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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
▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy
FPS=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=6.88, 法向力=1478.5011, 切向力X=-34.5655, 切向力Y=-152.0506
FPS=26.98, 法向力=1505.7190, 切向力X=-2.0938, 切向力Y=-64.8134
FPS=28.37, 法向力=1888.3978, 切向力X=454.6426, 切向力Y=-525.1335
FPS=22.24, 法向力=2482.3967, 切向力X=-77.6091, 切向力Y=-961.6775
FPS=23.00, 法向力=2470.1423, 切向力X=32.9791, 切向力Y=-969.9054
FPS=23.76, 法向力=1456.9087, 切向力X=466.8401, 切向力Y=-1182.6857
FPS=29.55, 法向力=1224.9951, 切向力X=572.5200, 切向力Y=-1950.0361
FPS=33.49, 法向力=1218.3069, 切向力X=655.3970, 切向力Y=-2033.4768
FPS=29.38, 法向力=2079.7793, 切向力X=-111.3031, 切向力Y=-1013.6720
FPS=31.45, 法向力=2120.4697, 切向力X=-69.4473, 切向力Y=-1009.1660
FPS=27.03, 法向力=1520.7495, 切向力X=354.6432, 切向力Y=-985.9442
FPS=30.12, 法向力=1458.9535, 切向力X=422.0765, 切向力Y=-856.2194
FPS=32.31, 法向力=1130.1179, 切向力X=880.5366, 切向力Y=-1362.7971
FPS=32.48, 法向力=1075.8752, 切向力X=844.9215, 切向力Y=-1188.5427
FPS=32.10, 法向力=1666.8135, 切向力X=359.5995, 切向力Y=-794.2303
FPS=26.14, 法向力=1734.0173, 切向力X=304.1573, 切向力Y=-845.3541
FPS=28.66, 法向力=1213.1116, 切向力X=803.0610, 切向力Y=-1507.0737
FPS=29.07, 法向力=1101.8757, 切向力X=877.1085, 切向力Y=-364.8645
FPS=31.45, 法向力=1078.3682, 切向力X=800.7847, 切向力Y=-252.0840
FPS=29.95, 法向力=2078.9131, 切向力X=617.3011, 切向力Y=-1513.1969
FPS=32.60, 法向力=2055.7151, 切向力X=393.8257, 切向力Y=-1442.6135
FPS=29.35, 法向力=1040.1797, 切向力X=705.8668, 切向力Y=-466.4432
FPS=31.61, 法向力=1062.2639, 切向力X=712.9083, 切向力Y=-500.7050
FPS=30.15, 法向力=1065.1323, 切向力X=535.6996, 切向力Y=-1793.8892
FPS=29.57, 法向力=1932.9528, 切向力X=-136.6688, 切向力Y=-224.2051
FPS=31.75, 法向力=2042.3130, 切向力X=-89.4335, 切向力Y=-148.4269
FPS=30.20, 法向力=1564.1810, 切向力X=427.1431, 切向力Y=-715.9496
stitch_feature_optimized: canvas out_w=472, out_h=418, x_min=-142.99, y_min=-83.23
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000246s, blend=0.002390s (9 tiles incl ref), finalize=0.000058s, total=0.002702s
FPS=32.54, 法向力=1645.5934, 切向力X=595.7203, 切向力Y=-695.1866
FPS=28.68, 法向力=2765.7793, 切向力X=162.9358, 切向力Y=-1018.0186
FPS=28.91, 法向力=2792.5195, 切向力X=48.6903, 切向力Y=-910.3525
FPS=26.90, 法向力=1497.4957, 切向力X=1068.1543, 切向力Y=-964.9307
FPS=29.98, 法向力=1571.4470, 切向力X=-306.9721, 切向力Y=-692.5657
FPS=30.02, 法向力=1550.7520, 切向力X=-320.1456, 切向力Y=-621.5129
