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2026-06-08 17:52:48 +08:00
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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
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000495s, blend=0.002210s (9 tiles incl ref), finalize=0.000034s, total=0.002746s
FPS=45.79, 法向力=568.6055, 切向力X=272.5980, 切向力Y=167.8930
FPS=39.50, 法向力=471.2824, 切向力X=323.5005, 切向力Y=-44.3617
FPS=43.93, 法向力=558.7151, 切向力X=287.7775, 切向力Y=142.7548
FPS=43.78, 法向力=540.6609, 切向力X=230.7462, 切向力Y=163.5316
FPS=45.88, 法向力=565.6110, 切向力X=238.0070, 切向力Y=175.9729
FPS=39.46, 法向力=422.6593, 切向力X=391.3491, 切向力Y=94.5662
FPS=43.47, 法向力=585.3496, 切向力X=341.6766, 切向力Y=264.1044
FPS=41.75, 法向力=586.6017, 切向力X=400.8839, 切向力Y=220.4312
FPS=43.61, 法向力=662.0049, 切向力X=374.3545, 切向力Y=249.3468
FPS=42.47, 法向力=505.3251, 切向力X=403.4470, 切向力Y=123.5322
FPS=45.32, 法向力=588.0610, 切向力X=336.4493, 切向力Y=241.3057
FPS=40.12, 法向力=475.6929, 切向力X=331.1375, 切向力Y=220.2310
FPS=45.25, 法向力=503.4824, 切向力X=285.5004, 切向力Y=161.7040
FPS=41.25, 法向力=478.2920, 切向力X=285.2784, 切向力Y=172.7950
FPS=44.05, 法向力=437.3712, 切向力X=270.7783, 切向力Y=192.0098
FPS=40.07, 法向力=420.7048, 切向力X=301.3627, 切向力Y=226.3029
FPS=46.51, 法向力=417.1736, 切向力X=372.3672, 切向力Y=166.5096
FPS=37.93, 法向力=507.4414, 切向力X=552.4202, 切向力Y=167.9919
FPS=46.19, 法向力=498.2945, 切向力X=436.6678, 切向力Y=165.5333
FPS=40.12, 法向力=514.0458, 切向力X=335.3730, 切向力Y=85.0184
FPS=44.43, 法向力=529.2030, 切向力X=276.0751, 切向力Y=61.7947
FPS=41.74, 法向力=524.8873, 切向力X=359.9593, 切向力Y=-12.1547
FPS=46.41, 法向力=537.9604, 切向力X=252.5856, 切向力Y=159.1549
FPS=41.35, 法向力=571.8456, 切向力X=337.7609, 切向力Y=161.8762
FPS=45.64, 法向力=555.7119, 切向力X=266.8866, 切向力Y=164.7125
FPS=39.87, 法向力=535.4855, 切向力X=277.8946, 切向力Y=46.5788
FPS=44.80, 法向力=559.3605, 切向力X=238.1057, 切向力Y=195.1381
FPS=39.78, 法向力=516.4126, 切向力X=217.2286, 切向力Y=346.5672
FPS=38.92, 法向力=588.9673, 切向力X=342.7322, 切向力Y=321.4611
FPS=48.09, 法向力=683.4487, 切向力X=343.7098, 切向力Y=350.8336
stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000692s, blend=0.002380s (9 tiles incl ref), finalize=0.000044s, total=0.003122s
FPS=42.69, 法向力=769.2404, 切向力X=617.5995, 切向力Y=363.0291
FPS=45.83, 法向力=649.9167, 切向力X=595.3232, 切向力Y=450.2150
FPS=43.31, 法向力=569.0094, 切向力X=196.7768, 切向力Y=260.1696
FPS=42.64, 法向力=529.5283, 切向力X=427.7700, 切向力Y=187.7964
FPS=46.34, 法向力=620.9910, 切向力X=470.9977, 切向力Y=362.5057
FPS=40.63, 法向力=538.0060, 切向力X=528.8828, 切向力Y=177.2518
FPS=45.20, 法向力=610.8594, 切向力X=603.5106, 切向力Y=261.6980
FPS=38.92, 法向力=471.6226, 切向力X=606.6008, 切向力Y=186.6621
FPS=46.09, 法向力=603.7923, 切向力X=756.7799, 切向力Y=264.7291
FPS=37.96, 法向力=549.2095, 切向力X=684.6616, 切向力Y=190.7694
FPS=41.35, 法向力=546.4902, 切向力X=682.0063, 切向力Y=266.7512
FPS=43.96, 法向力=567.8000, 切向力X=345.6046, 切向力Y=43.0731
FPS=46.00, 法向力=570.8825, 切向力X=450.3533, 切向力Y=312.1612
FPS=39.32, 法向力=558.6213, 切向力X=414.3089, 切向力Y=342.2720
FPS=45.26, 法向力=602.7223, 切向力X=502.1807, 切向力Y=341.0464
FPS=39.60, 法向力=494.2397, 切向力X=486.9030, 切向力Y=217.4945
FPS=47.23, 法向力=582.1132, 切向力X=413.8570, 切向力Y=341.3521
FPS=38.23, 法向力=610.7207, 切向力X=355.3761, 切向力Y=326.8853
FPS=46.77, 法向力=639.1763, 切向力X=258.6659, 切向力Y=333.0007
FPS=40.79, 法向力=517.6953, 切向力X=244.2416, 切向力Y=151.2488
FPS=47.37, 法向力=621.6842, 切向力X=57.3351, 切向力Y=388.5969
FPS=36.71, 法向力=622.9959, 切向力X=149.3263, 切向力Y=338.4539
FPS=46.87, 法向力=746.6144, 切向力X=210.9105, 切向力Y=513.2103
FPS=39.93, 法向力=634.5822, 切向力X=178.9746, 切向力Y=406.7624
FPS=44.10, 法向力=743.4180, 切向力X=230.6239, 切向力Y=499.0047
FPS=39.88, 法向力=719.7740, 切向力X=205.4471, 切向力Y=521.3483
FPS=43.36, 法向力=702.1586, 切向力X=204.3511, 切向力Y=495.4223
FPS=40.72, 法向力=618.0647, 切向力X=294.0533, 切向力Y=336.6689
FPS=42.54, 法向力=736.3813, 切向力X=249.3685, 切向力Y=511.0523
FPS=41.53, 法向力=583.3094, 切向力X=224.3319, 切向力Y=351.2118
stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000504s, blend=0.002113s (9 tiles incl ref), finalize=0.000037s, total=0.002658s
FPS=45.23, 法向力=623.2451, 切向力X=182.5692, 切向力Y=477.2989
FPS=41.09, 法向力=609.5740, 切向力X=305.8061, 切向力Y=220.9017
FPS=47.22, 法向力=662.9365, 切向力X=443.3203, 切向力Y=410.4402
FPS=40.80, 法向力=592.5376, 切向力X=419.4721, 切向力Y=333.9359
FPS=43.22, 法向力=683.1903, 切向力X=334.6580, 切向力Y=418.6554
FPS=41.14, 法向力=581.5499, 切向力X=445.7567, 切向力Y=308.2603
FPS=43.73, 法向力=610.3835, 切向力X=585.1328, 切向力Y=408.6768
FPS=42.06, 法向力=614.8268, 切向力X=564.3998, 切向力Y=432.4708
FPS=45.85, 法向力=631.9410, 切向力X=547.0768, 切向力Y=473.6742
FPS=38.52, 法向力=706.2062, 切向力X=661.4744, 切向力Y=302.6249
FPS=45.60, 法向力=620.8787, 切向力X=524.3409, 切向力Y=418.1599
FPS=39.96, 法向力=577.1523, 切向力X=552.6842, 切向力Y=324.0674
FPS=46.26, 法向力=645.9526, 切向力X=576.6600, 切向力Y=393.0492
FPS=39.05, 法向力=539.5405, 切向力X=626.9824, 切向力Y=324.9747
FPS=44.50, 法向力=527.3308, 切向力X=572.7462, 切向力Y=358.7006
FPS=39.86, 法向力=553.2829, 切向力X=599.3344, 切向力Y=325.4390
FPS=45.66, 法向力=592.3361, 切向力X=569.5956, 切向力Y=326.5237
FPS=40.67, 法向力=610.7111, 切向力X=705.5946, 切向力Y=186.1048
FPS=45.60, 法向力=551.5270, 切向力X=601.6039, 切向力Y=264.9714
FPS=39.50, 法向力=605.1880, 切向力X=642.9263, 切向力Y=293.4079
FPS=45.60, 法向力=623.8354, 切向力X=689.1635, 切向力Y=458.6865
FPS=40.74, 法向力=569.1086, 切向力X=594.1580, 切向力Y=308.5825
FPS=43.84, 法向力=616.1683, 切向力X=688.7042, 切向力Y=424.6132
FPS=42.61, 法向力=630.4592, 切向力X=559.4407, 切向力Y=433.7709
FPS=46.14, 法向力=622.5220, 切向力X=586.6036, 切向力Y=425.1784
FPS=37.94, 法向力=564.8424, 切向力X=666.9243, 切向力Y=307.7978
FPS=45.68, 法向力=629.7678, 切向力X=684.9463, 切向力Y=361.2136
FPS=41.14, 法向力=659.6705, 切向力X=612.1937, 切向力Y=390.3911
FPS=44.33, 法向力=711.8871, 切向力X=615.4509, 切向力Y=246.7882
FPS=39.79, 法向力=566.3066, 切向力X=611.1641, 切向力Y=299.3917
stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000556s, blend=0.002198s (9 tiles incl ref), finalize=0.000036s, total=0.002796s
FPS=46.56, 法向力=653.8016, 切向力X=465.4891, 切向力Y=426.4581
FPS=40.51, 法向力=697.4188, 切向力X=436.8687, 切向力Y=479.3501
FPS=45.70, 法向力=707.3771, 切向力X=496.6282, 切向力Y=377.8919
FPS=41.02, 法向力=682.8165, 切向力X=608.0319, 切向力Y=412.9884
FPS=44.54, 法向力=648.6691, 切向力X=356.8365, 切向力Y=505.4372
FPS=40.25, 法向力=602.8429, 切向力X=461.0247, 切向力Y=498.4363
FPS=42.51, 法向力=650.9708, 切向力X=474.8199, 切向力Y=628.9572
FPS=43.47, 法向力=635.9630, 切向力X=440.7658, 切向力Y=384.9011
FPS=44.60, 法向力=627.1344, 切向力X=427.4706, 切向力Y=541.1582
FPS=39.80, 法向力=628.3753, 切向力X=430.2836, 切向力Y=546.5479
FPS=45.02, 法向力=654.1577, 切向力X=406.2562, 切向力Y=585.7947
FPS=41.12, 法向力=629.2462, 切向力X=420.4259, 切向力Y=451.9387
FPS=42.83, 法向力=693.7803, 切向力X=405.9173, 切向力Y=523.0993
FPS=41.45, 法向力=672.9835, 切向力X=344.4762, 切向力Y=493.8268
FPS=45.50, 法向力=670.7379, 切向力X=333.6069, 切向力Y=549.6329
FPS=38.96, 法向力=705.2637, 切向力X=340.2888, 切向力Y=529.2065
FPS=42.63, 法向力=622.8372, 切向力X=367.8373, 切向力Y=701.0034
FPS=41.93, 法向力=613.2911, 切向力X=521.6187, 切向力Y=580.8818
FPS=44.62, 法向力=568.6100, 切向力X=531.0119, 切向力Y=561.0576
FPS=40.49, 法向力=540.1454, 切向力X=462.2946, 切向力Y=481.8088
FPS=46.99, 法向力=556.4669, 切向力X=437.4654, 切向力Y=602.8076
FPS=38.28, 法向力=532.9940, 切向力X=545.9053, 切向力Y=576.8768
FPS=42.28, 法向力=560.1034, 切向力X=645.1957, 切向力Y=567.3347
FPS=42.53, 法向力=649.8829, 切向力X=675.1798, 切向力Y=370.3459
FPS=45.12, 法向力=725.4351, 切向力X=659.6755, 切向力Y=470.5816
FPS=41.08, 法向力=660.0835, 切向力X=581.1138, 切向力Y=482.1942
FPS=47.65, 法向力=642.5562, 切向力X=555.5911, 切向力Y=560.4667
FPS=39.07, 法向力=586.0741, 切向力X=628.7363, 切向力Y=450.5524
FPS=45.67, 法向力=708.1607, 切向力X=682.4357, 切向力Y=569.5519
FPS=37.82, 法向力=780.1033, 切向力X=542.9468, 切向力Y=578.7213
stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000533s, blend=0.002259s (9 tiles incl ref), finalize=0.000037s, total=0.002835s
FPS=44.51, 法向力=769.2520, 切向力X=645.3076, 切向力Y=540.6467
FPS=43.41, 法向力=732.6861, 切向力X=642.4462, 切向力Y=386.4663
FPS=44.31, 法向力=747.3169, 切向力X=588.0229, 切向力Y=547.6035
FPS=40.57, 法向力=797.4983, 切向力X=586.8685, 切向力Y=646.7316
FPS=44.82, 法向力=805.0825, 切向力X=683.1853, 切向力Y=630.6877
FPS=41.27, 法向力=751.4216, 切向力X=938.4174, 切向力Y=546.8762
FPS=40.65, 法向力=736.5542, 切向力X=895.7303, 切向力Y=635.3514
FPS=43.27, 法向力=765.4800, 切向力X=922.0410, 切向力Y=542.5935
FPS=46.35, 法向力=813.7000, 切向力X=775.9023, 切向力Y=577.6041
FPS=38.81, 法向力=741.4075, 切向力X=751.4556, 切向力Y=518.0625
FPS=43.44, 法向力=901.9480, 切向力X=502.8676, 切向力Y=660.2970
FPS=43.52, 法向力=876.9045, 切向力X=645.7397, 切向力Y=715.0559
FPS=44.47, 法向力=898.1700, 切向力X=589.2281, 切向力Y=770.8008
FPS=38.80, 法向力=732.5782, 切向力X=682.8356, 切向力Y=668.3383
FPS=43.67, 法向力=853.8188, 切向力X=767.9590, 切向力Y=842.0754
FPS=40.50, 法向力=851.3074, 切向力X=768.0813, 切向力Y=849.2695
FPS=44.83, 法向力=1044.9615, 切向力X=646.2385, 切向力Y=1051.4229
FPS=38.84, 法向力=925.5985, 切向力X=697.5657, 切向力Y=891.3080
FPS=39.52, 法向力=1691.9376, 切向力X=-655.7227, 切向力Y=1005.7686
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FPS=43.50, 法向力=2601.5024, 切向力X=-3613.9092, 切向力Y=3006.6870
FPS=41.97, 法向力=2922.6191, 切向力X=-4117.6216, 切向力Y=3634.7542
FPS=43.20, 法向力=3059.5215, 切向力X=-4289.8291, 切向力Y=3884.0913
FPS=40.29, 法向力=3150.4614, 切向力X=-4644.0020, 切向力Y=4304.6675
FPS=42.90, 法向力=3115.8813, 切向力X=-4720.9087, 切向力Y=4861.2446
FPS=41.76, 法向力=3160.1509, 切向力X=-4587.1724, 切向力Y=5088.4746
FPS=43.32, 法向力=3245.6924, 切向力X=-4527.5273, 切向力Y=5386.7412
FPS=41.22, 法向力=3420.1504, 切向力X=-4637.8652, 切向力Y=5646.2207
FPS=44.02, 法向力=3577.8008, 切向力X=-4392.2100, 切向力Y=5871.4575
FPS=39.59, 法向力=3969.1602, 切向力X=-5462.8179, 切向力Y=6588.2197
FPS=43.98, 法向力=4344.1562, 切向力X=-6056.9033, 切向力Y=7114.3975
FPS=41.37, 法向力=4521.2983, 切向力X=-6559.1660, 切向力Y=7712.5020
FPS=43.93, 法向力=4745.9580, 切向力X=-6590.7251, 切向力Y=8082.5547
FPS=40.36, 法向力=4681.6367, 切向力X=-6662.0308, 切向力Y=8256.8047
FPS=41.18, 法向力=4728.0840, 切向力X=-6451.2349, 切向力Y=7986.2158
FPS=45.02, 法向力=4525.0122, 切向力X=-6387.7148, 切向力Y=8055.1216
FPS=45.71, 法向力=4614.3809, 切向力X=-6273.7275, 切向力Y=7619.0293
FPS=41.05, 法向力=3997.3887, 切向力X=-5134.3208, 切向力Y=6647.4541
FPS=43.18, 法向力=3105.9233, 切向力X=-3248.4309, 切向力Y=5758.1440
FPS=41.44, 法向力=2820.1792, 切向力X=-2140.5205, 切向力Y=4910.7051
FPS=44.58, 法向力=2499.6167, 切向力X=-1263.4150, 切向力Y=4053.2114
stitch_feature_optimized: canvas out_w=599, out_h=658, x_min=-94.15, y_min=-121.35
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000462s, blend=0.002217s (9 tiles incl ref), finalize=0.000038s, total=0.002723s
FPS=39.16, 法向力=2436.6699, 切向力X=-1221.2988, 切向力Y=4062.2405
FPS=44.24, 法向力=2293.9360, 切向力X=-1009.5184, 切向力Y=3816.8501
FPS=40.35, 法向力=2241.2661, 切向力X=-908.6254, 切向力Y=3981.7373
FPS=44.71, 法向力=2100.5698, 切向力X=-610.2952, 切向力Y=3606.6082
FPS=39.96, 法向力=2048.9243, 切向力X=-303.7966, 切向力Y=4058.7029
FPS=45.13, 法向力=1882.4608, 切向力X=56.0178, 切向力Y=4045.1587
FPS=40.47, 法向力=1918.3275, 切向力X=299.9451, 切向力Y=4553.9692
FPS=44.78, 法向力=1940.5386, 切向力X=415.8433, 切向力Y=4534.2861
FPS=40.14, 法向力=2088.9299, 切向力X=244.4883, 切向力Y=5343.4272
FPS=42.59, 法向力=2055.8826, 切向力X=304.1616, 切向力Y=5417.1719
FPS=41.43, 法向力=2228.4438, 切向力X=446.6848, 切向力Y=5947.2363
FPS=45.30, 法向力=2295.7388, 切向力X=844.3535, 切向力Y=6108.8916
FPS=39.49, 法向力=2145.1196, 切向力X=1259.5179, 切向力Y=6452.3213
FPS=43.03, 法向力=2237.7483, 切向力X=1751.1931, 切向力Y=6304.3076
FPS=41.62, 法向力=2373.3174, 切向力X=2352.2925, 切向力Y=6457.3716
FPS=43.75, 法向力=2472.5703, 切向力X=3549.1306, 切向力Y=6569.3232
FPS=40.91, 法向力=2247.2417, 切向力X=3554.6030, 切向力Y=6255.0430
FPS=45.22, 法向力=2273.0386, 切向力X=3747.4500, 切向力Y=6071.1211
FPS=40.25, 法向力=2158.4080, 切向力X=3509.1484, 切向力Y=5690.2905
FPS=43.28, 法向力=2225.2764, 切向力X=2970.7202, 切向力Y=5454.1670
FPS=41.89, 法向力=2064.7100, 切向力X=1636.8068, 切向力Y=4537.6230
FPS=45.47, 法向力=1901.5669, 切向力X=769.1111, 切向力Y=3663.6980
FPS=39.96, 法向力=2025.4272, 切向力X=-383.4656, 切向力Y=3252.0527
FPS=46.77, 法向力=2133.9365, 切向力X=-1338.3733, 切向力Y=2690.1760
FPS=38.53, 法向力=2440.6270, 切向力X=-2442.0303, 切向力Y=2778.4424
FPS=43.20, 法向力=2441.4204, 切向力X=-2992.9314, 切向力Y=2302.5830
FPS=41.63, 法向力=2666.1458, 切向力X=-3513.6899, 切向力Y=2227.9304
FPS=47.35, 法向力=2544.8711, 切向力X=-3863.6362, 切向力Y=1969.7942
FPS=37.31, 法向力=3265.2861, 切向力X=-5682.6538, 切向力Y=2309.1851
FPS=42.79, 法向力=3770.5366, 切向力X=-6905.0391, 切向力Y=2447.9297
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
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FPS=38.49, 法向力=1470.6248, 切向力X=2895.0815, 切向力Y=3776.1787
FPS=48.05, 法向力=1474.6442, 切向力X=2911.0242, 切向力Y=3817.8857
FPS=38.69, 法向力=1378.5782, 切向力X=3062.5151, 切向力Y=2752.3208
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=0.000193s, blend=0.002174s (9 tiles incl ref), finalize=0.000047s, total=0.002419s
FPS=46.21, 法向力=1374.4663, 切向力X=3073.0276, 切向力Y=2739.0977
FPS=43.58, 法向力=1381.8816, 切向力X=3049.7163, 切向力Y=2698.6401
FPS=39.57, 法向力=1466.1228, 切向力X=2656.7573, 切向力Y=3424.1802
FPS=27.46, 法向力=1540.2888, 切向力X=2716.3799, 切向力Y=3382.5552
FPS=38.88, 法向力=1329.9501, 切向力X=2005.4852, 切向力Y=3488.7786
FPS=40.85, 法向力=1292.4807, 切向力X=2020.1641, 切向力Y=3428.0669
FPS=42.35, 法向力=1290.8439, 切向力X=2011.1478, 切向力Y=3429.3398
FPS=39.14, 法向力=1115.7725, 切向力X=2065.0735, 切向力Y=3075.5986
FPS=43.62, 法向力=1178.6062, 切向力X=2040.8230, 切向力Y=2912.6157
FPS=39.51, 法向力=1203.4528, 切向力X=2117.4856, 切向力Y=2929.6235
FPS=48.81, 法向力=1214.7006, 切向力X=2125.7324, 切向力Y=2939.1321
FPS=37.04, 法向力=1241.5902, 切向力X=2163.1169, 切向力Y=3105.9573
FPS=23.69, 法向力=1249.9130, 切向力X=2278.8948, 切向力Y=3111.1309
FPS=41.12, 法向力=1228.5930, 切向力X=2272.3394, 切向力Y=2868.9822
FPS=40.63, 法向力=1239.3953, 切向力X=2208.9526, 切向力Y=2895.9851
FPS=47.78, 法向力=1243.4648, 切向力X=2203.7063, 切向力Y=2910.3901
FPS=25.67, 法向力=1225.8108, 切向力X=2163.3315, 切向力Y=2864.9958
FPS=37.19, 法向力=1239.9985, 切向力X=2247.7678, 切向力Y=2804.3567
FPS=39.23, 法向力=1212.8552, 切向力X=1848.4929, 切向力Y=2966.6780
FPS=42.60, 法向力=1184.4397, 切向力X=1858.2402, 切向力Y=2953.2312
FPS=28.71, 法向力=1238.4028, 切向力X=1548.6948, 切向力Y=2789.4175
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
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examples/logs/plot_20260519_175139.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: 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
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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: 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
FPS=42.47, 法向力=1112.8000, 切向力X=649.6472, 切向力Y=-290.6820
FPS=42.13, 法向力=1130.3534, 切向力X=680.6464, 切向力Y=-348.6094
FPS=38.93, 法向力=1117.6082, 切向力X=676.3276, 切向力Y=-314.6881
FPS=42.61, 法向力=1197.4163, 切向力X=120.6389, 切向力Y=160.8086
FPS=41.72, 法向力=1257.8226, 切向力X=272.2395, 切向力Y=156.3450
FPS=42.17, 法向力=1251.8978, 切向力X=331.9527, 切向力Y=107.3747
FPS=43.40, 法向力=2674.8438, 切向力X=-134.6089, 切向力Y=-152.2067
FPS=44.34, 法向力=2687.8140, 切向力X=-111.7511, 切向力Y=-129.0750
FPS=47.96, 法向力=1522.3270, 切向力X=94.6786, 切向力Y=86.9945
FPS=49.49, 法向力=1581.0720, 切向力X=81.6768, 切向力Y=49.7968
FPS=43.00, 法向力=1571.8818, 切向力X=56.4068, 切向力Y=44.5360
FPS=35.17, 法向力=1265.5262, 切向力X=803.2302, 切向力Y=538.9907
FPS=32.27, 法向力=1235.9893, 切向力X=826.6854, 切向力Y=588.0931
FPS=31.17, 法向力=1431.3008, 切向力X=-16.4011, 切向力Y=-634.6710
FPS=30.76, 法向力=1507.5220, 切向力X=8.2602, 切向力Y=-777.7924
FPS=39.71, 法向力=1207.8263, 切向力X=-280.2910, 切向力Y=462.3206
FPS=45.44, 法向力=1208.4302, 切向力X=-251.7995, 切向力Y=502.3451
FPS=50.57, 法向力=1242.4082, 切向力X=-231.5647, 切向力Y=473.4583
FPS=27.83, 法向力=1877.5544, 切向力X=-389.8789, 切向力Y=-856.9761
FPS=41.94, 法向力=1099.1914, 切向力X=99.1293, 切向力Y=186.6510
FPS=38.07, 法向力=1029.8430, 切向力X=123.0897, 切向力Y=239.8387
FPS=43.95, 法向力=1072.8783, 切向力X=181.4605, 切向力Y=209.3608
FPS=41.08, 法向力=1262.8889, 切向力X=248.4125, 切向力Y=1529.1973
FPS=42.83, 法向力=1269.9818, 切向力X=260.5885, 切向力Y=1498.9375
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=0.000257s, blend=0.002922s (9 tiles incl ref), finalize=0.000063s, total=0.003247s
FPS=48.32, 法向力=1217.0621, 切向力X=252.6425, 切向力Y=1477.8625
FPS=40.90, 法向力=968.0432, 切向力X=-178.4875, 切向力Y=-608.3248
FPS=38.26, 法向力=1014.9576, 切向力X=-285.4710, 切向力Y=-710.3647
FPS=39.14, 法向力=1007.4672, 切向力X=34.6847, 切向力Y=90.6290
FPS=43.68, 法向力=1016.0555, 切向力X=12.3948, 切向力Y=48.6105
FPS=41.02, 法向力=1181.5378, 切向力X=387.2784, 切向力Y=-702.6882
FPS=46.44, 法向力=1205.6918, 切向力X=388.6022, 切向力Y=-713.9340
FPS=44.50, 法向力=1227.4209, 切向力X=347.4170, 切向力Y=-706.2283
FPS=46.36, 法向力=1383.9985, 切向力X=246.8673, 切向力Y=113.2743
FPS=45.52, 法向力=1351.2595, 切向力X=220.8835, 切向力Y=198.6864
FPS=33.57, 法向力=1370.4319, 切向力X=228.0956, 切向力Y=203.7497
FPS=11.81, 法向力=1120.5520, 切向力X=-575.5595, 切向力Y=-917.0818
FPS=40.13, 法向力=1121.8021, 切向力X=-652.2490, 切向力Y=-1064.6226
FPS=38.84, 法向力=1956.9243, 切向力X=196.0334, 切向力Y=-459.9698
FPS=45.88, 法向力=1953.7593, 切向力X=246.2457, 切向力Y=-454.3707
FPS=38.32, 法向力=1601.1038, 切向力X=23.5767, 切向力Y=-416.3753
FPS=49.30, 法向力=1629.1770, 切向力X=31.1471, 切向力Y=-546.9860
FPS=46.17, 法向力=1636.4725, 切向力X=63.6678, 切向力Y=-558.2455
FPS=45.57, 法向力=1383.8064, 切向力X=-568.0819, 切向力Y=10.8456
FPS=48.08, 法向力=1422.2600, 切向力X=-582.8696, 切向力Y=-24.3322
FPS=46.23, 法向力=1448.4388, 切向力X=-570.4658, 切向力Y=-73.5792
FPS=53.30, 法向力=1463.7600, 切向力X=229.6731, 切向力Y=-211.1659
FPS=47.42, 法向力=1464.6411, 切向力X=259.2452, 切向力Y=-135.7456
FPS=46.05, 法向力=1445.4993, 切向力X=228.7237, 切向力Y=-164.2309
FPS=40.22, 法向力=1237.3645, 切向力X=762.4139, 切向力Y=-503.3926
FPS=24.89, 法向力=1242.8751, 切向力X=745.0690, 切向力Y=-540.4650
FPS=40.23, 法向力=1198.1638, 切向力X=-137.9160, 切向力Y=718.1301
FPS=43.32, 法向力=1155.7480, 切向力X=-96.9462, 切向力Y=651.8037
FPS=48.74, 法向力=1287.7542, 切向力X=304.4974, 切向力Y=918.9614
FPS=41.86, 法向力=1272.3303, 切向力X=328.1284, 切向力Y=784.2525
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=0.000360s, blend=0.002204s (9 tiles incl ref), finalize=0.000059s, total=0.002629s
FPS=36.57, 法向力=1268.8293, 切向力X=256.9798, 切向力Y=869.1227
FPS=41.55, 法向力=1308.4751, 切向力X=569.8448, 切向力Y=-1015.9365
FPS=43.57, 法向力=1259.5181, 切向力X=622.3857, 切向力Y=-950.2397
FPS=39.40, 法向力=1525.4274, 切向力X=285.8839, 切向力Y=-317.3749
FPS=46.97, 法向力=1425.3389, 切向力X=134.7373, 切向力Y=-239.9707
FPS=44.52, 法向力=1435.8094, 切向力X=121.7803, 切向力Y=-225.1216
FPS=38.67, 法向力=1686.4119, 切向力X=303.6521, 切向力Y=-287.5224
FPS=45.14, 法向力=1806.7751, 切向力X=375.4529, 切向力Y=-424.0426
FPS=48.26, 法向力=1821.4829, 切向力X=333.2890, 切向力Y=-414.8043
FPS=49.57, 法向力=1901.2958, 切向力X=-541.0944, 切向力Y=-282.7004
FPS=45.09, 法向力=1860.0903, 切向力X=-611.4348, 切向力Y=-442.4641
FPS=52.54, 法向力=1913.1372, 切向力X=-536.1819, 切向力Y=-345.5545
FPS=45.37, 法向力=1282.5826, 切向力X=426.4080, 切向力Y=1107.7358
FPS=42.42, 法向力=1414.8137, 切向力X=555.4744, 切向力Y=1164.0881
FPS=43.23, 法向力=1636.7740, 切向力X=1017.0887, 切向力Y=285.5198
FPS=44.52, 法向力=1682.9109, 切向力X=1013.6989, 切向力Y=309.3153
FPS=31.50, 法向力=1415.4260, 切向力X=-221.1205, 切向力Y=-370.4922
FPS=34.79, 法向力=1392.3223, 切向力X=-370.7291, 切向力Y=-368.2462
FPS=35.48, 法向力=1381.9001, 切向力X=-378.5469, 切向力Y=-360.7653
FPS=44.61, 法向力=1335.5349, 切向力X=448.5328, 切向力Y=65.1165
FPS=41.62, 法向力=1402.0435, 切向力X=379.4181, 切向力Y=57.5490
FPS=40.06, 法向力=1260.9326, 切向力X=207.2579, 切向力Y=328.7548
FPS=42.43, 法向力=1297.9985, 切向力X=98.6965, 切向力Y=354.8316
FPS=35.24, 法向力=1315.2969, 切向力X=346.3015, 切向力Y=1094.5389
FPS=29.86, 法向力=1305.2716, 切向力X=313.6124, 切向力Y=1069.2092
FPS=37.12, 法向力=1733.1313, 切向力X=407.9584, 切向力Y=-37.1834
FPS=47.50, 法向力=1707.0804, 切向力X=370.1536, 切向力Y=13.0854
FPS=46.07, 法向力=1695.1401, 切向力X=364.4514, 切向力Y=10.0899
FPS=40.09, 法向力=1119.8318, 切向力X=647.7222, 切向力Y=66.2754
FPS=45.31, 法向力=1122.2515, 切向力X=575.1404, 切向力Y=125.3186
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=0.000271s, blend=0.002238s (9 tiles incl ref), finalize=0.000061s, total=0.002577s
FPS=39.19, 法向力=1110.4385, 切向力X=578.6868, 切向力Y=103.2361
FPS=41.90, 法向力=1770.8044, 切向力X=505.3468, 切向力Y=-30.2662
FPS=43.84, 法向力=1752.4602, 切向力X=409.0413, 切向力Y=-19.5643
FPS=43.31, 法向力=1420.8375, 切向力X=-646.9136, 切向力Y=-77.8711
FPS=45.89, 法向力=1386.7288, 切向力X=-838.2748, 切向力Y=0.3631
FPS=40.81, 法向力=1412.1621, 切向力X=-864.6887, 切向力Y=-7.4938
FPS=44.61, 法向力=991.3584, 切向力X=702.0036, 切向力Y=-619.5603
FPS=42.30, 法向力=983.0992, 切向力X=768.5955, 切向力Y=-607.0224
FPS=25.75, 法向力=1243.9739, 切向力X=-302.2937, 切向力Y=66.8123
FPS=42.26, 法向力=1374.5874, 切向力X=-131.2808, 切向力Y=-51.2900
FPS=48.65, 法向力=1909.6233, 切向力X=418.8969, 切向力Y=-486.0941
FPS=43.75, 法向力=1931.4375, 切向力X=411.8350, 切向力Y=-468.8712
FPS=52.61, 法向力=1894.9495, 切向力X=409.9143, 切向力Y=-436.9997
FPS=42.03, 法向力=1446.4368, 切向力X=560.3004, 切向力Y=6.0505
FPS=53.66, 法向力=1425.8717, 切向力X=498.7820, 切向力Y=-33.7844
FPS=44.43, 法向力=1421.0787, 切向力X=487.5871, 切向力Y=23.7296
FPS=41.07, 法向力=1250.6995, 切向力X=-134.1616, 切向力Y=-699.2563
FPS=44.99, 法向力=1195.1113, 切向力X=-179.0423, 切向力Y=-706.1276
FPS=49.36, 法向力=1142.2257, 切向力X=-198.5545, 切向力Y=-651.0198
FPS=39.83, 法向力=1442.8500, 切向力X=444.1367, 切向力Y=-653.5461
FPS=29.94, 法向力=1441.4500, 切向力X=432.5766, 切向力Y=-649.6972
FPS=38.39, 法向力=1379.2910, 切向力X=732.7904, 切向力Y=-140.2245
FPS=44.73, 法向力=1467.3713, 切向力X=753.9971, 切向力Y=-244.3320
FPS=40.73, 法向力=1528.9711, 切向力X=-1138.5388, 切向力Y=349.6744
FPS=44.56, 法向力=1496.2139, 切向力X=-1191.9360, 切向力Y=376.9520
FPS=50.78, 法向力=1491.5972, 切向力X=-1187.8176, 切向力Y=457.2949
FPS=44.22, 法向力=990.4379, 切向力X=367.8112, 切向力Y=-105.0769
FPS=29.85, 法向力=983.3870, 切向力X=341.2602, 切向力Y=-10.2007
FPS=46.44, 法向力=1312.8049, 切向力X=464.7234, 切向力Y=-642.8719
FPS=44.71, 法向力=1333.5812, 切向力X=482.5517, 切向力Y=-653.0536
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000532s, blend=0.002525s (9 tiles incl ref), finalize=0.000064s, total=0.003129s
FPS=26.69, 法向力=1239.1772, 切向力X=294.0899, 切向力Y=480.7628
FPS=40.62, 法向力=1294.6366, 切向力X=328.8021, 切向力Y=407.6120
FPS=41.69, 法向力=1693.7421, 切向力X=755.1652, 切向力Y=598.2183
FPS=42.31, 法向力=1708.2307, 切向力X=754.1370, 切向力Y=571.9681
FPS=46.89, 法向力=1733.0786, 切向力X=746.6871, 切向力Y=580.5729
FPS=39.57, 法向力=1798.3181, 切向力X=163.3699, 切向力Y=720.3599
FPS=43.92, 法向力=1708.8113, 切向力X=200.8147, 切向力Y=664.7965
FPS=38.13, 法向力=1773.1770, 切向力X=148.4408, 切向力Y=748.4823
FPS=44.26, 法向力=1178.1609, 切向力X=-470.0042, 切向力Y=-165.4675
FPS=42.03, 法向力=1193.3643, 切向力X=-500.8464, 切向力Y=-344.1499
FPS=43.41, 法向力=1439.2531, 切向力X=-105.6099, 切向力Y=-487.3675
FPS=39.29, 法向力=1460.0039, 切向力X=19.2390, 切向力Y=-561.4825
FPS=36.02, 法向力=1137.8320, 切向力X=-309.9969, 切向力Y=-1005.7189
FPS=52.47, 法向力=1144.6937, 切向力X=-368.8009, 切向力Y=-1039.1116
FPS=46.63, 法向力=1128.5679, 切向力X=-348.0337, 切向力Y=-992.7451
FPS=36.15, 法向力=1549.2629, 切向力X=32.4907, 切向力Y=153.5206
FPS=45.43, 法向力=1581.1680, 切向力X=-12.3679, 切向力Y=212.1506
FPS=41.96, 法向力=1578.8516, 切向力X=-26.5614, 切向力Y=108.8710
FPS=46.16, 法向力=1069.1423, 切向力X=671.0996, 切向力Y=215.0388
FPS=38.85, 法向力=1059.0511, 切向力X=524.6490, 切向力Y=235.8344
FPS=43.15, 法向力=1420.7949, 切向力X=127.3260, 切向力Y=-119.3705
FPS=40.93, 法向力=1369.4429, 切向力X=36.6887, 切向力Y=-105.1968
FPS=43.84, 法向力=1662.0729, 切向力X=740.3271, 切向力Y=-561.3011
FPS=39.80, 法向力=1704.1068, 切向力X=762.7438, 切向力Y=-618.6396
FPS=44.84, 法向力=1678.2505, 切向力X=731.9282, 切向力Y=-604.8079
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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
FPS=33.80, 法向力=1247.8223, 切向力X=-514.1991, 切向力Y=-1389.4697
FPS=25.19, 法向力=1261.7919, 切向力X=-408.0992, 切向力Y=-1364.8468
FPS=33.48, 法向力=1936.2748, 切向力X=-494.2993, 切向力Y=-930.1176
FPS=37.76, 法向力=1916.4548, 切向力X=-465.7533, 切向力Y=-879.2223
FPS=44.10, 法向力=2097.3911, 切向力X=-160.0931, 切向力Y=-1219.7667
FPS=46.89, 法向力=2139.5854, 切向力X=-152.0510, 切向力Y=-1221.1705
FPS=41.43, 法向力=2136.9702, 切向力X=-241.0235, 切向力Y=-1272.5168
FPS=35.05, 法向力=2064.6763, 切向力X=-618.5793, 切向力Y=-1537.5552
FPS=37.75, 法向力=2104.7803, 切向力X=-618.0910, 切向力Y=-1344.5205
FPS=37.11, 法向力=2098.8472, 切向力X=-628.6880, 切向力Y=-1194.0886
