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=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=3.68, 法向力=1341.4670, 切向力X=-507.3323, 切向力Y=-475.6675
FPS=31.59, 法向力=1177.2568, 切向力X=-392.3406, 切向力Y=-682.4691
FPS=27.01, 法向力=1135.2192, 切向力X=-424.0212, 切向力Y=-677.1630
FPS=29.01, 法向力=1495.5991, 切向力X=-1038.9133, 切向力Y=300.5222
FPS=31.36, 法向力=1520.1426, 切向力X=-1106.4871, 切向力Y=322.9052
FPS=27.18, 法向力=1287.3920, 切向力X=-262.3884, 切向力Y=-819.3737
FPS=28.99, 法向力=1414.9563, 切向力X=-1020.5880, 切向力Y=-557.1126
FPS=34.47, 法向力=1426.6099, 切向力X=-961.9911, 切向力Y=-618.8048
FPS=32.24, 法向力=1924.7549, 切向力X=-168.4521, 切向力Y=-154.0606
FPS=32.64, 法向力=1826.6628, 切向力X=-223.2585, 切向力Y=-99.5969
FPS=33.77, 法向力=1809.0592, 切向力X=-201.8370, 切向力Y=-122.8845
FPS=34.29, 法向力=1738.3821, 切向力X=-217.4509, 切向力Y=-365.9041
FPS=33.01, 法向力=1712.6199, 切向力X=-250.5966, 切向力Y=-278.7696
FPS=32.91, 法向力=1874.4346, 切向力X=-1632.7930, 切向力Y=-688.1771
FPS=28.31, 法向力=1619.6289, 切向力X=-30.8118, 切向力Y=-962.4744
FPS=33.02, 法向力=1612.5981, 切向力X=33.3515, 切向力Y=-998.9929
FPS=30.50, 法向力=1366.1929, 切向力X=-1257.7241, 切向力Y=-520.3313
FPS=35.04, 法向力=1280.7880, 切向力X=-1092.7449, 切向力Y=-511.9213
FPS=31.27, 法向力=1968.0635, 切向力X=-129.2130, 切向力Y=24.2369
FPS=34.29, 法向力=1962.0115, 切向力X=-161.9728, 切向力Y=24.0423
FPS=32.38, 法向力=1793.0199, 切向力X=-986.5903, 切向力Y=-757.0212
FPS=35.63, 法向力=1830.1274, 切向力X=-1088.9319, 切向力Y=-765.6459
FPS=33.73, 法向力=1535.9337, 切向力X=-199.1813, 切向力Y=-319.4822
FPS=36.21, 法向力=1540.2751, 切向力X=-233.1695, 切向力Y=-212.0891
FPS=33.89, 法向力=2471.6609, 切向力X=71.8748, 切向力Y=-290.4993
FPS=33.02, 法向力=2347.0269, 切向力X=21.6093, 切向力Y=-136.3419
FPS=34.09, 法向力=2363.8501, 切向力X=47.1784, 切向力Y=-84.4460
stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-142.27, y_min=-84.58
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000277s, blend=0.002206s (9 tiles incl ref), finalize=0.000058s, total=0.002547s
FPS=34.31, 法向力=1741.9716, 切向力X=-543.8749, 切向力Y=-871.1302
FPS=30.68, 法向力=1802.5942, 切向力X=-1028.9946, 切向力Y=-499.3650
FPS=36.14, 法向力=1741.0483, 切向力X=-989.1299, 切向力Y=-502.1728
FPS=32.23, 法向力=1767.3702, 切向力X=-861.7894, 切向力Y=428.8287
FPS=34.60, 法向力=1743.8188, 切向力X=-886.6918, 切向力Y=607.7622
FPS=32.95, 法向力=1974.1699, 切向力X=-561.0292, 切向力Y=-588.1389
FPS=36.16, 法向力=1978.6470, 切向力X=-610.5238, 切向力Y=-618.4874
