.5493, 切向力X=-3160.8799, 切向力Y=-22.5589 +FPS=20.17, 法向力=2295.0552, 切向力X=554.6232, 切向力Y=991.0529 +FPS=21.74, 法向力=5312.6680, 切向力X=-1489.4856, 切向力Y=579.9622 +FPS=22.24, 法向力=3285.7231, 切向力X=-740.6107, 切向力Y=1187.3350 +FPS=21.70, 法向力=5320.8164, 切向力X=-1831.4611, 切向力Y=432.2045 +FPS=20.60, 法向力=9881.4600, 切向力X=-3461.9082, 切向力Y=1116.6433 +FPS=22.88, 法向力=1434.8839, 切向力X=684.5796, 切向力Y=198.6140 +FPS=23.67, 法向力=4511.6211, 切向力X=-1698.0692, 切向力Y=923.2501 +FPS=23.97, 法向力=5616.0591, 切向力X=-2355.9163, 切向力Y=1456.9805 +FPS=23.60, 法向力=2646.6533, 切向力X=454.9440, 切向力Y=-994.2739 +FPS=24.24, 法向力=1993.4497, 切向力X=778.9485, 切向力Y=-624.6515 +FPS=22.19, 法向力=3569.6274, 切向力X=-842.3381, 切向力Y=-834.5657 +FPS=23.83, 法向力=2835.7168, 切向力X=177.7169, 切向力Y=168.9864 +FPS=24.78, 法向力=6545.1172, 切向力X=-2144.5540, 切向力Y=955.9899 +FPS=24.51, 法向力=6520.1074, 切向力X=-2008.9922, 切向力Y=1015.9926 +FPS=23.52, 法向力=6416.5312, 切向力X=-2716.9683, 切向力Y=625.0778 +FPS=24.03, 法向力=2806.0254, 切向力X=-91.9369, 切向力Y=-784.7578 +FPS=24.00, 法向力=3310.5095, 切向力X=-668.4838, 切向力Y=143.8773 +FPS=23.82, 法向力=2643.5996, 切向力X=106.9489, 切向力Y=990.5918 +FPS=24.02, 法向力=3155.0964, 切向力X=-561.9653, 切向力Y=102.3066 +FPS=23.27, 法向力=3213.7437, 切向力X=-601.8165, 切向力Y=94.0691 +FPS=23.27, 法向力=1438.4364, 切向力X=1071.2112, 切向力Y=-721.7151 +FPS=22.77, 法向力=1859.1780, 切向力X=2276.6311, 切向力Y=-608.4330 +FPS=23.01, 法向力=8814.1230, 切向力X=-3336.5840, 切向力Y=254.5155 +FPS=22.78, 法向力=1758.4072, 切向力X=2019.6847, 切向力Y=-1336.7600 +FPS=23.08, 法向力=2694.7759, 切向力X=-118.8968, 切向力Y=274.5573 +FPS=24.80, 法向力=1612.2749, 切向力X=1693.2979, 切向力Y=235.5792 +FPS=23.35, 法向力=2426.3359, 切向力X=2221.8635, 切向力Y=755.2293 +FPS=24.50, 法向力=2463.0818, 切向力X=2327.4004, 切向力Y=517.7386 +FPS=24.11, 法向力=4104.4590, 切向力X=-575.7776, 切向力Y=329.8478 +FPS=23.76, 法向力=1642.8944, 切向力X=1277.1980, 切向力Y=754.1769 +FPS=22.89, 法向力=1884.5841, 切向力X=1463.3760, 切向力Y=415.0486 +FPS=24.20, 法向力=2238.5295, 切向力X=2631.1387, 切向力Y=-504.4778 +FPS=23.60, 法向力=2213.3774, 切向力X=2759.5193, 切向力Y=-597.5703 +FPS=23.90, 法向力=2402.4194, 切向力X=404.5800, 切向力Y=491.9329 +FPS=22.49, 法向力=4718.1797, 切向力X=-1233.3827, 切向力Y=369.8630 +FPS=23.03, 法向力=3586.3218, 切向力X=-421.4569, 切向力Y=269.1649 +FPS=22.75, 法向力=3646.5564, 切向力X=-477.8810, 切向力Y=287.7817 +FPS=24.36, 法向力=2772.0291, 切向力X=600.7988, 切向力Y=-847.1704 +FPS=24.67, 法向力=2382.0315, 切向力X=-95.7067, 切向力Y=-207.4235 +FPS=22.55, 法向力=2494.2520, 切向力X=-171.7762, 切向力Y=-94.2696 +FPS=24.37, 法向力=3835.7725, 切向力X=-673.8339, 切向力Y=-743.2102 +FPS=24.00, 法向力=1458.5477, 切向力X=967.8285, 切向力Y=-316.2228 +FPS=20.55, 法向力=4519.4434, 切向力X=-1023.1453, 切向力Y=-775.6594 +FPS=22.33, 法向力=1728.1155, 切向力X=2004.9746, 切向力Y=139.0558 +FPS=22.11, 法向力=1666.8047, 切向力X=1975.5583, 切向力Y=372.2159 +FPS=21.01, 法向力=1441.8828, 切向力X=1092.1959, 切向力Y=-985.2727 +FPS=22.12, 法向力=1686.8503, 切向力X=1133.0132, 切向力Y=471.0602 +FPS=21.33, 法向力=1882.9373, 切向力X=1577.2747, 切向力Y=433.0205 +FPS=21.52, 法向力=1915.2954, 切向力X=1708.4785, 切向力Y=649.8876 +FPS=21.39, 法向力=1302.5950, 切向力X=866.4545, 切向力Y=789.3041 +FPS=21.09, 法向力=2683.4341, 切向力X=371.8336, 切向力Y=13.8633 +FPS=21.74, 法向力=2161.7622, 切向力X=1705.1655, 切向力Y=-1415.5476 +FPS=23.12, 法向力=1825.0396, 切向力X=1315.9258, 切向力Y=-356.6346 +FPS=20.45, 法向力=1775.7314, 切向力X=1462.7097, 切向力Y=-303.0806 +FPS=21.03, 法向力=1533.3649, 切向力X=2063.5210, 切向力Y=-106.2755 +FPS=21.44, 法向力=1562.1885, 切向力X=1757.6676, 切向力Y=-887.2943 +FPS=20.82, 法向力=3563.2671, 切向力X=-505.1213, 切向力Y=1104.2952 +FPS=21.52, 法向力=1266.0110, 切向力X=1273.3126, 切向力Y=269.3975 +FPS=21.05, 法向力=2680.6665, 切向力X=493.2827, 切向力Y=-286.9711 +FPS=21.33, 法向力=3432.0447, 切向力X=-382.8957, 切向力Y=286.8609 +FPS=20.96, 法向力=3082.0234, 切向力X=-159.0697, 切向力Y=-226.6606 +FPS=21.52, 法向力=4531.6045, 切向力X=-1009.7722, 切向力Y=528.3550 +FPS=21.29, 法向力=1523.1921, 切向力X=1834.7031, 切向力Y=1212.4438 +FPS=22.01, 法向力=1749.5081, 切向力X=1575.9177, 切向力Y=-433.8818 +FPS=21.43, 法向力=1758.3374, 切向力X=1705.2975, 切向力Y=-580.0709 +FPS=21.52, 法向力=1838.8733, 切向力X=1005.1134, 切向力Y=206.1065 +FPS=21.59, 法向力=1278.2939, 切向力X=1766.2769, 切向力Y=-869.5921 +FPS=19.80, 法向力=1672.9434, 切向力X=1406.1346, 切向力Y=-271.4223 +FPS=20.68, 法向力=2627.1328, 切向力X=334.2548, 切向力Y=-534.2491 +FPS=22.58, 法向力=2644.4934, 切向力X=327.1438, 切向力Y=-365.9428 +FPS=21.94, 法向力=8537.7480, 切向力X=-3387.8716, 切向力Y=415.6829 +FPS=19.99, 法向力=6777.6113, 切向力X=-1891.6312, 切向力Y=40.5351 +FPS=21.02, 法向力=5945.1016, 切向力X=-2106.6890, 切向力Y=1514.8440 +FPS=22.11, 法向力=1807.2737, 切向力X=1337.0520, 切向力Y=-659.7057 +FPS=21.46, 法向力=1494.0825, 切向力X=1097.1119, 切向力Y=1094.9202 +FPS=21.67, 法向力=1301.1335, 切向力X=1520.9896, 切向力Y=491.9429 +FPS=23.33, 法向力=1272.6182, 切向力X=1438.1790, 切向力Y=574.6752 +FPS=23.22, 法向力=2691.6560, 切向力X=2654.0532, 切向力Y=-1668.6482 +FPS=21.63, 法向力=1350.2109, 切向力X=1541.9661, 切向力Y=878.6171 +FPS=21.73, 法向力=1393.8058, 切向力X=1615.5576, 切向力Y=1148.9987 +FPS=21.05, 法向力=2206.0298, 切向力X=942.5178, 切向力Y=434.6837 +FPS=21.74, 法向力=1996.5520, 切向力X=1540.1913, 切向力Y=872.9363 +FPS=21.83, 法向力=2258.7112, 切向力X=80.1410, 切向力Y=110.3833 +FPS=22.02, 法向力=3565.3452, 切向力X=-800.9845, 切向力Y=208.2527 +FPS=22.13, 法向力=3529.6743, 切向力X=-734.5586, 切向力Y=261.1852 +FPS=22.04, 法向力=1661.4232, 切向力X=905.9965, 切向力Y=893.0309 +FPS=22.11, 法向力=3832.3535, 切向力X=-775.1599, 切向力Y=-252.0272 +FPS=21.19, 法向力=2202.7881, 切向力X=650.7879, 切向力Y=548.1873 +FPS=21.77, 法向力=2074.3438, 切向力X=720.6152, 切向力Y=667.2819 +FPS=20.86, 法向力=2650.4702, 切向力X=2285.4204, 切向力Y=-1148.2178 +FPS=20.90, 法向力=4384.7734, 切向力X=-666.9435, 切向力Y=800.1166 +FPS=22.51, 法向力=3166.4634, 切向力X=-1104.5854, 切向力Y=-1097.4884 +FPS=21.13, 法向力=2372.0264, 切向力X=318.2907, 切向力Y=307.3291 +FPS=20.19, 法向力=2358.2998, 切向力X=230.6768, 切向力Y=338.7036 +FPS=21.03, 法向力=1917.4343, 切向力X=1353.0710, 切向力Y=-246.3681 +FPS=20.58, 法向力=1683.5627, 切向力X=1334.8677, 切向力Y=-231.7797 +FPS=20.56, 法向力=2168.9114, 切向力X=2270.3027, 切向力Y=-224.0535 +FPS=21.76, 法向力=1753.1421, 切向力X=2126.1714, 切向力Y=-94.5718 +FPS=20.48, 法向力=2308.9651, 切向力X=2418.6655, 切向力Y=-1161.6080 +FPS=21.65, 法向力=1385.2120, 切向力X=1454.1812, 切向力Y=-895.2710 +FPS=20.67, 法向力=1335.2195, 切向力X=1455.0676, 切向力Y=-552.2250 +FPS=19.76, 法向力=2160.7346, 切向力X=1863.5288, 切向力Y=-1602.2742 +FPS=21.69, 法向力=2636.8174, 切向力X=2534.6047, 切向力Y=-2547.3271 +FPS=21.66, 法向力=1695.9701, 切向力X=503.5374, 切向力Y=-1251.2930 +FPS=21.87, 法向力=2421.8188, 切向力X=1719.8600, 切向力Y=65.4337 +FPS=21.13, 法向力=2918.3198, 切向力X=3063.0295, 切向力Y=-928.5193 +FPS=20.34, 法向力=3046.3469, 切向力X=3428.7354, 切向力Y=-1241.2996 +FPS=20.86, 法向力=1288.5327, 切向力X=2008.7380, 切向力Y=-168.9311 +FPS=21.09, 法向力=1208.9143, 切向力X=1693.5273, 切向力Y=-137.3585 +FPS=21.97, 法向力=6649.1899, 切向力X=-2406.0352, 切向力Y=657.5499 +FPS=20.46, 法向力=5870.3823, 切向力X=-1528.5413, 切向力Y=1483.9636 +FPS=21.26, 法向力=5838.8877, 切向力X=-1444.9453, 切向力Y=1627.4028 +FPS=21.90, 法向力=4551.4580, 切向力X=-804.1212, 切向力Y=1358.9789 +FPS=21.83, 法向力=1446.1653, 切向力X=1592.9615, 切向力Y=690.8064 +FPS=21.27, 法向力=5971.5420, 切向力X=-1513.7893, 切向力Y=48.6181 +FPS=20.83, 法向力=4899.7041, 切向力X=-2200.5801, 切向力Y=115.5520 +FPS=21.44, 法向力=4893.5801, 切向力X=-2241.1926, 切向力Y=14.6091 +FPS=21.34, 法向力=2155.2002, 切向力X=1438.7551, 切向力Y=764.9018 +FPS=21.66, 法向力=2174.9390, 切向力X=2580.9194, 切向力Y=-1409.3719 +FPS=21.44, 法向力=1339.2831, 切向力X=1952.1638, 切向力Y=-824.7114 +FPS=20.47, 法向力=1890.9136, 切向力X=665.3101, 切向力Y=1408.7094 +FPS=21.23, 法向力=1446.1296, 切向力X=1088.1108, 切向力Y=-120.9137 +FPS=21.04, 法向力=3155.6660, 切向力X=-390.2245, 切向力Y=-613.6058 +FPS=21.41, 法向力=3136.9817, 切向力X=2967.1812, 切向力Y=392.2402 +FPS=20.94, 法向力=1201.5026, 切向力X=2378.6260, 切向力Y=300.3599 +FPS=21.79, 法向力=1941.5768, 切向力X=639.6747, 切向力Y=-238.3013 +FPS=21.84, 法向力=3678.8064, 切向力X=-817.9903, 切向力Y=781.6035 +FPS=21.69, 法向力=3884.1047, 切向力X=-917.4537, 切向力Y=825.5638 +FPS=20.96, 法向力=2062.7368, 切向力X=107.6367, 切向力Y=-7.1288 +FPS=21.60, 法向力=7217.2979, 切向力X=-2492.3655, 切向力Y=983.8061 +FPS=20.36, 法向力=1968.4452, 切向力X=368.2372, 切向力Y=378.9978 +FPS=21.27, 法向力=1789.1233, 切向力X=782.5962, 切向力Y=-246.0605 +FPS=22.36, 法向力=2145.3940, 切向力X=1670.6680, 切向力Y=1126.8826 +FPS=22.80, 法向力=3171.5229, 切向力X=-341.0991, 切向力Y=461.5477 +FPS=22.44, 法向力=2130.9805, 切向力X=2155.5178, 切向力Y=-775.1409 +FPS=21.41, 法向力=2045.0081, 切向力X=921.5868, 切向力Y=179.8956 +FPS=23.03, 法向力=2628.4316, 切向力X=344.2404, 切向力Y=-84.1826 +FPS=22.55, 法向力=2800.9233, 切向力X=772.6658, 切向力Y=-551.9617 +FPS=21.52, 法向力=1788.7788, 切向力X=2296.0464, 切向力Y=209.8380 +FPS=22.47, 法向力=1512.2744, 切向力X=1378.5854, 切向力Y=296.8142 +FPS=22.72, 法向力=2269.0554, 切向力X=259.6967, 切向力Y=262.6723 +FPS=22.83, 法向力=5917.0840, 切向力X=-1925.8605, 切向力Y=-428.1551 +FPS=23.70, 法向力=3482.2876, 切向力X=27.3255, 切向力Y=795.0392 +FPS=22.58, 法向力=1742.4243, 切向力X=2005.3533, 切向力Y=-848.6177 +FPS=22.79, 法向力=2606.2078, 切向力X=2771.5649, 切向力Y=913.1951 +FPS=23.26, 法向力=2617.3440, 切向力X=2876.1602, 切向力Y=974.1898 +FPS=21.79, 法向力=2087.0972, 切向力X=155.2480, 切向力Y=376.9288 +FPS=23.04, 法向力=3592.7690, 切向力X=-100.0631, 切向力Y=626.3037 +FPS=22.38, 法向力=1810.9581, 切向力X=1784.0530, 切向力Y=-188.6075 +FPS=23.02, 法向力=2047.0188, 切向力X=-48.2388, 切向力Y=462.2320 +FPS=22.34, 法向力=1517.0740, 切向力X=2005.1819, 切向力Y=-825.8854 +FPS=23.59, 法向力=2129.7229, 切向力X=21.4332, 切向力Y=270.1026 +FPS=24.41, 法向力=2884.0967, 切向力X=-316.1177, 切向力Y=1084.4314 +FPS=22.67, 法向力=8745.2402, 切向力X=-3682.8062, 切向力Y=1053.3269 +FPS=21.39, 法向力=3967.3796, 切向力X=42.8928, 切向力Y=-262.1227 +FPS=21.18, 法向力=1716.3270, 切向力X=1990.6321, 切向力Y=-522.6572 +FPS=22.84, 法向力=1683.9790, 切向力X=556.5985, 切向力Y=-673.4476 +FPS=22.51, 法向力=2039.6692, 切向力X=1512.7007, 切向力Y=403.5698 +FPS=21.42, 法向力=1773.6797, 切向力X=266.4081, 切向力Y=207.6680 +FPS=21.43, 法向力=1748.4265, 切向力X=1055.9827, 切向力Y=-24.4478 +FPS=21.92, 法向力=2746.7124, 切向力X=132.6339, 切向力Y=103.8798 +FPS=21.60, 法向力=1695.9174, 切向力X=559.8533, 切向力Y=119.3678 +FPS=22.19, 法向力=7323.3662, 切向力X=-2631.8059, 切向力Y=767.7556 +FPS=22.00, 法向力=3170.3750, 切向力X=-779.1708, 切向力Y=-251.4130 +FPS=22.67, 法向力=3100.2441, 切向力X=-770.0216, 切向力Y=-218.1136 +FPS=21.33, 法向力=6288.1816, 切向力X=-2845.7773, 切向力Y=856.7214 +FPS=22.06, 法向力=4905.6807, 切向力X=-1003.4780, 切向力Y=177.4630 +FPS=22.66, 法向力=4234.8662, 切向力X=-541.1278, 切向力Y=2064.0083 +FPS=21.72, 法向力=1899.5889, 切向力X=595.7290, 切向力Y=645.9067 +FPS=21.84, 法向力=1410.3108, 切向力X=790.8463, 切向力Y=-581.2761 +FPS=21.89, 法向力=2234.9521, 切向力X=2577.1450, 切向力Y=62.1698 +FPS=20.98, 法向力=2917.2285, 切向力X=44.8270, 切向力Y=-1044.0309 +FPS=21.66, 法向力=1834.3286, 切向力X=1980.3079, 切向力Y=-1260.3579 +FPS=20.43, 法向力=2336.2695, 切向力X=220.8319, 切向力Y=-834.9525 +FPS=20.67, 法向力=1819.9366, 切向力X=1076.8258, 切向力Y=-387.1060 +FPS=21.42, 法向力=3880.6418, 切向力X=-352.5684, 切向力Y=11.4204 +FPS=21.00, 法向力=4429.0723, 切向力X=-750.2175, 切向力Y=395.1808 +FPS=21.61, 法向力=4923.1582, 切向力X=-1806.8413, 切向力Y=1067.4612 +FPS=23.28, 法向力=2400.3279, 切向力X=2105.7607, 切向力Y=226.0202 +FPS=23.62, 法向力=2339.4878, 切向力X=757.7268, 切向力Y=107.9031 +FPS=21.10, 法向力=4175.8853, 切向力X=-962.3884, 切向力Y=-40.6656 +FPS=22.77, 法向力=2064.0220, 切向力X=2029.9711, 切向力Y=38.5854 +FPS=23.16, 法向力=1545.0967, 切向力X=1775.1294, 切向力Y=-9.4383 +FPS=23.26, 法向力=1455.0187, 切向力X=682.7315, 切向力Y=-523.0703 +FPS=23.15, 法向力=1521.9153, 切向力X=837.6390, 切向力Y=-659.3972 +FPS=21.83, 法向力=1657.5599, 切向力X=1846.8414, 切向力Y=91.0079 +FPS=23.15, 法向力=4895.4131, 切向力X=-1147.6212, 切向力Y=1271.2117 +FPS=20.82, 法向力=1364.1244, 切向力X=1974.6748, 切向力Y=84.5473 +FPS=22.08, 法向力=2312.5796, 切向力X=1563.7137, 切向力Y=-359.6028 +FPS=22.64, 法向力=2517.4458, 切向力X=2593.5620, 切向力Y=-200.2708 +FPS=22.63, 法向力=1885.1475, 切向力X=407.7324, 切向力Y=944.3162 +FPS=23.09, 法向力=3999.6860, 切向力X=-1014.7070, 切向力Y=962.1368 +FPS=21.50, 法向力=1758.6158, 切向力X=1424.1731, 切向力Y=-1132.5293 +FPS=23.44, 法向力=2555.7329, 切向力X=2592.5474, 切向力Y=210.0470 +FPS=25.20, 法向力=2683.2922, 切向力X=2715.0005, 切向力Y=324.5599 +FPS=23.73, 法向力=2627.0679, 切向力X=-1.5630, 切向力Y=936.6532 +FPS=24.00, 法向力=2689.1931, 切向力X=426.3090, 切向力Y=1319.1470 +FPS=23.65, 法向力=2706.3125, 切向力X=104.1820, 切向力Y=-182.2658 +FPS=24.31, 法向力=3181.0720, 切向力X=286.2960, 切向力Y=-347.5833 +FPS=24.70, 法向力=2042.5985, 切向力X=2639.9722, 切向力Y=-897.9879 +FPS=24.55, 法向力=2373.2444, 切向力X=2942.3699, 切向力Y=-945.5161 +FPS=24.84, 法向力=3378.5801, 切向力X=199.6920, 切向力Y=243.1476 +FPS=24.70, 法向力=2122.2087, 切向力X=352.3778, 切向力Y=376.3415 +FPS=22.04, 法向力=2864.0293, 切向力X=281.8222, 切向力Y=-161.9244 +FPS=21.91, 法向力=5182.6948, 切向力X=-787.6615, 切向力Y=12.9669 +FPS=20.98, 法向力=8055.5371, 切向力X=-3122.5767, 切向力Y=-124.6017 +FPS=22.40, 法向力=1905.6191, 切向力X=698.0739, 切向力Y=-788.5271 +FPS=21.98, 法向力=4921.7363, 切向力X=-1661.2065, 切向力Y=-104.6396 +FPS=21.78, 法向力=5072.4072, 切向力X=-1880.2739, 切向力Y=-77.0781 +FPS=22.70, 法向力=2686.8345, 切向力X=109.4288, 切向力Y=-366.2505 +FPS=21.95, 法向力=3387.2297, 切向力X=-574.3760, 切向力Y=-1288.7216 +FPS=21.89, 法向力=2815.8628, 切向力X=309.9711, 切向力Y=-513.6063 +FPS=21.94, 法向力=2153.7529, 切向力X=756.6885, 切向力Y=-519.8970 +FPS=22.23, 法向力=5118.5854, 切向力X=-1096.4635, 切向力Y=574.7860 +FPS=22.35, 法向力=3886.5376, 切向力X=4387.5693, 切向力Y=-626.9069 +FPS=20.86, 法向力=1691.9131, 切向力X=1961.4005, 切向力Y=90.8405 +FPS=21.84, 法向力=1454.7212, 切向力X=1458.5159, 切向力Y=181.0190 +FPS=21.59, 法向力=2384.5840, 切向力X=493.2867, 切向力Y=-197.7518 +FPS=22.29, 法向力=2607.1255, 切向力X=424.6064, 切向力Y=-175.1125 +FPS=22.66, 法向力=1989.9509, 切向力X=845.1050, 切向力Y=486.6248 +FPS=22.06, 法向力=4706.8423, 切向力X=-763.8986, 切向力Y=307.6192 +FPS=22.25, 法向力=1895.9369, 切向力X=-41.6328, 切向力Y=960.4167 +FPS=21.71, 法向力=2233.0811, 切向力X=168.3048, 切向力Y=-1398.2137 +FPS=23.27, 法向力=2285.3816, 切向力X=261.3827, 切向力Y=-1028.1353 +FPS=23.06, 法向力=1791.5720, 切向力X=1148.0459, 切向力Y=-963.4669 +FPS=21.52, 法向力=7872.6816, 切向力X=-2605.7583, 切向力Y=834.7146 +FPS=21.95, 法向力=7874.7495, 切向力X=-2527.0669, 切向力Y=899.9366 +FPS=20.46, 法向力=7114.6387, 切向力X=-2378.5383, 切向力Y=1405.9041 +FPS=21.58, 法向力=1698.5542, 切向力X=1763.3224, 切向力Y=-448.6655 +FPS=20.46, 法向力=3112.4407, 切向力X=392.7634, 切向力Y=1701.7351 +FPS=18.97, 法向力=2803.9336, 切向力X=382.4401, 切向力Y=133.7821 +FPS=20.16, 法向力=3502.6672, 切向力X=-677.0045, 切向力Y=1579.6360 +FPS=21.36, 法向力=3111.6794, 切向力X=-623.9361, 切向力Y=-1244.5602 +FPS=21.73, 法向力=2156.8394, 切向力X=1019.1499, 切向力Y=45.9228 +FPS=21.17, 法向力=2209.6631, 切向力X=1183.5635, 切向力Y=80.0230 +FPS=20.69, 法向力=5244.1973, 切向力X=3798.5034, 切向力Y=-592.4181 +FPS=21.49, 法向力=2567.5332, 切向力X=1226.3909, 切向力Y=-1441.9158 +FPS=21.67, 法向力=1431.0389, 切向力X=1458.6318, 切向力Y=331.1761 +FPS=20.87, 法向力=1743.2288, 切向力X=1948.8297, 切向力Y=615.8610 +FPS=20.57, 法向力=1805.9192, 切向力X=1673.7949, 切向力Y=1709.4032 +FPS=21.02, 法向力=1438.5732, 切向力X=-419.1565, 切向力Y=103.3622 +FPS=22.04, 法向力=4054.6868, 切向力X=-893.0419, 切向力Y=582.7997 +FPS=23.09, 法向力=2328.8652, 切向力X=2042.1763, 切向力Y=-1302.7455 +FPS=21.72, 法向力=1856.7327, 切向力X=1578.8931, 切向力Y=-1628.6062 +FPS=22.33, 法向力=1471.7229, 切向力X=270.8630, 切向力Y=-161.0673 +FPS=21.45, 法向力=1886.4265, 切向力X=1407.5437, 切向力Y=242.1999 +FPS=22.02, 法向力=1609.0389, 切向力X=439.7864, 切向力Y=-46.3122 +FPS=22.46, 法向力=1624.8745, 切向力X=674.1313, 切向力Y=-384.2678 +FPS=20.28, 法向力=1652.8164, 切向力X=35.6529, 切向力Y=592.1940 +FPS=23.38, 法向力=4567.7476, 切向力X=-1829.1595, 切向力Y=1351.2209 +FPS=23.46, 法向力=2195.2681, 切向力X=340.4963, 切向力Y=-486.7700 +FPS=24.06, 法向力=1332.4282, 切向力X=2088.6438, 切向力Y=-323.2664 +FPS=21.17, 法向力=2405.7188, 切向力X=339.3000, 切向力Y=56.2219 +FPS=22.05, 法向力=2456.5889, 切向力X=285.2524, 切向力Y=28.3023 +FPS=21.88, 法向力=2003.6987, 切向力X=712.3788, 切向力Y=1526.8859 +FPS=21.51, 法向力=1876.1790, 切向力X=1901.4275, 切向力Y=823.0142 +FPS=21.35, 法向力=1929.9338, 切向力X=932.1229, 切向力Y=723.3651 +FPS=21.43, 法向力=1775.9419, 切向力X=1469.2885, 切向力Y=307.2654 +FPS=20.89, 法向力=4509.4829, 切向力X=-1169.4209, 切向力Y=523.0604 +FPS=21.75, 法向力=5052.1729, 切向力X=-1491.4702, 切向力Y=773.0825 +FPS=21.16, 法向力=1393.3540, 切向力X=662.1331, 切向力Y=-169.9044 +FPS=20.67, 法向力=1648.5248, 切向力X=1040.2441, 切向力Y=-405.5435 +FPS=21.26, 法向力=1693.4692, 切向力X=522.2535, 切向力Y=-977.3047 +FPS=21.08, 法向力=2135.3044, 切向力X=904.2949, 切向力Y=-717.9423 +FPS=21.60, 法向力=3289.6191, 切向力X=194.6790, 切向力Y=-30.5474 +FPS=21.02, 法向力=2875.0615, 切向力X=4.4608, 切向力Y=629.5361 +FPS=22.24, 法向力=2389.9639, 切向力X=1852.8156, 切向力Y=-1246.6691 +FPS=22.24, 法向力=3763.5708, 切向力X=-344.2604, 切向力Y=-381.5407 +FPS=20.96, 法向力=2603.4810, 切向力X=-60.0851, 切向力Y=531.8868 +FPS=20.49, 法向力=1569.0337, 切向力X=1854.8857, 切向力Y=122.6256 +FPS=20.16, 法向力=4082.0110, 切向力X=-842.3140, 切向力Y=241.5419 +FPS=20.84, 法向力=3085.4148, 切向力X=-39.6537, 切向力Y=-407.6655 +FPS=21.49, 法向力=5089.7769, 切向力X=-2034.1631, 切向力Y=-182.7778 +FPS=20.45, 法向力=5014.7998, 切向力X=-2030.8682, 切向力Y=-83.8442 +FPS=20.48, 法向力=1383.6428, 切向力X=1376.3221, 切向力Y=384.4120 +FPS=21.28, 法向力=2511.1030, 切向力X=2134.6914, 切向力Y=-1720.9253 +FPS=21.27, 法向力=1414.9733, 切向力X=1695.7660, 切向力Y=-676.5206 +FPS=21.77, 法向力=2079.9082, 切向力X=2280.1587, 切向力Y=406.7740 +FPS=21.29, 法向力=1934.8519, 切向力X=2403.8770, 切向力Y=457.2459 +FPS=21.30, 法向力=2209.2744, 切向力X=800.3428, 切向力Y=-1572.5364 +FPS=23.06, 法向力=3148.7070, 切向力X=-79.7363, 切向力Y=727.7762 +FPS=23.34, 法向力=12271.8467, 切向力X=-4714.9341, 切向力Y=466.7671 +FPS=21.11, 法向力=2154.2881, 切向力X=2089.5596, 切向力Y=65.3676 +FPS=21.34, 法向力=3746.6724, 切向力X=166.6147, 切向力Y=-373.6840 +FPS=21.70, 法向力=3053.8335, 切向力X=2954.5471, 切向力Y=-162.0780 +FPS=20.20, 法向力=1811.3347, 切向力X=608.1436, 切向力Y=-1316.6558 +FPS=20.02, 法向力=5948.6328, 切向力X=-2537.3865, 切向力Y=57.4850 +FPS=22.17, 法向力=1718.9290, 切向力X=1612.1106, 切向力Y=-631.9395 +FPS=21.99, 法向力=2601.1912, 切向力X=299.2917, 切向力Y=-1636.4124 +FPS=21.85, 法向力=2622.2119, 切向力X=536.0095, 切向力Y=-1654.1968 +FPS=21.19, 法向力=7589.1797, 切向力X=-3023.1106, 切向力Y=2259.7710 +FPS=20.16, 法向力=10407.7197, 切向力X=-5139.7720, 切向力Y=512.3501 +FPS=20.02, 法向力=1425.5137, 切向力X=1588.2346, 切向力Y=298.9663 +FPS=21.22, 法向力=2583.0908, 切向力X=55.1838, 切向力Y=758.8489 +FPS=21.80, 法向力=3735.6328, 切向力X=3107.4260, 切向力Y=36.8094 +FPS=20.95, 法向力=3204.8770, 切向力X=-417.8354, 切向力Y=279.0453 +FPS=20.46, 法向力=1801.1343, 切向力X=565.7043, 切向力Y=58.8496 +FPS=21.12, 法向力=1809.2097, 切向力X=537.6172, 切向力Y=-1209.6876 +FPS=20.27, 法向力=3000.5535, 切向力X=-168.7849, 切向力Y=926.1630 +FPS=22.06, 法向力=5370.2485, 切向力X=-1433.4307, 切向力Y=931.5962 +FPS=21.41, 法向力=1302.6733, 切向力X=1080.4902, 切向力Y=1214.0510 +FPS=21.88, 法向力=2096.4880, 切向力X=102.1924, 切向力Y=-108.8070 +FPS=21.56, 法向力=2275.9504, 切向力X=2707.8047, 切向力Y=-595.6439 +FPS=20.71, 法向力=2250.9717, 切向力X=216.9004, 切向力Y=1647.2527 +FPS=21.54, 法向力=1986.6378, 切向力X=646.6823, 切向力Y=-610.7733 +FPS=21.11, 法向力=1922.0529, 切向力X=984.2327, 切向力Y=-1038.9409 +FPS=21.01, 法向力=8884.5879, 切向力X=-3837.2979, 切向力Y=393.1737 +FPS=20.87, 法向力=5388.0249, 切向力X=-2353.7456, 切向力Y=838.0622 +FPS=21.88, 法向力=2052.7273, 切向力X=333.1956, 切向力Y=764.3974 +FPS=22.41, 法向力=5346.3281, 切向力X=-1375.6724, 切向力Y=-634.4068 +FPS=20.65, 法向力=2958.0742, 切向力X=61.0526, 切向力Y=798.6714 +FPS=21.08, 法向力=2383.1831, 切向力X=791.8035, 切向力Y=676.9957 +FPS=21.83, 法向力=2238.1733, 切向力X=105.4457, 切向力Y=165.1089 +FPS=21.91, 法向力=2333.7559, 切向力X=912.8050, 切向力Y=-634.5740 +FPS=20.45, 法向力=2206.5015, 切向力X=710.1202, 切向力Y=-697.0872 +FPS=20.89, 法向力=1804.1711, 切向力X=2623.9424, 切向力Y=265.8256 +FPS=21.83, 法向力=2810.8740, 切向力X=3384.0925, 切向力Y=-749.2599 +FPS=21.32, 法向力=2136.7261, 切向力X=601.3967, 切向力Y=623.0905 +FPS=20.42, 法向力=5214.7695, 切向力X=-1870.5408, 切向力Y=1518.4564 +FPS=20.49, 法向力=1846.9319, 切向力X=1694.0205, 切向力Y=-346.7958 +FPS=21.81, 法向力=2636.1851, 切向力X=468.4686, 切向力Y=337.2907 +FPS=22.58, 法向力=2815.5532, 切向力X=245.4274, 切向力Y=627.5326 +FPS=23.40, 法向力=8267.9893, 切向力X=-3166.4812, 切向力Y=212.4429 +FPS=22.77, 法向力=1352.1705, 切向力X=1939.4025, 切向力Y=-921.7166 +FPS=21.67, 法向力=2721.7898, 切向力X=323.0988, 切向力Y=-490.1629 +FPS=23.04, 法向力=9221.3184, 切向力X=-4275.0073, 切向力Y=591.4887 +FPS=21.34, 法向力=6862.1719, 切向力X=-2379.4424, 切向力Y=1842.0103 +FPS=20.77, 法向力=6852.8672, 切向力X=-2396.5632, 切向力Y=660.7294 +FPS=22.40, 法向力=2372.3955, 切向力X=313.1559, 切向力Y=63.2689 +FPS=21.73, 法向力=7632.3838, 切向力X=-3233.1384, 切向力Y=63.7634 +FPS=23.68, 法向力=4957.0859, 切向力X=-1140.5049, 切向力Y=366.1310 +FPS=24.10, 法向力=4451.8760, 切向力X=-712.2456, 切向力Y=417.0201 +FPS=23.49, 法向力=8010.1851, 切向力X=-2870.1909, 切向力Y=1639.9409 +FPS=23.51, 法向力=4297.3950, 切向力X=-1012.0238, 切向力Y=515.3181 +FPS=22.83, 法向力=1857.5686, 切向力X=1640.2526, 切向力Y=-101.0076 +FPS=23.47, 法向力=2413.3757, 切向力X=2737.2234, 切向力Y=514.3295 +FPS=22.63, 法向力=1690.4426, 切向力X=1396.5183, 切向力Y=639.3821 +FPS=21.43, 法向力=3882.3579, 切向力X=-591.0350, 切向力Y=-322.5483 +FPS=23.42, 法向力=3881.3589, 切向力X=-668.4492, 切向力Y=-434.4968 +FPS=22.06, 法向力=1795.5685, 切向力X=628.0280, 切向力Y=-259.7154 +FPS=22.71, 法向力=1552.5035, 切向力X=2107.1533, 切向力Y=17.3392 +FPS=23.14, 法向力=1678.7341, 切向力X=1936.4657, 切向力Y=-407.1712 +FPS=21.53, 法向力=2692.2625, 切向力X=43.9138, 切向力Y=250.6075 +FPS=22.31, 法向力=1948.7976, 切向力X=1203.8040, 切向力Y=595.5173 +FPS=22.52, 法向力=2080.4092, 切向力X=2334.0642, 切向力Y=-979.2357 +FPS=23.16, 法向力=2047.1565, 切向力X=397.9518, 切向力Y=410.8212 +FPS=22.54, 法向力=3078.6313, 切向力X=-30.5825, 切向力Y=1131.3859 +FPS=23.66, 法向力=3171.4885, 切向力X=-11.7836, 切向力Y=960.8391 +FPS=23.29, 法向力=1397.2795, 切向力X=857.4072, 切向力Y=-280.2741 +FPS=22.50, 法向力=9500.4170, 切向力X=-3715.0967, 切向力Y=42.2904 +FPS=21.46, 法向力=4313.5059, 切向力X=-986.5402, 切向力Y=1114.0581 +FPS=22.02, 法向力=4483.1221, 切向力X=-1118.3208, 切向力Y=393.8100 +FPS=23.61, 法向力=3835.1011, 切向力X=202.2479, 切向力Y=240.0705 +FPS=24.12, 法向力=1881.6167, 切向力X=926.1649, 切向力Y=246.2177 +FPS=23.96, 法向力=1754.1830, 切向力X=1148.0024, 切向力Y=207.4390 +FPS=23.22, 法向力=7525.4580, 切向力X=-2415.3562, 切向力Y=449.9836 +FPS=23.57, 法向力=2212.7246, 切向力X=1065.9329, 切向力Y=636.0841 +FPS=23.92, 法向力=2955.7778, 切向力X=276.3289, 切向力Y=374.8983 +FPS=23.03, 法向力=3196.2458, 切向力X=71.9407, 切向力Y=195.7845 +FPS=23.38, 法向力=3986.6333, 切向力X=3953.3579, 切向力Y=-712.0693 +FPS=23.46, 法向力=6377.1948, 切向力X=4102.0166, 切向力Y=-1917.0298 +FPS=22.21, 法向力=7189.7866, 切向力X=-2375.1926, 切向力Y=-848.9296 +FPS=22.25, 法向力=5123.8052, 切向力X=-1997.0947, 切向力Y=483.4773 +FPS=21.89, 法向力=5071.8555, 切向力X=-1930.0458, 切向力Y=493.8654 +FPS=22.20, 法向力=3186.9238, 切向力X=57.6201, 切向力Y=-299.2589 +FPS=21.39, 法向力=2751.4590, 切向力X=-120.1385, 切向力Y=1018.6990 +FPS=21.80, 法向力=5911.5312, 切向力X=-1553.3169, 切向力Y=-35.4623 +FPS=22.70, 法向力=5995.9160, 切向力X=-1616.6910, 切向力Y=-112.3986 +FPS=22.04, 法向力=7457.0938, 切向力X=-3172.5842, 切向力Y=2012.1157 +FPS=22.13, 法向力=3051.0977, 切向力X=3924.0493, 切向力Y=-215.0095 +FPS=23.43, 法向力=1450.3513, 切向力X=1411.0171, 切向力Y=-207.6379 +FPS=22.29, 法向力=1496.4476, 切向力X=756.1979, 切向力Y=453.4319 +FPS=21.85, 法向力=1716.9736, 切向力X=1575.8569, 切向力Y=742.5406 +FPS=22.60, 法向力=7272.5581, 切向力X=-3094.4036, 切向力Y=817.7247 +FPS=22.33, 法向力=7811.6006, 切向力X=-2966.7969, 切向力Y=182.0416 +FPS=22.84, 法向力=7812.4492, 切向力X=-2939.5876, 切向力Y=128.8578 +FPS=23.06, 法向力=5832.6548, 切向力X=-1580.0480, 切向力Y=835.2369 +FPS=22.69, 法向力=2100.5352, 切向力X=499.1359, 切向力Y=405.4901 +FPS=22.62, 法向力=7283.1553, 切向力X=-3652.9060, 切向力Y=-1547.7035 +FPS=23.28, 法向力=7297.9727, 切向力X=-3711.1584, 切向力Y=-1480.9414 +FPS=22.11, 法向力=4266.2603, 切向力X=-1509.9036, 切向力Y=270.8979 +FPS=21.64, 法向力=1777.9907, 切向力X=1823.7976, 切向力Y=-363.3914 +FPS=20.51, 法向力=4301.9717, 切向力X=-678.9177, 切向力Y=-2228.4443 +FPS=20.04, 法向力=5769.7520, 切向力X=-1672.0942, 切向力Y=-1767.2052 +FPS=21.87, 法向力=3990.3501, 切向力X=-813.3822, 切向力Y=-922.5353 +FPS=20.40, 法向力=3122.1353, 切向力X=-675.2764, 切向力Y=1443.4529 +FPS=22.33, 法向力=6137.9712, 切向力X=-1823.8521, 切向力Y=1012.9288 +FPS=19.43, 法向力=3139.9788, 切向力X=-281.8168, 切向力Y=-5.5007 +FPS=21.42, 法向力=6339.5386, 切向力X=-2560.3711, 切向力Y=1358.0023 +FPS=22.80, 法向力=3523.4534, 切向力X=-650.4956, 切向力Y=-122.2654 +FPS=22.91, 法向力=1549.3757, 切向力X=1744.9065, 切向力Y=557.9458 +FPS=22.56, 法向力=1584.5343, 切向力X=1657.5894, 切向力Y=846.9457 +FPS=21.11, 法向力=1207.5823, 切向力X=821.5997, 切向力Y=18.8358 +FPS=19.83, 法向力=5276.9536, 切向力X=-719.0319, 切向力Y=-565.4385 +FPS=21.48, 法向力=7089.5605, 切向力X=-2773.2856, 切向力Y=1260.4924 +FPS=21.67, 法向力=7559.5396, 切向力X=-2999.1531, 切向力Y=1362.4377 +FPS=20.19, 法向力=7063.2529, 切向力X=-2389.7473, 切向力Y=1945.5187 +FPS=21.92, 法向力=3498.8494, 切向力X=4525.2090, 切向力Y=-338.6313 +FPS=22.02, 法向力=2025.6768, 切向力X=161.7531, 切向力Y=-476.2191 +FPS=21.30, 法向力=1780.8091, 切向力X=397.2462, 切向力Y=-685.7010 +FPS=20.79, 法向力=3167.6382, 切向力X=-832.3632, 切向力Y=-37.6762 +FPS=21.17, 法向力=5698.6675, 切向力X=-2027.9761, 切向力Y=1320.3804 +FPS=20.85, 法向力=6065.4268, 切向力X=-2270.5300, 切向力Y=589.3933 +FPS=20.94, 法向力=2151.1133, 切向力X=2313.4927, 切向力Y=704.8141 +FPS=21.67, 法向力=4234.0625, 切向力X=3729.5137, 切向力Y=-910.5011 +FPS=21.87, 法向力=3622.3022, 切向力X=3328.4426, 切向力Y=-859.5397 +FPS=19.82, 法向力=3707.0300, 切向力X=3480.1685, 切向力Y=-904.4770 +FPS=20.69, 法向力=1542.5608, 切向力X=1626.0425, 切向力Y=-467.6006 +FPS=22.03, 法向力=2802.5479, 切向力X=3190.1160, 切向力Y=202.4558 +FPS=21.02, 法向力=3959.1729, 切向力X=-577.4319, 切向力Y=329.5384 +FPS=20.42, 法向力=4242.9893, 切向力X=4081.8477, 切向力Y=-293.8190 +FPS=20.58, 法向力=3986.6230, 切向力X=3914.8262, 切向力Y=321.3201 +FPS=21.23, 法向力=1915.1525, 切向力X=566.7129, 切向力Y=34.1628 +FPS=22.04, 法向力=1699.7958, 切向力X=1568.4716, 切向力Y=-286.5919 +FPS=20.80, 法向力=5748.9194, 切向力X=-2063.5415, 切向力Y=-47.8605 +FPS=20.58, 法向力=6151.0610, 切向力X=-2312.9900, 切向力Y=99.6920 +FPS=21.96, 法向力=2470.6292, 切向力X=82.8214, 切向力Y=-107.3467 +FPS=20.31, 法向力=3699.1392, 切向力X=-726.6038, 切向力Y=-106.6602 +FPS=23.10, 法向力=8091.1895, 切向力X=-3399.3123, 切向力Y=1039.8468 +FPS=22.44, 法向力=4908.1250, 切向力X=-1242.2217, 切向力Y=-195.9091 +FPS=22.08, 法向力=4905.5479, 切向力X=-950.0762, 切向力Y=141.2345 +FPS=22.62, 法向力=2505.8181, 切向力X=161.3281, 切向力Y=-1191.9775 +FPS=23.72, 法向力=2451.8169, 切向力X=334.4084, 切向力Y=-1408.1696 +FPS=22.69, 法向力=2416.3816, 切向力X=315.2858, 切向力Y=-1324.4102 +FPS=24.46, 法向力=2312.5159, 切向力X=2620.8979, 切向力Y=51.7451 +FPS=23.28, 法向力=2046.7495, 切向力X=2539.6304, 切向力Y=-375.3845 +FPS=22.57, 法向力=2652.9531, 切向力X=-329.0456, 切向力Y=587.8712 +FPS=23.43, 法向力=5727.2959, 切向力X=-2015.5582, 切向力Y=540.0076 +FPS=22.23, 法向力=1922.4678, 切向力X=815.4790, 切向力Y=434.2732 +FPS=22.41, 法向力=5411.6514, 切向力X=-1512.9695, 切向力Y=575.7212 +FPS=21.76, 法向力=1813.9092, 切向力X=801.3790, 切向力Y=174.7800 +FPS=22.72, 法向力=2113.5281, 切向力X=637.5276, 切向力Y=242.0529 +FPS=22.69, 法向力=3091.3408, 切向力X=-454.0465, 切向力Y=265.6387 +FPS=23.40, 法向力=3146.4993, 切向力X=-454.6604, 切向力Y=297.0497 +FPS=24.28, 法向力=2300.5337, 切向力X=92.4129, 切向力Y=1273.5955 +FPS=23.44, 法向力=2700.8677, 切向力X=-27.9919, 切向力Y=960.1333 +FPS=23.54, 法向力=1575.3298, 切向力X=294.5540, 切向力Y=204.5428 +FPS=22.86, 法向力=1503.2190, 切向力X=343.2460, 切向力Y=109.2514 +FPS=22.51, 法向力=2181.4707, 切向力X=1045.3928, 切向力Y=-34.1732 +FPS=22.29, 法向力=3632.0281, 切向力X=-130.5126, 切向力Y=-864.6833 +FPS=23.12, 法向力=3625.6338, 切向力X=-100.7100, 切向力Y=-877.7169 +FPS=23.27, 法向力=2075.7830, 切向力X=-56.5175, 切向力Y=-408.5980 +FPS=16.71, 法向力=1608.2839, 切向力X=1664.7666, 切向力Y=235.8405 +FPS=19.43, 法向力=5510.9180, 切向力X=-1034.5776, 切向力Y=458.4359 +FPS=18.22, 法向力=6051.4941, 切向力X=-2349.1934, 切向力Y=-162.1812 +FPS=18.74, 法向力=7740.6260, 切向力X=-2312.7891, 切向力Y=1547.9182 +FPS=23.52, 法向力=1626.8601, 切向力X=1533.1544, 切向力Y=669.5957 +FPS=23.89, 法向力=2105.7688, 切向力X=1990.9756, 切向力Y=-167.5207 +FPS=23.71, 法向力=2780.7720, 切向力X=-375.6569, 切向力Y=1269.2178 +FPS=22.97, 法向力=3872.8655, 切向力X=3772.2297, 切向力Y=-641.0951 +FPS=21.52, 法向力=2578.6523, 切向力X=2577.1665, 切向力Y=-1833.1127 +FPS=20.94, 法向力=5936.9810, 切向力X=-2399.6760, 切向力Y=-922.4420 +FPS=22.70, 法向力=6685.2915, 切向力X=-2379.9238, 切向力Y=981.8683 +FPS=21.71, 法向力=1909.1682, 切向力X=2172.5625, 切向力Y=469.1844 +FPS=22.31, 法向力=2923.8892, 切向力X=2786.4666, 切向力Y=-448.5284 +FPS=21.57, 法向力=2332.9429, 切向力X=3298.0322, 切向力Y=-137.9410 +FPS=23.00, 法向力=6374.1299, 切向力X=5428.2441, 切向力Y=922.2635 +FPS=20.44, 法向力=1861.6947, 切向力X=246.9103, 切向力Y=335.4255 +FPS=23.13, 法向力=2626.8452, 切向力X=-118.2609, 切向力Y=567.1476 +FPS=21.29, 法向力=1386.4976, 切向力X=1996.8622, 切向力Y=668.2148 +FPS=21.30, 法向力=5720.8037, 切向力X=-1589.4958, 切向力Y=699.0162 +FPS=21.46, 法向力=3306.2344, 切向力X=515.4070, 切向力Y=-1261.9036 +FPS=23.05, 法向力=2827.0063, 切向力X=391.7788, 切向力Y=299.4447 +FPS=23.08, 法向力=2585.4463, 切向力X=527.0355, 切向力Y=669.1016 +FPS=22.63, 法向力=5795.7637, 切向力X=-1560.6075, 切向力Y=299.4820 +FPS=22.71, 法向力=2355.0422, 切向力X=692.5757, 切向力Y=201.8158 +FPS=22.71, 法向力=10426.5410, 切向力X=-4509.3013, 切向力Y=1235.9092 +FPS=21.63, 法向力=1188.1431, 切向力X=1362.7882, 切向力Y=-826.7675 +FPS=21.75, 法向力=2757.5205, 切向力X=2571.6438, 切向力Y=118.5722 +FPS=21.55, 法向力=1687.0432, 切向力X=2058.3398, 切向力Y=9.2263 +FPS=20.91, 法向力=3986.5366, 切向力X=-617.7413, 切向力Y=-2093.4705 +FPS=21.97, 法向力=2506.7402, 切向力X=893.0547, 切向力Y=165.3520 +FPS=21.12, 法向力=3513.2695, 切向力X=-434.4146, 切向力Y=821.7933 +FPS=21.86, 法向力=4159.7939, 切向力X=-1311.9668, 切向力Y=-227.2609 +FPS=20.92, 法向力=7926.9189, 切向力X=-3604.7004, 切向力Y=436.5809 +FPS=20.47, 法向力=7591.4873, 切向力X=-3156.7671, 切向力Y=-582.7823 +FPS=19.55, 法向力=2304.6030, 切向力X=-166.5263, 切向力Y=158.9244 +FPS=21.53, 法向力=6309.7441, 切向力X=-1939.7593, 切向力Y=512.4631 +FPS=21.38, 法向力=4095.5215, 切向力X=-622.4173, 切向力Y=275.5507 +FPS=19.18, 法向力=2857.1641, 切向力X=-201.3700, 切向力Y=-961.1687 +FPS=20.90, 法向力=3622.2363, 切向力X=3375.6328, 切向力Y=-177.2461 +FPS=19.34, 法向力=4025.9517, 切向力X=3659.1646, 切向力Y=-789.7432 +FPS=20.43, 法向力=1678.3384, 切向力X=1097.3296, 切向力Y=-1422.9515 +FPS=21.48, 法向力=1591.3328, 切向力X=1841.2557, 切向力Y=-683.0601 +FPS=21.97, 法向力=1491.6067, 切向力X=1509.9974, 切向力Y=269.3893 +FPS=22.18, 法向力=2253.9158, 切向力X=1558.0542, 切向力Y=-960.0723 +FPS=21.51, 法向力=3380.3347, 切向力X=3201.0264, 切向力Y=-931.7889 +FPS=21.90, 法向力=2950.1377, 切向力X=396.8362, 切向力Y=-798.5421 +FPS=21.75, 法向力=5087.4082, 切向力X=-1030.5151, 切向力Y=-1092.1088 +FPS=22.06, 法向力=2004.2629, 切向力X=3998.4302, 切向力Y=666.0305 +FPS=22.10, 法向力=1914.1945, 切向力X=1599.9336, 切向力Y=166.9680 +FPS=21.79, 法向力=5496.7427, 切向力X=-790.1838, 切向力Y=1516.5272 +FPS=21.21, 法向力=1839.1335, 切向力X=2196.6560, 切向力Y=-578.8821 +FPS=22.81, 法向力=3151.3667, 切向力X=3315.1890, 切向力Y=-1075.1180 +FPS=22.98, 法向力=3087.5796, 切向力X=3322.2725, 切向力Y=-1525.9067 +FPS=21.36, 法向力=4484.9561, 切向力X=-679.2750, 切向力Y=788.0510 +FPS=22.06, 法向力=6886.4814, 切向力X=-2317.7258, 切向力Y=971.4054 +FPS=23.16, 法向力=3315.3921, 切向力X=-98.1540, 切向力Y=953.7453 +FPS=23.72, 法向力=2069.5342, 切向力X=2274.1121, 切向力Y=-1520.9127 +FPS=23.14, 法向力=2014.8458, 切向力X=513.7196, 切向力Y=-1231.5415 +FPS=20.41, 法向力=4210.3569, 切向力X=-224.9852, 切向力Y=1477.2336 +FPS=21.70, 法向力=4712.4482, 切向力X=-624.6548, 切向力Y=1686.2134 +FPS=22.41, 法向力=2327.6147, 切向力X=537.6374, 切向力Y=165.5493 +FPS=21.89, 法向力=3122.0771, 切向力X=-70.3235, 切向力Y=581.9988 +FPS=22.95, 法向力=4981.0752, 切向力X=-811.5945, 切向力Y=662.3704 +FPS=21.30, 法向力=1899.1058, 切向力X=685.0763, 切向力Y=-523.9976 +FPS=23.68, 法向力=2519.3354, 切向力X=3263.3267, 切向力Y=-779.4673 +FPS=24.14, 法向力=8126.2236, 切向力X=-3069.4136, 切向力Y=-442.1400 +FPS=23.95, 法向力=8375.8672, 切向力X=-3270.2505, 切向力Y=1467.9307 +FPS=23.16, 法向力=4497.2192, 切向力X=-710.2581, 切向力Y=196.5644 +FPS=23.84, 法向力=2170.9385, 切向力X=1073.9210, 切向力Y=559.5468 +FPS=23.59, 法向力=2045.7598, 切向力X=2984.9551, 切向力Y=-431.3178 +FPS=23.96, 法向力=2113.6018, 切向力X=1306.2617, 切向力Y=540.4019 +FPS=23.96, 法向力=1876.8572, 切向力X=1058.3918, 切向力Y=388.7935 +FPS=22.62, 法向力=1550.5503, 切向力X=1318.6184, 切向力Y=618.9484 +FPS=22.82, 法向力=3401.8750, 切向力X=1793.1309, 切向力Y=401.0132 +FPS=23.04, 法向力=2400.4351, 切向力X=744.1929, 切向力Y=-1187.1260 +FPS=22.73, 法向力=3788.2073, 切向力X=-215.9380, 切向力Y=-1858.4314 +FPS=23.09, 法向力=1487.3462, 切向力X=1913.5763, 切向力Y=-920.4698 +FPS=21.57, 法向力=1581.5352, 切向力X=1095.8357, 切向力Y=-442.6808 +FPS=22.88, 法向力=6400.3301, 切向力X=-2192.0669, 切向力Y=301.2749 +FPS=21.28, 法向力=2111.5549, 切向力X=1205.4681, 切向力Y=753.9327 +FPS=23.12, 法向力=1157.9939, 切向力X=1007.6133, 切向力Y=-656.9021 +FPS=22.29, 法向力=4974.6807, 切向力X=-2167.2266, 切向力Y=164.7184 +FPS=22.77, 法向力=1720.9482, 切向力X=988.8976, 切向力Y=-508.0018 +FPS=19.95, 法向力=6506.3857, 切向力X=-1678.8374, 切向力Y=-178.5609 +FPS=22.47, 法向力=2743.8364, 切向力X=2648.1001, 切向力Y=-690.7535 +FPS=22.30, 法向力=2275.5059, 切向力X=484.7220, 切向力Y=-1812.2638 +FPS=22.79, 法向力=4232.4131, 切向力X=-742.5179, 切向力Y=-1221.2808 +FPS=23.22, 法向力=5591.8882, 切向力X=-1403.9814, 切向力Y=-934.0599 +FPS=23.32, 法向力=2438.5962, 切向力X=1144.3599, 切向力Y=-1133.0265 +FPS=22.85, 法向力=2099.8030, 切向力X=1637.3645, 切向力Y=-353.6469 +FPS=23.69, 法向力=3495.4854, 切向力X=2399.6045, 切向力Y=-776.1793 +FPS=23.56, 法向力=1539.8269, 切向力X=2262.4900, 切向力Y=-507.6801 +FPS=23.65, 法向力=1478.8182, 切向力X=1343.6235, 切向力Y=583.9900 +FPS=23.28, 法向力=3981.9492, 切向力X=-1302.4657, 切向力Y=697.4594 +FPS=23.97, 法向力=4718.8433, 切向力X=-1760.6567, 切向力Y=-172.6141 +FPS=23.62, 法向力=3023.2856, 切向力X=102.6057, 切向力Y=-125.3793 +FPS=23.02, 法向力=5515.4028, 切向力X=-1578.8920, 切向力Y=-351.4115 +FPS=23.66, 法向力=2246.7974, 切向力X=214.8973, 切向力Y=658.5410 +FPS=23.79, 法向力=2890.4702, 切向力X=-115.0288, 切向力Y=453.4955 +FPS=23.02, 法向力=3048.6465, 切向力X=-132.1039, 切向力Y=639.5811 +FPS=23.98, 法向力=1982.1377, 切向力X=1101.7773, 切向力Y=178.2893 +FPS=24.12, 法向力=2363.5913, 切向力X=1611.5752, 切向力Y=-0.4806 +FPS=24.31, 法向力=1632.6132, 切向力X=1674.7284, 切向力Y=967.1656 +FPS=25.04, 法向力=4477.2808, 切向力X=-1939.2291, 切向力Y=1435.4799 +FPS=24.87, 法向力=4772.8076, 切向力X=-2149.1865, 切向力Y=1436.3580 +FPS=24.22, 法向力=3711.5815, 切向力X=-1488.9434, 切向力Y=8.1146 +FPS=25.04, 法向力=4235.1543, 切向力X=-1213.1122, 切向力Y=1161.6990 +FPS=24.62, 法向力=8351.2217, 切向力X=-3514.2542, 切向力Y=1407.8810 +FPS=24.66, 法向力=5978.0098, 切向力X=-1328.7097, 切向力Y=-102.6903 +FPS=25.24, 法向力=6028.6377, 切向力X=-1162.3339, 切向力Y=-245.0371 +FPS=24.84, 法向力=4671.2061, 切向力X=-1474.2495, 切向力Y=-286.4850 +FPS=24.44, 法向力=6928.8418, 切向力X=-2160.8984, 切向力Y=233.1142 +FPS=22.62, 法向力=3345.0859, 切向力X=-906.4731, 切向力Y=27.2644 +FPS=24.10, 法向力=5487.2803, 切向力X=-1794.4955, 切向力Y=527.7475 +FPS=24.41, 法向力=3787.9502, 切向力X=-577.2170, 切向力Y=-27.8138 +FPS=23.04, 法向力=4510.2349, 切向力X=-1104.5999, 切向力Y=274.0752 +FPS=23.83, 法向力=2968.5193, 切向力X=206.2845, 切向力Y=-622.6434 +FPS=23.12, 法向力=2885.8745, 切向力X=-86.6980, 切向力Y=-489.9692 +FPS=23.95, 法向力=3681.8132, 切向力X=-616.8335, 切向力Y=161.2592 +FPS=23.84, 法向力=5249.2886, 切向力X=-2220.2832, 切向力Y=846.3434 +FPS=24.06, 法向力=2423.2261, 切向力X=664.5715, 切向力Y=56.6511 +FPS=23.69, 法向力=2454.0728, 切向力X=707.2551, 切向力Y=286.8606 +FPS=22.55, 法向力=2631.7329, 切向力X=51.3022, 切向力Y=-840.1740 +FPS=23.65, 法向力=10382.0117, 切向力X=-3194.7354, 切向力Y=1553.3762 +FPS=23.52, 法向力=1849.4583, 切向力X=1652.2007, 切向力Y=464.8076 +FPS=22.61, 法向力=2393.1445, 切向力X=2332.7065, 切向力Y=-1254.5215 +FPS=22.88, 法向力=2161.3491, 切向力X=906.4227, 切向力Y=-867.6991 +FPS=23.34, 法向力=1637.9917, 切向力X=1263.5088, 切向力Y=-1955.6654 +FPS=23.45, 法向力=1690.6918, 切向力X=1549.7163, 切向力Y=-2195.8345 +FPS=20.60, 法向力=1827.4324, 切向力X=2039.5786, 切向力Y=-958.4843 +FPS=22.21, 法向力=3773.6233, 切向力X=-700.0358, 切向力Y=1325.7188 +FPS=21.88, 法向力=7137.4258, 切向力X=-2730.4797, 切向力Y=1465.6924 +FPS=21.56, 法向力=1595.1565, 切向力X=851.3519, 切向力Y=-256.6639 +FPS=20.47, 法向力=2260.0479, 切向力X=3142.5750, 切向力Y=-1163.0747 +FPS=22.56, 法向力=4593.3496, 切向力X=-1173.8240, 切向力Y=146.1294 +FPS=22.33, 法向力=6567.0391, 切向力X=-2668.4824, 切向力Y=-183.0399 +FPS=21.99, 法向力=2015.3792, 切向力X=616.7826, 切向力Y=120.4118 +FPS=22.59, 法向力=4338.8926, 切向力X=-1280.0663, 切向力Y=628.2850 +FPS=21.92, 法向力=5226.8906, 切向力X=-2446.0964, 切向力Y=242.8689 +FPS=21.46, 法向力=8389.7666, 切向力X=-3827.9890, 切向力Y=-331.9949 +FPS=21.21, 法向力=1608.6580, 切向力X=1343.6255, 切向力Y=168.5658 +FPS=20.49, 法向力=3870.5300, 切向力X=-1112.6091, 切向力Y=870.2590 +FPS=21.67, 法向力=1672.6677, 切向力X=910.0999, 切向力Y=-203.7763 +FPS=22.35, 法向力=1479.4351, 切向力X=1306.2687, 切向力Y=-352.7375 +FPS=22.05, 法向力=2960.3193, 切向力X=429.0196, 切向力Y=1105.5193 +FPS=19.85, 法向力=1807.4014, 切向力X=2176.4834, 切向力Y=-517.6444 +FPS=22.01, 法向力=2562.1858, 切向力X=152.9645, 切向力Y=-406.0977 +FPS=21.57, 法向力=2947.8828, 切向力X=656.3494, 切向力Y=330.0432 +FPS=21.48, 法向力=9234.2256, 切向力X=-3652.8540, 切向力Y=1602.3904 +FPS=21.56, 法向力=4401.4614, 切向力X=-1131.5991, 切向力Y=259.4509 +FPS=23.25, 法向力=1270.7200, 切向力X=1340.5057, 切向力Y=-20.3442 +FPS=21.84, 法向力=1993.5227, 切向力X=441.5055, 切向力Y=401.5285 +FPS=21.53, 法向力=1988.8916, 切向力X=573.7328, 切向力Y=396.4402 +FPS=20.80, 法向力=3632.4126, 切向力X=-100.8470, 切向力Y=902.7526 +FPS=22.26, 法向力=3771.6709, 切向力X=-170.9798, 切向力Y=935.4335 +FPS=23.90, 法向力=4963.6484, 切向力X=-2018.1858, 切向力Y=-188.9597 +FPS=23.57, 法向力=2137.1394, 切向力X=1319.5300, 切向力Y=514.7624 +FPS=23.31, 法向力=3174.4458, 切向力X=4068.1423, 切向力Y=286.0578 +FPS=22.62, 法向力=3077.5737, 切向力X=2831.1992, 切向力Y=-860.9056 +FPS=22.75, 法向力=3045.8149, 切向力X=-72.8028, 切向力Y=-208.5401 +FPS=21.67, 法向力=2925.7947, 切向力X=2807.7229, 切向力Y=-1560.7717 +FPS=22.10, 法向力=2025.1964, 切向力X=647.7559, 切向力Y=-1450.5261 +FPS=20.83, 法向力=4035.3867, 切向力X=-1115.1781, 切向力Y=-782.4149 +FPS=22.46, 法向力=5391.3750, 切向力X=-1602.8267, 切向力Y=633.0820 +FPS=21.72, 法向力=1825.8528, 切向力X=1534.7837, 切向力Y=87.6059 +FPS=21.86, 法向力=4557.2993, 切向力X=-1022.9536, 切向力Y=474.6891 +FPS=21.76, 法向力=5291.2490, 切向力X=-1386.8347, 切向力Y=245.8858 +FPS=21.41, 法向力=4707.2832, 切向力X=-1486.9730, 切向力Y=548.2406 +FPS=22.13, 法向力=2083.5425, 切向力X=901.2817, 切向力Y=904.8720 +FPS=21.75, 法向力=1874.3855, 切向力X=2612.3215, 切向力Y=189.1015 +FPS=22.29, 法向力=2542.8506, 切向力X=2177.2397, 切向力Y=-1142.4977 +FPS=22.00, 法向力=1790.3511, 切向力X=1851.9153, 切向力Y=-561.2182 +FPS=22.92, 法向力=1625.3322, 切向力X=900.0912, 切向力Y=-322.1790 +FPS=22.26, 法向力=1857.9685, 切向力X=580.1447, 切向力Y=-595.7799 +FPS=21.38, 法向力=2721.9270, 切向力X=-524.2471, 切向力Y=-366.3622 +FPS=21.35, 法向力=2585.6448, 切向力X=-476.0317, 切向力Y=-341.7273 +FPS=22.60, 法向力=4746.3906, 切向力X=-1804.7030, 切向力Y=839.2025 +FPS=22.96, 法向力=8617.7305, 切向力X=-3897.6260, 切向力Y=970.6591 +FPS=22.81, 法向力=2516.5205, 切向力X=-162.1775, 切向力Y=806.7906 +FPS=22.98, 法向力=1974.6948, 切向力X=782.7071, 切向力Y=1366.6501 +FPS=22.58, 法向力=1175.1887, 切向力X=1620.8501, 切向力Y=-1006.7996 +FPS=21.87, 法向力=2168.5996, 切向力X=627.0094, 切向力Y=1546.1980 +FPS=21.83, 法向力=2734.0383, 切向力X=-82.8708, 切向力Y=996.7227 +FPS=21.60, 法向力=3109.4380, 切向力X=2903.3579, 切向力Y=-601.2490 +FPS=22.77, 法向力=3114.2778, 切向力X=2785.5034, 切向力Y=-560.6100 +FPS=22.80, 法向力=3996.2102, 切向力X=-1756.9023, 切向力Y=339.9857 +FPS=22.77, 法向力=1965.6750, 切向力X=802.0298, 切向力Y=-1090.3005 +FPS=22.18, 法向力=5046.7324, 切向力X=-1847.0165, 切向力Y=541.7895 +FPS=21.91, 法向力=7161.8022, 切向力X=-2790.0220, 切向力Y=1669.6306 +FPS=19.99, 法向力=4318.2217, 切向力X=-1007.5624, 切向力Y=1597.7627 +FPS=20.05, 法向力=2496.3284, 切向力X=88.3857, 切向力Y=-850.3613 +FPS=21.47, 法向力=1957.3910, 切向力X=973.2372, 切向力Y=-638.4263 +FPS=21.88, 法向力=2345.3984, 切向力X=1179.9896, 切向力Y=50.6386 +FPS=21.29, 法向力=5178.9336, 切向力X=-1316.4312, 切向力Y=345.4851 +FPS=22.23, 法向力=5345.9561, 切向力X=-1502.7659, 切向力Y=731.7546 +FPS=21.79, 法向力=2035.5054, 切向力X=2454.7222, 切向力Y=335.5212 +FPS=21.56, 法向力=1913.7118, 切向力X=1963.6620, 切向力Y=822.2477 +FPS=21.28, 法向力=1850.8706, 切向力X=844.7247, 切向力Y=299.1259 +FPS=21.18, 法向力=3130.3252, 切向力X=2784.9446, 切向力Y=-711.8207 +FPS=21.94, 法向力=2928.4746, 切向力X=2673.8054, 切向力Y=-1038.1830 +FPS=20.39, 法向力=2805.6660, 切向力X=2580.6501, 切向力Y=-1185.9357 +FPS=21.11, 法向力=1870.7007, 切向力X=1138.0057, 切向力Y=-322.7599 +FPS=20.55, 法向力=5040.8672, 切向力X=-1637.5813, 切向力Y=817.6153 +FPS=19.48, 法向力=2937.0288, 切向力X=423.7513, 切向力Y=-1495.1310 +FPS=21.35, 法向力=2358.4688, 切向力X=401.8543, 切向力Y=481.3086 +FPS=21.17, 法向力=5004.7939, 切向力X=3866.8689, 切向力Y=-461.3542 +FPS=20.89, 法向力=1151.6759, 切向力X=1217.8713, 切向力Y=-493.5972 +FPS=18.43, 法向力=1780.3953, 切向力X=1263.3523, 切向力Y=-1026.6985 +FPS=21.38, 法向力=1681.3334, 切向力X=1690.5886, 切向力Y=-770.2820 +FPS=20.81, 法向力=4712.1172, 切向力X=-1265.6708, 切向力Y=593.9393 +FPS=21.19, 法向力=5536.0371, 切向力X=-1194.6007, 切向力Y=95.1436 +FPS=20.97, 法向力=1609.2495, 切向力X=2356.4585, 切向力Y=-394.0168 +FPS=22.11, 法向力=3104.8650, 切向力X=3410.5078, 切向力Y=-882.7240 +FPS=22.45, 法向力=2358.5225, 切向力X=1979.4208, 切向力Y=-301.9024 +FPS=23.05, 法向力=2324.7034, 切向力X=602.4578, 切向力Y=-545.4976 +FPS=23.06, 法向力=2566.3960, 切向力X=355.7404, 切向力Y=-575.5063 +FPS=21.67, 法向力=3067.5732, 切向力X=537.5701, 切向力Y=-349.2482 +FPS=22.45, 法向力=1982.0286, 切向力X=2134.1885, 切向力Y=-655.0073 +FPS=22.13, 法向力=3923.8242, 切向力X=3518.7207, 切向力Y=-1400.8678 +FPS=22.48, 法向力=4967.1733, 切向力X=-804.3336, 切向力Y=953.4791 +FPS=22.63, 法向力=2117.6157, 切向力X=1223.5427, 切向力Y=-1153.0225 +FPS=22.69, 法向力=3615.7329, 切向力X=3476.6313, 切向力Y=-169.8428 +FPS=22.21, 法向力=2343.4763, 切向力X=2372.7788, 切向力Y=-727.0082 +FPS=22.07, 法向力=2567.6223, 切向力X=35.1471, 切向力Y=-319.7722 +FPS=22.36, 法向力=5086.9600, 切向力X=-1698.0032, 切向力Y=430.0342 +FPS=21.79, 法向力=1800.9810, 切向力X=949.8014, 切向力Y=-80.3222 +FPS=22.36, 法向力=2735.6189, 切向力X=-306.4910, 切向力Y=222.0495 +FPS=21.95, 法向力=3953.7373, 切向力X=-107.1643, 切向力Y=502.3805 +FPS=21.69, 法向力=11675.9922, 切向力X=-5784.1855, 切向力Y=1342.1255 +FPS=20.36, 法向力=2842.1079, 切向力X=778.0951, 切向力Y=-2135.7173 +FPS=21.16, 法向力=2571.0754, 切向力X=792.2542, 切向力Y=-380.2992 +FPS=20.68, 法向力=4477.2905, 切向力X=-833.7454, 切向力Y=1053.9678 +FPS=21.65, 法向力=5882.8457, 切向力X=-2472.8611, 切向力Y=82.5114 +FPS=21.00, 法向力=1727.8223, 切向力X=1234.9198, 切向力Y=399.3140 +FPS=20.39, 法向力=1693.5254, 切向力X=1285.0974, 切向力Y=681.4398 +FPS=20.11, 法向力=2570.4182, 切向力X=484.1909, 切向力Y=-608.7639 +FPS=21.06, 法向力=2108.5068, 切向力X=1381.4955, 切向力Y=-1128.6931 +FPS=21.66, 法向力=4337.9756, 切向力X=-715.3160, 切向力Y=1546.1853 +FPS=21.15, 法向力=3179.2942, 切向力X=-66.4100, 切向力Y=1458.3728 +FPS=21.35, 法向力=3840.0039, 切向力X=-865.0142, 切向力Y=508.1235 +FPS=21.53, 法向力=4099.0977, 切向力X=-1070.2180, 切向力Y=482.2589 +FPS=21.61, 法向力=2072.6650, 切向力X=1899.4572, 切向力Y=61.9680 +FPS=20.73, 法向力=2346.3625, 切向力X=2407.3877, 切向力Y=-1251.4796 +FPS=20.19, 法向力=1888.2915, 切向力X=1302.1349, 切向力Y=-1288.0378 +FPS=20.13, 法向力=2097.0801, 切向力X=963.0797, 切向力Y=-1157.1840 +FPS=20.88, 法向力=6628.5400, 切向力X=-2241.8730, 切向力Y=155.8199 +FPS=20.62, 法向力=2717.7432, 切向力X=-564.6279, 切向力Y=468.4097 +FPS=20.56, 法向力=4633.0586, 切向力X=-1504.2004, 切向力Y=-809.6644 +FPS=19.41, 法向力=1668.4539, 切向力X=163.5794, 切向力Y=295.7153 +FPS=17.99, 法向力=2565.8784, 切向力X=9.8705, 切向力Y=-409.5771 +FPS=18.00, 法向力=2128.4949, 切向力X=358.5591, 切向力Y=-599.6289 +FPS=20.86, 法向力=2135.4780, 切向力X=805.4192, 切向力Y=547.1770 +FPS=21.22, 法向力=2195.2871, 切向力X=1090.6754, 切向力Y=630.7661 +FPS=18.76, 法向力=3527.5466, 切向力X=-595.6912, 切向力Y=-1949.9785 +FPS=17.09, 法向力=4347.6958, 切向力X=3571.5833, 切向力Y=-1897.7917 +FPS=20.56, 法向力=1427.4358, 切向力X=738.1615, 切向力Y=-322.6679 +FPS=23.72, 法向力=1627.3802, 切向力X=1147.1565, 切向力Y=836.3557 +FPS=23.57, 法向力=1869.6688, 切向力X=894.1663, 切向力Y=-310.8933 +FPS=22.88, 法向力=2548.8589, 切向力X=-321.1942, 切向力Y=175.9225 +FPS=21.83, 法向力=2628.3079, 切向力X=-258.2572, 切向力Y=188.2169 +FPS=22.95, 法向力=5663.1875, 切向力X=-1647.0691, 切向力Y=425.0873 +FPS=22.98, 法向力=2090.8887, 切向力X=534.2404, 切向力Y=-413.3838 +FPS=21.98, 法向力=4178.1157, 切向力X=-1319.3390, 切向力Y=-774.0935 +FPS=22.26, 法向力=2259.3306, 切向力X=729.4150, 切向力Y=122.8049 +FPS=23.20, 法向力=1967.5548, 切向力X=916.1331, 切向力Y=-227.6735 +FPS=23.73, 法向力=2304.1223, 切向力X=1930.5051, 切向力Y=-1216.0114 +FPS=22.89, 法向力=2269.2432, 切向力X=1315.0693, 切向力Y=-1647.6425 +FPS=23.26, 法向力=5302.0186, 切向力X=-1723.3560, 切向力Y=-94.4299 +FPS=22.85, 法向力=6768.1558, 切向力X=-2460.0999, 切向力Y=1190.2969 +FPS=21.56, 法向力=1928.3096, 切向力X=1107.3293, 切向力Y=-721.4229 +FPS=23.03, 法向力=1393.4393, 切向力X=1988.2905, 切向力Y=766.9810 +FPS=22.04, 法向力=1652.9957, 切向力X=2352.4380, 切向力Y=345.1622 +FPS=21.55, 法向力=8473.0967, 切向力X=-3387.1423, 切向力Y=1240.6729 +FPS=22.22, 法向力=3341.7939, 切向力X=458.6795, 切向力Y=-358.5818 +FPS=21.78, 法向力=4957.6216, 切向力X=-1346.9602, 切向力Y=45.0220 +FPS=23.03, 法向力=1554.9128, 切向力X=417.9114, 切向力Y=388.1440 +FPS=22.53, 法向力=1800.6248, 切向力X=146.9874, 切向力Y=659.9791 +FPS=23.26, 法向力=5165.7104, 切向力X=-1738.6438, 切向力Y=1751.0337 +FPS=20.94, 法向力=1481.4949, 切向力X=1213.0634, 切向力Y=1010.2350 +FPS=19.85, 法向力=2159.3335, 切向力X=2213.1804, 切向力Y=-849.3723 +FPS=19.77, 法向力=2243.2322, 切向力X=401.5287, 切向力Y=475.5179 +FPS=20.62, 法向力=4289.3506, 切向力X=-873.1024, 切向力Y=418.7080 +FPS=22.36, 法向力=3511.5471, 切向力X=-45.2986, 切向力Y=553.9314 +FPS=22.00, 法向力=3259.6130, 切向力X=172.1880, 切向力Y=463.2070 +FPS=21.62, 法向力=2047.9292, 切向力X=2047.1411, 切向力Y=633.3113 +FPS=23.63, 法向力=2116.9673, 切向力X=2328.6050, 切向力Y=470.6289 +FPS=23.31, 法向力=2578.7986, 切向力X=675.3506, 切向力Y=-736.2284 +FPS=22.94, 法向力=2208.4436, 切向力X=940.3235, 切向力Y=327.3597 +FPS=20.99, 法向力=1336.7397, 切向力X=1062.3992, 切向力Y=-1216.2451 +FPS=22.63, 法向力=1629.7141, 切向力X=203.2225, 切向力Y=-125.1823 +FPS=22.60, 法向力=1931.2386, 切向力X=163.4123, 切向力Y=784.6198 +FPS=23.09, 法向力=3195.6741, 切向力X=-871.1331, 切向力Y=-1272.9446 +FPS=22.40, 法向力=3315.3174, 切向力X=-864.8937, 切向力Y=-1458.8904 +FPS=22.22, 法向力=3170.7727, 切向力X=3325.0190, 切向力Y=-421.1393 +FPS=23.15, 法向力=3569.5356, 切向力X=3650.9521, 切向力Y=-485.6995 +FPS=23.78, 法向力=1752.3088, 切向力X=1253.2546, 切向力Y=379.2013 +FPS=23.31, 法向力=4828.8345, 切向力X=-2122.7861, 切向力Y=1604.2791 +FPS=22.03, 法向力=1578.9451, 切向力X=1050.5542, 切向力Y=-463.0841 +FPS=22.80, 法向力=4993.7861, 切向力X=-1227.8347, 切向力Y=757.5009 +FPS=23.11, 法向力=5983.8115, 切向力X=-2397.3621, 切向力Y=328.1669 +FPS=22.89, 法向力=5473.6929, 切向力X=-2112.4277, 切向力Y=513.2502 +FPS=23.52, 法向力=3749.2363, 切向力X=-736.0788, 切向力Y=-44.1588 +FPS=23.75, 法向力=3832.0146, 切向力X=-697.0114, 切向力Y=-528.7766 +FPS=23.51, 法向力=1619.6044, 切向力X=2119.7134, 切向力Y=1415.3669 +FPS=22.24, 法向力=2599.9307, 切向力X=2853.7490, 切向力Y=620.3364 +FPS=24.03, 法向力=4100.9321, 切向力X=-1232.7209, 切向力Y=976.1809 +FPS=21.93, 法向力=2516.3699, 切向力X=-25.6470, 切向力Y=-141.3905 +FPS=21.62, 法向力=2307.6511, 切向力X=191.9642, 切向力Y=-273.1348 +FPS=21.01, 法向力=3913.0029, 切向力X=-852.9064, 切向力Y=63.7204 +FPS=20.59, 法向力=2066.7114, 切向力X=560.0432, 切向力Y=451.2676 +FPS=21.65, 法向力=3205.6091, 切向力X=80.4662, 切向力Y=-94.7257 +FPS=22.07, 法向力=3190.0112, 切向力X=21.6571, 切向力Y=-56.9451 +FPS=21.60, 法向力=3026.7869, 切向力X=2201.3638, 切向力Y=-1704.9489 +FPS=22.29, 法向力=1863.0677, 切向力X=1521.5226, 切向力Y=1685.1069 +FPS=22.25, 法向力=2778.4524, 切向力X=-125.7856, 切向力Y=-419.1701 +FPS=21.53, 法向力=2261.3630, 切向力X=369.5377, 切向力Y=295.2168 +FPS=22.25, 法向力=1935.6667, 切向力X=1171.8552, 切向力Y=804.9192 +FPS=20.34, 法向力=1931.3793, 切向力X=1324.2849, 切向力Y=768.6571 +FPS=21.86, 法向力=4200.4229, 切向力X=-56.2668, 切向力Y=1344.7593 +FPS=21.26, 法向力=1909.9821, 切向力X=1162.4773, 切向力Y=1439.3273 +FPS=20.74, 法向力=6515.0122, 切向力X=-2472.5989, 切向力Y=832.6222 +FPS=18.49, 法向力=3334.7500, 切向力X=-439.1942, 切向力Y=-271.4905 +FPS=20.87, 法向力=3292.7068, 切向力X=-37.0535, 切向力Y=-456.7441 +FPS=21.05, 法向力=8263.7598, 切向力X=-2752.6826, 切向力Y=717.7294 +FPS=21.32, 法向力=8432.0986, 切向力X=-2872.9126, 切向力Y=844.4151 +FPS=20.88, 法向力=4153.2520, 切向力X=-1009.9080, 切向力Y=1444.2363 +FPS=21.08, 法向力=1912.2007, 切向力X=893.5615, 切向力Y=115.0332 +FPS=21.73, 法向力=1829.3907, 切向力X=455.4911, 切向力Y=1536.0664 +FPS=21.85, 法向力=1687.9248, 切向力X=691.4835, 切向力Y=1412.6135 +FPS=21.36, 法向力=1714.1324, 切向力X=897.4246, 切向力Y=-794.4853 +FPS=20.34, 法向力=4476.3594, 切向力X=3497.2739, 切向力Y=-2540.6414 +FPS=20.38, 法向力=5409.8735, 切向力X=-1574.9218, 切向力Y=11.5540 +FPS=20.76, 法向力=9530.8408, 切向力X=-3301.5156, 切向力Y=769.9285 +FPS=19.84, 法向力=9734.5039, 切向力X=-3301.5615, 切向力Y=770.9324 +FPS=20.07, 法向力=6643.7090, 切向力X=-1727.7572, 切向力Y=-736.1742 +FPS=21.66, 法向力=5843.4893, 切向力X=-817.4457, 切向力Y=-1327.9120 +FPS=21.14, 法向力=3216.0610, 切向力X=-39.3819, 切向力Y=527.2122 +FPS=20.68, 法向力=1588.1982, 切向力X=835.1367, 切向力Y=-291.8079 +FPS=21.72, 法向力=1579.1378, 切向力X=1373.9440, 切向力Y=34.9189 +FPS=21.55, 法向力=2424.2507, 切向力X=2223.8662, 切向力Y=-358.4530 +FPS=21.50, 法向力=1554.8319, 切向力X=1723.7979, 切向力Y=-144.8095 +FPS=21.67, 法向力=2036.5027, 切向力X=98.9986, 切向力Y=-232.3981 +FPS=21.39, 法向力=3427.8960, 切向力X=-863.9144, 切向力Y=-889.5140 +FPS=20.81, 法向力=3605.5100, 切向力X=-709.2035, 切向力Y=-997.6077 +FPS=21.20, 法向力=1575.5347, 切向力X=1726.3103, 切向力Y=-56.1352 +FPS=21.17, 法向力=4316.0103, 切向力X=-1100.8403, 切向力Y=-514.9055 +FPS=19.01, 法向力=7195.1064, 切向力X=-2974.4021, 切向力Y=1436.4756 +FPS=17.38, 法向力=2085.0444, 切向力X=-167.7980, 切向力Y=498.9876 +FPS=17.90, 法向力=4097.6323, 切向力X=-1742.3640, 切向力Y=518.0203 +FPS=20.44, 法向力=2781.9724, 切向力X=415.8365, 切向力Y=664.9693 +FPS=21.24, 法向力=8855.8564, 切向力X=-4913.3667, 切向力Y=1833.8597 +FPS=20.97, 法向力=5394.7832, 切向力X=-1883.7561, 切向力Y=-322.5272 +FPS=20.79, 法向力=3852.4312, 切向力X=-879.1387, 切向力Y=421.1481 +FPS=21.53, 法向力=2618.2551, 切向力X=253.0109, 切向力Y=-935.8692 +FPS=21.73, 法向力=1303.6327, 切向力X=1337.7595, 切向力Y=-265.9534 +FPS=20.94, 法向力=1442.3463, 切向力X=2044.0045, 切向力Y=708.5913 +FPS=20.31, 法向力=1418.4349, 切向力X=2010.8848, 切向力Y=636.7156 +FPS=19.98, 法向力=2375.8044, 切向力X=257.0256, 切向力Y=516.9557 +FPS=21.11, 法向力=2805.4243, 切向力X=468.8854, 切向力Y=806.1340 +FPS=21.62, 法向力=1882.8586, 切向力X=2054.1694, 切向力Y=-0.0744 +FPS=20.99, 法向力=4852.6045, 切向力X=-1718.6399, 切向力Y=-1294.3884 +FPS=21.18, 法向力=2300.1365, 切向力X=511.7658, 切向力Y=258.5133 +FPS=21.76, 法向力=3055.8645, 切向力X=55.1199, 切向力Y=-2062.0928 +FPS=20.10, 法向力=1476.6892, 切向力X=1536.5970, 切向力Y=-649.5323 +FPS=20.01, 法向力=7147.0762, 切向力X=-2324.1143, 切向力Y=1474.1392 +FPS=20.75, 法向力=4639.2949, 切向力X=-1338.2583, 切向力Y=81.4507 +FPS=20.89, 法向力=4495.7295, 切向力X=153.5084, 切向力Y=90.6648 +FPS=20.88, 法向力=4029.4536, 切向力X=-403.4792, 切向力Y=1219.4414 +FPS=20.83, 法向力=2666.1294, 切向力X=752.9914, 切向力Y=1103.9122 +FPS=21.21, 法向力=5631.0420, 切向力X=-1056.0165, 切向力Y=834.2706 +FPS=21.31, 法向力=2283.0532, 切向力X=1077.3730, 切向力Y=-901.9490 +FPS=20.80, 法向力=3512.7734, 切向力X=645.3966, 切向力Y=1338.5161 +FPS=21.68, 法向力=2828.2251, 切向力X=2141.8794, 切向力Y=75.2583 +FPS=20.84, 法向力=5888.5859, 切向力X=-1667.4727, 切向力Y=1426.6707 +FPS=22.24, 法向力=5888.4463, 切向力X=-1544.7416, 切向力Y=1536.6123 +FPS=21.49, 法向力=3408.8262, 切向力X=-802.2345, 切向力Y=-365.0143 +FPS=21.59, 法向力=8611.4658, 切向力X=-4122.5273, 切向力Y=-651.8124 +FPS=20.96, 法向力=3216.9736, 切向力X=-430.1084, 切向力Y=1164.9171 +FPS=21.68, 法向力=2826.9146, 切向力X=-63.3472, 切向力Y=84.9281 +FPS=23.01, 法向力=1726.8408, 切向力X=954.7721, 切向力Y=-233.8594 +FPS=22.92, 法向力=2053.7463, 切向力X=1247.6443, 切向力Y=-144.2570 +FPS=21.38, 法向力=2696.2603, 切向力X=67.0977, 切向力Y=-325.9498 +FPS=23.72, 法向力=2183.3550, 切向力X=1519.1429, 切向力Y=-524.4247 +FPS=22.61, 法向力=3169.3081, 切向力X=385.0867, 切向力Y=131.5224 +FPS=22.99, 法向力=3463.8652, 切向力X=-612.4455, 切向力Y=-429.6257 +FPS=24.11, 法向力=3595.2983, 切向力X=-671.9659, 切向力Y=-395.4916 +FPS=23.48, 法向力=6279.8242, 切向力X=-2104.5112, 切向力Y=1167.4578 +FPS=22.89, 法向力=5374.3252, 切向力X=-1576.0642, 切向力Y=231.9539 +FPS=23.27, 法向力=3685.8481, 切向力X=638.8467, 切向力Y=-304.1458 +FPS=23.70, 法向力=3617.8696, 切向力X=-506.5591, 切向力Y=470.3484 +FPS=22.94, 法向力=1489.4556, 切向力X=1509.3752, 切向力Y=-343.9573 +FPS=23.95, 法向力=1403.7571, 切向力X=1653.9396, 切向力Y=-691.5605 +FPS=24.40, 法向力=1824.0654, 切向力X=1866.5925, 切向力Y=-1267.1539 +FPS=22.22, 法向力=1152.5076, 切向力X=1485.7727, 切向力Y=244.9069 +FPS=22.52, 法向力=3648.3481, 切向力X=-209.0488, 切向力Y=-375.0011 +FPS=22.14, 法向力=2140.4133, 切向力X=372.9738, 切向力Y=-322.5806 +FPS=21.81, 法向力=2097.6104, 切向力X=504.3503, 切向力Y=-17.9286 +FPS=21.71, 法向力=2220.2910, 切向力X=24.7757, 切向力Y=1700.4727 +FPS=21.08, 法向力=6377.1567, 切向力X=-1958.5732, 切向力Y=174.4265 +FPS=22.19, 法向力=6300.1680, 切向力X=-1865.3652, 切向力Y=425.7625 +FPS=22.37, 法向力=2317.1628, 切向力X=369.0417, 切向力Y=586.5464 +FPS=22.15, 法向力=2703.4360, 切向力X=171.9868, 切向力Y=-502.3164 +FPS=22.74, 法向力=2228.2632, 切向力X=1529.1327, 切向力Y=-974.8854 +FPS=20.74, 法向力=2557.1704, 切向力X=259.0599, 切向力Y=-1287.4138 +FPS=20.34, 法向力=5216.3174, 切向力X=-1579.0520, 切向力Y=1752.2808 +FPS=21.70, 法向力=2020.9374, 切向力X=974.9878, 切向力Y=-646.5521 +FPS=21.84, 法向力=2539.2815, 切向力X=22.9388, 切向力Y=-190.9313 +FPS=20.79, 法向力=7878.8892, 切向力X=-3188.6292, 切向力Y=1579.9611 +FPS=22.02, 法向力=3811.0854, 切向力X=-555.5250, 切向力Y=-268.3017 +FPS=20.46, 法向力=6765.4248, 切向力X=-2301.2922, 切向力Y=1052.6628 +FPS=21.79, 法向力=6048.5078, 切向力X=-1396.3655, 切向力Y=2465.9351 +FPS=21.48, 法向力=2270.8877, 切向力X=2305.4844, 切向力Y=426.8695 +FPS=20.20, 法向力=1945.2971, 切向力X=1725.6924, 切向力Y=474.4338 +FPS=19.91, 法向力=1986.4164, 切向力X=1201.6418, 切向力Y=9.2217 +FPS=20.04, 法向力=2491.9072, 切向力X=1003.3605, 切向力Y=-1360.4712 +FPS=19.84, 法向力=6033.7993, 切向力X=-1790.1992, 切向力Y=1410.2301 +FPS=20.17, 法向力=6057.8350, 切向力X=-2012.0327, 切向力Y=1580.8469 +FPS=20.56, 法向力=6506.6699, 切向力X=-1600.5281, 切向力Y=-435.8768 +FPS=21.44, 法向力=2363.8452, 切向力X=575.6268, 切向力Y=186.9813 +FPS=21.30, 法向力=5385.4092, 切向力X=-2231.3108, 切向力Y=31.7401 +FPS=20.29, 法向力=3884.8022, 切向力X=-722.6431, 切向力Y=415.6819 +FPS=21.75, 法向力=1746.7573, 切向力X=1919.5004, 切向力Y=-300.6856 +FPS=22.30, 法向力=1762.2827, 切向力X=2146.5039, 切向力Y=-440.2321 +FPS=23.06, 法向力=7483.9692, 切向力X=-3404.2881, 切向力Y=-240.3192 +FPS=22.84, 法向力=6835.9990, 切向力X=-2809.4321, 切向力Y=1051.1206 +FPS=21.97, 法向力=2390.3398, 切向力X=50.8545, 切向力Y=-685.1671 +FPS=20.76, 法向力=1882.9965, 切向力X=227.7146, 切向力Y=2091.2854 +FPS=21.94, 法向力=2173.8743, 切向力X=1537.5596, 切向力Y=-217.6110 +FPS=21.37, 法向力=1587.9617, 切向力X=2135.6895, 切向力Y=-792.6833 +FPS=23.28, 法向力=2096.4038, 切向力X=2741.9260, 切向力Y=-324.3835 +FPS=22.10, 法向力=3504.7119, 切向力X=2782.0562, 切向力Y=-37.3270 +FPS=21.74, 法向力=3455.4548, 切向力X=2811.4014, 切向力Y=46.1490 +FPS=21.81, 法向力=1955.3781, 切向力X=1696.2278, 切向力Y=739.4441 +FPS=21.86, 法向力=3942.0825, 切向力X=3482.2275, 切向力Y=-709.3560 +FPS=20.96, 法向力=2457.4023, 切向力X=1941.0818, 切向力Y=-1202.5574 +FPS=20.80, 法向力=2138.1211, 切向力X=1271.9507, 切向力Y=-22.9101 +FPS=21.56, 法向力=2133.1257, 切向力X=1778.0630, 切向力Y=-1311.3219 +FPS=20.83, 法向力=3234.0234, 切向力X=-1241.9146, 切向力Y=-459.4395 +FPS=19.88, 法向力=5404.9214, 切向力X=-1270.7188, 切向力Y=615.5847 +FPS=18.21, 法向力=2636.5269, 切向力X=729.4697, 切向力Y=-194.8114 +FPS=21.47, 法向力=2766.2205, 切向力X=-49.4985, 切向力Y=-835.8882 +FPS=21.21, 法向力=5314.3506, 切向力X=-567.9421, 切向力Y=198.1964 +FPS=21.38, 法向力=3430.6497, 切向力X=-777.9393, 切向力Y=207.4904 +FPS=21.05, 法向力=3839.5959, 切向力X=3349.6260, 切向力Y=-1024.6555 +FPS=20.92, 法向力=3207.2056, 切向力X=-498.2310, 切向力Y=-366.9639 +FPS=18.04, 法向力=3559.7983, 切向力X=180.4234, 切向力Y=-1603.1119 +FPS=17.45, 法向力=7328.8711, 切向力X=-3307.5366, 切向力Y=2065.3623 +FPS=20.14, 法向力=2283.2378, 切向力X=2117.2483, 切向力Y=-525.5417 +FPS=20.62, 法向力=4199.9478, 切向力X=-855.0488, 切向力Y=338.8914 +FPS=21.14, 法向力=4007.6365, 切向力X=-919.6853, 切向力Y=-445.3757 +FPS=19.45, 法向力=1690.1041, 切向力X=721.9453, 切向力Y=835.0015 +FPS=20.92, 法向力=3975.3997, 切向力X=-930.4288, 切向力Y=901.4414 +FPS=20.66, 法向力=2817.3784, 切向力X=-228.1905, 切向力Y=-190.2403 +FPS=20.69, 法向力=1928.8948, 切向力X=1674.9431, 切向力Y=-227.8956 +FPS=19.55, 法向力=3204.0623, 切向力X=3003.5493, 切向力Y=-991.6007 +FPS=21.33, 法向力=2366.4956, 切向力X=2232.0564, 切向力Y=-173.1968 +FPS=20.97, 法向力=2751.3604, 切向力X=2.8824, 切向力Y=1047.4318 +FPS=21.88, 法向力=10464.6523, 切向力X=-4690.8779, 切向力Y=2111.6013 +FPS=20.07, 法向力=6595.3037, 切向力X=-2369.6565, 切向力Y=-308.9958 +FPS=21.25, 法向力=2320.3638, 切向力X=1969.6658, 切向力Y=-626.9050 +FPS=22.13, 法向力=2166.6016, 切向力X=1792.4495, 切向力Y=-1435.8181 +FPS=22.50, 法向力=2180.1592, 切向力X=1782.7510, 切向力Y=-1345.6230 +FPS=21.71, 法向力=2033.9254, 切向力X=2355.5352, 切向力Y=-478.3293 +FPS=20.14, 法向力=1584.2866, 切向力X=1640.2935, 切向力Y=198.8240 +FPS=20.93, 法向力=2123.1382, 切向力X=1070.5010, 切向力Y=-115.0077 +FPS=20.42, 法向力=1837.1735, 切向力X=1268.3096, 切向力Y=-1778.5364 +FPS=20.75, 法向力=1972.2700, 切向力X=1757.3176, 切向力Y=913.9589 +FPS=21.18, 法向力=3770.0334, 切向力X=-443.1314, 切向力Y=1133.0886 +FPS=20.68, 法向力=1650.6003, 切向力X=554.5255, 切向力Y=329.5413 +FPS=20.42, 法向力=3088.0078, 切向力X=-651.6701, 切向力Y=36.8880 +FPS=20.11, 法向力=1903.3521, 切向力X=644.7688, 切向力Y=-220.7346 +FPS=20.61, 法向力=4080.1421, 切向力X=-188.6376, 切向力Y=1026.1472 +FPS=20.22, 法向力=3962.9124, 切向力X=-531.6570, 切向力Y=-370.7715 +FPS=20.58, 法向力=5939.9434, 切向力X=-1423.8768, 切向力Y=601.2189 +FPS=20.73, 法向力=4806.8730, 切向力X=-2073.1978, 切向力Y=509.7517 +FPS=21.37, 法向力=1932.1118, 切向力X=1875.4429, 切向力Y=-165.6948 +FPS=21.32, 法向力=5771.0596, 切向力X=-1773.8704, 切向力Y=4.4578 +FPS=21.17, 法向力=3522.8628, 切向力X=3315.9280, 切向力Y=-335.3698 +FPS=21.89, 法向力=1571.4062, 切向力X=1431.6169, 切向力Y=1507.5135 +FPS=20.93, 法向力=1516.4995, 切向力X=1311.7273, 切向力Y=1735.2324 +FPS=20.59, 法向力=1860.7412, 切向力X=1721.8374, 切向力Y=-1563.7932 +FPS=18.78, 法向力=1460.8047, 切向力X=1101.4510, 切向力Y=-841.5047 +FPS=20.77, 法向力=2547.0085, 切向力X=170.0159, 切向力Y=540.8331 +FPS=20.94, 法向力=1718.7039, 切向力X=690.8529, 切向力Y=187.9637 +FPS=21.15, 法向力=1854.4043, 切向力X=689.6799, 切向力Y=-18.7789 +FPS=21.34, 法向力=1517.6820, 切向力X=1402.7219, 切向力Y=-82.0670 +FPS=22.66, 法向力=1954.4883, 切向力X=910.2726, 切向力Y=2337.6404 +FPS=20.89, 法向力=2578.0454, 切向力X=2576.3665, 切向力Y=-376.9984 +FPS=21.13, 法向力=3735.1724, 切向力X=3691.1826, 切向力Y=-285.5805 +FPS=21.08, 法向力=1977.4728, 切向力X=1743.1128, 切向力Y=155.9590 +FPS=22.57, 法向力=1757.5713, 切向力X=1334.6886, 切向力Y=1213.9039 +FPS=21.70, 法向力=1681.7081, 切向力X=944.2787, 切向力Y=-289.3597 +FPS=21.49, 法向力=4244.7305, 切向力X=-690.0239, 切向力Y=401.2880 +FPS=21.34, 法向力=4430.6299, 切向力X=-1741.7688, 切向力Y=884.6125 +FPS=22.03, 法向力=2857.1226, 切向力X=309.5442, 切向力Y=-37.9320 +FPS=21.57, 法向力=2398.4595, 切向力X=634.9185, 切向力Y=204.3108 +FPS=22.36, 法向力=1670.7815, 切向力X=1545.0500, 切向力Y=-1037.5479 +FPS=21.99, 法向力=1644.2698, 切向力X=1680.9839, 切向力Y=-976.3474 +FPS=22.15, 法向力=1931.3431, 切向力X=1379.1726, 切向力Y=-3.2178 +FPS=21.30, 法向力=2809.5234, 切向力X=-91.3475, 切向力Y=83.4421 +FPS=22.79, 法向力=1902.5061, 切向力X=40.8331, 切向力Y=-14.3041 +FPS=21.44, 法向力=3427.0007, 切向力X=21.3747, 切向力Y=576.9510 +FPS=22.00, 法向力=8456.6602, 切向力X=-2602.8569, 切向力Y=214.5000 +FPS=21.63, 法向力=7038.9121, 切向力X=-2585.1006, 切向力Y=1494.8345 +FPS=21.67, 法向力=3939.5352, 切向力X=-1131.4923, 切向力Y=-800.1027 +FPS=20.95, 法向力=3860.9536, 切向力X=-685.5764, 切向力Y=511.1671 +FPS=21.87, 法向力=8523.6973, 切向力X=-3828.5476, 切向力Y=2050.3389 +FPS=20.94, 法向力=1650.4147, 切向力X=300.3354, 切向力Y=-108.3272 +FPS=20.56, 法向力=2243.0942, 切向力X=2859.4907, 切向力Y=-1375.1036 +FPS=20.53, 法向力=2915.0610, 切向力X=2635.7769, 切向力Y=-1459.5258 +FPS=22.02, 法向力=3788.2969, 切向力X=-1030.7935, 切向力Y=330.4222 +FPS=21.61, 法向力=1481.4585, 切向力X=1869.7112, 切向力Y=-566.2914 +FPS=21.61, 法向力=2812.5635, 切向力X=133.6291, 切向力Y=633.0322 +FPS=22.26, 法向力=3150.6685, 切向力X=-148.6208, 切向力Y=891.7808 +FPS=20.61, 法向力=2847.0010, 切向力X=-588.1750, 切向力Y=-806.8586 +FPS=21.02, 法向力=5569.8535, 切向力X=-2181.7544, 切向力Y=962.1951 +FPS=21.82, 法向力=3258.2632, 切向力X=-477.7581, 切向力Y=-473.1208 +FPS=18.30, 法向力=3825.6687, 切向力X=3341.8613, 切向力Y=-1564.0906 +FPS=23.25, 法向力=1807.8357, 切向力X=1635.5955, 切向力Y=-742.9265 +FPS=23.66, 法向力=2259.3057, 切向力X=1392.2102, 切向力Y=-1732.0393 +FPS=23.46, 法向力=2289.0574, 切向力X=1634.6531, 切向力Y=-1883.1261 +FPS=23.07, 法向力=2167.5625, 切向力X=1662.1830, 切向力Y=-187.0420 +FPS=22.70, 法向力=1807.2312, 切向力X=2186.1089, 切向力Y=43.3206 +FPS=22.37, 法向力=1832.5154, 切向力X=2299.5659, 切向力Y=192.9955 +FPS=22.90, 法向力=2917.4819, 切向力X=1562.2057, 切向力Y=-1342.3552 +FPS=21.53, 法向力=2516.0884, 切向力X=690.1101, 切向力Y=663.8309 +FPS=21.36, 法向力=1918.8778, 切向力X=822.1920, 切向力Y=470.4899 +FPS=22.11, 法向力=3785.4023, 切向力X=-253.7313, 切向力Y=867.7539 +FPS=22.48, 法向力=2413.0002, 切向力X=2216.8228, 切向力Y=-1023.9746 +FPS=22.47, 法向力=1935.6403, 切向力X=1370.7743, 切向力Y=-323.9954 +FPS=22.25, 法向力=1622.1201, 切向力X=1404.6436, 切向力Y=-991.3776 +FPS=22.18, 法向力=8365.7432, 切向力X=-3205.8770, 切向力Y=-83.7293 +FPS=23.22, 法向力=1718.9716, 切向力X=2031.6746, 切向力Y=311.9484 +FPS=23.01, 法向力=1745.8894, 切向力X=2021.1798, 切向力Y=290.3495 +FPS=21.22, 法向力=3113.0042, 切向力X=3772.1936, 切向力Y=-400.7686 +FPS=20.60, 法向力=10970.9570, 切向力X=-5641.8281, 切向力Y=-1064.0247 +FPS=19.58, 法向力=2045.2725, 切向力X=2048.2461, 切向力Y=-179.9227 +FPS=20.44, 法向力=2909.4883, 切向力X=111.2394, 切向力Y=-568.6271 +FPS=20.51, 法向力=6575.7480, 切向力X=-2578.0356, 切向力Y=788.5370 +FPS=21.19, 法向力=2784.4482, 切向力X=499.3469, 切向力Y=-304.0912 +FPS=21.14, 法向力=6424.4678, 切向力X=-2816.3477, 切向力Y=528.0919 +FPS=21.65, 法向力=3416.3604, 切向力X=460.5209, 切向力Y=2061.9917 +FPS=21.28, 法向力=7374.2939, 切向力X=-2828.0342, 切向力Y=1342.7881 +FPS=21.46, 法向力=6468.7563, 切向力X=-3283.5437, 切向力Y=1324.0261 +FPS=21.35, 法向力=5948.7974, 切向力X=-1879.1735, 切向力Y=178.8226 +FPS=22.02, 法向力=7274.6943, 切向力X=-3008.2739, 切向力Y=1978.4717 +FPS=21.97, 法向力=3015.4214, 切向力X=456.0200, 切向力Y=2069.6577 +FPS=20.65, 法向力=5762.4473, 切向力X=-1153.5972, 切向力Y=805.3546 +FPS=21.74, 法向力=6029.2256, 切向力X=-1330.2041, 切向力Y=956.2655 +FPS=21.35, 法向力=2749.2146, 切向力X=15.6688, 切向力Y=-1234.4139 +FPS=21.49, 法向力=3603.4219, 切向力X=-842.4353, 切向力Y=79.8618 +FPS=22.03, 法向力=4901.6250, 切向力X=-899.4081, 切向力Y=372.5237 +FPS=20.94, 法向力=1914.3529, 切向力X=1326.0642, 切向力Y=-647.3109 +FPS=20.98, 法向力=6186.3647, 切向力X=-1834.7054, 切向力Y=719.9385 +FPS=21.23, 法向力=1758.5724, 切向力X=775.9916, 切向力Y=1382.5957 +FPS=22.04, 法向力=1469.7445, 切向力X=1172.1866, 切向力Y=314.1142 +FPS=20.77, 法向力=1713.4177, 切向力X=2766.4714, 切向力Y=-362.1864 +FPS=22.13, 法向力=3313.2478, 切向力X=-1296.3259, 切向力Y=405.9821 +FPS=21.86, 法向力=7704.8057, 切向力X=-2286.3625, 切向力Y=-263.9485 +FPS=21.88, 法向力=4121.1235, 切向力X=-652.0615, 切向力Y=231.8410 +FPS=22.21, 法向力=4149.9316, 切向力X=-570.2906, 切向力Y=239.4429 +FPS=23.20, 法向力=2425.9443, 切向力X=175.1424, 切向力Y=201.3900 +FPS=22.98, 法向力=2409.5396, 切向力X=826.2814, 切向力Y=41.1609 +FPS=23.54, 法向力=1432.3933, 切向力X=1446.0580, 切向力Y=-379.4345 +FPS=22.70, 法向力=1970.6064, 切向力X=693.6307, 切向力Y=-413.3696 +FPS=23.46, 法向力=1729.4448, 切向力X=1989.9578, 切向力Y=334.5463 +FPS=21.26, 法向力=1538.7747, 切向力X=1308.9087, 切向力Y=-626.2848 +FPS=23.34, 法向力=2611.2925, 切向力X=337.1990, 切向力Y=-239.3665 +FPS=23.80, 法向力=3167.5271, 切向力X=-197.1610, 切向力Y=373.9735 +FPS=21.66, 法向力=5856.2769, 切向力X=-2222.2651, 切向力Y=458.7973 +FPS=23.41, 法向力=6081.4531, 切向力X=-2299.7439, 切向力Y=311.8887 +FPS=22.84, 法向力=5314.2881, 切向力X=-2223.5537, 切向力Y=-499.2342 +FPS=23.47, 法向力=6399.0215, 切向力X=-2984.9604, 切向力Y=866.3958 +FPS=21.82, 法向力=7010.4277, 切向力X=5111.5044, 切向力Y=411.7610 +FPS=19.84, 法向力=1687.9409, 切向力X=946.2015, 切向力Y=-67.2423 +FPS=22.44, 法向力=2172.4697, 切向力X=2978.9407, 切向力Y=1647.7778 +FPS=22.26, 法向力=2236.4294, 切向力X=2916.0034, 切向力Y=1720.7881 +FPS=21.89, 法向力=2440.8340, 切向力X=2359.2764, 切向力Y=-294.7696 +FPS=21.74, 法向力=1584.2751, 切向力X=2225.9370, 切向力Y=63.6894 +FPS=21.98, 法向力=4215.5356, 切向力X=-1204.7444, 切向力Y=709.9468 +FPS=22.17, 法向力=2379.1580, 切向力X=234.5368, 切向力Y=873.6885 +FPS=21.27, 法向力=2274.9155, 切向力X=167.4173, 切向力Y=897.3829 +FPS=21.98, 法向力=8966.6816, 切向力X=-3358.6370, 切向力Y=1739.5007 +FPS=21.05, 法向力=1626.5945, 切向力X=1504.9391, 切向力Y=52.3997 +FPS=20.88, 法向力=2513.0293, 切向力X=624.2492, 切向力Y=357.4864 +FPS=22.65, 法向力=2299.3130, 切向力X=668.2168, 切向力Y=119.9988 +FPS=23.60, 法向力=10887.8379, 切向力X=-5137.4224, 切向力Y=760.0349 +FPS=22.73, 法向力=3956.5215, 切向力X=3703.4814, 切向力Y=-86.7878 +FPS=21.17, 法向力=1634.6973, 切向力X=1798.1511, 切向力Y=-1167.3833 +FPS=21.99, 法向力=1969.5618, 切向力X=1007.7865, 切向力Y=-1028.9072 +FPS=21.47, 法向力=2688.4678, 切向力X=776.2567, 切向力Y=-1042.7439 +FPS=20.56, 法向力=2856.3203, 切向力X=2.7589, 切向力Y=228.4292 +FPS=21.90, 法向力=2108.5623, 切向力X=707.2712, 切向力Y=719.6786 +FPS=21.42, 法向力=2038.7314, 切向力X=816.8430, 切向力Y=621.4484 +FPS=22.13, 法向力=2187.8418, 切向力X=2272.9934, 切向力Y=-314.5545 +FPS=21.34, 法向力=1874.1379, 切向力X=1088.3301, 切向力Y=-522.7983 +FPS=21.97, 法向力=11888.3535, 切向力X=-4888.4658, 切向力Y=1484.3989 +FPS=20.14, 法向力=4561.7441, 切向力X=-1430.9196, 切向力Y=-74.3916 +FPS=20.00, 法向力=2121.5291, 切向力X=1831.7721, 切向力Y=-173.9387 +FPS=20.09, 法向力=6168.9326, 切向力X=-2629.6248, 切向力Y=1344.5471 +FPS=21.89, 法向力=3979.0054, 切向力X=3704.3562, 切向力Y=-1161.1989 +FPS=21.60, 法向力=3820.0889, 切向力X=3518.4802, 切向力Y=-1323.5615 +FPS=21.77, 法向力=1854.1173, 切向力X=1527.6974, 切向力Y=225.3114 +FPS=20.88, 法向力=2470.7161, 切向力X=2724.6514, 切向力Y=351.5721 +FPS=21.98, 法向力=6258.7334, 切向力X=-1063.3958, 切向力Y=2400.3574 +FPS=22.02, 法向力=6491.8799, 切向力X=-1190.1257, 切向力Y=2278.8406 +FPS=22.34, 法向力=5622.2637, 切向力X=-2441.8401, 切向力Y=1092.0869 +FPS=22.65, 法向力=2887.2026, 切向力X=-128.0325, 切向力Y=-70.5021 +FPS=22.66, 法向力=6119.4141, 切向力X=-2095.6233, 切向力Y=710.7833 +FPS=22.71, 法向力=6220.0684, 切向力X=-2019.8585, 切向力Y=918.4740 +FPS=21.40, 法向力=7656.1450, 切向力X=-3185.6912, 切向力Y=1335.7396 +FPS=21.51, 法向力=3825.2751, 切向力X=-1547.3540, 切向力Y=175.6106 +FPS=22.12, 法向力=5038.3477, 切向力X=4132.2383, 切向力Y=-2400.2739 +FPS=21.29, 法向力=4947.9600, 切向力X=4361.3877, 切向力Y=-2062.4890 +FPS=22.23, 法向力=2070.6367, 切向力X=743.9337, 切向力Y=-1029.7920 +FPS=22.06, 法向力=1867.1354, 切向力X=2152.3059, 切向力Y=-350.3738 +FPS=22.22, 法向力=3138.8994, 切向力X=2691.9360, 切向力Y=-1341.7936 +FPS=22.01, 法向力=3333.0186, 切向力X=2790.0959, 切向力Y=-1483.8425 +FPS=20.28, 法向力=2051.7283, 切向力X=2018.3025, 切向力Y=145.3869 +FPS=20.92, 法向力=5652.6719, 切向力X=-1524.8098, 切向力Y=555.4155 +FPS=21.57, 法向力=2068.9783, 切向力X=301.4915, 切向力Y=-1169.0116 +FPS=20.98, 法向力=10780.8535, 切向力X=-5439.5552, 切向力Y=1231.5439 +FPS=22.06, 法向力=2838.2979, 切向力X=206.4347, 切向力Y=-52.4171 +FPS=22.62, 法向力=2515.1182, 切向力X=284.8643, 切向力Y=232.7114 +FPS=21.52, 法向力=2894.7808, 切向力X=3691.9014, 切向力Y=814.8749 +FPS=22.34, 法向力=3026.9053, 切向力X=3770.2297, 切向力Y=734.9351 +FPS=22.32, 法向力=9764.1738, 切向力X=-3402.8113, 切向力Y=-1337.2954 +FPS=22.93, 法向力=10092.1895, 切向力X=-3589.1382, 切向力Y=-1195.8250 +FPS=23.46, 法向力=6724.2383, 切向力X=-2896.6187, 切向力Y=-1359.7369 +FPS=24.12, 法向力=10202.4785, 切向力X=-5122.8398, 切向力Y=466.2349 +FPS=22.98, 法向力=5078.2676, 切向力X=-1301.9276, 切向力Y=1226.5836 +FPS=23.29, 法向力=4268.4771, 切向力X=-1150.7515, 切向力Y=1201.6057 +FPS=21.92, 法向力=2026.5148, 切向力X=1246.3097, 切向力Y=-77.0604 +FPS=22.72, 法向力=2069.6743, 切向力X=1619.4789, 切向力Y=-431.0555 +FPS=22.84, 法向力=4517.4878, 切向力X=-1508.8049, 切向力Y=-174.8966 +FPS=22.00, 法向力=1642.5205, 切向力X=896.8796, 切向力Y=682.4945 +FPS=21.79, 法向力=1399.2905, 切向力X=1022.9181, 切向力Y=-365.5002 +FPS=21.08, 法向力=3983.5396, 切向力X=-1091.9106, 切向力Y=387.9493 +FPS=20.11, 法向力=4368.5361, 切向力X=-1274.8209, 切向力Y=455.3274 +FPS=19.59, 法向力=2656.0400, 切向力X=777.8159, 切向力Y=-499.5327 +FPS=20.85, 法向力=1797.6776, 切向力X=2203.4492, 切向力Y=-94.7102 +FPS=22.37, 法向力=3061.1074, 切向力X=3170.1001, 切向力Y=-797.3824 +FPS=20.98, 法向力=2894.8503, 切向力X=3035.0244, 切向力Y=-760.4561 +FPS=20.87, 法向力=2410.2368, 切向力X=865.0248, 切向力Y=-470.7917 +FPS=20.60, 法向力=1847.9489, 切向力X=978.0353, 切向力Y=158.5409 +FPS=20.59, 法向力=8450.6650, 切向力X=-3283.8662, 切向力Y=866.5295 +FPS=22.73, 法向力=4182.9502, 切向力X=-706.8398, 切向力Y=-39.5583 +FPS=22.09, 法向力=6408.6172, 切向力X=-1651.3623, 切向力Y=558.9267 +FPS=20.95, 法向力=5142.8271, 切向力X=-1642.2710, 切向力Y=1116.9990 +FPS=21.38, 法向力=5220.6963, 切向力X=-1685.2875, 切向力Y=958.0699 +FPS=22.39, 法向力=1567.9021, 切向力X=1938.0625, 切向力Y=474.3378 +FPS=22.83, 法向力=1716.2583, 切向力X=2159.9946, 切向力Y=276.3849 +FPS=22.76, 法向力=8257.0293, 切向力X=-3877.8999, 切向力Y=1258.2791 +FPS=21.93, 法向力=2423.4160, 切向力X=500.3566, 切向力Y=-496.6759 +FPS=22.00, 法向力=2766.8032, 切向力X=728.3569, 切向力Y=352.2383 +FPS=21.10, 法向力=3259.9766, 切向力X=-1124.8090, 切向力Y=-177.6202 +FPS=21.32, 法向力=7307.0552, 切向力X=-3584.6143, 切向力Y=1336.2832 +FPS=22.39, 法向力=7672.1104, 切向力X=-3170.2900, 切向力Y=473.3625 +FPS=23.20, 法向力=10285.0762, 切向力X=-5257.0684, 切向力Y=593.1825 +FPS=23.33, 法向力=5719.1631, 切向力X=-2044.7811, 切向力Y=668.3845 +FPS=23.56, 法向力=1625.2783, 切向力X=921.5358, 切向力Y=371.8481 +FPS=22.52, 法向力=6440.8462, 切向力X=-2293.8342, 切向力Y=1510.8470 +FPS=24.66, 法向力=6728.5103, 切向力X=-2369.3765, 切向力Y=1623.9519 +FPS=22.30, 法向力=1546.7449, 切向力X=1113.0618, 切向力Y=994.7775 +FPS=22.84, 法向力=6685.3438, 切向力X=-2817.1018, 切向力Y=602.3048 +FPS=23.55, 法向力=2056.6428, 切向力X=893.2256, 切向力Y=488.3271 +FPS=22.80, 法向力=1504.4824, 切向力X=1371.1014, 切向力Y=-93.7645 +FPS=23.30, 法向力=2120.0742, 切向力X=1161.3317, 切向力Y=-1514.8572 +FPS=22.53, 法向力=2765.8586, 切向力X=-217.3405, 切向力Y=-522.0852 +FPS=21.18, 法向力=7050.5146, 切向力X=-3015.9531, 切向力Y=689.5320 +FPS=22.71, 法向力=7962.4512, 切向力X=-3523.1194, 切向力Y=858.3500 +FPS=23.91, 法向力=1878.7203, 切向力X=759.2493, 切向力Y=1152.5725 +FPS=23.99, 法向力=9682.5566, 切向力X=-3556.3589, 切向力Y=639.0586 +FPS=24.63, 法向力=5658.7705, 切向力X=-1384.6493, 切向力Y=1394.7095 +FPS=23.54, 法向力=5418.5400, 切向力X=-1224.4006, 切向力Y=1106.6221 +FPS=23.96, 法向力=1381.1833, 切向力X=1696.7723, 切向力Y=860.3746 +FPS=20.39, 法向力=2681.2327, 切向力X=288.8972, 切向力Y=-449.0504 +FPS=21.88, 法向力=9586.0273, 切向力X=-4394.2051, 切向力Y=901.9189 +FPS=22.07, 法向力=1789.9636, 切向力X=1194.7075, 切向力Y=-581.4130 +FPS=22.18, 法向力=8101.3271, 切向力X=-3493.7297, 切向力Y=181.8380 +FPS=21.08, 法向力=6046.0181, 切向力X=-2007.5387, 切向力Y=272.2856 +FPS=21.45, 法向力=1989.5629, 切向力X=1166.9943, 切向力Y=1245.4124 +FPS=20.75, 法向力=4250.9370, 切向力X=-1032.0397, 切向力Y=759.8836 +FPS=21.07, 法向力=2928.0322, 切向力X=-626.4791, 切向力Y=864.4425 +FPS=20.99, 法向力=6525.1152, 切向力X=-2284.8923, 切向力Y=202.8167 +FPS=22.21, 法向力=3930.3352, 切向力X=-682.6155, 切向力Y=885.5290 +FPS=21.76, 法向力=2093.6216, 切向力X=740.9117, 切向力Y=-1128.2341 +FPS=22.19, 法向力=5342.5586, 切向力X=-2056.7544, 切向力Y=412.9490 +FPS=22.23, 法向力=5517.9463, 切向力X=-2024.2917, 切向力Y=401.8009 +FPS=20.92, 法向力=4519.2593, 切向力X=-1647.9973, 切向力Y=-1700.2073 +FPS=20.76, 法向力=4021.3940, 切向力X=-999.2515, 切向力Y=-1401.8259 +FPS=21.82, 法向力=10248.1250, 切向力X=-4586.1982, 切向力Y=604.8287 +FPS=21.25, 法向力=3238.2383, 切向力X=2956.5210, 切向力Y=712.6566 +FPS=20.47, 法向力=3455.3809, 切向力X=-92.6651, 切向力Y=342.7807 +FPS=21.50, 法向力=1833.3964, 切向力X=778.7494, 切向力Y=-1029.8943 +FPS=22.46, 法向力=1609.8827, 切向力X=557.4893, 切向力Y=-376.6504 +FPS=22.58, 法向力=2119.8557, 切向力X=2577.6060, 切向力Y=-251.5008 +FPS=21.90, 法向力=1949.3887, 切向力X=734.7601, 切向力Y=-293.5021 +FPS=19.95, 法向力=5958.2261, 切向力X=-1374.9435, 切向力Y=2546.2310 +FPS=20.76, 法向力=7482.4658, 切向力X=-3561.4717, 切向力Y=-964.0107 +FPS=20.47, 法向力=1808.7759, 切向力X=2084.3340, 切向力Y=-881.2203 +FPS=21.63, 法向力=1407.8884, 切向力X=860.5808, 切向力Y=1496.1744 +FPS=21.88, 法向力=2145.4436, 切向力X=1324.4834, 切向力Y=475.4211 +FPS=21.60, 法向力=2187.8809, 切向力X=1316.6724, 切向力Y=437.6953 +FPS=21.88, 法向力=1347.9470, 切向力X=1243.8063, 切向力Y=708.8462 +FPS=21.29, 法向力=6289.1309, 切向力X=3947.6279, 切向力Y=82.8295 +FPS=20.51, 法向力=2354.6826, 切向力X=134.3090, 切向力Y=-60.5740 +FPS=20.46, 法向力=3535.1797, 切向力X=-53.4753, 切向力Y=1018.5409 +FPS=20.94, 法向力=2142.8511, 切向力X=822.3754, 切向力Y=-671.3345 +FPS=20.99, 法向力=2671.4629, 切向力X=1093.9281, 切向力Y=-2077.4849 +FPS=22.16, 法向力=2624.0645, 切向力X=309.5119, 切向力Y=-1249.9731 +FPS=21.75, 法向力=2273.3398, 切向力X=3160.2119, 切向力Y=67.7383 +FPS=22.07, 法向力=1284.3185, 切向力X=1784.6212, 切向力Y=-1067.5481 +FPS=21.39, 法向力=6700.0156, 切向力X=-2181.8555, 切向力Y=-671.7198 +FPS=20.70, 法向力=2808.8972, 切向力X=78.2623, 切向力Y=-1323.2385 +FPS=20.03, 法向力=2930.4150, 切向力X=-178.6515, 切向力Y=1342.3933 +FPS=22.27, 法向力=2561.4990, 切向力X=-381.5148, 切向力Y=561.6895 +FPS=21.65, 法向力=1417.8417, 切向力X=1433.9446, 切向力Y=-1386.8088 +FPS=20.70, 法向力=3399.9448, 切向力X=2926.4358, 切向力Y=-1672.2917 +FPS=19.84, 法向力=5357.7695, 切向力X=-1933.6716, 切向力Y=1361.2512 +FPS=20.51, 法向力=2575.4712, 切向力X=606.3960, 切向力Y=924.5288 +FPS=20.11, 法向力=2154.9072, 切向力X=1369.3737, 切向力Y=369.8198 +FPS=21.62, 法向力=1968.0845, 切向力X=802.4502, 切向力Y=857.4343 +FPS=21.75, 法向力=2420.0415, 切向力X=-230.7091, 切向力Y=-1123.8306 +FPS=21.87, 法向力=7668.0420, 切向力X=-2899.5667, 切向力Y=1279.1813 +FPS=17.56, 法向力=1817.1466, 切向力X=1793.4009, 切向力Y=-910.5524 +FPS=19.04, 法向力=3414.9404, 切向力X=2964.1387, 切向力Y=-1092.5457 +FPS=18.91, 法向力=2002.5889, 切向力X=2196.3530, 切向力Y=-657.8077 +FPS=19.70, 法向力=1926.4563, 切向力X=1419.2646, 切向力Y=1145.6191 +FPS=21.04, 法向力=2076.8933, 切向力X=1348.3250, 切向力Y=1564.4589 +FPS=20.83, 法向力=1770.3672, 切向力X=1482.1680, 切向力Y=74.0895 +FPS=20.31, 法向力=3035.4893, 切向力X=1922.2172, 切向力Y=-565.7557 +FPS=21.34, 法向力=4085.6499, 切向力X=3090.9797, 切向力Y=-1422.2715 +FPS=21.51, 法向力=2013.2119, 切向力X=1317.5518, 切向力Y=-1099.7124 +FPS=20.88, 法向力=3845.0664, 切向力X=-931.8573, 切向力Y=1003.6550 +FPS=21.20, 法向力=1933.9705, 切向力X=823.4459, 切向力Y=406.2280 +FPS=21.50, 法向力=1998.2280, 切向力X=695.8601, 切向力Y=-71.2995 +FPS=21.83, 法向力=2370.1914, 切向力X=-210.8268, 切向力Y=-351.0046 +FPS=17.17, 法向力=1715.2896, 切向力X=1210.0608, 切向力Y=1180.3193 +FPS=18.15, 法向力=4725.3057, 切向力X=-1497.2258, 切向力Y=877.5356 +FPS=16.66, 法向力=11266.0508, 切向力X=-5269.5811, 切向力Y=1077.5303 +FPS=17.22, 法向力=5580.0820, 切向力X=-1683.7783, 切向力Y=-1082.8076 +FPS=21.19, 法向力=4106.1948, 切向力X=258.1488, 切向力Y=-2776.9963 +FPS=20.40, 法向力=2284.9072, 切向力X=2987.0237, 切向力Y=-341.2684 +FPS=20.95, 法向力=4372.0225, 切向力X=-1272.7460, 切向力Y=1071.9447 +FPS=20.11, 法向力=2937.3110, 切向力X=2701.2134, 切向力Y=-95.0599 +FPS=20.71, 法向力=2069.5103, 切向力X=1127.8187, 切向力Y=-840.5762 +FPS=20.47, 法向力=9576.7344, 切向力X=-3428.4487, 切向力Y=565.3778 +FPS=20.28, 法向力=2040.4626, 切向力X=621.1519, 切向力Y=-369.5090 +FPS=19.58, 法向力=3777.4055, 切向力X=3814.7964, 切向力Y=-1163.0964 +FPS=20.11, 法向力=2125.3989, 切向力X=2139.8970, 切向力Y=-950.3105 +FPS=18.26, 法向力=1682.9170, 切向力X=1825.5874, 切向力Y=-1303.7875 +FPS=18.68, 法向力=6943.9214, 切向力X=-3145.3003, 切向力Y=531.7844 +FPS=20.36, 法向力=2243.6624, 切向力X=183.6184, 切向力Y=1220.7871 +FPS=19.58, 法向力=2952.7656, 切向力X=1378.5221, 切向力Y=-2657.8569 +FPS=15.55, 法向力=2847.2969, 切向力X=675.0780, 切向力Y=189.1408 +FPS=17.35, 法向力=1805.0354, 切向力X=1172.9730, 切向力Y=684.3140 +FPS=16.32, 法向力=2307.6833, 切向力X=240.6130, 切向力Y=721.6180 +FPS=17.31, 法向力=3537.7812, 切向力X=193.3489, 切向力Y=1178.4541 +FPS=17.63, 法向力=2263.4858, 切向力X=309.7068, 切向力Y=82.0742 +FPS=16.04, 法向力=2156.9697, 切向力X=1136.7231, 切向力Y=-69.1686 +FPS=19.13, 法向力=4623.8052, 切向力X=-1203.1511, 切向力Y=854.4332 +FPS=20.54, 法向力=4383.3862, 切向力X=-1528.9017, 切向力Y=-963.3679 +FPS=21.20, 法向力=7539.7261, 切向力X=-2766.9150, 切向力Y=-168.5597 +FPS=21.81, 法向力=7350.4087, 切向力X=-2981.6072, 切向力Y=2188.8408 +FPS=21.65, 法向力=2029.3185, 切向力X=2934.8083, 切向力Y=691.4794 +FPS=21.67, 法向力=1559.3485, 切向力X=902.5978, 切向力Y=-835.5869 +FPS=22.76, 法向力=1805.3494, 切向力X=645.4161, 切向力Y=984.3165 +FPS=22.02, 法向力=1775.0164, 切向力X=664.1832, 切向力Y=1101.3322 +FPS=23.43, 法向力=1451.2444, 切向力X=1460.8308, 切向力Y=-416.4519 +FPS=22.41, 法向力=3782.1367, 切向力X=-649.0817, 切向力Y=-377.5914 +FPS=22.39, 法向力=4095.0776, 切向力X=-611.9879, 切向力Y=-546.2701 +FPS=22.97, 法向力=1927.4781, 切向力X=2278.9451, 切向力Y=-175.2625 +FPS=21.41, 法向力=2514.5659, 切向力X=2734.7854, 切向力Y=-739.6785 +FPS=20.35, 法向力=2682.1597, 切向力X=163.1151, 切向力Y=-1450.8306 +FPS=22.42, 法向力=7280.8511, 切向力X=-3124.4497, 切向力Y=140.7083 +FPS=23.91, 法向力=5589.5898, 切向力X=-2799.8828, 切向力Y=-571.1832 +FPS=23.91, 法向力=2388.6055, 切向力X=1452.5898, 切向力Y=-1483.0063 +FPS=24.22, 法向力=4182.8398, 切向力X=-666.6828, 切向力Y=233.2345 +FPS=23.91, 法向力=2576.9050, 切向力X=-92.9967, 切向力Y=-113.9814 +FPS=23.62, 法向力=9148.1797, 切向力X=-3462.4863, 切向力Y=229.7511 +FPS=23.40, 法向力=8768.7354, 切向力X=-3161.5845, 切向力Y=-32.8662 +FPS=24.34, 法向力=3667.1799, 切向力X=-276.2510, 切向力Y=-284.8704 +FPS=24.02, 法向力=6606.9697, 切向力X=-2615.0796, 切向力Y=197.1462 +FPS=23.89, 法向力=1976.0054, 切向力X=428.5771, 切向力Y=-603.9800 +FPS=23.39, 法向力=1889.4125, 切向力X=1306.7725, 切向力Y=289.7238 +FPS=23.88, 法向力=2093.0000, 切向力X=1148.1057, 切向力Y=1817.0422 +FPS=23.63, 法向力=2067.4937, 切向力X=1242.0571, 切向力Y=1776.4402 +FPS=24.09, 法向力=3289.1353, 切向力X=-304.8101, 切向力Y=1014.9995 +FPS=23.45, 法向力=1809.2384, 切向力X=1121.3033, 切向力Y=808.0044 +FPS=23.02, 法向力=2215.1104, 切向力X=1223.9434, 切向力Y=-126.5583 +FPS=23.35, 法向力=1978.9037, 切向力X=1436.9583, 切向力Y=-1214.1813 +FPS=23.58, 法向力=4664.4634, 切向力X=-867.1866, 切向力Y=-118.2972 +FPS=24.43, 法向力=4450.8896, 切向力X=-1422.5502, 切向力Y=822.1229 +FPS=23.93, 法向力=4271.1646, 切向力X=3952.8257, 切向力Y=-80.3252 +FPS=23.43, 法向力=4424.8799, 切向力X=4189.9180, 切向力Y=-27.0149 +FPS=23.29, 法向力=3904.1731, 切向力X=63.2925, 切向力Y=-273.2404 +FPS=23.23, 法向力=4657.3765, 切向力X=-1337.5895, 切向力Y=1361.4844 +FPS=22.58, 法向力=5344.1191, 切向力X=-906.3649, 切向力Y=-270.1206 +FPS=22.03, 法向力=1691.3962, 切向力X=684.0848, 切向力Y=-1340.6873 +FPS=22.41, 法向力=5283.9600, 切向力X=-1462.8809, 切向力Y=871.6653 +FPS=21.75, 法向力=8198.4785, 切向力X=-3384.5063, 切向力Y=560.4178 +FPS=19.30, 法向力=6511.8369, 切向力X=-2191.0430, 切向力Y=619.5005 +FPS=19.77, 法向力=2165.6812, 切向力X=1234.1951, 切向力Y=-74.5308 +FPS=20.12, 法向力=2374.5452, 切向力X=1761.8783, 切向力Y=295.5631 +FPS=20.79, 法向力=6519.5425, 切向力X=-2847.3584, 切向力Y=696.2848 +FPS=19.82, 法向力=13921.6191, 切向力X=-5934.8604, 切向力Y=2201.1365 +FPS=19.79, 法向力=3563.5959, 切向力X=2711.4021, 切向力Y=-1229.2275 +FPS=19.46, 法向力=4825.1729, 切向力X=-607.0662, 切向力Y=745.4818 +FPS=19.46, 法向力=2036.9299, 切向力X=1310.4722, 切向力Y=-665.2533 +FPS=20.36, 法向力=1713.9380, 切向力X=1664.7500, 切向力Y=-566.0112 +FPS=19.56, 法向力=2940.8760, 切向力X=1665.1855, 切向力Y=-1138.3752 +FPS=20.58, 法向力=4533.8945, 切向力X=4416.3281, 切向力Y=-2319.7739 +FPS=20.87, 法向力=1470.6722, 切向力X=1954.2018, 切向力Y=-1062.8796 +FPS=21.07, 法向力=1980.9091, 切向力X=2405.8374, 切向力Y=275.1272 +FPS=21.16, 法向力=10822.3633, 切向力X=-4925.5703, 切向力Y=378.1824 +FPS=20.45, 法向力=1873.4672, 切向力X=2519.5508, 切向力Y=-185.5074 +FPS=19.48, 法向力=7167.1855, 切向力X=-2642.0930, 切向力Y=1485.0367 +FPS=20.22, 法向力=7504.2383, 切向力X=-2861.1189, 切向力Y=1442.9451 +FPS=19.91, 法向力=6876.1182, 切向力X=-1607.3748, 切向力Y=807.8798 +FPS=21.09, 法向力=3852.8179, 切向力X=272.2860, 切向力Y=-775.0033 +FPS=19.29, 法向力=3746.1741, 切向力X=-735.0474, 切向力Y=959.9896 +FPS=21.18, 法向力=6204.3896, 切向力X=-2143.9387, 切向力Y=15.1323 +FPS=20.76, 法向力=10405.4531, 切向力X=-5237.8340, 切向力Y=-52.4427 +FPS=20.48, 法向力=3862.2402, 切向力X=3154.0015, 切向力Y=-1702.3538 +FPS=20.50, 法向力=1614.3716, 切向力X=1213.8683, 切向力Y=-149.1981 +FPS=19.65, 法向力=4255.4761, 切向力X=-1441.9828, 切向力Y=923.3812 +FPS=20.18, 法向力=2294.3159, 切向力X=2664.5505, 切向力Y=601.8542 +FPS=20.87, 法向力=3974.2234, 切向力X=-1053.3607, 切向力Y=-928.8149 +FPS=21.85, 法向力=8582.7559, 切向力X=-3437.7793, 切向力Y=550.4169 +FPS=21.33, 法向力=4669.7095, 切向力X=-853.0770, 切向力Y=-541.6257 +FPS=21.21, 法向力=2079.9910, 切向力X=2492.3379, 切向力Y=-1192.2925 +FPS=21.08, 法向力=2388.0215, 切向力X=1617.0012, 切向力Y=-405.4614 +FPS=20.21, 法向力=2038.3820, 切向力X=1011.5557, 切向力Y=-667.9373 +FPS=20.59, 法向力=4027.7449, 切向力X=-960.6352, 切向力Y=591.6350 +FPS=19.89, 法向力=1699.2725, 切向力X=1812.1492, 切向力Y=-618.1580 +FPS=20.40, 法向力=1773.1152, 切向力X=924.4880, 切向力Y=-131.1965 +FPS=21.92, 法向力=7632.8628, 切向力X=-3293.6316, 切向力Y=1347.3409 +FPS=20.06, 法向力=4668.0996, 切向力X=3742.2437, 切向力Y=1059.2712 +FPS=22.55, 法向力=2779.6655, 切向力X=1358.7280, 切向力Y=-2429.0149 +FPS=22.09, 法向力=7707.7783, 切向力X=-3331.5781, 切向力Y=1190.7061 +FPS=23.21, 法向力=7843.9004, 切向力X=-3413.6980, 切向力Y=1765.1067 +FPS=22.85, 