FPS=22.98, 法向力=2740.2200, 切向力X=-271.6731, 切向力Y=-1974.2402
FPS=46.34, 法向力=1293.4448, 切向力X=-375.7171, 切向力Y=-909.4243
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FPS=32.56, 法向力=1219.6597, 切向力X=30.2821, 切向力Y=540.3250
FPS=38.37, 法向力=1212.3134, 切向力X=151.5412, 切向力Y=525.3938
FPS=45.57, 法向力=1878.0555, 切向力X=-334.0711, 切向力Y=-1233.6331
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FPS=44.20, 法向力=1157.5793, 切向力X=-527.1757, 切向力Y=-1141.1027
FPS=36.23, 法向力=1616.5486, 切向力X=57.1928, 切向力Y=-514.2873
FPS=47.29, 法向力=1629.6138, 切向力X=24.7383, 切向力Y=-573.4175
FPS=34.57, 法向力=1631.8738, 切向力X=-9.9358, 切向力Y=-685.3813
FPS=27.61, 法向力=2104.4062, 切向力X=-809.4086, 切向力Y=-1374.1569
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FPS=22.68, 法向力=1649.3435, 切向力X=-798.0945, 切向力Y=-646.3885
FPS=46.73, 法向力=1718.1409, 切向力X=-791.0502, 切向力Y=-662.4163
FPS=36.56, 法向力=3862.6140, 切向力X=-359.7504, 切向力Y=-1269.4104
FPS=41.79, 法向力=3903.9607, 切向力X=-359.5303, 切向力Y=-1161.4608
FPS=35.81, 法向力=1001.0420, 切向力X=-140.2276, 切向力Y=-695.0411
FPS=49.62, 法向力=1068.7061, 切向力X=-115.4396, 切向力Y=-757.0610
FPS=40.38, 法向力=1070.1117, 切向力X=-108.0470, 切向力Y=-760.7629
FPS=26.54, 法向力=1686.5823, 切向力X=-110.0919, 切向力Y=-1120.3473
FPS=38.71, 法向力=1648.3472, 切向力X=30.7396, 切向力Y=-1118.5524
FPS=44.93, 法向力=1635.2859, 切向力X=28.2987, 切向力Y=-1112.9934
FPS=39.88, 法向力=1333.0692, 切向力X=-981.7482, 切向力Y=-543.3253
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FPS=38.47, 法向力=1336.9751, 切向力X=506.7483, 切向力Y=-685.1981
FPS=35.84, 法向力=1402.1912, 切向力X=571.2245, 切向力Y=-705.8870
FPS=42.28, 法向力=1401.6969, 切向力X=556.7795, 切向力Y=-640.4523
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FPS=41.45, 法向力=1314.9297, 切向力X=-805.2390, 切向力Y=-158.3209
FPS=39.91, 法向力=1480.8718, 切向力X=-499.5907, 切向力Y=-1638.3010
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FPS=48.62, 法向力=1246.2252, 切向力X=-1.6298, 切向力Y=-459.3607
FPS=42.29, 法向力=1258.4077, 切向力X=-78.3788, 切向力Y=-533.3998
FPS=39.59, 法向力=1262.0410, 切向力X=-43.3227, 切向力Y=-577.5261
FPS=35.85, 法向力=1430.9121, 切向力X=-181.7516, 切向力Y=-1318.9342
FPS=51.87, 法向力=1444.7498, 切向力X=-230.7101, 切向力Y=-1230.2592
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FPS=43.97, 法向力=2760.8926, 切向力X=290.4601, 切向力Y=-2221.6655
FPS=24.65, 法向力=2623.4233, 切向力X=332.3273, 切向力Y=-2110.8684
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FPS=35.69, 法向力=1269.1973, 切向力X=299.5914, 切向力Y=-448.2593
FPS=27.69, 法向力=1076.2468, 切向力X=-156.2209, 切向力Y=-1830.0742
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FPS=42.69, 法向力=2267.2407, 切向力X=-969.0139, 切向力Y=-918.6372
FPS=39.66, 法向力=2315.8572, 切向力X=-923.8372, 切向力Y=-967.4497
FPS=40.11, 法向力=1549.9878, 切向力X=-701.6760, 切向力Y=-1308.2581
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FPS=28.56, 法向力=1972.3048, 切向力X=-180.1217, 切向力Y=-54.2870
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FPS=47.69, 法向力=2015.9255, 切向力X=-731.9031, 切向力Y=-2272.1628
FPS=49.89, 法向力=1954.3790, 切向力X=-778.5635, 切向力Y=-2264.2407
FPS=35.04, 法向力=1993.1455, 切向力X=-767.8335, 切向力Y=-2273.6316
FPS=23.46, 法向力=1827.5259, 切向力X=-726.5335, 切向力Y=-1040.4836
FPS=42.87, 法向力=1874.9297, 切向力X=-697.6926, 切向力Y=-1059.4675
FPS=37.92, 法向力=1884.7987, 切向力X=-690.5093, 切向力Y=-1048.5403
FPS=47.21, 法向力=1602.0291, 切向力X=-797.0104, 切向力Y=-1545.1970
FPS=43.00, 法向力=1507.3657, 切向力X=-808.8608, 切向力Y=-1436.5370
FPS=40.20, 法向力=1171.3872, 切向力X=-843.6021, 切向力Y=-658.6179
FPS=44.08, 法向力=1195.8347, 切向力X=-812.9445, 切向力Y=-663.9857
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FPS=44.54, 法向力=1771.9431, 切向力X=-532.8730, 切向力Y=-1459.8918
FPS=42.23, 法向力=1775.0818, 切向力X=-533.6107, 切向力Y=-1434.9943
FPS=41.05, 法向力=2253.0732, 切向力X=-869.6805, 切向力Y=2006.8145
FPS=34.55, 法向力=2247.5459, 切向力X=-820.3412, 切向力Y=2128.3535
FPS=52.47, 法向力=2243.5251, 切向力X=-773.3605, 切向力Y=2119.1714
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FPS=41.62, 法向力=1455.7263, 切向力X=-480.5224, 切向力Y=-355.4812
FPS=44.17, 法向力=1470.6316, 切向力X=-506.3634, 切向力Y=-367.9781
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FPS=44.72, 法向力=1615.1077, 切向力X=-702.2222, 切向力Y=-988.3263
FPS=39.27, 法向力=1690.1689, 切向力X=-1454.8042, 切向力Y=-1583.2521
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FPS=43.99, 法向力=844.5029, 切向力X=-1367.7191, 切向力Y=-1412.5942
FPS=45.95, 法向力=817.7358, 切向力X=-1347.2307, 切向力Y=-1361.0085
FPS=36.89, 法向力=832.3810, 切向力X=-1329.1694, 切向力Y=-1403.3936
FPS=42.94, 法向力=1071.1755, 切向力X=-490.6451, 切向力Y=-2030.7152
FPS=43.69, 法向力=1095.3517, 切向力X=-502.6898, 切向力Y=-1970.2153
FPS=39.62, 法向力=1835.3499, 切向力X=-1810.4448, 切向力Y=-2642.2639
FPS=47.09, 法向力=1806.1560, 切向力X=-1790.7390, 切向力Y=-2531.5479
stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000335s, blend=0.002097s (9 tiles incl ref), finalize=0.000046s, total=0.002484s
FPS=45.52, 法向力=1804.7277, 切向力X=-1828.4409, 切向力Y=-2507.5762
FPS=22.15, 法向力=1399.6362, 切向力X=-1889.3853, 切向力Y=-1574.6781
FPS=24.60, 法向力=1385.9269, 切向力X=-1848.5144, 切向力Y=-1543.5991
FPS=20.94, 法向力=1470.0530, 切向力X=-2133.0786, 切向力Y=-1036.2828
FPS=21.08, 法向力=1586.2446, 切向力X=-1953.5981, 切向力Y=-1084.7893
FPS=32.72, 法向力=1587.4508, 切向力X=-1938.9102, 切向力Y=-1119.3450
Traceback (most recent call last):
File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in <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
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@@ -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
FPS=40.98, 法向力=1655.5850, 切向力X=1134.4728, 切向力Y=12.7450
FPS=39.66, 法向力=1054.4913, 切向力X=760.5929, 切向力Y=-347.2596
FPS=45.33, 法向力=1046.2606, 切向力X=766.3093, 切向力Y=-408.9590
FPS=42.88, 法向力=1046.6895, 切向力X=786.0327, 切向力Y=-411.9488
FPS=42.29, 法向力=1252.1602, 切向力X=882.5988, 切向力Y=-585.3132
FPS=43.34, 法向力=1247.6097, 切向力X=871.2023, 切向力Y=-546.0094
FPS=43.89, 法向力=1252.7189, 切向力X=815.6653, 切向力Y=-555.4473
FPS=43.40, 法向力=1353.9788, 切向力X=686.9148, 切向力Y=-170.7378
FPS=43.47, 法向力=1369.8993, 切向力X=676.5228, 切向力Y=-99.7433
FPS=42.10, 法向力=1326.9358, 切向力X=1132.8611, 切向力Y=-492.7882
FPS=44.31, 法向力=1337.5430, 切向力X=1105.6553, 切向力Y=-529.5557
FPS=42.57, 法向力=1339.8247, 切向力X=1104.9956, 切向力Y=-530.4569
FPS=42.39, 法向力=1511.4893, 切向力X=1156.6713, 切向力Y=394.5308
FPS=44.43, 法向力=1537.2958, 切向力X=1037.2136, 切向力Y=398.2869
FPS=38.68, 法向力=1361.6420, 切向力X=313.6488, 切向力Y=114.0668
FPS=45.26, 法向力=1324.5566, 切向力X=330.2684, 切向力Y=18.7059
FPS=42.80, 法向力=1313.8438, 切向力X=315.8364, 切向力Y=43.6097
FPS=41.39, 法向力=1290.5209, 切向力X=1289.7692, 切向力Y=46.4147
FPS=44.27, 法向力=1288.0901, 切向力X=1347.7006, 切向力Y=42.6446
FPS=41.86, 法向力=1204.0159, 切向力X=1110.3165, 切向力Y=545.3887
FPS=44.12, 法向力=1215.8075, 切向力X=1039.6038, 切向力Y=520.5497
stitch_feature_optimized: canvas out_w=547, out_h=419, x_min=-143.27, y_min=-84.06
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000256s, blend=0.002172s (9 tiles incl ref), finalize=0.000071s, total=0.002505s
FPS=45.26, 法向力=1216.4546, 切向力X=1055.7739, 切向力Y=556.9720
FPS=42.98, 法向力=1477.7156, 切向力X=526.1316, 切向力Y=259.1339
FPS=45.21, 法向力=1511.9188, 切向力X=491.8448, 切向力Y=245.8410
FPS=41.21, 法向力=1515.7915, 切向力X=521.8038, 切向力Y=220.8559
FPS=43.67, 法向力=1217.0562, 切向力X=1061.9551, 切向力Y=-303.4340
FPS=46.33, 法向力=1201.6450, 切向力X=1092.9136, 切向力Y=-306.7434
FPS=42.84, 法向力=1214.4900, 切向力X=1079.3564, 切向力Y=-308.1870
FPS=43.58, 法向力=1266.0875, 切向力X=1024.5405, 切向力Y=-20.3008
FPS=42.66, 法向力=1232.2925, 切向力X=940.5222, 切向力Y=-38.1773
FPS=44.58, 法向力=1900.2955, 切向力X=688.9630, 切向力Y=834.3033
FPS=43.75, 法向力=1894.0853, 切向力X=740.3516, 切向力Y=788.7021
FPS=42.58, 法向力=1289.6252, 切向力X=962.0010, 切向力Y=62.7905
FPS=46.29, 法向力=1244.9421, 切向力X=1042.8862, 切向力Y=-54.2329
FPS=45.62, 法向力=1227.5359, 切向力X=1050.1472, 切向力Y=-117.3800
FPS=40.07, 法向力=1434.0267, 切向力X=1037.5779, 切向力Y=-160.1102
FPS=48.08, 法向力=1459.4634, 切向力X=1105.9062, 切向力Y=-107.3729
FPS=47.02, 法向力=1435.2426, 切向力X=1119.1904, 切向力Y=-8.2845
FPS=43.30, 法向力=1344.9508, 切向力X=2059.3257, 切向力Y=286.1232
FPS=45.53, 法向力=1366.8125, 切向力X=2098.8777, 切向力Y=191.4907
FPS=38.20, 法向力=1376.3114, 切向力X=381.5938, 切向力Y=-73.8008
FPS=46.83, 法向力=1385.3641, 切向力X=496.7369, 切向力Y=-107.4198
FPS=45.44, 法向力=1378.0853, 切向力X=426.8227, 切向力Y=-135.1421
FPS=45.11, 法向力=1522.6335, 切向力X=749.1484, 切向力Y=-653.9492
FPS=43.23, 法向力=1523.5692, 切向力X=662.5051, 切向力Y=-611.6240
FPS=41.56, 法向力=1565.7017, 切向力X=685.1923, 切向力Y=-666.1814
FPS=42.43, 法向力=1539.2271, 切向力X=1497.9437, 切向力Y=883.2042
FPS=43.14, 法向力=1540.3281, 切向力X=1555.0254, 切向力Y=924.6943
FPS=40.60, 法向力=1207.8640, 切向力X=783.8453, 切向力Y=401.6807
FPS=43.63, 法向力=1183.9227, 切向力X=664.2048, 切向力Y=316.5491
FPS=42.29, 法向力=981.7074, 切向力X=1245.8445, 切向力Y=404.3235
stitch_feature_optimized: canvas out_w=547, out_h=419, x_min=-143.27, y_min=-84.06
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000260s, blend=0.002179s (9 tiles incl ref), finalize=0.000057s, total=0.002502s
FPS=42.57, 法向力=962.7616, 切向力X=1315.6958, 切向力Y=440.8791
FPS=44.38, 法向力=959.1605, 切向力X=1321.0092, 切向力Y=405.5742
FPS=42.67, 法向力=1349.0383, 切向力X=1244.5226, 切向力Y=-428.4382
FPS=43.55, 法向力=1339.6532, 切向力X=1255.2993, 切向力Y=-466.2717
FPS=43.21, 法向力=1347.4178, 切向力X=1275.3020, 切向力Y=-455.8780
FPS=43.52, 法向力=1217.8032, 切向力X=1509.7061, 切向力Y=1168.3638
FPS=43.72, 法向力=1222.4904, 切向力X=1561.7429, 切向力Y=1135.8633
FPS=45.39, 法向力=1235.7836, 切向力X=1549.1736, 切向力Y=1154.0789
FPS=41.75, 法向力=1517.4191, 切向力X=853.9944, 切向力Y=-99.5983
FPS=44.99, 法向力=1556.1108, 切向力X=744.3585, 切向力Y=-49.4524
FPS=42.76, 法向力=1082.7476, 切向力X=1671.7959, 切向力Y=46.9428
FPS=45.86, 法向力=1093.2845, 切向力X=1640.6826, 切向力Y=1.3148
FPS=46.28, 法向力=1108.4399, 切向力X=1544.9949, 切向力Y=-42.0300
FPS=40.32, 法向力=1481.0206, 切向力X=1210.3997, 切向力Y=406.7337
FPS=46.36, 法向力=1468.2821, 切向力X=1183.0969, 切向力Y=419.8605
FPS=42.86, 法向力=1448.2844, 切向力X=1168.1975, 切向力Y=351.4846
FPS=44.57, 法向力=1225.1074, 切向力X=1088.1360, 切向力Y=225.0134
FPS=45.46, 法向力=1245.8325, 切向力X=1071.6960, 切向力Y=169.8702
FPS=42.50, 法向力=1256.9500, 切向力X=1656.9592, 切向力Y=-62.9229
FPS=45.04, 法向力=1220.8740, 切向力X=1638.2341, 切向力Y=-93.6835
FPS=43.38, 法向力=1211.7212, 切向力X=1022.7519, 切向力Y=-71.4767
FPS=44.78, 法向力=1198.9304, 切向力X=941.1443, 切向力Y=-112.6786
FPS=46.48, 法向力=1203.2712, 切向力X=914.0528, 切向力Y=-110.7006
FPS=43.40, 法向力=1289.8704, 切向力X=1322.7153, 切向力Y=257.4377
FPS=46.75, 法向力=1339.0127, 切向力X=1199.5129, 切向力Y=179.3101
FPS=46.07, 法向力=1343.0476, 切向力X=1224.2921, 切向力Y=252.5885
FPS=39.51, 法向力=1380.9705, 切向力X=1542.1499, 切向力Y=-112.7774
FPS=44.85, 法向力=1337.8871, 切向力X=1511.5068, 切向力Y=-225.1107
FPS=44.13, 法向力=1343.9272, 切向力X=1507.8489, 切向力Y=-144.8494
FPS=41.60, 法向力=1145.2111, 切向力X=1292.4871, 切向力Y=281.5885
stitch_feature_optimized: canvas out_w=547, out_h=419, x_min=-143.27, y_min=-84.06
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000269s, blend=0.002172s (9 tiles incl ref), finalize=0.000055s, total=0.002503s
FPS=45.25, 法向力=1218.8425, 切向力X=1144.9402, 切向力Y=354.4307
FPS=40.28, 法向力=1297.6371, 切向力X=1537.3579, 切向力Y=42.3184
FPS=47.03, 法向力=1248.5852, 切向力X=1527.0942, 切向力Y=42.0418
FPS=42.58, 法向力=1243.4613, 切向力X=1561.3304, 切向力Y=-49.1465
FPS=42.50, 法向力=1446.7794, 切向力X=1033.7113, 切向力Y=83.4640
FPS=44.73, 法向力=1490.9695, 切向力X=1001.6469, 切向力Y=-4.8551
FPS=44.20, 法向力=1488.5503, 切向力X=992.8765, 切向力Y=89.2577
FPS=43.50, 法向力=1360.7749, 切向力X=1230.0345, 切向力Y=291.9901
FPS=46.56, 法向力=1341.7550, 切向力X=1245.1932, 切向力Y=461.7107
FPS=41.34, 法向力=1317.6819, 切向力X=1244.6218, 切向力Y=371.9216
FPS=46.12, 法向力=1450.3893, 切向力X=538.3428, 切向力Y=-598.0688
FPS=43.04, 法向力=1391.0643, 切向力X=559.1046, 切向力Y=-616.8949
FPS=45.53, 法向力=1369.4751, 切向力X=1541.8086, 切向力Y=-190.4473
FPS=42.92, 法向力=1297.0737, 切向力X=1656.2490, 切向力Y=-203.0449
FPS=42.17, 法向力=843.8433, 切向力X=1470.5690, 切向力Y=-133.9257
FPS=44.13, 法向力=865.7562, 切向力X=1429.8866, 切向力Y=-149.0849
FPS=47.67, 法向力=875.8274, 切向力X=1414.2305, 切向力Y=-151.7066
FPS=39.91, 法向力=1532.4264, 切向力X=1587.6216, 切向力Y=852.8715
FPS=46.63, 法向力=1572.3094, 切向力X=1570.5264, 切向力Y=793.1334
FPS=45.43, 法向力=1599.3394, 切向力X=1591.4873, 切向力Y=778.6315
FPS=40.34, 法向力=1134.9739, 切向力X=852.9014, 切向力Y=670.9267
FPS=46.13, 法向力=1124.2266, 切向力X=794.0354, 切向力Y=836.7852
FPS=42.53, 法向力=1128.9169, 切向力X=1638.6350, 切向力Y=48.5726
FPS=46.02, 法向力=1171.0562, 切向力X=1544.3408, 切向力Y=69.3969
FPS=44.92, 法向力=1165.3691, 切向力X=1523.2046, 切向力Y=58.8133
FPS=41.04, 法向力=1086.1946, 切向力X=661.1969, 切向力Y=817.6193
FPS=44.95, 法向力=1127.6521, 切向力X=576.7140, 切向力Y=869.9522
FPS=43.45, 法向力=1132.3851, 切向力X=587.7115, 切向力Y=878.0184
FPS=44.39, 法向力=1533.6123, 切向力X=1965.0730, 切向力Y=292.3821
FPS=47.60, 法向力=1497.2704, 切向力X=1972.8862, 切向力Y=261.1792
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=0.000243s, blend=0.002412s (9 tiles incl ref), finalize=0.000132s, total=0.002793s
FPS=44.87, 法向力=1503.3514, 切向力X=2013.7343, 切向力Y=264.6991
FPS=44.40, 法向力=1349.4758, 切向力X=982.1843, 切向力Y=247.5697
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
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FPS=44.69, 法向力=1448.8197, 切向力X=2629.8557, 切向力Y=1418.9260
FPS=41.01, 法向力=1484.1494, 切向力X=2640.2007, 切向力Y=1437.9668
FPS=43.22, 法向力=1577.1902, 切向力X=3538.0615, 切向力Y=467.4699
FPS=39.56, 法向力=1610.4639, 切向力X=3553.6753, 切向力Y=477.2623
FPS=42.64, 法向力=1809.4275, 切向力X=1556.6233, 切向力Y=1318.7839
FPS=43.43, 法向力=1780.2292, 切向力X=1577.7554, 切向力Y=1388.8009
FPS=40.10, 法向力=1721.1819, 切向力X=2120.2654, 切向力Y=926.3441
FPS=42.75, 法向力=1761.4673, 切向力X=2148.4746, 切向力Y=847.3872
FPS=41.28, 法向力=1732.9822, 切向力X=2164.8962, 切向力Y=861.2581
FPS=38.93, 法向力=1879.2363, 切向力X=1834.7013, 切向力Y=669.4742
FPS=44.15, 法向力=1882.3259, 切向力X=1803.3392, 切向力Y=664.3202
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=0.000276s, blend=0.002287s (9 tiles incl ref), finalize=0.000093s, total=0.002662s
FPS=40.92, 法向力=2338.7441, 切向力X=1350.2340, 切向力Y=523.2244
FPS=44.15, 法向力=2450.1389, 切向力X=1124.5889, 切向力Y=516.1978
FPS=41.80, 法向力=2466.2761, 切向力X=1100.8781, 切向力Y=593.2064
FPS=42.38, 法向力=1918.5723, 切向力X=2534.4497, 切向力Y=-959.0060
FPS=44.40, 法向力=1870.3853, 切向力X=2629.5840, 切向力Y=-847.4406
FPS=40.52, 法向力=2054.7646, 切向力X=2541.6372, 切向力Y=833.9818
FPS=41.44, 法向力=2084.4697, 切向力X=2722.0718, 切向力Y=806.5970
FPS=44.49, 法向力=2068.8574, 切向力X=2707.3994, 切向力Y=778.6152
FPS=40.77, 法向力=2103.5562, 切向力X=1929.6343, 切向力Y=1202.3103
FPS=45.11, 法向力=2124.2847, 切向力X=1860.4878, 切向力Y=1292.3052
FPS=44.80, 法向力=2108.1934, 切向力X=1871.1559, 切向力Y=1307.9805
FPS=39.55, 法向力=2371.9185, 切向力X=3191.1526, 切向力Y=383.0062
FPS=43.65, 法向力=2403.0981, 切向力X=3188.9307, 切向力Y=365.6539
FPS=38.26, 法向力=1731.2712, 切向力X=1926.6501, 切向力Y=746.2364
FPS=43.62, 法向力=1640.4144, 切向力X=2032.1462, 切向力Y=756.6057
FPS=37.51, 法向力=1805.0525, 切向力X=1894.7501, 切向力Y=901.9978
FPS=43.19, 法向力=1827.5740, 切向力X=1924.6506, 切向力Y=972.7958
FPS=42.47, 法向力=1838.5905, 切向力X=1933.1123, 切向力Y=959.8248
FPS=39.10, 法向力=1775.0803, 切向力X=2187.2402, 切向力Y=155.8692
FPS=44.03, 法向力=1635.0719, 切向力X=2440.0381, 切向力Y=145.5771
FPS=39.61, 法向力=1689.3260, 切向力X=2409.8892, 切向力Y=173.4486
FPS=40.78, 法向力=1703.3262, 切向力X=2365.8052, 切向力Y=625.6869
FPS=41.16, 法向力=1725.4500, 切向力X=2309.3669, 切向力Y=669.0015
FPS=39.81, 法向力=2224.8125, 切向力X=2175.5532, 切向力Y=743.1707
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.
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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
FPS=30.46, 法向力=1576.5770, 切向力X=228.6884, 切向力Y=826.2128
FPS=30.34, 法向力=1325.7012, 切向力X=-295.8588, 切向力Y=315.7168
FPS=32.03, 法向力=1394.5662, 切向力X=-366.9987, 切向力Y=168.8338
FPS=30.61, 法向力=1581.5875, 切向力X=-674.1890, 切向力Y=-209.8852
FPS=28.42, 法向力=2047.8829, 切向力X=838.5101, 切向力Y=-524.3370
FPS=30.93, 法向力=2104.2930, 切向力X=782.6353, 切向力Y=-572.9586
FPS=26.98, 法向力=1577.0647, 切向力X=759.4083, 切向力Y=745.0153
FPS=33.05, 法向力=1594.5006, 切向力X=736.1094, 切向力Y=837.0107
FPS=29.96, 法向力=1720.5164, 切向力X=-315.1873, 切向力Y=-79.7726
FPS=33.35, 法向力=1707.1703, 切向力X=-311.8758, 切向力Y=-179.8863
FPS=30.86, 法向力=1430.3398, 切向力X=-1942.7427, 切向力Y=-118.5153
FPS=29.87, 法向力=1301.9408, 切向力X=-616.3950, 切向力Y=499.8468
FPS=31.50, 法向力=1294.8394, 切向力X=-542.1551, 切向力Y=488.6515
FPS=31.17, 法向力=2395.6392, 切向力X=1132.6052, 切向力Y=-157.1633
FPS=31.88, 法向力=2456.0728, 切向力X=1137.7545, 切向力Y=-246.0038
FPS=29.88, 法向力=2446.4565, 切向力X=1156.6914, 切向力Y=-253.9703
FPS=32.36, 法向力=2489.5659, 切向力X=354.4442, 切向力Y=0.0245
FPS=30.74, 法向力=2432.9976, 切向力X=308.9124, 切向力Y=19.1709
FPS=32.73, 法向力=2384.8066, 切向力X=453.7033, 切向力Y=175.5145
FPS=30.62, 法向力=1387.8853, 切向力X=-920.4321, 切向力Y=622.3972
FPS=34.17, 法向力=1419.0635, 切向力X=-1020.6907, 切向力Y=546.7429
FPS=31.95, 法向力=2183.6287, 切向力X=1165.9768, 切向力Y=-139.3932
FPS=32.37, 法向力=2261.8704, 切向力X=1278.1350, 切向力Y=-131.7179
FPS=29.50, 法向力=1332.1173, 切向力X=-623.2148, 切向力Y=6.8253
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=0.000298s, blend=0.002223s (9 tiles incl ref), finalize=0.000077s, total=0.002604s
FPS=34.10, 法向力=1258.0236, 切向力X=-609.2502, 切向力Y=-47.7693
FPS=27.97, 法向力=1245.5848, 切向力X=812.1034, 切向力Y=-102.1818
FPS=32.54, 法向力=1221.9189, 切向力X=764.1354, 切向力Y=-136.0857
FPS=33.34, 法向力=1212.4062, 切向力X=833.6252, 切向力Y=422.4262
FPS=33.66, 法向力=1218.2495, 切向力X=808.9034, 切向力Y=409.4537
FPS=33.15, 法向力=1737.6470, 切向力X=1919.7944, 切向力Y=-41.0008
FPS=31.66, 法向力=1794.0419, 切向力X=1988.9978, 切向力Y=17.1111
FPS=30.11, 法向力=1302.8760, 切向力X=9.7065, 切向力Y=629.3202
FPS=33.17, 法向力=1342.6821, 切向力X=-3.7531, 切向力Y=810.2523
FPS=32.87, 法向力=1766.0278, 切向力X=-220.2364, 切向力Y=-250.1233
FPS=31.77, 法向力=1736.2939, 切向力X=-187.8673, 切向力Y=-324.3510
FPS=33.39, 法向力=1804.7953, 切向力X=677.7178, 切向力Y=511.8396
FPS=32.35, 法向力=1898.0798, 切向力X=651.2515, 切向力Y=594.2161
FPS=33.31, 法向力=2671.7727, 切向力X=-131.1553, 切向力Y=185.2440
FPS=31.06, 法向力=2803.6001, 切向力X=9.7884, 切向力Y=174.4159
FPS=33.82, 法向力=1611.1205, 切向力X=455.0625, 切向力Y=506.8129
FPS=32.91, 法向力=1628.5477, 切向力X=530.6963, 切向力Y=467.5858
FPS=33.90, 法向力=1463.2686, 切向力X=127.5448, 切向力Y=668.5006
FPS=30.49, 法向力=1487.9832, 切向力X=315.6292, 切向力Y=730.9914
FPS=34.06, 法向力=1439.7974, 切向力X=308.5076, 切向力Y=623.1131
FPS=29.72, 法向力=2083.1411, 切向力X=-1029.4341, 切向力Y=44.2877
FPS=33.54, 法向力=2129.9917, 切向力X=-1005.1265, 切向力Y=-6.3928
FPS=32.45, 法向力=1880.4357, 切向力X=-36.5686, 切向力Y=812.0201
FPS=31.41, 法向力=1781.6415, 切向力X=-231.6553, 切向力Y=732.8285
FPS=30.00, 法向力=1270.9408, 切向力X=419.1728, 切向力Y=-439.3733
FPS=32.17, 法向力=1247.5352, 切向力X=372.6418, 切向力Y=-405.8137
FPS=31.46, 法向力=2003.2732, 切向力X=274.5289, 切向力Y=-38.2319
FPS=33.02, 法向力=2019.6260, 切向力X=262.5891, 切向力Y=41.0559
FPS=32.43, 法向力=1707.3610, 切向力X=758.5621, 切向力Y=364.1577
FPS=32.75, 法向力=1750.2820, 切向力X=735.4652, 切向力Y=229.3748
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=0.000257s, blend=0.002452s (9 tiles incl ref), finalize=0.000078s, total=0.002793s
FPS=30.72, 法向力=1890.9707, 切向力X=-85.3567, 切向力Y=348.6840
FPS=34.04, 法向力=1968.5059, 切向力X=-83.8445, 切向力Y=295.1031
FPS=30.82, 法向力=1777.8625, 切向力X=947.5005, 切向力Y=-682.9119
FPS=31.19, 法向力=1221.9445, 切向力X=52.7558, 切向力Y=90.2017
FPS=33.08, 法向力=1233.7339, 切向力X=69.9974, 切向力Y=70.4511
FPS=31.17, 法向力=1245.2906, 切向力X=64.5189, 切向力Y=76.5985
FPS=33.32, 法向力=1552.9286, 切向力X=488.6266, 切向力Y=-50.9540
FPS=31.02, 法向力=1593.6176, 切向力X=478.7220, 切向力Y=-105.6388
FPS=33.02, 法向力=1071.9736, 切向力X=550.3569, 切向力Y=-444.9940
FPS=34.18, 法向力=1084.0048, 切向力X=451.7555, 切向力Y=-461.8833
FPS=30.98, 法向力=1249.0830, 切向力X=-310.5613, 切向力Y=115.1009
FPS=30.44, 法向力=1376.3918, 切向力X=-656.4861, 切向力Y=688.1565
FPS=33.16, 法向力=1362.7109, 切向力X=-690.6851, 切向力Y=745.4713
FPS=31.98, 法向力=1280.9730, 切向力X=333.5391, 切向力Y=509.7114
FPS=32.26, 法向力=1255.5620, 切向力X=454.6907, 切向力Y=371.4436
FPS=28.64, 法向力=1080.4657, 切向力X=278.8188, 切向力Y=1024.6208
FPS=27.34, 法向力=1095.8735, 切向力X=470.9412, 切向力Y=1105.3947
FPS=26.05, 法向力=1105.3704, 切向力X=891.4052, 切向力Y=96.6279
FPS=25.06, 法向力=1122.0938, 切向力X=74.2225, 切向力Y=286.1214
FPS=27.99, 法向力=1133.4104, 切向力X=-13.6415, 切向力Y=312.9480
FPS=29.68, 法向力=1472.9358, 切向力X=1767.6534, 切向力Y=581.1638
FPS=32.24, 法向力=1559.2361, 切向力X=1801.9186, 切向力Y=786.0985
FPS=31.76, 法向力=1577.2488, 切向力X=312.4006, 切向力Y=774.2844
FPS=33.80, 法向力=1579.0198, 切向力X=264.5181, 切向力Y=717.5525
FPS=29.57, 法向力=1683.0105, 切向力X=482.9163, 切向力Y=420.0145
FPS=31.62, 法向力=1712.7844, 切向力X=527.0983, 切向力Y=481.0118
FPS=31.57, 法向力=1421.1428, 切向力X=1366.2855, 切向力Y=-4301.0532
FPS=30.88, 法向力=1438.1403, 切向力X=1425.7100, 切向力Y=-4429.7466
FPS=31.56, 法向力=3297.4509, 切向力X=4810.8926, 切向力Y=-20442.0742
FPS=29.03, 法向力=3270.2666, 切向力X=5110.8779, 切向力Y=-20684.4180
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=0.000232s, blend=0.002172s (9 tiles incl ref), finalize=0.000049s, total=0.002458s
FPS=30.43, 法向力=8844.1748, 切向力X=15327.6543, 切向力Y=-57248.2070
FPS=29.77, 法向力=8884.4219, 切向力X=15548.7139, 切向力Y=-57463.3984
FPS=29.32, 法向力=19187.5156, 切向力X=23994.7969, 切向力Y=-93427.8125
FPS=29.04, 法向力=20310.2949, 切向力X=24635.5527, 切向力Y=-97383.7188
FPS=29.88, 法向力=20179.8262, 切向力X=24569.5703, 切向力Y=-97724.1484
FPS=31.65, 法向力=20098.3867, 切向力X=27251.5156, 切向力Y=-95259.6719
FPS=32.28, 法向力=20054.7539, 切向力X=27529.9219, 切向力Y=-95109.6797
FPS=31.25, 法向力=18821.9590, 切向力X=29273.9648, 切向力Y=-95176.0234
FPS=30.86, 法向力=18842.7500, 切向力X=29442.4805, 切向力Y=-95243.2891
FPS=29.91, 法向力=15411.1455, 切向力X=22936.1797, 切向力Y=-92521.6953
FPS=28.78, 法向力=15223.9541, 切向力X=21563.4141, 切向力Y=-84789.5312
FPS=33.03, 法向力=15315.1348, 切向力X=21401.4961, 切向力Y=-84523.2031
FPS=30.86, 法向力=14325.1289, 切向力X=17815.2715, 切向力Y=-79012.9219
FPS=25.77, 法向力=14321.3379, 切向力X=17761.3945, 切向力Y=-78794.2188
FPS=24.68, 法向力=13409.9160, 切向力X=14554.1426, 切向力Y=-73473.8594
FPS=25.19, 法向力=13502.4346, 切向力X=14337.3145, 切向力Y=-73295.9844
FPS=29.87, 法向力=11461.4561, 切向力X=11985.2793, 切向力Y=-67359.1484
FPS=30.84, 法向力=9110.0322, 切向力X=8569.2852, 切向力Y=-55841.4453
FPS=30.99, 法向力=9349.1523, 切向力X=8311.8203, 切向力Y=-55880.2188
FPS=31.19, 法向力=11674.7988, 切向力X=9482.4199, 切向力Y=-13232.5654
FPS=32.96, 法向力=11755.3008, 切向力X=9484.8828, 切向力Y=-13125.3721
FPS=31.21, 法向力=9632.8584, 切向力X=6118.7798, 切向力Y=5054.8652
FPS=32.05, 法向力=9724.9473, 切向力X=6095.3477, 切向力Y=5080.8525
FPS=30.49, 法向力=5102.2261, 切向力X=2569.1128, 切向力Y=-2363.5996
FPS=33.36, 法向力=5120.3027, 切向力X=2467.0029, 切向力Y=-2475.2805
FPS=34.91, 法向力=2714.8623, 切向力X=1494.1024, 切向力Y=-4023.0825
FPS=33.89, 法向力=2657.0493, 切向力X=1565.8894, 切向力Y=-4042.3979
FPS=33.14, 法向力=1916.7892, 切向力X=1326.9769, 切向力Y=-3771.5979
FPS=34.23, 法向力=1800.1832, 切向力X=1401.0251, 切向力Y=-3714.8462
FPS=35.03, 法向力=1685.1166, 切向力X=1792.5583, 切向力Y=-3682.9341
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=0.000227s, blend=0.002106s (9 tiles incl ref), finalize=0.000047s, total=0.002387s
FPS=35.91, 法向力=1599.2836, 切向力X=1875.4653, 切向力Y=-3727.5413
FPS=32.64, 法向力=1966.4131, 切向力X=1197.0807, 切向力Y=-3633.2192
FPS=35.37, 法向力=1893.4396, 切向力X=1220.5131, 切向力Y=-3802.5718
FPS=33.50, 法向力=1592.0427, 切向力X=1655.8484, 切向力Y=-3615.2754
FPS=34.32, 法向力=1574.1807, 切向力X=1743.3673, 切向力Y=-3583.1851
FPS=34.02, 法向力=1422.6429, 切向力X=2012.9186, 切向力Y=-3937.5042
FPS=35.62, 法向力=1402.9951, 切向力X=1996.6672, 切向力Y=-3949.1736
FPS=32.80, 法向力=1649.5168, 切向力X=1643.3738, 切向力Y=-6112.4204
FPS=35.85, 法向力=1650.3765, 切向力X=1715.7661, 切向力Y=-6503.3857
FPS=33.25, 法向力=2258.3052, 切向力X=2108.8423, 切向力Y=-8550.0410
FPS=35.31, 法向力=2264.2373, 切向力X=2113.2200, 切向力Y=-8600.7480
FPS=32.97, 法向力=1375.6846, 切向力X=856.0613, 切向力Y=-2427.9021
FPS=35.29, 法向力=1388.6302, 切向力X=854.8970, 切向力Y=-2330.5864
FPS=33.87, 法向力=1658.7883, 切向力X=1055.0067, 切向力Y=-1989.8602