FPS=32.64, 法向力=1972.2524, 切向力X=-584.3936, 切向力Y=-614.3639
FPS=35.44, 法向力=2342.4473, 切向力X=-337.7165, 切向力Y=-225.4509
FPS=33.97, 法向力=2249.6636, 切向力X=-295.9101, 切向力Y=-53.8675
FPS=35.56, 法向力=1482.9236, 切向力X=-70.5572, 切向力Y=-552.2197
FPS=32.06, 法向力=1722.1279, 切向力X=-206.3548, 切向力Y=-1642.2136
FPS=35.28, 法向力=1693.1196, 切向力X=-268.9129, 切向力Y=-1739.6038
FPS=33.24, 法向力=1781.0529, 切向力X=-813.7168, 切向力Y=-477.3281
FPS=34.09, 法向力=1761.2007, 切向力X=-793.4836, 切向力Y=-439.4967
FPS=33.73, 法向力=1769.7950, 切向力X=-820.7149, 切向力Y=-415.9775
FPS=36.38, 法向力=1490.4728, 切向力X=-562.9506, 切向力Y=-930.7263
FPS=35.28, 法向力=1567.2312, 切向力X=-636.2819, 切向力Y=-967.9257
FPS=31.58, 法向力=1809.5762, 切向力X=-1430.9705, 切向力Y=-596.7329
FPS=33.78, 法向力=2192.5913, 切向力X=24.4230, 切向力Y=-1369.9131
FPS=35.43, 法向力=2204.4897, 切向力X=49.6194, 切向力Y=-1250.7332
FPS=34.55, 法向力=2230.2661, 切向力X=76.9928, 切向力Y=-1271.7238
FPS=33.30, 法向力=1428.3481, 切向力X=-207.4079, 切向力Y=-256.8936
FPS=34.45, 法向力=1436.7482, 切向力X=-245.3109, 切向力Y=-226.9112
FPS=31.98, 法向力=2225.6987, 切向力X=-1365.9401, 切向力Y=-848.1490
FPS=34.61, 法向力=2157.6479, 切向力X=-1316.1180, 切向力Y=-863.6661
FPS=32.61, 法向力=1967.4905, 切向力X=-467.5050, 切向力Y=58.8393
FPS=33.56, 法向力=1849.7108, 切向力X=-531.3154, 切向力Y=168.5639
FPS=33.28, 法向力=1280.9984, 切向力X=-1102.0903, 切向力Y=128.1525
FPS=29.61, 法向力=1261.8269, 切向力X=-1111.5181, 切向力Y=135.7802
stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-142.27, y_min=-84.58
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000344s, blend=0.002327s (9 tiles incl ref), finalize=0.000067s, total=0.002745s
FPS=33.37, 法向力=1538.5452, 切向力X=-906.4728, 切向力Y=-506.0768
FPS=34.07, 法向力=1566.2385, 切向力X=-931.7385, 切向力Y=-623.8145
FPS=31.94, 法向力=1565.5563, 切向力X=-564.1901, 切向力Y=-1073.1268
FPS=34.51, 法向力=1566.5920, 切向力X=-401.8441, 切向力Y=-908.5164
FPS=33.11, 法向力=1713.3474, 切向力X=-291.4140, 切向力Y=-610.6483
FPS=30.31, 法向力=1754.4592, 切向力X=-293.7816, 切向力Y=-685.3385
FPS=35.10, 法向力=1791.4277, 切向力X=-238.0033, 切向力Y=-641.9104
FPS=33.58, 法向力=1764.0280, 切向力X=-244.3148, 切向力Y=-634.5866
FPS=34.80, 法向力=1391.2498, 切向力X=-946.1552, 切向力Y=192.0374
FPS=34.02, 法向力=1385.2937, 切向力X=-984.2031, 切向力Y=175.4639
FPS=33.35, 法向力=1991.3177, 切向力X=-180.9380, 切向力Y=203.2180
FPS=35.84, 法向力=2024.2310, 切向力X=-94.6943, 切向力Y=206.2581
FPS=33.29, 法向力=1828.4088, 切向力X=-238.2601, 切向力Y=-1027.4417
