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examples/README.md
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# 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.
examples/basic_pipeline.py
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"""
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()
examples/gripper_demo_02.py
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"""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()
examples/gripper_force_control.py
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"""
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()
examples/gripper_timed_cycle_control.py
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"""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()
examples/logs/plot_20260519_160307.log
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examples/logs/plot_20260519_160336.log
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examples/logs/plot_20260519_160342.log
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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
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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
examples/logs/plot_20260519_160423.log
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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, 法向力=1827.8798, 切向力X=52.1632, 切向力Y=-171.5207
stitch_feature_optimized: canvas out_w=427, out_h=424, x_min=-89.00, y_min=-86.72
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000209s, blend=0.002193s (9 tiles incl ref), finalize=0.000078s, total=0.002486s
FPS=41.15, 法向力=1524.1555, 切向力X=202.1015, 切向力Y=-103.7936
FPS=43.92, 法向力=1576.3584, 切向力X=-20.7644, 切向力Y=-252.0616
FPS=40.64, 法向力=2464.1143, 切向力X=30.0726, 切向力Y=459.0562
FPS=40.93, 法向力=2648.2383, 切向力X=-69.6165, 切向力Y=450.9631
FPS=42.38, 法向力=2644.0483, 切向力X=-81.2101, 切向力Y=432.9284
FPS=42.86, 法向力=2342.8354, 切向力X=-414.0689, 切向力Y=677.0081
FPS=42.93, 法向力=2367.2461, 切向力X=-349.9137, 切向力Y=614.4903
FPS=39.89, 法向力=2368.7832, 切向力X=-348.7235, 切向力Y=628.8674
FPS=40.45, 法向力=1994.3542, 切向力X=119.8134, 切向力Y=463.0134
FPS=46.69, 法向力=2011.7937, 切向力X=126.1612, 切向力Y=468.0619
FPS=41.04, 法向力=2025.6863, 切向力X=201.4776, 切向力Y=429.6981
FPS=44.58, 法向力=1675.4595, 切向力X=243.8953, 切向力Y=954.0042
FPS=39.72, 法向力=2694.7153, 切向力X=3958.9719, 切向力Y=5960.5410
FPS=46.28, 法向力=2670.3391, 切向力X=3962.9343, 切向力Y=5923.4365
FPS=41.07, 法向力=2665.6670, 切向力X=3949.4897, 切向力Y=5945.0801
FPS=50.15, 法向力=6758.1904, 切向力X=364.6263, 切向力Y=8735.6797
FPS=39.26, 法向力=6747.4473, 切向力X=429.2883, 切向力Y=8707.4668
FPS=40.18, 法向力=6755.9907, 切向力X=399.4789, 切向力Y=8713.2207
FPS=38.98, 法向力=12350.1934, 切向力X=-76.0494, 切向力Y=22653.3535
FPS=48.04, 法向力=12110.2744, 切向力X=-341.1037, 切向力Y=23437.9688
FPS=34.02, 法向力=24579.7930, 切向力X=22829.7188, 切向力Y=46305.5625
FPS=23.88, 法向力=24551.8691, 切向力X=23049.0703, 切向力Y=46582.4609
FPS=43.91, 法向力=40227.5625, 切向力X=50105.5547, 切向力Y=62439.9141
FPS=40.81, 法向力=40207.9219, 切向力X=51375.8125, 切向力Y=62941.7969
FPS=45.09, 法向力=40226.3125, 切向力X=51472.4023, 切向力Y=63009.3906
FPS=41.43, 法向力=56845.5312, 切向力X=68550.4141, 切向力Y=56820.5391
FPS=41.98, 法向力=57512.9766, 切向力X=69394.5391, 切向力Y=57344.3008
FPS=34.78, 法向力=68679.7031, 切向力X=68022.7344, 切向力Y=59222.9531
FPS=24.33, 法向力=69227.8750, 切向力X=68614.7891, 切向力Y=59661.7500
FPS=44.75, 法向力=69725.8125, 切向力X=58754.6133, 切向力Y=60594.6914
stitch_feature_optimized: canvas out_w=427, out_h=424, x_min=-89.00, y_min=-86.72
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000269s, blend=0.002189s (9 tiles incl ref), finalize=0.000052s, total=0.002516s
FPS=41.16, 法向力=69647.5469, 切向力X=58309.2734, 切向力Y=60363.4375
FPS=37.76, 法向力=63085.6328, 切向力X=58254.1797, 切向力Y=66771.1406
FPS=42.37, 法向力=62654.5078, 切向力X=58162.0977, 切向力Y=67002.9688
FPS=43.13, 法向力=62613.0547, 切向力X=58107.3047, 切向力Y=67030.5781
FPS=38.76, 法向力=49355.4062, 切向力X=36594.1250, 切向力Y=55756.2578
FPS=44.91, 法向力=48649.8828, 切向力X=35498.9648, 切向力Y=55292.2656
FPS=37.33, 法向力=33825.7383, 切向力X=6764.8682, 切向力Y=36163.8672
FPS=47.90, 法向力=33678.0391, 切向力X=6788.6875, 切向力Y=35805.7109
FPS=43.36, 法向力=33722.3984, 切向力X=6776.5054, 切向力Y=35802.3672
FPS=41.10, 法向力=15106.7314, 切向力X=-16565.3711, 切向力Y=13728.2441
FPS=36.24, 法向力=15096.0615, 切向力X=-16563.9531, 切向力Y=13903.7656
FPS=25.06, 法向力=4774.2241, 切向力X=-2645.9575, 切向力Y=2365.3198
FPS=35.28, 法向力=4690.6387, 切向力X=-2671.2080, 切向力Y=2255.4443
FPS=37.36, 法向力=3060.8174, 切向力X=-1622.9565, 切向力Y=3610.7397
FPS=29.19, 法向力=3032.5459, 切向力X=-1733.2119, 切向力Y=3676.4902
FPS=39.17, 法向力=3538.2122, 切向力X=-628.8555, 切向力Y=8808.4863
FPS=44.80, 法向力=3755.0776, 切向力X=-525.5802, 切向力Y=9118.1289
FPS=39.33, 法向力=3827.9956, 切向力X=-467.2941, 切向力Y=9110.7363
FPS=44.56, 法向力=5423.5654, 切向力X=10687.2588, 切向力Y=18454.7383
FPS=40.82, 法向力=7933.6543, 切向力X=44511.9531, 切向力Y=34122.0234
FPS=40.45, 法向力=7904.1704, 切向力X=44717.4961, 切向力Y=34244.4336
FPS=39.52, 法向力=7904.0996, 切向力X=44719.4414, 切向力Y=34265.0273
FPS=23.44, 法向力=13187.3730, 切向力X=76954.4062, 切向力Y=55279.3477
FPS=36.83, 法向力=12882.5293, 切向力X=77415.1719, 切向力Y=55394.2734
FPS=37.52, 法向力=18456.2324, 切向力X=102752.4766, 切向力Y=76288.6719
FPS=23.91, 法向力=18036.6602, 切向力X=103281.2734, 切向力Y=76476.9922
FPS=41.90, 法向力=24750.1250, 切向力X=129067.3125, 切向力Y=95642.7422
FPS=36.31, 法向力=24558.1602, 切向力X=129726.2188, 切向力Y=96007.2031
FPS=27.48, 法向力=28130.6016, 切向力X=142013.7188, 切向力Y=104661.9531
FPS=38.11, 法向力=27778.5273, 切向力X=142864.4531, 切向力Y=105291.6094
stitch_feature_optimized: canvas out_w=427, out_h=424, x_min=-89.00, y_min=-86.72
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000002s (hit), reset=0.000177s, blend=0.002166s (9 tiles incl ref), finalize=0.000046s, total=0.002395s
FPS=46.43, 法向力=28445.0332, 切向力X=145553.2812, 切向力Y=104290.6250
FPS=39.89, 法向力=28464.1562, 切向力X=145824.1562, 切向力Y=104200.7344
FPS=41.76, 法向力=28783.0020, 切向力X=145346.4844, 切向力Y=102333.0547
FPS=41.91, 法向力=28859.9551, 切向力X=145208.8594, 切向力Y=101986.7188
FPS=48.38, 法向力=28853.1680, 切向力X=145102.8438, 切向力Y=101936.2656
FPS=39.41, 法向力=27546.6484, 切向力X=141106.1406, 切向力Y=98197.2500
FPS=46.65, 法向力=27490.7383, 切向力X=140707.5000, 切向力Y=97949.2656
FPS=37.62, 法向力=22576.0273, 切向力X=123483.7188, 切向力Y=87529.6172
FPS=49.68, 法向力=21916.5801, 切向力X=123006.1406, 切向力Y=87380.0312
FPS=42.87, 法向力=21895.0996, 切向力X=122866.0625, 切向力Y=87340.5469
FPS=40.18, 法向力=13471.4404, 切向力X=82876.8750, 切向力Y=60440.1523
FPS=42.66, 法向力=12895.6855, 切向力X=83234.5000, 切向力Y=60266.5312
FPS=46.95, 法向力=12827.4922, 切向力X=83278.9766, 切向力Y=60250.6016
FPS=40.18, 法向力=8097.7998, 切向力X=43042.0352, 切向力Y=36511.8867
FPS=40.56, 法向力=7973.6611, 切向力X=42928.2188, 切向力Y=36473.5547
FPS=37.30, 法向力=3054.1816, 切向力X=18518.3340, 切向力Y=17698.2031
FPS=48.22, 法向力=3082.3545, 切向力X=18565.5410, 切向力Y=17475.5059
FPS=38.97, 法向力=2221.9248, 切向力X=9141.2168, 切向力Y=7957.4292
FPS=47.92, 法向力=2374.4829, 切向力X=9015.6484, 切向力Y=7754.8945
FPS=43.14, 法向力=2420.6353, 切向力X=9072.3584, 切向力Y=7752.5107
FPS=43.97, 法向力=2541.1765, 切向力X=7177.2612, 切向力Y=5798.4326
FPS=43.41, 法向力=2672.1287, 切向力X=7136.6670, 切向力Y=5612.6841
FPS=34.88, 法向力=2717.1782, 切向力X=7151.8774, 切向力Y=5598.7275
FPS=40.45, 法向力=2166.7178, 切向力X=3991.1870, 切向力Y=4202.5400
FPS=24.54, 法向力=2422.5605, 切向力X=3789.0415, 切向力Y=4151.4390
FPS=39.04, 法向力=2521.7769, 切向力X=4631.9199, 切向力Y=4384.2549
FPS=40.35, 法向力=2642.4341, 切向力X=4796.1650, 切向力Y=4448.7109
FPS=45.85, 法向力=7277.2974, 切向力X=22039.7109, 切向力Y=5593.5068
FPS=43.90, 法向力=7175.1450, 切向力X=22375.0078, 切向力Y=5562.1631
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examples/logs/plot_20260519_174157.log
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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...
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 <module>
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.
examples/logs/plot_20260519_174205.log
+2716
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examples/logs/plot_20260519_175139.log
+151
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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 <module>
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 <genexpr>
max_th = max(h0c, *(tb.shape[0] for tb in tiles_bgr_c)) if tiles_bgr_c else h0c
KeyboardInterrupt
examples/logs/plot_20260520_095316.log
+598
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@@ -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, 法向力=1816.1074, 切向力X=258.6071, 切向力Y=-782.8573
FPS=36.86, 法向力=1570.7161, 切向力X=327.8412, 切向力Y=265.6483
FPS=51.87, 法向力=1626.7859, 切向力X=357.3121, 切向力Y=206.5600
FPS=43.93, 法向力=1624.3964, 切向力X=421.3587, 切向力Y=162.1985
FPS=40.23, 法向力=1142.0710, 切向力X=74.5547, 切向力Y=433.3022
FPS=44.74, 法向力=1124.0249, 切向力X=11.8718, 切向力Y=393.9284
FPS=39.53, 法向力=1152.1093, 切向力X=609.7429, 切向力Y=231.5276
FPS=40.03, 法向力=1172.2122, 切向力X=526.9471, 切向力Y=229.5035
FPS=48.11, 法向力=1391.3063, 切向力X=8.3320, 切向力Y=501.5316
FPS=42.44, 法向力=1494.0504, 切向力X=46.2968, 切向力Y=495.5129
FPS=41.37, 法向力=1514.7842, 切向力X=37.2382, 切向力Y=480.1064
FPS=42.21, 法向力=1396.1013, 切向力X=-1163.7062, 切向力Y=90.7747
FPS=41.32, 法向力=1400.6812, 切向力X=-1218.7771, 切向力Y=-20.3005
FPS=39.02, 法向力=1413.7617, 切向力X=-1228.2748, 切向力Y=-35.0924
FPS=45.77, 法向力=1826.9297, 切向力X=525.5258, 切向力Y=510.1946
FPS=42.83, 法向力=1906.8491, 切向力X=631.8024, 切向力Y=453.1938
FPS=43.01, 法向力=1343.5466, 切向力X=852.5941, 切向力Y=17.8309
FPS=42.43, 法向力=1292.9919, 切向力X=769.7025, 切向力Y=62.7522
FPS=44.15, 法向力=1289.6694, 切向力X=793.8053, 切向力Y=45.7480
FPS=39.78, 法向力=1632.6240, 切向力X=631.9442, 切向力Y=-275.4358
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000225s, blend=0.002094s (9 tiles incl ref), finalize=0.000055s, total=0.002380s
FPS=48.91, 法向力=1604.3185, 切向力X=597.1545, 切向力Y=-169.6259
FPS=43.04, 法向力=1229.5685, 切向力X=419.8760, 切向力Y=-527.6962
FPS=40.84, 法向力=1243.0931, 切向力X=394.4381, 切向力Y=-564.7396
FPS=42.94, 法向力=1236.5839, 切向力X=379.9468, 切向力Y=-575.7297
FPS=47.09, 法向力=1618.9397, 切向力X=40.7236, 切向力Y=547.7233
FPS=42.38, 法向力=1630.9319, 切向力X=-7.0985, 切向力Y=564.8072
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FPS=33.04, 法向力=1429.4067, 切向力X=-131.8110, 切向力Y=891.3153
FPS=23.84, 法向力=1446.9482, 切向力X=-93.0581, 切向力Y=834.2283
FPS=44.55, 法向力=1681.3713, 切向力X=807.5394, 切向力Y=735.0909
FPS=34.48, 法向力=1725.0564, 切向力X=927.5242, 切向力Y=701.7486
FPS=22.31, 法向力=1737.3281, 切向力X=305.4472, 切向力Y=553.6205
FPS=48.20, 法向力=1747.1895, 切向力X=186.3829, 切向力Y=581.5034
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000262s, blend=0.003228s (9 tiles incl ref), finalize=0.000065s, total=0.003561s
FPS=36.30, 法向力=1735.2085, 切向力X=166.2081, 切向力Y=583.2382
FPS=49.37, 法向力=1210.3098, 切向力X=-138.3130, 切向力Y=334.9902
FPS=35.98, 法向力=1226.6306, 切向力X=34.3867, 切向力Y=335.9924
FPS=50.80, 法向力=1250.4482, 切向力X=217.5524, 切向力Y=1149.3571
FPS=38.88, 法向力=1256.5709, 切向力X=302.6639, 切向力Y=1105.7275
FPS=47.10, 法向力=1636.3000, 切向力X=94.4988, 切向力Y=1346.0776
FPS=37.77, 法向力=1688.5652, 切向力X=144.4087, 切向力Y=1332.5640
FPS=48.05, 法向力=1705.7041, 切向力X=83.7505, 切向力Y=1369.0625
FPS=32.33, 法向力=1596.5448, 切向力X=452.9651, 切向力Y=601.5845
FPS=23.34, 法向力=1611.8113, 切向力X=530.9384, 切向力Y=633.4792
FPS=46.55, 法向力=1181.9290, 切向力X=1176.1014, 切向力Y=108.4592
FPS=36.92, 法向力=1252.5811, 切向力X=1248.2620, 切向力Y=98.0318
FPS=7.24, 法向力=1328.3235, 切向力X=1038.4758, 切向力Y=-223.3168
FPS=43.12, 法向力=1325.3389, 切向力X=1137.0948, 切向力Y=-248.6426
FPS=42.10, 法向力=1335.6350, 切向力X=1103.5668, 切向力Y=-221.7113
FPS=46.97, 法向力=1577.6094, 切向力X=-126.0227, 切向力Y=-227.8323
FPS=45.55, 法向力=1552.3199, 切向力X=-266.8163, 切向力Y=-148.5353
FPS=47.33, 法向力=1547.4978, 切向力X=289.7050, 切向力Y=105.7051
FPS=43.78, 法向力=1579.5217, 切向力X=422.9178, 切向力Y=29.2893
FPS=26.82, 法向力=1568.2593, 切向力X=418.1565, 切向力Y=42.6886
FPS=38.58, 法向力=981.0252, 切向力X=208.9654, 切向力Y=154.2380
FPS=43.48, 法向力=998.5259, 切向力X=154.3495, 切向力Y=247.7853
FPS=45.77, 法向力=1480.4814, 切向力X=435.8121, 切向力Y=163.1832
FPS=41.81, 法向力=1589.1858, 切向力X=505.2916, 切向力Y=226.6572
FPS=41.66, 法向力=1594.2380, 切向力X=519.0571, 切向力Y=257.0203
FPS=39.30, 法向力=1237.5305, 切向力X=193.0275, 切向力Y=219.9841
FPS=44.76, 法向力=1254.3247, 切向力X=123.8997, 切向力Y=262.7341
FPS=40.37, 法向力=1216.7054, 切向力X=306.2241, 切向力Y=290.4307
FPS=43.14, 法向力=1197.0103, 切向力X=335.1494, 切向力Y=279.9700
FPS=41.85, 法向力=1200.2524, 切向力X=364.8971, 切向力Y=302.0464
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000381s, blend=0.002391s (9 tiles incl ref), finalize=0.000070s, total=0.002849s
FPS=43.59, 法向力=1544.2325, 切向力X=806.1312, 切向力Y=28.9044
FPS=43.28, 法向力=1548.8228, 切向力X=754.3907, 切向力Y=93.1497
FPS=41.82, 法向力=1024.2570, 切向力X=651.2509, 切向力Y=-35.7903
FPS=44.42, 法向力=1044.5566, 切向力X=643.7969, 切向力Y=20.0942
FPS=40.42, 法向力=1061.4028, 切向力X=632.6312, 切向力Y=-2.7299
FPS=39.52, 法向力=1635.4761, 切向力X=401.5152, 切向力Y=189.8336
FPS=45.74, 法向力=1668.9414, 切向力X=482.1362, 切向力Y=257.7869
FPS=40.68, 法向力=1785.2144, 切向力X=978.7863, 切向力Y=638.9805
FPS=46.15, 法向力=1740.9229, 切向力X=955.8181, 切向力Y=579.2531
FPS=44.32, 法向力=1746.2260, 切向力X=927.8287, 切向力Y=578.7334
FPS=37.76, 法向力=1257.5256, 切向力X=708.5225, 切向力Y=-16.8899
FPS=42.93, 法向力=1268.8230, 切向力X=827.6477, 切向力Y=8.3547
FPS=44.95, 法向力=1263.7302, 切向力X=727.2115, 切向力Y=-94.8031
FPS=40.85, 法向力=1172.7571, 切向力X=61.8914, 切向力Y=301.7022
FPS=49.43, 法向力=1206.7280, 切向力X=96.8618, 切向力Y=345.3912
FPS=35.80, 法向力=1849.5444, 切向力X=672.4440, 切向力Y=-30.6268
FPS=41.93, 法向力=1858.6384, 切向力X=684.8268, 切向力Y=-38.8264
FPS=40.01, 法向力=1651.8567, 切向力X=301.0485, 切向力Y=65.0462
FPS=37.33, 法向力=1715.5558, 切向力X=253.4493, 切向力Y=89.6976
FPS=37.31, 法向力=1244.5945, 切向力X=671.8956, 切向力Y=669.0508
FPS=43.20, 法向力=1219.4166, 切向力X=816.5686, 切向力Y=684.7862
FPS=43.15, 法向力=1236.3094, 切向力X=849.4683, 切向力Y=671.7191
FPS=41.32, 法向力=1902.9490, 切向力X=918.4264, 切向力Y=607.3327
FPS=44.74, 法向力=1929.2098, 切向力X=945.5312, 切向力Y=505.9461
FPS=45.84, 法向力=1939.5775, 切向力X=964.4230, 切向力Y=516.3331
FPS=44.63, 法向力=1291.7544, 切向力X=80.7099, 切向力Y=93.3517
FPS=25.04, 法向力=1284.5265, 切向力X=52.5134, 切向力Y=129.2345
FPS=39.62, 法向力=1197.0376, 切向力X=980.0025, 切向力Y=76.0221
FPS=11.88, 法向力=1983.6305, 切向力X=701.7868, 切向力Y=-692.6418
FPS=36.32, 法向力=1284.8269, 切向力X=111.7861, 切向力Y=527.1286
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000359s, blend=0.002240s (9 tiles incl ref), finalize=0.000062s, total=0.002668s
FPS=32.83, 法向力=1208.9656, 切向力X=34.4657, 切向力Y=664.7827
FPS=44.86, 法向力=1200.4058, 切向力X=37.6383, 切向力Y=691.3936
FPS=39.92, 法向力=1898.8606, 切向力X=721.2440, 切向力Y=-126.1676
FPS=49.84, 法向力=1900.1492, 切向力X=728.6793, 切向力Y=-181.3648
FPS=38.30, 法向力=1629.3652, 切向力X=1346.2538, 切向力Y=13.8232
FPS=30.75, 法向力=1688.4258, 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 <module>
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
examples/logs/plot_20260521_093613.log
+8849
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examples/logs/plot_20260521_094608.log
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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 <module>
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
examples/logs/plot_20260521_094838.log
+973
View File
@@ -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 <module>
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
examples/logs/plot_20260521_095434.log
+931
View File
@@ -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
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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 <module>
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
examples/logs/qt_viewer_20260519_170033.log
+1728
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File diff suppressed because it is too large Load Diff
examples/logs/qt_viewer_20260519_170113.log
+15
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@@ -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 <module>
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.
examples/logs/qt_viewer_20260519_170124.log
+15
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@@ -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 <module>
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.
examples/logs/qt_viewer_20260519_170133.log
+948
View File
@@ -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。
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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
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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
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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
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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
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FPS=44.73, 法向力=1490.9695, 切向力X=1001.6469, 切向力Y=-4.8551
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FPS=43.04, 法向力=1391.0643, 切向力X=559.1046, 切向力Y=-616.8949
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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
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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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FPS=46.46, 法向力=1338.8624, 切向力X=982.2029, 切向力Y=288.9331
FPS=41.46, 法向力=1611.3921, 切向力X=784.5269, 切向力Y=344.5994
FPS=44.67, 法向力=1610.3508, 切向力X=859.2292, 切向力Y=392.1182
FPS=44.48, 法向力=1582.3501, 切向力X=843.7371, 切向力Y=368.2401
FPS=42.88, 法向力=1096.7754, 切向力X=189.9917, 切向力Y=-89.6012
FPS=45.40, 法向力=1059.8652, 切向力X=127.1079, 切向力Y=15.0879
FPS=37.80, 法向力=1813.5530, 切向力X=1487.9502, 切向力Y=-516.7689
FPS=45.04, 法向力=1838.6427, 切向力X=1570.1392, 切向力Y=-496.6919
FPS=46.34, 法向力=1835.2354, 切向力X=1594.9399, 切向力Y=-548.4887
FPS=41.63, 法向力=1592.6534, 切向力X=465.0919, 切向力Y=266.9809
FPS=44.09, 法向力=1664.1562, 切向力X=427.4229, 切向力Y=276.9724
FPS=41.75, 法向力=1024.5935, 切向力X=543.6186, 切向力Y=21.8470
FPS=46.51, 法向力=1060.4895, 切向力X=505.4241, 切向力Y=-108.2601
FPS=46.92, 法向力=1072.9543, 切向力X=576.9949, 切向力Y=-20.0808
FPS=42.97, 法向力=1355.1464, 切向力X=1032.2007, 切向力Y=-46.4746
FPS=47.69, 法向力=1364.3677, 切向力X=1097.3473, 切向力Y=30.2903
FPS=44.74, 法向力=1361.5839, 切向力X=1065.8063, 切向力Y=52.4800
FPS=42.96, 法向力=1217.6055, 切向力X=516.8200, 切向力Y=219.9491
FPS=44.14, 法向力=1234.8818, 切向力X=447.2549, 切向力Y=263.5812
FPS=45.90, 法向力=1234.9208, 切向力X=481.9381, 切向力Y=283.2491
FPS=41.48, 法向力=1129.6063, 切向力X=1447.1024, 切向力Y=429.3466
FPS=46.80, 法向力=1179.3159, 切向力X=1479.0029, 切向力Y=390.3512
FPS=40.63, 法向力=1384.4058, 切向力X=1210.9634, 切向力Y=258.9697
FPS=45.35, 法向力=1355.8031, 切向力X=1231.0599, 切向力Y=165.5818
FPS=46.00, 法向力=1370.0734, 切向力X=1224.8246, 切向力Y=176.7962
FPS=46.32, 法向力=1161.0262, 切向力X=1145.0237, 切向力Y=401.6200
FPS=45.39, 法向力=1089.4213, 切向力X=1209.8262, 切向力Y=416.9852
FPS=41.77, 法向力=1090.3628, 切向力X=1186.8035, 切向力Y=465.9556
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FPS=45.67, 法向力=1582.7848, 切向力X=1607.6920, 切向力Y=-321.4023
FPS=41.71, 法向力=1311.7344, 切向力X=1421.4438, 切向力Y=33.5564
FPS=44.93, 法向力=1356.0193, 切向力X=1414.8926, 切向力Y=44.1379
FPS=44.41, 法向力=1329.9783, 切向力X=1351.1613, 切向力Y=581.1750
FPS=43.33, 法向力=1405.0024, 切向力X=1278.9744, 切向力Y=667.1397
FPS=46.70, 法向力=1427.3672, 切向力X=1286.3964, 切向力Y=667.3442
FPS=42.97, 法向力=2039.1401, 切向力X=10122.5176, 切向力Y=-258.2993
FPS=44.73, 法向力=2137.3909, 切向力X=10486.2129, 切向力Y=-320.7845
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FPS=41.16, 法向力=1725.4500, 切向力X=2309.3669, 切向力Y=669.0015
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FPS=43.95, 法向力=2260.8726, 切向力X=2178.3977, 切向力Y=782.2321
FPS=37.56, 法向力=2253.1375, 切向力X=2446.9678, 切向力Y=1345.2963
FPS=45.43, 法向力=2232.3391, 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.
examples/logs/qt_viewer_20260519_170200.log
+171
View File
@@ -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.