FPS=29.88, 法向力=1292.9133, 切向力X=935.1164, 切向力Y=-752.8394
FPS=33.72, 法向力=1296.8406, 切向力X=945.5833, 切向力Y=-761.0613
FPS=29.17, 法向力=1433.6520, 切向力X=704.1516, 切向力Y=-669.5082
FPS=31.89, 法向力=1412.5422, 切向力X=662.7322, 切向力Y=-610.2041
FPS=29.14, 法向力=1158.7300, 切向力X=1186.2036, 切向力Y=-1354.1763
FPS=30.98, 法向力=1161.4827, 切向力X=1158.0067, 切向力Y=-1415.2090
FPS=31.34, 法向力=1413.3096, 切向力X=1007.9228, 切向力Y=-1636.5181
FPS=36.85, 法向力=1451.8033, 切向力X=1071.9143, 切向力Y=-1573.3517
FPS=30.13, 法向力=1079.7504, 切向力X=614.6158, 切向力Y=-1462.0466
FPS=32.54, 法向力=1105.0300, 切向力X=609.1601, 切向力Y=-1332.9996
FPS=31.28, 法向力=1564.6108, 切向力X=386.6594, 切向力Y=-1069.1245
FPS=34.00, 法向力=1551.3606, 切向力X=404.1415, 切向力Y=-1090.2344
FPS=30.94, 法向力=1994.3530, 切向力X=467.9370, 切向力Y=-2019.4614
FPS=31.63, 法向力=2303.8875, 切向力X=-528.6348, 切向力Y=-1340.3572
FPS=30.32, 法向力=2415.5869, 切向力X=-615.3885, 切向力Y=-1298.8018
FPS=33.03, 法向力=1259.6296, 切向力X=729.3350, 切向力Y=-1002.0432
FPS=35.84, 法向力=1315.8317, 切向力X=699.4390, 切向力Y=-1016.9092
FPS=31.12, 法向力=1322.8662, 切向力X=666.1500, 切向力Y=-1057.5245
FPS=31.75, 法向力=1294.9486, 切向力X=320.3685, 切向力Y=-2057.6279
FPS=30.31, 法向力=1411.7527, 切向力X=257.8348, 切向力Y=-2076.6128
FPS=31.28, 法向力=1237.2667, 切向力X=1229.1428, 切向力Y=-1201.8936
FPS=30.07, 法向力=1888.6447, 切向力X=695.7747, 切向力Y=-1312.1724
FPS=33.96, 法向力=1932.2455, 切向力X=769.9597, 切向力Y=-1337.1141
FPS=32.91, 法向力=1879.3433, 切向力X=126.3857, 切向力Y=-1333.8867
stitch_feature_optimized: canvas out_w=472, out_h=418, x_min=-142.99, y_min=-83.23
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000257s, blend=0.002202s (9 tiles incl ref), finalize=0.000056s, total=0.002521s
FPS=34.34, 法向力=1860.2151, 切向力X=102.5894, 切向力Y=-1238.2000
FPS=32.74, 法向力=2137.3306, 切向力X=-428.4977, 切向力Y=-1111.1401
FPS=34.02, 法向力=2237.5493, 切向力X=-569.3907, 切向力Y=-1152.7100
FPS=32.43, 法向力=1765.4662, 切向力X=614.0738, 切向力Y=-1468.5380
FPS=31.61, 法向力=1696.4109, 切向力X=646.6326, 切向力Y=-1411.8583
FPS=27.25, 法向力=1906.2141, 切向力X=292.1312, 切向力Y=-763.1212
FPS=31.18, 法向力=1940.5408, 切向力X=284.3677, 切向力Y=-775.1961
FPS=32.67, 法向力=1199.5698, 切向力X=696.2316, 切向力Y=-1395.9392
FPS=32.07, 法向力=1146.7090, 切向力X=756.7550, 切向力Y=-1355.4136
FPS=30.55, 法向力=1829.3330, 切向力X=1114.3506, 切向力Y=-933.1735
FPS=36.35, 法向力=1790.1763, 切向力X=999.2435, 切向力Y=-917.7695
FPS=27.13, 法向力=1614.9990, 切向力X=1665.1965, 切向力Y=-1070.2695
