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=0.29, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 FPS=1.93, 法向力=2931.7700, 切向力X=-1064.8896, 切向力Y=-1207.2537 FPS=49.05, 法向力=2828.3999, 切向力X=-934.9980, 切向力Y=-969.3364 FPS=32.66, 法向力=2816.6987, 切向力X=-822.4286, 切向力Y=-577.5197 FPS=40.50, 法向力=2882.2766, 切向力X=-788.4551, 切向力Y=-500.6064 FPS=39.98, 法向力=2861.6516, 切向力X=-781.4909, 切向力Y=-526.9487 FPS=38.33, 法向力=2364.7578, 切向力X=-184.8247, 切向力Y=-795.5420 FPS=39.15, 法向力=2281.9929, 切向力X=-159.1507, 切向力Y=-716.4768 FPS=39.94, 法向力=3747.4219, 切向力X=-539.1601, 切向力Y=-797.7929 FPS=40.93, 法向力=3641.2080, 切向力X=-550.7855, 切向力Y=-862.4055 FPS=40.15, 法向力=2682.7803, 切向力X=-118.3771, 切向力Y=1843.0901 FPS=40.79, 法向力=2720.0537, 切向力X=-127.3429, 切向力Y=1915.4988 FPS=40.34, 法向力=2709.8713, 切向力X=-115.4008, 切向力Y=1898.1506 FPS=35.49, 法向力=2728.0898, 切向力X=-1800.8207, 切向力Y=680.8814 FPS=40.27, 法向力=2689.2798, 切向力X=-1844.1072, 切向力Y=630.3386 FPS=36.63, 法向力=3418.8853, 切向力X=-1329.9880, 切向力Y=-1158.6689 FPS=42.03, 法向力=3163.7793, 切向力X=-1288.2699, 切向力Y=-1004.1711 FPS=39.14, 法向力=2025.1610, 切向力X=-785.8206, 切向力Y=595.5826 FPS=42.78, 法向力=1971.8040, 切向力X=-654.9205, 切向力Y=640.3126 FPS=42.96, 法向力=2010.3192, 切向力X=-668.8005, 切向力Y=619.3105 FPS=43.13, 法向力=2647.8997, 切向力X=-1068.7321, 切向力Y=-598.3398 FPS=43.09, 法向力=2610.8413, 切向力X=-1027.9812, 切向力Y=-612.1740 FPS=41.36, 法向力=2604.8142, 切向力X=-1050.3407, 切向力Y=-602.1653 FPS=40.07, 法向力=2435.2585, 切向力X=-697.4785, 切向力Y=-1822.2303 FPS=42.14, 法向力=2487.9822, 切向力X=-680.3947, 切向力Y=-1802.3193 FPS=38.72, 法向力=4012.9978, 切向力X=-409.6890, 切向力Y=-2037.9646 FPS=41.52, 法向力=4077.6504, 切向力X=-571.7478, 切向力Y=-1896.4628 FPS=38.48, 法向力=3348.6274, 切向力X=-860.8793, 切向力Y=-462.7182 stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.20, y_min=-82.91 stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000237s, blend=0.002143s (9 tiles incl ref), finalize=0.000052s, total=0.002437s FPS=43.15, 法向力=3247.1484, 切向力X=-737.2106, 切向力Y=-450.9828 FPS=36.40, 法向力=3554.1606, 切向力X=-717.5921, 切向力Y=-287.9986 FPS=43.55, 法向力=3498.0562, 切向力X=-768.0175, 切向力Y=-221.4272 FPS=40.98, 法向力=3487.2515, 切向力X=-778.7513, 切向力Y=-206.6706 FPS=36.04, 法向力=3242.5691, 切向力X=-866.6962, 切向力Y=-2394.5549 FPS=38.91, 法向力=3280.8633, 切向力X=-870.0605, 切向力Y=-2446.8013 FPS=38.78, 法向力=3257.1050, 切向力X=-864.3481, 切向力Y=-2419.0249 FPS=40.97, 法向力=3080.1250, 切向力X=-932.4016, 切向力Y=-838.1743 FPS=40.78, 法向力=3055.5850, 切向力X=-902.2953, 