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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.
examples/logs/qt_viewer_20260519_175046.log
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examples/logs/qt_viewer_20260519_175150.log
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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
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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.
examples/logs/qt_viewer_20260519_175618.log
+233
View File
@@ -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, 法向力=1565.4064, 切向力X=-412.5023, 切向力Y=-392.1052
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=0.000212s, blend=0.002093s (9 tiles incl ref), finalize=0.000045s, total=0.002356s
FPS=33.41, 法向力=1563.1503, 切向力X=-444.2428, 切向力Y=-346.0515
FPS=29.01, 法向力=2096.6772, 切向力X=-1407.9998, 切向力Y=290.5385
FPS=33.80, 法向力=2106.6128, 切向力X=-1383.6245, 切向力Y=401.3184
FPS=30.31, 法向力=1713.3116, 切向力X=-679.8990, 切向力Y=322.6012
FPS=32.83, 法向力=1738.1799, 切向力X=-615.7578, 切向力Y=250.2039
FPS=31.98, 法向力=2123.1978, 切向力X=-807.9082, 切向力Y=-11.2104
FPS=32.14, 法向力=2194.9624, 切向力X=-754.2933, 切向力Y=130.4021
FPS=30.55, 法向力=1494.8647, 切向力X=121.7057, 切向力Y=-263.3293
FPS=33.02, 法向力=1476.3633, 切向力X=183.1575, 切向力Y=-334.2649
FPS=31.83, 法向力=1353.8240, 切向力X=322.9668, 切向力Y=-1197.4554
FPS=31.02, 法向力=1359.5787, 切向力X=448.6129, 切向力Y=-1258.6254
FPS=29.70, 法向力=1645.4125, 切向力X=1125.9844, 切向力Y=168.2613
FPS=31.48, 法向力=1673.4695, 切向力X=1183.9780, 切向力Y=383.9684
FPS=29.81, 法向力=2847.3882, 切向力X=2299.7275, 切向力Y=-543.4931
FPS=30.91, 法向力=2950.3835, 切向力X=2330.5403, 切向力Y=-673.8035
FPS=31.82, 法向力=1840.8660, 切向力X=657.2214, 切向力Y=-415.0436
FPS=30.82, 法向力=1399.7195, 切向力X=676.9377, 切向力Y=-700.7968
FPS=32.91, 法向力=1391.2963, 切向力X=646.1361, 切向力Y=-723.1804
FPS=30.94, 法向力=1414.0475, 切向力X=661.1819, 切向力Y=-721.2296
FPS=31.04, 法向力=1500.3998, 切向力X=-215.4493, 切向力Y=671.1067
FPS=29.98, 法向力=1627.3837, 切向力X=1051.9761, 切向力Y=-202.0128
FPS=32.05, 法向力=1663.4517, 切向力X=1069.5808, 切向力Y=-148.3135
FPS=29.69, 法向力=2980.2261, 切向力X=1799.8894, 切向力Y=-448.3479
FPS=32.18, 法向力=3034.8347, 切向力X=1889.7469, 切向力Y=-548.2708
FPS=33.36, 法向力=2081.1367, 切向力X=1257.5135, 切向力Y=-389.2390
FPS=32.24, 法向力=2186.9019, 切向力X=1337.4685, 切向力Y=-358.6683
FPS=28.48, 法向力=1798.0547, 切向力X=-346.0896, 切向力Y=17.2119
FPS=31.44, 法向力=1861.1385, 切向力X=-379.5483, 切向力Y=-7.2441
FPS=30.73, 法向力=1808.7249, 切向力X=-72.8781, 切向力Y=-93.2753
FPS=28.78, 法向力=2720.0146, 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.
examples/logs/qt_viewer_20260519_175753.log
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examples/logs/qt_viewer_20260519_175900.log
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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, 切向力X=-961.9911, 切向力Y=-618.8048
FPS=32.24, 法向力=1924.7549, 切向力X=-168.4521, 切向力Y=-154.0606
FPS=32.64, 法向力=1826.6628, 切向力X=-223.2585, 切向力Y=-99.5969
FPS=33.77, 法向力=1809.0592, 切向力X=-201.8370, 切向力Y=-122.8845
FPS=34.29, 法向力=1738.3821, 切向力X=-217.4509, 切向力Y=-365.9041
FPS=33.01, 法向力=1712.6199, 切向力X=-250.5966, 切向力Y=-278.7696
FPS=32.91, 法向力=1874.4346, 切向力X=-1632.7930, 切向力Y=-688.1771
FPS=28.31, 法向力=1619.6289, 切向力X=-30.8118, 切向力Y=-962.4744
FPS=33.02, 法向力=1612.5981, 切向力X=33.3515, 切向力Y=-998.9929
FPS=30.50, 法向力=1366.1929, 切向力X=-1257.7241, 切向力Y=-520.3313
FPS=35.04, 法向力=1280.7880, 切向力X=-1092.7449, 切向力Y=-511.9213
FPS=31.27, 法向力=1968.0635, 切向力X=-129.2130, 切向力Y=24.2369
FPS=34.29, 法向力=1962.0115, 切向力X=-161.9728, 切向力Y=24.0423
FPS=32.38, 法向力=1793.0199, 切向力X=-986.5903, 切向力Y=-757.0212
FPS=35.63, 法向力=1830.1274, 切向力X=-1088.9319, 切向力Y=-765.6459
FPS=33.73, 法向力=1535.9337, 切向力X=-199.1813, 切向力Y=-319.4822
FPS=36.21, 法向力=1540.2751, 切向力X=-233.1695, 切向力Y=-212.0891
FPS=33.89, 法向力=2471.6609, 切向力X=71.8748, 切向力Y=-290.4993
FPS=33.02, 法向力=2347.0269, 切向力X=21.6093, 切向力Y=-136.3419
FPS=34.09, 法向力=2363.8501, 切向力X=47.1784, 切向力Y=-84.4460
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=0.000003s (hit), reset=0.000277s, blend=0.002206s (9 tiles incl ref), finalize=0.000058s, total=0.002547s
FPS=34.31, 法向力=1741.9716, 切向力X=-543.8749, 切向力Y=-871.1302
FPS=30.68, 法向力=1802.5942, 切向力X=-1028.9946, 切向力Y=-499.3650
FPS=36.14, 法向力=1741.0483, 切向力X=-989.1299, 切向力Y=-502.1728
FPS=32.23, 法向力=1767.3702, 切向力X=-861.7894, 切向力Y=428.8287
FPS=34.60, 法向力=1743.8188, 切向力X=-886.6918, 切向力Y=607.7622
FPS=32.95, 法向力=1974.1699, 切向力X=-561.0292, 切向力Y=-588.1389
FPS=36.16, 法向力=1978.6470, 切向力X=-610.5238, 切向力Y=-618.4874
FPS=32.64, 法向力=1972.2524, 切向力X=-584.3936, 切向力Y=-614.3639
FPS=35.44, 法向力=2342.4473, 切向力X=-337.7165, 切向力Y=-225.4509
FPS=33.97, 法向力=2249.6636, 切向力X=-295.9101, 切向力Y=-53.8675
FPS=35.56, 法向力=1482.9236, 切向力X=-70.5572, 切向力Y=-552.2197
FPS=32.06, 法向力=1722.1279, 切向力X=-206.3548, 切向力Y=-1642.2136
FPS=35.28, 法向力=1693.1196, 切向力X=-268.9129, 切向力Y=-1739.6038
FPS=33.24, 法向力=1781.0529, 切向力X=-813.7168, 切向力Y=-477.3281
FPS=34.09, 法向力=1761.2007, 切向力X=-793.4836, 切向力Y=-439.4967
FPS=33.73, 法向力=1769.7950, 切向力X=-820.7149, 切向力Y=-415.9775
FPS=36.38, 法向力=1490.4728, 切向力X=-562.9506, 切向力Y=-930.7263
FPS=35.28, 法向力=1567.2312, 切向力X=-636.2819, 切向力Y=-967.9257
FPS=31.58, 法向力=1809.5762, 切向力X=-1430.9705, 切向力Y=-596.7329
FPS=33.78, 法向力=2192.5913, 切向力X=24.4230, 切向力Y=-1369.9131
FPS=35.43, 法向力=2204.4897, 切向力X=49.6194, 切向力Y=-1250.7332
FPS=34.55, 法向力=2230.2661, 切向力X=76.9928, 切向力Y=-1271.7238
FPS=33.30, 法向力=1428.3481, 切向力X=-207.4079, 切向力Y=-256.8936
FPS=34.45, 法向力=1436.7482, 切向力X=-245.3109, 切向力Y=-226.9112
FPS=31.98, 法向力=2225.6987, 切向力X=-1365.9401, 切向力Y=-848.1490
FPS=34.61, 法向力=2157.6479, 切向力X=-1316.1180, 切向力Y=-863.6661
FPS=32.61, 法向力=1967.4905, 切向力X=-467.5050, 切向力Y=58.8393
FPS=33.56, 法向力=1849.7108, 切向力X=-531.3154, 切向力Y=168.5639
FPS=33.28, 法向力=1280.9984, 切向力X=-1102.0903, 切向力Y=128.1525
FPS=29.61, 法向力=1261.8269, 切向力X=-1111.5181, 切向力Y=135.7802
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=0.000344s, blend=0.002327s (9 tiles incl ref), finalize=0.000067s, total=0.002745s
FPS=33.37, 法向力=1538.5452, 切向力X=-906.4728, 切向力Y=-506.0768
FPS=34.07, 法向力=1566.2385, 切向力X=-931.7385, 切向力Y=-623.8145
FPS=31.94, 法向力=1565.5563, 切向力X=-564.1901, 切向力Y=-1073.1268
FPS=34.51, 法向力=1566.5920, 切向力X=-401.8441, 切向力Y=-908.5164
FPS=33.11, 法向力=1713.3474, 切向力X=-291.4140, 切向力Y=-610.6483
FPS=30.31, 法向力=1754.4592, 切向力X=-293.7816, 切向力Y=-685.3385
FPS=35.10, 法向力=1791.4277, 切向力X=-238.0033, 切向力Y=-641.9104
FPS=33.58, 法向力=1764.0280, 切向力X=-244.3148, 切向力Y=-634.5866
FPS=34.80, 法向力=1391.2498, 切向力X=-946.1552, 切向力Y=192.0374
FPS=34.02, 法向力=1385.2937, 切向力X=-984.2031, 切向力Y=175.4639
FPS=33.35, 法向力=1991.3177, 切向力X=-180.9380, 切向力Y=203.2180
FPS=35.84, 法向力=2024.2310, 切向力X=-94.6943, 切向力Y=206.2581
FPS=33.29, 法向力=1828.4088, 切向力X=-238.2601, 切向力Y=-1027.4417
FPS=33.77, 法向力=1829.0276, 切向力X=-300.2374, 切向力Y=-1133.8359
FPS=33.73, 法向力=1501.9142, 切向力X=-595.5410, 切向力Y=-927.0707
FPS=33.04, 法向力=1533.8186, 切向力X=-551.1689, 切向力Y=-983.4748
FPS=33.76, 法向力=1791.4542, 切向力X=-193.7530, 切向力Y=-381.4568
FPS=34.76, 法向力=1833.0017, 切向力X=-169.6579, 切向力Y=-353.8361
FPS=31.82, 法向力=1828.3400, 切向力X=-284.0196, 切向力Y=-184.5473
FPS=32.11, 法向力=1756.4924, 切向力X=-338.4377, 切向力Y=-120.5052
FPS=33.98, 法向力=1452.1807, 切向力X=-711.3139, 切向力Y=-903.9965
FPS=34.02, 法向力=1425.2410, 切向力X=-803.2643, 切向力Y=-912.4354
FPS=34.56, 法向力=1924.8320, 切向力X=-83.6388, 切向力Y=-650.4069
FPS=35.05, 法向力=2064.7495, 切向力X=30.9812, 切向力Y=-701.6050
FPS=34.29, 法向力=1587.4175, 切向力X=-388.0387, 切向力Y=-296.5535
FPS=35.44, 法向力=1544.8710, 切向力X=-460.1589, 切向力Y=-300.0011
FPS=34.60, 法向力=1737.8904, 切向力X=-682.4767, 切向力Y=-817.3748
FPS=32.67, 法向力=1702.2113, 切向力X=-746.2877, 切向力Y=-832.7002
FPS=32.16, 法向力=1318.1998, 切向力X=-42.4398, 切向力Y=464.6287
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FPS=25.75, 法向力=1646.7561, 切向力X=563.2783, 切向力Y=-1198.6868
FPS=26.04, 法向力=1606.9565, 切向力X=92.1757, 切向力Y=-1443.0469
FPS=26.01, 法向力=1640.1848, 切向力X=346.0974, 切向力Y=-1079.6919
FPS=27.48, 法向力=1635.0387, 切向力X=319.4444, 切向力Y=-1029.2427
FPS=25.99, 法向力=1235.4714, 切向力X=719.4724, 切向力Y=-599.1686
FPS=26.63, 法向力=1195.9025, 切向力X=805.3531, 切向力Y=-694.6294
FPS=26.09, 法向力=1229.0197, 切向力X=803.1249, 切向力Y=-704.0635
FPS=26.15, 法向力=1802.6876, 切向力X=424.5146, 切向力Y=-936.2675
FPS=26.38, 法向力=1876.6923, 切向力X=484.3314, 切向力Y=-2264.1167
FPS=28.17, 法向力=1901.0885, 切向力X=463.3131, 切向力Y=-2176.4668
FPS=27.12, 法向力=1542.3103, 切向力X=193.4210, 切向力Y=-1834.3749
FPS=25.80, 法向力=1584.7335, 切向力X=185.2357, 切向力Y=-1936.7395
FPS=26.08, 法向力=1582.5361, 切向力X=220.7242, 切向力Y=-1875.0920
FPS=25.02, 法向力=1472.7759, 切向力X=188.8666, 切向力Y=-964.1819
FPS=26.53, 法向力=1457.9648, 切向力X=197.1136, 切向力Y=-1058.2147
FPS=25.17, 法向力=2043.1355, 切向力X=506.5721, 切向力Y=-1416.5250
FPS=25.07, 法向力=1678.7349, 切向力X=46.4637, 切向力Y=-415.7088
FPS=25.50, 法向力=1599.9512, 切向力X=5.4423, 切向力Y=-305.0582
FPS=23.06, 法向力=1627.7094, 切向力X=3.6273, 切向力Y=-319.8464
FPS=24.31, 法向力=1608.5438, 切向力X=13.4001, 切向力Y=-267.9877
FPS=27.19, 法向力=1587.1882, 切向力X=25.0409, 切向力Y=-2082.7197
FPS=26.77, 法向力=1671.7185, 切向力X=-0.5585, 切向力Y=-1388.1892
FPS=25.54, 法向力=1563.0366, 切向力X=379.8147, 切向力Y=-617.9011
FPS=28.17, 法向力=1583.1067, 切向力X=354.5308, 切向力Y=-584.8511
FPS=27.41, 法向力=1581.1536, 切向力X=353.4939, 切向力Y=-577.0745
FPS=27.38, 法向力=1585.9878, 切向力X=351.4890, 切向力Y=-590.3051
FPS=26.15, 法向力=1543.8322, 切向力X=1057.8057, 切向力Y=-1303.2866
FPS=23.35, 法向力=1301.8406, 切向力X=389.8712, 切向力Y=-916.1295
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=0.000279s, 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.
examples/logs/qt_viewer_20260519_180003.log
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examples/logs/qt_viewer_20260519_180147.log
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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, 切向力X=1636.5359, 切向力Y=-32.0863
FPS=30.36, 法向力=1380.7209, 切向力X=1618.2983, 切向力Y=-99.2603
FPS=29.30, 法向力=2034.4478, 切向力X=1889.3687, 切向力Y=119.7661
FPS=26.56, 法向力=1426.0840, 切向力X=1752.2375, 切向力Y=-315.3228
FPS=31.48, 法向力=1366.9316, 切向力X=1681.6238, 切向力Y=-288.3098
FPS=29.09, 法向力=1740.1497, 切向力X=2116.1567, 切向力Y=-1024.3179
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FPS=26.99, 法向力=1656.0061, 切向力X=2979.5413, 切向力Y=-1812.6328
FPS=28.50, 法向力=1637.2357, 切向力X=3086.7710, 切向力Y=-1771.3834
FPS=27.94, 法向力=1439.7371, 切向力X=1602.3127, 切向力Y=-1604.0664
FPS=26.17, 法向力=1394.9824, 切向力X=1935.4302, 切向力Y=-1382.2308
FPS=29.49, 法向力=1433.3201, 切向力X=2068.2815, 切向力Y=-1402.9323
FPS=27.15, 法向力=1460.7698, 切向力X=2510.8608, 切向力Y=-1463.1565
FPS=28.31, 法向力=1517.4515, 切向力X=2744.7100, 切向力Y=-1449.2881
FPS=29.85, 法向力=1233.5513, 切向力X=2611.2651, 切向力Y=-1895.9205
FPS=28.85, 法向力=1152.2617, 切向力X=1912.8755, 切向力Y=-1865.7812
FPS=28.85, 法向力=1144.6089, 切向力X=2005.8000, 切向力Y=-1917.8132
FPS=27.94, 法向力=1271.7181, 切向力X=2997.9500, 切向力Y=-1623.4329
FPS=28.04, 法向力=1304.9146, 切向力X=3032.6982, 切向力Y=-1699.8918
FPS=27.70, 法向力=1172.8810, 切向力X=2088.3152, 切向力Y=-1336.3303
FPS=28.16, 法向力=1413.1033, 切向力X=2730.5867, 切向力Y=-1597.5679
FPS=28.90, 法向力=1382.7909, 切向力X=2684.6851, 切向力Y=-1656.4854
FPS=26.69, 法向力=1197.1372, 切向力X=2795.2500, 切向力Y=-2959.4092
FPS=27.50, 法向力=1210.9598, 切向力X=2725.2720, 切向力Y=-2944.9614
FPS=29.30, 法向力=1622.1311, 切向力X=2630.7839, 切向力Y=-1355.3308
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FPS=26.86, 法向力=1519.9188, 切向力X=2330.6614, 切向力Y=-1939.6877
FPS=28.29, 法向力=1506.4235, 切向力X=2480.0642, 切向力Y=-1949.1392
FPS=26.29, 法向力=1397.0632, 切向力X=2426.3135, 切向力Y=-1504.6897
FPS=29.06, 法向力=1420.6785, 切向力X=2348.1067, 切向力Y=-1461.7313
FPS=27.56, 法向力=1347.6061, 切向力X=2427.8193, 切向力Y=-2052.7861
FPS=27.93, 法向力=1422.5034, 切向力X=2430.3572, 切向力Y=-2118.8511
FPS=28.61, 法向力=1403.8010, 切向力X=2411.7119, 切向力Y=-2203.8818
FPS=28.71, 法向力=1319.3992, 切向力X=1754.1609, 切向力Y=-1835.8074
FPS=28.95, 法向力=1313.1517, 切向力X=1607.4449, 切向力Y=-1885.8865
FPS=27.49, 法向力=1135.2935, 切向力X=2081.1724, 切向力Y=-2049.5300
FPS=27.55, 法向力=1149.5514, 切向力X=2070.5300, 切向力Y=-2107.2139
FPS=28.86, 法向力=1603.4227, 切向力X=2214.4692, 切向力Y=-1969.7318
FPS=26.62, 法向力=1154.9940, 切向力X=2087.5977, 切向力Y=-1259.6030
FPS=28.48, 法向力=1140.3645, 切向力X=2060.3298, 切向力Y=-1160.6771
FPS=29.73, 法向力=1453.1150, 切向力X=2186.9956, 切向力Y=-1954.8669
FPS=29.09, 法向力=1452.8394, 切向力X=2214.9536, 切向力Y=-1937.0945
FPS=28.12, 法向力=1303.2252, 切向力X=2581.2983, 切向力Y=-1938.4198
FPS=28.74, 法向力=1922.5770, 切向力X=3123.6738, 切向力Y=-2736.4653
FPS=28.38, 法向力=1994.8009, 切向力X=3106.8560, 切向力Y=-2714.7844
FPS=27.90, 法向力=1901.7432, 切向力X=2043.4905, 切向力Y=-1301.6719
FPS=29.42, 法向力=1852.4104, 切向力X=2038.2131, 切向力Y=-1270.6730
FPS=28.38, 法向力=1603.5909, 切向力X=2865.9275, 切向力Y=-644.8535
FPS=28.66, 法向力=1320.9016, 切向力X=2920.6724, 切向力Y=-1753.9382
FPS=29.91, 法向力=1289.5985, 切向力X=2887.7285, 切向力Y=-1840.4196
FPS=27.86, 法向力=1720.9927, 切向力X=2788.1133, 切向力Y=-1328.8707
FPS=28.55, 法向力=1673.6782, 切向力X=2687.5083, 切向力Y=-1367.6326
FPS=28.07, 法向力=1835.4778, 切向力X=2187.5854, 切向力Y=-1193.6738
FPS=28.71, 法向力=1970.1754, 切向力X=2563.9768, 切向力Y=-2224.6951
FPS=29.82, 法向力=2039.8936, 切向力X=2604.9307, 切向力Y=-2330.1023
FPS=28.92, 法向力=1576.5245, 切向力X=2072.0515, 切向力Y=-1881.0969
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=0.000235s, blend=0.002146s (9 tiles incl ref), finalize=0.000047s, total=0.002434s
FPS=28.74, 法向力=1536.1606, 切向力X=1928.2013, 切向力Y=-2065.3345
FPS=27.44, 法向力=2040.8370, 切向力X=2699.3259, 切向力Y=-1926.8677
FPS=28.44, 法向力=2122.6829, 切向力X=2785.4243, 切向力Y=-1793.0903
FPS=29.57, 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.
examples/logs/qt_viewer_20260519_180300.log
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examples/logs/qt_viewer_20260519_180520.log
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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
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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.
examples/logs/qt_viewer_20260519_180612.log
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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, 切向力X=-670.8553, 切向力Y=-826.4565
FPS=31.76, 法向力=1620.2690, 切向力X=-699.0610, 切向力Y=-1327.2915
FPS=34.05, 法向力=1667.5822, 切向力X=-738.3660, 切向力Y=-1430.2983
FPS=31.42, 法向力=1329.5790, 切向力X=-1035.0242, 切向力Y=-211.6973
FPS=35.23, 法向力=1302.5699, 切向力X=-1030.0120, 切向力Y=-174.7236
FPS=33.99, 法向力=1425.3673, 切向力X=-145.8931, 切向力Y=-902.1786
FPS=36.84, 法向力=1489.0721, 切向力X=-110.1110, 切向力Y=-929.9014
FPS=31.93, 法向力=1513.3335, 切向力X=-70.1157, 切向力Y=-741.3564
FPS=35.80, 法向力=1506.1187, 切向力X=-102.3555, 切向力Y=-782.7985
FPS=34.64, 法向力=1593.4600, 切向力X=-165.6243, 切向力Y=-1324.4805
FPS=34.30, 法向力=1566.7533, 切向力X=-70.1350, 切向力Y=-1204.3782
FPS=31.64, 法向力=1514.8304, 切向力X=179.8379, 切向力Y=-532.6832
FPS=34.86, 法向力=1531.6307, 切向力X=433.4821, 切向力Y=-655.8644
FPS=32.05, 法向力=1340.5129, 切向力X=755.2309, 切向力Y=-371.6127
FPS=35.69, 法向力=1346.3801, 切向力X=795.7863, 切向力Y=-299.2611
FPS=33.02, 法向力=2201.1270, 切向力X=-458.1472, 切向力Y=-1361.5483
FPS=36.32, 法向力=2181.0913, 切向力X=-506.1218, 切向力Y=-1316.7769
FPS=33.57, 法向力=2164.7673, 切向力X=-501.9294, 切向力Y=-1292.1288
FPS=35.06, 法向力=1448.5691, 切向力X=-669.6347, 切向力Y=-448.7897
FPS=32.56, 法向力=1290.5955, 切向力X=-155.5391, 切向力Y=-1485.8228
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=0.000263s, blend=0.002166s (9 tiles incl ref), finalize=0.000054s, total=0.002489s
FPS=35.76, 法向力=1310.3359, 切向力X=-126.7645, 切向力Y=-1512.6306
FPS=33.54, 法向力=1335.5720, 切向力X=-291.8903, 切向力Y=-996.1404
FPS=36.81, 法向力=1337.7466, 切向力X=-339.9275, 切向力Y=-904.3674
FPS=35.94, 法向力=1349.3969, 切向力X=-334.9646, 切向力Y=-889.3950
FPS=33.68, 法向力=1373.2987, 切向力X=-745.3701, 切向力Y=-869.1509
FPS=36.83, 法向力=1434.8629, 切向力X=-709.5870, 切向力Y=-890.8773
FPS=33.76, 法向力=1317.9534, 切向力X=-477.1683, 切向力Y=-477.9111
FPS=35.03, 法向力=1308.3695, 切向力X=-497.6840, 切向力Y=-397.0904
FPS=36.94, 法向力=1990.0986, 切向力X=-635.0526, 切向力Y=53.0224
FPS=37.02, 法向力=2011.4760, 切向力X=-656.0505, 切向力Y=93.3468
FPS=33.75, 法向力=1009.9744, 切向力X=-543.8207, 切向力Y=-800.0704
FPS=36.85, 法向力=972.9626, 切向力X=-483.7742, 切向力Y=-827.5131
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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.
examples/logs/qt_viewer_20260519_181113.log
+19
View File
@@ -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.
examples/logs/qt_viewer_20260519_181213.log
+374
View File
@@ -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
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FPS=29.24, 法向力=2050.4512, 切向力X=-907.7572, 切向力Y=-1061.6187
FPS=30.44, 法向力=2105.6106, 切向力X=-867.6321, 切向力Y=-1099.7316
FPS=28.31, 法向力=1570.7189, 切向力X=-902.1532, 切向力Y=-1709.2847
FPS=29.32, 法向力=1593.4575, 切向力X=-847.3564, 切向力Y=-1701.2130
FPS=28.90, 法向力=1874.9440, 切向力X=-138.0571, 切向力Y=-761.6568
FPS=29.86, 法向力=1834.8511, 切向力X=-195.7969, 切向力Y=-752.5126
FPS=29.62, 法向力=1545.4888, 切向力X=26.0747, 切向力Y=-1259.7581
FPS=28.13, 法向力=1715.1423, 切向力X=195.2831, 切向力Y=-965.7610
FPS=29.77, 法向力=1718.1178, 切向力X=207.7337, 切向力Y=-948.1760
FPS=28.76, 法向力=1764.2773, 切向力X=715.3036, 切向力Y=-1854.4127
FPS=30.82, 法向力=1753.8474, 切向力X=784.4927, 切向力Y=-1897.0862
FPS=29.83, 法向力=1473.9492, 切向力X=116.3776, 切向力Y=-1533.8682
FPS=28.72, 法向力=1486.5464, 切向力X=98.5665, 切向力Y=-1589.3701
FPS=30.10, 法向力=1457.6158, 切向力X=1033.7307, 切向力Y=-727.0193
FPS=28.67, 法向力=1461.2010, 切向力X=1064.8762, 切向力Y=-673.2471
FPS=31.13, 法向力=1274.6926, 切向力X=491.3846, 切向力Y=-1910.1572
FPS=29.36, 法向力=1317.3761, 切向力X=237.4097, 切向力Y=-1297.4877
FPS=28.57, 法向力=1320.4292, 切向力X=254.6711, 切向力Y=-1235.4032
FPS=27.76, 法向力=1843.6852, 切向力X=207.5576, 切向力Y=-1306.9177
FPS=28.98, 法向力=1845.3499, 切向力X=150.4594, 切向力Y=-1288.0677
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=0.000290s, blend=0.002253s (9 tiles incl ref), finalize=0.000056s, total=0.002604s
FPS=29.68, 法向力=1731.2974, 切向力X=-261.7294, 切向力Y=-1027.6831
FPS=28.81, 法向力=1502.6917, 切向力X=-844.0222, 切向力Y=-1888.4551
FPS=30.02, 法向力=1541.4834, 切向力X=-885.5847, 切向力Y=-1945.2476
FPS=29.09, 法向力=1064.4380, 切向力X=152.2964, 切向力Y=-1344.9067
FPS=27.75, 法向力=1062.4543, 切向力X=220.0812, 切向力Y=-1402.0798
FPS=28.33, 法向力=1533.5234, 切向力X=-64.9985, 切向力Y=-1859.0582
FPS=28.51, 法向力=1649.1382, 切向力X=-145.1680, 切向力Y=-1887.4126
FPS=29.26, 法向力=1667.5460, 切向力X=939.5371, 切向力Y=-1127.2045
FPS=29.00, 法向力=1331.9165, 切向力X=439.3916, 切向力Y=-1452.6360
FPS=29.31, 法向力=1315.8660, 切向力X=370.3348, 切向力Y=-1412.5703
FPS=28.40, 法向力=1309.0552, 切向力X=-144.2638, 切向力Y=-1974.9387
FPS=30.11, 法向力=1337.8967, 切向力X=-142.3536, 切向力Y=-2101.0752
FPS=28.28, 法向力=1285.3132, 切向力X=-415.0369, 切向力Y=-1624.1899
FPS=28.23, 法向力=1364.9667, 切向力X=-303.8332, 切向力Y=-1535.1288
FPS=28.74, 法向力=1571.6200, 切向力X=295.8588, 切向力Y=-1271.1318
FPS=27.08, 法向力=1297.9761, 切向力X=-729.4946, 切向力Y=-1184.8403
FPS=29.47, 法向力=1319.2997, 切向力X=-733.7850, 切向力Y=-1215.4222
FPS=26.62, 法向力=2030.2695, 切向力X=-12.4942, 切向力Y=-1298.2457
FPS=27.78, 法向力=1457.0315, 切向力X=351.6959, 切向力Y=-1134.3738
FPS=29.20, 法向力=1540.4751, 切向力X=452.8260, 切向力Y=-1092.3955
FPS=19.02, 法向力=1184.5981, 切向力X=157.2959, 切向力Y=-1078.8767
FPS=42.03, 法向力=1244.5304, 切向力X=72.3384, 切向力Y=-1150.0135
FPS=31.40, 法向力=1615.7273, 切向力X=-791.6403, 切向力Y=-582.4033
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.