FPS=35.70, 法向力=1646.4702, 切向力X=1066.6769, 切向力Y=-2050.3550
FPS=33.90, 法向力=1341.0812, 切向力X=2196.5049, 切向力Y=-2474.5110
FPS=35.24, 法向力=1306.4149, 切向力X=2142.4089, 切向力Y=-2595.7134
FPS=34.31, 法向力=1310.3116, 切向力X=2179.7273, 切向力Y=-2616.3499
FPS=33.92, 法向力=2692.5400, 切向力X=2730.6899, 切向力Y=4740.8970
FPS=30.88, 法向力=18689.9844, 切向力X=10607.3701, 切向力Y=49696.5195
FPS=28.45, 法向力=18612.6191, 切向力X=10372.4102, 切向力Y=49800.8945
FPS=29.24, 法向力=31363.3867, 切向力X=7344.4497, 切向力Y=72576.0000
FPS=31.78, 法向力=31477.8359, 切向力X=7107.0747, 切向力Y=72632.5156
FPS=29.47, 法向力=32314.2246, 切向力X=1311.7881, 切向力Y=51310.8750
FPS=33.45, 法向力=32052.3496, 切向力X=1009.1387, 切向力Y=50625.9766
FPS=32.24, 法向力=15571.4639, 切向力X=-876.7034, 切向力Y=20947.6992
FPS=33.73, 法向力=15583.5508, 切向力X=-879.0107, 切向力Y=20939.5273
FPS=33.72, 法向力=7587.2676, 切向力X=-0.4268, 切向力Y=8616.2246
FPS=35.52, 法向力=7568.4014, 切向力X=66.3402, 切向力Y=8461.6729
FPS=34.24, 法向力=5056.9497, 切向力X=86.3534, 切向力Y=3338.0493
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=0.000212s, blend=0.002111s (9 tiles incl ref), finalize=0.000047s, total=0.002375s
FPS=35.41, 法向力=5098.0742, 切向力X=50.2570, 切向力Y=3245.3208
FPS=32.27, 法向力=3794.7505, 切向力X=-1118.4829, 切向力Y=2004.4017
FPS=33.87, 法向力=3848.3386, 切向力X=-1159.8965, 切向力Y=2064.0466
FPS=31.81, 法向力=3404.3484, 切向力X=272.0489, 切向力Y=1320.6339
FPS=34.69, 法向力=3420.0220, 切向力X=349.5455, 切向力Y=1392.3777
FPS=33.59, 法向力=2841.8989, 切向力X=-241.7570, 切向力Y=950.7513
FPS=35.82, 法向力=2811.4138, 切向力X=-253.4221, 切向力Y=856.2828
FPS=33.54, 法向力=2605.0728, 切向力X=1562.9108, 切向力Y=-1238.8735
FPS=35.94, 法向力=2633.2417, 切向力X=1482.6448, 切向力Y=-1413.9253
FPS=34.67, 法向力=2441.3945, 切向力X=1684.3777, 切向力Y=-2157.4678
FPS=35.90, 法向力=2362.3535, 切向力X=1698.3931, 切向力Y=-2320.7959
FPS=33.50, 法向力=2376.0859, 切向力X=1736.2201, 切向力Y=-2304.3970
FPS=34.83, 法向力=1759.8490, 切向力X=1262.6895, 切向力Y=-1048.6726
FPS=33.17, 法向力=1767.4159, 切向力X=1367.6371, 切向力Y=-71.2430
FPS=35.61, 法向力=1759.4236, 切向力X=1447.2737, 切向力Y=-64.8072
FPS=31.38, 法向力=2432.7737, 切向力X=1174.3831, 切向力Y=-916.9861
FPS=36.00, 法向力=2492.6572, 切向力X=1191.3733, 切向力Y=-1153.8235
FPS=34.86, 法向力=2481.7100, 切向力X=1210.0867, 切向力Y=-1166.7725
FPS=34.67, 法向力=1540.8713, 切向力X=1363.1157, 切向力Y=-521.3492
FPS=32.27, 法向力=1547.7644, 切向力X=1442.0095, 切向力Y=-485.7308
FPS=34.60, 法向力=2111.4907, 切向力X=1435.9895, 切向力Y=-748.2007
FPS=32.55, 法向力=1501.3875, 切向力X=709.0884, 切向力Y=-1365.2524
FPS=35.05, 法向力=1474.5688, 切向力X=619.4547, 切向力Y=-1472.5840
FPS=31.17, 法向力=1156.2588, 切向力X=680.3522, 切向力Y=-1166.3066
FPS=33.92, 法向力=1181.7733, 切向力X=681.3663, 切向力Y=-971.6465
FPS=32.76, 法向力=1613.5640, 切向力X=1365.3149, 切向力Y=-941.1034
FPS=32.85, 法向力=1613.8154, 切向力X=1388.6246, 切向力Y=-1020.8831
FPS=33.02, 法向力=1597.0662, 切向力X=1415.1917, 切向力Y=-947.2684
FPS=32.93, 法向力=1592.5015, 切向力X=1186.4690, 切向力Y=-1047.3253
FPS=31.68, 法向力=2349.9058, 切向力X=999.6545, 切向力Y=-718.9570
stitch_feature_optimized: canvas out_w=472, out_h=417, x_min=-145.13, y_min=-82.09
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000224s, blend=0.002076s (9 tiles incl ref), finalize=0.000049s, total=0.002356s
FPS=34.00, 法向力=2432.2759, 切向力X=933.4377, 切向力Y=-762.0821
FPS=33.67, 法向力=1295.1271, 切向力X=78.4806, 切向力Y=-494.4929
FPS=35.62, 法向力=1339.2828, 切向力X=131.5259, 切向力Y=-430.3795
FPS=32.34, 法向力=1652.7660, 切向力X=791.6638, 切向力Y=-1048.9823
FPS=35.88, 法向力=1664.2738, 切向力X=708.6349, 切向力Y=-1138.1373
FPS=34.96, 法向力=1686.4690, 切向力X=688.9857, 切向力Y=-1112.8655
FPS=34.50, 法向力=1297.2236, 切向力X=486.8185, 切向力Y=-5.7121
FPS=31.45, 法向力=1853.8279, 切向力X=1230.8350, 切向力Y=-807.4788
FPS=36.18, 法向力=2004.4420, 切向力X=1357.6976, 切向力Y=-634.2460
FPS=33.93, 法向力=1979.5288, 切向力X=1356.7246, 切向力Y=-682.2292
FPS=36.08, 法向力=1310.7874, 切向力X=905.1157, 切向力Y=-2178.5459
FPS=34.95, 法向力=1347.7546, 切向力X=828.5623, 切向力Y=-2262.0420
FPS=33.58, 法向力=1179.8864, 切向力X=394.9470, 切向力Y=-573.6243
FPS=36.04, 法向力=1163.0918, 切向力X=446.8664, 切向力Y=-507.2318
FPS=33.59, 法向力=1605.6265, 切向力X=1018.0658, 切向力Y=-1437.9536
FPS=32.67, 法向力=1525.6799, 切向力X=1062.7401, 切向力Y=-1474.5725
FPS=33.59, 法向力=1256.7410, 切向力X=409.8737, 切向力Y=-777.8668
FPS=34.94, 法向力=1262.8834, 切向力X=483.4117, 切向力Y=-656.8358
FPS=32.79, 法向力=1883.1631, 切向力X=1087.6650, 切向力Y=13.9775
FPS=31.90, 法向力=1873.8462, 切向力X=1087.4093, 切向力Y=-32.8036
FPS=31.18, 法向力=2663.3706, 切向力X=1767.0751, 切向力Y=-820.4143
FPS=32.63, 法向力=2818.1294, 切向力X=1811.5325, 切向力Y=-840.6870
FPS=30.29, 法向力=1553.1461, 切向力X=1011.7300, 切向力Y=-2108.5688
FPS=28.38, 法向力=1348.0264, 切向力X=715.9180, 切向力Y=-490.7498
FPS=32.29, 法向力=1353.5165, 切向力X=663.5994, 切向力Y=-541.5240
FPS=26.56, 法向力=2099.4209, 切向力X=686.9346, 切向力Y=-1310.0096
FPS=30.82, 法向力=2112.3369, 切向力X=640.5277, 切向力Y=-1537.2621
FPS=26.26, 法向力=1581.9941, 切向力X=1038.0198, 切向力Y=-1083.7726
FPS=30.75, 法向力=1633.5421, 切向力X=1067.3608, 切向力Y=-1005.7353
FPS=27.80, 法向力=1441.6357, 切向力X=491.4179, 切向力Y=-1376.0349
stitch_feature_optimized: canvas out_w=472, out_h=417, x_min=-145.13, y_min=-82.09
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000274s, blend=0.002217s (9 tiles incl ref), finalize=0.000054s, total=0.002552s
FPS=29.57, 法向力=2488.0210, 切向力X=1262.7490, 切向力Y=-923.4956
FPS=34.18, 法向力=2695.6785, 切向力X=1307.0137, 切向力Y=-916.3613
FPS=33.39, 法向力=1742.6914, 切向力X=435.1340, 切向力Y=-1025.2207
FPS=34.87, 法向力=1744.6279, 切向力X=383.3831, 切向力Y=-1046.3098
FPS=33.05, 法向力=1878.5730, 切向力X=1239.8462, 切向力Y=-1261.8483
FPS=13.37, 法向力=1159.4989, 切向力X=1380.7791, 切向力Y=-248.8683
Sensor disconnected.
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
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FPS=25.14, 法向力=1525.3225, 切向力X=223.4645, 切向力Y=-788.6667
FPS=25.25, 法向力=1525.4922, 切向力X=298.5271, 切向力Y=-770.7379
FPS=27.50, 法向力=1512.2480, 切向力X=253.6870, 切向力Y=-754.8702
FPS=26.12, 法向力=1502.0983, 切向力X=740.0878, 切向力Y=-1487.4008
FPS=26.87, 法向力=1212.4875, 切向力X=70.4323, 切向力Y=-1571.4231
FPS=26.74, 法向力=1211.1216, 切向力X=-48.7032, 切向力Y=-1685.0010
FPS=27.56, 法向力=1612.0896, 切向力X=-135.4202, 切向力Y=-1541.1411
FPS=26.94, 法向力=1601.6531, 切向力X=-296.3843, 切向力Y=-1666.0016
FPS=27.85, 法向力=1637.4144, 切向力X=-211.9418, 切向力Y=-1671.5638
FPS=24.90, 法向力=1171.0259, 切向力X=460.5207, 切向力Y=-694.6437
FPS=26.90, 法向力=1146.7861, 切向力X=475.9174, 切向力Y=-689.2627
FPS=24.64, 法向力=1585.5386, 切向力X=455.1401, 切向力Y=-1222.7941
FPS=27.08, 法向力=1324.3412, 切向力X=-586.2751, 切向力Y=-1534.9528
FPS=27.15, 法向力=1326.7477, 切向力X=-653.6637, 切向力Y=-1534.0608
FPS=27.61, 法向力=1326.2642, 切向力X=-643.7327, 切向力Y=-1540.6047
FPS=27.77, 法向力=1412.5596, 切向力X=-27.0536, 切向力Y=-913.1850
FPS=28.83, 法向力=1456.0547, 切向力X=16.4491, 切向力Y=-902.2262
FPS=27.36, 法向力=1309.1515, 切向力X=215.6749, 切向力Y=-361.3651
FPS=29.18, 法向力=1271.8542, 切向力X=67.9258, 切向力Y=-347.2179
FPS=27.81, 法向力=1301.3115, 切向力X=98.5220, 切向力Y=-359.9418
FPS=28.53, 法向力=1274.1700, 切向力X=71.3247, 切向力Y=-321.3283
FPS=26.55, 法向力=1432.8071, 切向力X=-191.6018, 切向力Y=-1389.0688
FPS=27.11, 法向力=2115.8306, 切向力X=-131.4503, 切向力Y=-850.1782
FPS=26.53, 法向力=2188.0559, 切向力X=-93.8484, 切向力Y=-948.8063
FPS=26.83, 法向力=1442.2805, 切向力X=473.4527, 切向力Y=-872.4346
FPS=25.69, 法向力=1439.9719, 切向力X=490.4876, 切向力Y=-826.1479
FPS=26.19, 法向力=1441.4502, 切向力X=458.3083, 切向力Y=-841.7694
FPS=25.91, 法向力=1654.2003, 切向力X=-26.0938, 切向力Y=-1174.0098
FPS=24.32, 法向力=1654.3459, 切向力X=-77.5396, 切向力Y=-1249.7054
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stitch_feature_optimized steps: brightness=0.000006s, geom=0.000006s (hit), reset=0.000444s, blend=0.004292s (9 tiles incl ref), finalize=0.000119s, total=0.004866s
FPS=25.93, 法向力=1634.3071, 切向力X=528.6476, 切向力Y=-1163.2220
FPS=26.13, 法向力=1614.5015, 切向力X=526.3842, 切向力Y=-1132.6213
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
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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
FPS=16.87, 法向力=1578.1880, 切向力X=239.7833, 切向力Y=338.1007
FPS=16.20, 法向力=1994.8657, 切向力X=284.9402, 切向力Y=-74.2473
FPS=17.61, 法向力=3349.6519, 切向力X=-779.3038, 切向力Y=139.9696
FPS=18.79, 法向力=3183.5049, 切向力X=-763.4906, 切向力Y=90.6038
FPS=18.96, 法向力=3193.3630, 切向力X=-870.1757, 切向力Y=48.6797
FPS=19.30, 法向力=1746.0339, 切向力X=-12.0440, 切向力Y=-208.1784
FPS=19.24, 法向力=2325.1089, 切向力X=-1137.2349, 切向力Y=44.7038
FPS=18.39, 法向力=2566.4407, 切向力X=-526.3292, 切向力Y=-579.0416
FPS=18.97, 法向力=2627.5317, 切向力X=-617.7433, 切向力Y=-555.2428
FPS=18.97, 法向力=2551.7754, 切向力X=-1112.7979, 切向力Y=489.6333
FPS=18.21, 法向力=2799.1831, 切向力X=-926.0392, 切向力Y=-170.9130
FPS=18.98, 法向力=1669.2721, 切向力X=-260.3915, 切向力Y=-1055.8461
FPS=17.47, 法向力=1639.8650, 切向力X=-175.9355, 切向力Y=-999.9122
FPS=17.56, 法向力=1645.9067, 切向力X=-158.5546, 切向力Y=-975.0751
FPS=15.89, 法向力=1287.7375, 切向力X=360.0312, 切向力Y=-1067.0958
FPS=16.01, 法向力=1875.9761, 切向力X=-587.7349, 切向力Y=71.2310
FPS=15.54, 法向力=1953.1809, 切向力X=-708.0760, 切向力Y=105.0055
FPS=15.77, 法向力=2315.9971, 切向力X=-1160.5884, 切向力Y=-125.6095
stitch_feature_optimized: canvas out_w=438, out_h=419, x_min=-111.23, y_min=-84.23
stitch_feature_optimized steps: brightness=0.000006s, geom=0.000006s (hit), reset=0.000427s, blend=0.004401s (9 tiles incl ref), finalize=0.000124s, total=0.004964s
FPS=14.05, 法向力=2180.2883, 切向力X=-443.6440, 切向力Y=-525.8157
FPS=13.17, 法向力=2091.4038, 切向力X=-275.7865, 切向力Y=-534.3018
FPS=14.52, 法向力=1068.0111, 切向力X=-483.0187, 切向力Y=17.6143
FPS=14.30, 法向力=3660.1780, 切向力X=-741.7152, 切向力Y=516.2394
FPS=14.15, 法向力=1205.6044, 切向力X=62.1207, 切向力Y=-644.6194
FPS=16.39, 法向力=2504.8975, 切向力X=-761.4780, 切向力Y=-125.8246
FPS=17.11, 法向力=2532.9106, 切向力X=-741.5326, 切向力Y=150.1210
FPS=17.26, 法向力=1252.1954, 切向力X=-641.0938, 切向力Y=-1069.1951
FPS=16.41, 法向力=1637.7695, 切向力X=676.8868, 切向力Y=-1019.7322
FPS=17.34, 法向力=1656.4313, 切向力X=935.6139, 切向力Y=-873.2626
FPS=16.36, 法向力=1781.7869, 切向力X=-208.9549, 切向力Y=-694.9740
FPS=17.16, 法向力=1900.9182, 切向力X=-547.7131, 切向力Y=-1009.1480
FPS=16.81, 法向力=2122.0686, 切向力X=-61.8040, 切向力Y=-84.0283
FPS=16.87, 法向力=2146.3357, 切向力X=24.4161, 切向力Y=-34.1577
FPS=17.19, 法向力=1829.1478, 切向力X=-456.6641, 切向力Y=-854.5831
FPS=17.63, 法向力=1840.8455, 切向力X=56.7736, 切向力Y=206.7585
FPS=17.20, 法向力=1483.8379, 切向力X=-1023.8477, 切向力Y=-1122.4816
FPS=16.89, 法向力=1441.5508, 切向力X=-1002.6581, 切向力Y=-1094.2402
FPS=16.41, 法向力=1075.2234, 切向力X=197.1184, 切向力Y=-1456.9038
FPS=17.14, 法向力=1310.4114, 切向力X=213.6597, 切向力Y=-309.9622
FPS=16.72, 法向力=2229.5859, 切向力X=-632.3340, 切向力Y=-147.0499
FPS=19.43, 法向力=2260.4170, 切向力X=-750.4794, 切向力Y=-209.3620
FPS=15.39, 法向力=2114.7446, 切向力X=178.2986, 切向力Y=778.0374
FPS=17.02, 法向力=2470.8223, 切向力X=-1123.9442, 切向力Y=-417.3004
FPS=16.70, 法向力=2485.7725, 切向力X=-1208.4662, 切向力Y=-417.3698
FPS=15.73, 法向力=2227.7834, 切向力X=-1087.4515, 切向力Y=-274.9507
FPS=16.94, 法向力=2671.6035, 切向力X=-878.9484, 切向力Y=-496.1324
FPS=16.56, 法向力=2701.0732, 切向力X=-842.1393, 切向力Y=-482.0975
FPS=15.84, 法向力=1726.1854, 切向力X=-477.8271, 切向力Y=-184.9544
FPS=16.78, 法向力=1634.7358, 切向力X=-729.8796, 切向力Y=-163.3925
stitch_feature_optimized: canvas out_w=438, out_h=419, x_min=-111.23, y_min=-84.23
stitch_feature_optimized steps: brightness=0.000005s, geom=0.000006s (hit), reset=0.000369s, blend=0.004303s (9 tiles incl ref), finalize=0.000100s, total=0.004782s
FPS=17.09, 法向力=1604.3131, 切向力X=-81.2811, 切向力Y=-1740.4325
FPS=15.31, 法向力=1607.7036, 切向力X=-191.3575, 切向力Y=-1832.2990
FPS=15.51, 法向力=1380.8185, 切向力X=64.8073, 切向力Y=-1150.4197
FPS=15.67, 法向力=1224.7942, 切向力X=-315.6112, 切向力Y=-327.6910
FPS=16.82, 法向力=1267.9080, 切向力X=-307.4085, 切向力Y=-208.3429
FPS=17.12, 法向力=2112.6240, 切向力X=-627.7231, 切向力Y=-619.6084
FPS=16.19, 法向力=1440.8469, 切向力X=-44.8200, 切向力Y=-7.5870
FPS=16.47, 法向力=1375.0544, 切向力X=-32.6554, 切向力Y=15.5349
FPS=15.96, 法向力=1401.0979, 切向力X=212.3404, 切向力Y=-349.6908
FPS=16.50, 法向力=1436.2930, 切向力X=105.2984, 切向力Y=-318.2208
FPS=16.22, 法向力=1481.7239, 切向力X=219.9192, 切向力Y=-161.8187
FPS=17.05, 法向力=1513.2089, 切向力X=175.6794, 切向力Y=-238.4823
FPS=16.68, 法向力=1728.8270, 切向力X=-851.9620, 切向力Y=-149.3296
FPS=17.06, 法向力=2331.0552, 切向力X=498.8171, 切向力Y=-801.3883
FPS=16.31, 法向力=1895.7595, 切向力X=1.5450, 切向力Y=208.7798
FPS=16.97, 法向力=1872.6453, 切向力X=111.2423, 切向力Y=272.9249
FPS=17.48, 法向力=912.0356, 切向力X=-267.0910, 切向力Y=-759.4010
FPS=16.94, 法向力=2922.3877, 切向力X=-1028.0010, 切向力Y=-5.0770
FPS=16.73, 法向力=2992.3301, 切向力X=-979.0338, 切向力Y=83.2359
FPS=16.91, 法向力=1794.2865, 切向力X=-460.6549, 切向力Y=-243.9176
FPS=17.35, 法向力=1796.1373, 切向力X=-660.2416, 切向力Y=-330.4056
FPS=16.31, 法向力=1551.5692, 切向力X=-100.3047, 切向力Y=-276.6716
FPS=14.55, 法向力=2374.2769, 切向力X=-356.0042, 切向力Y=-1241.3557
FPS=16.65, 法向力=2375.4580, 切向力X=-346.0409, 切向力Y=-1224.4558
FPS=15.80, 法向力=2633.1946, 切向力X=-351.0997, 切向力Y=253.8545
FPS=14.84, 法向力=1705.8718, 切向力X=128.5468, 切向力Y=-616.9272
FPS=14.48, 法向力=1370.4458, 切向力X=532.9330, 切向力Y=-369.8994
FPS=14.70, 法向力=1216.5439, 切向力X=528.4812, 切向力Y=-620.2256
FPS=14.84, 法向力=2002.9329, 切向力X=-67.8468, 切向力Y=-1269.1479
FPS=15.22, 法向力=1939.6582, 切向力X=935.3441, 切向力Y=-14.1706
stitch_feature_optimized: canvas out_w=438, out_h=419, x_min=-111.23, y_min=-84.23
stitch_feature_optimized steps: brightness=0.000005s, geom=0.000005s (hit), reset=0.000340s, blend=0.004301s (9 tiles incl ref), finalize=0.000104s, total=0.004756s
FPS=15.30, 法向力=2636.0691, 切向力X=746.1702, 切向力Y=-1339.4626
FPS=15.85, 法向力=1992.8992, 切向力X=-564.7012, 切向力Y=-323.7030
FPS=15.55, 法向力=1400.6982, 切向力X=-539.6156, 切向力Y=-903.7572
FPS=16.12, 法向力=1393.0853, 切向力X=-494.2350, 切向力Y=-969.2471
FPS=16.19, 法向力=2171.8528, 切向力X=-846.3539, 切向力Y=-953.6799
FPS=16.04, 法向力=1754.7864, 切向力X=-701.5243, 切向力Y=-1481.7224
FPS=16.06, 法向力=2129.1907, 切向力X=-342.0515, 切向力Y=31.6069
FPS=15.83, 法向力=2072.9185, 切向力X=-167.4136, 切向力Y=21.9936
FPS=14.87, 法向力=2558.4536, 切向力X=-131.4174, 切向力Y=-1018.1718
FPS=14.91, 法向力=2154.8435, 切向力X=-159.3535, 切向力Y=295.7241
FPS=15.22, 法向力=1821.4331, 切向力X=-532.8353, 切向力Y=-625.5032
FPS=14.84, 法向力=1765.2103, 切向力X=-547.8838, 切向力Y=-675.5903
FPS=17.01, 法向力=2130.3787, 切向力X=-149.9143, 切向力Y=-143.3983
FPS=13.24, 法向力=2169.6270, 切向力X=-1355.8342, 切向力Y=-664.6016
FPS=14.50, 法向力=1506.8347, 切向力X=4.1155, 切向力Y=-379.6383
FPS=15.04, 法向力=1909.4387, 切向力X=35.2437, 切向力Y=-645.0023
FPS=15.56, 法向力=1579.6498, 切向力X=475.4166, 切向力Y=-736.0349
FPS=14.42, 法向力=1440.2881, 切向力X=478.1494, 切向力Y=-834.2216
FPS=15.22, 法向力=1554.2021, 切向力X=-340.6869, 切向力Y=-1636.6437
FPS=15.57, 法向力=2756.8594, 切向力X=-64.3526, 切向力Y=-444.9954
FPS=13.94, 法向力=1430.5276, 切向力X=649.6205, 切向力Y=-564.7899
FPS=15.37, 法向力=1368.0013, 切向力X=750.6908, 切向力Y=-740.6017
FPS=14.63, 法向力=1287.5562, 切向力X=311.7910, 切向力Y=-789.2593
FPS=15.13, 法向力=1335.6660, 切向力X=303.9486, 切向力Y=-752.0315
FPS=14.80, 法向力=1729.5084, 切向力X=-746.1016, 切向力Y=-1142.8738
FPS=14.92, 法向力=1403.4019, 切向力X=-585.7677, 切向力Y=-744.1498
FPS=14.82, 法向力=2172.4922, 切向力X=-282.7157, 切向力Y=-687.5245
FPS=14.72, 法向力=2109.9119, 切向力X=-206.4990, 切向力Y=-648.1947
FPS=16.00, 法向力=1914.7571, 切向力X=-166.1425, 切向力Y=-749.6685
FPS=14.46, 法向力=1697.3298, 切向力X=-258.6276, 切向力Y=-574.9903
stitch_feature_optimized: canvas out_w=438, out_h=419, x_min=-111.23, y_min=-84.23
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000284s, blend=0.005049s (9 tiles incl ref), finalize=0.000219s, total=0.005559s
FPS=16.29, 法向力=3036.6396, 切向力X=-934.2195, 切向力Y=-188.2653
FPS=14.75, 法向力=3252.1123, 切向力X=-1101.7533, 切向力Y=-100.4744
FPS=15.11, 法向力=2189.8340, 切向力X=266.6278, 切向力Y=-864.9378
FPS=14.33, 法向力=1377.3057, 切向力X=362.6542, 切向力Y=-1065.9167
FPS=12.94, 法向力=1334.4253, 切向力X=449.1525, 切向力Y=-1039.8784
FPS=18.98, 法向力=2768.2095, 切向力X=-570.2164, 切向力Y=-806.3396
FPS=24.18, 法向力=1636.3684, 切向力X=-249.1042, 切向力Y=-1641.3721
FPS=25.55, 法向力=2944.5005, 切向力X=-32.2197, 切向力Y=-910.4100
FPS=25.24, 法向力=2857.3826, 切向力X=-47.0074, 切向力Y=-968.7039
FPS=23.51, 法向力=1731.3156, 切向力X=390.5616, 切向力Y=-1206.4031
FPS=25.45, 法向力=1732.5969, 切向力X=350.9781, 切向力Y=-1217.1775
FPS=25.08, 法向力=2088.3857, 切向力X=-86.3846, 切向力Y=-1095.6233
FPS=24.85, 法向力=2273.0703, 切向力X=-290.7189, 切向力Y=-653.5890
FPS=24.46, 法向力=1771.2319, 切向力X=-433.3915, 切向力Y=-681.4992
FPS=24.98, 法向力=1734.9106, 切向力X=-413.5009, 切向力Y=-791.4275
FPS=24.16, 法向力=2499.2427, 切向力X=-974.9266, 切向力Y=-1117.7888
FPS=23.09, 法向力=1589.2075, 切向力X=266.6086, 切向力Y=606.1223
FPS=22.44, 法向力=1580.0740, 切向力X=35.1772, 切向力Y=-897.8529
FPS=24.61, 法向力=1667.3816, 切向力X=28.8956, 切向力Y=-956.3786
FPS=20.87, 法向力=1494.8242, 切向力X=-62.0445, 切向力Y=-1604.9412
FPS=22.01, 法向力=2065.8860, 切向力X=-1024.6008, 切向力Y=-282.4769
FPS=22.16, 法向力=2191.8477, 切向力X=-986.0576, 切向力Y=-156.5629
FPS=24.34, 法向力=1588.7922, 切向力X=-603.7659, 切向力Y=-481.1922
FPS=23.87, 法向力=3319.7212, 切向力X=-1211.0264, 切向力Y=-765.5189
FPS=22.44, 法向力=1266.7278, 切向力X=355.5815, 切向力Y=-934.3058
FPS=21.35, 法向力=1292.8508, 切向力X=349.4714, 切向力Y=-983.3375
FPS=22.24, 法向力=2231.6831, 切向力X=-10.5128, 切向力Y=-161.9668
FPS=22.65, 法向力=3943.4912, 切向力X=-523.3877, 切向力Y=-598.0005
FPS=24.56, 法向力=1170.0273, 切向力X=485.3855, 切向力Y=-892.6792
FPS=25.34, 法向力=1242.6556, 切向力X=572.3084, 切向力Y=-900.4579
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FPS=26.72, 法向力=1652.5723, 切向力X=293.5875, 切向力Y=-860.9443
FPS=28.71, 法向力=1673.2300, 切向力X=227.2078, 切向力Y=-842.0413
FPS=28.26, 法向力=2365.6746, 切向力X=24.6967, 切向力Y=-1183.9514
FPS=28.42, 法向力=2421.2256, 切向力X=53.0221, 切向力Y=-1160.7897
FPS=18.66, 法向力=1669.2010, 切向力X=599.7239, 切向力Y=-1574.3729
FPS=40.00, 法向力=1662.7843, 切向力X=858.6780, 切向力Y=-693.0870
FPS=34.47, 法向力=1701.1794, 切向力X=850.7230, 切向力Y=-773.2158
FPS=32.49, 法向力=1771.3391, 切向力X=786.8489, 切向力Y=-1296.9480
FPS=35.65, 法向力=1828.5876, 切向力X=862.6034, 切向力Y=-1271.8718
FPS=32.21, 法向力=2017.8953, 切向力X=269.1047, 切向力Y=-1373.5618
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=0.000223s, blend=0.002175s (9 tiles incl ref), finalize=0.000044s, total=0.002448s
FPS=35.46, 法向力=1981.1304, 切向力X=256.7431, 切向力Y=-1462.7731
FPS=32.52, 法向力=1806.8289, 切向力X=-276.7749, 切向力Y=-1396.0305
FPS=35.60, 法向力=1818.2734, 切向力X=-284.3754, 切向力Y=-1362.6412
FPS=35.29, 法向力=1808.8252, 切向力X=-265.3259, 切向力Y=-1372.0732
FPS=35.19, 法向力=2072.3589, 切向力X=433.8362, 切向力Y=-865.5715
FPS=32.69, 法向力=1250.4408, 切向力X=1240.6973, 切向力Y=-861.8135
FPS=37.39, 法向力=1225.5258, 切向力X=1219.9963, 切向力Y=-945.0582
FPS=33.76, 法向力=1380.2678, 切向力X=597.8141, 切向力Y=-1728.7368
FPS=34.15, 法向力=1453.8684, 切向力X=509.3936, 切向力Y=-1519.7240
FPS=34.99, 法向力=1492.2559, 切向力X=619.8641, 切向力Y=-1543.3684
FPS=33.87, 法向力=1317.8298, 切向力X=746.7925, 切向力Y=-385.9491
FPS=34.91, 法向力=1314.8838, 切向力X=585.6365, 切向力Y=-338.9820
FPS=31.19, 法向力=1747.3917, 切向力X=-335.6337, 切向力Y=-378.3437
FPS=32.50, 法向力=1689.1394, 切向力X=140.1617, 切向力Y=-1914.2083
FPS=35.20, 法向力=1698.5431, 切向力X=105.4969, 切向力Y=-1884.8274
FPS=33.28, 法向力=1689.7970, 切向力X=110.7501, 切向力Y=-1867.5018
FPS=35.28, 法向力=1513.5083, 切向力X=811.5569, 切向力Y=-944.7057
FPS=34.21, 法向力=1539.5361, 切向力X=843.1918, 切向力Y=-1059.3826
FPS=32.29, 法向力=1546.7655, 切向力X=940.8662, 切向力Y=-1217.5924
FPS=34.71, 法向力=1537.5977, 切向力X=930.1140, 切向力Y=-1230.0870
FPS=32.66, 法向力=1780.3669, 切向力X=275.4396, 切向力Y=-1531.9810
FPS=35.04, 法向力=1754.3230, 切向力X=233.3364, 切向力Y=-1561.7646
FPS=33.93, 法向力=1544.4235, 切向力X=776.3295, 切向力Y=-1105.1783
FPS=36.48, 法向力=1534.6045, 切向力X=848.6409, 切向力Y=-1041.1797
FPS=35.30, 法向力=1707.7617, 切向力X=702.7732, 切向力Y=-869.9398
FPS=36.07, 法向力=1736.4803, 切向力X=765.7349, 切向力Y=-816.5435
FPS=32.71, 法向力=1631.8423, 切向力X=1232.8560, 切向力Y=-1527.7798
FPS=35.55, 法向力=1623.2673, 切向力X=1157.0671, 切向力Y=-1506.7754
FPS=32.17, 法向力=1463.5177, 切向力X=-574.9806, 切向力Y=-1363.0701
FPS=35.52, 法向力=1497.4131, 切向力X=-589.9885, 切向力Y=-1375.4512
stitch_feature_optimized: canvas out_w=438, out_h=419, x_min=-111.23, y_min=-84.23
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000209s, blend=0.002138s (9 tiles incl ref), finalize=0.000042s, total=0.002395s
FPS=33.56, 法向力=1727.4747, 切向力X=658.9739, 切向力Y=-1284.5652
FPS=37.19, 法向力=1756.7021, 切向力X=837.8943, 切向力Y=-1278.7673
FPS=34.24, 法向力=1732.5754, 切向力X=752.9969, 切向力Y=-867.1399
FPS=34.55, 法向力=1785.7159, 切向力X=709.1118, 切向力Y=-818.5668
FPS=33.95, 法向力=1686.4927, 切向力X=119.7986, 切向力Y=-1190.1592
FPS=36.30, 法向力=1688.4365, 切向力X=91.7443, 切向力Y=-1220.6199
FPS=35.09, 法向力=1698.9479, 切向力X=105.3233, 切向力Y=-1273.0475
FPS=33.89, 法向力=2316.7788, 切向力X=260.9607, 切向力Y=-1528.3423
FPS=32.00, 法向力=1819.3550, 切向力X=534.1852, 切向力Y=-1012.4462
FPS=36.15, 法向力=1835.8723, 切向力X=604.5371, 切向力Y=-1163.5256
FPS=34.68, 法向力=1953.3319, 切向力X=1408.0342, 切向力Y=-1719.9246
FPS=35.56, 法向力=2049.3738, 切向力X=1475.8506, 切向力Y=-1793.1553
FPS=36.94, 法向力=2015.7625, 切向力X=1472.9137, 切向力Y=-1813.1711
FPS=35.56, 法向力=1541.0803, 切向力X=554.9705, 切向力Y=-904.6981
FPS=35.61, 法向力=1590.9580, 切向力X=637.5193, 切向力Y=-984.1843
FPS=33.58, 法向力=1898.4922, 切向力X=219.5563, 切向力Y=-1285.6033
FPS=35.28, 法向力=1716.2341, 切向力X=1137.9597, 切向力Y=-720.0061
FPS=34.57, 法向力=1719.9119, 切向力X=1308.4697, 切向力Y=-713.9144
FPS=34.61, 法向力=1737.0068, 切向力X=1295.7296, 切向力Y=-718.8691
FPS=31.85, 法向力=1461.9050, 切向力X=832.5269, 切向力Y=-1149.2415
FPS=36.17, 法向力=1492.5305, 切向力X=799.4415, 切向力Y=-1115.1401
FPS=34.10, 法向力=2170.1245, 切向力X=461.9966, 切向力Y=-2000.2502
FPS=35.64, 法向力=2212.9653, 切向力X=498.7365, 切向力Y=-2065.1375
FPS=32.26, 法向力=1586.0546, 切向力X=749.0490, 切向力Y=-689.9901
FPS=35.77, 法向力=1562.4766, 切向力X=824.5837, 切向力Y=-656.0934
FPS=34.83, 法向力=1706.9730, 切向力X=1113.9236, 切向力Y=-1090.4912
FPS=37.51, 法向力=1789.9106, 切向力X=1109.2260, 切向力Y=-1145.3555
FPS=34.66, 法向力=1666.2906, 切向力X=971.0640, 切向力Y=-1441.0762
FPS=35.62, 法向力=1679.9971, 切向力X=1034.3298, 切向力Y=-1499.4736
FPS=34.63, 法向力=2245.6606, 切向力X=589.2889, 切向力Y=-1662.1803
stitch_feature_optimized: canvas out_w=438, out_h=419, x_min=-111.23, y_min=-84.23
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000262s, blend=0.002323s (9 tiles incl ref), finalize=0.000048s, total=0.002639s
FPS=35.09, 法向力=2272.0112, 切向力X=619.3557, 切向力Y=-1714.1311
FPS=34.05, 法向力=2231.5215, 切向力X=585.2029, 切向力Y=-1718.4111
FPS=35.61, 法向力=1986.1072, 切向力X=-175.4326, 切向力Y=-548.8101
FPS=33.04, 法向力=1678.7271, 切向力X=1214.4009, 切向力Y=-1379.0571
FPS=36.34, 法向力=1683.2704, 切向力X=1190.0161, 切向力Y=-1305.3727
FPS=35.08, 法向力=1691.8938, 切向力X=1213.9817, 切向力Y=-1349.0114
FPS=35.97, 法向力=1737.4270, 切向力X=505.7999, 切向力Y=-359.3344
FPS=35.97, 法向力=1816.1316, 切向力X=491.4626, 切向力Y=-302.7174
FPS=32.03, 法向力=2042.3030, 切向力X=210.3377, 切向力Y=-1178.1394
FPS=36.00, 法向力=2076.1824, 切向力X=266.8492, 切向力Y=-1251.4607
FPS=33.42, 法向力=1836.5333, 切向力X=1364.7627, 切向力Y=-624.2792
FPS=36.31, 法向力=1947.3798, 切向力X=1501.3905, 切向力Y=-538.7904
FPS=34.32, 法向力=1646.8184, 切向力X=494.7464, 切向力Y=-1499.6652
FPS=36.29, 法向力=1697.9514, 切向力X=519.3320, 切向力Y=-1435.3098
FPS=35.57, 法向力=1620.4429, 切向力X=1373.8137, 切向力Y=-576.7356
FPS=37.21, 法向力=1643.6514, 切向力X=1456.9523, 切向力Y=-536.2016
FPS=32.84, 法向力=2144.3193, 切向力X=1176.7717, 切向力Y=-1419.2434
FPS=35.00, 法向力=2241.1233, 切向力X=1113.5594, 切向力Y=-1766.1791
FPS=33.80, 法向力=2227.4119, 切向力X=1047.7485, 切向力Y=-1237.1420
FPS=35.04, 法向力=2312.7427, 切向力X=1195.2477, 切向力Y=-1228.4338
FPS=34.43, 法向力=1674.7692, 切向力X=141.1298, 切向力Y=-725.6453
FPS=36.77, 法向力=1776.2163, 切向力X=136.0202, 切向力Y=-748.7538
FPS=34.75, 法向力=2156.7979, 切向力X=538.3654, 切向力Y=-922.1176
FPS=35.70, 法向力=2212.3911, 切向力X=688.7983, 切向力Y=-954.7637
FPS=33.70, 法向力=2219.5005, 切向力X=686.3442, 切向力Y=-960.9362
FPS=36.76, 法向力=2356.5366, 切向力X=370.9265, 切向力Y=-1445.6726
FPS=36.46, 法向力=2423.1211, 切向力X=365.9776, 切向力Y=-1523.7383
FPS=34.15, 法向力=2054.4324, 切向力X=198.5862, 切向力Y=-1723.9636
FPS=16.12, 法向力=1474.9230, 切向力X=732.8654, 切向力Y=-824.1663
Sensor disconnected.
