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=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000 FPS=1.47, 法向力=806.8284, 切向力X=-301.8556, 切向力Y=71.0518 FPS=23.80, 法向力=1266.1486, 切向力X=117.3249, 切向力Y=653.8121 FPS=26.85, 法向力=1156.9160, 切向力X=617.7627, 切向力Y=107.7403 FPS=27.00, 法向力=1564.5803, 切向力X=197.3237, 切向力Y=1376.8743 FPS=28.51, 法向力=1102.2809, 切向力X=-166.5849, 切向力Y=355.0453 FPS=28.87, 法向力=1023.2005, 切向力X=12.0137, 切向力Y=404.0567 FPS=29.28, 法向力=959.0717, 切向力X=563.5331, 切向力Y=279.1210 FPS=27.87, 法向力=926.0577, 切向力X=-307.2252, 切向力Y=270.6857 FPS=26.78, 法向力=1082.3804, 切向力X=282.1670, 切向力Y=786.6876 FPS=27.73, 法向力=1171.0139, 切向力X=220.9070, 切向力Y=486.4429 FPS=27.97, 法向力=1061.5117, 切向力X=742.1098, 切向力Y=577.7676 FPS=29.28, 法向力=1133.0056, 切向力X=357.7927, 切向力Y=504.0029 FPS=26.85, 法向力=736.9615, 切向力X=-61.5977, 切向力Y=868.8365 FPS=27.45, 法向力=1144.5146, 切向力X=493.1808, 切向力Y=-4.9744 FPS=29.12, 法向力=1163.8602, 切向力X=575.4453, 切向力Y=-40.7840 FPS=28.27, 法向力=1055.7886, 切向力X=-300.4347, 切向力Y=294.4008 FPS=26.72, 法向力=1068.7258, 切向力X=-453.0998, 切向力Y=259.4501 FPS=29.11, 法向力=802.5356, 切向力X=-206.0540, 切向力Y=261.9268 FPS=27.62, 法向力=1486.2351, 切向力X=254.1141, 切向力Y=734.2476 FPS=27.47, 法向力=1123.1560, 切向力X=590.7666, 切向力Y=287.9344 FPS=27.25, 法向力=1240.2788, 切向力X=-26.0834, 切向力Y=-93.4994 FPS=28.78, 法向力=1013.1179, 切向力X=-384.6791, 切向力Y=306.6763 FPS=28.92, 法向力=1009.3441, 切向力X=70.7353, 切向力Y=360.5046 FPS=26.94, 法向力=1128.5803, 切向力X=513.7454, 切向力Y=190.9552 FPS=29.48, 法向力=1095.9016, 切向力X=788.6504, 切向力Y=453.3835 FPS=28.32, 法向力=917.0316, 切向力X=-459.1388, 切向力Y=677.8053 FPS=28.46, 法向力=941.6863, 切向力X=395.1312, 切向力Y=508.5977 stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000267s, blend=0.002420s (9 tiles incl ref), finalize=0.000080s, total=0.002774s FPS=27.56, 法向力=870.8167, 切向力X=11.8320, 切向力Y=365.9351 FPS=27.64, 法向力=1222.1987, 切向力X=-378.2755, 切向力Y=341.4474 FPS=26.33, 法向力=1017.1915, 切向力X=27.9022, 切向力Y=-589.8127 FPS=26.56, 法向力=1067.0143, 切向力X=-676.5310, 切向力Y=509.8716 FPS=27.63, 法向力=1329.8604, 切向力X=271.4522, 切向力Y=519.7449 FPS=28.37, 法向力=1230.9801, 切向力X=82.8249, 切向力Y=184.2850 FPS=28.75, 法向力=1010.3293, 切向力X=313.7938, 切向力Y=120.8026 FPS=29.39, 法向力=1400.7427, 切向力X=-297.5454, 切向力Y=406.5437 FPS=29.41, 法向力=1126.5177, 切向力X=589.2709, 切向力Y=539.8525 