examples/logs/qt_viewer_20260519_181413.log
+619
View File
@@ -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
FPS=30.93, 法向力=2760.5444, 切向力X=2522.7173, 切向力Y=-1098.8254
FPS=29.16, 法向力=1579.0964, 切向力X=308.2785, 切向力Y=-1090.9890
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=0.000269s, blend=0.002234s (9 tiles incl ref), finalize=0.000053s, total=0.002563s
FPS=29.43, 法向力=1737.9336, 切向力X=-284.7433, 切向力Y=123.8750
FPS=30.03, 法向力=1838.4548, 切向力X=-370.1317, 切向力Y=46.9253
FPS=30.28, 法向力=1983.4434, 切向力X=1275.1011, 切向力Y=-123.8007
FPS=30.64, 法向力=2029.6415, 切向力X=1306.5740, 切向力Y=-272.9886
FPS=25.55, 法向力=1850.1074, 切向力X=-1118.9353, 切向力Y=-261.5474
FPS=27.54, 法向力=1840.1414, 切向力X=-1095.6575, 切向力Y=-386.2560
FPS=25.75, 法向力=1317.3842, 切向力X=1816.5173, 切向力Y=-715.7692
FPS=26.01, 法向力=2163.4819, 切向力X=957.0898, 切向力Y=-984.8254
FPS=30.55, 法向力=2210.2454, 切向力X=1018.9485, 切向力Y=-1006.6991
FPS=28.42, 法向力=1678.1788, 切向力X=-553.0082, 切向力Y=-510.6174
FPS=30.96, 法向力=1619.0964, 切向力X=-404.4824, 切向力Y=-428.3311
FPS=27.00, 法向力=2694.1851, 切向力X=1448.1599, 切向力Y=-219.1047
FPS=25.64, 法向力=2569.9727, 切向力X=1381.6877, 切向力Y=-220.5615
FPS=28.61, 法向力=2046.2313, 切向力X=562.2272, 切向力Y=-57.8900
FPS=27.57, 法向力=1479.8140, 切向力X=275.5749, 切向力Y=-1548.8566
FPS=30.39, 法向力=1551.9082, 切向力X=345.2419, 切向力Y=-1732.8842
FPS=29.24, 法向力=2403.2156, 切向力X=1666.9446, 切向力Y=-1012.8925
FPS=28.95, 法向力=2410.4932, 切向力X=1722.7728, 切向力Y=-1024.0134
FPS=27.09, 法向力=2874.8748, 切向力X=2005.6860, 切向力Y=-348.9198
FPS=28.46, 法向力=2369.3281, 切向力X=1656.1033, 切向力Y=-369.6899
FPS=28.74, 法向力=2389.9382, 切向力X=1799.0342, 切向力Y=-373.0805
FPS=28.53, 法向力=2082.6382, 切向力X=2935.8706, 切向力Y=-298.1762
FPS=29.78, 法向力=2137.3796, 切向力X=3001.1748, 切向力Y=-357.8136
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FPS=34.99, 法向力=1771.2043, 切向力X=1298.7126, 切向力Y=-1442.6765
FPS=32.68, 法向力=1493.7214, 切向力X=221.7542, 切向力Y=-900.3582
FPS=35.22, 法向力=1524.6909, 切向力X=196.8146, 切向力Y=-997.8771
FPS=32.01, 法向力=1505.0244, 切向力X=901.1589, 切向力Y=-814.5432
FPS=35.92, 法向力=1479.5085, 切向力X=790.5421, 切向力Y=-792.4211
FPS=34.15, 法向力=2297.5430, 切向力X=1959.8157, 切向力Y=-716.0991
FPS=35.95, 法向力=2293.4336, 切向力X=1829.2634, 切向力Y=-725.3817
FPS=33.65, 法向力=1455.6171, 切向力X=753.2001, 切向力Y=-697.3654
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FPS=36.51, 法向力=1810.5884, 切向力X=305.7246, 切向力Y=-809.2862
FPS=33.27, 法向力=1627.9801, 切向力X=1626.4541, 切向力Y=-839.3076
FPS=36.03, 法向力=1620.1670, 切向力X=1568.9338, 切向力Y=-897.5024
FPS=33.82, 法向力=1400.6914, 切向力X=921.7050, 切向力Y=-1024.9661
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FPS=34.89, 法向力=972.9073, 切向力X=-916.6740, 切向力Y=-1391.0308
FPS=34.44, 法向力=2201.1987, 切向力X=519.3316, 切向力Y=-340.2386
FPS=36.05, 法向力=2222.0186, 切向力X=503.3206, 切向力Y=-220.9538
FPS=35.64, 法向力=2222.6309, 切向力X=513.6758, 切向力Y=-248.9584
FPS=36.11, 法向力=2004.0054, 切向力X=778.8658, 切向力Y=-578.2535
FPS=35.42, 法向力=1673.0907, 切向力X=1089.9783, 切向力Y=-218.0987
FPS=34.52, 法向力=1722.0504, 切向力X=1118.5961, 切向力Y=-302.3848
FPS=34.67, 法向力=1719.1160, 切向力X=1113.8943, 切向力Y=-301.6187
FPS=33.92, 法向力=1941.4542, 切向力X=419.5819, 切向力Y=-946.7533
FPS=35.34, 法向力=2010.8969, 切向力X=434.0275, 切向力Y=-1020.8685
FPS=32.31, 法向力=2621.1841, 切向力X=1910.1781, 切向力Y=-948.5758
FPS=35.77, 法向力=2685.3311, 切向力X=1881.9254, 切向力Y=-1138.0339
FPS=33.21, 法向力=2856.0205, 切向力X=2805.0227, 切向力Y=-1137.6144
FPS=35.79, 法向力=2756.1428, 切向力X=2834.3838, 切向力Y=-1114.6541
FPS=32.04, 法向力=2563.9148, 切向力X=2131.2686, 切向力Y=-355.8077
FPS=32.41, 法向力=2556.2988, 切向力X=2048.4609, 切向力Y=-342.1112
FPS=34.05, 法向力=1956.4258, 切向力X=2059.6924, 切向力Y=-940.0615
FPS=34.49, 法向力=1909.9031, 切向力X=1964.4767, 切向力Y=-946.8727
FPS=33.84, 法向力=1583.9778, 切向力X=1889.0781, 切向力Y=-1144.6394
FPS=36.00, 法向力=1592.0896, 切向力X=1804.9697, 切向力Y=-1126.2474
FPS=33.64, 法向力=1968.9269, 切向力X=1102.0743, 切向力Y=637.2819
FPS=34.88, 法向力=1993.2122, 切向力X=945.7866, 切向力Y=614.2670
FPS=33.10, 法向力=1313.9033, 切向力X=1410.3508, 切向力Y=-798.7971
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FPS=34.84, 法向力=1244.1584, 切向力X=1192.2886, 切向力Y=-940.0541
FPS=35.78, 法向力=1213.5291, 切向力X=1244.4519, 切向力Y=-861.8552
FPS=32.14, 法向力=1748.5029, 切向力X=930.3102, 切向力Y=-208.6419
FPS=36.33, 法向力=1749.8451, 切向力X=789.0753, 切向力Y=-198.9875
FPS=34.72, 法向力=1740.3501, 切向力X=766.9315, 切向力Y=-223.7115
FPS=36.44, 法向力=1958.3990, 切向力X=1401.8525, 切向力Y=-1001.9904
FPS=34.11, 法向力=2285.4658, 切向力X=1872.1066, 切向力Y=-273.7310
FPS=36.35, 法向力=2251.8667, 切向力X=1900.1042, 切向力Y=-323.6822
FPS=35.28, 法向力=2287.1841, 切向力X=1864.0225, 切向力Y=-340.1470
FPS=36.91, 法向力=2050.6392, 切向力X=1850.2651, 切向力Y=-506.7036
FPS=37.05, 法向力=2117.9946, 切向力X=1955.8840, 切向力Y=-476.2557
FPS=35.26, 法向力=1958.2649, 切向力X=1329.9766, 切向力Y=-1353.0839
FPS=36.55, 法向力=1920.8247, 切向力X=1292.4751, 切向力Y=-1452.7395
FPS=34.08, 法向力=2324.4556, 切向力X=1526.3276, 切向力Y=-1503.6934
FPS=35.87, 法向力=2344.8545, 切向力X=1508.5201, 切向力Y=-1381.2837
FPS=32.89, 法向力=1535.6403, 切向力X=2036.6335, 切向力Y=52.0018
FPS=36.37, 法向力=1501.4547, 切向力X=1957.3889, 切向力Y=113.9836
FPS=33.91, 法向力=2820.7720, 切向力X=1614.3702, 切向力Y=-1165.8005
FPS=36.78, 法向力=2842.0156, 切向力X=1571.6118, 切向力Y=-1249.0079
FPS=35.34, 法向力=1722.1179, 切向力X=1397.9393, 切向力Y=-718.6940
FPS=36.56, 法向力=1689.2151, 切向力X=1249.2644, 切向力Y=-713.4233
FPS=34.77, 法向力=1664.7947, 切向力X=1197.5010, 切向力Y=-682.7564
FPS=35.68, 法向力=1610.9717, 切向力X=1986.8918, 切向力Y=-1287.5608
FPS=33.61, 法向力=1975.6128, 切向力X=1733.1338, 切向力Y=-327.1736
FPS=37.29, 法向力=2088.9541, 切向力X=1775.4885, 切向力Y=-511.6651
FPS=35.11, 法向力=1525.7899, 切向力X=756.6581, 切向力Y=-674.2657
FPS=35.76, 法向力=1557.0375, 切向力X=728.4415, 切向力Y=-759.8438
FPS=36.25, 法向力=1549.8723, 切向力X=734.9549, 切向力Y=-756.8124
FPS=34.41, 法向力=1811.4210, 切向力X=2043.3181, 切向力Y=-750.8666
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FPS=34.49, 法向力=1446.8481, 切向力X=942.4498, 切向力Y=-327.0550
FPS=34.65, 法向力=1470.3066, 切向力X=795.4437, 切向力Y=-288.0212
FPS=35.72, 法向力=1413.5520, 切向力X=1212.5193, 切向力Y=-690.8627
FPS=37.24, 法向力=1383.9075, 切向力X=1209.0813, 切向力Y=-720.3612
FPS=34.69, 法向力=1500.8347, 切向力X=-97.0571, 切向力Y=-1710.8828
FPS=34.18, 法向力=1552.9631, 切向力X=-115.0253, 切向力Y=-1731.6443
FPS=31.75, 法向力=2871.5439, 切向力X=1450.2217, 切向力Y=-1016.3246
FPS=34.48, 法向力=2932.5322, 切向力X=1487.2086, 切向力Y=-976.3558
FPS=33.73, 法向力=1453.0979, 切向力X=-355.7464, 切向力Y=-853.9086
FPS=35.92, 法向力=1407.1572, 切向力X=-388.8730, 切向力Y=-796.6637
FPS=33.58, 法向力=1112.7393, 切向力X=823.9701, 切向力Y=-319.0436
FPS=35.19, 法向力=1142.6769, 切向力X=708.7821, 切向力Y=-250.0110
FPS=34.68, 法向力=1239.5254, 切向力X=-161.7411, 切向力Y=-1111.7012
FPS=35.95, 法向力=1253.5322, 切向力X=-304.1792, 切向力Y=-1233.1333
FPS=34.74, 法向力=1495.8762, 切向力X=976.2590, 切向力Y=-855.8298
FPS=34.92, 法向力=1460.3933, 切向力X=1044.2351, 切向力Y=-733.4854
FPS=35.19, 法向力=1510.8792, 切向力X=1053.0995, 切向力Y=-743.5760
FPS=34.28, 法向力=1944.7867, 切向力X=1355.4122, 切向力Y=-700.2983
FPS=34.91, 法向力=1527.2021, 切向力X=882.6617, 切向力Y=-818.2383
FPS=36.12, 法向力=1494.2783, 切向力X=948.0768, 切向力Y=-804.9337
FPS=36.40, 法向力=1492.5382, 切向力X=1013.9528, 切向力Y=-815.8006
FPS=35.98, 法向力=1862.4731, 切向力X=1081.2307, 切向力Y=-524.7402
FPS=34.66, 法向力=1873.4147, 切向力X=1036.1721, 切向力Y=-601.6199
FPS=33.70, 法向力=2410.9236, 切向力X=1307.4155, 切向力Y=-1109.2231
FPS=36.48, 法向力=2449.1357, 切向力X=1345.0532, 切向力Y=-1082.4966
FPS=33.49, 法向力=1815.8414, 切向力X=1559.1411, 切向力Y=-1202.0488
FPS=35.61, 法向力=1863.7649, 切向力X=1626.1727, 切向力Y=-1162.5090
FPS=34.45, 法向力=2477.6301, 切向力X=1156.5979, 切向力Y=-1712.9331
FPS=37.06, 法向力=2534.3396, 切向力X=1125.4761, 切向力Y=-1812.8298
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FPS=37.10, 法向力=1271.3140, 切向力X=1649.4070, 切向力Y=3.4955
FPS=33.69, 法向力=1859.6118, 切向力X=569.6772, 切向力Y=-856.8497
FPS=36.15, 法向力=1899.6445, 切向力X=567.8501, 切向力Y=-901.5194
FPS=34.50, 法向力=1877.3606, 切向力X=593.2882, 切向力Y=-914.7292
FPS=35.49, 法向力=2096.7603, 切向力X=502.9825, 切向力Y=-1690.8328
FPS=33.01, 法向力=1971.9146, 切向力X=1392.2734, 切向力Y=-831.0887
FPS=37.50, 法向力=2036.3779, 切向力X=1482.1086, 切向力Y=-873.2659
FPS=34.63, 法向力=1714.1702, 切向力X=1075.6230, 切向力Y=-1434.5078
FPS=36.25, 法向力=1741.0913, 切向力X=1030.6731, 切向力Y=-1480.7485
FPS=36.59, 法向力=1707.4517, 切向力X=1020.3978, 切向力Y=-1494.7102
FPS=33.77, 法向力=2188.3223, 切向力X=1486.4844, 切向力Y=-1189.2802
FPS=36.66, 法向力=2275.5342, 切向力X=1503.1962, 切向力Y=-1252.1399
FPS=34.28, 法向力=1988.0776, 切向力X=845.2377, 切向力Y=-699.8493
FPS=36.28, 法向力=2008.8005, 切向力X=801.5732, 切向力Y=-623.9459
FPS=34.89, 法向力=2369.0889, 切向力X=1720.2285, 切向力Y=-1637.8071
FPS=36.24, 法向力=2221.2686, 切向力X=1562.6411, 切向力Y=-1745.2202
FPS=34.87, 法向力=1518.1887, 切向力X=1509.6913, 切向力Y=-235.1582
FPS=34.65, 法向力=1545.7883, 切向力X=1580.9485, 切向力Y=-182.7357
FPS=33.43, 法向力=1807.4507, 切向力X=285.4816, 切向力Y=-1428.2830
FPS=36.00, 法向力=1792.4321, 切向力X=289.3487, 切向力Y=-1497.4758
FPS=35.57, 法向力=1390.9744, 切向力X=1250.7555, 切向力Y=-303.7246
FPS=35.35, 法向力=1465.1880, 切向力X=1392.9954, 切向力Y=-286.4939
FPS=33.30, 法向力=1716.8718, 切向力X=1410.5511, 切向力Y=-1071.1693
FPS=35.94, 法向力=1767.5402, 切向力X=1417.2250, 切向力Y=-1097.1118
FPS=34.66, 法向力=1871.4677, 切向力X=1040.8715, 切向力Y=-739.3563
FPS=36.72, 法向力=1872.0840, 切向力X=1038.8843, 切向力Y=-700.7139
FPS=36.43, 法向力=1873.8311, 切向力X=1020.6072, 切向力Y=-715.8114
FPS=34.12, 法向力=2582.5063, 切向力X=2178.1470, 切向力Y=-355.4973
FPS=36.13, 法向力=2560.5786, 切向力X=2233.3887, 切向力Y=-416.0953
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FPS=33.57, 法向力=1452.2821, 切向力X=1773.8199, 切向力Y=-1193.7708
FPS=33.70, 法向力=1419.2729, 切向力X=1754.0120, 切向力Y=-1316.0918
⏸ 数据采集已暂停
▶ 数据采集已启动
FPS=0.09, 法向力=1232.5068, 切向力X=1213.3984, 切向力Y=-949.9315
FPS=45.61, 法向力=1231.3890, 切向力X=1170.6132, 切向力Y=-1179.1936
FPS=33.46, 法向力=1686.4910, 切向力X=1484.1775, 切向力Y=-940.1693
FPS=36.50, 法向力=1771.0922, 切向力X=1541.1194, 切向力Y=-1105.7615
FPS=33.93, 法向力=1486.1936, 切向力X=1592.8662, 切向力Y=-1288.5773
FPS=35.51, 法向力=1526.3904, 切向力X=1749.2045, 切向力Y=-1415.4521
FPS=33.81, 法向力=2311.2642, 切向力X=2357.0591, 切向力Y=-1868.6702
FPS=37.95, 法向力=2295.7227, 切向力X=2381.1689, 切向力Y=-1801.9858
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FPS=26.38, 法向力=1991.4067, 切向力X=1147.5212, 切向力Y=-2129.5757
FPS=25.11, 法向力=1851.8070, 切向力X=1817.0446, 切向力Y=-1080.8271
FPS=28.23, 法向力=1866.8541, 切向力X=1743.2366, 切向力Y=-1130.8651
FPS=26.12, 法向力=1705.6510, 切向力X=1896.7083, 切向力Y=-1162.0642
FPS=27.96, 法向力=1708.9625, 切向力X=1899.0520, 切向力Y=-1149.3760
FPS=27.90, 法向力=1698.1458, 切向力X=1432.0938, 切向力Y=-1875.5474
FPS=27.40, 法向力=2129.5430, 切向力X=1369.7903, 切向力Y=-1581.6938
FPS=27.83, 法向力=2112.5190, 切向力X=1312.3835, 切向力Y=-1685.3174
FPS=27.53, 法向力=1790.7897, 切向力X=1326.6099, 切向力Y=-1911.2627
FPS=27.40, 法向力=1992.6840, 切向力X=2286.7207, 切向力Y=-3287.5955
FPS=27.51, 法向力=2013.6326, 切向力X=2286.4153, 切向力Y=-3431.8806
FPS=24.82, 法向力=1384.6763, 切向力X=2596.4631, 切向力Y=-7560.7100
FPS=26.98, 法向力=1321.9775, 切向力X=2614.4578, 切向力Y=-7886.8008
FPS=26.13, 法向力=1990.5530, 切向力X=-2315.2388, 切向力Y=-11847.6182
FPS=24.33, 法向力=4340.2085, 切向力X=-12428.5967, 切向力Y=-25210.4492
FPS=27.01, 法向力=4055.7266, 切向力X=-12665.9824, 切向力Y=-25761.1680
FPS=28.04, 法向力=6275.0967, 切向力X=-20540.9902, 切向力Y=-48883.0391
FPS=25.49, 法向力=14295.0586, 切向力X=-20201.7148, 切向力Y=-62335.6016
FPS=26.16, 法向力=13425.9961, 切向力X=-20808.6543, 切向力Y=-62655.3125
FPS=24.88, 法向力=21131.6328, 切向力X=-8819.0137, 切向力Y=-53766.2188
FPS=24.89, 法向力=19228.6328, 切向力X=-4116.2188, 切向力Y=-32583.6406
FPS=28.09, 法向力=19256.8887, 切向力X=-3947.7686, 切向力Y=-32584.3008
FPS=26.27, 法向力=16712.8867, 切向力X=-8378.0186, 切向力Y=30562.8359
FPS=26.33, 法向力=16480.1758, 切向力X=-8477.0742, 切向力Y=30760.6328
FPS=26.52, 法向力=13692.6719, 切向力X=-6793.7295, 切向力Y=21137.5312
FPS=27.28, 法向力=7123.5850, 切向力X=-386.5533, 切向力Y=3375.5383
FPS=27.76, 法向力=7104.4375, 切向力X=-616.0367, 切向力Y=3418.9941
FPS=27.42, 法向力=3267.0247, 切向力X=201.7476, 切向力Y=-838.9886
FPS=28.57, 法向力=2493.3518, 切向力X=-602.6212, 切向力Y=-4617.5288
FPS=28.93, 法向力=2425.9404, 切向力X=-596.1006, 切向力Y=-4761.0400
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=0.000352s, blend=0.002158s (9 tiles incl ref), finalize=0.000053s, total=0.002570s
FPS=25.72, 法向力=1569.2461, 切向力X=-530.7250, 切向力Y=-12705.9648
FPS=27.91, 法向力=1516.3848, 切向力X=-557.1896, 切向力Y=-12945.4971
FPS=25.88, 法向力=3049.1035, 切向力X=-555.4965, 切向力Y=-24125.4805
FPS=24.08, 法向力=5279.1016, 切向力X=166.9440, 切向力Y=-42089.0977
FPS=29.01, 法向力=4911.4272, 切向力X=110.4045, 切向力Y=-42673.6094
FPS=26.78, 法向力=7322.3755, 切向力X=4554.7114, 切向力Y=-61439.6836
FPS=26.33, 法向力=7242.1660, 切向力X=4556.1123, 切向力Y=-61784.2109
FPS=28.02, 法向力=15043.5723, 切向力X=3601.2910, 切向力Y=-56558.8516
FPS=25.21, 法向力=18766.9453, 切向力X=5015.6250, 切向力Y=-38519.4648
FPS=26.62, 法向力=18747.1328, 切向力X=5006.9365, 切向力Y=-38557.6562
FPS=28.84, 法向力=14822.8633, 切向力X=5626.1641, 切向力Y=-16405.8164
FPS=27.82, 法向力=16596.5371, 切向力X=-2643.6084, 切向力Y=26725.1172
FPS=29.75, 法向力=16612.1445, 切向力X=-2712.9756, 切向力Y=26869.1055
FPS=25.95, 法向力=13722.7773, 切向力X=-3714.4478, 切向力Y=15845.3262
FPS=29.78, 法向力=13604.0879, 切向力X=-3940.3286, 切向力Y=15678.3691
FPS=25.42, 法向力=6793.6997, 切向力X=-257.9697, 切向力Y=2617.7910
FPS=25.53, 法向力=5257.5898, 切向力X=1189.8986, 切向力Y=-66.5221
FPS=29.67, 法向力=5300.9111, 切向力X=1279.3855, 切向力Y=-142.2037
FPS=26.86, 法向力=3541.0376, 切向力X=1221.8138, 切向力Y=-1373.0103
FPS=29.07, 法向力=3498.3335, 切向力X=1162.6543, 切向力Y=-1438.4484
FPS=26.27, 法向力=2916.0955, 切向力X=1331.1858, 切向力Y=-1600.5990
FPS=26.18, 法向力=1988.2498, 切向力X=1402.6074, 切向力Y=-5262.6826
FPS=29.32, 法向力=1943.2825, 切向力X=1413.1257, 切向力Y=-5529.7173
FPS=27.07, 法向力=1886.1475, 切向力X=1450.2479, 切向力Y=-6554.4268
FPS=29.36, 法向力=1787.9058, 切向力X=1354.1517, 切向力Y=-6678.1704
FPS=28.64, 法向力=1617.0643, 切向力X=2186.6284, 切向力Y=-7156.8052
FPS=28.63, 法向力=1580.4744, 切向力X=1733.5984, 切向力Y=-13619.4590
FPS=30.21, 法向力=1440.2654, 切向力X=1782.5894, 切向力Y=-14213.8965
FPS=29.63, 法向力=3483.7100, 切向力X=-1632.4146, 切向力Y=-24600.1875
FPS=30.32, 法向力=3358.4221, 切向力X=-1690.0623, 切向力Y=-25233.2305
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=0.002144s (9 tiles incl ref), finalize=0.000053s, total=0.002468s
FPS=28.93, 法向力=4605.8984, 切向力X=-3081.7822, 切向力Y=-34207.6328
FPS=29.10, 法向力=4523.1729, 切向力X=-3333.5437, 切向力Y=-34882.2812
FPS=28.70, 法向力=3356.2944, 切向力X=19.0515, 切向力Y=-35062.2734
FPS=29.74, 法向力=2464.9810, 切向力X=3484.5942, 切向力Y=-14948.8750
FPS=30.76, 法向力=2427.1787, 切向力X=3474.6338, 切向力Y=-14924.1416
FPS=28.35, 法向力=2216.4265, 切向力X=1810.3480, 切向力Y=-5036.0352
FPS=30.93, 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.
examples/logs/qt_viewer_20260519_181533.log
+19
View File
@@ -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.