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
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FPS=34.15, 法向力=1375.0309, 切向力X=-1015.5626, 切向力Y=-726.8564
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stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000253s, blend=0.002089s (9 tiles incl ref), finalize=0.000051s, total=0.002399s
FPS=36.20, 法向力=1378.0369, 切向力X=-970.6248, 切向力Y=-911.0663
FPS=34.88, 法向力=1828.3352, 切向力X=310.2231, 切向力Y=-2226.3586
FPS=35.41, 法向力=1749.1335, 切向力X=334.1512, 切向力Y=-2189.0098
FPS=35.51, 法向力=1814.5156, 切向力X=325.3218, 切向力Y=-2158.7715
FPS=34.45, 法向力=1260.0048, 切向力X=-404.6168, 切向力Y=-660.9395
FPS=32.03, 法向力=1126.2266, 切向力X=-81.3202, 切向力Y=-1585.2430
FPS=36.01, 法向力=1104.0127, 切向力X=-18.7304, 切向力Y=-1590.6289
FPS=35.56, 法向力=1717.8768, 切向力X=120.4717, 切向力Y=-472.7245
FPS=36.28, 法向力=1745.1300, 切向力X=135.9145, 切向力Y=-387.5031
FPS=35.95, 法向力=1746.3760, 切向力X=157.0260, 切向力Y=-399.5512
FPS=33.96, 法向力=1941.5046, 切向力X=-522.6513, 切向力Y=-542.2488
FPS=36.08, 法向力=1985.8857, 切向力X=-582.0458, 切向力Y=-478.6386
FPS=34.76, 法向力=1387.9082, 切向力X=308.8502, 切向力Y=-924.2922
FPS=35.87, 法向力=1359.8005, 切向力X=261.4247, 切向力Y=-1025.4387
FPS=35.89, 法向力=1282.0070, 切向力X=-532.1238, 切向力Y=-543.0283
FPS=36.47, 法向力=1371.1216, 切向力X=-702.8118, 切向力Y=-599.7687
FPS=33.63, 法向力=1505.6967, 切向力X=-462.9891, 切向力Y=-1439.8853
FPS=36.14, 法向力=1530.6504, 切向力X=-417.3665, 切向力Y=-1360.4658
FPS=33.28, 法向力=1319.2222, 切向力X=-120.7235, 切向力Y=-828.1448
FPS=35.39, 法向力=1308.4517, 切向力X=-61.1617, 切向力Y=-810.7656
FPS=35.28, 法向力=1527.3267, 切向力X=-428.6722, 切向力Y=-851.5709
FPS=35.12, 法向力=1529.3264, 切向力X=-472.5487, 切向力Y=-974.7301
FPS=33.63, 法向力=1711.5293, 切向力X=215.1370, 切向力Y=-523.9771
FPS=36.16, 法向力=1726.0521, 切向力X=145.9375, 切向力Y=-489.9862
FPS=34.75, 法向力=1732.9264, 切向力X=-340.0530, 切向力Y=-426.3213
FPS=35.76, 法向力=1743.9316, 切向力X=-358.7797, 切向力Y=-622.1417
FPS=35.37, 法向力=1741.2277, 切向力X=-339.0958, 切向力Y=-613.9616
FPS=34.47, 法向力=2179.2073, 切向力X=178.3190, 切向力Y=-246.1759
FPS=36.79, 法向力=2308.4258, 切向力X=188.0968, 切向力Y=-219.3615
FPS=35.17, 法向力=1159.8406, 切向力X=-1069.2837, 切向力Y=-561.2277
stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000254s, blend=0.002997s (9 tiles incl ref), finalize=0.000064s, total=0.003322s
FPS=34.81, 法向力=1166.5056, 切向力X=-1099.4390, 切向力Y=-577.9543
FPS=35.79, 法向力=1148.3140, 切向力X=-1.0514, 切向力Y=-1122.1918
FPS=35.82, 法向力=1218.0769, 切向力X=-16.7911, 切向力Y=-1309.2372
FPS=35.24, 法向力=2037.3674, 切向力X=-474.5707, 切向力Y=-1001.7849
FPS=36.52, 法向力=2158.0474, 切向力X=-586.2899, 切向力Y=-868.6616
FPS=32.03, 法向力=1176.4392, 切向力X=-123.1555, 切向力Y=-558.3113
FPS=35.06, 法向力=1179.3711, 切向力X=-230.3242, 切向力Y=-498.8965
FPS=35.78, 法向力=1688.7603, 切向力X=-886.6921, 切向力Y=-553.6092
FPS=36.66, 法向力=1716.8549, 切向力X=-937.9288, 切向力Y=-534.9343
FPS=34.11, 法向力=1179.4302, 切向力X=-101.2316, 切向力Y=-833.8204
FPS=36.77, 法向力=1212.7964, 切向力X=-119.1747, 切向力Y=-779.4852
FPS=34.92, 法向力=1397.8770, 切向力X=92.5770, 切向力Y=-985.7136
FPS=36.35, 法向力=1384.8623, 切向力X=96.4564, 切向力Y=-1009.1639
FPS=34.96, 法向力=1352.1674, 切向力X=123.1208, 切向力Y=-986.8351
FPS=36.05, 法向力=1673.1133, 切向力X=-844.9595, 切向力Y=-1125.7491
FPS=36.57, 法向力=1768.6851, 切向力X=-838.7557, 切向力Y=-1113.4714
FPS=33.37, 法向力=1244.7351, 切向力X=-653.1801, 切向力Y=-536.5886
FPS=35.20, 法向力=1224.8921, 切向力X=-582.6150, 切向力Y=-478.4895
FPS=34.48, 法向力=2105.0076, 切向力X=-378.3293, 切向力Y=-1332.8787
FPS=36.23, 法向力=2096.8926, 切向力X=-332.5692, 切向力Y=-1292.1443
FPS=33.18, 法向力=1214.2587, 切向力X=-193.2943, 切向力Y=-279.9274
FPS=37.00, 法向力=1174.3494, 切向力X=-135.7662, 切向力Y=-417.2205
FPS=34.31, 法向力=1623.4517, 切向力X=-1148.4655, 切向力Y=-1040.1741
FPS=35.84, 法向力=1628.6989, 切向力X=-1116.3835, 切向力Y=-1029.1038
FPS=33.15, 法向力=1451.9187, 切向力X=-526.3905, 切向力Y=-829.6554
FPS=36.43, 法向力=1475.9447, 切向力X=-518.8229, 切向力Y=-888.0750
FPS=35.31, 法向力=1714.8287, 切向力X=112.9825, 切向力Y=-583.8636
FPS=36.63, 法向力=1674.2300, 切向力X=114.9665, 切向力Y=-638.4399
FPS=32.94, 法向力=1552.6836, 切向力X=-368.3054, 切向力Y=-937.0349
FPS=35.07, 法向力=1544.9941, 切向力X=-407.6211, 切向力Y=-979.1857
stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000484s, blend=0.003183s (9 tiles incl ref), finalize=0.000068s, total=0.003742s
FPS=32.46, 法向力=1072.7628, 切向力X=-244.5917, 切向力Y=-1546.2155
FPS=34.87, 法向力=1102.9590, 切向力X=-223.6809, 切向力Y=-1682.7817
FPS=35.33, 法向力=1075.8333, 切向力X=-209.6185, 切向力Y=-1592.8741
FPS=35.14, 法向力=2264.8989, 切向力X=395.7894, 切向力Y=-1501.9189
FPS=33.99, 法向力=1368.7858, 切向力X=-594.2058, 切向力Y=-786.0956
FPS=36.13, 法向力=1369.3413, 切向力X=-566.3588, 切向力Y=-787.6959
FPS=35.96, 法向力=1410.2959, 切向力X=-599.7644, 切向力Y=-809.8091
FPS=37.36, 法向力=1941.9573, 切向力X=-283.3215, 切向力Y=-889.6237
FPS=37.17, 法向力=1979.4891, 切向力X=-337.7088, 切向力Y=-798.2481
FPS=35.09, 法向力=1897.6425, 切向力X=-491.5629, 切向力Y=-745.5021
FPS=36.67, 法向力=1849.3118, 切向力X=-582.1804, 切向力Y=-763.4520
FPS=33.96, 法向力=1425.0850, 切向力X=375.7700, 切向力Y=-866.2910
FPS=6.33, 法向力=1308.1538, 切向力X=697.9539, 切向力Y=-805.1453
FPS=30.99, 法向力=1154.0986, 切向力X=-567.6235, 切向力Y=-820.8315
FPS=35.96, 法向力=1173.4374, 切向力X=-551.6211, 切向力Y=-977.2849
FPS=35.05, 法向力=944.9926, 切向力X=-427.8942, 切向力Y=-463.5816
FPS=33.82, 法向力=899.0285, 切向力X=-473.4910, 切向力Y=-444.9694
FPS=34.11, 法向力=976.7125, 切向力X=-713.7779, 切向力Y=-849.0155
FPS=36.47, 法向力=968.7441, 切向力X=-701.2426, 切向力Y=-816.4717
FPS=33.13, 法向力=1459.8652, 切向力X=168.5599, 切向力Y=-1549.3154
FPS=36.78, 法向力=1510.5753, 切向力X=225.0753, 切向力Y=-1520.4617
FPS=34.85, 法向力=1121.5746, 切向力X=-591.2902, 切向力Y=-599.0059
FPS=36.89, 法向力=1136.2128, 切向力X=-593.4649, 切向力Y=-592.2684
FPS=33.97, 法向力=1530.1104, 切向力X=116.9532, 切向力Y=-1037.7996
FPS=37.08, 法向力=1470.1730, 切向力X=6.6251, 切向力Y=-1077.3152
FPS=33.38, 法向力=1573.7158, 切向力X=438.8273, 切向力Y=-981.6659
FPS=37.84, 法向力=1600.3088, 切向力X=325.1666, 切向力Y=-911.0533
FPS=35.17, 法向力=1624.0181, 切向力X=556.7180, 切向力Y=-741.2314
FPS=36.78, 法向力=1632.9917, 切向力X=648.3494, 切向力Y=-689.7208
FPS=35.71, 法向力=1664.1686, 切向力X=706.5590, 切向力Y=-614.6992
stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000247s, blend=0.002123s (9 tiles incl ref), finalize=0.000055s, total=0.002432s
FPS=34.36, 法向力=1000.7554, 切向力X=68.7531, 切向力Y=-586.7333
FPS=36.63, 法向力=986.0466, 切向力X=145.7940, 切向力Y=-638.8549
FPS=35.39, 法向力=1523.7656, 切向力X=67.9698, 切向力Y=-698.0797
FPS=35.14, 法向力=1581.6689, 切向力X=90.7459, 切向力Y=-787.3896
FPS=37.05, 法向力=1451.5923, 切向力X=236.1628, 切向力Y=-1398.6223
FPS=37.18, 法向力=1514.7871, 切向力X=396.4791, 切向力Y=-1434.8282
FPS=34.81, 法向力=1265.5590, 切向力X=-426.3238, 切向力Y=-715.7582
FPS=37.39, 法向力=1241.5602, 切向力X=-390.4766, 切向力Y=-582.7720
FPS=32.66, 法向力=1194.3256, 切向力X=217.2693, 切向力Y=-762.3546
FPS=35.89, 法向力=1172.6536, 切向力X=189.5504, 切向力Y=-736.2659
FPS=35.37, 法向力=1176.2617, 切向力X=215.0337, 切向力Y=-705.2465
FPS=36.64, 法向力=1428.4731, 切向力X=-97.5301, 切向力Y=-912.4619
FPS=33.33, 法向力=1113.8357, 切向力X=300.8787, 切向力Y=-1829.6265
FPS=35.37, 法向力=1085.4633, 切向力X=232.2633, 切向力Y=-1838.3000
FPS=34.08, 法向力=1577.8206, 切向力X=132.4475, 切向力Y=-882.0371
FPS=36.85, 法向力=1612.9679, 切向力X=135.7787, 切向力Y=-783.5964
FPS=36.57, 法向力=1585.0809, 切向力X=130.4854, 切向力Y=-667.9366
FPS=20.58, 法向力=1117.0085, 切向力X=157.8842, 切向力Y=-1198.9209
Sensor disconnected.
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
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FPS=29.01, 法向力=11269.2207, 切向力X=-3001.6528, 切向力Y=17521.1621
FPS=27.93, 法向力=7631.0469, 切向力X=-1704.1421, 切向力Y=9903.1367
FPS=30.05, 法向力=7752.0391, 切向力X=-1827.2993, 切向力Y=9949.0195
FPS=29.09, 法向力=3279.1479, 切向力X=-5114.6963, 切向力Y=-3455.6382
FPS=29.80, 法向力=3353.1938, 切向力X=-5110.9805, 切向力Y=-3503.0859
FPS=28.97, 法向力=2728.7847, 切向力X=-5099.6362, 切向力Y=-21308.5879
FPS=28.82, 法向力=4640.0840, 切向力X=230.3065, 切向力Y=-33606.4258
FPS=29.66, 法向力=4431.2163, 切向力X=279.9280, 切向力Y=-34067.2422
FPS=28.56, 法向力=4545.2578, 切向力X=1477.5869, 切向力Y=-42097.3164
FPS=27.23, 法向力=4384.7197, 切向力X=1593.6882, 切向力Y=-42691.3789
FPS=29.87, 法向力=5338.5596, 切向力X=4256.4014, 切向力Y=-50565.7188
FPS=29.09, 法向力=5330.3057, 切向力X=4464.3574, 切向力Y=-50810.7266
FPS=28.87, 法向力=9667.2402, 切向力X=6868.8267, 切向力Y=-52090.2344
FPS=28.86, 法向力=15249.2656, 切向力X=4648.4458, 切向力Y=-44666.7461
FPS=28.88, 法向力=15338.8027, 切向力X=4661.9404, 切向力Y=-44659.2188
FPS=28.60, 法向力=21103.8027, 切向力X=3354.9143, 切向力Y=-37170.7031
FPS=30.92, 法向力=21142.1367, 切向力X=3154.8047, 切向力Y=-37075.9688
FPS=29.44, 法向力=17605.3789, 切向力X=2018.4009, 切向力Y=-24464.9492
FPS=28.99, 法向力=17502.4297, 切向力X=2032.7917, 切向力Y=-24484.5234
FPS=30.81, 法向力=10196.2412, 切向力X=499.1806, 切向力Y=-13571.0459
FPS=29.10, 法向力=6686.8154, 切向力X=-5548.2197, 切向力Y=-1433.3000
FPS=30.08, 法向力=6606.0879, 切向力X=-5417.0527, 切向力Y=-1352.0264
FPS=28.90, 法向力=5816.9849, 切向力X=-14560.3760, 切向力Y=27483.6406
FPS=29.37, 法向力=5727.3804, 切向力X=-14664.9775, 切向力Y=27778.0508
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=0.000276s, blend=0.002158s (9 tiles incl ref), finalize=0.000055s, total=0.002493s
FPS=28.40, 法向力=14191.3398, 切向力X=-10216.0947, 切向力Y=44868.0547
FPS=28.29, 法向力=14389.1855, 切向力X=-10585.9287, 切向力Y=45309.2891
FPS=29.28, 法向力=14715.8359, 切向力X=-5059.4453, 切向力Y=34297.6992
FPS=28.26, 法向力=9327.0703, 切向力X=-2133.3066, 切向力Y=13392.2559
FPS=29.82, 法向力=9370.3066, 切向力X=-2249.8320, 切向力Y=13473.5723
FPS=29.39, 法向力=4217.6230, 切向力X=-745.3739, 切向力Y=3524.5049
FPS=29.67, 法向力=4202.5859, 切向力X=-792.0153, 切向力Y=3528.3477
FPS=27.45, 法向力=2435.2139, 切向力X=-1067.2122, 切向力Y=-1113.7742
FPS=28.64, 法向力=2430.8394, 切向力X=-1119.6593, 切向力Y=-1172.8008
FPS=30.69, 法向力=1849.1011, 切向力X=53.4633, 切向力Y=-1235.4111
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
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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=33.70, 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
FPS=37.16, 法向力=2271.2490, 切向力X=2363.0000, 切向力Y=-1796.7866
FPS=37.89, 法向力=1705.8145, 切向力X=1078.9946, 切向力Y=-2192.0593
FPS=43.75, 法向力=1786.7722, 切向力X=984.0857, 切向力Y=-2338.5356
FPS=38.77, 法向力=1506.3123, 切向力X=1964.8771, 切向力Y=-1428.9338
FPS=41.19, 法向力=1540.6389, 切向力X=1978.3735, 切向力Y=-1425.2751
FPS=45.83, 法向力=1806.7345, 切向力X=2084.8862, 切向力Y=-1811.5562
FPS=40.97, 法向力=1832.1790, 切向力X=2081.6895, 切向力Y=-1888.7703
FPS=47.35, 法向力=1827.7820, 切向力X=2053.2739, 切向力Y=-1883.0819
FPS=37.84, 法向力=1752.5474, 切向力X=2055.7856, 切向力Y=-804.6687
FPS=47.21, 法向力=1777.3452, 切向力X=2051.9805, 切向力Y=-902.6271
FPS=40.14, 法向力=1790.1218, 切向力X=2075.2041, 切向力Y=-916.9319
FPS=45.07, 法向力=1689.3606, 切向力X=1269.3989, 切向力Y=-942.1345
FPS=41.03, 法向力=1646.0747, 切向力X=1159.8820, 切向力Y=-912.9297
FPS=44.33, 法向力=1602.1758, 切向力X=1844.8444, 切向力Y=-1338.1885
FPS=41.42, 法向力=1591.0786, 切向力X=1929.9990, 切向力Y=-1337.3313
FPS=46.13, 法向力=1619.2078, 切向力X=1956.1942, 切向力Y=-1348.0029
FPS=38.64, 法向力=2050.8020, 切向力X=1271.8103, 切向力Y=-875.7777
FPS=46.89, 法向力=2127.4438, 切向力X=1277.6216, 切向力Y=-907.7838
FPS=37.70, 法向力=1574.8885, 切向力X=383.4781, 切向力Y=-1583.9022
FPS=40.47, 法向力=1606.6511, 切向力X=401.5731, 切向力Y=-1670.5662
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FPS=45.29, 法向力=1609.0376, 切向力X=460.9803, 切向力Y=-1643.3013
FPS=36.81, 法向力=2029.3346, 切向力X=2154.9927, 切向力Y=-829.5350
FPS=46.28, 法向力=1982.4811, 切向力X=2001.9480, 切向力Y=-757.5553
FPS=37.41, 法向力=1539.5763, 切向力X=2019.1719, 切向力Y=-986.2773
FPS=47.92, 法向力=1584.6309, 切向力X=2158.3281, 切向力Y=-1149.6570
FPS=38.68, 法向力=1391.4651, 切向力X=1807.6473, 切向力Y=-1284.5732
FPS=46.52, 法向力=1417.9875, 切向力X=1764.5532, 切向力Y=-1246.9474
FPS=41.53, 法向力=1416.5515, 切向力X=1738.4392, 切向力Y=-1230.4895
FPS=43.54, 法向力=1800.6121, 切向力X=1824.7747, 切向力Y=-750.7492
FPS=41.73, 法向力=1833.8964, 切向力X=1767.1230, 切向力Y=-683.6387
FPS=48.12, 法向力=1856.1946, 切向力X=1761.4734, 切向力Y=-677.1985
FPS=38.51, 法向力=2038.8975, 切向力X=1681.8119, 切向力Y=-1012.6639
FPS=46.30, 法向力=2039.0438, 切向力X=1611.7954, 切向力Y=-1110.2085
FPS=38.31, 法向力=1732.1406, 切向力X=1556.1365, 切向力Y=-1073.1105
FPS=47.70, 法向力=1682.7166, 切向力X=1567.2930, 切向力Y=-1179.5291
FPS=39.78, 法向力=1698.2576, 切向力X=1535.9635, 切向力Y=-1158.8741
FPS=46.45, 法向力=1196.4817, 切向力X=817.8926, 切向力Y=-909.8328
FPS=42.46, 法向力=1229.9314, 切向力X=897.5795, 切向力Y=-954.1049
FPS=44.14, 法向力=1242.3362, 切向力X=939.3129, 切向力Y=-954.7243
FPS=37.72, 法向力=1800.6078, 切向力X=1489.0635, 切向力Y=-1412.2057
FPS=40.68, 法向力=1856.6642, 切向力X=1410.4048, 切向力Y=-1411.1138
FPS=41.29, 法向力=1431.3910, 切向力X=2217.4270, 切向力Y=-1114.6331
FPS=38.49, 法向力=1450.4944, 切向力X=2262.1465, 切向力Y=-1211.9838
FPS=35.69, 法向力=1771.7607, 切向力X=1861.5786, 切向力Y=-1671.0742
FPS=39.41, 法向力=1736.8641, 切向力X=1852.3383, 切向力Y=-1807.6599
FPS=40.29, 法向力=2078.3074, 切向力X=2164.5569, 切向力Y=-1518.6484
FPS=39.93, 法向力=2002.0967, 切向力X=2024.1919, 切向力Y=-1550.5377
FPS=39.73, 法向力=1961.1002, 切向力X=2040.9270, 切向力Y=-1507.6725
FPS=44.92, 法向力=2151.3909, 切向力X=1285.8325, 切向力Y=-2117.3469
FPS=41.96, 法向力=2120.7378, 切向力X=1392.6074, 切向力Y=-2114.9663
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FPS=46.09, 法向力=2138.9265, 切向力X=1357.7200, 切向力Y=-2146.3523
FPS=37.78, 法向力=1889.4010, 切向力X=1514.5272, 切向力Y=-1394.0242
FPS=45.43, 法向力=1906.6760, 切向力X=1535.6809, 切向力Y=-1390.1475
FPS=37.00, 法向力=1978.9343, 切向力X=1861.2551, 切向力Y=-1503.8977
FPS=48.17, 法向力=1973.2678, 切向力X=1818.8245, 切向力Y=-1500.0924
FPS=38.83, 法向力=2043.7554, 切向力X=1343.5601, 切向力Y=-1623.2324
FPS=47.13, 法向力=2056.2854, 切向力X=1405.9963, 切向力Y=-1496.7069
FPS=40.33, 法向力=2061.2295, 切向力X=1386.0807, 切向力Y=-1567.6982
FPS=44.59, 法向力=1778.5996, 切向力X=1336.8320, 切向力Y=-790.8645
FPS=41.01, 法向力=1809.3397, 切向力X=1430.2864, 切向力Y=-793.5112
FPS=48.45, 法向力=1768.3647, 切向力X=1422.1613, 切向力Y=-765.2826
FPS=36.96, 法向力=1999.8544, 切向力X=2047.7096, 切向力Y=-1861.5763
FPS=38.12, 法向力=1987.2115, 切向力X=1974.8619, 切向力Y=-1916.6954
FPS=38.65, 法向力=1893.9585, 切向力X=1170.3654, 切向力Y=-1761.9879
FPS=48.11, 法向力=1857.9208, 切向力X=1107.3771, 切向力Y=-1854.7507
FPS=38.11, 法向力=1796.2124, 切向力X=1165.8970, 切向力Y=-1589.9856
FPS=47.20, 法向力=1865.2433, 切向力X=1228.7639, 切向力Y=-1636.8884
FPS=41.15, 法向力=1882.0913, 切向力X=1245.7800, 切向力Y=-1606.4250
FPS=44.56, 法向力=1950.7378, 切向力X=2318.3848, 切向力Y=-1317.2194
FPS=41.83, 法向力=1956.7393, 切向力X=2300.8076, 切向力Y=-1337.1633
FPS=47.07, 法向力=2032.2854, 切向力X=2316.1333, 切向力Y=-1374.7654
FPS=39.08, 法向力=1920.0618, 切向力X=2017.5480, 切向力Y=-967.4020
FPS=48.09, 法向力=1971.6440, 切向力X=1919.2732, 切向力Y=-958.6146
FPS=39.17, 法向力=2147.4250, 切向力X=2132.2749, 切向力Y=-931.8089
FPS=48.37, 法向力=2117.4150, 切向力X=2116.9570, 切向力Y=-916.3840
FPS=40.35, 法向力=2123.7529, 切向力X=2138.8511, 切向力Y=-897.7519
FPS=44.28, 法向力=1304.6234, 切向力X=1397.9906, 切向力Y=-1782.3792
FPS=41.97, 法向力=1299.3080, 切向力X=1424.9849, 切向力Y=-1850.4517
FPS=45.01, 法向力=1326.4664, 切向力X=1393.8118, 切向力Y=-1881.6133
FPS=39.23, 法向力=1720.4834, 切向力X=955.2672, 切向力Y=-1050.5002
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FPS=38.85, 法向力=1705.3960, 切向力X=976.2533, 切向力Y=-1040.8413
FPS=36.58, 法向力=1828.0391, 切向力X=1827.1161, 切向力Y=-1152.6763
FPS=41.01, 法向力=1831.6429, 切向力X=1730.2471, 切向力Y=-1190.8890
FPS=43.42, 法向力=1654.8646, 切向力X=1640.4399, 切向力Y=-1187.2600
FPS=40.61, 法向力=1628.8281, 切向力X=1789.7649, 切向力Y=-1185.9938
FPS=38.97, 法向力=1666.8534, 切向力X=1819.9707, 切向力Y=-1147.3016
FPS=49.57, 法向力=1501.3894, 切向力X=1701.4592, 切向力Y=-867.2426
FPS=42.43, 法向力=1507.0444, 切向力X=1570.0249, 切向力Y=-845.9552
FPS=40.67, 法向力=2180.4519, 切向力X=1290.7404, 切向力Y=-1291.7091
FPS=36.08, 法向力=2238.7124, 切向力X=1132.0144, 切向力Y=-1224.3292
FPS=36.92, 法向力=2253.9390, 切向力X=1154.0128, 切向力Y=-1249.3184
FPS=12.55, 法向力=1594.0824, 切向力X=1623.1823, 切向力Y=-827.4669
FPS=42.92, 法向力=1576.4526, 切向力X=1652.8000, 切向力Y=-1033.3912
FPS=28.20, 法向力=1909.8795, 切向力X=2103.4446, 切向力Y=-675.6135
FPS=27.00, 法向力=1959.0476, 切向力X=2138.5251, 切向力Y=-623.5708
FPS=26.66, 法向力=1392.7620, 切向力X=887.4053, 切向力Y=-1470.5864
FPS=27.19, 法向力=1993.7749, 切向力X=1791.7261, 切向力Y=-1970.3367
FPS=27.93, 法向力=2046.5984, 切向力X=1776.7014, 切向力Y=-1988.2526
FPS=26.63, 法向力=1782.1085, 切向力X=2249.3765, 切向力Y=-945.5460
FPS=26.94, 法向力=1856.7073, 切向力X=2296.4648, 切向力Y=-899.2402
FPS=27.07, 法向力=2158.7783, 切向力X=1674.6562, 切向力Y=-1126.0271
FPS=24.27, 法向力=1556.9054, 切向力X=2192.8257, 切向力Y=-1684.0488
FPS=25.95, 法向力=1657.6191, 切向力X=2248.2627, 切向力Y=-1792.6014
FPS=25.70, 法向力=1305.8068, 切向力X=998.8945, 切向力Y=-1122.0857
FPS=28.85, 法向力=1221.6250, 切向力X=1886.1156, 切向力Y=-1468.0767
FPS=30.23, 法向力=1252.9016, 切向力X=1945.8553, 切向力Y=-1450.0322
FPS=27.61, 法向力=1912.1953, 切向力X=1836.9387, 切向力Y=-928.0203
FPS=29.49, 法向力=1879.8879, 切向力X=1722.4316, 切向力Y=-1000.8545
FPS=27.11, 法向力=1969.2434, 切向力X=1727.9550, 切向力Y=-2147.1960
FPS=25.59, 法向力=1714.0137, 切向力X=945.9294, 切向力Y=-1704.8704
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FPS=27.86, 法向力=1691.5859, 切向力X=824.7542, 切向力Y=-1761.1051
FPS=28.14, 法向力=1481.7172, 切向力X=1797.2737, 切向力Y=-1883.6094
FPS=29.00, 法向力=1405.0237, 切向力X=1878.2860, 切向力Y=-1934.2037
FPS=29.41, 法向力=2307.0784, 切向力X=2167.9641, 切向力Y=-570.2736
FPS=26.76, 法向力=1726.8389, 切向力X=1827.0959, 切向力Y=-1198.4791
FPS=29.74, 法向力=1732.9230, 切向力X=1791.9368, 切向力Y=-1345.1521
FPS=28.36, 法向力=1620.3071, 切向力X=1987.0645, 切向力Y=-1418.2153
FPS=28.66, 法向力=1482.3596, 切向力X=1978.8596, 切向力Y=-1382.6823
FPS=28.20, 法向力=1942.1155, 切向力X=1598.0972, 切向力Y=-1098.5066
FPS=27.93, 法向力=1684.7634, 切向力X=1510.9077, 切向力Y=-1161.3376
FPS=28.44, 法向力=1711.7417, 切向力X=1595.0548, 切向力Y=-1039.9661
FPS=24.55, 法向力=1581.3958, 切向力X=1871.2024, 切向力Y=-935.8303
FPS=29.30, 法向力=1540.2136, 切向力X=1874.5549, 切向力Y=-967.5330
FPS=27.58, 法向力=1979.7456, 切向力X=1526.0730, 切向力Y=-1807.5635
FPS=27.43, 法向力=1740.8452, 切向力X=1737.5499, 切向力Y=-1944.8693
FPS=28.70, 法向力=1761.6230, 切向力X=1797.1147, 切向力Y=-1936.1052
FPS=27.79, 法向力=2187.0745, 切向力X=1482.5253, 切向力Y=-1624.7380
FPS=29.54, 法向力=2199.1548, 切向力X=1432.6201, 切向力Y=-1656.0848
FPS=27.37, 法向力=1627.2881, 切向力X=1292.8635, 切向力Y=-1328.2913
FPS=28.59, 法向力=1632.5698, 切向力X=1325.9822, 切向力Y=-1318.1462
FPS=28.26, 法向力=1891.8442, 切向力X=2093.7944, 切向力Y=-811.2308
FPS=25.09, 法向力=1936.4331, 切向力X=1369.5425, 切向力Y=-1095.6978
FPS=28.75, 法向力=1914.0029, 切向力X=1286.6843, 切向力Y=-1136.9094
FPS=28.94, 法向力=2257.2119, 切向力X=2371.9321, 切向力Y=-1812.5161
FPS=26.85, 法向力=2238.1938, 切向力X=2405.2876, 切向力Y=-1819.1086
FPS=27.47, 法向力=2338.3228, 切向力X=1294.7604, 切向力Y=-1539.9927
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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
FPS=29.05, 法向力=1132.2119, 切向力X=919.1974, 切向力Y=-802.3245
FPS=32.85, 法向力=1099.0850, 切向力X=849.7854, 切向力Y=-758.3436
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
FPS=29.90, 法向力=1478.9475, 切向力X=1244.4749, 切向力Y=-1003.5092
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
stitch_feature_optimized: canvas out_w=473, out_h=421, x_min=-145.18, y_min=-85.07
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000245s, blend=0.002119s (9 tiles incl ref), finalize=0.000045s, total=0.002415s
FPS=32.73, 法向力=1429.1321, 切向力X=641.9506, 切向力Y=-750.9676
FPS=26.62, 法向力=1081.8252, 切向力X=981.1674, 切向力Y=-764.2773
FPS=33.67, 法向力=1055.2429, 切向力X=996.7461, 切向力Y=-774.8104
FPS=29.55, 法向力=982.1217, 切向力X=233.4435, 切向力Y=-1325.1589
FPS=29.41, 法向力=1115.6650, 切向力X=175.7496, 切向力Y=-401.9208
FPS=31.59, 法向力=1096.8228, 切向力X=101.5000, 切向力Y=-399.1467
FPS=30.26, 法向力=1677.1855, 切向力X=504.3459, 切向力Y=-1065.7140
FPS=31.42, 法向力=1735.2461, 切向力X=455.1199, 切向力Y=-1111.9432
FPS=30.15, 法向力=1693.8590, 切向力X=347.1722, 切向力Y=-1551.6848
FPS=30.54, 法向力=1649.8907, 切向力X=342.7608, 切向力Y=-1585.1748
FPS=29.41, 法向力=1164.9186, 切向力X=134.6023, 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
stitch_feature_optimized: canvas out_w=473, out_h=421, x_min=-145.18, y_min=-85.07
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000246s, blend=0.002215s (9 tiles incl ref), finalize=0.000053s, total=0.002522s
FPS=31.42, 法向力=1217.8118, 切向力X=755.8471, 切向力Y=-1301.3489
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
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=0.000240s, blend=0.002186s (9 tiles incl ref), finalize=0.000047s, total=0.002480s
FPS=30.43, 法向力=1107.5618, 切向力X=1360.7239, 切向力Y=-170.8008
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
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=0.000236s, blend=0.003299s (9 tiles incl ref), finalize=0.000060s, total=0.003602s
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
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FPS=30.08, 法向力=1050.7249, 切向力X=1129.3197, 切向力Y=-2846.1064
FPS=29.36, 法向力=1279.4087, 切向力X=1464.4368, 切向力Y=-3008.3081
FPS=29.58, 法向力=1395.7473, 切向力X=1405.0603, 切向力Y=-3061.7017
FPS=30.95, 法向力=1235.8215, 切向力X=1815.4819, 切向力Y=-3586.7710
FPS=30.11, 法向力=1227.1375, 切向力X=1814.2637, 切向力Y=-3704.7795
FPS=30.97, 法向力=1027.2694, 切向力X=2238.6699, 切向力Y=-3429.4180
FPS=27.88, 法向力=1226.5054, 切向力X=1038.9172, 切向力Y=-3016.7014
FPS=29.30, 法向力=1219.4263, 切向力X=1097.0752, 切向力Y=-3106.6372
FPS=27.10, 法向力=1210.6887, 切向力X=1399.1477, 切向力Y=-3330.2107
FPS=30.62, 法向力=1220.3732, 切向力X=1344.3098, 切向力Y=-3416.3452
FPS=30.87, 法向力=989.3732, 切向力X=1773.5919, 切向力Y=-2963.3186
FPS=26.61, 法向力=983.8305, 切向力X=1762.6858, 切向力Y=-3018.2522
FPS=29.07, 法向力=1227.1885, 切向力X=1631.6063, 切向力Y=-3031.2312
FPS=28.97, 法向力=1224.1844, 切向力X=1157.5851, 切向力Y=-3196.9077
FPS=30.42, 法向力=1276.8331, 切向力X=1081.6835, 切向力Y=-3276.6631
FPS=29.04, 法向力=1454.1741, 切向力X=1149.1683, 切向力Y=-3265.8674
FPS=31.28, 法向力=1499.5549, 切向力X=1221.8652, 切向力Y=-3254.8794
FPS=28.72, 法向力=1303.0649, 切向力X=866.5492, 切向力Y=-3053.4006
FPS=29.85, 法向力=1341.5726, 切向力X=816.5562, 切向力Y=-3006.3799
FPS=30.08, 法向力=1119.2059, 切向力X=1183.6379, 切向力Y=-2801.4824
FPS=30.67, 法向力=1230.9880, 切向力X=1355.4585, 切向力Y=-3204.1948
FPS=31.19, 法向力=1168.9778, 切向力X=1367.4055, 切向力Y=-3240.7771
FPS=28.64, 法向力=959.9601, 切向力X=1923.2827, 切向力Y=-3018.3459
FPS=30.92, 法向力=942.3821, 切向力X=1763.6396, 切向力Y=-2925.9973
FPS=27.93, 法向力=1492.7385, 切向力X=1836.4203, 切向力Y=-3768.7209
FPS=31.14, 法向力=1639.7517, 切向力X=1810.7715, 切向力Y=-3967.4585
FPS=28.94, 法向力=1051.8313, 切向力X=1131.9760, 切向力Y=-3067.7412
FPS=30.59, 法向力=1081.6704, 切向力X=1138.0197, 切向力Y=-2980.6445
FPS=30.29, 法向力=1255.2549, 切向力X=1102.9703, 切向力Y=-3573.3213
FPS=27.77, 法向力=1160.8160, 切向力X=1390.3440, 切向力Y=-3783.1770
stitch_feature_optimized: canvas out_w=473, out_h=421, x_min=-145.18, y_min=-85.07
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000241s, blend=0.002224s (9 tiles incl ref), finalize=0.000046s, total=0.002518s
FPS=30.82, 法向力=1220.4181, 切向力X=1324.1833, 切向力Y=-3856.8081
FPS=30.52, 法向力=919.5823, 切向力X=1177.5686, 切向力Y=-3172.4595
FPS=31.24, 法向力=912.6736, 切向力X=1158.7810, 切向力Y=-3138.4478
FPS=29.16, 法向力=1122.8787, 切向力X=1288.5323, 切向力Y=-3054.2446
FPS=31.28, 法向力=1150.1018, 切向力X=1288.2192, 切向力Y=-3108.3057
FPS=29.92, 法向力=1400.2677, 切向力X=1724.7224, 切向力Y=-3246.5874
FPS=29.65, 法向力=1066.8231, 切向力X=1548.4020, 切向力Y=-3012.0303
FPS=30.94, 法向力=1042.3152, 切向力X=1629.4856, 切向力Y=-2932.0630
FPS=29.95, 法向力=1343.0269, 切向力X=1639.8333, 切向力Y=-2607.6260
FPS=29.99, 法向力=1334.6182, 切向力X=1711.3457, 切向力Y=-2645.1257
FPS=27.98, 法向力=1210.5969, 切向力X=1055.4600, 切向力Y=-3770.0386
FPS=31.66, 法向力=1203.3738, 切向力X=1051.9512, 切向力Y=-3754.3357
FPS=28.43, 法向力=1668.1138, 切向力X=1394.8975, 切向力Y=-3821.4124
FPS=30.74, 法向力=1728.3171, 切向力X=1372.8601, 切向力Y=-3935.8276
FPS=30.86, 法向力=1379.6620, 切向力X=1285.7275, 切向力Y=-3064.3640
FPS=29.81, 法向力=941.5788, 切向力X=1550.4218, 切向力Y=-3051.6211
FPS=28.91, 法向力=959.8941, 切向力X=1527.3882, 切向力Y=-3015.0562
FPS=27.61, 法向力=936.0099, 切向力X=1675.8989, 切向力Y=-3291.9121
FPS=31.12, 法向力=959.9957, 切向力X=1689.4307, 切向力Y=-3285.7881
FPS=28.60, 法向力=1012.0328, 切向力X=1180.1223, 切向力Y=-3242.1694
FPS=30.17, 法向力=1015.6680, 切向力X=1136.8867, 切向力Y=-3315.0952
FPS=29.69, 法向力=1380.6846, 切向力X=1052.4121, 切向力Y=-2326.3042
FPS=30.07, 法向力=1428.1864, 切向力X=1932.1682, 切向力Y=-3158.6711
FPS=31.09, 法向力=1461.6042, 切向力X=1969.1737, 切向力Y=-3218.8892
FPS=29.88, 法向力=1384.7987, 切向力X=883.6381, 切向力Y=-3261.8455
FPS=30.97, 法向力=1443.8760, 切向力X=767.7334, 切向力Y=-3398.1870
FPS=29.77, 法向力=900.6025, 切向力X=1626.8831, 切向力Y=-2681.0415
FPS=31.29, 法向力=888.8187, 切向力X=1520.5002, 切向力Y=-2592.0247
FPS=28.45, 法向力=938.1382, 切向力X=1738.2601, 切向力Y=-3601.6851
FPS=30.57, 法向力=940.4343, 切向力X=1831.2322, 切向力Y=-3488.6519
stitch_feature_optimized: canvas out_w=473, out_h=421, x_min=-145.18, y_min=-85.07
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000253s, blend=0.002202s (9 tiles incl ref), finalize=0.000050s, total=0.002511s
FPS=27.35, 法向力=1161.0190, 切向力X=1319.8953, 切向力Y=-3274.6855
FPS=29.58, 法向力=1234.6250, 切向力X=1314.5886, 切向力Y=-3322.8958
FPS=31.01, 法向力=1086.7762, 切向力X=1395.1240, 切向力Y=-2194.9858
FPS=29.83, 法向力=1130.2979, 切向力X=1341.8328, 切向力Y=-2117.7471
FPS=30.71, 法向力=1054.4991, 切向力X=1328.1060, 切向力Y=-3164.1709
FPS=28.49, 法向力=1017.3755, 切向力X=1619.1422, 切向力Y=-3318.1152
FPS=30.92, 法向力=1026.8223, 切向力X=1568.9929, 切向力Y=-3281.5361
FPS=30.40, 法向力=1157.9407, 切向力X=1134.3170, 切向力Y=-2569.9270
FPS=30.78, 法向力=1125.9553, 切向力X=1139.0360, 切向力Y=-2452.2126
FPS=29.82, 法向力=986.0760, 切向力X=1346.1702, 切向力Y=-2732.6025
FPS=30.56, 法向力=1045.1118, 切向力X=1456.6333, 切向力Y=-2713.3203
FPS=28.63, 法向力=1098.7928, 切向力X=1378.2800, 切向力Y=-2607.4141
FPS=27.24, 法向力=1194.0991, 切向力X=1617.8164, 切向力Y=-2967.5146
FPS=30.62, 法向力=1268.0530, 切向力X=1657.3739, 切向力Y=-3009.8789
FPS=29.56, 法向力=1048.7073, 切向力X=739.2550, 切向力Y=-2971.7034
FPS=30.81, 法向力=1098.8755, 切向力X=724.8347, 切向力Y=-3014.5105
FPS=27.83, 法向力=1108.5468, 切向力X=963.2368, 切向力Y=-2609.3135
FPS=31.48, 法向力=1141.8185, 切向力X=980.5936, 切向力Y=-2629.1174
FPS=29.54, 法向力=901.8044, 切向力X=2136.2029, 切向力Y=-2775.6206
FPS=29.45, 法向力=1149.8657, 切向力X=1549.5854, 切向力Y=-2740.4890
FPS=32.14, 法向力=1135.4417, 切向力X=1567.1758, 切向力Y=-2884.8721
FPS=28.07, 法向力=925.2925, 切向力X=1415.2324, 切向力Y=-3376.0583
FPS=30.02, 法向力=948.9966, 切向力X=1442.9431, 切向力Y=-3315.5764
FPS=29.12, 法向力=1440.5530, 切向力X=1516.1392, 切向力Y=-3030.0537
FPS=31.34, 法向力=1437.1803, 切向力X=1463.6581, 切向力Y=-3045.1492
FPS=29.20, 法向力=1421.7463, 切向力X=1051.2524, 切向力Y=-3547.9114
FPS=24.35, 法向力=1115.1288, 切向力X=1063.0952, 切向力Y=-3477.5710
FPS=46.39, 法向力=1091.4944, 切向力X=1051.7488, 切向力Y=-3377.7292
FPS=29.42, 法向力=1100.4504, 切向力X=1067.6602, 切向力Y=-2828.9463
⏸ 数据采集已暂停
Sensor disconnected.