FPS=28.94, 法向力=1413.6423, 切向力X=587.8309, 切向力Y=-27.6792
FPS=32.22, 法向力=1464.0087, 切向力X=593.8082, 切向力Y=79.1183
FPS=29.60, 法向力=1327.0630, 切向力X=526.8038, 切向力Y=-1430.7354
FPS=22.01, 法向力=1220.9333, 切向力X=575.9535, 切向力Y=-1485.7217
FPS=25.67, 法向力=1644.7400, 切向力X=373.3575, 切向力Y=-1091.4167
FPS=30.73, 法向力=1683.8337, 切向力X=473.1250, 切向力Y=-1024.1873
FPS=32.44, 法向力=1619.6997, 切向力X=624.3577, 切向力Y=-1602.1031
FPS=31.47, 法向力=1440.4595, 切向力X=284.5107, 切向力Y=-1414.7759
FPS=33.27, 法向力=1387.4209, 切向力X=293.0294, 切向力Y=-1330.7616
FPS=30.54, 法向力=1356.0862, 切向力X=1349.3186, 切向力Y=-1793.9664
FPS=32.14, 法向力=1347.7032, 切向力X=1441.1659, 切向力Y=-1746.6016
FPS=32.40, 法向力=1838.6921, 切向力X=79.2162, 切向力Y=-2469.9536
FPS=32.25, 法向力=1875.3959, 切向力X=-32.1165, 切向力Y=-2486.5425
FPS=28.48, 法向力=1054.7339, 切向力X=460.4619, 切向力Y=-631.6237
FPS=33.27, 法向力=996.7868, 切向力X=799.5505, 切向力Y=-634.1357
FPS=30.81, 法向力=1426.1655, 切向力X=476.3241, 切向力Y=-2229.8901
FPS=29.58, 法向力=1419.4934, 切向力X=523.1748, 切向力Y=-2241.3264
FPS=31.11, 法向力=1413.6897, 切向力X=400.9581, 切向力Y=-962.2172
stitch_feature_optimized: canvas out_w=472, out_h=418, x_min=-142.99, y_min=-83.23
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000260s, blend=0.003253s (9 tiles incl ref), finalize=0.000066s, total=0.003585s
FPS=30.32, 法向力=1480.3180, 切向力X=433.3084, 切向力Y=-913.5419
FPS=30.32, 法向力=1013.4086, 切向力X=1198.2947, 切向力Y=-1196.8450
FPS=31.16, 法向力=1019.2235, 切向力X=1171.9779, 切向力Y=-1252.5538
FPS=31.59, 法向力=1851.3716, 切向力X=522.5951, 切向力Y=-2113.3618
FPS=31.14, 法向力=1838.9065, 切向力X=366.8860, 切向力Y=-1433.8489
FPS=30.13, 法向力=1816.0702, 切向力X=404.1006, 切向力Y=-1427.3354
FPS=28.07, 法向力=1268.0681, 切向力X=555.9260, 切向力Y=-1117.4880
FPS=30.73, 法向力=1262.7700, 切向力X=625.2357, 切向力Y=-1131.2239
FPS=28.87, 法向力=1105.6541, 切向力X=356.4866, 切向力Y=-772.8384
FPS=30.53, 法向力=1142.6899, 切向力X=345.1127, 切向力Y=-621.5739
FPS=30.17, 法向力=1265.6401, 切向力X=1246.4525, 切向力Y=-2363.2856
FPS=27.66, 法向力=1669.9960, 切向力X=-88.4003, 切向力Y=-1346.1816
FPS=36.86, 法向力=1675.2112, 切向力X=89.5520, 切向力Y=-1264.1478
FPS=32.29, 法向力=1650.9971, 切向力X=392.0555, 切向力Y=-1474.4146
FPS=35.01, 法向力=1641.6565, 切向力X=363.5987, 切向力Y=-1406.3862
FPS=32.61, 法向力=1347.1604, 切向力X=290.7043, 切向力Y=-1735.4087
FPS=36.28, 法向力=1383.2736, 切向力X=429.7930, 切向力Y=-1728.8154
FPS=35.90, 法向力=1388.1174, 切向力X=425.7528, 切向力Y=-1724.6943
FPS=32.61, 法向力=1473.8416, 切向力X=568.9651, 切向力Y=-2029.5792