examples/logs/qt_viewer_20260520_090516.log
+626
View File
@@ -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, 切向力X=290.3106, 切向力Y=-1164.5854
FPS=31.95, 法向力=1046.1021, 切向力X=680.9633, 切向力Y=-822.4794
FPS=29.84, 法向力=1276.0842, 切向力X=723.4697, 切向力Y=-692.1637
FPS=33.23, 法向力=1279.7695, 切向力X=783.8976, 切向力Y=-491.8306
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FPS=31.53, 法向力=1218.7446, 切向力X=420.7656, 切向力Y=-519.1546
FPS=34.25, 法向力=1185.8506, 切向力X=400.1630, 切向力Y=-494.2690
FPS=29.66, 法向力=1461.1660, 切向力X=1195.3135, 切向力Y=-1021.0907
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FPS=30.96, 法向力=1642.0171, 切向力X=936.7915, 切向力Y=-288.8599
FPS=31.17, 法向力=1620.0549, 切向力X=979.3644, 切向力Y=-296.7553
FPS=32.23, 法向力=1539.3489, 切向力X=715.5701, 切向力Y=-523.0688
FPS=31.85, 法向力=1564.3698, 切向力X=763.7186, 切向力Y=-478.5756
FPS=32.87, 法向力=1048.5804, 切向力X=277.2366, 切向力Y=-1166.2019
FPS=31.99, 法向力=1060.8451, 切向力X=317.3134, 切向力Y=-1187.2935
FPS=29.68, 法向力=1042.6086, 切向力X=1044.2245, 切向力Y=-782.0827
FPS=31.81, 法向力=919.9545, 切向力X=1531.5416, 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
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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, 切向力Y=-1312.7549
FPS=31.57, 法向力=1143.6655, 切向力X=119.1500, 切向力Y=-1205.3778
FPS=30.55, 法向力=1275.4751, 切向力X=1056.7717, 切向力Y=-910.7286
FPS=31.92, 法向力=1269.6418, 切向力X=1027.2188, 切向力Y=-966.8030
FPS=30.67, 法向力=1247.3506, 切向力X=304.0406, 切向力Y=-867.3222
FPS=31.46, 法向力=1223.0469, 切向力X=237.3763, 切向力Y=-844.1520
FPS=30.35, 法向力=1316.1215, 切向力X=1183.8845, 切向力Y=32.7902
FPS=30.66, 法向力=1238.4893, 切向力X=1081.3046, 切向力Y=-34.1196
FPS=28.31, 法向力=1148.5002, 切向力X=784.1008, 切向力Y=-1266.0804
FPS=29.30, 法向力=1600.5876, 切向力X=750.4725, 切向力Y=-1578.0748
FPS=32.43, 法向力=1634.7168, 切向力X=662.8701, 切向力Y=-1617.7119
FPS=29.67, 法向力=1610.2429, 切向力X=413.4193, 切向力Y=-390.3314
FPS=31.47, 法向力=1635.1300, 切向力X=424.1213, 切向力Y=-365.9388
FPS=29.62, 法向力=1394.8036, 切向力X=560.5105, 切向力Y=271.3486
FPS=29.59, 法向力=1399.6765, 切向力X=458.6734, 切向力Y=260.7096
FPS=28.12, 法向力=1665.3124, 切向力X=373.7963, 切向力Y=-1012.8696
FPS=30.75, 法向力=977.5684, 切向力X=1291.8293, 切向力Y=-556.5779
FPS=31.61, 法向力=981.0784, 切向力X=1291.4487, 切向力Y=-504.8022
FPS=30.43, 法向力=1405.4946, 切向力X=118.1009, 切向力Y=-485.6159
FPS=32.14, 法向力=1429.6754, 切向力X=112.6000, 切向力Y=-579.3900
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FPS=31.26, 法向力=1281.2252, 切向力X=793.1325, 切向力Y=-1287.0513
FPS=31.56, 法向力=1083.1617, 切向力X=1078.5365, 切向力Y=-260.5991
FPS=30.89, 法向力=1190.9249, 切向力X=1186.1857, 切向力Y=-169.5779
FPS=31.43, 法向力=1532.9639, 切向力X=-128.3853, 切向力Y=-1350.6469
FPS=31.25, 法向力=1616.7639, 切向力X=-275.0609, 切向力Y=-1372.6379
FPS=28.30, 法向力=1281.7606, 切向力X=341.7660, 切向力Y=-423.8777
FPS=31.21, 法向力=1293.1083, 切向力X=398.9781, 切向力Y=-406.5844
FPS=30.64, 法向力=1218.3984, 切向力X=1124.0420, 切向力Y=-469.7393
FPS=32.33, 法向力=1189.3833, 切向力X=1141.4634, 切向力Y=-382.5219
FPS=30.61, 法向力=1383.4551, 切向力X=937.8403, 切向力Y=-1202.8407
FPS=29.48, 法向力=1637.5535, 切向力X=729.4448, 切向力Y=-494.0520
FPS=31.83, 法向力=1685.1864, 切向力X=728.7177, 切向力Y=-512.0548
FPS=29.39, 法向力=1257.2025, 切向力X=269.5452, 切向力Y=-777.7215
FPS=31.60, 法向力=1191.2556, 切向力X=175.3667, 切向力Y=-755.8652
FPS=28.64, 法向力=1161.8047, 切向力X=759.1008, 切向力Y=-889.4926
FPS=31.84, 法向力=1202.9119, 切向力X=832.1720, 切向力Y=-843.8236
FPS=27.98, 法向力=1262.7339, 切向力X=678.9474, 切向力Y=-370.4834
FPS=30.08, 法向力=1173.1013, 切向力X=617.2681, 切向力Y=-1336.9470
FPS=31.56, 法向力=1180.0497, 切向力X=518.3127, 切向力Y=-1421.0275
FPS=30.61, 法向力=1304.2019, 切向力X=873.5453, 切向力Y=-451.1278
FPS=31.51, 法向力=1280.7300, 切向力X=881.5878, 切向力Y=-422.2861
FPS=29.37, 法向力=1535.9603, 切向力X=883.7999, 切向力Y=-959.2707
FPS=30.74, 法向力=1518.7098, 切向力X=905.3867, 切向力Y=-1012.9528
FPS=30.19, 法向力=1553.2913, 切向力X=1358.0126, 切向力Y=-1754.9862
FPS=30.13, 法向力=1621.4370, 切向力X=1315.4514, 切向力Y=-1791.9219
FPS=28.17, 法向力=1166.1003, 切向力X=388.5506, 切向力Y=-924.9760
FPS=28.79, 法向力=1232.9158, 切向力X=395.7586, 切向力Y=-1020.9445
FPS=29.07, 法向力=918.7698, 切向力X=-32.2555, 切向力Y=-1126.1221
FPS=28.24, 法向力=1078.7690, 切向力X=1230.0886, 切向力Y=-219.4434
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FPS=30.13, 法向力=967.1183, 切向力X=561.8518, 切向力Y=-245.4107
FPS=29.56, 法向力=932.8307, 切向力X=483.6536, 切向力Y=-327.3589
FPS=29.03, 法向力=1312.6837, 切向力X=98.2297, 切向力Y=-1031.1470
FPS=30.14, 法向力=1329.8186, 切向力X=120.4970, 切向力Y=-1061.1870
FPS=30.54, 法向力=1192.1926, 切向力X=180.6652, 切向力Y=-659.8158
FPS=29.87, 法向力=1325.5548, 切向力X=70.9136, 切向力Y=-659.2846
FPS=29.68, 法向力=1143.6251, 切向力X=611.8252, 切向力Y=-540.1324
FPS=28.94, 法向力=990.5731, 切向力X=660.0397, 切向力Y=-1216.7629
FPS=29.48, 法向力=974.5966, 切向力X=689.7332, 切向力Y=-1193.4666
FPS=29.14, 法向力=1087.7102, 切向力X=322.0508, 切向力Y=-1006.6015
FPS=29.87, 法向力=1066.7422, 切向力X=338.4474, 切向力Y=-990.8330
FPS=27.26, 法向力=1327.0657, 切向力X=661.0732, 切向力Y=-1593.1200
FPS=27.68, 法向力=1369.7532, 切向力X=630.3976, 切向力Y=-1614.4091
FPS=29.90, 法向力=1979.0332, 切向力X=418.0630, 切向力Y=-1858.6094
FPS=28.11, 法向力=990.6557, 切向力X=493.8203, 切向力Y=-1019.8093
FPS=28.76, 法向力=997.4677, 切向力X=485.3889, 切向力Y=-757.5735
FPS=26.98, 法向力=1040.4154, 切向力X=436.2051, 切向力Y=-288.1928
FPS=29.38, 法向力=1087.1642, 切向力X=410.1686, 切向力Y=-226.2431
FPS=29.94, 法向力=1551.5515, 切向力X=1453.2887, 切向力Y=-1181.6277
FPS=28.89, 法向力=1835.6359, 切向力X=723.5919, 切向力Y=-857.6595
FPS=29.74, 法向力=1803.4043, 切向力X=633.4771, 切向力Y=-913.6170
FPS=29.37, 法向力=1162.6339, 切向力X=702.5013, 切向力Y=-1308.1936
FPS=28.74, 法向力=1151.8727, 切向力X=705.8840, 切向力Y=-1383.9778
FPS=28.44, 法向力=1198.2649, 切向力X=1546.2998, 切向力Y=-559.1863
FPS=28.50, 法向力=1208.8347, 切向力X=1459.4744, 切向力Y=-627.9922
FPS=30.63, 法向力=1050.8604, 切向力X=452.8651, 切向力Y=-762.0441
FPS=28.99, 法向力=1177.4771, 切向力X=1472.9270, 切向力Y=-1507.6069
FPS=28.68, 法向力=1214.8401, 切向力X=1474.7150, 切向力Y=-1470.3744
FPS=29.90, 法向力=1464.1858, 切向力X=1620.6704, 切向力Y=-1719.0410
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FPS=26.72, 法向力=1440.3372, 切向力X=1561.0385, 切向力Y=-1693.5024
FPS=29.76, 法向力=975.5637, 切向力X=454.3221, 切向力Y=-385.9243
FPS=29.72, 法向力=857.8501, 切向力X=1889.3741, 切向力Y=-919.3250
FPS=28.02, 法向力=873.9822, 切向力X=1936.2500, 切向力Y=-928.3937
FPS=28.07, 法向力=1402.1853, 切向力X=788.4569, 切向力Y=-976.5151
FPS=30.03, 法向力=1475.9098, 切向力X=614.2562, 切向力Y=-813.2635
FPS=27.89, 法向力=1361.9351, 切向力X=329.3373, 切向力Y=-1437.8838
FPS=29.04, 法向力=1332.8079, 切向力X=502.6463, 切向力Y=-1435.4780
FPS=29.46, 法向力=1350.5408, 切向力X=1183.2896, 切向力Y=-1488.6569
FPS=29.56, 法向力=1019.5591, 切向力X=1148.1646, 切向力Y=-1078.3262
FPS=28.17, 法向力=1012.2501, 切向力X=1176.2239, 切向力Y=-1075.8335
FPS=29.51, 法向力=1418.1431, 切向力X=878.2733, 切向力Y=-428.4693
FPS=30.35, 法向力=1402.0890, 切向力X=818.3571, 切向力Y=-325.7077
FPS=29.07, 法向力=1281.8523, 切向力X=1510.0216, 切向力Y=-1516.8323
FPS=29.72, 法向力=1275.6943, 切向力X=1456.9543, 切向力Y=-1557.6063
FPS=29.27, 法向力=1361.6080, 切向力X=584.4788, 切向力Y=-1735.6616
FPS=29.68, 法向力=1130.3542, 切向力X=772.2957, 切向力Y=-610.5297
FPS=29.22, 法向力=1122.4784, 切向力X=752.9742, 切向力Y=-562.4692
⏸ 数据采集已暂停
▶ 数据采集已启动
FPS=0.07, 法向力=1265.7183, 切向力X=631.7529, 切向力Y=-2180.3457
FPS=37.45, 法向力=1126.3496, 切向力X=1496.8922, 切向力Y=-2146.1992
FPS=25.09, 法向力=1120.7046, 切向力X=1708.9531, 切向力Y=-2061.5815
FPS=30.39, 法向力=1134.8057, 切向力X=1649.1942, 切向力Y=-1995.0400
FPS=42.99, 法向力=893.2663, 切向力X=1991.7932, 切向力Y=-1725.6655
FPS=30.10, 法向力=914.5438, 切向力X=1991.1862, 切向力Y=-1720.1521
FPS=27.48, 法向力=1169.2827, 切向力X=1834.2744, 切向力Y=-960.4557
FPS=46.70, 法向力=1192.8721, 切向力X=1772.6091, 切向力Y=-877.1892
FPS=29.90, 法向力=1205.6208, 切向力X=1132.1658, 切向力Y=-1413.0140
FPS=43.87, 法向力=1228.4027, 切向力X=1074.0348, 切向力Y=-1516.4624
FPS=29.02, 法向力=1233.7448, 切向力X=1462.7585, 切向力Y=-2253.1609
FPS=44.68, 法向力=1207.6664, 切向力X=1492.2195, 切向力Y=-2320.6980
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FPS=28.91, 法向力=1442.4648, 切向力X=-310.5684, 切向力Y=-1406.9265
FPS=28.63, 法向力=1474.7491, 切向力X=-397.2246, 切向力Y=-1361.2036
FPS=26.71, 法向力=1392.9902, 切向力X=2012.3860, 切向力Y=-1880.8206
FPS=29.72, 法向力=1388.2902, 切向力X=2038.8065, 切向力Y=-1776.2737
FPS=26.51, 法向力=1085.6255, 切向力X=973.5850, 切向力Y=-2243.0381
FPS=28.84, 法向力=894.0110, 切向力X=1373.7587, 切向力Y=-2125.8311
FPS=30.93, 法向力=914.8128, 切向力X=1427.3398, 切向力Y=-2190.2085
FPS=40.72, 法向力=1384.1199, 切向力X=1704.1250, 切向力Y=-2971.5232
FPS=29.33, 法向力=1391.8884, 切向力X=1679.8792, 切向力Y=-2796.4783
FPS=30.33, 法向力=897.2122, 切向力X=1924.7964, 切向力Y=-2072.7603
FPS=42.97, 法向力=885.8257, 切向力X=1928.0818, 切向力Y=-2060.1738
FPS=30.34, 法向力=891.8695, 切向力X=1918.9615, 切向力Y=-2072.1069
FPS=43.68, 法向力=1546.2417, 切向力X=1594.8939, 切向力Y=-2141.2246
FPS=30.34, 法向力=1690.4353, 切向力X=1345.9036, 切向力Y=-2094.4072
FPS=42.19, 法向力=1673.3691, 切向力X=1269.4050, 切向力Y=-2041.6897
FPS=29.08, 法向力=1697.5844, 切向力X=1224.1519, 切向力Y=-2119.3933
FPS=30.57, 法向力=1476.5251, 切向力X=691.5247, 切向力Y=-2390.6570
FPS=43.14, 法向力=1450.1835, 切向力X=623.9513, 切向力Y=-2416.3613
FPS=28.86, 法向力=863.7651, 切向力X=945.3525, 切向力Y=-1417.6602
FPS=46.36, 法向力=864.4697, 切向力X=832.2252, 切向力Y=-1504.5056
FPS=30.64, 法向力=943.8317, 切向力X=929.5684, 切向力Y=-1556.1718
FPS=43.50, 法向力=949.8671, 切向力X=909.1991, 切向力Y=-1522.8889
FPS=29.79, 法向力=989.4260, 切向力X=1708.8514, 切向力Y=-1818.9766
FPS=46.14, 法向力=1035.9999, 切向力X=1758.8434, 切向力Y=-1845.0403
FPS=30.07, 法向力=1250.8582, 切向力X=1708.5676, 切向力Y=-2037.9137
FPS=46.34, 法向力=1282.7957, 切向力X=1818.2999, 切向力Y=-2158.5063
FPS=30.86, 法向力=1350.0059, 切向力X=2102.2261, 切向力Y=-1987.4412
FPS=41.49, 法向力=1350.7968, 切向力X=2071.6338, 切向力Y=-1959.0869
FPS=29.42, 法向力=1386.0194, 切向力X=1296.3933, 切向力Y=-1561.6343
FPS=30.17, 法向力=1443.3673, 切向力X=1267.9219, 切向力Y=-1576.7690
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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.
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按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏
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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, 切向力X=620.6614, 切向力Y=-169.8727
FPS=27.92, 法向力=1734.8788, 切向力X=1235.1582, 切向力Y=-996.1837
FPS=26.62, 法向力=1584.0701, 切向力X=1434.3110, 切向力Y=-1345.4086
FPS=26.77, 法向力=1503.1599, 切向力X=1366.3551, 切向力Y=-1290.3463
FPS=26.29, 法向力=1578.2266, 切向力X=127.1681, 切向力Y=-514.5239
FPS=27.78, 法向力=1652.1184, 切向力X=-73.3420, 切向力Y=-474.4507
FPS=26.23, 法向力=2063.2400, 切向力X=-186.9590, 切向力Y=-963.8589
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FPS=34.89, 法向力=1469.3826, 切向力X=1833.2579, 切向力Y=-1842.1387
FPS=32.93, 法向力=1564.0754, 切向力X=1067.2290, 切向力Y=-2112.8706
FPS=35.16, 法向力=1567.4132, 切向力X=996.8683, 切向力Y=-2104.6343
FPS=31.39, 法向力=1182.1260, 切向力X=759.8093, 切向力Y=-1756.4706
FPS=33.71, 法向力=1166.5620, 切向力X=803.7946, 切向力Y=-1668.0256
FPS=32.27, 法向力=1008.6942, 切向力X=1653.0774, 切向力Y=-898.0175
FPS=34.98, 法向力=1016.8094, 切向力X=1611.1570, 切向力Y=-813.7389
FPS=30.87, 法向力=1700.2205, 切向力X=1455.8441, 切向力Y=-1297.3899
FPS=33.93, 法向力=1708.6864, 切向力X=1573.1444, 切向力Y=-1286.0778
FPS=30.05, 法向力=1559.5494, 切向力X=2073.1296, 切向力Y=-1974.8937
FPS=32.38, 法向力=1574.2537, 切向力X=2194.0830, 切向力Y=-1981.6196
FPS=31.32, 法向力=1287.4548, 切向力X=1478.9767, 切向力Y=-1854.6160
FPS=34.50, 法向力=1229.6917, 切向力X=1587.8663, 切向力Y=-1751.5073
FPS=32.40, 法向力=1819.8621, 切向力X=1682.1041, 切向力Y=-2548.8643
FPS=34.02, 法向力=1793.0367, 切向力X=1820.6255, 切向力Y=-2535.6245
FPS=32.68, 法向力=1213.4581, 切向力X=1650.9825, 切向力Y=-1150.9636
FPS=33.83, 法向力=1119.3219, 切向力X=1674.6890, 切向力Y=-1129.7717
FPS=32.48, 法向力=1540.0100, 切向力X=1520.1646, 切向力Y=-2019.9525
FPS=33.96, 法向力=1526.7345, 切向力X=1458.8221, 切向力Y=-1945.2632
FPS=32.10, 法向力=1669.9805, 切向力X=2245.7161, 切向力Y=-1849.7478
FPS=34.04, 法向力=1737.0151, 切向力X=2302.9143, 切向力Y=-1932.2197
FPS=31.65, 法向力=1111.0303, 切向力X=2275.7847, 切向力Y=-1577.4260
FPS=34.01, 法向力=1042.9580, 切向力X=2242.0151, 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.
examples/logs/qt_viewer_20260520_092727.log
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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.
examples/logs/qt_viewer_20260520_092948.log
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按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏
examples/logs/qt_viewer_20260520_093931.log
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按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏
examples/logs/qt_viewer_20260520_094630.log
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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
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FPS=23.50, 法向力=1566.6256, 切向力X=1208.8970, 切向力Y=-999.4464
FPS=24.01, 法向力=1029.3619, 切向力X=1221.2570, 切向力Y=-458.0837
FPS=27.73, 法向力=1015.5099, 切向力X=1219.5452, 切向力Y=-596.4574
FPS=27.69, 法向力=1145.2600, 切向力X=1234.4208, 切向力Y=-1206.3804
FPS=26.91, 法向力=1211.0975, 切向力X=1052.9883, 切向力Y=-1168.5789
FPS=27.20, 法向力=1189.6821, 切向力X=673.1449, 切向力Y=-1876.9585
FPS=26.31, 法向力=1161.8512, 切向力X=1321.7617, 切向力Y=-1549.5239
FPS=27.29, 法向力=1178.4851, 切向力X=1198.8611, 切向力Y=-1638.4685
FPS=27.55, 法向力=1033.3186, 切向力X=1545.4310, 切向力Y=-381.2661
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
examples/logs/qt_viewer_20260520_094711.log
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View File
@@ -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, 切向力X=-480.2532, 切向力Y=-416.1914
FPS=28.43, 法向力=1578.9183, 切向力X=-781.0045, 切向力Y=-466.3633
FPS=29.52, 法向力=1605.6877, 切向力X=-887.7366, 切向力Y=-500.8162
stitch_feature_optimized: canvas out_w=537, out_h=421, x_min=-133.02, y_min=-84.31
stitch_feature_optimized steps: brightness=0.000005s, geom=0.000004s (hit), reset=0.000296s, blend=0.002147s (9 tiles incl ref), finalize=0.000053s, total=0.002505s
FPS=27.42, 法向力=1625.8138, 切向力X=-218.5178, 切向力Y=-877.2450
FPS=27.93, 法向力=1624.0955, 切向力X=-150.0984, 切向力Y=-888.1671
FPS=27.50, 法向力=1630.8761, 切向力X=-529.2867, 切向力Y=-395.3016
FPS=26.88, 法向力=2053.9048, 切向力X=-2.5838, 切向力Y=476.9191
FPS=28.87, 法向力=2047.2261, 切向力X=-77.4217, 切向力Y=485.4084
FPS=28.71, 法向力=1737.2795, 切向力X=-289.0062, 切向力Y=-384.1289
FPS=28.74, 法向力=1669.2030, 切向力X=-250.9211, 切向力Y=-508.8657
FPS=27.41, 法向力=1544.7568, 切向力X=-1004.2206, 切向力Y=-304.3181
FPS=28.42, 法向力=1487.7782, 切向力X=-585.9805, 切向力Y=-158.7324
FPS=28.36, 法向力=1520.6512, 切向力X=-662.6303, 切向力Y=-176.4955
FPS=28.08, 法向力=1718.3572, 切向力X=-347.4225, 切向力Y=-853.2448
FPS=29.02, 法向力=1739.0310, 切向力X=-358.5241, 切向力Y=-819.6050
FPS=28.70, 法向力=1656.4878, 切向力X=-703.9015, 切向力Y=296.2285
FPS=28.46, 法向力=1828.1019, 切向力X=-711.5853, 切向力Y=-620.2719
FPS=28.85, 法向力=1901.5826, 切向力X=-665.8435, 切向力Y=-558.8506
FPS=27.03, 法向力=1622.9824, 切向力X=-1671.5339, 切向力Y=-416.2903
FPS=27.67, 法向力=1638.0396, 切向力X=-1549.1738, 切向力Y=-362.4689
FPS=28.86, 法向力=2179.2451, 切向力X=-720.9141, 切向力Y=-611.2744
FPS=26.75, 法向力=1619.8794, 切向力X=-428.7954, 切向力Y=-446.2390
FPS=28.42, 法向力=1635.1201, 切向力X=-567.2128, 切向力Y=-402.8080
FPS=25.81, 法向力=1256.8555, 切向力X=-1851.9674, 切向力Y=-110.4598
FPS=28.33, 法向力=1308.3386, 切向力X=-1915.0767, 切向力Y=-273.0525
FPS=27.19, 法向力=1855.4364, 切向力X=-720.2476, 切向力Y=-916.9072
FPS=27.49, 法向力=1882.8506, 切向力X=-968.5967, 切向力Y=-425.0209
FPS=28.34, 法向力=1881.1392, 切向力X=-1031.7487, 切向力Y=-383.7137
FPS=26.34, 法向力=1754.8290, 切向力X=-705.4534, 切向力Y=-51.1284
FPS=28.59, 法向力=1702.3583, 切向力X=-569.0668, 切向力Y=-133.2439
FPS=26.94, 法向力=1656.6462, 切向力X=-717.1837, 切向力Y=-280.2321
FPS=27.10, 法向力=2012.3416, 切向力X=-203.3652, 切向力Y=-794.5419
FPS=26.38, 法向力=2082.5527, 切向力X=-170.4743, 切向力Y=-854.9800
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=0.000003s (hit), reset=0.000267s, blend=0.002097s (9 tiles incl ref), finalize=0.000053s, total=0.002422s
FPS=27.82, 法向力=1709.2007, 切向力X=-585.3462, 切向力Y=-556.2391
FPS=27.39, 法向力=1743.6466, 切向力X=-1505.2938, 切向力Y=-1550.4585
FPS=28.98, 法向力=1717.6902, 切向力X=-1551.2189, 切向力Y=-1585.7251
FPS=26.65, 法向力=1583.8230, 切向力X=-832.2823, 切向力Y=-263.6452
FPS=28.53, 法向力=1631.6816, 切向力X=-878.9261, 切向力Y=-264.9161
FPS=26.78, 法向力=2309.9951, 切向力X=-963.8627, 切向力Y=-605.8809
FPS=27.60, 法向力=2088.9272, 切向力X=-478.8652, 切向力Y=-659.1930
FPS=29.24, 法向力=2048.5742, 切向力X=-284.0270, 切向力Y=-678.2277
FPS=27.56, 法向力=1972.7056, 切向力X=-162.8396, 切向力Y=-357.9273
FPS=28.58, 法向力=2011.0703, 切向力X=-25.1425, 切向力Y=-392.3084
FPS=26.65, 法向力=1800.0261, 切向力X=-1368.3921, 切向力Y=-837.6495
FPS=28.01, 法向力=1770.6554, 切向力X=-1398.3481, 切向力Y=-877.2972
FPS=27.09, 法向力=1647.0325, 切向力X=-76.3327, 切向力Y=-1103.6018
FPS=26.70, 法向力=2072.4380, 切向力X=-996.8459, 切向力Y=-942.8826
FPS=28.44, 法向力=2122.0164, 切向力X=-986.5205, 切向力Y=-967.7125
FPS=26.80, 法向力=2102.0298, 切向力X=-1547.0811, 切向力Y=-761.0921
FPS=28.01, 法向力=2123.6514, 切向力X=-1577.0604, 切向力Y=-763.6434
FPS=27.43, 法向力=1585.4896, 切向力X=-1025.0818, 切向力Y=-338.0109
FPS=25.32, 法向力=1612.5688, 切向力X=-1055.2661, 切向力Y=-285.2359
FPS=26.99, 法向力=1619.6317, 切向力X=-327.3546, 切向力Y=-646.8871
FPS=27.18, 法向力=1604.9934, 切向力X=-305.8924, 切向力Y=-668.6588
FPS=25.60, 法向力=1467.3137, 切向力X=-477.3738, 切向力Y=-686.5240
FPS=28.39, 法向力=1523.7631, 切向力X=-577.2798, 切向力Y=-768.7955
FPS=25.78, 法向力=1648.8003, 切向力X=-564.1252, 切向力Y=-1052.7705
FPS=27.87, 法向力=1743.5608, 切向力X=-526.8109, 切向力Y=-1000.7134
FPS=26.53, 法向力=2328.0603, 切向力X=90.1101, 切向力Y=280.3992
FPS=27.08, 法向力=1592.5975, 切向力X=-143.7620, 切向力Y=-601.8663
FPS=27.87, 法向力=1586.7720, 切向力X=-154.9819, 切向力Y=-654.2343
FPS=25.23, 法向力=2252.9250, 切向力X=-984.0209, 切向力Y=-876.6083
FPS=26.02, 法向力=1452.6705, 切向力X=-74.9199, 切向力Y=-1352.9794
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=0.000003s (hit), reset=0.000265s, blend=0.002126s (9 tiles incl ref), finalize=0.000054s, total=0.002450s
FPS=26.13, 法向力=1413.8518, 切向力X=-122.2184, 切向力Y=-1389.2054
FPS=25.06, 法向力=1549.3152, 切向力X=-1266.3361, 切向力Y=-283.7773
FPS=25.12, 法向力=1838.7755, 切向力X=-771.0566, 切向力Y=-643.6249
FPS=27.60, 法向力=1850.9669, 切向力X=-763.4006, 切向力Y=-672.6936
FPS=26.33, 法向力=1346.0901, 切向力X=-502.4150, 切向力Y=-414.5499
FPS=26.79, 法向力=1324.6853, 切向力X=-498.5410, 切向力Y=-454.9834
FPS=26.72, 法向力=2221.7368, 切向力X=-513.2084, 切向力Y=-19.8877
FPS=25.69, 法向力=1494.7330, 切向力X=-306.0321, 切向力Y=-677.5745
FPS=25.37, 法向力=1564.6670, 切向力X=-292.8057, 切向力Y=-583.1683
FPS=25.82, 法向力=1683.5627, 切向力X=-848.6101, 切向力Y=-1283.0385
FPS=25.96, 法向力=1939.8956, 切向力X=-1102.4231, 切向力Y=-689.6742
FPS=26.07, 法向力=1949.9438, 切向力X=-1188.1121, 切向力Y=-761.4964
FPS=25.20, 法向力=1851.1699, 切向力X=-588.4370, 切向力Y=-1223.1764
FPS=25.64, 法向力=2394.9846, 切向力X=-972.8339, 切向力Y=-481.1537
FPS=25.24, 法向力=2442.4272, 切向力X=-1042.0300, 切向力Y=-416.2773
FPS=24.21, 法向力=1701.0126, 切向力X=-943.8919, 切向力Y=-425.1546
FPS=24.47, 法向力=1963.0331, 切向力X=-895.1632, 切向力Y=-1238.5664
FPS=26.22, 法向力=2001.5647, 切向力X=-875.0676, 切向力Y=-1259.0269
FPS=24.70, 法向力=1300.6895, 切向力X=426.2751, 切向力Y=-1613.8052
FPS=25.29, 法向力=1614.4464, 切向力X=-52.7374, 切向力Y=-1293.4602
FPS=24.10, 法向力=1519.3859, 切向力X=-60.5137, 切向力Y=-1369.2041
FPS=23.81, 法向力=1874.9117, 切向力X=-340.1274, 切向力Y=-212.6510
FPS=21.85, 法向力=1738.1614, 切向力X=711.5690, 切向力Y=-269.3297
FPS=24.97, 法向力=1787.4470, 切向力X=787.3294, 切向力Y=-276.5424
FPS=25.83, 法向力=1503.8644, 切向力X=-597.3094, 切向力Y=-1321.4988
FPS=23.91, 法向力=1882.3071, 切向力X=-260.4712, 切向力Y=-405.5366
FPS=25.67, 法向力=1797.5552, 切向力X=-814.6882, 切向力Y=-1291.0430
FPS=26.03, 法向力=1739.5605, 切向力X=-860.7030, 切向力Y=-1277.6025
FPS=24.38, 法向力=1605.7725, 切向力X=176.3477, 切向力Y=-627.5435
FPS=25.28, 法向力=1585.4446, 切向力X=272.5906, 切向力Y=-618.8695
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=0.000003s (hit), reset=0.000296s, blend=0.002145s (9 tiles incl ref), finalize=0.000053s, total=0.002500s
FPS=24.33, 法向力=1063.7578, 切向力X=-665.0237, 切向力Y=-1039.0454
FPS=24.76, 法向力=1235.5496, 切向力X=396.6274, 切向力Y=-1223.8480
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FPS=34.75, 法向力=1974.6113, 切向力X=-44.2884, 切向力Y=-1751.7772
FPS=32.74, 法向力=1923.2960, 切向力X=-1483.4114, 切向力Y=-1827.6920
FPS=32.84, 法向力=2056.2402, 切向力X=-1526.1875, 切向力Y=-1707.6223
FPS=32.18, 法向力=2488.8386, 切向力X=696.5520, 切向力Y=-892.6742
FPS=34.32, 法向力=2527.5391, 切向力X=844.5170, 切向力Y=-896.5605
FPS=32.03, 法向力=1721.1294, 切向力X=439.2866, 切向力Y=-864.2399
FPS=34.19, 法向力=1736.1428, 切向力X=566.9509, 切向力Y=-983.3526
FPS=31.86, 法向力=3316.0005, 切向力X=-533.9404, 切向力Y=-1007.1520
FPS=33.79, 法向力=3317.1204, 切向力X=-223.4197, 切向力Y=-1037.0626
FPS=30.91, 法向力=2977.3110, 切向力X=239.0058, 切向力Y=-1431.4749
FPS=34.64, 法向力=2939.6599, 切向力X=270.2188, 切向力Y=-1528.7260
FPS=33.38, 法向力=2876.2314, 切向力X=-114.2218, 切向力Y=-1540.9441
FPS=33.98, 法向力=2843.3618, 切向力X=-0.1260, 切向力Y=-1656.5278
FPS=30.80, 法向力=2274.8767, 切向力X=354.1951, 切向力Y=-1705.1125
FPS=32.78, 法向力=2324.1536, 切向力X=336.1707, 切向力Y=-1772.8640
FPS=31.77, 法向力=2362.9126, 切向力X=179.5357, 切向力Y=-2145.2334
FPS=33.18, 法向力=2308.6116, 切向力X=104.7940, 切向力Y=-2094.8628
FPS=30.66, 法向力=3198.3188, 切向力X=993.3293, 切向力Y=-1625.3242
FPS=34.57, 法向力=3195.2900, 切向力X=1155.7476, 切向力Y=-1636.0763
FPS=32.14, 法向力=1690.0884, 切向力X=-668.4205, 切向力Y=-1340.0006
FPS=34.90, 法向力=1686.8933, 切向力X=-630.9912, 切向力Y=-1368.8521
FPS=32.38, 法向力=2562.3193, 切向力X=505.3254, 切向力Y=-1502.0717
FPS=31.69, 法向力=2544.5129, 切向力X=396.5829, 切向力Y=-1561.1083
FPS=32.17, 法向力=1990.9020, 切向力X=592.3138, 切向力Y=-2932.4946
FPS=33.88, 法向力=1931.4302, 切向力X=600.6401, 切向力Y=-2881.4854
FPS=32.41, 法向力=2310.3464, 切向力X=-886.9561, 切向力Y=-1803.7979
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=0.000003s (hit), reset=0.000253s, blend=0.002102s (9 tiles incl ref), finalize=0.000052s, total=0.002412s
FPS=34.51, 法向力=2298.7168, 切向力X=-996.7269, 切向力Y=-1831.3787
FPS=30.68, 法向力=2910.7021, 切向力X=-622.9930, 切向力Y=-1668.6179
FPS=31.62, 法向力=2966.9785, 切向力X=-461.7335, 切向力Y=-1519.2659
FPS=31.86, 法向力=1337.3254, 切向力X=1599.6962, 切向力Y=-1660.8417
FPS=32.52, 法向力=1393.3118, 切向力X=1675.0244, 切向力Y=-1597.7153
FPS=32.83, 法向力=1757.1113, 切向力X=-364.9368, 切向力Y=-1619.3342
FPS=32.66, 法向力=1745.8955, 切向力X=-316.6268, 切向力Y=-1404.9221
FPS=31.87, 法向力=1913.1675, 切向力X=-1250.9115, 切向力Y=-1407.3761
FPS=32.16, 法向力=1865.8337, 切向力X=-1245.7684, 切向力Y=-1447.2146
FPS=31.23, 法向力=2146.7461, 切向力X=-1118.4774, 切向力Y=-2012.5837
FPS=30.96, 法向力=2075.4607, 切向力X=852.9338, 切向力Y=-2103.1045
FPS=34.77, 法向力=2096.0889, 切向力X=650.8424, 切向力Y=-2200.5513
FPS=33.33, 法向力=3159.3918, 切向力X=1330.2151, 切向力Y=-147.1594
FPS=34.38, 法向力=3201.6536, 切向力X=1301.4314, 切向力Y=-211.9053
FPS=32.84, 法向力=3218.6133, 切向力X=1282.2316, 切向力Y=-219.8095
FPS=32.89, 法向力=3398.7822, 切向力X=2789.4644, 切向力Y=-736.3632
FPS=32.70, 法向力=3454.6162, 切向力X=2772.9800, 切向力Y=-586.4963
FPS=32.97, 法向力=2134.0679, 切向力X=115.2603, 切向力Y=-1835.1565
FPS=30.50, 法向力=1904.2325, 切向力X=2118.6338, 切向力Y=-1487.6724
FPS=32.73, 法向力=1913.4463, 切向力X=2129.1641, 切向力Y=-1562.8521
FPS=30.14, 法向力=3023.7539, 切向力X=-2247.8608, 切向力Y=-1800.1128
FPS=33.35, 法向力=2923.0503, 切向力X=-2119.0938, 切向力Y=-1786.2797
FPS=30.12, 法向力=2399.9146, 切向力X=-543.4547, 切向力Y=-2445.5938
FPS=33.30, 法向力=2333.5938, 切向力X=-449.8395, 切向力Y=-2578.8159
FPS=31.88, 法向力=2362.5906, 切向力X=-468.0561, 切向力Y=-128.3238
FPS=33.45, 法向力=2341.4080, 切向力X=-443.1788, 切向力Y=-187.0944
FPS=31.75, 法向力=1989.7717, 切向力X=-743.9429, 切向力Y=-2031.6721
FPS=29.40, 法向力=2031.8358, 切向力X=-764.6163, 切向力Y=-2154.2153
FPS=31.82, 法向力=2586.5271, 切向力X=417.6895, 切向力Y=-1128.6218
FPS=32.30, 法向力=2579.4177, 切向力X=481.5750, 切向力Y=-1106.3325
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=0.000285s, blend=0.002153s (9 tiles incl ref), finalize=0.000053s, total=0.002498s
FPS=31.77, 法向力=2177.8931, 切向力X=249.3911, 切向力Y=-2074.8164
FPS=32.85, 法向力=2137.6941, 切向力X=339.2165, 切向力Y=-2154.2222
FPS=30.75, 法向力=2640.3042, 切向力X=-109.8853, 切向力Y=-736.7689
FPS=32.71, 法向力=2161.6758, 切向力X=-7.5868, 切向力Y=-2372.9883
FPS=32.40, 法向力=2183.1384, 切向力X=-13.1488, 切向力Y=-2375.4722
FPS=32.64, 法向力=1935.2522, 切向力X=1676.0391, 切向力Y=-734.0853
FPS=32.94, 法向力=1918.9458, 切向力X=1808.7629, 切向力Y=-846.8153
FPS=32.04, 法向力=1894.0941, 切向力X=1814.8938, 切向力Y=-850.7751
FPS=31.89, 法向力=2419.3418, 切向力X=-192.1275, 切向力Y=-1337.8180
FPS=32.47, 法向力=2549.0515, 切向力X=-278.1180, 切向力Y=-1200.2390
FPS=33.28, 法向力=2814.6816, 切向力X=-394.5309, 切向力Y=-2001.3433
FPS=30.80, 法向力=2388.4905, 切向力X=1576.3756, 切向力Y=-1640.3086
FPS=33.42, 法向力=2378.3501, 切向力X=1428.0001, 切向力Y=-1608.7848
FPS=31.98, 法向力=1917.4375, 切向力X=-4.4292, 切向力Y=-2162.3682
FPS=31.18, 法向力=1929.6611, 切向力X=7.0255, 切向力Y=-2396.8181
FPS=30.95, 法向力=2442.0923, 切向力X=-304.1980, 切向力Y=-2227.2559
FPS=33.63, 法向力=2355.4194, 切向力X=-185.2698, 切向力Y=-2177.1262
FPS=31.67, 法向力=1904.6095, 切向力X=691.9233, 切向力Y=-2059.1040
FPS=33.90, 法向力=1977.3767, 切向力X=728.0504, 切向力Y=-1907.0120
FPS=31.38, 法向力=2256.6621, 切向力X=1360.8955, 切向力Y=-929.7001
FPS=23.03, 法向力=2272.8823, 切向力X=1410.3779, 切向力Y=-909.0041
FPS=6.50, 法向力=2206.2361, 切向力X=886.4819, 切向力Y=-1598.8931
FPS=31.71, 法向力=2658.8674, 切向力X=-32.5886, 切向力Y=-1464.6836
FPS=32.27, 法向力=2681.9978, 切向力X=-8.5529, 切向力Y=-1554.7202
FPS=31.89, 法向力=2295.9629, 切向力X=-291.0938, 切向力Y=-1665.3198
FPS=33.95, 法向力=2328.8730, 切向力X=-148.4976, 切向力Y=-1509.9009
FPS=32.03, 法向力=2454.4280, 切向力X=2555.7798, 切向力Y=-951.3541
FPS=32.33, 法向力=2468.4968, 切向力X=2463.7695, 切向力Y=-925.1293
FPS=32.26, 法向力=2946.3281, 切向力X=2752.4121, 切向力Y=-1731.9524
FPS=33.74, 法向力=2961.2920, 切向力X=2735.8298, 切向力Y=-1692.4160
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=0.000003s (hit), reset=0.000283s, blend=0.002127s (9 tiles incl ref), finalize=0.000056s, total=0.002472s
FPS=29.92, 法向力=2022.8086, 切向力X=220.4930, 切向力Y=-2228.9106
FPS=33.66, 法向力=2061.2129, 切向力X=90.1682, 切向力Y=-2358.9683
FPS=30.24, 法向力=2032.9689, 切向力X=32.2285, 切向力Y=-1828.7227
FPS=32.31, 法向力=2002.9336, 切向力X=27.0438, 切向力Y=-1782.6754
FPS=32.64, 法向力=1578.1982, 切向力X=223.4559, 切向力Y=-2316.7756
FPS=34.96, 法向力=1603.1353, 切向力X=271.8412, 切向力Y=-2308.6016
FPS=32.31, 法向力=2325.4817, 切向力X=594.8678, 切向力Y=-1873.1252
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.