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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
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FPS=34.46, 法向力=1237.0813, 切向力X=1910.8727, 切向力Y=-2580.3330
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stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000407s, blend=0.002223s (9 tiles incl ref), finalize=0.000082s, total=0.002718s
FPS=32.87, 法向力=1116.1624, 切向力X=1312.3960, 切向力Y=-1760.2429
FPS=34.30, 法向力=1159.7345, 切向力X=1221.2611, 切向力Y=-1696.8870
FPS=32.37, 法向力=1517.9126, 切向力X=1197.4075, 切向力Y=-1818.9017
FPS=34.62, 法向力=1522.2167, 切向力X=1273.5354, 切向力Y=-1837.4465
FPS=31.97, 法向力=1625.8052, 切向力X=1251.9607, 切向力Y=-1847.7809
FPS=35.28, 法向力=1659.3455, 切向力X=1295.4989, 切向力Y=-1977.8134
FPS=33.30, 法向力=1078.5233, 切向力X=1791.5032, 切向力Y=-1824.9978
FPS=33.95, 法向力=1078.7892, 切向力X=1881.9207, 切向力Y=-1766.6975
FPS=31.81, 法向力=1862.3119, 切向力X=2019.3054, 切向力Y=-2007.9861
FPS=32.37, 法向力=1861.4957, 切向力X=2031.8950, 切向力Y=-2056.4973
FPS=32.91, 法向力=1153.0978, 切向力X=1815.4875, 切向力Y=-2052.3206
FPS=34.49, 法向力=1193.1887, 切向力X=1790.1426, 切向力Y=-2085.9829
FPS=32.24, 法向力=1389.4352, 切向力X=1541.2844, 切向力Y=-1729.6836
FPS=34.69, 法向力=1305.5664, 切向力X=1475.3398, 切向力Y=-1720.7537
FPS=32.97, 法向力=1327.6302, 切向力X=1315.0494, 切向力Y=-1497.5129
FPS=34.16, 法向力=1298.7898, 切向力X=1284.2614, 切向力Y=-1443.9370
FPS=33.17, 法向力=1389.7604, 切向力X=1259.4432, 切向力Y=-1827.0032
FPS=35.29, 法向力=1378.5911, 切向力X=1233.4237, 切向力Y=-1702.6196
FPS=31.93, 法向力=1683.4753, 切向力X=1748.9026, 切向力Y=-2218.6602
FPS=34.46, 法向力=1759.7397, 切向力X=1743.9341, 切向力Y=-2273.7822
FPS=31.19, 法向力=1067.1072, 切向力X=2115.6445, 切向力Y=-2102.5996
FPS=34.26, 法向力=1079.4031, 切向力X=2131.3142, 切向力Y=-2070.1382
FPS=32.48, 法向力=1631.2618, 切向力X=1301.2920, 切向力Y=-1492.0933
FPS=33.64, 法向力=1677.1570, 切向力X=1199.2670, 切向力Y=-1445.0380
FPS=32.16, 法向力=1464.4209, 切向力X=2378.5962, 切向力Y=-2069.0093
FPS=33.44, 法向力=1510.4312, 切向力X=2512.3872, 切向力Y=-2111.0544
FPS=31.19, 法向力=1330.7728, 切向力X=2410.7888, 切向力Y=-2173.9790
FPS=35.30, 法向力=1299.9872, 切向力X=2380.0564, 切向力Y=-2238.4543
FPS=30.59, 法向力=1343.2498, 切向力X=1451.6179, 切向力Y=-1162.6284
FPS=34.48, 法向力=1366.6345, 切向力X=1376.0415, 切向力Y=-1195.6294
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=0.000416s, blend=0.002211s (9 tiles incl ref), finalize=0.000047s, total=0.002679s
FPS=32.09, 法向力=1454.4580, 切向力X=1684.3838, 切向力Y=-1752.3718
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
+7
View File
@@ -0,0 +1,7 @@
按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏
Config: config\ddjx01.json
Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]}
Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12}
Connecting to video source...
启动失败: Failed to open video source.
examples/logs/qt_viewer_20260520_092948.log
+2
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@@ -0,0 +1,2 @@
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
+2
View File
@@ -0,0 +1,2 @@
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
+283
View File
@@ -0,0 +1,283 @@
按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏
Config: config\ddjx01.json
Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]}
Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12}
Connecting to video source...
启动失败: Failed to open video source.
Config: config\ddjx01.json
Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]}
Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12}
Connecting to video source...
OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400
Detected 15 candidate boxes with bk_thresh=25
Sensor: valid for stitching
Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13]
Latest-frame capture thread started.
Camera calib not found or not JSON: config\./config/ddjx01.npy
Video source: 0
Stitch mode: True
Optical flow algorithm: dis
Poisson backend: auto
CuPy available: True
OpenCL available: False
▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy
FPS=0.53, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=6.48, 法向力=2213.7305, 切向力X=-831.4543, 切向力Y=116.7666
FPS=24.15, 法向力=1352.1725, 切向力X=472.3304, 切向力Y=-536.2580
FPS=27.80, 法向力=1385.1113, 切向力X=428.3097, 切向力Y=488.7756
FPS=28.06, 法向力=1310.9050, 切向力X=508.8324, 切向力Y=555.9269
FPS=27.72, 法向力=1504.5223, 切向力X=-85.2128, 切向力Y=-192.2782
FPS=31.14, 法向力=1506.9099, 切向力X=-98.0718, 切向力Y=-267.8319
FPS=29.69, 法向力=2387.9897, 切向力X=-673.9766, 切向力Y=-516.9131
FPS=30.57, 法向力=2483.1816, 切向力X=-720.9071, 切向力Y=-634.8928
FPS=27.43, 法向力=1200.3954, 切向力X=355.6664, 切向力Y=421.9294
FPS=29.67, 法向力=1161.9071, 切向力X=440.2039, 切向力Y=5.5120
FPS=30.39, 法向力=1132.3943, 切向力X=443.7112, 切向力Y=-13.7649
FPS=29.86, 法向力=1343.8309, 切向力X=-406.3197, 切向力Y=374.9767
FPS=32.94, 法向力=1338.9937, 切向力X=-322.5110, 切向力Y=386.2465
FPS=31.71, 法向力=1564.3291, 切向力X=-271.3758, 切向力Y=-524.6351
FPS=32.26, 法向力=1535.0125, 切向力X=-318.6829, 切向力Y=-374.3928
FPS=29.90, 法向力=1824.4835, 切向力X=-157.5851, 切向力Y=128.5954
FPS=31.25, 法向力=1883.1768, 切向力X=-193.6504, 切向力Y=200.8601
FPS=29.85, 法向力=1021.5721, 切向力X=278.8154, 切向力Y=989.8488
FPS=31.01, 法向力=1042.1090, 切向力X=279.7223, 切向力Y=964.2007
FPS=29.52, 法向力=895.2626, 切向力X=799.8497, 切向力Y=90.4654
FPS=23.87, 法向力=1423.5312, 切向力X=674.5703, 切向力Y=599.8961
FPS=31.84, 法向力=1477.8154, 切向力X=618.4202, 切向力Y=527.4292
FPS=31.51, 法向力=1611.7842, 切向力X=189.4609, 切向力Y=447.6461
FPS=31.72, 法向力=1636.7334, 切向力X=161.5871, 切向力Y=327.7935
FPS=30.97, 法向力=1111.9639, 切向力X=377.2953, 切向力Y=29.1565
FPS=30.53, 法向力=1084.5281, 切向力X=412.8310, 切向力Y=193.9559
FPS=29.58, 法向力=1259.0901, 切向力X=-231.9793, 切向力Y=753.0996
stitch_feature_optimized: canvas out_w=469, out_h=416, x_min=-141.91, y_min=-81.31
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000239s, blend=0.002195s (9 tiles incl ref), finalize=0.000051s, total=0.002491s
FPS=32.91, 法向力=1250.9475, 切向力X=-293.4701, 切向力Y=783.0616
FPS=31.48, 法向力=1219.7708, 切向力X=314.2374, 切向力Y=157.4835
FPS=32.22, 法向力=1237.5950, 切向力X=393.5325, 切向力Y=171.4568
FPS=30.46, 法向力=1632.2532, 切向力X=284.0461, 切向力Y=184.4255
FPS=29.90, 法向力=1435.4365, 切向力X=562.1262, 切向力Y=-578.3645
FPS=31.12, 法向力=1480.4895, 切向力X=510.3778, 切向力Y=-680.5348
FPS=29.10, 法向力=1086.3494, 切向力X=456.5355, 切向力Y=-28.1651
FPS=31.37, 法向力=1172.4097, 切向力X=237.0993, 切向力Y=18.6380
FPS=29.13, 法向力=1820.7389, 切向力X=324.4179, 切向力Y=345.4702
FPS=28.97, 法向力=1842.6687, 切向力X=342.2061, 切向力Y=326.9205
FPS=29.65, 法向力=1580.4092, 切向力X=91.3862, 切向力Y=-445.3371
FPS=31.06, 法向力=1540.3838, 切向力X=106.6948, 切向力Y=-394.1401
FPS=30.58, 法向力=1401.4768, 切向力X=280.5891, 切向力Y=269.5541
FPS=30.63, 法向力=1408.1353, 切向力X=262.1977, 切向力Y=346.0752
FPS=31.48, 法向力=1663.0859, 切向力X=810.9562, 切向力Y=85.4282
FPS=29.25, 法向力=1646.5908, 切向力X=935.0238, 切向力Y=25.2124
FPS=29.27, 法向力=1025.8442, 切向力X=626.1591, 切向力Y=-170.7434
FPS=25.48, 法向力=1463.7850, 切向力X=320.5577, 切向力Y=-1085.8682
FPS=28.65, 法向力=1495.1494, 切向力X=273.0444, 切向力Y=-1046.7732
FPS=29.99, 法向力=1565.0084, 切向力X=604.6854, 切向力Y=413.6804
FPS=30.47, 法向力=2249.8474, 切向力X=633.8090, 切向力Y=447.5632
FPS=30.12, 法向力=2278.7788, 切向力X=588.4166, 切向力Y=443.7141
FPS=30.73, 法向力=1354.9403, 切向力X=705.6375, 切向力Y=108.6115
FPS=31.40, 法向力=1376.6870, 切向力X=611.2162, 切向力Y=70.4096
FPS=30.48, 法向力=1660.0551, 切向力X=644.7471, 切向力Y=-345.5451
FPS=31.02, 法向力=1713.3291, 切向力X=621.5406, 切向力Y=-97.8601
FPS=29.73, 法向力=1297.5759, 切向力X=454.7149, 切向力Y=-87.1552
FPS=31.35, 法向力=1280.0862, 切向力X=467.9812, 切向力Y=-114.1216
FPS=28.22, 法向力=2042.3179, 切向力X=808.8539, 切向力Y=-964.7545
FPS=30.68, 法向力=2005.6868, 切向力X=783.8578, 切向力Y=-926.4364
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=0.000242s, blend=0.002042s (9 tiles incl ref), finalize=0.000047s, total=0.002338s
FPS=29.25, 法向力=1879.7450, 切向力X=1.3228, 切向力Y=-636.8293
FPS=30.91, 法向力=1877.2822, 切向力X=-56.9202, 切向力Y=-845.7841
FPS=29.66, 法向力=1326.8608, 切向力X=524.9980, 切向力Y=-344.9617
FPS=29.43, 法向力=1144.2078, 切向力X=288.0635, 切向力Y=-59.2635
FPS=31.22, 法向力=1140.9841, 切向力X=295.8651, 切向力Y=58.1639
FPS=28.04, 法向力=1069.5967, 切向力X=71.9230, 切向力Y=-1095.8931
FPS=29.80, 法向力=1114.3188, 切向力X=151.8508, 切向力Y=-1153.0784
FPS=23.21, 法向力=1076.2368, 切向力X=53.6741, 切向力Y=-221.0981
FPS=29.82, 法向力=1193.0388, 切向力X=804.2688, 切向力Y=323.8615
FPS=30.34, 法向力=1169.6418, 切向力X=785.1689, 切向力Y=489.2322
FPS=26.58, 法向力=1553.9524, 切向力X=58.5218, 切向力Y=-907.2050
FPS=29.99, 法向力=1576.9756, 切向力X=80.7030, 切向力Y=-919.7176
FPS=29.27, 法向力=1163.4131, 切向力X=1567.4487, 切向力Y=158.2039
FPS=27.45, 法向力=1058.0712, 切向力X=1452.9330, 切向力Y=191.2711
FPS=28.74, 法向力=1471.3601, 切向力X=-210.7211, 切向力Y=-309.5398
FPS=28.44, 法向力=1481.9944, 切向力X=-79.1983, 切向力Y=-184.0849
FPS=28.25, 法向力=1483.3715, 切向力X=-55.6209, 切向力Y=-413.9158
FPS=27.57, 法向力=1289.5178, 切向力X=546.6891, 切向力Y=-390.9364
FPS=28.87, 法向力=1248.1635, 切向力X=605.6703, 切向力Y=-283.4485
FPS=30.16, 法向力=1371.0308, 切向力X=-44.1075, 切向力Y=10.0289
FPS=27.91, 法向力=1487.3379, 切向力X=44.5071, 切向力Y=-579.0234
FPS=28.82, 法向力=1499.0609, 切向力X=-21.1594, 切向力Y=-617.7709
FPS=23.96, 法向力=1692.9135, 切向力X=822.3473, 切向力Y=-426.7154
FPS=30.08, 法向力=1229.0179, 切向力X=251.6935, 切向力Y=-161.1752
FPS=30.62, 法向力=1244.5823, 切向力X=232.7088, 切向力Y=-110.2535
FPS=29.03, 法向力=1720.9955, 切向力X=513.0590, 切向力Y=22.9799
FPS=29.91, 法向力=1824.9502, 切向力X=470.1707, 切向力Y=-60.0558
FPS=29.96, 法向力=1477.7031, 切向力X=692.0214, 切向力Y=-384.1173
FPS=29.70, 法向力=1439.0342, 切向力X=678.7191, 切向力Y=-345.6924
FPS=25.12, 法向力=1232.9213, 切向力X=684.6835, 切向力Y=-85.5122
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=0.000004s (hit), reset=0.000337s, blend=0.002527s (9 tiles incl ref), finalize=0.000127s, total=0.002998s
FPS=26.29, 法向力=1616.1174, 切向力X=555.2520, 切向力Y=47.8729
FPS=29.65, 法向力=1630.9730, 切向力X=507.1905, 切向力Y=-18.5513
FPS=26.10, 法向力=1695.4471, 切向力X=642.8286, 切向力Y=-218.8646
FPS=29.86, 法向力=1763.7881, 切向力X=532.9568, 切向力Y=-361.6038
FPS=28.07, 法向力=1730.9398, 切向力X=619.9155, 切向力Y=-202.8683
FPS=29.02, 法向力=1852.6075, 切向力X=511.7185, 切向力Y=-221.9164
FPS=27.60, 法向力=1303.2028, 切向力X=648.7281, 切向力Y=33.2181
FPS=28.38, 法向力=1868.1459, 切向力X=341.6017, 切向力Y=-149.1152
FPS=28.59, 法向力=1887.7944, 切向力X=292.8860, 切向力Y=-192.1378
FPS=24.79, 法向力=1421.7510, 切向力X=1016.5341, 切向力Y=136.3665
FPS=25.86, 法向力=1368.5652, 切向力X=950.2245, 切向力Y=-221.2622
FPS=26.52, 法向力=1384.4048, 切向力X=917.3600, 切向力Y=-187.4099
FPS=26.72, 法向力=1405.3121, 切向力X=197.1655, 切向力Y=-1570.6387
FPS=25.64, 法向力=1130.0383, 切向力X=46.1078, 切向力Y=-270.6610
FPS=25.30, 法向力=1151.6326, 切向力X=10.2701, 切向力Y=-186.8624
FPS=25.65, 法向力=1554.7035, 切向力X=514.6339, 切向力Y=-725.1754
FPS=28.41, 法向力=1548.4341, 切向力X=570.8615, 切向力Y=-615.0480
FPS=27.76, 法向力=908.3320, 切向力X=793.0337, 切向力Y=-368.2577
FPS=27.92, 法向力=963.7712, 切向力X=865.3441, 切向力Y=-400.4410
FPS=27.52, 法向力=1247.5166, 切向力X=860.4816, 切向力Y=-433.9655
FPS=26.73, 法向力=1319.0897, 切向力X=652.6536, 切向力Y=-782.1179
FPS=26.96, 法向力=1378.0895, 切向力X=590.1220, 切向力Y=-907.2590
FPS=27.32, 法向力=1407.3383, 切向力X=1017.8302, 切向力Y=-1327.8243
FPS=21.37, 法向力=2149.4399, 切向力X=-141.8813, 切向力Y=-889.2643
FPS=28.77, 法向力=2161.4758, 切向力X=-186.7576, 切向力Y=-991.6332
FPS=26.14, 法向力=1288.6807, 切向力X=712.0509, 切向力Y=-704.4818
FPS=25.68, 法向力=1201.6223, 切向力X=836.0437, 切向力Y=-1460.9807
FPS=27.86, 法向力=1156.9742, 切向力X=817.9822, 切向力Y=-1459.4658
FPS=26.16, 法向力=1319.7437, 切向力X=468.3740, 切向力Y=-521.3862
FPS=27.93, 法向力=1310.1798, 切向力X=406.3008, 切向力Y=-644.6112
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=0.000241s, blend=0.002186s (9 tiles incl ref), finalize=0.000072s, total=0.002505s
FPS=27.86, 法向力=1309.9146, 切向力X=605.0922, 切向力Y=-241.5344
FPS=25.39, 法向力=1235.8105, 切向力X=493.4364, 切向力Y=-58.7555
FPS=26.59, 法向力=1224.6312, 切向力X=529.3778, 切向力Y=-189.7831
FPS=27.14, 法向力=1337.3630, 切向力X=296.6964, 切向力Y=-651.9707
FPS=27.46, 法向力=1116.2803, 切向力X=1590.4236, 切向力Y=-621.0003
FPS=24.97, 法向力=1103.9592, 切向力X=1627.1405, 切向力Y=-685.8168
FPS=23.34, 法向力=1401.5173, 切向力X=1554.7986, 切向力Y=-1545.1399
FPS=24.55, 法向力=1353.5074, 切向力X=1196.0583, 切向力Y=-442.2816
FPS=18.09, 法向力=1257.1780, 切向力X=740.0415, 切向力Y=-1016.8972
FPS=27.67, 法向力=1251.0051, 切向力X=762.0387, 切向力Y=-1086.6421
FPS=25.57, 法向力=1256.4828, 切向力X=451.9149, 切向力Y=-131.8427
FPS=25.72, 法向力=1265.3657, 切向力X=435.8604, 切向力Y=79.8764
FPS=25.37, 法向力=1416.9163, 切向力X=941.0657, 切向力Y=-468.5121
FPS=22.83, 法向力=1176.4315, 切向力X=1297.7384, 切向力Y=-795.6346
FPS=27.13, 法向力=1339.3701, 切向力X=907.1574, 切向力Y=-2009.0021
FPS=27.56, 法向力=1307.4290, 切向力X=1000.3510, 切向力Y=-1973.5797
FPS=27.49, 法向力=1299.0322, 切向力X=706.7341, 切向力Y=-1200.9464
FPS=28.58, 法向力=1299.2595, 切向力X=746.6210, 切向力Y=-1271.4272
FPS=26.44, 法向力=1463.2188, 切向力X=1505.7465, 切向力Y=-1290.6003
FPS=28.06, 法向力=1443.4969, 切向力X=1452.6122, 切向力Y=-1274.2487
FPS=27.83, 法向力=1140.7952, 切向力X=927.7131, 切向力Y=-958.0851
FPS=26.12, 法向力=831.4651, 切向力X=1354.7119, 切向力Y=-314.1755
FPS=24.75, 法向力=808.4371, 切向力X=1280.1992, 切向力Y=-138.6353
FPS=27.63, 法向力=1154.9791, 切向力X=763.6881, 切向力Y=-269.3112
FPS=27.83, 法向力=1718.3771, 切向力X=750.6769, 切向力Y=-540.3933
FPS=27.79, 法向力=1678.0847, 切向力X=810.7127, 切向力Y=-520.1839
FPS=25.50, 法向力=1281.8243, 切向力X=1214.8019, 切向力Y=-997.2437
FPS=25.26, 法向力=1095.6404, 切向力X=1037.4814, 切向力Y=-1106.8430
FPS=25.40, 法向力=1096.2161, 切向力X=1050.9160, 切向力Y=-1171.3092
FPS=24.21, 法向力=1573.9650, 切向力X=678.7444, 切向力Y=-835.3303
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=0.000004s (hit), reset=0.000239s, blend=0.002142s (9 tiles incl ref), finalize=0.000047s, total=0.002434s
FPS=25.21, 法向力=1580.1180, 切向力X=641.5219, 切向力Y=-901.5739
FPS=27.36, 法向力=1473.8125, 切向力X=674.2009, 切向力Y=-259.6451
FPS=23.05, 法向力=1381.2405, 切向力X=559.6825, 切向力Y=-765.8370
FPS=27.92, 法向力=1878.6653, 切向力X=344.4909, 切向力Y=-261.9095
FPS=28.58, 法向力=1962.5593, 切向力X=259.1123, 切向力Y=-373.8212
FPS=26.23, 法向力=1133.5474, 切向力X=501.3486, 切向力Y=-990.4481
FPS=27.85, 法向力=1122.7908, 切向力X=543.2386, 切向力Y=-1123.4922
FPS=26.53, 法向力=1375.6960, 切向力X=642.0289, 切向力Y=-1269.3794
FPS=28.21, 法向力=1335.1880, 切向力X=684.7299, 切向力Y=-1294.8264
FPS=26.66, 法向力=1309.5914, 切向力X=511.7134, 切向力Y=-565.9127
FPS=26.63, 法向力=962.5631, 切向力X=1326.1536, 切向力Y=-620.7302
FPS=22.54, 法向力=965.1920, 切向力X=1394.8184, 切向力Y=-534.8018
FPS=28.15, 法向力=1143.4580, 切向力X=1239.8674, 切向力Y=-561.4015
FPS=26.53, 法向力=1503.8226, 切向力X=658.1591, 切向力Y=37.9507
FPS=29.04, 法向力=1535.5886, 切向力X=507.6566, 切向力Y=-65.7166
FPS=25.47, 法向力=1389.6521, 切向力X=1193.7039, 切向力Y=-1127.3787
FPS=25.70, 法向力=1266.1023, 切向力X=1201.5778, 切向力Y=-441.4497
FPS=27.98, 法向力=1257.1716, 切向力X=1124.0779, 切向力Y=-490.2908
FPS=24.61, 法向力=1206.0166, 切向力X=1667.1150, 切向力Y=-1091.0508
FPS=24.22, 法向力=1187.6304, 切向力X=1562.4724, 切向力Y=-1133.1945
FPS=25.17, 法向力=1593.2129, 切向力X=760.3239, 切向力Y=-1491.9862
FPS=25.90, 法向力=1125.5989, 切向力X=661.9319, 切向力Y=116.5233
FPS=24.78, 法向力=1330.0607, 切向力X=955.8997, 切向力Y=-212.9409
FPS=25.35, 法向力=1333.6558, 切向力X=915.6127, 切向力Y=-202.9927
FPS=23.21, 法向力=1080.5262, 切向力X=1103.6884, 切向力Y=-1368.4825
FPS=23.76, 法向力=1336.0364, 切向力X=985.7103, 切向力Y=-43.9049
FPS=21.51, 法向力=1378.7555, 切向力X=980.8937, 切向力Y=16.8571
FPS=26.53, 法向力=1299.9460, 切向力X=617.8058, 切向力Y=-584.3102
FPS=26.23, 法向力=1407.1370, 切向力X=804.3660, 切向力Y=-872.7847
FPS=27.86, 法向力=1340.6096, 切向力X=852.3753, 切向力Y=-859.4753
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=0.000236s, blend=0.002425s (9 tiles incl ref), finalize=0.000056s, total=0.002724s
FPS=22.94, 法向力=1738.5911, 切向力X=1383.8320, 切向力Y=-1055.4594
FPS=23.61, 法向力=1331.7024, 切向力X=1018.1240, 切向力Y=-571.3345
FPS=26.09, 法向力=1492.7432, 切向力X=932.1890, 切向力Y=-458.4791
FPS=23.82, 法向力=1622.6483, 切向力X=901.8024, 切向力Y=-1101.5720
FPS=24.94, 法向力=1082.7585, 切向力X=1421.5881, 切向力Y=-1509.0471
FPS=26.44, 法向力=1107.9196, 切向力X=1425.1373, 切向力Y=-1444.3092
FPS=26.67, 法向力=998.4110, 切向力X=1415.0671, 切向力Y=-580.6461
FPS=26.66, 法向力=976.0671, 切向力X=1407.8914, 切向力Y=-587.7780
FPS=27.07, 法向力=1475.2485, 切向力X=642.2131, 切向力Y=-1165.3364
FPS=21.43, 法向力=1232.3171, 切向力X=1235.2515, 切向力Y=-1188.9426
FPS=24.55, 法向力=1240.6605, 切向力X=1301.1288, 切向力Y=-811.2578
FPS=26.37, 法向力=1196.7474, 切向力X=1236.7854, 切向力Y=-842.5191
FPS=23.81, 法向力=1071.1379, 切向力X=1252.4607, 切向力Y=-922.4851
FPS=25.17, 法向力=1498.5598, 切向力X=1236.9985, 切向力Y=-1547.7852
FPS=24.78, 法向力=1546.7452, 切向力X=1242.1326, 切向力Y=-1606.3560
FPS=23.85, 法向力=1404.5399, 切向力X=923.3803, 切向力Y=-2027.4218
FPS=21.98, 法向力=1211.2703, 切向力X=1384.3176, 切向力Y=-786.6875
FPS=27.21, 法向力=1141.0103, 切向力X=1384.8555, 切向力Y=-662.7161
FPS=25.71, 法向力=977.0112, 切向力X=1545.6449, 切向力Y=-712.7683
FPS=27.20, 法向力=1464.5864, 切向力X=1735.6528, 切向力Y=-377.2458
FPS=25.54, 法向力=1473.6436, 切向力X=1799.4270, 切向力Y=-396.6763
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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@@ -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
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FPS=28.70, 法向力=2575.9746, 切向力X=-781.5359, 切向力Y=-900.1599
FPS=29.08, 法向力=2551.6545, 切向力X=-687.0098, 切向力Y=-873.3569
FPS=28.66, 法向力=2192.3604, 切向力X=-572.8486, 切向力Y=-557.1934
FPS=33.80, 法向力=2276.6313, 切向力X=-308.7886, 切向力Y=-475.3301
FPS=32.79, 法向力=2412.5850, 切向力X=541.5042, 切向力Y=-640.5104
FPS=33.01, 法向力=2442.4124, 切向力X=540.9560, 切向力Y=-603.8655
FPS=31.64, 法向力=2268.8511, 切向力X=1009.5976, 切向力Y=-1804.2710
FPS=32.58, 法向力=2427.0698, 切向力X=1197.5251, 切向力Y=-1941.8245
FPS=30.88, 法向力=2599.9458, 切向力X=396.2099, 切向力Y=-1242.7235
FPS=33.11, 法向力=2639.1562, 切向力X=490.4279, 切向力Y=-1341.7389
FPS=31.13, 法向力=2909.0630, 切向力X=2041.3042, 切向力Y=-463.2361
FPS=33.11, 法向力=2910.5498, 切向力X=2009.3190, 切向力Y=-398.4530
FPS=32.02, 法向力=2211.5247, 切向力X=216.0233, 切向力Y=-1645.8317
FPS=33.81, 法向力=2327.2891, 切向力X=714.3512, 切向力Y=-1296.6001
FPS=33.21, 法向力=2396.0234, 切向力X=691.6971, 切向力Y=-1293.5802
FPS=28.81, 法向力=2381.2471, 切向力X=709.2051, 切向力Y=-1242.3760
FPS=32.37, 法向力=1623.6865, 切向力X=1365.5262, 切向力Y=-1960.7311
FPS=34.43, 法向力=1670.1661, 切向力X=1289.8286, 切向力Y=-2062.0405
FPS=31.88, 法向力=1772.3164, 切向力X=-344.3841, 切向力Y=-2070.1404
FPS=33.35, 法向力=1879.5530, 切向力X=-318.8224, 切向力Y=-2006.2832
FPS=31.22, 法向力=2872.5015, 切向力X=1836.2905, 切向力Y=-762.3662
FPS=29.42, 法向力=2104.1763, 切向力X=-1223.7048, 切向力Y=-2051.8101
FPS=33.25, 法向力=2107.2490, 切向力X=-1235.1323, 切向力Y=-2011.2791
FPS=32.47, 法向力=2762.4824, 切向力X=362.6154, 切向力Y=-1037.9265
FPS=34.12, 法向力=2781.8726, 切向力X=322.8161, 切向力Y=-1072.9866
FPS=33.08, 法向力=2778.3574, 切向力X=343.7855, 切向力Y=-1076.0422
FPS=33.33, 法向力=2469.0054, 切向力X=754.0982, 切向力Y=-1178.3646
FPS=32.53, 法向力=2407.4329, 切向力X=890.7533, 切向力Y=-1239.8540
stitch_feature_optimized: canvas out_w=537, out_h=421, x_min=-133.02, y_min=-84.31
stitch_feature_optimized steps: brightness=0.000008s, geom=0.000003s (hit), reset=0.000334s, blend=0.002694s (9 tiles incl ref), finalize=0.000072s, total=0.003111s
FPS=30.56, 法向力=2257.9497, 切向力X=2046.8010, 切向力Y=-1906.9575
FPS=30.49, 法向力=2434.8970, 切向力X=-1013.0142, 切向力Y=-2180.5054
FPS=34.42, 法向力=2355.1489, 切向力X=-895.7687, 切向力Y=-2018.2690
FPS=33.17, 法向力=2027.5115, 切向力X=-75.7147, 切向力Y=-1626.2242
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.