法向力=4881.8989, 切向力X=4397.4062, 切向力Y=1056.2004 +FPS=22.29, 法向力=6537.7261, 切向力X=3496.4326, 切向力Y=-1066.8831 +FPS=20.26, 法向力=1814.1584, 切向力X=1652.0914, 切向力Y=1090.3877 +FPS=21.66, 法向力=1786.5200, 切向力X=2360.8418, 切向力Y=-37.5242 +FPS=21.60, 法向力=1918.2917, 切向力X=1124.4758, 切向力Y=117.6623 +FPS=21.81, 法向力=2126.3975, 切向力X=318.9797, 切向力Y=-601.0707 +FPS=21.66, 法向力=11304.4414, 切向力X=-4885.9395, 切向力Y=2155.0352 +FPS=22.25, 法向力=3141.0234, 切向力X=369.7407, 切向力Y=996.6843 +FPS=22.79, 法向力=2831.6597, 切向力X=766.8578, 切向力Y=800.7626 +FPS=18.66, 法向力=3790.2720, 切向力X=-1117.4978, 切向力Y=531.3224 +FPS=20.58, 法向力=4843.8672, 切向力X=-1089.4026, 切向力Y=-151.9350 +FPS=21.10, 法向力=5360.6553, 切向力X=-1434.7771, 切向力Y=-276.3585 +FPS=22.79, 法向力=6408.9395, 切向力X=-2149.7786, 切向力Y=1685.0396 +FPS=23.00, 法向力=6433.9951, 切向力X=-2129.5940, 切向力Y=1585.3400 +FPS=22.48, 法向力=7757.0479, 切向力X=-3696.0562, 切向力Y=1098.5085 +FPS=22.90, 法向力=9761.0176, 切向力X=-4807.1982, 切向力Y=-773.2838 +FPS=23.17, 法向力=1923.7922, 切向力X=703.2756, 切向力Y=149.2548 +FPS=22.92, 法向力=1975.2996, 切向力X=2229.3469, 切向力Y=488.6710 +FPS=22.85, 法向力=2325.6360, 切向力X=599.0940, 切向力Y=347.1410 +FPS=22.95, 法向力=2799.4648, 切向力X=2362.1924, 切向力Y=-301.1783 +FPS=22.56, 法向力=7874.9263, 切向力X=-3541.7134, 切向力Y=738.3325 +FPS=21.19, 法向力=2376.2961, 切向力X=245.1512, 切向力Y=-767.3549 +FPS=21.46, 法向力=1429.5129, 切向力X=2084.6045, 切向力Y=-429.3621 +FPS=21.35, 法向力=1508.9648, 切向力X=2308.8167, 切向力Y=-264.2297 +FPS=22.18, 法向力=2275.5723, 切向力X=1978.4475, 切向力Y=223.7298 +FPS=22.53, 法向力=2316.5713, 切向力X=2234.6348, 切向力Y=910.2357 +FPS=22.53, 法向力=9663.8789, 切向力X=6690.2422, 切向力Y=449.3168 +FPS=21.98, 法向力=2288.9858, 切向力X=1661.3997, 切向力Y=-662.9700 +FPS=21.75, 法向力=3622.1494, 切向力X=-218.8557, 切向力Y=1110.5793 +FPS=19.87, 法向力=3352.6636, 切向力X=-114.5442, 切向力Y=986.9191 +FPS=21.15, 法向力=5589.4248, 切向力X=-1054.9191, 切向力Y=1494.4734 +FPS=20.02, 法向力=13070.1709, 切向力X=-6687.1211, 切向力Y=1380.0962 +FPS=20.02, 法向力=7523.8418, 切向力X=-3592.9238, 切向力Y=2764.4507 +FPS=20.22, 法向力=4521.8613, 切向力X=-1823.6433, 切向力Y=-404.0616 +FPS=20.60, 法向力=1900.1877, 切向力X=608.6459, 切向力Y=-118.9212 +FPS=20.68, 法向力=1376.1565, 切向力X=1523.0247, 切向力Y=258.8890 +FPS=19.59, 法向力=1587.1997, 切向力X=706.5726, 切向力Y=493.9567 +FPS=20.32, 法向力=2139.4844, 切向力X=2315.4663, 切向力Y=547.5347 +FPS=19.60, 法向力=1956.9524, 切向力X=1532.3531, 切向力Y=-2082.2661 +FPS=21.27, 法向力=9346.7246, 切向力X=-4175.5947, 切向力Y=976.2590 +FPS=21.05, 法向力=3457.5137, 切向力X=2952.8418, 切向力Y=-850.8767 +FPS=21.16, 法向力=1768.9182, 切向力X=1477.6407, 切向力Y=143.7118 +FPS=21.67, 法向力=1804.9546, 切向力X=212.8960, 切向力Y=1175.5686 +FPS=21.91, 法向力=1805.8879, 切向力X=128.1897, 切向力Y=1242.7166 +FPS=23.02, 法向力=1807.8438, 切向力X=80.6197, 切向力Y=1280.3083 +FPS=20.60, 法向力=6063.7842, 切向力X=-1915.5996, 切向力Y=1614.2646 +FPS=21.55, 法向力=4387.5479, 切向力X=-897.6345, 切向力Y=951.9983 +FPS=20.81, 法向力=1877.6082, 切向力X=1025.1980, 切向力Y=-1095.9500 +FPS=20.13, 法向力=1633.9927, 切向力X=1144.0769, 切向力Y=-213.0831 +FPS=19.18, 法向力=5281.3740, 切向力X=-1411.1509, 切向力Y=142.1153 +FPS=19.08, 法向力=2493.6389, 切向力X=-135.1110, 切向力Y=-21.0174 +FPS=19.54, 法向力=2896.3843, 切向力X=313.3236, 切向力Y=310.6602 +FPS=20.00, 法向力=2837.1880, 切向力X=493.2937, 切向力Y=491.7152 +FPS=24.65, 法向力=3660.0669, 切向力X=-361.3885, 切向力Y=-234.9036 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260604_012135.log b/examples/logs/qt_viewer_20260604_012135.log new file mode 100644 index 0000000..060c492 --- /dev/null +++ b/examples/logs/qt_viewer_20260604_012135.log @@ -0,0 +1,3005 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=1.47, 法向力=806.8284, 切向力X=-301.8556, 切向力Y=71.0518 +FPS=23.80, 法向力=1266.1486, 切向力X=117.3249, 切向力Y=653.8121 +FPS=26.85, 法向力=1156.9160, 切向力X=617.7627, 切向力Y=107.7403 +FPS=27.00, 法向力=1564.5803, 切向力X=197.3237, 切向力Y=1376.8743 +FPS=28.51, 法向力=1102.2809, 切向力X=-166.5849, 切向力Y=355.0453 +FPS=28.87, 法向力=1023.2005, 切向力X=12.0137, 切向力Y=404.0567 +FPS=29.28, 法向力=959.0717, 切向力X=563.5331, 切向力Y=279.1210 +FPS=27.87, 法向力=926.0577, 切向力X=-307.2252, 切向力Y=270.6857 +FPS=26.78, 法向力=1082.3804, 切向力X=282.1670, 切向力Y=786.6876 +FPS=27.73, 法向力=1171.0139, 切向力X=220.9070, 切向力Y=486.4429 +FPS=27.97, 法向力=1061.5117, 切向力X=742.1098, 切向力Y=577.7676 +FPS=29.28, 法向力=1133.0056, 切向力X=357.7927, 切向力Y=504.0029 +FPS=26.85, 法向力=736.9615, 切向力X=-61.5977, 切向力Y=868.8365 +FPS=27.45, 法向力=1144.5146, 切向力X=493.1808, 切向力Y=-4.9744 +FPS=29.12, 法向力=1163.8602, 切向力X=575.4453, 切向力Y=-40.7840 +FPS=28.27, 法向力=1055.7886, 切向力X=-300.4347, 切向力Y=294.4008 +FPS=26.72, 法向力=1068.7258, 切向力X=-453.0998, 切向力Y=259.4501 +FPS=29.11, 法向力=802.5356, 切向力X=-206.0540, 切向力Y=261.9268 +FPS=27.62, 法向力=1486.2351, 切向力X=254.1141, 切向力Y=734.2476 +FPS=27.47, 法向力=1123.1560, 切向力X=590.7666, 切向力Y=287.9344 +FPS=27.25, 法向力=1240.2788, 切向力X=-26.0834, 切向力Y=-93.4994 +FPS=28.78, 法向力=1013.1179, 切向力X=-384.6791, 切向力Y=306.6763 +FPS=28.92, 法向力=1009.3441, 切向力X=70.7353, 切向力Y=360.5046 +FPS=26.94, 法向力=1128.5803, 切向力X=513.7454, 切向力Y=190.9552 +FPS=29.48, 法向力=1095.9016, 切向力X=788.6504, 切向力Y=453.3835 +FPS=28.32, 法向力=917.0316, 切向力X=-459.1388, 切向力Y=677.8053 +FPS=28.46, 法向力=941.6863, 切向力X=395.1312, 切向力Y=508.5977 +stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000267s, blend=0.002420s (9 tiles incl ref), finalize=0.000080s, total=0.002774s +FPS=27.56, 法向力=870.8167, 切向力X=11.8320, 切向力Y=365.9351 +FPS=27.64, 法向力=1222.1987, 切向力X=-378.2755, 切向力Y=341.4474 +FPS=26.33, 法向力=1017.1915, 切向力X=27.9022, 切向力Y=-589.8127 +FPS=26.56, 法向力=1067.0143, 切向力X=-676.5310, 切向力Y=509.8716 +FPS=27.63, 法向力=1329.8604, 切向力X=271.4522, 切向力Y=519.7449 +FPS=28.37, 法向力=1230.9801, 切向力X=82.8249, 切向力Y=184.2850 +FPS=28.75, 法向力=1010.3293, 切向力X=313.7938, 切向力Y=120.8026 +FPS=29.39, 法向力=1400.7427, 切向力X=-297.5454, 切向力Y=406.5437 +FPS=29.41, 法向力=1126.5177, 切向力X=589.2709, 切向力Y=539.8525 +FPS=29.53, 法向力=1332.6399, 切向力X=-538.3326, 切向力Y=645.1859 +FPS=29.78, 法向力=911.5668, 切向力X=-857.9265, 切向力Y=466.1775 +FPS=29.63, 法向力=1283.1981, 切向力X=1000.4195, 切向力Y=600.6475 +FPS=29.82, 法向力=1144.4506, 切向力X=216.2752, 切向力Y=411.2632 +FPS=29.00, 法向力=1369.5525, 切向力X=-804.9877, 切向力Y=221.2955 +FPS=28.43, 法向力=1293.8320, 切向力X=273.0014, 切向力Y=-322.8383 +FPS=28.61, 法向力=1158.3357, 切向力X=-90.3849, 切向力Y=692.6145 +FPS=28.74, 法向力=1136.2683, 切向力X=-760.8583, 切向力Y=326.0023 +FPS=28.73, 法向力=1190.4816, 切向力X=-570.0416, 切向力Y=593.3434 +FPS=27.93, 法向力=1274.2888, 切向力X=348.3947, 切向力Y=-144.8828 +FPS=29.19, 法向力=919.4664, 切向力X=412.4993, 切向力Y=247.1695 +FPS=28.66, 法向力=996.4736, 切向力X=66.5847, 切向力Y=7.6146 +FPS=29.36, 法向力=928.0646, 切向力X=-217.6667, 切向力Y=42.4242 +FPS=28.95, 法向力=1104.4061, 切向力X=157.0617, 切向力Y=-213.4399 +FPS=28.73, 法向力=1091.2351, 切向力X=729.7527, 切向力Y=685.7634 +FPS=29.29, 法向力=856.4749, 切向力X=-241.2110, 切向力Y=-16.5703 +FPS=28.65, 法向力=1464.4690, 切向力X=334.2919, 切向力Y=693.3583 +FPS=28.30, 法向力=1145.5891, 切向力X=627.3080, 切向力Y=959.9835 +FPS=28.28, 法向力=981.2019, 切向力X=630.0980, 切向力Y=99.5224 +FPS=28.27, 法向力=753.0337, 切向力X=177.4839, 切向力Y=173.7393 +FPS=27.67, 法向力=907.8898, 切向力X=-135.5510, 切向力Y=453.3311 +stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000250s, blend=0.002199s (9 tiles incl ref), finalize=0.000065s, total=0.002521s +FPS=27.39, 法向力=922.9116, 切向力X=-117.5384, 切向力Y=511.7251 +FPS=28.56, 法向力=1389.2869, 切向力X=-493.9344, 切向力Y=568.0784 +FPS=28.49, 法向力=1108.6566, 切向力X=-0.6772, 切向力Y=-9.9172 +FPS=28.80, 法向力=1027.4503, 切向力X=134.8802, 切向力Y=-15.3940 +FPS=27.04, 法向力=951.7859, 切向力X=-147.5976, 切向力Y=634.4893 +FPS=28.65, 法向力=988.8336, 切向力X=-466.3041, 切向力Y=118.3565 +FPS=29.69, 法向力=1265.3406, 切向力X=1013.6899, 切向力Y=-68.7456 +FPS=28.40, 法向力=1250.0344, 切向力X=229.3066, 切向力Y=-118.4785 +FPS=26.93, 法向力=1060.9122, 切向力X=120.9637, 切向力Y=614.6870 +FPS=28.51, 法向力=1207.3411, 切向力X=-416.9017, 切向力Y=876.1063 +FPS=28.95, 法向力=1258.0490, 切向力X=-401.2087, 切向力Y=891.0583 +FPS=27.39, 法向力=1298.9506, 切向力X=394.1327, 切向力Y=330.2326 +FPS=28.66, 法向力=1179.0698, 切向力X=149.8179, 切向力Y=512.6039 +FPS=28.65, 法向力=1046.9105, 切向力X=-389.9218, 切向力Y=-60.3149 +FPS=29.13, 法向力=1046.2988, 切向力X=-335.2800, 切向力Y=-208.2553 +FPS=28.79, 法向力=1213.4744, 切向力X=-267.4240, 切向力Y=868.9363 +FPS=27.73, 法向力=1338.0006, 切向力X=89.3279, 切向力Y=609.2281 +FPS=28.98, 法向力=1290.3289, 切向力X=-606.0747, 切向力Y=485.4625 +FPS=27.32, 法向力=1302.2527, 切向力X=-315.4319, 切向力Y=5.4447 +FPS=26.95, 法向力=1461.9377, 切向力X=-654.3005, 切向力Y=306.3033 +FPS=26.77, 法向力=1356.4712, 切向力X=562.2042, 切向力Y=831.7877 +FPS=27.72, 法向力=1281.3804, 切向力X=286.3080, 切向力Y=316.8941 +FPS=26.51, 法向力=1467.3041, 切向力X=249.8346, 切向力Y=-282.1961 +FPS=28.14, 法向力=1432.0219, 切向力X=117.7503, 切向力Y=-267.3268 +FPS=27.46, 法向力=919.4086, 切向力X=-670.7703, 切向力Y=472.9715 +FPS=25.49, 法向力=1099.6768, 切向力X=-700.6395, 切向力Y=512.8236 +FPS=28.10, 法向力=1016.2062, 切向力X=644.4581, 切向力Y=-79.4540 +FPS=26.50, 法向力=1341.0779, 切向力X=-153.0767, 切向力Y=358.2449 +FPS=26.90, 法向力=1383.6573, 切向力X=236.8000, 切向力Y=323.4225 +FPS=26.59, 法向力=1267.3042, 切向力X=347.7570, 切向力Y=107.1492 +stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000242s, blend=0.002124s (9 tiles incl ref), finalize=0.000061s, total=0.002433s +FPS=27.28, 法向力=857.6056, 切向力X=68.7387, 切向力Y=135.6478 +FPS=24.33, 法向力=1374.4961, 切向力X=39.9917, 切向力Y=-23.1090 +FPS=23.66, 法向力=1073.7979, 切向力X=210.1000, 切向力Y=141.0940 +FPS=27.70, 法向力=997.2150, 切向力X=-127.1538, 切向力Y=-126.5084 +FPS=23.65, 法向力=1077.6304, 切向力X=310.1565, 切向力Y=-298.8831 +FPS=25.10, 法向力=1078.2627, 切向力X=613.4076, 切向力Y=147.3173 +FPS=25.12, 法向力=1231.8531, 切向力X=596.4285, 切向力Y=-113.2407 +FPS=21.07, 法向力=826.4825, 切向力X=-1096.9539, 切向力Y=-11.1549 +FPS=25.38, 法向力=1573.2013, 切向力X=48.9140, 切向力Y=413.2116 +FPS=24.81, 法向力=1290.8055, 切向力X=-228.2384, 切向力Y=619.4114 +FPS=25.94, 法向力=1240.2922, 切向力X=-437.7238, 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切向力Y=216.2021 +FPS=34.06, 法向力=3811.2249, 切向力X=-13.4326, 切向力Y=201.6491 +FPS=33.49, 法向力=3294.7173, 切向力X=-96.9752, 切向力Y=176.6633 +FPS=33.15, 法向力=3791.3013, 切向力X=-263.3795, 切向力Y=371.9302 +FPS=32.14, 法向力=3914.9800, 切向力X=-23.3447, 切向力Y=478.0405 +FPS=34.14, 法向力=3932.2148, 切向力X=39.9810, 切向力Y=448.5420 +FPS=33.43, 法向力=3256.3101, 切向力X=-1015.0616, 切向力Y=-250.5853 +FPS=29.79, 法向力=3771.4058, 切向力X=-796.8727, 切向力Y=113.0026 +FPS=32.26, 法向力=3812.3511, 切向力X=-264.2911, 切向力Y=-7.9916 +FPS=32.02, 法向力=4048.3660, 切向力X=212.8954, 切向力Y=444.6449 +FPS=31.99, 法向力=3747.5037, 切向力X=-708.6940, 切向力Y=541.0679 +FPS=32.41, 法向力=3493.3311, 切向力X=-487.0834, 切向力Y=417.0183 +FPS=31.95, 法向力=3471.0684, 切向力X=-888.5708, 切向力Y=-715.3512 +FPS=32.17, 法向力=3781.0190, 切向力X=-797.1910, 切向力Y=830.5535 +FPS=32.62, 法向力=3765.2236, 切向力X=-735.1583, 切向力Y=817.7148 +FPS=31.90, 法向力=3714.4771, 切向力X=-452.3969, 切向力Y=-146.1442 +FPS=31.76, 法向力=3905.1907, 切向力X=-847.7455, 切向力Y=45.5471 +FPS=32.24, 法向力=3662.6934, 切向力X=-354.3910, 切向力Y=13.6333 +FPS=31.37, 法向力=3641.3411, 切向力X=-355.2545, 切向力Y=87.8328 +FPS=31.80, 法向力=4046.5347, 切向力X=-671.7523, 切向力Y=388.6208 +FPS=31.31, 法向力=3861.3469, 切向力X=-265.2596, 切向力Y=514.1483 +FPS=25.42, 法向力=3883.2036, 切向力X=-318.0632, 切向力Y=554.9550 +stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000237s, blend=0.002203s (9 tiles incl ref), finalize=0.000061s, total=0.002507s +FPS=31.53, 法向力=3866.6541, 切向力X=-321.9543, 切向力Y=542.1940 +FPS=31.94, 法向力=3911.0088, 切向力X=-294.8987, 切向力Y=567.5585 +FPS=32.38, 法向力=3865.1392, 切向力X=-320.0829, 切向力Y=505.8362 +FPS=30.60, 法向力=3893.6450, 切向力X=-318.4322, 切向力Y=557.2986 +FPS=29.21, 法向力=3867.3276, 切向力X=-322.2150, 切向力Y=542.6273 +FPS=30.81, 法向力=3910.4753, 切向力X=-295.2676, 切向力Y=567.8021 +FPS=31.97, 法向力=3866.0339, 切向力X=-320.1277, 切向力Y=505.6301 +FPS=31.17, 法向力=3886.2666, 切向力X=-318.5735, 切向力Y=557.6005 +FPS=31.22, 法向力=3867.5527, 切向力X=-321.9917, 切向力Y=542.5800 +FPS=32.75, 法向力=3910.4585, 切向力X=-295.2069, 切向力Y=567.7468 +FPS=32.65, 法向力=3863.8550, 切向力X=-319.7262, 切向力Y=506.0982 +FPS=32.39, 法向力=3893.3750, 切向力X=-318.4574, 切向力Y=557.2417 +FPS=32.45, 法向力=3864.8743, 切向力X=-324.2430, 切向力Y=541.5673 +FPS=33.14, 法向力=3909.2593, 切向力X=-295.7341, 切向力Y=567.5471 +FPS=33.60, 法向力=3866.4634, 切向力X=-320.5406, 切向力Y=505.7676 +FPS=32.97, 法向力=3886.2102, 切向力X=-318.7166, 切向力Y=557.8323 +FPS=32.38, 法向力=3875.0466, 切向力X=-321.9326, 切向力Y=542.3622 +FPS=34.85, 法向力=3909.6177, 切向力X=-295.4805, 切向力Y=567.8893 +FPS=35.48, 法向力=3866.3418, 切向力X=-319.8452, 切向力Y=506.0703 +FPS=34.94, 法向力=3886.4287, 切向力X=-318.6031, 切向力Y=557.6434 +FPS=34.68, 法向力=3868.5198, 切向力X=-322.4792, 切向力Y=542.1801 +FPS=34.62, 法向力=3908.2952, 切向力X=-295.2499, 切向力Y=567.8954 +FPS=34.91, 法向力=3873.4312, 切向力X=-320.0449, 切向力Y=505.3000 +FPS=34.89, 法向力=3887.3792, 切向力X=-318.8392, 切向力Y=557.5775 +FPS=34.99, 法向力=3868.2065, 切向力X=-322.0599, 切向力Y=542.6095 +FPS=34.58, 法向力=3908.7114, 切向力X=-295.2606, 切向力Y=567.9094 +FPS=33.60, 法向力=3866.2771, 切向力X=-319.8415, 切向力Y=505.9585 +FPS=30.76, 法向力=3886.0781, 切向力X=-318.5919, 切向力Y=557.6398 +FPS=34.40, 法向力=3875.3350, 切向力X=-322.3115, 切向力Y=541.9193 +FPS=35.25, 法向力=3909.5337, 切向力X=-295.4669, 切向力Y=567.8281 +stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000236s, blend=0.002141s (9 tiles incl ref), finalize=0.000062s, total=0.002445s +FPS=34.61, 法向力=3866.5120, 切向力X=-320.1661, 切向力Y=505.6310 +FPS=35.73, 法向力=3886.3335, 切向力X=-318.5885, 切向力Y=557.6188 +FPS=34.40, 法向力=3867.8523, 切向力X=-322.4564, 切向力Y=542.1591 +FPS=31.66, 法向力=3907.1274, 切向力X=-295.2325, 切向力Y=567.9657 +FPS=35.34, 法向力=3873.0935, 切向力X=-320.0499, 切向力Y=505.2961 +FPS=36.26, 法向力=3887.6450, 切向力X=-318.8293, 切向力Y=557.5811 +FPS=35.14, 法向力=3867.7905, 切向力X=-322.0309, 切向力Y=542.5837 +FPS=35.53, 法向力=3910.7246, 切向力X=-295.2482, 切向力Y=567.7625 +FPS=35.12, 法向力=3863.9231, 切向力X=-319.7307, 切向力Y=506.0958 +FPS=31.99, 法向力=3893.8386, 切向力X=-318.4598, 切向力Y=557.2264 +FPS=33.71, 法向力=3864.7395, 切向力X=-324.6230, 切向力Y=541.2097 +FPS=33.28, 法向力=3907.8860, 切向力X=-295.7570, 切向力Y=567.6392 +FPS=33.33, 法向力=3866.1780, 切向力X=-320.2004, 切向力Y=506.1805 +FPS=33.49, 法向力=3886.2095, 切向力X=-318.7148, 切向力Y=557.8595 +FPS=33.33, 法向力=3875.0500, 切向力X=-321.9321, 切向力Y=542.3755 +FPS=32.28, 法向力=3909.5479, 切向力X=-295.4593, 切向力Y=567.8852 +FPS=32.29, 法向力=3866.6204, 切向力X=-320.1958, 切向力Y=505.6603 +FPS=32.07, 法向力=3886.4370, 切向力X=-318.6133, 切向力Y=557.6354 +FPS=32.66, 法向力=3868.3718, 切向力X=-322.4448, 切向力Y=542.1562 +FPS=32.38, 法向力=3908.3159, 切向力X=-295.2450, 切向力Y=567.8938 +FPS=32.17, 法向力=3873.0610, 切向力X=-319.6671, 切向力Y=505.6857 +FPS=33.65, 法向力=3887.3362, 切向力X=-318.8144, 切向力Y=557.5798 +FPS=33.50, 法向力=3868.5613, 切向力X=-322.4668, 切向力Y=542.2690 +FPS=33.06, 法向力=3908.7371, 切向力X=-295.2849, 切向力Y=567.9144 +FPS=32.95, 法向力=3866.3052, 切向力X=-319.8672, 切向力Y=505.9825 +FPS=31.79, 法向力=3886.0840, 切向力X=-318.5954, 切向力Y=557.6488 +FPS=32.72, 法向力=3875.3354, 切向力X=-322.3117, 切向力Y=541.9155 +FPS=31.65, 法向力=3909.5322, 切向力X=-295.4699, 切向力Y=567.8322 +FPS=32.74, 法向力=3866.5120, 切向力X=-320.1658, 切向力Y=505.6316 +FPS=31.81, 法向力=3886.3342, 切向力X=-318.5881, 切向力Y=557.6189 +stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000237s, blend=0.002188s (9 tiles incl ref), finalize=0.000062s, total=0.002493s +FPS=32.28, 法向力=3867.8496, 切向力X=-322.4559, 切向力Y=542.1588 +FPS=32.41, 法向力=3907.1274, 切向力X=-295.2315, 切向力Y=567.9653 +FPS=32.76, 法向力=3873.0969, 切向力X=-320.0520, 切向力Y=505.2955 +FPS=32.72, 法向力=3887.6428, 切向力X=-318.8306, 切向力Y=557.5814 +FPS=32.85, 法向力=3867.7944, 切向力X=-322.0313, 切向力Y=542.5787 +FPS=31.67, 法向力=3910.7297, 切向力X=-295.2490, 切向力Y=567.7686 +FPS=32.62, 法向力=3863.9294, 切向力X=-319.7314, 切向力Y=506.0965 +FPS=32.56, 法向力=3893.8435, 切向力X=-318.4595, 切向力Y=557.2261 +FPS=32.56, 法向力=3864.7407, 切向力X=-324.6238, 切向力Y=541.2100 +FPS=32.52, 法向力=3907.8811, 切向力X=-295.7568, 切向力Y=567.6376 +FPS=32.71, 法向力=3866.1768, 切向力X=-320.2010, 切向力Y=506.1819 +FPS=33.40, 法向力=3886.2109, 切向力X=-318.7141, 切向力Y=557.8600 +FPS=33.28, 法向力=3875.0464, 切向力X=-321.9362, 切向力Y=542.3743 +FPS=33.32, 法向力=3909.5408, 切向力X=-295.4601, 切向力Y=567.8859 +FPS=32.38, 法向力=3866.6204, 切向力X=-320.1924, 切向力Y=505.6606 +FPS=32.36, 法向力=3886.4363, 切向力X=-318.6107, 切向力Y=557.6349 +FPS=32.22, 法向力=3868.3755, 切向力X=-322.4422, 切向力Y=542.1584 +FPS=33.28, 法向力=3908.3176, 切向力X=-295.2445, 切向力Y=567.8958 +FPS=30.74, 法向力=3873.3987, 切向力X=-320.0538, 切向力Y=505.3216 +FPS=32.69, 法向力=3887.3618, 切向力X=-318.8331, 切向力Y=557.5756 +FPS=33.50, 法向力=3868.2065, 切向力X=-322.0601, 切向力Y=542.6026 +FPS=31.96, 法向力=3908.7043, 切向力X=-295.2615, 切向力Y=567.9122 +FPS=33.35, 法向力=3866.2988, 切向力X=-319.8660, 切向力Y=505.9812 +FPS=34.14, 法向力=3886.0796, 切向力X=-318.5955, 切向力Y=557.6488 +FPS=32.21, 法向力=3875.3362, 切向力X=-322.3117, 切向力Y=541.9161 +FPS=31.46, 法向力=3909.5320, 切向力X=-295.4699, 切向力Y=567.8298 +FPS=32.52, 法向力=3866.5146, 切向力X=-320.1657, 切向力Y=505.6322 +FPS=32.56, 法向力=3886.3345, 切向力X=-318.5872, 切向力Y=557.6190 +FPS=32.22, 法向力=3867.8481, 切向力X=-322.4557, 切向力Y=542.1573 +FPS=30.74, 法向力=3907.1292, 切向力X=-295.2325, 切向力Y=567.9645 +stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000338s, blend=0.002399s (9 tiles incl ref), finalize=0.000065s, total=0.002809s +FPS=31.85, 法向力=3873.0962, 切向力X=-320.0510, 切向力Y=505.3026 +FPS=31.51, 法向力=3887.6426, 切向力X=-318.8288, 切向力Y=557.5822 +FPS=30.93, 法向力=3867.7898, 切向力X=-322.0307, 切向力Y=542.5842 +FPS=32.56, 法向力=3910.7253, 切向力X=-295.2487, 切向力Y=567.7675 +FPS=31.66, 法向力=3863.9238, 切向力X=-319.7305, 切向力Y=506.0972 +FPS=31.19, 法向力=3893.8403, 切向力X=-318.4588, 切向力Y=557.2274 +FPS=32.86, 法向力=3864.7402, 切向力X=-324.6241, 切向力Y=541.2108 +FPS=32.27, 法向力=3907.8848, 切向力X=-295.7582, 切向力Y=567.6393 +FPS=11.91, 法向力=3866.1748, 切向力X=-320.2019, 切向力Y=506.1785 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260604_093631.log b/examples/logs/qt_viewer_20260604_093631.log new file mode 100644 index 0000000..de48c17 --- /dev/null +++ b/examples/logs/qt_viewer_20260604_093631.log @@ -0,0 +1,1220 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=45 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.19, 法向力=1455.4851, 切向力X=-759.5829, 切向力Y=-303.3917 +FPS=25.49, 法向力=1860.5100, 切向力X=-30.8997, 切向力Y=-399.3463 +FPS=25.87, 法向力=1640.4486, 切向力X=-213.6847, 切向力Y=-901.7311 +FPS=27.11, 法向力=1679.0557, 切向力X=202.5949, 切向力Y=-1421.8235 +FPS=27.06, 法向力=1754.0303, 切向力X=-49.7736, 切向力Y=-315.5695 +FPS=26.00, 法向力=1919.9160, 切向力X=-329.1250, 切向力Y=-593.3516 +FPS=27.55, 法向力=2376.8721, 切向力X=-532.0063, 切向力Y=-1244.0212 +FPS=27.32, 法向力=1996.9302, 切向力X=340.0715, 切向力Y=-691.2666 +FPS=27.29, 法向力=2376.6482, 切向力X=-202.6442, 切向力Y=-682.2184 +FPS=27.58, 法向力=2688.1055, 切向力X=195.5642, 切向力Y=-1424.7893 +FPS=27.44, 法向力=2142.6250, 切向力X=394.8434, 切向力Y=-1219.9045 +FPS=28.38, 法向力=2438.9314, 切向力X=-477.9730, 切向力Y=-976.6674 +FPS=27.32, 法向力=2672.5562, 切向力X=-428.9352, 切向力Y=-1181.9423 +FPS=27.03, 法向力=3178.3474, 切向力X=-197.3711, 切向力Y=-1175.7898 +FPS=27.73, 法向力=2824.8770, 切向力X=-643.1537, 切向力Y=-1643.0996 +FPS=26.58, 法向力=2701.6338, 切向力X=163.0352, 切向力Y=-1052.0256 +FPS=27.47, 法向力=2750.8311, 切向力X=175.7760, 切向力Y=-1688.3481 +FPS=27.43, 法向力=2296.4648, 切向力X=-538.4779, 切向力Y=-593.3906 +FPS=27.32, 法向力=2946.5872, 切向力X=-231.9264, 切向力Y=-1198.0610 +FPS=26.89, 法向力=2547.7283, 切向力X=-275.1075, 切向力Y=-1792.6064 +FPS=27.06, 法向力=3422.5037, 切向力X=-755.6232, 切向力Y=-1147.1345 +FPS=28.17, 法向力=2917.5273, 切向力X=-277.9677, 切向力Y=-1283.4895 +FPS=28.18, 法向力=2973.7300, 切向力X=-120.6930, 切向力Y=-1228.1428 +FPS=26.40, 法向力=2735.0745, 切向力X=-180.9092, 切向力Y=-1760.4695 +FPS=27.33, 法向力=2516.5156, 切向力X=333.6677, 切向力Y=-999.6702 +FPS=28.14, 法向力=2733.5938, 切向力X=-443.0472, 切向力Y=-603.2179 +FPS=27.64, 法向力=2952.8679, 切向力X=-781.6697, 切向力Y=-1517.2935 +stitch_feature_optimized: canvas out_w=452, out_h=494, x_min=-101.32, y_min=-104.97 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000289s, blend=0.002147s (9 tiles incl ref), finalize=0.000053s, total=0.002495s +FPS=27.44, 法向力=2628.2324, 切向力X=-844.8096, 切向力Y=-876.0614 +FPS=26.42, 法向力=2851.2993, 切向力X=-479.5667, 切向力Y=-1142.9099 +FPS=27.22, 法向力=2881.5806, 切向力X=227.0024, 切向力Y=-2270.8689 +FPS=27.86, 法向力=3012.2795, 切向力X=-557.3148, 切向力Y=-1685.3428 +FPS=28.07, 法向力=3279.4297, 切向力X=-147.4215, 切向力Y=-1182.8259 +FPS=28.01, 法向力=2997.3906, 切向力X=-585.2705, 切向力Y=-1420.8987 +FPS=27.16, 法向力=2888.2817, 切向力X=-626.1443, 切向力Y=-913.6973 +FPS=27.99, 法向力=2684.0371, 切向力X=-817.2810, 切向力Y=-1680.2290 +FPS=27.45, 法向力=2879.9155, 切向力X=336.1066, 切向力Y=-1681.5981 +FPS=28.48, 法向力=2361.6025, 切向力X=-811.6927, 切向力Y=-1332.0135 +FPS=27.25, 法向力=2793.5208, 切向力X=-448.0387, 切向力Y=-1482.7075 +FPS=25.89, 法向力=2714.8445, 切向力X=115.2644, 切向力Y=-1500.8386 +FPS=25.41, 法向力=2816.7812, 切向力X=-189.6139, 切向力Y=-1878.6261 +FPS=24.21, 法向力=2751.8838, 切向力X=-426.4025, 切向力Y=-1615.9692 +FPS=25.77, 法向力=2505.3206, 切向力X=233.6023, 切向力Y=-1100.9329 +FPS=27.39, 法向力=2321.1738, 切向力X=340.2060, 切向力Y=-1444.2843 +FPS=26.91, 法向力=2569.2068, 切向力X=-331.3488, 切向力Y=-1127.5830 +FPS=24.48, 法向力=2484.1384, 切向力X=551.7000, 切向力Y=-727.4317 +FPS=27.17, 法向力=2865.3657, 切向力X=-224.4016, 切向力Y=-1098.7839 +FPS=27.21, 法向力=2554.4761, 切向力X=92.9928, 切向力Y=-1461.8945 +FPS=21.38, 法向力=2448.2830, 切向力X=399.4874, 切向力Y=-1481.0037 +FPS=19.62, 法向力=2987.6116, 切向力X=-170.4809, 切向力Y=-1417.6448 +FPS=20.40, 法向力=3047.2334, 切向力X=-377.7504, 切向力Y=-1589.4620 +FPS=21.76, 法向力=2325.7510, 切向力X=74.0206, 切向力Y=-1857.8177 +FPS=22.81, 法向力=2348.5327, 切向力X=-634.1364, 切向力Y=-1599.7238 +FPS=11.39, 法向力=2387.5640, 切向力X=44.8490, 切向力Y=-1514.7748 +FPS=19.17, 法向力=2426.3936, 切向力X=-373.6739, 切向力Y=-1662.9191 +FPS=15.10, 法向力=2416.9143, 切向力X=139.5173, 切向力Y=-1668.2532 +FPS=14.91, 法向力=2924.9121, 切向力X=-331.6633, 切向力Y=-1379.8845 +FPS=19.91, 法向力=2750.3032, 切向力X=-267.3002, 切向力Y=-2006.8311 +stitch_feature_optimized: canvas out_w=452, out_h=494, x_min=-101.32, y_min=-104.97 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000005s (hit), reset=0.000566s, blend=0.003147s (9 tiles incl ref), finalize=0.000154s, total=0.003878s +FPS=18.83, 法向力=2795.1262, 切向力X=-160.9295, 切向力Y=-1866.6102 +FPS=16.54, 法向力=2227.8118, 切向力X=289.3408, 切向力Y=-1514.2301 +FPS=18.37, 法向力=2355.2681, 切向力X=1.7177, 切向力Y=-2059.0374 +FPS=19.42, 法向力=2642.1748, 切向力X=479.3936, 切向力Y=-1460.6736 +FPS=20.70, 法向力=2411.0591, 切向力X=111.5318, 切向力Y=-2085.3789 +FPS=19.24, 法向力=2658.7942, 切向力X=-531.3961, 切向力Y=-1778.3176 +FPS=18.86, 法向力=2468.0454, 切向力X=-218.0371, 切向力Y=-1778.1274 +FPS=16.85, 法向力=2943.2520, 切向力X=-901.3230, 切向力Y=-1595.0032 +FPS=18.14, 法向力=2434.7180, 切向力X=-93.8903, 切向力Y=-1376.8184 +FPS=24.31, 法向力=3028.7498, 切向力X=-782.7263, 切向力Y=-1664.9636 +FPS=24.68, 法向力=2888.6870, 切向力X=-829.1082, 切向力Y=-2386.1414 +FPS=25.64, 法向力=2734.0601, 切向力X=-170.0522, 切向力Y=-1711.9639 +FPS=25.40, 法向力=2217.7578, 切向力X=81.6649, 切向力Y=-1406.9104 +FPS=25.34, 法向力=2344.4548, 切向力X=-669.1156, 切向力Y=-1041.4968 +FPS=24.29, 法向力=2879.1228, 切向力X=38.4971, 切向力Y=-1840.6716 +FPS=26.15, 法向力=2716.7781, 切向力X=-370.8254, 切向力Y=-1878.3420 +FPS=27.82, 法向力=2722.2930, 切向力X=-370.4438, 切向力Y=-1863.9583 +FPS=24.96, 法向力=2677.6436, 切向力X=-398.0159, 切向力Y=-1789.6514 +FPS=25.69, 法向力=2611.2358, 切向力X=-771.6812, 切向力Y=-1727.1533 +FPS=24.63, 法向力=2887.9424, 切向力X=-546.5084, 切向力Y=-1676.1198 +FPS=23.68, 法向力=2628.4712, 切向力X=-393.9554, 切向力Y=-2023.2976 +FPS=25.82, 法向力=2341.7344, 切向力X=-207.0802, 切向力Y=-1494.8346 +FPS=25.92, 法向力=2757.1348, 切向力X=-348.6455, 切向力Y=-1998.0822 +FPS=25.91, 法向力=2384.4888, 切向力X=-85.9287, 切向力Y=-1974.0222 +FPS=26.94, 法向力=2489.2788, 切向力X=285.6129, 切向力Y=-1931.9741 +FPS=27.12, 法向力=2411.4644, 切向力X=351.3732, 切向力Y=-1269.4031 +FPS=25.98, 法向力=2384.6299, 切向力X=-30.7345, 切向力Y=-1805.6018 +FPS=24.66, 法向力=2623.1440, 切向力X=153.5037, 切向力Y=-1436.0177 +FPS=26.58, 法向力=2156.7527, 切向力X=-11.4288, 切向力Y=-1184.1692 +FPS=26.47, 法向力=2779.9233, 切向力X=1.2276, 切向力Y=-1682.7478 +stitch_feature_optimized: canvas out_w=452, out_h=494, x_min=-101.32, y_min=-104.97 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000293s, blend=0.002166s (9 tiles incl ref), finalize=0.000048s, total=0.002512s +FPS=26.29, 法向力=2309.5054, 切向力X=-149.7398, 切向力Y=-1774.5901 +FPS=25.95, 法向力=2896.4546, 切向力X=-123.0531, 切向力Y=-1008.5289 +FPS=25.65, 法向力=2226.6245, 切向力X=-75.6590, 切向力Y=-1699.6791 +FPS=26.38, 法向力=2598.1045, 切向力X=-448.7062, 切向力Y=-1936.8531 +FPS=27.08, 法向力=2327.1833, 切向力X=-402.2128, 切向力Y=-1750.3162 +FPS=27.04, 法向力=2364.3721, 切向力X=-388.7079, 切向力Y=-1726.7312 +FPS=26.21, 法向力=2551.6333, 切向力X=-468.5235, 切向力Y=-1162.5042 +FPS=27.18, 法向力=2289.1787, 切向力X=-353.0516, 切向力Y=-1576.6503 +FPS=27.30, 法向力=2532.9072, 切向力X=-502.7570, 切向力Y=-1747.5261 +FPS=27.16, 法向力=2528.8469, 切向力X=-398.1790, 切向力Y=-1860.9463 +FPS=27.02, 法向力=1987.3646, 切向力X=-313.7551, 切向力Y=-1678.3348 +FPS=26.54, 法向力=2054.5586, 切向力X=-484.6538, 切向力Y=-1883.4595 +FPS=27.61, 法向力=2599.6860, 切向力X=-138.2602, 切向力Y=-2342.6890 +FPS=26.09, 法向力=2166.2725, 切向力X=307.3063, 切向力Y=-1650.7046 +FPS=26.39, 法向力=2119.0635, 切向力X=-43.8785, 切向力Y=-2126.5273 +FPS=23.69, 法向力=2181.0374, 切向力X=-132.2370, 切向力Y=-2137.1521 +FPS=24.88, 法向力=2931.4915, 切向力X=-454.3217, 切向力Y=-2225.3174 +FPS=26.06, 法向力=2484.0288, 切向力X=63.4170, 切向力Y=-1898.3004 +FPS=27.10, 法向力=2489.9380, 切向力X=98.9086, 切向力Y=-1874.8838 +FPS=26.13, 法向力=2407.9370, 切向力X=181.9432, 切向力Y=-1875.1875 +FPS=24.95, 法向力=2601.6003, 切向力X=-298.7896, 切向力Y=-1779.1592 +FPS=25.89, 法向力=2793.5186, 切向力X=-216.2554, 切向力Y=-1192.8721 +FPS=25.54, 法向力=2459.3472, 切向力X=-111.4294, 切向力Y=-1920.9976 +FPS=25.97, 法向力=2595.2129, 切向力X=-475.9890, 切向力Y=-1687.3369 +FPS=26.87, 法向力=2485.6421, 切向力X=-532.0612, 切向力Y=-1780.8750 +FPS=23.54, 法向力=2222.4810, 切向力X=-8.0143, 切向力Y=-2674.4609 +FPS=22.73, 法向力=2033.9980, 切向力X=314.8655, 切向力Y=-2050.3584 +FPS=25.97, 法向力=2745.1946, 切向力X=-1354.9893, 切向力Y=-1934.7273 +FPS=24.73, 法向力=2772.7905, 切向力X=-1306.8511, 切向力Y=-1889.1975 +FPS=24.87, 法向力=2604.5728, 切向力X=-384.4849, 切向力Y=-2299.2239 +stitch_feature_optimized: canvas out_w=452, out_h=494, x_min=-101.32, y_min=-104.97 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000278s, blend=0.002312s (9 tiles incl ref), finalize=0.000052s, total=0.002648s +FPS=24.98, 法向力=2222.6042, 切向力X=-610.2644, 切向力Y=-2004.8582 +FPS=25.16, 法向力=2828.1394, 切向力X=-214.6496, 切向力Y=-1890.6598 +FPS=25.20, 法向力=2465.9834, 切向力X=-443.5775, 切向力Y=-1649.8284 +FPS=24.90, 法向力=2467.3618, 切向力X=-228.7594, 切向力Y=-2164.6165 +FPS=25.89, 法向力=2313.1821, 切向力X=-428.6223, 切向力Y=-2094.3420 +FPS=24.45, 法向力=2625.3040, 切向力X=-320.3725, 切向力Y=-2289.6177 +FPS=25.15, 法向力=2203.6709, 切向力X=-113.6504, 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切向力Y=-2387.9490 +FPS=25.20, 法向力=1790.8220, 切向力X=538.4343, 切向力Y=-2735.7300 +FPS=25.43, 法向力=1875.4561, 切向力X=585.9039, 切向力Y=-3308.2844 +FPS=27.39, 法向力=1781.5042, 切向力X=-102.2005, 切向力Y=-3292.9648 +FPS=24.05, 法向力=1690.1152, 切向力X=126.6713, 切向力Y=-3668.7251 +FPS=25.45, 法向力=2010.7405, 切向力X=116.7712, 切向力Y=-2353.5645 +FPS=25.70, 法向力=1632.1826, 切向力X=324.7827, 切向力Y=-2916.1750 +FPS=25.59, 法向力=2078.4539, 切向力X=711.1826, 切向力Y=-2886.7073 +FPS=25.82, 法向力=1776.3625, 切向力X=-264.1491, 切向力Y=-3196.9038 +FPS=26.26, 法向力=1778.4780, 切向力X=-379.1861, 切向力Y=-3190.3252 +FPS=25.69, 法向力=1902.6892, 切向力X=67.3177, 切向力Y=-2861.3608 +FPS=26.19, 法向力=1885.5829, 切向力X=-107.8060, 切向力Y=-2669.5747 +FPS=26.66, 法向力=1754.1221, 切向力X=526.2115, 切向力Y=-3211.7156 +FPS=26.32, 法向力=2114.1738, 切向力X=408.6897, 切向力Y=-2688.1611 +FPS=25.43, 法向力=1697.0691, 切向力X=-491.8313, 切向力Y=-2860.5095 +FPS=26.59, 法向力=1768.6881, 切向力X=-72.3110, 切向力Y=-3253.8389 +FPS=25.62, 法向力=1544.0265, 切向力X=183.1139, 切向力Y=-3250.2012 +FPS=26.66, 法向力=2284.2737, 切向力X=31.3817, 切向力Y=-2572.2446 +FPS=26.27, 法向力=2354.5938, 切向力X=29.9440, 切向力Y=-2555.6265 +FPS=26.00, 法向力=1876.7949, 切向力X=-401.3611, 切向力Y=-2784.7588 +stitch_feature_optimized: canvas out_w=452, out_h=494, x_min=-101.32, y_min=-104.97 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000332s, blend=0.002188s (9 tiles incl ref), finalize=0.000049s, total=0.002576s +FPS=26.76, 法向力=1981.2566, 切向力X=-102.2906, 切向力Y=-2568.2305 +FPS=25.96, 法向力=2023.9642, 切向力X=-171.5155, 切向力Y=-2959.3755 +FPS=26.70, 法向力=2097.8015, 切向力X=111.1111, 切向力Y=-2861.8716 +FPS=26.84, 法向力=1570.8651, 切向力X=450.4060, 切向力Y=-2621.1921 +FPS=26.73, 法向力=2027.8445, 切向力X=-303.2784, 切向力Y=-2524.4287 +FPS=27.19, 法向力=2002.3416, 切向力X=558.8859, 切向力Y=-3056.4380 +FPS=27.44, 法向力=2058.0889, 切向力X=217.3670, 切向力Y=-2785.3105 +FPS=26.71, 法向力=1338.7371, 切向力X=483.6161, 切向力Y=-3405.1597 +FPS=26.25, 法向力=2031.6908, 切向力X=-128.0076, 切向力Y=-3358.4556 +FPS=27.92, 法向力=1941.8074, 切向力X=-415.2884, 切向力Y=-3113.8569 +FPS=27.06, 法向力=1725.3496, 切向力X=361.2234, 切向力Y=-3232.6650 +FPS=27.41, 法向力=1855.8718, 切向力X=97.7410, 切向力Y=-3369.6567 +FPS=27.58, 法向力=1856.1934, 切向力X=84.0339, 切向力Y=-2935.3110 +FPS=26.59, 法向力=1921.8479, 切向力X=-17.1639, 切向力Y=-2777.2061 +FPS=27.65, 法向力=1860.4590, 切向力X=-96.4371, 切向力Y=-2956.6938 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260604_094243.log b/examples/logs/qt_viewer_20260604_094243.log new file mode 100644 index 0000000..ba2e693 --- /dev/null +++ b/examples/logs/qt_viewer_20260604_094243.log @@ -0,0 +1,673 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.49, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.07, 法向力=1104.2153, 切向力X=-522.7501, 切向力Y=-398.7353 +FPS=26.98, 法向力=1156.8623, 切向力X=-1235.6818, 切向力Y=-597.5470 +FPS=27.95, 法向力=973.1552, 切向力X=-1191.8945, 切向力Y=-742.7075 +FPS=26.41, 法向力=1039.4272, 切向力X=-634.2537, 切向力Y=-645.3445 +FPS=30.31, 法向力=942.0684, 切向力X=-1069.8662, 切向力Y=-127.2278 +FPS=30.59, 法向力=809.5541, 切向力X=-1144.2332, 切向力Y=-34.7486 +FPS=29.25, 法向力=1094.5504, 切向力X=-830.3170, 切向力Y=-594.6010 +FPS=30.32, 法向力=755.8242, 切向力X=-485.4380, 切向力Y=36.1976 +FPS=30.42, 法向力=1191.5884, 切向力X=-709.3757, 切向力Y=303.5610 +FPS=29.67, 法向力=1404.1306, 切向力X=-810.3027, 切向力Y=67.3213 +FPS=30.30, 法向力=1151.6267, 切向力X=-1067.9650, 切向力Y=-94.4777 +FPS=30.24, 法向力=862.0613, 切向力X=-724.8600, 切向力Y=-1104.5095 +FPS=28.33, 法向力=837.0686, 切向力X=-644.2640, 切向力Y=-1314.2482 +FPS=30.56, 法向力=1009.3899, 切向力X=-103.6707, 切向力Y=251.9999 +FPS=29.64, 法向力=845.6044, 切向力X=-1182.2720, 切向力Y=-216.7208 +FPS=29.73, 法向力=966.9054, 切向力X=-636.8953, 切向力Y=-345.8369 +FPS=24.90, 法向力=1071.9241, 切向力X=-937.4636, 切向力Y=-313.8895 +FPS=29.26, 法向力=901.7822, 切向力X=-772.4987, 切向力Y=-1126.0764 +FPS=30.38, 法向力=960.3992, 切向力X=-371.8552, 切向力Y=-780.1957 +FPS=30.66, 法向力=893.5912, 切向力X=-537.7593, 切向力Y=-1191.4784 +FPS=28.38, 法向力=942.0011, 切向力X=-794.2935, 切向力Y=-937.7781 +FPS=27.69, 法向力=951.3772, 切向力X=-586.8862, 切向力Y=-434.9966 +FPS=29.58, 法向力=1127.0885, 切向力X=-989.6509, 切向力Y=54.4304 +FPS=30.12, 法向力=1192.1965, 切向力X=-1003.9252, 切向力Y=111.0940 +FPS=29.68, 法向力=1466.5636, 切向力X=-886.6698, 切向力Y=-343.1569 +FPS=29.50, 法向力=1510.5059, 切向力X=-1079.3188, 切向力Y=-569.9012 +FPS=29.61, 法向力=1077.1743, 切向力X=-911.6240, 切向力Y=-918.7315 +stitch_feature_optimized: canvas out_w=438, out_h=479, x_min=-92.01, y_min=-121.49 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000280s, blend=0.002355s (9 tiles incl ref), finalize=0.000064s, total=0.002705s +FPS=29.59, 法向力=1162.8969, 切向力X=-728.5541, 切向力Y=-824.4966 +FPS=28.79, 法向力=1279.7367, 切向力X=-921.7604, 切向力Y=-243.2245 +FPS=26.52, 法向力=1023.2770, 切向力X=-1104.9712, 切向力Y=-732.8779 +FPS=26.90, 法向力=1232.0767, 切向力X=-1025.0979, 切向力Y=-260.1125 +FPS=29.51, 法向力=860.8975, 切向力X=-164.5676, 切向力Y=-1191.0977 +FPS=29.82, 法向力=1003.0763, 切向力X=-1165.4749, 切向力Y=-301.2853 +FPS=30.57, 法向力=1155.6887, 切向力X=-242.3452, 切向力Y=-995.3838 +FPS=28.71, 法向力=1033.9911, 切向力X=-716.8519, 切向力Y=-538.6434 +FPS=29.68, 法向力=1254.0656, 切向力X=-1033.8470, 切向力Y=-888.2343 +FPS=30.29, 法向力=934.4558, 切向力X=-619.0057, 切向力Y=-658.7914 +FPS=28.95, 法向力=794.0446, 切向力X=-919.0330, 切向力Y=-611.4893 +FPS=30.90, 法向力=1020.8694, 切向力X=-755.1637, 切向力Y=-429.3412 +FPS=30.16, 法向力=996.6406, 切向力X=-523.0671, 切向力Y=-925.9482 +FPS=30.14, 法向力=1024.4131, 切向力X=-765.9802, 切向力Y=-274.7921 +FPS=30.29, 法向力=1352.5465, 切向力X=-253.9023, 切向力Y=-215.4563 +FPS=30.91, 法向力=1262.4949, 切向力X=-1123.2642, 切向力Y=291.9332 +FPS=31.00, 法向力=1441.7183, 切向力X=-820.1104, 切向力Y=70.3652 +FPS=30.70, 法向力=1298.4304, 切向力X=-294.9875, 切向力Y=-429.4716 +FPS=30.32, 法向力=1150.7542, 切向力X=-661.6821, 切向力Y=-143.2168 +FPS=30.36, 法向力=1060.0042, 切向力X=-1038.7928, 切向力Y=-462.1528 +FPS=29.84, 法向力=1078.2625, 切向力X=-539.9089, 切向力Y=-587.7879 +FPS=28.97, 法向力=966.3582, 切向力X=-966.6978, 切向力Y=72.5140 +FPS=29.65, 法向力=798.3523, 切向力X=-865.7860, 切向力Y=-586.0710 +FPS=29.92, 法向力=1192.2831, 切向力X=-607.0639, 切向力Y=-905.4324 +FPS=29.88, 法向力=1005.1760, 切向力X=-1348.4125, 切向力Y=-356.6210 +FPS=30.37, 法向力=1202.3862, 切向力X=-532.5483, 切向力Y=-278.2167 +FPS=30.34, 法向力=793.1073, 切向力X=-572.3085, 切向力Y=-66.2831 +FPS=29.72, 法向力=1586.5143, 切向力X=-901.8333, 切向力Y=-181.0394 +FPS=30.12, 法向力=1451.7817, 切向力X=-1079.2385, 切向力Y=-584.9425 +FPS=30.73, 法向力=1192.5804, 切向力X=-1377.5591, 切向力Y=-488.3160 +stitch_feature_optimized: canvas out_w=438, out_h=479, x_min=-92.01, y_min=-121.49 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000275s, blend=0.002314s (9 tiles incl ref), finalize=0.000066s, total=0.002663s +FPS=29.36, 法向力=1238.6560, 切向力X=-1026.3589, 切向力Y=-295.4490 +FPS=29.62, 法向力=909.7819, 切向力X=-729.3822, 切向力Y=-279.9274 +FPS=29.56, 法向力=866.2653, 切向力X=-923.8652, 切向力Y=-700.4850 +FPS=29.16, 法向力=758.1198, 切向力X=-556.8766, 切向力Y=-1023.3942 +FPS=28.46, 法向力=1234.9460, 切向力X=-494.8526, 切向力Y=-690.4539 +FPS=28.90, 法向力=993.5835, 切向力X=-1560.6259, 切向力Y=-485.1497 +FPS=29.41, 法向力=965.4390, 切向力X=-590.0593, 切向力Y=-719.5085 +FPS=29.31, 法向力=1026.0657, 切向力X=-1146.4424, 切向力Y=-253.5576 +FPS=30.31, 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法向力=3208.2129, 切向力X=-94.4561, 切向力Y=-2249.9829 +FPS=25.67, 法向力=3390.8132, 切向力X=-733.0914, 切向力Y=-757.3784 +FPS=25.96, 法向力=2852.4924, 切向力X=-605.4031, 切向力Y=-1605.0496 +FPS=26.10, 法向力=3245.7673, 切向力X=-68.7043, 切向力Y=-1054.2773 +FPS=25.53, 法向力=3065.5864, 切向力X=65.2386, 切向力Y=-1150.2173 +FPS=25.75, 法向力=3184.7151, 切向力X=37.7343, 切向力Y=-1331.6182 +FPS=25.91, 法向力=3235.5151, 切向力X=-564.5549, 切向力Y=-971.7109 +FPS=26.21, 法向力=3228.3994, 切向力X=-540.7878, 切向力Y=-973.7386 +FPS=25.46, 法向力=3395.9834, 切向力X=-152.6305, 切向力Y=-1348.6332 +FPS=24.50, 法向力=3399.1958, 切向力X=-355.7204, 切向力Y=-1196.2461 +FPS=26.35, 法向力=3236.8225, 切向力X=486.7502, 切向力Y=-1290.0634 +FPS=26.08, 法向力=3457.0925, 切向力X=-579.7004, 切向力Y=-1311.2067 +stitch_feature_optimized: canvas out_w=438, out_h=479, x_min=-92.01, y_min=-121.49 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000275s, blend=0.002342s (9 tiles incl ref), finalize=0.000072s, total=0.002695s +FPS=26.41, 法向力=3475.6885, 切向力X=-649.4189, 切向力Y=-1500.1296 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切向力Y=-969.3080 +FPS=26.76, 法向力=3031.6821, 切向力X=-640.5405, 切向力Y=-1870.7944 +FPS=25.97, 法向力=3603.3672, 切向力X=-662.2225, 切向力Y=-930.8219 +FPS=26.17, 法向力=3392.2026, 切向力X=-1076.8781, 切向力Y=-1462.4379 +FPS=26.78, 法向力=3066.9902, 切向力X=-217.6913, 切向力Y=-1573.5142 +FPS=26.70, 法向力=3364.3926, 切向力X=-336.8825, 切向力Y=-969.6890 +FPS=26.43, 法向力=3479.3298, 切向力X=-675.0806, 切向力Y=-1192.1112 +FPS=26.37, 法向力=3332.8525, 切向力X=-73.5239, 切向力Y=-1145.7920 +FPS=26.06, 法向力=3588.9314, 切向力X=-76.2899, 切向力Y=-982.0513 +FPS=26.84, 法向力=3203.4590, 切向力X=-95.8562, 切向力Y=-1141.9478 +FPS=25.05, 法向力=3142.8896, 切向力X=-371.5920, 切向力Y=-957.3386 +FPS=26.70, 法向力=2995.6021, 切向力X=-535.4556, 切向力Y=-1332.1555 +FPS=25.57, 法向力=3229.2383, 切向力X=-358.1571, 切向力Y=-1126.6335 +FPS=25.52, 法向力=3180.9646, 切向力X=-534.8408, 切向力Y=-1395.4452 +FPS=26.13, 法向力=3281.2563, 切向力X=-306.6945, 切向力Y=-1102.1128 +FPS=25.62, 法向力=3697.0996, 切向力X=-287.6936, 切向力Y=-765.3156 +FPS=26.30, 法向力=3605.1323, 切向力X=-362.0352, 切向力Y=-766.1844 +FPS=25.98, 法向力=3126.1875, 切向力X=-199.8217, 切向力Y=-1260.3665 +FPS=26.62, 法向力=3467.6831, 切向力X=-103.7132, 切向力Y=-1560.4904 +FPS=26.43, 法向力=3296.5229, 切向力X=-24.8186, 切向力Y=-1517.6204 +FPS=26.18, 法向力=2754.7190, 切向力X=-849.7861, 切向力Y=-1523.0315 +FPS=26.68, 法向力=3340.5720, 切向力X=-697.1565, 切向力Y=-1153.4221 +FPS=25.83, 法向力=3342.5063, 切向力X=-495.1664, 切向力Y=-930.3096 +FPS=26.96, 法向力=3309.3833, 切向力X=37.4465, 切向力Y=-991.6250 +FPS=27.45, 法向力=3350.8784, 切向力X=78.8925, 切向力Y=-914.5067 +FPS=26.01, 法向力=3155.2095, 切向力X=-686.6387, 切向力Y=-1057.4104 +FPS=26.12, 法向力=3058.9067, 切向力X=-466.7301, 切向力Y=-1886.2571 +FPS=26.17, 法向力=3138.3618, 切向力X=-201.5879, 切向力Y=-1454.3848 +FPS=25.47, 法向力=3253.0195, 切向力X=-136.0889, 切向力Y=-1213.8679 +FPS=22.64, 法向力=3440.3140, 切向力X=-647.1243, 切向力Y=-1313.5627 +stitch_feature_optimized: canvas out_w=438, out_h=479, x_min=-92.01, y_min=-121.49 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000314s, blend=0.002408s (9 tiles incl ref), finalize=0.000076s, total=0.002805s +FPS=23.85, 法向力=3200.6211, 切向力X=-269.7154, 切向力Y=-1081.8633 +FPS=25.80, 法向力=3383.5205, 切向力X=-693.3956, 切向力Y=-1002.0424 +FPS=25.54, 法向力=2909.6528, 切向力X=-270.9539, 切向力Y=-980.6536 +FPS=27.01, 法向力=3013.2935, 切向力X=-822.5236, 切向力Y=-1395.7609 +FPS=26.46, 法向力=3067.2058, 切向力X=-243.9753, 切向力Y=-1754.9548 +FPS=26.12, 法向力=3195.3818, 切向力X=-433.9506, 切向力Y=-1015.3015 +FPS=25.44, 法向力=3393.8975, 切向力X=260.4121, 切向力Y=-1623.7935 +FPS=27.00, 法向力=3272.4189, 切向力X=-1079.7927, 切向力Y=-1359.9097 +FPS=26.52, 法向力=3137.8608, 切向力X=-398.8397, 切向力Y=-1189.0411 +FPS=26.03, 法向力=3403.2900, 切向力X=-772.4745, 切向力Y=-1201.6763 +FPS=26.55, 法向力=3211.0955, 切向力X=-266.3742, 切向力Y=-1293.1351 +FPS=26.73, 法向力=3331.7290, 切向力X=-802.9899, 切向力Y=-1450.0359 +FPS=25.00, 法向力=2932.1123, 切向力X=158.3638, 切向力Y=-879.3922 +FPS=26.89, 法向力=2913.6970, 切向力X=-506.4088, 切向力Y=-1185.1492 +FPS=27.28, 法向力=2964.3875, 切向力X=-553.3799, 切向力Y=-1219.4697 +FPS=25.80, 法向力=3138.2151, 切向力X=-673.4545, 切向力Y=-1036.5498 +FPS=26.52, 法向力=3330.1902, 切向力X=-624.4199, 切向力Y=-1431.6602 +FPS=26.81, 法向力=3027.3081, 切向力X=-935.8165, 切向力Y=-1221.9954 +FPS=25.85, 法向力=3113.3945, 切向力X=294.0023, 切向力Y=-1919.0134 +FPS=25.72, 法向力=2815.7388, 切向力X=-571.3347, 切向力Y=-1950.8818 +FPS=24.89, 法向力=2783.0522, 切向力X=152.3783, 切向力Y=-1595.5780 +FPS=26.22, 法向力=3248.5898, 切向力X=283.5848, 切向力Y=-971.9375 +FPS=25.20, 法向力=2972.8987, 切向力X=-240.0408, 切向力Y=-1746.2061 +FPS=26.07, 法向力=2739.6147, 切向力X=-455.7255, 切向力Y=-1126.8955 +FPS=26.46, 法向力=3019.9758, 切向力X=-901.4335, 切向力Y=-1642.9264 +FPS=25.67, 法向力=3334.3022, 切向力X=-1022.9215, 切向力Y=-1622.8406 +FPS=24.41, 法向力=2886.6968, 切向力X=-700.4358, 切向力Y=-1464.3231 +FPS=26.97, 法向力=3283.0288, 切向力X=-218.7725, 切向力Y=-1708.9137 +FPS=26.71, 法向力=2655.1919, 切向力X=14.3460, 切向力Y=-1271.1261 +FPS=25.76, 法向力=3228.9443, 切向力X=-428.0726, 切向力Y=-1288.1090 +stitch_feature_optimized: canvas out_w=438, out_h=479, x_min=-92.01, y_min=-121.49 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000278s, blend=0.002239s (9 tiles incl ref), finalize=0.000073s, total=0.002597s +FPS=25.03, 法向力=2759.2563, 切向力X=241.6887, 切向力Y=-1168.6466 +FPS=25.84, 法向力=2597.5835, 切向力X=-240.4725, 切向力Y=-1410.7468 +FPS=25.91, 法向力=3082.8140, 切向力X=-424.4388, 切向力Y=-1087.3701 +FPS=26.90, 法向力=3103.3735, 切向力X=-489.1191, 切向力Y=-1142.2166 +FPS=26.37, 法向力=3158.4331, 切向力X=-57.2411, 切向力Y=-1329.6927 +FPS=26.68, 法向力=3055.2483, 切向力X=-38.9181, 切向力Y=-1553.0973 +FPS=26.38, 法向力=2666.3052, 切向力X=-136.6489, 切向力Y=-1603.0575 +FPS=25.60, 法向力=2768.1675, 切向力X=-610.3082, 切向力Y=-1458.9390 +FPS=26.42, 法向力=3056.0586, 切向力X=48.4415, 切向力Y=-1069.1555 +FPS=25.84, 法向力=2940.6509, 切向力X=-742.7646, 切向力Y=-1583.2682 +FPS=26.04, 法向力=3259.2559, 切向力X=-977.9352, 切向力Y=-1030.8170 +FPS=26.08, 法向力=2838.8000, 切向力X=-74.7498, 切向力Y=-1342.7136 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260604_094646.log b/examples/logs/qt_viewer_20260604_094646.log new file mode 100644 index 0000000..b044a89 --- /dev/null +++ b/examples/logs/qt_viewer_20260604_094646.log @@ -0,0 +1,1992 @@ + +按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.49, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.93, 法向力=1348.4624, 切向力X=-539.5171, 切向力Y=296.4006 +FPS=24.41, 法向力=1399.3993, 切向力X=-456.1830, 切向力Y=249.6844 +FPS=26.39, 法向力=1465.7592, 切向力X=-77.9708, 切向力Y=-151.2177 +FPS=23.08, 法向力=1151.3905, 切向力X=108.5784, 切向力Y=-305.1997 +FPS=28.54, 法向力=1450.1719, 切向力X=-403.4432, 切向力Y=77.3714 +FPS=30.73, 法向力=1435.8080, 切向力X=99.0392, 切向力Y=12.7685 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 568, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 484, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=22.07, 法向力=1682.4221, 切向力X=-406.0408, 切向力Y=507.3749 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 568, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 484, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=43.24, 法向力=1522.5156, 切向力X=23.0437, 切向力Y=-463.0485 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 568, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 484, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=38.13, 法向力=1302.9829, 切向力X=-191.3727, 切向力Y=-13.1540 +FPS=36.85, 法向力=1556.3191, 切向力X=-292.7963, 切向力Y=-165.5385 +FPS=30.58, 法向力=1797.8486, 切向力X=-282.3004, 切向力Y=743.2389 +FPS=30.02, 法向力=1030.2089, 切向力X=417.1395, 切向力Y=-41.8549 +FPS=30.01, 法向力=1679.0443, 切向力X=-460.2851, 切向力Y=-188.4978 +FPS=29.36, 法向力=1721.1547, 切向力X=-416.4287, 切向力Y=-219.6368 +FPS=29.98, 法向力=1426.0642, 切向力X=219.7386, 切向力Y=-108.0615 +FPS=30.53, 法向力=1155.7493, 切向力X=99.5906, 切向力Y=709.2220 +FPS=30.56, 法向力=1208.7515, 切向力X=-115.2986, 切向力Y=522.4119 +FPS=31.04, 法向力=1772.8544, 切向力X=-216.0633, 切向力Y=491.9478 +FPS=30.00, 法向力=1330.8539, 切向力X=-142.0965, 切向力Y=446.3849 +FPS=29.79, 法向力=1525.3706, 切向力X=344.8497, 切向力Y=187.1927 +FPS=30.26, 法向力=1553.2924, 切向力X=-205.8654, 切向力Y=-457.3121 +FPS=29.05, 法向力=1216.1552, 切向力X=275.9516, 切向力Y=-382.6725 +FPS=29.05, 法向力=979.2975, 切向力X=544.1160, 切向力Y=428.2260 +FPS=29.55, 法向力=1165.1265, 切向力X=520.2664, 切向力Y=-115.8393 +FPS=29.93, 法向力=1628.0972, 切向力X=-658.6911, 切向力Y=248.6042 +FPS=29.78, 法向力=1803.0979, 切向力X=-37.8299, 切向力Y=-161.9542 +FPS=29.03, 法向力=1500.5664, 切向力X=146.4627, 切向力Y=153.0296 +stitch_feature_optimized: canvas out_w=437, out_h=464, x_min=-93.92, y_min=-106.00 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000004s (hit), reset=0.000413s, blend=0.002369s (9 tiles incl ref), finalize=0.000086s, total=0.002876s +FPS=28.99, 法向力=1441.3829, 切向力X=534.9045, 切向力Y=70.8561 +FPS=29.54, 法向力=1392.9677, 切向力X=-448.8567, 切向力Y=211.6139 +FPS=28.69, 法向力=1670.5701, 切向力X=53.6376, 切向力Y=620.4945 +FPS=29.79, 法向力=1119.9597, 切向力X=788.0834, 切向力Y=305.4268 +FPS=29.78, 法向力=1170.0984, 切向力X=446.4609, 切向力Y=-55.5181 +FPS=29.89, 法向力=965.9437, 切向力X=89.7312, 切向力Y=172.9804 +FPS=29.21, 法向力=1484.0259, 切向力X=255.4257, 切向力Y=203.7733 +FPS=29.49, 法向力=1512.0599, 切向力X=-115.0627, 切向力Y=339.4502 +FPS=28.40, 法向力=1356.6956, 切向力X=-162.5252, 切向力Y=106.8518 +FPS=29.55, 法向力=948.6879, 切向力X=409.4665, 切向力Y=5.4735 +FPS=28.59, 法向力=1266.2854, 切向力X=-228.4345, 切向力Y=500.9210 +FPS=29.63, 法向力=1477.6096, 切向力X=-398.7654, 切向力Y=434.6317 +FPS=29.16, 法向力=905.0349, 切向力X=-63.4345, 切向力Y=-511.9396 +FPS=29.09, 法向力=1426.5618, 切向力X=-251.6429, 切向力Y=166.1337 +FPS=29.44, 法向力=1582.7448, 切向力X=562.3912, 切向力Y=109.9856 +FPS=29.79, 法向力=1489.1968, 切向力X=-316.3874, 切向力Y=-218.1758 +FPS=29.01, 法向力=1380.4700, 切向力X=387.5793, 切向力Y=729.7488 +FPS=28.99, 法向力=1205.4163, 切向力X=-133.5367, 切向力Y=310.4269 +FPS=30.18, 法向力=1047.9252, 切向力X=-96.6108, 切向力Y=-399.1724 +FPS=29.13, 法向力=1385.2285, 切向力X=-306.2031, 切向力Y=434.8502 +FPS=30.44, 法向力=1263.1351, 切向力X=349.1558, 切向力Y=220.7109 +FPS=30.60, 法向力=1437.2163, 切向力X=-71.4165, 切向力Y=97.0626 +FPS=31.28, 法向力=1378.8744, 切向力X=-363.8951, 切向力Y=288.0312 +FPS=28.69, 法向力=1132.0256, 切向力X=216.5125, 切向力Y=327.2450 +FPS=30.43, 法向力=1352.3182, 切向力X=169.5918, 切向力Y=-178.3071 +FPS=29.20, 法向力=1318.3721, 切向力X=-398.2518, 切向力Y=-114.3549 +FPS=31.23, 法向力=1054.6619, 切向力X=591.6714, 切向力Y=-152.9756 +FPS=31.50, 法向力=1556.3812, 切向力X=-345.8105, 切向力Y=111.1460 +FPS=32.07, 法向力=1644.8286, 切向力X=-331.1330, 切向力Y=256.0861 +FPS=31.88, 法向力=1352.3428, 切向力X=578.6243, 切向力Y=-339.5976 +stitch_feature_optimized: canvas out_w=437, out_h=464, x_min=-93.92, y_min=-106.00 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000247s, blend=0.002314s (9 tiles incl ref), finalize=0.000067s, total=0.002635s +FPS=31.95, 法向力=1766.1918, 切向力X=-68.1285, 切向力Y=-57.5686 +FPS=32.34, 法向力=1311.2228, 切向力X=212.8043, 切向力Y=-31.9300 +FPS=31.91, 法向力=2065.9736, 切向力X=-313.4174, 切向力Y=-203.3092 +FPS=30.12, 法向力=1629.7699, 切向力X=-586.9338, 切向力Y=458.1002 +FPS=29.08, 法向力=1402.3450, 切向力X=-378.3682, 切向力Y=93.1570 +FPS=28.82, 法向力=1223.0759, 切向力X=548.0071, 切向力Y=-434.5117 +FPS=29.06, 法向力=2208.0361, 切向力X=-330.9893, 切向力Y=575.2997 +FPS=29.23, 法向力=1504.7297, 切向力X=394.9153, 切向力Y=196.9043 +FPS=29.23, 法向力=1660.0483, 切向力X=-583.8828, 切向力Y=-64.2922 +FPS=28.94, 法向力=1122.3601, 切向力X=292.8564, 切向力Y=226.7638 +FPS=28.97, 法向力=1434.0459, 切向力X=340.4505, 切向力Y=90.6906 +FPS=28.51, 法向力=982.1339, 切向力X=162.6270, 切向力Y=-638.7089 +FPS=28.76, 法向力=1625.7761, 切向力X=-474.9132, 切向力Y=-197.7443 +FPS=27.96, 法向力=1727.1024, 切向力X=184.9219, 切向力Y=27.6112 +FPS=27.62, 法向力=1228.3147, 切向力X=-373.1513, 切向力Y=-248.7432 +FPS=28.00, 法向力=1267.5227, 切向力X=698.0413, 切向力Y=-926.5063 +FPS=28.56, 法向力=1494.3330, 切向力X=432.7752, 切向力Y=34.3776 +FPS=28.54, 法向力=1438.7211, 切向力X=-830.5842, 切向力Y=-86.0924 +FPS=27.87, 法向力=1218.0906, 切向力X=277.3572, 切向力Y=-174.9940 +FPS=28.21, 法向力=1351.1021, 切向力X=-170.7675, 切向力Y=-467.5267 +FPS=28.20, 法向力=1262.6077, 切向力X=114.1590, 切向力Y=-269.4536 +FPS=28.80, 法向力=1733.5720, 切向力X=448.2681, 切向力Y=172.5134 +FPS=29.28, 法向力=1675.7175, 切向力X=391.5512, 切向力Y=98.2889 +FPS=27.91, 法向力=1972.2151, 切向力X=121.3487, 切向力Y=29.0490 +FPS=28.26, 法向力=1563.9470, 切向力X=522.8723, 切向力Y=-285.9973 +FPS=28.37, 法向力=1105.3831, 切向力X=227.6223, 切向力Y=-181.9637 +FPS=28.23, 法向力=2052.5193, 切向力X=13.3115, 切向力Y=113.5697 +FPS=27.51, 法向力=1385.8101, 切向力X=425.4068, 切向力Y=-485.2435 +FPS=27.12, 法向力=1525.8894, 切向力X=-435.6573, 切向力Y=-487.2236 +FPS=27.44, 法向力=1577.6577, 切向力X=347.5205, 切向力Y=166.7666 +stitch_feature_optimized: canvas out_w=437, out_h=464, x_min=-93.92, y_min=-106.00 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000333s, blend=0.002512s (9 tiles incl ref), finalize=0.000062s, total=0.002914s +FPS=28.46, 法向力=1384.7349, 切向力X=-311.0850, 切向力Y=9.1497 +FPS=26.92, 法向力=1438.5942, 切向力X=42.8377, 切向力Y=-581.9152 +FPS=28.36, 法向力=1916.3069, 切向力X=-654.2023, 切向力Y=-264.9683 +FPS=27.43, 法向力=1801.6525, 切向力X=87.3422, 切向力Y=-205.3114 +FPS=28.54, 法向力=1733.8179, 切向力X=-439.7715, 切向力Y=-429.8227 +FPS=26.72, 法向力=1475.8093, 切向力X=-58.1263, 切向力Y=-245.0291 +FPS=29.84, 法向力=1678.9805, 切向力X=-190.5969, 切向力Y=-189.0328 +FPS=29.38, 法向力=1994.0848, 切向力X=-226.9893, 切向力Y=-658.4294 +FPS=29.26, 法向力=1212.2203, 切向力X=44.2441, 切向力Y=362.0857 +FPS=29.16, 法向力=1268.4181, 切向力X=-23.5926, 切向力Y=-805.8210 +FPS=27.11, 法向力=1324.6492, 切向力X=428.4238, 切向力Y=-622.1101 +FPS=27.88, 法向力=1235.4004, 切向力X=420.1502, 切向力Y=-130.6832 +FPS=28.54, 法向力=1467.7986, 切向力X=351.3351, 切向力Y=-701.2132 +FPS=27.25, 法向力=1681.0903, 切向力X=184.3372, 切向力Y=26.7557 +FPS=27.72, 法向力=1450.0269, 切向力X=80.2955, 切向力Y=-194.0817 +FPS=27.46, 法向力=1966.5807, 切向力X=66.1923, 切向力Y=456.8163 +FPS=26.55, 法向力=1453.4200, 切向力X=-112.2884, 切向力Y=-447.4435 +FPS=27.30, 法向力=1176.4191, 切向力X=-181.1634, 切向力Y=-988.8272 +FPS=25.90, 法向力=1831.3679, 切向力X=124.3558, 切向力Y=-52.9760 +FPS=26.56, 法向力=1436.3313, 切向力X=-328.0175, 切向力Y=253.9566 +FPS=25.99, 法向力=2013.7992, 切向力X=-575.1675, 切向力Y=445.6668 +FPS=22.72, 法向力=1786.5889, 切向力X=-172.5012, 切向力Y=-482.5933 +FPS=24.44, 法向力=1334.9851, 切向力X=87.4725, 切向力Y=-266.1713 +FPS=25.83, 法向力=2152.1868, 切向力X=24.2319, 切向力Y=116.2730 +FPS=26.70, 法向力=1863.8927, 切向力X=-95.0390, 切向力Y=-420.9944 +FPS=27.99, 法向力=1197.9751, 切向力X=69.1409, 切向力Y=-458.3622 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切向力X=793.5911, 切向力Y=-1910.8698 +FPS=24.13, 法向力=4709.6826, 切向力X=1025.2145, 切向力Y=-1552.1318 +FPS=24.76, 法向力=4228.8516, 切向力X=780.6406, 切向力Y=-442.8044 +FPS=24.68, 法向力=4140.5654, 切向力X=535.1104, 切向力Y=-1835.3037 +FPS=24.77, 法向力=4300.6777, 切向力X=736.8744, 切向力Y=-1124.3010 +FPS=25.52, 法向力=4832.8994, 切向力X=120.9930, 切向力Y=-1182.3574 +FPS=24.57, 法向力=4125.1377, 切向力X=1409.5876, 切向力Y=-976.5063 +FPS=24.49, 法向力=4342.8086, 切向力X=459.3657, 切向力Y=-1357.5063 +stitch_feature_optimized: canvas out_w=437, out_h=464, x_min=-93.92, y_min=-106.00 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000293s, blend=0.002266s (9 tiles incl ref), finalize=0.000064s, total=0.002630s +FPS=25.84, 法向力=4368.5293, 切向力X=738.9675, 切向力Y=-1751.9435 +FPS=25.13, 法向力=4235.7520, 切向力X=516.1791, 切向力Y=-1346.3625 +FPS=24.49, 法向力=4401.0293, 切向力X=426.7578, 切向力Y=-1981.6582 +FPS=24.29, 法向力=4539.4707, 切向力X=525.9041, 切向力Y=-1293.2854 +FPS=24.46, 法向力=4423.2354, 切向力X=1391.3706, 切向力Y=-1190.4407 +FPS=23.62, 法向力=4298.0444, 切向力X=760.0780, 切向力Y=-383.8187 +FPS=24.43, 法向力=4357.3110, 切向力X=981.5381, 切向力Y=-1409.1478 +FPS=24.96, 法向力=4502.5806, 切向力X=1365.6584, 切向力Y=-689.5233 +FPS=24.09, 法向力=4538.2583, 切向力X=183.9274, 切向力Y=-1414.3210 +FPS=24.73, 法向力=4433.8223, 切向力X=556.7794, 切向力Y=-1510.8818 +FPS=24.58, 法向力=4646.3438, 切向力X=499.1085, 切向力Y=-1264.5629 +FPS=24.13, 法向力=4191.1865, 切向力X=724.3909, 切向力Y=-1228.9084 +FPS=24.29, 法向力=4130.9863, 切向力X=847.3235, 切向力Y=-1449.7041 +FPS=24.99, 法向力=3847.7178, 切向力X=1000.7272, 切向力Y=-1092.0497 +FPS=24.48, 法向力=4098.0547, 切向力X=113.3750, 切向力Y=-1158.3679 +FPS=23.54, 法向力=3976.6782, 切向力X=863.9891, 切向力Y=-1383.1001 +FPS=25.32, 法向力=3667.1138, 切向力X=1225.8325, 切向力Y=-2025.9579 +FPS=25.19, 法向力=4225.0337, 切向力X=549.8106, 切向力Y=-2149.7061 +FPS=25.03, 法向力=4174.9888, 切向力X=592.5786, 切向力Y=-1345.1135 +FPS=25.04, 法向力=3973.6299, 切向力X=878.9875, 切向力Y=-1703.9784 +FPS=24.91, 法向力=4068.8228, 切向力X=1421.3872, 切向力Y=-1572.7637 +FPS=25.54, 法向力=3764.1560, 切向力X=1404.7244, 切向力Y=-1084.8425 +FPS=24.27, 法向力=4176.5029, 切向力X=685.4113, 切向力Y=-1586.8235 +FPS=25.21, 法向力=4036.2847, 切向力X=1142.7711, 切向力Y=-1266.9578 +FPS=25.30, 法向力=3821.0322, 切向力X=957.6976, 切向力Y=-693.5524 +FPS=25.37, 法向力=4707.4336, 切向力X=900.5478, 切向力Y=-896.0867 +FPS=24.76, 法向力=4388.7334, 切向力X=443.3339, 切向力Y=-1242.9214 +FPS=25.29, 法向力=5080.6240, 切向力X=268.9778, 切向力Y=-1020.9700 +FPS=25.56, 法向力=4415.9746, 切向力X=300.2020, 切向力Y=-1093.7991 +FPS=25.37, 法向力=4440.1562, 切向力X=565.5166, 切向力Y=-1286.8467 +stitch_feature_optimized: canvas out_w=437, out_h=464, x_min=-93.92, y_min=-106.00 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000252s, blend=0.002309s (9 tiles incl ref), finalize=0.000063s, total=0.002630s +FPS=24.39, 法向力=4285.6104, 切向力X=555.3408, 切向力Y=-1693.4917 +FPS=24.81, 法向力=4705.2041, 切向力X=688.7725, 切向力Y=-621.9103 +FPS=25.41, 法向力=3928.6855, 切向力X=1262.3423, 切向力Y=-1648.1506 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260604_094954.log b/examples/logs/qt_viewer_20260604_094954.log new file mode 100644 index 0000000..ce258cd --- /dev/null +++ b/examples/logs/qt_viewer_20260604_094954.log @@ -0,0 +1,1045 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=4.93, 法向力=725.6592, 切向力X=-602.4417, 切向力Y=-201.2371 +FPS=26.70, 法向力=778.0704, 切向力X=-30.2103, 切向力Y=325.7697 +FPS=25.42, 法向力=854.7358, 切向力X=44.8878, 切向力Y=-24.0476 +FPS=27.77, 法向力=901.7809, 切向力X=-149.1348, 切向力Y=169.3087 +FPS=28.66, 法向力=907.8855, 切向力X=-278.3670, 切向力Y=371.2182 +FPS=28.86, 法向力=866.4495, 切向力X=-416.9105, 切向力Y=-151.2607 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=30.62, 法向力=932.4066, 切向力X=-289.3365, 切向力Y=1064.4739 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=35.83, 法向力=809.6299, 切向力X=-523.5344, 切向力Y=133.9076 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=36.08, 法向力=810.5604, 切向力X=-501.9883, 切向力Y=88.9605 +FPS=37.35, 法向力=1020.8395, 切向力X=-366.4169, 切向力Y=-49.8022 +FPS=28.74, 法向力=965.8162, 切向力X=-194.0547, 切向力Y=268.2649 +FPS=27.80, 法向力=1014.9087, 切向力X=-727.7421, 切向力Y=699.3634 +FPS=29.73, 法向力=1200.9565, 切向力X=-252.1347, 切向力Y=61.7834 +FPS=26.05, 法向力=911.7534, 切向力X=-444.2318, 切向力Y=731.1648 +FPS=28.85, 法向力=917.0450, 切向力X=-209.4111, 切向力Y=746.6214 +FPS=27.39, 法向力=737.9918, 切向力X=-380.2195, 切向力Y=-171.0917 +FPS=27.58, 法向力=1075.6250, 切向力X=-426.8988, 切向力Y=-264.0194 +FPS=28.09, 法向力=1129.1980, 切向力X=-477.4584, 切向力Y=107.9471 +FPS=26.73, 法向力=1054.0854, 切向力X=-556.6127, 切向力Y=299.2148 +FPS=28.20, 法向力=1098.2089, 切向力X=-532.2529, 切向力Y=294.5333 +FPS=29.34, 法向力=1127.4073, 切向力X=-842.2258, 切向力Y=428.0558 +FPS=28.90, 法向力=1037.1222, 切向力X=-211.3358, 切向力Y=485.1294 +FPS=28.02, 法向力=1032.4065, 切向力X=-891.3853, 切向力Y=679.1094 +FPS=27.98, 法向力=949.1912, 切向力X=-613.5479, 切向力Y=-167.4576 +FPS=27.73, 法向力=698.4210, 切向力X=-724.0416, 切向力Y=1045.5646 +FPS=27.98, 法向力=1039.8594, 切向力X=-214.3408, 切向力Y=289.0402 +FPS=24.78, 法向力=1086.0940, 切向力X=-377.4553, 切向力Y=417.1153 +stitch_feature_optimized: canvas out_w=438, out_h=463, x_min=-91.47, y_min=-105.13 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000331s, blend=0.002425s (9 tiles incl ref), finalize=0.000102s, total=0.002866s +FPS=27.45, 法向力=953.4669, 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切向力Y=-1789.8560 +FPS=23.54, 法向力=3815.9243, 切向力X=3.6894, 切向力Y=-1007.5388 +FPS=24.30, 法向力=3980.6467, 切向力X=-35.7742, 切向力Y=-1575.2683 +stitch_feature_optimized: canvas out_w=438, out_h=463, x_min=-91.47, y_min=-105.13 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000247s, blend=0.002230s (9 tiles incl ref), finalize=0.000067s, total=0.002550s +FPS=24.53, 法向力=4280.3076, 切向力X=-179.6098, 切向力Y=-946.9198 +FPS=24.10, 法向力=4213.4453, 切向力X=630.0848, 切向力Y=-1605.9255 +FPS=25.65, 法向力=4225.4629, 切向力X=-323.9995, 切向力Y=-1977.1462 +FPS=24.60, 法向力=3788.3633, 切向力X=162.9280, 切向力Y=-1763.3892 +FPS=24.36, 法向力=4231.9609, 切向力X=-299.0009, 切向力Y=-1628.9176 +FPS=24.23, 法向力=4341.1519, 切向力X=-218.3047, 切向力Y=-1650.0458 +FPS=24.74, 法向力=4467.0259, 切向力X=145.7381, 切向力Y=-1488.1671 +FPS=24.98, 法向力=4045.6179, 切向力X=41.6248, 切向力Y=-1727.2894 +FPS=24.73, 法向力=3675.4976, 切向力X=7.4796, 切向力Y=-1738.4099 +FPS=25.42, 法向力=4134.9844, 切向力X=-110.7616, 切向力Y=-1223.3679 +FPS=24.91, 法向力=4120.6431, 切向力X=-711.4312, 切向力Y=-950.3870 +FPS=24.16, 法向力=4184.1328, 切向力X=-871.9840, 切向力Y=-1747.8893 +FPS=23.77, 法向力=4647.7363, 切向力X=-442.3571, 切向力Y=-1275.7672 +FPS=24.94, 法向力=4737.2354, 切向力X=-100.7922, 切向力Y=-1282.6660 +FPS=23.41, 法向力=4332.5137, 切向力X=-335.8549, 切向力Y=-737.4611 +FPS=22.83, 法向力=4242.7319, 切向力X=-611.4762, 切向力Y=-1174.2673 +FPS=23.89, 法向力=4735.7773, 切向力X=-746.4915, 切向力Y=-1316.6462 +FPS=24.22, 法向力=4390.1699, 切向力X=-607.7444, 切向力Y=-1148.0089 +FPS=24.77, 法向力=4535.9077, 切向力X=-573.3347, 切向力Y=-942.1762 +FPS=23.82, 法向力=5248.6182, 切向力X=-86.8055, 切向力Y=-1166.5466 +FPS=23.78, 法向力=4343.5146, 切向力X=-1395.8966, 切向力Y=-877.3181 +FPS=24.65, 法向力=4466.2832, 切向力X=-1317.1233, 切向力Y=-941.1451 +FPS=23.97, 法向力=4359.3428, 切向力X=-669.8257, 切向力Y=-1329.6327 +FPS=24.24, 法向力=4275.3916, 切向力X=-1714.5470, 切向力Y=-658.7892 +FPS=23.98, 法向力=4467.8613, 切向力X=-497.4658, 切向力Y=-1021.2121 +FPS=24.05, 法向力=4583.9536, 切向力X=370.5344, 切向力Y=-1688.3533 +FPS=24.71, 法向力=4312.5820, 切向力X=-1335.3942, 切向力Y=-1491.5576 +FPS=25.23, 法向力=4227.0889, 切向力X=-365.3587, 切向力Y=-1578.8521 +FPS=24.67, 法向力=4610.0054, 切向力X=-601.8640, 切向力Y=-1295.2649 +FPS=23.82, 法向力=4851.8096, 切向力X=-1303.0491, 切向力Y=-2028.6642 +stitch_feature_optimized: canvas out_w=438, out_h=463, x_min=-91.47, y_min=-105.13 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000251s, blend=0.002221s (9 tiles incl ref), finalize=0.000060s, total=0.002538s +FPS=24.66, 法向力=4620.5376, 切向力X=-1067.9268, 切向力Y=-1321.3191 +FPS=23.94, 法向力=4638.5957, 切向力X=-800.6860, 切向力Y=-1313.6018 +FPS=24.73, 法向力=4477.6445, 切向力X=-1715.2905, 切向力Y=-1374.9336 +FPS=25.26, 法向力=4580.3535, 切向力X=-944.9261, 切向力Y=-816.1744 +FPS=24.89, 法向力=4583.3784, 切向力X=-655.8485, 切向力Y=-1326.7267 +FPS=24.90, 法向力=4672.0352, 切向力X=-1480.1003, 切向力Y=-1297.2949 +FPS=25.03, 法向力=4467.5938, 切向力X=-652.0517, 切向力Y=-1388.3994 +FPS=24.05, 法向力=4607.9590, 切向力X=-548.8704, 切向力Y=-1125.9447 +FPS=23.64, 法向力=4709.3975, 切向力X=-1290.7034, 切向力Y=-573.2457 +FPS=24.74, 法向力=5011.7300, 切向力X=-1230.3855, 切向力Y=-1299.7834 +FPS=23.15, 法向力=4211.3872, 切向力X=-997.6409, 切向力Y=-977.3530 +FPS=23.42, 法向力=4283.5869, 切向力X=-434.0145, 切向力Y=-649.0728 +FPS=24.56, 法向力=4308.5317, 切向力X=-915.8617, 切向力Y=-1689.7344 +FPS=23.86, 法向力=4379.5820, 切向力X=-1367.3782, 切向力Y=-793.1439 +FPS=25.13, 法向力=4232.2861, 切向力X=-689.8369, 切向力Y=-1131.7479 +FPS=24.26, 法向力=4866.9980, 切向力X=-1026.3289, 切向力Y=-1284.7112 +FPS=23.82, 法向力=4824.2227, 切向力X=-811.4731, 切向力Y=-81.1439 +FPS=23.74, 法向力=4817.8872, 切向力X=-664.5889, 切向力Y=-917.9548 +FPS=23.62, 法向力=4301.7393, 切向力X=-1050.7600, 切向力Y=-1178.8164 +FPS=23.74, 法向力=4265.0293, 切向力X=-792.6365, 切向力Y=-1178.9037 +FPS=23.23, 法向力=4181.9092, 切向力X=-1029.5024, 切向力Y=-1139.0391 +FPS=23.97, 法向力=4270.6255, 切向力X=-1013.9166, 切向力Y=-1129.5569 +FPS=23.81, 法向力=4249.0234, 切向力X=-822.5227, 切向力Y=-1472.7935 +FPS=23.67, 法向力=4166.5107, 切向力X=-894.4208, 切向力Y=-843.5779 +FPS=20.43, 法向力=4418.9180, 切向力X=-954.7367, 切向力Y=-1651.9799 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260604_100049.log b/examples/logs/qt_viewer_20260604_100049.log new file mode 100644 index 0000000..901902c --- /dev/null +++ b/examples/logs/qt_viewer_20260604_100049.log @@ -0,0 +1,721 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.16, 法向力=1425.1926, 切向力X=-92.5816, 切向力Y=403.6746 +FPS=27.65, 法向力=1521.3479, 切向力X=-97.2873, 切向力Y=889.2346 +FPS=27.99, 法向力=953.2977, 切向力X=842.1965, 切向力Y=628.4171 +FPS=26.22, 法向力=1388.5918, 切向力X=364.0039, 切向力Y=341.7521 +FPS=30.10, 法向力=1229.5393, 切向力X=647.5283, 切向力Y=710.3709 +FPS=29.56, 法向力=1012.8793, 切向力X=41.3724, 切向力Y=38.0841 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=33.05, 法向力=1027.7867, 切向力X=346.5279, 切向力Y=410.0417 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=38.80, 法向力=1720.6689, 切向力X=-118.6608, 切向力Y=476.1744 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=35.31, 法向力=940.8698, 切向力X=597.1714, 切向力Y=-451.3207 +FPS=38.18, 法向力=1505.1522, 切向力X=-8.0038, 切向力Y=708.0158 +FPS=29.31, 法向力=1022.2464, 切向力X=-268.0145, 切向力Y=162.9724 +FPS=28.59, 法向力=1368.0142, 切向力X=-439.3499, 切向力Y=55.7823 +FPS=28.51, 法向力=1331.0784, 切向力X=-240.1321, 切向力Y=584.3429 +FPS=28.85, 法向力=1023.9714, 切向力X=845.6840, 切向力Y=-288.1530 +FPS=29.82, 法向力=1180.4093, 切向力X=344.0209, 切向力Y=-111.7463 +FPS=29.57, 法向力=1469.6614, 切向力X=209.3058, 切向力Y=440.0777 +FPS=29.36, 法向力=1423.2747, 切向力X=-138.7976, 切向力Y=795.6425 +FPS=28.90, 法向力=896.1096, 切向力X=-12.8124, 切向力Y=-18.2809 +FPS=29.29, 法向力=1238.2864, 切向力X=363.1639, 切向力Y=441.5247 +FPS=28.77, 法向力=1158.7168, 切向力X=67.0517, 切向力Y=-32.9540 +FPS=28.28, 法向力=1576.7881, 切向力X=-650.5309, 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法向力=5409.5400, 切向力X=-347.5101, 切向力Y=-2649.3623 +stitch_feature_optimized: canvas out_w=442, out_h=462, x_min=-95.61, y_min=-105.85 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000249s, blend=0.002225s (9 tiles incl ref), finalize=0.000062s, total=0.002542s +FPS=25.67, 法向力=5704.3979, 切向力X=-1514.2698, 切向力Y=-2817.4792 +FPS=26.50, 法向力=5485.0176, 切向力X=-346.5483, 切向力Y=-2494.7354 +FPS=25.39, 法向力=5739.2690, 切向力X=-501.1810, 切向力Y=-3107.4805 +FPS=25.43, 法向力=5997.3735, 切向力X=-989.3256, 切向力Y=-2179.4192 +FPS=26.52, 法向力=5255.6465, 切向力X=-1083.8500, 切向力Y=-2875.0588 +FPS=25.51, 法向力=5587.5547, 切向力X=-1068.6083, 切向力Y=-2233.6736 +FPS=25.55, 法向力=5231.9971, 切向力X=-1011.8967, 切向力Y=-2736.4868 +FPS=25.60, 法向力=5214.3130, 切向力X=-830.6450, 切向力Y=-3002.3931 +FPS=25.88, 法向力=5269.9712, 切向力X=-832.4252, 切向力Y=-2900.3647 +FPS=25.61, 法向力=5576.4736, 切向力X=-1230.3904, 切向力Y=-2831.3369 +FPS=25.00, 法向力=5710.2744, 切向力X=-1044.0524, 切向力Y=-2388.1521 +FPS=24.93, 法向力=5660.4482, 切向力X=-1505.7180, 切向力Y=-2628.5630 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260604_100336.log b/examples/logs/qt_viewer_20260604_100336.log new file mode 100644 index 0000000..59b349c --- /dev/null +++ b/examples/logs/qt_viewer_20260604_100336.log @@ -0,0 +1,1702 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.03, 法向力=917.5770, 切向力X=33.7828, 切向力Y=346.3348 +FPS=25.80, 法向力=1142.6619, 切向力X=222.5613, 切向力Y=469.4111 +FPS=27.70, 法向力=1127.2419, 切向力X=250.8718, 切向力Y=536.2888 +FPS=27.57, 法向力=1118.8130, 切向力X=-481.2956, 切向力Y=183.6584 +FPS=30.41, 法向力=1273.6593, 切向力X=-177.4124, 切向力Y=648.8955 +FPS=30.64, 法向力=907.5558, 切向力X=32.7247, 切向力Y=69.3683 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=32.96, 法向力=1080.7402, 切向力X=18.5890, 切向力Y=701.8508 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=41.71, 法向力=1146.5071, 切向力X=-72.3884, 切向力Y=772.7354 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=37.56, 法向力=797.1266, 切向力X=153.9030, 切向力Y=480.1148 +FPS=41.56, 法向力=1119.8717, 切向力X=-302.3647, 切向力Y=105.2873 +FPS=31.04, 法向力=1015.7194, 切向力X=306.1642, 切向力Y=157.8726 +FPS=30.43, 法向力=1102.5507, 切向力X=456.1738, 切向力Y=215.3002 +FPS=29.82, 法向力=1159.7056, 切向力X=-130.5694, 切向力Y=-89.2849 +FPS=30.20, 法向力=1091.6866, 切向力X=-249.2560, 切向力Y=492.1862 +FPS=30.24, 法向力=1094.4894, 切向力X=-287.9961, 切向力Y=497.5274 +FPS=30.11, 法向力=915.1796, 切向力X=422.2397, 切向力Y=-333.7280 +FPS=30.06, 法向力=1083.3021, 切向力X=-217.0260, 切向力Y=585.3677 +FPS=30.49, 法向力=1162.1460, 切向力X=452.7383, 切向力Y=393.4584 +FPS=29.95, 法向力=998.7969, 切向力X=169.7449, 切向力Y=253.5576 +FPS=30.04, 法向力=1088.7211, 切向力X=-549.2999, 切向力Y=-29.4578 +FPS=30.84, 法向力=1160.5774, 切向力X=-414.1330, 切向力Y=7.6160 +FPS=29.98, 法向力=1280.8293, 切向力X=-545.4661, 切向力Y=578.1619 +FPS=29.18, 法向力=1015.6321, 切向力X=256.1617, 切向力Y=151.9783 +FPS=29.87, 法向力=920.6205, 切向力X=-451.3753, 切向力Y=560.2655 +FPS=31.10, 法向力=972.2690, 切向力X=47.6925, 切向力Y=592.2499 +FPS=31.38, 法向力=980.1747, 切向力X=1.8912, 切向力Y=677.0276 +FPS=30.99, 法向力=1186.5746, 切向力X=-540.0684, 切向力Y=-203.7685 +stitch_feature_optimized: canvas out_w=435, out_h=461, x_min=-91.72, y_min=-105.48 +stitch_feature_optimized steps: brightness=0.000005s, geom=0.000006s (hit), reset=0.000505s, blend=0.002253s (9 tiles incl ref), finalize=0.000064s, total=0.002833s +FPS=30.38, 法向力=1036.9622, 切向力X=-222.9122, 切向力Y=60.0222 +FPS=30.35, 法向力=878.5840, 切向力X=251.2867, 切向力Y=-413.9084 +FPS=30.15, 法向力=1075.5244, 切向力X=-312.2832, 切向力Y=-519.9783 +FPS=30.22, 法向力=1319.8518, 切向力X=241.0511, 切向力Y=-856.8845 +FPS=30.24, 法向力=1042.1597, 切向力X=365.7529, 切向力Y=-1064.7024 +FPS=30.19, 法向力=999.5032, 切向力X=124.1347, 切向力Y=-1556.3855 +FPS=28.14, 法向力=1514.3434, 切向力X=-258.3051, 切向力Y=-1847.5481 +FPS=29.95, 法向力=1068.9174, 切向力X=702.7440, 切向力Y=-1790.1750 +FPS=29.17, 法向力=1474.3630, 切向力X=-286.8261, 切向力Y=-1844.1555 +FPS=30.41, 法向力=1263.0327, 切向力X=-407.8684, 切向力Y=-1980.9597 +FPS=31.69, 法向力=1236.3376, 切向力X=-335.7281, 切向力Y=-1987.9019 +FPS=29.28, 法向力=1640.1975, 切向力X=-695.3683, 切向力Y=-1460.5154 +FPS=30.30, 法向力=1691.8151, 切向力X=-205.8375, 切向力Y=-2597.2429 +FPS=29.42, 法向力=1783.7021, 切向力X=-638.0245, 切向力Y=-2530.2090 +FPS=29.89, 法向力=1812.7648, 切向力X=-239.1913, 切向力Y=-2243.7854 +FPS=29.69, 法向力=1482.1433, 切向力X=-185.0763, 切向力Y=-2766.6833 +FPS=30.46, 法向力=1947.4897, 切向力X=-440.3200, 切向力Y=-2329.3799 +FPS=30.04, 法向力=1677.8114, 切向力X=-803.3839, 切向力Y=-2916.3281 +FPS=30.00, 法向力=1677.9990, 切向力X=-813.6492, 切向力Y=-3627.2266 +FPS=29.34, 法向力=1820.1199, 切向力X=-1011.7482, 切向力Y=-4497.5020 +FPS=29.84, 法向力=2143.7930, 切向力X=-1064.5071, 切向力Y=-4652.7031 +FPS=31.46, 法向力=2172.8032, 切向力X=-1101.1620, 切向力Y=-4648.8501 +FPS=30.24, 法向力=2581.9463, 切向力X=-1752.7815, 切向力Y=-4698.7520 +FPS=29.52, 法向力=2355.4631, 切向力X=-2087.4722, 切向力Y=-5402.0986 +FPS=30.17, 法向力=2339.5823, 切向力X=-2011.1665, 切向力Y=-5369.8545 +FPS=29.99, 法向力=2809.0854, 切向力X=-1547.5707, 切向力Y=-5629.2383 +FPS=29.14, 法向力=2524.2261, 切向力X=-1217.2980, 切向力Y=-6040.5508 +FPS=29.10, 法向力=2453.3657, 切向力X=-939.4473, 切向力Y=-6110.2803 +FPS=29.84, 法向力=2534.9919, 切向力X=-1510.2836, 切向力Y=-5323.9053 +FPS=30.56, 法向力=2228.2417, 切向力X=-719.8223, 切向力Y=-3467.8062 +stitch_feature_optimized: canvas out_w=435, out_h=461, x_min=-91.72, y_min=-105.48 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000005s (hit), reset=0.000311s, blend=0.002432s (9 tiles incl ref), finalize=0.000068s, total=0.002819s +FPS=29.63, 法向力=1803.0234, 切向力X=-84.6595, 切向力Y=-1903.0684 +FPS=29.76, 法向力=1233.4230, 切向力X=-37.3602, 切向力Y=-806.8146 +FPS=29.36, 法向力=1210.4418, 切向力X=116.0748, 切向力Y=-709.9121 +FPS=26.29, 法向力=1307.8292, 切向力X=-171.5366, 切向力Y=-144.2629 +FPS=29.08, 法向力=1242.9900, 切向力X=-33.4806, 切向力Y=-682.7281 +FPS=29.80, 法向力=1275.5948, 切向力X=-758.1329, 切向力Y=-1098.0955 +FPS=29.20, 法向力=1316.6274, 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切向力X=-1497.0397, 切向力Y=-1680.1096 +FPS=25.70, 法向力=4642.5044, 切向力X=-1147.2581, 切向力Y=-2295.7441 +stitch_feature_optimized: canvas out_w=435, out_h=461, x_min=-91.72, y_min=-105.48 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000241s, blend=0.002234s (9 tiles incl ref), finalize=0.000063s, total=0.002544s +FPS=25.92, 法向力=4754.2241, 切向力X=-1120.2866, 切向力Y=-2311.6848 +FPS=25.92, 法向力=4703.7500, 切向力X=-985.8831, 切向力Y=-1971.3816 +FPS=25.86, 法向力=4920.9688, 切向力X=-1170.3960, 切向力Y=-2055.3218 +FPS=26.27, 法向力=4726.3604, 切向力X=-1003.7146, 切向力Y=-1750.1892 +FPS=26.70, 法向力=4723.2153, 切向力X=-1138.2142, 切向力Y=-1559.5652 +FPS=26.39, 法向力=4646.6406, 切向力X=-991.5640, 切向力Y=-1513.1550 +FPS=26.07, 法向力=5084.0039, 切向力X=-1386.6416, 切向力Y=-1965.5175 +FPS=25.72, 法向力=5123.5425, 切向力X=-1370.2969, 切向力Y=-1810.2831 +FPS=26.53, 法向力=4598.6875, 切向力X=-1496.4388, 切向力Y=-1672.1506 +FPS=26.53, 法向力=4695.2842, 切向力X=-1075.9243, 切向力Y=-1702.8352 +FPS=26.57, 法向力=4784.8379, 切向力X=-999.7241, 切向力Y=-2205.6768 +FPS=26.13, 法向力=4987.1133, 切向力X=-941.0363, 切向力Y=-1435.2640 +FPS=25.89, 法向力=5350.3965, 切向力X=-1364.6611, 切向力Y=-2024.0862 +FPS=25.92, 法向力=4425.7793, 切向力X=-57.5311, 切向力Y=-2328.1125 +FPS=26.98, 法向力=4797.6880, 切向力X=-313.2302, 切向力Y=-1368.2122 +FPS=26.65, 法向力=4505.7910, 切向力X=-855.7223, 切向力Y=-1506.9268 +FPS=25.60, 法向力=4641.5049, 切向力X=-750.2501, 切向力Y=-2007.3108 +FPS=26.04, 法向力=4670.7349, 切向力X=-528.6338, 切向力Y=-1457.6422 +FPS=26.51, 法向力=4907.5586, 切向力X=-1706.0608, 切向力Y=-1604.6423 +FPS=25.38, 法向力=5108.3452, 切向力X=-1259.6339, 切向力Y=-2341.8354 +FPS=26.29, 法向力=4766.1841, 切向力X=-512.2107, 切向力Y=-2745.4077 +FPS=26.04, 法向力=5113.8813, 切向力X=-1196.9855, 切向力Y=-2008.7131 +FPS=26.46, 法向力=4978.9863, 切向力X=-996.4085, 切向力Y=-2114.7598 +FPS=26.90, 法向力=4989.3350, 切向力X=-1187.6276, 切向力Y=-2086.0901 +FPS=26.32, 法向力=4986.6909, 切向力X=-1314.1888, 切向力Y=-2050.8071 +FPS=26.31, 法向力=5150.2734, 切向力X=-1211.7595, 切向力Y=-1716.2002 +FPS=25.33, 法向力=4902.3804, 切向力X=-720.3088, 切向力Y=-1729.1747 +FPS=26.12, 法向力=4833.0605, 切向力X=-1420.5779, 切向力Y=-2112.5325 +FPS=25.87, 法向力=4778.9785, 切向力X=-754.3604, 切向力Y=-1508.2180 +FPS=25.23, 法向力=4706.4619, 切向力X=-993.6442, 切向力Y=-1690.7512 +stitch_feature_optimized: canvas out_w=435, out_h=461, x_min=-91.72, y_min=-105.48 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000264s, blend=0.002204s (9 tiles incl ref), finalize=0.000070s, total=0.002544s +FPS=26.31, 法向力=4437.8887, 切向力X=-1146.9441, 切向力Y=-1606.0314 +FPS=25.83, 法向力=5046.6699, 切向力X=-387.0051, 切向力Y=-2049.3931 +FPS=26.23, 法向力=5240.1113, 切向力X=3.2958, 切向力Y=-1926.9211 +FPS=26.64, 法向力=4912.0674, 切向力X=-1103.6869, 切向力Y=-1356.9075 +FPS=25.22, 法向力=4893.0098, 切向力X=-918.9315, 切向力Y=-1404.4698 +FPS=25.16, 法向力=4970.8628, 切向力X=-1986.8135, 切向力Y=-1610.3142 +FPS=26.30, 法向力=5209.8179, 切向力X=-1472.2603, 切向力Y=-1456.0446 +FPS=25.73, 法向力=5079.8711, 切向力X=-1308.4521, 切向力Y=-2055.3279 +FPS=26.00, 法向力=5236.4287, 切向力X=-1514.6411, 切向力Y=-1438.8694 +FPS=25.87, 法向力=5283.3931, 切向力X=-433.9987, 切向力Y=-2092.0300 +FPS=25.54, 法向力=4950.6025, 切向力X=-787.4680, 切向力Y=-1768.5903 +FPS=25.77, 法向力=4862.4072, 切向力X=-190.3255, 切向力Y=-1638.7909 +FPS=25.62, 法向力=5102.8389, 切向力X=-1004.8834, 切向力Y=-1252.4824 +FPS=26.10, 法向力=5195.7192, 切向力X=-1299.4526, 切向力Y=-635.3610 +FPS=25.82, 法向力=5248.8408, 切向力X=-961.8917, 切向力Y=-1785.9607 +FPS=26.00, 法向力=5076.7305, 切向力X=-657.2568, 切向力Y=-1479.9783 +FPS=25.95, 法向力=4922.3604, 切向力X=-1259.7490, 切向力Y=-602.1937 +FPS=26.20, 法向力=4963.1738, 切向力X=-1358.9843, 切向力Y=-1262.0900 +FPS=25.00, 法向力=4873.0840, 切向力X=-1205.2065, 切向力Y=-1599.2981 +FPS=26.40, 法向力=4915.2935, 切向力X=-830.7999, 切向力Y=-1720.3275 +FPS=25.37, 法向力=5452.9878, 切向力X=-409.4508, 切向力Y=-1228.7717 +FPS=22.61, 法向力=4710.4980, 切向力X=-592.1885, 切向力Y=-1433.2031 +FPS=24.79, 法向力=4956.5059, 切向力X=67.8998, 切向力Y=-1197.8169 +FPS=27.30, 法向力=4921.0254, 切向力X=156.8522, 切向力Y=-1272.2188 +FPS=27.07, 法向力=4977.9248, 切向力X=-868.6052, 切向力Y=-1415.6255 +FPS=25.45, 法向力=4728.8926, 切向力X=-1345.6721, 切向力Y=-1831.2079 +FPS=26.52, 法向力=5300.5010, 切向力X=-687.9493, 切向力Y=-1043.3793 +FPS=26.80, 法向力=5111.0225, 切向力X=-1291.5198, 切向力Y=-1120.7977 +FPS=26.62, 法向力=5229.3564, 切向力X=-1222.5039, 切向力Y=-1144.2776 +FPS=26.05, 法向力=5604.9780, 切向力X=-1753.4700, 切向力Y=-2293.3008 +stitch_feature_optimized: canvas out_w=435, out_h=461, x_min=-91.72, y_min=-105.48 +stitch_feature_optimized steps: brightness=0.000009s, geom=0.000010s (hit), reset=0.000739s, blend=0.002499s (9 tiles incl ref), finalize=0.000064s, total=0.003321s +FPS=25.49, 法向力=5258.8618, 切向力X=-433.6877, 切向力Y=-1953.8143 +FPS=26.74, 法向力=5078.4238, 切向力X=-1175.9159, 切向力Y=-1142.6042 +FPS=25.70, 法向力=5055.1235, 切向力X=-1213.4500, 切向力Y=-1347.0681 +FPS=26.37, 法向力=4586.4209, 切向力X=-1215.2240, 切向力Y=-1357.2534 +FPS=26.81, 法向力=4967.6689, 切向力X=-558.8124, 切向力Y=-2032.6428 +FPS=26.07, 法向力=5134.1245, 切向力X=-1312.9972, 切向力Y=-1827.4102 +FPS=23.59, 法向力=5049.3828, 切向力X=-626.0101, 切向力Y=-1011.0186 +FPS=25.63, 法向力=5160.3428, 切向力X=-1130.5475, 切向力Y=-1831.2430 +FPS=25.59, 法向力=4764.9512, 切向力X=-793.8128, 切向力Y=-1376.7220 +FPS=25.68, 法向力=5735.7705, 切向力X=-1013.0224, 切向力Y=-1545.0261 +FPS=25.19, 法向力=5011.1797, 切向力X=-1290.1313, 切向力Y=-1303.4722 +FPS=25.88, 法向力=4886.9512, 切向力X=-1019.5123, 切向力Y=-1392.9946 +FPS=26.26, 法向力=5411.0205, 切向力X=-811.2090, 切向力Y=-1457.6880 +FPS=25.41, 法向力=5107.4707, 切向力X=-1398.4094, 切向力Y=-1262.0271 +FPS=25.43, 法向力=5304.2324, 切向力X=-1187.1232, 切向力Y=-1693.3782 +FPS=25.68, 法向力=5180.4199, 切向力X=-975.4527, 切向力Y=-1108.5640 +FPS=25.77, 法向力=5113.3413, 切向力X=-871.6207, 切向力Y=-1551.8010 +FPS=24.88, 法向力=5467.0068, 切向力X=-856.9390, 切向力Y=-1246.7222 +FPS=25.54, 法向力=5196.2588, 切向力X=-1233.8376, 切向力Y=-1444.2367 +FPS=25.59, 法向力=5313.1953, 切向力X=-664.9728, 切向力Y=-746.3331 +FPS=25.30, 法向力=4633.5879, 切向力X=-604.7616, 切向力Y=-1156.5623 +FPS=25.89, 法向力=5216.6836, 切向力X=-716.2620, 切向力Y=-1287.2166 +FPS=25.15, 法向力=4968.6768, 切向力X=-1327.2192, 切向力Y=-1416.0535 +FPS=24.87, 法向力=4937.9414, 切向力X=-879.5110, 切向力Y=-812.8464 +FPS=25.91, 法向力=4577.6514, 切向力X=-826.1396, 切向力Y=-1265.4485 +FPS=25.34, 法向力=5004.5596, 切向力X=-318.5267, 切向力Y=-1189.7178 +FPS=25.89, 法向力=4838.7100, 切向力X=-1082.5996, 切向力Y=-1224.2678 +FPS=25.35, 法向力=5071.8481, 切向力X=-833.5070, 切向力Y=-673.7396 +FPS=24.59, 法向力=5076.0806, 切向力X=-1035.8604, 切向力Y=-909.6408 +FPS=25.05, 法向力=4906.7354, 切向力X=-596.5793, 切向力Y=-1227.5127 +stitch_feature_optimized: canvas out_w=435, out_h=461, x_min=-91.72, y_min=-105.48 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000296s, blend=0.002215s (9 tiles incl ref), finalize=0.000063s, total=0.002582s +FPS=25.26, 法向力=5108.6743, 切向力X=-1563.7421, 切向力Y=-1125.2245 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260604_100508.log b/examples/logs/qt_viewer_20260604_100508.log new file mode 100644 index 0000000..acf6363 --- /dev/null +++ b/examples/logs/qt_viewer_20260604_100508.log @@ -0,0 +1,808 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.49, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.48, 法向力=1022.2231, 切向力X=402.5029, 切向力Y=-952.5514 +FPS=24.28, 法向力=937.8416, 切向力X=187.4172, 切向力Y=-666.6183 +FPS=26.47, 法向力=962.8322, 切向力X=263.2350, 切向力Y=-803.5115 +FPS=25.51, 法向力=909.6006, 切向力X=397.7131, 切向力Y=-432.6707 +FPS=28.85, 法向力=712.8965, 切向力X=432.4236, 切向力Y=25.8000 +FPS=26.54, 法向力=1049.4055, 切向力X=425.6387, 切向力Y=-437.5457 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=28.58, 法向力=969.1792, 切向力X=386.0735, 切向力Y=-1045.3752 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=36.71, 法向力=1556.1129, 切向力X=966.8021, 切向力Y=-247.6115 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=36.48, 法向力=933.1246, 切向力X=916.0011, 切向力Y=-600.3219 +FPS=39.01, 法向力=1087.6794, 切向力X=713.7873, 切向力Y=-441.8962 +FPS=27.95, 法向力=890.7964, 切向力X=621.0974, 切向力Y=-421.6866 +FPS=28.34, 法向力=888.7178, 切向力X=399.4540, 切向力Y=-218.0174 +FPS=26.60, 法向力=1351.6421, 切向力X=926.8188, 切向力Y=-635.2134 +FPS=28.13, 法向力=817.4421, 切向力X=459.1849, 切向力Y=-612.0421 +FPS=27.91, 法向力=981.2509, 切向力X=-173.9554, 切向力Y=-1010.3411 +FPS=27.38, 法向力=962.0187, 切向力X=624.0093, 切向力Y=-547.6263 +FPS=27.99, 法向力=890.8976, 切向力X=630.2910, 切向力Y=-515.9410 +FPS=25.89, 法向力=938.4160, 切向力X=756.7468, 切向力Y=-220.3123 +FPS=28.40, 法向力=1079.6769, 切向力X=1114.1057, 切向力Y=-1180.0247 +FPS=27.77, 法向力=1203.8387, 切向力X=1532.3348, 切向力Y=-2193.4436 +FPS=29.88, 法向力=1213.9875, 切向力X=1598.5076, 切向力Y=-2439.5776 +FPS=30.27, 法向力=942.2777, 切向力X=1544.1981, 切向力Y=-3985.4675 +FPS=29.05, 法向力=1337.3318, 切向力X=2251.7668, 切向力Y=-4636.5718 +FPS=30.46, 法向力=1332.1343, 切向力X=2334.9429, 切向力Y=-4686.0889 +FPS=28.69, 法向力=1455.5576, 切向力X=1530.2291, 切向力Y=-6129.6172 +FPS=29.61, 法向力=1626.8179, 切向力X=2216.4429, 切向力Y=-6068.7095 +FPS=28.99, 法向力=1877.5972, 切向力X=2741.9233, 切向力Y=-6402.4561 +stitch_feature_optimized: canvas out_w=438, out_h=463, x_min=-91.29, y_min=-105.96 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000265s, blend=0.002238s (9 tiles incl ref), finalize=0.000053s, total=0.002563s +FPS=28.70, 法向力=1849.0161, 切向力X=2668.8093, 切向力Y=-6496.6387 +FPS=23.96, 法向力=1571.6509, 切向力X=3482.0332, 切向力Y=-7848.4092 +FPS=22.87, 法向力=2399.9749, 切向力X=3632.0854, 切向力Y=-8812.1641 +FPS=26.65, 法向力=1897.8452, 切向力X=4307.8037, 切向力Y=-10739.5762 +FPS=26.64, 法向力=3059.5051, 切向力X=4768.9844, 切向力Y=-15293.7734 +FPS=21.30, 法向力=2833.8447, 切向力X=4650.6523, 切向力Y=-16682.3359 +FPS=27.98, 法向力=2282.4937, 切向力X=4205.4614, 切向力Y=-17636.5352 +FPS=28.01, 法向力=3934.7454, 切向力X=2468.8774, 切向力Y=-17909.6152 +FPS=28.08, 法向力=3871.0608, 切向力X=3556.6270, 切向力Y=-18313.9746 +FPS=28.48, 法向力=3762.0396, 切向力X=2228.5088, 切向力Y=-18244.7383 +FPS=28.98, 法向力=3201.0098, 切向力X=2092.5586, 切向力Y=-18647.9902 +FPS=28.84, 法向力=4319.6875, 切向力X=1228.6140, 切向力Y=-19534.5312 +FPS=29.34, 法向力=4073.4792, 切向力X=2039.1116, 切向力Y=-19464.9922 +FPS=29.60, 法向力=3987.2295, 切向力X=1620.3440, 切向力Y=-20460.3125 +FPS=28.21, 法向力=4583.8110, 切向力X=1359.6377, 切向力Y=-19242.2441 +FPS=28.01, 法向力=3727.8418, 切向力X=1442.1543, 切向力Y=-18953.7715 +FPS=29.97, 法向力=3592.2766, 切向力X=1423.3430, 切向力Y=-18946.0391 +FPS=28.55, 法向力=3442.9717, 切向力X=895.0233, 切向力Y=-18137.8145 +FPS=28.77, 法向力=4192.7070, 切向力X=1189.5762, 切向力Y=-17807.1211 +FPS=28.12, 法向力=4111.4531, 切向力X=797.3083, 切向力Y=-18336.2188 +FPS=28.22, 法向力=3973.0649, 切向力X=516.9403, 切向力Y=-18400.6660 +FPS=28.85, 法向力=4493.1631, 切向力X=161.9586, 切向力Y=-19119.9766 +FPS=29.04, 法向力=4172.7998, 切向力X=211.4383, 切向力Y=-19636.0664 +FPS=27.75, 法向力=3546.7598, 切向力X=942.6135, 切向力Y=-19851.6484 +FPS=27.56, 法向力=4527.9834, 切向力X=298.3153, 切向力Y=-19216.9160 +FPS=28.14, 法向力=4542.2271, 切向力X=184.5559, 切向力Y=-17761.9902 +FPS=27.73, 法向力=3999.7102, 切向力X=216.0510, 切向力Y=-17763.5840 +FPS=28.40, 法向力=3671.1848, 切向力X=1168.9144, 切向力Y=-15178.6992 +FPS=28.90, 法向力=2677.7583, 切向力X=1172.4536, 切向力Y=-13244.4414 +FPS=29.43, 法向力=2808.3560, 切向力X=1333.9564, 切向力Y=-11692.7021 +stitch_feature_optimized: canvas out_w=438, out_h=463, x_min=-91.29, y_min=-105.96 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000245s, blend=0.002209s (9 tiles incl ref), finalize=0.000051s, total=0.002513s +FPS=28.77, 法向力=2971.0684, 切向力X=901.5845, 切向力Y=-9908.4072 +FPS=28.10, 法向力=1164.4141, 切向力X=2483.1646, 切向力Y=-8346.2217 +FPS=27.81, 法向力=1145.2859, 切向力X=2103.4062, 切向力Y=-5584.6074 +FPS=29.60, 法向力=1277.7321, 切向力X=1197.6754, 切向力Y=-3566.6348 +FPS=28.76, 法向力=901.6590, 切向力X=778.2841, 切向力Y=-3614.3389 +FPS=28.96, 法向力=1335.9857, 切向力X=685.6354, 切向力Y=-2770.6382 +FPS=27.76, 法向力=1070.9019, 切向力X=649.3968, 切向力Y=-2924.6660 +FPS=30.02, 法向力=1008.3196, 切向力X=426.8648, 切向力Y=-3134.5593 +FPS=31.00, 法向力=1011.5731, 切向力X=498.7256, 切向力Y=-3214.5063 +FPS=30.25, 法向力=859.8285, 切向力X=383.5505, 切向力Y=-2490.3599 +FPS=30.71, 法向力=1217.3159, 切向力X=-209.3528, 切向力Y=-3518.6494 +FPS=30.16, 法向力=1107.7170, 切向力X=-778.7130, 切向力Y=-5387.1797 +FPS=28.60, 法向力=2111.3452, 切向力X=-586.5957, 切向力Y=-6350.7676 +FPS=27.42, 法向力=1656.4644, 切向力X=-1159.2017, 切向力Y=-9448.9863 +FPS=24.58, 法向力=2638.0171, 切向力X=-2266.5635, 切向力Y=-13511.5664 +FPS=26.66, 法向力=2426.7791, 切向力X=-3184.6460, 切向力Y=-15600.9717 +FPS=25.33, 法向力=2718.7368, 切向力X=-3199.0415, 切向力Y=-17062.4844 +FPS=22.89, 法向力=3445.6787, 切向力X=-3502.2034, 切向力Y=-17881.8555 +FPS=27.60, 法向力=3892.4780, 切向力X=-3000.4644, 切向力Y=-17463.9336 +FPS=23.29, 法向力=3465.9133, 切向力X=-4468.9009, 切向力Y=-18338.9004 +FPS=25.57, 法向力=3687.5352, 切向力X=-5054.6060, 切向力Y=-18598.7305 +FPS=26.43, 法向力=3809.9722, 切向力X=-5759.9990, 切向力Y=-19865.4453 +FPS=25.66, 法向力=3772.2231, 切向力X=-6030.2607, 切向力Y=-20206.5117 +FPS=24.29, 法向力=4059.5105, 切向力X=-6467.6514, 切向力Y=-19391.9141 +FPS=25.23, 法向力=4354.1367, 切向力X=-6973.4316, 切向力Y=-19317.0273 +FPS=24.23, 法向力=4873.1631, 切向力X=-7830.4282, 切向力Y=-18689.1035 +FPS=23.36, 法向力=5350.4443, 切向力X=-7251.5088, 切向力Y=-18011.7578 +FPS=25.30, 法向力=4650.1338, 切向力X=-6627.2568, 切向力Y=-17588.6094 +FPS=23.18, 法向力=4161.8276, 切向力X=-7170.1353, 切向力Y=-17984.5391 +FPS=24.43, 法向力=5595.7749, 切向力X=-6453.8193, 切向力Y=-16970.5430 +stitch_feature_optimized: canvas out_w=438, out_h=463, x_min=-91.29, y_min=-105.96 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000020s (hit), reset=0.000295s, blend=0.002495s (9 tiles incl ref), finalize=0.000067s, total=0.002882s +FPS=23.83, 法向力=4693.3179, 切向力X=-5243.4229, 切向力Y=-15781.2451 +FPS=24.73, 法向力=3960.7649, 切向力X=-4003.0374, 切向力Y=-13505.8652 +FPS=23.67, 法向力=3397.4780, 切向力X=-2698.2954, 切向力Y=-10234.6807 +FPS=22.74, 法向力=1553.8032, 切向力X=302.4896, 切向力Y=-6384.5410 +FPS=23.51, 法向力=1728.2106, 切向力X=-97.8165, 切向力Y=-4591.5757 +FPS=23.64, 法向力=1365.6975, 切向力X=-492.8088, 切向力Y=-4275.4189 +FPS=24.83, 法向力=1466.2484, 切向力X=452.7455, 切向力Y=-3977.0925 +FPS=25.32, 法向力=1337.2756, 切向力X=684.9296, 切向力Y=-3283.0442 +FPS=24.68, 法向力=914.5880, 切向力X=-202.2442, 切向力Y=-2339.1455 +FPS=22.90, 法向力=1047.0006, 切向力X=-142.4128, 切向力Y=-1120.4584 +FPS=22.74, 法向力=797.6470, 切向力X=141.0634, 切向力Y=501.2741 +FPS=23.57, 法向力=755.9204, 切向力X=227.9250, 切向力Y=1082.4126 +FPS=25.24, 法向力=958.4590, 切向力X=2.9640, 切向力Y=1164.5732 +FPS=23.71, 法向力=1130.8229, 切向力X=680.1749, 切向力Y=881.0709 +FPS=23.48, 法向力=1072.5122, 切向力X=462.2357, 切向力Y=1840.9015 +FPS=22.25, 法向力=1087.6829, 切向力X=451.3046, 切向力Y=1822.4790 +FPS=22.63, 法向力=1420.2471, 切向力X=229.6637, 切向力Y=2125.0386 +FPS=22.07, 法向力=1387.3430, 切向力X=246.6498, 切向力Y=2154.7327 +FPS=21.42, 法向力=1158.7981, 切向力X=-826.0944, 切向力Y=2063.3027 +FPS=22.42, 法向力=1620.3302, 切向力X=799.0524, 切向力Y=1723.0830 +FPS=22.30, 法向力=2155.7495, 切向力X=1474.0420, 切向力Y=-223.1077 +FPS=23.23, 法向力=1925.6965, 切向力X=2228.8232, 切向力Y=-706.7184 +FPS=24.94, 法向力=2208.8091, 切向力X=3133.8154, 切向力Y=-212.5665 +FPS=24.99, 法向力=2485.3579, 切向力X=4674.0332, 切向力Y=781.0247 +FPS=24.31, 法向力=2842.6733, 切向力X=6398.3794, 切向力Y=2935.3179 +FPS=24.63, 法向力=3296.9014, 切向力X=9146.1543, 切向力Y=6416.7051 +FPS=24.46, 法向力=3111.7798, 切向力X=9301.8457, 切向力Y=6714.0171 +FPS=25.61, 法向力=5179.4321, 切向力X=11672.4922, 切向力Y=13278.9297 +FPS=24.34, 法向力=4749.1211, 切向力X=13984.6064, 切向力Y=16830.4609 +FPS=23.32, 法向力=4526.5029, 切向力X=14402.1758, 切向力Y=23033.6523 +stitch_feature_optimized: canvas out_w=438, out_h=463, x_min=-91.29, y_min=-105.96 +stitch_feature_optimized steps: brightness=0.000006s, geom=0.000005s (hit), reset=0.000325s, blend=0.002609s (9 tiles incl ref), finalize=0.000088s, total=0.003033s +FPS=24.57, 法向力=4998.0347, 切向力X=13069.4268, 切向力Y=27054.8965 +FPS=24.52, 法向力=4424.8638, 切向力X=12547.5264, 切向力Y=28998.9785 +FPS=19.69, 法向力=3941.2117, 切向力X=8110.7109, 切向力Y=21814.3203 +FPS=19.12, 法向力=3198.8027, 切向力X=6737.0127, 切向力Y=13839.4727 +FPS=19.22, 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y_min=-105.96 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000007s (hit), reset=0.000311s, blend=0.002409s (9 tiles incl ref), finalize=0.000057s, total=0.002788s +FPS=22.81, 法向力=3951.8501, 切向力X=867.8829, 切向力Y=1288.6426 +FPS=27.13, 法向力=3964.5322, 切向力X=821.0020, 切向力Y=1327.9058 +FPS=26.09, 法向力=4140.9053, 切向力X=100.7572, 切向力Y=1174.2721 +FPS=12.41, 法向力=3719.7183, 切向力X=311.4236, 切向力Y=1180.1444 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260604_100553.log b/examples/logs/qt_viewer_20260604_100553.log new file mode 100644 index 0000000..f6d192b --- /dev/null +++ b/examples/logs/qt_viewer_20260604_100553.log @@ -0,0 +1,462 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=35 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.52, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.89, 法向力=794.1373, 切向力X=-935.1539, 切向力Y=-636.4246 +FPS=25.32, 法向力=992.4286, 切向力X=-529.8073, 切向力Y=-671.2048 +FPS=23.28, 法向力=1196.8917, 切向力X=-368.3897, 切向力Y=-529.7546 +FPS=26.40, 法向力=1057.0574, 切向力X=-61.4659, 切向力Y=-168.3500 +FPS=26.67, 法向力=987.7740, 切向力X=144.6292, 切向力Y=-607.9470 +FPS=25.35, 法向力=1384.3416, 切向力X=-744.7689, 切向力Y=-346.2210 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 571, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 487, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 97, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=28.08, 法向力=1287.7651, 切向力X=-514.3758, 切向力Y=-558.2139 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 571, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 487, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 97, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=35.34, 法向力=1266.0493, 切向力X=-511.2614, 切向力Y=-459.3145 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 571, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 487, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 97, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=31.19, 法向力=1139.8347, 切向力X=12.3509, 切向力Y=-381.8934 +FPS=34.66, 法向力=1419.8256, 切向力X=-710.6827, 切向力Y=-516.7692 +FPS=25.90, 法向力=1186.2244, 切向力X=408.7386, 切向力Y=-738.6580 +FPS=26.69, 法向力=1153.0757, 切向力X=-302.5630, 切向力Y=-447.6505 +FPS=29.08, 法向力=1192.1135, 切向力X=-841.6604, 切向力Y=-540.8105 +FPS=29.11, 法向力=1188.4678, 切向力X=-836.0499, 切向力Y=-518.0234 +FPS=28.62, 法向力=1183.4355, 切向力X=-372.6264, 切向力Y=-1066.5977 +FPS=29.77, 法向力=738.4682, 切向力X=-447.3663, 切向力Y=-874.9387 +FPS=30.37, 法向力=1093.6229, 切向力X=-58.5176, 切向力Y=-359.7397 +FPS=28.99, 法向力=998.7201, 切向力X=850.1299, 切向力Y=-1042.9988 +FPS=28.99, 法向力=1007.5369, 切向力X=-156.9091, 切向力Y=-175.1086 +FPS=28.70, 法向力=965.9684, 切向力X=105.1438, 切向力Y=-902.6581 +FPS=28.54, 法向力=941.8405, 切向力X=-120.2677, 切向力Y=-131.1578 +FPS=29.29, 法向力=1142.2124, 切向力X=-898.1589, 切向力Y=-946.1702 +FPS=28.68, 法向力=915.6987, 切向力X=-335.7506, 切向力Y=-638.3961 +FPS=28.79, 法向力=1104.4067, 切向力X=-122.9886, 切向力Y=-775.5964 +FPS=29.03, 法向力=1141.5298, 切向力X=-225.2913, 切向力Y=-757.9441 +FPS=29.11, 法向力=1224.9780, 切向力X=-844.8031, 切向力Y=-300.6476 +FPS=28.98, 法向力=1187.6559, 切向力X=-272.2690, 切向力Y=-32.6262 +stitch_feature_optimized: canvas out_w=450, out_h=461, x_min=-100.97, y_min=-104.58 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000251s, blend=0.002240s (9 tiles incl ref), finalize=0.000060s, total=0.002557s +FPS=28.80, 法向力=1236.6099, 切向力X=-43.2021, 切向力Y=-168.5563 +FPS=27.92, 法向力=1115.0781, 切向力X=-345.2874, 切向力Y=-814.4995 +FPS=29.55, 法向力=1367.7031, 切向力X=-660.8699, 切向力Y=-510.7039 +FPS=28.47, 法向力=926.6304, 切向力X=-594.4211, 切向力Y=-684.0966 +FPS=28.98, 法向力=908.3433, 切向力X=-135.5555, 切向力Y=-389.4174 +FPS=29.15, 法向力=1313.0275, 切向力X=-265.9439, 切向力Y=20.5156 +FPS=28.77, 法向力=986.9360, 切向力X=-286.8777, 切向力Y=-764.9963 +FPS=30.26, 法向力=1234.7417, 切向力X=79.2300, 切向力Y=-1008.2868 +FPS=27.69, 法向力=959.3488, 切向力X=-806.1488, 切向力Y=-85.7415 +FPS=26.58, 法向力=932.8867, 切向力X=-53.7719, 切向力Y=-580.2509 +FPS=27.47, 法向力=1119.2507, 切向力X=646.6071, 切向力Y=-285.1441 +FPS=27.67, 法向力=972.4239, 切向力X=110.5446, 切向力Y=-769.5894 +FPS=28.16, 法向力=1206.7744, 切向力X=-728.5885, 切向力Y=-737.4819 +FPS=28.56, 法向力=1127.0907, 切向力X=-21.7076, 切向力Y=-823.4080 +FPS=28.99, 法向力=1213.2200, 切向力X=-304.1431, 切向力Y=-531.9914 +FPS=28.11, 法向力=912.1907, 切向力X=-522.8823, 切向力Y=-309.6789 +FPS=28.55, 法向力=1150.2976, 切向力X=-294.3701, 切向力Y=-821.3689 +FPS=28.25, 法向力=1119.0348, 切向力X=208.6041, 切向力Y=-803.2740 +FPS=28.06, 法向力=1039.2798, 切向力X=238.2701, 切向力Y=-256.4384 +FPS=28.10, 法向力=1360.8521, 切向力X=-235.7111, 切向力Y=-839.4484 +FPS=28.16, 法向力=1347.9067, 切向力X=-310.8950, 切向力Y=-715.4226 +FPS=27.69, 法向力=771.8419, 切向力X=313.5874, 切向力Y=-1099.1262 +FPS=28.93, 法向力=1142.5115, 切向力X=-195.0166, 切向力Y=-1210.9153 +FPS=27.86, 法向力=969.5844, 切向力X=-544.8594, 切向力Y=-810.6182 +FPS=26.90, 法向力=1151.1223, 切向力X=-157.9814, 切向力Y=-679.1858 +FPS=26.99, 法向力=1172.6512, 切向力X=420.7032, 切向力Y=-893.9124 +FPS=27.66, 法向力=753.3452, 切向力X=516.9423, 切向力Y=-561.7000 +FPS=27.28, 法向力=1249.5160, 切向力X=998.6055, 切向力Y=-1094.7356 +FPS=28.07, 法向力=1438.9550, 切向力X=1097.7834, 切向力Y=-587.3607 +FPS=27.26, 法向力=1450.5002, 切向力X=1098.8883, 切向力Y=-562.0344 +stitch_feature_optimized: canvas out_w=450, out_h=461, x_min=-100.97, y_min=-104.58 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000289s, blend=0.002313s (9 tiles incl ref), finalize=0.000097s, total=0.002706s +FPS=25.84, 法向力=1296.1624, 切向力X=617.2726, 切向力Y=-2273.5212 +FPS=28.43, 法向力=1506.1204, 切向力X=-1329.0911, 切向力Y=-4050.2720 +FPS=27.47, 法向力=1770.5243, 切向力X=-919.9777, 切向力Y=-7681.8540 +FPS=29.40, 法向力=2260.3025, 切向力X=-1509.1343, 切向力Y=-10331.0840 +FPS=27.31, 法向力=2811.4375, 切向力X=-2113.1616, 切向力Y=-12195.9941 +FPS=27.42, 法向力=2623.5461, 切向力X=-1828.8135, 切向力Y=-13666.4082 +FPS=26.94, 法向力=2831.1272, 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切向力Y=-6191.5020 +FPS=27.48, 法向力=3698.8804, 切向力X=-9033.6602, 切向力Y=-9251.9160 +FPS=26.08, 法向力=5151.3389, 切向力X=-11756.0566, 切向力Y=-12875.3535 +FPS=27.12, 法向力=5770.5928, 切向力X=-13465.8633, 切向力Y=-14555.8652 +FPS=26.99, 法向力=6760.0215, 切向力X=-16414.9688, 切向力Y=-15833.7002 +FPS=26.64, 法向力=7786.2212, 切向力X=-17795.3184, 切向力Y=-17710.8320 +FPS=28.37, 法向力=7591.7881, 切向力X=-17978.8828, 切向力Y=-17887.9219 +FPS=27.78, 法向力=7597.4189, 切向力X=-18827.7305, 切向力Y=-17633.7773 +FPS=28.13, 法向力=7560.7646, 切向力X=-18339.0234, 切向力Y=-16868.7539 +FPS=27.06, 法向力=7152.7090, 切向力X=-17209.8398, 切向力Y=-15429.9355 +FPS=27.83, 法向力=5444.1357, 切向力X=-9126.0664, 切向力Y=-10205.7100 +FPS=26.40, 法向力=4196.6631, 切向力X=-5950.3223, 切向力Y=-7450.8115 +FPS=25.44, 法向力=3055.2305, 切向力X=-4319.8188, 切向力Y=-5629.6807 +FPS=25.96, 法向力=2759.0371, 切向力X=-3969.3071, 切向力Y=-4794.5107 +FPS=27.31, 法向力=3085.0879, 切向力X=-3935.8896, 切向力Y=-4336.5322 +FPS=26.96, 法向力=3179.2559, 切向力X=-3742.0156, 切向力Y=-4258.3638 +FPS=26.48, 法向力=3021.9944, 切向力X=-3841.9263, 切向力Y=-3971.0615 +FPS=25.78, 法向力=3009.9988, 切向力X=-3810.1377, 切向力Y=-3967.5103 +FPS=25.31, 法向力=2395.6318, 切向力X=-2846.7705, 切向力Y=-4764.5132 +FPS=24.86, 法向力=2908.0066, 切向力X=-3005.5640, 切向力Y=-4019.9773 +FPS=25.16, 法向力=2523.8447, 切向力X=-2625.8403, 切向力Y=-4291.5918 +FPS=25.89, 法向力=2409.8003, 切向力X=-2571.3550, 切向力Y=-3502.6182 +FPS=26.98, 法向力=2793.5996, 切向力X=-3163.8398, 切向力Y=-3630.2156 +stitch_feature_optimized: canvas out_w=450, out_h=461, x_min=-100.97, y_min=-104.58 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000308s, blend=0.002304s (9 tiles incl ref), finalize=0.000068s, total=0.002686s +FPS=26.38, 法向力=2725.9050, 切向力X=-2827.8496, 切向力Y=-3880.5413 +FPS=26.43, 法向力=2581.1626, 切向力X=-2617.9390, 切向力Y=-3186.0342 +FPS=25.24, 法向力=2769.7183, 切向力X=-2362.4529, 切向力Y=-3755.5518 +FPS=27.44, 法向力=2400.9780, 切向力X=-2445.3965, 切向力Y=-3356.1638 +FPS=25.07, 法向力=2461.6313, 切向力X=-2339.2751, 切向力Y=-3600.8247 +FPS=25.87, 法向力=2688.7065, 切向力X=-2178.7651, 切向力Y=-3559.6953 +FPS=25.98, 法向力=2419.6785, 切向力X=-2220.1316, 切向力Y=-3471.7246 +FPS=26.78, 法向力=2448.5259, 切向力X=-2507.7712, 切向力Y=-3068.2141 +FPS=24.99, 法向力=2695.2473, 切向力X=-2055.9937, 切向力Y=-3310.6497 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260604_100705.log b/examples/logs/qt_viewer_20260604_100705.log new file mode 100644 index 0000000..00f56ce --- /dev/null +++ b/examples/logs/qt_viewer_20260604_100705.log @@ -0,0 +1,1164 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.23, 法向力=966.2745, 切向力X=1892.4065, 切向力Y=367.1840 +FPS=27.69, 法向力=1150.4940, 切向力X=1613.9683, 切向力Y=917.8741 +FPS=26.61, 法向力=1163.7455, 切向力X=1524.6936, 切向力Y=987.0557 +FPS=29.29, 法向力=1008.5602, 切向力X=1709.2384, 切向力Y=0.5429 +FPS=30.20, 法向力=773.0079, 切向力X=1288.1068, 切向力Y=350.1356 +FPS=30.89, 法向力=1169.9419, 切向力X=1760.7775, 切向力Y=-190.0731 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=32.59, 法向力=1659.1462, 切向力X=1782.9305, 切向力Y=-209.9422 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=40.84, 法向力=1739.2192, 切向力X=1883.9888, 切向力Y=-234.3533 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=36.83, 法向力=1356.3617, 切向力X=788.6493, 切向力Y=603.1779 +FPS=39.03, 法向力=1208.7832, 切向力X=1713.6775, 切向力Y=576.1670 +FPS=30.84, 法向力=1146.7540, 切向力X=1489.8319, 切向力Y=21.3736 +FPS=30.97, 法向力=942.6584, 切向力X=1092.2233, 切向力Y=191.1228 +FPS=29.74, 法向力=1533.0942, 切向力X=816.7836, 切向力Y=-37.1431 +FPS=30.50, 法向力=1289.5857, 切向力X=1539.3676, 切向力Y=214.4085 +FPS=31.20, 法向力=1255.4878, 切向力X=206.5658, 切向力Y=-203.2538 +FPS=30.44, 法向力=1635.9243, 切向力X=1426.9143, 切向力Y=160.2513 +FPS=30.10, 法向力=886.7595, 切向力X=751.5906, 切向力Y=-457.2617 +FPS=30.59, 法向力=1056.5363, 切向力X=1297.9856, 切向力Y=271.5348 +FPS=31.14, 法向力=1398.5195, 切向力X=1298.2166, 切向力Y=582.5876 +FPS=29.87, 法向力=899.7842, 切向力X=1507.2505, 切向力Y=697.6522 +FPS=30.52, 法向力=1470.6729, 切向力X=1748.8611, 切向力Y=-408.6877 +FPS=30.41, 法向力=1014.4023, 切向力X=1209.4537, 切向力Y=-95.9386 +FPS=29.55, 法向力=1081.9908, 切向力X=1018.3506, 切向力Y=160.5289 +FPS=28.71, 法向力=1440.5188, 切向力X=946.6180, 切向力Y=764.4330 +FPS=28.53, 法向力=1103.0520, 切向力X=646.6458, 切向力Y=130.9698 +FPS=30.23, 法向力=1377.1877, 切向力X=1384.6447, 切向力Y=445.8961 +FPS=30.91, 法向力=1121.1437, 切向力X=997.7424, 切向力Y=276.4929 +stitch_feature_optimized: canvas out_w=438, out_h=462, x_min=-94.30, y_min=-103.70 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000243s, blend=0.002221s (9 tiles incl ref), finalize=0.000062s, total=0.002533s +FPS=30.03, 法向力=1277.5953, 切向力X=1698.8428, 切向力Y=328.9460 +FPS=29.03, 法向力=1249.4825, 切向力X=1358.5742, 切向力Y=724.1113 +FPS=31.26, 法向力=1352.5942, 切向力X=1373.5850, 切向力Y=154.5067 +FPS=32.08, 法向力=1144.7329, 切向力X=1716.2881, 切向力Y=369.2296 +FPS=33.56, 法向力=1144.7571, 切向力X=1156.9132, 切向力Y=850.9789 +FPS=33.11, 法向力=1132.1965, 切向力X=1262.9255, 切向力Y=764.3459 +FPS=31.70, 法向力=1254.9446, 切向力X=549.1342, 切向力Y=-325.3584 +FPS=32.82, 法向力=1237.2042, 切向力X=1835.8481, 切向力Y=-250.9240 +FPS=34.20, 法向力=1409.0439, 切向力X=1895.5166, 切向力Y=797.4730 +FPS=33.13, 法向力=1364.9323, 切向力X=1480.9932, 切向力Y=230.1726 +FPS=31.97, 法向力=1306.2880, 切向力X=2208.7639, 切向力Y=-95.2255 +FPS=30.49, 法向力=1054.8290, 切向力X=1740.3541, 切向力Y=164.6724 +FPS=30.78, 法向力=1110.3522, 切向力X=1652.8712, 切向力Y=-139.4447 +FPS=29.92, 法向力=1290.6912, 切向力X=1776.9071, 切向力Y=117.7857 +FPS=31.72, 法向力=938.1193, 切向力X=1513.4333, 切向力Y=67.9375 +FPS=31.76, 法向力=947.3104, 切向力X=1519.7378, 切向力Y=419.0270 +FPS=32.60, 法向力=1336.7903, 切向力X=1900.6675, 切向力Y=530.8700 +FPS=32.60, 法向力=1069.9739, 切向力X=1365.4924, 切向力Y=-68.3783 +FPS=33.46, 法向力=1026.3207, 切向力X=1195.2844, 切向力Y=72.6247 +FPS=33.46, 法向力=1073.0325, 切向力X=1603.5801, 切向力Y=409.0948 +FPS=32.90, 法向力=1478.0645, 切向力X=1356.8433, 切向力Y=-238.9308 +FPS=32.52, 法向力=1553.9742, 切向力X=1392.1600, 切向力Y=-320.2247 +FPS=34.54, 法向力=1409.2817, 切向力X=1288.4382, 切向力Y=293.5247 +FPS=30.53, 法向力=1135.4490, 切向力X=974.2375, 切向力Y=-22.1888 +FPS=30.43, 法向力=910.6005, 切向力X=1485.6086, 切向力Y=327.5174 +FPS=30.67, 法向力=1128.5911, 切向力X=953.9968, 切向力Y=166.7011 +FPS=30.88, 法向力=1542.8291, 切向力X=2095.6477, 切向力Y=2.1102 +FPS=31.15, 法向力=1113.9595, 切向力X=1106.9688, 切向力Y=-483.6538 +FPS=31.21, 法向力=1070.5955, 切向力X=1271.2882, 切向力Y=-258.5517 +FPS=32.10, 法向力=1126.2836, 切向力X=1709.8953, 切向力Y=84.1932 +stitch_feature_optimized: canvas out_w=438, out_h=462, x_min=-94.30, y_min=-103.70 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000251s, blend=0.002120s (9 tiles incl ref), finalize=0.000058s, total=0.002435s +FPS=30.86, 法向力=854.9539, 切向力X=1000.5186, 切向力Y=8.5869 +FPS=30.00, 法向力=1062.9351, 切向力X=997.1898, 切向力Y=-469.5479 +FPS=31.16, 法向力=1037.5994, 切向力X=810.5840, 切向力Y=-21.5119 +FPS=30.98, 法向力=832.3230, 切向力X=2129.9658, 切向力Y=313.3614 +FPS=30.81, 法向力=1413.3328, 切向力X=2151.1086, 切向力Y=-22.8762 +FPS=30.51, 法向力=1120.4305, 切向力X=1788.3608, 切向力Y=197.3393 +FPS=31.44, 法向力=1439.1960, 切向力X=783.7034, 切向力Y=-67.3557 +FPS=32.05, 法向力=1029.1127, 切向力X=345.5079, 切向力Y=-943.9857 +FPS=31.23, 法向力=1074.5128, 切向力X=-61.9097, 切向力Y=-713.0020 +FPS=31.07, 法向力=984.4348, 切向力X=135.4543, 切向力Y=-1900.0566 +FPS=30.77, 法向力=1029.7722, 切向力X=24.8157, 切向力Y=-1915.1520 +FPS=31.06, 法向力=1053.9883, 切向力X=460.7522, 切向力Y=-2806.6370 +FPS=31.23, 法向力=1339.9250, 切向力X=841.4116, 切向力Y=-4199.5146 +FPS=31.22, 法向力=1749.9685, 切向力X=1337.1860, 切向力Y=-4734.1348 +FPS=29.57, 法向力=2163.4927, 切向力X=1190.8906, 切向力Y=-5535.0332 +FPS=30.13, 法向力=2055.3740, 切向力X=1291.3413, 切向力Y=-5585.2114 +FPS=28.06, 法向力=2222.4067, 切向力X=969.3198, 切向力Y=-6154.8022 +FPS=28.21, 法向力=2472.1904, 切向力X=538.1047, 切向力Y=-7046.1338 +FPS=28.87, 法向力=2325.7007, 切向力X=534.7600, 切向力Y=-7490.0381 +FPS=29.00, 法向力=2555.8418, 切向力X=149.6476, 切向力Y=-8502.4443 +FPS=28.99, 法向力=2527.9978, 切向力X=-424.2017, 切向力Y=-8884.1455 +FPS=29.28, 法向力=2849.7700, 切向力X=56.1188, 切向力Y=-9223.2510 +FPS=28.81, 法向力=2790.2827, 切向力X=-760.8751, 切向力Y=-9470.6094 +FPS=28.22, 法向力=3054.9746, 切向力X=-1568.6523, 切向力Y=-9816.8525 +FPS=27.38, 法向力=3089.6064, 切向力X=-1633.3770, 切向力Y=-9283.9316 +FPS=28.89, 法向力=3162.8276, 切向力X=-827.6537, 切向力Y=-9370.2891 +FPS=28.98, 法向力=3191.4526, 切向力X=-438.3036, 切向力Y=-9122.6523 +FPS=29.25, 法向力=3689.5264, 切向力X=-275.8466, 切向力Y=-9077.5566 +FPS=27.84, 法向力=3065.7783, 切向力X=-110.5073, 切向力Y=-10694.5850 +FPS=27.39, 法向力=2734.4299, 切向力X=-520.2998, 切向力Y=-11022.7422 +stitch_feature_optimized: canvas out_w=438, out_h=462, x_min=-94.30, y_min=-103.70 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000254s, blend=0.002150s (9 tiles incl ref), finalize=0.000078s, total=0.002488s +FPS=28.98, 法向力=3457.9260, 切向力X=-332.2869, 切向力Y=-11684.5713 +FPS=28.35, 法向力=3619.1807, 切向力X=210.1978, 切向力Y=-12014.7617 +FPS=29.40, 法向力=4242.7637, 切向力X=-446.9450, 切向力Y=-12362.6641 +FPS=27.79, 法向力=3996.7727, 切向力X=239.1291, 切向力Y=-13182.6289 +FPS=27.79, 法向力=3841.9495, 切向力X=-29.8709, 切向力Y=-13074.0781 +FPS=29.10, 法向力=4552.7295, 切向力X=514.8259, 切向力Y=-14743.4121 +FPS=29.75, 法向力=4568.0312, 切向力X=433.9047, 切向力Y=-14759.0029 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切向力X=24815.1289, 切向力Y=12570.6172 +FPS=27.58, 法向力=8910.1650, 切向力X=30316.0820, 切向力Y=12659.1846 +FPS=27.02, 法向力=9272.6045, 切向力X=33437.0508, 切向力Y=10082.1553 +stitch_feature_optimized: canvas out_w=438, out_h=462, x_min=-94.30, y_min=-103.70 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000254s, blend=0.003083s (9 tiles incl ref), finalize=0.000072s, total=0.003416s +FPS=25.64, 法向力=8440.4600, 切向力X=35240.4180, 切向力Y=6074.9570 +FPS=27.30, 法向力=8540.2266, 切向力X=21132.6602, 切向力Y=-8656.0703 +FPS=27.80, 法向力=8546.1846, 切向力X=21417.8438, 切向力Y=-8489.2578 +FPS=27.62, 法向力=9863.7139, 切向力X=4689.3848, 切向力Y=-11914.1992 +FPS=26.74, 法向力=10853.5479, 切向力X=-2827.8743, 切向力Y=-9938.5645 +FPS=27.08, 法向力=10969.4385, 切向力X=-8425.7588, 切向力Y=-9075.8613 +FPS=27.98, 法向力=11237.2959, 切向力X=-10038.8379, 切向力Y=-5284.5576 +FPS=25.98, 法向力=10758.5625, 切向力X=-4790.8066, 切向力Y=-1836.2729 +FPS=27.14, 法向力=9787.5146, 切向力X=57.1968, 切向力Y=2064.6174 +FPS=26.59, 法向力=7883.8862, 切向力X=1067.8030, 切向力Y=6428.0483 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切向力Y=-421.4608 +FPS=26.41, 法向力=5347.8848, 切向力X=2365.1062, 切向力Y=-1112.3909 +FPS=26.53, 法向力=5720.7734, 切向力X=2263.6382, 切向力Y=-424.7790 +FPS=26.69, 法向力=5739.6279, 切向力X=2443.7891, 切向力Y=297.0874 +FPS=27.16, 法向力=6100.4292, 切向力X=2127.5007, 切向力Y=-572.3726 +FPS=27.12, 法向力=5604.9790, 切向力X=2867.9275, 切向力Y=-1215.1038 +FPS=27.60, 法向力=5608.5615, 切向力X=2842.1809, 切向力Y=-1224.3774 +FPS=26.73, 法向力=5546.7397, 切向力X=2194.4414, 切向力Y=-986.1323 +FPS=25.53, 法向力=5498.8589, 切向力X=2709.4531, 切向力Y=-649.1686 +FPS=26.33, 法向力=5816.2207, 切向力X=2107.4392, 切向力Y=-83.3297 +FPS=26.33, 法向力=5662.9785, 切向力X=2454.1619, 切向力Y=-936.3742 +FPS=26.28, 法向力=5350.3950, 切向力X=2809.8545, 切向力Y=-757.9686 +FPS=25.69, 法向力=5909.8662, 切向力X=2487.2996, 切向力Y=-499.5448 +FPS=26.31, 法向力=5333.2881, 切向力X=2104.5205, 切向力Y=-781.2257 +FPS=25.72, 法向力=5602.9888, 切向力X=1804.3724, 切向力Y=-52.7757 +FPS=25.17, 法向力=5677.3403, 切向力X=2396.9082, 切向力Y=-410.0688 +FPS=26.89, 法向力=5718.8398, 切向力X=2701.6470, 切向力Y=-362.4359 +FPS=25.69, 法向力=5684.1816, 切向力X=2564.3940, 切向力Y=405.7087 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切向力Y=-541.5039 +FPS=26.83, 法向力=5331.1396, 切向力X=2175.3689, 切向力Y=-379.7848 +FPS=25.68, 法向力=5222.8359, 切向力X=1748.3396, 切向力Y=-1085.0986 +FPS=25.09, 法向力=5091.5840, 切向力X=2635.1624, 切向力Y=-1158.9209 +Sensor disconnected. +⏸ 已暂停 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.58, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=41.81, 法向力=1026.6118, 切向力X=248.6259, 切向力Y=-961.0760 +FPS=27.73, 法向力=935.6345, 切向力X=-311.8519, 切向力Y=72.6429 +FPS=29.61, 法向力=734.6211, 切向力X=257.6057, 切向力Y=162.5208 +FPS=29.03, 法向力=961.0143, 切向力X=-129.5702, 切向力Y=-105.6590 +FPS=30.92, 法向力=1182.0559, 切向力X=702.1665, 切向力Y=857.9153 +FPS=31.44, 法向力=984.4667, 切向力X=-195.3201, 切向力Y=480.7804 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=33.16, 法向力=1113.8872, 切向力X=343.5121, 切向力Y=-647.3004 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=39.79, 法向力=868.8948, 切向力X=-402.3667, 切向力Y=-89.5756 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=37.12, 法向力=1050.1564, 切向力X=-358.2747, 切向力Y=427.0164 +FPS=40.16, 法向力=1032.4087, 切向力X=-303.6407, 切向力Y=464.1874 +FPS=30.87, 法向力=997.7194, 切向力X=-660.4798, 切向力Y=588.7769 +FPS=30.47, 法向力=1214.4675, 切向力X=389.1367, 切向力Y=98.3622 +FPS=31.18, 法向力=1286.7178, 切向力X=437.9034, 切向力Y=218.8477 +FPS=30.76, 法向力=937.6360, 切向力X=368.0595, 切向力Y=-17.9986 +FPS=30.17, 法向力=968.1047, 切向力X=14.8378, 切向力Y=71.8862 +FPS=31.04, 法向力=992.1964, 切向力X=-469.8807, 切向力Y=-311.6156 +FPS=30.13, 法向力=979.9764, 切向力X=555.3420, 切向力Y=-368.7891 +FPS=30.71, 法向力=1139.7609, 切向力X=83.2436, 切向力Y=-197.8593 +FPS=30.42, 法向力=1056.0776, 切向力X=465.3692, 切向力Y=826.5282 +FPS=28.57, 法向力=1263.5872, 切向力X=400.7336, 切向力Y=-145.4410 +FPS=27.97, 法向力=1122.2750, 切向力X=-24.5143, 切向力Y=35.2852 +FPS=28.98, 法向力=1336.5596, 切向力X=-229.6132, 切向力Y=-58.0468 +FPS=27.84, 法向力=1201.2864, 切向力X=316.1496, 切向力Y=288.8555 +FPS=28.68, 法向力=981.7060, 切向力X=-475.5554, 切向力Y=-12.7149 +FPS=28.08, 法向力=952.4611, 切向力X=-389.6804, 切向力Y=275.8143 +FPS=29.85, 法向力=1075.6371, 切向力X=-728.4991, 切向力Y=-335.1678 +FPS=30.59, 法向力=1217.0603, 切向力X=-247.3044, 切向力Y=-333.3850 +stitch_feature_optimized: canvas out_w=439, out_h=464, x_min=-91.83, y_min=-107.67 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000243s, blend=0.002095s (9 tiles incl ref), finalize=0.000060s, total=0.002403s +FPS=32.39, 法向力=829.1661, 切向力X=-811.9370, 切向力Y=242.8822 +FPS=32.87, 法向力=868.5474, 切向力X=-603.2222, 切向力Y=50.3674 +FPS=31.14, 法向力=1074.8550, 切向力X=-573.9734, 切向力Y=178.3227 +FPS=32.38, 法向力=1140.1572, 切向力X=305.3158, 切向力Y=606.5681 +FPS=29.46, 法向力=962.4711, 切向力X=-305.1429, 切向力Y=-15.1631 +FPS=42.64, 法向力=1063.7606, 切向力X=7.9540, 切向力Y=163.7533 +FPS=32.64, 法向力=827.8740, 切向力X=-220.4907, 切向力Y=165.3286 +FPS=30.64, 法向力=1080.4973, 切向力X=176.0489, 切向力Y=-133.4917 +追踪器已重置。 +FPS=29.39, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=35.21, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=31.95, 法向力=802.4176, 切向力X=197.9439, 切向力Y=-291.9526 +FPS=32.27, 法向力=840.7422, 切向力X=-12.0918, 切向力Y=-124.0855 +FPS=32.91, 法向力=995.4708, 切向力X=65.6951, 切向力Y=-878.7603 +FPS=31.98, 法向力=923.9307, 切向力X=-914.1323, 切向力Y=-606.9073 +FPS=32.25, 法向力=964.7889, 切向力X=-373.0493, 切向力Y=-253.9819 +FPS=31.78, 法向力=798.9195, 切向力X=224.7606, 切向力Y=-217.3269 +FPS=32.52, 法向力=971.0176, 切向力X=-814.0548, 切向力Y=-596.8187 +FPS=31.34, 法向力=1271.3893, 切向力X=-493.5098, 切向力Y=-153.0002 +FPS=31.47, 法向力=1056.1990, 切向力X=235.3297, 切向力Y=-428.7656 +FPS=32.46, 法向力=686.1829, 切向力X=-187.7558, 切向力Y=-351.7930 +FPS=31.32, 法向力=749.8724, 切向力X=-493.8750, 切向力Y=-521.9816 +FPS=31.65, 法向力=795.6578, 切向力X=-636.3268, 切向力Y=-301.4727 +FPS=30.87, 法向力=1222.5032, 切向力X=-672.3355, 切向力Y=-126.8598 +FPS=31.41, 法向力=902.9967, 切向力X=-383.8711, 切向力Y=-429.5606 +FPS=30.38, 法向力=1019.6274, 切向力X=-24.3981, 切向力Y=-513.0076 +FPS=30.97, 法向力=853.7932, 切向力X=-150.5986, 切向力Y=296.2697 +FPS=30.80, 法向力=942.7015, 切向力X=-933.6164, 切向力Y=-1303.5272 +FPS=31.59, 法向力=932.2463, 切向力X=-292.2137, 切向力Y=-151.5169 +FPS=31.17, 法向力=855.2944, 切向力X=470.1660, 切向力Y=211.4237 +FPS=30.90, 法向力=1098.0891, 切向力X=-253.8344, 切向力Y=-116.7510 +stitch_feature_optimized: canvas out_w=439, out_h=464, x_min=-91.83, y_min=-107.67 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000248s, blend=0.002212s (9 tiles incl ref), finalize=0.000066s, total=0.002532s +FPS=30.54, 法向力=1201.7969, 切向力X=-167.7927, 切向力Y=-558.5292 +FPS=32.40, 法向力=936.3757, 切向力X=-497.2609, 切向力Y=306.1818 +FPS=33.48, 法向力=1003.8983, 切向力X=-609.6937, 切向力Y=337.2016 +FPS=31.58, 法向力=829.5092, 切向力X=-395.1907, 切向力Y=-567.4233 +FPS=33.78, 法向力=1039.2981, 切向力X=-556.8394, 切向力Y=-461.9435 +FPS=32.59, 法向力=1056.7888, 切向力X=-4.7828, 切向力Y=-386.3999 +FPS=32.98, 法向力=760.4095, 切向力X=-108.3084, 切向力Y=126.4513 +FPS=32.45, 法向力=1030.1855, 切向力X=-458.5577, 切向力Y=-3.8546 +FPS=32.10, 法向力=876.7340, 切向力X=-82.9102, 切向力Y=-573.9630 +FPS=32.02, 法向力=868.0758, 切向力X=281.6249, 切向力Y=-43.1203 +FPS=31.76, 法向力=1001.8777, 切向力X=-517.1071, 切向力Y=-651.7032 +FPS=31.86, 法向力=1045.4355, 切向力X=-257.7027, 切向力Y=-154.3108 +FPS=30.62, 法向力=1153.1495, 切向力X=152.7132, 切向力Y=-524.2812 +FPS=31.55, 法向力=973.5833, 切向力X=-47.2650, 切向力Y=269.1733 +FPS=31.89, 法向力=945.3665, 切向力X=-44.4162, 切向力Y=317.1363 +追踪器已重置。 +FPS=32.57, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=33.64, 法向力=968.3843, 切向力X=-35.1174, 切向力Y=-386.7131 +FPS=32.68, 法向力=1180.0208, 切向力X=14.2931, 切向力Y=-70.4945 +FPS=31.82, 法向力=1140.9473, 切向力X=369.8701, 切向力Y=-234.5714 +FPS=31.11, 法向力=906.1584, 切向力X=247.8236, 切向力Y=-504.4041 +FPS=32.25, 法向力=1043.0210, 切向力X=344.0130, 切向力Y=-448.1005 +FPS=32.48, 法向力=955.5916, 切向力X=965.7209, 切向力Y=-288.2060 +FPS=32.00, 法向力=1070.7032, 切向力X=391.1069, 切向力Y=-702.5822 +追踪器已重置。 +FPS=30.55, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=33.92, 法向力=1078.5673, 切向力X=574.2051, 切向力Y=655.0587 +FPS=31.40, 法向力=829.3884, 切向力X=310.9261, 切向力Y=216.4657 +FPS=29.85, 法向力=1104.7686, 切向力X=1158.7251, 切向力Y=375.0460 +FPS=30.92, 法向力=1140.2902, 切向力X=1234.3004, 切向力Y=335.7471 +FPS=33.75, 法向力=1346.5068, 切向力X=64.3831, 切向力Y=-46.8517 +FPS=30.82, 法向力=1357.9872, 切向力X=69.9699, 切向力Y=-73.0027 +追踪器已重置。 +stitch_feature_optimized: canvas out_w=439, out_h=464, x_min=-91.83, y_min=-107.67 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000249s, blend=0.002185s (9 tiles incl ref), finalize=0.000060s, total=0.002500s +FPS=29.78, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=35.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=31.95, 法向力=1232.7380, 切向力X=-576.6428, 切向力Y=-784.1512 +FPS=29.56, 法向力=850.3961, 切向力X=-343.1693, 切向力Y=-304.6810 +FPS=30.01, 法向力=998.4285, 切向力X=337.7834, 切向力Y=-515.4839 +FPS=29.28, 法向力=1062.8594, 切向力X=5.5432, 切向力Y=-67.2911 +FPS=31.02, 法向力=838.2848, 切向力X=354.0237, 切向力Y=-423.1187 +FPS=32.27, 法向力=831.4528, 切向力X=301.0577, 切向力Y=-412.6240 +FPS=31.17, 法向力=923.0046, 切向力X=-1149.0157, 切向力Y=-519.4715 +FPS=31.01, 法向力=796.6818, 切向力X=-89.0539, 切向力Y=449.1966 +FPS=31.56, 法向力=728.0012, 切向力X=-159.4457, 切向力Y=99.8993 +FPS=31.66, 法向力=851.5621, 切向力X=-932.4803, 切向力Y=-191.6983 +FPS=30.70, 法向力=1033.6964, 切向力X=-67.2565, 切向力Y=-529.0212 +FPS=30.18, 法向力=966.8623, 切向力X=54.0317, 切向力Y=-649.9883 +FPS=30.05, 法向力=1096.1318, 切向力X=-220.3859, 切向力Y=-828.9666 +FPS=29.27, 法向力=1061.7300, 切向力X=-277.2796, 切向力Y=-1300.4248 +FPS=29.02, 法向力=1243.0759, 切向力X=115.0552, 切向力Y=-732.3147 +FPS=29.22, 法向力=907.9780, 切向力X=-659.9429, 切向力Y=204.7918 +FPS=30.46, 法向力=1087.4426, 切向力X=350.5583, 切向力Y=-649.1835 +FPS=28.84, 法向力=919.2205, 切向力X=-108.3228, 切向力Y=-415.3491 +FPS=28.17, 法向力=872.6022, 切向力X=-651.7359, 切向力Y=-902.7119 +FPS=27.96, 法向力=837.5128, 切向力X=0.7569, 切向力Y=321.1204 +FPS=28.25, 法向力=971.7407, 切向力X=-107.3971, 切向力Y=304.2094 +FPS=30.25, 法向力=1001.6265, 切向力X=-177.4998, 切向力Y=-277.7632 +FPS=29.39, 法向力=1534.1766, 切向力X=-656.1940, 切向力Y=-1396.7361 +FPS=28.43, 法向力=1516.6321, 切向力X=80.4477, 切向力Y=-607.3438 +FPS=27.66, 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法向力=1091.6434, 切向力X=-30.4194, 切向力Y=-182.7382 +FPS=25.33, 法向力=1087.4427, 切向力X=139.2154, 切向力Y=-419.6482 +FPS=23.41, 法向力=1067.3018, 切向力X=618.5771, 切向力Y=-42.0698 +FPS=23.02, 法向力=1151.8979, 切向力X=133.7462, 切向力Y=-313.6887 +FPS=25.12, 法向力=997.1248, 切向力X=-206.7648, 切向力Y=-20.7797 +FPS=25.20, 法向力=712.4250, 切向力X=1195.0144, 切向力Y=561.0529 +FPS=26.16, 法向力=1073.4321, 切向力X=-100.4990, 切向力Y=516.1746 +FPS=26.01, 法向力=996.9167, 切向力X=101.1141, 切向力Y=198.1426 +FPS=25.05, 法向力=1035.4446, 切向力X=504.1466, 切向力Y=3.1643 +FPS=26.69, 法向力=1011.7062, 切向力X=505.7272, 切向力Y=109.6064 +FPS=25.47, 法向力=1195.9312, 切向力X=135.0152, 切向力Y=-543.1611 +stitch_feature_optimized: canvas out_w=439, out_h=464, x_min=-91.83, y_min=-107.67 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000310s, blend=0.002332s (9 tiles incl ref), finalize=0.000072s, total=0.002723s +FPS=25.37, 法向力=1356.1729, 切向力X=-123.3566, 切向力Y=-166.8337 +FPS=25.80, 法向力=1131.9680, 切向力X=465.8965, 切向力Y=348.6208 +FPS=25.95, 法向力=852.2931, 切向力X=-202.1878, 切向力Y=-12.8868 +FPS=25.92, 法向力=836.6130, 切向力X=138.3035, 切向力Y=-100.8161 +FPS=25.05, 法向力=883.7343, 切向力X=235.2830, 切向力Y=-30.1370 +FPS=24.87, 法向力=782.3688, 切向力X=213.7739, 切向力Y=-89.5969 +FPS=25.23, 法向力=859.6226, 切向力X=51.8602, 切向力Y=-214.6697 +FPS=26.61, 法向力=1186.0775, 切向力X=715.6406, 切向力Y=-395.0897 +FPS=27.03, 法向力=990.2306, 切向力X=-187.2435, 切向力Y=-500.3789 +FPS=11.23, 法向力=897.6336, 切向力X=-497.1008, 切向力Y=67.5725 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260604_150844.log b/examples/logs/qt_viewer_20260604_150844.log new file mode 100644 index 0000000..985b721 --- /dev/null +++ b/examples/logs/qt_viewer_20260604_150844.log @@ -0,0 +1,370 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=15 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=1.39, 法向力=1300.5416, 切向力X=639.3121, 切向力Y=-492.0761 +FPS=25.37, 法向力=1049.5612, 切向力X=78.1025, 切向力Y=-574.9502 +FPS=29.04, 法向力=1046.5022, 切向力X=-15.7695, 切向力Y=-535.3309 +FPS=28.33, 法向力=1031.3364, 切向力X=397.7484, 切向力Y=-396.8019 +FPS=30.18, 法向力=1430.0872, 切向力X=556.1816, 切向力Y=-669.1090 +FPS=30.74, 法向力=1488.6370, 切向力X=575.5324, 切向力Y=-691.6202 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=23.99, 法向力=1408.9989, 切向力X=29.9545, 切向力Y=-197.9124 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=43.73, 法向力=1439.4191, 切向力X=38.4329, 切向力Y=-122.4378 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=37.42, 法向力=1447.1239, 切向力X=42.8510, 切向力Y=-135.5808 +FPS=39.56, 法向力=1336.9080, 切向力X=1158.8008, 切向力Y=-393.5752 +FPS=31.93, 法向力=1334.5621, 切向力X=1201.7415, 切向力Y=-424.3592 +FPS=31.69, 法向力=1291.1079, 切向力X=808.2828, 切向力Y=-619.7622 +FPS=31.93, 法向力=1305.8420, 切向力X=724.1106, 切向力Y=-679.8158 +FPS=31.51, 法向力=1238.8959, 切向力X=478.9674, 切向力Y=-23.5974 +FPS=32.75, 法向力=1223.0986, 切向力X=415.3727, 切向力Y=74.6869 +FPS=31.67, 法向力=1480.2441, 切向力X=950.1063, 切向力Y=-256.1216 +FPS=31.45, 法向力=1500.0143, 切向力X=946.6663, 切向力Y=-215.9435 +FPS=31.01, 法向力=1012.6644, 切向力X=711.9000, 切向力Y=208.5867 +FPS=32.44, 法向力=1024.1342, 切向力X=704.9757, 切向力Y=188.7054 +FPS=31.74, 法向力=1338.1685, 切向力X=862.1273, 切向力Y=-408.5055 +FPS=33.98, 法向力=1385.2473, 切向力X=950.3014, 切向力Y=-361.4501 +FPS=32.57, 法向力=1357.1431, 切向力X=949.1664, 切向力Y=-380.2489 +FPS=29.95, 法向力=1459.5867, 切向力X=798.4243, 切向力Y=-143.5978 +FPS=33.58, 法向力=1434.2419, 切向力X=642.1395, 切向力Y=-68.8250 +FPS=30.27, 法向力=1506.3625, 切向力X=56.0306, 切向力Y=279.4070 +FPS=32.71, 法向力=1538.0319, 切向力X=55.3725, 切向力Y=280.9850 +FPS=29.77, 法向力=1296.0952, 切向力X=724.5011, 切向力Y=317.7646 +stitch_feature_optimized: canvas out_w=486, out_h=421, x_min=-156.09, y_min=-82.83 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000292s, blend=0.002438s (9 tiles incl ref), finalize=0.000059s, total=0.002796s +FPS=31.83, 法向力=1231.2334, 切向力X=706.4830, 切向力Y=392.9457 +FPS=28.95, 法向力=1506.3723, 切向力X=722.7809, 切向力Y=-271.2715 +FPS=31.56, 法向力=1562.4739, 切向力X=768.5718, 切向力Y=-288.5057 +FPS=29.84, 法向力=1254.6584, 切向力X=179.7155, 切向力Y=-673.1594 +FPS=31.70, 法向力=1255.7123, 切向力X=125.8934, 切向力Y=-695.8734 +FPS=29.21, 法向力=1238.8916, 切向力X=480.8157, 切向力Y=13.5512 +FPS=33.92, 法向力=1253.5520, 切向力X=503.4850, 切向力Y=65.0355 +FPS=32.81, 法向力=1215.0612, 切向力X=489.1711, 切向力Y=-1.9539 +FPS=32.50, 法向力=1501.6243, 切向力X=-199.1010, 切向力Y=-67.2650 +FPS=31.14, 法向力=1522.4830, 切向力X=-162.7098, 切向力Y=11.9306 +FPS=31.64, 法向力=1464.4691, 切向力X=172.8141, 切向力Y=54.3266 +FPS=31.16, 法向力=1298.9558, 切向力X=-162.8923, 切向力Y=-476.3685 +FPS=31.95, 法向力=1318.0044, 切向力X=-209.9615, 切向力Y=-470.5950 +FPS=31.39, 法向力=1304.7432, 切向力X=-194.5302, 切向力Y=-465.0598 +FPS=32.25, 法向力=1127.9519, 切向力X=458.5338, 切向力Y=-427.4418 +FPS=31.47, 法向力=1128.3054, 切向力X=425.6811, 切向力Y=-471.5160 +FPS=30.74, 法向力=1337.4163, 切向力X=825.9747, 切向力Y=131.9215 +FPS=31.17, 法向力=1333.0748, 切向力X=820.8021, 切向力Y=67.6923 +FPS=30.98, 法向力=1021.7622, 切向力X=114.9280, 切向力Y=-316.7783 +FPS=32.34, 法向力=1024.4709, 切向力X=37.6393, 切向力Y=-272.1310 +FPS=28.98, 法向力=1188.5603, 切向力X=415.1201, 切向力Y=240.6639 +FPS=28.61, 法向力=1218.8502, 切向力X=384.8283, 切向力Y=266.8301 +FPS=28.72, 法向力=1370.8627, 切向力X=745.8534, 切向力Y=440.1185 +FPS=32.01, 法向力=1360.9486, 切向力X=757.3627, 切向力Y=434.0156 +FPS=29.86, 法向力=1397.3015, 切向力X=556.8553, 切向力Y=-25.3170 +FPS=32.18, 法向力=1417.2688, 切向力X=523.3640, 切向力Y=-0.0060 +FPS=29.28, 法向力=1465.2400, 切向力X=1059.5818, 切向力Y=348.5022 +FPS=33.07, 法向力=1452.0107, 切向力X=1087.5913, 切向力Y=220.5495 +FPS=31.12, 法向力=1223.3889, 切向力X=456.5164, 切向力Y=47.1128 +FPS=32.57, 法向力=1241.4546, 切向力X=467.9652, 切向力Y=7.0062 +stitch_feature_optimized: canvas out_w=486, out_h=421, x_min=-156.09, y_min=-82.83 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000317s, blend=0.002192s (9 tiles incl ref), finalize=0.000051s, total=0.002567s +FPS=30.56, 法向力=1521.2783, 切向力X=1109.7043, 切向力Y=138.3841 +FPS=32.42, 法向力=1558.8923, 切向力X=1079.5339, 切向力Y=137.8990 +FPS=29.84, 法向力=1375.9634, 切向力X=-95.7613, 切向力Y=564.1041 +FPS=30.55, 法向力=1411.5203, 切向力X=-71.1895, 切向力Y=594.8652 +FPS=30.14, 法向力=1319.0168, 切向力X=344.4107, 切向力Y=163.5634 +FPS=32.84, 法向力=1448.7269, 切向力X=469.5130, 切向力Y=162.9323 +FPS=31.02, 法向力=1289.2906, 切向力X=393.4847, 切向力Y=278.8634 +FPS=31.40, 法向力=1332.3228, 切向力X=414.4289, 切向力Y=384.2996 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x_min=-156.09, y_min=-82.83 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000272s, blend=0.002160s (9 tiles incl ref), finalize=0.000053s, total=0.002492s +FPS=24.40, 法向力=1318.6772, 切向力X=1383.4465, 切向力Y=1013.1357 +FPS=25.16, 法向力=1296.0173, 切向力X=1267.0676, 切向力Y=1132.0892 +FPS=24.37, 法向力=1750.2703, 切向力X=817.9942, 切向力Y=-18.3102 +FPS=25.62, 法向力=1456.9146, 切向力X=918.5692, 切向力Y=750.1575 +FPS=26.45, 法向力=1524.1307, 切向力X=843.9133, 切向力Y=953.0413 +FPS=25.47, 法向力=1245.8225, 切向力X=1246.2007, 切向力Y=1414.7567 +FPS=25.24, 法向力=1240.5433, 切向力X=1236.5361, 切向力Y=1453.5708 +FPS=25.82, 法向力=1543.3876, 切向力X=965.9591, 切向力Y=380.1748 +FPS=25.04, 法向力=1766.8582, 切向力X=722.1635, 切向力Y=-106.2522 +FPS=26.01, 法向力=1812.1115, 切向力X=647.0194, 切向力Y=-25.1330 +FPS=23.99, 法向力=1799.1290, 切向力X=446.8190, 切向力Y=-28.1680 +FPS=25.98, 法向力=1795.9897, 切向力X=459.7821, 切向力Y=131.5685 +FPS=24.18, 法向力=1376.4932, 切向力X=609.9455, 切向力Y=449.3002 +FPS=26.07, 法向力=1576.8339, 切向力X=145.7217, 切向力Y=712.7669 +FPS=26.30, 法向力=1591.6752, 切向力X=128.6230, 切向力Y=744.8969 +FPS=24.25, 法向力=1245.2552, 切向力X=596.1532, 切向力Y=1165.5444 +FPS=26.33, 法向力=1231.6993, 切向力X=727.9895, 切向力Y=1211.4712 +FPS=24.66, 法向力=1244.7141, 切向力X=164.7800, 切向力Y=930.9297 +FPS=25.57, 法向力=1251.3713, 切向力X=98.3620, 切向力Y=942.5905 +FPS=23.83, 法向力=1210.8689, 切向力X=118.8623, 切向力Y=755.3707 +FPS=23.66, 法向力=1535.0906, 切向力X=319.6929, 切向力Y=571.2690 +FPS=26.12, 法向力=1573.6517, 切向力X=399.9995, 切向力Y=486.4785 +FPS=24.83, 法向力=1553.5619, 切向力X=622.3468, 切向力Y=599.3913 +FPS=24.76, 法向力=1374.2043, 切向力X=542.6039, 切向力Y=467.9041 +FPS=25.90, 法向力=1340.2310, 切向力X=506.0753, 切向力Y=481.6408 +FPS=23.57, 法向力=1271.1650, 切向力X=7.5753, 切向力Y=834.2117 +FPS=25.91, 法向力=1321.0579, 切向力X=-46.0527, 切向力Y=844.9383 +FPS=25.53, 法向力=1814.3337, 切向力X=-185.2026, 切向力Y=579.2976 +FPS=26.59, 法向力=1816.6296, 切向力X=-245.6017, 切向力Y=463.0978 +FPS=25.42, 法向力=1241.7954, 切向力X=633.0858, 切向力Y=798.6709 +stitch_feature_optimized: canvas out_w=486, out_h=421, x_min=-156.09, y_min=-82.83 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000240s, blend=0.002987s (9 tiles incl ref), finalize=0.000063s, total=0.003297s +FPS=25.03, 法向力=1870.3474, 切向力X=679.7885, 切向力Y=461.3832 +FPS=25.20, 法向力=1891.4187, 切向力X=654.2358, 切向力Y=472.0286 +FPS=24.89, 法向力=1407.1863, 切向力X=-26.0458, 切向力Y=374.0327 +FPS=25.58, 法向力=1446.5107, 切向力X=-68.9660, 切向力Y=433.7236 +FPS=25.85, 法向力=1181.7446, 切向力X=370.9048, 切向力Y=637.0411 +FPS=24.79, 法向力=1309.0874, 切向力X=715.1832, 切向力Y=1192.4675 +FPS=25.71, 法向力=1348.8684, 切向力X=679.6729, 切向力Y=1228.5291 +FPS=24.95, 法向力=1596.6067, 切向力X=717.7078, 切向力Y=765.0304 +FPS=25.92, 法向力=1545.2480, 切向力X=694.7080, 切向力Y=855.5172 +FPS=24.55, 法向力=1837.6899, 切向力X=902.2846, 切向力Y=821.1528 +FPS=25.02, 法向力=1573.9399, 切向力X=614.3134, 切向力Y=392.0886 +FPS=25.35, 法向力=1721.5894, 切向力X=567.6614, 切向力Y=488.5190 +FPS=24.07, 法向力=1392.5627, 切向力X=148.0906, 切向力Y=309.0671 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260605_182259.log b/examples/logs/qt_viewer_20260605_182259.log new file mode 100644 index 0000000..fd65a0e --- /dev/null +++ b/examples/logs/qt_viewer_20260605_182259.log @@ -0,0 +1,1292 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=5 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.31, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=2.47, 法向力=1320.6404, 切向力X=-293.8583, 切向力Y=433.8314 +FPS=26.35, 法向力=2113.9568, 切向力X=78.7013, 切向力Y=489.8138 +FPS=26.48, 法向力=2149.3330, 切向力X=125.5522, 切向力Y=527.9757 +FPS=24.17, 法向力=2161.8408, 切向力X=115.7275, 切向力Y=512.4082 +FPS=30.14, 法向力=2040.3713, 切向力X=30.4629, 切向力Y=696.2513 +FPS=29.45, 法向力=1826.1296, 切向力X=-47.5815, 切向力Y=1008.0741 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=30.98, 法向力=1755.6082, 切向力X=-19.3351, 切向力Y=952.8754 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=39.48, 法向力=1676.7917, 切向力X=-499.2500, 切向力Y=1022.3340 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=38.15, 法向力=1670.2456, 切向力X=-534.2911, 切向力Y=1082.4207 +FPS=39.58, 法向力=1667.4045, 切向力X=-536.6660, 切向力Y=1092.7667 +FPS=29.01, 法向力=1992.0472, 切向力X=197.0950, 切向力Y=650.8547 +FPS=31.85, 法向力=2019.7163, 切向力X=245.8256, 切向力Y=527.6508 +FPS=29.24, 法向力=2120.7227, 切向力X=259.9260, 切向力Y=1194.4087 +FPS=31.25, 法向力=2064.4189, 切向力X=385.8253, 切向力Y=1217.6377 +FPS=28.39, 法向力=2044.3882, 切向力X=-86.3068, 切向力Y=771.4364 +FPS=32.01, 法向力=2092.9780, 切向力X=-149.9945, 切向力Y=782.6782 +FPS=30.08, 法向力=2450.4058, 切向力X=334.4199, 切向力Y=1096.8457 +FPS=31.50, 法向力=2442.4556, 切向力X=341.2205, 切向力Y=1128.0942 +FPS=29.32, 法向力=1859.9069, 切向力X=-785.8359, 切向力Y=1467.1787 +FPS=31.81, 法向力=1830.4895, 切向力X=-809.0270, 切向力Y=1494.8040 +FPS=28.46, 法向力=1731.8528, 切向力X=-98.3538, 切向力Y=620.9659 +FPS=31.91, 法向力=1708.7842, 切向力X=-90.3250, 切向力Y=614.3912 +FPS=28.66, 法向力=1955.9622, 切向力X=83.3275, 切向力Y=889.5314 +FPS=31.98, 法向力=1956.5754, 切向力X=115.7034, 切向力Y=862.9889 +FPS=27.72, 法向力=2142.5920, 切向力X=266.7982, 切向力Y=846.6437 +FPS=30.00, 法向力=2180.7871, 切向力X=362.2662, 切向力Y=878.3670 +FPS=30.66, 法向力=1841.5282, 切向力X=11.6414, 切向力Y=995.4666 +stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000229s, blend=0.002117s (9 tiles incl ref), finalize=0.000054s, total=0.002408s +FPS=31.43, 法向力=1881.7623, 切向力X=45.5856, 切向力Y=1060.7566 +FPS=28.82, 法向力=2087.7622, 切向力X=-47.0838, 切向力Y=1007.9020 +FPS=31.71, 法向力=2049.9307, 切向力X=-35.5930, 切向力Y=905.1648 +FPS=30.18, 法向力=2007.0688, 切向力X=-9.2523, 切向力Y=646.3688 +FPS=30.31, 法向力=2048.4541, 切向力X=22.1775, 切向力Y=560.4681 +FPS=28.71, 法向力=2241.2554, 切向力X=51.1916, 切向力Y=908.0853 +FPS=30.96, 法向力=2232.2627, 切向力X=86.9235, 切向力Y=947.3297 +FPS=24.80, 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+FPS=26.18, 法向力=6514.0122, 切向力X=209.0168, 切向力Y=18712.3281 +FPS=24.90, 法向力=6926.4941, 切向力X=-1376.5261, 切向力Y=15535.0967 +FPS=26.34, 法向力=7601.8687, 切向力X=1987.3943, 切向力Y=18824.8848 +FPS=25.74, 法向力=7594.2524, 切向力X=2071.1521, 切向力Y=18946.4531 +FPS=24.80, 法向力=7305.3037, 切向力X=2852.0850, 切向力Y=18657.3359 +FPS=26.72, 法向力=7168.5723, 切向力X=2897.5264, 切向力Y=18544.4844 +FPS=25.94, 法向力=4855.9761, 切向力X=-2446.9932, 切向力Y=5753.4307 +stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000241s, blend=0.002223s (9 tiles incl ref), finalize=0.000053s, total=0.002524s +FPS=25.76, 法向力=3696.4414, 切向力X=666.5976, 切向力Y=5574.1826 +FPS=26.08, 法向力=3689.8916, 切向力X=687.2892, 切向力Y=5588.6528 +FPS=25.81, 法向力=3708.4370, 切向力X=675.3408, 切向力Y=5594.8545 +FPS=26.06, 法向力=3406.0454, 切向力X=694.5005, 切向力Y=5306.6777 +FPS=24.02, 法向力=3749.9312, 切向力X=316.2532, 切向力Y=4850.0508 +FPS=25.93, 法向力=3680.9504, 切向力X=365.7245, 切向力Y=4933.7979 +FPS=25.76, 法向力=3323.9282, 切向力X=1483.7463, 切向力Y=6337.4941 +FPS=26.78, 法向力=3385.3123, 切向力X=641.3883, 切向力Y=5814.7588 +FPS=27.46, 法向力=3365.0850, 切向力X=738.5648, 切向力Y=5870.0439 +FPS=27.19, 法向力=3362.9290, 切向力X=1366.5446, 切向力Y=7611.7734 +FPS=28.84, 法向力=3196.6526, 切向力X=1372.2793, 切向力Y=7911.6704 +FPS=25.58, 法向力=3222.8438, 切向力X=1154.1079, 切向力Y=7369.4121 +FPS=27.67, 法向力=3240.1099, 切向力X=1159.5391, 切向力Y=7391.9263 +FPS=26.57, 法向力=3332.5420, 切向力X=2124.4297, 切向力Y=8640.5439 +FPS=27.88, 法向力=3296.2493, 切向力X=2230.1699, 切向力Y=8775.0400 +FPS=26.75, 法向力=3304.0649, 切向力X=1829.8285, 切向力Y=10167.3438 +FPS=27.61, 法向力=3348.3716, 切向力X=1741.8350, 切向力Y=10119.0596 +FPS=27.38, 法向力=3196.1904, 切向力X=3034.9082, 切向力Y=14325.0459 +FPS=27.08, 法向力=3002.2407, 切向力X=5653.9688, 切向力Y=21829.1250 +FPS=27.89, 法向力=3247.3901, 切向力X=5672.0928, 切向力Y=22391.5977 +FPS=26.87, 法向力=3422.6863, 切向力X=6557.5225, 切向力Y=27548.2793 +FPS=28.47, 法向力=3301.1860, 切向力X=6383.0205, 切向力Y=27807.8887 +FPS=26.24, 法向力=3833.6655, 切向力X=6813.7080, 切向力Y=31564.7109 +FPS=28.67, 法向力=3854.2803, 切向力X=6885.6084, 切向力Y=31730.7656 +FPS=26.51, 法向力=6634.5088, 切向力X=8141.5557, 切向力Y=35524.6641 +FPS=28.80, 法向力=6655.7959, 切向力X=8265.0820, 切向力Y=35690.4453 +FPS=26.21, 法向力=10506.4082, 切向力X=11655.6895, 切向力Y=38799.1484 +FPS=27.92, 法向力=10515.8594, 切向力X=11962.4434, 切向力Y=38744.7695 +FPS=27.72, 法向力=12117.1504, 切向力X=12324.0703, 切向力Y=37555.3164 +FPS=25.19, 法向力=12905.3105, 切向力X=9646.8223, 切向力Y=37133.6719 +stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000213s, blend=0.002149s (9 tiles incl ref), finalize=0.000052s, total=0.002420s +FPS=26.95, 法向力=12999.0908, 切向力X=9758.4229, 切向力Y=37374.5078 +FPS=26.13, 法向力=12078.6006, 切向力X=3222.4146, 切向力Y=34102.4688 +FPS=24.98, 法向力=12369.5098, 切向力X=3545.5308, 切向力Y=34518.7344 +FPS=26.28, 法向力=12043.6406, 切向力X=1508.6836, 切向力Y=32894.2148 +FPS=26.04, 法向力=12095.7773, 切向力X=1508.8022, 切向力Y=32912.3711 +FPS=26.50, 法向力=11571.8506, 切向力X=1467.6396, 切向力Y=29145.5273 +FPS=25.16, 法向力=9058.5049, 切向力X=4216.2148, 切向力Y=21564.8867 +FPS=26.93, 法向力=9094.4375, 切向力X=4327.6299, 切向力Y=21603.7852 +FPS=24.91, 法向力=5368.1831, 切向力X=2880.1716, 切向力Y=9394.0723 +FPS=26.41, 法向力=5354.8477, 切向力X=2950.4019, 切向力Y=9343.8418 +FPS=24.92, 法向力=4964.5479, 切向力X=2347.6084, 切向力Y=7843.4390 +FPS=26.08, 法向力=4556.0420, 切向力X=2080.7888, 切向力Y=7254.2109 +FPS=26.86, 法向力=4529.5947, 切向力X=2027.7145, 切向力Y=7278.6592 +FPS=26.44, 法向力=4327.4746, 切向力X=1303.4170, 切向力Y=6449.8662 +FPS=26.95, 法向力=4331.2319, 切向力X=1320.2688, 切向力Y=6435.5933 +FPS=23.80, 法向力=3781.1980, 切向力X=1441.4131, 切向力Y=5636.7041 +FPS=26.91, 法向力=3795.4434, 切向力X=1403.4369, 切向力Y=5673.3242 +FPS=25.06, 法向力=4069.9126, 切向力X=1737.4167, 切向力Y=6397.8311 +FPS=25.26, 法向力=3945.9155, 切向力X=1557.7722, 切向力Y=5705.9990 +FPS=27.14, 法向力=3909.6150, 切向力X=1557.8157, 切向力Y=5671.3545 +FPS=25.50, 法向力=3481.1443, 切向力X=1042.9900, 切向力Y=5315.8081 +FPS=27.00, 法向力=3578.6050, 切向力X=1153.2163, 切向力Y=5245.8359 +FPS=27.19, 法向力=3500.5679, 切向力X=1523.9165, 切向力Y=5216.7402 +FPS=29.12, 法向力=3461.6375, 切向力X=1556.1865, 切向力Y=5300.0146 +FPS=26.86, 法向力=3925.7322, 切向力X=1335.9275, 切向力Y=5373.5283 +FPS=27.91, 法向力=3903.8213, 切向力X=1366.4679, 切向力Y=5452.0488 +FPS=26.05, 法向力=3720.8320, 切向力X=1156.5669, 切向力Y=4575.4326 +FPS=27.54, 法向力=3449.6904, 切向力X=1489.5289, 切向力Y=5081.6333 +FPS=27.16, 法向力=3391.5117, 切向力X=1478.5975, 切向力Y=5163.7949 +FPS=25.15, 法向力=3240.5439, 切向力X=1649.0989, 切向力Y=4450.6382 +stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000277s, blend=0.002289s (9 tiles incl ref), finalize=0.000096s, total=0.002667s +FPS=26.86, 法向力=3289.0596, 切向力X=1658.2327, 切向力Y=4372.0977 +FPS=25.21, 法向力=3602.8784, 切向力X=1938.8510, 切向力Y=4545.7354 +FPS=26.18, 法向力=3750.1592, 切向力X=1254.7756, 切向力Y=4516.3335 +FPS=27.23, 法向力=3716.3289, 切向力X=1243.0300, 切向力Y=4558.2505 +FPS=26.59, 法向力=3709.0737, 切向力X=1208.1995, 切向力Y=4600.3193 +FPS=27.22, 法向力=3666.8835, 切向力X=1680.4702, 切向力Y=5435.1899 +FPS=25.06, 法向力=3608.5010, 切向力X=1433.9697, 切向力Y=4165.2441 +FPS=26.59, 法向力=3565.7202, 切向力X=1464.8438, 切向力Y=4180.0938 +FPS=25.51, 法向力=3779.2910, 切向力X=1307.4087, 切向力Y=3974.8828 +FPS=24.07, 法向力=3638.5610, 切向力X=1509.2961, 切向力Y=4271.2251 +FPS=24.30, 法向力=3648.6958, 切向力X=1453.1338, 切向力Y=4244.7998 +FPS=25.00, 法向力=3677.0039, 切向力X=1742.8381, 切向力Y=4050.5671 +FPS=26.90, 法向力=3651.5627, 切向力X=1747.5770, 切向力Y=4075.5454 +FPS=26.79, 法向力=3288.3633, 切向力X=1132.7036, 切向力Y=4530.7549 +FPS=27.57, 法向力=3285.7578, 切向力X=1139.0963, 切向力Y=4519.6855 +FPS=25.41, 法向力=3577.2368, 切向力X=1210.1423, 切向力Y=4093.2312 +FPS=26.89, 法向力=3686.8796, 切向力X=1193.2197, 切向力Y=4585.9727 +FPS=26.34, 法向力=3674.1782, 切向力X=1206.2971, 切向力Y=4603.6597 +FPS=27.16, 法向力=3584.4502, 切向力X=1659.7708, 切向力Y=4140.1392 +FPS=27.00, 法向力=3597.2349, 切向力X=1673.9998, 切向力Y=4142.0059 +FPS=25.24, 法向力=3865.5405, 切向力X=1151.8602, 切向力Y=4637.7217 +FPS=27.12, 法向力=3853.3896, 切向力X=1190.6152, 切向力Y=4565.5938 +FPS=26.66, 法向力=3205.5151, 切向力X=1333.7041, 切向力Y=3718.2493 +FPS=27.70, 法向力=3186.3416, 切向力X=1366.3380, 切向力Y=3681.3257 +FPS=26.70, 法向力=3357.6353, 切向力X=1238.2051, 切向力Y=4235.3037 +FPS=26.24, 法向力=3344.3599, 切向力X=991.9149, 切向力Y=3764.1501 +FPS=26.54, 法向力=3310.5806, 切向力X=1054.0101, 切向力Y=3782.0737 +FPS=25.38, 法向力=3668.1201, 切向力X=1270.1553, 切向力Y=3992.7644 +FPS=25.65, 法向力=3609.7349, 切向力X=1359.4260, 切向力Y=4053.8545 +FPS=24.96, 法向力=3160.7407, 切向力X=1028.8462, 切向力Y=4111.5518 +stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000250s, blend=0.002197s (9 tiles incl ref), finalize=0.000065s, total=0.002518s +FPS=26.31, 法向力=3077.9551, 切向力X=965.4912, 切向力Y=4205.1323 +FPS=26.08, 法向力=3075.3345, 切向力X=1086.4399, 切向力Y=3895.6946 +FPS=24.71, 法向力=3665.2510, 切向力X=1319.3710, 切向力Y=3686.3950 +FPS=26.84, 法向力=3692.5576, 切向力X=1296.4473, 切向力Y=3737.5625 +FPS=25.46, 法向力=3711.8955, 切向力X=1105.4164, 切向力Y=4216.8506 +FPS=27.25, 法向力=3745.1672, 切向力X=1205.6842, 切向力Y=4168.8477 +FPS=24.48, 法向力=3819.6909, 切向力X=1651.1757, 切向力Y=3972.1357 +FPS=26.00, 法向力=3424.0098, 切向力X=1624.1788, 切向力Y=3962.1892 +FPS=25.84, 法向力=3412.4385, 切向力X=1547.4937, 切向力Y=3902.7183 +FPS=24.21, 法向力=3122.4741, 切向力X=1702.6233, 切向力Y=3752.7554 +FPS=26.13, 法向力=3114.4307, 切向力X=1737.4673, 切向力Y=3783.8921 +FPS=25.35, 法向力=3494.6790, 切向力X=1413.5525, 切向力Y=3907.9556 +FPS=24.36, 法向力=3556.6094, 切向力X=995.3594, 切向力Y=3717.0156 +FPS=26.56, 法向力=3594.9092, 切向力X=930.6340, 切向力Y=3689.8101 +FPS=25.73, 法向力=3835.3831, 切向力X=1477.7664, 切向力Y=3847.8691 +FPS=26.90, 法向力=3835.9568, 切向力X=1436.8358, 切向力Y=3847.9580 +FPS=23.48, 法向力=3894.1973, 切向力X=580.9625, 切向力Y=3679.2285 +FPS=25.72, 法向力=3852.7324, 切向力X=532.1154, 切向力Y=3740.9814 +FPS=25.21, 法向力=3300.9648, 切向力X=1020.4838, 切向力Y=3860.2354 +FPS=24.73, 法向力=3519.8193, 切向力X=1268.7224, 切向力Y=3665.8860 +FPS=26.66, 法向力=3564.3037, 切向力X=1275.6478, 切向力Y=3690.3862 +FPS=23.91, 法向力=3336.7456, 切向力X=1595.5891, 切向力Y=3630.4785 +Sensor disconnected. +⏸ 已暂停 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=40 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 1 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=1, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.55, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=46.15, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=29.60, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=35.93, 法向力=987.7161, 切向力X=-315.5269, 切向力Y=-158.0090 +FPS=43.00, 法向力=1006.0238, 切向力X=-253.6098, 切向力Y=-126.3206 +FPS=29.05, 法向力=797.9636, 切向力X=-153.1163, 切向力Y=214.5666 +FPS=31.56, 法向力=819.5315, 切向力X=-144.8010, 切向力Y=267.1635 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=30.98, 法向力=858.5684, 切向力X=62.7698, 切向力Y=-56.1706 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=40.56, 法向力=916.4617, 切向力X=33.2301, 切向力Y=-136.1900 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=33.99, 法向力=746.8263, 切向力X=0.4814, 切向力Y=169.0934 +FPS=43.06, 法向力=752.3972, 切向力X=-29.5357, 切向力Y=193.4570 +FPS=30.19, 法向力=745.9215, 切向力X=-35.7648, 切向力Y=191.0648 +FPS=30.26, 法向力=1177.1364, 切向力X=-714.3524, 切向力Y=-530.8387 +FPS=31.67, 法向力=1198.5574, 切向力X=-728.6755, 切向力Y=-571.0206 +FPS=29.21, 法向力=1038.5889, 切向力X=-357.4453, 切向力Y=-30.8898 +FPS=30.32, 法向力=1008.2762, 切向力X=-342.1230, 切向力Y=31.5098 +FPS=29.46, 法向力=1315.3053, 切向力X=-730.1610, 切向力Y=160.0004 +FPS=29.76, 法向力=1283.6357, 切向力X=-730.7975, 切向力Y=104.2621 +FPS=28.95, 法向力=884.6875, 切向力X=-615.5920, 切向力Y=-317.1555 +FPS=30.71, 法向力=889.9636, 切向力X=-626.2586, 切向力Y=-283.3881 +FPS=29.50, 法向力=940.3849, 切向力X=158.2632, 切向力Y=220.1028 +FPS=31.75, 法向力=940.8540, 切向力X=169.6530, 切向力Y=203.3889 +FPS=29.21, 法向力=1209.7661, 切向力X=-231.9709, 切向力Y=518.8602 +FPS=30.97, 法向力=1248.8027, 切向力X=-238.2907, 切向力Y=551.5449 +FPS=28.68, 法向力=1059.3606, 切向力X=-437.0455, 切向力Y=530.3896 +FPS=30.55, 法向力=1063.4109, 切向力X=-470.3731, 切向力Y=452.7749 +FPS=28.88, 法向力=988.5145, 切向力X=-420.2427, 切向力Y=209.1905 +FPS=30.97, 法向力=1001.0090, 切向力X=-385.9817, 切向力Y=276.7870 +stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000224s, blend=0.002222s (9 tiles incl ref), finalize=0.000106s, total=0.002558s +FPS=27.81, 法向力=993.5797, 切向力X=-532.2087, 切向力Y=563.1449 +FPS=29.58, 法向力=1043.4868, 切向力X=-395.2531, 切向力Y=515.9800 +FPS=29.43, 法向力=1086.0498, 切向力X=-221.1471, 切向力Y=-245.1187 +FPS=30.41, 法向力=1114.7397, 切向力X=-237.0081, 切向力Y=-173.1523 +FPS=31.06, 法向力=956.6899, 切向力X=-334.9757, 切向力Y=-479.0164 +FPS=30.24, 法向力=984.1998, 切向力X=-333.2471, 切向力Y=-424.1958 +FPS=30.76, 法向力=834.7789, 切向力X=116.6739, 切向力Y=74.4799 +FPS=30.73, 法向力=874.8163, 切向力X=202.4428, 切向力Y=0.2374 +FPS=28.46, 法向力=815.0675, 切向力X=-670.2047, 切向力Y=149.0151 +FPS=27.79, 法向力=816.3220, 切向力X=-589.2573, 切向力Y=96.7283 +FPS=27.99, 法向力=852.9354, 切向力X=-257.5992, 切向力Y=-230.9318 +FPS=31.36, 法向力=845.3796, 切向力X=-167.9850, 切向力Y=-160.8131 +FPS=30.14, 法向力=977.3751, 切向力X=-734.1708, 切向力Y=-192.7563 +FPS=31.46, 法向力=979.3811, 切向力X=-695.5369, 切向力Y=-354.4387 +FPS=31.74, 法向力=774.4993, 切向力X=-296.6784, 切向力Y=130.3677 +FPS=32.16, 法向力=778.6656, 切向力X=-289.9747, 切向力Y=186.2589 +FPS=30.24, 法向力=915.9119, 切向力X=-108.6342, 切向力Y=335.1827 +FPS=30.18, 法向力=890.2115, 切向力X=-146.4315, 切向力Y=453.8633 +FPS=29.22, 法向力=1320.5480, 切向力X=-361.2277, 切向力Y=912.3873 +FPS=28.67, 法向力=1307.8237, 切向力X=-455.9565, 切向力Y=707.2053 +FPS=27.40, 法向力=1042.2836, 切向力X=-4.2604, 切向力Y=47.3709 +FPS=29.62, 法向力=1128.5103, 切向力X=134.7079, 切向力Y=-37.5167 +FPS=27.55, 法向力=1144.5168, 切向力X=-415.4328, 切向力Y=509.5645 +FPS=29.68, 法向力=1243.7368, 切向力X=-428.1983, 切向力Y=530.7936 +FPS=29.75, 法向力=1142.4905, 切向力X=-110.1395, 切向力Y=-138.6988 +FPS=26.06, 法向力=906.3805, 切向力X=-270.8400, 切向力Y=529.5860 +FPS=30.66, 法向力=930.9248, 切向力X=-217.0660, 切向力Y=504.4432 +FPS=30.63, 法向力=1071.4431, 切向力X=-360.0922, 切向力Y=314.2449 +FPS=31.33, 法向力=1135.9501, 切向力X=-412.1961, 切向力Y=345.2607 +FPS=31.81, 法向力=928.6622, 切向力X=195.5735, 切向力Y=413.8849 +stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000213s, blend=0.002229s (9 tiles incl ref), finalize=0.000051s, total=0.002499s +FPS=29.58, 法向力=925.1658, 切向力X=281.5059, 切向力Y=512.9758 +FPS=29.84, 法向力=929.1128, 切向力X=251.2150, 切向力Y=507.7955 +FPS=28.16, 法向力=992.2197, 切向力X=-678.9376, 切向力Y=50.9580 +FPS=29.02, 法向力=962.6734, 切向力X=-730.0314, 切向力Y=97.5407 +FPS=29.24, 法向力=1041.5522, 切向力X=-689.1288, 切向力Y=15.0630 +FPS=28.66, 法向力=783.0815, 切向力X=412.1154, 切向力Y=5.2627 +FPS=28.62, 法向力=835.6448, 切向力X=518.6500, 切向力Y=50.2251 +FPS=27.83, 法向力=781.6334, 切向力X=-349.1987, 切向力Y=178.9742 +FPS=30.35, 法向力=814.6282, 切向力X=-327.2919, 切向力Y=219.3048 +FPS=25.08, 法向力=696.4283, 切向力X=-531.7759, 切向力Y=316.8793 +FPS=21.54, 法向力=756.2667, 切向力X=-503.6568, 切向力Y=324.0138 +FPS=29.56, 法向力=724.6872, 切向力X=-48.1352, 切向力Y=180.1782 +FPS=31.96, 法向力=729.6705, 切向力X=18.8543, 切向力Y=267.1771 +FPS=31.22, 法向力=812.3079, 切向力X=258.2438, 切向力Y=63.9951 +FPS=33.41, 法向力=793.2894, 切向力X=162.6203, 切向力Y=38.1275 +FPS=28.80, 法向力=795.5626, 切向力X=188.8818, 切向力Y=283.0615 +FPS=32.41, 法向力=804.6198, 切向力X=177.4686, 切向力Y=327.5970 +FPS=30.56, 法向力=982.2949, 切向力X=-217.3812, 切向力Y=487.2209 +FPS=32.66, 法向力=1038.6146, 切向力X=-209.0791, 切向力Y=521.1254 +FPS=30.56, 法向力=757.0117, 切向力X=149.5312, 切向力Y=-184.2445 +FPS=33.14, 法向力=774.8457, 切向力X=184.0917, 切向力Y=-193.9514 +FPS=30.63, 法向力=1038.1813, 切向力X=946.1326, 切向力Y=405.5787 +FPS=31.30, 法向力=1044.4490, 切向力X=909.5317, 切向力Y=406.1887 +FPS=30.63, 法向力=1087.5442, 切向力X=-551.5648, 切向力Y=695.3154 +FPS=33.41, 法向力=1128.1553, 切向力X=-529.8508, 切向力Y=674.3914 +FPS=31.52, 法向力=1159.8728, 切向力X=-521.0239, 切向力Y=662.5093 +FPS=30.84, 法向力=795.0240, 切向力X=-312.8335, 切向力Y=-1.1659 +FPS=30.09, 法向力=806.1382, 切向力X=-375.8760, 切向力Y=-471.3898 +FPS=30.91, 法向力=813.9219, 切向力X=-406.3410, 切向力Y=-429.0808 +FPS=31.75, 法向力=875.0570, 切向力X=-320.0922, 切向力Y=193.0018 +stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000211s, blend=0.002116s (9 tiles incl ref), finalize=0.000049s, total=0.002382s +FPS=31.44, 法向力=881.1025, 切向力X=-289.9706, 切向力Y=179.7144 +FPS=31.84, 法向力=944.9934, 切向力X=-982.3029, 切向力Y=293.3170 +FPS=32.75, 法向力=978.8785, 切向力X=-934.2389, 切向力Y=224.5897 +FPS=30.85, 法向力=984.4500, 切向力X=-927.4200, 切向力Y=209.1696 +FPS=31.19, 法向力=1182.6344, 切向力X=-663.8353, 切向力Y=418.1299 +FPS=32.63, 法向力=1223.5806, 切向力X=-696.5778, 切向力Y=414.4063 +FPS=30.74, 法向力=1289.0764, 切向力X=-757.5173, 切向力Y=372.6609 +FPS=30.42, 法向力=1267.3655, 切向力X=-757.0676, 切向力Y=381.4963 +FPS=30.08, 法向力=851.7134, 切向力X=-276.8569, 切向力Y=353.8641 +FPS=30.78, 法向力=873.4407, 切向力X=-307.5554, 切向力Y=334.1033 +FPS=28.20, 法向力=1098.2712, 切向力X=-511.3723, 切向力Y=343.5350 +FPS=30.06, 法向力=1078.4170, 切向力X=-519.4764, 切向力Y=320.9833 +FPS=28.55, 法向力=988.5007, 切向力X=-145.0396, 切向力Y=243.0716 +FPS=30.57, 法向力=998.9502, 切向力X=-153.9946, 切向力Y=249.5539 +FPS=28.75, 法向力=931.5571, 切向力X=-584.4492, 切向力Y=184.5329 +FPS=28.89, 法向力=950.2699, 切向力X=-671.7350, 切向力Y=192.9807 +FPS=29.18, 法向力=1079.8352, 切向力X=-512.8641, 切向力Y=-79.9904 +FPS=30.46, 法向力=1115.6832, 切向力X=-390.4214, 切向力Y=-151.6436 +FPS=27.85, 法向力=887.3845, 切向力X=24.1522, 切向力Y=10.7398 +FPS=29.38, 法向力=920.3749, 切向力X=19.1029, 切向力Y=-65.3998 +FPS=28.62, 法向力=892.5164, 切向力X=-116.0974, 切向力Y=190.6813 +FPS=29.83, 法向力=925.0328, 切向力X=-130.7855, 切向力Y=213.9364 +FPS=29.21, 法向力=1002.1632, 切向力X=-491.2265, 切向力Y=310.0308 +FPS=28.88, 法向力=1117.8097, 切向力X=-172.2230, 切向力Y=1028.1111 +FPS=27.74, 法向力=1116.8652, 切向力X=-251.9872, 切向力Y=926.8922 +FPS=26.15, 法向力=954.4119, 切向力X=-512.1284, 切向力Y=282.5128 +FPS=28.56, 法向力=930.8807, 切向力X=-466.7433, 切向力Y=216.4207 +FPS=28.51, 法向力=975.7863, 切向力X=284.6652, 切向力Y=611.0985 +FPS=30.54, 法向力=994.5211, 切向力X=294.4171, 切向力Y=638.9979 +FPS=29.44, 法向力=904.4323, 切向力X=167.4489, 切向力Y=536.7897 +stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000216s, blend=0.002166s (9 tiles incl ref), finalize=0.000053s, total=0.002442s +FPS=30.07, 法向力=956.2293, 切向力X=234.5274, 切向力Y=440.2448 +FPS=29.66, 法向力=951.6285, 切向力X=-346.9662, 切向力Y=274.4604 +FPS=26.39, 法向力=946.4866, 切向力X=-376.9036, 切向力Y=182.6711 +FPS=23.16, 法向力=1223.0841, 切向力X=-713.5158, 切向力Y=694.7966 +FPS=25.64, 法向力=1336.6503, 切向力X=-788.9243, 切向力Y=754.4083 +FPS=25.59, 法向力=823.5127, 切向力X=-184.7360, 切向力Y=27.4294 +FPS=25.05, 法向力=972.8250, 切向力X=-358.7701, 切向力Y=293.2654 +FPS=26.94, 法向力=1000.9466, 切向力X=-381.6719, 切向力Y=307.8782 +FPS=22.35, 法向力=909.9242, 切向力X=69.7704, 切向力Y=305.9125 +FPS=26.38, 法向力=947.9354, 切向力X=33.5068, 切向力Y=351.1113 +FPS=25.36, 法向力=1064.6226, 切向力X=310.8185, 切向力Y=328.6164 +FPS=24.52, 法向力=946.8978, 切向力X=460.0737, 切向力Y=-34.2494 +FPS=26.07, 法向力=942.6730, 切向力X=463.4035, 切向力Y=-116.3128 +FPS=23.85, 法向力=946.9153, 切向力X=-402.0983, 切向力Y=380.7497 +FPS=26.36, 法向力=968.6769, 切向力X=-476.5454, 切向力Y=413.6026 +FPS=25.92, 法向力=1171.3241, 切向力X=-82.1521, 切向力Y=3.3901 +FPS=25.58, 法向力=1036.0022, 切向力X=-536.3455, 切向力Y=500.1497 +FPS=26.07, 法向力=1118.1980, 切向力X=-618.6097, 切向力Y=424.2217 +FPS=24.39, 法向力=1135.3525, 切向力X=-212.0995, 切向力Y=-326.8579 +FPS=26.52, 法向力=1095.0485, 切向力X=-179.2694, 切向力Y=-245.7886 +FPS=24.68, 法向力=789.2843, 切向力X=-111.4539, 切向力Y=301.8645 +FPS=25.60, 法向力=974.9575, 切向力X=229.9431, 切向力Y=366.6539 +FPS=25.31, 法向力=1011.7037, 切向力X=260.2773, 切向力Y=374.8434 +FPS=25.19, 法向力=1080.6262, 切向力X=162.9591, 切向力Y=311.3152 +FPS=26.73, 法向力=1063.1915, 切向力X=138.2250, 切向力Y=348.2389 +FPS=24.81, 法向力=717.8434, 切向力X=-137.0352, 切向力Y=224.7443 +FPS=25.41, 法向力=816.7044, 切向力X=363.3251, 切向力Y=535.1223 +FPS=26.05, 法向力=848.7010, 切向力X=286.3270, 切向力Y=563.6333 +FPS=25.33, 法向力=735.8273, 切向力X=528.1473, 切向力Y=-189.6214 +FPS=26.38, 法向力=732.6193, 切向力X=506.3907, 切向力Y=-239.0498 +stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000232s, blend=0.002438s (9 tiles incl ref), finalize=0.000065s, total=0.002741s +FPS=23.92, 法向力=995.8634, 切向力X=12.9240, 切向力Y=-60.6732 +FPS=25.52, 法向力=973.4648, 切向力X=35.7891, 切向力Y=98.8344 +FPS=25.28, 法向力=873.4344, 切向力X=421.6156, 切向力Y=385.2543 +FPS=24.42, 法向力=1205.8469, 切向力X=161.3680, 切向力Y=276.3948 +FPS=26.67, 法向力=1209.2595, 切向力X=136.9292, 切向力Y=336.1606 +FPS=24.54, 法向力=985.8165, 切向力X=77.4832, 切向力Y=570.3588 +FPS=24.96, 法向力=996.5088, 切向力X=166.9187, 切向力Y=538.4871 +FPS=24.60, 法向力=918.6622, 切向力X=54.0323, 切向力Y=795.9880 +FPS=25.53, 法向力=935.4473, 切向力X=32.9158, 切向力Y=874.2398 +FPS=25.73, 法向力=1262.4111, 切向力X=218.7210, 切向力Y=513.5219 +FPS=24.11, 法向力=903.0507, 切向力X=-64.8125, 切向力Y=324.8771 +FPS=26.12, 法向力=914.5208, 切向力X=-99.8538, 切向力Y=356.8234 +FPS=24.57, 法向力=737.6021, 切向力X=-283.5537, 切向力Y=426.1483 +FPS=23.97, 法向力=756.9368, 切向力X=192.3972, 切向力Y=362.4188 +FPS=24.10, 法向力=812.4440, 切向力X=69.9777, 切向力Y=387.0516 +FPS=22.66, 法向力=905.2178, 切向力X=-93.8301, 切向力Y=650.9146 +FPS=24.26, 法向力=1678.2683, 切向力X=-989.8859, 切向力Y=7420.4189 +FPS=25.50, 法向力=1606.8706, 切向力X=-1049.9783, 切向力Y=7706.5410 +FPS=23.55, 法向力=3356.1936, 切向力X=4489.5576, 切向力Y=11940.5791 +FPS=23.56, 法向力=3253.0703, 切向力X=4852.2432, 切向力Y=12171.4268 +FPS=23.60, 法向力=3772.4878, 切向力X=27579.9082, 切向力Y=36277.0859 +FPS=23.68, 法向力=7340.8818, 切向力X=54036.8672, 切向力Y=69436.6484 +FPS=21.21, 法向力=7310.7148, 切向力X=54249.1016, 切向力Y=69152.7266 +FPS=20.99, 法向力=12612.5703, 切向力X=58225.7227, 切向力Y=94878.3750 +FPS=20.91, 法向力=13237.9492, 切向力X=57289.6875, 切向力Y=98044.3906 +FPS=21.98, 法向力=12827.1348, 切向力X=57329.2578, 切向力Y=98648.7812 +FPS=20.82, 法向力=13199.0586, 切向力X=48418.8516, 切向力Y=95018.0781 +FPS=20.90, 法向力=8724.1787, 切向力X=18167.4531, 切向力Y=58724.0391 +FPS=21.50, 法向力=8519.7715, 切向力X=18585.8594, 切向力Y=59086.8398 +FPS=21.42, 法向力=3398.3933, 切向力X=7245.4312, 切向力Y=14365.4316 +stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000215s, blend=0.002174s (9 tiles incl ref), finalize=0.000051s, total=0.002447s +FPS=21.34, 法向力=2359.6060, 切向力X=4686.5435, 切向力Y=7809.5630 +FPS=21.61, 法向力=1787.8193, 切向力X=3816.4822, 切向力Y=6266.6304 +FPS=21.35, 法向力=1789.9410, 切向力X=3762.7559, 切向力Y=6268.7729 +FPS=21.57, 法向力=1386.7960, 切向力X=2745.9414, 切向力Y=4280.6318 +FPS=22.35, 法向力=1311.8822, 切向力X=2631.0913, 切向力Y=3375.8689 +FPS=21.76, 法向力=1281.7913, 切向力X=2612.7234, 切向力Y=3394.1836 +FPS=21.43, 法向力=1070.2222, 切向力X=1985.7218, 切向力Y=3569.3105 +FPS=20.89, 法向力=956.6124, 切向力X=1745.2983, 切向力Y=3423.8215 +FPS=21.72, 法向力=866.8002, 切向力X=1810.2246, 切向力Y=3044.5342 +FPS=22.50, 法向力=936.4372, 切向力X=1852.3680, 切向力Y=3081.2581 +FPS=21.49, 法向力=1004.8689, 切向力X=2082.1650, 切向力Y=2530.5632 +FPS=21.37, 法向力=907.9279, 切向力X=1327.3149, 切向力Y=2789.1560 +FPS=21.53, 法向力=988.6449, 切向力X=1201.4912, 切向力Y=2669.1460 +FPS=21.04, 法向力=812.7767, 切向力X=1270.2800, 切向力Y=2302.9429 +FPS=22.17, 法向力=648.8715, 切向力X=1460.0046, 切向力Y=2494.9038 +FPS=22.47, 法向力=654.5660, 切向力X=1410.6375, 切向力Y=2442.3911 +FPS=21.22, 法向力=1173.6284, 切向力X=1306.1079, 切向力Y=2259.1458 +FPS=21.28, 法向力=1006.9850, 切向力X=1471.6556, 切向力Y=1634.8931 +FPS=22.40, 法向力=966.8995, 切向力X=1516.9617, 切向力Y=1522.6194 +FPS=21.91, 法向力=872.5859, 切向力X=947.4987, 切向力Y=1953.1665 +FPS=21.54, 法向力=775.2636, 切向力X=1259.5327, 切向力Y=1887.3226 +FPS=24.43, 法向力=736.8522, 切向力X=1192.5044, 切向力Y=1899.2683 +FPS=22.17, 法向力=1151.5460, 切向力X=1074.0143, 切向力Y=1488.9104 +FPS=22.58, 法向力=664.0900, 切向力X=1087.9919, 切向力Y=1533.7527 +FPS=23.98, 法向力=632.0325, 切向力X=1097.6814, 切向力Y=1593.3965 +FPS=22.90, 法向力=879.4373, 切向力X=1451.1677, 切向力Y=1422.1047 +FPS=22.93, 法向力=683.3995, 切向力X=1439.2256, 切向力Y=1187.4080 +FPS=23.95, 法向力=682.0309, 切向力X=1386.4136, 切向力Y=1220.8062 +FPS=22.54, 法向力=809.9454, 切向力X=1471.4604, 切向力Y=1794.1554 +FPS=23.75, 法向力=781.4933, 切向力X=1486.0916, 切向力Y=1841.3048 +stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000237s, blend=0.002233s (9 tiles incl ref), finalize=0.000052s, total=0.002527s +FPS=24.12, 法向力=780.5208, 切向力X=1083.0081, 切向力Y=1314.9006 +FPS=22.59, 法向力=1494.7227, 切向力X=1679.6125, 切向力Y=1186.0559 +FPS=23.53, 法向力=1385.8843, 切向力X=1580.3315, 切向力Y=1162.7878 +FPS=24.56, 法向力=1125.3145, 切向力X=836.6315, 切向力Y=1115.3978 +FPS=22.42, 法向力=1015.7014, 切向力X=1703.7729, 切向力Y=1731.1931 +FPS=24.72, 法向力=1119.5066, 切向力X=1853.8097, 切向力Y=1787.9431 +FPS=24.40, 法向力=1330.8737, 切向力X=1077.5002, 切向力Y=1023.8943 +FPS=24.65, 法向力=1082.0388, 切向力X=1387.8162, 切向力Y=1216.4258 +FPS=23.99, 法向力=1086.7848, 切向力X=1368.8892, 切向力Y=1255.3518 +FPS=23.65, 法向力=1176.9563, 切向力X=1254.0725, 切向力Y=795.8913 +FPS=25.85, 法向力=1120.4951, 切向力X=1107.9850, 切向力Y=832.0140 +FPS=23.92, 法向力=693.5701, 切向力X=574.0021, 切向力Y=1455.9519 +FPS=24.15, 法向力=1016.4036, 切向力X=768.6504, 切向力Y=1636.1282 +FPS=20.30, 法向力=1157.3939, 切向力X=738.4558, 切向力Y=1560.4620 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260605_182419.log b/examples/logs/qt_viewer_20260605_182419.log new file mode 100644 index 0000000..50a4410 --- /dev/null +++ b/examples/logs/qt_viewer_20260605_182419.log @@ -0,0 +1,2977 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=20 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.49, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.84, 法向力=1356.7109, 切向力X=259.5724, 切向力Y=-362.3555 +FPS=27.89, 法向力=1719.7893, 切向力X=-311.8798, 切向力Y=-498.7443 +FPS=28.82, 法向力=1772.7765, 切向力X=-276.9096, 切向力Y=-592.6394 +FPS=21.55, 法向力=2589.4209, 切向力X=170.2856, 切向力Y=942.3000 +FPS=30.59, 法向力=2773.0559, 切向力X=197.0621, 切向力Y=1058.1503 +FPS=28.35, 法向力=2355.8706, 切向力X=670.5494, 切向力Y=745.3405 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=30.93, 法向力=2412.5522, 切向力X=724.6684, 切向力Y=749.4053 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=35.60, 法向力=1909.3807, 切向力X=-619.7722, 切向力Y=-213.8451 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=34.11, 法向力=1912.9824, 切向力X=-662.2117, 切向力Y=-172.6603 +FPS=37.39, 法向力=2600.4705, 切向力X=-277.7794, 切向力Y=1251.2102 +FPS=30.42, 法向力=2602.1074, 切向力X=-295.5715, 切向力Y=1246.0034 +FPS=25.13, 法向力=2111.7808, 切向力X=-373.0054, 切向力Y=938.4926 +FPS=28.50, 法向力=2124.3577, 切向力X=-413.0256, 切向力Y=1026.0558 +FPS=28.88, 法向力=2730.2178, 切向力X=-567.1849, 切向力Y=749.5508 +FPS=28.99, 法向力=2715.6812, 切向力X=-459.5289, 切向力Y=710.8524 +FPS=28.21, 法向力=2950.2852, 切向力X=-446.6326, 切向力Y=1506.9111 +FPS=30.06, 法向力=2988.6978, 切向力X=-440.0432, 切向力Y=1566.9551 +FPS=30.29, 法向力=2542.1191, 切向力X=86.7977, 切向力Y=1061.2118 +FPS=31.11, 法向力=2586.9058, 切向力X=53.8308, 切向力Y=1049.2886 +FPS=26.20, 法向力=2999.5854, 切向力X=61.3597, 切向力Y=1038.9374 +FPS=31.91, 法向力=3053.8604, 切向力X=12.7949, 切向力Y=999.9803 +FPS=28.91, 法向力=3197.5691, 切向力X=434.2127, 切向力Y=1531.4863 +FPS=32.03, 法向力=3201.1736, 切向力X=468.0239, 切向力Y=1548.6271 +FPS=28.64, 法向力=3073.1099, 切向力X=200.5248, 切向力Y=651.6099 +FPS=30.29, 法向力=3132.5249, 切向力X=148.0756, 切向力Y=669.5054 +FPS=26.85, 法向力=3233.4985, 切向力X=-438.1704, 切向力Y=874.2660 +FPS=31.87, 法向力=3197.5161, 切向力X=-317.5456, 切向力Y=861.7864 +stitch_feature_optimized: canvas out_w=417, out_h=419, x_min=-82.86, y_min=-82.58 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000212s, blend=0.002170s (9 tiles incl ref), finalize=0.000052s, total=0.002441s +FPS=28.54, 法向力=3270.3975, 切向力X=116.5364, 切向力Y=981.4285 +FPS=26.71, 法向力=3270.3975, 切向力X=116.5364, 切向力Y=981.4285 +FPS=29.67, 法向力=3071.9688, 切向力X=314.9171, 切向力Y=258.2125 +FPS=27.83, 法向力=3517.5867, 切向力X=496.6845, 切向力Y=936.9004 +FPS=26.86, 法向力=3538.8855, 切向力X=417.2372, 切向力Y=1071.5437 +FPS=27.70, 法向力=3553.9731, 切向力X=401.7885, 切向力Y=1101.1804 +FPS=28.94, 法向力=3469.8472, 切向力X=-550.5598, 切向力Y=-69.6740 +FPS=28.68, 法向力=5298.0708, 切向力X=-54.1624, 切向力Y=-909.7601 +FPS=28.77, 法向力=5299.5234, 切向力X=92.0584, 切向力Y=-944.7694 +FPS=26.20, 法向力=5696.5020, 切向力X=-1293.3885, 切向力Y=-4103.3433 +FPS=28.31, 法向力=5580.0942, 切向力X=-1210.7692, 切向力Y=-4484.0762 +FPS=26.62, 法向力=5769.1406, 切向力X=-2266.0771, 切向力Y=-7846.2109 +FPS=26.55, 法向力=5659.7212, 切向力X=-2317.7666, 切向力Y=-8146.5693 +FPS=28.15, 法向力=5086.3623, 切向力X=-1521.7275, 切向力Y=-9183.8496 +FPS=26.16, 法向力=5486.7363, 切向力X=-1950.4365, 切向力Y=-9267.4102 +FPS=21.75, 法向力=5554.2954, 切向力X=-1970.3938, 切向力Y=-9379.0977 +FPS=24.10, 法向力=6083.6475, 切向力X=-3986.4897, 切向力Y=-13765.9678 +FPS=26.49, 法向力=6012.5649, 切向力X=-4140.3965, 切向力Y=-13935.3555 +FPS=26.78, 法向力=6113.9023, 切向力X=-5729.5361, 切向力Y=-16515.5801 +FPS=26.55, 法向力=6061.6890, 切向力X=-5998.4600, 切向力Y=-16795.7539 +FPS=25.20, 法向力=6520.0586, 切向力X=-6912.4707, 切向力Y=-20895.8262 +FPS=24.99, 法向力=6383.2383, 切向力X=-6776.7012, 切向力Y=-20808.6836 +FPS=26.55, 法向力=6515.2100, 切向力X=-6541.4658, 切向力Y=-20827.6289 +FPS=27.17, 法向力=7219.5386, 切向力X=-6170.5762, 切向力Y=-18773.9980 +FPS=27.05, 法向力=7059.2412, 切向力X=-6360.9448, 切向力Y=-18878.8867 +FPS=25.39, 法向力=7889.9805, 切向力X=-10270.9844, 切向力Y=-25712.5586 +FPS=26.91, 法向力=7912.8130, 切向力X=-10500.7598, 切向力Y=-26200.6992 +FPS=28.02, 法向力=7593.3296, 切向力X=-17045.7461, 切向力Y=-33582.5039 +FPS=27.07, 法向力=8117.6738, 切向力X=-20067.8750, 切向力Y=-36685.3516 +FPS=27.44, 法向力=7994.8677, 切向力X=-20221.5762, 切向力Y=-36875.5391 +stitch_feature_optimized: canvas out_w=417, out_h=419, x_min=-82.86, y_min=-82.58 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000018s (hit), reset=0.000248s, blend=0.002223s (9 tiles incl ref), finalize=0.000050s, total=0.002544s +FPS=24.79, 法向力=8667.6758, 切向力X=-18800.8887, 切向力Y=-32646.4219 +FPS=27.66, 法向力=8579.2598, 切向力X=-18764.1660, 切向力Y=-32718.2734 +FPS=26.40, 法向力=8237.6191, 切向力X=-14511.9814, 切向力Y=-24002.3125 +FPS=27.48, 法向力=8239.2188, 切向力X=-14334.8359, 切向力Y=-24056.0977 +FPS=27.17, 法向力=8114.3350, 切向力X=-13972.6660, 切向力Y=-15757.1465 +FPS=26.86, 法向力=7198.9814, 切向力X=-13204.3223, 切向力Y=-8589.6465 +FPS=25.89, 法向力=7202.2690, 切向力X=-13225.3027, 切向力Y=-8561.3008 +FPS=26.73, 法向力=6433.3286, 切向力X=-7242.7773, 切向力Y=450.7353 +FPS=28.07, 法向力=6513.2148, 切向力X=-7156.8955, 切向力Y=489.9750 +FPS=26.08, 法向力=6114.2329, 切向力X=-3709.0146, 切向力Y=1237.3792 +FPS=28.00, 法向力=6172.5000, 切向力X=-3657.7524, 切向力Y=1329.7786 +FPS=24.41, 法向力=6022.5215, 切向力X=-2440.4319, 切向力Y=813.8890 +FPS=26.63, 法向力=6121.2109, 切向力X=-2339.2690, 切向力Y=800.3742 +FPS=27.82, 法向力=6276.2856, 切向力X=-907.8268, 切向力Y=957.5568 +FPS=24.98, 法向力=5236.0479, 切向力X=-598.7837, 切向力Y=368.8449 +FPS=27.67, 法向力=5245.2080, 切向力X=-589.9766, 切向力Y=384.8774 +FPS=26.21, 法向力=6300.2539, 切向力X=-1228.0652, 切向力Y=-711.5803 +FPS=29.08, 法向力=6248.0234, 切向力X=-1271.2581, 切向力Y=-1065.8081 +FPS=25.07, 法向力=6041.4023, 切向力X=-1278.5444, 切向力Y=-2987.4941 +FPS=25.78, 法向力=5633.1348, 切向力X=-1149.5338, 切向力Y=-3391.9358 +FPS=25.80, 法向力=6190.5605, 切向力X=-747.2835, 切向力Y=-7716.7539 +FPS=25.05, 法向力=6355.8784, 切向力X=585.4497, 切向力Y=-10645.2939 +FPS=28.27, 法向力=6447.4053, 切向力X=563.3661, 切向力Y=-10708.5684 +FPS=26.45, 法向力=7066.4448, 切向力X=267.8627, 切向力Y=-13182.5205 +FPS=30.80, 法向力=7124.4351, 切向力X=143.9533, 切向力Y=-13173.7500 +FPS=31.03, 法向力=6788.1660, 切向力X=-1860.8638, 切向力Y=-16036.4648 +FPS=39.42, 法向力=6635.0488, 切向力X=-2068.6333, 切向力Y=-16202.0830 +FPS=31.07, 法向力=6599.2197, 切向力X=-2088.8477, 切向力Y=-16208.3174 +FPS=36.59, 法向力=7650.4253, 切向力X=-1645.7637, 切向力Y=-19844.7441 +FPS=32.65, 法向力=7522.3994, 切向力X=-1845.2062, 切向力Y=-20015.8789 +stitch_feature_optimized: canvas out_w=417, out_h=419, x_min=-82.86, y_min=-82.58 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000213s, blend=0.002301s (9 tiles incl ref), finalize=0.000051s, total=0.002571s +FPS=35.78, 法向力=6960.9326, 切向力X=-4344.9932, 切向力Y=-22363.6367 +FPS=32.28, 法向力=6915.8647, 切向力X=-4162.3418, 切向力Y=-22481.3281 +FPS=36.44, 法向力=7397.4458, 切向力X=-5104.2134, 切向力Y=-23167.2930 +FPS=31.67, 法向力=7383.4609, 切向力X=-5175.7100, 切向力Y=-23178.2305 +FPS=34.02, 法向力=7841.6694, 切向力X=-9430.7666, 切向力Y=-23981.1992 +FPS=32.08, 法向力=8275.8379, 切向力X=-9392.4854, 切向力Y=-23646.4453 +FPS=35.23, 法向力=7634.1611, 切向力X=-15802.6787, 切向力Y=-24734.7891 +FPS=31.36, 法向力=7635.2656, 切向力X=-15972.4062, 切向力Y=-24678.8672 +FPS=37.58, 法向力=7797.4585, 切向力X=-16033.2168, 切向力Y=-21524.4609 +FPS=31.59, 法向力=7542.6865, 切向力X=-16231.9629, 切向力Y=-21456.9727 +FPS=36.98, 法向力=7435.8594, 切向力X=-16432.8008, 切向力Y=-21425.8398 +FPS=27.60, 法向力=7496.2373, 切向力X=-19188.8613, 切向力Y=-22215.3516 +FPS=39.20, 法向力=7535.8818, 切向力X=-19278.7031, 切向力Y=-22133.5449 +FPS=29.05, 法向力=7057.3584, 切向力X=-18446.3750, 切向力Y=-13910.0342 +FPS=39.07, 法向力=7242.5254, 切向力X=-18388.3477, 切向力Y=-13675.6377 +FPS=29.48, 法向力=6631.8916, 切向力X=-27464.7285, 切向力Y=-11460.7676 +FPS=37.93, 法向力=6803.3027, 切向力X=-27615.8984, 切向力Y=-11234.6494 +FPS=28.28, 法向力=7067.3608, 切向力X=-33382.0859, 切向力Y=-8281.3848 +FPS=29.60, 法向力=7085.6621, 切向力X=-33559.4648, 切向力Y=-8120.3008 +FPS=23.40, 法向力=8251.2275, 切向力X=-39907.2344, 切向力Y=-6084.6123 +FPS=30.59, 法向力=8180.2881, 切向力X=-39993.3203, 切向力Y=-5943.5723 +FPS=27.49, 法向力=8802.5625, 切向力X=-42748.1602, 切向力Y=3.8954 +FPS=28.63, 法向力=8838.8887, 切向力X=-42850.7344, 切向力Y=-52.4118 +FPS=25.81, 法向力=9820.1436, 切向力X=-37297.5430, 切向力Y=7572.5693 +FPS=27.85, 法向力=9866.8164, 切向力X=-37332.1680, 切向力Y=7607.1758 +FPS=26.18, 法向力=9311.6465, 切向力X=-26015.0938, 切向力Y=10361.1836 +FPS=26.02, 法向力=9471.0137, 切向力X=-25814.1855, 切向力Y=10557.0449 +FPS=27.54, 法向力=9823.6514, 切向力X=-17085.3496, 切向力Y=12214.1914 +FPS=25.11, 法向力=8842.6074, 切向力X=-8852.2461, 切向力Y=9390.4102 +FPS=27.90, 法向力=8882.9199, 切向力X=-8855.4727, 切向力Y=9348.6797 +stitch_feature_optimized: canvas out_w=417, out_h=419, x_min=-82.86, y_min=-82.58 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000215s, blend=0.002214s (9 tiles incl ref), finalize=0.000050s, total=0.002485s +FPS=25.72, 法向力=8015.1035, 切向力X=-3557.1724, 切向力Y=7390.8574 +FPS=27.72, 法向力=7977.0508, 切向力X=-3560.6299, 切向力Y=7385.8613 +FPS=23.20, 法向力=7447.9014, 切向力X=-1185.1215, 切向力Y=5992.9883 +FPS=23.16, 法向力=7463.6216, 切向力X=-1207.5627, 切向力Y=6056.5635 +FPS=24.31, 法向力=7340.2930, 切向力X=-1378.4688, 切向力Y=4445.9160 +FPS=23.14, 法向力=6592.2832, 切向力X=-177.3953, 切向力Y=2235.0159 +FPS=24.91, 法向力=6654.3813, 切向力X=-131.4013, 切向力Y=2312.0059 +FPS=23.72, 法向力=6695.5229, 切向力X=243.0525, 切向力Y=2514.0549 +FPS=22.08, 法向力=6612.6982, 切向力X=-100.3584, 切向力Y=1219.8101 +FPS=24.12, 法向力=6669.8657, 切向力X=-79.2849, 切向力Y=1059.0531 +FPS=24.48, 法向力=6533.8203, 切向力X=1152.2725, 切向力Y=321.1600 +FPS=23.78, 法向力=6471.5635, 切向力X=1247.0901, 切向力Y=260.2855 +FPS=24.01, 法向力=6530.1016, 切向力X=2746.1897, 切向力Y=-2023.5092 +FPS=23.83, 法向力=7459.8560, 切向力X=3682.3789, 切向力Y=-2119.1389 +FPS=23.43, 法向力=7626.3364, 切向力X=3780.7368, 切向力Y=-2043.2375 +FPS=24.85, 法向力=7692.8604, 切向力X=5582.9307, 切向力Y=-3974.3691 +FPS=22.92, 法向力=8646.4922, 切向力X=3219.2234, 切向力Y=-11565.5566 +FPS=23.35, 法向力=8827.5918, 切向力X=3194.5520, 切向力Y=-11843.7832 +FPS=24.85, 法向力=9569.9648, 切向力X=-1328.2048, 切向力Y=-18691.5117 +FPS=23.72, 法向力=9542.8105, 切向力X=-7979.8916, 切向力Y=-21360.4160 +FPS=25.15, 法向力=9763.9844, 切向力X=-8124.4497, 切向力Y=-21416.8926 +FPS=23.30, 法向力=10251.0391, 切向力X=-11635.9062, 切向力Y=-24553.1836 +FPS=22.99, 法向力=10349.9736, 切向力X=-11528.4336, 切向力Y=-24862.1602 +FPS=24.86, 法向力=11700.8848, 切向力X=-7761.5347, 切向力Y=-24223.9805 +FPS=24.07, 法向力=12452.5098, 切向力X=-8213.1641, 切向力Y=-22620.0820 +FPS=25.69, 法向力=12427.8965, 切向力X=-8370.9395, 切向力Y=-22631.1367 +FPS=23.94, 法向力=13366.3398, 切向力X=-8267.8359, 切向力Y=-23573.5664 +FPS=24.18, 法向力=13311.6562, 切向力X=-8803.3223, 切向力Y=-21343.2344 +FPS=25.27, 法向力=13415.5703, 切向力X=-8643.3594, 切向力Y=-21393.6270 +FPS=24.14, 法向力=12013.1025, 切向力X=-13070.9746, 切向力Y=-18483.1992 +stitch_feature_optimized: canvas out_w=417, out_h=419, x_min=-82.86, y_min=-82.58 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000224s, blend=0.002512s (9 tiles incl ref), finalize=0.000051s, total=0.002793s +FPS=25.24, 法向力=12137.5215, 切向力X=-12820.4004, 切向力Y=-18588.2188 +FPS=22.37, 法向力=10348.1318, 切向力X=-19068.4727, 切向力Y=-8674.2578 +FPS=24.68, 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切向力X=-2610.4685, 切向力Y=1447.9995 +FPS=22.25, 法向力=7234.9126, 切向力X=-2534.4717, 切向力Y=1979.7771 +FPS=20.96, 法向力=6571.3984, 切向力X=-2143.4937, 切向力Y=1502.3478 +FPS=21.87, 法向力=7525.7217, 切向力X=-1585.7705, 切向力Y=1718.7300 +FPS=22.53, 法向力=7417.0747, 切向力X=-1591.5857, 切向力Y=1551.1111 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/logs/qt_viewer_20260608_112331.log b/examples/logs/qt_viewer_20260608_112331.log new file mode 100644 index 0000000..8e61efa --- /dev/null +++ b/examples/logs/qt_viewer_20260608_112331.log @@ -0,0 +1,24610 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: config\ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=35 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: config\./config/ddjx01.npy +[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json' + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.45, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=1.16, 法向力=4554.3267, 切向力X=-697.6722, 切向力Y=15667.4492 +FPS=24.97, 法向力=4584.2568, 切向力X=-754.9916, 切向力Y=15735.4941 +FPS=27.05, 法向力=4452.6226, 切向力X=940.0904, 切向力Y=18191.8164 +FPS=25.66, 法向力=4588.3032, 切向力X=466.1898, 切向力Y=20606.5039 +FPS=28.66, 法向力=4658.0508, 切向力X=399.1593, 切向力Y=20702.0195 +FPS=27.49, 法向力=4707.2505, 切向力X=-1889.5339, 切向力Y=21913.8848 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=29.65, 法向力=4794.1914, 切向力X=-2017.0203, 切向力Y=21920.3594 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=37.08, 法向力=4836.4893, 切向力X=-2044.2815, 切向力Y=21886.4180 +Traceback (most recent call last): + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer + data_plot = self._make_force_plot_data(self.data[:n].copy()) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=35.84, 法向力=5224.3799, 切向力X=-2517.8892, 切向力Y=22588.7930 +FPS=36.18, 法向力=5386.2354, 切向力X=-2511.5757, 切向力Y=22611.5312 +FPS=26.98, 法向力=4713.7583, 切向力X=-3555.0801, 切向力Y=19401.7891 +FPS=18.81, 法向力=4009.3428, 切向力X=-354.0092, 切向力Y=13073.8936 +FPS=27.89, 法向力=3965.9893, 切向力X=-430.1178, 切向力Y=13111.0625 +FPS=24.82, 法向力=3026.5417, 切向力X=657.2572, 切向力Y=6817.7271 +FPS=26.94, 法向力=3077.9971, 切向力X=777.2772, 切向力Y=6776.7646 +FPS=25.05, 法向力=2494.3887, 切向力X=627.1208, 切向力Y=4981.6489 +FPS=24.17, 法向力=2523.3254, 切向力X=1289.3251, 切向力Y=4350.0879 +FPS=27.22, 法向力=2592.3765, 切向力X=1273.6748, 切向力Y=4285.4214 +FPS=25.64, 法向力=1866.4720, 切向力X=1710.2234, 切向力Y=4550.4072 +FPS=28.37, 法向力=1864.7249, 切向力X=1735.8860, 切向力Y=4575.4268 +FPS=26.44, 法向力=2135.4590, 切向力X=-915.4575, 切向力Y=4202.5312 +FPS=29.79, 法向力=2140.0098, 切向力X=-1032.2958, 切向力Y=4142.0615 +FPS=26.69, 法向力=2105.4287, 切向力X=-2325.2456, 切向力Y=4106.3735 +FPS=27.91, 法向力=2137.8994, 切向力X=-2289.4561, 切向力Y=4210.6714 +FPS=29.26, 法向力=1943.9854, 切向力X=993.4240, 切向力Y=3713.1782 +FPS=27.90, 法向力=1365.5374, 切向力X=3618.7036, 切向力Y=3298.7603 +FPS=29.01, 法向力=1441.2225, 切向力X=3611.9119, 切向力Y=3283.7876 +stitch_feature_optimized: canvas out_w=418, out_h=426, x_min=-82.89, y_min=-85.51 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000218s, blend=0.002192s (9 tiles incl ref), finalize=0.000057s, total=0.002474s +FPS=26.62, 法向力=1765.4713, 切向力X=4002.3501, 切向力Y=1667.1099 +FPS=28.84, 法向力=1761.9777, 切向力X=3939.1692, 切向力Y=1715.8994 +FPS=28.81, 法向力=966.4580, 切向力X=2247.5205, 切向力Y=184.1269 +FPS=29.86, 法向力=947.1981, 切向力X=2316.3228, 切向力Y=140.3768 +FPS=28.20, 法向力=1659.0269, 切向力X=1144.7233, 切向力Y=-3608.4602 +FPS=31.68, 法向力=1657.7673, 切向力X=1144.2200, 切向力Y=-3579.4922 +FPS=26.14, 法向力=1220.9978, 切向力X=-1313.4600, 切向力Y=-2964.4087 +FPS=18.91, 法向力=1403.0781, 切向力X=-3757.6130, 切向力Y=-3598.0742 +FPS=30.63, 法向力=1513.7904, 切向力X=-3892.7439, 切向力Y=-3606.0852 +FPS=30.73, 法向力=1559.9297, 切向力X=-3780.1780, 切向力Y=-2951.0730 +FPS=31.11, 法向力=1590.3589, 切向力X=-3765.1001, 切向力Y=-3007.8220 +FPS=30.13, 法向力=1593.4590, 切向力X=-3751.7766, 切向力Y=-2988.6714 +FPS=28.48, 法向力=1608.8606, 切向力X=-3505.0542, 切向力Y=-2100.8203 +FPS=31.61, 法向力=1631.1538, 切向力X=-3463.6252, 切向力Y=-2131.3545 +FPS=29.64, 法向力=1337.9983, 切向力X=-3155.1809, 切向力Y=-1446.0496 +FPS=31.30, 法向力=1319.2437, 切向力X=-3216.0151, 切向力Y=-1456.7755 +FPS=29.11, 法向力=1374.4456, 切向力X=-2808.4519, 切向力Y=-2025.4879 +FPS=30.32, 法向力=1385.7244, 切向力X=-2709.8379, 切向力Y=-2019.4021 +FPS=30.54, 法向力=1617.0674, 切向力X=-2885.0415, 切向力Y=-1886.9111 +FPS=29.66, 法向力=1591.1744, 切向力X=-2851.7859, 切向力Y=-1912.9248 +FPS=30.72, 法向力=1429.5195, 切向力X=-3117.4287, 切向力Y=-1257.4026 +FPS=31.11, 法向力=1671.3267, 切向力X=-2846.6626, 切向力Y=-1704.1897 +FPS=29.77, 法向力=1730.6980, 切向力X=-2770.7646, 切向力Y=-1731.3738 +FPS=30.14, 法向力=1753.5337, 切向力X=-2747.7700, 切向力Y=-1737.6318 +FPS=29.00, 法向力=1505.4470, 切向力X=-3448.5342, 切向力Y=-1822.7848 +FPS=30.91, 法向力=1502.9451, 切向力X=-3473.9795, 切向力Y=-1900.2638 +FPS=29.56, 法向力=1389.6293, 切向力X=-2983.6782, 切向力Y=-1492.0078 +FPS=32.03, 法向力=1410.6633, 切向力X=-2959.1084, 切向力Y=-1419.6578 +FPS=28.87, 法向力=1285.4233, 切向力X=-2707.1416, 切向力Y=-1229.0280 +FPS=31.42, 法向力=1258.8481, 切向力X=-2711.6545, 切向力Y=-1176.4440 +stitch_feature_optimized: canvas out_w=418, out_h=426, x_min=-82.89, y_min=-85.51 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000230s, blend=0.002445s (9 tiles incl ref), finalize=0.000083s, total=0.002764s +FPS=29.54, 法向力=1257.2798, 切向力X=-2833.8010, 切向力Y=-985.5085 +FPS=32.12, 法向力=1302.1843, 切向力X=-2724.4739, 切向力Y=-979.6078 +FPS=34.21, 法向力=1455.3743, 切向力X=-2858.1040, 切向力Y=-1294.7928 +FPS=42.13, 法向力=1458.6340, 切向力X=-2941.8804, 切向力Y=-1290.9803 +FPS=32.74, 法向力=1463.2454, 切向力X=-1821.1169, 切向力Y=-926.6198 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reset=0.000233s, blend=0.002122s (9 tiles incl ref), finalize=0.000051s, total=0.002412s +FPS=28.53, 法向力=1378.9164, 切向力X=2491.8311, 切向力Y=-1707.7930 +FPS=30.81, 法向力=1213.1775, 切向力X=2676.3516, 切向力Y=-1622.7839 +FPS=29.72, 法向力=1155.8842, 切向力X=2920.4502, 切向力Y=-1563.8838 +FPS=30.53, 法向力=1150.7000, 切向力X=2999.8054, 切向力Y=-1585.9594 +FPS=30.45, 法向力=1143.5994, 切向力X=2775.5786, 切向力Y=-1076.6707 +FPS=29.77, 法向力=1164.3096, 切向力X=2904.6394, 切向力Y=-1095.1313 +FPS=30.08, 法向力=1150.5879, 切向力X=2778.8379, 切向力Y=-1379.5663 +FPS=30.34, 法向力=1264.4712, 切向力X=2981.4858, 切向力Y=-1619.5227 +FPS=30.85, 法向力=1354.8820, 切向力X=3047.9812, 切向力Y=-1669.3975 +FPS=30.71, 法向力=1285.9983, 切向力X=3039.5547, 切向力Y=-1631.5847 +FPS=27.64, 法向力=1542.5070, 切向力X=2989.6064, 切向力Y=-1543.1052 +FPS=29.67, 法向力=1578.8237, 切向力X=3040.5413, 切向力Y=-1563.1050 +FPS=29.70, 法向力=1133.5211, 切向力X=2543.8154, 切向力Y=-1900.2583 +FPS=31.68, 法向力=1165.3325, 切向力X=2620.9795, 切向力Y=-1971.8175 +FPS=29.43, 法向力=1168.0945, 切向力X=2544.8042, 切向力Y=-1154.0791 +FPS=30.88, 法向力=1121.2202, 切向力X=2683.9895, 切向力Y=-1182.3569 +FPS=29.36, 法向力=817.2842, 切向力X=2633.4758, 切向力Y=-1205.6678 +FPS=30.80, 法向力=855.3654, 切向力X=2597.0166, 切向力Y=-1214.4771 +FPS=2.26, 法向力=1474.9089, 切向力X=3025.2793, 切向力Y=-1306.7407 +FPS=20.60, 法向力=1565.8038, 切向力X=3008.1328, 切向力Y=-1489.4412 +FPS=21.23, 法向力=1558.7284, 切向力X=2964.2114, 切向力Y=-1438.7438 +FPS=21.00, 法向力=1537.6462, 切向力X=3523.1467, 切向力Y=-1184.8098 +FPS=20.77, 法向力=1226.9656, 切向力X=2897.4622, 切向力Y=-1393.1595 +FPS=20.74, 法向力=1326.7144, 切向力X=2734.7036, 切向力Y=-1124.5571 +FPS=22.11, 法向力=1273.5725, 切向力X=2726.7007, 切向力Y=-1206.7582 +FPS=19.46, 法向力=1495.7844, 切向力X=2955.9194, 切向力Y=-1467.8236 +FPS=26.35, 法向力=1097.6249, 切向力X=2820.8733, 切向力Y=-1207.2695 +FPS=18.46, 法向力=1127.6932, 切向力X=2820.2942, 切向力Y=-1168.5366 +FPS=21.26, 法向力=1379.1208, 切向力X=2689.5327, 切向力Y=-1300.3186 +FPS=21.59, 法向力=1392.1213, 切向力X=2985.7134, 切向力Y=-1443.5642 +stitch_feature_optimized: canvas out_w=418, out_h=426, x_min=-82.89, y_min=-85.51 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000007s (hit), reset=0.000332s, blend=0.002308s (9 tiles incl ref), finalize=0.000075s, total=0.002725s +FPS=30.35, 法向力=1325.4034, 切向力X=2931.9258, 切向力Y=-1447.6188 +FPS=22.13, 法向力=1339.4193, 切向力X=2647.2349, 切向力Y=-1376.9075 +FPS=20.71, 法向力=1307.2056, 切向力X=2973.9839, 切向力Y=-1298.5465 +FPS=23.38, 法向力=1320.0004, 切向力X=3029.7236, 切向力Y=-1266.1844 +FPS=19.09, 法向力=1416.3621, 切向力X=2927.2544, 切向力Y=-1298.0204 +FPS=21.62, 法向力=1405.0371, 切向力X=3050.5186, 切向力Y=-1042.6017 +FPS=24.01, 法向力=1423.9111, 切向力X=3073.6201, 切向力Y=-1046.0563 +FPS=18.33, 法向力=1695.6797, 切向力X=3026.1890, 切向力Y=-1962.1843 +FPS=16.15, 法向力=1486.1097, 切向力X=3125.4617, 切向力Y=-1398.7653 +FPS=6.39, 法向力=1568.5867, 切向力X=2670.0630, 切向力Y=-1555.9900 +FPS=32.19, 法向力=1640.5919, 切向力X=2676.8970, 切向力Y=-1525.6750 +FPS=27.86, 法向力=1358.7627, 切向力X=3144.0171, 切向力Y=-1842.4838 +FPS=30.91, 法向力=1404.4397, 切向力X=3182.5808, 切向力Y=-1804.7336 +FPS=28.81, 法向力=1396.1355, 切向力X=3150.9463, 切向力Y=-1796.9175 +FPS=30.14, 法向力=1032.4014, 切向力X=3010.5254, 切向力Y=-967.8026 +FPS=29.86, 法向力=1262.1044, 切向力X=3102.9651, 切向力Y=-1291.0342 +FPS=31.45, 法向力=1185.7438, 切向力X=3099.4680, 切向力Y=-1280.8787 +FPS=30.64, 法向力=1293.5408, 切向力X=3628.1758, 切向力Y=-778.1297 +FPS=30.52, 法向力=1286.5269, 切向力X=3533.6526, 切向力Y=-805.5258 +FPS=30.02, 法向力=990.2745, 切向力X=2764.0461, 切向力Y=-985.5625 +FPS=30.40, 法向力=956.2186, 切向力X=2779.3074, 切向力Y=-982.0154 +FPS=30.71, 法向力=1000.3654, 切向力X=2568.4060, 切向力Y=-721.0159 +FPS=30.89, 法向力=1028.8939, 切向力X=2674.1104, 切向力Y=-717.9806 +FPS=30.78, 法向力=1013.0743, 切向力X=2614.8667, 切向力Y=-763.2274 +FPS=28.93, 法向力=970.5096, 切向力X=2749.6714, 切向力Y=-1571.5962 +FPS=31.93, 法向力=978.8671, 切向力X=2845.4102, 切向力Y=-1640.4437 +FPS=30.31, 法向力=1101.9594, 切向力X=2721.2104, 切向力Y=-1209.7295 +FPS=31.60, 法向力=1090.2303, 切向力X=2699.8870, 切向力Y=-1177.2949 +FPS=30.71, 法向力=1281.3972, 切向力X=3026.1648, 切向力Y=-1622.2496 +FPS=12.79, 法向力=1151.0984, 切向力X=2722.5745, 切向力Y=-940.3156 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260608_121005.log b/examples/logs/qt_viewer_20260608_121005.log new file mode 100644 index 0000000..09ada0e --- /dev/null +++ b/examples/logs/qt_viewer_20260608_121005.log @@ -0,0 +1,295 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=30 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: C:\Users\orisys2601\Desktop\dd_claw\./config/ddjx01.npy +[Error] 读取配置文件失败: JSON 文件格式不匹配，找不到矩阵参数！ + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=./config/ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=5.08, 法向力=1509.3735, 切向力X=-302.8310, 切向力Y=972.6979 +FPS=26.76, 法向力=1111.3643, 切向力X=-575.8857, 切向力Y=136.7672 +FPS=28.44, 法向力=1057.5764, 切向力X=-561.6890, 切向力Y=161.4724 +FPS=30.87, 法向力=1456.3389, 切向力X=-222.1656, 切向力Y=322.3061 +FPS=32.73, 法向力=1442.3021, 切向力X=-288.5618, 切向力Y=268.7023 +FPS=29.70, 法向力=1917.8254, 切向力X=-250.0246, 切向力Y=711.7618 +Traceback (most recent call last): + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 599, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=34.53, 法向力=1927.5444, 切向力X=-312.3400, 切向力Y=693.8900 +Traceback (most recent call last): + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 599, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=40.24, 法向力=1458.6370, 切向力X=-73.2592, 切向力Y=1453.4950 +Traceback (most recent call last): + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 599, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=40.84, 法向力=1437.8748, 切向力X=-43.4202, 切向力Y=1401.7517 +FPS=40.32, 法向力=1323.8347, 切向力X=-516.1204, 切向力Y=855.4493 +FPS=32.67, 法向力=1341.8401, 切向力X=-631.1521, 切向力Y=777.0631 +FPS=30.46, 法向力=1327.0924, 切向力X=-612.9222, 切向力Y=759.7850 +FPS=30.91, 法向力=1347.0994, 切向力X=-211.8209, 切向力Y=684.6572 +FPS=32.36, 法向力=1292.3995, 切向力X=-57.3909, 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法向力=2790.7629, 切向力X=2072.1267, 切向力Y=529.1954 +FPS=27.30, 法向力=2313.3916, 切向力X=1594.0348, 切向力Y=845.1514 +stitch_feature_optimized: canvas out_w=418, out_h=427, x_min=-84.51, y_min=-85.42 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000256s, blend=0.002177s (9 tiles incl ref), finalize=0.000117s, total=0.002558s +FPS=28.08, 法向力=2323.5503, 切向力X=1695.6064, 切向力Y=785.3317 +FPS=28.23, 法向力=2520.1538, 切向力X=1191.3745, 切向力Y=-26.1310 +FPS=26.21, 法向力=1902.3125, 切向力X=1549.0247, 切向力Y=774.9415 +FPS=27.25, 法向力=1958.8577, 切向力X=1614.0410, 切向力Y=723.1378 +FPS=27.23, 法向力=2164.9092, 切向力X=1549.9696, 切向力Y=104.4647 +FPS=27.99, 法向力=2235.0332, 切向力X=1551.8892, 切向力Y=144.0316 +FPS=26.72, 法向力=1620.1367, 切向力X=1838.4702, 切向力Y=52.7633 +FPS=28.43, 法向力=1570.4241, 切向力X=1878.6387, 切向力Y=69.8186 +FPS=26.17, 法向力=1761.6476, 切向力X=1164.2766, 切向力Y=1118.8116 +FPS=28.61, 法向力=1802.1917, 切向力X=1267.6033, 切向力Y=1154.3481 +FPS=27.91, 法向力=1898.5858, 切向力X=1064.7195, 切向力Y=295.8300 +FPS=28.19, 法向力=1908.9281, 切向力X=1162.9065, 切向力Y=217.7100 +FPS=27.52, 法向力=1717.8311, 切向力X=1133.3929, 切向力Y=340.0806 +FPS=12.24, 法向力=1657.5914, 切向力X=770.6281, 切向力Y=733.9172 +FPS=40.51, 法向力=1637.0885, 切向力X=787.8185, 切向力Y=698.9650 +FPS=33.22, 法向力=1133.8268, 切向力X=1118.9921, 切向力Y=600.6842 +FPS=33.34, 法向力=1168.0212, 切向力X=1153.3232, 切向力Y=583.1916 +FPS=32.24, 法向力=1431.7371, 切向力X=257.2110, 切向力Y=664.2767 +FPS=30.90, 法向力=1529.3149, 切向力X=183.6705, 切向力Y=611.1656 +FPS=31.73, 法向力=1531.6901, 切向力X=872.9446, 切向力Y=467.4865 +FPS=33.50, 法向力=1557.0951, 切向力X=844.1377, 切向力Y=444.6363 +FPS=30.61, 法向力=1251.1978, 切向力X=1106.1155, 切向力Y=921.6523 +FPS=33.44, 法向力=1254.7440, 切向力X=1165.3949, 切向力Y=995.6622 +FPS=30.48, 法向力=1578.5897, 切向力X=584.7957, 切向力Y=-258.4114 +FPS=33.47, 法向力=1624.8831, 切向力X=595.1139, 切向力Y=-320.4827 +FPS=30.50, 法向力=1273.6179, 切向力X=692.5327, 切向力Y=680.3885 +FPS=32.64, 法向力=1289.8662, 切向力X=639.6027, 切向力Y=750.4628 +FPS=32.09, 法向力=1523.3060, 切向力X=463.6853, 切向力Y=1129.9871 +FPS=32.58, 法向力=1510.4768, 切向力X=449.7258, 切向力Y=1114.2688 +FPS=31.11, 法向力=1411.5391, 切向力X=561.3345, 切向力Y=786.7571 +stitch_feature_optimized: canvas out_w=418, out_h=427, x_min=-84.51, y_min=-85.42 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000206s, blend=0.002105s (9 tiles incl ref), finalize=0.000050s, total=0.002367s +FPS=32.17, 法向力=1377.8932, 切向力X=629.0267, 切向力Y=796.5300 +FPS=32.11, 法向力=1583.4441, 切向力X=363.6527, 切向力Y=881.0869 +FPS=33.19, 法向力=1618.4673, 切向力X=369.7521, 切向力Y=797.2236 +FPS=30.83, 法向力=1630.8031, 切向力X=373.9634, 切向力Y=793.0401 +FPS=31.65, 法向力=1366.8754, 切向力X=393.2392, 切向力Y=1542.8672 +FPS=32.32, 法向力=1367.4795, 切向力X=439.1738, 切向力Y=1433.7781 +FPS=31.16, 法向力=1374.7382, 切向力X=140.7696, 切向力Y=480.1952 +FPS=31.69, 法向力=1415.8533, 切向力X=43.1400, 切向力Y=471.1428 +FPS=30.78, 法向力=1314.8560, 切向力X=139.9083, 切向力Y=820.5954 +FPS=32.68, 法向力=1287.6721, 切向力X=68.2253, 切向力Y=776.3089 +FPS=28.75, 法向力=1240.2185, 切向力X=583.4763, 切向力Y=669.5624 +FPS=9.29, 法向力=1821.4355, 切向力X=684.0640, 切向力Y=483.9497 +Sensor disconnected. diff --git a/examples/logs/qt_viewer_20260608_121027.log b/examples/logs/qt_viewer_20260608_121027.log new file mode 100644 index 0000000..d3c8ae8 --- /dev/null +++ b/examples/logs/qt_viewer_20260608_121027.log @@ -0,0 +1,297 @@ + +按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏 +Config: ./config/ddjx01.json +Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]} +Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12} +Connecting to video source... +OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400 +Detected 15 candidate boxes with bk_thresh=35 +Sensor: valid for stitching +Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13] +Latest-frame capture thread started. +Camera calib not found or not JSON: C:\Users\orisys2601\Desktop\dd_claw\./config/ddjx01.npy +[Init] 加载简单方向配置成功: rotation_angle=0, flip_x=False, flip_y=False + Video source: 0 + Stitch mode: True + Optical flow algorithm: dis + Image processing backend: cpu (requested: cpu) + Poisson backend: auto + CuPy available: True + OpenCL available: False +▶ 启动 — 摄像机=0, 配置=./config/ddjx01.json, 标定=./config/ddjx01.npy +FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 +FPS=6.70, 法向力=958.0471, 切向力X=457.1682, 切向力Y=-80.8228 +FPS=27.03, 法向力=1037.8328, 切向力X=-166.8887, 切向力Y=-328.4384 +FPS=29.36, 法向力=1041.7566, 切向力X=-290.5876, 切向力Y=-374.6129 +FPS=30.51, 法向力=1001.5676, 切向力X=-344.4829, 切向力Y=-226.9175 +FPS=33.52, 法向力=967.4227, 切向力X=-431.8862, 切向力Y=-215.3219 +FPS=31.39, 法向力=1223.9358, 切向力X=19.5592, 切向力Y=-754.6327 +Traceback (most recent call last): + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 599, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=34.79, 法向力=1211.7732, 切向力X=-0.6752, 切向力Y=-660.0580 +Traceback (most recent call last): + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 599, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=42.94, 法向力=1216.1796, 切向力X=17.8509, 切向力Y=-614.3287 +Traceback (most recent call last): + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 599, in _on_timer + data_plot[:, 1, i] = lowpass_filter( + ^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 125, in lowpass_filter + return filtfilt(b, a, y) + ^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt + edge, ext = _validate_pad(padtype, padlen, x, axis, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad + raise ValueError("The length of the input vector x must be greater " +ValueError: The length of the input vector x must be greater than padlen, which is 9. +FPS=39.57, 法向力=1187.6194, 切向力X=182.1541, 切向力Y=353.3444 +FPS=43.28, 法向力=1206.9316, 切向力X=250.1744, 切向力Y=470.3577 +FPS=31.19, 法向力=1173.4836, 切向力X=607.2571, 切向力Y=383.3973 +FPS=33.52, 法向力=1212.7821, 切向力X=650.9253, 切向力Y=434.1505 +FPS=30.17, 法向力=1067.3831, 切向力X=-147.8980, 切向力Y=-611.6644 +FPS=32.14, 法向力=1085.7688, 切向力X=-76.3259, 切向力Y=-607.7249 +FPS=29.42, 法向力=988.0444, 切向力X=-267.5430, 切向力Y=-484.7402 +FPS=32.15, 法向力=995.0660, 切向力X=-219.2151, 切向力Y=-426.2507 +FPS=32.54, 法向力=996.5771, 切向力X=-211.6463, 切向力Y=-477.5270 +FPS=31.80, 法向力=934.5352, 切向力X=390.4329, 切向力Y=-986.1317 +FPS=32.57, 法向力=955.0214, 切向力X=421.5325, 切向力Y=-924.8008 +FPS=30.14, 法向力=1514.4005, 切向力X=4768.9258, 切向力Y=-607.7657 +FPS=30.38, 法向力=1372.3899, 切向力X=4951.4219, 切向力Y=-728.3699 +FPS=30.54, 法向力=4210.1904, 切向力X=23801.4180, 切向力Y=-4762.2793 +FPS=32.84, 法向力=3893.1074, 切向力X=24050.5215, 切向力Y=-5085.0879 +FPS=29.87, 法向力=8197.6562, 切向力X=55487.2656, 切向力Y=-18924.7031 +FPS=31.65, 法向力=7782.2881, 切向力X=56084.1016, 切向力Y=-19349.2207 +FPS=28.88, 法向力=12066.9580, 切向力X=75880.2031, 切向力Y=-31007.4258 +FPS=31.90, 法向力=11676.3750, 切向力X=76612.9531, 切向力Y=-31328.7539 +stitch_feature_optimized: canvas out_w=418, out_h=426, x_min=-83.01, y_min=-85.05 +stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000207s, blend=0.002091s (9 tiles incl ref), 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切向力X=42281.0938, 切向力Y=-3917.3611 +FPS=29.19, 法向力=4583.4883, 切向力X=42228.2227, 切向力Y=-4116.4399 +FPS=26.05, 法向力=5828.5322, 切向力X=44107.7227, 切向力Y=-4048.8062 +FPS=28.32, 法向力=5849.1611, 切向力X=44196.6094, 切向力Y=-3864.5408 +FPS=25.15, 法向力=6288.3628, 切向力X=42818.4609, 切向力Y=-4580.4180 +FPS=27.47, 法向力=6586.1416, 切向力X=42976.0938, 切向力Y=-4468.3193 +FPS=26.56, 法向力=6565.0449, 切向力X=42986.5312, 切向力Y=-4453.9072 +FPS=26.03, 法向力=7069.7607, 切向力X=43344.8594, 切向力Y=-5667.7437 +FPS=27.51, 法向力=7135.5488, 切向力X=43187.9766, 切向力Y=-5595.8076 +FPS=25.14, 法向力=6329.7842, 切向力X=39394.6094, 切向力Y=-5116.0166 +FPS=28.16, 法向力=6282.1577, 切向力X=39365.7656, 切向力Y=-4955.9248 +FPS=26.86, 法向力=6138.9043, 切向力X=35671.7109, 切向力Y=-5318.5205 +FPS=27.79, 法向力=6171.9844, 切向力X=35802.3945, 切向力Y=-5490.1367 +FPS=26.12, 法向力=5230.4238, 切向力X=30359.6660, 切向力Y=-6299.2544 +FPS=24.57, 法向力=5253.0903, 切向力X=30273.2812, 切向力Y=-6505.5869 +FPS=23.81, 法向力=3415.2375, 切向力X=20639.0586, 切向力Y=-6613.4072 +FPS=23.65, 法向力=3028.2537, 切向力X=9902.0908, 切向力Y=-3292.9380 +FPS=25.85, 法向力=2926.2432, 切向力X=9984.9180, 切向力Y=-3338.7285 +FPS=24.25, 法向力=1828.6602, 切向力X=5659.7832, 切向力Y=-233.4894 +FPS=25.95, 法向力=2211.6892, 切向力X=3516.8596, 切向力Y=-198.6759 +FPS=23.90, 法向力=2257.3608, 切向力X=3546.3047, 切向力Y=-218.8824 +stitch_feature_optimized: canvas out_w=418, out_h=426, x_min=-83.01, y_min=-85.05 +stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000278s, blend=0.002413s (9 tiles incl ref), finalize=0.000065s, total=0.002763s +FPS=20.71, 法向力=1942.4646, 切向力X=3167.5542, 切向力Y=-472.2048 +FPS=23.09, 法向力=1620.0269, 切向力X=2688.0093, 切向力Y=-71.4687 +FPS=23.54, 法向力=1595.3293, 切向力X=2769.6221, 切向力Y=-117.6267 +FPS=20.79, 法向力=1237.4751, 切向力X=2663.2168, 切向力Y=-809.7040 +FPS=23.33, 法向力=1345.8228, 切向力X=1813.4089, 切向力Y=-826.1524 +FPS=23.93, 法向力=1301.6569, 切向力X=1856.9824, 切向力Y=-829.9094 +FPS=21.80, 法向力=1364.8510, 切向力X=2106.8647, 切向力Y=-954.0377 +FPS=21.49, 法向力=1421.3523, 切向力X=2159.9360, 切向力Y=1.8530 +FPS=22.00, 法向力=1429.6431, 切向力X=2171.4988, 切向力Y=14.3651 +FPS=23.45, 法向力=1468.8877, 切向力X=1490.3186, 切向力Y=-409.1366 +FPS=20.19, 法向力=1775.2639, 切向力X=1025.2883, 切向力Y=-98.6228 +FPS=23.05, 法向力=1772.0188, 切向力X=972.3601, 切向力Y=-1.5444 +FPS=11.34, 法向力=1348.8914, 切向力X=1231.3931, 切向力Y=-1017.2532 +Sensor disconnected. +⏸ 已暂停 diff --git a/examples/manual_annotator.py b/examples/manual_annotator.py new file mode 100644 index 0000000..222e4c7 --- /dev/null +++ b/examples/manual_annotator.py @@ -0,0 +1,657 @@ +""" +Manual annotation tool for camera calibration aids. + +Use this when automatic corner detection is not practical. It lets you freeze a +camera/video frame or open an image, then manually mark corners, lines, +rectangles, and ROI boxes. Saved JSON coordinates are in original image pixels. +""" + +import argparse +import json +import os +import sys +from datetime import datetime + +os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" + +import cv2 +import numpy as np + + +def _fix_qt_plugin_path(): + """OpenCV can redirect Qt to cv2/qt/plugins; prefer PyQt5's plugins.""" + try: + from PyQt5.QtCore import QLibraryInfo + + os.environ["QT_QPA_PLATFORM_PLUGIN_PATH"] = QLibraryInfo.location( + QLibraryInfo.PluginsPath + ) + except Exception: + path = os.environ.get("QT_QPA_PLATFORM_PLUGIN_PATH", "") + if "cv2" in path.replace("\\", "/"): + os.environ.pop("QT_QPA_PLATFORM_PLUGIN_PATH", None) + + +_fix_qt_plugin_path() + +from PyQt5.QtCore import QPoint, QRect, Qt, QTimer +from PyQt5.QtGui import QColor, QFont, QImage, QPainter, QPen, QPixmap +from PyQt5.QtWidgets import ( + QAction, + QApplication, + QButtonGroup, + QFileDialog, + QHBoxLayout, + QLabel, + QLineEdit, + QMainWindow, + QMessageBox, + QPushButton, + QSizePolicy, + QToolButton, + QVBoxLayout, + QWidget, +) + + +COLORS = { + "corner": QColor(0, 229, 255), + "line": QColor(255, 213, 79), + "rect": QColor(129, 199, 132), + "roi": QColor(255, 112, 67), +} + +MODE_TEXT = { + "corner": "角点", + "line": "直线", + "rect": "矩形", + "roi": "ROI", +} + + +def cv_to_qpixmap(frame_bgr): + rgb = cv2.cvtColor(frame_bgr, cv2.COLOR_BGR2RGB) + h, w, ch = rgb.shape + qimg = QImage(rgb.data, w, h, ch * w, QImage.Format_RGB888).copy() + return QPixmap.fromImage(qimg) + + +def normalize_rect(p0, p1): + x0, y0 = p0 + x1, y1 = p1 + left, right = sorted((int(round(x0)), int(round(x1)))) + top, bottom = sorted((int(round(y0)), int(round(y1)))) + return [left, top, max(0, right - left), max(0, bottom - top)] + + +class ImageCanvas(QLabel): + def __init__(self, parent=None): + super().__init__(parent) + self.setMouseTracking(True) + self.setFocusPolicy(Qt.StrongFocus) + self.setAlignment(Qt.AlignCenter) + self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) + self.setMinimumSize(640, 480) + + self.frame = None + self.pixmap_src = None + self.annotations = [] + self.mode = "corner" + self.drag_start = None + self.drag_current = None + self.hover_img_pos = None + self.status_callback = None + + def set_status_callback(self, callback): + self.status_callback = callback + + def set_frame(self, frame_bgr): + self.frame = frame_bgr.copy() + self.pixmap_src = cv_to_qpixmap(self.frame) + self.update() + + def clear_annotations(self): + self.annotations.clear() + self.drag_start = None + self.drag_current = None + self.update() + + def undo(self): + if self.annotations: + self.annotations.pop() + self.update() + + def set_mode(self, mode): + self.mode = mode + self.drag_start = None + self.drag_current = None + self.update() + + def image_size(self): + if self.frame is None: + return None + h, w = self.frame.shape[:2] + return [w, h] + + def _target_rect(self): + if self.pixmap_src is None: + return QRect() + src_w = self.pixmap_src.width() + src_h = self.pixmap_src.height() + if src_w <= 0 or src_h <= 0: + return QRect() + + widget_w = self.width() + widget_h = self.height() + scale = min(widget_w / src_w, widget_h / src_h) + draw_w = int(src_w * scale) + draw_h = int(src_h * scale) + x = (widget_w - draw_w) // 2 + y = (widget_h - draw_h) // 2 + return QRect(x, y, draw_w, draw_h) + + def _widget_to_image(self, pos): + if self.pixmap_src is None: + return None + rect = self._target_rect() + if not rect.contains(pos): + return None + x = (pos.x() - rect.x()) * self.pixmap_src.width() / rect.width() + y = (pos.y() - rect.y()) * self.pixmap_src.height() / rect.height() + x = min(max(x, 0), self.pixmap_src.width() - 1) + y = min(max(y, 0), self.pixmap_src.height() - 1) + return [float(x), float(y)] + + def _image_to_widget(self, point): + rect = self._target_rect() + x = rect.x() + point[0] * rect.width() / self.pixmap_src.width() + y = rect.y() + point[1] * rect.height() / self.pixmap_src.height() + return QPoint(int(round(x)), int(round(y))) + + def mousePressEvent(self, event): + if event.button() != Qt.LeftButton or self.frame is None: + return + img_pos = self._widget_to_image(event.pos()) + if img_pos is None: + return + + if self.mode == "corner": + self.annotations.append( + { + "type": "corner", + "label": f"corner_{self._count_type('corner') + 1}", + "points": [[round(img_pos[0], 2), round(img_pos[1], 2)]], + } + ) + self.update() + else: + self.drag_start = img_pos + self.drag_current = img_pos + self.update() + + def mouseMoveEvent(self, event): + img_pos = self._widget_to_image(event.pos()) + self.hover_img_pos = img_pos + if self.status_callback: + if img_pos is None: + self.status_callback(f"模式: {MODE_TEXT[self.mode]} | 坐标: -") + else: + self.status_callback( + f"模式: {MODE_TEXT[self.mode]} | 坐标: " + f"x={img_pos[0]:.1f}, y={img_pos[1]:.1f}" + ) + if self.drag_start is not None and img_pos is not None: + self.drag_current = img_pos + self.update() + + def mouseReleaseEvent(self, event): + if event.button() != Qt.LeftButton or self.drag_start is None: + return + img_pos = self._widget_to_image(event.pos()) or self.drag_current + if img_pos is None: + self.drag_start = None + self.drag_current = None + self.update() + return + + p0 = [round(self.drag_start[0], 2), round(self.drag_start[1], 2)] + p1 = [round(img_pos[0], 2), round(img_pos[1], 2)] + if self.mode == "line": + self.annotations.append( + { + "type": "line", + "label": f"line_{self._count_type('line') + 1}", + "points": [p0, p1], + } + ) + elif self.mode in ("rect", "roi"): + x, y, w, h = normalize_rect(p0, p1) + if w > 0 and h > 0: + self.annotations.append( + { + "type": self.mode, + "label": f"{self.mode}_{self._count_type(self.mode) + 1}", + "rect": [x, y, w, h], + "points": [[x, y], [x + w, y + h]], + } + ) + self.drag_start = None + self.drag_current = None + self.update() + + def keyPressEvent(self, event): + if event.key() == Qt.Key_Z and event.modifiers() & Qt.ControlModifier: + self.undo() + else: + super().keyPressEvent(event) + + def paintEvent(self, event): + painter = QPainter(self) + painter.fillRect(self.rect(), QColor("#0b0b0b")) + + if self.pixmap_src is None: + painter.setPen(QColor("#777777")) + painter.setFont(QFont("SimHei", 16)) + painter.drawText(self.rect(), Qt.AlignCenter, "打开图片/视频或启动摄像头") + painter.end() + return + + target = self._target_rect() + painter.drawPixmap(target, self.pixmap_src) + painter.setRenderHint(QPainter.Antialiasing, True) + + for ann in self.annotations: + self._draw_annotation(painter, ann) + + if self.drag_start is not None and self.drag_current is not None: + preview = self._preview_annotation() + if preview is not None: + self._draw_annotation(painter, preview, preview=True) + + painter.end() + + def _preview_annotation(self): + if self.mode == "line": + return {"type": "line", "points": [self.drag_start, self.drag_current]} + if self.mode in ("rect", "roi"): + x, y, w, h = normalize_rect(self.drag_start, self.drag_current) + return { + "type": self.mode, + "rect": [x, y, w, h], + "points": [[x, y], [x + w, y + h]], + } + return None + + def _draw_annotation(self, painter, ann, preview=False): + color = COLORS.get(ann["type"], QColor(255, 255, 255)) + pen = QPen(color, 2 if not preview else 1, Qt.DashLine if preview else Qt.SolidLine) + painter.setPen(pen) + painter.setBrush(Qt.NoBrush) + + if ann["type"] == "corner": + p = self._image_to_widget(ann["points"][0]) + painter.drawEllipse(p, 5, 5) + painter.drawLine(p.x() - 8, p.y(), p.x() + 8, p.y()) + painter.drawLine(p.x(), p.y() - 8, p.x(), p.y() + 8) + self._draw_label(painter, p, ann.get("label", "corner"), color) + elif ann["type"] == "line": + p0 = self._image_to_widget(ann["points"][0]) + p1 = self._image_to_widget(ann["points"][1]) + painter.drawLine(p0, p1) + self._draw_label(painter, p0, ann.get("label", "line"), color) + elif ann["type"] in ("rect", "roi"): + x, y, w, h = ann["rect"] + p0 = self._image_to_widget([x, y]) + p1 = self._image_to_widget([x + w, y + h]) + rect = QRect(p0, p1).normalized() + painter.drawRect(rect) + self._draw_label(painter, rect.topLeft(), ann.get("label", ann["type"]), color) + + def _draw_label(self, painter, pos, text, color): + painter.setFont(QFont("Consolas", 10)) + metrics = painter.fontMetrics() + box = metrics.boundingRect(text).adjusted(-4, -2, 4, 2) + box.moveTopLeft(pos + QPoint(8, -box.height() - 4)) + painter.fillRect(box, QColor(0, 0, 0, 170)) + painter.setPen(color) + painter.drawText(box, Qt.AlignCenter, text) + + def _count_type(self, ann_type): + return sum(1 for ann in self.annotations if ann["type"] == ann_type) + + +class MainWindow(QMainWindow): + def __init__(self, args): + super().__init__() + self.setWindowTitle("Orisys 手动标定标注工具") + self.args = args + self.capture = None + self.source = None + self.source_type = None + self.paused = True + + self.timer = QTimer(self) + self.timer.timeout.connect(self._read_frame) + + self._setup_ui() + self._setup_shortcuts() + + if args.source: + self._open_source(args.source) + + def _setup_ui(self): + root = QWidget() + self.setCentralWidget(root) + layout = QVBoxLayout(root) + layout.setContentsMargins(8, 8, 8, 8) + layout.setSpacing(8) + + top = QHBoxLayout() + top.setSpacing(6) + + self.source_edit = QLineEdit(str(self.args.source if self.args.source is not None else "0")) + self.source_edit.setPlaceholderText("摄像头编号、视频路径或图片路径") + top.addWidget(self.source_edit, 1) + + self.btn_open = QPushButton("打开") + self.btn_open.clicked.connect(self._on_open_clicked) + top.addWidget(self.btn_open) + + self.btn_file = QPushButton("选文件") + self.btn_file.clicked.connect(self._choose_file) + top.addWidget(self.btn_file) + + self.btn_pause = QPushButton("暂停/继续") + self.btn_pause.clicked.connect(self._toggle_pause) + top.addWidget(self.btn_pause) + + self.btn_save = QPushButton("保存 JSON") + self.btn_save.clicked.connect(self._save_json) + top.addWidget(self.btn_save) + + self.btn_save_image = QPushButton("保存预览图") + self.btn_save_image.clicked.connect(self._save_preview) + top.addWidget(self.btn_save_image) + + layout.addLayout(top) + + tools = QHBoxLayout() + tools.setSpacing(6) + + self.mode_group = QButtonGroup(self) + self.mode_group.setExclusive(True) + for mode in ("corner", "line", "rect", "roi"): + btn = QToolButton() + btn.setText(MODE_TEXT[mode]) + btn.setCheckable(True) + btn.clicked.connect(lambda checked, m=mode: self.canvas.set_mode(m)) + self.mode_group.addButton(btn) + tools.addWidget(btn) + if mode == "corner": + btn.setChecked(True) + + tools.addStretch(1) + + self.btn_undo = QPushButton("撤销") + self.btn_undo.clicked.connect(lambda: self.canvas.undo()) + tools.addWidget(self.btn_undo) + + self.btn_clear = QPushButton("清空") + self.btn_clear.clicked.connect(self._clear_annotations) + tools.addWidget(self.btn_clear) + + layout.addLayout(tools) + + self.canvas = ImageCanvas() + self.canvas.set_status_callback(self._set_status) + layout.addWidget(self.canvas, 1) + + self.status = QLabel("模式: 角点 | 坐标: -") + self.status.setMinimumHeight(24) + layout.addWidget(self.status) + + self.setStyleSheet( + """ + QMainWindow, QWidget { background: #111111; color: #dddddd; } + QLineEdit { + background: #0b0b0b; color: #dddddd; border: 1px solid #333333; + border-radius: 4px; padding: 5px 8px; + } + QPushButton, QToolButton { + background: #1d1d1d; color: #dddddd; border: 1px solid #333333; + border-radius: 4px; padding: 6px 12px; + } + QPushButton:hover, QToolButton:hover { background: #2a2a2a; } + QToolButton:checked { + background: #00323a; color: #00e5ff; border-color: #00a6b8; + } + QLabel { color: #aaaaaa; } + """ + ) + + def _setup_shortcuts(self): + shortcuts = [ + ("Ctrl+S", self._save_json), + ("Ctrl+Z", self.canvas.undo), + ("Space", self._toggle_pause), + ("C", lambda: self._select_mode("corner")), + ("L", lambda: self._select_mode("line")), + ("B", lambda: self._select_mode("rect")), + ("R", lambda: self._select_mode("roi")), + ] + for key, callback in shortcuts: + action = QAction(self) + action.setShortcut(key) + action.triggered.connect(callback) + self.addAction(action) + + def _select_mode(self, mode): + self.canvas.set_mode(mode) + for btn in self.mode_group.buttons(): + if btn.text() == MODE_TEXT[mode]: + btn.setChecked(True) + break + + def _set_status(self, text): + total = len(self.canvas.annotations) + self.status.setText(f"{text} | 标注数: {total}") + + def _on_open_clicked(self): + self._open_source(self.source_edit.text().strip()) + + def _choose_file(self): + path, _ = QFileDialog.getOpenFileName( + self, + "选择图片或视频", + "data", + "媒体文件 (*.png *.jpg *.jpeg *.bmp *.tif *.tiff *.mp4 *.avi *.mov);;所有文件 (*)", + ) + if path: + self.source_edit.setText(path) + self._open_source(path) + + def _open_source(self, source): + self._release_capture() + self.canvas.clear_annotations() + self.source = source + + src_for_cv = source + try: + src_for_cv = int(source) + except (TypeError, ValueError): + pass + + if isinstance(src_for_cv, str) and self._is_image_file(src_for_cv): + frame = cv2.imread(src_for_cv, cv2.IMREAD_COLOR) + if frame is None: + self._show_error(f"无法读取图片: {src_for_cv}") + return + self.source_type = "image" + self.paused = True + self.canvas.set_frame(frame) + self._set_status("图片已打开") + return + + cap = cv2.VideoCapture(src_for_cv) + if not cap.isOpened(): + self._show_error(f"无法打开输入源: {source}") + return + self.capture = cap + self.source_type = "camera_or_video" + self.paused = False + self.timer.start(30) + self._read_frame() + + def _read_frame(self): + if self.capture is None or self.paused: + return + ok, frame = self.capture.read() + if not ok: + self.paused = True + self.timer.stop() + self._set_status("视频结束或读取失败") + return + self.canvas.set_frame(frame) + + def _toggle_pause(self): + if self.capture is None: + return + self.paused = not self.paused + if self.paused: + self.timer.stop() + else: + self.timer.start(30) + + def _clear_annotations(self): + if not self.canvas.annotations: + return + reply = QMessageBox.question( + self, + "清空标注", + "确定清空当前所有标注？", + QMessageBox.Yes | QMessageBox.No, + QMessageBox.No, + ) + if reply == QMessageBox.Yes: + self.canvas.clear_annotations() + + def _save_json(self): + if self.canvas.frame is None: + self._show_error("当前没有图像可保存。") + return + + default_dir = os.path.join("examples", "annotations") + os.makedirs(default_dir, exist_ok=True) + default_path = os.path.join( + default_dir, f"manual_annotation_{datetime.now().strftime('%Y%m%d_%H%M%S')}.json" + ) + path, _ = QFileDialog.getSaveFileName( + self, "保存标注 JSON", default_path, "JSON (*.json);;所有文件 (*)" + ) + if not path: + return + if not path.lower().endswith(".json"): + path += ".json" + + payload = { + "created_at": datetime.now().isoformat(timespec="seconds"), + "source": self.source, + "source_type": self.source_type, + "image_size": self.canvas.image_size(), + "coordinate_system": "origin_top_left_pixels", + "annotations": self.canvas.annotations, + } + with open(path, "w", encoding="utf-8") as f: + json.dump(payload, f, ensure_ascii=False, indent=2) + self._set_status(f"已保存: {path}") + + def _save_preview(self): + if self.canvas.frame is None: + self._show_error("当前没有图像可保存。") + return + + preview = self._render_preview_image() + default_dir = os.path.join("examples", "annotations") + os.makedirs(default_dir, exist_ok=True) + default_path = os.path.join( + default_dir, f"manual_annotation_{datetime.now().strftime('%Y%m%d_%H%M%S')}.png" + ) + path, _ = QFileDialog.getSaveFileName( + self, "保存标注预览图", default_path, "PNG (*.png);;所有文件 (*)" + ) + if not path: + return + if not path.lower().endswith(".png"): + path += ".png" + cv2.imwrite(path, preview) + self._set_status(f"已保存预览图: {path}") + + def _render_preview_image(self): + img = self.canvas.frame.copy() + for ann in self.canvas.annotations: + color = COLORS.get(ann["type"], QColor(255, 255, 255)) + bgr = (color.blue(), color.green(), color.red()) + if ann["type"] == "corner": + x, y = [int(round(v)) for v in ann["points"][0]] + cv2.drawMarker(img, (x, y), bgr, cv2.MARKER_CROSS, 18, 2) + cv2.circle(img, (x, y), 5, bgr, 2) + cv2.putText(img, ann.get("label", "corner"), (x + 8, y - 8), + cv2.FONT_HERSHEY_SIMPLEX, 0.5, bgr, 1, cv2.LINE_AA) + elif ann["type"] == "line": + p0 = tuple(int(round(v)) for v in ann["points"][0]) + p1 = tuple(int(round(v)) for v in ann["points"][1]) + cv2.line(img, p0, p1, bgr, 2) + cv2.putText(img, ann.get("label", "line"), (p0[0] + 8, p0[1] - 8), + cv2.FONT_HERSHEY_SIMPLEX, 0.5, bgr, 1, cv2.LINE_AA) + elif ann["type"] in ("rect", "roi"): + x, y, w, h = ann["rect"] + cv2.rectangle(img, (x, y), (x + w, y + h), bgr, 2) + cv2.putText(img, ann.get("label", ann["type"]), (x + 8, y + 18), + cv2.FONT_HERSHEY_SIMPLEX, 0.5, bgr, 1, cv2.LINE_AA) + return img + + def _release_capture(self): + self.timer.stop() + if self.capture is not None: + self.capture.release() + self.capture = None + + def closeEvent(self, event): + self._release_capture() + event.accept() + + @staticmethod + def _is_image_file(path): + return os.path.splitext(path.lower())[1] in { + ".png", ".jpg", ".jpeg", ".bmp", ".tif", ".tiff" + } + + def _show_error(self, message): + QMessageBox.warning(self, "错误", message) + self._set_status(message) + + +def parse_args(): + parser = argparse.ArgumentParser() + parser.add_argument( + "--source", + "-s", + default="0", + help="Camera index, video path, or image path. Default: 0", + ) + return parser.parse_args() + + +def main(): + args = parse_args() + QApplication.setAttribute(Qt.AA_EnableHighDpiScaling, True) + QApplication.setAttribute(Qt.AA_UseHighDpiPixmaps, True) + app = QApplication(sys.argv) + window = MainWindow(args) + window.resize(1280, 860) + window.show() + sys.exit(app.exec_()) + + +if __name__ == "__main__": + main() diff --git a/examples/plot_data.py b/examples/plot_data.py new file mode 100644 index 0000000..76b6fab --- /dev/null +++ b/examples/plot_data.py @@ -0,0 +1,255 @@ +""" +示例 3：实时曲线与幅值图显示 + +本示例演示如何在读取传感器结果的同时： +1. 显示形变矢量场 +2. 显示流场幅值热力图 +3. 使用 PyQtGraph 实时绘制法向力与切向力曲线 +4. 按键控制录像开始与结束 + +SDK version: 0.3.1 +""" + +import os +import sys +os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" +import cv2 +import orisys +import numpy as np +import time +import argparse +from datetime import datetime +try: + import pyqtgraph as pg +except: + print("PyQtGraph is not installed. Please install it using 'pip install pyqt5 pyqtgraph'.") + exit() + +def create_plot(): + p1 = win.addPlot(title="法向力") + p1.setLabel('bottom', '时间', units='s') + win.nextRow() + p2 = win.addPlot(title="切向力 X") + p2.setLabel('bottom', '时间', units='s') + win.nextRow() + p3 = win.addPlot(title="切向力 Y") + p3.setLabel('bottom', '时间', units='s') + plot_af = p1.plot(pen='k') + plot_tfx = p2.plot(pen='k') + plot_tfy = p3.plot(pen='k') + return p1, p2, p3, plot_af, plot_tfx, plot_tfy + +def update(plot_af, plot_tfx, plot_tfy, data, p1, p2, p3): + plot_af.setData(data[:,:,0]) + p1.setYRange(min(data[:,1,0]),max(data[:,1,0])) + plot_tfx.setData(data[:,:,1]) + p2.setYRange(min(data[:,1,1]),max(data[:,1,1])) + plot_tfy.setData(data[:,:,2]) + p3.setYRange(min(data[:,1,2]),max(data[:,1,2])) + +# 深度图 +def draw_magnitude_map(vfield, threshold=3, colormap=cv2.COLORMAP_JET) -> np.ndarray: + """ + 绘制流场幅值伪彩色图。 + + Args: + vfield: 需要可视化的二维矢量场 + threshold: 最小显示阈值；低于阈值的区域显示为低值颜色 + colormap: OpenCV 颜色映射类型（默认 COLORMAP_JET） + + Returns: + np.ndarray: 400x400 的 BGR 伪彩图像 + """ + flow_field = vfield + + # 计算每个像素点的幅值 + magnitude = np.sqrt(flow_field[:, :, 0]**2 + flow_field[:, :, 1]**2) + + # 先降采样再插值回原尺寸，使显示更平滑 + downsample_factor = 10 + h, w = magnitude.shape + magnitude_downsampled = magnitude[::downsample_factor, ::downsample_factor] + magnitude_smoothed = cv2.resize(magnitude_downsampled, (w, h), interpolation=cv2.INTER_CUBIC) + + # 应用阈值，将低于阈值的区域置零 + magnitude_thresholded = magnitude_smoothed.copy() + magnitude_thresholded[magnitude_smoothed < threshold] = 0 + + # 归一化到 0-255 + mag_min, mag_max = magnitude_thresholded.min(), magnitude_thresholded.max() + if mag_max > mag_min: + magnitude_norm = ((magnitude_thresholded - mag_min) / (mag_max - mag_min) * 255).astype(np.uint8) + else: + magnitude_norm = np.zeros_like(magnitude_thresholded, dtype=np.uint8) + + # 应用伪彩色映射 + magnitude_colored = cv2.applyColorMap(magnitude_norm, colormap) + + # 缩放到固定输出尺寸 + out_img = cv2.resize(magnitude_colored, (400, 400), interpolation=cv2.INTER_CUBIC) + + # 添加边距，使图像在窗口中居中显示 + # margin = 30 + # out_img = cv2.copyMakeBorder(out_img, margin, margin, margin, margin, + # cv2.BORDER_CONSTANT, value=(22, 16, 11)) + + return out_img + +# 实时图表 +npoints = 100 # 曲线缓冲区长度 +pg.setConfigOption('background', 'w') +pg.setConfigOption('foreground', 'k') +app = pg.mkQApp("Orisys Plot Example") +win = pg.GraphicsLayoutWidget(show=True, title="Orisys 实时力曲线") +win.setWindowTitle('Orisys 实时力曲线') +win.resize(640, 400) +p1, p2, p3, plot_af, plot_tfx, plot_tfy = create_plot() +data = np.zeros([npoints,2,3]) +start_time = None # Will be set when sensor starts +for i in range(3): + data[:,0,i] = np.linspace(-npoints,0,npoints) + + + +def main(): + global start_time + # 将所有输出重定向到日志文件 + script_dir = os.path.dirname(os.path.abspath(__file__)) + log_dir = os.path.join(script_dir, "logs") + os.makedirs(log_dir, exist_ok=True) + log_path = os.path.join(log_dir, f"plot_{datetime.now().strftime('%Y%m%d_%H%M%S')}.log") + sys.stdout = open(log_path, 'w', encoding='utf-8') + sys.stderr = sys.stdout + + parser = argparse.ArgumentParser() + parser.add_argument("--video","-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径") + parser.add_argument("--config","-c", type=str, default="./config/ddjx01.json", help="配置文件名称或路径") + parser.add_argument("--cal","-cal", type=str, default="./config/ddjx01.npy", help="标定文件路径") + parser.add_argument("--verbose","-verbose", type=bool, default=True, help="是否输出详细日志") + args = parser.parse_args() + + # 步骤 1：创建传感器对象（必需） + # config_name 可以是内置配置名称，也可以是自定义配置文件路径 + # cal_path 为标定文件路径；每台设备建议使用独立的标定文件 + + # 输入既可以是摄像头编号，也可以是视频文件路径 + try: + input = int(args.video) + is_camera = True + sensor = orisys.Sensor(input, config_name=args.config, cal_path= args.cal, verbose=args.verbose) + except: + is_camera = False + sensor = orisys.Sensor(args.video, config_name=args.config, cal_path= args.cal, verbose=args.verbose) + # 下面保留了历史示例写法，便于参考 + # sensor1 = orisys.Sensor("./s1.mp4", config_name="./config/ddjx01.json", cal_path= "./config/ddjx01.npy", cuda=False, verbose=True) + + start_time = time.time() + is_save = False + frame_count = 0 + writer = None + save_path = None + print("\n按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。") + while True: + sensor.get_img() # 获取并拼接复眼图像 + + if is_save and writer is not None and sensor.frame is not None: + frame_count += 1 + save_img = sensor.frame + + # 若为灰度图，则先转换为 BGR 再写入视频 + if len(save_img.shape) == 2 or (len(save_img.shape) == 3 and save_img.shape[2] == 1): + if len(save_img.shape) == 3: + save_img = save_img.squeeze(2) + save_img = cv2.cvtColor(save_img, cv2.COLOR_GRAY2BGR) + + writer.write(save_img) + + sensor.compute_deformation(check_motion=True, threshold=0) # 计算形变与分解结果 + # 读取信息： + # 向量场：VRAW、VNORMAL、VSHEAR -> 原始 / 法向 / 切向 + # 标量：FNORMAL、FSHEARX、FSHEARY -> 法向力 / X 向切向力 / Y 向切向力 + fps, fn, fx, fy, flow, vnormal, vshear = sensor.read_info(sensor.info.FPS, sensor.info.FNORMAL, sensor.info.FSHEARX, sensor.info.FSHEARY, sensor.info.VRAW, sensor.info.VNORMAL,sensor.info.VSHEAR) + print(f"FPS={fps:.2f}, 法向力={fn:.4f}, 切向力X={fx:.4f}, 切向力Y={fy:.4f}") + # 显示形变矢量场 + # arrows = orisys.util.draw_arrows(sensor.img, flow, threshold=5, grid_spacing=10, arrow_scale=1.0) + _bg_bgr = (22, 16, 11) + _img = sensor.img + _h, _w = _img.shape[:2] + black_img = np.empty((_h, _w, 3), dtype=_img.dtype) + black_img[:, :, 0] = _bg_bgr[0] + black_img[:, :, 1] = _bg_bgr[1] + black_img[:, :, 2] = _bg_bgr[2] + arrows = orisys.util.draw_arrows( + black_img, + flow, + threshold=2, + grid_spacing=20, + arrow_scale=0.5, + below_threshold_color=(160, 160, 160), + # target_size=int(side), + ) + arrows = cv2.resize(arrows, (400, 400), interpolation=cv2.INTER_CUBIC) + arrows = cv2.rotate(arrows, cv2.ROTATE_90_COUNTERCLOCKWISE) + cv2.imshow("形变矢量场".encode("gbk"), arrows) + # 显示流场幅值图 + mag = draw_magnitude_map(flow) + mag = cv2.rotate(mag, cv2.ROTATE_90_COUNTERCLOCKWISE) + cv2.imshow("流场幅值图".encode("gbk"), mag) + + # 更新实时曲线 + current_time = time.time() - start_time + for i in range(3): + data[:-1, 0, i] = data[1:, 0, i] # 时间轴左移 + data[:-1, 1, i] = data[1:, 1, i] # 力数据左移 + data[-1, 0, :] = current_time # 写入当前时间 + data[-1, 1, 0] = fn + data[-1, 1, 1] = fx + data[-1, 1, 2] = fy + update(plot_af, plot_tfx, plot_tfy, data, p1, p2, p3) # 更新曲线 + + key = cv2.waitKey(1) + if key & 0xFF == ord("q"): + print("\n正在退出示例程序...") + break + if key == ord("s"): + save_path = f"./data/pulse_test.mp4" + # 确保输出目录存在 + os.makedirs(os.path.dirname(save_path), exist_ok=True) + # 从当前帧获取视频尺寸 + save_img = sensor.frame + + if save_img is not None: + # 如为灰度图，先转换为 BGR 以获取视频尺寸 + temp_img = save_img.copy() + if len(temp_img.shape) == 2 or (len(temp_img.shape) == 3 and temp_img.shape[2] == 1): + if len(temp_img.shape) == 3: + temp_img = temp_img.squeeze(2) + temp_img = cv2.cvtColor(temp_img, cv2.COLOR_GRAY2BGR) + + frame_height, frame_width = temp_img.shape[:2] + writer = cv2.VideoWriter(save_path, cv2.VideoWriter_fourcc(*'mp4v'), 30, (frame_width, frame_height)) + if writer.isOpened(): + is_save = True + print(f"开始录像：{save_path}") + else: + print(f"无法创建录像文件：{save_path}") + writer = None + else: + print("当前没有可用帧，无法确定录像尺寸。") + if key == ord("e"): + is_save = False + if writer is not None: + writer.release() + writer = None + if save_path is not None: + print(f"录像结束：{save_path}，总帧数：{frame_count}") + else: + print(f"录像结束，总帧数：{frame_count}") + frame_count = 0 + + sensor.disconnect() # 断开传感器连接并释放资源 + + + +if __name__ == '__main__': + main() diff --git a/examples/qt_viewer.py b/examples/qt_viewer.py new file mode 100644 index 0000000..9a8292a --- /dev/null +++ b/examples/qt_viewer.py @@ -0,0 +1,793 @@ +""" +Orisys SDK 实时监控 — Qt 统一界面 + +将所有可视化和曲线整合到一个窗口中，适合销售演示使用。 +SDK version: 0.3.1 +""" + +import os +import sys +os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" +import cv2 +import orisys +import numpy as np +import time +import argparse +from datetime import datetime + +try: + from scipy.signal import butter, filtfilt +except Exception: + butter = None + filtfilt = None + +# 下面这些参数只影响右侧三条力曲线的显示，不改变传感器读数、光流图或幅值图数据。 +FORCE_SAMPLE_RATE_HZ = 30.0 +PLOT_BUFFER_POINTS = 120 +PLOT_WINDOW_SEC = PLOT_BUFFER_POINTS / FORCE_SAMPLE_RATE_HZ +Y_AXIS_MIN_SPAN = 20000.0 +CURVE_THEME_COLOR = '#00E5FF' + +from PyQt5.QtWidgets import ( + QMainWindow, QWidget, QHBoxLayout, QVBoxLayout, + QLabel, QApplication, QSplitter, QPlainTextEdit, + QPushButton, QFileDialog, QLineEdit, +) +from PyQt5.QtCore import Qt, QTimer +from PyQt5.QtGui import QImage, QPixmap, QFont, QIcon + +try: + import pyqtgraph as pg +except Exception: + print("PyQtGraph is not installed. Please install it using 'pip install pyqt5 pyqtgraph'.") + sys.exit(1) + +# --------------------------------------------------------------------------- +# 工具 +# --------------------------------------------------------------------------- + +def cv2_to_pixmap(img_bgr: np.ndarray) -> QPixmap: + rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB) + h, w, ch = rgb.shape + qimg = QImage(rgb.data, w, h, ch * w, QImage.Format_RGB888) + return QPixmap.fromImage(qimg) + +def draw_magnitude_map(vfield, threshold=1.5, colormap=cv2.COLORMAP_JET) -> np.ndarray: + flow_field = vfield + magnitude = np.sqrt(flow_field[:, :, 0] ** 2 + flow_field[:, :, 1] ** 2) + + downsample_factor = 10 + h, w = magnitude.shape + magnitude_downsampled = magnitude[::downsample_factor, ::downsample_factor] + magnitude_smoothed = cv2.resize(magnitude_downsampled, (w, h), interpolation=cv2.INTER_CUBIC) + + magnitude_thresholded = magnitude_smoothed.copy() + magnitude_thresholded[magnitude_smoothed < threshold] = 0 + + mag_min, mag_max = magnitude_thresholded.min(), magnitude_thresholded.max() + if mag_max > mag_min: + magnitude_norm = ((magnitude_thresholded - mag_min) / (mag_max - mag_min) * 255).astype(np.uint8) + else: + magnitude_norm = np.zeros_like(magnitude_thresholded, dtype=np.uint8) + + magnitude_colored = cv2.applyColorMap(magnitude_norm, colormap) + out_img = cv2.resize(magnitude_colored, (400, 400), interpolation=cv2.INTER_CUBIC) + return out_img + + +def lowpass_filter(data, cutoff_hz, sample_rate_hz=FORCE_SAMPLE_RATE_HZ, order=2): + """和 qt_viewer_2.py 一样用于三条力曲线显示的低通滤波。""" + y = np.asarray(data, dtype=np.float64) + if cutoff_hz == 0 or y.size == 0: + return y.copy() + + nyquist = 0.5 * sample_rate_hz + if cutoff_hz < 0 or cutoff_hz >= nyquist: + raise ValueError( + f"cutoff_hz must be in (0, {nyquist}) for sample_rate_hz={sample_rate_hz}" + ) + + if butter is not None and filtfilt is not None: + b, a = butter(order, cutoff_hz / nyquist, btype="low") + padlen = 3 * (max(len(b), len(a)) - 1) + if y.size <= padlen: + return y.copy() + return filtfilt(b, a, y) + + window = min(max(int(sample_rate_hz / max(cutoff_hz, 1e-6)), 3), y.size) + if window % 2 == 0: + window -= 1 + if window <= 1: + return y.copy() + kernel = np.ones(window, dtype=np.float64) / window + pad = window // 2 + forward = np.convolve(np.pad(y, (pad, pad), mode="edge"), kernel, mode="valid") + return np.convolve(np.pad(forward[::-1], (pad, pad), mode="edge"), kernel, mode="valid")[::-1] + + +class TeeStream: + """同时写入多个流""" + def __init__(self, *streams): + self.streams = streams + + def write(self, text): + for s in self.streams: + s.write(text) + + def flush(self): + for s in self.streams: + s.flush() + + +class WidgetLogHandler: + """将 print 输出实时显示到 QPlainTextEdit""" + def __init__(self, widget: QPlainTextEdit): + self.widget = widget + self.buf = "" + + def write(self, text: str): + self.buf += text + while "\n" in self.buf: + line, self.buf = self.buf.split("\n", 1) + if line: + self.widget.appendPlainText(line) + + def flush(self): + if self.buf: + self.widget.appendPlainText(self.buf) + self.buf = "" + +# --------------------------------------------------------------------------- +# 样式表 +# --------------------------------------------------------------------------- + +STYLE = """ +QMainWindow { + background-color: #000000; +} + +/* ---- 图像面板 ---- */ +QLabel#arrowsLabel, QLabel#magLabel { + border: 1px solid #262626; + border-radius: 4px; + background-color: #0b0b0b; +} + +/* ---- 顶栏按钮 & 输入 - — */ +QPushButton { + background-color: #1a1a1a; + color: #999999; + border: 1px solid #333333; + border-radius: 4px; + padding: 6px 16px; + font-family: "SimHei"; + font-size: 13px; +} +QPushButton:hover { + background-color: #262626; + color: #cccccc; + border: 1px solid #555555; +} +QPushButton#btnStart { + background-color: #0d2818; + color: #4caf84; + border: 1px solid #1a4d30; +} +QPushButton#btnStart:hover { + background-color: #143d24; + color: #6fd4a0; +} +QPushButton#btnStart:disabled { + background-color: #0f0f0f; + color: #333333; + border: 1px solid #222222; +} +QPushButton#btnStop { + background-color: #2b1010; + color: #e05555; + border: 1px solid #4d1a1a; +} +QPushButton#btnStop:hover { + background-color: #3d1818; + color: #f07070; +} +QPushButton#btnStop:disabled { + background-color: #0f0f0f; + color: #333333; + border: 1px solid #222222; +} +QLineEdit { + background-color: #0d0d0d; + color: #999999; + border: 1px solid #333333; + border-radius: 4px; + padding: 5px 10px; + font-size: 13px; +} + +/* ---- 力曲线容器 ---- */ +GraphicsLayoutWidget { + border: 1px solid #262626; + border-radius: 4px; +} + +/* ---- 日志面板 ---- */ +QPlainTextEdit { + background-color: #0b0b0b; + color: #777777; + border: 1px solid #262626; + border-radius: 4px; + font-family: "Cascadia Code", "Consolas", "Courier New", monospace; + font-size: 13px; + padding: 8px; + selection-background-color: #1a3a4a; + selection-color: #cccccc; +} + +QPlainTextEdit QScrollBar:vertical { + background-color: #0b0b0b; + width: 6px; + margin: 1px; + border-radius: 3px; +} +QPlainTextEdit QScrollBar::handle:vertical { + background-color: #262626; + border-radius: 3px; + min-height: 30px; +} +QPlainTextEdit QScrollBar::handle:vertical:hover { + background-color: #3a3a3a; +} +QPlainTextEdit QScrollBar::add-line:vertical, +QPlainTextEdit QScrollBar::sub-line:vertical { + height: 0px; +} +QPlainTextEdit QScrollBar::add-page:vertical, +QPlainTextEdit QScrollBar::sub-page:vertical { + background: none; +} + +QSplitter::handle { + background-color: #1a1a1a; +} +QSplitter::handle:vertical { + height: 1px; +} +QSplitter::handle:horizontal { + width: 1px; +} +""" + +# --------------------------------------------------------------------------- +# 主窗口 +# --------------------------------------------------------------------------- + +class MainWindow(QMainWindow): + def __init__(self, args, log_file): + super().__init__() + self.setWindowTitle("Orisys SDK") + self.setStyleSheet(STYLE) + + logo_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "logo.png") + if os.path.exists(logo_path): + self.setWindowIcon(QIcon(logo_path)) + + self.sensor = None + self.start_time = None + self.args = args + + # 录像状态 + self.is_save = False + self.frame_count = 0 + self.writer = None + self.save_path = None + + # 曲线数据缓冲：只存原始 fn/fx/fy，滤波只在绘图副本上做。 + self.npoints = PLOT_BUFFER_POINTS + self.lowpass_cutoff_hz = getattr(args, "cutoff", 10.0) + self._init_plot_buffer() + + self._setup_ui() + self._create_plots() + + # 同步参数到 UI + self.camera_edit.setText(args.video) + self.config_edit.setText(args.config) + self.cal_edit.setText(args.cal) + + # stdout → 日志文件 + 界面日志面板 + self.log_handler = WidgetLogHandler(self.log_widget) + sys.stdout = TeeStream(log_file, self.log_handler) + sys.stderr = sys.stdout + + self._y_range_alpha = 0.5 + + self.timer = QTimer() + self.timer.timeout.connect(self._on_timer) + self._running = False + + def _init_plot_buffer(self): + self.data = np.full((self.npoints, 2, 3), np.nan, dtype=np.float64) + self._plot_sample_count = 0 + self._y_range_smooth = [None, None, None] + + # ---- UI 构建 ---- + + def _setup_ui(self): + central = QWidget() + self.setCentralWidget(central) + root_layout = QVBoxLayout(central) + root_layout.setContentsMargins(6, 6, 6, 6) + root_layout.setSpacing(6) + + # ---- 顶栏 ---- + bar = QHBoxLayout() + bar.setSpacing(8) + + self.btn_camera = QPushButton("摄像机") + self.btn_camera.setObjectName("btnCamera") + self.btn_camera.clicked.connect(self._select_camera) + bar.addWidget(self.btn_camera) + self.camera_edit = QLineEdit("1") + self.camera_edit.setPlaceholderText("摄像头编号 或 视频路径") + bar.addWidget(self.camera_edit, 1) + + self.btn_config = QPushButton("配置") + self.btn_config.setObjectName("btnConfig") + self.btn_config.clicked.connect(self._select_config) + bar.addWidget(self.btn_config) + self.config_edit = QLineEdit("./config/ddjx01.json") + bar.addWidget(self.config_edit, 1) + + self.btn_reset = QPushButton("重置") + self.btn_reset.setObjectName("btnReset") + self.btn_reset.setEnabled(False) + self.btn_reset.clicked.connect(self._on_reset) + bar.addWidget(self.btn_reset) + self.cal_edit = QLineEdit("./config/ddjx01.npy") + bar.addWidget(self.cal_edit, 1) + + self.btn_start = QPushButton("启动") + self.btn_start.setObjectName("btnStart") + self.btn_start.clicked.connect(self._on_start) + bar.addWidget(self.btn_start) + + self.btn_stop = QPushButton("暂停") + self.btn_stop.setObjectName("btnStop") + self.btn_stop.setEnabled(False) + self.btn_stop.clicked.connect(self._on_stop) + bar.addWidget(self.btn_stop) + + root_layout.addLayout(bar) + + # ---- 外层纵向 splitter：主区域 / 日志 ---- + v_splitter = QSplitter(Qt.Vertical) + + # ---- 主区域：图像 (左) | 曲线 (右) ---- + h_splitter = QSplitter(Qt.Horizontal) + + # 左侧图像面板 + left = QWidget() + left_layout = QVBoxLayout(left) + left_layout.setContentsMargins(0, 0, 0, 0) + left_layout.setSpacing(6) + + self.arrows_label = QLabel() + self.arrows_label.setObjectName("arrowsLabel") + self.arrows_label.setMinimumSize(160, 160) + self.arrows_label.setScaledContents(True) + self.arrows_label.setAlignment(Qt.AlignCenter) + left_layout.addWidget(self.arrows_label) + + self.mag_label = QLabel() + self.mag_label.setObjectName("magLabel") + self.mag_label.setMinimumSize(160, 160) + self.mag_label.setScaledContents(True) + self.mag_label.setAlignment(Qt.AlignCenter) + left_layout.addWidget(self.mag_label) + + h_splitter.addWidget(left) + + # 右侧力曲线 + pg.setConfigOption('background', '#000000') + pg.setConfigOption('foreground', '#777777') + pg.setConfigOptions(antialias=True) + self.graph_widget = pg.GraphicsLayoutWidget() + self.graph_widget.setMinimumWidth(300) + h_splitter.addWidget(self.graph_widget) + + self.h_splitter = h_splitter + + v_splitter.addWidget(h_splitter) + + # ---- 底部日志面板 ---- + self.log_widget = QPlainTextEdit() + self.log_widget.setReadOnly(True) + self.log_widget.setMaximumBlockCount(2000) + font = QFont("Consolas", 12) + font.setStyleHint(QFont.Monospace) + self.log_widget.setFont(font) + v_splitter.addWidget(self.log_widget) + + v_splitter.setStretchFactor(0, 4) + v_splitter.setStretchFactor(1, 1) + + root_layout.addWidget(v_splitter) + + def _create_plots(self): + titles = ["法向力", "切向力 X", "切向力 Y"] + self.plots = [] + self.curves = [] + self.dot_glows = [] + self.dot_cores = [] + + axis_pen = pg.mkPen(color=(38, 38, 38), width=1) # #262626 + label_font = QFont("SimHei", 9) + + for i, title in enumerate(titles): + p = self.graph_widget.addPlot(title=None) + + # 标题：黑体 + p.setTitle(title, color='#999999', size='14pt') + p.titleLabel.setFont(QFont("SimHei", 14)) + + # X 轴标签 + p.setLabel('bottom', '时间', units='s') + p.getAxis('bottom').label.setFont(label_font) + + # 仅保留左 + 下轴线，隐藏右 + 上边框 + p.showAxis('top', False) + p.showAxis('right', False) + p.getAxis('left').setPen(axis_pen) + p.getAxis('bottom').setPen(axis_pen) + + # 仅横向网格，极淡 + p.showGrid(x=False, y=True, alpha=0.12) + + # 等宽刻度字体 + tick_font = QFont("Consolas", 11) + tick_font.setStyleHint(QFont.Monospace) + p.getAxis('left').setTickFont(tick_font) + p.getAxis('bottom').setTickFont(tick_font) + + # 曲线样式与 qt_viewer_2.py 对齐 + curve = p.plot(pen=pg.mkPen(color=CURVE_THEME_COLOR, width=2), fillLevel=0) + + # 终点光晕: #00e5ff 30% 透明，半径 8 + dot_glow = p.plot([], [], pen=None, symbol='o', symbolSize=8, + symbolPen=None, symbolBrush=(0, 229, 255, 76)) + # 终点核心: 纯白，半径 4 + dot_core = p.plot([], [], pen=None, symbol='o', symbolSize=4, + symbolPen=None, symbolBrush=(255, 255, 255, 255)) + + p.setXRange(0, PLOT_WINDOW_SEC, padding=0) + p.enableAutoRange(x=False, y=False) + + self.plots.append(p) + self.curves.append(curve) + self.dot_glows.append(dot_glow) + self.dot_cores.append(dot_core) + + if i < 2: + self.graph_widget.nextRow() + + def adjust_square_images(self): + """根据窗口高度调整左侧面板宽度，使两张图保持正方形""" + top_bar_h = 48 + log_h = self.log_widget.height() + spacing = 20 + available = self.height() - top_bar_h - log_h - spacing + each_h = max(available // 2, 160) + self.h_splitter.setSizes([each_h, self.width() - each_h]) + + def _make_force_plot_data(self, data_plot): + for i in range(3): + data_plot[:, 1, i] = lowpass_filter( + data_plot[:, 1, i], + self.lowpass_cutoff_hz, + sample_rate_hz=FORCE_SAMPLE_RATE_HZ, + ) + return data_plot + + # ---- 帧处理 ---- + + def _on_timer(self): + if self.sensor is None: + return + sensor = self.sensor + + sensor.get_img() + + # 录像写入 + if self.is_save and self.writer is not None and sensor.frame is not None: + self.frame_count += 1 + save_img = sensor.frame + if len(save_img.shape) == 2 or (len(save_img.shape) == 3 and save_img.shape[2] == 1): + if len(save_img.shape) == 3: + save_img = save_img.squeeze(2) + save_img = cv2.cvtColor(save_img, cv2.COLOR_GRAY2BGR) + self.writer.write(save_img) + + sensor.compute_deformation(check_motion=True, threshold=0) + + fps, fn, fx, fy, flow, vnormal, vshear = sensor.read_info( + sensor.info.FPS, sensor.info.FNORMAL, + sensor.info.FSHEARX, sensor.info.FSHEARY, + sensor.info.VRAW, sensor.info.VNORMAL, + sensor.info.VSHEAR, + ) + print(f"FPS={fps:.2f}, 法向力={fn:.4f}, 切向力X={fx:.4f}, 切向力Y={fy:.4f}") + + # 图像 + _bg_bgr = (22, 16, 11) + _img = sensor.img + _h, _w = _img.shape[:2] + black_img = np.empty((_h, _w, 3), dtype=_img.dtype) + black_img[:, :, 0] = _bg_bgr[0] + black_img[:, :, 1] = _bg_bgr[1] + black_img[:, :, 2] = _bg_bgr[2] + + arrows = orisys.util.draw_arrows( + black_img, flow, + threshold=2, grid_spacing=20, + arrow_scale=0.5, + below_threshold_color=(160, 160, 160), + ) + arrows = cv2.resize(arrows, (400, 400), interpolation=cv2.INTER_CUBIC) + self.arrows_label.setPixmap(cv2_to_pixmap(arrows)) + + mag = draw_magnitude_map(flow) + self.mag_label.setPixmap(cv2_to_pixmap(mag)) + + # 曲线：只对右侧三条力曲线的显示数据做缓冲和低通滤波。 + current_time = time.time() - self.start_time + if self._plot_sample_count < self.npoints: + idx = self._plot_sample_count + self.data[idx, 0, :] = current_time + self.data[idx, 1, 0] = fn + self.data[idx, 1, 1] = fx + self.data[idx, 1, 2] = fy + self._plot_sample_count += 1 + else: + for i in range(3): + self.data[:-1, 0, i] = self.data[1:, 0, i] + self.data[:-1, 1, i] = self.data[1:, 1, i] + self.data[-1, 0, :] = current_time + self.data[-1, 1, 0] = fn + self.data[-1, 1, 1] = fx + self.data[-1, 1, 2] = fy + + n = self._plot_sample_count + if n == 0: + return + + data_plot = self._make_force_plot_data(self.data[:n].copy()) + + for i, curve in enumerate(self.curves): + x = data_plot[:, 0, i] + y = data_plot[:, 1, i] + curve.setData(x, y) + ymin, ymax = y.min(), y.max() + if self._y_range_smooth[i] is None: + self._y_range_smooth[i] = (ymin, ymax) + else: + prev_min, prev_max = self._y_range_smooth[i] + alpha = self._y_range_alpha + ymin = alpha * ymin + (1 - alpha) * prev_min + ymax = alpha * ymax + (1 - alpha) * prev_max + if ymax - ymin < Y_AXIS_MIN_SPAN: + mid = (ymin + ymax) / 2 + ymin = mid - Y_AXIS_MIN_SPAN / 2 + ymax = mid + Y_AXIS_MIN_SPAN / 2 + self._y_range_smooth[i] = (ymin, ymax) + pad = max((ymax - ymin) * 0.12, 0.01) + self.plots[i].setYRange(ymin - pad, ymax + pad) + # 终点标记 + last_x = x[-1:] + last_y = y[-1:] + self.dot_glows[i].setData(last_x, last_y) + self.dot_cores[i].setData(last_x, last_y) + + if n < self.npoints: + for p in self.plots: + p.setXRange(0, PLOT_WINDOW_SEC, padding=0) + else: + x0 = float(data_plot[0, 0, 0]) + x1 = float(data_plot[-1, 0, 0]) + if x1 <= x0: + x1 = x0 + PLOT_WINDOW_SEC + for p in self.plots: + p.setXRange(x0, x1, padding=0) + + # ---- 键盘 & 录像 ---- + + def _on_start(self): + if self._running: + return + self.btn_start.setText("启动中...") + self.btn_start.setEnabled(False) + QApplication.processEvents() + + try: + src = self.camera_edit.text() + cfg = self.config_edit.text() + cal = self.cal_edit.text() + verbose = getattr(self.args, 'verbose', True) + try: + src = int(src) + except ValueError: + pass + self.sensor = orisys.Sensor(src, config_name=cfg, cal_path=cal, verbose=verbose) + except Exception as e: + self.btn_start.setText("启动") + self.btn_start.setEnabled(True) + print(f"启动失败: {e}") + return + + self.start_time = time.time() + self._init_plot_buffer() + self._running = True + self.timer.start(10) + self.btn_start.setText("启动") + self.btn_stop.setEnabled(True) + self.btn_reset.setEnabled(True) + print(f"▶ 启动 — 摄像机={src}, 配置={cfg}, 标定={cal}") + + def _on_stop(self): + if not self._running: + return + self._running = False + self.timer.stop() + self.btn_stop.setText("停止中...") + self.btn_stop.setEnabled(False) + QApplication.processEvents() + + if self.sensor is not None: + self.sensor.disconnect() + self.sensor = None + + self.btn_start.setEnabled(True) + self.btn_stop.setText("暂停") + self.btn_reset.setEnabled(False) + print("⏸ 已暂停") + + def _select_camera(self): + text = self.camera_edit.text() + path, _ = QFileDialog.getOpenFileName( + self, "选择视频文件", "data", "视频 (*.mp4 *.avi *.mov);;所有文件 (*)", + ) + if path: + self.camera_edit.setText(path) + + def _select_config(self): + path, _ = QFileDialog.getOpenFileName( + self, "选择配置文件", "config", "JSON (*.json);;所有文件 (*)", + ) + if path: + self.config_edit.setText(path) + + def _select_cal(self): + path, _ = QFileDialog.getOpenFileName( + self, "选择标定文件", "config", "NumPy (*.npy);;所有文件 (*)", + ) + if path: + self.cal_edit.setText(path) + + def _on_reset(self): + """Reset optical flow tracker when drift occurs (same as basic_pipeline 'r' key).""" + if self.sensor is None or not self._running: + print("请先启动传感器后再重置追踪器。") + return + self.sensor.reset() + print("追踪器已重置。") + + def keyPressEvent(self, event): + key = event.key() + if key == Qt.Key_Escape: + if self.isFullScreen(): + self.showNormal() + else: + self.showFullScreen() + elif key == Qt.Key_Q: + print("\n正在退出示例程序...") + self.close() + elif key == Qt.Key_S: + self._start_recording() + elif key == Qt.Key_E: + self._stop_recording() + elif key == Qt.Key_R: + self._on_reset() + else: + super().keyPressEvent(event) + + def _start_recording(self): + if self.sensor is None: + print("请先启动采集") + return + self.save_path = "./data/pulse_test.mp4" + os.makedirs(os.path.dirname(self.save_path), exist_ok=True) + + save_img = self.sensor.frame + if save_img is None: + print("当前没有可用帧，无法确定录像尺寸。") + return + + temp_img = save_img.copy() + if len(temp_img.shape) == 2 or (len(temp_img.shape) == 3 and temp_img.shape[2] == 1): + if len(temp_img.shape) == 3: + temp_img = temp_img.squeeze(2) + temp_img = cv2.cvtColor(temp_img, cv2.COLOR_GRAY2BGR) + + fh, fw = temp_img.shape[:2] + self.writer = cv2.VideoWriter( + self.save_path, cv2.VideoWriter_fourcc(*'mp4v'), 30, (fw, fh), + ) + if self.writer.isOpened(): + self.is_save = True + print(f"开始录像：{self.save_path}") + else: + print(f"无法创建录像文件：{self.save_path}") + self.writer = None + + def _stop_recording(self): + self.is_save = False + if self.writer is not None: + self.writer.release() + self.writer = None + if self.save_path is not None: + print(f"录像结束：{self.save_path}，总帧数：{self.frame_count}") + else: + print(f"录像结束，总帧数：{self.frame_count}") + self.frame_count = 0 + + def closeEvent(self, event): + self.timer.stop() + if self.writer is not None: + self.writer.release() + if self.sensor is not None: + self.sensor.disconnect() + event.accept() + +# --------------------------------------------------------------------------- +# 入口 +# --------------------------------------------------------------------------- + +def main(): + script_dir = os.path.dirname(os.path.abspath(__file__)) + log_dir = os.path.join(script_dir, "logs") + os.makedirs(log_dir, exist_ok=True) + log_path = os.path.join(log_dir, f"qt_viewer_{datetime.now().strftime('%Y%m%d_%H%M%S')}.log") + log_file = open(log_path, 'w', encoding='utf-8') + # stdout 到文件的临时重定向（创建 MainWindow 后会加上日志面板） + sys.stdout = log_file + sys.stderr = sys.stdout + + parser = argparse.ArgumentParser() + parser.add_argument("--video", "-v", type=str, default="0") + parser.add_argument("--config", "-c", type=str, default="./config/ddjx01.json") + parser.add_argument("--cal", "-cal", type=str, default="./config/ddjx01.npy") + parser.add_argument("--verbose", "-verbose", type=bool, default=True) + parser.add_argument( + "--cutoff", + type=float, + default=10.0, + help="Low-pass cutoff for force curves (Hz), sample rate 30 Hz", + ) + args = parser.parse_args() + + print("\n按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏") + + # 高 DPI 适配（笔记本高分屏） + QApplication.setAttribute(Qt.AA_EnableHighDpiScaling, True) + QApplication.setAttribute(Qt.AA_UseHighDpiPixmaps, True) + app = QApplication(sys.argv) + window = MainWindow(args, log_file) + window.showFullScreen() + QApplication.processEvents() + window.adjust_square_images() + window._on_start() + + sys.exit(app.exec_()) + +if __name__ == '__main__': + main() diff --git a/examples/qt_viewer_2.py b/examples/qt_viewer_2.py new file mode 100644 index 0000000..e4c33f9 --- /dev/null +++ b/examples/qt_viewer_2.py @@ -0,0 +1,825 @@ +""" +Orisys SDK 实时监控 — Qt 统一界面 + +将所有可视化和曲线整合到一个窗口中，适合销售演示使用。 +SDK version: 0.3.1 +""" + +import os +import sys +os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" +import cv2 +def _fix_qt_plugin_path(): + """OpenCV redirects Qt to cv2/qt/plugins; use PyQt5's plugins instead.""" + try: + from PyQt5.QtCore import QLibraryInfo + os.environ["QT_QPA_PLATFORM_PLUGIN_PATH"] = QLibraryInfo.location( + QLibraryInfo.PluginsPath + ) + except Exception: + path = os.environ.get("QT_QPA_PLATFORM_PLUGIN_PATH", "") + if "cv2" in path.replace("\\", "/"): + os.environ.pop("QT_QPA_PLATFORM_PLUGIN_PATH", None) +_fix_qt_plugin_path() +import orisys +import numpy as np +import time +import argparse +from datetime import datetime +from scipy.signal import butter, filtfilt + +# Force curve sampling rate (Hz), matches typical sensor loop ~30 FPS. +FORCE_SAMPLE_RATE_HZ = 30.0 +PLOT_BUFFER_POINTS = 120 +PLOT_WINDOW_SEC = PLOT_BUFFER_POINTS / FORCE_SAMPLE_RATE_HZ # 4 s window +# Minimum y-axis span so autoscale does not over-zoom on small fluctuations. +Y_AXIS_MIN_SPAN = 20000 +CURVE_THEME_COLOR = '#00E5FF' + +from PyQt5.QtWidgets import ( + QMainWindow, QWidget, QHBoxLayout, QVBoxLayout, + QLabel, QApplication, QSplitter, QPlainTextEdit, + QPushButton, QFileDialog, QLineEdit, +) +from PyQt5.QtCore import Qt, QTimer +from PyQt5 import QtGui +from PyQt5.QtGui import QImage, QPixmap, QFont, QIcon + +try: + import pyqtgraph as pg +except Exception: + print("PyQtGraph is not installed. Please install it using 'pip install pyqt5 pyqtgraph'.") + sys.exit(1) + +# --------------------------------------------------------------------------- +# 工具 +# --------------------------------------------------------------------------- + +def cv2_to_pixmap(img_bgr: np.ndarray) -> QPixmap: + rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB) + h, w, ch = rgb.shape + qimg = QImage(rgb.data, w, h, ch * w, QImage.Format_RGB888) + return QPixmap.fromImage(qimg) + +def draw_magnitude_map(vfield, threshold=3, colormap=cv2.COLORMAP_JET) -> np.ndarray: + flow_field = vfield + magnitude = np.sqrt(flow_field[:, :, 0] ** 2 + flow_field[:, :, 1] ** 2) + + downsample_factor = 10 + h, w = magnitude.shape + magnitude_downsampled = magnitude[::downsample_factor, ::downsample_factor] + magnitude_smoothed = cv2.resize(magnitude_downsampled, (w, h), interpolation=cv2.INTER_CUBIC) + + magnitude_thresholded = magnitude_smoothed.copy() + magnitude_thresholded[magnitude_smoothed < threshold] = 0 + + mag_min, mag_max = magnitude_thresholded.min(), magnitude_thresholded.max() + if mag_max > mag_min: + magnitude_norm = ((magnitude_thresholded - mag_min) / (mag_max - mag_min) * 255).astype(np.uint8) + else: + magnitude_norm = np.zeros_like(magnitude_thresholded, dtype=np.uint8) + + magnitude_colored = cv2.applyColorMap(magnitude_norm, colormap) + out_img = cv2.resize(magnitude_colored, (400, 400), interpolation=cv2.INTER_CUBIC) + return out_img + + +def lowpass_filter(data, cutoff_hz, sample_rate_hz=FORCE_SAMPLE_RATE_HZ, order=2): + """ + Zero-phase Butterworth low-pass filter for uniformly sampled 1-D data. + + Parameters + ---------- + data : array-like + Input samples acquired at `sample_rate_hz` (default 30 Hz). + cutoff_hz : float + -3 dB cutoff frequency in Hz; use 0 to skip filtering (return raw data). + Otherwise must satisfy 0 < cutoff_hz < sample_rate_hz / 2. + sample_rate_hz : float + Sampling rate of `data` in Hz. + order : int + Butterworth filter order. + + Returns + ------- + np.ndarray + Filtered 1-D array with the same length as `data`. + """ + y = np.asarray(data, dtype=np.float64) + if cutoff_hz == 0: + return y.copy() + if y.size == 0: + return y + + nyquist = 0.5 * sample_rate_hz + if cutoff_hz < 0 or cutoff_hz >= nyquist: + raise ValueError( + f"cutoff_hz must be in (0, {nyquist}) for sample_rate_hz={sample_rate_hz}" + ) + + b, a = butter(order, cutoff_hz / nyquist, btype="low") + padlen = 3 * (max(len(b), len(a)) - 1) + if y.size <= padlen: + return y.copy() + + return filtfilt(b, a, y) + + +class TeeStream: + """同时写入多个流""" + def __init__(self, *streams): + self.streams = streams + + def write(self, text): + for s in self.streams: + s.write(text) + + def flush(self): + for s in self.streams: + s.flush() + + +class WidgetLogHandler: + """将 print 输出实时显示到 QPlainTextEdit""" + def __init__(self, widget: QPlainTextEdit): + self.widget = widget + self.buf = "" + + def write(self, text: str): + self.buf += text + while "\n" in self.buf: + line, self.buf = self.buf.split("\n", 1) + if line: + self.widget.appendPlainText(line) + + def flush(self): + if self.buf: + self.widget.appendPlainText(self.buf) + self.buf = "" + +# --------------------------------------------------------------------------- +# 样式表 +# --------------------------------------------------------------------------- + +STYLE = """ +QMainWindow { + background-color: #000000; +} + +/* ---- 图像面板 ---- */ +QLabel#arrowsLabel, QLabel#magLabel { + border: 1px solid #262626; + border-radius: 4px; + background-color: #0b0b0b; +} + +/* ---- 顶栏按钮 & 输入 - — */ +QPushButton { + background-color: #1a1a1a; + color: #999999; + border: 1px solid #333333; + border-radius: 4px; + padding: 6px 16px; + font-family: "SimHei"; + font-size: 13px; +} +QPushButton:hover { + background-color: #262626; + color: #cccccc; + border: 1px solid #555555; +} +QPushButton#btnStart { + background-color: #0d2818; + color: #4caf84; + border: 1px solid #1a4d30; +} +QPushButton#btnStart:hover { + background-color: #143d24; + color: #6fd4a0; +} +QPushButton#btnStart:disabled { + background-color: #0f0f0f; + color: #333333; + border: 1px solid #222222; +} +QPushButton#btnStop { + background-color: #2b1010; + color: #e05555; + border: 1px solid #4d1a1a; +} +QPushButton#btnStop:hover { + background-color: #3d1818; + color: #f07070; +} +QPushButton#btnStop:disabled { + background-color: #0f0f0f; + color: #333333; + border: 1px solid #222222; +} +QLineEdit { + background-color: #0d0d0d; + color: #999999; + border: 1px solid #333333; + border-radius: 4px; + padding: 5px 10px; + font-size: 13px; +} + +/* ---- 力曲线容器 ---- */ +GraphicsLayoutWidget { + border: 1px solid #262626; + border-radius: 4px; +} + +/* ---- 日志面板 ---- */ +QPlainTextEdit { + background-color: #0b0b0b; + color: #777777; + border: 1px solid #262626; + border-radius: 4px; + font-family: "Cascadia Code", "Consolas", "Courier New", monospace; + font-size: 13px; + padding: 8px; + selection-background-color: #1a3a4a; + selection-color: #cccccc; +} + +QPlainTextEdit QScrollBar:vertical { + background-color: #0b0b0b; + width: 6px; + margin: 1px; + border-radius: 3px; +} +QPlainTextEdit QScrollBar::handle:vertical { + background-color: #262626; + border-radius: 3px; + min-height: 30px; +} +QPlainTextEdit QScrollBar::handle:vertical:hover { + background-color: #3a3a3a; +} +QPlainTextEdit QScrollBar::add-line:vertical, +QPlainTextEdit QScrollBar::sub-line:vertical { + height: 0px; +} +QPlainTextEdit QScrollBar::add-page:vertical, +QPlainTextEdit QScrollBar::sub-page:vertical { + background: none; +} + +QSplitter::handle { + background-color: #1a1a1a; +} +QSplitter::handle:vertical { + height: 1px; +} +QSplitter::handle:horizontal { + width: 1px; +} +""" + +# --------------------------------------------------------------------------- +# 主窗口 +# --------------------------------------------------------------------------- + +class MainWindow(QMainWindow): + def __init__(self, args, log_file): + super().