Config: config\ddjx01.json
Stitcher initialized with config: {'min_area_frac': 0.01, 'max_area_frac': 0.05, 'max_aspect_ratio': 50, 'index': [1, 2, 3, 6, 7, 8, 11, 12, 13], 'margin': 10, 'nominal_ov_pos': 100, 'n': [3, 3], 'row_tol': 0.6, 'box_size': [250, 250]}
Contact3D initialized with config: {'min_contour_area': 3000, 'flow_threshold': 5, 'div_threshold': 0.05, 'expansion_threshold': 0.01, 'kernel_size': [5, 5], 'denoise_sigma': 12}
Connecting to video source...
OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400
Detected 15 candidate boxes with bk_thresh=20
Sensor: valid for stitching
Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13]
Latest-frame capture thread started.
Camera calib not found or not JSON: config\./config/ddjx01.npy
  Video source: 0
  Stitch mode: True
  Optical flow algorithm: dis
  Poisson backend: auto
  CuPy available: True
  OpenCL available: False

按键说明：Q 退出 | S 开始录像 | E 结束录像
FPS=0.51, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=3.78, 法向力=1319.9214, 切向力X=-158.2586, 切向力Y=-469.5464
FPS=34.67, 法向力=1614.2219, 切向力X=-733.6538, 切向力Y=-392.2283
FPS=26.64, 法向力=1674.6257, 切向力X=-823.2000, 切向力Y=-472.3365
FPS=28.50, 法向力=1487.2946, 切向力X=-237.6716, 切向力Y=-981.1450
FPS=30.34, 法向力=1524.4380, 切向力X=-192.1061, 切向力Y=-1060.0020
FPS=30.77, 法向力=1185.6323, 切向力X=-385.2812, 切向力Y=-1432.8470
FPS=30.02, 法向力=1407.2581, 切向力X=-1309.8552, 切向力Y=-401.1516
FPS=31.85, 法向力=1384.0031, 切向力X=-1292.9248, 切向力Y=-342.8344
FPS=29.92, 法向力=1299.4647, 切向力X=-808.6634, 切向力Y=-392.1310
FPS=31.29, 法向力=1309.7788, 切向力X=-820.8898, 切向力Y=-539.6555
FPS=30.00, 法向力=1388.7139, 切向力X=-773.2426, 切向力Y=-685.4021
FPS=33.55, 法向力=1373.2345, 切向力X=-814.5143, 切向力Y=-676.4857
FPS=27.79, 法向力=1469.1439, 切向力X=-331.0170, 切向力Y=-350.4691
FPS=33.18, 法向力=1484.3489, 切向力X=-365.0068, 切向力Y=-403.8424
FPS=31.07, 法向力=1348.7627, 切向力X=-925.7011, 切向力Y=-698.6892
FPS=32.91, 法向力=1337.5515, 切向力X=-903.1743, 切向力Y=-624.1057
FPS=30.69, 法向力=1892.2056, 切向力X=-552.3064, 切向力Y=-597.5526
FPS=31.08, 法向力=1952.8649, 切向力X=-544.0306, 切向力Y=-1018.4485
FPS=32.25, 法向力=1997.1619, 切向力X=-602.6927, 切向力Y=-982.6525
FPS=30.26, 法向力=1727.1904, 切向力X=-68.1497, 切向力Y=-78.1312
FPS=32.73, 法向力=1694.1979, 切向力X=45.1908, 切向力Y=24.9016
FPS=26.31, 法向力=1313.0117, 切向力X=-277.5117, 切向力Y=-1086.4465