FPS=33.77, 法向力=1829.0276, 切向力X=-300.2374, 切向力Y=-1133.8359
FPS=33.73, 法向力=1501.9142, 切向力X=-595.5410, 切向力Y=-927.0707
FPS=33.04, 法向力=1533.8186, 切向力X=-551.1689, 切向力Y=-983.4748
FPS=33.76, 法向力=1791.4542, 切向力X=-193.7530, 切向力Y=-381.4568
FPS=34.76, 法向力=1833.0017, 切向力X=-169.6579, 切向力Y=-353.8361
FPS=31.82, 法向力=1828.3400, 切向力X=-284.0196, 切向力Y=-184.5473
FPS=32.11, 法向力=1756.4924, 切向力X=-338.4377, 切向力Y=-120.5052
FPS=33.98, 法向力=1452.1807, 切向力X=-711.3139, 切向力Y=-903.9965
FPS=34.02, 法向力=1425.2410, 切向力X=-803.2643, 切向力Y=-912.4354
FPS=34.56, 法向力=1924.8320, 切向力X=-83.6388, 切向力Y=-650.4069
FPS=35.05, 法向力=2064.7495, 切向力X=30.9812, 切向力Y=-701.6050
FPS=34.29, 法向力=1587.4175, 切向力X=-388.0387, 切向力Y=-296.5535
FPS=35.44, 法向力=1544.8710, 切向力X=-460.1589, 切向力Y=-300.0011
FPS=34.60, 法向力=1737.8904, 切向力X=-682.4767, 切向力Y=-817.3748
FPS=32.67, 法向力=1702.2113, 切向力X=-746.2877, 切向力Y=-832.7002
FPS=32.16, 法向力=1318.1998, 切向力X=-42.4398, 切向力Y=464.6287
FPS=34.09, 法向力=1347.6234, 切向力X=38.5716, 切向力Y=540.8716
stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-142.27, y_min=-84.58
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000333s, blend=0.002306s (9 tiles incl ref), finalize=0.000065s, total=0.002710s
FPS=31.69, 法向力=1648.9921, 切向力X=-827.2190, 切向力Y=-623.2135
FPS=34.21, 法向力=1643.8883, 切向力X=-732.4276, 切向力Y=-638.5967
FPS=31.36, 法向力=1495.2971, 切向力X=-570.0543, 切向力Y=-1086.7552
FPS=33.92, 法向力=1401.9491, 切向力X=-578.6583, 切向力Y=-1195.0459
FPS=31.84, 法向力=1521.1582, 切向力X=-559.9641, 切向力Y=-447.1374
FPS=33.14, 法向力=1520.1772, 切向力X=-588.0367, 切向力Y=-362.4294
FPS=31.41, 法向力=1825.9049, 切向力X=-156.5279, 切向力Y=-1057.4746
FPS=31.09, 法向力=1843.6191, 切向力X=-198.3545, 切向力Y=-1169.1702
FPS=33.80, 法向力=2013.0468, 切向力X=140.5306, 切向力Y=-686.7504
FPS=31.00, 法向力=2032.5417, 切向力X=65.6436, 切向力Y=-627.9991
FPS=31.89, 法向力=1669.1252, 切向力X=-134.9167, 切向力Y=539.3536
FPS=31.00, 法向力=1589.3076, 切向力X=-190.5600, 切向力Y=610.0322
FPS=30.07, 法向力=1611.6672, 切向力X=-257.1923, 切向力Y=-546.2473
FPS=29.72, 法向力=1390.6062, 切向力X=-28.4230, 切向力Y=-411.7414
FPS=32.16, 法向力=1395.5909, 切向力X=4.4240, 切向力Y=-371.3867
FPS=30.45, 法向力=1432.6724, 切向力X=-148.2564, 切向力Y=-515.4053
FPS=31.15, 法向力=1435.6331, 切向力X=-187.4023, 切向力Y=-492.8112
FPS=28.67, 法向力=1485.9661, 切向力X=-167.8297, 切向力Y=-515.0094
FPS=27.97, 法向力=1537.5635, 切向力X=-132.2881, 切向力Y=-620.6711
FPS=30.15, 法向力=1712.9557, 切向力X=-169.1758, 切向力Y=-248.7821
