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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=5
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=0.31, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=2.47, 法向力=1320.6404, 切向力X=-293.8583, 切向力Y=433.8314
FPS=26.35, 法向力=2113.9568, 切向力X=78.7013, 切向力Y=489.8138
FPS=26.48, 法向力=2149.3330, 切向力X=125.5522, 切向力Y=527.9757
FPS=24.17, 法向力=2161.8408, 切向力X=115.7275, 切向力Y=512.4082
FPS=30.14, 法向力=2040.3713, 切向力X=30.4629, 切向力Y=696.2513
FPS=29.45, 法向力=1826.1296, 切向力X=-47.5815, 切向力Y=1008.0741
Traceback (most recent call last):
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer
    data_plot = self._make_force_plot_data(self.data[:n].copy())
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data
    data_plot[:, 1, i] = lowpass_filter(
                         ^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter
    return filtfilt(b, a, y)
           ^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt
    edge, ext = _validate_pad(padtype, padlen, x, axis,
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad
    raise ValueError("The length of the input vector x must be greater "
ValueError: The length of the input vector x must be greater than padlen, which is 9.
FPS=30.98, 法向力=1755.6082, 切向力X=-19.3351, 切向力Y=952.8754
Traceback (most recent call last):
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer
    data_plot = self._make_force_plot_data(self.data[:n].copy())
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data
    data_plot[:, 1, i] = lowpass_filter(
                         ^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter
    return filtfilt(b, a, y)
           ^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt
    edge, ext = _validate_pad(padtype, padlen, x, axis,
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad
    raise ValueError("The length of the input vector x must be greater "
ValueError: The length of the input vector x must be greater than padlen, which is 9.
FPS=39.48, 法向力=1676.7917, 切向力X=-499.2500, 切向力Y=1022.3340
Traceback (most recent call last):
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer
    data_plot = self._make_force_plot_data(self.data[:n].copy())
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data
    data_plot[:, 1, i] = lowpass_filter(
                         ^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter
    return filtfilt(b, a, y)
           ^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt
    edge, ext = _validate_pad(padtype, padlen, x, axis,
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad
    raise ValueError("The length of the input vector x must be greater "
ValueError: The length of the input vector x must be greater than padlen, which is 9.
FPS=38.15, 法向力=1670.2456, 切向力X=-534.2911, 切向力Y=1082.4207
FPS=39.58, 法向力=1667.4045, 切向力X=-536.6660, 切向力Y=1092.7667
FPS=29.01, 法向力=1992.0472, 切向力X=197.0950, 切向力Y=650.8547
FPS=31.85, 法向力=2019.7163, 切向力X=245.8256, 切向力Y=527.6508
FPS=29.24, 法向力=2120.7227, 切向力X=259.9260, 切向力Y=1194.4087
FPS=31.25, 法向力=2064.4189, 切向力X=385.8253, 切向力Y=1217.6377
FPS=28.39, 法向力=2044.3882, 切向力X=-86.3068, 切向力Y=771.4364
FPS=32.01, 法向力=2092.9780, 切向力X=-149.9945, 切向力Y=782.6782
FPS=30.08, 法向力=2450.4058, 切向力X=334.4199, 切向力Y=1096.8457
FPS=31.50, 法向力=2442.4556, 切向力X=341.2205, 切向力Y=1128.0942
FPS=29.32, 法向力=1859.9069, 切向力X=-785.8359, 切向力Y=1467.1787
FPS=31.81, 法向力=1830.4895, 切向力X=-809.0270, 切向力Y=1494.8040
FPS=28.46, 法向力=1731.8528, 切向力X=-98.3538, 切向力Y=620.9659
FPS=31.91, 法向力=1708.7842, 切向力X=-90.3250, 切向力Y=614.3912
FPS=28.66, 法向力=1955.9622, 切向力X=83.3275, 切向力Y=889.5314
FPS=31.98, 法向力=1956.5754, 切向力X=115.7034, 切向力Y=862.9889