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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
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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.
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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.
examples/logs/qt_viewer_20260521_094136.log
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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.
examples/logs/qt_viewer_20260521_094409.log
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examples/logs/qt_viewer_20260521_094501.log
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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
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FPS=28.77, 法向力=22900.6328, 切向力X=-41140.4414, 切向力Y=108125.7969
FPS=29.16, 法向力=19473.7656, 切向力X=-29278.6875, 切向力Y=84969.5469
FPS=27.48, 法向力=16726.0684, 切向力X=-16443.6641, 切向力Y=62033.5742
FPS=29.04, 法向力=16635.4316, 切向力X=-16335.9941, 切向力Y=61971.8438
FPS=28.12, 法向力=9697.8535, 切向力X=-28518.2656, 切向力Y=22601.6016
FPS=29.32, 法向力=9754.5645, 切向力X=-28641.1055, 切向力Y=22632.8203
FPS=26.79, 法向力=5954.7417, 切向力X=-34491.4766, 切向力Y=-30294.5742
FPS=28.53, 法向力=5688.4312, 切向力X=-34932.8438, 切向力Y=-30481.9453
FPS=29.25, 法向力=10634.7891, 切向力X=-19816.7266, 切向力Y=-78122.9375
FPS=29.02, 法向力=10447.3467, 切向力X=-20173.1719, 切向力Y=-78416.3750
FPS=28.20, 法向力=19607.4766, 切向力X=-5899.9038, 切向力Y=-131071.9688
FPS=30.05, 法向力=18742.0469, 切向力X=-6385.6089, 切向力Y=-131683.2188
FPS=28.09, 法向力=35984.8164, 切向力X=-5697.9365, 切向力Y=-139058.5625
FPS=28.96, 法向力=35616.4922, 切向力X=-6201.2705, 切向力Y=-139615.4375
FPS=27.12, 法向力=48757.9609, 切向力X=6800.3955, 切向力Y=-125892.7188
FPS=28.32, 法向力=49124.8516, 切向力X=6776.1016, 切向力Y=-126160.5156
FPS=28.36, 法向力=22687.4434, 切向力X=6222.7124, 切向力Y=-56800.0547
FPS=28.16, 法向力=7562.1157, 切向力X=1646.2546, 切向力Y=-15269.5996
FPS=28.43, 法向力=7598.3457, 切向力X=1712.8147, 切向力Y=-15195.3105
FPS=28.03, 法向力=2609.8228, 切向力X=-89.4724, 切向力Y=-533.2102
FPS=29.35, 法向力=2555.6401, 切向力X=24.9390, 切向力Y=-559.3081
FPS=26.97, 法向力=4045.1868, 切向力X=-3831.1284, 切向力Y=16387.8340
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=0.000003s (hit), reset=0.000203s, blend=0.002085s (9 tiles incl ref), finalize=0.000045s, total=0.002339s
FPS=28.71, 法向力=3962.7227, 切向力X=-3877.0312, 切向力Y=16495.1133
FPS=26.00, 法向力=9177.9707, 切向力X=-13304.9268, 切向力Y=44632.9453
FPS=28.65, 法向力=8922.3184, 切向力X=-13584.4150, 切向力Y=44980.2188
FPS=27.26, 法向力=8853.1455, 切向力X=-28523.7480, 切向力Y=76501.3438
FPS=28.89, 法向力=8966.1318, 切向力X=-28584.3398, 切向力Y=76643.3125
FPS=25.08, 法向力=16977.8867, 切向力X=-26795.3984, 切向力Y=67999.8203
FPS=28.17, 法向力=16844.8125, 切向力X=-27030.5898, 切向力Y=68112.4219
FPS=29.20, 法向力=16093.7998, 切向力X=-11546.7402, 切向力Y=38274.9688
FPS=28.22, 法向力=7847.9204, 切向力X=-5303.6230, 切向力Y=15856.7148
FPS=30.26, 法向力=7917.8877, 切向力X=-5350.1113, 切向力Y=15954.1631
FPS=29.58, 法向力=7923.9277, 切向力X=-5350.4360, 切向力Y=15957.5146
FPS=28.00, 法向力=4585.1343, 切向力X=-1818.2048, 切向力Y=8296.0898
FPS=28.41, 法向力=3247.2920, 切向力X=-2622.9634, 切向力Y=3723.1775
FPS=27.97, 法向力=3153.4302, 切向力X=-2647.5833, 切向力Y=3699.1082
FPS=26.96, 法向力=1361.9631, 切向力X=-254.4946, 切向力Y=-76.3616
FPS=28.96, 法向力=1307.0161, 切向力X=-296.8896, 切向力Y=-165.1616
FPS=26.72, 法向力=1841.9812, 切向力X=-917.9020, 切向力Y=1247.4399
FPS=29.98, 法向力=1847.9529, 切向力X=-961.4338, 切向力Y=1290.9536
FPS=27.78, 法向力=1558.0780, 切向力X=-1575.3844, 切向力Y=1497.1348
FPS=29.39, 法向力=1557.4064, 切向力X=-1617.3230, 切向力Y=1514.3064
FPS=29.41, 法向力=1298.2915, 切向力X=-856.1544, 切向力Y=1056.0714
FPS=29.95, 法向力=1289.3887, 切向力X=-828.1332, 切向力Y=1091.0669
FPS=26.45, 法向力=1618.0057, 切向力X=-353.7896, 切向力Y=-154.9348
FPS=28.65, 法向力=1666.9178, 切向力X=-275.3220, 切向力Y=-148.8765
FPS=26.53, 法向力=3554.7412, 切向力X=-6432.9224, 切向力Y=-6574.4941
FPS=28.45, 法向力=3479.6426, 切向力X=-6528.3867, 切向力Y=-6681.4248
FPS=28.93, 法向力=6645.5146, 切向力X=-40141.4062, 切向力Y=-3526.0337
FPS=25.55, 法向力=11594.6250, 切向力X=-79334.7734, 切向力Y=-5190.9336
FPS=29.76, 法向力=11079.1377, 切向力X=-79617.1250, 切向力Y=-5465.8574
FPS=26.56, 法向力=27720.1602, 切向力X=-99278.2656, 切向力Y=-7651.7349
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=0.000362s, blend=0.002258s (9 tiles incl ref), finalize=0.000052s, total=0.002679s
FPS=26.81, 法向力=27290.8828, 切向力X=-100020.0859, 切向力Y=-7951.3359
FPS=28.52, 法向力=39978.7891, 切向力X=-84629.0938, 切向力Y=34.8923
FPS=28.32, 法向力=40012.3047, 切向力X=-84968.4688, 切向力Y=365.5169
FPS=25.44, 法向力=32076.0098, 切向力X=-56405.7031, 切向力Y=8541.4561
FPS=26.31, 法向力=31547.0312, 切向力X=-56177.9727, 切向力Y=8912.6445
FPS=26.32, 法向力=20632.3242, 切向力X=-20840.7910, 切向力Y=5124.0122
FPS=27.57, 法向力=8481.3271, 切向力X=45511.4258, 切向力Y=-8564.5312
FPS=29.13, 法向力=8395.6914, 切向力X=45746.1562, 切向力Y=-8608.8418
FPS=27.21, 法向力=11452.8545, 切向力X=83261.5312, 切向力Y=-5253.6260
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.
examples/logs/qt_viewer_20260521_094546.log
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View File
@@ -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
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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
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FPS=36.66, 法向力=2615.5930, 切向力X=382.5856, 切向力Y=2993.2542
FPS=28.25, 法向力=2738.3030, 切向力X=724.3539, 切向力Y=2754.6304
FPS=26.58, 法向力=2784.2964, 切向力X=696.7668, 切向力Y=2779.9551
FPS=29.02, 法向力=2611.9734, 切向力X=512.9906, 切向力Y=2940.6775
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.
examples/logs/qt_viewer_20260522_093104.log
+870
View File
@@ -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
FPS=28.98, 法向力=6290.1826, 切向力X=-408.0476, 切向力Y=-18146.7637
FPS=30.99, 法向力=6329.6367, 切向力X=-441.1343, 切向力Y=-18197.1797
FPS=28.69, 法向力=3270.6240, 切向力X=-583.3157, 切向力Y=-6816.5098
FPS=28.20, 法向力=3340.1079, 切向力X=-531.5560, 切向力Y=-6950.2012
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=0.000239s, blend=0.002051s (9 tiles incl ref), finalize=0.000048s, total=0.002345s
FPS=29.32, 法向力=1778.0691, 切向力X=-409.3222, 切向力Y=-3299.5146
FPS=28.88, 法向力=1088.6775, 切向力X=1260.4148, 切向力Y=-193.4214
FPS=30.23, 法向力=1030.6511, 切向力X=1250.9325, 切向力Y=-240.9504
FPS=28.19, 法向力=1447.2555, 切向力X=1032.0378, 切向力Y=644.6832
FPS=29.95, 法向力=1551.0811, 切向力X=1017.6006, 切向力Y=745.7010
FPS=27.44, 法向力=1364.5732, 切向力X=1350.1057, 切向力Y=81.3241
FPS=31.96, 法向力=1382.2622, 切向力X=1381.3604, 切向力Y=-24.4994
FPS=30.63, 法向力=1091.7006, 切向力X=-107.9645, 切向力Y=91.3962
FPS=31.90, 法向力=1082.2483, 切向力X=-199.2247, 切向力Y=47.9246
FPS=31.52, 法向力=1098.2441, 切向力X=-211.3899, 切向力Y=51.3520
FPS=31.72, 法向力=1020.1099, 切向力X=896.8580, 切向力Y=355.4961
FPS=32.25, 法向力=1029.9709, 切向力X=913.4924, 切向力Y=341.3062
FPS=30.80, 法向力=841.0170, 切向力X=705.0515, 切向力Y=296.7634
FPS=32.56, 法向力=836.3289, 切向力X=654.4841, 切向力Y=309.1113
FPS=29.68, 法向力=1016.5703, 切向力X=1241.3168, 切向力Y=2007.4412
FPS=32.36, 法向力=1064.0144, 切向力X=1367.2866, 切向力Y=2022.5254
FPS=30.60, 法向力=996.0359, 切向力X=755.1974, 切向力Y=3816.9727
FPS=31.53, 法向力=1049.3263, 切向力X=784.7389, 切向力Y=3847.0869
FPS=29.19, 法向力=1613.4442, 切向力X=3342.8865, 切向力Y=10202.7285
FPS=32.08, 法向力=1797.9756, 切向力X=3463.9363, 切向力Y=10267.6602
FPS=30.35, 法向力=3427.1472, 切向力X=5459.5449, 切向力Y=21722.5039
FPS=32.57, 法向力=3393.7847, 切向力X=5522.2461, 切向力Y=21975.9375
FPS=29.86, 法向力=4406.7437, 切向力X=3754.4050, 切向力Y=23892.6855
FPS=32.76, 法向力=4499.4531, 切向力X=3674.8459, 切向力Y=23832.2188
FPS=29.65, 法向力=2402.8711, 切向力X=-3255.5764, 切向力Y=15556.1592
FPS=30.81, 法向力=2415.3384, 切向力X=-3240.9399, 切向力Y=15546.7871
FPS=29.60, 法向力=2700.2812, 切向力X=-8741.7812, 切向力Y=6388.5547
FPS=31.04, 法向力=2687.2969, 切向力X=-8726.8740, 切向力Y=6389.9561
FPS=27.99, 法向力=4500.5942, 切向力X=-9361.5186, 切向力Y=-1918.0989
FPS=29.44, 法向力=4508.9531, 切向力X=-9331.6924, 切向力Y=-1903.1639
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=0.000272s, blend=0.002168s (9 tiles incl ref), finalize=0.000052s, total=0.002499s
FPS=28.58, 法向力=4089.3567, 切向力X=-1961.8259, 切向力Y=5101.0801
FPS=30.34, 法向力=4107.8638, 切向力X=-1897.2191, 切向力Y=5162.8906
FPS=27.75, 法向力=3463.9985, 切向力X=8685.7578, 切向力Y=21150.3652
FPS=30.67, 法向力=3309.0654, 切向力X=8795.2773, 切向力Y=21196.3574
FPS=28.82, 法向力=3377.9751, 切向力X=6377.2046, 切向力Y=24651.4492
FPS=31.58, 法向力=3371.0950, 切向力X=6499.0488, 切向力Y=24596.5215
FPS=28.63, 法向力=4587.5664, 切向力X=7654.4297, 切向力Y=18112.7266
FPS=31.60, 法向力=4524.5283, 切向力X=7797.6001, 切向力Y=18133.1953
FPS=28.63, 法向力=12065.6094, 切向力X=8669.5117, 切向力Y=30790.4902
FPS=28.73, 法向力=12137.1250, 切向力X=8448.2246, 切向力Y=31086.5195
FPS=28.90, 法向力=7451.3569, 切向力X=1267.8972, 切向力Y=15194.8691
FPS=30.18, 法向力=7452.6494, 切向力X=1266.1846, 切向力Y=15261.1416
FPS=27.92, 法向力=1415.2421, 切向力X=932.1492, 切向力Y=2942.4854
FPS=29.68, 法向力=1438.1675, 切向力X=912.5964, 切向力Y=2904.1353
FPS=27.68, 法向力=1086.0381, 切向力X=754.3698, 切向力Y=2162.2546
FPS=28.72, 法向力=1044.4636, 切向力X=658.3102, 切向力Y=2153.0493
FPS=25.68, 法向力=994.9796, 切向力X=1022.1706, 切向力Y=1799.4071
FPS=28.23, 法向力=1061.4187, 切向力X=1823.0181, 切向力Y=6485.0669
FPS=28.15, 法向力=1107.5146, 切向力X=1871.6156, 切向力Y=6569.9600
FPS=27.24, 法向力=4736.7275, 切向力X=11588.1357, 切向力Y=31145.8574
FPS=28.78, 法向力=4687.8110, 切向力X=11735.2070, 切向力Y=31153.9766
FPS=26.96, 法向力=9719.7607, 切向力X=25169.3672, 切向力Y=71200.4531
FPS=27.84, 法向力=9570.5693, 切向力X=25001.0723, 切向力Y=72211.0156
FPS=27.69, 法向力=17275.8633, 切向力X=19201.5293, 切向力Y=89586.2969
FPS=28.45, 法向力=16817.3555, 切向力X=18911.7520, 切向力Y=90288.4531
FPS=26.45, 法向力=31575.4512, 切向力X=5232.5430, 切向力Y=76589.3828
FPS=28.65, 法向力=31889.0137, 切向力X=4535.7944, 切向力Y=77470.9609
FPS=27.33, 法向力=28164.8965, 切向力X=-10724.2529, 切向力Y=55282.9922
FPS=27.66, 法向力=24315.6172, 切向力X=-19260.6055, 切向力Y=40934.1992
FPS=28.25, 法向力=24092.5684, 切向力X=-19320.1230, 切向力Y=40417.5625
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=0.000249s, blend=0.002143s (9 tiles incl ref), finalize=0.000056s, total=0.002455s
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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.