FPS=28.73, 法向力=1809.1748, 切向力X=777.9875, 切向力Y=-270.9174
FPS=30.14, 法向力=1771.4491, 切向力X=739.7719, 切向力Y=-267.3020
FPS=29.63, 法向力=1471.6367, 切向力X=-303.3645, 切向力Y=-81.8173
FPS=32.36, 法向力=1398.1016, 切向力X=-336.6360, 切向力Y=-39.7104
FPS=32.65, 法向力=1475.9001, 切向力X=-462.6591, 切向力Y=-604.0411
FPS=34.11, 法向力=1552.3877, 切向力X=-416.6262, 切向力Y=-786.0211
FPS=29.99, 法向力=1760.2917, 切向力X=-247.7196, 切向力Y=-373.9225
FPS=30.78, 法向力=1731.3020, 切向力X=-298.4816, 切向力Y=-361.3685
FPS=25.10, 法向力=2127.4590, 切向力X=-221.0204, 切向力Y=18.6711
FPS=25.21, 法向力=1937.8895, 切向力X=-488.6539, 切向力Y=-391.7863
stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-142.27, y_min=-84.58
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000329s, blend=0.002231s (9 tiles incl ref), finalize=0.000072s, total=0.002639s
FPS=28.41, 法向力=1919.2467, 切向力X=-548.1053, 切向力Y=-385.5489
FPS=28.84, 法向力=1891.8501, 切向力X=107.8599, 切向力Y=-539.9875
FPS=32.12, 法向力=1813.9905, 切向力X=8.0100, 切向力Y=-491.7758
FPS=30.94, 法向力=1332.5010, 切向力X=-273.6223, 切向力Y=-54.7255
FPS=33.63, 法向力=1397.1936, 切向力X=-323.6057, 切向力Y=-136.2526
FPS=30.22, 法向力=1872.3179, 切向力X=-1027.4451, 切向力Y=-89.4014
FPS=30.62, 法向力=1965.4666, 切向力X=-1001.6329, 切向力Y=-156.8170
FPS=31.30, 法向力=2418.8721, 切向力X=262.8101, 切向力Y=-1461.4906
FPS=31.14, 法向力=2496.3086, 切向力X=397.9673, 切向力Y=-1565.9500
FPS=30.52, 法向力=1928.5880, 切向力X=8.8402, 切向力Y=-64.4117
FPS=31.53, 法向力=1897.3928, 切向力X=89.8342, 切向力Y=-88.1515
FPS=32.13, 法向力=2197.3257, 切向力X=-290.9781, 切向力Y=-673.3083
FPS=32.56, 法向力=2229.8779, 切向力X=-251.9977, 切向力Y=-808.8290
FPS=31.84, 法向力=1541.7109, 切向力X=382.5219, 切向力Y=-1362.9082
FPS=30.02, 法向力=1513.4045, 切向力X=-84.8239, 切向力Y=-843.0092
FPS=28.17, 法向力=1520.0098, 切向力X=-138.5375, 切向力Y=-783.9734
FPS=30.41, 法向力=2128.3398, 切向力X=-388.1758, 切向力Y=-1026.3201
FPS=30.76, 法向力=2175.5234, 切向力X=-358.3826, 切向力Y=-987.7162
FPS=27.58, 法向力=1555.9357, 切向力X=-622.0087, 切向力Y=-234.1050
FPS=31.10, 法向力=1508.5129, 切向力X=-524.5699, 切向力Y=-105.6676
FPS=29.39, 法向力=1445.0508, 切向力X=-74.1065, 切向力Y=-1843.5591
FPS=29.00, 法向力=1951.1951, 切向力X=-681.1372, 切向力Y=-209.4359
FPS=21.91, 法向力=1932.9575, 切向力X=-735.0775, 切向力Y=-150.5131
FPS=30.35, 法向力=1830.1219, 切向力X=-439.2781, 切向力Y=-797.5817
FPS=33.39, 法向力=1892.5861, 切向力X=-430.8691, 切向力Y=-877.1416
FPS=31.10, 法向力=1942.5188, 切向力X=478.5760, 切向力Y=-647.8377
