Config: ./config/ddjx01.json
Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]}
Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12}
Connecting to video source...
OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400
Detected 15 candidate boxes with bk_thresh=10
Sensor: valid for stitching
Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13]
Latest-frame capture thread started.
Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy
  Video source: 0
  Stitch mode: True
  Optical flow algorithm: dis
  Poisson backend: auto
  CuPy available: True
  OpenCL available: False

按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。
FPS=0.46, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=1.89, 法向力=1468.6523, 切向力X=-140.5819, 切向力Y=-1785.7747
FPS=30.58, 法向力=1566.3948, 切向力X=-111.4583, 切向力Y=-1915.5825
FPS=27.44, 法向力=1212.0280, 切向力X=-39.5685, 切向力Y=-413.3934
FPS=22.60, 法向力=1205.4215, 切向力X=-10.6164, 切向力Y=-314.9164
FPS=25.56, 法向力=2126.8281, 切向力X=256.0717, 切向力Y=-1159.0538
FPS=34.55, 法向力=2204.2532, 切向力X=183.8568, 切向力Y=-1211.5742
FPS=25.13, 法向力=1777.4576, 切向力X=52.7551, 切向力Y=-1007.4562
FPS=39.41, 法向力=1757.1217, 切向力X=-28.8368, 切向力Y=-963.1324
FPS=32.73, 法向力=1749.6011, 切向力X=-16.9506, 切向力Y=-2160.3115
FPS=36.41, 法向力=1758.5327, 切向力X=69.9537, 切向力Y=-2037.4967
FPS=32.79, 法向力=1790.1971, 切向力X=-173.7573, 切向力Y=156.9221
FPS=31.27, 法向力=1793.2363, 切向力X=-224.0836, 切向力Y=197.1666
FPS=33.26, 法向力=1748.7078, 切向力X=-271.3075, 切向力Y=157.7481
FPS=34.99, 法向力=1687.4197, 切向力X=-674.5483, 切向力Y=-107.0883
FPS=36.53, 法向力=1753.1239, 切向力X=-575.6926, 切向力Y=-35.6018
FPS=33.80, 法向力=1247.8223, 切向力X=-514.1991, 切向力Y=-1389.4697
FPS=25.19, 法向力=1261.7919, 切向力X=-408.0992, 切向力Y=-1364.8468
FPS=33.48, 法向力=1936.2748, 切向力X=-494.2993, 切向力Y=-930.1176
FPS=37.76, 法向力=1916.4548, 切向力X=-465.7533, 切向力Y=-879.2223
FPS=44.10, 法向力=2097.3911, 切向力X=-160.0931, 切向力Y=-1219.7667
FPS=46.89, 法向力=2139.5854, 切向力X=-152.0510, 切向力Y=-1221.1705
FPS=41.43, 法向力=2136.9702, 切向力X=-241.0235, 切向力Y=-1272.5168
FPS=35.05, 法向力=2064.6763, 切向力X=-618.5793, 切向力Y=-1537.5552
FPS=37.75, 法向力=2104.7803, 切向力X=-618.0910, 切向力Y=-1344.5205
FPS=37.11, 法向力=2098.8472, 切向力X=-628.6880, 切向力Y=-1194.0886
FPS=22.98, 法向力=2740.2200, 切向力X=-271.6731, 切向力Y=-1974.2402
FPS=46.34, 法向力=1293.4448, 切向力X=-375.7171, 切向力Y=-909.4243
stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40
stitch_feature_optimized steps: brightness=0.000002s, geom=0.000003s (hit), reset=0.000222s, blend=0.002400s (9 tiles incl ref), finalize=0.000077s, total=0.002705s
FPS=37.61, 法向力=1429.0599, 切向力X=-385.7286, 切向力Y=-770.6435
FPS=40.52, 法向力=1430.4414, 切向力X=-403.1853, 切向力Y=-770.6646
FPS=32.56, 法向力=1219.6597, 切向力X=30.2821, 切向力Y=540.3250
FPS=38.37, 法向力=1212.3134, 切向力X=151.5412, 切向力Y=525.3938
FPS=45.57, 法向力=1878.0555, 切向力X=-334.0711, 切向力Y=-1233.6331