FPS=29.53, 法向力=1332.6399, 切向力X=-538.3326, 切向力Y=645.1859 FPS=29.78, 法向力=911.5668, 切向力X=-857.9265, 切向力Y=466.1775 FPS=29.63, 法向力=1283.1981, 切向力X=1000.4195, 切向力Y=600.6475 FPS=29.82, 法向力=1144.4506, 切向力X=216.2752, 切向力Y=411.2632 FPS=29.00, 法向力=1369.5525, 切向力X=-804.9877, 切向力Y=221.2955 FPS=28.43, 法向力=1293.8320, 切向力X=273.0014, 切向力Y=-322.8383 FPS=28.61, 法向力=1158.3357, 切向力X=-90.3849, 切向力Y=692.6145 FPS=28.74, 法向力=1136.2683, 切向力X=-760.8583, 切向力Y=326.0023 FPS=28.73, 法向力=1190.4816, 切向力X=-570.0416, 切向力Y=593.3434 FPS=27.93, 法向力=1274.2888, 切向力X=348.3947, 切向力Y=-144.8828 FPS=29.19, 法向力=919.4664, 切向力X=412.4993, 切向力Y=247.1695 FPS=28.66, 法向力=996.4736, 切向力X=66.5847, 切向力Y=7.6146 FPS=29.36, 法向力=928.0646, 切向力X=-217.6667, 切向力Y=42.4242 FPS=28.95, 法向力=1104.4061, 切向力X=157.0617, 切向力Y=-213.4399 FPS=28.73, 法向力=1091.2351, 切向力X=729.7527, 切向力Y=685.7634 FPS=29.29, 法向力=856.4749, 切向力X=-241.2110, 切向力Y=-16.5703 FPS=28.65, 法向力=1464.4690, 切向力X=334.2919, 切向力Y=693.3583 FPS=28.30, 法向力=1145.5891, 切向力X=627.3080, 切向力Y=959.9835 FPS=28.28, 法向力=981.2019, 切向力X=630.0980, 切向力Y=99.5224 FPS=28.27, 法向力=753.0337, 切向力X=177.4839, 切向力Y=173.7393 FPS=27.67, 法向力=907.8898, 切向力X=-135.5510, 切向力Y=453.3311 stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000250s, blend=0.002199s (9 tiles incl ref), finalize=0.000065s, total=0.002521s FPS=27.39, 法向力=922.9116, 切向力X=-117.5384, 切向力Y=511.7251 FPS=28.56, 法向力=1389.2869, 切向力X=-493.9344, 切向力Y=568.0784 FPS=28.49, 法向力=1108.6566, 切向力X=-0.6772, 切向力Y=-9.9172 FPS=28.80, 法向力=1027.4503, 切向力X=134.8802, 切向力Y=-15.3940 FPS=27.04, 法向力=951.7859, 切向力X=-147.5976, 切向力Y=634.4893 FPS=28.65, 法向力=988.8336, 切向力X=-466.3041, 切向力Y=118.3565 FPS=29.69, 法向力=1265.3406, 切向力X=1013.6899, 切向力Y=-68.7456 FPS=28.40, 法向力=1250.0344, 切向力X=229.3066, 切向力Y=-118.4785 FPS=26.93, 法向力=1060.9122, 切向力X=120.9637, 切向力Y=614.6870 FPS=28.51, 法向力=1207.3411, 切向力X=-416.9017, 切向力Y=876.1063 FPS=28.95, 法向力=1258.0490, 切向力X=-401.2087, 切向力Y=891.0583 FPS=27.39, 法向力=1298.9506, 切向力X=394.1327, 切向力Y=330.2326 FPS=28.66, 法向力=1179.0698, 切向力X=149.8179, 切向力Y=512.6039 FPS=28.65, 法向力=1046.9105, 切向力X=-389.9218, 切向力Y=-60.3149 FPS=29.13, 法向力=1046.2988, 切向力X=-335.2800, 切向力Y=-208.2553 FPS=28.79, 法向力=1213.4744, 切向力X=-267.4240, 切向力Y=868.9363 FPS=27.73, 法向力=1338.0006, 切向力X=89.3279, 