examples/logs/qt_viewer_20260520_094853.log
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examples/logs/qt_viewer_20260520_095230.log
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examples/logs/qt_viewer_20260520_095454.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=8.11, 法向力=1443.3545, 切向力X=365.1152, 切向力Y=59.8816
FPS=25.34, 法向力=1302.1393, 切向力X=104.2860, 切向力Y=-92.0542
FPS=26.44, 法向力=1577.8301, 切向力X=434.0461, 切向力Y=88.0896
FPS=26.51, 法向力=1580.2581, 切向力X=399.0053, 切向力Y=231.0282
FPS=28.88, 法向力=1420.2814, 切向力X=174.2422, 切向力Y=-459.5712
FPS=28.76, 法向力=1479.5392, 切向力X=178.9374, 切向力Y=-450.1873
FPS=30.21, 法向力=1504.1948, 切向力X=251.4189, 切向力Y=-563.7437
FPS=28.57, 法向力=1763.3555, 切向力X=264.6392, 切向力Y=-506.6643
FPS=30.04, 法向力=1804.5819, 切向力X=218.6509, 切向力Y=-553.6842
FPS=27.04, 法向力=1306.4006, 切向力X=305.1353, 切向力Y=-398.3958
FPS=29.37, 法向力=1187.2489, 切向力X=569.6050, 切向力Y=-7.5381
FPS=29.96, 法向力=1205.2751, 切向力X=623.7744, 切向力Y=-42.4617
FPS=27.63, 法向力=1496.0168, 切向力X=-39.2685, 切向力Y=-431.9637
FPS=29.34, 法向力=1507.8347, 切向力X=10.8678, 切向力Y=-367.8207
FPS=27.33, 法向力=1079.7351, 切向力X=1075.4109, 切向力Y=-667.7615
FPS=30.64, 法向力=1046.7910, 切向力X=1042.3146, 切向力Y=-705.8650
FPS=27.76, 法向力=1427.2773, 切向力X=690.9922, 切向力Y=-213.1342
FPS=29.63, 法向力=1239.2627, 切向力X=730.0948, 切向力Y=160.7242
FPS=30.94, 法向力=1208.8650, 切向力X=674.5093, 切向力Y=334.6900
FPS=29.04, 法向力=1298.7375, 切向力X=-297.1659, 切向力Y=657.6058
FPS=29.84, 法向力=1276.9277, 切向力X=-276.2765, 切向力Y=591.1066
FPS=29.02, 法向力=1732.6313, 切向力X=1392.3577, 切向力Y=-579.8020
FPS=31.18, 法向力=1769.8274, 切向力X=1463.2506, 切向力Y=-533.1603
FPS=27.95, 法向力=1798.0565, 切向力X=597.0024, 切向力Y=188.2128
FPS=29.50, 法向力=1353.1079, 切向力X=298.7138, 切向力Y=-827.8887
FPS=29.85, 法向力=1318.0618, 切向力X=244.2163, 切向力Y=-846.0054
FPS=29.53, 法向力=1289.5455, 切向力X=17.7526, 切向力Y=-141.4234
stitch_feature_optimized: canvas out_w=468, out_h=419, x_min=-140.07, y_min=-85.09
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000223s, blend=0.002150s (9 tiles incl ref), finalize=0.000044s, total=0.002424s
FPS=30.07, 法向力=1377.7805, 切向力X=93.6942, 切向力Y=24.8652
FPS=28.37, 法向力=1464.8899, 切向力X=594.3412, 切向力Y=-169.4350
FPS=30.76, 法向力=1456.5334, 切向力X=594.5297, 切向力Y=-239.3648
FPS=28.56, 法向力=1390.3635, 切向力X=547.6254, 切向力Y=-328.2504
FPS=30.34, 法向力=1076.1086, 切向力X=767.7515, 切向力Y=-198.5908
FPS=30.72, 法向力=1072.1851, 切向力X=770.4673, 切向力Y=-238.6718
FPS=29.39, 法向力=1385.0117, 切向力X=469.8286, 切向力Y=426.2133
FPS=31.94, 法向力=1332.9834, 切向力X=406.3923, 切向力Y=267.7883
FPS=29.31, 法向力=1349.6606, 切向力X=468.9458, 切向力Y=321.0406
FPS=30.36, 法向力=1763.5378, 切向力X=717.9198, 切向力Y=-622.7875
FPS=29.18, 法向力=1638.6184, 切向力X=344.1155, 切向力Y=-256.3656
FPS=31.19, 法向力=1595.9841, 切向力X=255.4062, 切向力Y=-304.8394
FPS=30.05, 法向力=1491.8484, 切向力X=278.1000, 切向力Y=247.4068
FPS=31.10, 法向力=1473.7982, 切向力X=201.0629, 切向力Y=245.5854
FPS=30.33, 法向力=1431.3474, 切向力X=666.9401, 切向力Y=-660.6191
FPS=30.02, 法向力=1469.6260, 切向力X=621.6295, 切向力Y=-715.7148
FPS=28.88, 法向力=1497.6304, 切向力X=529.8053, 切向力Y=-438.1073
FPS=29.53, 法向力=1522.0170, 切向力X=660.7517, 切向力Y=-274.5663
FPS=30.08, 法向力=1696.3823, 切向力X=618.1688, 切向力Y=-389.5458
FPS=28.68, 法向力=1736.0732, 切向力X=-34.6753, 切向力Y=-202.0779
FPS=30.40, 法向力=1774.3759, 切向力X=-123.7925, 切向力Y=-207.9318
FPS=28.05, 法向力=1300.0275, 切向力X=927.9294, 切向力Y=-1434.7432
FPS=32.42, 法向力=1278.3638, 切向力X=908.8148, 切向力Y=-1414.9180
FPS=31.58, 法向力=1557.1526, 切向力X=485.9803, 切向力Y=103.1510
FPS=32.04, 法向力=1569.4917, 切向力X=455.3406, 切向力Y=234.6231
FPS=28.56, 法向力=1569.0632, 切向力X=948.0121, 切向力Y=-321.4177
FPS=29.77, 法向力=1317.5078, 切向力X=987.2048, 切向力Y=-319.0060
FPS=31.69, 法向力=1330.2948, 切向力X=985.2150, 切向力Y=-414.8001
FPS=29.55, 法向力=1256.6531, 切向力X=681.0726, 切向力Y=-861.0880
FPS=30.99, 法向力=1248.6218, 切向力X=737.3948, 切向力Y=-855.7213
stitch_feature_optimized: canvas out_w=468, out_h=419, x_min=-140.07, y_min=-85.09
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000281s, blend=0.002196s (9 tiles incl ref), finalize=0.000053s, total=0.002536s
FPS=28.76, 法向力=1310.3551, 切向力X=977.0579, 切向力Y=-939.2915
FPS=31.40, 法向力=1293.7714, 切向力X=958.2474, 切向力Y=-1019.8007
FPS=29.02, 法向力=1527.2576, 切向力X=549.6409, 切向力Y=-1180.8862
FPS=30.09, 法向力=1648.1943, 切向力X=1112.4399, 切向力Y=451.0181
FPS=30.45, 法向力=1707.0919, 切向力X=934.8206, 切向力Y=634.7878
FPS=30.51, 法向力=1932.1746, 切向力X=665.0891, 切向力Y=-1510.3477
FPS=30.21, 法向力=2025.6838, 切向力X=669.7003, 切向力Y=-1613.2417
FPS=29.20, 法向力=1318.4500, 切向力X=792.7838, 切向力Y=-643.5922
FPS=29.94, 法向力=1285.7925, 切向力X=939.0769, 切向力Y=-560.2579
FPS=28.49, 法向力=1411.0331, 切向力X=32.8800, 切向力Y=-762.1149
FPS=30.21, 法向力=1448.1907, 切向力X=95.8689, 切向力Y=-708.4703
FPS=29.63, 法向力=1161.8816, 切向力X=957.9756, 切向力Y=328.1764
FPS=29.70, 法向力=1193.9178, 切向力X=1041.2373, 切向力Y=377.7869
FPS=29.78, 法向力=1189.2373, 切向力X=826.4686, 切向力Y=-761.5404
FPS=29.47, 法向力=1092.7617, 切向力X=986.0889, 切向力Y=-480.2213
FPS=30.43, 法向力=1076.8152, 切向力X=1019.5957, 切向力Y=-419.0593
FPS=29.23, 法向力=1270.6265, 切向力X=831.1569, 切向力Y=-690.4245
FPS=27.50, 法向力=1393.0251, 切向力X=829.8500, 切向力Y=-583.8413
FPS=27.66, 法向力=1312.8457, 切向力X=843.3655, 切向力Y=-1627.3027
FPS=27.88, 法向力=1256.0175, 切向力X=1242.3727, 切向力Y=-698.1142
FPS=29.33, 法向力=1213.1880, 切向力X=1265.2146, 切向力Y=-555.5991
FPS=27.61, 法向力=1229.1333, 切向力X=621.3312, 切向力Y=-393.8067
FPS=29.22, 法向力=1224.4565, 切向力X=540.4217, 切向力Y=-369.9714
FPS=27.33, 法向力=1689.6891, 切向力X=1098.5032, 切向力Y=-1066.0920
FPS=28.34, 法向力=1626.4816, 切向力X=896.1911, 切向力Y=372.2548
FPS=29.52, 法向力=1620.6614, 切向力X=1049.5815, 切向力Y=395.6969
FPS=28.45, 法向力=2090.2146, 切向力X=1442.4633, 切向力Y=-515.3670
FPS=29.73, 法向力=2063.0444, 切向力X=1497.5981, 切向力Y=-549.8674
FPS=26.45, 法向力=1379.9048, 切向力X=466.4686, 切向力Y=-213.3238
FPS=26.73, 法向力=1339.6482, 切向力X=399.3009, 切向力Y=-373.9268
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=0.000336s, blend=0.002198s (9 tiles incl ref), finalize=0.000049s, total=0.002591s
FPS=25.52, 法向力=1455.8820, 切向力X=1860.2430, 切向力Y=-1401.1428
FPS=24.45, 法向力=1394.8159, 切向力X=1485.9797, 切向力Y=-554.5775
FPS=25.17, 法向力=1448.3137, 切向力X=1444.3834, 切向力Y=-536.7017
FPS=24.99, 法向力=1287.7076, 切向力X=1089.8197, 切向力Y=-177.3651
FPS=25.83, 法向力=1353.7671, 切向力X=604.0680, 切向力Y=-132.8016
FPS=28.32, 法向力=1410.4746, 切向力X=338.4149, 切向力Y=-255.3431
FPS=26.72, 法向力=1343.2657, 切向力X=740.7739, 切向力Y=187.5530
FPS=27.33, 法向力=1150.4019, 切向力X=439.7787, 切向力Y=-272.8948
FPS=26.49, 法向力=1114.2512, 切向力X=490.5309, 切向力Y=-279.6259
FPS=26.45, 法向力=1401.9000, 切向力X=492.9622, 切向力Y=-198.9616
FPS=26.54, 法向力=1405.3918, 切向力X=508.3521, 切向力Y=-280.1513
FPS=25.98, 法向力=1481.3667, 切向力X=1298.8492, 切向力Y=334.9391
FPS=24.69, 法向力=1548.7283, 切向力X=1236.5515, 切向力Y=-813.1505
FPS=24.00, 法向力=1534.7407, 切向力X=1242.4045, 切向力Y=-747.7036
FPS=25.61, 法向力=1864.1775, 切向力X=283.1288, 切向力Y=-913.3483
FPS=26.85, 法向力=1720.0323, 切向力X=-88.5794, 切向力Y=-242.6214
FPS=28.23, 法向力=1659.5156, 切向力X=-17.8577, 切向力Y=-275.3221
FPS=25.94, 法向力=1210.2837, 切向力X=1307.5447, 切向力Y=-390.8763
FPS=26.70, 法向力=1173.1505, 切向力X=1266.9934, 切向力Y=-599.3964
FPS=27.21, 法向力=1638.1892, 切向力X=320.2653, 切向力Y=194.4098
FPS=26.71, 法向力=1266.8735, 切向力X=1000.4933, 切向力Y=-656.7935
FPS=27.53, 法向力=1278.2108, 切向力X=962.7420, 切向力Y=-636.3889
FPS=26.82, 法向力=1476.7233, 切向力X=840.2437, 切向力Y=-117.2257
FPS=26.80, 法向力=1381.6521, 切向力X=1213.0787, 切向力Y=-864.8156
FPS=27.44, 法向力=1386.9948, 切向力X=1179.7327, 切向力Y=-829.8890
FPS=25.14, 法向力=1323.1085, 切向力X=-213.2759, 切向力Y=-1046.0718
FPS=26.65, 法向力=1500.6921, 切向力X=117.1408, 切向力Y=-302.3739
FPS=27.25, 法向力=1585.0192, 切向力X=124.9510, 切向力Y=-239.2099
FPS=26.32, 法向力=1319.4644, 切向力X=804.5198, 切向力Y=-307.8595
FPS=27.97, 法向力=1268.4803, 切向力X=761.0476, 切向力Y=-288.0502
stitch_feature_optimized: canvas out_w=468, out_h=419, x_min=-140.07, y_min=-85.09
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000330s, blend=0.002314s (9 tiles incl ref), finalize=0.000048s, total=0.002699s
FPS=27.63, 法向力=1636.1372, 切向力X=1282.7695, 切向力Y=-646.6508
FPS=27.71, 法向力=1617.7834, 切向力X=88.9376, 切向力Y=-954.1055
FPS=27.44, 法向力=1610.9476, 切向力X=150.6329, 切向力Y=-1101.2056
FPS=25.60, 法向力=1581.7498, 切向力X=1026.4116, 切向力Y=-882.5548
FPS=25.98, 法向力=1611.6071, 切向力X=1033.3550, 切向力Y=-817.8317
FPS=25.92, 法向力=1644.3896, 切向力X=985.5826, 切向力Y=-739.0018
FPS=25.37, 法向力=1845.9662, 切向力X=354.2855, 切向力Y=324.5817
FPS=26.37, 法向力=1931.2074, 切向力X=387.0456, 切向力Y=305.3329
FPS=25.75, 法向力=1436.3048, 切向力X=480.5567, 切向力Y=-18.5942
FPS=21.95, 法向力=1851.4679, 切向力X=964.8704, 切向力Y=-686.5784
FPS=23.77, 法向力=1228.8298, 切向力X=351.1143, 切向力Y=-972.9282
FPS=22.88, 法向力=1200.9182, 切向力X=401.0128, 切向力Y=-1053.3533
FPS=21.98, 法向力=1986.4316, 切向力X=65.9964, 切向力Y=-677.1853
FPS=23.49, 法向力=1582.3169, 切向力X=438.7293, 切向力Y=-485.8267
FPS=22.78, 法向力=1537.8909, 切向力X=437.9257, 切向力Y=-422.5294
FPS=23.99, 法向力=1319.0181, 切向力X=367.8812, 切向力Y=-538.1030
FPS=25.84, 法向力=1998.6230, 切向力X=113.5588, 切向力Y=-1543.5889
FPS=26.44, 法向力=1955.3684, 切向力X=284.0699, 切向力Y=-1521.7148
FPS=25.10, 法向力=1894.0542, 切向力X=934.2616, 切向力Y=-833.7286
FPS=22.27, 法向力=1278.4004, 切向力X=587.6184, 切向力Y=-628.6716
FPS=24.01, 法向力=1529.8845, 切向力X=436.5181, 切向力Y=-127.2535
FPS=24.41, 法向力=1534.0240, 切向力X=459.9483, 切向力Y=-127.7517
FPS=25.23, 法向力=1858.1824, 切向力X=603.7109, 切向力Y=-693.7975
FPS=25.62, 法向力=1472.6816, 切向力X=795.2974, 切向力Y=-1292.7288
FPS=26.45, 法向力=1448.9180, 切向力X=778.9814, 切向力Y=-1344.4379
FPS=25.16, 法向力=1361.7058, 切向力X=1456.8784, 切向力Y=-1089.7852
FPS=26.38, 法向力=1849.9924, 切向力X=1020.7944, 切向力Y=-965.5405
FPS=27.12, 法向力=1888.3772, 切向力X=1044.3452, 切向力Y=-881.5095
FPS=26.94, 法向力=1879.3722, 切向力X=961.5137, 切向力Y=-1400.8711
FPS=27.29, 法向力=1830.8130, 切向力X=956.4443, 切向力Y=-1377.7083
stitch_feature_optimized: canvas out_w=468, out_h=419, x_min=-140.07, y_min=-85.09
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000231s, blend=0.002051s (9 tiles incl ref), finalize=0.000043s, total=0.002332s
FPS=26.97, 法向力=1733.5907, 切向力X=1949.8000, 切向力Y=-1211.5316
FPS=27.23, 法向力=1683.2954, 切向力X=1877.9373, 切向力Y=-1338.1914
FPS=26.55, 法向力=1461.7816, 切向力X=1150.8313, 切向力Y=-682.9633
FPS=25.52, 法向力=1456.2205, 切向力X=725.9249, 切向力Y=-944.3246
FPS=26.59, 法向力=1443.1858, 切向力X=679.6425, 切向力Y=-1052.5400
FPS=27.08, 法向力=1415.1318, 切向力X=631.8951, 切向力Y=-930.8909
FPS=25.14, 法向力=1220.3744, 切向力X=503.0652, 切向力Y=-1347.9305
FPS=28.12, 法向力=1259.7074, 切向力X=505.3715, 切向力Y=-1272.2758
FPS=25.86, 法向力=1493.6758, 切向力X=603.3105, 切向力Y=-684.0974
FPS=27.01, 法向力=1317.3492, 切向力X=931.8592, 切向力Y=-1227.2930
FPS=27.79, 法向力=1299.0183, 切向力X=987.1294, 切向力Y=-1333.4760
FPS=26.89, 法向力=1708.8530, 切向力X=979.7043, 切向力Y=-874.4594
FPS=27.38, 法向力=1788.8024, 切向力X=1009.7999, 切向力Y=-757.0802
FPS=25.50, 法向力=1393.0122, 切向力X=718.5965, 切向力Y=-788.5241
FPS=27.22, 法向力=1725.8959, 切向力X=785.4647, 切向力Y=-1070.1653
FPS=26.54, 法向力=1749.2322, 切向力X=825.0171, 切向力Y=-1000.1501
FPS=26.59, 法向力=1339.2048, 切向力X=1162.5164, 切向力Y=-415.0163
FPS=26.35, 法向力=1687.1069, 切向力X=462.8973, 切向力Y=-903.5229
FPS=27.83, 法向力=1726.3320, 切向力X=473.5734, 切向力Y=-956.3455
FPS=25.26, 法向力=1992.0127, 切向力X=26.4951, 切向力Y=-1398.5309
FPS=27.09, 法向力=2117.8687, 切向力X=8.4192, 切向力Y=-1590.2749
FPS=24.99, 法向力=1548.0637, 切向力X=1010.3961, 切向力Y=-1753.3510
FPS=24.60, 法向力=1040.2769, 切向力X=1478.9543, 切向力Y=-824.7115
FPS=26.56, 法向力=1034.5081, 切向力X=1433.6927, 切向力Y=-804.0560
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stitch_feature_optimized steps: brightness=0.000003s, geom=0.000005s (hit), reset=0.000220s, blend=0.002158s (9 tiles incl ref), finalize=0.000045s, total=0.002431s
FPS=34.66, 法向力=1676.7106, 切向力X=2489.0410, 切向力Y=-2935.1782
FPS=34.19, 法向力=1535.6146, 切向力X=1031.1139, 切向力Y=-3330.5215
FPS=34.78, 法向力=1562.7561, 切向力X=967.0861, 切向力Y=-3465.9275
FPS=33.30, 法向力=1416.0704, 切向力X=1289.9160, 切向力Y=-2060.2104
FPS=35.31, 法向力=1405.0820, 切向力X=1423.4761, 切向力Y=-2142.8735
FPS=32.26, 法向力=1307.8654, 切向力X=1200.5398, 切向力Y=-1875.4727
FPS=35.55, 法向力=1334.8711, 切向力X=1086.6506, 切向力Y=-1887.4991
FPS=35.53, 法向力=1691.6405, 切向力X=822.8156, 切向力Y=-2653.1787
FPS=36.40, 法向力=1729.7839, 切向力X=799.9915, 切向力Y=-2732.8203
FPS=34.54, 法向力=1732.3250, 切向力X=836.6578, 切向力Y=-2712.6257
FPS=35.28, 法向力=1144.1023, 切向力X=1268.3743, 切向力Y=-2044.5415
FPS=33.72, 法向力=1268.4359, 切向力X=1682.1907, 切向力Y=-2238.7539
FPS=35.95, 法向力=1286.0527, 切向力X=1615.5140, 切向力Y=-2300.3376
FPS=34.03, 法向力=1152.4012, 切向力X=1671.7808, 切向力Y=-2040.6169
FPS=36.37, 法向力=1098.5989, 切向力X=1586.6448, 切向力Y=-2065.7971
FPS=35.88, 法向力=1070.5735, 切向力X=1594.3898, 切向力Y=-2036.3268
FPS=33.89, 法向力=1521.7804, 切向力X=1364.0171, 切向力Y=-1303.7546
FPS=36.37, 法向力=1564.5558, 切向力X=1460.7675, 切向力Y=-1191.6777
FPS=32.72, 法向力=1039.9539, 切向力X=1145.8302, 切向力Y=-2189.2053
FPS=32.23, 法向力=993.4114, 切向力X=1295.4132, 切向力Y=-2228.6409
FPS=35.16, 法向力=1244.1157, 切向力X=1929.4905, 切向力Y=-1617.8357
FPS=36.43, 法向力=1261.9336, 切向力X=2008.1255, 切向力Y=-1662.4573
FPS=34.36, 法向力=1783.1301, 切向力X=812.7045, 切向力Y=-2639.9041
FPS=37.11, 法向力=1773.2531, 切向力X=750.8601, 切向力Y=-2834.4839
FPS=33.34, 法向力=1523.4207, 切向力X=692.1763, 切向力Y=-1449.9697
FPS=37.06, 法向力=1484.8545, 切向力X=667.4616, 切向力Y=-1275.6334
FPS=35.23, 法向力=1374.1611, 切向力X=1822.5048, 切向力Y=-2374.3062
FPS=36.45, 法向力=1401.2046, 切向力X=1979.9037, 切向力Y=-2214.9727
FPS=33.86, 法向力=1192.0586, 切向力X=1704.4226, 切向力Y=-1874.9019
FPS=36.87, 法向力=1201.6694, 切向力X=1715.0609, 切向力Y=-1957.1886
stitch_feature_optimized: canvas out_w=468, out_h=419, x_min=-140.07, y_min=-85.09
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000237s, blend=0.002158s (9 tiles incl ref), finalize=0.000048s, total=0.002449s
FPS=32.44, 法向力=1897.8362, 切向力X=1848.2437, 切向力Y=-1787.0017
FPS=36.34, 法向力=2001.7084, 切向力X=1946.8403, 切向力Y=-1817.1058
FPS=35.09, 法向力=2031.8440, 切向力X=1948.5217, 切向力Y=-1882.9624
FPS=34.34, 法向力=1673.1963, 切向力X=1706.1465, 切向力Y=-2255.4565
FPS=36.20, 法向力=1659.1908, 切向力X=1639.1283, 切向力Y=-2281.3918
FPS=33.67, 法向力=1323.0037, 切向力X=1864.9158, 切向力Y=-1608.9131
FPS=34.92, 法向力=1343.0522, 切向力X=1801.5905, 切向力Y=-1634.3545
FPS=34.41, 法向力=1571.0530, 切向力X=1235.4141, 切向力Y=-1246.7593
FPS=36.00, 法向力=1623.2474, 切向力X=1197.7061, 切向力Y=-1269.0781
FPS=35.98, 法向力=1455.2605, 切向力X=1962.7849, 切向力Y=-1675.7019
FPS=35.70, 法向力=1475.9427, 切向力X=1925.6794, 切向力Y=-1755.0420
FPS=34.62, 法向力=1344.8125, 切向力X=1594.0980, 切向力Y=-1677.4706
FPS=15.62, 法向力=1394.7371, 切向力X=1529.6967, 切向力Y=-2384.6982
Sensor disconnected.