__init__() + self.setWindowTitle("Orisys SDK") + self.setStyleSheet(STYLE) + + logo_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "logo.png") + if os.path.exists(logo_path): + self.setWindowIcon(QIcon(logo_path)) + + self.sensor = None + self.start_time = None + self.args = args + + # 录像状态 + self.is_save = False + self.frame_count = 0 + self.writer = None + self.save_path = None + + # 曲线数据缓冲（先填满 npoints 再滚动；120 点 @ 30 Hz = 4 s） + self.npoints = PLOT_BUFFER_POINTS + self.lowpass_cutoff_hz = getattr(args, "cutoff", 5.0) + self._plot_sample_count = 0 + self._init_plot_buffer() + + self._setup_ui() + self._create_plots() + + # 同步参数到 UI + self.camera_edit.setText(args.video) + self.config_edit.setText(args.config) + self.cal_edit.setText(args.cal) + + # stdout → 日志文件 + 界面日志面板 + self.log_handler = WidgetLogHandler(self.log_widget) + sys.stdout = TeeStream(log_file, self.log_handler) + sys.stderr = sys.stdout + + self._y_range_alpha = 0.5 + + self.timer = QTimer() + self.timer.timeout.connect(self._on_timer) + self._running = False + + def _init_plot_buffer(self): + """Empty buffer; x-axis grows until npoints real samples, then scrolls.""" + self.data = np.full((self.npoints, 2, 3), np.nan, dtype=np.float64) + self._plot_sample_count = 0 + self._y_range_smooth = [None, None, None] + + # ---- UI 构建 ---- + + def _setup_ui(self): + central = QWidget() + self.setCentralWidget(central) + root_layout = QVBoxLayout(central) + root_layout.setContentsMargins(6, 6, 6, 6) + root_layout.setSpacing(6) + + # ---- 顶栏 ---- + bar = QHBoxLayout() + bar.setSpacing(8) + + self.btn_camera = QPushButton("摄像机") + self.btn_camera.setObjectName("btnCamera") + self.btn_camera.clicked.connect(self._select_camera) + bar.addWidget(self.btn_camera) + self.camera_edit = QLineEdit("1") + self.camera_edit.setPlaceholderText("摄像头编号 或 视频路径") + bar.addWidget(self.camera_edit, 1) + + self.btn_config = QPushButton("配置") + self.btn_config.setObjectName("btnConfig") + self.btn_config.clicked.connect(self._select_config) + bar.addWidget(self.btn_config) + self.config_edit = QLineEdit("./config/ddjx01.json") + bar.addWidget(self.config_edit, 1) + + self.btn_reset = QPushButton("重置") + self.btn_reset.setObjectName("btnReset") + self.btn_reset.setEnabled(False) + self.btn_reset.clicked.connect(self._on_reset) + bar.addWidget(self.btn_reset) + self.cal_edit = QLineEdit("./config/ddjx01.npy") + bar.addWidget(self.cal_edit, 1) + + self.btn_start = QPushButton("启动") + self.btn_start.setObjectName("btnStart") + self.btn_start.clicked.connect(self._on_start) + bar.addWidget(self.btn_start) + + self.btn_stop = QPushButton("暂停") + self.btn_stop.setObjectName("btnStop") + self.btn_stop.setEnabled(False) + self.btn_stop.clicked.connect(self._on_stop) + bar.addWidget(self.btn_stop) + + root_layout.addLayout(bar) + + # ---- 外层纵向 splitter：主区域 / 日志 ---- + v_splitter = QSplitter(Qt.Vertical) + + # ---- 主区域：图像 (左) | 曲线 (右) ---- + h_splitter = QSplitter(Qt.Horizontal) + + # 左侧图像面板 + left = QWidget() + left_layout = QVBoxLayout(left) + left_layout.setContentsMargins(0, 0, 0, 0) + left_layout.setSpacing(6) + + self.arrows_label = QLabel() + self.arrows_label.setObjectName("arrowsLabel") + self.arrows_label.setMinimumSize(160, 160) + self.arrows_label.setScaledContents(True) + self.arrows_label.setAlignment(Qt.AlignCenter) + left_layout.addWidget(self.arrows_label) + + self.mag_label = QLabel() + self.mag_label.setObjectName("magLabel") + self.mag_label.setMinimumSize(160, 160) + self.mag_label.setScaledContents(True) + self.mag_label.setAlignment(Qt.AlignCenter) + left_layout.addWidget(self.mag_label) + + h_splitter.addWidget(left) + + # 右侧力曲线 + pg.setConfigOption('background', '#000000') + pg.setConfigOption('foreground', '#777777') + pg.setConfigOptions(antialias=True) + self.graph_widget = pg.GraphicsLayoutWidget() + self.graph_widget.setMinimumWidth(300) + h_splitter.addWidget(self.graph_widget) + + self.h_splitter = h_splitter + + v_splitter.addWidget(h_splitter) + + # ---- 底部日志面板 ---- + self.log_widget = QPlainTextEdit() + self.log_widget.setReadOnly(True) + self.log_widget.setMaximumBlockCount(2000) + font = QFont("Consolas", 12) + font.setStyleHint(QFont.Monospace) + self.log_widget.setFont(font) + v_splitter.addWidget(self.log_widget) + + v_splitter.setStretchFactor(0, 4) + v_splitter.setStretchFactor(1, 1) + + root_layout.addWidget(v_splitter) + + def _create_plots(self): + titles = ["法向力", "切向力 X", "切向力 Y"] + self.plots = [] + self.curves = [] + self.dot_glows = [] + self.dot_cores = [] + + axis_pen = pg.mkPen(color=(38, 38, 38), width=1) # #262626 + label_font = QFont("SimHei", 9) + + for i, title in enumerate(titles): + p = self.graph_widget.addPlot(title=None) + + # 标题：黑体 + p.setTitle(title, color='#999999', size='14pt') + p.titleLabel.setFont(QFont("SimHei", 14)) + + # X 轴标签 + p.setLabel('bottom', '时间', units='s') + p.getAxis('bottom').label.setFont(label_font) + + # 仅保留左 + 下轴线，隐藏右 + 上边框 + p.showAxis('top', False) + p.showAxis('right', False) + p.getAxis('left').setPen(axis_pen) + p.getAxis('bottom').setPen(axis_pen) + + # 仅横向网格，极淡 + p.showGrid(x=False, y=True, alpha=0.12) + + # 等宽刻度字体 + tick_font = QFont("Consolas", 11) + tick_font.setStyleHint(QFont.Monospace) + p.getAxis('left').setTickFont(tick_font) + p.getAxis('bottom').setTickFont(tick_font) + + # 曲线: 青色描边 + 向下渐变填充（与 demo_wuxi 一致） + line_pen = pg.mkPen(color=CURVE_THEME_COLOR, width=2) + # grad_brush = make_gradient_brush(CURVE_THEME_COLOR, max_alpha=120) + curve = p.plot(pen=line_pen, fillLevel=0) + + # 终点光晕: #00e5ff 30% 透明，半径 8 + dot_glow = p.plot([], [], pen=None, symbol='o', symbolSize=8, + symbolPen=None, symbolBrush=(0, 229, 255, 76)) + # 终点核心: 纯白，半径 4 + dot_core = p.plot([], [], pen=None, symbol='o', symbolSize=4, + symbolPen=None, symbolBrush=(255, 255, 255, 255)) + + p.setXRange(0, PLOT_WINDOW_SEC, padding=0) + p.enableAutoRange(x=False, y=False) + + self.plots.append(p) + self.curves.append(curve) + self.dot_glows.append(dot_glow) + self.dot_cores.append(dot_core) + + if i < 2: + self.graph_widget.nextRow() + + def adjust_square_images(self): + """根据窗口高度调整左侧面板宽度，使两张图保持正方形""" + top_bar_h = 48 + log_h = self.log_widget.height() + spacing = 20 + available = self.height() - top_bar_h - log_h - spacing + each_h = max(available // 2, 160) + self.h_splitter.setSizes([each_h, self.width() - each_h]) + + # ---- 帧处理 ---- + + def _on_timer(self): + if self.sensor is None: + return + sensor = self.sensor + + isimg = sensor.get_img() + if isimg is None: + print("Failed to get image") + return + + # 录像写入 + if self.is_save and self.writer is not None and sensor.frame is not None: + self.frame_count += 1 + save_img = sensor.frame + if len(save_img.shape) == 2 or (len(save_img.shape) == 3 and save_img.shape[2] == 1): + if len(save_img.shape) == 3: + save_img = save_img.squeeze(2) + save_img = cv2.cvtColor(save_img, cv2.COLOR_GRAY2BGR) + self.writer.write(save_img) + + is_touched = sensor.compute_deformation(check_motion=True, threshold=0) + sensor.compute_contact() + + fps, fn, fx, fy, flow, vnormal, vshear, depth_map = sensor.read_info( + sensor.info.FPS, sensor.info.FNORMAL, + sensor.info.FSHEARX, sensor.info.FSHEARY, + sensor.info.VRAW, sensor.info.VNORMAL, + sensor.info.VSHEAR, + sensor.info.DEPTH + ) + + + print(f"FPS={fps:.2f}, 法向力={fn:.4f}, 切向力X={fx:.4f}, 切向力Y={fy:.4f}") + # print(f"CUPY Available: {sensor.CUPY_AVAILABLE}") + + # 图像 + _bg_bgr = (22, 16, 11) + _img = sensor.img + _h, _w = _img.shape[:2] + black_img = np.empty((_h, _w, 3), dtype=_img.dtype) + black_img[:, :, 0] = _bg_bgr[0] + black_img[:, :, 1] = _bg_bgr[1] + black_img[:, :, 2] = _bg_bgr[2] + + arrows = orisys.util.draw_arrows( + black_img, flow, + threshold=2, grid_spacing=20, + arrow_scale=0.5, + below_threshold_color=(160, 160, 160), + ) + arrows = cv2.resize(arrows, (400, 400), interpolation=cv2.INTER_CUBIC) + self.arrows_label.setPixmap(cv2_to_pixmap(arrows)) + + # 显示深度图 + div_abs = depth_map + if div_abs.max() > div_abs.min(): + div_normalized = ((div_abs - div_abs.min()) / (div_abs.max() - div_abs.min()) * 255).astype(np.uint8) + else: + div_normalized = np.zeros_like(div_abs, dtype=np.uint8) + + # 应用颜色映射（使用JET：蓝色=低散度，红色=高散度） + depth_colored = cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET) + + # mag = draw_magnitude_map(flow) + self.mag_label.setPixmap(cv2_to_pixmap(depth_colored)) + + # 曲线：先顺序写入 npoints 个真实样本，满后再左移滚动 + current_time = time.time() - self.start_time + if self._plot_sample_count < self.npoints: + idx = self._plot_sample_count + self.data[idx, 0, :] = current_time + self.data[idx, 1, 0] = fn + self.data[idx, 1, 1] = fx + self.data[idx, 1, 2] = fy + self._plot_sample_count += 1 + else: + for i in range(3): + self.data[:-1, 0, i] = self.data[1:, 0, i] + self.data[:-1, 1, i] = self.data[1:, 1, i] + self.data[-1, 0, :] = current_time + self.data[-1, 1, 0] = fn + self.data[-1, 1, 1] = fx + self.data[-1, 1, 2] = fy + + n = self._plot_sample_count + if n == 0: + return + + data_plot = self.data[:n].copy() + for i in range(3): + data_plot[:, 1, i] = lowpass_filter( + data_plot[:, 1, i], + self.lowpass_cutoff_hz, + sample_rate_hz=FORCE_SAMPLE_RATE_HZ, + ) + + for i, curve in enumerate(self.curves): + x = data_plot[:, 0, i] + y = data_plot[:, 1, i] + curve.setData(x, y) + ymin, ymax = y.min(), y.max() + if self._y_range_smooth[i] is None: + self._y_range_smooth[i] = (ymin, ymax) + else: + prev_min, prev_max = self._y_range_smooth[i] + alpha = self._y_range_alpha + ymin = alpha * ymin + (1 - alpha) * prev_min + ymax = alpha * ymax + (1 - alpha) * prev_max + span = ymax - ymin + if span < Y_AXIS_MIN_SPAN: + mid = (ymin + ymax) / 2 + half = Y_AXIS_MIN_SPAN / 2 + ymin = mid - half + ymax = mid + half + self._y_range_smooth[i] = (ymin, ymax) + pad = max((ymax - ymin) * 0.12, 0.01) + self.plots[i].setYRange(ymin - pad, ymax + pad) + last_x = x[-1:] + last_y = y[-1:] + self.dot_glows[i].setData(last_x, last_y) + self.dot_cores[i].setData(last_x, last_y) + + if n < self.npoints: + for p in self.plots: + p.setXRange(0, PLOT_WINDOW_SEC, padding=0) + else: + x0 = float(data_plot[0, 0, 0]) + x1 = float(data_plot[-1, 0, 0]) + if x1 <= x0: + x1 = x0 + PLOT_WINDOW_SEC + for p in self.plots: + p.setXRange(x0, x1, padding=0) + + # ---- 键盘 & 录像 ---- + + def _on_start(self): + if self._running: + return + self.btn_start.setText("启动中...") + self.btn_start.setEnabled(False) + QApplication.processEvents() + + try: + src = self.camera_edit.text() + cfg = self.config_edit.text() + cal = self.cal_edit.text() + verbose = getattr(self.args, 'verbose', True) + try: + src = int(src) + except ValueError: + pass + self.sensor = orisys.Sensor(src, config_name=cfg, cal_path=cal, verbose=verbose) + except Exception as e: + self.btn_start.setText("启动") + self.btn_start.setEnabled(True) + print(f"启动失败: {e}") + return + + self.start_time = time.time() + self._init_plot_buffer() + self._running = True + self.timer.start(10) + self.btn_start.setText("启动") + self.btn_stop.setEnabled(True) + self.btn_reset.setEnabled(True) + print(f"▶ 启动 — 摄像机={src}, 配置={cfg}, 标定={cal}") + + def _on_stop(self): + if not self._running: + return + self._running = False + self.timer.stop() + self.btn_stop.setText("停止中...") + self.btn_stop.setEnabled(False) + QApplication.processEvents() + + if self.sensor is not None: + self.sensor.disconnect() + self.sensor = None + + self.btn_start.setEnabled(True) + self.btn_stop.setText("暂停") + self.btn_reset.setEnabled(False) + print("⏸ 已暂停") + + def _select_camera(self): + text = self.camera_edit.text() + path, _ = QFileDialog.getOpenFileName( + self, "选择视频文件", "data", "视频 (*.mp4 *.avi *.mov);;所有文件 (*)", + ) + if path: + self.camera_edit.setText(path) + + def _select_config(self): + path, _ = QFileDialog.getOpenFileName( + self, "选择配置文件", "config", "JSON (*.json);;所有文件 (*)", + ) + if path: + self.config_edit.setText(path) + + def _on_reset(self): + """Reset optical flow tracker when drift occurs (same as basic_pipeline 'r' key).""" + if self.sensor is None or not self._running: + print("请先启动传感器后再重置追踪器。") + return + self.sensor.reset() + print("追踪器已重置。") + + def keyPressEvent(self, event): + key = event.key() + if key == Qt.Key_Escape: + if self.isFullScreen(): + self.showNormal() + else: + self.showFullScreen() + elif key == Qt.Key_Q: + print("\n正在退出示例程序...") + self.close() + elif key == Qt.Key_S: + self._start_recording() + elif key == Qt.Key_E: + self._stop_recording() + elif key == Qt.Key_R: + self._on_reset() + else: + super().keyPressEvent(event) + + def _start_recording(self): + if self.sensor is None: + print("请先启动采集") + return + self.save_path = "./data/pulse_test.mp4" + os.makedirs(os.path.dirname(self.save_path), exist_ok=True) + + save_img = self.sensor.frame + if save_img is None: + print("当前没有可用帧，无法确定录像尺寸。") + return + + temp_img = save_img.copy() + if len(temp_img.shape) == 2 or (len(temp_img.shape) == 3 and temp_img.shape[2] == 1): + if len(temp_img.shape) == 3: + temp_img = temp_img.squeeze(2) + temp_img = cv2.cvtColor(temp_img, cv2.COLOR_GRAY2BGR) + + fh, fw = temp_img.shape[:2] + self.writer = cv2.VideoWriter( + self.save_path, cv2.VideoWriter_fourcc(*'mp4v'), 30, (fw, fh), + ) + if self.writer.isOpened(): + self.is_save = True + print(f"开始录像：{self.save_path}") + else: + print(f"无法创建录像文件：{self.save_path}") + self.writer = None + + def _stop_recording(self): + self.is_save = False + if self.writer is not None: + self.writer.release() + self.writer = None + if self.save_path is not None: + print(f"录像结束：{self.save_path}，总帧数：{self.frame_count}") + else: + print(f"录像结束，总帧数：{self.frame_count}") + self.frame_count = 0 + + def closeEvent(self, event): + self.timer.stop() + if self.writer is not None: + self.writer.release() + if self.sensor is not None: + self.sensor.disconnect() + event.accept() + +# --------------------------------------------------------------------------- +# 入口 +# --------------------------------------------------------------------------- + +def main(): + script_dir = os.path.dirname(os.path.abspath(__file__)) + log_dir = os.path.join(script_dir, "logs") + os.makedirs(log_dir, exist_ok=True) + log_path = os.path.join(log_dir, f"qt_viewer_{datetime.now().strftime('%Y%m%d_%H%M%S')}.log") + log_file = open(log_path, 'w', encoding='utf-8') + # stdout 到文件的临时重定向（创建 MainWindow 后会加上日志面板） + sys.stdout = log_file + sys.stderr = sys.stdout + + parser = argparse.ArgumentParser() + parser.add_argument("--video", "-v", type=str, default="0") + parser.add_argument("--config", "-c", type=str, default="./config/ddjx01.json") + parser.add_argument("--cal", "-cal", type=str, default="./config/ddjx01.npy") + parser.add_argument("--verbose", "-verbose", type=bool, default=True) + parser.add_argument( + "--cutoff", + type=float, + default=10.0, + help="Low-pass cutoff for force curves (Hz), sample rate 30 Hz", + ) + args = parser.parse_args() + + print("\n按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏") + + # 高 DPI 适配（笔记本高分屏） + QApplication.setAttribute(Qt.AA_EnableHighDpiScaling, True) + QApplication.setAttribute(Qt.AA_UseHighDpiPixmaps, True) + app = QApplication(sys.argv) + window = MainWindow(args, log_file) + window.showFullScreen() + QApplication.processEvents() + window.adjust_square_images() + + sys.exit(app.exec_()) + +if __name__ == '__main__': + main() diff --git a/examples/two_sensor_force_reader.py b/examples/two_sensor_force_reader.py new file mode 100644 index 0000000..56750bc --- /dev/null +++ b/examples/two_sensor_force_reader.py @@ -0,0 +1,18 @@ +"""Compatibility entry point for the two-sensor tactile reader.""" + +import multiprocessing as mp +import sys +from pathlib import Path + + +REPO_ROOT = Path(__file__).resolve().parents[1] +if str(REPO_ROOT) not in sys.path: + sys.path.insert(0, str(REPO_ROOT)) + +from gripper_control.force_reader import main + + +if __name__ == "__main__": + mp.freeze_support() + main() + diff --git a/examples/two_sensor_pipeline.py b/examples/two_sensor_pipeline.py new file mode 100644 index 0000000..f438700 --- /dev/null +++ b/examples/two_sensor_pipeline.py @@ -0,0 +1,299 @@ +""" +示例 2：双传感器并行处理（多进程） + +本示例演示如何使用 multiprocessing 同时运行两个传感器： +- 每个传感器运行在独立进程中 +- 每个进程拥有独立的 CUDA 上下文 +- 通过 Process 和 Queue 在主进程中汇总结果并显示 + +架构说明： + 进程 1（传感器 0）：采集 → 光流 → HHD → 接触检测 → 队列 + 进程 2（传感器 1）：采集 → 光流 → HHD → 接触检测 → 队列 + ↓ + 主进程： 显示 ← ───────────────┘ + +适用场景：多指触觉传感器、多视角采集，以及需要 GPU 加速的多路处理。 + +注意事项： +- Windows 下必须在 if __name__ == '__main__' 中调用 mp.freeze_support() +- 每个传感器进程都会占用独立的 GPU 显存 + +SDK version: 0.3.1 +""" +import os +os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" +import cv2 +import orisys +import numpy as np +import multiprocessing as mp +from multiprocessing import Queue, Process +import time +import argparse + + +def parse_video_source(value): + """Convert camera index strings like "0" to int; keep paths as strings.""" + if isinstance(value, str): + value = value.strip() + if value.isdigit(): + return int(value) + return value + + +def sensor_worker(sensor_id, vid_src, config_name, rotation_config_path, result_queue, stop_event, target_fps=None): + """ + 传感器工作进程。 + + Args: + sensor_id: 传感器编号 + vid_src: 视频源（文件路径或摄像头索引） + config_name: 配置名称 + result_queue: 结果队列，用于向主进程发送数据 + stop_event: 停止事件，用于通知工作进程退出 + target_fps: 目标帧率；设置后将对处理循环限速，使多路传感器 FPS 更接近 + """ + try: + # 在每个进程中创建独立的传感器实例 + sensor = orisys.Sensor( + vid_src, + isstitch=True, + cuda=True, + verbose=False, # 减少子进程输出 + config_name=config_name, + rotation_config_path=rotation_config_path + ) + + print( + f"传感器 {sensor_id} 已启动，视频源={vid_src!r}({type(vid_src).__name__})，" + f"方向配置={rotation_config_path}" + + (f"（目标帧率：{target_fps} FPS）" if target_fps else "") + ) + + frame_interval = 1.0 / target_fps if target_fps and target_fps > 0 else 0.0 + + while not stop_event.is_set(): + t_start = time.perf_counter() + try: + # 步骤 1：获取图像 + sensor.get_img() + + # 步骤 2：计算形变场 + sensor.compute_deformation() + + # 步骤 3：计算接触区域（如需要可取消注释） + # sensor.compute_contact() + + # 步骤 4：读取结果 + fps, flow, vnormal, img, contour, centroid, depth_map = sensor.read_info( + sensor.info.FPS, + sensor.info.VRAW, + sensor.info.VNORMAL, + sensor.info.IMG, + sensor.info.CONTOUR, + sensor.info.CENTROID, + sensor.info.DEPTH + ) + + # 步骤 5：整理结果字典（确保数据可序列化） + data = { + 'sensor_id': sensor_id, + 'fps': fps, + 'flow': flow.copy() if flow is not None else None, + 'vnormal': vnormal.copy() if vnormal is not None else None, + 'img': img.copy() if img is not None else None, + 'contour': contour, + 'centroid': centroid, + 'depth_map': depth_map.copy() if depth_map is not None else None, + 'timestamp': time.time() + } + + # 步骤 6：将结果发送到主进程（非阻塞） + try: + result_queue.put_nowait(data) + except Exception: + # 如果队列已满，则丢弃当前帧，避免阻塞工作进程 + pass + + except Exception as e: + print(f"传感器 {sensor_id} 处理失败：{e}") + time.sleep(0.1) + + # 步骤 7：按 target_fps 限速，使多路传感器 FPS 更接近 + if frame_interval > 0: + elapsed = time.perf_counter() - t_start + sleep_time = frame_interval - elapsed + if sleep_time > 0.001: # 至少 1ms 才 sleep，避免无意义调度 + time.sleep(sleep_time) + + # 释放资源 + sensor.disconnect() + print(f"传感器 {sensor_id} 已停止。") + + except Exception as e: + print(f"传感器 {sensor_id} 初始化失败：{e}") + result_queue.put({'sensor_id': sensor_id, 'error': str(e)}) + + +def main(): + # ========================================================================= + # 1. 配置多路传感器 + # ========================================================================= + # 目标帧率：设为正数时，两路传感器会按该帧率限速；设为 None 则不限速 + + parser = argparse.ArgumentParser() + parser.add_argument("--video1","-v1", type=str, default="0", help="视频源：摄像头编号或视频文件路径") + parser.add_argument("--video2","-v2", type=str, default="0", help="视频源：摄像头编号或视频文件路径") + parser.add_argument("--rotation1", "-r1", type=str, default="./config/rotation_config_0.json", help="传感器 0 的方向配置") + parser.add_argument("--rotation2", "-r2", type=str, default="./config/rotation_config_1.json", help="传感器 1 的方向配置") + args = parser.parse_args() + + target_fps = 30 + + num_sensors = 2 + sensor_configs = [ + { + 'sensor_id': 0, + 'vid_src': parse_video_source(args.video1), + 'config_name': './config/ddjx01.json', + 'rotation_config_path': args.rotation1 + }, + { + 'sensor_id': 1, + 'vid_src': parse_video_source(args.video2), # 可替换为其他视频源或摄像头索引 + 'config_name': './config/ddjx01.json', + 'rotation_config_path': args.rotation2 + }, + ] + + # ========================================================================= + # 2. 创建进程间通信对象 + # ========================================================================= + # 适当增大队列容量，以缓冲更多帧并减轻主进程偶发延迟带来的丢帧 + result_queues = [Queue(maxsize=30) for _ in sensor_configs] + stop_events = [mp.Event() for _ in sensor_configs] + + # ========================================================================= + # 3. 启动工作进程 + # ========================================================================= + processes = [] + for i, config in enumerate(sensor_configs): + p = Process( + target=sensor_worker, + args=(i, config['vid_src'], config['config_name'], config['rotation_config_path'], + result_queues[i], stop_events[i], target_fps) + ) + p.start() + processes.append(p) + + print(f"\n已启动 {len(processes)} 个传感器进程。") + print("按键说明：'q' 退出程序。") + + # 保存每个传感器的最新一帧数据 + latest_data = [None] * len(sensor_configs) + + # 控制打印频率，减少 I/O 开销 + print_counter = 0 + print_interval = 30 # 每 30 帧打印一次 + + # 控制按键检查频率 + key_check_counter = 0 + key_check_interval = 5 # 每 5 帧检查一次按键 + + try: + # ===================================================================== + # 4. 主循环：从队列获取结果并显示 + # ===================================================================== + while True: + # 从所有队列中快速获取最新数据，只保留最后一帧 + for i, queue in enumerate(result_queues): + # 清空队列，仅保留最后一帧 + data = None + # 读取所有可用数据，只保留最新结果 + while True: + try: + data = queue.get_nowait() + except: + break + + if data is not None: + latest_data[i] = data + + # 显示所有传感器的最新结果 + for data in latest_data: + if data is None or 'error' in data: + continue + + sid = data['sensor_id'] + + # 显示形变矢量场 + if data['img'] is not None and data['flow'] is not None: + arrows = orisys.util.draw_arrows( + data['img'], + data['flow'], + threshold=5, + grid_spacing=10, + arrow_scale=1.0 + ) + cv2.imshow(f"传感器 {sid} - 形变矢量场".encode("gbk"), arrows) + + # # 显示触碰点和区域 + # if data['img'] is not None: + # image_with_foe = orisys.util.draw_contact( + # data['img'], + # data['contour'], + # data['centroid'] + # ) + # cv2.imshow(f"Contact Centroid {sid}", image_with_foe) + + # # 显示深度图 + # if data['depth_map'] is not None and data['depth_map'].size > 0: + # div_abs = data['depth_map'] + # if div_abs.max() > div_abs.min(): + # div_normalized = ((div_abs - div_abs.min()) / + # (div_abs.max() - div_abs.min()) * 255).astype(np.uint8) + # else: + # div_normalized = np.zeros_like(div_abs, dtype=np.uint8) + # cv2.imshow(f"Depth Map {sid}", + # cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET)) + + # 降低打印频率，减少主循环中的 I/O 开销 + print_counter += 1 + if print_counter >= print_interval: + for data in latest_data: + if data is not None and 'error' not in data: + sid = data['sensor_id'] + print(f"传感器 {sid}：FPS={data['fps']:5.1f}") + print_counter = 0 + + # 降低按键检查频率，减少额外开销 + key_check_counter += 1 + if key_check_counter >= key_check_interval: + key = cv2.waitKey(1) & 0xFF + if key == ord('q'): + print("\n正在退出示例程序...") + break + key_check_counter = 0 + + finally: + # ===================================================================== + # 5. 释放资源 + # ===================================================================== + # 通知所有工作进程停止 + for event in stop_events: + event.set() + + # 等待所有工作进程结束 + for p in processes: + p.join(timeout=2) + if p.is_alive(): + p.terminate() + p.join() + + cv2.destroyAllWindows() + print("所有传感器进程已停止。") + + +if __name__ == '__main__': + # Windows 下运行多进程示例所需的初始化 + mp.freeze_support() + main() diff --git a/gripper_control/README.md b/gripper_control/README.md new file mode 100644 index 0000000..a41fc0d --- /dev/null +++ b/gripper_control/README.md @@ -0,0 +1,118 @@ +# Gripper Control + +当前实际控制链： + +1. `gripper_control/main.py` + 程序入口，负责组装配置、触觉读取、夹爪硬件和控制器。 + +2. `gripper_control/config.py` + 读取 Python 配置文件和命令行参数，生成 `ControlConfig`。 + +3. `gripper_control/force_reader.py` + 启动左右两个触觉传感器进程，读取 `FNORMAL`、`FSHEARX`、`FSHEARY`。 + +4. `gripper_control/calibration.py` + 把原始力值映射成 N。 + +5. `gripper_control/feedback.py` + 做基线扣除、滤波，输出控制器需要的力反馈。 + +6. `gripper_control/hardware.py` + 封装夹爪 SDK 的 `temp_move`、`set_target_force`、`read_real_position`。 + +7. `gripper_control/controller.py` + 定时开合、检测物体、慢慢加力、稳定夹持、空夹恢复、人取物松手的状态机。 + +## 运行 + +从项目根目录运行： + +```powershell +conda activate py311 +python -m gripper_control.main +``` + +旧入口仍然可用： + +```powershell +python examples\gripper_timed_cycle_control.py +``` + +默认配置文件： + +```text +gripper_control\config\gripper_timed_cycle_control.py +``` + +只测试逻辑、不打开串口： + +```powershell +python -m gripper_control.main --dry-run +``` + +## 日志字段 + +程序运行时主要有两类输出：周期状态日志和事件日志。 + +### 周期状态日志 + +示例： + +```text +t=38.83s L=0.024N R=0.067N min=0.024N max=0.067N diff=-0.043N both=0 object=0 grip_contact=0 empty_for=0.4s shear=0.113N d_shear=-0.013N shear_stable=1 state=hold_check gripped=1 hold_pos=9000 force_pct=15 action=hold-check +``` + +字段说明： + +- `t`: 当前 close phase 已经运行的时间，单位秒。 +- `L`: 左侧触觉传感器标定后的法向力，单位 N。 +- `R`: 右侧触觉传感器标定后的法向力，单位 N。 +- `min`: 左右两侧法向力中的较小值，单位 N。 +- `max`: 左右两侧法向力中的较大值，单位 N。 +- `diff`: `L - R`，左右法向力差值，单位 N；负数表示右侧更大。 +- `both`: 左右两侧是否都超过 `BOTH_CONTACT_FORCE`；`1` 是，`0` 否。 +- `object`: 是否确认检测到物体；默认需要达到 `OBJECT_FORCE` 且 `both=1`。 +- `grip_contact`: 夹持后是否仍然认为有接触；默认等于 `both`。 +- `empty_for`: 夹持/保持状态下，接触连续消失的时间；达到 `EMPTY_RELEASE_SECONDS` 后恢复定时开合。 +- `shear`: 标定后的切向力，单位 N；由 `sqrt(FSHEARX^2 + FSHEARY^2)` 映射得到。 +- `d_shear`: 本次循环相对上一次循环的切向力变化量，单位 N；负数表示切向力下降。 +- `shear_stable`: 切向力是否进入稳定计时；`1` 表示已经超过 `SHEAR_HOLD_FORCE` 且变化小于 `SHEAR_STABLE_DELTA`。 +- `state`: 控制器当前状态。 +- `gripped`: 是否已经进入过夹持状态；`1` 是，`0` 否。 +- `hold_pos`: 夹爪保持位置；通常是检测到物体时读取到的当前位置。 +- `force_pct`: 当前发送给夹爪的目标力百分比。 +- `action`: 当前这一步执行或等待的动作。 + +### 事件日志 + +示例： + +```text +L=0.013N R=0.223N min=0.013N max=0.223N force_pct=10 action=empty-grip-resume-cycle +``` + +这类日志只在关键事件发生时打印，所以字段更少。 + +- `L/R/min/max`: 事件发生时的左右法向力和最小/最大法向力，单位 N。 +- `force_pct`: 事件发生后设置的夹爪目标力百分比。 +- `action=empty-grip-resume-cycle`: 已经进入夹持/保持状态，但接触连续消失超过 `EMPTY_RELEASE_SECONDS`，程序判断为空夹，退出当前夹持状态，回到定时开合循环。下一轮会先执行 open phase。 + +### 常见状态 + +- `closing`: 正在按定时循环闭合，还没确认检测到物体。 +- `gripping`: 已检测到物体，夹爪保持当前位置，并从低力慢慢加力。 +- `hold_check`: 切向力已经达到最低要求并稳定，夹爪进入保持/人取物检测状态。 + +### 常见 action + +- `closing`: 继续闭合等待物体。 +- `close-continue`: 未检测到物体，重复发送闭合命令。 +- `object-detected-low-force`: 检测到物体，停止定时开合，并把夹爪力切到 `GRIP_START_FORCE`。 +- `grip-ramp-up`: 夹住后慢慢增加 `force_pct`。 +- `wait-shear-stable`: 切向力已超过 `SHEAR_HOLD_FORCE`，正在等待稳定。 +- `shear-stable-hold`: 切向力稳定时间达到 `SHEAR_STABLE_SECONDS`，进入 `hold_check`。 +- `hold-check`: 保持夹住，等待人取物触发。 +- `hold-check-armed`: 进入 `hold_check` 后已经过了 `HUMAN_HOLD_SECONDS`，开始监测人取物。 +- `human-release-open`: 检测到人取物造成的切向力变化，夹爪张开。 +- `empty-grip-resume-cycle`: 夹持后接触消失，判定为空夹，回到定时开合。 +- `emergency-open`: 超过 `EMERGENCY_TOUCH_FORCE` 且启用 emergency open 后，夹爪张开。 diff --git a/gripper_control/__init__.py b/gripper_control/__init__.py new file mode 100644 index 0000000..5dd68ca --- /dev/null +++ b/gripper_control/__init__.py @@ -0,0 +1,2 @@ +"""Class-based gripper/tactile closed-loop control package.""" + diff --git a/gripper_control/__pycache__/__init__.cpython-311.pyc b/gripper_control/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 0000000..e24fa4e Binary files /dev/null and b/gripper_control/__pycache__/__init__.cpython-311.pyc differ diff --git a/gripper_control/__pycache__/calibration.cpython-311.pyc b/gripper_control/__pycache__/calibration.cpython-311.pyc new file mode 100644 index 0000000..d555bf1 Binary files /dev/null and b/gripper_control/__pycache__/calibration.cpython-311.pyc differ diff --git a/gripper_control/__pycache__/config.cpython-311.pyc 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--git a/gripper_control/calibration.py b/gripper_control/calibration.py new file mode 100644 index 0000000..0605bc8 --- /dev/null +++ b/gripper_control/calibration.py @@ -0,0 +1,111 @@ +from dataclasses import dataclass + + +DEFAULT_FORCE_CALIBRATION_POINTS = [ + {"raw": 1000.0, "force_n": 0.0}, + {"raw": 10000.0, "force_n": 0.377}, + {"raw": 30000.0, "force_n": 1.377}, + {"raw": 62000.0, "force_n": 2.377}, +] + +DEFAULT_NORMAL_FORCE_CALIBRATION = { + "enabled": True, + "method": "piecewise_linear", + "extrapolate": True, + "clamp_output_min": 0.0, + "points": [ + {"fnormal": 1000.0, "force_n": 0.0}, + {"fnormal": 10000.0, "force_n": 0.377}, + {"fnormal": 30000.0, "force_n": 1.377}, + {"fnormal": 62000.0, "force_n": 2.377}, + ], +} + +DEFAULT_SHEAR_FORCE_CALIBRATION = { + "enabled": True, + "method": "piecewise_linear", + "extrapolate": True, + "clamp_output_min": 0.0, + "points": DEFAULT_FORCE_CALIBRATION_POINTS, +} + + +def parse_calibration_point(point): + if isinstance(point, dict): + raw = point.get("fnormal", point.get("raw", point.get("x"))) + force_n = point.get("force_n", point.get("n", point.get("y"))) + return float(raw), float(force_n) + if isinstance(point, (list, tuple)) and len(point) >= 2: + return float(point[0]), float(point[1]) + raise ValueError(f"invalid calibration point: {point!r}") + + +@dataclass(frozen=True) +class ForceConverter: + points: tuple + unit: str = "N" + enabled: bool = True + extrapolate: bool = True + clamp_output_min: float | None = 0.0 + + @classmethod + def from_config(cls, calibration, config_name): + if calibration is None: + calibration = DEFAULT_NORMAL_FORCE_CALIBRATION + if not calibration.get("enabled", True): + return cls(points=(), unit="raw", enabled=False) + + method = str(calibration.get("method", "piecewise_linear")).lower() + if method != "piecewise_linear": + raise ValueError(f"unsupported {config_name} method: {method}") + + points = tuple(sorted( + parse_calibration_point(point) + for point in calibration.get("points", []) + )) + if len(points) < 2: + raise ValueError(f"{config_name}.points must contain at least two points") + + return cls( + points=points, + enabled=True, + extrapolate=bool(calibration.get("extrapolate", True)), + clamp_output_min=calibration.get("clamp_output_min", 0.0), + ) + + def convert(self, raw): + if not self.enabled: + return float(raw) + + raw = float(raw) + points = self.points + if raw <= points[0][0]: + segment = (points[0], points[1]) + if not self.extrapolate: + return self._clamp(points[0][1]) + elif raw >= points[-1][0]: + segment = (points[-2], points[-1]) + if not self.extrapolate: + return self._clamp(points[-1][1]) + else: + segment = None + for left, right in zip(points, points[1:]): + if left[0] <= raw <= right[0]: + segment = (left, right) + break + if segment is None: + return self._clamp(points[-1][1]) + + (raw0, n0), (raw1, n1) = segment + if raw1 == raw0: + value = n0 + else: + ratio = (raw - raw0) / (raw1 - raw0) + value = n0 + ratio * (n1 - n0) + return self._clamp(value) + + def _clamp(self, value): + if self.clamp_output_min is not None: + value = max(float(self.clamp_output_min), value) + return value + diff --git a/gripper_control/config.py b/gripper_control/config.py new file mode 100644 index 0000000..adce896 --- /dev/null +++ b/gripper_control/config.py @@ -0,0 +1,222 @@ +import argparse +import copy +import importlib.util +import json +from dataclasses import dataclass, field +from pathlib import Path + +from .calibration import ( + DEFAULT_NORMAL_FORCE_CALIBRATION, + DEFAULT_SHEAR_FORCE_CALIBRATION, +) +from .paths import PACKAGE_DIR + + +DEFAULT_CONTROL_CONFIG = str(PACKAGE_DIR / "config" / "gripper_timed_cycle_control.py") + + +def load_control_config(path): + suffix = Path(path).suffix.lower() + if suffix == ".py": + return load_python_config(path) + return load_json_config(path) + + +def load_python_config(path): + try: + spec = importlib.util.spec_from_file_location("gripper_user_config", path) + if spec is None or spec.loader is None: + raise RuntimeError("cannot create import spec") + module = importlib.util.module_from_spec(spec) + spec.loader.exec_module(module) + except FileNotFoundError: + print(f"[Info] control config not found: {path}; using CLI/default values") + return {} + except Exception as exc: + print(f"[Error] failed to read control config {path}: {exc}; using CLI/default values") + return {} + + config = getattr(module, "CONFIG", None) + if config is None: + config = { + key.lower(): value + for key, value in vars(module).items() + if key.isupper() + } + if not isinstance(config, dict): + print(f"[Error] Python config {path} must define CONFIG as a dict; using CLI/default values") + return {} + return config + + +def load_json_config(path): + try: + with open(path, "r", encoding="utf-8") as f: + return json.load(f) + except FileNotFoundError: + print(f"[Info] control config not found: {path}; using CLI/default values") + return {} + except Exception as exc: + print(f"[Error] failed to read control config {path}: {exc}; using CLI/default values") + return {} + + +def _config_default(config, key, default): + return config.get(key, config.get(key.replace("_", "-"), default)) + + +@dataclass +class ControlConfig: + control_config: str = DEFAULT_CONTROL_CONFIG + + video1: str = "0" + video2: str = "1" + rotation1: str = "./config/rotation_config_0.json" + rotation2: str = "./config/rotation_config_1.json" + sensor_config1: str = "./config/ddjx01.json" + sensor_config2: str = "./config/ddjx01.json" + sensor_fps: float = 30.0 + motion_threshold: float = 0.0 + sensor_cpu: bool = False + + port: str = "COM3" + slave_id: int = 1 + baudrate: int = 115200 + serial_timeout: float = 0.2 + + open_pos: int = 0 + close_pos: int = 9000 + open_seconds: float = 3.0 + close_seconds: float = 5.0 + cycles: int = 0 + open_at_end: bool = False + + speed: int = 20 + accel: int = 60 + decel: int = 60 + + initial_force: int = 10 + grip_start_force: int = 10 + force_min: int = 10 + force_max: int = 60 + control_hz: float = 10.0 + + both_contact_force: float = 0.05 + object_force: float = 0.08 + object_requires_both_contact: bool = True + empty_release_seconds: float = 1.0 + close_command_interval: float = 0.5 + hold_fallback_pos: int | None = None + + force_ramp_step: int = 1 + force_ramp_interval: float = 0.3 + shear_hold_force: float = 0.05 + shear_stable_delta: float = 0.02 + shear_stable_seconds: float = 0.5 + human_hold_seconds: float = 1.0 + release_shear_change: float = 0.5 + + emergency_touch_force: float = 2.5 + filter_alpha: float = 0.25 + shear_filter_alpha: float = 0.35 + baseline_seconds: float = 1.0 + + normal_force_calibration: dict = field( + default_factory=lambda: copy.deepcopy(DEFAULT_NORMAL_FORCE_CALIBRATION) + ) + shear_force_calibration: dict = field( + default_factory=lambda: copy.deepcopy(DEFAULT_SHEAR_FORCE_CALIBRATION) + ) + + trigger_force_update: bool = False + enable_human_release: bool = True + enable_emergency_open: bool = False + dry_run: bool = False + + @classmethod + def from_args(cls, argv=None): + bootstrap = argparse.ArgumentParser(add_help=False) + bootstrap.add_argument("--control-config", default=DEFAULT_CONTROL_CONFIG) + bootstrap_args, _ = bootstrap.parse_known_args(argv) + config_data = load_control_config(bootstrap_args.control_config) + + parser = argparse.ArgumentParser() + add = parser.add_argument + get = lambda key, default: _config_default(config_data, key, default) + + add("--control-config", type=str, default=bootstrap_args.control_config) + add("--video1", "-v1", type=str, default=get("video1", cls.video1)) + add("--video2", "-v2", type=str, default=get("video2", cls.video2)) + add("--rotation1", "-r1", type=str, default=get("rotation1", cls.rotation1)) + add("--rotation2", "-r2", type=str, default=get("rotation2", cls.rotation2)) + add("--sensor-config1", type=str, default=get("sensor_config1", cls.sensor_config1)) + add("--sensor-config2", type=str, default=get("sensor_config2", cls.sensor_config2)) + add("--sensor-fps", type=float, default=get("sensor_fps", cls.sensor_fps)) + add("--motion-threshold", type=float, default=get("motion_threshold", cls.motion_threshold)) + add("--sensor-cpu", action="store_true", default=get("sensor_cpu", cls.sensor_cpu)) + + add("--port", type=str, default=get("port", cls.port)) + add("--slave-id", type=int, default=get("slave_id", cls.slave_id)) + add("--baudrate", type=int, default=get("baudrate", cls.baudrate)) + add("--serial-timeout", type=float, default=get("serial_timeout", cls.serial_timeout)) + + add("--open-pos", type=int, default=get("open_pos", cls.open_pos)) + add("--close-pos", type=int, default=get("close_pos", cls.close_pos)) + add("--open-seconds", type=float, default=get("open_seconds", cls.open_seconds)) + add("--close-seconds", type=float, default=get("close_seconds", cls.close_seconds)) + add("--cycles", type=int, default=get("cycles", cls.cycles)) + add("--open-at-end", action="store_true", default=get("open_at_end", cls.open_at_end)) + + add("--speed", type=int, default=get("speed", cls.speed)) + add("--accel", type=int, default=get("accel", cls.accel)) + add("--decel", type=int, default=get("decel", cls.decel)) + + add("--initial-force", type=int, default=get("initial_force", cls.initial_force)) + add("--grip-start-force", type=int, default=get("grip_start_force", cls.grip_start_force)) + add("--force-min", type=int, default=get("force_min", cls.force_min)) + add("--force-max", type=int, default=get("force_max", cls.force_max)) + add("--control-hz", type=float, default=get("control_hz", cls.control_hz)) + + add("--both-contact-force", type=float, default=get("both_contact_force", cls.both_contact_force)) + add("--object-force", "--clamp-force", dest="object_force", type=float, default=get("object_force", cls.object_force)) + add("--object-requires-both-contact", dest="object_requires_both_contact", action="store_true", default=get("object_requires_both_contact", cls.object_requires_both_contact)) + add("--allow-single-side-object", dest="object_requires_both_contact", action="store_false") + add("--empty-release-seconds", type=float, default=get("empty_release_seconds", cls.empty_release_seconds)) + add("--close-command-interval", type=float, default=get("close_command_interval", cls.close_command_interval)) + add("--hold-fallback-pos", type=int, default=get("hold_fallback_pos", cls.hold_fallback_pos)) + + add("--force-ramp-step", type=int, default=get("force_ramp_step", cls.force_ramp_step)) + add("--force-ramp-interval", type=float, default=get("force_ramp_interval", cls.force_ramp_interval)) + add("--shear-hold-force", type=float, default=get("shear_hold_force", cls.shear_hold_force)) + add("--shear-stable-delta", type=float, default=get("shear_stable_delta", cls.shear_stable_delta)) + add("--shear-stable-seconds", type=float, default=get("shear_stable_seconds", cls.shear_stable_seconds)) + add("--human-hold-seconds", type=float, default=get("human_hold_seconds", cls.human_hold_seconds)) + add("--release-shear-change", type=float, default=get("release_shear_change", cls.release_shear_change)) + add("--emergency-touch-force", type=float, default=get("emergency_touch_force", cls.emergency_touch_force)) + add("--filter-alpha", type=float, default=get("filter_alpha", cls.filter_alpha)) + add("--shear-filter-alpha", type=float, default=get("shear_filter_alpha", cls.shear_filter_alpha)) + add("--baseline-seconds", type=float, default=get("baseline_seconds", cls.baseline_seconds)) + + add("--target-touch-force", type=float, default=1500.0, help=argparse.SUPPRESS) + add("--deadband", type=float, default=80.0, help=argparse.SUPPRESS) + add("--step-up", type=int, default=1, help=argparse.SUPPRESS) + add("--step-down", type=int, default=2, help=argparse.SUPPRESS) + add("--shear-spike-threshold", type=float, default=0.05, help=argparse.SUPPRESS) + + add("--trigger-force-update", action="store_true", default=get("trigger_force_update", cls.trigger_force_update)) + add("--enable-human-release", dest="enable_human_release", action="store_true", default=get("enable_human_release", cls.enable_human_release)) + add("--disable-human-release", dest="enable_human_release", action="store_false") + add("--enable-emergency-open", action="store_true", default=get("enable_emergency_open", cls.enable_emergency_open)) + add("--dry-run", action="store_true", default=get("dry_run", cls.dry_run)) + + args = parser.parse_args(argv) + values = vars(args) + for legacy_key in ("target_touch_force", "deadband", "step_up", "step_down", "shear_spike_threshold"): + values.pop(legacy_key, None) + values["normal_force_calibration"] = copy.deepcopy( + config_data.get("normal_force_calibration", DEFAULT_NORMAL_FORCE_CALIBRATION) + ) + values["shear_force_calibration"] = copy.deepcopy( + config_data.get("shear_force_calibration", DEFAULT_SHEAR_FORCE_CALIBRATION) + ) + return cls(**values) diff --git a/gripper_control/config/__pycache__/gripper_timed_cycle_control.cpython-311.pyc b/gripper_control/config/__pycache__/gripper_timed_cycle_control.cpython-311.pyc new file mode 100644 index 0000000..5e27d09 Binary files /dev/null and b/gripper_control/config/__pycache__/gripper_timed_cycle_control.cpython-311.pyc differ diff --git a/gripper_control/config/gripper_timed_cycle_control.py b/gripper_control/config/gripper_timed_cycle_control.py new file mode 100644 index 0000000..6a57b5e --- /dev/null +++ b/gripper_control/config/gripper_timed_cycle_control.py @@ -0,0 +1,195 @@ +"""夹爪定时开合 + 双触觉反馈控制配置。 + +这个文件就是当前默认配置。可以直接改数值，`#` 后面是 Python 注释。 +运行入口： + python -m gripper_control.main +""" + + +# 左右触觉传感器视频源；纯数字字符串表示摄像头编号，也可以写视频文件路径。 +VIDEO1 = "0" +VIDEO2 = "1" + +# 左右触觉传感器方向配置。 +ROTATION1 = "./config/rotation_config_0.json" +ROTATION2 = "./config/rotation_config_1.json" + +# 左右触觉传感器 SDK 配置。 +SENSOR_CONFIG1 = "./config/ddjx01.json" +SENSOR_CONFIG2 = "./config/ddjx01.json" + +# 触觉处理帧率和运动检测阈值。 +SENSOR_FPS = 30.0 +MOTION_THRESHOLD = 0.0 +SENSOR_CPU = False # True 表示禁用 CUDA。 + + +# 夹爪串口配置。 +PORT = "COM5" +SLAVE_ID = 1 +BAUDRATE = 115200 +SERIAL_TIMEOUT = 0.2 + + +# 夹爪开合位置和定时循环。 +OPEN_POS = 0 +CLOSE_POS = 9000 +OPEN_SECONDS = 3.0 # 未夹住物体时，张开阶段持续时间。 +CLOSE_SECONDS = 5.0 # 未夹住物体时，闭合尝试持续时间。 +CYCLES = 0 # 0 表示一直循环，直到夹住物体或手动停止。 +OPEN_AT_END = False # 程序退出时是否发送一次张开命令。 + + +# 夹爪运动参数。 +SPEED = 15 +ACCEL = 60 +DECEL = 60 + + +# 夹爪力度参数，单位是夹爪 SDK 的 force_pct 百分比。 +INITIAL_FORCE = 15 # 定时闭合时用小力，避免空夹/误触发时用大力。 +GRIP_START_FORCE = 15 # 检测到物体后立刻切回这个低力，再慢慢加力。 +FORCE_MIN = 10 +FORCE_MAX = 30 +CONTROL_HZ = 10.0 + + +# 法向力阈值，单位 N。程序会先做标定映射，再做判断。 +BOTH_CONTACT_FORCE = 0.05 # 左右两边都超过它时 both=1。 +OBJECT_FORCE = 0.08 # 检测到物体的法向力阈值。 +OBJECT_REQUIRES_BOTH_CONTACT = True # True 可避免空夹时单侧噪声误触发。 +EMPTY_RELEASE_SECONDS = 1.0 # 夹持后接触消失这么久，判定为空夹并恢复定时开合。 + + +# 未检测到物体时，重复发送闭合命令的间隔；0 表示不重复发送。 +CLOSE_COMMAND_INTERVAL = 0.5 + +# 读取当前夹爪位置失败时的备用保持位置；None 表示不使用备用位置。 +HOLD_FALLBACK_POS = None + + +# 检测到物体后慢慢加力。 +FORCE_RAMP_STEP = 1 +FORCE_RAMP_INTERVAL = 0.3 + + +# 切向力判断，单位 N。当前切向力标定暂时沿用 N_.jpg，后续有切向标定后替换。 +SHEAR_HOLD_FORCE = 0.05 # 切向力超过它后，停止继续加力，开始等稳定。 +SHEAR_STABLE_DELTA = 0.02 # 相邻控制周期变化小于等于它，认为这一拍稳定。 +SHEAR_STABLE_SECONDS = 0.5 # 连续稳定这么久后进入 hold_check。 +HUMAN_HOLD_SECONDS = 1.0 # 进入 hold_check 后先稳定保持这么久，再判断人取物。 +RELEASE_SHEAR_CHANGE = 0.5 # hold_check 后切向力变化超过它，认为人在取物并松开。 + + +# 高法向力保护，单位 N。 +EMERGENCY_TOUCH_FORCE = 2.5 + + +# 滤波和启动基线。 +FILTER_ALPHA = 0.25 +SHEAR_FILTER_ALPHA = 0.35 +BASELINE_SECONDS = 1.0 + + +# 法向力标定：FNORMAL 原始值 -> N。 +NORMAL_FORCE_CALIBRATION = { + "enabled": True, + "method": "piecewise_linear", + "extrapolate": True, + "clamp_output_min": 0.0, + "points": [ + {"fnormal": 1000.0, "force_n": 0.0}, # 0 N + {"fnormal": 10000.0, "force_n": 0.377}, # 0.377 N + {"fnormal": 30000.0, "force_n": 1.377}, # 1.377 N + {"fnormal": 62000.0, "force_n": 2.377}, # 2.377 N + ], +} + + +# 切向力标定：sqrt(FSHEARX^2 + FSHEARY^2) 原始幅值 -> N。 +# 注意：这里目前临时沿用 N_.jpg 的法向力标定点。 +# 后续如果你做了切向力标定，只需要替换 points。 +SHEAR_FORCE_CALIBRATION = { + "enabled": True, + "method": "piecewise_linear", + "extrapolate": True, + "clamp_output_min": 0.0, + "points": [ + {"raw": 1000.0, "force_n": 0.0}, + {"raw": 10000.0, "force_n": 0.377}, + {"raw": 30000.0, "force_n": 1.377}, + {"raw": 62000.0, "force_n": 2.377}, + ], +} + + +# 夹爪 SDK 细节开关。 +TRIGGER_FORCE_UPDATE = False # 如果 set_target_force 后力度不生效，可改 True。 +ENABLE_HUMAN_RELEASE = True # True 表示人拿物体时，切向力变化会触发松开。 +ENABLE_EMERGENCY_OPEN = False # True 表示超过 EMERGENCY_TOUCH_FORCE 时自动张开。 +DRY_RUN = False # True 只打印命令，不打开串口。 + + +# 运行代码最终读取这个字典。 +CONFIG = { + "video1": VIDEO1, + "video2": VIDEO2, + "rotation1": ROTATION1, + "rotation2": ROTATION2, + "sensor_config1": SENSOR_CONFIG1, + "sensor_config2": SENSOR_CONFIG2, + "sensor_fps": SENSOR_FPS, + "motion_threshold": MOTION_THRESHOLD, + "sensor_cpu": SENSOR_CPU, + + "port": PORT, + "slave_id": SLAVE_ID, + "baudrate": BAUDRATE, + "serial_timeout": SERIAL_TIMEOUT, + + "open_pos": OPEN_POS, + "close_pos": CLOSE_POS, + "open_seconds": OPEN_SECONDS, + "close_seconds": CLOSE_SECONDS, + "cycles": CYCLES, + "open_at_end": OPEN_AT_END, + + "speed": SPEED, + "accel": ACCEL, + "decel": DECEL, + + "initial_force": INITIAL_FORCE, + "grip_start_force": GRIP_START_FORCE, + "force_min": FORCE_MIN, + "force_max": FORCE_MAX, + "control_hz": CONTROL_HZ, + + "both_contact_force": BOTH_CONTACT_FORCE, + "object_force": OBJECT_FORCE, + "object_requires_both_contact": OBJECT_REQUIRES_BOTH_CONTACT, + "empty_release_seconds": EMPTY_RELEASE_SECONDS, + "close_command_interval": CLOSE_COMMAND_INTERVAL, + "hold_fallback_pos": HOLD_FALLBACK_POS, + + "force_ramp_step": FORCE_RAMP_STEP, + "force_ramp_interval": FORCE_RAMP_INTERVAL, + "shear_hold_force": SHEAR_HOLD_FORCE, + "shear_stable_delta": SHEAR_STABLE_DELTA, + "shear_stable_seconds": SHEAR_STABLE_SECONDS, + "human_hold_seconds": HUMAN_HOLD_SECONDS, + "release_shear_change": RELEASE_SHEAR_CHANGE, + + "emergency_touch_force": EMERGENCY_TOUCH_FORCE, + "filter_alpha": FILTER_ALPHA, + "shear_filter_alpha": SHEAR_FILTER_ALPHA, + "baseline_seconds": BASELINE_SECONDS, + + "normal_force_calibration": NORMAL_FORCE_CALIBRATION, + "shear_force_calibration": SHEAR_FORCE_CALIBRATION, + + "trigger_force_update": TRIGGER_FORCE_UPDATE, + "enable_human_release": ENABLE_HUMAN_RELEASE, + "enable_emergency_open": ENABLE_EMERGENCY_OPEN, + "dry_run": DRY_RUN, +} + diff --git a/gripper_control/controller.py b/gripper_control/controller.py new file mode 100644 index 0000000..01e0106 --- /dev/null +++ b/gripper_control/controller.py @@ -0,0 +1,326 @@ +import time + +from .filters import clamp + + +class TimedCycleGripperController: + def __init__(self, config, reader, gripper, feedback_processor): + self.config = config + self.reader = reader + self.gripper = gripper + self.feedback_processor = feedback_processor + self.normal_unit = feedback_processor.normal_converter.unit + self.shear_unit = feedback_processor.shear_converter.unit + + def run(self): + config = self.config + self.reader.start() + + try: + self._print_thresholds() + print( + f"Calibrating baseline for {config.baseline_seconds:.2f}s. " + "Keep sensors unloaded." + ) + baseline = self.feedback_processor.calibrate_baseline(self.reader) + print( + f"baseline normal: left={baseline.left_normal:.4f}{self.normal_unit}, " + f"right={baseline.right_normal:.4f}{self.normal_unit}; " + f"shear: left={baseline.left_shear:.4f}{self.shear_unit}, " + f"right={baseline.right_shear:.4f}{self.shear_unit}" + ) + + self.gripper.connect() + + cycle_index = 1 + while config.cycles <= 0 or cycle_index <= config.cycles: + open_force = int(clamp( + config.initial_force, + config.force_min, + config.force_max, + )) + self._run_open_phase(open_force, cycle_index) + result = self._run_close_phase(cycle_index) + + if result in ("emergency", "released"): + time.sleep(config.open_seconds) + if result == "gripped": + print("object is gripped; timed open/close loop stopped") + break + cycle_index += 1 + + except KeyboardInterrupt: + print("\nStopping timed cycle control.") + finally: + self.gripper.final_open_if_needed() + self.reader.stop() + + def _print_thresholds(self): + config = self.config + print( + "Normal force thresholds: " + f"both_contact={config.both_contact_force:.3f}{self.normal_unit}, " + f"object={config.object_force:.3f}{self.normal_unit}, " + f"emergency={config.emergency_touch_force:.3f}{self.normal_unit}, " + f"requires_both={int(config.object_requires_both_contact)}, " + f"empty_release={config.empty_release_seconds:.2f}s" + ) + print( + "Shear force thresholds: " + f"hold_min={config.shear_hold_force:.3f}{self.shear_unit}, " + f"stable_delta={config.shear_stable_delta:.3f}{self.shear_unit}, " + f"stable_seconds={config.shear_stable_seconds:.2f}s, " + f"release_change={config.release_shear_change:.3f}{self.shear_unit}" + ) + + def _run_open_phase(self, force_pct, cycle_index): + print(f"\ncycle {cycle_index}: open phase") + self.gripper.open(force_pct, "open") + + deadline = time.perf_counter() + self.config.open_seconds + while time.perf_counter() < deadline: + self.reader.update() + time.sleep(0.02) + + def _run_close_phase(self, cycle_index): + config = self.config + print(f"cycle {cycle_index}: close phase") + self.feedback_processor.reset_filters() + + force_pct = int(clamp(config.initial_force, config.force_min, config.force_max)) + self.gripper.close(force_pct, "close") + + interval = 1.0 / config.control_hz if config.control_hz > 0 else 0.1 + phase_start = time.perf_counter() + last_close_command_time = phase_start + last_force_ramp_time = phase_start + state = "closing" + hold_pos = None + previous_shear = None + hold_start_time = None + hold_shear_reference = None + release_monitor_armed = False + shear_stable_since = None + empty_since = None + gripped = False + deadline = time.perf_counter() + config.close_seconds + + while True: + tick_start = time.perf_counter() + now = time.perf_counter() + if state == "closing" and now >= deadline: + print("close phase finished without object; continue timed open/close cycle") + return "no_object" + + feedback = self.feedback_processor.read(self.reader, timeout=0.3) + if feedback is None: + phase_time = time.perf_counter() - phase_start + print(f"t={phase_time:5.2f}s action=timed-close waiting for sensor samples") + time.sleep(0.05) + continue + + has_previous_shear = previous_shear is not None + shear_delta = 0.0 if not has_previous_shear else feedback.max_shear - previous_shear + shear_abs_delta = abs(shear_delta) + previous_shear = feedback.max_shear + + both_contact = ( + feedback.left_normal >= config.both_contact_force + and feedback.right_normal >= config.both_contact_force + ) + normal_force_detected = feedback.max_normal >= config.object_force + contact_confirmed = ( + normal_force_detected + and (both_contact or not config.object_requires_both_contact) + ) + object_detected = contact_confirmed + grip_contact = ( + both_contact + if config.object_requires_both_contact + else feedback.max_normal >= config.both_contact_force + ) + + if state in ("gripping", "hold_check") and not grip_contact: + if empty_since is None: + empty_since = now + elif now - empty_since >= config.empty_release_seconds: + force_pct = self.gripper.set_force(config.force_min) + print( + f"L={feedback.left_normal:8.3f}{self.normal_unit} " + f"R={feedback.right_normal:8.3f}{self.normal_unit} " + f"min={feedback.min_normal:8.3f}{self.normal_unit} " + f"max={feedback.max_normal:8.3f}{self.normal_unit} " + f"force_pct={force_pct:3d} action=empty-grip-resume-cycle" + ) + return "no_object" + else: + empty_since = None + + if feedback.max_normal >= config.emergency_touch_force: + if config.enable_emergency_open: + force_pct = self.gripper.set_force(config.force_min) + self.gripper.open(force_pct, "emergency-open") + print( + f"L={feedback.left_normal:8.3f}{self.normal_unit} " + f"R={feedback.right_normal:8.3f}{self.normal_unit} " + f"max={feedback.max_normal:8.3f}{self.normal_unit} " + f"force_pct={force_pct:3d} action=emergency-open" + ) + return "emergency" + hold_pos = self.gripper.hold_current_position(force_pct) + state = "hold_check" + gripped = True + if hold_start_time is None: + hold_start_time = now + action = "overforce-hold" + + if state == "closing": + if contact_confirmed: + state = "gripping" + gripped = True + force_pct = int(clamp( + config.grip_start_force, + config.force_min, + config.force_max, + )) + force_pct = self.gripper.set_force(force_pct) + hold_pos = self.gripper.hold_current_position(force_pct) + last_force_ramp_time = now + shear_stable_since = None + action = "object-detected-low-force" + print( + "object detected; timed open/close cycle stopped, " + f"grip force reset to {force_pct}" + ) + else: + action = "closing" + if ( + config.close_command_interval > 0 + and now - last_close_command_time >= config.close_command_interval + ): + self.gripper.close(force_pct, "close-continue") + last_close_command_time = now + + elif state == "gripping": + shear_is_high_enough = feedback.max_shear >= config.shear_hold_force + shear_is_stable = ( + shear_is_high_enough + and has_previous_shear + and shear_abs_delta <= config.shear_stable_delta + ) + + if shear_is_stable: + if shear_stable_since is None: + shear_stable_since = now + else: + shear_stable_since = None + + if ( + shear_stable_since is not None + and now - shear_stable_since >= config.shear_stable_seconds + ): + state = "hold_check" + hold_start_time = now + hold_shear_reference = None + release_monitor_armed = False + hold_pos = self.gripper.hold_current_position(force_pct) + action = "shear-stable-hold" + elif shear_is_high_enough: + action = "wait-shear-stable" + elif ( + now - last_force_ramp_time >= config.force_ramp_interval + and force_pct < config.force_max + ): + force_pct = int(clamp( + force_pct + config.force_ramp_step, + config.force_min, + config.force_max, + )) + force_pct = self.gripper.set_force(force_pct) + last_force_ramp_time = now + action = "grip-ramp-up" + else: + action = "grip-hold" + + elif state == "hold_check": + hold_elapsed = now - hold_start_time + if not release_monitor_armed and hold_elapsed >= config.human_hold_seconds: + hold_shear_reference = feedback.max_shear + release_monitor_armed = True + action = "hold-check-armed" + elif release_monitor_armed: + hold_shear_change = abs(feedback.max_shear - hold_shear_reference) + if hold_shear_change >= config.release_shear_change: + if config.enable_human_release: + force_pct = self.gripper.set_force(config.force_min) + self.gripper.open(force_pct, "human-release-open") + print( + f"L={feedback.left_normal:8.3f}{self.normal_unit} " + f"R={feedback.right_normal:8.3f}{self.normal_unit} " + f"shear={feedback.max_shear:8.3f}{self.shear_unit} " + f"hold_change={hold_shear_change:8.3f}{self.shear_unit} " + f"force_pct={force_pct:3d} action=human-release-open" + ) + return "released" + hold_shear_reference = feedback.max_shear + action = "hold-check-change-ignored" + else: + action = "hold-check" + else: + action = "hold-check" + + self._log_tick( + phase_start, + feedback, + shear_delta, + both_contact, + object_detected, + grip_contact, + empty_since, + shear_stable_since, + state, + gripped, + hold_pos, + force_pct, + action, + ) + + sleep_time = interval - (time.perf_counter() - tick_start) + if sleep_time > 0: + time.sleep(sleep_time) + + def _log_tick( + self, + phase_start, + feedback, + shear_delta, + both_contact, + object_detected, + grip_contact, + empty_since, + shear_stable_since, + state, + gripped, + hold_pos, + force_pct, + action, + ): + now = time.perf_counter() + phase_time = now - phase_start + print( + f"t={phase_time:5.2f}s " + f"L={feedback.left_normal:8.3f}{self.normal_unit} " + f"R={feedback.right_normal:8.3f}{self.normal_unit} " + f"min={feedback.min_normal:8.3f}{self.normal_unit} " + f"max={feedback.max_normal:8.3f}{self.normal_unit} " + f"diff={feedback.normal_diff:8.3f}{self.normal_unit} " + f"both={int(both_contact)} object={int(object_detected)} " + f"grip_contact={int(grip_contact)} " + f"empty_for={0.0 if empty_since is None else now - empty_since:4.1f}s " + f"shear={feedback.max_shear:8.3f}{self.shear_unit} " + f"d_shear={shear_delta:8.3f}{self.shear_unit} " + f"shear_stable={int(shear_stable_since is not None)} " + f"state={state} gripped={int(gripped)} hold_pos={hold_pos} " + f"force_pct={force_pct:3d} action={action}" + ) + diff --git a/gripper_control/feedback.py b/gripper_control/feedback.py new file mode 100644 index 0000000..d217553 --- /dev/null +++ b/gripper_control/feedback.py @@ -0,0 +1,113 @@ +from dataclasses import dataclass +import time + +from .filters import ExponentialFilter + + +def shear_magnitude(sample): + return (float(sample["fshearx"]) ** 2 + float(sample["fsheary"]) ** 2) ** 0.5 + + +@dataclass +class ForceBaseline: + left_normal: float = 0.0 + right_normal: float = 0.0 + left_shear: float = 0.0 + right_shear: float = 0.0 + + +@dataclass +class ForceFeedback: + left_normal: float + right_normal: float + min_normal: float + max_normal: float + normal_diff: float + left_shear: float + right_shear: float + max_shear: float + shear_diff: float + + +class TactileFeedbackProcessor: + def __init__(self, config, normal_converter, shear_converter): + self.config = config + self.normal_converter = normal_converter + self.shear_converter = shear_converter + self.baseline = ForceBaseline() + self.reset_filters() + + def reset_filters(self): + self.left_normal_filter = ExponentialFilter(self.config.filter_alpha) + self.right_normal_filter = ExponentialFilter(self.config.filter_alpha) + self.left_shear_filter = ExponentialFilter(self.config.shear_filter_alpha) + self.right_shear_filter = ExponentialFilter(self.config.shear_filter_alpha) + + def calibrate_baseline(self, reader): + seconds = self.config.baseline_seconds + if seconds <= 0: + self.baseline = ForceBaseline() + return self.baseline + + left_values = [] + right_values = [] + left_shear_values = [] + right_shear_values = [] + deadline = time.perf_counter() + seconds + while time.perf_counter() < deadline: + left, right = reader.get_samples(timeout=0.2) + if left is not None: + left_values.append(self.normal_converter.convert(left["fnormal"])) + left_shear_values.append(self.shear_converter.convert(shear_magnitude(left))) + if right is not None: + right_values.append(self.normal_converter.convert(right["fnormal"])) + right_shear_values.append(self.shear_converter.convert(shear_magnitude(right))) + time.sleep(0.01) + + self.baseline = ForceBaseline( + left_normal=sum(left_values) / len(left_values) if left_values else 0.0, + right_normal=sum(right_values) / len(right_values) if right_values else 0.0, + left_shear=sum(left_shear_values) / len(left_shear_values) if left_shear_values else 0.0, + right_shear=sum(right_shear_values) / len(right_shear_values) if right_shear_values else 0.0, + ) + return self.baseline + + def read(self, reader, timeout=0.3): + left, right = reader.get_samples(timeout=timeout) + if left is None or right is None: + return None + + left_force = max( + 0.0, + self.normal_converter.convert(left["fnormal"]) - self.baseline.left_normal, + ) + right_force = max( + 0.0, + self.normal_converter.convert(right["fnormal"]) - self.baseline.right_normal, + ) + left_shear = max( + 0.0, + self.shear_converter.convert(shear_magnitude(left)) - self.baseline.left_shear, + ) + right_shear = max( + 0.0, + self.shear_converter.convert(shear_magnitude(right)) - self.baseline.right_shear, + ) + + left_normal = self.left_normal_filter.update(left_force) + right_normal = self.right_normal_filter.update(right_force) + left_shear_filtered = self.left_shear_filter.update(left_shear) + right_shear_filtered = self.right_shear_filter.update(right_shear) + + return ForceFeedback( + left_normal=left_normal, + right_normal=right_normal, + min_normal=min(left_normal, right_normal), + max_normal=max(left_normal, right_normal), + normal_diff=left_normal - right_normal, + left_shear=left_shear_filtered, + right_shear=right_shear_filtered, + max_shear=max(left_shear_filtered, right_shear_filtered), + shear_diff=left_shear_filtered - right_shear_filtered, + ) + diff --git a/gripper_control/filters.py b/gripper_control/filters.py new file mode 100644 index 0000000..52c34f1 --- /dev/null +++ b/gripper_control/filters.py @@ -0,0 +1,23 @@ +class ExponentialFilter: + def __init__(self, alpha): + self.alpha = max(0.0, min(1.0, float(alpha))) + self.value = 0.0 + self.initialized = False + + def update(self, sample): + sample = float(sample) + if not self.initialized: + self.value = sample + self.initialized = True + else: + self.value = self.alpha * sample + (1.0 - self.alpha) * self.value + return self.value + + def reset(self): + self.value = 0.0 + self.initialized = False + + +def clamp(value, min_value, max_value): + return max(min_value, min(max_value, value)) + diff --git a/gripper_control/force_reader.py b/gripper_control/force_reader.py new file mode 100644 index 0000000..ddecd17 --- /dev/null +++ b/gripper_control/force_reader.py @@ -0,0 +1,307 @@ +import os +os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" + +import argparse +import multiprocessing as mp +import queue +import time +from multiprocessing import Process, Queue + +from .paths import ensure_project_paths + +ensure_project_paths() + + +def parse_video_source(value): + if isinstance(value, str): + value = value.strip() + if value.isdigit(): + return int(value) + return value + + +def _put_latest(result_queue, data): + try: + result_queue.put_nowait(data) + return + except queue.Full: + pass + + try: + result_queue.get_nowait() + except Exception: + pass + + try: + result_queue.put_nowait(data) + except queue.Full: + pass + + +def _sensor_force_worker( + sensor_id, + vid_src, + config_name, + rotation_config_path, + result_queue, + stop_event, + target_fps, + cuda, + isstitch, + backend, + motion_threshold, +): + ensure_project_paths() + import orisys + + sensor = None + try: + sensor = orisys.Sensor( + vid_src, + isstitch=isstitch, + cuda=cuda, + verbose=False, + config_name=config_name, + backend=backend, + rotation_config_path=rotation_config_path, + ) + + frame_interval = 1.0 / target_fps if target_fps and target_fps > 0 else 0.0 + + while not stop_event.is_set(): + t_start = time.perf_counter() + img = sensor.get_img() + if img is None: + time.sleep(0.01) + continue + + is_contact = sensor.compute_deformation( + check_motion=True, + threshold=motion_threshold, + ) + fps, fnormal, fshearx, fsheary = sensor.read_info( + sensor.info.FPS, + sensor.info.FNORMAL, + sensor.info.FSHEARX, + sensor.info.FSHEARY, + ) + + _put_latest( + result_queue, + { + "sensor_id": sensor_id, + "fnormal": float(fnormal), + "fshearx": float(fshearx), + "fsheary": float(fsheary), + "fps": float(fps), + "is_contact": bool(is_contact), + "timestamp": time.time(), + }, + ) + + if frame_interval > 0: + sleep_time = frame_interval - (time.perf_counter() - t_start) + if sleep_time > 0.001: + time.sleep(sleep_time) + + except Exception as exc: + _put_latest( + result_queue, + { + "sensor_id": sensor_id, + "error": str(exc), + "timestamp": time.time(), + }, + ) + finally: + if sensor is not None: + try: + sensor.disconnect() + except Exception: + pass + + +class TwoSensorForceReader: + def __init__( + self, + video1=0, + video2=1, + config1="./config/ddjx01.json", + config2="./config/ddjx01.json", + rotation1="./config/rotation_config_0.json", + rotation2="./config/rotation_config_1.json", + target_fps=30, + cuda=True, + isstitch=True, + backend="auto", + motion_threshold=0, + queue_size=5, + ): + self.sensor_configs = [ + { + "sensor_id": 0, + "vid_src": parse_video_source(video1), + "config_name": config1, + "rotation_config_path": rotation1, + }, + { + "sensor_id": 1, + "vid_src": parse_video_source(video2), + "config_name": config2, + "rotation_config_path": rotation2, + }, + ] + self.target_fps = target_fps + self.cuda = cuda + self.isstitch = isstitch + self.backend = backend + self.motion_threshold = motion_threshold + self.queue_size = queue_size + + self.result_queues = [] + self.stop_events = [] + self.processes = [] + self.latest = [None, None] + + def start(self): + if self.processes: + return + + self.result_queues = [Queue(maxsize=self.queue_size) for _ in self.sensor_configs] + self.stop_events = [mp.Event() for _ in self.sensor_configs] + self.latest = [None] * len(self.sensor_configs) + + for idx, config in enumerate(self.sensor_configs): + process = Process( + target=_sensor_force_worker, + args=( + config["sensor_id"], + config["vid_src"], + config["config_name"], + config["rotation_config_path"], + self.result_queues[idx], + self.stop_events[idx], + self.target_fps, + self.cuda, + self.isstitch, + self.backend, + self.motion_threshold, + ), + ) + process.start() + self.processes.append(process) + + def update(self): + for idx, result_queue in enumerate(self.result_queues): + data = None + while True: + try: + data = result_queue.get_nowait() + except queue.Empty: + break + except Exception: + break + + if data is not None: + if "error" in data: + raise RuntimeError( + f"sensor {data.get('sensor_id', idx)} failed: {data['error']}" + ) + self.latest[idx] = data + + return self.latest + + def get_samples(self, timeout=0.0): + deadline = time.perf_counter() + max(0.0, float(timeout)) + while True: + self.update() + if all(sample is not None for sample in self.latest): + return self.latest[0], self.latest[1] + if time.perf_counter() >= deadline: + return self.latest[0], self.latest[1] + time.sleep(0.005) + + def get_forces(self, timeout=0.0): + left, right = self.get_samples(timeout=timeout) + left_force = None if left is None else left["fnormal"] + right_force = None if right is None else right["fnormal"] + return left_force, right_force + + def stop(self): + for event in self.stop_events: + event.set() + + for process in self.processes: + process.join(timeout=2.0) + if process.is_alive(): + process.terminate() + process.join(timeout=1.0) + + self.processes = [] + self.stop_events = [] + self.result_queues = [] + + def __enter__(self): + self.start() + return self + + def __exit__(self, exc_type, exc, traceback): + self.stop() + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--video1", "-v1", type=str, default="0") + parser.add_argument("--video2", "-v2", type=str, default="1") + parser.add_argument("--config1", type=str, default="./config/ddjx01.json") + parser.add_argument("--config2", type=str, default="./config/ddjx01.json") + parser.add_argument("--rotation1", "-r1", type=str, default="./config/rotation_config_0.json") + parser.add_argument("--rotation2", "-r2", type=str, default="./config/rotation_config_1.json") + parser.add_argument("--target-fps", type=float, default=30) + parser.add_argument("--motion-threshold", type=float, default=0) + parser.add_argument("--cpu", action="store_true") + args = parser.parse_args() + + reader = TwoSensorForceReader( + video1=args.video1, + video2=args.video2, + config1=args.config1, + config2=args.config2, + rotation1=args.rotation1, + rotation2=args.rotation2, + target_fps=args.target_fps, + cuda=not args.cpu, + motion_threshold=args.motion_threshold, + ) + + print("Starting two-sensor force reader. Press Ctrl+C to stop.") + reader.start() + try: + while True: + left_sample, right_sample = reader.get_samples(timeout=1.0) + left_force, right_force = reader.get_forces() + left_fps = 0.0 if left_sample is None else left_sample["fps"] + right_fps = 0.0 if right_sample is None else right_sample["fps"] + left_contact = False if left_sample is None else left_sample["is_contact"] + right_contact = False if right_sample is None else right_sample["is_contact"] + + print( + "left={:>10} right={:>10} fps=({:5.1f}, {:5.1f}) contact=({}, {})".format( + "None" if left_force is None else f"{left_force:.4f}", + "None" if right_force is None else f"{right_force:.4f}", + left_fps, + right_fps, + int(left_contact), + int(right_contact), + ) + ) + time.sleep(0.05) + except KeyboardInterrupt: + print("\nStopping.") + finally: + reader.stop() + + +if __name__ == "__main__": + mp.freeze_support() + main() diff --git a/gripper_control/hardware.py b/gripper_control/hardware.py new file mode 100644 index 0000000..a74cc1d --- /dev/null +++ b/gripper_control/hardware.py @@ -0,0 +1,102 @@ +from .filters import clamp +from .paths import ensure_project_paths + + +class GripperClient: + def __init__(self, config): + self.config = config + self.motor = None + + def connect(self): + if self.config.dry_run: + return self + + ensure_project_paths() + from changingtek_p_rtu_Servo import MotorController + + self.motor = MotorController( + self.config.port, + self.config.slave_id, + baudrate=self.config.baudrate, + timeout=self.config.serial_timeout, + ) + return self + + def move(self, position, force_pct, label): + config = self.config + if config.dry_run: + print( + f"[dry-run] {label}: temp_move " + f"position={position}, speed={config.speed}, force={force_pct}, " + f"accel={config.accel}, decel={config.decel}" + ) + return + + self.motor.temp_move( + position_mm=int(position), + speed_pct=int(config.speed), + force_pct=int(force_pct), + accel=int(config.accel), + decel=int(config.decel), + trigger=True, + ) + + def open(self, force_pct, label="open"): + self.move(self.config.open_pos, force_pct, label) + + def close(self, force_pct, label="close"): + self.move(self.config.close_pos, force_pct, label) + + def set_force(self, force_pct): + config = self.config + force_pct = int(clamp(force_pct, config.force_min, config.force_max)) + if config.dry_run: + print(f"[dry-run] set_target_force {force_pct}") + return force_pct + + self.motor.set_target_force(force_pct) + if config.trigger_force_update: + self.motor.trigger_motion() + return force_pct + + def read_position(self): + if self.config.dry_run: + return None + try: + return self.motor.read_real_position() + except Exception as exc: + print(f"read_real_position failed: {exc}") + return None + + def hold_current_position(self, force_pct): + current_pos = self.read_position() + if current_pos is None: + current_pos = self.config.hold_fallback_pos + + if current_pos is None: + self.set_force(force_pct) + self._stop_by_speed() + return None + + self.move(int(current_pos), force_pct, "clamp-hold") + return int(current_pos) + + def final_open_if_needed(self): + if not self.config.open_at_end: + return + final_force = int(clamp( + self.config.initial_force, + self.config.force_min, + self.config.force_max, + )) + self.open(final_force, "open-at-end") + + def _stop_by_speed(self): + if self.config.dry_run: + return + try: + self.motor.set_target_speed(0) + self.motor.trigger_motion() + except Exception as exc: + print(f"stop by speed=0 failed: {exc}") + diff --git a/gripper_control/main.py b/gripper_control/main.py new file mode 100644 index 0000000..f69b578 --- /dev/null +++ b/gripper_control/main.py @@ -0,0 +1,49 @@ +import multiprocessing as mp + +from .calibration import ForceConverter +from .config import ControlConfig +from .controller import TimedCycleGripperController +from .feedback import TactileFeedbackProcessor +from .force_reader import TwoSensorForceReader +from .hardware import GripperClient +from .paths import ensure_project_paths + + +def build_controller(argv=None): + ensure_project_paths() + config = ControlConfig.from_args(argv) + + normal_converter = ForceConverter.from_config( + config.normal_force_calibration, + "normal_force_calibration", + ) + shear_converter = ForceConverter.from_config( + config.shear_force_calibration, + "shear_force_calibration", + ) + + reader = TwoSensorForceReader( + video1=config.video1, + video2=config.video2, + config1=config.sensor_config1, + config2=config.sensor_config2, + rotation1=config.rotation1, + rotation2=config.rotation2, + target_fps=config.sensor_fps, + cuda=not config.sensor_cpu, + motion_threshold=config.motion_threshold, + ) + gripper = GripperClient(config) + feedback = TactileFeedbackProcessor(config, normal_converter, shear_converter) + return TimedCycleGripperController(config, reader, gripper, feedback) + + +def main(argv=None): + controller = build_controller(argv) + controller.run() + + +if __name__ == "__main__": + mp.freeze_support() + main() + diff --git a/gripper_control/paths.py b/gripper_control/paths.py new file mode 100644 index 0000000..5407f0e --- /dev/null +++ b/gripper_control/paths.py @@ -0,0 +1,16 @@ +from pathlib import Path +import sys + + +PACKAGE_DIR = Path(__file__).resolve().parent +REPO_ROOT = PACKAGE_DIR.parent +SDK_DIR = REPO_ROOT / "sdk" +SRC_DIR = REPO_ROOT / "src" + + +def ensure_project_paths(): + for path in (SDK_DIR, SRC_DIR, REPO_ROOT): + path_text = str(path) + if path_text not in sys.path: + sys.path.insert(0, path_text) + diff --git a/gripper_control_02/README.md b/gripper_control_02/README.md new file mode 100644 index 0000000..e9da455 --- /dev/null +++ b/gripper_control_02/README.md @@ -0,0 +1,91 @@ +# Gripper Control 02 + +夹爪02是新的展示程序，和原来的定时开合逻辑分开。它不是定时循环开合；程序只是常驻监听单侧触发，每次触发后执行一次“闭合夹住 -> 监测变化 -> 直接张开”的流程。 + +## 展示流程 + +1. 程序启动后，夹爪先张开。 +2. 程序等待任意一侧触觉传感器感受到法向力或切向力；进入等待后会先记录张开时的安静参考值。 +3. 展示时，把物体从某个侧边扫一下，触发单侧力变化。 +4. 触发后夹爪开始闭合，你把物体移动到中间。 +5. 闭合过程中检测到物体后，切到低力并保持当前位置。 +6. 像 01 一样进入 `gripping`，慢慢加力到 `HOLD_FORCE`。 +7. 进入 `hold_check` 后记录夹持参考力。 +8. 后续法向力或切向力变化超过阈值，夹爪直接张开到 `OPEN_POS`。 +9. 张开后进入 `open_recover`，保持张开并等待传感器力清空。 +10. 法向和切向读数都低于恢复阈值并稳定后，才回到 `open_wait` 等待下一次单侧扫过触发。 + +## 运行 + +从项目根目录运行： + +```powershell +conda activate py311 +python -m gripper_control_02.main +``` + +只看逻辑、不打开串口： + +```powershell +python -m gripper_control_02.main --dry-run +``` + +默认配置文件： + +```text +gripper_control_02\config\gripper_demo_02.py +``` + +## 关键配置 + +- `TRIGGER_NORMAL_FORCE`: 单侧法向力触发阈值。 +- `TRIGGER_SHEAR_FORCE`: 单侧切向力触发阈值。 +- `TRIGGER_NORMAL_CHANGE`: 单侧法向力相对张开参考值的变化触发阈值。 +- `TRIGGER_SHEAR_CHANGE`: 单侧切向力相对张开参考值的变化触发阈值。 +- `GRIP_NORMAL_FORCE`: 夹住时左右接触阈值。 +- `GRIP_REQUIRES_BOTH`: 是否必须左右都接触才算夹住。 +- `GRIP_START_FORCE`: 检测到物体后先切到的低力。 +- `FORCE_RAMP_STEP`: 慢慢加力时每次增加多少 force_pct。 +- `FORCE_RAMP_INTERVAL`: 慢慢加力时两次加力的间隔。 +- `HOLD_FORCE`: 慢慢加力到这个值后进入 `hold_check`。 +- `GRIP_SETTLE_SECONDS`: 夹住后等待稳定多久再记录参考力。 +- `RELEASE_NORMAL_CHANGE`: 夹住后法向力变化超过它就松开。 +- `RELEASE_SHEAR_CHANGE`: 夹住后切向力变化超过它就松开。 +- `RELEASE_CONTACT_LOST_NORMAL_FORCE`: 夹住后判断接触丢失的最大法向力。 +- `RELEASE_CONTACT_LOST_SHEAR_FORCE`: 夹住后判断接触丢失的最大切向力。 +- `RELEASE_CONTACT_LOST_SECONDS`: 接触丢失持续多久后松开。 +- `REARM_SECONDS`: 张开后最短等待时间，防止刚松开马上又误触发。 +- `RECOVER_NORMAL_FORCE`: 张开恢复时允许重新触发的最大法向残余力。 +- `RECOVER_SHEAR_FORCE`: 张开恢复时允许重新触发的最大切向残余力。 +- `RECOVER_STABLE_SECONDS`: 力清空后需要连续稳定多久，才重新等待触发。 + +## 日志字段 + +- `L/R`: 左右法向力，单位 N。 +- `maxN`: 左右法向力最大值，单位 N。 +- `shear`: 左右切向力最大值，单位 N。 +- `trigger`: 是否满足单侧触发条件。 +- `grip_contact`: 是否满足夹住接触条件。 +- `dN`: 夹住后当前法向力相对参考值的最大变化，单位 N。 +- `dShear`: 夹住后当前切向力相对参考值的变化，单位 N。 +- `state`: 当前状态。 +- `hold_pos`: 夹住后保持的位置。 +- `force_pct`: 当前夹爪目标力百分比。 +- `action`: 当前动作。 + +## 状态说明 + +- `open_wait`: 夹爪张开，等待任意单侧触发。 +- `closing`: 单侧触发后正在闭合，等待检测到物体。 +- `gripping`: 检测到物体后低力保持当前位置，并慢慢加力。 +- `hold_check`: 已夹住并记录参考力，监测法向/切向变化；变化超过阈值会直接张开。 +- `open_recover`: 已经张开到初始位置，正在等待法向/切向残余力清空；这个状态不会闭合夹爪。 + +## 常见动作说明 + +- `open-wait-armed`: 已经记录张开状态参考值，下一次单侧力变化可以触发闭合。 +- `force-change-release-open`: 检测到夹住后的法向或切向变化，已经发出张开命令。 +- `contact-lost-release-open`: 夹住后接触力消失了一小段时间，已经发出张开命令。 +- `open-recover-wait-force-clear`: 夹爪保持张开，但传感器还有残余力，不允许重新闭合。 +- `open-recover-stabilizing`: 力已经低于恢复阈值，正在等待稳定时间。 +- `open-ready`: 力已经清空并稳定，重新进入等待下一次扫过触发。 