切向力Y=609.2281 FPS=28.98, 法向力=1290.3289, 切向力X=-606.0747, 切向力Y=485.4625 FPS=27.32, 法向力=1302.2527, 切向力X=-315.4319, 切向力Y=5.4447 FPS=26.95, 法向力=1461.9377, 切向力X=-654.3005, 切向力Y=306.3033 FPS=26.77, 法向力=1356.4712, 切向力X=562.2042, 切向力Y=831.7877 FPS=27.72, 法向力=1281.3804, 切向力X=286.3080, 切向力Y=316.8941 FPS=26.51, 法向力=1467.3041, 切向力X=249.8346, 切向力Y=-282.1961 FPS=28.14, 法向力=1432.0219, 切向力X=117.7503, 切向力Y=-267.3268 FPS=27.46, 法向力=919.4086, 切向力X=-670.7703, 切向力Y=472.9715 FPS=25.49, 法向力=1099.6768, 切向力X=-700.6395, 切向力Y=512.8236 FPS=28.10, 法向力=1016.2062, 切向力X=644.4581, 切向力Y=-79.4540 FPS=26.50, 法向力=1341.0779, 切向力X=-153.0767, 切向力Y=358.2449 FPS=26.90, 法向力=1383.6573, 切向力X=236.8000, 切向力Y=323.4225 FPS=26.59, 法向力=1267.3042, 切向力X=347.7570, 切向力Y=107.1492 stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000242s, blend=0.002124s (9 tiles incl ref), finalize=0.000061s, total=0.002433s FPS=27.28, 法向力=857.6056, 切向力X=68.7387, 切向力Y=135.6478 FPS=24.33, 法向力=1374.4961, 切向力X=39.9917, 切向力Y=-23.1090 FPS=23.66, 法向力=1073.7979, 切向力X=210.1000, 切向力Y=141.0940 FPS=27.70, 法向力=997.2150, 切向力X=-127.1538, 切向力Y=-126.5084 FPS=23.65, 法向力=1077.6304, 切向力X=310.1565, 切向力Y=-298.8831 FPS=25.10, 法向力=1078.2627, 切向力X=613.4076, 切向力Y=147.3173 FPS=25.12, 法向力=1231.8531, 切向力X=596.4285, 切向力Y=-113.2407 FPS=21.07, 法向力=826.4825, 切向力X=-1096.9539, 切向力Y=-11.1549 FPS=25.38, 法向力=1573.2013, 切向力X=48.9140, 切向力Y=413.2116 FPS=24.81, 法向力=1290.8055, 切向力X=-228.2384, 切向力Y=619.4114 FPS=25.94, 法向力=1240.2922, 切向力X=-437.7238, 切向力Y=322.3970 FPS=25.26, 法向力=934.9732, 切向力X=-193.0498, 切向力Y=-209.3481 FPS=23.31, 法向力=1026.1556, 切向力X=-679.5640, 切向力Y=355.8080 FPS=25.43, 法向力=1096.3286, 切向力X=-626.3064, 切向力Y=475.9610 FPS=24.51, 法向力=1184.1232, 切向力X=207.6827, 切向力Y=387.6262 FPS=24.32, 法向力=1059.2798, 切向力X=293.2274, 切向力Y=923.1896 FPS=24.04, 法向力=730.5178, 切向力X=160.4990, 切向力Y=-2.3910 FPS=23.61, 法向力=1009.8673, 切向力X=497.0649, 切向力Y=-12.5695 FPS=23.22, 法向力=1095.0745, 切向力X=270.0854, 切向力Y=261.4666 FPS=23.84, 法向力=1313.0442, 切向力X=-153.6851, 切向力Y=189.4554 FPS=23.02, 法向力=996.3181, 切向力X=-675.8942, 切向力Y=470.3771 FPS=22.37, 法向力=946.6478, 切向力X=351.6517, 切向力Y=-199.5939 FPS=21.61, 法向力=1641.6503, 切向力X=747.3570, 切向力Y=-245.4544 FPS=21.02, 法向力=1569.5349, 切向力X=333.4988, 切向力Y=418.8812 FPS=21.07, 法向力=1403.5918, 切向力X=487.8812, 