examples/logs/qt_viewer_20260520_102612.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_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
FPS=25.51, 法向力=1433.4691, 切向力X=-163.9402, 切向力Y=449.4901
FPS=24.64, 法向力=1728.5864, 切向力X=1405.2549, 切向力Y=-357.8538
FPS=25.54, 法向力=1682.8336, 切向力X=1348.2159, 切向力Y=-407.8076
FPS=27.70, 法向力=1533.1704, 切向力X=507.8833, 切向力Y=244.4678
FPS=26.89, 法向力=1654.3816, 切向力X=727.6646, 切向力Y=-108.2622
FPS=27.90, 法向力=1663.7815, 切向力X=866.7712, 切向力Y=-142.1101
FPS=26.11, 法向力=1376.8279, 切向力X=258.5244, 切向力Y=-161.8405
FPS=28.11, 法向力=1413.8682, 切向力X=290.4792, 切向力Y=-136.3971
FPS=28.32, 法向力=1368.7402, 切向力X=425.5537, 切向力Y=-185.3469
FPS=29.77, 法向力=1348.4706, 切向力X=378.8184, 切向力Y=-47.8732
FPS=28.22, 法向力=1852.6814, 切向力X=61.7642, 切向力Y=1034.8177
FPS=30.00, 法向力=1830.9255, 切向力X=-10.8048, 切向力Y=1042.8644
FPS=27.10, 法向力=1379.1412, 切向力X=1339.2854, 切向力Y=899.6252
FPS=30.62, 法向力=1361.4714, 切向力X=1305.5244, 切向力Y=809.3119
FPS=27.63, 法向力=1509.7434, 切向力X=453.7438, 切向力Y=117.9268
FPS=29.88, 法向力=1493.0149, 切向力X=429.8770, 切向力Y=211.1447
FPS=30.01, 法向力=1924.8248, 切向力X=880.2858, 切向力Y=-191.8444
FPS=29.65, 法向力=1949.3987, 切向力X=776.1313, 切向力Y=-293.1425
FPS=29.51, 法向力=1696.2687, 切向力X=719.8542, 切向力Y=-683.6431
FPS=29.48, 法向力=1253.7900, 切向力X=148.8750, 切向力Y=-162.5087
FPS=29.92, 法向力=1277.0615, 切向力X=218.0565, 切向力Y=-86.8268
FPS=30.62, 法向力=1288.7998, 切向力X=239.0373, 切向力Y=-84.2321
FPS=27.96, 法向力=4666.8477, 切向力X=-1797.5237, 切向力Y=3549.3398
FPS=28.40, 法向力=4588.4746, 切向力X=-1811.3416, 切向力Y=3451.7393
FPS=29.79, 法向力=6366.3779, 切向力X=5010.6519, 切向力Y=-32387.3281
stitch_feature_optimized: canvas out_w=406, out_h=418, x_min=-77.09, y_min=-81.31
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000235s, blend=0.002967s (9 tiles incl ref), finalize=0.000051s, total=0.003261s
FPS=29.30, 法向力=6460.9053, 切向力X=4948.4678, 切向力Y=-32258.6562
FPS=28.16, 法向力=10495.4199, 切向力X=24472.7227, 切向力Y=-74805.6016
FPS=29.27, 法向力=24078.4863, 切向力X=26239.3242, 切向力Y=-60347.3672
FPS=30.04, 法向力=24065.6055, 切向力X=25976.8789, 切向力Y=-60409.5742
FPS=28.14, 法向力=15626.0596, 切向力X=12805.5723, 切向力Y=-37696.1367
FPS=27.69, 法向力=15407.5244, 切向力X=12612.2480, 切向力Y=-37032.2422
FPS=27.40, 法向力=7531.4932, 切向力X=4390.0977, 切向力Y=-15900.4570
FPS=30.64, 法向力=7436.5000, 切向力X=4344.6582, 切向力Y=-15751.2578
FPS=28.98, 法向力=3933.2805, 切向力X=975.9615, 切向力Y=-1686.8074
FPS=30.51, 法向力=3923.8691, 切向力X=941.2154, 切向力Y=-1667.3481
FPS=28.56, 法向力=3393.7834, 切向力X=-7190.3408, 切向力Y=19396.4609
FPS=30.34, 法向力=3378.8953, 切向力X=-7154.0176, 切向力Y=19589.2539
FPS=27.28, 法向力=9486.8418, 切向力X=-15962.2676, 切向力Y=59069.5234
FPS=30.89, 法向力=9610.1201, 切向力X=-16136.0684, 切向力Y=59261.1562
FPS=26.95, 法向力=11922.8438, 切向力X=-25864.9941, 切向力Y=86933.0625
FPS=28.92, 法向力=11724.3242, 切向力X=-26134.6973, 切向力Y=87139.1094
FPS=26.25, 法向力=14442.3145, 切向力X=-24075.9688, 切向力Y=64560.5547
FPS=28.33, 法向力=13915.7734, 切向力X=-24544.4023, 切向力Y=63754.8008
FPS=28.39, 法向力=16409.1641, 切向力X=-10579.3223, 切向力Y=46874.8984
FPS=25.18, 法向力=16570.0195, 切向力X=-10438.0898, 切向力Y=46899.3828
FPS=27.72, 法向力=14954.2891, 切向力X=11142.5176, 切向力Y=32296.2715
FPS=28.42, 法向力=11258.0918, 切向力X=32036.6797, 切向力Y=4583.2866
FPS=28.35, 法向力=11352.3877, 切向力X=32241.5586, 切向力Y=4547.3164
FPS=28.14, 法向力=4936.3608, 切向力X=29034.5312, 切向力Y=-28661.7559
FPS=29.29, 法向力=4997.6406, 切向力X=29090.5312, 切向力Y=-28636.5918
FPS=26.84, 法向力=11356.5410, 切向力X=29766.5234, 切向力Y=-27605.2188
FPS=30.45, 法向力=11423.9717, 切向力X=29772.1348, 切向力Y=-27660.8906
FPS=28.00, 法向力=11073.7461, 切向力X=40741.3438, 切向力Y=-3691.3364
FPS=29.14, 法向力=11003.9033, 切向力X=40729.0859, 切向力Y=-3606.1519
FPS=29.02, 法向力=9504.9971, 切向力X=29789.5352, 切向力Y=8164.0684
stitch_feature_optimized: canvas out_w=406, out_h=418, x_min=-77.09, y_min=-81.31
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000005s (hit), reset=0.000373s, blend=0.002226s (9 tiles incl ref), finalize=0.000057s, total=0.002664s
FPS=29.27, 法向力=9329.0039, 切向力X=29788.0547, 切向力Y=8271.7676
FPS=27.91, 法向力=5666.3188, 切向力X=17979.9082, 切向力Y=16489.7773
FPS=30.79, 法向力=5579.6709, 切向力X=17941.8711, 切向力Y=16555.5195
FPS=28.25, 法向力=4306.6484, 切向力X=-14460.5312, 切向力Y=18327.8301
FPS=30.85, 法向力=4293.7251, 切向力X=-14413.0400, 切向力Y=18349.4609
FPS=28.95, 法向力=3893.6724, 切向力X=-43452.6953, 切向力Y=2177.9722
FPS=30.74, 法向力=3736.6152, 切向力X=-43582.8750, 切向力Y=2201.9739
FPS=29.05, 法向力=6094.4951, 切向力X=-56070.9844, 切向力Y=-25337.7891
FPS=31.11, 法向力=5669.0640, 切向力X=-56411.2578, 切向力Y=-25759.5410
FPS=28.99, 法向力=8618.5791, 切向力X=-72349.5938, 切向力Y=-34018.1250
FPS=31.22, 法向力=8158.3286, 切向力X=-72760.6094, 切向力Y=-34542.2188
FPS=28.31, 法向力=23680.7109, 切向力X=-83399.8438, 切向力Y=-34230.8359
FPS=32.79, 法向力=23523.7305, 切向力X=-84097.0078, 切向力Y=-34312.2734
FPS=29.59, 法向力=27396.8965, 切向力X=-53177.3477, 切向力Y=-19210.3867
FPS=31.07, 法向力=27265.2578, 切向力X=-53292.2266, 切向力Y=-19416.3926
FPS=28.53, 法向力=7728.7314, 切向力X=-9802.9482, 切向力Y=-6936.0967
FPS=31.10, 法向力=7714.4590, 切向力X=-9733.8438, 切向力Y=-6944.1665
FPS=28.00, 法向力=6132.3462, 切向力X=31492.9414, 切向力Y=-7764.5371
FPS=28.67, 法向力=6018.7852, 切向力X=31647.7246, 切向力Y=-7711.2759
FPS=29.05, 法向力=13480.3418, 切向力X=101132.5000, 切向力Y=-5516.4004
FPS=28.90, 法向力=13870.2373, 切向力X=101289.3125, 切向力Y=-4976.5273
FPS=29.67, 法向力=26665.8750, 切向力X=158331.8750, 切向力Y=13821.0195
FPS=30.51, 法向力=26418.7012, 切向力X=158706.8906, 切向力Y=14086.0059
FPS=29.32, 法向力=34848.0234, 切向力X=154375.2812, 切向力Y=24181.9766
FPS=30.20, 法向力=35129.2188, 切向力X=153980.0312, 切向力Y=24393.7090
FPS=28.50, 法向力=33694.7188, 切向力X=124876.5391, 切向力Y=37597.5703
FPS=30.33, 法向力=33677.0938, 切向力X=124569.7656, 切向力Y=37808.9648
FPS=27.41, 法向力=17055.9102, 切向力X=49521.0039, 切向力Y=34146.2266
FPS=25.56, 法向力=6820.2397, 切向力X=-51722.9805, 切向力Y=-11251.7100
FPS=26.91, 法向力=6847.4565, 切向力X=-51881.6172, 切向力Y=-11305.1523
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=0.000209s, blend=0.002154s (9 tiles incl ref), finalize=0.000048s, total=0.002417s
FPS=27.20, 法向力=20617.0977, 切向力X=-78671.3438, 切向力Y=-36766.9102
FPS=29.65, 法向力=20347.4785, 切向力X=-79136.2734, 切向力Y=-36810.5469
FPS=27.47, 法向力=32361.9062, 切向力X=-66627.6250, 切向力Y=-20721.2930
FPS=29.97, 法向力=32488.2324, 切向力X=-66485.7656, 切向力Y=-20470.7891
FPS=27.62, 法向力=27346.8438, 切向力X=-46208.5859, 切向力Y=-5221.8389
FPS=30.08, 法向力=26873.2891, 切向力X=-45862.3750, 切向力Y=-4995.8467
FPS=28.03, 法向力=10308.6504, 切向力X=14720.5947, 切向力Y=6713.4238
FPS=29.91, 法向力=10384.6592, 切向力X=14727.8574, 切向力Y=6529.5000
FPS=26.95, 法向力=18607.1836, 切向力X=92447.0625, 切向力Y=25342.5645
FPS=27.56, 法向力=18049.2891, 切向力X=93296.2656, 切向力Y=25763.8438
FPS=28.84, 法向力=24514.7500, 切向力X=142280.0312, 切向力Y=52307.1719
FPS=27.94, 法向力=24436.1016, 切向力X=142120.6094, 切向力Y=52311.2578
FPS=29.14, 法向力=26528.2930, 切向力X=150156.7500, 切向力Y=52831.0781
FPS=28.01, 法向力=26774.1836, 切向力X=104445.1094, 切向力Y=48985.1094
FPS=29.12, 法向力=26691.0059, 切向力X=104311.8438, 切向力Y=48979.9492
FPS=28.65, 法向力=26662.2969, 切向力X=104406.5312, 切向力Y=49055.7500
FPS=27.87, 法向力=11456.6279, 切向力X=33800.5312, 切向力Y=55690.0156
FPS=28.21, 法向力=10476.9785, 切向力X=-12354.4844, 切向力Y=41383.4375
FPS=29.64, 法向力=10486.6338, 切向力X=-12510.3320, 切向力Y=41429.7578
FPS=28.58, 法向力=6024.8110, 切向力X=-3626.6675, 切向力Y=13301.2002
FPS=30.54, 法向力=6070.0112, 切向力X=-3613.1589, 切向力Y=13366.9893
FPS=29.48, 法向力=3392.1667, 切向力X=3151.9126, 切向力Y=4797.8691
FPS=31.15, 法向力=3384.1021, 切向力X=3193.6924, 切向力Y=4824.9321
FPS=27.65, 法向力=1580.2786, 切向力X=4180.1606, 切向力Y=-6239.7686
FPS=30.74, 法向力=1565.4924, 切向力X=4194.4648, 切向力Y=-6259.9248
FPS=30.13, 法向力=1585.6890, 切向力X=4188.4702, 切向力Y=-6269.4058
FPS=30.54, 法向力=7052.3574, 切向力X=5562.6084, 切向力Y=-40517.4180
FPS=29.99, 法向力=8002.8979, 切向力X=6552.4883, 切向力Y=-76090.5156
FPS=29.28, 法向力=7894.6426, 切向力X=6677.6143, 切向力Y=-76384.9062
FPS=28.17, 法向力=20545.4805, 切向力X=28000.4492, 切向力Y=-85485.1719
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=0.000205s, blend=0.002086s (9 tiles incl ref), finalize=0.000062s, total=0.002359s
FPS=29.30, 法向力=20223.7344, 切向力X=27952.7500, 切向力Y=-85578.1797
FPS=28.75, 法向力=27142.2969, 切向力X=38033.6562, 切向力Y=-66097.1797
FPS=29.96, 法向力=27094.7246, 切向力X=37918.7422, 切向力Y=-65954.3047
FPS=28.06, 法向力=18308.3203, 切向力X=33511.2891, 切向力Y=-42510.1797
FPS=29.33, 法向力=18512.6504, 切向力X=33556.3984, 切向力Y=-42313.0859
FPS=28.03, 法向力=9022.3691, 切向力X=28004.6348, 切向力Y=-4525.2197
FPS=29.50, 法向力=8946.4912, 切向力X=27777.0137, 切向力Y=-4435.3208
FPS=27.76, 法向力=7774.4590, 切向力X=31870.2051, 切向力Y=20199.6875
FPS=30.04, 法向力=6996.7891, 切向力X=31743.8457, 切向力Y=21068.5117
FPS=28.77, 法向力=9235.5225, 切向力X=33999.4062, 切向力Y=33168.8281
FPS=29.02, 法向力=9444.0342, 切向力X=32774.0664, 切向力Y=33390.6602
FPS=27.81, 法向力=8813.6582, 切向力X=23777.3828, 切向力Y=35281.2656
FPS=28.44, 法向力=8864.4668, 切向力X=23346.2344, 切向力Y=35416.6172
FPS=29.67, 法向力=6969.3647, 切向力X=13967.9395, 切向力Y=38186.1836
FPS=29.03, 法向力=6636.7305, 切向力X=13706.3320, 切向力Y=38652.4766
FPS=29.04, 法向力=4998.6309, 切向力X=-1813.8215, 切向力Y=40646.0078
FPS=29.07, 法向力=5760.8125, 切向力X=-31205.3828, 切向力Y=23237.3457
FPS=29.00, 法向力=5722.5615, 切向力X=-31225.5293, 切向力Y=23121.4395
FPS=29.62, 法向力=5746.1934, 切向力X=-31253.6934, 切向力Y=23070.1094
FPS=28.14, 法向力=3740.1609, 切向力X=-39972.1602, 切向力Y=-95.3898
FPS=28.98, 法向力=3579.3513, 切向力X=-40196.7188, 切向力Y=-113.2930
FPS=28.77, 法向力=6106.4160, 切向力X=-44164.7539, 切向力Y=-26774.8320
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FPS=27.70, 法向力=4960.6631, 切向力X=-4639.4658, 切向力Y=2079.7756
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FPS=33.93, 法向力=1768.2288, 切向力X=-1546.7701, 切向力Y=-193.9357
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FPS=34.04, 法向力=2236.0515, 切向力X=-118.3321, 切向力Y=-41.8835
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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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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
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FPS=26.29, 法向力=8607.2861, 切向力X=-3098.9871, 切向力Y=14592.1270
FPS=26.26, 法向力=12872.2559, 切向力X=-2756.3965, 切向力Y=-79530.5781
stitch_feature_optimized: canvas out_w=690, out_h=461, x_min=-154.75, y_min=-122.55
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000588s, blend=0.002380s (9 tiles incl ref), finalize=0.000059s, total=0.003035s
FPS=24.30, 法向力=12096.5889, 切向力X=16010.9688, 切向力Y=-10217.0293
FPS=23.96, 法向力=12148.4453, 切向力X=16077.8096, 切向力Y=-10257.5703
FPS=23.83, 法向力=6761.2607, 切向力X=-2372.0854, 切向力Y=87331.8828
FPS=23.11, 法向力=6096.1895, 切向力X=-2777.0693, 切向力Y=-7998.3540
FPS=24.88, 法向力=6091.5430, 切向力X=-2820.2095, 切向力Y=-7994.9766
FPS=23.78, 法向力=17230.6562, 切向力X=4912.4321, 切向力Y=-77289.1328
FPS=22.96, 法向力=17388.0469, 切向力X=4723.9209, 切向力Y=-77436.8281
FPS=22.45, 法向力=5129.7339, 切向力X=27743.1309, 切向力Y=52740.8984
FPS=22.35, 法向力=11016.3730, 切向力X=-1183.0642, 切向力Y=47171.9844
FPS=23.77, 法向力=11037.3311, 切向力X=-1394.3726, 切向力Y=47280.9805
FPS=22.61, 法向力=7431.7095, 切向力X=2931.8867, 切向力Y=-62156.8359
FPS=20.40, 法向力=11451.0869, 切向力X=36634.1562, 切向力Y=2024.6466
FPS=21.48, 法向力=8542.8223, 切向力X=9348.3848, 切向力Y=62184.8281
FPS=23.80, 法向力=8872.8184, 切向力X=9377.2988, 切向力Y=62538.3320
FPS=21.55, 法向力=3564.5249, 切向力X=3218.8276, 切向力Y=7498.8560
FPS=22.58, 法向力=3610.6614, 切向力X=3151.7515, 切向力Y=7499.4414
FPS=23.77, 法向力=3450.4238, 切向力X=2285.3359, 切向力Y=3811.9448
FPS=22.01, 法向力=3224.6450, 切向力X=1432.1779, 切向力Y=3554.0593
FPS=20.03, 法向力=2942.9243, 切向力X=975.6921, 切向力Y=2946.7610
FPS=19.25, 法向力=2954.2490, 切向力X=922.8195, 切向力Y=2870.4902
FPS=19.37, 法向力=2546.9026, 切向力X=893.8425, 切向力Y=3282.6533
FPS=19.59, 法向力=2654.8965, 切向力X=1437.2994, 切向力Y=3135.4436
FPS=18.55, 法向力=2469.8655, 切向力X=306.8425, 切向力Y=2652.1960
FPS=21.55, 法向力=2458.5972, 切向力X=266.1274, 切向力Y=2610.5811
FPS=21.65, 法向力=3297.0107, 切向力X=1128.3381, 切向力Y=3049.9043
FPS=18.38, 法向力=2628.7412, 切向力X=358.9739, 切向力Y=2994.9919
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
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FPS=37.94, 法向力=1888.7848, 切向力X=1427.1820, 切向力Y=990.0759
FPS=34.94, 法向力=1715.8616, 切向力X=480.7648, 切向力Y=947.4922
FPS=39.04, 法向力=1767.5321, 切向力X=415.5776, 切向力Y=955.9318
FPS=36.62, 法向力=1765.9541, 切向力X=417.7160, 切向力Y=936.6578
FPS=36.43, 法向力=1868.2610, 切向力X=850.4635, 切向力Y=368.6622
FPS=37.37, 法向力=1864.4108, 切向力X=846.0425, 切向力Y=374.1185
FPS=35.91, 法向力=1854.5784, 切向力X=774.5822, 切向力Y=989.3580
FPS=37.35, 法向力=1877.8289, 切向力X=769.9161, 切向力Y=975.8861
FPS=34.42, 法向力=1951.6116, 切向力X=1445.6506, 切向力Y=244.6369
FPS=36.40, 法向力=1918.7102, 切向力X=1501.4478, 切向力Y=287.8691
FPS=35.68, 法向力=1914.9719, 切向力X=1495.3936, 切向力Y=282.2696
FPS=33.20, 法向力=1440.5045, 切向力X=1234.5422, 切向力Y=568.3420
FPS=35.84, 法向力=1505.3298, 切向力X=1282.5430, 切向力Y=656.2789
FPS=32.49, 法向力=1728.1140, 切向力X=420.2743, 切向力Y=1206.9113
FPS=34.76, 法向力=1759.4800, 切向力X=465.0744, 切向力Y=1198.6699
FPS=34.51, 法向力=2098.5234, 切向力X=1126.2363, 切向力Y=619.4061
FPS=34.84, 法向力=2195.3748, 切向力X=1182.7540, 切向力Y=611.5054
FPS=34.47, 法向力=2216.3870, 切向力X=1203.7869, 切向力Y=591.9064
stitch_feature_optimized: canvas out_w=414, out_h=424, x_min=-81.93, y_min=-85.66
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000208s, blend=0.002226s (9 tiles incl ref), finalize=0.000070s, total=0.002509s
FPS=35.24, 法向力=1865.8499, 切向力X=344.6657, 切向力Y=867.1514
FPS=35.29, 法向力=1794.1799, 切向力X=265.5179, 切向力Y=860.8984
FPS=31.29, 法向力=1746.9888, 切向力X=874.6543, 切向力Y=1274.8999
FPS=36.05, 法向力=1770.0569, 切向力X=871.9587, 切向力Y=1268.1714
FPS=33.06, 法向力=1768.1206, 切向力X=783.1807, 切向力Y=577.1537
FPS=36.47, 法向力=1837.0461, 切向力X=690.2770, 切向力Y=581.3356
FPS=35.82, 法向力=1852.9485, 切向力X=690.7212, 切向力Y=578.2793
FPS=33.03, 法向力=1875.8284, 切向力X=756.1205, 切向力Y=1388.0653
FPS=37.29, 法向力=1890.3879, 切向力X=719.6774, 切向力Y=1400.3152
FPS=33.17, 法向力=1709.7297, 切向力X=1149.5907, 切向力Y=1517.5654
FPS=35.93, 法向力=1732.6738, 切向力X=1116.7686, 切向力Y=1587.8094
FPS=33.07, 法向力=1621.4692, 切向力X=359.0057, 切向力Y=1506.2776
FPS=36.34, 法向力=1640.9769, 切向力X=367.7102, 切向力Y=1477.1624
FPS=34.78, 法向力=1751.9083, 切向力X=579.7318, 切向力Y=877.2634
FPS=35.05, 法向力=1807.0364, 切向力X=523.0088, 切向力Y=902.1093
FPS=36.83, 法向力=1814.7988, 切向力X=521.0359, 切向力Y=906.9956
FPS=34.93, 法向力=1651.7645, 切向力X=358.8739, 切向力Y=1285.2781
FPS=36.58, 法向力=1708.3733, 切向力X=253.0756, 切向力Y=1306.4692
FPS=16.77, 法向力=2294.6904, 切向力X=1213.5209, 切向力Y=740.9520
Sensor disconnected.
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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@@ -0,0 +1,7 @@
按键说明：Q 退出 | S 开始录像 | E 结束录像 | ESC 全屏
Config: config\ddjx01.json
Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]}
Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12}
Connecting to video source...
启动失败: Failed to open video source.
examples/logs/qt_viewer_20260601_093827.log
+10457
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File diff suppressed because it is too large Load Diff
examples/logs/qt_viewer_20260601_160657.log
+793
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@@ -0,0 +1,793 @@
按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏
Config: ./config/ddjx01.json
Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]}
Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12}
Connecting to video source...
OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400
Detected 15 candidate boxes with bk_thresh=15
Sensor: valid for stitching
Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13]
Latest-frame capture thread started.
Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy
[Error] 读取配置文件失败: [Errno 2] No such file or directory: 'rotation_config.json'
Video source: 0
Stitch mode: True
Optical flow algorithm: dis
Poisson backend: auto
CuPy available: True
OpenCL available: False
▶ 启动 — 摄像机=0, 配置=./config/ddjx01.json, 标定=./config/ddjx01.npy
FPS=0.19, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=0.28, 法向力=1774.6710, 切向力X=-46.3814, 切向力Y=84.9638
FPS=21.62, 法向力=2145.9795, 切向力X=564.9188, 切向力Y=1082.8726
FPS=26.69, 法向力=2186.3076, 切向力X=642.8738, 切向力Y=1111.6708
FPS=27.50, 法向力=1958.6351, 切向力X=629.5684, 切向力Y=1189.4938
FPS=29.80, 法向力=1967.9738, 切向力X=635.8688, 切向力Y=1312.3884
FPS=29.26, 法向力=1926.5682, 切向力X=484.8242, 切向力Y=676.8449
Traceback (most recent call last):
File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer
data_plot[:, 1, i] = lowpass_filter(
^^^^^^^^^^^^^^^
File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter
return filtfilt(b, a, y)
^^^^^^^^^^^^^^^^^
File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt
edge, ext = _validate_pad(padtype, padlen, x, axis,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad
raise ValueError("The length of the input vector x must be greater "
ValueError: The length of the input vector x must be greater than padlen, which is 9.
FPS=29.07, 法向力=1881.1187, 切向力X=438.5834, 切向力Y=720.7773
Traceback (most recent call last):
File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer
data_plot[:, 1, i] = lowpass_filter(
^^^^^^^^^^^^^^^
File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter
return filtfilt(b, a, y)
^^^^^^^^^^^^^^^^^
File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt
edge, ext = _validate_pad(padtype, padlen, x, axis,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad
raise ValueError("The length of the input vector x must be greater "
ValueError: The length of the input vector x must be greater than padlen, which is 9.
FPS=35.14, 法向力=1804.6692, 切向力X=405.3328, 切向力Y=698.5037
Traceback (most recent call last):
File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 604, in _on_timer
data_plot[:, 1, i] = lowpass_filter(
^^^^^^^^^^^^^^^
File "D:\workspace\orisyssdk_git\examples\qt_viewer_2.py", line 125, in lowpass_filter
return filtfilt(b, a, y)
^^^^^^^^^^^^^^^^^
File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt
edge, ext = _validate_pad(padtype, padlen, x, axis,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad
raise ValueError("The length of the input vector x must be greater "
ValueError: The length of the input vector x must be greater than padlen, which is 9.
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FPS=30.41, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=27.62, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=29.75, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=30.03, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=29.78, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=28.49, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=28.59, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=30.10, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=29.22, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=29.84, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=29.49, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=29.84, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=31.34, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=28.48, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
FPS=29.86, 法向力=1509.5663, 切向力X=801.0376, 切向力Y=1577.0964
stitch_feature_optimized: canvas out_w=413, out_h=424, x_min=-82.49, y_min=-86.05
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000211s, blend=0.002129s (9 tiles incl ref), finalize=0.000051s, total=0.002398s
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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
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FPS=24.94, 法向力=3143.9995, 切向力X=-69.6131, 切向力Y=-1057.5587
FPS=25.03, 法向力=3524.3477, 切向力X=357.0352, 切向力Y=-1280.0940
FPS=25.25, 法向力=3249.8545, 切向力X=-256.8057, 切向力Y=-1432.4480
FPS=25.95, 法向力=2981.8223, 切向力X=45.9616, 切向力Y=-1237.3074
FPS=24.72, 法向力=3398.6160, 切向力X=208.1443, 切向力Y=-1106.8752
FPS=24.81, 法向力=2603.6094, 切向力X=-16.5094, 切向力Y=-1842.0896
FPS=25.14, 法向力=2512.5151, 切向力X=118.4549, 切向力Y=-1211.9618
FPS=25.61, 法向力=3105.9810, 切向力X=-996.3666, 切向力Y=-1224.2214
FPS=24.74, 法向力=3106.5984, 切向力X=-951.9406, 切向力Y=-1519.9695
FPS=25.63, 法向力=3248.8647, 切向力X=-862.3973, 切向力Y=-1257.5110
FPS=25.93, 法向力=3416.9370, 切向力X=-282.4559, 切向力Y=-1623.6060
FPS=26.05, 法向力=3022.7969, 切向力X=220.7936, 切向力Y=-1699.4824
FPS=25.71, 法向力=3610.7998, 切向力X=-362.3094, 切向力Y=-1735.7521
FPS=25.81, 法向力=3644.9600, 切向力X=-414.4985, 切向力Y=-1717.0732
FPS=25.95, 法向力=2732.2673, 切向力X=-94.0527, 切向力Y=-1666.4231
FPS=25.21, 法向力=3462.3848, 切向力X=-554.0656, 切向力Y=-1121.3832
FPS=25.61, 法向力=3208.2129, 切向力X=-94.4561, 切向力Y=-2249.9829
FPS=25.67, 法向力=3390.8132, 切向力X=-733.0914, 切向力Y=-757.3784
FPS=25.96, 法向力=2852.4924, 切向力X=-605.4031, 切向力Y=-1605.0496
FPS=26.10, 法向力=3245.7673, 切向力X=-68.7043, 切向力Y=-1054.2773
FPS=25.53, 法向力=3065.5864, 切向力X=65.2386, 切向力Y=-1150.2173
FPS=25.75, 法向力=3184.7151, 切向力X=37.7343, 切向力Y=-1331.6182
FPS=25.91, 法向力=3235.5151, 切向力X=-564.5549, 切向力Y=-971.7109
FPS=26.21, 法向力=3228.3994, 切向力X=-540.7878, 切向力Y=-973.7386
FPS=25.46, 法向力=3395.9834, 切向力X=-152.6305, 切向力Y=-1348.6332
FPS=24.50, 法向力=3399.1958, 切向力X=-355.7204, 切向力Y=-1196.2461
FPS=26.35, 法向力=3236.8225, 切向力X=486.7502, 切向力Y=-1290.0634
FPS=26.08, 法向力=3457.0925, 切向力X=-579.7004, 切向力Y=-1311.2067
stitch_feature_optimized: canvas out_w=438, out_h=479, x_min=-92.01, y_min=-121.49
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000275s, blend=0.002342s (9 tiles incl ref), finalize=0.000072s, total=0.002695s
FPS=26.41, 法向力=3475.6885, 切向力X=-649.4189, 切向力Y=-1500.1296
FPS=26.31, 法向力=3374.7031, 切向力X=-263.5108, 切向力Y=-1125.0887
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
examples/logs/qt_viewer_20260604_094646.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=0.50, 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
FPS=28.94, 法向力=1378.0132, 切向力X=47.6436, 切向力Y=40.6833
FPS=29.86, 法向力=1584.4114, 切向力X=4.7095, 切向力Y=27.0177
FPS=29.92, 法向力=1721.5371, 切向力X=-664.9085, 切向力Y=206.9473
FPS=28.11, 法向力=1353.5970, 切向力X=-142.1952, 切向力Y=-281.9792
FPS=29.53, 法向力=1703.5745, 切向力X=-716.4985, 切向力Y=738.9330
FPS=29.98, 法向力=1261.2371, 切向力X=-611.2591, 切向力Y=337.5174
FPS=29.67, 法向力=1501.3137, 切向力X=202.0842, 切向力Y=-9.5838
FPS=28.90, 法向力=1280.1648, 切向力X=76.5667, 切向力Y=-21.6273
FPS=28.87, 法向力=1598.8464, 切向力X=121.7856, 切向力Y=589.1481
FPS=29.17, 法向力=1638.2754, 切向力X=18.6448, 切向力Y=668.6381
FPS=28.34, 法向力=1587.3311, 切向力X=313.6666, 切向力Y=663.2531
FPS=28.68, 法向力=1499.6187, 切向力X=-403.0455, 切向力Y=265.0041
FPS=28.50, 法向力=1077.2087, 切向力X=203.5492, 切向力Y=122.8116
FPS=28.92, 法向力=1248.4142, 切向力X=-344.3283, 切向力Y=564.4575
FPS=28.89, 法向力=1850.2139, 切向力X=489.6948, 切向力Y=142.0255
FPS=28.11, 法向力=1561.8688, 切向力X=127.1995, 切向力Y=239.6204
FPS=28.18, 法向力=1590.7800, 切向力X=-194.6085, 切向力Y=-307.1148
FPS=27.21, 法向力=1680.0137, 切向力X=-115.0253, 切向力Y=383.8971
FPS=28.78, 法向力=1614.7159, 切向力X=353.9041, 切向力Y=327.7834
FPS=29.59, 法向力=1313.8806, 切向力X=84.9004, 切向力Y=-85.6071
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FPS=29.76, 法向力=1972.4175, 切向力X=-160.1382, 切向力Y=676.8004
FPS=29.43, 法向力=1358.3567, 切向力X=319.8000, 切向力Y=-156.2285
FPS=29.14, 法向力=1331.2310, 切向力X=-278.5485, 切向力Y=-110.6430
FPS=29.51, 法向力=1418.4458, 切向力X=152.5398, 切向力Y=87.4389
FPS=30.32, 法向力=1018.8213, 切向力X=1044.9390, 切向力Y=-651.5720
FPS=28.44, 法向力=781.7077, 切向力X=554.3042, 切向力Y=-476.6154
FPS=28.23, 法向力=1249.5918, 切向力X=67.2890, 切向力Y=-305.8557
FPS=27.38, 法向力=1199.2681, 切向力X=395.1865, 切向力Y=646.4852
FPS=28.52, 法向力=1095.7117, 切向力X=632.6248, 切向力Y=-493.3297
FPS=28.31, 法向力=1040.8894, 切向力X=74.0370, 切向力Y=-193.9576
FPS=28.68, 法向力=1195.6669, 切向力X=713.7060, 切向力Y=56.3187
FPS=28.19, 法向力=1163.3564, 切向力X=735.3939, 切向力Y=62.5077
FPS=27.55, 法向力=1342.5068, 切向力X=735.4475, 切向力Y=-185.0014
FPS=28.36, 法向力=834.5961, 切向力X=707.1530, 切向力Y=-134.9531
FPS=28.43, 法向力=1264.2290, 切向力X=270.1406, 切向力Y=-8.5135
FPS=27.61, 法向力=1464.4858, 切向力X=-71.4358, 切向力Y=-215.2939
FPS=27.63, 法向力=1109.5742, 切向力X=632.6367, 切向力Y=-34.6599
FPS=27.57, 法向力=964.3141, 切向力X=416.2301, 切向力Y=67.2781
FPS=28.33, 法向力=964.4364, 切向力X=480.4431, 切向力Y=-443.3286
FPS=28.70, 法向力=1081.1353, 切向力X=414.4163, 切向力Y=-132.6120
FPS=29.53, 法向力=1104.7439, 切向力X=793.7352, 切向力Y=-307.1858
FPS=30.08, 法向力=1112.3979, 切向力X=162.5062, 切向力Y=109.3443
FPS=29.17, 法向力=1009.2760, 切向力X=444.6812, 切向力Y=391.0809
FPS=28.40, 法向力=961.3781, 切向力X=276.2265, 切向力Y=-160.3775
FPS=29.41, 法向力=1257.3850, 切向力X=705.3256, 切向力Y=548.8491
FPS=28.30, 法向力=1481.8907, 切向力X=582.8146, 切向力Y=335.4140
FPS=28.88, 法向力=1071.9150, 切向力X=394.1109, 切向力Y=-152.6534
FPS=29.81, 法向力=1001.0580, 切向力X=235.5551, 切向力Y=-786.8030
FPS=31.13, 法向力=1353.8550, 切向力X=776.1796, 切向力Y=-1284.8818
FPS=30.21, 法向力=1035.8198, 切向力X=-543.1825, 切向力Y=-2476.3076
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FPS=32.02, 法向力=1389.1584, 切向力X=-192.1314, 切向力Y=-3219.8213
FPS=28.95, 法向力=2225.2932, 切向力X=-185.2881, 切向力Y=-3493.7214
FPS=30.78, 法向力=2477.3105, 切向力X=707.1318, 切向力Y=-4130.6255
FPS=29.28, 法向力=3314.5879, 切向力X=-260.6314, 切向力Y=-4762.2734
FPS=28.77, 法向力=3298.6155, 切向力X=-514.2623, 切向力Y=-6936.3213
FPS=28.80, 法向力=3558.8721, 切向力X=-1313.5938, 切向力Y=-7536.1055
FPS=27.36, 法向力=3558.2969, 切向力X=-1228.0917, 切向力Y=-8092.1406
FPS=27.12, 法向力=2995.4270, 切向力X=-1859.0444, 切向力Y=-9419.8750
FPS=28.12, 法向力=3850.3887, 切向力X=-2643.8506, 切向力Y=-8662.1621
FPS=27.69, 法向力=4329.7002, 切向力X=-3387.9829, 切向力Y=-8435.7168
FPS=27.16, 法向力=4388.6646, 切向力X=-3521.3086, 切向力Y=-8066.9292
FPS=27.57, 法向力=4202.0425, 切向力X=-2460.6052, 切向力Y=-9660.7637
FPS=27.19, 法向力=4418.1191, 切向力X=-1696.9159, 切向力Y=-9350.3408
FPS=27.81, 法向力=4615.7104, 切向力X=-2048.2947, 切向力Y=-8707.9883
FPS=27.41, 法向力=3752.0576, 切向力X=-2027.5847, 切向力Y=-9219.8340
FPS=28.50, 法向力=3690.0137, 切向力X=-2056.8906, 切向力Y=-9286.5215
FPS=27.30, 法向力=3906.6646, 切向力X=-1354.9854, 切向力Y=-8865.1484
FPS=27.63, 法向力=3757.2429, 切向力X=-473.0675, 切向力Y=-9605.8887
FPS=28.32, 法向力=3984.7412, 切向力X=-314.9434, 切向力Y=-8647.4248
FPS=26.82, 法向力=2941.3042, 切向力X=-165.4980, 切向力Y=-5884.3838
FPS=27.92, 法向力=2722.6899, 切向力X=402.2235, 切向力Y=-4735.4600
FPS=28.11, 法向力=2573.8545, 切向力X=580.0797, 切向力Y=-3160.2712
FPS=25.98, 法向力=1962.3611, 切向力X=616.7046, 切向力Y=-2727.7192
FPS=27.56, 法向力=1826.1289, 切向力X=731.1903, 切向力Y=-1932.2776
FPS=27.03, 法向力=1278.1765, 切向力X=78.7353, 切向力Y=-1627.9148
FPS=26.44, 法向力=1365.9976, 切向力X=-110.8105, 切向力Y=-1734.8477
FPS=28.24, 法向力=1364.8989, 切向力X=-146.9510, 切向力Y=-1734.0413
FPS=27.74, 法向力=1101.8998, 切向力X=323.4714, 切向力Y=-1645.4324
FPS=28.20, 法向力=1698.9630, 切向力X=698.1519, 切向力Y=-1345.0874
FPS=26.74, 法向力=1580.7878, 切向力X=539.3043, 切向力Y=-270.1356
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FPS=25.68, 法向力=1464.5959, 切向力X=-213.6035, 切向力Y=-1402.1503
FPS=27.66, 法向力=1343.8396, 切向力X=480.6241, 切向力Y=-1675.4045
FPS=23.68, 法向力=1722.3047, 切向力X=569.1967, 切向力Y=-659.9838
FPS=26.00, 法向力=1700.7988, 切向力X=-62.2522, 切向力Y=-1477.2611
FPS=25.12, 法向力=1939.1676, 切向力X=-525.4473, 切向力Y=-1881.0994
FPS=24.64, 法向力=2362.9004, 切向力X=118.8566, 切向力Y=-3543.8167
FPS=26.01, 法向力=2985.0762, 切向力X=880.3594, 切向力Y=-5061.3896
FPS=25.32, 法向力=3988.9143, 切向力X=462.7248, 切向力Y=-8462.4209
FPS=24.63, 法向力=4765.1333, 切向力X=-684.6217, 切向力Y=-10807.9883