切向力Y=-806.2291 FPS=41.15, 法向力=3402.3203, 切向力X=-535.7274, 切向力Y=-1130.7023 FPS=43.71, 法向力=3395.9055, 切向力X=-463.8764, 切向力Y=-1139.0071 FPS=37.19, 法向力=2219.8809, 切向力X=-406.6294, 切向力Y=-293.8117 FPS=42.87, 法向力=2240.8672, 切向力X=-523.3914, 切向力Y=-164.6967 FPS=42.09, 法向力=2200.1206, 切向力X=-381.6425, 切向力Y=-171.7451 FPS=41.16, 法向力=2876.9971, 切向力X=-716.1223, 切向力Y=-786.4510 FPS=42.98, 法向力=2689.6951, 切向力X=-651.7317, 切向力Y=-681.4609 FPS=40.55, 法向力=2645.3474, 切向力X=-595.0243, 切向力Y=-643.9194 FPS=41.72, 法向力=3304.5569, 切向力X=-347.5851, 切向力Y=-1161.5723 FPS=40.15, 法向力=1774.8746, 切向力X=-600.4634, 切向力Y=919.1206 FPS=41.36, 法向力=1874.5625, 切向力X=-613.6503, 切向力Y=868.1124 FPS=42.15, 法向力=1848.7379, 切向力X=-633.9103, 切向力Y=892.5486 FPS=39.60, 法向力=3808.7209, 切向力X=-1269.3660, 切向力Y=-1553.0867 FPS=43.15, 法向力=3582.1086, 切向力X=-1304.7938, 切向力Y=-1415.3983 FPS=42.01, 法向力=3553.7537, 切向力X=-1249.0532, 切向力Y=-1356.4158 FPS=36.65, 法向力=4055.6255, 切向力X=-199.8266, 切向力Y=-1941.0079 FPS=43.11, 法向力=3981.7520, 切向力X=-135.3250, 切向力Y=-1966.3610 FPS=35.96, 法向力=2733.3796, 切向力X=-947.7878, 切向力Y=-49.4840 FPS=41.86, 法向力=2748.4868, 切向力X=-929.5948, 切向力Y=110.4943 FPS=37.03, 法向力=2637.0151, 切向力X=-98.8977, 切向力Y=-313.9540 FPS=43.57, 法向力=2615.1426, 切向力X=-54.8280, 切向力Y=-320.8223 stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.20, y_min=-82.91 stitch_feature_optimized steps: brightness=0.000003s, geom=0.000007s (hit), reset=0.000349s, blend=0.002185s (9 tiles incl ref), finalize=0.000069s, total=0.002612s FPS=40.46, 法向力=2619.2356, 切向力X=-15.8105, 切向力Y=-337.5023 FPS=43.00, 法向力=1723.9761, 切向力X=-398.0158, 切向力Y=799.8998 FPS=43.08, 法向力=1673.1743, 切向力X=-452.0447, 切向力Y=654.6571 FPS=40.59, 法向力=3060.6279, 切向力X=-581.3270, 切向力Y=-733.6654 FPS=41.87, 法向力=3188.3140, 切向力X=-637.2885, 切向力Y=-842.8801 FPS=42.69, 法向力=3171.4932, 切向力X=-613.7897, 切向力Y=-834.5747 FPS=38.51, 法向力=3782.8669, 切向力X=-1532.8945, 切向力Y=-1196.0160 FPS=43.86, 法向力=3726.3892, 切向力X=-1540.4734, 切向力Y=-1203.1160 FPS=40.51, 法向力=2899.6528, 切向力X=-256.9058, 切向力Y=-520.4510 FPS=44.10, 法向力=2925.9639, 切向力X=-255.6816, 切向力Y=-476.7120 FPS=40.17, 法向力=2870.1084, 切向力X=-182.5898, 切向力Y=-409.8169 FPS=44.42, 法向力=2193.8555, 切向力X=-854.0858, 切向力Y=292.4361 FPS=42.25, 法向力=2086.3284, 切向力X=-709.0327, 切向力Y=377.3434 FPS=41.90, 法向力=3414.0244, 切向力X=-629.6189, 切向力Y=-433.6265 FPS=41.06, 法向力=3478.2495, 切向力X=-672.7725, 切向力Y=-336.8659 FPS=43.75, 法向力=3440.7886, 切向力X=-659.4304, 切向力Y=-311.3856 FPS=38.37, 法向力=3180.1777, 