FPS=31.28, 法向力=1313.6650, 切向力X=-331.1265, 切向力Y=-1181.2971
FPS=28.76, 法向力=1298.4138, 切向力X=-644.1656, 切向力Y=-505.6893
FPS=31.14, 法向力=1265.8157, 切向力X=-593.3033, 切向力Y=-428.1007
FPS=29.67, 法向力=1672.4282, 切向力X=217.5724, 切向力Y=-434.2036
FPS=29.59, 法向力=1705.5935, 切向力X=272.0978, 切向力Y=-373.9866
stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000255s, blend=0.002134s (9 tiles incl ref), finalize=0.000057s, total=0.002452s
FPS=29.38, 法向力=1100.9032, 切向力X=-1126.4363, 切向力Y=-1306.1116
FPS=27.33, 法向力=1676.6199, 切向力X=-441.2086, 切向力Y=270.4307
FPS=29.05, 法向力=1752.3738, 切向力X=-531.3379, 切向力Y=468.5292
FPS=28.53, 法向力=969.5383, 切向力X=-752.4490, 切向力Y=-602.3971
FPS=32.30, 法向力=1014.4683, 切向力X=-770.4238, 切向力Y=-620.4055
FPS=31.04, 法向力=1477.0358, 切向力X=-296.2808, 切向力Y=200.1196
FPS=32.15, 法向力=1464.0955, 切向力X=-408.2822, 切向力Y=201.6814
FPS=31.46, 法向力=1272.9092, 切向力X=-359.2788, 切向力Y=-366.8872
FPS=31.82, 法向力=1318.7256, 切向力X=-467.1214, 切向力Y=-387.9624
FPS=30.65, 法向力=1478.0735, 切向力X=-471.1060, 切向力Y=-1365.2852
FPS=31.44, 法向力=1429.8256, 切向力X=-525.8002, 切向力Y=-1405.6343
FPS=29.85, 法向力=1888.3611, 切向力X=-661.2926, 切向力Y=-1753.2478
FPS=27.80, 法向力=1351.5098, 切向力X=-203.6241, 切向力Y=-1165.4890
FPS=31.88, 法向力=1326.1023, 切向力X=-12.1503, 切向力Y=-1157.2927
FPS=28.84, 法向力=1664.9883, 切向力X=-1326.6926, 切向力Y=-729.3677
FPS=31.46, 法向力=1671.1321, 切向力X=-1316.6617, 切向力Y=-708.8398
FPS=29.78, 法向力=1338.7979, 切向力X=-960.5823, 切向力Y=-1179.8271
FPS=31.55, 法向力=1301.9539, 切向力X=-940.6798, 切向力Y=-1155.9268
FPS=30.99, 法向力=1435.9392, 切向力X=-696.9567, 切向力Y=-267.7921
FPS=30.20, 法向力=1255.4961, 切向力X=-431.4714, 切向力Y=-400.4008
FPS=31.06, 法向力=1279.4399, 切向力X=-300.7516, 切向力Y=-423.5645
FPS=30.34, 法向力=1316.0607, 切向力X=-891.2043, 切向力Y=-93.7807
FPS=32.23, 法向力=1326.1030, 切向力X=-926.8167, 切向力Y=9.3615
FPS=31.33, 法向力=1565.6691, 切向力X=-462.8187, 切向力Y=-731.1137
FPS=30.52, 法向力=1562.2695, 切向力X=-451.3595, 切向力Y=-864.2240
FPS=30.55, 法向力=1703.7373, 切向力X=-1037.5344, 切向力Y=-646.0696
FPS=30.42, 法向力=1732.0646, 切向力X=-1036.4324, 切向力Y=-671.8480
FPS=30.61, 法向力=1294.7955, 切向力X=-397.7844, 切向力Y=-708.2298
FPS=20.65, 法向力=1178.4083, 切向力X=-244.8753, 切向力Y=-634.0080
FPS=43.20, 法向力=1248.2864, 切向力X=-263.9541, 切向力Y=-673.7204
stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000266s, blend=0.002204s (9 tiles incl ref), finalize=0.000057s, total=0.002533s