FPS=39.09, 法向力=1907.6664, 切向力X=-398.0824, 切向力Y=-1253.3368
FPS=43.90, 法向力=1870.1320, 切向力X=-437.3321, 切向力Y=-1287.2102
FPS=35.51, 法向力=1178.0256, 切向力X=-630.0201, 切向力Y=-1206.7825
FPS=36.95, 法向力=1153.2798, 切向力X=-562.3918, 切向力Y=-1146.9258
FPS=44.20, 法向力=1157.5793, 切向力X=-527.1757, 切向力Y=-1141.1027
FPS=36.23, 法向力=1616.5486, 切向力X=57.1928, 切向力Y=-514.2873
FPS=47.29, 法向力=1629.6138, 切向力X=24.7383, 切向力Y=-573.4175
FPS=34.57, 法向力=1631.8738, 切向力X=-9.9358, 切向力Y=-685.3813
FPS=27.61, 法向力=2104.4062, 切向力X=-809.4086, 切向力Y=-1374.1569
FPS=41.96, 法向力=2093.9326, 切向力X=-831.0868, 切向力Y=-1410.1750
FPS=22.68, 法向力=1649.3435, 切向力X=-798.0945, 切向力Y=-646.3885
FPS=46.73, 法向力=1718.1409, 切向力X=-791.0502, 切向力Y=-662.4163
FPS=36.56, 法向力=3862.6140, 切向力X=-359.7504, 切向力Y=-1269.4104
FPS=41.79, 法向力=3903.9607, 切向力X=-359.5303, 切向力Y=-1161.4608
FPS=35.81, 法向力=1001.0420, 切向力X=-140.2276, 切向力Y=-695.0411
FPS=49.62, 法向力=1068.7061, 切向力X=-115.4396, 切向力Y=-757.0610
FPS=40.38, 法向力=1070.1117, 切向力X=-108.0470, 切向力Y=-760.7629
FPS=26.54, 法向力=1686.5823, 切向力X=-110.0919, 切向力Y=-1120.3473
FPS=38.71, 法向力=1648.3472, 切向力X=30.7396, 切向力Y=-1118.5524
FPS=44.93, 法向力=1635.2859, 切向力X=28.2987, 切向力Y=-1112.9934
FPS=39.88, 法向力=1333.0692, 切向力X=-981.7482, 切向力Y=-543.3253
FPS=44.78, 法向力=1400.4265, 切向力X=-934.9463, 切向力Y=-486.4800
FPS=38.47, 法向力=1336.9751, 切向力X=506.7483, 切向力Y=-685.1981
FPS=35.84, 法向力=1402.1912, 切向力X=571.2245, 切向力Y=-705.8870
FPS=42.28, 法向力=1401.6969, 切向力X=556.7795, 切向力Y=-640.4523
stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000228s, blend=0.002145s (9 tiles incl ref), finalize=0.000053s, total=0.002431s
FPS=39.45, 法向力=1315.2365, 切向力X=-846.6339, 切向力Y=-81.8931
FPS=43.64, 法向力=1331.0098, 切向力X=-832.4840, 切向力Y=-111.4969
FPS=41.45, 法向力=1314.9297, 切向力X=-805.2390, 切向力Y=-158.3209
FPS=39.91, 法向力=1480.8718, 切向力X=-499.5907, 切向力Y=-1638.3010
FPS=42.33, 法向力=1508.5967, 切向力X=-502.0677, 切向力Y=-1718.4326
FPS=48.62, 法向力=1246.2252, 切向力X=-1.6298, 切向力Y=-459.3607
FPS=42.29, 法向力=1258.4077, 切向力X=-78.3788, 切向力Y=-533.3998
FPS=39.59, 法向力=1262.0410, 切向力X=-43.3227, 切向力Y=-577.5261
FPS=35.85, 法向力=1430.9121, 切向力X=-181.7516, 切向力Y=-1318.9342
FPS=51.87, 法向力=1444.7498, 切向力X=-230.7101, 切向力Y=-1230.2592
FPS=43.25, 法向力=1438.1575, 切向力X=-240.2934, 切向力Y=-1247.7827
FPS=47.53, 法向力=1703.8662, 切向力X=-596.0613, 切向力Y=-1360.9791
FPS=24.38, 法向力=1788.9238, 切向力X=-595.8633, 切向力Y=-1395.4271
FPS=43.97, 法向力=2760.8926, 切向力X=290.4601, 切向力Y=-2221.6655
FPS=24.65, 法向力=2623.4233, 切向力X=332.3273, 切向力Y=-2110.8684
FPS=42.67, 法向力=1385.7109, 切向力X=-589.8788, 切向力Y=-953.7830
FPS=40.83, 法向力=1420.6852, 切向力X=-633.8888, 切向力Y=-802.6492
FPS=39.18, 法向力=1411.1619, 切向力X=-618.7287, 切向力Y=-816.4977
FPS=40.18, 法向力=1343.6680, 切向力X=-654.7051, 切向力Y=306.9477
FPS=47.28, 法向力=1350.0540, 切向力X=-692.8213, 切向力Y=447.7349
FPS=42.28, 法向力=1350.8672, 切向力X=-708.4382, 切向力Y=466.0487