切向力X=-450.9135, 切向力Y=-1023.8964 FPS=43.68, 法向力=3174.8403, 切向力X=-510.2724, 切向力Y=-942.1829 FPS=39.75, 法向力=4248.2061, 切向力X=-565.8506, 切向力Y=-1701.5087 FPS=43.41, 法向力=4225.7002, 切向力X=-552.5199, 切向力Y=-1649.5239 FPS=43.61, 法向力=4242.6919, 切向力X=-566.5502, 切向力Y=-1666.5704 FPS=43.66, 法向力=3803.9497, 切向力X=-720.6730, 切向力Y=713.2933 FPS=46.01, 法向力=3746.2593, 切向力X=-633.5736, 切向力Y=954.4587 FPS=43.53, 法向力=3752.7935, 切向力X=-647.1162, 切向力Y=968.5422 FPS=43.95, 法向力=3018.8232, 切向力X=-214.1558, 切向力Y=441.6182 FPS=44.93, 法向力=2903.9363, 切向力X=-217.3841, 切向力Y=551.3649 FPS=40.71, 法向力=2252.8975, 切向力X=-379.4559, 切向力Y=391.3340 FPS=41.80, 法向力=2257.8809, 切向力X=-341.0683, 切向力Y=420.1764 FPS=41.79, 法向力=3262.6511, 切向力X=-1143.4746, 切向力Y=21.1679 FPS=41.65, 法向力=3139.0928, 切向力X=-942.6176, 切向力Y=25.7727 stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.20, y_min=-82.91 stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000234s, blend=0.002088s (9 tiles incl ref), finalize=0.000051s, total=0.002379s FPS=44.83, 法向力=3106.9302, 切向力X=-946.6885, 切向力Y=26.3716 FPS=36.85, 法向力=2875.0999, 切向力X=-574.2097, 切向力Y=-791.6862 FPS=44.18, 法向力=2915.2834, 切向力X=-626.3228, 切向力Y=-859.7201 FPS=41.73, 法向力=2916.2202, 切向力X=-632.5729, 切向力Y=-860.8823 FPS=41.18, 法向力=2557.2319, 切向力X=-418.1716, 切向力Y=-405.8364 FPS=43.24, 法向力=2475.5510, 切向力X=-364.0609, 切向力Y=-366.3339 FPS=40.47, 法向力=2472.0198, 切向力X=-364.2316, 切向力Y=-396.3602 FPS=42.61, 法向力=2592.2612, 切向力X=-445.8994, 切向力Y=-724.0415 FPS=42.64, 法向力=3047.9639, 切向力X=-416.0021, 切向力Y=-498.6523 FPS=43.20, 法向力=2918.7227, 切向力X=-346.3808, 切向力Y=-543.0240 FPS=44.52, 法向力=3020.5498, 切向力X=-380.0367, 切向力Y=-572.3207 FPS=39.30, 法向力=2761.0459, 切向力X=162.1416, 切向力Y=-526.7186 FPS=43.61, 法向力=2768.6907, 切向力X=249.9668, 切向力Y=-644.5508 FPS=41.86, 法向力=2755.5039, 切向力X=214.1567, 切向力Y=-633.1636 FPS=40.10, 法向力=2525.0083, 切向力X=-294.9693, 切向力Y=-1070.9028 FPS=43.89, 法向力=2529.9343, 切向力X=-327.8837, 切向力Y=-1029.9360 FPS=42.68, 法向力=2548.7815, 切向力X=-324.2292, 切向力Y=-1028.6666 FPS=43.02, 法向力=2734.5471, 切向力X=20.2385, 切向力Y=-541.9793 FPS=43.95, 法向力=2727.1226, 切向力X=-66.1244, 切向力Y=-512.2911 FPS=40.80, 法向力=2621.9771, 切向力X=-310.9654, 切向力Y=183.6859 FPS=44.38, 法向力=2556.9009, 切向力X=-300.1345, 切向力Y=193.1448 FPS=43.09, 法向力=2938.6792, 切向力X=-803.6155, 切向力Y=-971.1325 FPS=43.46, 法向力=2885.2246, 切向力X=-786.5613, 切向力Y=-840.7743 FPS=44.59, 法向力=2872.6177, 切向力X=-796.8157, 切向力Y=-803.6804 FPS=39.66, 法向力=3151.1362, 切向力X=-246.0904, 