FPS=36.09, 法向力=1215.1443, 切向力X=-318.7525, 切向力Y=-653.7525
FPS=35.56, 法向力=1297.8979, 切向力X=-1494.2334, 切向力Y=-417.7034
FPS=35.90, 法向力=1319.5472, 切向力X=-1441.0637, 切向力Y=-277.8772
FPS=33.95, 法向力=1287.1705, 切向力X=-810.7155, 切向力Y=-303.0037
FPS=32.91, 法向力=1304.5160, 切向力X=-817.9982, 切向力Y=-225.3036
FPS=34.45, 法向力=1359.7322, 切向力X=-83.8878, 切向力Y=-493.8272
FPS=35.21, 法向力=1344.0352, 切向力X=-150.8553, 切向力Y=-432.6868
FPS=34.63, 法向力=1526.3000, 切向力X=-74.4283, 切向力Y=-740.7092
FPS=36.35, 法向力=1599.2832, 切向力X=40.9885, 切向力Y=-801.9966
FPS=32.50, 法向力=1740.8213, 切向力X=-592.9883, 切向力Y=-842.4139
FPS=35.59, 法向力=1735.6938, 切向力X=-670.8553, 切向力Y=-826.4565
FPS=31.76, 法向力=1620.2690, 切向力X=-699.0610, 切向力Y=-1327.2915
FPS=34.05, 法向力=1667.5822, 切向力X=-738.3660, 切向力Y=-1430.2983
FPS=31.42, 法向力=1329.5790, 切向力X=-1035.0242, 切向力Y=-211.6973
FPS=35.23, 法向力=1302.5699, 切向力X=-1030.0120, 切向力Y=-174.7236
FPS=33.99, 法向力=1425.3673, 切向力X=-145.8931, 切向力Y=-902.1786
FPS=36.84, 法向力=1489.0721, 切向力X=-110.1110, 切向力Y=-929.9014
FPS=31.93, 法向力=1513.3335, 切向力X=-70.1157, 切向力Y=-741.3564
FPS=35.80, 法向力=1506.1187, 切向力X=-102.3555, 切向力Y=-782.7985
FPS=34.64, 法向力=1593.4600, 切向力X=-165.6243, 切向力Y=-1324.4805
FPS=34.30, 法向力=1566.7533, 切向力X=-70.1350, 切向力Y=-1204.3782
FPS=31.64, 法向力=1514.8304, 切向力X=179.8379, 切向力Y=-532.6832
FPS=34.86, 法向力=1531.6307, 切向力X=433.4821, 切向力Y=-655.8644
FPS=32.05, 法向力=1340.5129, 切向力X=755.2309, 切向力Y=-371.6127
FPS=35.69, 法向力=1346.3801, 切向力X=795.7863, 切向力Y=-299.2611
FPS=33.02, 法向力=2201.1270, 切向力X=-458.1472, 切向力Y=-1361.5483
FPS=36.32, 法向力=2181.0913, 切向力X=-506.1218, 切向力Y=-1316.7769
FPS=33.57, 法向力=2164.7673, 切向力X=-501.9294, 切向力Y=-1292.1288
FPS=35.06, 法向力=1448.5691, 切向力X=-669.6347, 切向力Y=-448.7897
FPS=32.56, 法向力=1290.5955, 切向力X=-155.5391, 切向力Y=-1485.8228
stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000263s, blend=0.002166s (9 tiles incl ref), finalize=0.000054s, total=0.002489s
FPS=35.76, 法向力=1310.3359, 切向力X=-126.7645, 切向力Y=-1512.6306
FPS=33.54, 法向力=1335.5720, 切向力X=-291.8903, 切向力Y=-996.1404
FPS=36.81, 法向力=1337.7466, 切向力X=-339.9275, 切向力Y=-904.3674
FPS=35.94, 法向力=1349.3969, 切向力X=-334.9646, 切向力Y=-889.3950
FPS=33.68, 法向力=1373.2987, 切向力X=-745.3701, 切向力Y=-869.1509
FPS=36.83, 法向力=1434.8629, 切向力X=-709.5870, 切向力Y=-890.8773
FPS=33.76, 法向力=1317.9534, 切向力X=-477.1683, 切向力Y=-477.9111