examples/logs/qt_viewer_20260522_093402.log
+304
View File
@@ -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, 切向力X=831.2916, 切向力Y=-1090.5085
FPS=28.99, 法向力=1549.4209, 切向力X=784.6797, 切向力Y=-1057.2610
FPS=28.00, 法向力=12524.4648, 切向力X=14346.2910, 切向力Y=-51130.0703
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=0.000274s, blend=0.002325s (9 tiles incl ref), finalize=0.000055s, total=0.002661s
FPS=27.89, 法向力=19280.4922, 切向力X=12025.5234, 切向力Y=-69563.1641
FPS=28.35, 法向力=19401.5703, 切向力X=11812.1777, 切向力Y=-70207.7031
FPS=27.37, 法向力=18757.5703, 切向力X=1858.9102, 切向力Y=-50187.9336
FPS=28.98, 法向力=18702.7344, 切向力X=1837.3662, 切向力Y=-49971.9531
FPS=27.12, 法向力=19930.9102, 切向力X=2821.1699, 切向力Y=-44622.5078
FPS=28.71, 法向力=19986.2441, 切向力X=2738.9912, 切向力Y=-44475.5000
FPS=28.03, 法向力=16286.9844, 切向力X=3964.0916, 切向力Y=-32711.4883
FPS=28.51, 法向力=16079.1875, 切向力X=4307.2627, 切向力Y=-32160.0195
FPS=29.47, 法向力=14462.0234, 切向力X=6833.5674, 切向力Y=-24660.5410
FPS=29.25, 法向力=14375.2812, 切向力X=6951.9072, 切向力Y=-24389.0879
FPS=26.48, 法向力=10513.5859, 切向力X=10704.3027, 切向力Y=-11666.0371
FPS=29.81, 法向力=10326.0771, 切向力X=10784.9629, 切向力Y=-11404.3496
FPS=28.68, 法向力=8891.0137, 切向力X=13454.4971, 切向力Y=-3028.2705
FPS=30.03, 法向力=9016.1279, 切向力X=13488.9062, 切向力Y=-2805.4983
FPS=28.21, 法向力=7800.9639, 切向力X=14226.3574, 切向力Y=-258.4732
FPS=29.08, 法向力=6708.8955, 切向力X=19852.8438, 切向力Y=9786.6094
FPS=29.38, 法向力=6873.5430, 切向力X=19922.2461, 切向力Y=10245.1602
FPS=26.96, 法向力=3640.3008, 切向力X=17135.0312, 切向力Y=45195.8320
FPS=29.20, 法向力=3455.6106, 切向力X=17455.9180, 切向力Y=45143.5586
FPS=28.49, 法向力=3441.3994, 切向力X=17509.6641, 切向力Y=45175.9688
FPS=27.99, 法向力=7549.8506, 切向力X=-417.7942, 切向力Y=79901.4297
FPS=27.16, 法向力=17121.8027, 切向力X=-25438.4316, 切向力Y=80770.0391
FPS=29.55, 法向力=16751.6074, 切向力X=-25800.7676, 切向力Y=81300.7266
FPS=26.60, 法向力=24135.5527, 切向力X=-32745.1523, 切向力Y=51496.0664
FPS=29.53, 法向力=23972.4941, 切向力X=-33077.9609, 切向力Y=51194.1758
FPS=27.17, 法向力=23088.4277, 切向力X=-28802.6152, 切向力Y=28798.3633
FPS=28.11, 法向力=23168.9492, 切向力X=-28885.3359, 切向力Y=28571.9238
FPS=28.17, 法向力=23328.5625, 切向力X=-34327.4141, 切向力Y=19065.3594
FPS=26.43, 法向力=21847.9473, 切向力X=-41270.9844, 切向力Y=6546.5176
FPS=27.98, 法向力=21838.8613, 切向力X=-41375.3867, 切向力Y=6590.1064
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=0.000344s, blend=0.002337s (9 tiles incl ref), finalize=0.000058s, total=0.002745s
FPS=27.82, 法向力=21850.0977, 切向力X=-41347.4258, 切向力Y=6524.3574
FPS=27.24, 法向力=19978.0508, 切向力X=-42437.3750, 切向力Y=-31090.6133
FPS=27.73, 法向力=25505.1602, 切向力X=-11571.9082, 切向力Y=-72038.9453
FPS=28.24, 法向力=25765.3633, 切向力X=-11519.8984, 切向力Y=-72971.7188
FPS=27.40, 法向力=16876.5137, 切向力X=-1758.4983, 切向力Y=-40258.2422
FPS=28.65, 法向力=16808.4531, 切向力X=-1603.3386, 切向力Y=-39742.4062
FPS=27.34, 法向力=8241.0371, 切向力X=3243.3127, 切向力Y=-8438.5605
FPS=29.38, 法向力=8322.4814, 切向力X=3221.3857, 切向力Y=-8387.5938
FPS=26.97, 法向力=2164.8735, 切向力X=3966.2212, 切向力Y=10309.6719
FPS=27.18, 法向力=2248.0642, 切向力X=4081.9995, 切向力Y=10567.1328
FPS=28.12, 法向力=2400.4058, 切向力X=5702.5859, 切向力Y=29282.0508
FPS=27.18, 法向力=2273.4053, 切向力X=5918.6104, 切向力Y=29643.7832
FPS=25.45, 法向力=7923.2661, 切向力X=7392.7725, 切向力Y=77680.7344
FPS=27.08, 法向力=26971.7422, 切向力X=-26761.8203, 切向力Y=86165.8984
FPS=26.93, 法向力=26866.5684, 切向力X=-26706.7812, 切向力Y=87074.7656
FPS=25.49, 法向力=23180.6875, 切向力X=-40761.1719, 切向力Y=29087.5742
FPS=27.19, 法向力=23203.4746, 切向力X=-41155.3867, 切向力Y=29199.8906
FPS=26.39, 法向力=22291.3926, 切向力X=-31649.2539, 切向力Y=-45043.9258
FPS=25.55, 法向力=41480.1094, 切向力X=6617.0781, 切向力Y=-123738.1641
FPS=26.30, 法向力=41034.9727, 切向力X=7640.3418, 切向力Y=-123759.9688
FPS=25.67, 法向力=22551.7520, 切向力X=33146.4102, 切向力Y=-62214.3398
FPS=27.19, 法向力=22351.3301, 切向力X=33580.6172, 切向力Y=-62455.9609
FPS=26.15, 法向力=8473.3086, 切向力X=17955.5684, 切向力Y=-6653.2783
FPS=27.67, 法向力=8400.2900, 切向力X=17966.8281, 切向力Y=-6666.5898
FPS=26.16, 法向力=5313.9014, 切向力X=1967.1812, 切向力Y=61865.8750
FPS=26.30, 法向力=4988.6582, 切向力X=2184.1426, 切向力Y=62415.8203
FPS=27.48, 法向力=28605.7246, 切向力X=-13464.9570, 切向力Y=67908.8984
FPS=25.58, 法向力=10179.0801, 切向力X=-4065.7251, 切向力Y=-34445.8984
FPS=27.56, 法向力=10200.0254, 切向力X=-3931.0293, 切向力Y=-34394.1836
FPS=25.03, 法向力=21423.4668, 切向力X=7033.0195, 切向力Y=-79022.6016
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=0.000004s (hit), reset=0.000282s, blend=0.002332s (9 tiles incl ref), finalize=0.000068s, total=0.002689s
FPS=27.16, 法向力=21276.3105, 切向力X=6774.1738, 切向力Y=-79842.4531
FPS=26.54, 法向力=9557.2676, 切向力X=25354.3398, 切向力Y=-963.3098
FPS=27.62, 法向力=9686.7168, 切向力X=25198.1133, 切向力Y=-880.1854
FPS=26.05, 法向力=10406.0117, 切向力X=1936.3369, 切向力Y=75859.3125
FPS=27.69, 法向力=10273.4082, 切向力X=2197.1411, 切向力Y=76482.7969
FPS=26.26, 法向力=18838.4004, 切向力X=-7767.9316, 切向力Y=14213.3047
FPS=26.12, 法向力=17899.0234, 切向力X=-7394.6514, 切向力Y=-64846.9141
FPS=27.08, 法向力=17976.9434, 切向力X=-7363.6143, 切向力Y=-65359.7422
FPS=25.51, 法向力=6482.1562, 切向力X=8995.9258, 切向力Y=5574.2861
FPS=27.71, 法向力=6501.4761, 切向力X=9116.9570, 切向力Y=5487.5093
FPS=25.54, 法向力=9289.6328, 切向力X=-3779.0283, 切向力Y=52824.9609
FPS=28.18, 法向力=9194.6494, 切向力X=-3790.1655, 切向力Y=53508.0234
FPS=26.32, 法向力=3549.7180, 切向力X=-1028.5275, 切向力Y=5492.3525
FPS=26.97, 法向力=3537.8799, 切向力X=-1017.9233, 切向力Y=5503.5854
FPS=27.61, 法向力=2222.2134, 切向力X=-114.7893, 切向力Y=2009.3252
FPS=25.25, 法向力=2255.7964, 切向力X=-279.6777, 切向力Y=1718.4706
FPS=28.28, 法向力=2232.8618, 切向力X=-281.1809, 切向力Y=1600.4880
FPS=27.52, 法向力=1995.2090, 切向力X=343.4191, 切向力Y=1520.6331
FPS=31.27, 法向力=2056.7612, 切向力X=464.0352, 切向力Y=1593.6733
FPS=28.94, 法向力=2142.1948, 切向力X=4347.6162, 切向力Y=20098.8828
FPS=31.56, 法向力=2074.8652, 切向力X=4440.0371, 切向力Y=20148.9863
FPS=28.78, 法向力=5118.6748, 切向力X=17685.1797, 切向力Y=60884.9766
FPS=31.18, 法向力=4896.3311, 切向力X=18147.5586, 切向力Y=61369.5703
FPS=30.16, 法向力=9179.0918, 切向力X=30914.5430, 切向力Y=89127.9375
FPS=29.62, 法向力=8805.7773, 切向力X=31239.5312, 切向力Y=89826.1250
FPS=28.23, 法向力=14342.4482, 切向力X=27793.0742, 切向力Y=98112.4844
FPS=30.58, 法向力=14139.0938, 切向力X=27906.8867, 切向力Y=98535.9219
FPS=28.95, 法向力=19029.6406, 切向力X=11314.3770, 切向力Y=72627.8125
FPS=29.57, 法向力=18846.3555, 切向力X=11332.5732, 切向力Y=72983.5469
FPS=28.70, 法向力=18433.6758, 切向力X=7475.1396, 切向力Y=64351.1953
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=0.000004s (hit), reset=0.000266s, blend=0.002233s (9 tiles incl ref), finalize=0.000061s, total=0.002566s
FPS=30.26, 法向力=18237.6562, 切向力X=7142.7051, 切向力Y=64171.9141
FPS=27.85, 法向力=17740.4883, 切向力X=44.9775, 切向力Y=51883.6797
FPS=26.98, 法向力=17442.3613, 切向力X=-114.6774, 切向力Y=51732.0312
FPS=25.82, 法向力=17909.0469, 切向力X=-705.3735, 切向力Y=51787.9688
FPS=26.85, 法向力=18018.1836, 切向力X=-716.3092, 切向力Y=51763.4766
FPS=27.12, 法向力=17551.0234, 切向力X=-14876.7266, 切向力Y=45841.0039
FPS=27.68, 法向力=17413.1992, 切向力X=-26465.6191, 切向力Y=26303.2539
FPS=29.34, 法向力=17411.8945, 切向力X=-26428.2266, 切向力Y=26215.3164
FPS=27.86, 法向力=15643.6826, 切向力X=-32121.0820, 切向力Y=6291.0938
FPS=29.29, 法向力=15765.9531, 切向力X=-32082.3477, 切向力Y=6280.7739
FPS=27.02, 法向力=17171.5430, 切向力X=-40497.7500, 切向力Y=-5190.8506
FPS=29.85, 法向力=17115.3965, 切向力X=-40417.3047, 切向力Y=-5145.7305
FPS=27.72, 法向力=20780.3379, 切向力X=-56350.2109, 切向力Y=-15638.5625
FPS=28.49, 法向力=20784.0977, 切向力X=-56427.4648, 切向力Y=-15903.9844
FPS=27.07, 法向力=21774.7559, 切向力X=-61380.5352, 切向力Y=-27661.1953
FPS=28.33, 法向力=21437.9629, 切向力X=-61607.6250, 切向力Y=-28545.6953
FPS=27.47, 法向力=21513.9980, 切向力X=-60593.3203, 切向力Y=-33565.8242
FPS=27.73, 法向力=21543.2461, 切向力X=-60608.8203, 切向力Y=-33895.7305
FPS=27.07, 法向力=22499.0352, 切向力X=-59206.7227, 切向力Y=-38865.2812
FPS=28.25, 法向力=22236.6406, 切向力X=-49044.0234, 切向力Y=-46340.2500
FPS=28.39, 法向力=22096.8711, 切向力X=-48706.5391, 切向力Y=-46646.6758
FPS=27.72, 法向力=22126.0312, 切向力X=-37279.8594, 切向力Y=-47555.7812
FPS=30.03, 法向力=22118.1504, 切向力X=-37152.4844, 切向力Y=-47689.3828
FPS=26.63, 法向力=18990.6797, 切向力X=-27813.0625, 切向力Y=-41594.5508
FPS=29.05, 法向力=18978.8945, 切向力X=-27225.3281, 切向力Y=-41341.1094
FPS=28.78, 法向力=17179.6445, 切向力X=-15630.2646, 切向力Y=-33086.4336
FPS=28.80, 法向力=17209.9570, 切向力X=-15447.2969, 切向力Y=-32921.2422
FPS=28.08, 法向力=13582.1309, 切向力X=5606.9878, 切向力Y=-21173.2188
FPS=30.25, 法向力=13482.4316, 切向力X=5462.1709, 切向力Y=-21093.9102
FPS=27.38, 法向力=11352.5879, 切向力X=9016.5664, 切向力Y=-13738.3125
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=0.000314s, blend=0.002193s (9 tiles incl ref), finalize=0.000060s, total=0.002573s
FPS=28.91, 法向力=11237.6582, 切向力X=9352.2051, 切向力Y=-13476.1572
FPS=27.79, 法向力=11026.8340, 切向力X=17288.2188, 切向力Y=-11967.0420
FPS=30.11, 法向力=10466.6387, 切向力X=17928.1250, 切向力Y=-11633.7324
FPS=29.33, 法向力=6116.1743, 切向力X=23794.9238, 切向力Y=-1063.1360
FPS=30.12, 法向力=6127.8340, 切向力X=23735.9102, 切向力Y=-1064.9546
FPS=30.30, 法向力=3888.4326, 切向力X=10724.7529, 切向力Y=7790.1807
FPS=30.65, 法向力=3864.0337, 切向力X=10720.1797, 切向力Y=7798.7080
FPS=28.90, 法向力=3232.5400, 切向力X=3655.1934, 切向力Y=9366.1016
FPS=30.60, 法向力=3222.7656, 切向力X=3667.8584, 切向力Y=9294.2871
FPS=27.94, 法向力=2609.9436, 切向力X=-1283.2339, 切向力Y=10235.6455
FPS=30.09, 法向力=2538.6367, 切向力X=-1325.8883, 切向力Y=10318.7676
FPS=28.93, 法向力=2280.6826, 切向力X=-110.5862, 切向力Y=1895.7466
FPS=31.47, 法向力=2302.4902, 切向力X=-149.6061, 切向力Y=1941.2158
FPS=30.32, 法向力=1797.5735, 切向力X=-625.4663, 切向力Y=959.3714
FPS=29.81, 法向力=1805.1423, 切向力X=-610.7969, 切向力Y=1074.3774
FPS=28.84, 法向力=1989.2036, 切向力X=-845.1566, 切向力Y=625.5289
FPS=29.74, 法向力=2014.8052, 切向力X=-920.6628, 切向力Y=590.0674
FPS=29.79, 法向力=2266.3799, 切向力X=12098.5273, 切向力Y=5776.4272
FPS=30.88, 法向力=2265.8176, 切向力X=12224.4326, 切向力Y=5855.9766
FPS=28.98, 法向力=2703.5088, 切向力X=37034.3906, 切向力Y=15057.3145
FPS=29.78, 法向力=2767.9463, 切向力X=37357.7578, 切向力Y=15159.6514
FPS=28.52, 法向力=3784.1792, 切向力X=44718.7188, 切向力Y=11944.7510
FPS=29.92, 法向力=3767.4133, 切向力X=44768.5547, 切向力Y=11866.4980
FPS=28.48, 法向力=7401.4990, 切向力X=28460.5664, 切向力Y=7302.8574
FPS=28.48, 法向力=7492.7744, 切向力X=28374.7520, 切向力Y=7398.5439
FPS=29.92, 法向力=6424.1436, 切向力X=18812.7129, 切向力Y=17926.3086
FPS=29.23, 法向力=5580.5386, 切向力X=6828.7090, 切向力Y=9566.2383
FPS=30.13, 法向力=5605.2754, 切向力X=6901.5107, 切向力Y=9613.5391
FPS=28.94, 法向力=2836.6870, 切向力X=838.5525, 切向力Y=2047.3995
FPS=28.25, 法向力=2858.6804, 切向力X=861.5574, 切向力Y=2076.3328
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=0.000250s, blend=0.002972s (9 tiles incl ref), finalize=0.000063s, total=0.003291s
FPS=28.48, 法向力=2857.9531, 切向力X=816.5647, 切向力Y=2059.7510
FPS=27.50, 法向力=2197.5825, 切向力X=822.4363, 切向力Y=2145.3176
FPS=27.85, 法向力=1925.9178, 切向力X=659.8698, 切向力Y=1557.6194
FPS=28.23, 法向力=1909.9644, 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.
examples/logs/qt_viewer_20260601_093816.log
+7
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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.
examples/logs/qt_viewer_20260601_093827.log
+10457
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examples/logs/qt_viewer_20260601_160657.log
+793
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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, 切向力Y=722.0063
FPS=32.03, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063
FPS=32.78, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063
FPS=28.20, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063
FPS=33.75, 法向力=1813.4116, 切向力X=401.5273, 切向力Y=722.0063
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FPS=27.13, 法向力=11152.4922, 切向力X=89022.2500, 切向力Y=53622.5898
FPS=27.67, 法向力=15940.2939, 切向力X=105828.4062, 切向力Y=72987.3438
FPS=26.12, 法向力=23165.2812, 切向力X=100197.4531, 切向力Y=86030.8438
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FPS=25.42, 法向力=24704.8945, 切向力X=25813.6191, 切向力Y=80599.5547
FPS=26.77, 法向力=24684.6230, 切向力X=25739.1445, 切向力Y=80940.7344
FPS=24.98, 法向力=19412.0781, 切向力X=-12396.3770, 切向力Y=69851.4844
FPS=26.23, 法向力=15469.7412, 切向力X=-72164.2188, 切向力Y=37498.7930
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FPS=27.84, 法向力=32025.1465, 切向力X=-70828.1562, 切向力Y=-9428.9551
FPS=27.94, 法向力=27986.0508, 切向力X=-59012.8203, 切向力Y=-6278.6426
FPS=28.45, 法向力=27065.1719, 切向力X=-57738.0117, 切向力Y=-5858.7422
FPS=25.84, 法向力=22517.9316, 切向力X=-41080.8438, 切向力Y=-7607.2021
FPS=29.17, 法向力=21793.4082, 切向力X=-40368.9219, 切向力Y=-7540.1113
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FPS=26.33, 法向力=13129.0439, 切向力X=-12759.2393, 切向力Y=4389.0596
FPS=27.52, 法向力=4913.3770, 切向力X=-1665.3354, 切向力Y=9531.3379
FPS=27.40, 法向力=3757.9839, 切向力X=-2030.5693, 切向力Y=2945.1843
FPS=28.34, 法向力=3725.9971, 切向力X=-1964.4604, 切向力Y=3013.7188
FPS=25.20, 法向力=3058.7681, 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
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FPS=26.21, 法向力=6889.6885, 切向力X=-444.8161, 切向力Y=-5479.3169
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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
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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
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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
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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, 法向力=807.1498, 切向力X=-538.6249, 切向力Y=-1166.5081
FPS=30.08, 法向力=1532.2794, 切向力X=-1182.3198, 切向力Y=-485.2852
FPS=29.99, 法向力=747.3526, 切向力X=-650.8600, 切向力Y=-665.4695
FPS=29.25, 法向力=1348.8781, 切向力X=-695.7815, 切向力Y=-57.6012
FPS=29.96, 法向力=1332.5951, 切向力X=-876.2250, 切向力Y=-383.3316
FPS=28.82, 法向力=1196.4829, 切向力X=-1133.0460, 切向力Y=-564.1593
FPS=29.22, 法向力=1000.7659, 切向力X=-931.7913, 切向力Y=-736.8241
FPS=29.79, 法向力=898.8872, 切向力X=-82.6543, 切向力Y=-427.6806
FPS=29.48, 法向力=1587.9532, 切向力X=-403.3867, 切向力Y=-507.0354
FPS=29.65, 法向力=903.5204, 切向力X=-1358.1689, 切向力Y=-1024.6343
FPS=29.79, 法向力=1236.9612, 切向力X=-592.8940, 切向力Y=-549.5674
FPS=27.36, 法向力=1662.6847, 切向力X=-1182.2544, 切向力Y=-899.2860
FPS=29.08, 法向力=1050.3516, 切向力X=-1047.6198, 切向力Y=-721.7651
FPS=31.02, 法向力=1074.5208, 切向力X=-982.9628, 切向力Y=-728.4088
FPS=26.78, 法向力=1078.3844, 切向力X=-1012.7462, 切向力Y=205.8414
FPS=29.67, 法向力=1231.9229, 切向力X=-1330.6177, 切向力Y=-145.7946
FPS=29.82, 法向力=959.0547, 切向力X=-2.3065, 切向力Y=-703.6368
FPS=27.08, 法向力=969.0145, 切向力X=-387.3203, 切向力Y=-793.9784
FPS=29.63, 法向力=1077.3351, 切向力X=-881.8967, 切向力Y=-1018.3218
FPS=29.78, 法向力=859.4971, 切向力X=-751.9176, 切向力Y=-980.9565
FPS=29.46, 法向力=770.8556, 切向力X=-582.9170, 切向力Y=-907.8386
FPS=29.65, 法向力=1076.8445, 切向力X=-752.3255, 切向力Y=-385.9387
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=0.000388s, blend=0.002431s (9 tiles incl ref), finalize=0.000063s, total=0.002888s
FPS=28.62, 法向力=1039.7211, 切向力X=-431.2160, 切向力Y=-572.8232
FPS=28.21, 法向力=1188.1738, 切向力X=-867.2930, 切向力Y=-645.3755
FPS=29.03, 法向力=1166.9119, 切向力X=-863.0274, 切向力Y=-592.5289
FPS=29.04, 法向力=879.8182, 切向力X=-381.9251, 切向力Y=-859.4606
FPS=29.64, 法向力=1188.6919, 切向力X=-1031.3152, 切向力Y=-331.8899
FPS=29.29, 法向力=1408.1296, 切向力X=-1024.5275, 切向力Y=-207.0056
FPS=29.39, 法向力=1366.5259, 切向力X=-1089.2224, 切向力Y=-526.1319
FPS=29.21, 法向力=1338.5732, 切向力X=-955.9006, 切向力Y=-545.6891
FPS=28.23, 法向力=1327.9442, 切向力X=-1507.9717, 切向力Y=-440.0163
FPS=29.62, 法向力=1244.8171, 切向力X=-584.4791, 切向力Y=-715.6754
FPS=28.15, 法向力=1199.6636, 切向力X=-1101.0764, 切向力Y=-736.7698
FPS=29.14, 法向力=1333.4083, 切向力X=-1028.9448, 切向力Y=-613.4478
FPS=29.22, 法向力=830.1156, 切向力X=-796.6213, 切向力Y=-332.6507
FPS=29.97, 法向力=1214.5999, 切向力X=-606.0530, 切向力Y=-359.1808
FPS=28.79, 法向力=1209.9032, 切向力X=-298.8202, 切向力Y=-659.9915
FPS=29.37, 法向力=1169.2908, 切向力X=-285.2391, 切向力Y=-646.8539
FPS=26.64, 法向力=1559.3563, 切向力X=-1084.0635, 切向力Y=-682.9523
FPS=28.71, 法向力=1625.6932, 切向力X=-322.4376, 切向力Y=-18.2851
FPS=29.30, 法向力=1699.6521, 切向力X=-945.4973, 切向力Y=-264.7155
FPS=29.29, 法向力=1194.4771, 切向力X=-844.5743, 切向力Y=-436.1060
FPS=29.43, 法向力=1037.7615, 切向力X=-1089.6985, 切向力Y=-138.0283
FPS=27.85, 法向力=1245.9113, 切向力X=-1211.6567, 切向力Y=-786.2636
FPS=28.80, 法向力=730.8356, 切向力X=-501.7437, 切向力Y=-953.5985
FPS=28.88, 法向力=1151.2290, 切向力X=-655.7653, 切向力Y=-889.6625
FPS=29.71, 法向力=1240.7947, 切向力X=-725.5463, 切向力Y=-847.9470
FPS=28.67, 法向力=1148.2505, 切向力X=-183.7911, 切向力Y=-258.5056
FPS=27.68, 法向力=1247.9761, 切向力X=-708.7432, 切向力Y=-667.5411
FPS=27.02, 法向力=1093.1396, 切向力X=-823.8013, 切向力Y=-684.0668
FPS=28.92, 法向力=1316.5406, 切向力X=-776.3730, 切向力Y=-704.6100
FPS=29.42, 法向力=1174.0513, 切向力X=-1614.8186, 切向力Y=-845.8873
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=0.000261s, blend=0.002186s (9 tiles incl ref), finalize=0.000059s, total=0.002513s
FPS=29.19, 法向力=1231.3044, 切向力X=-517.6920, 切向力Y=-895.6466
FPS=28.61, 法向力=1186.6968, 切向力X=-919.2944, 切向力Y=-683.2661
FPS=26.12, 法向力=1002.7935, 切向力X=-28.9797, 切向力Y=-897.9148
FPS=24.72, 法向力=1213.9946, 切向力X=-780.7769, 切向力Y=-456.6049
FPS=26.77, 法向力=1348.6943, 切向力X=-625.3163, 切向力Y=-649.4094
FPS=25.67, 法向力=1293.4663, 切向力X=-1118.4478, 切向力Y=-1278.3169
FPS=24.83, 法向力=1217.6746, 切向力X=-507.9074, 切向力Y=-1014.4120
FPS=25.42, 法向力=1239.7368, 切向力X=-506.7014, 切向力Y=-997.7374
FPS=25.46, 法向力=1226.0266, 切向力X=-1295.1582, 切向力Y=-844.6119
FPS=24.06, 法向力=1404.3867, 切向力X=-1050.7312, 切向力Y=-808.3793
FPS=26.74, 法向力=1406.3135, 切向力X=-663.5609, 切向力Y=-996.7978
FPS=24.96, 法向力=1196.6150, 切向力X=-1013.6553, 切向力Y=-499.2997
FPS=25.93, 法向力=1344.0583, 切向力X=-453.3380, 切向力Y=-222.3531
FPS=26.07, 法向力=1045.5034, 切向力X=-1052.4442, 切向力Y=-1030.1693
FPS=26.08, 法向力=1436.4436, 切向力X=-394.9785, 切向力Y=-761.3716
FPS=25.74, 法向力=1564.0840, 切向力X=-908.3817, 切向力Y=-1568.8450
FPS=25.95, 法向力=1509.6151, 切向力X=-1010.8361, 切向力Y=-371.2769
FPS=26.92, 法向力=1301.1807, 切向力X=-153.3914, 切向力Y=-523.4337
FPS=26.79, 法向力=1299.4849, 切向力X=-64.4988, 切向力Y=-641.2684
FPS=26.46, 法向力=1384.2217, 切向力X=-641.9159, 切向力Y=-803.1511
FPS=26.46, 法向力=1512.3552, 切向力X=-885.2891, 切向力Y=-245.3522
FPS=25.60, 法向力=1094.5093, 切向力X=-687.0320, 切向力Y=-1024.8135
FPS=25.93, 法向力=1575.4836, 切向力X=-57.3629, 切向力Y=-571.4009
FPS=26.08, 法向力=1633.8323, 切向力X=-820.3987, 切向力Y=-1033.9321
FPS=26.10, 法向力=916.6462, 切向力X=-502.7719, 切向力Y=-884.8409
FPS=24.21, 法向力=1180.6733, 切向力X=-916.6981, 切向力Y=-473.4495
FPS=26.78, 法向力=1750.1255, 切向力X=-580.3972, 切向力Y=-695.0753
FPS=26.70, 法向力=1098.7412, 切向力X=-758.2375, 切向力Y=-1528.2183
FPS=26.95, 法向力=1124.9969, 切向力X=-849.3923, 切向力Y=-1606.7037
FPS=23.46, 法向力=1245.3928, 切向力X=-1184.2671, 切向力Y=-507.3940
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=0.000292s, blend=0.002330s (9 tiles incl ref), finalize=0.000072s, total=0.002700s
FPS=24.25, 法向力=1613.4167, 切向力X=-510.2704, 切向力Y=-640.0241
FPS=26.71, 法向力=954.7759, 切向力X=-250.2962, 切向力Y=-651.5198
FPS=26.41, 法向力=1778.5632, 切向力X=-1196.4130, 切向力Y=-463.7357
FPS=25.22, 法向力=1259.7319, 切向力X=-795.9708, 切向力Y=-490.0953
FPS=25.84, 法向力=1316.8099, 切向力X=-1263.5370, 切向力Y=-879.3333
FPS=26.16, 法向力=1650.9780, 切向力X=-1355.1917, 切向力Y=-1526.7330
FPS=26.61, 法向力=1184.9163, 切向力X=-379.8264, 切向力Y=-1068.8431
FPS=26.64, 法向力=1462.5117, 切向力X=-962.4116, 切向力Y=-988.4518
FPS=27.59, 法向力=1332.1163, 切向力X=-1347.9061, 切向力Y=-1082.8943
FPS=25.93, 法向力=1510.7913, 切向力X=-1205.2356, 切向力Y=-732.5244
FPS=25.40, 法向力=1683.3569, 切向力X=-1187.3405, 切向力Y=-362.4229
FPS=26.31, 法向力=1676.6746, 切向力X=-867.4465, 切向力Y=-111.8877
FPS=25.46, 法向力=1460.1411, 切向力X=-1063.6667, 切向力Y=-649.0493
FPS=27.34, 法向力=1608.7620, 切向力X=-1357.8031, 切向力Y=-668.3119
FPS=25.99, 法向力=1726.6082, 切向力X=-1157.9839, 切向力Y=-847.9896
FPS=24.59, 法向力=1218.6974, 切向力X=-1140.6216, 切向力Y=-883.0645