切向力Y=-72.5875 FPS=42.24, 法向力=3099.3672, 切向力X=-240.3450, 切向力Y=49.4430 FPS=44.93, 法向力=3176.1682, 切向力X=-269.3106, 切向力Y=20.5007 FPS=40.69, 法向力=2309.5444, 切向力X=-470.6466, 切向力Y=-126.1332 FPS=37.58, 法向力=2182.7397, 切向力X=-386.0082, 切向力Y=-56.5999 FPS=39.39, 法向力=2269.0811, 切向力X=-1113.9440, 切向力Y=-447.4137 stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.20, y_min=-82.91 stitch_feature_optimized steps: brightness=0.000002s, geom=0.000003s (hit), reset=0.000248s, blend=0.002106s (9 tiles incl ref), finalize=0.000058s, total=0.002417s FPS=45.02, 法向力=2297.8403, 切向力X=-1082.7085, 切向力Y=-352.9291 FPS=43.25, 法向力=2335.8708, 切向力X=-1072.5737, 切向力Y=-338.9545 FPS=45.44, 法向力=2913.7822, 切向力X=-454.6091, 切向力Y=-55.4517 FPS=45.24, 法向力=2933.4912, 切向力X=-422.6938, 切向力Y=-110.0708 FPS=40.42, 法向力=3291.3584, 切向力X=-186.5033, 切向力Y=-757.4695 FPS=44.89, 法向力=3148.8394, 切向力X=-60.0718, 切向力Y=-673.8798 FPS=44.63, 法向力=3153.2876, 切向力X=-33.9466, 切向力Y=-728.7795 FPS=40.07, 法向力=2810.3123, 切向力X=-406.3141, 切向力Y=-568.2722 FPS=45.43, 法向力=2770.0068, 切向力X=-468.7665, 切向力Y=-520.0962 FPS=42.61, 法向力=4508.3408, 切向力X=-326.7157, 切向力Y=-2125.1621 FPS=42.02, 法向力=4343.3877, 切向力X=-185.6179, 切向力Y=-2054.5581 FPS=45.27, 法向力=4326.4023, 切向力X=-193.5717, 切向力Y=-2040.2814 FPS=42.13, 法向力=2864.9028, 切向力X=-624.3301, 切向力Y=-1484.9866 FPS=43.39, 法向力=2877.7798, 切向力X=-514.3257, 切向力Y=-1449.2748 FPS=44.05, 法向力=2869.1338, 切向力X=-508.8099, 切向力Y=-1436.9760 FPS=41.37, 法向力=3172.4438, 切向力X=233.9072, 切向力Y=-2005.9707 FPS=43.81, 法向力=3182.1909, 切向力X=265.3842, 切向力Y=-1931.5911 FPS=37.54, 法向力=2597.8242, 切向力X=-192.7221, 切向力Y=-1032.0674 FPS=44.71, 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stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000372s, blend=0.002856s (9 tiles incl ref), finalize=0.000078s, total=0.003314s FPS=36.00, 法向力=2309.7441, 切向力X=1402.1208, 切向力Y=579.6733 FPS=40.58, 法向力=2335.1836, 切向力X=1334.7235, 切向力Y=577.1656 FPS=44.55, 法向力=2326.2158, 切向力X=1362.2168, 切向力Y=626.8010 FPS=40.83, 法向力=2354.5103, 切向力X=1052.9119, 切向力Y=202.6026 FPS=43.80, 法向力=2333.7705, 切向力X=1083.2013, 切向力Y=167.8083 FPS=43.98, 法向力=2299.1968, 切向力X=1101.4321, 切向力Y=252.8309 FPS=42.80, 法向力=2005.1952, 切向力X=1360.0375, 切向力Y=738.7763 FPS=43.52, 法向力=2010.0968, 切向力X=1377.3528, 切向力Y=887.2780 FPS=41.82, 法向力=2016.0085, 切向力X=1394.7317, 切向力Y=853.6587 FPS=44.29, 法向力=1975.3281, 切向力X=1858.7222, 切向力Y=1348.9918 FPS=37.64, 法向力=1945.5339, 切向力X=2036.1826, 