FPS=35.03, 法向力=1308.3695, 切向力X=-497.6840, 切向力Y=-397.0904
FPS=36.94, 法向力=1990.0986, 切向力X=-635.0526, 切向力Y=53.0224
FPS=37.02, 法向力=2011.4760, 切向力X=-656.0505, 切向力Y=93.3468
FPS=33.75, 法向力=1009.9744, 切向力X=-543.8207, 切向力Y=-800.0704
FPS=36.85, 法向力=972.9626, 切向力X=-483.7742, 切向力Y=-827.5131
FPS=32.80, 法向力=1434.4653, 切向力X=119.7791, 切向力Y=-870.0337
FPS=34.59, 法向力=1458.6196, 切向力X=107.3302, 切向力Y=-945.0208
FPS=34.91, 法向力=1202.7908, 切向力X=-568.1442, 切向力Y=-38.3051
FPS=36.05, 法向力=1191.9008, 切向力X=-586.6329, 切向力Y=-44.4553
FPS=34.90, 法向力=1482.2212, 切向力X=-128.6171, 切向力Y=119.0034
FPS=37.06, 法向力=1617.1555, 切向力X=-172.6926, 切向力Y=0.5090
FPS=35.30, 法向力=1222.7944, 切向力X=662.7360, 切向力Y=-117.9401
FPS=35.68, 法向力=1194.1801, 切向力X=606.8088, 切向力Y=-14.4395
FPS=32.97, 法向力=1197.6863, 切向力X=587.0182, 切向力Y=-56.6728
FPS=35.23, 法向力=1274.1875, 切向力X=-610.5554, 切向力Y=-1323.6848
FPS=36.09, 法向力=1261.0278, 切向力X=-588.5533, 切向力Y=-1388.3955
FPS=33.93, 法向力=1339.3073, 切向力X=-636.4879, 切向力Y=-730.9623
FPS=33.89, 法向力=1293.5299, 切向力X=368.4964, 切向力Y=-672.4985
FPS=35.12, 法向力=1258.2004, 切向力X=414.3814, 切向力Y=-597.4286
FPS=36.87, 法向力=1287.8877, 切向力X=418.9412, 切向力Y=-682.1297
FPS=36.21, 法向力=1752.9159, 切向力X=-666.2911, 切向力Y=-575.0303
FPS=36.66, 法向力=1697.2079, 切向力X=-765.4152, 切向力Y=-393.6909
FPS=34.24, 法向力=1485.2444, 切向力X=-633.9730, 切向力Y=-768.2986
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=0.000252s, blend=0.002152s (9 tiles incl ref), finalize=0.000055s, total=0.002466s
FPS=36.35, 法向力=1583.2119, 切向力X=-700.3820, 切向力Y=-651.8195
FPS=31.95, 法向力=1661.5210, 切向力X=-897.5670, 切向力Y=-503.8112
FPS=36.55, 法向力=1725.4609, 切向力X=-886.1700, 切向力Y=-565.9878
FPS=33.60, 法向力=1757.1610, 切向力X=140.9489, 切向力Y=-1044.5829
FPS=36.67, 法向力=1845.5327, 切向力X=250.8073, 切向力Y=-1049.8915
FPS=33.83, 法向力=1381.9038, 切向力X=-229.0539, 切向力Y=-791.5112
FPS=36.66, 法向力=1419.0437, 切向力X=-255.9236, 切向力Y=-888.4286
FPS=35.60, 法向力=2054.0667, 切向力X=63.7060, 切向力Y=-120.9022
FPS=35.80, 法向力=2154.9082, 切向力X=46.4849, 切向力Y=-91.7267
FPS=36.29, 法向力=2140.0415, 切向力X=97.1263, 切向力Y=-63.2363
FPS=34.13, 法向力=1759.2358, 切向力X=-275.4993, 切向力Y=-688.0721
FPS=35.32, 法向力=1457.7418, 切向力X=-781.5522, 切向力Y=-1570.3535
FPS=33.78, 法向力=1434.2316, 切向力X=-758.5964, 切向力Y=-1497.2203
FPS=33.73, 法向力=1425.1871, 切向力X=-712.3170, 切向力Y=-1516.5116
FPS=33.17, 法向力=1373.6989, 切向力X=-1014.9476, 切向力Y=-863.4905