FPS=25.69, 法向力=1168.8167, 切向力X=-777.2607, 切向力Y=-1044.5616
FPS=26.31, 法向力=1591.2588, 切向力X=-956.3987, 切向力Y=-1266.5201
FPS=25.62, 法向力=1531.2549, 切向力X=-1148.7557, 切向力Y=-807.8397
FPS=27.25, 法向力=1580.9854, 切向力X=-1098.4756, 切向力Y=-701.7168
FPS=25.21, 法向力=1353.8107, 切向力X=-790.0382, 切向力Y=-919.3432
FPS=26.77, 法向力=1301.1063, 切向力X=-960.9681, 切向力Y=-892.0708
FPS=26.11, 法向力=1505.4861, 切向力X=-535.8271, 切向力Y=-132.5574
FPS=25.64, 法向力=1020.1995, 切向力X=-882.8977, 切向力Y=-119.3014
FPS=25.33, 法向力=1594.1753, 切向力X=-381.0242, 切向力Y=-1443.2467
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FPS=22.77, 法向力=2535.7310, 切向力X=-322.6320, 切向力Y=-1366.4459
FPS=24.63, 法向力=3531.3501, 切向力X=-126.6034, 切向力Y=-1239.9840
FPS=26.83, 法向力=3270.3000, 切向力X=-142.2707, 切向力Y=-1268.8887
FPS=27.35, 法向力=3292.3086, 切向力X=-160.3410, 切向力Y=-1197.8232
FPS=26.05, 法向力=3312.1338, 切向力X=-144.1203, 切向力Y=-1145.6113
FPS=26.53, 法向力=3288.2073, 切向力X=22.2583, 切向力Y=-1611.5625
FPS=26.00, 法向力=2912.9446, 切向力X=-62.2400, 切向力Y=-908.3710
FPS=25.88, 法向力=3372.4668, 切向力X=-58.5164, 切向力Y=-1514.1940
FPS=27.21, 法向力=3381.2065, 切向力X=-348.1099, 切向力Y=-1296.2911
FPS=25.92, 法向力=3351.4749, 切向力X=-273.9380, 切向力Y=-1250.0342
FPS=26.96, 法向力=3654.2871, 切向力X=-491.8318, 切向力Y=-946.4772
FPS=26.75, 法向力=3787.6860, 切向力X=-1178.1937, 切向力Y=-330.1792
FPS=26.25, 法向力=2873.8865, 切向力X=216.9860, 切向力Y=-912.8284
FPS=27.06, 法向力=3556.5798, 切向力X=-408.9766, 切向力Y=-1236.5259
FPS=27.30, 法向力=3635.0720, 切向力X=-417.1974, 切向力Y=-1277.8311
FPS=25.22, 法向力=3380.4424, 切向力X=-741.9681, 切向力Y=-1759.0002
FPS=25.83, 法向力=2973.7456, 切向力X=-572.6827, 切向力Y=-1860.9056
FPS=25.43, 法向力=3465.2485, 切向力X=-456.7070, 切向力Y=-1423.1567
FPS=26.40, 法向力=3580.5276, 切向力X=-246.8945, 切向力Y=-1200.1445
FPS=26.15, 法向力=3684.1296, 切向力X=130.9017, 切向力Y=-907.5489
FPS=26.30, 法向力=3199.2542, 切向力X=-396.8366, 切向力Y=-1435.8086
FPS=26.21, 法向力=3278.8311, 切向力X=-583.9918, 切向力Y=-1625.3447
FPS=25.99, 法向力=3462.3091, 切向力X=-138.4609, 切向力Y=-1905.2192
FPS=27.35, 法向力=3413.0203, 切向力X=-868.5649, 切向力Y=-1357.5996
FPS=25.69, 法向力=3555.0210, 切向力X=-216.2635, 切向力Y=-1216.0795
FPS=25.24, 法向力=3350.5327, 切向力X=-201.4470, 切向力Y=-1206.6536
FPS=25.53, 法向力=3156.9805, 切向力X=-526.6128, 切向力Y=-1585.8367
FPS=26.48, 法向力=2771.6831, 切向力X=-515.9464, 切向力Y=-1291.2683
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=0.000271s, blend=0.002379s (9 tiles incl ref), finalize=0.000076s, total=0.002733s
FPS=25.64, 法向力=3709.9988, 切向力X=-614.2708, 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
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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, 切向力Y=645.3723
FPS=30.11, 法向力=1256.9009, 切向力X=50.9414, 切向力Y=161.8416
FPS=29.01, 法向力=1675.2247, 切向力X=270.6193, 切向力Y=187.0092
FPS=29.33, 法向力=1689.9521, 切向力X=-226.8889, 切向力Y=639.0801
FPS=29.48, 法向力=1087.1831, 切向力X=-337.0801, 切向力Y=-171.4359
FPS=29.21, 法向力=1101.2593, 切向力X=-245.9355, 切向力Y=165.5323
FPS=28.81, 法向力=1301.6678, 切向力X=-433.9929, 切向力Y=437.6120
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=0.000240s, blend=0.002175s (9 tiles incl ref), finalize=0.000067s, total=0.002488s
FPS=27.64, 法向力=1530.6584, 切向力X=422.9178, 切向力Y=20.7477
FPS=29.00, 法向力=979.8356, 切向力X=144.4149, 切向力Y=-226.9886
FPS=28.90, 法向力=1117.6060, 切向力X=645.5796, 切向力Y=-320.4775
FPS=29.38, 法向力=1706.3987, 切向力X=-230.0010, 切向力Y=434.2654
FPS=29.63, 法向力=1589.9917, 切向力X=542.9825, 切向力Y=936.7238
FPS=29.54, 法向力=1235.4385, 切向力X=265.2892, 切向力Y=660.2726
FPS=28.12, 法向力=1514.7198, 切向力X=433.7852, 切向力Y=567.8337
FPS=28.81, 法向力=1226.5168, 切向力X=726.4690, 切向力Y=-96.2266
FPS=30.39, 法向力=1200.4216, 切向力X=802.3003, 切向力Y=-47.6035
FPS=29.16, 法向力=1488.2882, 切向力X=219.4749, 切向力Y=-156.0695
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FPS=25.64, 法向力=5609.0444, 切向力X=-3459.4055, 切向力Y=-4843.3735
FPS=25.48, 法向力=5951.1792, 切向力X=-3333.6338, 切向力Y=-5137.3447
FPS=26.03, 法向力=5659.3906, 切向力X=-2854.4131, 切向力Y=-5288.3936
FPS=25.59, 法向力=5599.6006, 切向力X=-2859.3503, 切向力Y=-5719.9102
FPS=26.34, 法向力=5498.9468, 切向力X=-3107.0571, 切向力Y=-4769.5596
FPS=26.29, 法向力=5167.4141, 切向力X=-2316.7002, 切向力Y=-3775.7876
FPS=24.19, 法向力=5546.3916, 切向力X=-2970.0527, 切向力Y=-4402.2637
FPS=24.90, 法向力=5999.3330, 切向力X=-2681.3030, 切向力Y=-3897.0088
FPS=25.22, 法向力=5166.1108, 切向力X=-1742.7906, 切向力Y=-4158.8975
FPS=25.52, 法向力=5113.7412, 切向力X=-2116.9937, 切向力Y=-4062.9702
FPS=25.61, 法向力=5128.6143, 切向力X=-2199.4348, 切向力Y=-4008.6365
FPS=25.46, 法向力=5641.2119, 切向力X=-2835.3398, 切向力Y=-3744.9048
FPS=25.01, 法向力=5620.6309, 切向力X=-2281.0146, 切向力Y=-3921.7341
FPS=26.05, 法向力=5878.1470, 切向力X=-2353.0264, 切向力Y=-4085.0479
FPS=24.38, 法向力=5608.4507, 切向力X=-1951.6018, 切向力Y=-3311.3740
FPS=25.74, 法向力=5653.7900, 切向力X=-1105.6293, 切向力Y=-4377.8423
FPS=25.84, 法向力=5644.9629, 切向力X=-620.2830, 切向力Y=-4106.6182
FPS=25.16, 法向力=5217.8613, 切向力X=-1369.0137, 切向力Y=-3747.8647
FPS=25.65, 法向力=5516.2397, 切向力X=-1318.3768, 切向力Y=-3849.5076
FPS=26.99, 法向力=5806.9492, 切向力X=-1230.4211, 切向力Y=-4433.7505
FPS=25.61, 法向力=5276.8237, 切向力X=-1297.2061, 切向力Y=-3815.9253
FPS=25.85, 法向力=5544.9185, 切向力X=-1700.6421, 切向力Y=-3775.2871
FPS=26.27, 法向力=5730.6416, 切向力X=-1016.9122, 切向力Y=-3897.8540
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=0.000257s, blend=0.002181s (9 tiles incl ref), finalize=0.000058s, total=0.002502s
FPS=25.04, 法向力=5536.4707, 切向力X=-1295.2162, 切向力Y=-3409.5244
FPS=25.58, 法向力=5368.1846, 切向力X=-1217.9342, 切向力Y=-3067.3750
FPS=25.83, 法向力=5353.2871, 切向力X=-1290.5088, 切向力Y=-3685.2690
FPS=25.82, 法向力=5395.2070, 切向力X=-1128.7794, 切向力Y=-2766.4434
FPS=25.71, 法向力=5809.7847, 切向力X=-955.7592, 切向力Y=-3393.9436
FPS=25.70, 法向力=5650.3135, 切向力X=-1467.6110, 切向力Y=-3270.0493
FPS=25.56, 法向力=5672.4639, 切向力X=-1244.9679, 切向力Y=-2904.9443
FPS=26.17, 法向力=5824.9385, 切向力X=-791.1018, 切向力Y=-3630.5037
FPS=25.37, 法向力=5834.3008, 切向力X=-1574.0190, 切向力Y=-3426.0037
FPS=26.31, 法向力=5872.6387, 切向力X=-1529.7678, 切向力Y=-3173.3447
FPS=25.06, 法向力=5648.8267, 切向力X=-628.9683, 切向力Y=-3588.3022
FPS=26.52, 法向力=5610.7183, 切向力X=-508.4693, 切向力Y=-3367.7407
FPS=25.38, 法向力=5445.3525, 切向力X=-1254.3701, 切向力Y=-2706.9600
FPS=23.38, 法向力=5447.5225, 切向力X=-1322.0178, 切向力Y=-2940.6028
FPS=22.57, 法向力=5319.1958, 切向力X=-944.5160, 切向力Y=-2606.4434
FPS=25.11, 法向力=6164.4492, 切向力X=-1570.8892, 切向力Y=-2943.7520
FPS=24.83, 法向力=5830.1289, 切向力X=-515.1279, 切向力Y=-2928.7778
FPS=23.89, 法向力=5953.1816, 切向力X=-1374.3302, 切向力Y=-2457.3645
FPS=25.46, 法向力=5427.7754, 切向力X=-1066.6567, 切向力Y=-3667.4624
FPS=25.08, 法向力=5369.5391, 切向力X=-2154.0747, 切向力Y=-3045.5400
FPS=24.95, 法向力=5504.3252, 切向力X=-1264.8940, 切向力Y=-3137.1108
FPS=25.28, 法向力=5316.8169, 切向力X=-824.5840, 切向力Y=-2931.8552
FPS=23.97, 法向力=5152.1831, 切向力X=-910.6332, 切向力Y=-2823.0950
FPS=24.54, 法向力=5496.6772, 切向力X=-1571.9091, 切向力Y=-2692.7749
FPS=24.59, 法向力=5273.7266, 切向力X=-1034.4241, 切向力Y=-2577.0767
FPS=26.15, 法向力=5284.8809, 切向力X=-1047.0913, 切向力Y=-2592.0020
FPS=26.43, 法向力=5491.1177, 切向力X=-1164.0039, 切向力Y=-2593.0369
FPS=25.92, 法向力=5419.2979, 切向力X=-1012.6774, 切向力Y=-2348.4280
FPS=26.10, 法向力=5445.2402, 切向力X=-894.2404, 切向力Y=-2837.2305
FPS=25.38, 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
examples/logs/qt_viewer_20260604_100336.log
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examples/logs/qt_viewer_20260604_100508.log
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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
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FPS=26.04, 法向力=7805.3110, 切向力X=4294.9409, 切向力Y=24564.6465
FPS=26.45, 法向力=8344.7324, 切向力X=4608.1074, 切向力Y=22767.8320
FPS=27.14, 法向力=7452.5825, 切向力X=4159.7100, 切向力Y=23292.7578
FPS=26.55, 法向力=7522.4370, 切向力X=2929.4424, 切向力Y=23320.6797
FPS=27.28, 法向力=7536.6743, 切向力X=1333.6187, 切向力Y=23044.8750
FPS=26.88, 法向力=8109.0376, 切向力X=1633.3669, 切向力Y=23208.9199
FPS=26.21, 法向力=7451.5044, 切向力X=2676.8467, 切向力Y=23352.5996
FPS=27.14, 法向力=6831.1895, 切向力X=3524.3745, 切向力Y=23572.7852
FPS=25.62, 法向力=6998.1274, 切向力X=3511.4233, 切向力Y=22937.1094
FPS=26.65, 法向力=6493.0303, 切向力X=4756.7217, 切向力Y=19525.8496
FPS=26.58, 法向力=6057.4531, 切向力X=3372.3076, 切向力Y=17769.2266
FPS=26.96, 法向力=5984.7944, 切向力X=1637.6414, 切向力Y=14359.8047
FPS=26.85, 法向力=5269.2822, 切向力X=1433.3301, 切向力Y=12166.2363
FPS=26.80, 法向力=5121.5264, 切向力X=1382.9630, 切向力Y=10868.3340
FPS=25.71, 法向力=4825.5762, 切向力X=1026.8403, 切向力Y=8970.4844
FPS=26.56, 法向力=4536.5879, 切向力X=108.6367, 切向力Y=6479.8960
FPS=26.63, 法向力=5104.8901, 切向力X=718.4977, 切向力Y=3446.5610
FPS=26.59, 法向力=5082.5557, 切向力X=722.2278, 切向力Y=3375.5664
FPS=27.56, 法向力=4536.0127, 切向力X=1116.5496, 切向力Y=4651.7632
FPS=26.79, 法向力=3833.9360, 切向力X=1373.2079, 切向力Y=3895.8301
FPS=27.33, 法向力=4396.7104, 切向力X=1247.6357, 切向力Y=4070.8464
FPS=26.54, 法向力=3964.7947, 切向力X=1034.2728, 切向力Y=3001.1848
FPS=26.63, 法向力=4160.4585, 切向力X=1190.6699, 切向力Y=3705.4475
FPS=26.19, 法向力=4296.8623, 切向力X=1174.3311, 切向力Y=2756.4629
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=0.000313s, blend=0.002188s (9 tiles incl ref), finalize=0.000054s, total=0.002562s
FPS=27.10, 法向力=3624.1001, 切向力X=1143.8003, 切向力Y=3259.8687
FPS=26.23, 法向力=3680.1160, 切向力X=1520.0265, 切向力Y=3705.7803
FPS=26.89, 法向力=3996.1792, 切向力X=1299.2278, 切向力Y=3374.0078
FPS=26.91, 法向力=4131.1963, 切向力X=557.5193, 切向力Y=2734.6055
FPS=26.72, 法向力=4203.6592, 切向力X=967.3632, 切向力Y=2967.8645
FPS=26.40, 法向力=4005.4829, 切向力X=964.3447, 切向力Y=3208.9189
FPS=25.84, 法向力=3945.0972, 切向力X=852.3666, 切向力Y=2274.6260
FPS=25.91, 法向力=4242.9131, 切向力X=697.1721, 切向力Y=2896.5818
FPS=26.99, 法向力=3983.9104, 切向力X=937.6210, 切向力Y=1940.3809
FPS=26.91, 法向力=4009.4670, 切向力X=1174.1819, 切向力Y=2667.2170
FPS=27.09, 法向力=3930.3135, 切向力X=1345.0935, 切向力Y=2641.3281
FPS=26.33, 法向力=4118.3335, 切向力X=877.0974, 切向力Y=2433.4517
FPS=27.26, 法向力=4265.8105, 切向力X=369.5782, 切向力Y=1726.1982
FPS=27.08, 法向力=3834.9248, 切向力X=895.1898, 切向力Y=2018.2108
FPS=26.85, 法向力=3586.9604, 切向力X=1090.7328, 切向力Y=2668.5525
FPS=27.23, 法向力=3770.9153, 切向力X=952.8068, 切向力Y=2529.5859
FPS=26.62, 法向力=3768.7017, 切向力X=1136.9932, 切向力Y=2501.2600
FPS=26.86, 法向力=4017.0833, 切向力X=566.0652, 切向力Y=2195.8628
FPS=26.77, 法向力=4296.3159, 切向力X=1061.2404, 切向力Y=2726.4114
FPS=27.13, 法向力=4050.6011, 切向力X=722.8124, 切向力Y=1757.1582
FPS=25.86, 法向力=3985.4155, 切向力X=501.5764, 切向力Y=2263.2520
FPS=25.89, 法向力=4025.6648, 切向力X=188.4153, 切向力Y=1954.7255
FPS=26.17, 法向力=4316.6489, 切向力X=740.9532, 切向力Y=1915.4858
FPS=25.31, 法向力=4231.6533, 切向力X=149.3012, 切向力Y=1938.8774
FPS=26.89, 法向力=4291.1875, 切向力X=540.3699, 切向力Y=1404.7495
FPS=25.29, 法向力=3959.5347, 切向力X=310.1029, 切向力Y=2557.2808
FPS=24.84, 法向力=3669.9092, 切向力X=778.7145, 切向力Y=2069.4729
FPS=23.69, 法向力=3904.4490, 切向力X=283.7874, 切向力Y=1634.8903
FPS=23.53, 法向力=3897.9375, 切向力X=500.6003, 切向力Y=1348.3738
FPS=24.29, 法向力=3977.6763, 切向力X=540.8021, 切向力Y=1722.4287
stitch_feature_optimized: canvas out_w=438, out_h=463, x_min=-91.29, y_min=-105.96
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000312s, blend=0.002446s (9 tiles incl ref), finalize=0.000057s, total=0.002822s
FPS=25.61, 法向力=3908.4001, 切向力X=1231.2551, 切向力Y=2536.0710
FPS=27.06, 法向力=3802.2913, 切向力X=220.6914, 切向力Y=1258.8196
FPS=25.65, 法向力=3756.9775, 切向力X=889.8077, 切向力Y=1352.7786
FPS=25.96, 法向力=4275.6226, 切向力X=325.0130, 切向力Y=1387.9600
FPS=26.59, 法向力=3887.0615, 切向力X=464.8513, 切向力Y=1662.5925
FPS=25.90, 法向力=3895.6619, 切向力X=305.3675, 切向力Y=1003.6039
FPS=25.67, 法向力=3698.5710, 切向力X=970.5515, 切向力Y=1806.0741
FPS=24.92, 法向力=4203.1118, 切向力X=618.0381, 切向力Y=2125.0337
FPS=25.32, 法向力=3997.3491, 切向力X=1631.4324, 切向力Y=1815.0142
FPS=24.71, 法向力=3824.2117, 切向力X=322.3506, 切向力Y=1864.3289
FPS=25.93, 法向力=3740.3547, 切向力X=719.5876, 切向力Y=1700.3564
FPS=25.20, 法向力=3576.4177, 切向力X=918.7744, 切向力Y=1442.1313
FPS=25.76, 法向力=4197.8916, 切向力X=537.0766, 切向力Y=852.7025
FPS=25.32, 法向力=4043.6011, 切向力X=518.5674, 切向力Y=1856.2629
FPS=26.02, 法向力=3655.2200, 切向力X=476.9840, 切向力Y=1576.2693
FPS=25.67, 法向力=4078.9233, 切向力X=55.7614, 切向力Y=1837.1392
FPS=25.11, 法向力=4198.7075, 切向力X=925.0909, 切向力Y=1200.1582
FPS=26.21, 法向力=4275.2021, 切向力X=697.4106, 切向力Y=1819.7646
FPS=25.51, 法向力=4531.1904, 切向力X=737.8228, 切向力Y=866.4490
FPS=24.83, 法向力=4111.2173, 切向力X=-94.9912, 切向力Y=701.2339
FPS=25.49, 法向力=4278.9707, 切向力X=1244.6484, 切向力Y=1321.8906
FPS=26.00, 法向力=3580.1724, 切向力X=1201.9573, 切向力Y=1127.3738
FPS=25.64, 法向力=3585.9556, 切向力X=1005.7943, 切向力Y=1132.0753
FPS=26.09, 法向力=4356.3027, 切向力X=178.0356, 切向力Y=332.3412
FPS=25.85, 法向力=4105.6641, 切向力X=620.9353, 切向力Y=1231.7970
FPS=25.35, 法向力=4106.8203, 切向力X=584.1759, 切向力Y=1002.2040
FPS=24.91, 法向力=4272.7207, 切向力X=64.5305, 切向力Y=1279.9910
FPS=26.50, 法向力=4348.8574, 切向力X=553.5699, 切向力Y=1271.4685
FPS=24.72, 法向力=3362.4111, 切向力X=949.2697, 切向力Y=775.7163
FPS=25.65, 法向力=3881.5076, 切向力X=945.4930, 切向力Y=1643.6626
stitch_feature_optimized: canvas out_w=438, out_h=463, x_min=-91.29, y_min=-105.96
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000253s, blend=0.002205s (9 tiles incl ref), finalize=0.000053s, total=0.002517s
FPS=24.51, 法向力=4411.2905, 切向力X=602.7252, 切向力Y=949.1533
FPS=24.99, 法向力=4023.1414, 切向力X=363.3751, 切向力Y=1056.3864
FPS=25.09, 法向力=3747.3972, 切向力X=467.7107, 切向力Y=856.6180
FPS=25.61, 法向力=3787.5479, 切向力X=-53.6839, 切向力Y=1416.2861
FPS=25.12, 法向力=4124.2500, 切向力X=239.5883, 切向力Y=1231.5730
FPS=22.63, 法向力=3741.2959, 切向力X=917.0002, 切向力Y=784.7638
FPS=23.18, 法向力=4119.1025, 切向力X=508.9716, 切向力Y=596.8365
FPS=19.14, 法向力=4116.2158, 切向力X=596.9618, 切向力Y=1987.6042
FPS=36.28, 法向力=4077.6196, 切向力X=989.6341, 切向力Y=1257.9247
FPS=28.68, 法向力=3705.2927, 切向力X=998.5333, 切向力Y=1537.8849
FPS=30.22, 法向力=3739.6150, 切向力X=961.3203, 切向力Y=1622.7600
FPS=30.98, 法向力=3711.0535, 切向力X=687.2498, 切向力Y=1183.1858
FPS=30.83, 法向力=3871.2896, 切向力X=832.9678, 切向力Y=1291.9189
FPS=30.62, 法向力=4263.7090, 切向力X=418.3059, 切向力Y=1498.6146
FPS=30.07, 法向力=4128.4653, 切向力X=228.9744, 切向力Y=1609.8561
FPS=30.57, 法向力=4006.7109, 切向力X=322.9432, 切向力Y=926.7157
FPS=30.38, 法向力=3893.5000, 切向力X=621.7977, 切向力Y=1404.5939
FPS=30.25, 法向力=4061.5698, 切向力X=231.1092, 切向力Y=1288.0405
FPS=28.30, 法向力=4037.8291, 切向力X=-52.3755, 切向力Y=1152.5026
FPS=24.84, 法向力=3890.9468, 切向力X=63.7955, 切向力Y=590.6779
FPS=24.36, 法向力=4121.7817, 切向力X=18.3082, 切向力Y=1009.2655
FPS=28.06, 法向力=4197.6694, 切向力X=389.5521, 切向力Y=1416.8538
FPS=25.96, 法向力=3716.7976, 切向力X=504.3845, 切向力Y=1110.3004
FPS=26.95, 法向力=3704.3743, 切向力X=500.2664, 切向力Y=1170.0588
FPS=27.34, 法向力=4254.6729, 切向力X=553.8693, 切向力Y=806.7616
FPS=26.50, 法向力=4197.1084, 切向力X=149.4150, 切向力Y=1122.8669
FPS=26.30, 法向力=3864.4214, 切向力X=46.8274, 切向力Y=341.1255
FPS=26.10, 法向力=4291.4126, 切向力X=956.1078, 切向力Y=1956.7937
FPS=25.86, 法向力=4056.9253, 切向力X=806.9160, 切向力Y=1087.4067
FPS=22.42, 法向力=3748.9968, 切向力X=692.4448, 切向力Y=465.1574
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=0.000007s (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.
examples/logs/qt_viewer_20260604_100553.log
+462
View File
@@ -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
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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
examples/logs/qt_viewer_20260604_100705.log
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examples/logs/qt_viewer_20260604_150844.log
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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
FPS=31.17, 法向力=1205.9032, 切向力X=347.8999, 切向力Y=184.1315
FPS=32.77, 法向力=1175.6948, 切向力X=276.7481, 切向力Y=170.4664
FPS=31.28, 法向力=1349.0306, 切向力X=1037.5776, 切向力Y=243.4219
FPS=30.92, 法向力=1373.5778, 切向力X=1147.2257, 切向力Y=284.9261
FPS=33.14, 法向力=1356.3041, 切向力X=1153.1285, 切向力Y=281.3002
FPS=30.78, 法向力=1652.1738, 切向力X=346.7946, 切向力Y=35.3664
FPS=31.12, 法向力=1711.3594, 切向力X=331.8292, 切向力Y=31.2328
FPS=28.67, 法向力=1166.3879, 切向力X=442.3464, 切向力Y=310.0124
FPS=29.92, 法向力=1152.6047, 切向力X=274.3984, 切向力Y=370.4039
FPS=28.28, 法向力=1122.2788, 切向力X=551.4912, 切向力Y=463.7786
FPS=30.90, 法向力=1129.6447, 切向力X=719.6544, 切向力Y=519.6388
FPS=29.68, 法向力=1285.6628, 切向力X=371.2409, 切向力Y=651.4225
FPS=30.53, 法向力=1357.1248, 切向力X=423.0640, 切向力Y=691.1538
FPS=30.54, 法向力=1194.3328, 切向力X=-232.0079, 切向力Y=-279.7339
FPS=30.19, 法向力=1203.8966, 切向力X=-309.6636, 切向力Y=-335.1728
FPS=30.01, 法向力=1437.2567, 切向力X=669.0609, 切向力Y=686.1263
FPS=31.10, 法向力=1482.7976, 切向力X=604.7089, 切向力Y=708.6724
FPS=29.22, 法向力=1231.6194, 切向力X=21.9994, 切向力Y=218.0743
FPS=31.26, 法向力=1287.0291, 切向力X=1.0237, 切向力Y=304.1976
FPS=29.40, 法向力=1659.5391, 切向力X=362.5651, 切向力Y=303.2228
FPS=30.46, 法向力=1624.6079, 切向力X=282.0901, 切向力Y=323.8067
FPS=30.11, 法向力=1492.1145, 切向力X=232.7536, 切向力Y=390.1490
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=0.000005s (hit), reset=0.000277s, blend=0.002171s (9 tiles incl ref), finalize=0.000061s, total=0.002518s
FPS=29.61, 法向力=1444.0522, 切向力X=170.3157, 切向力Y=417.7464
FPS=28.85, 法向力=1791.3098, 切向力X=727.3833, 切向力Y=22.0457
FPS=30.30, 法向力=1758.4333, 切向力X=800.2504, 切向力Y=83.7376
FPS=28.71, 法向力=1038.0848, 切向力X=157.0688, 切向力Y=101.9432
FPS=29.58, 法向力=1015.1602, 切向力X=66.4975, 切向力Y=50.7234
FPS=29.31, 法向力=1068.0715, 切向力X=417.9900, 切向力Y=260.9149
FPS=30.79, 法向力=1114.7910, 切向力X=451.3235, 切向力Y=222.3061
FPS=28.38, 法向力=1351.3105, 切向力X=604.9844, 切向力Y=-18.9548
FPS=30.01, 法向力=1389.1316, 切向力X=656.1332, 切向力Y=-62.4877
FPS=27.26, 法向力=1293.2427, 切向力X=-207.1785, 切向力Y=1034.8376
FPS=30.34, 法向力=1353.3088, 切向力X=-189.0122, 切向力Y=1035.7515
FPS=29.49, 法向力=1655.1406, 切向力X=841.6832, 切向力Y=624.6180
FPS=25.36, 法向力=1463.1573, 切向力X=911.8220, 切向力Y=-23.9958
FPS=27.93, 法向力=1350.5923, 切向力X=772.5927, 切向力Y=144.2524
FPS=26.20, 法向力=1104.3199, 切向力X=759.2310, 切向力Y=-96.8814
FPS=31.96, 法向力=1099.8157, 切向力X=741.2708, 切向力Y=-181.9616
FPS=30.03, 法向力=1287.2174, 切向力X=807.4294, 切向力Y=186.0229
FPS=31.71, 法向力=1262.0934, 切向力X=761.9283, 切向力Y=239.3535
FPS=30.18, 法向力=1311.7024, 切向力X=379.7806, 切向力Y=910.0125
FPS=31.14, 法向力=1341.6860, 切向力X=435.9749, 切向力Y=823.0064
FPS=30.81, 法向力=1229.3632, 切向力X=59.6282, 切向力Y=-163.9575
FPS=30.76, 法向力=1313.9070, 切向力X=0.6227, 切向力Y=-356.0471
FPS=30.31, 法向力=1512.4214, 切向力X=547.7614, 切向力Y=-168.2678
FPS=30.62, 法向力=1570.9269, 切向力X=518.4221, 切向力Y=-114.9132
FPS=30.69, 法向力=1193.9690, 切向力X=152.7885, 切向力Y=162.1075
FPS=33.10, 法向力=1121.0619, 切向力X=55.2143, 切向力Y=275.6860
FPS=32.50, 法向力=1336.0250, 切向力X=381.5307, 切向力Y=149.3415
FPS=32.23, 法向力=1345.4089, 切向力X=314.1493, 切向力Y=128.2782
FPS=33.75, 法向力=1371.3823, 切向力X=319.3584, 切向力Y=166.8389
FPS=31.52, 法向力=1128.9451, 切向力X=606.6589, 切向力Y=-159.6376
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=0.000237s, blend=0.002145s (9 tiles incl ref), finalize=0.000054s, total=0.002443s
FPS=33.23, 法向力=1135.1168, 切向力X=550.2825, 切向力Y=-197.1292
FPS=31.19, 法向力=1297.1970, 切向力X=778.2028, 切向力Y=186.9239
FPS=27.67, 法向力=1263.9778, 切向力X=762.0867, 切向力Y=262.9884
FPS=26.40, 法向力=1354.3778, 切向力X=603.6682, 切向力Y=86.5536
FPS=27.25, 法向力=1358.2035, 切向力X=609.1237, 切向力Y=23.1159
FPS=27.59, 法向力=1174.5845, 切向力X=1.5106, 切向力Y=368.7049
FPS=25.48, 法向力=938.7642, 切向力X=323.8204, 切向力Y=-187.9242
FPS=26.81, 法向力=918.4149, 切向力X=271.1072, 切向力Y=-147.9723
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FPS=23.69, 法向力=1147.0814, 切向力X=147.8451, 切向力Y=54.3211
FPS=26.59, 法向力=1195.3367, 切向力X=119.2696, 切向力Y=57.3571
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FPS=26.66, 法向力=1120.7136, 切向力X=362.3113, 切向力Y=570.6652
FPS=26.88, 法向力=1166.3346, 切向力X=386.1692, 切向力Y=610.0190
FPS=26.10, 法向力=1228.0944, 切向力X=-21.6143, 切向力Y=441.4598
FPS=26.69, 法向力=1225.4050, 切向力X=11.4932, 切向力Y=502.5956