切向力Y=1523.8193 FPS=39.02, 法向力=2723.4805, 切向力X=650.9562, 切向力Y=1259.7997 FPS=43.93, 法向力=2676.6396, 切向力X=688.4739, 切向力Y=1261.7690 FPS=41.27, 法向力=2179.7634, 切向力X=1294.9565, 切向力Y=1160.7874 FPS=43.76, 法向力=2155.5015, 切向力X=1280.5952, 切向力Y=1277.9883 FPS=43.32, 法向力=2155.6899, 切向力X=1254.0996, 切向力Y=1277.2550 FPS=42.05, 法向力=2560.9482, 切向力X=554.0927, 切向力Y=1108.8125 FPS=44.43, 法向力=2587.7200, 切向力X=576.0472, 切向力Y=1183.4932 FPS=41.50, 法向力=2586.0142, 切向力X=539.6057, 切向力Y=1166.0883 FPS=40.73, 法向力=1954.6477, 切向力X=1334.6672, 切向力Y=619.3289 FPS=40.70, 法向力=1863.5217, 切向力X=1480.2510, 切向力Y=733.5902 FPS=41.17, 法向力=2301.0325, 切向力X=1493.3575, 切向力Y=629.4258 FPS=44.86, 法向力=2335.7207, 切向力X=1528.0198, 切向力Y=537.3513 FPS=39.73, 法向力=2392.0078, 切向力X=1344.4905, 切向力Y=803.5930 FPS=44.51, 法向力=2376.2585, 切向力X=1388.2578, 切向力Y=819.5168 FPS=43.34, 法向力=2376.3882, 切向力X=1443.7542, 切向力Y=796.4487 FPS=40.80, 法向力=2195.4250, 切向力X=725.1460, 切向力Y=1206.3979 FPS=43.03, 法向力=2201.5601, 切向力X=651.2513, 切向力Y=1264.7314 FPS=39.34, 法向力=2238.4751, 切向力X=642.7319, 切向力Y=1263.3713 FPS=42.80, 法向力=2812.0098, 切向力X=161.7899, 切向力Y=918.4180 stitch_feature_optimized: canvas out_w=546, out_h=417, x_min=-142.20, y_min=-82.91 stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000255s, blend=0.002126s (9 tiles incl ref), finalize=0.000054s, total=0.002440s FPS=41.92, 法向力=2803.4617, 切向力X=161.1929, 切向力Y=866.5993 FPS=38.45, 法向力=2762.9736, 切向力X=750.2703, 切向力Y=737.3121 FPS=44.01, 法向力=2827.7637, 切向力X=793.1952, 切向力Y=744.2049 FPS=38.70, 法向力=2092.7881, 切向力X=833.0223, 切向力Y=294.5064 FPS=44.31, 法向力=2080.5847, 切向力X=982.5634, 切向力Y=181.6100 FPS=41.87, 法向力=2049.0674, 切向力X=990.0525, 切向力Y=192.4124 FPS=38.71, 法向力=2698.1777, 切向力X=913.7444, 切向力Y=888.8296 FPS=43.15, 法向力=2756.2747, 切向力X=831.6254, 切向力Y=949.1220 FPS=42.04, 法向力=2739.3176, 切向力X=856.3365, 切向力Y=948.7202 FPS=43.35, 法向力=2591.2009, 切向力X=1383.9570, 切向力Y=377.0650 FPS=43.55, 法向力=2611.5886, 切向力X=1368.8350, 切向力Y=404.4808 FPS=42.90, 法向力=1448.7452, 切向力X=1727.9417, 切向力Y=1534.6316 FPS=43.05, 法向力=1399.9694, 切向力X=1758.9044, 切向力Y=1465.5925 FPS=42.48, 法向力=2607.4810, 切向力X=1104.3669, 切向力Y=1341.9465 FPS=44.41, 法向力=2530.3237, 切向力X=1245.8967, 切向力Y=1350.1938 FPS=42.91, 法向力=2564.9858, 切向力X=1194.9266, 切向力Y=1372.9128 FPS=40.95, 法向力=2292.3228, 切向力X=1621.1431, 切向力Y=962.8358 FPS=44.45, 法向力=2207.3564, 切向力X=1623.7896, 切向力Y=1044.8795 FPS=15.88, 法向力=2285.3030, 切向力X=1738.5996, 切向力Y=1406.9796 Sensor disconnected.