diff --git a/gripper_control_02/__init__.py b/gripper_control_02/__init__.py new file mode 100644 index 0000000..93a8c3e --- /dev/null +++ b/gripper_control_02/__init__.py @@ -0,0 +1,2 @@ +"""Demo 02 gripper control: side-touch trigger, grip, and instant release.""" + diff --git a/gripper_control_02/__pycache__/__init__.cpython-311.pyc b/gripper_control_02/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 0000000..35f8a9f Binary files /dev/null and b/gripper_control_02/__pycache__/__init__.cpython-311.pyc differ diff --git a/gripper_control_02/__pycache__/controller.cpython-311.pyc b/gripper_control_02/__pycache__/controller.cpython-311.pyc new file mode 100644 index 0000000..4c4c744 Binary files /dev/null and b/gripper_control_02/__pycache__/controller.cpython-311.pyc differ diff --git a/gripper_control_02/__pycache__/main.cpython-311.pyc b/gripper_control_02/__pycache__/main.cpython-311.pyc new file mode 100644 index 0000000..def1165 Binary files /dev/null and b/gripper_control_02/__pycache__/main.cpython-311.pyc differ diff --git a/gripper_control_02/__pycache__/settings.cpython-311.pyc b/gripper_control_02/__pycache__/settings.cpython-311.pyc new file mode 100644 index 0000000..9c50f50 Binary files /dev/null and b/gripper_control_02/__pycache__/settings.cpython-311.pyc differ diff --git a/gripper_control_02/config/__init__.py b/gripper_control_02/config/__init__.py new file mode 100644 index 0000000..8608da0 --- /dev/null +++ b/gripper_control_02/config/__init__.py @@ -0,0 +1,2 @@ +"""Demo 02 Python configs.""" + diff --git a/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-311.pyc b/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-311.pyc new file mode 100644 index 0000000..de74636 Binary files /dev/null and b/gripper_control_02/config/__pycache__/gripper_demo_02.cpython-311.pyc differ diff --git a/gripper_control_02/config/gripper_demo_02.py b/gripper_control_02/config/gripper_demo_02.py new file mode 100644 index 0000000..93d8951 --- /dev/null +++ b/gripper_control_02/config/gripper_demo_02.py @@ -0,0 +1,212 @@ +"""夹爪02展示配置。 + +展示逻辑： +1. 程序启动后夹爪默认张开。 +2. 等待任意一侧触觉传感器感受到力。 +3. 一侧触发后，夹爪开始闭合；你把物体移动到中间。 +4. 闭合时检测到物体后，像 01 一样低力保持当前位置并慢慢加力夹住。 +5. 夹住后法向力或切向力变化超过阈值，直接张开到 OPEN_POS。 +6. 张开后保持初始张开状态，等力清空并稳定后才重新等待单侧触发；不会自己定时开合。 +""" + + +# 左右触觉传感器视频源。 +VIDEO1 = "0" +VIDEO2 = "1" + +# 左右触觉传感器方向配置。 +ROTATION1 = "./config/rotation_config_0.json" +ROTATION2 = "./config/rotation_config_1.json" + +# 左右触觉传感器 SDK 配置。 +SENSOR_CONFIG1 = "./config/ddjx01.json" +SENSOR_CONFIG2 = "./config/ddjx01.json" + +# 触觉处理参数。 +SENSOR_FPS = 30.0 +MOTION_THRESHOLD = 0.0 +SENSOR_CPU = False + + +# 夹爪串口配置。 +PORT = "COM5" +SLAVE_ID = 1 +BAUDRATE = 115200 +SERIAL_TIMEOUT = 0.2 + + +# 夹爪位置。 +OPEN_POS = 0 +CLOSE_POS = 9000 + +# 夹爪运动参数。展示时可以速度稍快一点。 +SPEED = 25 +ACCEL = 80 +DECEL = 80 + + +# 夹爪力度百分比。 +OPEN_FORCE = 15 # 张开时使用的力。 +CLOSE_FORCE = 15 # 单侧触发后闭合时使用的小力。 +GRIP_START_FORCE = 10 # 闭合检测到物体后，先切到这个低力保持。 +HOLD_FORCE = 15 # 慢慢加力到这个值后进入 hold_check。 +FORCE_MIN = 10 +FORCE_MAX = 30 + + +# 控制循环频率。展示时调高一点，单侧快速扫过不容易漏检。 +CONTROL_HZ = 30.0 + + +# 启动时采集空载基线的时间。 +BASELINE_SECONDS = 1.0 + +# 滤波系数，越大响应越快，越小越平滑。 +FILTER_ALPHA = 0.55 +SHEAR_FILTER_ALPHA = 0.65 + + +# 等待触发：任意一侧超过这些阈值，就开始闭合。 +TRIGGER_NORMAL_FORCE = 0.04 # 单侧法向力触发阈值，单位 N。 +TRIGGER_SHEAR_FORCE = 0.04 # 单侧切向力触发阈值，单位 N。 + +# 等待触发：如果已经记录了张开时的安静参考值，任意一侧变化超过这些阈值也会闭合。 +# 这样现场轻扫一下也能触发，不完全依赖绝对力超过 TRIGGER_*_FORCE。 +TRIGGER_NORMAL_CHANGE = 0.04 # 单侧法向力相对张开参考值的变化触发阈值，单位 N。 +TRIGGER_SHEAR_CHANGE = 0.04 # 单侧切向力相对张开参考值的变化触发阈值，单位 N。 + + +# 闭合夹取：物体移动到中间后，左右两边都超过该阈值就认为夹住。 +GRIP_NORMAL_FORCE = 0.05 # 双侧接触阈值，单位 N。 +GRIP_REQUIRES_BOTH = True # True 表示必须左右两侧都接触才算夹住。 +CLOSE_TIMEOUT_SECONDS = 5.0 # 触发闭合后这么久还没夹住，就重新张开等待。 + + +# 检测到物体后慢慢加力，类似 01 的 gripping 状态。 +FORCE_RAMP_STEP = 1 +FORCE_RAMP_INTERVAL = 0.2 +GRIP_SETTLE_SECONDS = 0.3 # 加到 HOLD_FORCE 后再稳定这么久，进入 hold_check。 + +# 松开触发阈值。夹住后，法向或切向变化超过其中任意一个，就张开。 +RELEASE_NORMAL_CHANGE = 0.03 # 左/右法向力相对夹住参考值的变化阈值，单位 N。 +RELEASE_SHEAR_CHANGE = 0.03 # 左/右切向力相对夹住参考值的变化阈值，单位 N。 + +# 夹住后如果物体被拿走，法向和切向都降到这些阈值以下并持续一小段时间，也直接张开。 +RELEASE_CONTACT_LOST_NORMAL_FORCE = 0.025 # 判断接触丢失的最大法向力，单位 N。 +RELEASE_CONTACT_LOST_SHEAR_FORCE = 0.025 # 判断接触丢失的最大切向力，单位 N。 +RELEASE_CONTACT_LOST_SECONDS = 0.15 # 接触丢失持续这么久后张开。 + +# 松开后至少等待多久重新进入等待触发，避免刚张开时马上再次触发。 +REARM_SECONDS = 0.5 + +# 松开/超时张开后，必须等传感器读数低于这些阈值并稳定，才允许下一次触发。 +# 这几个值应略小于 TRIGGER_NORMAL_FORCE / TRIGGER_SHEAR_FORCE。 +RECOVER_NORMAL_FORCE = 0.035 # 张开恢复时允许重新触发的最大法向残余力，单位 N。 +RECOVER_SHEAR_FORCE = 0.035 # 张开恢复时允许重新触发的最大切向残余力，单位 N。 +RECOVER_STABLE_SECONDS = 0.25 # 力清空后需要连续稳定这么久，才回到 open_wait。 + + +# 如果读取当前位置失败，保持当前位置时使用这个备用位置；None 表示不使用。 +HOLD_FALLBACK_POS = None + + +# SDK 行为开关。 +TRIGGER_FORCE_UPDATE = False +OPEN_AT_END = True +DRY_RUN = False + + +# 法向力标定：FNORMAL 原始值 -> N。 +NORMAL_FORCE_CALIBRATION = { + "enabled": True, + "method": "piecewise_linear", + "extrapolate": True, + "clamp_output_min": 0.0, + "points": [ + {"fnormal": 1000.0, "force_n": 0.0}, + {"fnormal": 10000.0, "force_n": 0.377}, + {"fnormal": 30000.0, "force_n": 1.377}, + {"fnormal": 62000.0, "force_n": 2.377}, + ], +} + + +# 切向力标定：sqrt(FSHEARX^2 + FSHEARY^2) 原始幅值 -> N。 +# 目前临时沿用 N_.jpg 的法向标定；有切向力标定后替换 points。 +SHEAR_FORCE_CALIBRATION = { + "enabled": True, + "method": "piecewise_linear", + "extrapolate": True, + "clamp_output_min": 0.0, + "points": [ + {"raw": 1000.0, "force_n": 0.0}, + {"raw": 10000.0, "force_n": 0.377}, + {"raw": 30000.0, "force_n": 1.377}, + {"raw": 62000.0, "force_n": 2.377}, + ], +} + + +CONFIG = { + "video1": VIDEO1, + "video2": VIDEO2, + "rotation1": ROTATION1, + "rotation2": ROTATION2, + "sensor_config1": SENSOR_CONFIG1, + "sensor_config2": SENSOR_CONFIG2, + "sensor_fps": SENSOR_FPS, + "motion_threshold": MOTION_THRESHOLD, + "sensor_cpu": SENSOR_CPU, + + "port": PORT, + "slave_id": SLAVE_ID, + "baudrate": BAUDRATE, + "serial_timeout": SERIAL_TIMEOUT, + + "open_pos": OPEN_POS, + "close_pos": CLOSE_POS, + "speed": SPEED, + "accel": ACCEL, + "decel": DECEL, + + "open_force": OPEN_FORCE, + "close_force": CLOSE_FORCE, + "grip_start_force": GRIP_START_FORCE, + "hold_force": HOLD_FORCE, + "initial_force": OPEN_FORCE, + "force_min": FORCE_MIN, + "force_max": FORCE_MAX, + + "control_hz": CONTROL_HZ, + "baseline_seconds": BASELINE_SECONDS, + "filter_alpha": FILTER_ALPHA, + "shear_filter_alpha": SHEAR_FILTER_ALPHA, + + "trigger_normal_force": TRIGGER_NORMAL_FORCE, + "trigger_shear_force": TRIGGER_SHEAR_FORCE, + "trigger_normal_change": TRIGGER_NORMAL_CHANGE, + "trigger_shear_change": TRIGGER_SHEAR_CHANGE, + "grip_normal_force": GRIP_NORMAL_FORCE, + "grip_requires_both": GRIP_REQUIRES_BOTH, + "close_timeout_seconds": CLOSE_TIMEOUT_SECONDS, + "force_ramp_step": FORCE_RAMP_STEP, + "force_ramp_interval": FORCE_RAMP_INTERVAL, + "grip_settle_seconds": GRIP_SETTLE_SECONDS, + "release_normal_change": RELEASE_NORMAL_CHANGE, + "release_shear_change": RELEASE_SHEAR_CHANGE, + "release_contact_lost_normal_force": RELEASE_CONTACT_LOST_NORMAL_FORCE, + "release_contact_lost_shear_force": RELEASE_CONTACT_LOST_SHEAR_FORCE, + "release_contact_lost_seconds": RELEASE_CONTACT_LOST_SECONDS, + "rearm_seconds": REARM_SECONDS, + "recover_normal_force": RECOVER_NORMAL_FORCE, + "recover_shear_force": RECOVER_SHEAR_FORCE, + "recover_stable_seconds": RECOVER_STABLE_SECONDS, + + "hold_fallback_pos": HOLD_FALLBACK_POS, + "trigger_force_update": TRIGGER_FORCE_UPDATE, + "open_at_end": OPEN_AT_END, + "dry_run": DRY_RUN, + + "normal_force_calibration": NORMAL_FORCE_CALIBRATION, + "shear_force_calibration": SHEAR_FORCE_CALIBRATION, +} diff --git a/gripper_control_02/controller.py b/gripper_control_02/controller.py new file mode 100644 index 0000000..393d824 --- /dev/null +++ b/gripper_control_02/controller.py @@ -0,0 +1,304 @@ +import time + +from gripper_control.filters import clamp + + +class SideTriggerGripController: + def __init__(self, config, reader, gripper, feedback_processor): + self.config = config + self.reader = reader + self.gripper = gripper + self.feedback_processor = feedback_processor + self.normal_unit = feedback_processor.normal_converter.unit + self.shear_unit = feedback_processor.shear_converter.unit + + def run(self): + self.reader.start() + + try: + self.gripper.connect() + open_force = int(clamp( + self.config.open_force, + self.config.force_min, + self.config.force_max, + )) + print("demo02 start: open gripper and wait for side touch") + self.gripper.open(open_force, "startup-open") + + self._print_thresholds() + print( + f"Calibrating baseline for {self.config.baseline_seconds:.2f}s. " + "Keep sensors unloaded." + ) + baseline = self.feedback_processor.calibrate_baseline(self.reader) + print( + f"baseline normal: L={baseline.left_normal:.4f}{self.normal_unit} " + f"R={baseline.right_normal:.4f}{self.normal_unit}; " + f"shear: L={baseline.left_shear:.4f}{self.shear_unit} " + f"R={baseline.right_shear:.4f}{self.shear_unit}" + ) + + self._run_event_monitor() + + except KeyboardInterrupt: + print("\nStopping demo02.") + finally: + self.gripper.final_open_if_needed() + self.reader.stop() + + def _print_thresholds(self): + print( + "Trigger thresholds: " + f"normal={self.config.trigger_normal_force:.3f}{self.normal_unit}, " + f"shear={self.config.trigger_shear_force:.3f}{self.shear_unit}" + ) + print( + "Grip/release thresholds: " + f"grip_normal={self.config.grip_normal_force:.3f}{self.normal_unit}, " + f"requires_both={int(self.config.grip_requires_both)}, " + f"release_normal_change={self.config.release_normal_change:.3f}{self.normal_unit}, " + f"release_shear_change={self.config.release_shear_change:.3f}{self.shear_unit}" + ) + + def _run_event_monitor(self): + config = self.config + interval = 1.0 / config.control_hz if config.control_hz > 0 else 0.05 + + state = "open_wait" + state_start = time.perf_counter() + last_force_ramp_time = state_start + recover_quiet_since = None + force_pct = int(clamp(config.open_force, config.force_min, config.force_max)) + hold_pos = None + reference = None + + while True: + tick_start = time.perf_counter() + now = time.perf_counter() + + feedback = self.feedback_processor.read(self.reader, timeout=0.3) + if feedback is None: + print(f"state={state} action=waiting-for-sensor-samples") + time.sleep(0.05) + continue + + trigger = self._side_triggered(feedback) + grip_contact = self._grip_contact(feedback) + normal_change = 0.0 + shear_change = 0.0 + action = "wait" + + if state == "open_wait": + if trigger: + force_pct = int(clamp( + config.close_force, + config.force_min, + config.force_max, + )) + self.gripper.close(force_pct, "side-trigger-close") + state = "closing" + state_start = now + last_force_ramp_time = now + recover_quiet_since = None + hold_pos = None + reference = None + action = "side-trigger-close" + else: + action = "open-wait-touch" + + elif state == "closing": + if grip_contact: + force_pct = int(clamp( + config.grip_start_force, + config.force_min, + config.force_max, + )) + self.gripper.set_force(force_pct) + hold_pos = self.gripper.hold_current_position(force_pct) + state = "gripping" + state_start = now + last_force_ramp_time = now + reference = None + action = "object-detected-low-force" + elif now - state_start >= config.close_timeout_seconds: + force_pct = int(clamp( + config.open_force, + config.force_min, + config.force_max, + )) + self.gripper.open(force_pct, "close-timeout-open") + self.feedback_processor.reset_filters() + state = "open_recover" + state_start = now + recover_quiet_since = None + hold_pos = None + reference = None + action = "close-timeout-open" + else: + action = "closing-to-grip" + + elif state == "gripping": + if ( + now - last_force_ramp_time >= config.force_ramp_interval + and force_pct < config.hold_force + ): + force_pct = int(clamp( + force_pct + config.force_ramp_step, + config.force_min, + config.hold_force, + )) + self.gripper.set_force(force_pct) + last_force_ramp_time = now + action = "grip-ramp-up" + elif ( + force_pct >= config.hold_force + and now - state_start >= config.grip_settle_seconds + ): + reference = self._make_reference(feedback) + state = "hold_check" + state_start = now + action = "hold-reference-armed" + else: + action = "grip-hold" + + elif state == "hold_check": + normal_change, shear_change = self._release_changes(feedback, reference) + should_release = ( + normal_change >= config.release_normal_change + or shear_change >= config.release_shear_change + ) + if should_release: + force_pct = int(clamp( + config.open_force, + config.force_min, + config.force_max, + )) + self.gripper.open(force_pct, "force-change-release-open") + self.feedback_processor.reset_filters() + state = "open_recover" + state_start = now + recover_quiet_since = None + hold_pos = None + reference = None + action = "force-change-release-open" + else: + action = "hold-check" + + elif state == "open_recover": + if self._recover_quiet(feedback): + if recover_quiet_since is None: + recover_quiet_since = now + action = "open-recover-quiet" + elif ( + now - recover_quiet_since >= config.recover_stable_seconds + and now - state_start >= config.rearm_seconds + ): + state = "open_wait" + state_start = now + recover_quiet_since = None + hold_pos = None + reference = None + action = "open-ready" + else: + action = "open-recover-stabilizing" + else: + recover_quiet_since = None + action = "open-recover-wait-force-clear" + + self._log_tick( + feedback=feedback, + state=state, + trigger=trigger, + grip_contact=grip_contact, + normal_change=normal_change, + shear_change=shear_change, + hold_pos=hold_pos, + force_pct=force_pct, + action=action, + ) + + sleep_time = interval - (time.perf_counter() - tick_start) + if sleep_time > 0: + time.sleep(sleep_time) + + def _side_triggered(self, feedback, reference=None): + if reference is not None: + normal_change, shear_change = self._release_changes(feedback, reference) + if ( + normal_change >= self.config.trigger_normal_change + or shear_change >= self.config.trigger_shear_change + ): + return True + + return ( + feedback.max_normal >= self.config.trigger_normal_force + or feedback.max_shear >= self.config.trigger_shear_force + ) + + def _grip_contact(self, feedback): + left_contact = feedback.left_normal >= self.config.grip_normal_force + right_contact = feedback.right_normal >= self.config.grip_normal_force + if self.config.grip_requires_both: + return left_contact and right_contact + return left_contact or right_contact + + def _recover_quiet(self, feedback): + return ( + feedback.max_normal <= self.config.recover_normal_force + and feedback.max_shear <= self.config.recover_shear_force + ) + + def _make_reference(self, feedback): + return { + "left_normal": feedback.left_normal, + "right_normal": feedback.right_normal, + "max_normal": feedback.max_normal, + "left_shear": feedback.left_shear, + "right_shear": feedback.right_shear, + "max_shear": feedback.max_shear, + } + + def _release_changes(self, feedback, reference): + if reference is None: + return 0.0, 0.0 + normal_change = max( + abs(feedback.left_normal - reference["left_normal"]), + abs(feedback.right_normal - reference["right_normal"]), + abs(feedback.max_normal - reference["max_normal"]), + ) + shear_change = max( + abs(feedback.left_shear - reference["left_shear"]), + abs(feedback.right_shear - reference["right_shear"]), + abs(feedback.max_shear - reference["max_shear"]), + ) + return normal_change, shear_change + + def _release_contact_lost(self, feedback): + return ( + feedback.max_normal <= self.config.release_contact_lost_normal_force + and feedback.max_shear <= self.config.release_contact_lost_shear_force + ) + + def _log_tick( + self, + feedback, + state, + trigger, + grip_contact, + normal_change, + shear_change, + hold_pos, + force_pct, + action, + ): + print( + f"L={feedback.left_normal:7.3f}{self.normal_unit} " + f"R={feedback.right_normal:7.3f}{self.normal_unit} " + f"maxN={feedback.max_normal:7.3f}{self.normal_unit} " + f"shear={feedback.max_shear:7.3f}{self.shear_unit} " + f"trigger={int(trigger)} grip_contact={int(grip_contact)} " + f"dN={normal_change:7.3f}{self.normal_unit} " + f"dShear={shear_change:7.3f}{self.shear_unit} " + f"state={state} hold_pos={hold_pos} " + f"force_pct={force_pct:3d} action={action}" + ) diff --git a/gripper_control_02/main.py b/gripper_control_02/main.py new file mode 100644 index 0000000..8c4a5c3 --- /dev/null +++ b/gripper_control_02/main.py @@ -0,0 +1,49 @@ +import multiprocessing as mp + +from gripper_control.calibration import ForceConverter +from gripper_control.feedback import TactileFeedbackProcessor +from gripper_control.force_reader import TwoSensorForceReader +from gripper_control.hardware import GripperClient +from gripper_control.paths import ensure_project_paths + +from .controller import SideTriggerGripController +from .settings import Demo02Config + + +def build_controller(argv=None): + ensure_project_paths() + config = Demo02Config.from_args(argv) + + normal_converter = ForceConverter.from_config( + config.normal_force_calibration, + "normal_force_calibration", + ) + shear_converter = ForceConverter.from_config( + config.shear_force_calibration, + "shear_force_calibration", + ) + + reader = TwoSensorForceReader( + video1=config.video1, + video2=config.video2, + config1=config.sensor_config1, + config2=config.sensor_config2, + rotation1=config.rotation1, + rotation2=config.rotation2, + target_fps=config.sensor_fps, + cuda=not config.sensor_cpu, + motion_threshold=config.motion_threshold, + ) + gripper = GripperClient(config) + feedback = TactileFeedbackProcessor(config, normal_converter, shear_converter) + return SideTriggerGripController(config, reader, gripper, feedback) + + +def main(argv=None): + controller = build_controller(argv) + controller.run() + + +if __name__ == "__main__": + mp.freeze_support() + main() diff --git a/gripper_control_02/settings.py b/gripper_control_02/settings.py new file mode 100644 index 0000000..0433803 --- /dev/null +++ b/gripper_control_02/settings.py @@ -0,0 +1,172 @@ +import argparse +import copy +from dataclasses import dataclass, field + +from gripper_control.calibration import ( + DEFAULT_NORMAL_FORCE_CALIBRATION, + DEFAULT_SHEAR_FORCE_CALIBRATION, +) +from gripper_control.config import load_control_config +from gripper_control.paths import REPO_ROOT + + +DEFAULT_CONTROL_CONFIG = str( + REPO_ROOT / "gripper_control_02" / "config" / "gripper_demo_02.py" +) + + +def _config_default(config, key, default): + return config.get(key, config.get(key.replace("_", "-"), default)) + + +@dataclass +class Demo02Config: + control_config: str = DEFAULT_CONTROL_CONFIG + + video1: str = "0" + video2: str = "1" + rotation1: str = "./config/rotation_config_0.json" + rotation2: str = "./config/rotation_config_1.json" + sensor_config1: str = "./config/ddjx01.json" + sensor_config2: str = "./config/ddjx01.json" + sensor_fps: float = 30.0 + motion_threshold: float = 0.0 + sensor_cpu: bool = False + + port: str = "COM5" + slave_id: int = 1 + baudrate: int = 115200 + serial_timeout: float = 0.2 + + open_pos: int = 0 + close_pos: int = 9000 + speed: int = 25 + accel: int = 80 + decel: int = 80 + + open_force: int = 10 + close_force: int = 10 + grip_start_force: int = 10 + hold_force: int = 15 + initial_force: int = 10 + force_min: int = 10 + force_max: int = 30 + + control_hz: float = 30.0 + baseline_seconds: float = 1.0 + filter_alpha: float = 0.55 + shear_filter_alpha: float = 0.65 + + trigger_normal_force: float = 0.04 + trigger_shear_force: float = 0.04 + trigger_normal_change: float = 0.02 + trigger_shear_change: float = 0.02 + grip_normal_force: float = 0.05 + grip_requires_both: bool = True + close_timeout_seconds: float = 5.0 + force_ramp_step: int = 1 + force_ramp_interval: float = 0.2 + grip_settle_seconds: float = 0.3 + release_normal_change: float = 0.03 + release_shear_change: float = 0.03 + release_contact_lost_normal_force: float = 0.025 + release_contact_lost_shear_force: float = 0.025 + release_contact_lost_seconds: float = 0.15 + rearm_seconds: float = 0.5 + recover_normal_force: float = 0.035 + recover_shear_force: float = 0.035 + recover_stable_seconds: float = 0.25 + + hold_fallback_pos: int | None = None + trigger_force_update: bool = False + open_at_end: bool = True + dry_run: bool = False + + normal_force_calibration: dict = field( + default_factory=lambda: copy.deepcopy(DEFAULT_NORMAL_FORCE_CALIBRATION) + ) + shear_force_calibration: dict = field( + default_factory=lambda: copy.deepcopy(DEFAULT_SHEAR_FORCE_CALIBRATION) + ) + + @classmethod + def from_args(cls, argv=None): + bootstrap = argparse.ArgumentParser(add_help=False) + bootstrap.add_argument("--control-config", default=DEFAULT_CONTROL_CONFIG) + bootstrap_args, _ = bootstrap.parse_known_args(argv) + config_data = load_control_config(bootstrap_args.control_config) + + parser = argparse.ArgumentParser() + add = parser.add_argument + get = lambda key, default: _config_default(config_data, key, default) + + add("--control-config", type=str, default=bootstrap_args.control_config) + add("--video1", "-v1", type=str, default=get("video1", cls.video1)) + add("--video2", "-v2", type=str, default=get("video2", cls.video2)) + add("--rotation1", "-r1", type=str, default=get("rotation1", cls.rotation1)) + add("--rotation2", "-r2", type=str, default=get("rotation2", cls.rotation2)) + add("--sensor-config1", type=str, default=get("sensor_config1", cls.sensor_config1)) + add("--sensor-config2", type=str, default=get("sensor_config2", cls.sensor_config2)) + add("--sensor-fps", type=float, default=get("sensor_fps", cls.sensor_fps)) + add("--motion-threshold", type=float, default=get("motion_threshold", cls.motion_threshold)) + add("--sensor-cpu", action="store_true", default=get("sensor_cpu", cls.sensor_cpu)) + + add("--port", type=str, default=get("port", cls.port)) + add("--slave-id", type=int, default=get("slave_id", cls.slave_id)) + add("--baudrate", type=int, default=get("baudrate", cls.baudrate)) + add("--serial-timeout", type=float, default=get("serial_timeout", cls.serial_timeout)) + + add("--open-pos", type=int, default=get("open_pos", cls.open_pos)) + add("--close-pos", type=int, default=get("close_pos", cls.close_pos)) + add("--speed", type=int, default=get("speed", cls.speed)) + add("--accel", type=int, default=get("accel", cls.accel)) + add("--decel", type=int, default=get("decel", cls.decel)) + + add("--open-force", type=int, default=get("open_force", cls.open_force)) + add("--close-force", type=int, default=get("close_force", cls.close_force)) + add("--grip-start-force", type=int, default=get("grip_start_force", cls.grip_start_force)) + add("--hold-force", type=int, default=get("hold_force", cls.hold_force)) + add("--force-min", type=int, default=get("force_min", cls.force_min)) + add("--force-max", type=int, default=get("force_max", cls.force_max)) + + add("--control-hz", type=float, default=get("control_hz", cls.control_hz)) + add("--baseline-seconds", type=float, default=get("baseline_seconds", cls.baseline_seconds)) + add("--filter-alpha", type=float, default=get("filter_alpha", cls.filter_alpha)) + add("--shear-filter-alpha", type=float, default=get("shear_filter_alpha", cls.shear_filter_alpha)) + + add("--trigger-normal-force", type=float, default=get("trigger_normal_force", cls.trigger_normal_force)) + add("--trigger-shear-force", type=float, default=get("trigger_shear_force", cls.trigger_shear_force)) + add("--trigger-normal-change", type=float, default=get("trigger_normal_change", cls.trigger_normal_change)) + add("--trigger-shear-change", type=float, default=get("trigger_shear_change", cls.trigger_shear_change)) + add("--grip-normal-force", type=float, default=get("grip_normal_force", cls.grip_normal_force)) + add("--grip-requires-both", dest="grip_requires_both", action="store_true", default=get("grip_requires_both", cls.grip_requires_both)) + add("--allow-single-side-grip", dest="grip_requires_both", action="store_false") + add("--close-timeout-seconds", type=float, default=get("close_timeout_seconds", cls.close_timeout_seconds)) + add("--force-ramp-step", type=int, default=get("force_ramp_step", cls.force_ramp_step)) + add("--force-ramp-interval", type=float, default=get("force_ramp_interval", cls.force_ramp_interval)) + add("--grip-settle-seconds", type=float, default=get("grip_settle_seconds", cls.grip_settle_seconds)) + add("--release-normal-change", type=float, default=get("release_normal_change", cls.release_normal_change)) + add("--release-shear-change", type=float, default=get("release_shear_change", cls.release_shear_change)) + add("--release-contact-lost-normal-force", type=float, default=get("release_contact_lost_normal_force", cls.release_contact_lost_normal_force)) + add("--release-contact-lost-shear-force", type=float, default=get("release_contact_lost_shear_force", cls.release_contact_lost_shear_force)) + add("--release-contact-lost-seconds", type=float, default=get("release_contact_lost_seconds", cls.release_contact_lost_seconds)) + add("--rearm-seconds", type=float, default=get("rearm_seconds", cls.rearm_seconds)) + add("--recover-normal-force", type=float, default=get("recover_normal_force", cls.recover_normal_force)) + add("--recover-shear-force", type=float, default=get("recover_shear_force", cls.recover_shear_force)) + add("--recover-stable-seconds", type=float, default=get("recover_stable_seconds", cls.recover_stable_seconds)) + + add("--hold-fallback-pos", type=int, default=get("hold_fallback_pos", cls.hold_fallback_pos)) + add("--trigger-force-update", action="store_true", default=get("trigger_force_update", cls.trigger_force_update)) + add("--open-at-end", action="store_true", default=get("open_at_end", cls.open_at_end)) + add("--dry-run", action="store_true", default=get("dry_run", cls.dry_run)) + + args = parser.parse_args(argv) + values = vars(args) + values["initial_force"] = values["open_force"] + values["normal_force_calibration"] = copy.deepcopy( + config_data.get("normal_force_calibration", DEFAULT_NORMAL_FORCE_CALIBRATION) + ) + values["shear_force_calibration"] = copy.deepcopy( + config_data.get("shear_force_calibration", DEFAULT_SHEAR_FORCE_CALIBRATION) + ) + return cls(**values) diff --git a/readme.md b/readme.md new file mode 100644 index 0000000..b97e9a8 --- /dev/null +++ b/readme.md @@ -0,0 +1,16 @@ +# 项目介绍 +我目前项目是一个夹爪，加上两个获取力大小的触觉设备，触摸设备是绑在夹爪的两端上的。目前夹爪的sdk在sdk文件夹下，触觉设备的sdk在src文件夹下，examples是单个触摸设备的测试脚本。 +我现在想做的是通过触摸设备获取力的大小，动态的去调节夹爪力的大小，从而不把东西夹坏掉。 + +# python 环境 +conda activate py311 + +# 需要实现的目标 +1. 夹爪是定时开合的，方便展示 +2. 当夹爪两侧传感器有力的反馈时，实时调节夹爪力的大小，既让夹爪不伤害物品又让夹爪夹稳东西，不掉下来。 +3. 可以不是循环吗，而是两个线程的交互，这样可能会灵敏一点？ + +别再循环了 02不是循环的。整个流程是 +1. 某个单侧有东西扫过时开始闭合夹住 +2. 闭合的时候要是检测到有物体，就像01那样几个状态，夹住它，不同的是后续有法向力，切向力输入的时候就松开夹爪（不要卡顿），直接张开到最开始的位置。 +3. 这就是整套流程，后续单侧再检测到有东西扫过的时候再执行这一整个过程 \ No newline at end of file diff --git a/sdk/__pycache__/changingtek_p_rtu_Servo.cpython-311.pyc b/sdk/__pycache__/changingtek_p_rtu_Servo.cpython-311.pyc new file mode 100644 index 0000000..2406db5 Binary files /dev/null and b/sdk/__pycache__/changingtek_p_rtu_Servo.cpython-311.pyc differ diff --git a/sdk/changingtek_p_rtu_Servo.py b/sdk/changingtek_p_rtu_Servo.py new file mode 100644 index 0000000..75a8055 --- /dev/null +++ b/sdk/changingtek_p_rtu_Servo.py @@ -0,0 +1,284 @@ +""" +CTAG2F90D（Servo）控制器SDK (基于Modbus RTU的RS-485通信) +--------------------------------------------- +一个轻量级的Python SDK，用于通过minimalmodbus库控制电机， +具有线程安全、清晰的寄存器访问方式和实时数据监控功能。 + +依赖安装: + pip install minimalmodbus pyserial + +作者: 知行机器人 +""" + +import time +import threading +import minimalmodbus +import serial + +# ----------------------------- +# 寄存器映射 (保持寄存器，功能码0x03/0x06) +# ----------------------------- +# 写入寄存器 (目标值/控制) +REG_TARGET_POS_HIGH = 0x0102 # 目标位置（高16位） +REG_TARGET_POS_LOW = 0x0103 # 目标位置（低16位） +REG_TARGET_SPEED = 0x0104 # 目标速度 +REG_TARGET_FORCE = 0x0105 # 目标力/力矩 +REG_TARGET_ACCELERATION = 0x0106 # 目标加速度 +REG_TARGET_DECELERATION = 0x0107 # 目标减速度 +REG_MOTION_TRIGGER = 0x0108 # 运动触发（0: 空闲, 1: 触发） + +# 读取寄存器 (反馈/状态) +REG_REAL_POS_HIGH = 0x0418 # 实时位置（高16位） +REG_REAL_POS_LOW = 0x0419 # 实时位置（低16位） +REG_REAL_SPEED = 0x041A # 实时速度反馈 +REG_REAL_CURRENT = 0x041B # 实时电流反馈 + + +class MotorController: + def __init__(self, port: str, slave_id: int = 1, baudrate: int = 115200, timeout: float = 1.0): + """初始化与电机控制器的Modbus RTU通信 + + 参数: + port: 串口端口（例如，Windows上为'COM3'，Linux上为'/dev/ttyUSB0'） + slave_id: Modbus从机地址（默认: 1） + baudrate: 串口波特率（默认: 115200） + timeout: 读写超时时间（秒，默认: 1.0） + """ + self.instrument = minimalmodbus.Instrument(port, slave_id) + self.instrument.serial.baudrate = baudrate + self.instrument.serial.bytesize = 8 + self.instrument.serial.parity = serial.PARITY_NONE + self.instrument.serial.stopbits = 1 + self.instrument.serial.timeout = timeout + self.instrument.mode = minimalmodbus.MODE_RTU + self._lock = threading.Lock() # 线程锁，确保串口操作线程安全 + self._monitor_running = False # 监控线程运行标志 + self._monitor_thread = None # 监控线程对象 + + # ----------------------------- + # 低级寄存器操作工具方法 + # ----------------------------- + def _write_register(self, addr: int, value: int) -> None: + """写入单个16位保持寄存器（Modbus功能码0x06） + + 参数: + addr: 寄存器地址 + value: 要写入的值 + """ + with self._lock: + self.instrument.write_register(addr, value, functioncode=6) + + def _read_register(self, addr: int) -> int: + """读取单个16位保持寄存器（Modbus功能码0x03） + + 参数: + addr: 寄存器地址 + + 返回: + 寄存器的值 + """ + with self._lock: + return self.instrument.read_register(addr, functioncode=3) + + def _write_registers(self, addr: int, values: list) -> None: + """写入多个16位保持寄存器（Modbus功能码0x10） + + 参数: + addr: 起始寄存器地址 + values: 要写入的值列表 + """ + with self._lock: + self.instrument.write_registers(addr, values) + + def _read_registers(self, addr: int, count: int) -> list: + """读取多个16位保持寄存器（Modbus功能码0x03） + + 参数: + addr: 起始寄存器地址 + count: 要读取的寄存器数量 + + 返回: + 寄存器值的列表 + """ + with self._lock: + return self.instrument.read_registers(addr, count, functioncode=3) + + # ----------------------------- + # 目标值/控制写入操作 + # ----------------------------- + def set_target_position(self, position: int) -> None: + """设置目标位置（组合高低16位寄存器） + + 参数: + position: 目标位置值 + """ + hi = (position >> 16) & 0xFFFF # 提取高16位 + lo = position & 0xFFFF # 提取低16位 + self._write_registers(REG_TARGET_POS_HIGH, [hi, lo]) + + def set_target_speed(self, speed: int) -> None: + """设置目标速度 + + 参数: + speed: 目标速度值 + """ + self._write_register(REG_TARGET_SPEED, speed) + + def set_target_force(self, force: int) -> None: + """设置目标力/力矩 + + 参数: + force: 目标力/力矩值 + """ + self._write_register(REG_TARGET_FORCE, force) + + def set_target_acceleration(self, acceleration: int) -> None: + """设置目标加速度 + + 参数: + acceleration: 目标加速度值 + """ + self._write_register(REG_TARGET_ACCELERATION, acceleration) + + def set_target_deceleration(self, deceleration: int) -> None: + """设置目标减速度 + + 参数: + deceleration: 目标减速度值 + """ + self._write_register(REG_TARGET_DECELERATION, deceleration) + + def trigger_motion(self) -> None: + """使用已配置的目标参数触发运动""" + self._write_register(REG_MOTION_TRIGGER, 1) + + def temp_move(self, position_mm: int, speed_pct: int, force_pct: int, + accel: int, decel: int, trigger: bool = True) -> None: + """临时运动控制方法，一次性设置所有运动参数并可选触发运动 + + 参数: + position_mm: 目标位置(毫米) + speed_pct: 速度百分比 + force_pct: 力/力矩百分比 + accel: 加速度值 + decel: 减速度值 + trigger: 是否立即触发运动，默认为True + """ + self.set_target_position(position_mm) + self.set_target_speed(speed_pct) + self.set_target_force(force_pct) + self.set_target_acceleration(accel) + self.set_target_deceleration(decel) + + if trigger: + self.trigger_motion() + print(f"已触发运动到位置 {position_mm}，速度 {speed_pct}%，力 {force_pct}%") + + # ----------------------------- + # 反馈/状态读取操作 + # ----------------------------- + def read_real_position(self) -> int: + """读取实时位置（组合高低16位寄存器） + + 返回: + 组合后的32位实时位置（处理有符号值） + """ + regs = self._read_registers(REG_REAL_POS_HIGH, 2) + hi, lo = regs[0], regs[1] + combined = (hi << 16) | lo + # 处理32位有符号整数 + if combined & 0x80000000: # 最高位为1表示负数 + combined = combined - 0x100000000 + return combined + + def read_real_speed(self) -> int: + """读取实时速度反馈 + + 返回: + 实时速度值 + """ + return self._read_register(REG_REAL_SPEED) + + def read_real_current(self) -> int: + """读取实时电流反馈 + + 返回: + 实时电流值 + """ + return self._read_register(REG_REAL_CURRENT) + + # ----------------------------- + # 实时监控线程 + # ----------------------------- + def _monitor_loop(self, interval: float = 0.5) -> None: + """实时数据监控的后台循环""" + while self._monitor_running: + try: + pos = self.read_real_position() + speed = self.read_real_speed() + current = self.read_real_current() + print(f"[实时数据] 位置: {pos:6d}, 速度: {speed:3d}, 电流: {current:3d}") + except Exception as e: + print(f"监控错误: {e}") + time.sleep(interval) + + def start_monitoring(self, interval: float = 0.01) -> None: + """启动实时数据监控线程 + + 参数: + interval: 监控间隔（秒，默认: 0.01） + """ + if not self._monitor_running: + self._monitor_running = True + self._monitor_thread = threading.Thread( + target=self._monitor_loop, + args=(interval,) + ) + self._monitor_thread.daemon = True # 守护线程，主程序退出时自动结束 + self._monitor_thread.start() + print("实时监控已启动。") + + def stop_monitoring(self) -> None: + """停止实时数据监控线程""" + self._monitor_running = False + if self._monitor_thread: + self._monitor_thread.join(timeout=1.0) # 等待线程结束 + print("实时监控已停止。") + + +if __name__ == "__main__": + # 示例用法（根据实际设备调整端口/从机ID） + PORT = "COM5" + SLAVE_ID = 1 + sdk = MotorController(PORT, SLAVE_ID, baudrate=115200, timeout=1.0) + + try: + # 启动实时监控 + sdk.start_monitoring(interval=0.5) + + # 循环控制：5次往复运动 + # 假设 9000 为闭合位置，0 为张开位置 + # 最后一次循环结束后，确保处于张开位置 (0) + for i in range(5): + print(f"\n--- 第 {i+1}/5 次循环 ---") + + # 阶段1: 运动到位置 9000 (闭合?) + sdk.temp_move(position_mm=9000, speed_pct=5, force_pct=15, accel=60, decel=60, trigger=True) + time.sleep(5) # 等待运动完成 + + # 阶段2: 运动到位置 0 (张开?) + sdk.temp_move(position_mm=0, speed_pct=5, force_pct=15, accel=60, decel=60, trigger=True) + time.sleep(5) # 等待运动完成 + + print("\n循环结束，确认最终状态为张开 (位置 0)...") + # 再次发送指令确保最终状态为 0 (虽然循环最后一步已经是 0，但这保证了"最后要张开"的要求) + sdk.temp_move(position_mm=0, speed_pct=5, force_pct=15, accel=60, decel=60, trigger=True) + time.sleep(1) + + except KeyboardInterrupt: + print("\n程序被用户中断。") + except Exception as e: + print(f"执行过程中出错: {e}") + finally: + sdk.stop_monitoring() + print("程序已完成。") diff --git a/sdk/changingtek_p_rtu_Servo_cpp_version.zip b/sdk/changingtek_p_rtu_Servo_cpp_version.zip new file mode 100644 index 0000000..4d1a22d Binary files /dev/null and b/sdk/changingtek_p_rtu_Servo_cpp_version.zip differ diff --git a/sdk/changingtek_p_rtu_Servo_cpp_version/Changingtek_p_rtu_Servo.cpp b/sdk/changingtek_p_rtu_Servo_cpp_version/Changingtek_p_rtu_Servo.cpp new file mode 100644 index 0000000..9f7b7f9 --- /dev/null +++ b/sdk/changingtek_p_rtu_Servo_cpp_version/Changingtek_p_rtu_Servo.cpp @@ -0,0 +1,517 @@ +#include "Changingtek_p_rtu_Servo.h" +#include +#include +#include +#include +#include +#include + +#ifndef _WIN32 +#include +#endif + +// 辅助函数: 字节交换 (Modbus 是大端序) +static uint16_t swap_bytes(uint16_t val) { + return (val << 8) | (val >> 8); +} + +Changingtek_p_rtu_Servo::Changingtek_p_rtu_Servo(const std::string& port, int slave_id, int baudrate, double timeout) + : port_name(port), slave_id(slave_id), baudrate(baudrate), timeout(timeout), hSerial(INVALID_SERIAL_HANDLE), _monitor_running(false) { +} + +Changingtek_p_rtu_Servo::~Changingtek_p_rtu_Servo() { + stop_monitoring(); + disconnect(); +} + +bool Changingtek_p_rtu_Servo::connect() { + std::lock_guard lock(_mutex); +#ifdef _WIN32 + // 打开串口 + // 使用 \\.\COMxx 格式以支持 COM10 以上的端口 + std::string full_port_name = port_name; + if (full_port_name.find("\\\\.\\") == std::string::npos) { + full_port_name = "\\\\.\\" + port_name; + } + + hSerial = CreateFileA(full_port_name.c_str(), + GENERIC_READ | GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + 0, + NULL); + + if (hSerial == INVALID_HANDLE_VALUE) { + std::cerr << "Error opening serial port: " << port_name << " (Error: " << GetLastError() << ")" << std::endl; + return false; + } + + // 配置串口参数 + DCB dcbSerialParams = {0}; + dcbSerialParams.DCBlength = sizeof(dcbSerialParams); + + if (!GetCommState(hSerial, &dcbSerialParams)) { + std::cerr << "Error getting serial state" << std::endl; + CloseHandle(hSerial); + hSerial = INVALID_HANDLE_VALUE; + return false; + } + + dcbSerialParams.BaudRate = baudrate; + dcbSerialParams.ByteSize = 8; + dcbSerialParams.StopBits = ONESTOPBIT; + dcbSerialParams.Parity = NOPARITY; + + if (!SetCommState(hSerial, &dcbSerialParams)) { + std::cerr << "Error setting serial state" << std::endl; + CloseHandle(hSerial); + hSerial = INVALID_HANDLE_VALUE; + return false; + } + + // 设置超时 + COMMTIMEOUTS timeouts = {0}; + DWORD timeout_ms = static_cast(timeout * 1000); + + // ReadIntervalTimeout: 字节间最大间隔时间 + timeouts.ReadIntervalTimeout = 50; + // 总读取超时 = Multiplier * 字节数 + Constant + timeouts.ReadTotalTimeoutConstant = timeout_ms; + timeouts.ReadTotalTimeoutMultiplier = 10; + timeouts.WriteTotalTimeoutConstant = timeout_ms; + timeouts.WriteTotalTimeoutMultiplier = 10; + + if (!SetCommTimeouts(hSerial, &timeouts)) { + std::cerr << "Error setting serial timeouts" << std::endl; + CloseHandle(hSerial); + hSerial = INVALID_HANDLE_VALUE; + return false; + } + + return true; +#else + // Linux implementation + hSerial = open(port_name.c_str(), O_RDWR | O_NOCTTY | O_SYNC); + if (hSerial < 0) { + std::cerr << "Error opening serial port: " << port_name << " (Error: " << strerror(errno) << ")" << std::endl; + return false; + } + + struct termios tty; + if (tcgetattr(hSerial, &tty) != 0) { + std::cerr << "Error from tcgetattr: " << strerror(errno) << std::endl; + close(hSerial); + hSerial = INVALID_SERIAL_HANDLE; + return false; + } + + cfsetospeed(&tty, B115200); // 默认先设为 115200, 后面根据参数调整 + cfsetispeed(&tty, B115200); + + // 设置自定义波特率 + speed_t speed; + switch (baudrate) { + case 9600: speed = B9600; break; + case 19200: speed = B19200; break; + case 38400: speed = B38400; break; + case 57600: speed = B57600; break; + case 115200: speed = B115200; break; + case 230400: speed = B230400; break; + default: speed = B115200; break; + } + cfsetospeed(&tty, speed); + cfsetispeed(&tty, speed); + + tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars + tty.c_iflag &= ~IGNBRK; // disable break processing + tty.c_lflag = 0; // no signaling chars, no echo, + // no canonical processing + tty.c_oflag = 0; // no remapping, no delays + tty.c_cc[VMIN] = 0; // read doesn't block + tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout + + tty.c_iflag &= ~(IXON | IXOFF | IXANY); // shut off xon/xoff ctrl + + tty.c_cflag |= (CLOCAL | CREAD); // ignore modem controls, + // enable reading + tty.c_cflag &= ~(PARENB | PARODD); // shut off parity + tty.c_cflag &= ~CSTOPB; // 1 stop bit + + if (tcsetattr(hSerial, TCSANOW, &tty) != 0) { + std::cerr << "Error from tcsetattr: " << strerror(errno) << std::endl; + close(hSerial); + hSerial = INVALID_SERIAL_HANDLE; + return false; + } + return true; +#endif +} + +void Changingtek_p_rtu_Servo::disconnect() { + std::lock_guard lock(_mutex); + if (hSerial != INVALID_SERIAL_HANDLE) { +#ifdef _WIN32 + CloseHandle(hSerial); +#else + close(hSerial); +#endif + hSerial = INVALID_SERIAL_HANDLE; + } +} + +// ----------------------------- +// Modbus 核心实现 +// ----------------------------- + +uint16_t Changingtek_p_rtu_Servo::calculate_crc(const std::vector& data) { + uint16_t crc = 0xFFFF; + for (uint8_t byte : data) { + crc ^= byte; + for (int i = 0; i < 8; ++i) { + if (crc & 0x0001) { + crc >>= 1; + crc ^= 0xA001; + } else { + crc >>= 1; + } + } + } + return crc; +} + +void Changingtek_p_rtu_Servo::send_frame(const std::vector& frame) { + if (hSerial == INVALID_SERIAL_HANDLE) { + // 尝试重新连接，但不在此处加锁，因为调用方已经加锁了 + // 这里需要小心死锁，假设 send_frame 总是由公有方法调用，而公有方法已经加锁 + // 如果 connect 内部也加锁，需要使用 std::recursive_mutex 或者把锁逻辑移到外层 + // 为了简单起见，我们假设 connect 是线程安全的或者被外层锁保护 + // 但 connect 目前使用了 lock_guard，这会导致死锁如果在这里调用。 + // 修改策略：底层函数不负责连接，只负责发送。连接由上层保证。 + // 或者：connect 使用 try_lock 或者 recursive_mutex。 + // 鉴于目前架构，我们在 connect 中使用了 lock_guard。 + // 我们应该在 send_frame 之前确保连接。 + throw_error("Port not open"); + } + +#ifdef _WIN32 + PurgeComm(hSerial, PURGE_RXCLEAR | PURGE_TXCLEAR); + DWORD bytes_written; + if (!WriteFile(hSerial, frame.data(), static_cast(frame.size()), &bytes_written, NULL)) { + throw_error("Write failed"); + } + if (bytes_written != frame.size()) { + throw_error("Write incomplete"); + } +#else + tcflush(hSerial, TCIOFLUSH); + ssize_t bytes_written = write(hSerial, frame.data(), frame.size()); + if (bytes_written < 0) { + throw_error("Write failed: " + std::string(strerror(errno))); + } + if (static_cast(bytes_written) != frame.size()) { + throw_error("Write incomplete"); + } +#endif +} + +std::vector Changingtek_p_rtu_Servo::receive_response(int expected_min_bytes) { + std::vector buffer; + buffer.reserve(256); + uint8_t tmp_buf[256]; + +#ifdef _WIN32 + DWORD bytes_read; + if (!ReadFile(hSerial, tmp_buf, 256, &bytes_read, NULL)) { + throw_error("Read failed"); + } + if (bytes_read == 0) { + throw_error("Read timeout (no data)"); + } + for (DWORD i = 0; i < bytes_read; i++) { + buffer.push_back(tmp_buf[i]); + } +#else + fd_set set; + struct timeval timeout_tv; + + timeout_tv.tv_sec = static_cast(timeout); + timeout_tv.tv_usec = static_cast((timeout - static_cast(timeout)) * 1000000); + + FD_ZERO(&set); + FD_SET(hSerial, &set); + + int rv = select(hSerial + 1, &set, NULL, NULL, &timeout_tv); + if (rv == -1) { + throw_error("Select failed: " + std::string(strerror(errno))); + } else if (rv == 0) { + throw_error("Read timeout (no data)"); + } else { + ssize_t n = read(hSerial, tmp_buf, sizeof(tmp_buf)); + if (n < 0) { + throw_error("Read failed: " + std::string(strerror(errno))); + } + if (n == 0) { + throw_error("Read returned 0 (EOF?)"); + } + for (ssize_t i = 0; i < n; i++) { + buffer.push_back(tmp_buf[i]); + } + } +#endif + + if (buffer.size() < 2) throw_error("Response too short"); + + uint16_t received_crc = buffer[buffer.size() - 2] | (buffer[buffer.size() - 1] << 8); + std::vector data_for_crc(buffer.begin(), buffer.end() - 2); + uint16_t calc_crc = calculate_crc(data_for_crc); + + if (received_crc != calc_crc) { + throw_error("CRC Error"); + } + + return buffer; +} + +void Changingtek_p_rtu_Servo::throw_error(const std::string& msg) { + throw std::runtime_error("Changingtek_p_rtu_Servo Error: " + msg); +} + +// ----------------------------- +// Modbus 辅助方法 +// ----------------------------- + +void Changingtek_p_rtu_Servo::_write_register(uint16_t addr, uint16_t value) { + std::lock_guard lock(_mutex); + if (hSerial == INVALID_SERIAL_HANDLE) throw_error("Not connected"); + + std::vector frame; + frame.push_back(static_cast(slave_id)); + frame.push_back(0x06); // Write Single Register + frame.push_back(addr >> 8); + frame.push_back(addr & 0xFF); + frame.push_back(value >> 8); + frame.push_back(value & 0xFF); + + uint16_t crc = calculate_crc(frame); + frame.push_back(crc & 0xFF); + frame.push_back(crc >> 8); + + send_frame(frame); + + // 接收响应 (回显) + receive_response(); +} + +void Changingtek_p_rtu_Servo::_write_registers(uint16_t addr, const std::vector& values) { + std::lock_guard lock(_mutex); + if (hSerial == INVALID_SERIAL_HANDLE) throw_error("Not connected"); + + std::vector frame; + frame.push_back(static_cast(slave_id)); + frame.push_back(0x10); // Write Multiple Registers + frame.push_back(addr >> 8); + frame.push_back(addr & 0xFF); + uint16_t count = static_cast(values.size()); + frame.push_back(count >> 8); + frame.push_back(count & 0xFF); + frame.push_back(count * 2); // Byte count + + for (uint16_t val : values) { + frame.push_back(val >> 8); + frame.push_back(val & 0xFF); + } + + uint16_t crc = calculate_crc(frame); + frame.push_back(crc & 0xFF); + frame.push_back(crc >> 8); + + send_frame(frame); + + // 接收响应 + receive_response(); +} + +uint16_t Changingtek_p_rtu_Servo::_read_register(uint16_t addr) { + auto res = _read_registers(addr, 1); + if (res.empty()) throw_error("Empty response"); + return res[0]; +} + +std::vector Changingtek_p_rtu_Servo::_read_registers(uint16_t addr, int count) { + std::lock_guard lock(_mutex); + if (hSerial == INVALID_SERIAL_HANDLE) throw_error("Not connected"); + + std::vector frame; + frame.push_back(static_cast(slave_id)); + frame.push_back(0x03); // Read Holding Registers + frame.push_back(addr >> 8); + frame.push_back(addr & 0xFF); + frame.push_back(count >> 8); + frame.push_back(count & 0xFF); + + uint16_t crc = calculate_crc(frame); + frame.push_back(crc & 0xFF); + frame.push_back(crc >> 8); + + send_frame(frame); + + std::vector response = receive_response(); + + // 解析响应 + // [SlaveID, FuncCode, ByteCount, Data..., CRC_L, CRC_H] + if (response.size() < static_cast(3 + count * 2 + 2)) { + throw_error("Response data length mismatch"); + } + + if (response[1] != 0x03) { + throw_error("Response function code mismatch"); + } + + std::vector values; + for (int i = 0; i < count; ++i) { + uint16_t val = (response[3 + i * 2] << 8) | response[3 + i * 2 + 1]; + values.push_back(val); + } + return values; +} + +// ----------------------------- +// 目标值/控制写入操作 +// ----------------------------- + +void Changingtek_p_rtu_Servo::set_target_position(int position) { + uint16_t hi = (position >> 16) & 0xFFFF; + uint16_t lo = position & 0xFFFF; + std::vector values = {hi, lo}; + _write_registers(REG_TARGET_POS_HIGH, values); +} + +void Changingtek_p_rtu_Servo::set_target_speed(int speed) { + _write_register(REG_TARGET_SPEED, static_cast(speed)); +} + +void Changingtek_p_rtu_Servo::set_target_force(int force) { + _write_register(REG_TARGET_FORCE, static_cast(force)); +} + +void Changingtek_p_rtu_Servo::set_target_acceleration(int acceleration) { + _write_register(REG_TARGET_ACCELERATION, static_cast(acceleration)); +} + +void Changingtek_p_rtu_Servo::set_target_deceleration(int deceleration) { + _write_register(REG_TARGET_DECELERATION, static_cast(deceleration)); +} + +void Changingtek_p_rtu_Servo::trigger_motion() { + _write_register(REG_MOTION_TRIGGER, 1); +} + +void Changingtek_p_rtu_Servo::temp_move(int position_mm, int speed_pct, int force_pct, int accel, int decel, bool trigger) { + // 优化：一次性写入所有参数 (REG_TARGET_POS_HIGH ~ REG_MOTION_TRIGGER) + // 地址连续: + // 0x0102: POS_H + // 0x0103: POS_L + // 0x0104: SPEED + // 0x0105: FORCE + // 0x0106: ACCEL + // 0x0107: DECEL + // 0x0108: TRIGGER + + std::vector values; + values.push_back((position_mm >> 16) & 0xFFFF); + values.push_back(position_mm & 0xFFFF); + values.push_back(static_cast(speed_pct)); + values.push_back(static_cast(force_pct)); + values.push_back(static_cast(accel)); + values.push_back(static_cast(decel)); + + if (trigger) { + values.push_back(1); + } else { + // 如果不触发，是否需要写入0或者不写该寄存器？ + // 为了保持连续写入，写入0 (空闲) + values.push_back(0); + } + + _write_registers(REG_TARGET_POS_HIGH, values); + + if (trigger) { + std::cout << "已触发运动到位置 " << position_mm << "，速度 " << speed_pct << "%，力 " << force_pct << "%" << std::endl; + } +} + +// ----------------------------- +// 反馈/状态读取操作 +// ----------------------------- + +int Changingtek_p_rtu_Servo::read_real_position() { + // 连续读取高低位 + std::vector regs = _read_registers(REG_REAL_POS_HIGH, 2); + uint32_t combined = (regs[0] << 16) | regs[1]; + + // 处理32位有符号整数 + int32_t final_val; + if (combined & 0x80000000) { + final_val = static_cast(combined); // C++ 中 uint32 转 int32，如果是补码表示则直接转换即可 + // 或者更安全的做法: + // final_val = -static_cast((~combined + 1)); + // 但通常 combined 就是补码形式，直接 cast 即可。 + } else { + final_val = static_cast(combined); + } + return final_val; +} + +int Changingtek_p_rtu_Servo::read_real_speed() { + return static_cast(_read_register(REG_REAL_SPEED)); +} + +int Changingtek_p_rtu_Servo::read_real_current() { + return static_cast(_read_register(REG_REAL_CURRENT)); +} + +// ----------------------------- +// 实时监控 +// ----------------------------- + +void Changingtek_p_rtu_Servo::_monitor_loop(double interval) { + while (_monitor_running) { + try { + int pos = read_real_position(); + int speed = read_real_speed(); + int current = read_real_current(); + + // 使用 printf 格式化输出，或者 iomanip + // 为了防止输出混乱，可以加个简单的锁或者直接输出 + // std::cout 是线程安全的(字符级)，但多个线程输出可能会交错 + std::cout << "[实时数据] 位置: " << std::setw(6) << pos + << ", 速度: " << std::setw(3) << speed + << ", 电流: " << std::setw(3) << current << std::endl; + } catch (const std::exception& e) { + std::cout << "监控错误: " << e.what() << std::endl; + } + + // sleep + std::this_thread::sleep_for(std::chrono::milliseconds(static_cast(interval * 1000))); + } +} + +void Changingtek_p_rtu_Servo::start_monitoring(double interval) { + if (!_monitor_running) { + _monitor_running = true; + _monitor_thread = std::thread(&Changingtek_p_rtu_Servo::_monitor_loop, this, interval); + _monitor_thread.detach(); // 分离线程，类似 Python daemon=True + std::cout << "实时监控已启动。" << std::endl; + } +} + +void Changingtek_p_rtu_Servo::stop_monitoring() { + if (_monitor_running) { + _monitor_running = false; + // 由于 detach 了，不能 join。 + // 但我们可以等待一小段时间让循环退出 + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + std::cout << "实时监控已停止。" << std::endl; + } +} diff --git a/sdk/changingtek_p_rtu_Servo_cpp_version/Changingtek_p_rtu_Servo.h b/sdk/changingtek_p_rtu_Servo_cpp_version/Changingtek_p_rtu_Servo.h new file mode 100644 index 0000000..40b499b --- /dev/null +++ b/sdk/changingtek_p_rtu_Servo_cpp_version/Changingtek_p_rtu_Servo.h @@ -0,0 +1,189 @@ +#ifndef CHANGINGTEK_P_RTU_SERVO_H +#define CHANGINGTEK_P_RTU_SERVO_H + +#include +#include +#include +#include +#include +#include + +#ifndef WIN32_LEAN_AND_MEAN +#define WIN32_LEAN_AND_MEAN +#endif + +#ifdef _WIN32 +#include +typedef HANDLE SerialHandle; +#define INVALID_SERIAL_HANDLE INVALID_HANDLE_VALUE +#else +#include +#include +#include +#include +#include +#include +typedef int SerialHandle; +#define INVALID_SERIAL_HANDLE -1 +#endif +#include + +// ----------------------------- +// 寄存器地址映射 (保持寄存器, 功能码 0x03/0x06/0x10) +// ----------------------------- + +// 写入寄存器 (目标值/控制) +const uint16_t REG_TARGET_POS_HIGH = 0x0102; // 目标位置（高16位） +const uint16_t REG_TARGET_POS_LOW = 0x0103; // 目标位置（低16位） +const uint16_t REG_TARGET_SPEED = 0x0104; // 目标速度 +const uint16_t REG_TARGET_FORCE = 0x0105; // 目标力/力矩 +const uint16_t REG_TARGET_ACCELERATION = 0x0106; // 目标加速度 +const uint16_t REG_TARGET_DECELERATION = 0x0107; // 目标减速度 +const uint16_t REG_MOTION_TRIGGER = 0x0108; // 运动触发（0: 空闲, 1: 触发） + +// 读取寄存器 (反馈/状态) +const uint16_t REG_REAL_POS_HIGH = 0x0418; // 实时位置（高16位） +const uint16_t REG_REAL_POS_LOW = 0x0419; // 实时位置（低16位） +const uint16_t REG_REAL_SPEED = 0x041A; // 实时速度反馈 +const uint16_t REG_REAL_CURRENT = 0x041B; // 实时电流反馈 + +/** + * Changingtek_p_rtu_Servo 类 + * + * 封装了基于 Modbus RTU (RS-485) 的伺服步进控制器协议。 + * 提供了连接、运动控制以及状态读取功能。 + */ +class Changingtek_p_rtu_Servo { +public: + /** + * 构造函数 + * @param port 串口名称，例如 "COM3" 或 "/dev/ttyUSB0" + * @param slave_id Modbus 从站地址 (默认 1) + * @param baudrate 波特率 (默认 115200) + * @param timeout 读写超时时间 (秒, 默认 1.0) + */ + Changingtek_p_rtu_Servo(const std::string& port, int slave_id = 1, int baudrate = 115200, double timeout = 1.0); + ~Changingtek_p_rtu_Servo(); + + /** + * 连接串口 + * @return 成功返回 true，失败返回 false + */ + bool connect(); + + /** + * 断开串口连接 + */ + void disconnect(); + + // ------------- 目标值/控制写入操作 ------------- + + /** + * 设置目标位置 + * @param position 目标位置值 + */ + void set_target_position(int position); + + /** + * 设置目标速度 + * @param speed 目标速度值 + */ + void set_target_speed(int speed); + + /** + * 设置目标力/力矩 + * @param force 目标力/力矩值 + */ + void set_target_force(int force); + + /** + * 设置目标加速度 + * @param acceleration 目标加速度值 + */ + void set_target_acceleration(int acceleration); + + /** + * 设置目标减速度 + * @param deceleration 目标减速度值 + */ + void set_target_deceleration(int deceleration); + + /** + * 触发运动 + */ + void trigger_motion(); + + /** + * 临时运动控制方法，一次性设置所有运动参数并可选触发运动 + * + * @param position_mm 目标位置(毫米/脉冲) + * @param speed_pct 速度百分比 + * @param force_pct 力/力矩百分比 + * @param accel 加速度值 + * @param decel 减速度值 + * @param trigger 是否立即触发运动，默认为 true + */ + void temp_move(int position_mm, int speed_pct, int force_pct, int accel, int decel, bool trigger = true); + + // ------------- 反馈/状态读取操作 ------------- + + /** + * 读取实时位置 + * @return 组合后的32位实时位置 + */ + int read_real_position(); + + /** + * 读取实时速度反馈 + * @return 实时速度值 + */ + int read_real_speed(); + + /** + * 读取实时电流反馈 + * @return 实时电流值 + */ + int read_real_current(); + + // ------------- 实时监控 ------------- + + /** + * 启动实时数据监控线程 + * @param interval 监控间隔（秒，默认: 0.5） + */ + void start_monitoring(double interval = 0.5); + + /** + * 停止实时数据监控线程 + */ + void stop_monitoring(); + +private: + std::string port_name; + int slave_id; + int baudrate; + double timeout; + SerialHandle hSerial; + + // 线程安全锁 + std::mutex _mutex; + + // 监控线程相关 + std::atomic _monitor_running; + std::thread _monitor_thread; + void _monitor_loop(double interval); + + // 内部 Modbus 辅助函数 + void _write_register(uint16_t addr, uint16_t value); + void _write_registers(uint16_t addr, const std::vector& values); + uint16_t _read_register(uint16_t addr); + std::vector _read_registers(uint16_t addr, int count); + + // 底层通信函数 + void send_frame(const std::vector& frame); + std::vector receive_response(int expected_min_bytes = 0); + uint16_t calculate_crc(const std::vector& data); + void throw_error(const std::string& msg); +}; + +#endif // CHANGINGTEK_P_RTU_SERVO_H diff --git a/sdk/changingtek_p_rtu_Servo_cpp_version/Makefile b/sdk/changingtek_p_rtu_Servo_cpp_version/Makefile new file mode 100644 index 0000000..36b08ed --- /dev/null +++ b/sdk/changingtek_p_rtu_Servo_cpp_version/Makefile @@ -0,0 +1,18 @@ +CXX = g++ +CXXFLAGS = -std=c++11 -Wall -pthread +TARGET = example_servo +SRCS = main.cpp Changingtek_p_rtu_Servo.cpp +OBJS = $(SRCS:.cpp=.o) + +all: $(TARGET) + +$(TARGET): $(OBJS) + $(CXX) $(CXXFLAGS) -o $@ $^ + +%.o: %.cpp + $(CXX) $(CXXFLAGS) -c $< -o $@ + +clean: + rm -f $(OBJS) $(TARGET) + +.PHONY: all clean diff --git a/sdk/changingtek_p_rtu_Servo_cpp_version/README.md b/sdk/changingtek_p_rtu_Servo_cpp_version/README.md new file mode 100644 index 0000000..974fdb3 --- /dev/null +++ b/sdk/changingtek_p_rtu_Servo_cpp_version/README.md @@ -0,0 +1,71 @@ +# Changingtek 伺服步进控制器 C++ SDK + +基于 Modbus RTU 协议的伺服步进电机控制 SDK (C++ 版本)。 +本 SDK 采用跨平台设计，一套代码可同时支持 **Windows** 和 **Linux (x86/ARM)** 系统。 + +## 目录结构 + +- `Changingtek_p_rtu_Servo.h`: SDK 头文件 (核心接口) +- `Changingtek_p_rtu_Servo.cpp`: SDK 实现文件 (Modbus RTU 通信逻辑) +- `main.cpp`: 主程序 (包含 5 次循环控制演示) +- `compile_and_run.bat`: Windows 编译运行脚本 (MSVC) +- `Makefile`: Linux 编译脚本 + +## 编译与运行指南 + +### 1. Windows 环境 + +**前提条件**: 安装 Visual Studio (支持 C++ 开发)。 + +**操作步骤**: +1. 确保 USB 转串口模块已插入，并确认端口号 (例如 `COM3`)。 +2. 如需修改端口，编辑 `main.cpp` 中的 `port` 变量。 +3. 双击运行 `compile_and_run.bat`，或在命令行中执行： + ```cmd + compile_and_run.bat + ``` + +--- + +### 2. Linux 环境 (Ubuntu / ARM 架构) + +**前提条件**: 系统已安装 `g++` 和 `make` 工具。 + +**操作步骤**: + +1. **编译**: + 打开终端进入项目目录，执行 `make` 命令： + ```bash + cd /path/to/changingtek_p_rtu_Servo_cpp_version + make + ``` + 编译成功后会生成可执行文件 `example_servo`。 + +2. **配置权限与端口**: + * 确认设备端口：通常为 `/dev/ttyUSB0` (USB转串口) 或 `/dev/ttyTHS1` (嵌入式板载串口)。 + * 如果端口不是默认的 `/dev/ttyUSB0`，请修改 `main.cpp` 第 20 行： + ```cpp + port = "/dev/ttyTHS1"; // 示例：修改为实际端口 + ``` + 修改后需要重新运行 `make`。 + * 授予串口读写权限 (如遇到 Permission denied 错误)： + ```bash + sudo chmod 666 /dev/ttyUSB0 + ``` + +3. **运行**: + ```bash + ./example_servo + ``` + +4. **清理**: + 删除编译生成的文件： + ```bash + make clean + ``` + +## 功能特性 + +- **跨平台兼容**: 自动识别操作系统 (`_WIN32` 宏)，底层分别调用 Windows API 和 Linux 系统调用 (termios)，无需修改代码即可移植。 +- **通信优化**: 针对伺服控制优化，使用 Modbus 0x10 功能码实现多寄存器同步写入 (位置/速度/力矩/加减速)，显著降低通信延迟。 +- **线程安全**: 内部集成互斥锁 (`std::mutex`)，支持在主线程控制运动的同时，后台线程实时读取电机状态。 diff --git a/sdk/changingtek_p_rtu_Servo_cpp_version/compile_and_run.bat b/sdk/changingtek_p_rtu_Servo_cpp_version/compile_and_run.bat new file mode 100644 index 0000000..f1f9d64 --- /dev/null +++ b/sdk/changingtek_p_rtu_Servo_cpp_version/compile_and_run.bat @@ -0,0 +1,6 @@ +@echo off +call "C:\Program Files\Microsoft Visual Studio\18\Community\VC\Auxiliary\Build\vcvars64.bat" +cl /utf-8 /EHsc main.cpp Changingtek_p_rtu_Servo.cpp /Fe:example_servo.exe +if %errorlevel% neq 0 exit /b %errorlevel% +del *.obj +example_servo.exe diff --git a/sdk/changingtek_p_rtu_Servo_cpp_version/example_servo.exe b/sdk/changingtek_p_rtu_Servo_cpp_version/example_servo.exe new file mode 100644 index 0000000..28fbda2 Binary files /dev/null and b/sdk/changingtek_p_rtu_Servo_cpp_version/example_servo.exe differ diff --git a/sdk/changingtek_p_rtu_Servo_cpp_version/main.cpp b/sdk/changingtek_p_rtu_Servo_cpp_version/main.cpp new file mode 100644 index 0000000..eb60f28 --- /dev/null +++ b/sdk/changingtek_p_rtu_Servo_cpp_version/main.cpp @@ -0,0 +1,71 @@ +#include "Changingtek_p_rtu_Servo.h" +#include +#include +#include + +#ifdef _WIN32 +#include +#endif + +int main() { +#ifdef _WIN32 + // 设置控制台代码页为 UTF-8，解决中文乱码问题 + SetConsoleOutputCP(65001); +#endif + + std::string port; +#ifdef _WIN32 + port = "COM3"; // Windows 默认端口 +#else + port = "/dev/ttyUSB0"; // Linux 默认端口 +#endif + + int slave_id = 1; + + std::cout << "正在初始化伺服步进控制器 SDK (端口: " << port << ", ID: " << slave_id << ")..." << std::endl; + + try { + Changingtek_p_rtu_Servo sdk(port, slave_id); + + if (!sdk.connect()) { + std::cerr << "连接失败！" << std::endl; + return 1; + } + std::cout << "连接成功！" << std::endl; + + // 启动实时监控 + sdk.start_monitoring(0.5); + + // 循环控制：5次往复运动 + // 假设 9000 为闭合位置，0 为张开位置 + // 最后一次循环结束后，确保处于张开位置 (0) + for (int i = 0; i < 5; ++i) { + std::cout << "\n--- 第 " << (i + 1) << "/5 次循环 ---" << std::endl; + + // 阶段1: 运动到位置 9000 (闭合?) + std::cout << "执行阶段 1: 移动到位置 9000..." << std::endl; + sdk.temp_move(9000, 50, 25, 60, 60, true); + std::this_thread::sleep_for(std::chrono::seconds(3)); // 等待运动完成 + + // 阶段2: 运动到位置 0 (张开?) + std::cout << "执行阶段 2: 移动到位置 0..." << std::endl; + sdk.temp_move(0, 50, 25, 60, 60, true); + std::this_thread::sleep_for(std::chrono::seconds(3)); // 等待运动完成 + } + + std::cout << "\n循环结束，确认最终状态为张开 (位置 0)..." << std::endl; + // 再次发送指令确保最终状态为 0 (虽然循环最后一步已经是 0，但这保证了"最后要张开"的要求) + sdk.temp_move(0, 50, 25, 60, 60, true); + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 停止监控 + sdk.stop_monitoring(); + std::cout << "程序已完成。" << std::endl; + + } catch (const std::exception& e) { + std::cerr << "发生异常: " << e.what() << std::endl; + return 1; + } + + return 0; +} diff --git a/sdk/test_gripper_comm.py b/sdk/test_gripper_comm.py new file mode 100644 index 0000000..c7bef81 --- /dev/null +++ b/sdk/test_gripper_comm.py @@ -0,0 +1,11 @@ +from changingtek_p_rtu_Servo import MotorController + + +PORT = "COM3" +SLAVE_ID = 1 + + +if __name__ == "__main__": + sdk = MotorController(PORT, SLAVE_ID, baudrate=115200, timeout=1.0) + print("Reading gripper position...") + print("position:", sdk.read_real_position()) diff --git a/src/orisys.egg-info/PKG-INFO b/src/orisys.egg-info/PKG-INFO new file mode 100644 index 0000000..feabbf2 --- /dev/null +++ b/src/orisys.egg-info/PKG-INFO @@ -0,0 +1,20 @@ +Metadata-Version: 2.4 +Name: orisys +Version: 0.3.1 +Summary: Orisys - Optical Tactile Sensor SDK +Author: Your Name +Requires-Python: >=3.8 +Requires-Dist: numpy>=1.24.4 +Requires-Dist: opencv-python>=4.10.0.84 +Requires-Dist: scipy>=1.10.1 +Provides-Extra: cuda12 +Requires-Dist: cupy-cuda12x>=12.3.0; extra == "cuda12" +Provides-Extra: cuda13 +Requires-Dist: cupy-cuda13x>=13.0.0; extra == "cuda13" +Provides-Extra: cuda +Requires-Dist: cupy-cuda12x>=12.3.0; extra == "cuda" +Dynamic: author +Dynamic: provides-extra +Dynamic: requires-dist +Dynamic: requires-python +Dynamic: summary diff --git a/src/orisys.egg-info/SOURCES.txt b/src/orisys.egg-info/SOURCES.txt new file mode 100644 index 0000000..68627cf --- /dev/null +++ b/src/orisys.egg-info/SOURCES.txt @@ -0,0 +1,34 @@ +README.md +setup.py +config/ddjx01.json +config/ddjx01_480p.json +config/ddjx01_q6a.json +config/ddjx01_wuxi.json +config/prototype_of3.json +config/prototype_of3_480p.json +config/prototype_of3_720p.json +config/prototype_raft.json +src/orisys/Stitcher.py +src/orisys/__init__.py +src/orisys/backend_availability.py +src/orisys/configs.py +src/orisys/get_depth.py +src/orisys/hand.py +src/orisys/sensor.py +src/orisys/tracker.py +src/orisys/util.py +src/orisys.egg-info/PKG-INFO +src/orisys.egg-info/SOURCES.txt +src/orisys.egg-info/dependency_links.txt +src/orisys.egg-info/requires.txt +src/orisys.egg-info/top_level.txt +src/orisys/hhd/__init__.py +src/orisys/hhd/api.py +src/orisys/hhd/grid.py +src/orisys/hhd/kernels.py +src/orisys/hhd/poisson.py +src/orisys/hhd/timing.py +tests/test_backends.py +tests/test_errors_and_cleanup.py +tests/test_longrun_stability.py +tests/test_smoke_api.py \ No newline at end of file diff --git a/src/orisys.egg-info/dependency_links.txt b/src/orisys.egg-info/dependency_links.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/orisys.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/src/orisys.egg-info/requires.txt b/src/orisys.egg-info/requires.txt new file mode 100644 index 0000000..129187b --- /dev/null +++ b/src/orisys.egg-info/requires.txt @@ -0,0 +1,12 @@ +numpy>=1.24.4 +opencv-python>=4.10.0.84 +scipy>=1.10.1 + +[cuda] +cupy-cuda12x>=12.3.0 + +[cuda12] +cupy-cuda12x>=12.3.0 + +[cuda13] +cupy-cuda13x>=13.0.0 diff --git a/src/orisys.egg-info/top_level.txt b/src/orisys.egg-info/top_level.txt new file mode 100644 index 0000000..10e41e4 --- /dev/null +++ b/src/orisys.egg-info/top_level.txt @@ -0,0 +1 @@ +orisys diff --git a/src/orisys/.gitignore b/src/orisys/.gitignore new file mode 100644 index 0000000..b2d3e49 --- /dev/null +++ b/src/orisys/.gitignore @@ -0,0 +1,5 @@ +/build/ +/dist/ +/dist_obfuscated/ +/release/ +__pycache__/ \ No newline at end of file diff --git a/src/orisys/Stitcher.py b/src/orisys/Stitcher.py new file mode 100644 index 0000000..e6e4cfd --- /dev/null +++ b/src/orisys/Stitcher.py @@ -0,0 +1,1209 @@ +import os +import numpy as np +import scipy.fft +from scipy import ndimage +import cv2 + +class Stitcher: + + def __init__(self,isstitch=False, config_stitcher=None,verbose=False): + + # Settings + self.isstitch = isstitch + self.config_stitcher = config_stitcher + self.verbose = verbose + # Find Boxes Related + self.min_area_frac = config_stitcher["min_area_frac"] + self.max_area_frac = config_stitcher["max_area_frac"] + self.max_aspect_ratio = config_stitcher["max_aspect_ratio"] + + # stitch related + self.stitch_valid = False + self.boxes = self.units = None + self.index = config_stitcher["index"] + self.stitch_calibration = self.tile_list = [] + self.ncol = config_stitcher["n"][0] + self.nrow = config_stitcher["n"][1] + self.nominal_ov_pos=config_stitcher["nominal_ov_pos"] + self.margin=config_stitcher["margin"] + self.bound=self.nominal_ov_pos - self.margin + self.row_tol = config_stitcher["row_tol"] + self.box_size = config_stitcher["box_size"] + + # stich related (BF-matching) + self._blend_coef_cache = {} + self._feature_stitch_cache = { + "ref_idx": None, + "moving_indices": None, + "tile_shapes": None, + "transforms": None, + "canvas": {}, + } + self._feature_stitch_frame_idx = 0 + self._feature_stitch_print_every = 30 + self._feature_stitch_pad = 5 + self._feature_stitch_match_brightness = False + + if self.verbose: + print(f"Stitcher initialized with config: {self.config_stitcher}") + + def configure_feature_stitch(self, *, match_brightness=None, pad=None, print_every=None): + """Update runtime options for feature-based stitching.""" + if match_brightness is not None: + self._feature_stitch_match_brightness = bool(match_brightness) + if pad is not None: + self._feature_stitch_pad = max(0, int(pad)) + if print_every is not None: + self._feature_stitch_print_every = max(1, int(print_every)) + + def _get_blend_coef(self, ov_pos, dim, ndim): + key = (ov_pos, dim, ndim) + coef = self._blend_coef_cache.get(key) + if coef is not None: + return coef + blend_coef = np.linspace(1.0, 0.0, ov_pos, dtype=np.float32) + if dim == 1: + blend_coef = blend_coef.reshape(1, ov_pos, 1) if ndim == 3 else blend_coef.reshape(1, ov_pos) + else: + blend_coef = blend_coef.reshape(ov_pos, 1, 1) if ndim == 3 else blend_coef.reshape(ov_pos, 1) + self._blend_coef_cache[key] = blend_coef + return blend_coef + + def stitch_rt_optimized(self, change_sv=False, s_mean=28., v_mean=180., blend=True): + feature_stitched = self.stitch_feature_optimized( + blend=blend, + match_brightness=self._feature_stitch_match_brightness, + pad=self._feature_stitch_pad, + print_every=self._feature_stitch_print_every, + ) + if feature_stitched is not None: + return feature_stitched + + # tile_list = self.tile_list + # stitch_calibration = self.stitch_calibration + # ncol = self.ncol + # nrow = self.nrow + + # img_stitched_height = None + + # for i in range(nrow): + # # Start with first tile of the row + # img_stitched_width = tile_list[i * ncol] + + # # Stitch horizontally within the row + # for j in range(1, ncol): + # img_1 = img_stitched_width + # img_2 = tile_list[i * ncol + j] + + # ov_pos = int(stitch_calibration[i * ncol + j - 1][1]) + # ov_pos, ov1, ov2 = self.__find_ov(img_1, img_2, ov_pos, dim=1) + + # img_stitched_width = self.__stitch_optimized( + # img_1, img_2, ov_pos, ov1, ov2, dim=1, blend=blend + # ) + + # # Stitch rows vertically + # if i == 0: + # img_stitched_height = img_stitched_width + # else: + # width_h = img_stitched_height.shape[1] + # width_w = img_stitched_width.shape[1] + # wdiff = width_h - width_w + + # if wdiff != 0: + # if wdiff > 0: + # padding = ( + # ((0, 0), (0, wdiff), (0, 0)) + # if len(img_stitched_width.shape) == 3 + # else ((0, 0), (0, wdiff)) + # ) + # img_stitched_width = np.pad(img_stitched_width, padding, mode='edge') + # else: + # img_stitched_width = img_stitched_width[:, :width_h] + + # ov_pos_h = int(stitch_calibration[(i + 1) * nrow - 1][1]) + # ov_pos_h, ov_h1, ov_h2 = self.__find_ov( + # img_stitched_height, img_stitched_width, ov_pos_h, dim=0 + # ) + + # img_stitched_height = self.__stitch_optimized( + # img_stitched_height, img_stitched_width, ov_pos_h, ov_h1, ov_h2, dim=0, blend=blend + # ) + + # return img_stitched_height + + def stitch_feature_optimized(self, blend=True, match_brightness=False, pad=5, print_every=30): + """ + Stitch the current tile grid by estimating tile-to-reference transforms once and + reusing them across frames. Falls back to overlap stitching when feature matching + cannot build a valid layout. + """ + plan = self._get_feature_stitch_plan() + if plan is None: + return None + + ref_idx, t_ref, moving_indices, moving_tiles, selected_positions = plan + self._feature_stitch_frame_idx += 1 + frame_idx = self._feature_stitch_frame_idx + tile_shapes = tuple(self.tile_list[pos].shape[:2] for pos in selected_positions) + cache = self._feature_stitch_cache + cache_changed = ( + cache["ref_idx"] != ref_idx + or cache["moving_indices"] != moving_indices + or cache["tile_shapes"] != tile_shapes + ) + + if cache_changed: + cache["ref_idx"] = ref_idx + cache["moving_indices"] = moving_indices + cache["tile_shapes"] = tile_shapes + cache["transforms"] = None + cache["canvas"] = {} + if self.verbose: + print( + "Feature stitch tile selection: " + f"ref_idx={ref_idx}, moving_indices={list(moving_indices)}" + ) + + H_use_list = cache["transforms"] + if H_use_list is None: + do_verbose_first = self.verbose and frame_idx % print_every == 0 + H_use_list = [] + for j, tile in enumerate(moving_tiles): + H_use_j, _ = self._estimate_bfmatcher_stitch_transform( + t_ref, + tile, + verbose=(do_verbose_first and j == 0), + ) + H_use_list.append(H_use_j) + cache["transforms"] = H_use_list + + if not any(H is not None for H in H_use_list): + return None + + return self._render_feature_tiles( + t_ref, + moving_tiles, + H_use_list, + pad=pad, + frame_idx=frame_idx, + print_every=print_every, + verbose=self.verbose, + match_brightness=match_brightness, + canvas_cache=cache["canvas"], + blend=blend, + ) + + # def __find_ov(self, img1, img2, ov_pos, dim=1): + + # _dim = len(img1.shape) + + # if dim == 1: + # if _dim == 3: + # # RGB case + # ov_1 = img1[:, -ov_pos:, :] + # ov_2 = img2[:, :ov_pos, :] + # else: + # # gray scale + # ov_1 = img1[:, -ov_pos:] + # ov_2 = img2[:, :ov_pos] + # elif dim == 0: + # if _dim == 3: + # ov_1 = img1[-ov_pos:, :, :] + # ov_2 = img2[:ov_pos, :, :] + # else: + # # gray scale + # ov_1 = img1[-ov_pos:, :] + # ov_2 = img2[:ov_pos, :] + + # return ov_pos, ov_1, ov_2 + + def _get_feature_stitch_plan(self): + if not self.isstitch: + return None + + if isinstance(self.index, int): + configured_indices = (self.index,) + elif isinstance(self.index, np.ndarray): + configured_indices = tuple(int(i) for i in self.index.tolist()) + else: + configured_indices = tuple(int(i) for i in self.index) + + total_tiles = len(configured_indices) + expected_tiles = self.nrow * self.ncol + if total_tiles <= 1 or total_tiles != expected_tiles or len(self.tile_list) < total_tiles: + return None + + # Use the configured grid order from self.index and keep the same reference tile + # location as the original stitch setup. + ref_pos = (self.nrow // 2) * self.ncol + (self.ncol // 2) + if ref_pos >= total_tiles: + return None + + selected_positions = tuple(range(total_tiles)) + ref_idx = configured_indices[ref_pos] + moving_positions = tuple(pos for pos in selected_positions if pos != ref_pos) + moving_indices = tuple(configured_indices[pos] for pos in moving_positions) + moving_tiles = [self.tile_list[pos] for pos in moving_positions] + return ref_idx, self.tile_list[ref_pos], moving_indices, moving_tiles, selected_positions + + def _tile_to_bgr(self, img): + if img.ndim == 2: + return cv2.cvtColor(img, cv2.COLOR_GRAY2BGR) + return img + + def _tile_to_gray(self, bgr): + if bgr.ndim == 2: + return bgr + return cv2.cvtColor(bgr, cv2.COLOR_BGR2GRAY) + + def _ensure_u8_gray(self, gray): + if gray.dtype == np.uint8: + return gray + return cv2.normalize(gray, None, 0, 255, cv2.NORM_MINMAX).astype(np.uint8) + + def _preprocess_gray_for_orb(self, g0, g1): + g0 = cv2.GaussianBlur(g0, (5, 5), 0) + g1 = cv2.GaussianBlur(g1, (5, 5), 0) + g0 = cv2.equalizeHist(g0) + g1 = cv2.equalizeHist(g1) + return g0, g1 + + def _estimate_bfmatcher_stitch_transform( + self, + t0, + t1, + *, + ransac_reproj_thresh=5.0, + ratio=0.9, + orb_nfeatures=5000, + verbose=True, + ): + """ + Estimate a 3x3 transform mapping tile coordinates into the reference tile frame. + """ + t0_bgr = self._tile_to_bgr(t0) + t1_bgr = self._tile_to_bgr(t1) + g0 = self._ensure_u8_gray(self._tile_to_gray(t0_bgr)) + g1 = self._ensure_u8_gray(self._tile_to_gray(t1_bgr)) + + if verbose: + print( + f"BF stitcher debug: t0 dtype={t0.dtype}, t1 dtype={t1.dtype}, " + f"g0 dtype={g0.dtype}, g0 range=({np.min(g0)}, {np.max(g0)}), " + f"g1 dtype={g1.dtype}, g1 range=({np.min(g1)}, {np.max(g1)})" + ) + + g0, g1 = self._preprocess_gray_for_orb(g0, g1) + orb = cv2.ORB_create( + nfeatures=orb_nfeatures, + scaleFactor=1.2, + nlevels=8, + edgeThreshold=15, + fastThreshold=5, + ) + k0, d0 = orb.detectAndCompute(g0, None) + k1, d1 = orb.detectAndCompute(g1, None) + + info = { + "ok": False, + "method": None, + "inliers": 0, + "mean_err": None, + "good_matches": 0, + "k0": k0, + "k1": k1, + "t0_bgr": t0_bgr, + "t1_bgr": t1_bgr, + } + if d0 is None or d1 is None or len(k0) < 4 or len(k1) < 4: + if verbose: + print( + "OpenCV BFMatcher stitcher: not enough features.", + f"k0={0 if k0 is None else len(k0)}", + f"k1={0 if k1 is None else len(k1)}", + f"d0_is_none={d0 is None}", + f"d1_is_none={d1 is None}", + ) + return None, info + + matches = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=False).knnMatch(d0, d1, k=2) + good = [] + for m_n in matches: + if len(m_n) != 2: + continue + m, n = m_n + if m.distance < ratio * n.distance: + good.append(m) + + info["good_matches"] = len(good) + if verbose: + print(f"BFMatcher good matches: {len(good)}") + if len(good) < 4: + return None, info + + pts0 = np.float32([k0[m.queryIdx].pt for m in good]).reshape(-1, 1, 2) + pts1 = np.float32([k1[m.trainIdx].pt for m in good]).reshape(-1, 1, 2) + method = "affine_partial2d" + M, inlier_mask = cv2.estimateAffinePartial2D( + pts1, + pts0, + method=cv2.RANSAC, + ransacReprojThreshold=ransac_reproj_thresh, + ) + if M is not None: + H = np.vstack([M, [0, 0, 1]]).astype(np.float64) + else: + method = "homography" + H, inlier_mask = cv2.findHomography(pts1, pts0, cv2.RANSAC, ransac_reproj_thresh) + + info["method"] = method + info["inliers"] = int(inlier_mask.sum()) if inlier_mask is not None else 0 + if verbose: + print(f"Estimated {method} inliers: {info['inliers']}") + if H is None: + return None, info + + if abs(H[2, 2]) > 1e-12: + H = H / H[2, 2] + + mean_err = 1e9 + if inlier_mask is not None: + inlier_bool = inlier_mask.ravel().astype(bool) + if np.any(inlier_bool): + projected = cv2.perspectiveTransform(pts1[inlier_bool], H) + err = np.linalg.norm( + projected.reshape(-1, 2) - pts0[inlier_bool].reshape(-1, 2), + axis=1, + ) + mean_err = float(err.mean()) if err.size else 1e9 + info["mean_err"] = mean_err + info["ok"] = True + return H, info + + def _translation_from_H_to_ref(self, H): + if H is None: + return 0.0, 0.0 + H = np.asarray(H, dtype=np.float64) + if abs(H[2, 2]) > 1e-12: + H = H / H[2, 2] + pt = H @ np.array([[0.0], [0.0], [1.0]], dtype=np.float64) + return float(pt[0, 0]), float(pt[1, 0]) + + def _tile_weight_map(self, h, w, margin=16): + """ + Linear ramp weight that is 0 at tile edges and 1.0 at margin pixels inward. + Used for feathered blending at tile overlaps. + """ + wy = np.ones(h, dtype=np.float32) + wx = np.ones(w, dtype=np.float32) + m = min(margin, h // 2, w // 2) + if m > 0: + ramp = np.linspace(0.0, 1.0, m + 1, dtype=np.float32)[1:] + wy[:m] = ramp + wy[-m:] = ramp[::-1] + wx[:m] = ramp + wx[-m:] = ramp[::-1] + return wy[:, None] * wx[None, :] + + def _blend_tile_inplace(self, blend, wsum, cov, src, weight, y0, x0, scratch=None): + """Copy non-overlap tiles directly; blend only when this tile touches existing content.""" + h, w = src.shape[:2] + H, W = blend.shape[:2] + y0d, x0d = max(0, y0), max(0, x0) + y1d, x1d = min(H, y0 + h), min(W, x0 + w) + if y0d >= y1d or x0d >= x1d: + return + + sy0, sx0 = y0d - y0, x0d - x0 + sh, sw = y1d - y0d, x1d - x0d + w_patch = weight[sy0 : sy0 + sh, sx0 : sx0 + sw] + blend_patch = blend[y0d:y1d, x0d:x1d] + wsum_patch = wsum[y0d:y1d, x0d:x1d] + cov_patch = cov[y0d:y1d, x0d:x1d] + src_patch = src[sy0 : sy0 + sh, sx0 : sx0 + sw] + + if not np.any(cov_patch): + blend_patch[:] = src_patch + wsum_patch[:] = w_patch + elif scratch is not None: + s_src, s_alpha = scratch + sf = s_src[:sh, :sw] + sa = s_alpha[:sh, :sw] + sf[:] = src_patch + np.add(wsum_patch, w_patch, out=wsum_patch) + np.maximum(wsum_patch, 1e-6, out=sa) + np.divide(w_patch, sa, out=sa) + np.subtract(sf, blend_patch, out=sf) + sf[:, :, 0] *= sa + sf[:, :, 1] *= sa + sf[:, :, 2] *= sa + np.add(blend_patch, sf, out=blend_patch) + else: + total = wsum_patch + w_patch + alpha = w_patch / np.maximum(total, 1e-6) + src_patch_f = src_patch.astype(np.float32, copy=False) + blend_patch += (src_patch_f - blend_patch) * alpha[:, :, None] + wsum_patch[:] = total + + cov_patch[:] = 1 + + def _mean_gray_bgr(self, bgr): + ch = cv2.mean(bgr) + return (ch[0] + ch[1] + ch[2]) / 3.0 + + def _match_bgr_brightness(self, tile_bgr, ref_mean_gray): + delta = int(round(ref_mean_gray - self._mean_gray_bgr(tile_bgr))) + if delta == 0: + return tile_bgr + lut = np.clip(np.arange(256, dtype=np.int16) + delta, 0, 255).astype(np.uint8) + return cv2.LUT(tile_bgr, lut) + + def _largest_fully_covered_rect(self, cov): + if cov.size == 0: + return None + + mask = cov > 0 + if not np.any(mask): + return None + + h, w = mask.shape + heights = np.zeros(w, dtype=np.int32) + best_area = 0 + best_rect = None + for y in range(h): + heights = np.where(mask[y], heights + 1, 0) + stack = [] + for x in range(w + 1): + cur_h = heights[x] if x < w else 0 + start = x + while stack and stack[-1][1] > cur_h: + start0, h0 = stack.pop() + area = h0 * (x - start0) + if area > best_area: + best_area = area + best_rect = (y - h0 + 1, y + 1, start0, x) + start = start0 + if not stack or stack[-1][1] < cur_h: + stack.append((start, cur_h)) + return best_rect + + def _compute_final_crop_rect(self, cov): + valid = cov > 0 + if not np.any(valid): + return None + + ys, xs = np.where(valid) + by0, by1 = int(ys.min()), int(ys.max()) + 1 + bx0, bx1 = int(xs.min()), int(xs.max()) + 1 + rect2 = self._largest_fully_covered_rect(cov[by0:by1, bx0:bx1]) + if rect2 is None: + return by0, by1, bx0, bx1 + + y0, y1, x0, x1 = rect2 + return by0 + y0, by0 + y1, bx0 + x0, bx0 + x1 + + def _geom_cache_key(self, t_ref_bgr, tiles_bgr_c, pad): + ref_h, ref_w = t_ref_bgr.shape[:2] + shapes = tuple(tb.shape[:2] for tb in tiles_bgr_c) + return ref_h, ref_w, shapes, pad + + def _render_feature_tiles( + self, + t_ref_bgr, + tiles_bgr, + H_use_list, + *, + pad=5, + frame_idx=0, + print_every=30, + verbose=False, + match_brightness=False, + canvas_cache=None, + blend=True, + ): + """ + Composite multiple tiles into one canvas using translation only, where each tile + origin maps into the reference tile coordinates. + """ + if H_use_list is None: + return None + + if canvas_cache is None: + canvas_cache = {} + do_profile = verbose and frame_idx % print_every == 0 + t_profile0 = cv2.getTickCount() / cv2.getTickFrequency() if do_profile else 0.0 + + if t_ref_bgr.ndim == 2: + t_ref_bgr = cv2.cvtColor(t_ref_bgr, cv2.COLOR_GRAY2BGR) + h0c, w0c = t_ref_bgr.shape[:2] + if match_brightness: + ref_mean_gray = self._mean_gray_bgr(t_ref_bgr) + tiles_bgr_c = [ + self._match_bgr_brightness( + tb if tb.ndim == 3 else cv2.cvtColor(tb, cv2.COLOR_GRAY2BGR), + ref_mean_gray, + ) + for tb in tiles_bgr + ] + elif any(tb.ndim == 2 for tb in tiles_bgr): + tiles_bgr_c = [tb if tb.ndim == 3 else cv2.cvtColor(tb, cv2.COLOR_GRAY2BGR) for tb in tiles_bgr] + else: + tiles_bgr_c = tiles_bgr + t_after_brightness = cv2.getTickCount() / cv2.getTickFrequency() if do_profile else 0.0 + + geom_key = self._geom_cache_key(t_ref_bgr, tiles_bgr_c, pad) + geom_cache_hit = canvas_cache.get("geom_key") == geom_key + if not geom_cache_hit: + ref_corners = np.array([[0, 0], [w0c, 0], [w0c, h0c], [0, h0c]], dtype=np.float64) + pts = [ref_corners] + for tile_bgr, H_use in zip(tiles_bgr_c, H_use_list): + if H_use is None: + continue + hi, wi = tile_bgr.shape[:2] + tx, ty = self._translation_from_H_to_ref(H_use) + pts.append( + np.array( + [[tx, ty], [tx + wi, ty], [tx + wi, ty + hi], [tx, ty + hi]], + dtype=np.float64, + ) + ) + + all_xy = np.concatenate(pts, axis=0) + x_min_f = float(all_xy[:, 0].min()) - pad + y_min_f = float(all_xy[:, 1].min()) - pad + x_max_f = float(all_xy[:, 0].max()) + pad + y_max_f = float(all_xy[:, 1].max()) + pad + out_w = max(1, int(np.ceil(x_max_f - x_min_f))) + out_h = max(1, int(np.ceil(y_max_f - y_min_f))) + ref_y0 = int(np.floor(-y_min_f)) + ref_x0 = int(np.floor(-x_min_f)) + + pastes = [] + for H_use in H_use_list: + if H_use is None: + pastes.append(None) + continue + tx, ty = self._translation_from_H_to_ref(H_use) + pastes.append((int(np.floor(ty - y_min_f)), int(np.floor(tx - x_min_f)))) + + _dr_y0 = max(0, ref_y0) + _dr_x0 = max(0, ref_x0) + _dr_y1 = min(out_h, ref_y0 + h0c) + _dr_x1 = min(out_w, ref_x0 + w0c) + for _tb, _pa in zip(tiles_bgr_c, pastes): + if _pa is None: + continue + _py, _px = _pa + _th, _tw = _tb.shape[:2] + _dr_y0 = min(_dr_y0, max(0, _py)) + _dr_x0 = min(_dr_x0, max(0, _px)) + _dr_y1 = max(_dr_y1, min(out_h, _py + _th)) + _dr_x1 = max(_dr_x1, min(out_w, _px + _tw)) + + canvas_cache["geom_key"] = geom_key + canvas_cache["out_w"] = out_w + canvas_cache["out_h"] = out_h + canvas_cache["ref_y0"] = ref_y0 + canvas_cache["ref_x0"] = ref_x0 + canvas_cache["pastes"] = pastes + canvas_cache["x_min_f"] = x_min_f + canvas_cache["y_min_f"] = y_min_f + canvas_cache["crop_rect"] = None + canvas_cache["dirty_rect"] = (_dr_y0, _dr_y1, _dr_x0, _dr_x1) + canvas_cache["blend_buf"] = np.zeros((out_h, out_w, 3), dtype=np.float32) + canvas_cache["wsum_buf"] = np.zeros((out_h, out_w), dtype=np.float32) + canvas_cache["cov_buf"] = np.zeros((out_h, out_w), dtype=np.uint8) + canvas_cache["weight_maps"] = {} + else: + out_w = canvas_cache["out_w"] + out_h = canvas_cache["out_h"] + ref_y0 = canvas_cache["ref_y0"] + ref_x0 = canvas_cache["ref_x0"] + pastes = canvas_cache["pastes"] + t_after_geom = cv2.getTickCount() / cv2.getTickFrequency() if do_profile else 0.0 + + blend_buf = canvas_cache["blend_buf"] + wsum = canvas_cache["wsum_buf"] + cov = canvas_cache["cov_buf"] + weight_maps = canvas_cache["weight_maps"] + if geom_cache_hit: + _dr = canvas_cache.get("dirty_rect") + if _dr is not None: + _dy0, _dy1, _dx0, _dx1 = _dr + blend_buf[_dy0:_dy1, _dx0:_dx1] = 0 + wsum[_dy0:_dy1, _dx0:_dx1] = 0 + cov[_dy0:_dy1, _dx0:_dx1] = 0 + else: + blend_buf.fill(0) + wsum.fill(0) + cov.fill(0) + t_after_reset = cv2.getTickCount() / cv2.getTickFrequency() if do_profile else 0.0 + + blend_margin = 16 if blend else 0 + max_th = max(h0c, *(tb.shape[0] for tb in tiles_bgr_c)) if tiles_bgr_c else h0c + max_tw = max(w0c, *(tb.shape[1] for tb in tiles_bgr_c)) if tiles_bgr_c else w0c + _ss = canvas_cache.get("scratch_src") + _sa = canvas_cache.get("scratch_alpha") + if _ss is None or _ss.shape[0] < max_th or _ss.shape[1] < max_tw: + _ss = np.empty((max_th, max_tw, 3), dtype=np.float32) + canvas_cache["scratch_src"] = _ss + if _sa is None or _sa.shape[0] < max_th or _sa.shape[1] < max_tw: + _sa = np.empty((max_th, max_tw), dtype=np.float32) + canvas_cache["scratch_alpha"] = _sa + _scratch = (_ss, _sa) + + blended_tiles = 0 + for tile_bgr, H_use, paste in zip(tiles_bgr_c, H_use_list, pastes): + if H_use is None or paste is None: + continue + y0, x0 = paste + th, tw = tile_bgr.shape[:2] + wkey = (th, tw, blend_margin) + if wkey not in weight_maps: + weight_maps[wkey] = self._tile_weight_map(th, tw, blend_margin) + self._blend_tile_inplace(blend_buf, wsum, cov, tile_bgr, weight_maps[wkey], y0, x0, _scratch) + blended_tiles += 1 + + ref_wkey = (h0c, w0c, blend_margin) + if ref_wkey not in weight_maps: + weight_maps[ref_wkey] = self._tile_weight_map(h0c, w0c, blend_margin) + self._blend_tile_inplace(blend_buf, wsum, cov, t_ref_bgr, weight_maps[ref_wkey], ref_y0, ref_x0, _scratch) + t_after_blend = cv2.getTickCount() / cv2.getTickFrequency() if do_profile else 0.0 + + crop_rect = canvas_cache.get("crop_rect") + if crop_rect is None: + crop_rect = self._compute_final_crop_rect(cov) + canvas_cache["crop_rect"] = crop_rect + if crop_rect is not None: + y0, y1, x0, x1 = crop_rect + roi = blend_buf[y0:y1, x0:x1] + else: + roi = blend_buf + rh, rw = roi.shape[:2] + stitch_buf = canvas_cache.get("stitch_buf") + if stitch_buf is None or stitch_buf.shape[0] != rh or stitch_buf.shape[1] != rw: + stitch_buf = np.empty((rh, rw, 3), dtype=np.uint8) + canvas_cache["stitch_buf"] = stitch_buf + cv2.convertScaleAbs(roi, dst=stitch_buf) + stitched = stitch_buf + t_after_finalize = cv2.getTickCount() / cv2.getTickFrequency() if do_profile else 0.0 + + if do_profile: + xmf = canvas_cache.get("x_min_f", 0.0) + ymf = canvas_cache.get("y_min_f", 0.0) + print( + f"stitch_feature_optimized: canvas out_w={out_w}, out_h={out_h}, " + f"x_min={xmf:.2f}, y_min={ymf:.2f}" + ) + print( + "stitch_feature_optimized steps: " + f"brightness={t_after_brightness - t_profile0:.6f}s, " + f"geom={t_after_geom - t_after_brightness:.6f}s ({'hit' if geom_cache_hit else 'miss'}), " + f"reset={t_after_reset - t_after_geom:.6f}s, " + f"blend={t_after_blend - t_after_reset:.6f}s ({blended_tiles + 1} tiles incl ref), " + f"finalize={t_after_finalize - t_after_blend:.6f}s, " + f"total={t_after_finalize - t_profile0:.6f}s" + ) + + return stitched + + def find_stitch_boxes(self,img_src,show = False): + + img_corr = self.