FPS=36.67, 法向力=1403.6449, 切向力X=-874.4741, 切向力Y=-833.6410
FPS=33.96, 法向力=1685.5244, 切向力X=-599.4913, 切向力Y=-1488.5884
FPS=35.12, 法向力=1669.2839, 切向力X=-509.0325, 切向力Y=-1554.0947
FPS=32.37, 法向力=1129.0508, 切向力X=-126.0746, 切向力Y=-939.0931
FPS=35.68, 法向力=1161.5208, 切向力X=-29.7284, 切向力Y=-978.9061
FPS=36.78, 法向力=1862.6425, 切向力X=199.3656, 切向力Y=-1195.1812
FPS=36.57, 法向力=1868.3900, 切向力X=197.6493, 切向力Y=-1129.0101
FPS=33.43, 法向力=2341.5542, 切向力X=-447.0224, 切向力Y=-597.0693
FPS=35.64, 法向力=2396.4841, 切向力X=-527.7589, 切向力Y=-561.9949
FPS=32.53, 法向力=1870.7257, 切向力X=-321.6332, 切向力Y=-436.4448
FPS=36.25, 法向力=2010.7134, 切向力X=-356.7771, 切向力Y=-355.9482
FPS=34.10, 法向力=1280.3669, 切向力X=159.5854, 切向力Y=-115.3270
FPS=35.37, 法向力=1279.1008, 切向力X=160.5788, 切向力Y=-124.6726
FPS=34.10, 法向力=1312.6589, 切向力X=-277.0452, 切向力Y=-702.3788
FPS=37.19, 法向力=1307.8000, 切向力X=-359.8553, 切向力Y=-688.2879
stitch_feature_optimized: canvas out_w=540, out_h=418, x_min=-135.71, y_min=-83.37
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000353s, blend=0.002208s (9 tiles incl ref), finalize=0.000059s, total=0.002628s
FPS=32.49, 法向力=1374.9092, 切向力X=-827.7600, 切向力Y=-634.0548
FPS=36.49, 法向力=1420.4185, 切向力X=-822.7646, 切向力Y=-647.7393
FPS=34.91, 法向力=1448.7788, 切向力X=-854.9243, 切向力Y=-707.8881
FPS=36.56, 法向力=1708.9541, 切向力X=-501.3229, 切向力Y=-857.2190
FPS=36.33, 法向力=1761.2993, 切向力X=-462.1385, 切向力Y=-781.0728
FPS=34.13, 法向力=1675.6173, 切向力X=-737.0968, 切向力Y=-448.2107
FPS=35.79, 法向力=1574.4856, 切向力X=-185.9564, 切向力Y=-779.5598
FPS=36.17, 法向力=1595.8665, 切向力X=-138.0849, 切向力Y=-747.5394
FPS=36.65, 法向力=1595.4639, 切向力X=-166.8893, 切向力Y=-739.3635
FPS=36.03, 法向力=1186.5083, 切向力X=-68.4454, 切向力Y=-369.5426
FPS=36.64, 法向力=1237.1453, 切向力X=-91.7763, 切向力Y=-422.8889
FPS=33.65, 法向力=1085.4855, 切向力X=75.5332, 切向力Y=-630.8848
FPS=35.20, 法向力=1047.0693, 切向力X=66.6924, 切向力Y=-631.0979
FPS=34.12, 法向力=1276.0404, 切向力X=-111.6385, 切向力Y=-836.8073
FPS=35.67, 法向力=1293.5903, 切向力X=-35.7455, 切向力Y=-808.0765
FPS=34.18, 法向力=1098.4873, 切向力X=73.3126, 切向力Y=35.7757
FPS=36.30, 法向力=1117.1116, 切向力X=138.2500, 切向力Y=-59.6262
FPS=33.76, 法向力=1260.8203, 切向力X=-218.7422, 切向力Y=-1408.5251
FPS=37.36, 法向力=1229.7485, 切向力X=-140.9854, 切向力Y=-1413.9407
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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.