FPS=41.00, 法向力=1926.6251, 切向力X=-501.5932, 切向力Y=-1505.2874
FPS=39.12, 法向力=2031.0690, 切向力X=-463.0618, 切向力Y=-1662.5642
FPS=44.86, 法向力=1990.8464, 切向力X=-527.8484, 切向力Y=-1653.3190
FPS=38.95, 法向力=1895.9683, 切向力X=-797.2736, 切向力Y=-1693.5920
FPS=48.01, 法向力=1925.2720, 切向力X=-774.9052, 切向力Y=-1707.3057
FPS=44.44, 法向力=1927.6421, 切向力X=-772.9200, 切向力Y=-1701.7378
FPS=40.57, 法向力=1157.6208, 切向力X=-827.6493, 切向力Y=-906.5511
FPS=43.01, 法向力=1098.9453, 切向力X=-733.8142, 切向力Y=-943.3463
FPS=49.39, 法向力=1083.3477, 切向力X=-755.2178, 切向力Y=-948.2361
stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000239s, blend=0.002149s (9 tiles incl ref), finalize=0.000050s, total=0.002444s
FPS=38.12, 法向力=1521.3689, 切向力X=-488.7667, 切向力Y=-1011.7789
FPS=41.70, 法向力=1614.9270, 切向力X=-443.1357, 切向力Y=-1074.8029
FPS=40.62, 法向力=1399.0371, 切向力X=-290.1122, 切向力Y=-753.5101
FPS=42.91, 法向力=1421.0884, 切向力X=-366.4803, 切向力Y=-793.8254
FPS=42.05, 法向力=1386.6096, 切向力X=-353.8379, 切向力Y=-783.3280
FPS=43.42, 法向力=2059.0459, 切向力X=177.1395, 切向力Y=-1772.5699
FPS=43.59, 法向力=2161.5071, 切向力X=254.5063, 切向力Y=-1599.5552
FPS=40.18, 法向力=2154.1724, 切向力X=266.9822, 切向力Y=-1627.0518
FPS=40.15, 法向力=2145.2461, 切向力X=341.8218, 切向力Y=-1616.6558
FPS=45.49, 法向力=2121.6594, 切向力X=249.7673, 切向力Y=-1530.7336
FPS=44.23, 法向力=2180.6333, 切向力X=294.8946, 切向力Y=-1480.5759
FPS=46.65, 法向力=1215.9177, 切向力X=367.4384, 切向力Y=-530.6541
FPS=51.83, 法向力=1253.1008, 切向力X=343.8299, 切向力Y=-456.6460
FPS=35.69, 法向力=1269.1973, 切向力X=299.5914, 切向力Y=-448.2593
FPS=27.69, 法向力=1076.2468, 切向力X=-156.2209, 切向力Y=-1830.0742
FPS=44.99, 法向力=1071.6710, 切向力X=-371.6542, 切向力Y=-1768.0298
FPS=39.36, 法向力=2226.9922, 切向力X=-944.0863, 切向力Y=-1011.1350
FPS=42.69, 法向力=2267.2407, 切向力X=-969.0139, 切向力Y=-918.6372
FPS=39.66, 法向力=2315.8572, 切向力X=-923.8372, 切向力Y=-967.4497
FPS=40.11, 法向力=1549.9878, 切向力X=-701.6760, 切向力Y=-1308.2581
FPS=45.81, 法向力=1553.6135, 切向力X=-689.7051, 切向力Y=-1278.8615
FPS=40.30, 法向力=1699.4073, 切向力X=-930.4310, 切向力Y=-974.4241
FPS=43.30, 法向力=1757.2351, 切向力X=-1089.9137, 切向力Y=-831.9440
FPS=37.44, 法向力=1743.1968, 切向力X=-1082.7910, 切向力Y=-838.1281
FPS=47.30, 法向力=1278.1536, 切向力X=-571.5164, 切向力Y=-1454.9943
FPS=44.80, 法向力=1302.5326, 切向力X=-581.0256, 切向力Y=-1435.1814
FPS=33.15, 法向力=1306.3518, 切向力X=-570.1166, 切向力Y=-1318.0193
FPS=46.56, 法向力=1940.6709, 切向力X=-204.8074, 切向力Y=-123.2514
FPS=43.48, 法向力=1947.0637, 切向力X=-165.7122, 切向力Y=-26.7275
FPS=28.56, 法向力=1972.3048, 切向力X=-180.1217, 切向力Y=-54.2870
stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000258s, blend=0.002192s (9 tiles incl ref), finalize=0.000051s, total=0.002509s
FPS=37.71, 法向力=1867.1769, 切向力X=-344.7574, 切向力Y=-2133.0146
FPS=38.99, 法向力=2020.8689, 切向力X=-304.8930, 切向力Y=-2165.1499
FPS=45.68, 法向力=1852.2415, 切向力X=-702.1271, 切向力Y=-1934.5789
FPS=45.16, 法向力=1848.1559, 切向力X=-726.9235, 切向力Y=-1830.5142