__correct_edge_bloom(img_src) + self.__detect_nonblack_regions(img_corr,show = show, row_tol = self.row_tol) + return len(self.boxes), self.boxes + + # return self.boxes + + + def _copy_into_tile_buffer(self, src_view, dst, flip_x=True, flip_y=True): + if flip_x and flip_y: + cv2.flip(src_view, -1, dst) + elif flip_x: + cv2.flip(src_view, 1, dst) + elif flip_y: + cv2.flip(src_view, 0, dst) + else: + np.copyto(dst, src_view) + + def get_stitch_unit(self, img, flip_x=True, flip_y=True,index = np.arange(15)): + """ + Extract each tile given by boxes (x0,y0,x1,y1), default flip both X and Y due to inverting lens. + - img: source image (use corrected image if you prefer) + - boxes: list of (x0,y0,x1,y1) + - flip_x, flip_y: booleans (performed sequentially: X then Y) + - overlay_original: if True paste onto original image copy, otherwise onto blank background + - bg_color: background color for blank canvas (B,G,R) + Returns: canvas image and list of flipped tiles as (x0,y0,flipped_tile) + """ + h, w = img.shape[:2] + active_index = index if self.units is None else self.index + if isinstance(active_index, int): + selected_index = {active_index} + else: + selected_index = set(active_index) + flipped_units = [] if self.units is None else self.units + + for i, (x0, y0, x1, y1) in enumerate(self.boxes): + if i not in selected_index: + continue + + x0 = max(0, int(x0)); y0 = max(0, int(y0)) + x1 = min(w, int(x1)); y1 = min(h, int(y1)) + if x1 <= x0 or y1 <= y0: + continue + + src_view = img[y0:y1, x0:x1] + if self.units is None: + tile = np.empty_like(src_view) + self._copy_into_tile_buffer(src_view, tile, flip_x=flip_x, flip_y=flip_y) + flipped_units.append((x0, y0, tile)) + else: + _, _, tile = flipped_units[i] + if tile.shape != src_view.shape or tile.dtype != src_view.dtype: + tile = np.empty_like(src_view) + self._copy_into_tile_buffer(src_view, tile, flip_x=flip_x, flip_y=flip_y) + flipped_units[i] = (x0, y0, tile) + + self.units = flipped_units + + return True + + def extract_tiles(self): + if not self.isstitch: + # tile_idx = self.__get_tile_index_by_position(self.pos_default[7][0], self.pos_default[7][1]) + tile_idx = 7 + # if tile_idx is None: + # tile_idx = 7 + # Ensure index is always iterable (list or array) + self.index = [tile_idx] if isinstance(tile_idx, int) else tile_idx + self.ncol = 1 + self.nrow = 1 + + tile_list = self.__get_tile_by_index(self.index) + self.tile_list = tile_list + + return tile_list + + # def stitch_cal(self): + + # # init + # tile_list = self.tile_list + # img_stitched_height = None + # stitch_calibration = [] + # # Flip col and row for porting + # nrow, ncol = self.ncol, self.nrow + # if not self.isstitch: + # return self.tile_list[0], None + + # for i in range(ncol): + # img_stitched_width = None + # for j in range(nrow): + # if j == 0: + # img_j0 = tile_list[i*ncol] + # img_stitched_width = img_j0 + # else: + # img_1 = tile_list[i*ncol + j-1] + # img_2 = tile_list[i*ncol + j] + + # ov_pos, ov1, ov2, c_corr = self.__get_ov(img_1.astype(np.float32), img_2.astype(np.float32), dim=1) + + # stitch_calibration.append(["hor {}".format(j-1),ov_pos]) + + # # stitch images with stacking + # img_stitched_width = self.__stitch_optimized(img_stitched_width, img_2, ov_pos, ov1, ov2, blend=True, dim=1) + + # if i == 0: + # img_stitched_height = img_stitched_width + # stitch_calibration.append(["ver {}".format(i),0]) + # pass + # else: + # width = img_stitched_height.shape[1] + # width_new = img_stitched_width.shape[1] + # wdiff = width - width_new + # if wdiff > 0: + # img_stitched_width = np.hstack((img_stitched_width, img_stitched_width[:, -wdiff:])) + # elif wdiff < 0: + # img_stitched_width = img_stitched_width[:, :wdiff] + + # ov_pos_h, ov_h1, ov_h2, c_corr = self.__get_ov(img_stitched_height, img_stitched_width, dim=0) + + # stitch_calibration.append(["ver {}".format(i),ov_pos_h]) + + # img_stitched_height = self.__stitch_optimized(img_stitched_height, img_stitched_width, ov_pos_h, ov_h1, ov_h2, blend=True, dim=0) + + # self.stitch_calibration = stitch_calibration + + # return img_stitched_height, stitch_calibration + + # def __stitch_optimized(self, img1, img2, ov_pos, ov1, ov2, blend=True, dim=1): + # _dim = len(img1.shape) + + # # Clamp overlap for safety + # if dim == 1: + # ov_pos = int(max(0, min(ov_pos, img1.shape[1], img2.shape[1]))) + # else: + # ov_pos = int(max(0, min(ov_pos, img1.shape[0], img2.shape[0]))) + + # # Fast blend path with cached coefficient tensors + # if not blend or ov_pos <= 1: + # ov = ov1 + # else: + # blend_coef = self._get_blend_coef(ov_pos, dim, _dim) + # ov = ( + # ov1.astype(np.float32, copy=False) * blend_coef + # + ov2.astype(np.float32, copy=False) * (1.0 - blend_coef) + # ).astype(np.uint8) + + # # Build stitched output with one target allocation and slice writes + # if dim == 1: + # left_w = img1.shape[1] - ov_pos + # right_w = img2.shape[1] - ov_pos + # out_w = left_w + ov_pos + right_w + # if _dim == 3: + # stitched_img = np.empty((img1.shape[0], out_w, img1.shape[2]), dtype=img1.dtype) + # if left_w > 0: + # stitched_img[:, :left_w, :] = img1[:, :left_w, :] + # if ov_pos > 0: + # stitched_img[:, left_w:left_w + ov_pos, :] = ov + # if right_w > 0: + # stitched_img[:, left_w + ov_pos:, :] = img2[:, ov_pos:, :] + # else: + # stitched_img = np.empty((img1.shape[0], out_w), dtype=img1.dtype) + # if left_w > 0: + # stitched_img[:, :left_w] = img1[:, :left_w] + # if ov_pos > 0: + # stitched_img[:, left_w:left_w + ov_pos] = ov + # if right_w > 0: + # stitched_img[:, left_w + ov_pos:] = img2[:, ov_pos:] + # else: + # top_h = img1.shape[0] - ov_pos + # bottom_h = img2.shape[0] - ov_pos + # out_h = top_h + ov_pos + bottom_h + # if _dim == 3: + # stitched_img = np.empty((out_h, img1.shape[1], img1.shape[2]), dtype=img1.dtype) + # if top_h > 0: + # stitched_img[:top_h, :, :] = img1[:top_h, :, :] + # if ov_pos > 0: + # stitched_img[top_h:top_h + ov_pos, :, :] = ov + # if bottom_h > 0: + # stitched_img[top_h + ov_pos:, :, :] = img2[ov_pos:, :, :] + # else: + # stitched_img = np.empty((out_h, img1.shape[1]), dtype=img1.dtype) + # if top_h > 0: + # stitched_img[:top_h, :] = img1[:top_h, :] + # if ov_pos > 0: + # stitched_img[top_h:top_h + ov_pos, :] = ov + # if bottom_h > 0: + # stitched_img[top_h + ov_pos:, :] = img2[ov_pos:, :] + + # return stitched_img + + # def __get_ov(self, img1, img2, dim=1): + # ''' + # default dimension is along axis 1 (width of the images) + # ''' + # # pass parameters + # nominal_ov = self.nominal_ov_pos + # bound_ov = self.bound + + # cross_corr = [] + # h1, w1 = img1.shape[:2] + # h2, w2 = img2.shape[:2] + # # clamp tested overlap to valid range (1..min dimension) + # max_possible = w1 if dim == 1 else h1 + # max_possible = min(max_possible, w2 if dim == 1 else h2) + # lo = max(1, nominal_ov - bound_ov) + # hi = min(max_possible, nominal_ov + bound_ov) + # ov_space = range(lo, hi + 1) + + # for ov in ov_space: + # if dim == 1: + # ov_area1 = img1[:, max(0, w1 - ov):, :] + # ov_area2 = img2[:, :min(ov, w2), :] + # elif dim == 0: + # ov_area1 = img1[max(0, h1 - ov):, :, :] + # ov_area2 = img2[:min(ov, h2), :, :] + + # # require exact shape match (detect_nonblack_regions guarantees uniform tile size) + # if ov_area1.size == 0 or ov_area2.size == 0 or ov_area1.shape != ov_area2.shape: + # cross_corr.append(-1.0) + # continue + + # # multi-channel cross correlation (average over channels) + # corr = 0.0 + # for i in range(min(3, ov_area1.shape[2])): + # a = ov_area1[:, :, i].astype(np.float32) + # b = ov_area2[:, :, i].astype(np.float32) + # denom = np.sqrt(np.sum(a * a) * np.sum(b * b)) + 1e-12 + # corr += float(np.sum(a * b) / denom) + # corr = corr / float(min(3, ov_area1.shape[2])) + # cross_corr.append(corr) + + # # pick best overlap (ignore invalid entries) + # best_idx = int(np.argmax(cross_corr)) + # ov_pos = list(ov_space)[best_idx] + + # # extract the overlap regions (assume shapes match) + # if dim == 1: + # ov_1 = img1[:, max(0, w1 - ov_pos):, :].copy() + # ov_2 = img2[:, :min(ov_pos, w2), :].copy() + # else: + # ov_1 = img1[max(0, h1 - ov_pos):, :, :].copy() + # ov_2 = img2[:min(ov_pos, h2), :, :].copy() + # return ov_pos, ov_1, ov_2, cross_corr + + +# Helper functions for stitching + def __get_tile_index_by_position(self, x, y, tol=20): + """ + Find flipped tile whose top-left matches (x,y) within tol pixels. + flipped_units: list of (x,y,tile) + """ + i= 0 + for xi, yi, tile in self.units: + if abs(int(x) - int(xi)) <= tol and abs(int(y) - int(yi)) <= tol: + # return tile + return i + i += 1 + return None + + def __get_tile_by_index(self, idx): + """ + Retrieve tile by index + """ + if isinstance(idx, int): + idx = [idx] + + if len(idx) > len(self.units): + raise ValueError("Index exceeds number of tiles.") + + tile_list = [] + for i in range(len(idx)): + [xi, yi, tile] = self.units[idx[i]] + tile_list.append(tile) + + return tile_list + + def __correct_edge_bloom(self, img, method="divide", kernel_size=None, clip=True): + """ + Simple illumination correction to reduce edge bloom / vignetting. Only for getting tile boxes. + - method: "divide" (default) or "subtract" + * divide: img_corrected = (img / (bg + eps)) * gain -- preserves colors + * subtract: img_corrected = img - (bg - mean_bg) -- removes low-freq background + - kernel_size: size for large-kernel blur used as background estimate (odd int). + If None, chosen from image size. + Returns corrected uint8 image. + """ + if img is None: + raise ValueError("Input image is None.") + + h, w = img.shape[:2] + if kernel_size is None: + # choose large kernel relative to image size, ensure odd + k = max(31, min(h, w) // 2) + if k % 2 == 0: + k += 1 + kernel_size = k + # convert to float32 for stable ops + img_f = img.astype(np.float32) + # estimate background by large Gaussian blur (works well for smooth bloom) + bg = cv2.GaussianBlur(img_f, (kernel_size, kernel_size), 0) + if method == "subtract": + # remove low-frequency background but keep overall brightness + mean_bg = bg.mean(axis=(0, 1), keepdims=True) + corr = img_f - (bg - mean_bg) + else: + # divide: normalized gain correction + eps = 1e-6 + # compute gain so that mid-level stays near 128 + mean_bg = bg.mean(axis=(0, 1), keepdims=True) + eps + gain = (mean_bg * 0.5) # target scale; 0.5 keeps values reasonable + corr = (img_f / (bg + eps)) * gain + if clip: + corr = np.clip(corr, 0, 255).astype(np.uint8) + else: + corr = corr.astype(np.uint8) + return corr + + def __get_unit_pos(self,idx): + + if isinstance(idx, int): + idx = [idx] + + if len(idx) > len(self.units): + raise ValueError("Index exceeds number of vision units.") + + pos_list = [] + for i in range(len(idx)): + [xi, yi, tile] = self.units[idx[i]] + pos_list.append((xi, yi)) + + return pos_list + + # Computation Functions + def __detect_nonblack_regions(self, img, morph_k=3, n_boxes_target=15, bk_thresh_step=10, bk_thresh_max=100,show = False, row_tol = 0.4): + """ + Return binary mask of non-black regions and list of bounding boxes (x,y,w,h). + Uses adaptive thresholding on grayscale + small morphology to be robust to illumination. + + New behavior: after finding candidate boxes, center-crop all boxes to the same + width/height (smallest found) so returned boxes share a common size. + """ + if img is None: + raise ValueError("Input image is None.") + + h, w = img.shape[:2] + n_boxes = 0 + bk_thresh = 0 # initial black threshold + bk_thresh_step = 5 + bk_thresh_max = 150 + + # Also include a low global V threshold to capture colored but dark tiles + hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) + v = hsv[:,:,2] + ww = hh = 0 + while n_boxes != n_boxes_target and bk_thresh <= bk_thresh_max: + _, v_mask = cv2.threshold(v, bk_thresh, 255, cv2.THRESH_BINARY) # tune 50 if needed + + mask = v_mask.copy() + # Exclude left and right boundary (20 pixels each) from detection + edge = 20 + if w > edge * 2: + mask[:, :edge] = 0 + mask[:, -edge:] = 0 + + # Morphology: remove small specks, fill small holes + k = max(1, morph_k) + 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) + + boxes = [] + for c in contours: + x,y,ww,hh = cv2.boundingRect(c) + boxes.append((x,y,ww,hh)) + + # filter boxes by size (ignore too small or too large tiles) + boxes = self.__filter_boxes_by_size(boxes, (h, w)) + n_boxes = len(boxes) + bk_thresh += bk_thresh_step + + print("Detected {} candidate boxes with bk_thresh={}".format(n_boxes, bk_thresh - bk_thresh_step)) + if n_boxes == 0: + self.boxes = [] + return n_boxes + # compute common center-crop size: use minimum width/height among boxes + widths = [b[2] for b in boxes] + heights = [b[3] for b in boxes] + # target_w = max(1,int(min(widths))) + # target_h = max(1,int(min(heights))) + target_w = self.box_size[0] + target_h = self.box_size[1] + + # center-crop each box to (target_w, target_h) inside original box bounds + cropped_boxes = [] + for (x, y, ww, hh) in boxes: + cx = x + ww // 2 + cy = y + hh // 2 + nx0 = int(cx - target_w // 2) + ny0 = int(cy - target_h // 2) + # clamp to image bounds + nx0 = max(0, min(nx0, w - target_w)) + ny0 = max(0, min(ny0, h - target_h)) + # Convert to (x0, y0, x1, y1) format for direct image region retrieval + nx1 = nx0 + target_w + ny1 = ny0 + target_h + cropped_boxes.append((nx0, ny0, nx1, ny1)) + + # sort boxes left-to-right, top-to-bottom (useful for grid) + # Use quantized y-coordinates to group boxes into rows, making sorting robust to noise + if len(cropped_boxes) > 0: + # Calculate row tolerance based on typical box height (use median height) + heights = [b[3] - b[1] for b in cropped_boxes] + median_height = np.median(heights) if heights else target_h + # Use a fraction of the box height as tolerance (e.g., 20% of box height) + row_tolerance = max(1, int(median_height * row_tol)) + + # Quantize y-coordinates to group boxes into rows + def get_row_key(box): + y = box[1] # y0 coordinate + # Round y to nearest multiple of row_tolerance to group into rows + quantized_y = (y // row_tolerance) * row_tolerance + return (quantized_y, box[0]) # Sort by quantized row, then by x + + cropped_boxes = sorted(cropped_boxes, key=get_row_key) + else: + cropped_boxes = sorted(cropped_boxes, key=lambda b: (b[1], b[0])) + + self.boxes = cropped_boxes + img_with_boxes = self.draw_boxes(img= img) + if show: + cv2.imshow("Detected Boxes", img_with_boxes) + cv2.waitKey(0) + + img_path = "./config/compound_eye.png" + if os.path.exists(img_path): + cv2.imwrite(img_path, img_with_boxes) + else: + os.makedirs(os.path.dirname(img_path), exist_ok=True) + cv2.imwrite(img_path, img_with_boxes) + # print("Check if compound eye detection image valid: {}".format(img_path)) + return cropped_boxes + + def draw_boxes(self, img, thickness=2): + """ + Draw bounding boxes on the image. + - img: input image (will be copied, not modified in-place) + - thickness: line thickness + Returns: image with drawn boxes + """ + if self.boxes is None or len(self.boxes) == 0: + print("No boxes to draw") + return img + + img_draw = img.copy() + color=(0, 255, 0) + + for i, (x0, y0, x1, y1) in enumerate(self.boxes): + # Draw rectangle + cv2.rectangle(img_draw, (x0, y0), (x1, y1), color, thickness) + + # Draw index + text_size = cv2.getTextSize(str(i), cv2.FONT_HERSHEY_SIMPLEX, 0.6, 2)[0] + text_pos = (x0 + 5, y0 + text_size[1] + 5) + # Draw text background and text + cv2.rectangle(img_draw, (text_pos[0] - 2, text_pos[1] - text_size[1] - 2), + (text_pos[0] + text_size[0] + 2, text_pos[1] + 2), (0, 0, 0), -1) + cv2.putText(img_draw, str(i), text_pos, cv2.FONT_HERSHEY_SIMPLEX, 0.6, color, 2) + + return img_draw + + + + def __filter_boxes_by_size(self, boxes, img_shape): + """ + Remove boxes that are too small or too large relative to the image. + - boxes: list of (x,y,w,h) + - img_shape: (height, width) + - min_area_frac / max_area_frac: allowed area fraction of image + Returns filtered list of boxes. + """ + h, w = img_shape + img_area = h * w + min_area = img_area * float(self.min_area_frac) + max_area = img_area * float(self.max_area_frac) + filtered = [] + for (x,y,ww,hh) in boxes: + area = ww * hh + if area < min_area or area > max_area or (abs(ww - hh) > self.max_aspect_ratio): + continue + filtered.append((x,y,ww,hh)) + return filtered + + \ No newline at end of file diff --git a/src/orisys/__init__.py b/src/orisys/__init__.py new file mode 100644 index 0000000..f30f816 --- /dev/null +++ b/src/orisys/__init__.py @@ -0,0 +1,29 @@ +""" +orisys - Optical Tactile Sensor SDK + +A Python library for processing and analyzing optical tactile sensor data, +including image stitching, optical flow tracking, and deformation decomposition. +""" + +__version__ = "0.3.1" +__author__ = "Orisys" + +from .sensor import Sensor +from . import util +from . import configs + +# Re-export list_configs as list_config for convenience +list_config = configs.list_config +export_config = configs.export_config + +__all__ = [ + # class + 'Sensor', + + # util functions + 'util', + + # configs utilities functions + 'list_config', + 'export_config' +] diff --git a/src/orisys/backend_availability.py b/src/orisys/backend_availability.py new file mode 100644 index 0000000..24c9475 --- /dev/null +++ b/src/orisys/backend_availability.py @@ -0,0 +1,152 @@ +""" +Centralized backend availability checking for GPU acceleration libraries. + +This module provides a single source of truth for checking whether CuPy and OpenCL +are available, avoiding duplicate import checks across the codebase. +""" + +# CuPy availability and related objects +_cupy_available = False +_cupy_cp = None +_cupy_cp_signal = None +_cupy_streams_available = False +_cupy_stream = None +_cupy_torque_kernel = None +_cupy_kernel_available = False + +# OpenCL availability and related objects +_opencl_available = False +_opencl_cl = None +_opencl_cla = None +_opencl_rfftn = None +_opencl_irfftn = None + +# Try to import CuPy +try: + import cupy as cp + import cupyx.scipy.signal as cp_signal + _cupy_cp = cp + _cupy_cp_signal = cp_signal + _cupy_available = True + + # Try to import CuPy streams for parallel execution + try: + from cupy.cuda import Stream + _cupy_stream = Stream + _cupy_streams_available = True + except ImportError: + _cupy_stream = None + _cupy_streams_available = False + + # Create fused elementwise kernel for torque computation + try: + _cupy_torque_kernel = cp.ElementwiseKernel( + 'float32 r_x, float32 r_y, float32 grid_0, float32 grid_1, ' + 'float32 max_0, float32 max_1, float32 min_0, float32 min_1', + 'float32 torque', + ''' + float cross_p = (grid_0 - max_0) * r_y - (grid_1 - max_1) * r_x; + float cross_n = (grid_0 - min_0) * r_y - (grid_1 - min_1) * r_x; + torque = cross_p + cross_n; + ''', + 'torque_kernel' + ) + _cupy_kernel_available = True + except Exception: + _cupy_torque_kernel = None + _cupy_kernel_available = False + +except ImportError: + pass + +# Try to import OpenCL +try: + import pyopencl as cl + import pyopencl.array as cla + from pyvkfft.fft import rfftn as cl_rfftn + from pyvkfft.fft import irfftn as cl_irfftn + _opencl_cl = cl + _opencl_cla = cla + _opencl_rfftn = cl_rfftn + _opencl_irfftn = cl_irfftn + _opencl_available = True +except ImportError: + pass + + +def check_cupy_available(): + """Check if CuPy is available.""" + return _cupy_available + + +def check_opencl_available(): + """Check if OpenCL/pyvkfft is available.""" + return _opencl_available + + +def get_cupy(): + """Get CuPy module if available, None otherwise.""" + return _cupy_cp + + +def get_cupy_signal(): + """Get cupyx.scipy.signal module if available, None otherwise.""" + return _cupy_cp_signal + + +def get_cupy_stream(): + """Get CuPy Stream class if available, None otherwise.""" + return _cupy_stream + + +def get_cupy_torque_kernel(): + """Get CuPy torque kernel if available, None otherwise.""" + return _cupy_torque_kernel + + +def is_cupy_streams_available(): + """Check if CuPy streams are available.""" + return _cupy_streams_available + + +def is_cupy_kernel_available(): + """Check if CuPy torque kernel is available.""" + return _cupy_kernel_available + + +def get_opencl(): + """Get pyopencl module if available, None otherwise.""" + return _opencl_cl + + +def get_opencl_array(): + """Get pyopencl.array module if available, None otherwise.""" + return _opencl_cla + + +def get_opencl_rfftn(): + """Get pyvkfft.fft.rfftn function if available, None otherwise.""" + return _opencl_rfftn + + +def get_opencl_irfftn(): + """Get pyvkfft.fft.irfftn function if available, None otherwise.""" + return _opencl_irfftn + + +# For backward compatibility, export as module-level constants +CUPY_AVAILABLE = _cupy_available +OPENCL_AVAILABLE = _opencl_available +STREAMS_AVAILABLE = _cupy_streams_available +KERNEL_AVAILABLE = _cupy_kernel_available + +# Export commonly used objects +cp = _cupy_cp +cp_signal = _cupy_cp_signal +Stream = _cupy_stream +_torque_kernel = _cupy_torque_kernel +cl = _opencl_cl +cla = _opencl_cla +cl_rfftn = _opencl_rfftn +cl_irfftn = _opencl_irfftn + diff --git a/src/orisys/configs.py b/src/orisys/configs.py new file mode 100644 index 0000000..ebdfad8 --- /dev/null +++ b/src/orisys/configs.py @@ -0,0 +1,126 @@ +import json +from pathlib import Path + + +def _candidate_config_dirs() -> list[Path]: + """ + Candidate config directories for editable installs and packaged wheels. + """ + here = Path(__file__).resolve().parent + candidates = [ + here / "configs", # packaged wheel layout: orisys/configs/*.json + here.parent.parent / "config", # editable install from repo: repo_root/config/*.json + here.parent / "config", # fallback + Path.cwd() / "config", # script launched from repo root + ] + + unique: list[Path] = [] + for path in candidates: + if path not in unique: + unique.append(path) + return unique + + +def _get_config_dir() -> Path: + for candidate in _candidate_config_dirs(): + if candidate.exists() and any(candidate.glob("*.json")): + return candidate + # Default to the first candidate so error messages are stable. + return _candidate_config_dirs()[0] + + +CONFIG_DIR = _get_config_dir() + + +def _config_files() -> list[Path]: + if not CONFIG_DIR.exists(): + return [] + return sorted(CONFIG_DIR.glob("*.json")) + + +def _load_json(path: Path) -> dict: + with open(path, "r", encoding="utf-8") as f: + return json.load(f) + + +def load_config(config_name_or_path): + """ + Load sensor configuration from a JSON file path or config name. + + Config lookup order: + 1. Exact file path (absolute or relative) + 2. File stem under the config directory (e.g. ``ddjx01`` -> ``config/ddjx01.json``) + 3. JSON field ``"name"`` matching the requested name (keeps ``prototype`` compatible) + """ + config_path = Path(config_name_or_path) + + if config_path.exists() and config_path.is_file(): + if config_path.suffix.lower() != ".json": + raise ValueError(f"Config file must be a JSON file: {config_path}") + return _load_json(config_path) + + if config_path.is_absolute(): + raise FileNotFoundError(f"Config file not found at absolute path: {config_path}") + + direct = CONFIG_DIR / f"{config_name_or_path}.json" + if direct.exists(): + return _load_json(direct) + + # Backward-compatible alias resolution: support old names via JSON "name" field. + for candidate in _config_files(): + try: + data = _load_json(candidate) + except Exception: + continue + if data.get("name") == config_name_or_path: + return data + + available = [f.stem for f in _config_files()] + available_str = ", ".join(available) if available else "none" + raise FileNotFoundError( + f"Input config file not found with name or path: {config_name_or_path}\n" + f" Tried as file path: {config_path} (not found)\n" + f" Tried as config file: {direct} (not found)\n" + f" Available config files: {available_str}" + ) + + +def list_config(): + """ + List all available JSON configuration files by file stem. + """ + return [f.stem for f in _config_files()] + + +def export_config(config_name=None, path="./config/exported_config.json"): + """ + Export a configuration to a JSON file with readable formatting. + """ + config = load_config(config_name) + Path(path).parent.mkdir(parents=True, exist_ok=True) + + with open(path, "w", encoding="utf-8") as f: + formatted = _format_json_value(config) + f.write(formatted) + f.write("\n") + + print(f"Config name: {config_name} exported to {path}") + return config + + +def _format_json_value(value, indent_level=0, indent_str=" "): + if isinstance(value, dict): + if not value: + return "{}" + items = [] + for k, v in value.items(): + key_str = json.dumps(k, ensure_ascii=False) + value_str = _format_json_value(v, indent_level + 1, indent_str) + items.append(f"{indent_str * (indent_level + 1)}{key_str}: {value_str}") + return "{\n" + ",\n".join(items) + "\n" + indent_str * indent_level + "}" + if isinstance(value, list): + if not value: + return "[]" + items = [json.dumps(item, ensure_ascii=False) for item in value] + return "[" + ", ".join(items) + "]" + return json.dumps(value, ensure_ascii=False) diff --git a/src/orisys/get_depth.py b/src/orisys/get_depth.py new file mode 100644 index 0000000..f8de03b --- /dev/null +++ b/src/orisys/get_depth.py @@ -0,0 +1,350 @@ +import numpy as np +import cv2 + +from .backend_availability import CUPY_AVAILABLE, get_cupy +cp = get_cupy() +# 缓存形态学操作的核，避免重复创建 +_morphology_kernels = {} + +class Contact3D: + def __init__(self, config_contact=None, verbose=False): + + # Load Config + self.config_contact = config_contact + self.flow_threshold = config_contact["flow_threshold"] + self.expansion_threshold = config_contact["expansion_threshold"] + self.downsample_factor = 1 + self.kernel_size = config_contact["kernel_size"] + self.denoise_sigma = config_contact["denoise_sigma"] + self.min_contour_area = config_contact["min_contour_area"] + # Divergence threshold: only keep divergence values above this threshold, set others to zero + self.divergence_threshold = config_contact["div_threshold"] + self.verbose = verbose + if self.verbose: + print(f"Contact3D initialized with config: {self.config_contact}") + + # Data Variables + self.foe_results = None + # self.expansion_mask = None + # self.contraction_mask = None + # self.divergence_map = None + # self.centroid = None + # self.centroid_found = False + # self.contour = None + # self.all_contours = None + + def _create_foe_result(self, expansion_mask, contraction_mask, divergence_map, + centroid=None, centroid_found=False, contour=None, + all_contours=None): + """ + 创建标准化的FOE结果字典，统一所有函数的返回格式。 + + Args: + expansion_mask: 扩张区域掩码 + contraction_mask: 收缩区域掩码 + divergence_map: 散度图 + centroid: 质心坐标，可以是单个元组 (x, y) 或列表 [(x1, y1), (x2, y2), ...] + centroid_found: 是否找到质心 + contour: 轮廓，可以是单个轮廓或轮廓列表 + all_contours: 所有轮廓（仅在return_all_contours=True时使用） + + Returns: + dict: 标准化的FOE结果字典 + """ + result = { + 'expansion_mask': expansion_mask, + 'contraction_mask': contraction_mask, + 'divergence_map': divergence_map, + 'centroid': centroid if centroid is not None else [0,0], + 'centroid_found': centroid_found, + } + + # 可选字段 + if contour is not None: + result['contour'] = contour + + if all_contours is not None: + result['_all_contours'] = all_contours + + return result + + def compute_foe(self, flow_field, return_all_contours=False): + """ + 计算光流场的扩张焦点(Focus of Expansion)。 + + Args: + flow_field: 光流场，形状为 (H, W, 2) 的 numpy 数组 + min_magnitude: 最小光流幅度阈值，低于此值的点不参与计算 + expansion_threshold: 扩张判定阈值，用于区分扩张和收缩区域 + downsample_factor: 下采样因子，用于平滑计算（默认10） + return_all_contours: 是否返回所有轮廓（默认False，仅返回最大轮廓） + kernel_size: 形态学操作的核大小 + denoise_sigma: 降噪高斯滤波的标准差（默认1.5，设为0禁用降噪） + + Returns: + dict: 包含扩张焦点信息的字典 + """ + H, W = flow_field.shape[:2] + + # 优化：使用视图而不是复制，减少内存分配 + u = flow_field[:, :, 0] + v = flow_field[:, :, 1] + + # 下采样并计算散度，然后插值回原尺寸 + if self.downsample_factor > 1: + # 使用步进切片，避免复制 + u_ds = u[::self.downsample_factor, ::self.downsample_factor] + v_ds = v[::self.downsample_factor, ::self.downsample_factor] + + # 计算幅度（优化：使用square减少中间数组） + magnitude_ds = np.sqrt(np.square(u_ds) + np.square(v_ds)) + if self.denoise_sigma > 0: + magnitude_ds = cv2.GaussianBlur(magnitude_ds, (0, 0), self.denoise_sigma) + + # 优化：合并梯度计算，减少中间数组 + # 计算散度：du/dx + dv/dy + du_dx = np.gradient(u_ds, axis=1) + dv_dy = np.gradient(v_ds, axis=0) + divergence_ds = du_dx + dv_dy # 直接相加，避免中间数组 + + if self.denoise_sigma > 0: + divergence_ds = cv2.GaussianBlur(divergence_ds, (0, 0), self.denoise_sigma) + + # 插值回原尺寸 + magnitude = cv2.resize(magnitude_ds, (W, H), interpolation=cv2.INTER_CUBIC) + divergence = cv2.resize(divergence_ds, (W, H), interpolation=cv2.INTER_CUBIC) + else: + # 计算幅度（优化：使用square减少中间数组） + magnitude = np.sqrt(np.square(u) + np.square(v)) + if self.denoise_sigma > 0: + magnitude = cv2.GaussianBlur(magnitude, (0, 0), self.denoise_sigma) + + # 优化：合并梯度计算 + du_dx = np.gradient(u, axis=1) + dv_dy = np.gradient(v, axis=0) + divergence = du_dx + dv_dy + + # 降噪：在计算散度之后对散度图进行平滑 + if self.denoise_sigma > 0: + divergence = cv2.GaussianBlur(divergence, (0, 0), self.denoise_sigma) + + # 优化：使用原地操作 - 只保留大于阈值的散度值，其他设为0 + divergence = np.where(divergence > self.divergence_threshold, divergence, 0) + + # 创建掩码（使用原地操作优化） + valid_mask = magnitude > self.flow_threshold + expansion_mask = (valid_mask & (divergence > self.expansion_threshold)) + contraction_mask = (valid_mask & (divergence < -self.expansion_threshold)) + + # 初始化结果字典 + result = self._create_foe_result(expansion_mask, contraction_mask, divergence) + + # 寻找扩张区域轮廓 + # 优化：缓存形态学操作的核 + # Convert kernel_size to tuple for use as dictionary key (lists are not hashable) + kernel_key = tuple(self.kernel_size) if isinstance(self.kernel_size, (list, np.ndarray)) else self.kernel_size + if kernel_key not in _morphology_kernels: + _morphology_kernels[kernel_key] = np.ones(self.kernel_size, np.uint8) + + expansion_binary = expansion_mask.astype(np.uint8) * 255 + if np.any(expansion_binary): + expansion_binary_closed = cv2.morphologyEx(expansion_binary, cv2.MORPH_CLOSE, _morphology_kernels[kernel_key]) + contours, _ = cv2.findContours(expansion_binary_closed, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) + + if contours: + result['centroid_found'] = True + if return_all_contours: + result['_all_contours'] = contours + + largest_contour = max(contours, key=cv2.contourArea) + result['contour'] = largest_contour + + M = cv2.moments(largest_contour) + if M["m00"] > 0: + result['centroid'] = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"])) + + self.foe_results = result + return self.foe_results + + def compute_foe_gpu(self, flow_field, return_all_contours=False): + """ + 使用CUDA加速计算光流场的扩张焦点(Focus of Expansion)。 + + Args: + flow_field: 光流场，形状为 (H, W, 2) 的 numpy 数组 + flow_threshold: 最小光流幅度阈值，低于此值的点不参与计算 + expansion_threshold: 扩张判定阈值，用于区分扩张和收缩区域 + downsample_factor: 下采样因子，用于平滑计算（默认10） + return_all_contours: 是否返回所有轮廓（默认False，仅返回最大轮廓） + kernel_size: 形态学操作的核大小 + denoise_sigma: 降噪高斯滤波的标准差（默认1.5，设为0禁用降噪） + + Returns: + dict: 包含扩张焦点信息的字典 + + Note: + 如果CuPy不可用，会自动回退到CPU版本的compute_foe + """ + # 检查CuPy是否可用 + if not CUPY_AVAILABLE: + return self.compute_foe(flow_field, return_all_contours) + + H, W = flow_field.shape[:2] + + # 导入CuPy的高斯滤波函数（仅在需要时导入） + try: + from cupyx.scipy.ndimage import gaussian_filter as cp_gaussian_filter + except ImportError: + # 如果导入失败，回退到CPU版本 + return self.compute_foe(flow_field, return_all_contours) + + # 优化：使用asarray而不是array，如果已经是CuPy数组则避免复制 + if isinstance(flow_field, cp.ndarray): + flow_gpu = flow_field + else: + flow_gpu = cp.asarray(flow_field, dtype=cp.float32) + + # 优化：使用视图而不是复制 + u_gpu = flow_gpu[:, :, 0] + v_gpu = flow_gpu[:, :, 1] + + # 下采样并计算散度，然后插值回原尺寸 + if self.downsample_factor > 1: + # 下采样（使用步进切片，避免复制） + u_ds_gpu = u_gpu[::self.downsample_factor, ::self.downsample_factor] + v_ds_gpu = v_gpu[::self.downsample_factor, ::self.downsample_factor] + + # 计算幅度（优化：使用square减少中间数组） + magnitude_ds_gpu = cp.sqrt(cp.square(u_ds_gpu) + cp.square(v_ds_gpu)) + + # 高斯滤波（使用CuPy的gaussian_filter） + if self.denoise_sigma > 0: + magnitude_ds_gpu = cp_gaussian_filter(magnitude_ds_gpu, sigma=self.denoise_sigma) + + # 优化：合并梯度计算，减少中间数组 + # 计算散度：du/dx + dv/dy + du_dx_ds = cp.gradient(u_ds_gpu, axis=1) + dv_dy_ds = cp.gradient(v_ds_gpu, axis=0) + divergence_ds_gpu = du_dx_ds + dv_dy_ds + + # 对散度进行高斯滤波 + if self.denoise_sigma > 0: + divergence_ds_gpu = cp_gaussian_filter(divergence_ds_gpu, sigma=self.denoise_sigma) + + # 优化：在GPU上完成插值，减少数据传输 + # 使用CuPy的zoom进行插值（更高效） + from cupyx.scipy.ndimage import zoom as cp_zoom + zoom_factor = (H / divergence_ds_gpu.shape[0], W / divergence_ds_gpu.shape[1]) + magnitude_gpu = cp_zoom(magnitude_ds_gpu, zoom_factor, order=3) # 3 = cubic + divergence_gpu = cp_zoom(divergence_ds_gpu, zoom_factor, order=3) + else: + # 计算幅度（优化：使用square减少中间数组） + magnitude_gpu = cp.sqrt(cp.square(u_gpu) + cp.square(v_gpu)) + + # 高斯滤波 + if self.denoise_sigma > 0: + magnitude_gpu = cp_gaussian_filter(magnitude_gpu, sigma=self.denoise_sigma) + + # 优化：合并梯度计算 + du_dx = cp.gradient(u_gpu, axis=1) + dv_dy = cp.gradient(v_gpu, axis=0) + divergence_gpu = du_dx + dv_dy + + # 对散度进行高斯滤波 + if self.denoise_sigma > 0: + divergence_gpu = cp_gaussian_filter(divergence_gpu, sigma=self.denoise_sigma) + + # 优化：在GPU上完成掩码操作，减少数据传输 + # 只保留大于阈值的散度值，其他设为0 + divergence_gpu = cp.where(divergence_gpu > self.divergence_threshold, divergence_gpu, 0) + + # 在GPU上创建掩码 + valid_mask_gpu = magnitude_gpu > self.flow_threshold + expansion_mask_gpu = (valid_mask_gpu & (divergence_gpu > self.expansion_threshold)) + contraction_mask_gpu = (valid_mask_gpu & (divergence_gpu < -self.expansion_threshold)) + + # 优化：一次性传输所有需要的数据回CPU + magnitude = cp.asnumpy(magnitude_gpu) + divergence = cp.asnumpy(divergence_gpu) + expansion_mask = cp.asnumpy(expansion_mask_gpu) + contraction_mask = cp.asnumpy(contraction_mask_gpu) + + # 初始化结果字典 + result = self._create_foe_result(expansion_mask, contraction_mask, divergence) + + # 寻找扩张区域轮廓（在CPU上进行，因为OpenCV的轮廓检测需要CPU） + # 优化：缓存形态学操作的核 + # Convert kernel_size to tuple for use as dictionary key (lists are not hashable) + kernel_key = tuple(self.kernel_size) if isinstance(self.kernel_size, (list, np.ndarray)) else self.kernel_size + if kernel_key not in _morphology_kernels: + _morphology_kernels[kernel_key] = np.ones(self.kernel_size, np.uint8) + + expansion_binary = expansion_mask.astype(np.uint8) * 255 + if np.any(expansion_binary): + expansion_binary_closed = cv2.morphologyEx(expansion_binary, cv2.MORPH_CLOSE, _morphology_kernels[kernel_key]) + contours, _ = cv2.findContours(expansion_binary_closed, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) + + if contours: + result['centroid_found'] = True + if return_all_contours: + result['_all_contours'] = contours + + largest_contour = max(contours, key=cv2.contourArea) + result['contour'] = largest_contour + + M = cv2.moments(largest_contour) + if M["m00"] > 0: + result['centroid'] = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"])) + + self.foe_results = result + return self.foe_results + + def compute_multiple_foe(self,flow_field): + """ + 计算光流场的多个扩张焦点(Foci of Expansion)。 + + Args: + flow_field: 光流场，形状为 (H, W, 2) 的 numpy 数组 + flow_threshold: 最小光流幅度阈值，低于此值的点不参与计算 + expansion_threshold: 扩张判定阈值，用于区分扩张和收缩区域 + downsample_factor: 下采样因子，用于平滑计算（默认10） + min_contour_area: 最小轮廓面积阈值，小于此值的轮廓会被忽略 + denoise_sigma: 降噪高斯滤波的标准差（默认1.5，设为0禁用降噪） + kernel_size: 形态学操作的核大小 + + Returns: + dict: 包含多个扩张焦点信息的字典，包括： + - 'foe_points': 扩张焦点坐标列表 [(x1, y1), (x2, y2), ...] + - 'expansion_regions': 扩张区域轮廓列表 + - 'expansion_mask': 扩张区域二值掩码 + - 'contraction_mask': 收缩区域二值掩码 + - 'divergence_map': 散度图 + """ + # 调用 compute_foe_gpu 获取基础数据和所有轮廓 + foe_result = self.compute_foe_gpu(flow_field, return_all_contours=True) + + # 构建多焦点结果，复用基础数据 + result = self._create_foe_result( + expansion_mask=foe_result['expansion_mask'], + contraction_mask=foe_result['contraction_mask'], + divergence_map=foe_result['divergence_map'], + centroid_found=foe_result['centroid_found'] + ) + + # 处理所有轮廓，过滤并计算焦点 + if '_all_contours' in foe_result: + for contour in foe_result['_all_contours']: + # 过滤掉太小的轮廓 + if cv2.contourArea(contour) >= self.min_contour_area: + # 计算轮廓的质心作为焦点 + M = cv2.moments(contour) + if M["m00"] > 0: + cx = int(M["m10"] / M["m00"]) + cy = int(M["m01"] / M["m00"]) + result['centroid'].append((cx, cy)) + if 'contour' not in result: + result['contour'] = [] + result['contour'].append(contour) + + self.foe_results = result + return self.foe_results diff --git a/src/orisys/hand.py b/src/orisys/hand.py new file mode 100644 index 0000000..e69de29 diff --git a/src/orisys/hhd/__init__.py b/src/orisys/hhd/__init__.py new file mode 100644 index 0000000..5a2f11c --- /dev/null +++ b/src/orisys/hhd/__init__.py @@ -0,0 +1,20 @@ +""" +HHD subsystem package. + +This package is intended to hold the refactored implementation currently living in +`orisys.HHD`. The old monolithic file can remain as a compatibility layer while code +is moved here gradually. + +Suggested migration target: +- `api.py` -> public `nHHD` class +- `grid.py` -> `StructuredGrid` +- `poisson.py` -> `PoissonSolver` +- `timing.py` -> `Timer` +- `kernels.py` -> helper kernels / backend-specific math +""" +from .api import nHHD +from .grid import StructuredGrid +from .poisson import PoissonSolver +from .timing import Timer + +__all__ = ["nHHD", "StructuredGrid", "PoissonSolver", "Timer"] diff --git a/src/orisys/hhd/api.py b/src/orisys/hhd/api.py new file mode 100644 index 0000000..e03c2c4 --- /dev/null +++ b/src/orisys/hhd/api.py @@ -0,0 +1,456 @@ +import numpy + +from ..backend_availability import ( + CUPY_AVAILABLE, + OPENCL_AVAILABLE, + KERNEL_AVAILABLE, + cp, + _torque_kernel, +) +from .grid import StructuredGrid +from .poisson import PoissonSolver + + +class nHHD(object): + + # constructor + def __init__(self, cuda=True, **kwargs): + # Select Poisson backend: 'auto' (default), 'cupy', 'opencl', or 'cpu' + backend = kwargs.get('poisson_backend', 'auto').lower() + if backend not in ('auto', 'cupy', 'opencl', 'cpu'): + raise ValueError("poisson_backend must be one of: 'auto', 'cupy', 'opencl', 'cpu'") + + # Resolve 'auto' to a specific backend + if backend == 'auto': + backend = 'cupy' if CUPY_AVAILABLE else ('opencl' if OPENCL_AVAILABLE else 'cpu') + + # Validate backend availability and fallback to 'cpu' if needed + if backend == 'cupy' and not CUPY_AVAILABLE: + backend = 'cpu' + elif backend == 'opencl' and not OPENCL_AVAILABLE: + backend = 'cpu' + + self.debug = kwargs.get('debug', False) + self.poisson_backend = backend + + # Initialize CUDA streams for cupy backend + if self.poisson_backend == 'cupy': + self.stream1 = cp.cuda.Stream() + self.stream2 = cp.cuda.Stream() + + self.cuda = cuda + + args = kwargs.keys() + + if ('grid' in args) == ('points' in args): + raise SyntaxError("nHHD Solver needs either shape of a regular grid or the points in an rectilinear/unstructured grid") + + if ('grid' in args) != ('spacings' in args): + raise SyntaxError("nHHD needs spacings for regular grid") + + if 'grid' in args: + self.mesh = StructuredGrid(grid=kwargs['grid'], spacings=kwargs['spacings']) + self.psolver = PoissonSolver(grid=self.mesh.dims, spacings=self.mesh.dx, poisson_backend=self.poisson_backend) + + self.dim = self.mesh.dim + if (self.dim != 2) and (self.dim != 3): + raise ValueError("nHHD Solver works only for 2 and 3 dimensions") + + self._force_cpu_cache = None + self.psolver.prepare(False) + + def get_force(self, vfield, verbose=False): + if self.poisson_backend == 'cupy': + return self.get_force_cuda(vfield, verbose) + else: + return self.get_force_cpu(vfield, verbose) + + def get_shear(self): + if self.poisson_backend == 'cpu' or self.poisson_backend == 'opencl': + return self.h + elif self.poisson_backend == 'cupy': + # Use CPU copy from get_force_cuda when set (stable snapshot; avoids jumps) + if hasattr(self, 'h') and self.h is not None: + return self.h + return cp.asnumpy(self._h_gpu) + + def get_normal(self): + if self.poisson_backend == 'cpu' or self.poisson_backend == 'opencl': + return self.d + elif self.poisson_backend == 'cupy': + # Use CPU copy from get_force_cuda when set (stable snapshot; avoids jumps) + if hasattr(self, 'd') and self.d is not None: + return self.d + return cp.asnumpy(self._d_gpu) + + def _solve_poisson_backend(self, field, verbose=False): + """ + Dispatch Poisson solve using the selected backend. + """ + if self.poisson_backend == 'opencl': + return self.psolver.solve_opencl(field, verbose, profile=self.debug) + + if self.poisson_backend == 'cupy': + return self.psolver.solve_gpu(field, verbose) + + if self.poisson_backend == 'cpu': + return self.psolver.solve(field, verbose) + + # create the 3-component decomposition + def decompose(self, vfield, verbose=0): + # decompose for cpu and opencl backend + + if vfield.shape[-1] != self.dim: + raise ValueError("nHHD.decompose requires a valid-dimensional vector field") + + if verbose > 0: + print('\n ==> nhhd.decompose', vfield.shape) + + if self.dim == 2: + + # compute div curl + (self.div, self.curlw) = self.mesh.divcurl(vfield) + + if self.poisson_backend == 'opencl': + self.div = numpy.ascontiguousarray(self.div, dtype=numpy.float32) + self.curlw = numpy.ascontiguousarray(self.curlw, dtype=numpy.float32) + + if verbose > 0: + print('div =', self.div.shape, self.div.min(), self.div.max()) + print('curlw =', self.curlw.shape, self.curlw.min(), self.curlw.max()) + + # compute potentials + if self.poisson_backend == 'opencl' and ('OPENCL_AVAILABLE' in globals() and OPENCL_AVAILABLE): + self.nD, self.nRu = self.psolver.solve_opencl_batch2(self.div, self.curlw, verbose > 0, profile=self.debug) + else: + self.nD = self._solve_poisson_backend(self.div, verbose > 0) + self.nRu = self._solve_poisson_backend(self.curlw, verbose > 0) + if verbose > 0: + print('nD =', self.nD.shape, self.nD.min(), self.nD.max()) + print('nR =', self.nRu.shape, self.nRu.min(), self.nRu.max()) + + # compute fields as gradients of potentials + self.d = self.mesh.gradient(self.nD) + if verbose > 0: + print('d =', self.d.shape, self.d.min(), self.d.max()) + + self.r = self.mesh.rotated_gradient(self.nRu) + if verbose > 0: + print('r =', self.r.shape, self.r.min(), self.r.max()) + else: + + # compute div curl + (self.div, self.curlu, self.curlv, self.curlw) = self.mesh.divcurl(vfield) + + if verbose > 0: + print('div =', self.div.shape, self.div.min(), self.div.max()) + print('curlu =', self.curlu.shape, self.curlu.min(), self.curlu.max()) + print('curlv =', self.curlv.shape, self.curlv.min(), self.curlv.max()) + print('curlw =', self.curlw.shape, self.curlw.min(), self.curlw.max()) + + # compute potentials + self.nD = self._solve_poisson_backend(self.div, verbose > 0) + if verbose > 0: + print('nD =', self.nD.shape, self.nD.min(), self.nD.max()) + + self.nRu = self._solve_poisson_backend(self.curlu, verbose > 0) + self.nRu *= -1.0 + if verbose > 0: + print('nRu =', self.nRu.shape, self.nRu.min(), self.nRu.max()) + + self.nRv = self._solve_poisson_backend(self.curlv, verbose > 0) + self.nRv *= -1.0 + if verbose > 0: + print('nRv =', self.nRv.shape, self.nRv.min(), self.nRv.max()) + + self.nRw = self._solve_poisson_backend(self.curlw, verbose > 0) + self.nRw *= -1.0 + + if verbose > 0: + print('nRw =', self.nRw.shape, self.nRw.min(), self.nRw.max()) + + # compute divergent field as gradient of D potential + self.d = self.mesh.gradient(self.nD) + if verbose > 0: + print('d =', self.d.shape, self.d.min(), self.d.max()) + + # temporary use of r + self.r = numpy.stack((self.nRu, self.nRv, self.nRw), axis=-1) + + # compute rotational field as curl of R potential + (cu, cv, cw) = self.mesh.curl3D(self.r) + self.r = numpy.stack((cu, cv, cw), axis=-1) + if verbose > 0: + print('r =', self.r.shape, self.r.min(), self.r.max()) + + self.h = numpy.add(self.d, self.r) + numpy.subtract(vfield, self.h, self.h) + + if verbose > 0: + print('h =', self.h.shape, self.h.min(), self.h.max()) + + def decompose_cuda(self, vfield, verbose=0): + """ + GPU-optimized decomposition that keeps intermediate results on GPU. + Returns GPU arrays to avoid CPU-GPU transfers. + + Args: + vfield: Vector field (numpy array or CuPy array) + verbose: Verbosity level (default: 0) + + Returns: + Tuple of GPU arrays: (d_gpu, h_gpu, r_gpu, nRu_gpu) for 2D fields + """ + if not CUPY_AVAILABLE: + if verbose > 0: + print("CuPy not available, falling back to CPU decompose") + self.decompose(vfield, verbose) + return None + + if vfield.shape[-1] != self.dim: + raise ValueError("nHHD.decompose requires a valid-dimensional vector field") + + if verbose > 0: + print('\n ==> nhhd.decompose_cuda', vfield.shape) + + # Convert input to GPU if needed + if isinstance(vfield, numpy.ndarray): + vfield_gpu = cp.asarray(vfield, dtype=cp.float32) + else: + vfield_gpu = vfield + + if self.dim == 2: + # Compute div curl on GPU + dx0, dx1 = self.mesh.dx[0], self.mesh.dx[1] + + dudy, dudx = cp.gradient(vfield_gpu[:, :, 0], dx0, dx1) + dvdy, dvdx = cp.gradient(vfield_gpu[:, :, 1], dx0, dx1) + + div_gpu = cp.add(dudx, dvdy) + curlw_gpu = cp.subtract(dvdx, dudy) + + if verbose > 0: + print('div =', div_gpu.shape, float(div_gpu.min()), float(div_gpu.max())) + print('curlw =', curlw_gpu.shape, float(curlw_gpu.min()), float(curlw_gpu.max())) + + # Use a single stream for both solves. Running concurrent FFT-based + # solves on separate streams can cause occasional long-run jitter. + nD_gpu = self.psolver._solve_gpu_internal(div_gpu) + nRu_gpu = self.psolver._solve_gpu_internal(curlw_gpu) + cp.cuda.get_current_stream().synchronize() + + if verbose > 0: + print('nD =', nD_gpu.shape, float(nD_gpu.min()), float(nD_gpu.max())) + print('nR =', nRu_gpu.shape, float(nRu_gpu.min()), float(nRu_gpu.max())) + + # Compute gradients on GPU + ddy, ddx = cp.gradient(nD_gpu, dx0, dx1) + d_gpu = cp.stack((ddx, ddy), axis=-1) + + if verbose > 0: + print('d =', d_gpu.shape, float(d_gpu.min()), float(d_gpu.max())) + + # Compute rotated gradient on GPU + rdy, rdx = cp.gradient(nRu_gpu, dx0, dx1) + rdy = cp.multiply(rdy, -1.0) + r_gpu = cp.stack((rdy, rdx), axis=-1) + + if verbose > 0: + print('r =', r_gpu.shape, float(r_gpu.min()), float(r_gpu.max())) + + # Compute h on GPU + h_gpu = cp.add(d_gpu, r_gpu) + h_gpu = cp.subtract(vfield_gpu, h_gpu) + + if verbose > 0: + print('h =', h_gpu.shape, float(h_gpu.min()), float(h_gpu.max())) + + # Ensure all default-stream work (gradient, etc.) is complete before use + cp.cuda.get_current_stream().synchronize() + + # Store GPU arrays + self._d_gpu = d_gpu + self._h_gpu = h_gpu + self._r_gpu = r_gpu + self._nRu_gpu = nRu_gpu + + return (d_gpu, h_gpu, r_gpu, nRu_gpu) + + else: + # For 3D, fall back to CPU for now + if verbose > 0: + print("3D GPU decompose not yet implemented, using CPU") + self.decompose(vfield, verbose) + return None + + def get_force_cpu(self, vfield, verbose=False): + shape = (vfield.shape[0], vfield.shape[1]) + if (not hasattr(self, '_force_cpu_cache') or + self._force_cpu_cache is None or + self._force_cpu_cache['shape'] != shape): + self._init_force_cpu_cache(shape) + grid = self._force_cpu_cache['grid'] + + self.decompose(vfield, verbose) + + # Optimized: use abs instead of absolute (slightly faster) + self.Sn = numpy.sum(numpy.abs(self.d)) + + # Optimized: direct indexing and sum (already efficient) + self.Stx = numpy.sum(self.h[:, :, 0]) + self.Sty = numpy.sum(self.h[:, :, 1]) + + # Optimized: find both max and min indices in single pass through flattened array + nRu_flat = self.nRu.ravel() + nR_max_idx = numpy.argmax(nRu_flat) + nR_min_idx = numpy.argmin(nRu_flat) + # Convert flat indices to 2D coordinates (faster than unravel_index) + nR_max_loc = (nR_max_idx // shape[1], nR_max_idx % shape[1]) + nR_min_loc = (nR_min_idx // shape[1], nR_min_idx % shape[1]) + + # Optimized: compute cross products directly without creating intermediate arrays + # For 2D: cross(a, b) = a[0]*b[1] - a[1]*b[0] + # Extract components once for reuse + r_x = self.r[:, :, 0] + r_y = self.r[:, :, 1] + grid_x = grid[:, :, 0] + grid_y = grid[:, :, 1] + + # Compute cross products directly (faster than numpy.cross for 2D) + # cross(r_p, r) where r_p = grid - nR_max_loc + max_y, max_x = nR_max_loc[0], nR_max_loc[1] + cross_p = (grid_x - max_x) * r_y - (grid_y - max_y) * r_x + + # cross(r_n, r) where r_n = grid - nR_min_loc + min_y, min_x = nR_min_loc[0], nR_min_loc[1] + cross_n = (grid_x - min_x) * r_y - (grid_y - min_y) * r_x + + self.Stor = numpy.sum(cross_p) + numpy.sum(cross_n) + + # Optimized: pre-allocate output array with explicit dtype + output = numpy.array([self.Sn, self.Stx, self.Sty, self.Stor], dtype=numpy.float32) + + # Optimized: combine threshold checks (short-circuit evaluation) + flag = (self.Sn >= 300 and self.Stx >= 300 and self.Sty >= 300 and numpy.abs(self.Stor) >= 1000) + + return flag, output + + def _init_force_cpu_cache(self, shape): + """ + Initialize cached CPU grid arrays for force computation. + Avoids per-frame mgrid/stack allocations and reduces jitter. + """ + mgrid = numpy.mgrid[0:shape[0], 0:shape[1]] + self._force_cpu_cache = { + 'shape': shape, + 'grid': numpy.stack((mgrid[0], mgrid[1]), axis=2), + } + + def _init_force_gpu_cache(self, shape): + """ + Initialize cached GPU arrays for force computation. + Call once when shape is known to avoid repeated allocations. + + Args: + shape: Tuple (height, width) of the vector field + """ + if not CUPY_AVAILABLE: + return + + # Cache grid arrays (only need to create once per shape) + self._force_gpu_cache = { + 'shape': shape, + 'mgrid_0': cp.arange(shape[0], dtype=cp.float32)[:, None], + 'mgrid_1': cp.arange(shape[1], dtype=cp.float32)[None, :], + } + # Pre-broadcast for efficiency + self._force_gpu_cache['mgrid_0_bc'] = cp.broadcast_to( + self._force_gpu_cache['mgrid_0'], shape + ).copy() # .copy() to make contiguous + self._force_gpu_cache['mgrid_1_bc'] = cp.broadcast_to( + self._force_gpu_cache['mgrid_1'], shape + ).copy() + + def get_force_cuda(self, vfield, verbose=False): + """ + Further optimized GPU force computation using CuPy ElementwiseKernel. + Fuses all operations into a single kernel for maximum performance. + + Args: + vfield: Vector field (numpy array) + verbose: Print debug information (default: False) + + Returns: + tuple: (flag, output) where: + - flag: Boolean indicating if force thresholds are met + - output: Array [Sn, Stx, Sty, Stor] containing force components + """ + if not CUPY_AVAILABLE: + if verbose: + print("CuPy not available, falling back to CPU get_force") + return self.get_force(vfield, verbose) + + # Decompose the vector field + self.decompose_cuda(vfield, verbose) + + d_gpu = self._d_gpu + h_gpu = self._h_gpu + r_gpu = self._r_gpu + nRu_gpu = self._nRu_gpu + + # Use reduction kernels for better performance + # Compute Sn as L1 sum directly on GPU (faster than linalg.norm for this case) + Sn = float(cp.sum(cp.abs(d_gpu))) + + # Compute Stx, Sty + Stx = float(cp.sum(h_gpu[:, :, 0])) + Sty = float(cp.sum(h_gpu[:, :, 1])) + + # Find extrema indices + nR_max_idx = int(cp.argmax(nRu_gpu)) + nR_min_idx = int(cp.argmin(nRu_gpu)) + + shape = nRu_gpu.shape + max_0, max_1 = nR_max_idx // shape[1], nR_max_idx % shape[1] + min_0, min_1 = nR_min_idx // shape[1], nR_min_idx % shape[1] + + # Initialize cache if needed + if not hasattr(self, '_force_gpu_cache') or self._force_gpu_cache is None or self._force_gpu_cache['shape'] != shape: + self._init_force_gpu_cache(shape) + + mgrid_0 = self._force_gpu_cache['mgrid_0_bc'] + mgrid_1 = self._force_gpu_cache['mgrid_1_bc'] + + r_x = r_gpu[:, :, 0] + r_y = r_gpu[:, :, 1] + + if KERNEL_AVAILABLE and _torque_kernel is not None: + torque = _torque_kernel( + r_x, r_y, mgrid_0, mgrid_1, + float(max_0), float(max_1), float(min_0), float(min_1) + ) + Stor = float(cp.sum(torque)) + else: + Stor = float(cp.sum( + (mgrid_0 - max_0) * r_y - (mgrid_1 - max_1) * r_x + + (mgrid_0 - min_0) * r_y - (mgrid_1 - min_1) * r_x + )) + + self.Sn, self.Stx, self.Sty, self.Stor = Sn, Stx, Sty, Stor + output = numpy.array([Sn, Stx, Sty, Stor], dtype=numpy.float32) + + # Keep stable CPU copies for get_normal()/get_shear() so callers get this frame's + # result instead of reading GPU memory that can change (avoids CuPy-only jumps) + self.d = cp.asnumpy(self._d_gpu) + self.h = cp.asnumpy(self._h_gpu) + + flag = (Sn >= 300 and Stx >= 300 and Sty >= 300 and abs(Stor) >= 1000) + + return flag, output + + def clear_force_gpu_cache(self): + """Clear the GPU cache for force computation to free memory.""" + if hasattr(self, '_force_gpu_cache'): + self._force_gpu_cache = None + if CUPY_AVAILABLE: + cp.get_default_memory_pool().free_all_blocks() diff --git a/src/orisys/hhd/grid.py b/src/orisys/hhd/grid.py new file mode 100644 index 0000000..cdcf20b --- /dev/null +++ b/src/orisys/hhd/grid.py @@ -0,0 +1,385 @@ +import numpy +import timeit +import sys +# import cv2 +from scipy import signal, spatial + +from ..backend_availability import ( + CUPY_AVAILABLE, OPENCL_AVAILABLE, KERNEL_AVAILABLE, + cp, cp_signal, _torque_kernel, + cl, cla, cl_rfftn, cl_irfftn +) +from .timing import Timer + +class StructuredGrid(object): + + # -------------------------------------------------------------------------- + # -------------------------------------------------------------------------- + def __init__(self, **kwargs): + + ''' + kwargs: + grid: ndarray of grid dimensions (Y,X) or (Z,Y,X) + spacings: ndarray of grid spacings (dy, dx) or (dz, dy, dx) + verbose: verbosity level + ''' + + args = kwargs.keys() + + if ('grid' not in args) or ('spacings' not in args): + raise SyntaxError("Dimensions and spacings of the grid are required") + + verbose = 0 + if 'verbose' in args: + verbose = kwargs['verbose'] + + self.dims = kwargs['grid'] + self.dx = kwargs['spacings'] + self.dim = len(self.dims) + + if self.dim != 2 and self.dim != 3: + raise ValueError("StructuredGrid works for 2D and 3D only") + + if self.dim != len(self.dx): + raise ValueError("Dimensions of spacings should match that of the grid") + + # Initialize GPU cache + self._gpu_divcurl_cache = None + + if verbose > 0: + print(' Initializing', self.dim, 'D structured grid...', end ='') + sys.stdout.flush() + mtimer = Timer() + print(' Done!', end ='') + mtimer.end() + + # -------------------------------------------------------------------------- + # -------------------------------------------------------------------------- + def divcurl(self, vfield, verbose=False): + # compute div and curl of vfield (vector field) + #if (vfield.shape[-1] != self.dim) or (vfield.shape[0:self.dim] - self.dims).any(): + if (vfield.shape[-1] != self.dim) or (vfield.shape[0:self.dim] != self.dims): + raise ValueError("Dimensions of vector field should match that of the grid") + + if verbose: + print(' Computing div and curl...', end ='') + sys.stdout.flush() + mtimer = Timer() + + if self.dim == 2: + + # self.dx = (dy,dx) + dudy, dudx = numpy.gradient(vfield[:,:,0], self.dx[0], self.dx[1]) + dvdy, dvdx = numpy.gradient(vfield[:,:,1], self.dx[0], self.dx[1]) + + numpy.add(dudx, dvdy, dudx) + numpy.subtract(dvdx, dudy, dvdx) + + if verbose: + print(' Done!', end ='') + mtimer.end() + + return (dudx, dvdx) + + elif self.dim == 3: + + # self.dx = (dz,dy,dx) + dudz, dudy, dudx = numpy.gradient(vfield[:,:,:,0], self.dx[0], self.dx[1], self.dx[2]) + dvdz, dvdy, dvdx = numpy.gradient(vfield[:,:,:,1], self.dx[0], self.dx[1], self.dx[2]) + dwdz, dwdy, dwdx = numpy.gradient(vfield[:,:,:,2], self.dx[0], self.dx[1], self.dx[2]) + + numpy.add(dudx, dvdy, dudx) + numpy.add(dudx, dvdz, dudx) + + numpy.subtract(dwdy, dvdz, dwdy) + numpy.subtract(dudz, dwdx, dudz) + numpy.subtract(dvdx, dudy, dvdx) + + if verbose: + print(' Done!', end ='') + mtimer.end() + + return (dudx, dwdy, dudz, dvdx) + + # def divcurl_gpu(self, vfield, verbose=False): + # """ + # GPU-accelerated computation of divergence and curl of vector field. + # Uses CuPy for faster gradient computation on GPU. + # """ + # if not CUPY_AVAILABLE: + # if verbose: + # print('CuPy not available, falling back to CPU') + # return self.divcurl(vfield, verbose) + + # if (vfield.shape[-1] != self.dim) or (vfield.shape[0:self.dim] != self.dims): + # raise ValueError("Dimensions of vector field should match that of the grid") + + # if verbose: + # print(' Computing div and curl on GPU...', end ='') + # sys.stdout.flush() + # mtimer = Timer() + + # if self.dim == 2: + # # Transfer to GPU + # vfield_gpu = cp.asarray(vfield, dtype=cp.float32) + + # # Compute gradients on GPU + # dudy, dudx = cp.gradient(vfield_gpu[:,:,0], self.dx[0], self.dx[1]) + # dvdy, dvdx = cp.gradient(vfield_gpu[:,:,1], self.dx[0], self.dx[1]) + + # # Compute div and curl on GPU + # div_gpu = dudx + dvdy + # curl_gpu = dvdx - dudy + + # # Transfer back to CPU + # div = cp.asnumpy(div_gpu) + # curl = cp.asnumpy(curl_gpu) + + # if verbose: + # print(' Done!', end ='') + # mtimer.end() + + # return (div, curl) + + # elif self.dim == 3: + # # Transfer to GPU + # vfield_gpu = cp.asarray(vfield, dtype=cp.float32) + + # # Compute gradients on GPU + # dudz, dudy, dudx = cp.gradient(vfield_gpu[:,:,:,0], self.dx[0], self.dx[1], self.dx[2]) + # dvdz, dvdy, dvdx = cp.gradient(vfield_gpu[:,:,:,1], self.dx[0], self.dx[1], self.dx[2]) + # dwdz, dwdy, dwdx = cp.gradient(vfield_gpu[:,:,:,2], self.dx[0], self.dx[1], self.dx[2]) + + # # Compute div and curl components on GPU + # div_gpu = dudx + dvdy + dwdz + # curlu_gpu = dwdy - dvdz + # curlv_gpu = dudz - dwdx + # curlw_gpu = dvdx - dudy + + # # Transfer back to CPU + # div = cp.asnumpy(div_gpu) + # curlu = cp.asnumpy(curlu_gpu) + # curlv = cp.asnumpy(curlv_gpu) + # curlw = cp.asnumpy(curlw_gpu) + + # if verbose: + # print(' Done!', end ='') + # mtimer.end() + + # return (div, curlu, curlv, curlw) + + def curl3D(self, vfield, verbose=False): + + #if (vfield.shape[-1] != self.dim) or (vfield.shape[0:self.dim] - self.dims).any(): + if (vfield.shape[-1] != self.dim) or (vfield.shape[0:self.dim] != self.dims): + raise ValueError("Dimensions of vector field should match that of the grid") + + if self.dim != 3: + raise ValueError("curl3D works only for 2D") + + if verbose: + print(' Computing curl...', end ='') + sys.stdout.flush() + mtimer = Timer() + + # self.dx = (dz,dy,dx) + dudz, dudy, dudx = numpy.gradient(vfield[:,:,:,0], self.dx[0], self.dx[1], self.dx[2]) + dvdz, dvdy, dvdx = numpy.gradient(vfield[:,:,:,1], self.dx[0], self.dx[1], self.dx[2]) + dwdz, dwdy, dwdx = numpy.gradient(vfield[:,:,:,2], self.dx[0], self.dx[1], self.dx[2]) + + numpy.subtract(dwdy, dvdz, dwdy) + numpy.subtract(dudz, dwdx, dudz) + numpy.subtract(dvdx, dudy, dvdx) + + if verbose: + print(' Done!', end ='') + mtimer.end() + + return (dwdy, dudz, dvdx) + + def curl3D_gpu(self, vfield, verbose=False): + """ + GPU-accelerated computation of curl for 3D vector field. + Uses CuPy for faster gradient computation on GPU. + """ + if not CUPY_AVAILABLE: + if verbose: + print('CuPy not available, falling back to CPU') + return self.curl3D(vfield, verbose) + + if (vfield.shape[-1] != self.dim) or (vfield.shape[0:self.dim] != self.dims): + raise ValueError("Dimensions of vector field should match that of the grid") + + if self.dim != 3: + raise ValueError("curl3D works only for 3D") + + if verbose: + print(' Computing curl on GPU...', end ='') + sys.stdout.flush() + mtimer = Timer() + + # Transfer to GPU + vfield_gpu = cp.asarray(vfield, dtype=cp.float32) + + # Compute gradients on GPU + dudz, dudy, dudx = cp.gradient(vfield_gpu[:,:,:,0], self.dx[0], self.dx[1], self.dx[2]) + dvdz, dvdy, dvdx = cp.gradient(vfield_gpu[:,:,:,1], self.dx[0], self.dx[1], self.dx[2]) + dwdz, dwdy, dwdx = cp.gradient(vfield_gpu[:,:,:,2], self.dx[0], self.dx[1], self.dx[2]) + + # Compute curl components on GPU + curl_u = dwdy - dvdz + curl_v = dudz - dwdx + curl_w = dvdx - dudy + + # Transfer back to CPU + curlu = cp.asnumpy(curl_u) + curlv = cp.asnumpy(curl_v) + curlw = cp.asnumpy(curl_w) + + if verbose: + print(' Done!', end ='') + mtimer.end() + + return (curlu, curlv, curlw) + + def rotated_gradient(self, sfield, verbose=False): + + if (sfield.shape != self.dims): + #if (sfield.shape - self.dims).any(): + raise ValueError("Dimensions of scalar field should match that of the grid") + + if self.dim != 2: + raise ValueError("rotated_gradient works only for 2D") + + if verbose: + print(' Computing rotated gradient...', end ='') + sys.stdout.flush() + mtimer = Timer() + + ddy, ddx = numpy.gradient(sfield, self.dx[0], self.dx[1]) + ddy *= -1.0 + + grad = numpy.stack((ddy, ddx), axis=-1) + + if verbose: + print(' Done!', end ='') + mtimer.end() + + return grad + + def rotated_gradient_gpu(self, sfield, verbose=False): + """ + GPU-accelerated computation of rotated gradient for 2D scalar field. + Uses CuPy for faster gradient computation on GPU. + """ + if not CUPY_AVAILABLE: + if verbose: + print('CuPy not available, falling back to CPU') + return self.rotated_gradient(sfield, verbose) + + if (sfield.shape != self.dims): + raise ValueError("Dimensions of scalar field should match that of the grid") + + if self.dim != 2: + raise ValueError("rotated_gradient works only for 2D") + + if verbose: + print(' Computing rotated gradient on GPU...', end ='') + sys.stdout.flush() + mtimer = Timer() + + # Transfer to GPU + sfield_gpu = cp.asarray(sfield, dtype=cp.float32) + + # Compute gradients on GPU + ddy, ddx = cp.gradient(sfield_gpu, self.dx[0], self.dx[1]) + ddy *= -1.0 + + # Stack and transfer back to CPU + grad_gpu = cp.stack((ddy, ddx), axis=-1) + grad = cp.asnumpy(grad_gpu) + + if verbose: + print(' Done!', end ='') + mtimer.end() + + return grad + + def gradient(self, sfield, verbose=False): + + if (sfield.shape != self.dims): + #if (sfield.shape - self.dims).any(): + raise ValueError("Dimensions of scalar field should match that of the grid") + + if verbose: + print(' Computing gradient...', end ='') + sys.stdout.flush() + mtimer = Timer() + + if self.dim == 2: + + # self.dx = (dy,dx) + ddy, ddx = numpy.gradient(sfield, self.dx[0], self.dx[1]) + grad = numpy.stack((ddx, ddy), axis = -1) + + elif self.dim == 3: + + # self.dx = (dz,dy,dx) + ddz, ddy, ddx = numpy.gradient(sfield, self.dx[0], self.dx[1], self.dx[2]) + grad = numpy.stack((ddx, ddy, ddz), axis = -1) + + if verbose: + print(' Done!', end ='') + mtimer.end() + + return grad + + def gradient_gpu(self, sfield, verbose=False): + """ + GPU-accelerated computation of gradient for scalar field. + Uses CuPy for faster gradient computation on GPU. + """ + if not CUPY_AVAILABLE: + if verbose: + print('CuPy not available, falling back to CPU') + return self.gradient(sfield, verbose) + + if (sfield.shape != self.dims): + raise ValueError("Dimensions of scalar field should match that of the grid") + + if verbose: + print(' Computing gradient on GPU...', end ='') + sys.stdout.flush() + mtimer = Timer() + + # Transfer to GPU + sfield_gpu = cp.asarray(sfield, dtype=cp.float32) + + if self.dim == 2: + # Compute gradients on GPU + ddy, ddx = cp.gradient(sfield_gpu, self.dx[0], self.dx[1]) + grad_gpu = cp.stack((ddx, ddy), axis=-1) + + elif self.dim == 3: + # Compute gradients on GPU + ddz, ddy, ddx = cp.gradient(sfield_gpu, self.dx[0], self.dx[1], self.dx[2]) + grad_gpu = cp.stack((ddx, ddy, ddz), axis=-1) + + # Transfer back to CPU + grad = cp.asnumpy(grad_gpu) + + if verbose: + print(' Done!', end ='') + mtimer.end() + + return grad + + def clear_gpu_cache(self): + """Clear GPU cache to free GPU memory""" + if self._gpu_divcurl_cache is not None: + self._gpu_divcurl_cache = None + if CUPY_AVAILABLE: + cp.get_default_memory_pool().free_all_blocks() + + # -------------------------------------------------------------------------- + # -------------------------------------------------------------------------- diff --git a/src/orisys/hhd/kernels.py b/src/orisys/hhd/kernels.py new file mode 100644 index 0000000..7261f69 --- /dev/null +++ b/src/orisys/hhd/kernels.py @@ -0,0 +1,16 @@ +""" +Low-level kernels and shared numeric helpers for HHD. + +Use this file for pieces that should not live inside the public `nHHD` API or the +`PoissonSolver` class, for example: +- finite-difference helper functions +- small backend-dispatch helpers +- reusable CuPy/OpenCL kernel preparation code +- shared CPU math that does not depend on object state +""" + +# No standalone helpers from the old monolithic `HHD.py` are required yet. +# Keep this module in place so future extracted CUDA/OpenCL/CPU helpers have a +# stable home without changing the public package layout again. + +__all__ = [] diff --git a/src/orisys/hhd/poisson.py b/src/orisys/hhd/poisson.py new file mode 100644 index 0000000..a1a6a17 --- /dev/null +++ b/src/orisys/hhd/poisson.py @@ -0,0 +1,954 @@ +import numpy +import timeit +import sys +# import cv2 +from scipy import signal, spatial + +from ..backend_availability import ( + CUPY_AVAILABLE, OPENCL_AVAILABLE, KERNEL_AVAILABLE, + cp, cp_signal, _torque_kernel, + cl, cla, cl_rfftn, cl_irfftn +) +from .timing import Timer + +''' +# ------------------------------------------------------------------------------ + Poisson Solver for 1D, 2D, and 3D scalar fields. + Data may be defined on a rectlinear grid or unstructured points. + + 1) create an object + PoissonSolver(args) + 'solver' : type of solver + 'S' for spatial convolution + only option for unstructured points + 'F' for convolution in frequency space + default option for regular grids + + --> for regular grid + 'grid' : shape of the rectlinear grid + tuple of dimensions (Z,Y,X) + 'spacings' : spacings of the rectlinear grid + tuple of spacings (dz,dy,dx) + + --> for unstrucutred points + 'points' : unstructured points + numpy array of shape (N, dim) + 'pvolumes' : point volumes for each point + numpy array of shape (N, 1) + + 2) call prepare() + this initializes internal datastructures depending upon the mesh. + + Once initialized, solve() can be called any number of times to + solve the Poisson equation on the same domain. If the domain + changes (e.g., a Lagrangian mesh), create a new object. + + 3) call solve(f), where, f is a numpy array defining a scalar field + + for rectlinear grid, f.shape = grid.shape + for unstructured points, f.shape = (points.shape[0], 1) + +# ------------------------------------------------------------------------------ +''' + +class PoissonSolver(object): + + # constructor + def __init__(self, **kwargs): + + args = kwargs.keys() + + if ('grid' in args) == ('points' in args): + raise SyntaxError("Poisson Solver needs either shape of a regular grid or the points in an rectilinear/unstructured grid") + + if ('grid' in args) != ('spacings' in args): + raise SyntaxError("Poisson Solver needs spacings for regular grid") + + if ('points' in args) != ('pvolumes' in args): + raise SyntaxError("Poisson Solver needs point volumes for unstructured points") + + # (default) data type + self.dtype = numpy.float32 + if 'dtype' in args: + self.dtype = kwargs['dtype'] + + if 'grid' in args: + self.ptype = 'G' + self.stype = 'F' # default + self.gdims = kwargs['grid'] + self.gdx = kwargs['spacings'] + self.dim = len(self.gdims) + if self.dim != len(self.gdx): + raise ValueError("Dimensions of spacings should match that of the grid") + + elif 'points' in args: + self.ptype = 'P' + self.stype = 'S' # only option + self.points = kwargs['points'] + self.pvolumes = kwargs['pvolumes'] + self.dim = len(self.points.shape) + if self.pvolumes.shape[0] != self.points.shape[0]: + raise ValueError("Number of pvolumes should match that of the points") + + if 'solver' in args: + if (kwargs['solver'] != 'S' and kwargs['solver'] != 'F'): + raise SyntaxError('Solver can be only of type S(patial) or F(requency)') + + if (kwargs['solver'] == 'F') and ('points' in args): + raise SyntaxError('Only Spatial solver supported for unstructured points') + + if (kwargs['solver'] == 'S') and ('grid' in args): + raise SyntaxError('Frequncy solver strongly suggested for structured grids') + + self.stype = kwargs['solver'] + if 'poisson_backend' in args: + self.poisson_backend = kwargs['poisson_backend'] + if self.poisson_backend not in ('cpu', 'opencl', 'cupy'): + raise ValueError("poisson_backend must be one of: 'cpu', 'opencl', 'cupy'") + + if (self.dim > 3): + raise ValueError("Poisson Solver works only for 1, 2, or 3 dimensions") + + self.ready = False + if self.poisson_backend == 'cupy': + self._gpu_cache = None # Cache for GPU arrays + if self.poisson_backend == 'opencl': + self._opencl_cache = None # Cache for OpenCL FFT buffers + self._opencl_queue = None # OpenCL command queue + self._opencl_context = None # OpenCL context (set when queue is created) + self._opencl_crop_kernel = None # Cached OpenCL crop kernel + self._opencl_scatter_kernel = None # Cached scatter (reverse-crop) kernel + self._opencl_fused_mul_kernel = None # Cached fused complex multiply kernel + self._opencl_scatter_batch_kernel = None # Cached batch scatter kernel + self._opencl_crop_batch_kernel = None # Cached batch crop kernel + self._opencl_batch_mul_kernel = None # Cached batch complex multiply kernel + self._opencl_last_timing = None # Last per-stage OpenCL timing in ms + # Cache for OpenCV FFT (CPU backend) + self._opencv_cache = None # Cache for OpenCV FFT buffers + # if (self.ptype == 'G'): + # print( 'PoissonSolver:', self.dim, 'D grid =', self.gdims, 'with spacings', self.gdx) + # elif (self.ptype == 'P'): + # print( 'PoissonSolver', self.dim, 'D points =', self.points.shape) + + # -------------------------------------------------------------------------- + # create the Green's function in appropriate representation + # -------------------------------------------------------------------------- + + # generate a grid -(N-1) to (N-1) to define distance function + # where N is the size of the original grid + def _create_radialGrid(self, verbose): + + mtimer = Timer() + if verbose: + print( ' - creating distance kernel:', end ='') + + rdims = tuple(2*d - 1 for d in self.gdims) + + R = numpy.indices(rdims, dtype=self.dtype) + for d in range(self.dim): + R[d] += 1-self.gdims[d] + R[d] *= self.gdx[d] + + if self.dim == 1: + numpy.absolute(R[0], R[0]) + R = R[0] + + elif self.dim == 2: + numpy.hypot(R[1], R[0], R[0]) + R = R[0] + + # half of the average grid spacing + zval = 0.5 * (self.gdx[0]+self.gdx[1]) / 2.0 + R[self.gdims[0]-1, self.gdims[1]-1] = zval + + elif self.dim == 3: + numpy.hypot(R[2], R[1], R[1]) + numpy.hypot(R[1], R[0], R[0]) + R = R[0] + + # half of the average grid spacing + zval = 0.5 * (self.gdx[0]+self.gdx[1]+self.gdx[2]) / 3.0 + R[self.gdims[0]-1, self.gdims[1]-1, self.gdims[2]-1] = zval + + if verbose: + print( R.shape, R.min(), R.max()) + mtimer.end() + + return R + + # -------------------------------------------------------------------------- + # scale a function by point volumes for correct integration + def _scale(self, func): + + if self.ptype == 'P': + return numpy.multiply(func, self.pvolumes) + + elif self.ptype == 'G': + sfunc = func * numpy.prod(self.gdx) + + ''' + # volume of the boundary elements is only half the voxel + if self.dim == 1: + sfunc[ 0] *= 0.5 + sfunc[-1] *= 0.5 + elif self.dim == 2: + sfunc[ 0, :] *= 0.5 + sfunc[-1, :] *= 0.5 + sfunc[ :, 0] *= 0.5 + sfunc[ :,-1] *= 0.5 + elif self.dim == 3: + sfunc[ 0, :, :] *= 0.5 + sfunc[-1, :, :] *= 0.5 + sfunc[ :, 0, :] *= 0.5 + sfunc[ :,-1, :] *= 0.5 + sfunc[ :, :, 0] *= 0.5 + sfunc[ :, :,-1] *= 0.5 + ''' + return sfunc + + def prepare(self, verbose=False): + + # ---------------------------------------------------------------------- + gtimer = Timer() + if verbose: + print( '\nInitializing Poisson solver, type =', self.stype) + + # ---------------------------------------------------------------------- + # generate a grid to store pairwise distances to store Green's function + self.G = None # definition depends upon solver type + + # ---------------------------------------------------------------------- + # for Fourier solution, + if self.stype == 'F': + + if self.ptype == 'G': + self.G = self._create_radialGrid(verbose) + + elif self.ptype == 'P': + raise SyntaxError('Frequncy solver not supported for unstructured points') + #self.G = create_distArray() + + # ---------------------------------------------------------------------- + # for spatial solution, + # use the pairwise distance matrix, N x N + # where N is the number of points + elif self.stype == 'S': + + if self.ptype == 'G': + raise SyntaxError('Spatial solver not suggested for structured grids') + #self.G = self.create_points(verbose) + + elif self.ptype == 'P': + # for 1D points, add an extra axis + if (self.dim == 1) and (len(self.points.shape) == 1): + self.points = self.points[:,numpy.newaxis] + + # create pairwise distance matrix now + ltimer = Timer() + self.G = spatial.distance.cdist(self.points, self.points) + + # TODO: use a good approximation here + zval = numpy.power(10.0, -10.0) + self.G += zval * numpy.identity(self.G.shape[0]) + + if verbose: + print(' - created pairwise distance matrix:', self.G.shape, self.G.min(), self.G.max(), end = "") + ltimer.end() + + # ---------------------------------------------------------------------- + # compute the Green's function + ltimer = Timer() + if verbose: + print( ' - computing the Green\'s function:') + + if self.dim == 1: + numpy.multiply(self.G, 0.5, self.G) + + elif self.dim == 2: + numpy.log(self.G, self.G) + numpy.multiply(self.G, (0.5 / numpy.pi), self.G) + + elif self.dim == 3: + numpy.reciprocal(self.G, self.G) + numpy.multiply(self.G, (-0.25 / numpy.pi), self.G) + + if verbose: + print( self.G.shape, self.G.min(), self.G.max(), end = "") + ltimer.end() + + # ---------------------------------------------------------------------- + self.ready = True + + if verbose: + print( 'Poisson solver initialized', end ='') + gtimer.end() + + # -------------------------------------------------------------------------- + # compute the integral solution + # -------------------------------------------------------------------------- + def solve(self, f, verbose=False): + + if not self.ready: + self.prepare(verbose) + + fshape = f.shape + + gtimer = Timer() + if verbose: + print( '\nSolving Poisson Eq.') + + # ---------------------------------------------------------------------- + # regular grid + if self.ptype == 'G': + + #if (self.gdims - fshape).any(): + if self.gdims != fshape: + print( self.gdims, fshape) + raise ValueError("Shape of function should match shape of grid") + + # convolution in frequency domain using OpenCV FFT (2D) or numpy FFT (3D) + if self.stype == 'F': + if self.dim == 2: + # # Use OpenCV DFT for 2D (optimized with caching) + # # Convert to float32 for OpenCV (use ascontiguousarray for better performance) + # f_32 = numpy.ascontiguousarray(f, dtype=numpy.float32) + + # # For 'same' mode convolution, pad to (2*N-1) size + # full_shape = tuple(2 * s - 1 for s in f_32.shape) + + # # Initialize or validate cache + # cache_valid = ( + # self._opencv_cache is not None and + # self._opencv_cache['fshape'] == fshape and + # self._opencv_cache['full_shape'] == full_shape + # ) + + # if not cache_valid: + # # Cache G_fft (G doesn't change, so compute once) + # G_32 = numpy.ascontiguousarray(self.G, dtype=numpy.float32) + # G_fft = cv2.dft(G_32, flags=cv2.DFT_COMPLEX_OUTPUT) + + # # Pre-compute crop slices for 'same' mode extraction + # # For circular convolution at size (2*H-1, 2*W-1), the center corresponds to + # # position [H-1, W-1], which matches scipy's fftconvolve mode='same' extraction + # starts = [fshape[i] - 1 for i in range(len(fshape))] + # slices = tuple(slice(starts[i], starts[i] + fshape[i]) for i in range(len(fshape))) + + # # Pre-allocate reusable buffers + # self._opencv_cache = { + # 'fshape': fshape, + # 'full_shape': full_shape, + # 'G_fft': G_fft, # Cached: G doesn't change, so compute FFT once + # 'slices': slices, # Cached: crop slices pre-computed + # 'gdx_prod': numpy.prod(self.gdx), # Cached: grid spacing product + # # Reusable buffers (avoid reallocation on each call) + # 'f_pad': numpy.zeros(full_shape, dtype=numpy.float32), # Reused for padding + # 'conv_fft': numpy.empty((full_shape[0], full_shape[1], 2), dtype=numpy.float32), # Output for mulSpectrums + # } + + # cache = self._opencv_cache + + # # Zero-pad f into pre-allocated buffer (faster than creating new array) + # f_pad = cache['f_pad'] + # f_pad.fill(0.0) # Clear previous data efficiently + # f_slices = tuple(slice(0, s) for s in f_32.shape) + # f_pad[f_slices] = f_32 + + # # Compute FFT of f (cv2.dft returns new array, but we can reuse for mulSpectrums) + # f_fft = cv2.dft(f_pad, flags=cv2.DFT_COMPLEX_OUTPUT) + + # # Multiply in frequency domain using OpenCV's optimized mulSpectrums + # # This is faster than manual complex multiplication and supports output buffer + # # Signature: mulSpectrums(a, b, flags, c=None, conjB=False) + # cv2.mulSpectrums(f_fft, cache['G_fft'], cv2.DFT_COMPLEX_OUTPUT, + # cache['conv_fft'], False) + + # # Compute inverse FFT (cv2.idft returns new array) + # conv_full = cv2.idft(cache['conv_fft'], flags=cv2.DFT_SCALE | cv2.DFT_REAL_OUTPUT) + + # # Extract 'same' mode result (use cached slices, scale in-place) + # p = conv_full[cache['slices']].copy() + # numpy.multiply(p, cache['gdx_prod'], p) + # from scipy import signal + p = signal.fftconvolve(f, self.G, mode='same') + # Scale by grid spacing + numpy.multiply(p, numpy.prod(self.gdx), p) + else: + # For 3D, use numpy FFT (OpenCV DFT only supports 2D) + # from scipy import signal + p = signal.fftconvolve(f, self.G, mode='same') + # Scale by grid spacing + numpy.multiply(p, numpy.prod(self.gdx), p) + + # convolution in spatial domain + elif self.stype == 'S': + raise SyntaxError('Spatial solver not suggested for structured grids') + #p = (self.G).dot(f.reshape(-1)).reshape(fshape) + + # ---------------------------------------------------------------------- + # unstructured points + elif self.ptype == 'P': + + if (self.points.shape[0] != fshape[0]) or (1 != len(fshape)): + raise ValueError("Shape of function should be (N,1) with N as the number of points") + + # convolution in spatial domain + # Dec 13, 2017 -- pre scaling works for unstructured grids! + if self.stype == 'S': + p = numpy.multiply(f, self.pvolumes) + numpy.dot(self.G, p, p) + #numpy.multiply(p, self.pvolumes, p) + + elif self.stype == 'F': + raise SyntaxError('Frequncy solver not supported for unstructured points') + + # ---------------------------------------------------------------------- + if verbose: + print( 'Poisson solver finished') + gtimer.end() + + return p + + # -------------------------------------------------------------------------- + # GPU-accelerated solve using CuPy + # -------------------------------------------------------------------------- + def solve_gpu(self, f, verbose=False, return_gpu=False): + """ + GPU-accelerated Poisson solver using CuPy. + Falls back to CPU if CuPy is not available. + + Args: + f: Input field (numpy array) + verbose: Print timing information + + Returns: + p: Solution (numpy array on CPU) + """ + if not CUPY_AVAILABLE: + if verbose: + print("CuPy not available, falling back to CPU solver") + return self.solve(f, verbose) + + if not self.ready: + self.prepare(verbose) + + fshape = f.shape + + gtimer = Timer() + if verbose: + print('\nSolving Poisson Eq. on GPU') + + # ---------------------------------------------------------------------- + # regular grid + if self.ptype == 'G': + if self.gdims != fshape: + print(self.gdims, fshape) + raise ValueError("Shape of function should match shape of grid") + + # convolution in frequency domain using GPU + if self.stype == 'F': + # Initialize GPU cache if needed + if self._gpu_cache is None: + if verbose: + print(' - Transferring Green\'s function to GPU...') + self._gpu_cache = { + 'G_gpu': cp.asarray(self.G, dtype=cp.float32), + 'gdx_prod': numpy.prod(self.gdx) + } + + # Transfer input to GPU + f_gpu = cp.asarray(f, dtype=cp.float32) + + # Perform FFT convolution on GPU + # CuPy's fftconvolve is GPU-accelerated + p_gpu = cp_signal.fftconvolve(f_gpu, self._gpu_cache['G_gpu'], mode='same') + + # Scale by grid spacing (on GPU) + p_gpu *= self._gpu_cache['gdx_prod'] + + if verbose: + print('Poisson solver (GPU) finished') + gtimer.end() + + # Transfer result back to CPU + if return_gpu: + return p_gpu # Return CuPy array + return cp.asnumpy(p_gpu) + # p = cp.asnumpy(p_gpu) + + elif self.stype == 'S': + raise SyntaxError('Spatial solver not suggested for structured grids') + + def _solve_gpu_internal(self, f_gpu): + """Internal GPU solve that accepts and returns GPU arrays.""" + """ + GPU-accelerated Poisson solver using CuPy. + Falls back to CPU if CuPy is not available. + + Args: + f_gpu: Input field (numpy array) + + Returns: + p_gpu: Solution (CuPy array) + """ + + # ---------------------------------------------------------------------- + # regular grid + if self.ptype == 'G': + + # convolution in frequency domain using GPU + if self.stype == 'F': + # Initialize GPU cache if needed + if self._gpu_cache is None: + self._gpu_cache = { + 'G_gpu': cp.asarray(self.G, dtype=cp.float32), + 'gdx_prod': numpy.prod(self.gdx) + } + + # Perform FFT convolution on GPU + # CuPy's fftconvolve is GPU-accelerated + p_gpu = cp_signal.fftconvolve(f_gpu, self._gpu_cache['G_gpu'], mode='same') + + # Scale by grid spacing (on GPU) + p_gpu *= self._gpu_cache['gdx_prod'] + + return p_gpu # Return CuPy array + + def clear_gpu_cache(self): + """Clear GPU cache to free GPU memory""" + if self._gpu_cache is not None: + self._gpu_cache = None + if CUPY_AVAILABLE: + cp.get_default_memory_pool().free_all_blocks() + + # ---------------------------------------------------------------------- + # unstructured points - not optimized for GPU + # elif self.ptype == 'P': + # if verbose: + # print(' - GPU solver not optimized for unstructured points, using CPU') + # return self.solve(f, verbose) + + # ---------------------------------------------------------------------- + + # return p + + def _get_opencl_queue(self): + """Create and cache an OpenCL queue on first available GPU.""" + if self._opencl_queue is not None: + return self._opencl_queue + + if not OPENCL_AVAILABLE: + raise RuntimeError("OpenCL/pyvkfft is not available") + + ctx = None + for platform in cl.get_platforms(): + for device in platform.get_devices(): + if device.type & cl.device_type.GPU == 0: + continue + ctx = cl.Context(devices=(device,)) + break + if ctx is not None: + break + + if ctx is None: + raise RuntimeError("No OpenCL GPU device found") + + self._opencl_queue = cl.CommandQueue(ctx) + self._opencl_context = ctx + return self._opencl_queue + + def _get_opencl_crop_kernel(self, queue): + """Create and cache OpenCL kernel for cropping convolution result.""" + if hasattr(self, '_opencl_crop_kernel') and self._opencl_crop_kernel is not None: + return self._opencl_crop_kernel + + # Simple 2D copy kernel + kernel_code = """ + __kernel void crop_and_scale( + __global const float* src, + __global float* dst, + const int src_width, + const int dst_width, + const int dst_height, + const int start_x, + const int start_y, + const float scale + ) { + int gid_x = get_global_id(0); + int gid_y = get_global_id(1); + + if (gid_x < dst_width && gid_y < dst_height) { + int src_idx = (start_y + gid_y) * src_width + (start_x + gid_x); + int dst_idx = gid_y * dst_width + gid_x; + dst[dst_idx] = src[src_idx] * scale; + } + } + """ + + program = cl.Program(self._opencl_context, kernel_code).build() + self._opencl_crop_kernel = program.crop_and_scale + return self._opencl_crop_kernel + + def _get_opencl_scatter_kernel(self, queue): + """Kernel that copies unpadded input into a zero-padded device buffer (reverse of crop).""" + if self._opencl_scatter_kernel is not None: + return self._opencl_scatter_kernel + + kernel_code = """ + __kernel void scatter_to_padded( + __global const float* src, + __global float* dst, + const int src_width, + const int src_height, + const int dst_width + ) { + int gid_x = get_global_id(0); + int gid_y = get_global_id(1); + if (gid_x < src_width && gid_y < src_height) { + dst[gid_y * dst_width + gid_x] = src[gid_y * src_width + gid_x]; + } + } + """ + program = cl.Program(self._opencl_context, kernel_code).build() + self._opencl_scatter_kernel = program.scatter_to_padded + return self._opencl_scatter_kernel + + def _get_opencl_fused_mul_kernel(self, queue): + """Kernel that multiplies two complex spectra by one Green's spectrum in a single pass.""" + if self._opencl_fused_mul_kernel is not None: + return self._opencl_fused_mul_kernel + + kernel_code = """ + __kernel void fused_complex_mul( + __global float2* fft1, + __global float2* fft2, + __global const float2* g, + const int n + ) { + int i = get_global_id(0); + if (i < n) { + float2 gv = g[i]; + float2 a = fft1[i]; + float2 b = fft2[i]; + fft1[i] = (float2)(a.x * gv.x - a.y * gv.y, + a.x * gv.y + a.y * gv.x); + fft2[i] = (float2)(b.x * gv.x - b.y * gv.y, + b.x * gv.y + b.y * gv.x); + } + } + """ + program = cl.Program(self._opencl_context, kernel_code).build() + self._opencl_fused_mul_kernel = program.fused_complex_mul + return self._opencl_fused_mul_kernel + + def _get_opencl_scatter_batch_kernel(self, queue): + """Batched scatter: copies two unpadded inputs into a stacked zero-padded device buffer.""" + if self._opencl_scatter_batch_kernel is not None: + return self._opencl_scatter_batch_kernel + + kernel_code = """ + __kernel void scatter_batch( + __global const float* src, + __global float* dst, + const int src_width, + const int src_height, + const int dst_width, + const int src_plane, + const int dst_plane + ) { + int gid_x = get_global_id(0); + int gid_y = get_global_id(1); + int gid_z = get_global_id(2); + if (gid_x < src_width && gid_y < src_height) { + int src_idx = gid_z * src_plane + gid_y * src_width + gid_x; + int dst_idx = gid_z * dst_plane + gid_y * dst_width + gid_x; + dst[dst_idx] = src[src_idx]; + } + } + """ + program = cl.Program(self._opencl_context, kernel_code).build() + self._opencl_scatter_batch_kernel = program.scatter_batch + return self._opencl_scatter_batch_kernel + + def _get_opencl_crop_batch_kernel(self, queue): + """Batched crop+scale: extracts 'same' region from two stacked full-conv results.""" + if self._opencl_crop_batch_kernel is not None: + return self._opencl_crop_batch_kernel + + kernel_code = """ + __kernel void crop_batch( + __global const float* src, + __global float* dst, + const int src_width, + const int dst_width, + const int dst_height, + const int start_x, + const int start_y, + const float scale, + const int src_plane, + const int dst_plane + ) { + int gid_x = get_global_id(0); + int gid_y = get_global_id(1); + int gid_z = get_global_id(2); + if (gid_x < dst_width && gid_y < dst_height) { + int src_idx = gid_z * src_plane + (start_y + gid_y) * src_width + (start_x + gid_x); + int dst_idx = gid_z * dst_plane + gid_y * dst_width + gid_x; + dst[dst_idx] = src[src_idx] * scale; + } + } + """ + program = cl.Program(self._opencl_context, kernel_code).build() + self._opencl_crop_batch_kernel = program.crop_batch + return self._opencl_crop_batch_kernel + + def _get_opencl_batch_mul_kernel(self, queue): + """Batched complex multiply: multiplies each batch plane by the same Green's spectrum. + Uses multiple elements per work item, __constant for broadcast-read Green's spectrum, + and fma for better throughput/precision.""" + if self._opencl_batch_mul_kernel is not None: + return self._opencl_batch_mul_kernel + + kernel_code = """ + __kernel void batch_complex_mul( + __global float2* fft_batch, + __global const float2* g, + const int n + ) { + const int b = get_global_id(0); + const int base = b * n; + const int i0 = get_global_id(1) * 4; + const int i_end = min(i0 + 4, n); + for (int i = i0; i < i_end; i++) { + float2 gv = g[i]; + float2 a = fft_batch[base + i]; + fft_batch[base + i] = (float2)(fma(a.x, gv.x, -(a.y * gv.y)), + fma(a.x, gv.y, a.y * gv.x)); + } + } + """ + program = cl.Program(self._opencl_context, kernel_code).build() + self._opencl_batch_mul_kernel = program.batch_complex_mul + return self._opencl_batch_mul_kernel + + def _get_opencl_alloc_host_ptr(self): + """Return an allocator that creates buffers with ALLOC_HOST_PTR for pinned host access (reduces H2D/D2H transfer cost).""" + ctx = self._opencl_context + mf = cl.mem_flags + + def allocator(nbytes): + return cl.Buffer(ctx, mf.READ_WRITE | mf.ALLOC_HOST_PTR, size=nbytes) + + return allocator + + @staticmethod + def _center_crop_same(full_conv, target_shape): + """Crop full convolution result to scipy 'same' output shape.""" + starts = [(full_conv.shape[i] - target_shape[i]) // 2 for i in range(len(target_shape))] + slices = tuple(slice(starts[i], starts[i] + target_shape[i]) for i in range(len(target_shape))) + return full_conv[slices] + + + def solve_opencl_batch2(self, f1, f2, verbose=False, profile=False): + """ + Batched OpenCL Poisson solver for two 2D fields. + Optimized: scatter H2D (~4x smaller transfer), fused multiply + (reads g_fft once), async D2H (one sync instead of two). + When profile=True, records and optionally prints per-stage timings. + """ + if not OPENCL_AVAILABLE: + if verbose: + print("OpenCL/pyvkfft not available, falling back to CPU solver") + return self.solve(f1, verbose), self.solve(f2, verbose) + + # if self.dim != 2: + # return self.solve_opencl(f1, verbose, profile), self.solve_opencl(f2, verbose, profile) + + if not self.ready: + self.prepare(verbose) + + fshape = f1.shape + if fshape != f2.shape: + raise ValueError("solve_opencl_batch2 requires inputs with identical shapes") + + if self.ptype != 'G' or self.stype != 'F': + return self.solve_opencl(f1, verbose, profile), self.solve_opencl(f2, verbose, profile) + + if self.gdims != fshape: + print(self.gdims, fshape) + raise ValueError("Shape of function should match shape of grid") + + timing = {'cache_prepare_ms': 0.0} + t_total = timeit.default_timer() + + t0 = timeit.default_timer() + queue = self._get_opencl_queue() + timing['queue_ms'] = (timeit.default_timer() - t0) * 1000.0 + + t0 = timeit.default_timer() + fshape = f1.shape + full_shape = tuple(2 * s - 1 for s in fshape) + timing['host_prepare_ms'] = (timeit.default_timer() - t0) * 1000.0 + + cache_valid = ( + self._opencl_cache is not None and + self._opencl_cache['fshape'] == fshape and + self._opencl_cache['full_shape'] == full_shape and + 'f_batch_dev' in self._opencl_cache + ) + + if not cache_valid: + t0 = timeit.default_timer() + g_host = numpy.asarray(self.G, dtype=numpy.float32) + g_pad = numpy.zeros(full_shape, dtype=numpy.float32) + g_slices = tuple(slice(0, s) for s in g_host.shape) + g_pad[g_slices] = g_host + g_dev = cla.to_device(queue, g_pad) + g_fft_dev = cl_rfftn(g_dev) + if profile: + queue.finish() + + # For circular conv at size (2s-1) with G of shape (2s-1) and f of shape s, + # alias-free positions are [s-1, 2s-2], matching scipy 'same' extraction. + same_starts = [fshape[i] - 1 for i in range(self.dim)] + fft_shape = tuple(list(full_shape[:-1]) + [full_shape[-1] // 2 + 1]) + fft_n_elements = 1 + for d in fft_shape: + fft_n_elements *= d + src_plane = fshape[0] * fshape[1] + dst_plane = full_shape[0] * full_shape[1] + + # Pinned allocator for staging (H2D) and output (D2H) buffers + alloc_pinned = self._get_opencl_alloc_host_ptr() + + self._opencl_cache = { + 'fshape': fshape, + 'full_shape': full_shape, + 'fft_shape': fft_shape, + 'fft_n_elements': fft_n_elements, + 'g_fft_dev': g_fft_dev, + 'same_starts': same_starts, + 'gdx_prod': numpy.prod(self.gdx), + 'src_plane': src_plane, + 'dst_plane': dst_plane, + 'f_batch_dev': cla.zeros(queue, (2,) + full_shape, dtype=numpy.float32), + 'host_stage': numpy.empty((2,) + fshape, dtype=numpy.float32), + 'f_stage_dev': cla.empty(queue, (2,) + fshape, dtype=numpy.float32), + 'f_fft_batch_dev': cla.empty(queue, (2,) + fft_shape, dtype=numpy.complex64), + 'conv_batch_dev': cla.empty(queue, (2,) + full_shape, dtype=numpy.float32), + 'p_batch_dev': cla.empty(queue, (2,) + fshape, dtype=numpy.float32, allocator=alloc_pinned), + 'p1_host': numpy.empty(fshape, dtype=numpy.float32), + 'p2_host': numpy.empty(fshape, dtype=numpy.float32), + } + timing['cache_prepare_ms'] = (timeit.default_timer() - t0) * 1000.0 + + c = self._opencl_cache + fshape_c = c['fshape'] + full_shape_c = c['full_shape'] + + # H2D: compact transfer of unpadded data, then scatter to padded buffer on device + t0 = timeit.default_timer() + H, W = fshape_c + f1_f32 = f1 if (f1.flags['C_CONTIGUOUS'] and f1.dtype == numpy.float32) else numpy.ascontiguousarray(f1, dtype=numpy.float32) + f2_f32 = f2 if (f2.flags['C_CONTIGUOUS'] and f2.dtype == numpy.float32) else numpy.ascontiguousarray(f2, dtype=numpy.float32) + host_stage = c['host_stage'] + numpy.copyto(host_stage[0], f1_f32) + numpy.copyto(host_stage[1], f2_f32) + f_stage_dev = c['f_stage_dev'] + cl.enqueue_copy(queue, f_stage_dev.data, host_stage, is_blocking=False) + c['f_batch_dev'].fill(0, queue=queue) + scatter_batch = self._get_opencl_scatter_batch_kernel(queue) + scatter_batch( + queue, (W, H, 2), None, + f_stage_dev.data, c['f_batch_dev'].data, + numpy.int32(W), numpy.int32(H), + numpy.int32(full_shape_c[1]), + numpy.int32(H * W), + numpy.int32(c['dst_plane']), + ) + if profile: + queue.finish() + timing['h2d_set_ms'] = (timeit.default_timer() - t0) * 1000.0 + + # Single batched 2D FFT for both fields (ndim=2 treats dim-0 as batch) + t0 = timeit.default_timer() + fft_batch = cl_rfftn(c['f_batch_dev'], c['f_fft_batch_dev'], ndim=2) + if profile: + queue.finish() + timing['fft_f_ms'] = (timeit.default_timer() - t0) * 1000.0 + + # Batched multiply: each batch plane * same Green's spectrum (4 elements/work item, explicit local size) + t0 = timeit.default_timer() + n_fft = c['fft_n_elements'] + global_n = max(1, (n_fft + 3) // 4) + local_n = min(256, global_n) + global_n = ((global_n + local_n - 1) // local_n) * local_n + batch_mul = self._get_opencl_batch_mul_kernel(queue) + batch_mul( + queue, (2, global_n), (1, local_n), + fft_batch.data, + c['g_fft_dev'].data, + numpy.int32(n_fft) + ) + if profile: + queue.finish() + timing['mul_ms'] = (timeit.default_timer() - t0) * 1000.0 + + # Single batched 2D iFFT for both fields + t0 = timeit.default_timer() + conv_batch = cl_irfftn(fft_batch, c['conv_batch_dev'], ndim=2) + if profile: + queue.finish() + timing['ifft_ms'] = (timeit.default_timer() - t0) * 1000.0 + + # Batch crop + scale on device + t0 = timeit.default_timer() + crop_batch = self._get_opencl_crop_batch_kernel(queue) + same_starts = c['same_starts'] + crop_batch( + queue, (fshape_c[1], fshape_c[0], 2), None, + conv_batch.data, c['p_batch_dev'].data, + numpy.int32(full_shape_c[1]), + numpy.int32(fshape_c[1]), + numpy.int32(fshape_c[0]), + numpy.int32(same_starts[1]), + numpy.int32(same_starts[0]), + numpy.float32(c['gdx_prod']), + numpy.int32(c['dst_plane']), + numpy.int32(c['src_plane']) + ) + if profile: + queue.finish() + timing['crop_scale_ms'] = (timeit.default_timer() - t0) * 1000.0 + + # D2H: map pinned buffer, copy into pre-allocated host arrays (zero allocation) + t0 = timeit.default_timer() + p1 = c['p1_host'] + p2 = c['p2_host'] + mapped_p = c['p_batch_dev'].map_to_host(queue=queue, flags=cl.map_flags.READ, is_blocking=True) + numpy.copyto(p1, mapped_p[0]) + numpy.copyto(p2, mapped_p[1]) + mapped_p.base.release(queue=queue) + timing['d2h_get_ms'] = (timeit.default_timer() - t0) * 1000.0 + + timing['total_ms'] = (timeit.default_timer() - t_total) * 1000.0 + self._opencl_last_timing = timing + + if verbose: + print('Poisson solver (OpenCL FFT batch2) finished') + if profile: + print( + "OpenCL batch2 timing [ms]: " + f"total={timing['total_ms']:.3f}, " + f"queue={timing['queue_ms']:.3f}, " + f"cache={timing['cache_prepare_ms']:.3f}, " + f"host={timing['host_prepare_ms']:.3f}, " + f"h2d={timing['h2d_set_ms']:.3f}, " + f"fft={timing['fft_f_ms']:.3f}, " + f"mul={timing['mul_ms']:.3f}, " + f"ifft={timing['ifft_ms']:.3f}, " + f"d2h={timing['d2h_get_ms']:.3f}, " + f"crop={timing['crop_scale_ms']:.3f}" + ) + return p1, p2 + \ No newline at end of file diff --git a/src/orisys/hhd/timing.py b/src/orisys/hhd/timing.py new file mode 100644 index 0000000..9253c5a --- /dev/null +++ b/src/orisys/hhd/timing.py @@ -0,0 +1,36 @@ +import numpy +import timeit + +class Timer(object): + + def display(self): + + tseconds = self.etime - self.stime + + print(' [[ elapsed time:', end = "") + if tseconds < numpy.power(10.,-6.): + print("%.3f micro-sec." % (tseconds*numpy.power(10,6)),end = "") + + elif tseconds < numpy.power(10.,-3.): + print("%.3f milli-sec." % (tseconds*numpy.power(10.,3.)),end = "") + + elif tseconds < 60.0: + print("%.3f sec." % (tseconds),end = "") + + else: + m = int(tseconds/ 60.0) + print("%d min. %.3f sec." % (m, (tseconds - 60*m)),end = "") + + print(']]') + + def start(self): + self.stime = timeit.default_timer() + + def end(self, print_time=True): + self.etime = timeit.default_timer() + + if print_time: + self.display() + + def __init__(self): + self.start() \ No newline at end of file diff --git a/src/orisys/sensor.py b/src/orisys/sensor.py new file mode 100644 index 0000000..ffe1fe4 --- /dev/null +++ b/src/orisys/sensor.py @@ -0,0 +1,768 @@ +""" +Sensor - Core sensor class for optical tactile sensing. + +This module provides the Sensor class for capturing, processing, and analyzing +optical tactile sensor data with support for stitching, optical flow tracking, +and Helmholtz-Hodge decomposition. +""" + +import os +import platform +import numpy as np +import cv2 +import time +import threading +from enum import Enum, auto +from typing import Tuple +# from threading import Thread, Event +# from queue import Queue, Empty + +from .Stitcher import Stitcher +from .tracker import Tracker +from .hhd import nHHD +from . import configs +from .get_depth import Contact3D +from .backend_availability import (check_cupy_available, check_opencl_available) +from .transform import FrameRectifier +try: + import av # Optional: used for Linux camera capture path. +except ImportError: + av = None + +class Sensor: + """ + Optical tactile sensor interface with deformation analysis. + + Provides image capture, stitching, optical flow tracking, and force decomposition. + Supports both synchronous and asynchronous (pipelined) processing modes. + """ + + # ========================================================================= + # Info Enum (for read_info API) + # ========================================================================= + + class info(Enum): + """Data types available through read_info().""" + VRAW = auto() + VNORMAL = auto() + VSHEAR = auto() + FPS = auto() + TIMESTAMP = auto() + FNORMAL = auto() + FSHEARX = auto() + FSHEARY = auto() + CENTROID = auto() + CONTOUR = auto() + DEPTH = auto() + IMG = auto() + + # ========================================================================= + # Initialization + # ========================================================================= + + def __init__(self, vid_src, cuda=True, isstitch=True, verbose=True, debug=False, + config_name="prototype", cal_path=None, override=False, box=None, mirror=True, + backend='auto', rotation_config_path="./config/rotation_config.json"): + """ + Initialize Sensor with video source and configuration. + + Args: + vid_src: Video source (int for camera ID, str for file path) + cuda: Enable CUDA acceleration (default: True) + isstitch: Enable stitching mode for multi-tile sensor (default: False) + verbose: Print initialization logs (default: True) + config_name: Configuration name (default: "prototype") + cal_path: Path to calibration file (default: None) + override: Skip auto-detection, use provided box (default: False) + box: Manual bounding boxes when override=True (default: None) + rotation_config_path: Path to image orientation config JSON. + backend: Poisson backend (default: "auto") + "auto": Automatically select the best backend based on availability + "cupy": Use CuPy for GPU acceleration + "opencl": Use OpenCL for GPU acceleration + "cpu": Use CPU for computation + hhd_downsample: Downsample factor for flow field before HHD (default: 1, no downsampling). + Factor of 2 halves each dimension, giving ~4x speedup in Poisson solve. + """ + + self.CUPY_AVAILABLE = check_cupy_available() + self.OPENCL_AVAILABLE = check_opencl_available() + + if vid_src is None: + raise Exception("User must specify a video source.") + + # Store settings + self.vid_src = vid_src + self.isstitch = isstitch + self.cuda = cuda + self.verbose = verbose + self.debug = debug + self.config_name = config_name + self.cal_path = cal_path + self.mirror = mirror + self.rotation_config_path = rotation_config_path + + # Load configuration + self.__config_cam = None + self.__config_stitcher = None + self.__config_contact = None + self._load_config() + + # State variables + self.stitch_valid = False + self.compute_deformation_valid = False + self.compute_contact_valid = False + + # Image Data Variables (public) + # self.stitch_calibration = [] + self.frame = self.img = None + self.initial_img = None + shape = (self.__config_cam["resolution_stitch"][1], self.__config_cam["resolution_stitch"][0]) + self.img_size_raw = None + self.img_filtered = None + self.tail_frames_count = 0 + + # Optical Flow Data Variables (public) + self.flow = np.zeros(shape + (2,), dtype=np.float32) + self.vtemplate = np.zeros_like(self.flow) + self.vnormal = self.vtemplate + self.vshear = self.vtemplate + self.n_boxes = None + self.fnormal = self.fshearx = self.fsheary = self.ftor = 0.0 + + # Contact Data Variables (public) + self.centroid = (0, 0) + self.centroid_found = False + self.contour = np.empty(0) + self.depth_map = np.zeros_like(self.img) + + # Timing + self.last_log_time = time.perf_counter() + self._fps = 0 + self._last_capture_time = 0.0 + self._last_processing_time = 0.0 + self._last_stage_times = { + "extract_tiles": 0.0, + "stitch": 0.0, + "resize": 0.0, + "mirror": 0.0, + "astype": 0.0, + } + + # Initialize components + self.stitcher = Stitcher(isstitch=isstitch, config_stitcher=self.__config_stitcher, verbose=self.verbose) + self.__tracker = Tracker(adaptive=True, cuda=cuda, verbose=self.verbose, config_tracker=self.__config_tracker) + self.__contact3d = Contact3D(config_contact=self.__config_contact, verbose=self.verbose) + self.__hhd = None + # Integer >= 1: run HHD on flow downsampled by this factor for speed (1 = full res). + _raw_ds = self.__config_tracker.get("hhd_downsample", 1) + try: + self._hhd_downsample = max(1, int(_raw_ds)) if _raw_ds is not None else 1 + except (TypeError, ValueError): + self._hhd_downsample = 1 + self._hhd_grid_shape = None + cfg_backend = self.__config_tracker.get("backend", None) + self.poisson_backend = cfg_backend if cfg_backend is not None else backend + self._use_pyav = False + self._av_container = None + self._av_stream = None + self._av_decoder = None + self.cap = None + # Treat both camera index (0) and V4L2 path ("/dev/video0") as live camera for threading/low-latency path. + self._is_live_camera = ( + isinstance(self.vid_src, int) + or (isinstance(self.vid_src, str) and self.vid_src.startswith("/dev/video")) + ) + self._capture_thread = None + self._capture_running = False + self._latest_frame = None + self._latest_frame_seq = 0 + self._last_consumed_seq = -1 + self._latest_frame_lock = threading.Lock() + + # Setup video capture + self._open_video_source(override, box) + self.rectifier = FrameRectifier(self.rotation_config_path) + + if self.verbose: + print(f" Video source: {vid_src}") + print(f" Stitch mode: {self.stitch_valid}") + print(f" Optical flow algorithm: {self.__config_tracker['algorithm']}") + print(f" Poisson backend: {self.poisson_backend}") + # print(f" CUDA acceleration: {self.cuda}") + print(f" CuPy available: {self.CUPY_AVAILABLE}") + print(f" OpenCL available: {self.OPENCL_AVAILABLE}") + + + + # ========================================================================= + # Public API - Core Methods (Most Frequently Used) + # ========================================================================= + + def get_img(self): + """ + Capture and preprocess a frame. + + Returns: + np.ndarray | None: Processed image, or None on capture failure. + """ + # Simple direct read - buffer size of 1 should minimize frame accumulation + # Timing measurement helps identify if capture or processing is the bottleneck + t_capture_start = time.perf_counter() + ret, frame = self._read_frame() + t_capture_end = time.perf_counter() + self._last_capture_time = t_capture_end - t_capture_start + + if not ret: + print("Failed to get_img from video source.") + return None + + # Start processing timing + t_processing_start = time.perf_counter() + + # self.frame = frame.copy() + self.frame = frame + # Extract and stitch tiles + # self.stitcher.get_stitch_unit(frame) + self._extract_tiles(frame) + t_after_extract = time.perf_counter() + + img = np.ascontiguousarray(self.stitcher.stitch_rt_optimized(blend=True)) + t_after_stitch = time.perf_counter() + + self.img_size_raw = img.shape + # Resize + img = cv2.resize(img, tuple(self._config_resolution_stitch), interpolation=cv2.INTER_LINEAR) + t_after_resize = time.perf_counter() + + if self.mirror: + img = cv2.flip(img, 1) + t_after_mirror = time.perf_counter() + + img = img.astype(np.uint8) + img = self.rectifier.rectify(img) + self.img = np.ascontiguousarray(img) + t_after_astype = time.perf_counter() + + t_processing_end = time.perf_counter() + self._last_processing_time = t_processing_end - t_processing_start + self._last_stage_times["extract_tiles"] = t_after_extract - t_processing_start + self._last_stage_times["stitch"] = t_after_stitch - t_after_extract + self._last_stage_times["resize"] = t_after_resize - t_after_stitch + self._last_stage_times["mirror"] = t_after_mirror - t_after_resize + self._last_stage_times["astype"] = t_after_astype - t_after_mirror + + # FPS calculation + self._fps = 1.0 / (time.perf_counter() - self.last_log_time) + self.last_log_time = time.perf_counter() + + return self.img.copy() + + def detect_motion(self, threshold=6): + + # detect motion by optical flow magnitude + mag = np.linalg.norm(self.flow, axis=-1) + # print(f"mag: {mag.max()}, {mag.min()}, {mag.mean()}") + return mag.mean() > threshold + + def compute_deformation(self, decompose=True, check_motion=True, threshold=6, tail_frames=10): + """ + Compute optical flow and optionally decompose it into force components. + + Parameters + ---------- + decompose : bool + If True, run HHD decomposition (`compute_hhd`) after flow computation. + check_motion : bool + If True, gate decomposition with `detect_motion(threshold)`. When motion + falls below threshold, decomposition may still run for up to + `tail_frames` additional frames to avoid abrupt force drop-off. + threshold : float + Motion-detection threshold on mean flow magnitude. + tail_frames : int + Number of extra non-motion frames allowed to keep running HHD when + `check_motion=True`. + + Returns + ------- + bool | None + - `True` : motion is currently detected (`check_motion=True`) + - `False` : motion is currently not detected (`check_motion=True`) + - `None` : motion gating disabled (`check_motion=False`) + """ + if self.img is None: + raise Exception("Warning: Get image first") + + self.compute_flow() + + if not check_motion: + self.tail_frames_count = 0 + if decompose: + self.compute_hhd() + return None + + is_motion = self.detect_motion(threshold=threshold) + try: + tail_frames = max(0, int(tail_frames)) + except (TypeError, ValueError): + tail_frames = 0 + + if is_motion: + self.tail_frames_count = 0 + if decompose: + self.compute_hhd() + return True + + # No motion this frame. Keep HHD alive briefly if requested, but do not + # report this as "motion detected". + if decompose and self.tail_frames_count < tail_frames: + self.tail_frames_count += 1 + self.compute_hhd() + else: + self.tail_frames_count = tail_frames + + return False + + def compute_flow(self): + if self.img is None: + raise Exception("Warning: Get image first") + + flow = self.__tracker.track(self.img) + # flow = self.__tracker.track_raft(self.img) + if hasattr(flow, 'download'): + flow = flow.download() + self.flow = flow + + def compute_hhd(self): + + flow = self.flow + if flow is None: + raise Exception("Warning: Compute flow first") + + orig_h, orig_w = flow.shape[:2] + try: + k = max(1, int(self._hhd_downsample)) + except (TypeError, ValueError): + k = 1 + + if k > 1: + ds_w = max(1, orig_w // k) + ds_h = max(1, orig_h // k) + flow_ds = cv2.resize(flow, (ds_w, ds_h), interpolation=cv2.INTER_AREA) + else: + flow_ds = flow + + ds_shape = flow_ds.shape[:2] + if self.__hhd is None or self._hhd_grid_shape != ds_shape: + spacings = (18 * k, 18 * k) + self.__hhd = nHHD(cuda=self.cuda, grid=ds_shape, spacings=spacings, poisson_backend=self.poisson_backend, debug=self.debug) + self._hhd_grid_shape = ds_shape + + _, forces = self.__hhd.get_force(flow_ds) + self.fnormal, self.fshearx, self.fsheary, self.ftor = forces + + vnormal_ds = self.__hhd.get_normal() + vshear_ds = self.__hhd.get_shear() + + if k > 1: + self.vnormal = cv2.resize(vnormal_ds, (orig_w, orig_h), interpolation=cv2.INTER_LINEAR) + self.vshear = cv2.resize(vshear_ds, (orig_w, orig_h), interpolation=cv2.INTER_LINEAR) + else: + self.vnormal = vnormal_ds + self.vshear = vshear_ds + + self.compute_deformation_valid = True + + return True + + def compute_contact(self, vnormal=None): + """ + Compute contact information from vnormal field. + + Args: + vnormal: Optional vnormal field. If None, uses self.vnormal. + + Returns: + dict: Contact result with centroid, contour, and depth_map + """ + multiple_foe = False + + # Use provided vnormal or fall back to internal state + vnormal_to_use = vnormal if vnormal is not None else self.vnormal + + if vnormal_to_use is None: + raise Exception("Warning: vnormal is required for contact computation") + + if multiple_foe: + result = self.__contact3d.compute_multiple_foe(vnormal_to_use) + else: + if self.cuda: + result = self.__contact3d.compute_foe_gpu(vnormal_to_use) + else: + result = self.__contact3d.compute_foe(vnormal_to_use) + + self.centroid = result['centroid'] + self.centroid_found = result['centroid_found'] + if 'contour' in result: + self.contour = result['contour'] + self.depth_map = result['divergence_map'] + + self.compute_contact_valid = True + return result + + + def read_info(self, *args) -> Tuple: + """ + Get sensor data by info type. + + Args: + *args: info enum values (e.g., sensor.info.FPS, sensor.info.FNORMAL) + + Returns: + Tuple: Requested data in order + """ + if any(arg in [self.info.IMG] for arg in args): + if self.img is None: + raise Exception("Warning: Get image first") + + # if any(arg in [self.info.VRAW, self.info.VNORMAL, self.info.VSHEAR, self.info.FNORMAL, self.info.FSHEARX, self.info.FSHEARY] for arg in args): + # if not self.compute_deformation_valid: + # print("Warning: Compute deformation first") + # # raise Exception("Warning: Compute deformation first") + + # if any(arg in [self.info.CENTROID, self.info.CONTOUR, self.info.DEPTH] for arg in args): + # if not self.compute_contact_valid: + # print("Warning: Compute contact first") + # raise Exception("Warning: Compute contact first") + + mapping = { + # Return copies of arrays to prevent external modification of internal state + self.info.VRAW: lambda: self.flow.copy() if self.flow is not None else np.array([]), + self.info.VNORMAL: lambda: self.vnormal.copy() if self.vnormal is not None else np.array([]), + self.info.VSHEAR: lambda: self.vshear.copy() if self.vshear is not None else np.array([]), + # Scalar values are safe to return directly + self.info.FNORMAL: lambda: self.fnormal, + self.info.FSHEARX: lambda: self.fshearx, + self.info.FSHEARY: lambda: self.fsheary, + self.info.FPS: lambda: self._fps, + self.info.TIMESTAMP: lambda: time.strftime('%H:%M:%S'), + # Return copies of arrays to prevent external modification + self.info.DEPTH: lambda: self.depth_map.copy() if self.depth_map is not None else np.array([]), + # Centroid: can be tuple, list, or array - return a copy to prevent modification + # Return None if centroid is not found or empty + self.info.CENTROID: lambda: ( + np.array(self.centroid).copy() + if self.centroid is not None and len(self.centroid) > 0 + else None + ), + self.info.CONTOUR: lambda: self.contour.copy() if self.contour is not None else np.array([]), + self.info.IMG: lambda: self.img.copy() if self.img is not None else np.array([]), + } + + return tuple(mapping.get(arg, lambda: None)() for arg in args if isinstance(arg, self.info)) + + def reset(self): + """Reset optical flow tracker.""" + self.__tracker.reset() + if self.img is not None: + self.initial_img = self.img.copy() + + + def disconnect(self): + """Release resources and stop async threads.""" + self._capture_running = False + if self._capture_thread is not None: + self._capture_thread.join(timeout=1.0) + self._capture_thread = None + + if self._use_pyav: + if self._av_container is not None: + self._av_container.close() + self._av_container = None + self._av_stream = None + self._av_decoder = None + if self.verbose: + print("Sensor disconnected.") + elif self.cap is not None and self.cap.isOpened(): + self.cap.release() + if self.verbose: + print("Sensor disconnected.") + cv2.destroyAllWindows() + + # ========================================================================= + # Public API - Configuration & Calibration + # ========================================================================= + + # def export_config(self, path="./config/exported_config.json"): + # """Return current configuration dict.""" + # configs.export_config(self._config, path) + # if self.verbose: + # print(f"Config exported to {path}") + # return True + + + + # def stitch_cal(self): + # """ + # Load or create stitch calibration. + + # Returns: + # np.ndarray: Stitched calibration image + # """ + # if self.cal_path is None: + # self.cal_path = "./config/cal.npy" + + # if os.path.exists(self.cal_path): + # if self.verbose: + # print("Loading calibration from", self.cal_path) + # self.stitch_calibration = np.load(self.cal_path, allow_pickle=True) + # self.stitcher.stitch_calibration = self.stitch_calibration + # return self.stitcher.stitch_rt_optimized() + # else: + # if self.verbose: + # print("Creating new calibration...") + # img, self.stitch_calibration = self.stitcher.stitch_cal() + # os.makedirs("./config", exist_ok=True) + # np.save(self.cal_path, self.stitch_calibration) + # if self.verbose: + # print("Calibration saved to", self.cal_path) + # return img + + # ========================================================================= + # Private - Initialization Helpers + # ========================================================================= + + def _load_config(self): + """Load sensor configuration from JSON file.""" + self._config = configs.load_config(self.config_name) + self.__config_cam = self._config["camera"] + self._config_resolution_raw = self.__config_cam["resolution_raw"] + self._config_fps = self.__config_cam["fps"] + self._config_units = self.__config_cam["units"] + self._config_resolution_stitch = self.__config_cam["resolution_stitch"] + + self._config_dis_preset = self._config["tracker"]["dis_preset"] + + self.__config_tracker = self._config["tracker"] + self.__config_stitcher = self._config["stitcher"] + self.__config_contact = self._config["contact"] + + if self.verbose: + print(f"Config: {self.config_name}") + return True + + def _open_video_source(self, override, box): + """Initialize video capture and calibration.""" + # _is_camera_index = isinstance(self.vid_src, int) + # _is_v4l2_path = isinstance(self.vid_src, str) and self.vid_src.startswith("/dev/video") + # use_linux_camera_pyav = ( + # platform.system() == "Linux" + # and (_is_camera_index or _is_v4l2_path) + # and av is not None + # ) + + # if use_linux_camera_pyav: + # device = self.vid_src if _is_v4l2_path else f"/dev/video{self.vid_src}" + # if self.verbose: + # print(f"Using PyAV Linux camera backend: {device}") + # try: + # self._av_container = av.open( + # device, + # format="v4l2", + # options={ + # "input_format": "mjpeg", + # "video_size": f"{self._config_resolution_raw[0]}x{self._config_resolution_raw[1]}", + # "framerate": str(self._config_fps), + # }, + # ) + # self._av_stream = self._av_container.streams.video[0] + # self._av_decoder = self._av_container.decode(self._av_stream) + # self._use_pyav = True + # except Exception as exc: + # if self.verbose: + # print(f"PyAV camera open failed ({exc}), fallback to OpenCV backend.") + # self._use_pyav = False + + self.use_pyav = False + if not self._use_pyav: + self.cap = cv2.VideoCapture(self.vid_src) + # Set buffer size to 1 to reduce latency and avoid frame accumulation + # Note: Not all backends support this, but it helps when available + # try: + # self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1) + # except Exception: + # pass # Some backends don't support this property + self.cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter.fourcc('M', 'J', 'P', 'G')) + self.cap.set(cv2.CAP_PROP_FPS, self._config_fps) + self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self._config_resolution_raw[0]) + self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self._config_resolution_raw[1]) + + + if self.verbose: + print("Connecting to video source...") + + + if not self._is_source_open(): + raise Exception("Failed to open video source.") + + if self.verbose and not self._use_pyav and self.cap is not None: + fourcc_int = int(self.cap.get(cv2.CAP_PROP_FOURCC)) + fourcc_bytes = [(fourcc_int >> (8 * i)) & 0xFF for i in range(4)] + # Show printable FOURCC only; some backends return 0 or non-printable bytes. + if fourcc_int <= 0: + fourcc = "N/A" + else: + fourcc = "".join(chr(b) if 32 <= b <= 126 else "." for b in fourcc_bytes) + width = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) + fps = self.cap.get(cv2.CAP_PROP_FPS) + backend_id = int(self.cap.get(cv2.CAP_PROP_BACKEND)) + print( + f"OpenCV negotiated stream: FOURCC='{fourcc}' " + f"(int={fourcc_int}, hex=0x{fourcc_int:08X}), " + f"size={width}x{height}, fps={fps:.2f}, backend_id={backend_id}" + ) + + # Wait for first valid frame + frame = None + while frame is None: + ret, frame = self._read_frame_raw() + if not ret: + time.sleep(0.1) + + if override: + if box is not None: + self.stitcher.isstitch = self.isstitch = False + self.stitcher.boxes = box + else: + print("Override=True but no box provided.") + else: + self._find_stitch_boxes(frame) + self._extract_tiles(frame) + # Feature-based stitching no longer needs eager overlap calibration here. + # Keep stitch_cal() as a fallback so older overlap-based stitching still works. + img = self.stitcher.stitch_rt_optimized() + # if img is None: + # img = self.stitch_cal() + img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + self.resolution_stitch = img.shape + self.initial_img = cv2.resize(img, tuple(self._config_resolution_stitch), interpolation=cv2.INTER_CUBIC) + if self.mirror: + self.initial_img = cv2.flip(self.initial_img, 1) + self.initial_img = self.initial_img.astype(np.uint8) + + # For live cameras, start a latest-frame capture thread to avoid latency buildup. + if self._is_live_camera: + self._start_capture_thread() + + + def _find_stitch_boxes(self, img_src, show=False): + """Detect vision tile boxes with camera stabilization.""" + n_boxes, v_mean0, timeout = 0, 0, 5 + start_time = cv2.getTickCount() + + while n_boxes < self._config_units: + ret, frame = self._read_frame_raw() + if not ret: + continue + v_mean = np.sum(cv2.mean(frame)) + + if abs(v_mean - v_mean0) < 5: + n_boxes, boxes = self.stitcher.find_stitch_boxes(frame, show=show) + + if (cv2.getTickCount() - start_time) / cv2.getTickFrequency() > timeout: + print("Timeout finding vision units.") + self.stitcher.isstitch = self.isstitch = False + break + v_mean0 = v_mean + + self.n_boxes = n_boxes + self.boxes = boxes + self.stitch_valid = self.isstitch and n_boxes == self._config_units + + status = "valid for stitching" if self.stitch_valid else "non-stitch mode" + print(f"Sensor: {status}") + return n_boxes + + def _extract_tiles(self, img_src): + """Extract tiles from source image.""" + self.stitcher.get_stitch_unit(img_src) + self.stitcher.extract_tiles() + return True + + def _is_source_open(self): + if self._use_pyav: + return self._av_container is not None + return self.cap is not None and self.cap.isOpened() + + def _read_frame(self): + if self._capture_running: + # Startup race guard: wait briefly until capture thread publishes first frame. + if self._latest_frame is None: + deadline = time.perf_counter() + 1.0 + while time.perf_counter() < deadline: + with self._latest_frame_lock: + if self._latest_frame is not None: + break + time.sleep(0.001) + + # Return latest frame immediately (do not wait for next camera tick). + # This keeps end-to-end latency minimal; caller may receive repeated + # frames if processing runs faster than camera FPS. + with self._latest_frame_lock: + frame = self._latest_frame + seq = self._latest_frame_seq + if frame is not None: + self._last_consumed_seq = seq + return True, frame.copy() + return False, None + return self._read_frame_raw() + + def _read_frame_raw(self): + if self._use_pyav: + if self._av_decoder is None: + return False, None + try: + frame = next(self._av_decoder) + except StopIteration: + return False, None + except Exception: + return False, None + return True, frame.to_ndarray(format="bgr24") + if self.cap is None: + return False, None + return self.cap.read() + + def _start_capture_thread(self): + if self._capture_thread is not None: + return + self._capture_running = True + self._capture_thread = threading.Thread(target=self._capture_loop, daemon=True) + self._capture_thread.start() + if self.verbose: + print("Latest-frame capture thread started.") + + def _capture_loop(self): + while self._capture_running: + ret, frame = self._read_frame_raw() + if not ret: + time.sleep(0.001) + continue + with self._latest_frame_lock: + self._latest_frame = frame + self._latest_frame_seq += 1 + + + # ========================================================================= + # Private - Utilities + # ========================================================================= + + def _print_timings(self, name, timings): + """Print timing breakdown.""" + print(f"\n[{name} timing]") + for k, v in timings.items(): + if k != 'total': + print(f" {k}: {v:7.2f} ms") + print(f" ─────────────────────────") + print(f" TOTAL: {timings['total']:7.2f} ms ({1000/timings['total']:.1f} FPS)") + diff --git a/src/orisys/tracker.py b/src/orisys/tracker.py new file mode 100644 index 0000000..5a8a67a --- /dev/null +++ b/src/orisys/tracker.py @@ -0,0 +1,344 @@ +import cv2 +import numpy as np +import time + + +class Tracker: + def __init__(self, + adaptive, + cuda, + config_tracker=None, + lower_threshold=12.0, + upper_threshold=18.0, + loop_closure_interval=1, + # dis_preset='medium', + verbose=False): + # Check if OpenCV is built with CUDA support + # if cuda and not cv2.cuda.getCudaEnabledDeviceCount(): + # # print("Warning: CUDA requested but OpenCV not built with CUDA support or no CUDA device found. Falling back to CPU.") + # cuda = False + + self.cuda = cuda + self.verbose = verbose + self.__loop_closure_interval = loop_closure_interval + self.__frame_count = 0 + dis_preset = config_tracker["dis_preset"] + loop_closure_interval = config_tracker["loop_closure_interval"] + self.__algorithm = config_tracker["algorithm"] + + # Conditionally import torch only if RAFT algorithm is used + self.torch = None + if self.__algorithm == "raft": + import torch + self.torch = torch + + + if self.__algorithm == "raft" and (not self.cuda or not self.torch.cuda.is_available()): + self.__algorithm = "dis" + if self.verbose: + print("No CUDA available, falling back to OPENCV DIS optical flow") + + + if self.__algorithm == "raft": + ### RAFT + self.__raft_device = "cuda" + print(f"RAFT device: {self.__raft_device}") + self.__raft_model = self.setup_simple_raft() + self.__raft_ref_frame = None + self.__raft_ref_tensor = None + + elif self.__algorithm == "dis": + # DIS method - optimize for speed + if dis_preset == 'ultrafast': + preset = cv2.DISOPTICAL_FLOW_PRESET_ULTRAFAST + elif dis_preset == 'fast': + preset = cv2.DISOPTICAL_FLOW_PRESET_FAST + else: + preset = cv2.DISOPTICAL_FLOW_PRESET_MEDIUM + + self.__tracking_inst = cv2.DISOpticalFlow_create(preset) + + # Aggressive optimization for CPU + self.__tracking_inst.setFinestScale(config_tracker["dis_mode"]) # Skip finest pyramid level (2x faster) + # self.__tracking_inst.setUseSpatialPropagation(False) + # self.__tracking_inst.setUseMeanNormalization(False) + # self.__tracking_inst.setGradientDescentIterations(16) #16 + # self.__tracking_inst.setPatchSize(12) # 8 + # self.__tracking_inst.setPatchStride(5) # 3 + # self.__tracking_inst.setVariationalRefinementIterations(5)#5 + + # else: + # # CUDA flow method with stream support + # self.__tracking_inst = cv2.cuda.FarnebackOpticalFlow_create() + # # Create CUDA stream for async operations + # self.__cuda_stream = cv2.cuda.Stream() + + self.__fine_base_frame_queue = [] + self.__fine_flow_queue = [] + self.__prev_fine_flow = None + self.__adaptive = adaptive + self.__lower_threshold = config_tracker["lower_threshold"] # error lower than threshold will close the loop + self.__upper_threshold = config_tracker["upper_threshold"] # error greater than threshold will add new reference frame + + + + def track(self, frame): + """Main tracking function that dispatches to CUDA or CPU implementation""" + if self.__algorithm == "raft": + return self.track_raft(frame) + elif self.__algorithm == "dis": + if frame.ndim == 3: + frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) + return self.track_cpu(frame) + + def track_cpu(self, frame): + """CPU-based optical flow tracking""" + frame_height, frame_width = frame.shape[:2] + + if self.__adaptive: + if not self.__fine_base_frame_queue: + self.__fine_base_frame_queue.append(frame) + # Pre-compute meshgrid for remap operations + x = np.linspace(0, frame_width - 1, frame_width, dtype='float32') + y = np.linspace(0, frame_height - 1, frame_height, dtype='float32') + self.map = np.array(np.meshgrid(x, y)).transpose((1, 2, 0)) + + # Pre-allocate with correct dtype + self.__fine_flow_queue.append( + np.zeros((frame_height, frame_width, 2), dtype=np.float32)) + self.__prev_fine_flow = np.zeros( + (frame_height, frame_width, 2), dtype=np.float32) + return self.__fine_flow_queue[-1] + else: + self.__frame_count += 1 + + # Only check loop closure periodically (expensive operation) + if self.__frame_count % self.__loop_closure_interval == 0: + self.__checkLoopClosure(frame) + + # CPU optical flow computation + self.__prev_fine_flow = self.__tracking_inst.calc( + self.__fine_base_frame_queue[-1], frame, + self.__prev_fine_flow) + # Direct numpy addition is faster than cv2.add + final_flow = self.__fine_flow_queue[-1] + self.__prev_fine_flow + + # Use fine flow for error estimation + error = self.__getForwardBackwardError( + self.__fine_base_frame_queue[-1], frame, + self.__prev_fine_flow) + + if error > self.__upper_threshold: + self.__fine_base_frame_queue.append(frame) + self.__fine_flow_queue.append(final_flow) + self.__prev_fine_flow = np.zeros( + (frame_height, frame_width, 2), dtype=np.float32) + return final_flow + else: + if not self.__fine_base_frame_queue: + self.__fine_base_frame_queue.append(frame) + + self.__prev_fine_flow = self.__tracking_inst.calc( + self.__fine_base_frame_queue[-1], frame, + self.__prev_fine_flow) + return self.__prev_fine_flow + + # def track_2dto3d(self, flow): + # decompose_obj = nHHD(grid=(flow.shape[0], flow.shape[1]), spacings=(18, 18)) + # flag,output = decompose_obj.get_force(flow, verbose=0) + # return output + + def __getForwardBackwardError(self, I0, I1, flow): + # if self.cuda: + # flow_map = cv2.cuda.add(self.map, flow) + # map_x, map_y = cv2.cuda.split(flow_map) + # z = cv2.cuda.remap(I1, + # map_x, + # map_y, + # interpolation=cv2.INTER_CUBIC, + # borderMode=cv2.BORDER_REPLICATE) + # t = I0.clone() + # t = t.convertTo(rtype=cv2.CV_32FC1, dst=t) + # z = z.convertTo(rtype=cv2.CV_32FC1, dst=z) + # rev = cv2.cuda.absSum(cv2.cuda.subtract( + # t, z))[0] / t.size()[0] / t.size()[1] + # else: + # Optimized CPU path - avoid redundant type conversions + flow_map = self.map + flow + z = cv2.remap(I1, + flow_map[:, :, 0], + flow_map[:, :, 1], + interpolation=cv2.INTER_CUBIC, # INTER_LINEAR faster than INTER_CUBIC + borderMode=cv2.BORDER_REPLICATE) + # Use in-place operations when possible + if I0.dtype != np.float32: + diff = z.astype('float32') - I0.astype('float32') + else: + diff = z - I0 + rev = np.mean(np.abs(diff)) + return rev + + def __checkLoopClosure(self, frame): # update (prune) the frame queue with loop closure detection + for i in range(len(self.__fine_base_frame_queue) - 2, -1, -1): + f = self.__tracking_inst.calc( + self.__fine_base_frame_queue[i], frame, None) + error = self.__getForwardBackwardError( + self.__fine_base_frame_queue[i], frame, f) + if error < self.__lower_threshold: + self.__fine_base_frame_queue = self.__fine_base_frame_queue[:i+1] + self.__fine_flow_queue = self.__fine_flow_queue[:i + 1] + return True + return False + + def reset(self): + if self.__algorithm == "raft": + self.__raft_ref_frame = None + self.__raft_ref_tensor = None + + elif self.__algorithm == "dis": + self.__fine_base_frame_queue = [] + self.__fine_flow_queue = [] + self.__prev_fine_flow = None + self.__frame_count = 0 + + def getFrameQueueLength(self): + return len(self.__fine_base_frame_queue) + +### RAFT ### + + def setup_simple_raft(self): + """ + Setup a simpler version using available models with performance optimizations + """ + import torchvision.transforms as T + from torchvision.models.optical_flow import raft_large + # Load model and move to GPU + model = raft_large(pretrained=True, progress=False).to(self.__raft_device) + model = model.eval() + + if self.verbose: + print(f"RAFT model loaded on {self.__raft_device}") + return model + + def _preprocess_frame_to_tensor(self, frame): + """Efficiently convert numpy frame to RAFT-ready tensor""" + # Ensure contiguous memory for faster tensor conversion + if not frame.flags['C_CONTIGUOUS']: + frame = np.ascontiguousarray(frame) + + # Upload to device as uint8 first to save bandwidth (4x less data than float32) + tensor = self.torch.from_numpy(frame).permute(2, 0, 1) + + # Pin memory for faster CPU-GPU transfer (similar to DataLoader pin_memory=True) + if self.__raft_device == 'cuda': + # Pin memory before transferring to GPU (must be on CPU first) + if not tensor.is_pinned(): + tensor = tensor.pin_memory() + tensor = tensor.to(self.__raft_device, non_blocking=True) + else: + tensor = tensor.to(self.__raft_device) + + # Convert to float and normalize on device + tensor = tensor.float() / 255.0 + + # Normalize to [-1, 1] + tensor = (tensor - 0.5) * 2.0 + + # Add batch dimension + tensor = tensor.unsqueeze(0) + + return tensor + + def track_raft(self, frame, gpu = False): + # No need to copy if we just read + # frame is expected to be (H, W, 3) or (H, W) + + if frame.ndim == 2: + frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2RGB) + elif frame.shape[2] == 3: + # Assume BGR input from OpenCV + frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) + + if self.__raft_ref_frame is None: + self.__raft_ref_frame = frame + self.__raft_ref_tensor = self._preprocess_frame_to_tensor(frame) + + prev_tensor = self.__raft_ref_tensor + curr_tensor = self._preprocess_frame_to_tensor(frame) + if self.verbose: + t0 = time.perf_counter() + + with self.torch.inference_mode(): + if self.__raft_device == 'cuda': + with self.torch.amp.autocast('cuda'): + flow = self.__raft_model(prev_tensor, curr_tensor) + else: + flow = self.__raft_model(prev_tensor, curr_tensor) + predicted_flows = flow[-1] + + if self.verbose: + t1 = time.perf_counter() + print(f"RAFT time: {t1 - t0}") + # Optimize tensor->numpy conversion: contiguous() ensures optimal memory layout + flow_np = predicted_flows[0].contiguous().cpu().numpy() + + # Transpose to (H, W, 2) format expected by draw_arrows + flow_np = flow_np.transpose(1, 2, 0) # (2, H, W) -> (H, W, 2) + return flow_np + + + # def track_cuda(self, frame): + # """CUDA-accelerated optical flow tracking""" + # frame_height, frame_width = frame.shape[:2] + # frame = cv2.cuda_GpuMat(frame) + + # if self.__adaptive: + # if not self.__fine_base_frame_queue: + # self.__fine_base_frame_queue.append(frame) + # # Pre-compute meshgrid for remap operations + # x = np.linspace(0, frame_width - 1, frame_width, dtype='float32') + # y = np.linspace(0, frame_height - 1, frame_height, dtype='float32') + # self.map = np.array(np.meshgrid(x, y)).transpose((1, 2, 0)) + + # cuMat = cv2.cuda_GpuMat() + # cuMat.upload(self.map) + # self.map = cuMat + # self.__fine_flow_queue.append( + # cv2.cuda_GpuMat(frame.size(), cv2.CV_32FC2, (0.0, 0.0))) + # self.__prev_fine_flow = cv2.cuda_GpuMat( + # frame.size(), cv2.CV_32FC2, (0.0, 0.0)) + # return self.__fine_flow_queue[-1] + # else: + # self.__frame_count += 1 + + # # Only check loop closure periodically (expensive operation) + # if self.__frame_count % self.__loop_closure_interval == 0: + # self.__checkLoopClosure(frame) + + # # Use CUDA stream for async optical flow computation + # self.__prev_fine_flow = self.__tracking_inst.calc( + # self.__fine_base_frame_queue[-1], frame, + # self.__prev_fine_flow, self.__cuda_stream) + + # final_flow = cv2.cuda.add(self.__fine_flow_queue[-1], + # self.__prev_fine_flow, + # stream=self.__cuda_stream) + + # # Use fine flow for error estimation + # error = self.__getForwardBackwardError( + # self.__fine_base_frame_queue[-1], frame, + # self.__prev_fine_flow) + + # if error > self.__upper_threshold: + # self.__fine_base_frame_queue.append(frame) + # self.__fine_flow_queue.append(final_flow) + # self.__prev_fine_flow = None + # return final_flow + # else: + # if not self.__fine_base_frame_queue: + # self.__fine_base_frame_queue.append(frame) + + # self.__prev_fine_flow = self.__tracking_inst.calc( + # self.__fine_base_frame_queue[-1], frame, + # self.__prev_fine_flow, self.__cuda_stream) + # return self.__prev_fine_flow \ No newline at end of file diff --git a/src/orisys/transform.py b/src/orisys/transform.py new file mode 100644 index 0000000..50bf8d5 --- /dev/null +++ b/src/orisys/transform.py @@ -0,0 +1,71 @@ +import cv2 +import json + + +class FrameRectifier: + def __init__(self, json_path="rotation_config.json"): + self.mode = "disabled" + self.rotation_angle = 0.0 + self.flip_x = False + self.flip_y = False + + try: + with open(json_path, "r") as f: + config = json.load(f) + except FileNotFoundError: + print(f"[Info] 未找到方向配置文件 {json_path}，不做旋转/翻转。") + return + except Exception as exc: + print(f"[Error] 读取配置文件失败: {exc}") + return + + self.rotation_angle = float(config.get("rotation_angle", config.get("angle", 0))) + self.flip_x = self._as_bool(config.get("flip_x", config.get("x_flip", False))) + self.flip_y = self._as_bool(config.get("flip_y", config.get("y_flip", False))) + self.mode = "simple" + print( + "[Init] 加载简单方向配置成功: " + f"rotation_angle={self.rotation_angle:g}, " + f"flip_x={self.flip_x}, flip_y={self.flip_y}" + ) + + @staticmethod + def _as_bool(value): + if isinstance(value, str): + return value.strip().lower() in ("1", "true", "yes", "on") + return bool(value) + + def _rotate_simple(self, frame): + angle = self.rotation_angle % 360 + if angle == 0: + return frame + if angle == 90: + return cv2.rotate(frame, cv2.ROTATE_90_COUNTERCLOCKWISE) + if angle == 180: + return cv2.rotate(frame, cv2.ROTATE_180) + if angle == 270: + return cv2.rotate(frame, cv2.ROTATE_90_CLOCKWISE) + + h, w = frame.shape[:2] + center = ((w - 1) / 2.0, (h - 1) / 2.0) + matrix = cv2.getRotationMatrix2D(center, self.rotation_angle, 1.0) + cos_v = abs(matrix[0, 0]) + sin_v = abs(matrix[0, 1]) + new_w = int((h * sin_v) + (w * cos_v)) + new_h = int((h * cos_v) + (w * sin_v)) + matrix[0, 2] += (new_w - w) / 2.0 + matrix[1, 2] += (new_h - h) / 2.0 + return cv2.warpAffine(frame, matrix, (new_w, new_h), flags=cv2.INTER_LINEAR) + + def rectify(self, frame): + if frame is None or self.mode == "disabled": + return frame + + frame = self._rotate_simple(frame) + if self.flip_x and self.flip_y: + return cv2.flip(frame, -1) + if self.flip_x: + return cv2.flip(frame, 1) + if self.flip_y: + return cv2.flip(frame, 0) + return frame diff --git a/src/orisys/util.py b/src/orisys/util.py new file mode 100644 index 0000000..ee66820 --- /dev/null +++ b/src/orisys/util.py @@ -0,0 +1,80 @@ +import cv2 +import numpy as np + +def draw_arrows(frame, optical_flow, fps=True, threshold=5, grid_spacing=40, arrow_scale=1.0, margin = 0.8, colormap=cv2.COLORMAP_JET, below_threshold_color=(0, 0, 255), edge_margin=15): + """ + Draw colored optical flow arrows on the image by magnitude (JET colormap). + Frame and optical_flow must have the same height/width; arrows are drawn in pixel coordinates. + """ + image = frame.copy() + if len(image.shape) == 2 or image.shape[2] == 1: + image = cv2.cvtColor(image, cv2.COLOR_GRAY2BGR) + + h, w = image.shape[:2] + # Arrow grid in pixel coordinates (assume frame and flow same size) + rr = np.arange(grid_spacing // 2, h, grid_spacing) + cc = np.arange(grid_spacing // 2, w, grid_spacing) + rr, cc = np.meshgrid(rr, cc, indexing="ij") + rr, cc = rr.reshape(-1), cc.reshape(-1) + + # Displacement at each grid point (flow stored as half-displacement) + disp = 2.0 * optical_flow[rr, cc, :] + mag = np.linalg.norm(disp, axis=1) + dx = disp[:, 0] / arrow_scale + dy = disp[:, 1] / arrow_scale + length = np.sqrt(dx * dx + dy * dy) + # Cap arrow length at grid_spacing + scale = np.where(length > grid_spacing*margin, grid_spacing / np.maximum(length, 1e-9), 1.0)*margin + dx, dy = dx * scale, dy * scale + end_x = (cc + dx).astype(np.int32) + end_y = (rr + dy).astype(np.int32) + + valid = ( + (cc >= edge_margin) & (cc < w - edge_margin) & (rr >= edge_margin) & (rr < h - edge_margin) + & (end_x >= 0) & (end_x < w) & (end_y >= 0) & (end_y < h) + ) + mag_range = mag.max() - mag.min() + norm_mag = ((mag - mag.min()) / mag_range * 255).astype(np.uint8) if mag_range > 0 else np.zeros_like(mag, dtype=np.uint8) + norm_mag[mag < threshold] = 0 + colors = cv2.applyColorMap(norm_mag.reshape(-1, 1), colormap) + + for i in np.where(valid)[0]: + pt1, pt2 = (int(cc[i]), int(rr[i])), (int(end_x[i]), int(end_y[i])) + color = tuple(int(c) for c in colors[i, 0]) + if mag[i] < threshold: + cv2.circle(image, pt1, radius=1, color=below_threshold_color, thickness=-1) + else: + # thickness = max(1, int(2 * mag[i] / mag.max())) if mag.max() > 0 else 2 + thickness = 1 + cv2.arrowedLine(image, pt1, pt2, color, thickness=thickness, tipLength=0.2) + return image + + +def draw_contact(image, contour, centroid, point_color=(0, 255, 0), region_color=(0, 255, 255)): + """ + 在图像上绘制扩张焦点和扩张区域。 + + Args: + image: 背景图像 + contour: 轮廓 + centroid: 触碰点 + point_color: 触碰点的颜色 (BGR) + region_color: 轮廓的颜色 (BGR) + + Returns: + np.ndarray: 绘制了触碰点和轮廓的图像 + """ + image = image.copy() + + # 绘制扩张区域轮廓 + if contour is not None: + cv2.drawContours(image, [contour], -1, region_color, 2) + + # 绘制触碰点 + if centroid is not None: + cx, cy = centroid + cv2.circle(image, (cx, cy), 8, point_color, -1) + cv2.circle(image, (cx, cy), 10, point_color, 2) + + return image +