FPS=32.13, 法向力=1961.8864, 切向力X=539.0292, 切向力Y=-548.9679
FPS=31.94, 法向力=1262.6107, 切向力X=-977.1357, 切向力Y=-585.0085
FPS=30.99, 法向力=1578.7109, 切向力X=-93.7303, 切向力Y=-383.1953
FPS=32.37, 法向力=1651.2214, 切向力X=59.9512, 切向力Y=-338.0902
stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-142.27, y_min=-84.58
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000308s, blend=0.002174s (9 tiles incl ref), finalize=0.000054s, total=0.002543s
FPS=31.89, 法向力=1638.5686, 切向力X=-363.7318, 切向力Y=-527.6518
FPS=33.01, 法向力=1659.4563, 切向力X=-355.5377, 切向力Y=-506.5175
FPS=32.06, 法向力=1662.9082, 切向力X=-335.5582, 切向力Y=-562.8863
FPS=32.44, 法向力=1920.5255, 切向力X=-481.7579, 切向力Y=-56.8569
FPS=31.97, 法向力=1980.7451, 切向力X=-581.4786, 切向力Y=-18.3461
FPS=32.86, 法向力=1864.1688, 切向力X=72.8773, 切向力Y=-89.5617
FPS=30.64, 法向力=1801.8469, 切向力X=208.1141, 切向力Y=-493.3883
FPS=32.83, 法向力=1755.2163, 切向力X=225.1260, 切向力Y=-500.7657
FPS=31.21, 法向力=1656.7504, 切向力X=-409.2743, 切向力Y=-605.3805
FPS=31.57, 法向力=1600.3628, 切向力X=-576.8704, 切向力Y=-590.0503
FPS=28.70, 法向力=1956.3289, 切向力X=-593.8311, 切向力Y=-976.1608
FPS=32.41, 法向力=1962.1099, 切向力X=-543.2529, 切向力Y=-966.3397
FPS=31.25, 法向力=1996.2002, 切向力X=-366.2366, 切向力Y=-603.7653
FPS=32.02, 法向力=2027.7000, 切向力X=-423.8093, 切向力Y=-553.8071
FPS=31.84, 法向力=1713.9091, 切向力X=503.2245, 切向力Y=-328.8039
FPS=31.95, 法向力=1809.3324, 切向力X=298.9068, 切向力Y=-437.9775
FPS=32.98, 法向力=1829.7815, 切向力X=313.3029, 切向力Y=-384.2172
FPS=32.13, 法向力=1807.7469, 切向力X=319.1981, 切向力Y=-387.0488
FPS=32.16, 法向力=1475.7203, 切向力X=-382.3684, 切向力Y=-1136.0317
FPS=31.53, 法向力=1454.6909, 切向力X=-423.9606, 切向力Y=-1231.2395
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FPS=29.04, 法向力=1652.2904, 切向力X=-17.4105, 切向力Y=-568.1516
FPS=25.54, 法向力=1845.7181, 切向力X=412.0795, 切向力Y=-1859.5861
FPS=30.28, 法向力=1860.5295, 切向力X=431.3577, 切向力Y=-1939.5446
FPS=28.01, 法向力=1810.6746, 切向力X=846.7952, 切向力Y=-1582.9758
FPS=31.06, 法向力=1813.7036, 切向力X=891.0698, 切向力Y=-1549.2014
FPS=30.49, 法向力=1797.5496, 切向力X=31.5909, 切向力Y=-1493.2063
stitch_feature_optimized: canvas out_w=547, out_h=420, x_min=-142.27, y_min=-84.58
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000270s, blend=0.002283s (9 tiles incl ref), finalize=0.000055s, total=0.002614s
FPS=19.87, 法向力=1819.4514, 切向力X=82.7294, 切向力Y=-1438.8281
Sensor disconnected.