FPS=39.17, 法向力=1843.5223, 切向力X=-679.3406, 切向力Y=-1758.3684
FPS=39.37, 法向力=1222.0940, 切向力X=-344.7194, 切向力Y=-1187.0354
FPS=46.70, 法向力=1244.7507, 切向力X=-339.4540, 切向力Y=-1311.4359
FPS=40.60, 法向力=1236.7688, 切向力X=-278.7877, 切向力Y=-1290.6257
FPS=42.62, 法向力=1371.8878, 切向力X=-1740.2089, 切向力Y=-630.2009
FPS=44.59, 法向力=1327.4973, 切向力X=-1788.1750, 切向力Y=-667.7426
FPS=47.69, 法向力=2015.9255, 切向力X=-731.9031, 切向力Y=-2272.1628
FPS=49.89, 法向力=1954.3790, 切向力X=-778.5635, 切向力Y=-2264.2407
FPS=35.04, 法向力=1993.1455, 切向力X=-767.8335, 切向力Y=-2273.6316
FPS=23.46, 法向力=1827.5259, 切向力X=-726.5335, 切向力Y=-1040.4836
FPS=42.87, 法向力=1874.9297, 切向力X=-697.6926, 切向力Y=-1059.4675
FPS=37.92, 法向力=1884.7987, 切向力X=-690.5093, 切向力Y=-1048.5403
FPS=47.21, 法向力=1602.0291, 切向力X=-797.0104, 切向力Y=-1545.1970
FPS=43.00, 法向力=1507.3657, 切向力X=-808.8608, 切向力Y=-1436.5370
FPS=40.20, 法向力=1171.3872, 切向力X=-843.6021, 切向力Y=-658.6179
FPS=44.08, 法向力=1195.8347, 切向力X=-812.9445, 切向力Y=-663.9857
FPS=52.24, 法向力=1191.4547, 切向力X=-826.5833, 切向力Y=-633.6022
FPS=45.50, 法向力=1752.7798, 切向力X=-486.6591, 切向力Y=-1501.9521
FPS=44.54, 法向力=1771.9431, 切向力X=-532.8730, 切向力Y=-1459.8918
FPS=42.23, 法向力=1775.0818, 切向力X=-533.6107, 切向力Y=-1434.9943
FPS=41.05, 法向力=2253.0732, 切向力X=-869.6805, 切向力Y=2006.8145
FPS=34.55, 法向力=2247.5459, 切向力X=-820.3412, 切向力Y=2128.3535
FPS=52.47, 法向力=2243.5251, 切向力X=-773.3605, 切向力Y=2119.1714
FPS=43.45, 法向力=1411.5802, 切向力X=-370.2516, 切向力Y=-354.1330
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
stitch_feature_optimized: canvas out_w=410, out_h=415, x_min=-78.52, y_min=-79.40
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000005s (hit), reset=0.000266s, blend=0.002289s (9 tiles incl ref), finalize=0.000051s, total=0.002614s
FPS=36.36, 法向力=1598.1322, 切向力X=-647.6472, 切向力Y=-947.3047
FPS=41.34, 法向力=1635.3962, 切向力X=-703.6357, 切向力Y=-1010.5287
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
FPS=38.85, 法向力=1710.3053, 切向力X=-1444.2219, 切向力Y=-1614.9900
FPS=37.95, 法向力=1225.8822, 切向力X=-376.7545, 切向力Y=-696.9982
FPS=45.72, 法向力=1299.5278, 切向力X=-217.8001, 切向力Y=-801.1861
FPS=40.31, 法向力=1316.0829, 切向力X=-338.3452, 切向力Y=-960.9223
FPS=23.58, 法向力=1127.0449, 切向力X=-839.8714, 切向力Y=-990.9258
FPS=28.69, 法向力=2047.0295, 切向力X=-1167.2312, 切向力Y=-4.2759
FPS=41.45, 法向力=2132.2498, 切向力X=-1241.5374, 切向力Y=77.2049
FPS=44.39, 法向力=2128.2305, 切向力X=-1225.2542, 切向力Y=45.8025
FPS=40.14, 法向力=2122.7563, 切向力X=-1250.5645, 切向力Y=118.1888
FPS=42.10, 法向力=1893.2859, 切向力X=-1484.2531, 切向力Y=-1231.7856
FPS=40.77, 法向力=1857.8123, 切向力X=-1449.4880, 切向力Y=-1231.2061
FPS=35.02, 法向力=1921.0149, 切向力X=-127.9644, 切向力Y=-678.2350
FPS=54.00, 法向力=1890.8901, 切向力X=-304.1842, 切向力Y=-673.0669
FPS=45.58, 法向力=1922.6687, 切向力X=-295.0928, 切向力Y=-700.2316
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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