FPS=30.57, 法向力=1323.8147, 切向力X=1212.2059, 切向力Y=-1506.0420
FPS=35.43, 法向力=1308.2490, 切向力X=1248.9783, 切向力Y=-1468.5798
FPS=32.46, 法向力=1333.8418, 切向力X=1260.2390, 切向力Y=-1438.7329
FPS=36.01, 法向力=1925.3115, 切向力X=568.4312, 切向力Y=-853.2136
FPS=33.78, 法向力=1996.0493, 切向力X=473.9614, 切向力Y=-952.3754
FPS=33.42, 法向力=1778.9733, 切向力X=461.7422, 切向力Y=-1057.4512
FPS=35.74, 法向力=1813.4246, 切向力X=525.4062, 切向力Y=-1070.0251
FPS=31.78, 法向力=1054.5122, 切向力X=1098.7603, 切向力Y=-1157.4817
FPS=32.83, 法向力=1474.1967, 切向力X=108.2211, 切向力Y=-1629.5303
FPS=35.69, 法向力=1653.0013, 切向力X=-44.2880, 切向力Y=-1654.4417
FPS=33.36, 法向力=1626.3970, 切向力X=-45.9775, 切向力Y=-1633.2595
stitch_feature_optimized: canvas out_w=472, out_h=418, x_min=-142.99, y_min=-83.23
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000242s, blend=0.002159s (9 tiles incl ref), finalize=0.000049s, total=0.002458s
FPS=34.46, 法向力=1655.9844, 切向力X=393.6402, 切向力Y=-1522.1567
FPS=33.52, 法向力=1729.2366, 切向力X=422.5369, 切向力Y=-1474.4862
FPS=35.30, 法向力=1633.1066, 切向力X=1937.9182, 切向力Y=-1697.7017
FPS=32.79, 法向力=1653.7793, 切向力X=1963.6182, 切向力Y=-1657.8086
FPS=31.96, 法向力=1493.8477, 切向力X=710.3588, 切向力Y=-2813.7319
FPS=32.45, 法向力=1520.0596, 切向力X=1437.1127, 切向力Y=-909.7605
FPS=33.76, 法向力=1535.8363, 切向力X=1465.5874, 切向力Y=-940.5713
FPS=34.26, 法向力=1536.6055, 切向力X=1450.5098, 切向力Y=-883.8075
FPS=33.64, 法向力=1343.0878, 切向力X=164.6778, 切向力Y=-1500.0642
FPS=34.40, 法向力=1308.8140, 切向力X=90.7777, 切向力Y=-1478.2333
FPS=32.67, 法向力=1083.8372, 切向力X=1306.3955, 切向力Y=-1864.8893
FPS=35.97, 法向力=1080.9823, 切向力X=1213.6760, 切向力Y=-1760.9329
FPS=33.36, 法向力=1514.4375, 切向力X=1093.9833, 切向力Y=-773.4053
FPS=33.25, 法向力=1640.1760, 切向力X=1102.6385, 切向力Y=-605.2459
FPS=34.78, 法向力=1186.3584, 切向力X=808.6495, 切向力Y=-1475.2659
FPS=34.52, 法向力=1136.8549, 切向力X=771.1827, 切向力Y=-1484.5537
FPS=34.91, 法向力=1378.1124, 切向力X=221.7646, 切向力Y=-1549.8044
FPS=35.24, 法向力=1369.7939, 切向力X=199.9736, 切向力Y=-1499.8120
FPS=32.84, 法向力=1334.9860, 切向力X=1168.2478, 切向力Y=-1202.4824
FPS=35.20, 法向力=1360.4659, 切向力X=1050.4543, 切向力Y=-1229.1017
FPS=32.18, 法向力=1217.1110, 切向力X=415.4088, 切向力Y=-1596.5310
FPS=32.76, 法向力=1174.9399, 切向力X=492.3196, 切向力Y=-1619.2675
FPS=35.16, 法向力=2316.4248, 切向力X=290.8039, 切向力Y=-1240.5483
FPS=35.64, 法向力=2367.8677, 切向力X=272.5036, 切向力Y=-1184.9155
FPS=34.37, 法向力=1208.5204, 切向力X=686.9321, 切向力Y=-1470.2792