FPS=25.19, 法向力=1608.2305, 切向力X=1059.0609, 切向力Y=143.8856
FPS=26.92, 法向力=1800.1777, 切向力X=1147.0659, 切向力Y=912.0993
FPS=27.16, 法向力=1816.4779, 切向力X=1182.0388, 切向力Y=977.9240
FPS=26.67, 法向力=1816.8590, 切向力X=1176.6006, 切向力Y=1025.3513
FPS=25.39, 法向力=1414.3501, 切向力X=256.1274, 切向力Y=439.6624
FPS=26.09, 法向力=1093.6571, 切向力X=896.5043, 切向力Y=257.8511
FPS=26.55, 法向力=1095.5037, 切向力X=941.3242, 切向力Y=244.5811
FPS=24.10, 法向力=1706.7897, 切向力X=749.9587, 切向力Y=63.6546
FPS=25.29, 法向力=1735.6132, 切向力X=848.8851, 切向力Y=130.6119
FPS=25.75, 法向力=1449.6429, 切向力X=539.1351, 切向力Y=-71.8559
FPS=24.88, 法向力=1334.9630, 切向力X=457.4930, 切向力Y=201.4878
FPS=26.74, 法向力=1270.3333, 切向力X=476.2684, 切向力Y=255.3490
FPS=25.25, 法向力=1292.0854, 切向力X=1105.1260, 切向力Y=732.0206
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FPS=24.58, 法向力=1281.8534, 切向力X=1513.5736, 切向力Y=593.8427
FPS=25.86, 法向力=1454.5457, 切向力X=692.7562, 切向力Y=-264.8258
FPS=26.52, 法向力=1445.0087, 切向力X=693.1335, 切向力Y=-278.0264
FPS=24.35, 法向力=1207.2251, 切向力X=928.9680, 切向力Y=301.4981
FPS=25.39, 法向力=1181.3923, 切向力X=846.8956, 切向力Y=400.7716
FPS=25.81, 法向力=1166.5068, 切向力X=720.9067, 切向力Y=-497.8557
FPS=24.13, 法向力=1533.9058, 切向力X=357.9539, 切向力Y=472.5656
FPS=26.24, 法向力=1492.7113, 切向力X=239.9856, 切向力Y=477.7769
FPS=24.64, 法向力=1209.4551, 切向力X=331.3405, 切向力Y=871.2151
FPS=26.23, 法向力=1271.7070, 切向力X=340.1917, 切向力Y=882.1158
FPS=25.54, 法向力=1510.3784, 切向力X=812.8308, 切向力Y=691.0422
FPS=27.15, 法向力=1532.1808, 切向力X=848.7626, 切向力Y=738.9109
FPS=25.99, 法向力=1465.3064, 切向力X=374.2962, 切向力Y=691.4070
FPS=24.70, 法向力=1253.8314, 切向力X=400.1927, 切向力Y=412.7849
FPS=27.35, 法向力=1281.2941, 切向力X=432.8696, 切向力Y=456.2801
FPS=25.25, 法向力=1703.2910, 切向力X=947.5160, 切向力Y=623.9799
FPS=26.24, 法向力=1692.8917, 切向力X=958.5753, 切向力Y=528.4580
FPS=26.50, 法向力=1471.8495, 切向力X=522.9886, 切向力Y=255.9887
FPS=26.79, 法向力=1468.5725, 切向力X=537.9893, 切向力Y=228.6289
FPS=25.51, 法向力=1122.8910, 切向力X=71.3675, 切向力Y=-77.7365
FPS=25.64, 法向力=1295.6125, 切向力X=397.5045, 切向力Y=249.0679
FPS=26.47, 法向力=1341.1165, 切向力X=436.2235, 切向力Y=328.4875
FPS=24.49, 法向力=1274.7324, 切向力X=21.8341, 切向力Y=717.6891
FPS=26.62, 法向力=1279.2905, 切向力X=82.0081, 切向力Y=716.1786
FPS=25.82, 法向力=1441.9539, 切向力X=247.6529, 切向力Y=-44.6446
FPS=26.66, 法向力=1069.5447, 切向力X=545.1802, 切向力Y=355.6409
FPS=25.57, 法向力=1067.6987, 切向力X=453.1665, 切向力Y=273.2000
FPS=24.52, 法向力=1700.5342, 切向力X=1089.4102, 切向力Y=662.8694
FPS=27.28, 法向力=1624.1885, 切向力X=1030.7749, 切向力Y=653.6498
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FPS=28.03, 法向力=1145.4904, 切向力X=184.3991, 切向力Y=761.9544
FPS=25.86, 法向力=1213.5222, 切向力X=302.4699, 切向力Y=424.2886
FPS=27.18, 法向力=1236.0808, 切向力X=433.0321, 切向力Y=301.0081
FPS=27.73, 法向力=1209.4568, 切向力X=375.2077, 切向力Y=249.3823
FPS=25.21, 法向力=1313.8695, 切向力X=-222.3482, 切向力Y=117.7703
FPS=27.77, 法向力=1343.9224, 切向力X=-239.1715, 切向力Y=165.3161
FPS=26.09, 法向力=1388.0586, 切向力X=758.1151, 切向力Y=1126.5654
FPS=25.82, 法向力=1366.3582, 切向力X=737.9667, 切向力Y=1118.7092
FPS=27.03, 法向力=1432.2474, 切向力X=221.2774, 切向力Y=334.7979
FPS=26.91, 法向力=1449.5559, 切向力X=177.4099, 切向力Y=384.2493
FPS=26.04, 法向力=1251.7888, 切向力X=952.4568, 切向力Y=1430.1213
FPS=26.27, 法向力=1874.0674, 切向力X=774.6570, 切向力Y=91.5836
FPS=25.45, 法向力=1966.7012, 切向力X=779.6785, 切向力Y=31.8555
FPS=23.17, 法向力=1185.1624, 切向力X=-117.2965, 切向力Y=1212.3260
FPS=26.77, 法向力=1303.1334, 切向力X=-247.8943, 切向力Y=1330.0645
FPS=24.57, 法向力=1832.9392, 切向力X=1360.3704, 切向力Y=632.6779
FPS=24.87, 法向力=1502.9648, 切向力X=210.5861, 切向力Y=881.0070
FPS=25.01, 法向力=1543.5017, 切向力X=160.6425, 切向力Y=988.3767
FPS=24.48, 法向力=1552.5923, 切向力X=9.4630, 切向力Y=510.9062
FPS=26.49, 法向力=1565.2656, 切向力X=66.1439, 切向力Y=534.9719
FPS=25.04, 法向力=1443.8589, 切向力X=414.7333, 切向力Y=276.2717
FPS=25.24, 法向力=1408.3865, 切向力X=86.3569, 切向力Y=433.4332
FPS=26.64, 法向力=1477.8884, 切向力X=109.9508, 切向力Y=483.4827
FPS=24.97, 法向力=1145.2546, 切向力X=722.2496, 切向力Y=1115.8457
FPS=25.91, 法向力=1115.6206, 切向力X=714.3289, 切向力Y=1108.2665
FPS=24.63, 法向力=1235.7301, 切向力X=-62.4974, 切向力Y=772.2067
FPS=26.32, 法向力=1457.4814, 切向力X=961.2880, 切向力Y=480.1188
FPS=25.78, 法向力=1423.2531, 切向力X=924.7572, 切向力Y=469.7883
FPS=24.81, 法向力=1303.5791, 切向力X=552.2604, 切向力Y=679.0030
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FPS=25.99, 法向力=1315.4474, 切向力X=585.6631, 切向力Y=649.4501
FPS=23.21, 法向力=1412.2844, 切向力X=864.2770, 切向力Y=284.0470
FPS=23.80, 法向力=1398.2521, 切向力X=906.8727, 切向力Y=157.8364
FPS=24.84, 法向力=1283.5386, 切向力X=-251.6787, 切向力Y=96.5702
FPS=23.05, 法向力=1318.1467, 切向力X=449.1891, 切向力Y=455.4646
FPS=26.80, 法向力=1357.5986, 切向力X=425.9996, 切向力Y=449.4786
FPS=25.87, 法向力=1248.1519, 切向力X=962.7549, 切向力Y=771.6863
FPS=26.15, 法向力=1718.4387, 切向力X=471.0121, 切向力Y=117.7392
FPS=26.08, 法向力=1777.2390, 切向力X=446.7734, 切向力Y=75.2907
FPS=26.29, 法向力=1149.5210, 切向力X=684.7611, 切向力Y=-332.6843
FPS=26.74, 法向力=1114.4590, 切向力X=604.2503, 切向力Y=-196.2708
FPS=24.55, 法向力=1559.7905, 切向力X=304.5497, 切向力Y=143.8256
FPS=27.00, 法向力=1600.1633, 切向力X=341.1768, 切向力Y=155.4964
FPS=26.84, 法向力=1375.2646, 切向力X=923.9246, 切向力Y=618.2343
FPS=26.63, 法向力=1348.9690, 切向力X=845.9009, 切向力Y=652.7037
FPS=26.59, 法向力=1481.1927, 切向力X=747.5807, 切向力Y=608.2003
FPS=25.71, 法向力=1276.4019, 切向力X=804.8188, 切向力Y=608.0407
FPS=27.23, 法向力=1279.0585, 切向力X=785.7570, 切向力Y=640.0107
FPS=26.01, 法向力=1415.4829, 切向力X=968.2268, 切向力Y=855.6432
FPS=26.70, 法向力=1439.6448, 切向力X=892.3502, 切向力Y=894.5809
FPS=24.44, 法向力=1379.2866, 切向力X=1155.1326, 切向力Y=311.9256
FPS=25.25, 法向力=1390.3506, 切向力X=1045.9028, 切向力Y=327.1188
FPS=24.52, 法向力=1369.1301, 切向力X=407.2694, 切向力Y=855.4204
FPS=25.56, 法向力=1346.3380, 切向力X=598.3962, 切向力Y=401.0785
FPS=25.24, 法向力=1349.4058, 切向力X=473.6796, 切向力Y=381.4590
FPS=25.15, 法向力=1619.6982, 切向力X=900.8809, 切向力Y=390.4080
FPS=26.01, 法向力=1627.5538, 切向力X=-243.8668, 切向力Y=295.5331
FPS=25.99, 法向力=1563.2610, 切向力X=-272.6701, 切向力Y=294.6179
FPS=23.69, 法向力=1652.8425, 切向力X=624.9475, 切向力Y=692.1648
FPS=26.58, 法向力=1640.9492, 切向力X=593.2231, 切向力Y=753.2059
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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
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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
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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, 切向力Y=693.4932
FPS=29.80, 法向力=1411.8094, 切向力X=31.2399, 切向力Y=477.9405
FPS=31.69, 法向力=1486.4109, 切向力X=97.9119, 切向力Y=439.9634
FPS=30.12, 法向力=1185.0913, 切向力X=-217.4748, 切向力Y=655.9201
FPS=32.82, 法向力=1169.5835, 切向力X=-210.3701, 切向力Y=581.8332
FPS=30.70, 法向力=1311.5378, 切向力X=-562.1420, 切向力Y=918.1774
FPS=33.38, 法向力=1376.6870, 切向力X=-643.0939, 切向力Y=958.5068
FPS=30.91, 法向力=1528.6108, 切向力X=-218.0255, 切向力Y=1018.5632
FPS=33.46, 法向力=1520.0615, 切向力X=-192.1902, 切向力Y=1053.4580
FPS=28.75, 法向力=1656.8132, 切向力X=-652.9982, 切向力Y=233.3200
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FPS=30.65, 法向力=1695.1625, 切向力X=-142.9745, 切向力Y=767.2864
FPS=31.03, 法向力=1723.6316, 切向力X=-118.3207, 切向力Y=860.7509
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FPS=35.29, 法向力=1393.1456, 切向力X=-637.8483, 切向力Y=894.2182
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FPS=29.84, 法向力=1229.7385, 切向力X=-135.4218, 切向力Y=-281.6786
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FPS=30.71, 法向力=1696.0946, 切向力X=-289.9446, 切向力Y=1126.1521
FPS=30.14, 法向力=1707.0754, 切向力X=-192.7370, 切向力Y=988.1028
FPS=30.04, 法向力=1651.3113, 切向力X=-65.2804, 切向力Y=960.9922
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FPS=30.17, 法向力=1938.6504, 切向力X=75.9642, 切向力Y=1236.0061
FPS=30.83, 法向力=1977.6807, 切向力X=117.4473, 切向力Y=1209.5437
FPS=31.51, 法向力=1599.3856, 切向力X=-1308.1555, 切向力Y=196.8184
FPS=31.34, 法向力=1497.5708, 切向力X=-1424.9305, 切向力Y=163.3746
FPS=29.03, 法向力=1412.4108, 切向力X=-1622.7129, 切向力Y=-1236.0579
FPS=31.25, 法向力=1385.4518, 切向力X=-1636.1038, 切向力Y=-1301.0105
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FPS=31.60, 法向力=4237.7168, 切向力X=-8447.6611, 切向力Y=-9514.0820
FPS=29.17, 法向力=6517.2354, 切向力X=-17582.9336, 切向力Y=-20206.5156
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FPS=25.06, 法向力=17929.1914, 切向力X=-80624.9219, 切向力Y=-49254.4727
FPS=28.50, 法向力=17721.4883, 切向力X=-81124.9453, 切向力Y=-49144.7109
FPS=26.16, 法向力=21609.7305, 切向力X=-98751.9062, 切向力Y=-52014.8438
FPS=22.45, 法向力=19920.3848, 切向力X=-101091.3047, 切向力Y=-49758.0469
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FPS=28.05, 法向力=9662.1758, 切向力X=-39518.2578, 切向力Y=-20872.1836
FPS=29.85, 法向力=9390.8027, 切向力X=-39900.6562, 切向力Y=-20854.7227
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FPS=29.42, 法向力=3295.2402, 切向力X=-8086.9819, 切向力Y=-2879.9749
FPS=31.37, 法向力=3360.5942, 切向力X=-7980.5244, 切向力Y=-2913.2407
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FPS=28.92, 法向力=3573.6548, 切向力X=7836.2637, 切向力Y=-2691.3423
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FPS=28.10, 法向力=6592.7451, 切向力X=38293.6172, 切向力Y=-10884.9844
FPS=28.28, 法向力=11507.9316, 切向力X=56591.5391, 切向力Y=-16334.1289
FPS=28.90, 法向力=11458.6377, 切向力X=56693.7422, 切向力Y=-16717.5977
FPS=28.84, 法向力=16213.4590, 切向力X=66549.6250, 切向力Y=-21958.1855
FPS=30.50, 法向力=16375.1387, 切向力X=67135.3281, 切向力Y=-22088.5625
FPS=28.58, 法向力=18075.4941, 切向力X=69188.9922, 切向力Y=-25621.7500
FPS=30.78, 法向力=18210.2891, 切向力X=69390.0000, 切向力Y=-25997.3555
FPS=29.25, 法向力=18419.0664, 切向力X=67655.2891, 切向力Y=-27915.9609
FPS=30.51, 法向力=18305.3535, 切向力X=67609.0938, 切向力Y=-28134.5352
FPS=29.08, 法向力=17910.7930, 切向力X=63212.9766, 切向力Y=-26719.4160
FPS=30.84, 法向力=17776.4102, 切向力X=63086.9688, 切向力Y=-26720.4355
FPS=28.82, 法向力=17069.9609, 切向力X=58674.6250, 切向力Y=-25292.1914
FPS=29.54, 法向力=16894.3594, 切向力X=58335.5742, 切向力Y=-25314.4180
FPS=27.64, 法向力=15883.1855, 切向力X=53920.6641, 切向力Y=-23843.0137
FPS=29.36, 法向力=15666.9287, 切向力X=53566.9062, 切向力Y=-23885.7773
FPS=25.49, 法向力=14537.4648, 切向力X=38890.2500, 切向力Y=-17469.6113
FPS=26.25, 法向力=14428.0977, 切向力X=38643.2344, 切向力Y=-17370.7207
FPS=25.80, 法向力=11139.1191, 切向力X=16560.2266, 切向力Y=-12677.2646
FPS=25.98, 法向力=7141.2856, 切向力X=6257.3135, 切向力Y=-4985.6362
FPS=27.43, 法向力=7182.2964, 切向力X=6159.6455, 切向力Y=-4907.8091
FPS=25.53, 法向力=3948.0215, 切向力X=3211.8774, 切向力Y=-629.8855
FPS=28.51, 法向力=3923.0439, 切向力X=3243.3020, 切向力Y=-546.2634
FPS=26.90, 法向力=3196.1699, 切向力X=2495.1484, 切向力Y=-394.6371
FPS=29.21, 法向力=3197.2627, 切向力X=2507.1958, 切向力Y=-357.0764
FPS=27.00, 法向力=2817.8755, 切向力X=2015.2937, 切向力Y=473.1430
FPS=28.53, 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.
examples/logs/qt_viewer_20260608_121027.log
+297
View File
@@ -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), finalize=0.000048s, total=0.002353s
FPS=30.25, 法向力=12550.6543, 切向力X=81441.1250, 切向力Y=-35906.9023
FPS=31.44, 法向力=12594.5918, 切向力X=82032.0859, 切向力Y=-36343.2656
FPS=28.29, 法向力=13531.1562, 切向力X=82137.2031, 切向力Y=-36841.6523
FPS=30.26, 法向力=13666.7842, 切向力X=82320.7969, 切向力Y=-36729.3086
FPS=26.33, 法向力=14788.0791, 切向力X=83168.1328, 切向力Y=-35275.4805
FPS=27.45, 法向力=14581.2979, 切向力X=83420.8438, 切向力Y=-35306.8438
FPS=30.53, 法向力=14661.1299, 切向力X=77880.2734, 切向力Y=-32295.9570
FPS=32.33, 法向力=14526.1816, 切向力X=77750.5625, 切向力Y=-32165.0312
FPS=31.09, 法向力=14174.6758, 切向力X=71297.3125, 切向力Y=-27062.4688
FPS=31.45, 法向力=13935.0225, 切向力X=70951.1250, 切向力Y=-26899.2227
FPS=30.00, 法向力=13564.6660, 切向力X=65841.9453, 切向力Y=-21076.3047
FPS=31.71, 法向力=13287.3301, 切向力X=65741.4141, 切向力Y=-20843.9141
FPS=28.53, 法向力=10833.0059, 切向力X=52253.7812, 切向力Y=-12826.2891
FPS=31.34, 法向力=10584.1367, 切向力X=52659.4492, 切向力Y=-12621.6699
FPS=26.92, 法向力=7250.8540, 切向力X=28775.7832, 切向力Y=-9574.4873
FPS=25.84, 法向力=7105.6587, 切向力X=29075.5664, 切向力Y=-9676.0146
FPS=25.36, 法向力=4429.7637, 切向力X=13763.7197, 切向力Y=-4243.1025
FPS=28.87, 法向力=3312.9617, 切向力X=9572.3496, 切向力Y=-2714.5425
FPS=30.99, 法向力=3238.5103, 切向力X=9649.3984, 切向力Y=-2706.9346
FPS=28.72, 法向力=3412.2388, 切向力X=8588.3594, 切向力Y=-2366.0625
FPS=30.21, 法向力=3415.2468, 切向力X=8539.5215, 切向力Y=-2333.7903
FPS=27.18, 法向力=2723.5989, 切向力X=9762.6055, 切向力Y=1991.5642
FPS=30.76, 法向力=2824.6819, 切向力X=9793.4902, 切向力Y=2372.7351
FPS=30.49, 法向力=2763.4102, 切向力X=9781.1035, 切向力Y=2471.6348
FPS=30.94, 法向力=2426.4480, 切向力X=13141.4395, 切向力Y=5653.1836
FPS=32.63, 法向力=2268.4207, 切向力X=13383.9746, 切向力Y=6508.8491
FPS=29.82, 法向力=3265.0122, 切向力X=23397.2656, 切向力Y=9234.0996
FPS=20.71, 法向力=4971.9468, 切向力X=37429.3594, 切向力Y=13388.5254
FPS=34.86, 法向力=4787.8359, 切向力X=38121.8594, 切向力Y=13722.6465
FPS=31.58, 法向力=6818.5127, 切向力X=45866.1289, 切向力Y=16106.1533
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=0.000022s (hit), reset=0.000254s, blend=0.002365s (9 tiles incl ref), finalize=0.000070s, total=0.002715s
FPS=33.58, 法向力=6694.8203, 切向力X=46033.9141, 切向力Y=16171.1631
FPS=30.28, 法向力=7617.9697, 切向力X=47990.5859, 切向力Y=17449.9707
FPS=32.21, 法向力=7704.2100, 切向力X=48010.8047, 切向力Y=17574.7051
FPS=30.23, 法向力=7137.0752, 切向力X=46525.1406, 切向力Y=17438.1016
FPS=32.75, 法向力=7233.4854, 切向力X=46484.1641, 切向力Y=17421.4316
FPS=32.63, 法向力=7266.6260, 切向力X=46472.2070, 切向力Y=17388.9258
FPS=29.82, 法向力=6945.7373, 切向力X=46897.3281, 切向力Y=17469.1250
FPS=33.52, 法向力=6965.2070, 切向力X=46876.6172, 切向力Y=17434.1445
FPS=31.50, 法向力=6819.1128, 切向力X=47526.4805, 切向力Y=14603.7178
FPS=35.60, 法向力=6916.5005, 切向力X=47590.9688, 切向力Y=14479.9834
FPS=32.80, 法向力=6268.0605, 切向力X=46854.3047, 切向力Y=10357.4717
FPS=35.92, 法向力=6345.9824, 切向力X=46810.5977, 切向力Y=10183.3984
FPS=32.47, 法向力=4905.0522, 切向力X=44433.8398, 切向力Y=161.0533
FPS=34.93, 法向力=4986.9131, 切向力X=44450.8008, 切向力Y=34.9849
FPS=30.52, 法向力=4195.1133, 切向力X=32103.7148, 切向力Y=-2787.5798
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FPS=34.35, 法向力=1600.2817, 切向力X=4427.7705, 切向力Y=-7.4223
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FPS=30.93, 法向力=3771.2893, 切向力X=35298.8359, 切向力Y=-763.2880
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FPS=30.49, 法向力=16527.8398, 切向力X=85604.9453, 切向力Y=-14035.3389
FPS=31.84, 法向力=16656.5391, 切向力X=82110.1094, 切向力Y=-15795.6084
FPS=30.33, 法向力=16749.4316, 切向力X=81992.2656, 切向力Y=-15715.0762
FPS=31.39, 法向力=17634.7969, 切向力X=81985.6719, 切向力Y=-15496.0020
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FPS=31.68, 法向力=17629.3867, 切向力X=81610.4609, 切向力Y=-15518.0957
FPS=31.49, 法向力=17718.2383, 切向力X=81603.6250, 切向力Y=-15407.7373
FPS=32.28, 法向力=17263.2402, 切向力X=78782.4062, 切向力Y=-15441.1621
FPS=31.20, 法向力=17181.6055, 切向力X=78848.9688, 切向力Y=-15485.3281
FPS=32.37, 法向力=16411.6875, 切向力X=65110.1016, 切向力Y=-10721.7588
FPS=32.96, 法向力=16312.5020, 切向力X=65079.4062, 切向力Y=-10677.8799
FPS=31.34, 法向力=13356.0020, 切向力X=50352.5781, 切向力Y=-4156.5659
FPS=32.14, 法向力=13165.3604, 切向力X=50307.8242, 切向力Y=-4153.4229
FPS=29.47, 法向力=12558.4277, 切向力X=49446.7852, 切向力Y=-5508.6992
FPS=32.03, 法向力=12888.4248, 切向力X=49084.9180, 切向力Y=-5516.6479
FPS=29.16, 法向力=12099.5850, 切向力X=46113.8516, 切向力Y=-5723.3560
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FPS=29.36, 法向力=11167.6211, 切向力X=31604.2812, 切向力Y=-3007.1050
FPS=28.81, 法向力=11202.0107, 切向力X=31504.3145, 切向力Y=-3217.1787
FPS=27.26, 法向力=10507.1562, 切向力X=21243.4160, 切向力Y=8736.7354
FPS=28.83, 法向力=10380.2939, 切向力X=21228.6641, 切向力Y=8938.5977
FPS=27.71, 法向力=5691.0107, 切向力X=11797.8730, 切向力Y=7956.1782
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FPS=28.16, 法向力=3513.8394, 切向力X=7174.7192, 切向力Y=1857.5496
FPS=29.82, 法向力=3567.6125, 切向力X=7127.1260, 切向力Y=1832.8490
FPS=28.11, 法向力=2836.9839, 切向力X=2248.0527, 切向力Y=-19010.3750
FPS=28.81, 法向力=2748.0352, 切向力X=2133.5969, 切向力Y=-19069.7227
FPS=27.88, 法向力=4468.0400, 切向力X=-950.6686, 切向力Y=-49305.3320
FPS=27.73, 法向力=9436.5986, 切向力X=3612.1533, 切向力Y=-87385.3906
FPS=28.70, 法向力=9396.9072, 切向力X=3665.3926, 切向力Y=-87755.1719
FPS=27.47, 法向力=15518.7412, 切向力X=12531.2598, 切向力Y=-104508.5000
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FPS=25.42, 法向力=17367.4004, 切向力X=20532.5039, 切向力Y=-101278.1094
FPS=28.94, 法向力=17124.1582, 切向力X=21688.1445, 切向力Y=-100628.8906
FPS=26.71, 法向力=16849.3906, 切向力X=25896.5488, 切向力Y=-95820.8594
FPS=29.02, 法向力=16780.3652, 切向力X=26534.2734, 切向力Y=-95168.9375
FPS=26.33, 法向力=16347.8838, 切向力X=27842.1836, 切向力Y=-88616.4297
FPS=27.34, 法向力=16197.7695, 切向力X=27940.8242, 切向力Y=-88086.5156
FPS=27.82, 法向力=15631.4824, 切向力X=27543.9766, 切向力Y=-82146.9531
FPS=27.97, 法向力=15577.8652, 切向力X=27617.0469, 切向力Y=-81808.8125
FPS=27.21, 法向力=14151.8145, 切向力X=26658.6875, 切向力Y=-72920.9688
FPS=27.00, 法向力=13216.3262, 切向力X=26282.8535, 切向力Y=-65618.0781
FPS=28.63, 法向力=13036.0762, 切向力X=26239.7012, 切向力Y=-65275.0703
FPS=25.33, 法向力=11844.5078, 切向力X=24899.4492, 切向力Y=-60973.1641
FPS=28.55, 法向力=11678.6367, 切向力X=24832.0312, 切向力Y=-60782.4961
FPS=26.70, 法向力=11997.4590, 切向力X=22339.8340, 切向力Y=-56226.6797
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FPS=26.16, 法向力=11130.9570, 切向力X=20369.7012, 切向力Y=-49736.3828
FPS=28.17, 法向力=10915.0664, 切向力X=20369.5391, 切向力Y=-49491.1445
FPS=27.19, 法向力=10369.8086, 切向力X=18329.2246, 切向力Y=-45470.4688
FPS=27.46, 法向力=9759.9248, 切向力X=18281.3223, 切向力Y=-47001.4062
FPS=27.84, 法向力=9780.0938, 切向力X=18211.5547, 切向力Y=-47023.1797
FPS=26.88, 法向力=9462.0859, 切向力X=18178.0938, 切向力Y=-47355.7812
FPS=28.79, 法向力=9490.7793, 切向力X=18121.6152, 切向力Y=-47325.5156
FPS=27.51, 法向力=9292.2588, 切向力X=19172.4355, 切向力Y=-47293.2188
FPS=28.04, 法向力=9306.2178, 切向力X=19122.8203, 切向力Y=-47344.2969
FPS=26.67, 法向力=9421.2656, 切向力X=19058.1719, 切向力Y=-46872.3359
FPS=28.71, 法向力=9432.2637, 切向力X=19073.5566, 切向力Y=-46860.3320
FPS=28.25, 法向力=9100.5664, 切向力X=19524.9004, 切向力Y=-47231.0664
FPS=30.29, 法向力=9097.0088, 切向力X=19456.4219, 切向力Y=-47359.6641
FPS=27.58, 法向力=9574.0762, 切向力X=19888.3262, 切向力Y=-46890.5000
FPS=29.17, 法向力=9558.6162, 切向力X=19972.1367, 切向力Y=-47001.3750
FPS=29.80, 法向力=9535.9082, 切向力X=18842.7168, 切向力Y=-45581.5898
FPS=30.64, 法向力=9428.6875, 切向力X=18804.1289, 切向力Y=-45546.7070
FPS=29.69, 法向力=9072.8477, 切向力X=18642.7148, 切向力Y=-41666.5039
FPS=28.73, 法向力=9038.1172, 切向力X=12754.1865, 切向力Y=-28949.5586
FPS=29.06, 法向力=9000.5801, 切向力X=12734.5273, 切向力Y=-28861.6836
FPS=29.23, 法向力=9015.9121, 切向力X=12724.0625, 切向力Y=-28875.8613
FPS=27.63, 法向力=6597.7637, 切向力X=5812.6436, 切向力Y=-15734.4600
FPS=30.00, 法向力=6626.5010, 切向力X=5802.9355, 切向力Y=-15740.0439
FPS=28.83, 法向力=4820.4341, 切向力X=990.1127, 切向力Y=-9223.1318
FPS=29.57, 法向力=3404.0691, 切向力X=2456.2483, 切向力Y=-5446.0146
FPS=29.29, 法向力=3465.7271, 切向力X=2468.2771, 切向力Y=-5475.0596
FPS=29.44, 法向力=2330.6440, 切向力X=2245.6758, 切向力Y=-4382.9019
FPS=28.51, 法向力=2398.5327, 切向力X=2270.0149, 切向力Y=-4367.6860
FPS=28.27, 法向力=2624.6860, 切向力X=1730.6328, 切向力Y=-4239.1787
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FPS=31.00, 法向力=2636.0762, 切向力X=1792.9360, 切向力Y=-4256.8701
FPS=27.15, 法向力=2544.4287, 切向力X=1709.8660, 切向力Y=-3126.8716
FPS=30.67, 法向力=2572.2517, 切向力X=1726.4729, 切向力Y=-3071.6685
FPS=29.16, 法向力=2345.2678, 切向力X=5339.2598, 切向力Y=-1477.7351
FPS=30.18, 法向力=2362.9836, 切向力X=5569.1270, 切向力Y=-1222.9305
FPS=29.30, 法向力=2091.6587, 切向力X=15938.6602, 切向力Y=-1575.9720
FPS=28.98, 法向力=2087.9771, 切向力X=16093.2344, 切向力Y=-1516.4800
FPS=27.48, 法向力=3381.8315, 切向力X=32127.4414, 切向力Y=-2080.0945
FPS=29.27, 法向力=3177.8496, 切向力X=32437.3770, 切向力Y=-1934.9338
FPS=26.69, 法向力=4721.7197, 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
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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
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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
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