FPS=25.86, 法向力=5066.3760, 切向力X=-1112.1711, 切向力Y=-13838.9531
FPS=25.40, 法向力=5410.7622, 切向力X=-832.4500, 切向力Y=-15243.6318
FPS=26.06, 法向力=5978.1240, 切向力X=-2943.7131, 切向力Y=-15457.8359
FPS=25.39, 法向力=5655.5771, 切向力X=-3059.5679, 切向力Y=-15948.3574
FPS=25.85, 法向力=5676.9209, 切向力X=-2102.0093, 切向力Y=-15831.0801
FPS=25.49, 法向力=5476.3652, 切向力X=-2477.0659, 切向力Y=-15644.0840
FPS=24.96, 法向力=5295.5244, 切向力X=-3825.8462, 切向力Y=-14457.8379
FPS=25.03, 法向力=5381.9775, 切向力X=-3177.7588, 切向力Y=-13661.7812
FPS=25.46, 法向力=4686.7197, 切向力X=-3075.8159, 切向力Y=-11890.4492
FPS=24.13, 法向力=4955.9111, 切向力X=-2559.9658, 切向力Y=-12153.3877
FPS=24.38, 法向力=5454.4858, 切向力X=-1557.4033, 切向力Y=-11919.7207
FPS=24.26, 法向力=5052.7695, 切向力X=-2028.8567, 切向力Y=-11787.1973
FPS=25.20, 法向力=4357.7324, 切向力X=-1711.0498, 切向力Y=-9946.8320
FPS=24.80, 法向力=4283.0181, 切向力X=-1729.3453, 切向力Y=-9819.8125
FPS=25.82, 法向力=3612.1079, 切向力X=-747.5139, 切向力Y=-6135.0322
FPS=25.27, 法向力=2570.9009, 切向力X=-1071.5878, 切向力Y=-5126.3623
FPS=25.02, 法向力=2864.6953, 切向力X=624.3214, 切向力Y=-3370.4385
FPS=25.30, 法向力=2280.0388, 切向力X=-199.3866, 切向力Y=-2085.1487
FPS=25.06, 法向力=2076.9873, 切向力X=-44.0219, 切向力Y=-2330.8804
FPS=24.55, 法向力=1998.0885, 切向力X=580.7845, 切向力Y=-2331.8447
FPS=25.07, 法向力=1902.0992, 切向力X=843.0642, 切向力Y=-1948.5366
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=0.000255s, blend=0.003426s (9 tiles incl ref), finalize=0.000073s, total=0.003760s
FPS=24.13, 法向力=2055.2986, 切向力X=502.1074, 切向力Y=-1200.2516
FPS=26.03, 法向力=1959.5231, 切向力X=622.8350, 切向力Y=-1996.4568
FPS=24.57, 法向力=1746.0653, 切向力X=-116.0815, 切向力Y=-1567.6376
FPS=26.09, 法向力=2040.7936, 切向力X=-598.7697, 切向力Y=-1207.0262
FPS=25.88, 法向力=1339.3113, 切向力X=539.5831, 切向力Y=-1987.0072
FPS=25.80, 法向力=2172.7922, 切向力X=-316.1866, 切向力Y=-1094.0632
FPS=25.93, 法向力=1723.1090, 切向力X=126.4467, 切向力Y=-1053.4268
FPS=25.78, 法向力=1759.5468, 切向力X=221.0979, 切向力Y=-1016.4415
FPS=27.62, 法向力=2181.9761, 切向力X=-72.2383, 切向力Y=-579.4911
FPS=26.78, 法向力=1917.4734, 切向力X=99.7573, 切向力Y=-926.8411
FPS=26.94, 法向力=1766.9424, 切向力X=41.4224, 切向力Y=-1352.2325
FPS=26.52, 法向力=1841.2501, 切向力X=-165.4077, 切向力Y=-398.8009
FPS=25.81, 法向力=2205.8250, 切向力X=-172.5352, 切向力Y=-1529.2241
FPS=26.03, 法向力=2214.3052, 切向力X=4.5942, 切向力Y=-591.2612
FPS=25.01, 法向力=2031.6445, 切向力X=326.4929, 切向力Y=-783.8134
FPS=26.00, 法向力=2141.3413, 切向力X=671.0515, 切向力Y=-1034.2131
FPS=25.69, 法向力=2115.4993, 切向力X=-117.2786, 切向力Y=-265.2573
FPS=26.02, 法向力=2157.0303, 切向力X=-115.1431, 切向力Y=-255.6948
FPS=24.81, 法向力=1634.8950, 切向力X=-54.4638, 切向力Y=-660.6329
FPS=24.30, 法向力=2100.4795, 切向力X=1150.1548, 切向力Y=-452.5255
FPS=24.81, 法向力=1934.3912, 切向力X=575.4771, 切向力Y=-704.4960
FPS=25.22, 法向力=1919.5848, 切向力X=615.7966, 切向力Y=-780.2522
FPS=25.64, 法向力=1566.3672, 切向力X=-156.8270, 切向力Y=-526.4048
FPS=25.29, 法向力=1891.3644, 切向力X=573.7072, 切向力Y=-834.9953
FPS=25.45, 法向力=1688.5249, 切向力X=654.8940, 切向力Y=-775.0795
FPS=25.95, 法向力=2131.2896, 切向力X=567.4957, 切向力Y=-498.3756
FPS=25.25, 法向力=2475.2261, 切向力X=1105.5989, 切向力Y=-169.7238
FPS=26.66, 法向力=1316.7661, 切向力X=368.7596, 切向力Y=-1142.1177
FPS=25.02, 法向力=1762.6440, 切向力X=1177.8138, 切向力Y=-913.3162
FPS=24.07, 法向力=2129.1809, 切向力X=996.9961, 切向力Y=-848.3729
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FPS=26.21, 法向力=11814.2344, 切向力X=-10008.4961, 切向力Y=-30529.6758
FPS=24.81, 法向力=11933.5732, 切向力X=-10092.9951, 切向力Y=-29910.7070
FPS=25.19, 法向力=11949.1055, 切向力X=-10437.7637, 切向力Y=-30332.3125
FPS=25.13, 法向力=11507.3711, 切向力X=-10463.7490, 切向力Y=-30018.8750
FPS=25.78, 法向力=12153.0312, 切向力X=-10787.2969, 切向力Y=-30307.3262
FPS=26.31, 法向力=11934.5742, 切向力X=-11266.0508, 切向力Y=-30533.0527
FPS=25.00, 法向力=11915.9463, 切向力X=-10891.7246, 切向力Y=-29619.9336
FPS=25.44, 法向力=11732.9326, 切向力X=-10893.7686, 切向力Y=-29989.5508
FPS=25.62, 法向力=11808.0889, 切向力X=-11258.9043, 切向力Y=-30450.0059
FPS=26.20, 法向力=11840.5283, 切向力X=-11052.1309, 切向力Y=-30354.0098
FPS=25.80, 法向力=11878.2617, 切向力X=-11072.3125, 切向力Y=-30346.8535
FPS=25.97, 法向力=12048.2402, 切向力X=-11268.2314, 切向力Y=-29922.3535
FPS=25.18, 法向力=12075.9434, 切向力X=-10776.8105, 切向力Y=-30055.5508
FPS=25.02, 法向力=11983.4961, 切向力X=-10447.2305, 切向力Y=-30694.2227
FPS=25.04, 法向力=11964.5986, 切向力X=-11102.7695, 切向力Y=-31903.9023
FPS=25.05, 法向力=11942.5898, 切向力X=-11197.2363, 切向力Y=-27940.5039
FPS=25.55, 法向力=11032.4268, 切向力X=-10025.3672, 切向力Y=-22727.7461
FPS=23.94, 法向力=9014.0391, 切向力X=-6755.6758, 切向力Y=-17090.2109
FPS=25.07, 法向力=8255.7402, 切向力X=-3256.4519, 切向力Y=-14215.3818
FPS=26.92, 法向力=7731.7573, 切向力X=-2077.6841, 切向力Y=-12401.6426
FPS=23.91, 法向力=7270.6504, 切向力X=-922.3082, 切向力Y=-10869.3516
stitch_feature_optimized: canvas out_w=442, out_h=462, x_min=-95.61, y_min=-105.85
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000271s, blend=0.002175s (9 tiles incl ref), finalize=0.000059s, total=0.002512s
FPS=25.42, 法向力=6539.2222, 切向力X=-2529.0962, 切向力Y=-7607.3877
FPS=25.21, 法向力=6669.3267, 切向力X=-2813.3989, 切向力Y=-6820.6250
FPS=24.38, 法向力=6488.1211, 切向力X=-3394.0999, 切向力Y=-6037.8970
FPS=25.57, 法向力=6097.0298, 切向力X=-3243.1182, 切向力Y=-6368.7031
FPS=26.12, 法向力=6117.3447, 切向力X=-3338.9370, 切向力Y=-4765.7305
FPS=25.62, 法向力=5320.5967, 切向力X=-2534.1809, 切向力Y=-4571.6509
FPS=25.71, 法向力=5451.8184, 切向力X=-2869.7266, 切向力Y=-4346.3027
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
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FPS=27.55, 法向力=4383.5449, 切向力X=6916.5112, 切向力Y=22302.3418
FPS=27.00, 法向力=4219.2891, 切向力X=7984.5308, 切向力Y=22759.2422
FPS=27.97, 法向力=4287.9038, 切向力X=7897.6597, 切向力Y=22704.3906
FPS=26.14, 法向力=4985.6094, 切向力X=7505.2271, 切向力Y=24073.5508
FPS=26.75, 法向力=5105.7305, 切向力X=7159.7188, 切向力Y=23078.7812
FPS=26.65, 法向力=4814.9072, 切向力X=7007.8970, 切向力Y=23453.0781
FPS=25.35, 法向力=4592.2056, 切向力X=6505.2808, 切向力Y=23333.4102
FPS=23.60, 法向力=5200.4102, 切向力X=6054.0850, 切向力Y=23170.9199
FPS=24.80, 法向力=5335.8882, 切向力X=7652.8901, 切向力Y=21759.3145
FPS=26.48, 法向力=5938.6079, 切向力X=6920.4590, 切向力Y=21908.8594
FPS=26.08, 法向力=5898.9980, 切向力X=7049.3364, 切向力Y=23629.0215
FPS=27.13, 法向力=6139.3545, 切向力X=7679.7012, 切向力Y=24683.2539
FPS=26.94, 法向力=5282.7129, 切向力X=7534.8164, 切向力Y=26858.0781
FPS=26.56, 法向力=5897.2686, 切向力X=7596.0371, 切向力Y=26927.3320
FPS=26.85, 法向力=5709.1484, 切向力X=7779.7168, 切向力Y=25287.3125
FPS=27.30, 法向力=6466.3984, 切向力X=6980.9639, 切向力Y=23982.6777
FPS=26.03, 法向力=5394.3809, 切向力X=6774.5039, 切向力Y=23083.0625
FPS=26.48, 法向力=6046.0054, 切向力X=6013.9219, 切向力Y=24012.3164
FPS=27.54, 法向力=5919.2964, 切向力X=6250.2397, 切向力Y=24759.4023
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=0.000258s, blend=0.002267s (9 tiles incl ref), finalize=0.000056s, total=0.002588s
FPS=26.26, 法向力=5887.0732, 切向力X=6419.4404, 切向力Y=25641.3594
FPS=26.91, 法向力=5806.3936, 切向力X=6999.6831, 切向力Y=25888.9863
FPS=27.09, 法向力=5699.3076, 切向力X=6969.1113, 切向力Y=25965.4453
FPS=27.30, 法向力=6178.2207, 切向力X=7031.5566, 切向力Y=28024.7656
FPS=27.05, 法向力=7073.9146, 切向力X=5869.1011, 切向力Y=27461.4805
FPS=26.69, 法向力=7489.8438, 切向力X=5048.1855, 切向力Y=25841.5469
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
FPS=28.54, 法向力=941.8405, 切向力X=-120.2677, 切向力Y=-131.1578
FPS=29.29, 法向力=1142.2124, 切向力X=-898.1589, 切向力Y=-946.1702
FPS=28.68, 法向力=915.6987, 切向力X=-335.7506, 切向力Y=-638.3961
FPS=28.79, 法向力=1104.4067, 切向力X=-122.9886, 切向力Y=-775.5964
FPS=29.03, 法向力=1141.5298, 切向力X=-225.2913, 切向力Y=-757.9441
FPS=29.11, 法向力=1224.9780, 切向力X=-844.8031, 切向力Y=-300.6476
FPS=28.98, 法向力=1187.6559, 切向力X=-272.2690, 切向力Y=-32.6262
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FPS=27.92, 法向力=1115.0781, 切向力X=-345.2874, 切向力Y=-814.4995
FPS=29.55, 法向力=1367.7031, 切向力X=-660.8699, 切向力Y=-510.7039
FPS=28.47, 法向力=926.6304, 切向力X=-594.4211, 切向力Y=-684.0966
FPS=28.98, 法向力=908.3433, 切向力X=-135.5555, 切向力Y=-389.4174
FPS=29.15, 法向力=1313.0275, 切向力X=-265.9439, 切向力Y=20.5156
FPS=28.77, 法向力=986.9360, 切向力X=-286.8777, 切向力Y=-764.9963
FPS=30.26, 法向力=1234.7417, 切向力X=79.2300, 切向力Y=-1008.2868
FPS=27.69, 法向力=959.3488, 切向力X=-806.1488, 切向力Y=-85.7415
FPS=26.58, 法向力=932.8867, 切向力X=-53.7719, 切向力Y=-580.2509
FPS=27.47, 法向力=1119.2507, 切向力X=646.6071, 切向力Y=-285.1441
FPS=27.67, 法向力=972.4239, 切向力X=110.5446, 切向力Y=-769.5894
FPS=28.16, 法向力=1206.7744, 切向力X=-728.5885, 切向力Y=-737.4819
FPS=28.56, 法向力=1127.0907, 切向力X=-21.7076, 切向力Y=-823.4080
FPS=28.99, 法向力=1213.2200, 切向力X=-304.1431, 切向力Y=-531.9914
FPS=28.11, 法向力=912.1907, 切向力X=-522.8823, 切向力Y=-309.6789
FPS=28.55, 法向力=1150.2976, 切向力X=-294.3701, 切向力Y=-821.3689
FPS=28.25, 法向力=1119.0348, 切向力X=208.6041, 切向力Y=-803.2740
FPS=28.06, 法向力=1039.2798, 切向力X=238.2701, 切向力Y=-256.4384
FPS=28.10, 法向力=1360.8521, 切向力X=-235.7111, 切向力Y=-839.4484
FPS=28.16, 法向力=1347.9067, 切向力X=-310.8950, 切向力Y=-715.4226
FPS=27.69, 法向力=771.8419, 切向力X=313.5874, 切向力Y=-1099.1262
FPS=28.93, 法向力=1142.5115, 切向力X=-195.0166, 切向力Y=-1210.9153
FPS=27.86, 法向力=969.5844, 切向力X=-544.8594, 切向力Y=-810.6182
FPS=26.90, 法向力=1151.1223, 切向力X=-157.9814, 切向力Y=-679.1858
FPS=26.99, 法向力=1172.6512, 切向力X=420.7032, 切向力Y=-893.9124
FPS=27.66, 法向力=753.3452, 切向力X=516.9423, 切向力Y=-561.7000
FPS=27.28, 法向力=1249.5160, 切向力X=998.6055, 切向力Y=-1094.7356
FPS=28.07, 法向力=1438.9550, 切向力X=1097.7834, 切向力Y=-587.3607
FPS=27.26, 法向力=1450.5002, 切向力X=1098.8883, 切向力Y=-562.0344
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FPS=28.43, 法向力=1506.1204, 切向力X=-1329.0911, 切向力Y=-4050.2720
FPS=27.47, 法向力=1770.5243, 切向力X=-919.9777, 切向力Y=-7681.8540
FPS=29.40, 法向力=2260.3025, 切向力X=-1509.1343, 切向力Y=-10331.0840
FPS=27.31, 法向力=2811.4375, 切向力X=-2113.1616, 切向力Y=-12195.9941
FPS=27.42, 法向力=2623.5461, 切向力X=-1828.8135, 切向力Y=-13666.4082
FPS=26.94, 法向力=2831.1272, 切向力X=-1416.3152, 切向力Y=-15138.1270
FPS=28.03, 法向力=3631.7319, 切向力X=-1677.4474, 切向力Y=-17864.1367
FPS=28.40, 法向力=3587.5571, 切向力X=-823.4289, 切向力Y=-19624.1758
FPS=28.17, 法向力=3618.1584, 切向力X=-848.7939, 切向力Y=-19616.4629
FPS=29.32, 法向力=3938.9741, 切向力X=-1778.9753, 切向力Y=-19179.4707
FPS=27.43, 法向力=3765.3772, 切向力X=-3161.0552, 切向力Y=-20154.0742
FPS=28.50, 法向力=3743.1667, 切向力X=-4958.6323, 切向力Y=-22687.9375
FPS=29.02, 法向力=4151.1855, 切向力X=-6043.3652, 切向力Y=-22630.5547
FPS=29.26, 法向力=4444.2041, 切向力X=-5452.5171, 切向力Y=-22891.7383
FPS=29.18, 法向力=4695.7158, 切向力X=-6140.3135, 切向力Y=-22386.3828
FPS=27.94, 法向力=4636.4956, 切向力X=-6815.0576, 切向力Y=-21269.8418
FPS=28.57, 法向力=4605.3027, 切向力X=-7046.9756, 切向力Y=-21281.3359
FPS=27.26, 法向力=4692.1465, 切向力X=-7681.2139, 切向力Y=-19654.7910
FPS=27.76, 法向力=4185.6587, 切向力X=-8623.1084, 切向力Y=-20401.1543
FPS=28.61, 法向力=4640.3105, 切向力X=-7897.6230, 切向力Y=-19906.4336
FPS=27.07, 法向力=4792.5000, 切向力X=-7384.0356, 切向力Y=-19285.9121
FPS=25.24, 法向力=4582.5293, 切向力X=-8169.7319, 切向力Y=-18745.8867
FPS=26.22, 法向力=4810.3545, 切向力X=-7920.3804, 切向力Y=-17865.6250
FPS=26.52, 法向力=4197.8735, 切向力X=-7355.2749, 切向力Y=-15653.3984
FPS=26.17, 法向力=3620.1177, 切向力X=-6910.7173, 切向力Y=-12855.7422
FPS=25.36, 法向力=3019.0835, 切向力X=-6089.6782, 切向力Y=-10775.1270
FPS=22.82, 法向力=3059.5759, 切向力X=-5051.9248, 切向力Y=-9555.4697
FPS=23.65, 法向力=2356.7158, 切向力X=-1003.3701, 切向力Y=-8506.6230
FPS=24.27, 法向力=2305.0518, 切向力X=-942.2638, 切向力Y=-8574.5059
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FPS=25.55, 法向力=1868.2458, 切向力X=-577.8375, 切向力Y=-5664.5068
FPS=24.95, 法向力=1403.2871, 切向力X=-617.6022, 切向力Y=-4852.2979
FPS=24.92, 法向力=1454.6201, 切向力X=45.0290, 切向力Y=-5206.4170
FPS=25.06, 法向力=1126.4110, 切向力X=-1215.8843, 切向力Y=-4130.4321
FPS=26.02, 法向力=1097.9282, 切向力X=-518.2076, 切向力Y=-3055.2458
FPS=24.90, 法向力=1195.5093, 切向力X=-513.3696, 切向力Y=-2877.8225
FPS=25.04, 法向力=1136.3616, 切向力X=-941.3063, 切向力Y=-3385.2749
FPS=26.71, 法向力=1146.7839, 切向力X=-639.1293, 切向力Y=-3486.4482
FPS=23.83, 法向力=1338.4478, 切向力X=-2276.7498, 切向力Y=-3126.1909
FPS=24.79, 法向力=1369.7113, 切向力X=-2256.8140, 切向力Y=-3044.0591
FPS=26.89, 法向力=1464.9741, 切向力X=-4811.5410, 切向力Y=-3611.2676
FPS=26.55, 法向力=1860.3472, 切向力X=-6025.2808, 切向力Y=-6502.1597
FPS=25.85, 法向力=2194.1877, 切向力X=-8537.6680, 切向力Y=-9397.9346
FPS=26.38, 法向力=3349.5066, 切向力X=-9383.2334, 切向力Y=-11660.2109
FPS=26.84, 法向力=3797.6199, 切向力X=-10922.0352, 切向力Y=-13866.9180
FPS=27.83, 法向力=3999.1672, 切向力X=-12870.4609, 切向力Y=-15656.3750
FPS=28.84, 法向力=4806.3086, 切向力X=-14887.3057, 切向力Y=-17248.3242
FPS=27.39, 法向力=6390.6567, 切向力X=-14513.3340, 切向力Y=-17648.3809
FPS=27.24, 法向力=6212.3623, 切向力X=-15138.1309, 切向力Y=-18639.8555
FPS=26.68, 法向力=6182.3691, 切向力X=-14960.1836, 切向力Y=-18605.4609
FPS=28.45, 法向力=6885.5342, 切向力X=-15193.5801, 切向力Y=-20060.4570
FPS=29.49, 法向力=6943.9448, 切向力X=-15070.0254, 切向力Y=-20042.6660
FPS=28.36, 法向力=7204.1387, 切向力X=-14658.1719, 切向力Y=-19039.2793
FPS=26.94, 法向力=7418.6162, 切向力X=-15719.4395, 切向力Y=-18785.1250
FPS=27.02, 法向力=7290.7510, 切向力X=-15505.9941, 切向力Y=-18120.0430
FPS=26.77, 法向力=7412.1660, 切向力X=-15224.1201, 切向力Y=-17830.4512
FPS=28.42, 法向力=7427.2603, 切向力X=-13806.5078, 切向力Y=-17054.9883
FPS=27.62, 法向力=7529.7051, 切向力X=-14104.0117, 切向力Y=-15869.5166
FPS=28.31, 法向力=6927.2847, 切向力X=-13193.6738, 切向力Y=-14577.0088
FPS=28.65, 法向力=6928.5488, 切向力X=-13168.8555, 切向力Y=-14521.0684
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FPS=26.76, 法向力=7200.9429, 切向力X=-13068.0479, 切向力Y=-14176.9863
FPS=26.23, 法向力=7391.8193, 切向力X=-12264.0137, 切向力Y=-14722.6807
FPS=25.77, 法向力=7210.0869, 切向力X=-12013.0283, 切向力Y=-14969.5566
FPS=24.67, 法向力=7186.7969, 切向力X=-13941.7197, 切向力Y=-14741.8340
FPS=24.57, 法向力=6851.7910, 切向力X=-13808.7949, 切向力Y=-14578.9131
FPS=25.37, 法向力=6333.1758, 切向力X=-13847.3613, 切向力Y=-13807.9141
FPS=24.97, 法向力=5885.9551, 切向力X=-14962.8535, 切向力Y=-12847.7539
FPS=24.01, 法向力=6164.8496, 切向力X=-14303.8418, 切向力Y=-11806.9912
FPS=24.87, 法向力=5340.2314, 切向力X=-14408.0977, 切向力Y=-12680.2266
FPS=24.36, 法向力=5592.3799, 切向力X=-14296.9277, 切向力Y=-11663.7090
FPS=22.85, 法向力=5791.9492, 切向力X=-13512.5059, 切向力Y=-11744.0010
FPS=24.02, 法向力=5905.3369, 切向力X=-14698.8281, 切向力Y=-11270.1836
FPS=23.93, 法向力=5933.8516, 切向力X=-14806.6553, 切向力Y=-11207.3604
FPS=24.40, 法向力=6100.8516, 切向力X=-15405.6885, 切向力Y=-12491.6426
FPS=23.85, 法向力=6458.3125, 切向力X=-17184.0352, 切向力Y=-13845.3906
FPS=24.98, 法向力=6263.4438, 切向力X=-17452.8047, 切向力Y=-14048.7656
FPS=24.33, 法向力=6861.5830, 切向力X=-17244.7090, 切向力Y=-14529.3320
FPS=24.74, 法向力=6255.6572, 切向力X=-16979.2578, 切向力Y=-14486.0596
FPS=24.36, 法向力=6466.2656, 切向力X=-17174.5000, 切向力Y=-14639.3594
FPS=23.07, 法向力=6662.4668, 切向力X=-16151.1367, 切向力Y=-15242.0547
FPS=24.59, 法向力=6231.0674, 切向力X=-15752.2090, 切向力Y=-15339.6504
FPS=24.75, 法向力=6343.1494, 切向力X=-16638.2617, 切向力Y=-14999.9014
FPS=25.16, 法向力=6310.2607, 切向力X=-16708.4395, 切向力Y=-15031.6133
FPS=24.94, 法向力=5967.0361, 切向力X=-13821.9316, 切向力Y=-14035.6240
FPS=24.53, 法向力=6265.3096, 切向力X=-14631.6914, 切向力Y=-13182.1025
FPS=24.32, 法向力=5495.5566, 切向力X=-12876.3203, 切向力Y=-12310.9004
FPS=23.61, 法向力=5384.6177, 切向力X=-12443.1104, 切向力Y=-11636.7314
FPS=23.01, 法向力=4447.4780, 切向力X=-11824.7734, 切向力Y=-12167.9277
FPS=21.78, 法向力=5020.5479, 切向力X=-9699.1523, 切向力Y=-9425.1162
FPS=21.92, 法向力=3732.1025, 切向力X=-9605.6074, 切向力Y=-9865.5078
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FPS=23.01, 法向力=3486.6880, 切向力X=-8999.4561, 切向力Y=-8259.0273
FPS=24.53, 法向力=3562.5955, 切向力X=-8955.9717, 切向力Y=-8220.5371
FPS=23.54, 法向力=3015.7402, 切向力X=-8789.1816, 切向力Y=-7188.5449
FPS=23.61, 法向力=3416.1707, 切向力X=-7894.9727, 切向力Y=-7881.2222
FPS=24.41, 法向力=3161.4668, 切向力X=-7960.3750, 切向力Y=-8589.1689
FPS=23.61, 法向力=3910.3293, 切向力X=-9092.9023, 切向力Y=-9439.1094
FPS=24.13, 法向力=4666.0918, 切向力X=-10932.2930, 切向力Y=-10822.3457
FPS=22.95, 法向力=5066.4741, 切向力X=-13062.1719, 切向力Y=-12743.7246
FPS=24.01, 法向力=5895.0581, 切向力X=-16872.3945, 切向力Y=-15916.6445
FPS=24.03, 法向力=6396.7515, 切向力X=-17848.3145, 切向力Y=-16238.4453
FPS=23.81, 法向力=7054.9771, 切向力X=-18233.4883, 切向力Y=-16133.8691
FPS=24.81, 法向力=7083.6631, 切向力X=-18165.9355, 切向力Y=-16164.7139
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stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000377s, blend=0.002154s (9 tiles incl ref), finalize=0.000068s, total=0.002606s
FPS=26.06, 法向力=3093.6514, 切向力X=-3776.6167, 切向力Y=-5436.8447
FPS=26.18, 法向力=2933.0627, 切向力X=-3365.1650, 切向力Y=-4842.3867
FPS=25.80, 法向力=2981.6177, 切向力X=-2902.8389, 切向力Y=-4609.3745
FPS=26.64, 法向力=2858.8667, 切向力X=-3552.7388, 切向力Y=-4181.2100
FPS=26.34, 法向力=2850.1665, 切向力X=-2123.5046, 切向力Y=-3854.1738
FPS=25.45, 法向力=3027.2673, 切向力X=-3560.7896, 切向力Y=-4279.4502
FPS=26.44, 法向力=2971.4175, 切向力X=-4682.9844, 切向力Y=-4951.2085
FPS=26.24, 法向力=3762.6196, 切向力X=-6502.5312, 切向力Y=-6191.5020
FPS=27.48, 法向力=3698.8804, 切向力X=-9033.6602, 切向力Y=-9251.9160
FPS=26.08, 法向力=5151.3389, 切向力X=-11756.0566, 切向力Y=-12875.3535
FPS=27.12, 法向力=5770.5928, 切向力X=-13465.8633, 切向力Y=-14555.8652
FPS=26.99, 法向力=6760.0215, 切向力X=-16414.9688, 切向力Y=-15833.7002
FPS=26.64, 法向力=7786.2212, 切向力X=-17795.3184, 切向力Y=-17710.8320
FPS=28.37, 法向力=7591.7881, 切向力X=-17978.8828, 切向力Y=-17887.9219
FPS=27.78, 法向力=7597.4189, 切向力X=-18827.7305, 切向力Y=-17633.7773
FPS=28.13, 法向力=7560.7646, 切向力X=-18339.0234, 切向力Y=-16868.7539
FPS=27.06, 法向力=7152.7090, 切向力X=-17209.8398, 切向力Y=-15429.9355
FPS=27.83, 法向力=5444.1357, 切向力X=-9126.0664, 切向力Y=-10205.7100
FPS=26.40, 法向力=4196.6631, 切向力X=-5950.3223, 切向力Y=-7450.8115
FPS=25.44, 法向力=3055.2305, 切向力X=-4319.8188, 切向力Y=-5629.6807
FPS=25.96, 法向力=2759.0371, 切向力X=-3969.3071, 切向力Y=-4794.5107
FPS=27.31, 法向力=3085.0879, 切向力X=-3935.8896, 切向力Y=-4336.5322
FPS=26.96, 法向力=3179.2559, 切向力X=-3742.0156, 切向力Y=-4258.3638
FPS=26.48, 法向力=3021.9944, 切向力X=-3841.9263, 切向力Y=-3971.0615
FPS=25.78, 法向力=3009.9988, 切向力X=-3810.1377, 切向力Y=-3967.5103
FPS=25.31, 法向力=2395.6318, 切向力X=-2846.7705, 切向力Y=-4764.5132
FPS=24.86, 法向力=2908.0066, 切向力X=-3005.5640, 切向力Y=-4019.9773
FPS=25.16, 法向力=2523.8447, 切向力X=-2625.8403, 切向力Y=-4291.5918
FPS=25.89, 法向力=2409.8003, 切向力X=-2571.3550, 切向力Y=-3502.6182
FPS=26.98, 法向力=2793.5996, 切向力X=-3163.8398, 切向力Y=-3630.2156
stitch_feature_optimized: canvas out_w=450, out_h=461, x_min=-100.97, y_min=-104.58
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000308s, blend=0.002304s (9 tiles incl ref), finalize=0.000068s, total=0.002686s
FPS=26.38, 法向力=2725.9050, 切向力X=-2827.8496, 切向力Y=-3880.5413
FPS=26.43, 法向力=2581.1626, 切向力X=-2617.9390, 切向力Y=-3186.0342
FPS=25.24, 法向力=2769.7183, 切向力X=-2362.4529, 切向力Y=-3755.5518
FPS=27.44, 法向力=2400.9780, 切向力X=-2445.3965, 切向力Y=-3356.1638
FPS=25.07, 法向力=2461.6313, 切向力X=-2339.2751, 切向力Y=-3600.8247
FPS=25.87, 法向力=2688.7065, 切向力X=-2178.7651, 切向力Y=-3559.6953
FPS=25.98, 法向力=2419.6785, 切向力X=-2220.1316, 切向力Y=-3471.7246
FPS=26.78, 法向力=2448.5259, 切向力X=-2507.7712, 切向力Y=-3068.2141
FPS=24.99, 法向力=2695.2473, 切向力X=-2055.9937, 切向力Y=-3310.6497
Sensor disconnected.
⏸ 已暂停
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
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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
FPS=32.84, 法向力=1694.7858, 切向力X=-599.6809, 切向力Y=246.6519
FPS=31.71, 法向力=1657.1864, 切向力X=-619.4561, 切向力Y=147.0999
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
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=0.000350s, blend=0.002441s (9 tiles incl ref), finalize=0.000057s, total=0.002854s
FPS=31.29, 法向力=1339.0032, 切向力X=-529.9409, 切向力Y=1233.5005
FPS=31.00, 法向力=1334.1885, 切向力X=-504.6945, 切向力Y=1250.1667
FPS=31.74, 法向力=1165.1526, 切向力X=-911.5529, 切向力Y=680.8480
FPS=31.46, 法向力=1156.7358, 切向力X=-865.7690, 切向力Y=602.5157
FPS=35.29, 法向力=1393.1456, 切向力X=-637.8483, 切向力Y=894.2182
FPS=35.29, 法向力=1426.7146, 切向力X=-595.0623, 切向力Y=773.3568
FPS=33.65, 法向力=1796.4807, 切向力X=6.8526, 切向力Y=984.0396
FPS=37.06, 法向力=1722.5408, 切向力X=-18.1864, 切向力Y=1035.7102
FPS=33.96, 法向力=1326.3087, 切向力X=-580.1920, 切向力Y=165.8001
FPS=34.79, 法向力=1294.7363, 切向力X=-696.8393, 切向力Y=72.9584
FPS=34.45, 法向力=1353.4629, 切向力X=-748.5137, 切向力Y=79.6798
FPS=29.84, 法向力=1229.7385, 切向力X=-135.4218, 切向力Y=-281.6786
FPS=31.61, 法向力=1232.6809, 切向力X=-71.5171, 切向力Y=-304.5503
FPS=29.21, 法向力=1693.5547, 切向力X=-350.5994, 切向力Y=1079.4463
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
FPS=30.44, 法向力=1455.1058, 切向力X=-609.7972, 切向力Y=595.5880
FPS=31.08, 法向力=1479.8027, 切向力X=-685.4323, 切向力Y=376.6464
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
FPS=27.82, 法向力=1632.9363, 切向力X=-3416.1797, 切向力Y=-3287.2361
FPS=32.12, 法向力=1691.1259, 切向力X=-3616.0996, 切向力Y=-3357.6689
FPS=29.50, 法向力=4020.4756, 切向力X=-8160.1035, 切向力Y=-9235.3887
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
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=0.000344s, blend=0.002341s (9 tiles incl ref), finalize=0.000057s, total=0.002750s
FPS=30.59, 法向力=6481.4365, 切向力X=-18106.5605, 切向力Y=-20606.6875
FPS=29.39, 法向力=8189.7207, 切向力X=-28069.8711, 切向力Y=-33099.3945
FPS=31.63, 法向力=7824.3506, 切向力X=-28573.5391, 切向力Y=-33482.6094
FPS=29.09, 法向力=12045.5088, 切向力X=-54113.3047, 切向力Y=-43634.3750
FPS=31.25, 法向力=12082.6455, 切向力X=-54407.3867, 切向力Y=-43146.2617
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
FPS=28.46, 法向力=19874.7500, 切向力X=-100925.8125, 切向力Y=-49480.6094
FPS=26.78, 法向力=17172.2285, 切向力X=-91490.5625, 切向力Y=-45313.2344
FPS=30.83, 法向力=17518.8750, 切向力X=-90570.4219, 切向力Y=-44693.0625
FPS=28.21, 法向力=13740.3555, 切向力X=-74088.4141, 切向力Y=-38194.0156
FPS=30.17, 法向力=13995.1562, 切向力X=-74143.3594, 切向力Y=-37951.5625
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
FPS=27.40, 法向力=5818.3467, 切向力X=-16402.3691, 切向力Y=-6723.1357
FPS=30.19, 法向力=5719.5063, 切向力X=-16611.5508, 切向力Y=-6639.8379
FPS=27.88, 法向力=4527.7158, 切向力X=-11310.3076, 切向力Y=-3444.7446
FPS=30.32, 法向力=4488.4346, 切向力X=-11304.9238, 切向力Y=-3494.2739
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
FPS=28.09, 法向力=2665.0415, 切向力X=-5194.1445, 切向力Y=-2379.0693
FPS=30.55, 法向力=2586.1577, 切向力X=-5165.7661, 切向力Y=-2472.5081
FPS=29.89, 法向力=1927.0491, 切向力X=2910.9888, 切向力Y=-1912.5649
FPS=30.85, 法向力=2023.5696, 切向力X=2933.4590, 切向力Y=-1925.9021
FPS=28.05, 法向力=2518.5444, 切向力X=24600.8027, 切向力Y=-1048.6171
FPS=29.73, 法向力=2522.9351, 切向力X=24561.3008, 切向力Y=-1113.4987
FPS=28.40, 法向力=6832.7910, 切向力X=52569.0898, 切向力Y=-6777.2041
FPS=29.28, 法向力=6751.5044, 切向力X=52828.2266, 切向力Y=-6920.4111
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=0.002122s (9 tiles incl ref), finalize=0.000051s, total=0.002386s
FPS=30.81, 法向力=13172.7793, 切向力X=73272.8203, 切向力Y=-13203.0059
FPS=29.25, 法向力=13280.3262, 切向力X=73637.1328, 切向力Y=-13304.9277
FPS=28.90, 法向力=17762.2754, 切向力X=82432.0547, 切向力Y=-15952.3750
FPS=31.13, 法向力=17842.5430, 切向力X=82902.4219, 切向力Y=-16222.2559
FPS=32.08, 法向力=20958.6055, 切向力X=82473.6562, 切向力Y=-15774.5020
FPS=30.57, 法向力=18903.6641, 切向力X=71702.5781, 切向力Y=-11467.5449
FPS=30.93, 法向力=18622.1406, 切向力X=71742.2578, 切向力Y=-11622.2715
FPS=31.32, 法向力=18576.5645, 切向力X=71673.8516, 切向力Y=-11699.1289
FPS=29.66, 法向力=15003.8906, 切向力X=57667.5469, 切向力Y=-8020.4873
FPS=32.05, 法向力=14664.6963, 切向力X=57052.8750, 切向力Y=-7772.7373
FPS=28.91, 法向力=13265.5488, 切向力X=49187.6562, 切向力Y=-7185.5444
FPS=31.94, 法向力=13035.7959, 切向力X=48795.5703, 切向力Y=-6808.6025
FPS=28.66, 法向力=11961.1680, 切向力X=44839.4883, 切向力Y=-6268.3081
FPS=31.90, 法向力=12020.1240, 切向力X=44552.2539, 切向力Y=-5958.8682
FPS=29.60, 法向力=11395.8604, 切向力X=38949.5195, 切向力Y=-4526.9795
FPS=30.62, 法向力=11417.1562, 切向力X=38856.1602, 切向力Y=-4440.0918
FPS=29.67, 法向力=9882.1074, 切向力X=27963.0859, 切向力Y=-4792.4346
FPS=31.49, 法向力=9737.4297, 切向力X=27832.9141, 切向力Y=-4755.1016
FPS=29.35, 法向力=8012.9219, 切向力X=11126.1787, 切向力Y=-4080.6155
FPS=32.34, 法向力=8102.6313, 切向力X=11119.4512, 切向力Y=-3994.1792
FPS=29.01, 法向力=6255.0879, 切向力X=1363.4805, 切向力Y=-3071.0859
FPS=31.53, 法向力=6284.0166, 切向力X=1329.9346, 切向力Y=-3013.0745
FPS=28.90, 法向力=3744.5283, 切向力X=-7865.2627, 切向力Y=2394.7085
FPS=29.59, 法向力=3712.6226, 切向力X=-8096.9521, 切向力Y=2553.2056
FPS=27.92, 法向力=1912.2880, 切向力X=-7444.3315, 切向力Y=2694.5967
FPS=29.17, 法向力=1925.0459, 切向力X=-7437.5610, 切向力Y=2592.3057
FPS=28.40, 法向力=1628.0017, 切向力X=-1346.4426, 切向力Y=1119.9158
FPS=30.62, 法向力=1671.4489, 切向力X=-1299.9016, 切向力Y=1015.8008
FPS=30.43, 法向力=1495.5112, 切向力X=-584.6556, 切向力Y=1220.8945
FPS=31.10, 法向力=1532.5164, 切向力X=-519.2991, 切向力Y=1221.0306
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=0.000235s, blend=0.002154s (9 tiles incl ref), finalize=0.000052s, total=0.002447s
FPS=31.39, 法向力=983.4551, 切向力X=1972.6482, 切向力Y=-918.0306
FPS=32.66, 法向力=936.6230, 切向力X=2038.8633, 切向力Y=-1058.9980
FPS=26.47, 法向力=2141.2830, 切向力X=12906.0176, 切向力Y=-2341.2153
FPS=28.17, 法向力=2112.6350, 切向力X=12911.1846, 切向力Y=-2355.2231
FPS=26.04, 法向力=4641.0146, 切向力X=41077.0156, 切向力Y=-9296.6914
FPS=27.42, 法向力=4428.6553, 切向力X=41203.7422, 切向力Y=-9633.7744
FPS=27.28, 法向力=10555.2441, 切向力X=78282.1406, 切向力Y=-22037.3047
FPS=25.72, 法向力=19057.0898, 切向力X=97368.3047, 切向力Y=-30660.1816
FPS=27.17, 法向力=18927.5039, 切向力X=98530.3906, 切向力Y=-30343.1133
FPS=25.16, 法向力=24145.6367, 切向力X=106240.7344, 切向力Y=-34914.9453
FPS=27.35, 法向力=24347.2012, 切向力X=106907.0703, 切向力Y=-34983.0742
FPS=24.23, 法向力=28686.5859, 切向力X=104619.9062, 切向力Y=-34509.7656
FPS=27.19, 法向力=28845.0898, 切向力X=104760.0781, 切向力Y=-34636.8828
FPS=25.20, 法向力=28213.0898, 切向力X=98556.7422, 切向力Y=-33867.5742
FPS=25.48, 法向力=27921.9258, 切向力X=92340.3125, 切向力Y=-32736.2930
FPS=27.04, 法向力=27979.0195, 切向力X=92331.6484, 切向力Y=-32868.3633
FPS=25.15, 法向力=27015.8555, 切向力X=85061.0156, 切向力Y=-31064.0352
FPS=26.67, 法向力=26918.8555, 切向力X=84927.7422, 切向力Y=-31135.5371
FPS=25.62, 法向力=24063.8633, 切向力X=71687.9375, 切向力Y=-27886.0449
FPS=25.90, 法向力=18383.2070, 切向力X=42845.9297, 切向力Y=-19545.9961
FPS=26.41, 法向力=18759.2676, 切向力X=43113.1836, 切向力Y=-19581.6992
FPS=27.23, 法向力=13451.5117, 切向力X=17178.3066, 切向力Y=-13228.7598
FPS=27.70, 法向力=13573.3828, 切向力X=17185.8359, 切向力Y=-13145.1035
FPS=26.33, 法向力=10010.0928, 切向力X=9736.4453, 切向力Y=-3066.6819
FPS=28.60, 法向力=9984.1426, 切向力X=9695.8789, 切向力Y=-3088.7720
FPS=26.83, 法向力=5667.9170, 切向力X=7169.3521, 切向力Y=-1841.7341
FPS=28.61, 法向力=5614.7583, 切向力X=7307.9326, 切向力Y=-1838.7213
FPS=27.80, 法向力=4812.9712, 切向力X=4833.2363, 切向力Y=-977.3829
FPS=27.98, 法向力=4952.1328, 切向力X=4875.7637, 切向力Y=-1038.5833
FPS=28.92, 法向力=3573.6548, 切向力X=7836.2637, 切向力Y=-2691.3423
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=0.000005s (hit), reset=0.000313s, blend=0.002385s (9 tiles incl ref), finalize=0.000213s, total=0.002919s
FPS=25.99, 法向力=3569.1938, 切向力X=19863.0488, 切向力Y=-5931.1064
FPS=28.27, 法向力=3483.4966, 切向力X=20143.3984, 切向力Y=-6071.4531
FPS=28.61, 法向力=3434.8977, 切向力X=20126.7578, 切向力Y=-6074.0610
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
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FPS=23.54, 法向力=1595.3293, 切向力X=2769.6221, 切向力Y=-117.6267
FPS=20.79, 法向力=1237.4751, 切向力X=2663.2168, 切向力Y=-809.7040
FPS=23.33, 法向力=1345.8228, 切向力X=1813.4089, 切向力Y=-826.1524
FPS=23.93, 法向力=1301.6569, 切向力X=1856.9824, 切向力Y=-829.9094
FPS=21.80, 法向力=1364.8510, 切向力X=2106.8647, 切向力Y=-954.0377
FPS=21.49, 法向力=1421.3523, 切向力X=2159.9360, 切向力Y=1.8530
FPS=22.00, 法向力=1429.6431, 切向力X=2171.4988, 切向力Y=14.3651
FPS=23.45, 法向力=1468.8877, 切向力X=1490.3186, 切向力Y=-409.1366
FPS=20.19, 法向力=1775.2639, 切向力X=1025.2883, 切向力Y=-98.6228
FPS=23.05, 法向力=1772.0188, 切向力X=972.3601, 切向力Y=-1.5444
FPS=11.34, 法向力=1348.8914, 切向力X=1231.3931, 切向力Y=-1017.2532
Sensor disconnected.
⏸ 已暂停