FPS=35.91, 法向力=1205.1780, 切向力X=665.8549, 切向力Y=-1550.4727
FPS=31.38, 法向力=1548.4695, 切向力X=955.5929, 切向力Y=-1644.6619
FPS=33.61, 法向力=1543.5605, 切向力X=930.1194, 切向力Y=-1616.0840
FPS=29.69, 法向力=2041.4612, 切向力X=-4.4035, 切向力Y=-1313.4758
FPS=33.75, 法向力=2136.4951, 切向力X=-42.3342, 切向力Y=-1379.0348
stitch_feature_optimized: canvas out_w=472, out_h=418, x_min=-142.99, y_min=-83.23
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000235s, blend=0.002139s (9 tiles incl ref), finalize=0.000046s, total=0.002426s
FPS=31.86, 法向力=1153.3306, 切向力X=1696.3495, 切向力Y=-1088.4236
FPS=32.82, 法向力=1125.6948, 切向力X=1783.8108, 切向力Y=-1062.0278
FPS=33.12, 法向力=1111.3721, 切向力X=1249.4452, 切向力Y=-1497.3794
FPS=32.36, 法向力=1139.5048, 切向力X=1055.5125, 切向力Y=-1446.3228
FPS=30.39, 法向力=1593.8311, 切向力X=57.1996, 切向力Y=-1945.5198
FPS=35.12, 法向力=1707.0973, 切向力X=-46.9973, 切向力Y=-2158.3616
FPS=31.64, 法向力=1027.8513, 切向力X=1868.4893, 切向力Y=-1475.9282
FPS=33.32, 法向力=1025.3892, 切向力X=1815.3477, 切向力Y=-1337.6892
FPS=33.60, 法向力=1407.7686, 切向力X=505.1681, 切向力Y=-2553.4006
FPS=34.25, 法向力=1370.1501, 切向力X=457.3624, 切向力Y=-2579.8516
FPS=33.75, 法向力=1052.5635, 切向力X=982.3595, 切向力Y=-1607.5492
FPS=34.88, 法向力=1101.4020, 切向力X=926.6841, 切向力Y=-1595.1754
FPS=34.73, 法向力=1240.3846, 切向力X=940.7485, 切向力Y=-2289.9614
FPS=33.33, 法向力=1215.4476, 切向力X=953.5696, 切向力Y=-2263.5061
FPS=32.04, 法向力=1014.6469, 切向力X=1241.5762, 切向力Y=-2100.3521
FPS=34.99, 法向力=1038.3224, 切向力X=1361.9285, 切向力Y=-2128.6404
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FPS=31.84, 法向力=1605.0542, 切向力X=1865.2654, 切向力Y=-2994.9702
FPS=35.69, 法向力=1594.0594, 切向力X=1916.1951, 切向力Y=-3035.3340
FPS=35.88, 法向力=1210.8945, 切向力X=1393.9886, 切向力Y=-2160.9319
FPS=34.95, 法向力=1204.5264, 切向力X=1423.8267, 切向力Y=-2098.7983
FPS=32.63, 法向力=1625.7906, 切向力X=1437.4780, 切向力Y=-2719.7461
FPS=36.28, 法向力=1738.4880, 切向力X=1414.4695, 切向力Y=-2664.0005
FPS=35.87, 法向力=2112.4924, 切向力X=2194.7329, 切向力Y=-3314.1824
FPS=36.35, 法向力=2196.4185, 切向力X=2180.5037, 切向力Y=-3477.4180
FPS=32.38, 法向力=1618.7703, 切向力X=2518.6675, 切向力Y=-2994.5696
FPS=35.88, 法向力=1695.6487, 切向力X=2547.9883, 切向力Y=-2984.3308
FPS=32.02, 法向力=1442.9670, 切向力X=2272.5120, 切向力Y=-2309.8438
FPS=36.94, 法向力=1352.7896, 切向力X=2243.4370, 切向力Y=-2210.3877
FPS=32.90, 法向力=1333.1375, 切向力X=1422.5583, 切向力Y=-3379.2051
FPS=11.51, 法向力=1549.7546, 切向力X=1766.2220, 切向力Y=-2925.6128
Sensor disconnected.