切向力Y=-18.1437 FPS=20.50, 法向力=1618.3564, 切向力X=341.0737, 切向力Y=354.2595 FPS=22.01, 法向力=1479.4741, 切向力X=513.4476, 切向力Y=-215.8583 FPS=24.23, 法向力=1176.2047, 切向力X=-42.2384, 切向力Y=113.8253 FPS=23.94, 法向力=1006.1978, 切向力X=-459.4144, 切向力Y=-894.7212 FPS=23.20, 法向力=1065.1526, 切向力X=52.0059, 切向力Y=-81.1920 stitch_feature_optimized: canvas out_w=438, out_h=464, x_min=-92.77, y_min=-106.72 stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000247s, blend=0.002164s (9 tiles incl ref), finalize=0.000065s, total=0.002482s FPS=22.71, 法向力=1040.8771, 切向力X=40.0054, 切向力Y=157.0050 FPS=24.20, 法向力=1360.2034, 切向力X=-35.4603, 切向力Y=823.3146 FPS=23.79, 法向力=1007.7254, 切向力X=-1147.6567, 切向力Y=250.2153 FPS=23.49, 法向力=1052.8700, 切向力X=-161.3610, 切向力Y=249.8591 FPS=23.76, 法向力=1172.3215, 切向力X=-446.3100, 切向力Y=318.2700 FPS=23.14, 法向力=917.5384, 切向力X=366.6194, 切向力Y=740.4241 FPS=24.32, 法向力=919.5185, 切向力X=276.0166, 切向力Y=761.9409 FPS=23.92, 法向力=1371.1379, 切向力X=62.3448, 切向力Y=329.0140 FPS=23.42, 法向力=1298.4309, 切向力X=974.8733, 切向力Y=552.1664 FPS=23.17, 法向力=869.6093, 切向力X=4.4726, 切向力Y=146.2314 FPS=21.87, 法向力=853.5822, 切向力X=-403.0078, 切向力Y=-73.6607 FPS=22.51, 法向力=909.9337, 切向力X=-428.1221, 切向力Y=21.0701 FPS=22.58, 法向力=1820.8053, 切向力X=1109.4575, 切向力Y=-474.0460 FPS=23.36, 法向力=1147.5486, 切向力X=34.3646, 切向力Y=644.4246 FPS=22.27, 法向力=1144.7666, 切向力X=746.0704, 切向力Y=112.1885 FPS=22.02, 法向力=1417.1932, 切向力X=42.8764, 切向力Y=-26.1550 FPS=22.04, 法向力=1560.4437, 切向力X=234.0884, 切向力Y=727.7897 FPS=21.46, 法向力=1383.9717, 切向力X=214.3250, 切向力Y=119.9410 FPS=19.90, 法向力=1321.1472, 切向力X=90.0410, 切向力Y=-260.7833 FPS=18.87, 法向力=1326.6716, 切向力X=-385.2049, 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incl ref), finalize=0.000065s, total=0.002809s FPS=31.85, 法向力=3873.0962, 切向力X=-320.0510, 切向力Y=505.3026 FPS=31.51, 法向力=3887.6426, 切向力X=-318.8288, 切向力Y=557.5822 FPS=30.93, 法向力=3867.7898, 切向力X=-322.0307, 切向力Y=542.5842 FPS=32.56, 法向力=3910.7253, 切向力X=-295.2487, 切向力Y=567.7675 FPS=31.66, 法向力=3863.9238, 切向力X=-319.7305, 切向力Y=506.0972 FPS=31.19, 法向力=3893.8403, 切向力X=-318.4588, 切向力Y=557.2274 FPS=32.86, 法向力=3864.7402, 切向力X=-324.6241, 切向力Y=541.2108 FPS=32.27, 法向力=3907.8848, 切向力X=-295.7582, 切向力Y=567.6393 FPS=11.91, 法向力=3866.1748, 切向力X=-320.2019, 切向力Y=506.1785 Sensor disconnected.