FPS=27.72, 法向力=2142.5920, 切向力X=266.7982, 切向力Y=846.6437
FPS=30.00, 法向力=2180.7871, 切向力X=362.2662, 切向力Y=878.3670
FPS=30.66, 法向力=1841.5282, 切向力X=11.6414, 切向力Y=995.4666
stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000229s, blend=0.002117s (9 tiles incl ref), finalize=0.000054s, total=0.002408s
FPS=31.43, 法向力=1881.7623, 切向力X=45.5856, 切向力Y=1060.7566
FPS=28.82, 法向力=2087.7622, 切向力X=-47.0838, 切向力Y=1007.9020
FPS=31.71, 法向力=2049.9307, 切向力X=-35.5930, 切向力Y=905.1648
FPS=30.18, 法向力=2007.0688, 切向力X=-9.2523, 切向力Y=646.3688
FPS=30.31, 法向力=2048.4541, 切向力X=22.1775, 切向力Y=560.4681
FPS=28.71, 法向力=2241.2554, 切向力X=51.1916, 切向力Y=908.0853
FPS=30.96, 法向力=2232.2627, 切向力X=86.9235, 切向力Y=947.3297
FPS=24.80, 法向力=1953.3407, 切向力X=94.6681, 切向力Y=757.5250
FPS=25.77, 法向力=1993.0837, 切向力X=118.7324, 切向力Y=784.4556
FPS=28.70, 法向力=2518.8311, 切向力X=649.5548, 切向力Y=686.6047
FPS=31.24, 法向力=2500.3320, 切向力X=550.9199, 切向力Y=714.7979
FPS=28.45, 法向力=2279.2900, 切向力X=195.4198, 切向力Y=792.7284
FPS=31.32, 法向力=2281.4048, 切向力X=213.6615, 切向力Y=853.1589
FPS=28.17, 法向力=2205.5894, 切向力X=299.7387, 切向力Y=738.7775
FPS=32.55, 法向力=2194.6812, 切向力X=274.7958, 切向力Y=759.7128
FPS=30.40, 法向力=1969.6033, 切向力X=311.3018, 切向力Y=735.0768
FPS=31.74, 法向力=1983.2113, 切向力X=365.0974, 切向力Y=751.9496
FPS=29.24, 法向力=2440.8591, 切向力X=315.6945, 切向力Y=720.7112
FPS=31.57, 法向力=2475.7849, 切向力X=291.9396, 切向力Y=696.7178
FPS=31.13, 法向力=2393.2939, 切向力X=661.9894, 切向力Y=1447.0740
FPS=31.68, 法向力=2461.8091, 切向力X=729.0858, 切向力Y=1489.3914
FPS=29.57, 法向力=2137.7664, 切向力X=268.5399, 切向力Y=1367.9314
FPS=31.10, 法向力=2155.0234, 切向力X=242.3472, 切向力Y=1402.4170
FPS=28.27, 法向力=1780.5630, 切向力X=-156.0884, 切向力Y=401.6852
FPS=27.45, 法向力=1774.9918, 切向力X=-156.5081, 切向力Y=450.9463
FPS=27.97, 法向力=1836.3376, 切向力X=466.7856, 切向力Y=597.7465
FPS=30.78, 法向力=1821.6458, 切向力X=479.3393, 切向力Y=506.6654
FPS=28.20, 法向力=2129.8723, 切向力X=607.7709, 切向力Y=913.9419
FPS=29.98, 法向力=2186.9424, 切向力X=608.4033, 切向力Y=927.6432
FPS=29.23, 法向力=2067.6484, 切向力X=174.4098, 切向力Y=518.9210
stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000211s, blend=0.002173s (9 tiles incl ref), finalize=0.000052s, total=0.002441s
FPS=29.84, 法向力=2051.0479, 切向力X=60.7976, 切向力Y=677.9540
FPS=29.41, 法向力=1712.2010, 切向力X=588.8831, 切向力Y=714.1522
FPS=29.54, 法向力=1724.3246, 切向力X=677.1674, 切向力Y=782.2881
FPS=30.87, 法向力=2043.4974, 切向力X=-197.9584, 切向力Y=-89.0066
FPS=31.29, 法向力=2019.3271, 切向力X=-220.9840, 切向力Y=-214.6007
FPS=29.48, 法向力=2133.6802, 切向力X=287.9549, 切向力Y=1145.1658
FPS=32.25, 法向力=2139.8882, 切向力X=392.1658, 切向力Y=1109.3951
FPS=29.50, 法向力=2192.3384, 切向力X=1165.2842, 切向力Y=1042.4081
FPS=28.52, 法向力=2191.5376, 切向力X=1157.1879, 切向力Y=1051.3906
FPS=29.68, 法向力=1892.6846, 切向力X=392.3278, 切向力Y=643.1405
FPS=32.27, 法向力=1945.0825, 切向力X=318.9202, 切向力Y=774.7559
FPS=29.63, 法向力=1781.8879, 切向力X=-343.1356, 切向力Y=1153.4500
FPS=31.43, 法向力=1779.3250, 切向力X=-280.0386, 切向力Y=1122.7900
FPS=29.08, 法向力=2051.1262, 切向力X=347.5745, 切向力Y=1289.9847
FPS=30.86, 法向力=2116.9985, 切向力X=406.8204, 切向力Y=1394.5171
FPS=30.52, 法向力=2238.4031, 切向力X=1055.3577, 切向力Y=1402.1156
FPS=30.70, 法向力=2248.4556, 切向力X=1019.0292, 切向力Y=1437.6080
FPS=29.76, 法向力=1964.3962, 切向力X=45.3050, 切向力Y=536.2459
FPS=31.05, 法向力=1978.5884, 切向力X=24.6283, 切向力Y=595.3047
FPS=29.62, 法向力=1996.1874, 切向力X=678.6770, 切向力Y=1367.9111
FPS=31.05, 法向力=1999.6035, 切向力X=675.7289, 切向力Y=1326.3208
FPS=29.31, 法向力=1988.1570, 切向力X=545.8197, 切向力Y=1114.0804
FPS=29.74, 法向力=2025.9573, 切向力X=523.0184, 切向力Y=1174.8987
FPS=25.73, 法向力=2494.7778, 切向力X=263.1247, 切向力Y=828.0566
FPS=27.65, 法向力=2537.4238, 切向力X=329.1534, 切向力Y=821.0768
FPS=28.90, 法向力=2505.9062, 切向力X=46.9544, 切向力Y=1722.3317
FPS=29.02, 法向力=2489.8643, 切向力X=115.8525, 切向力Y=1678.6406
FPS=26.33, 法向力=1980.6946, 切向力X=347.3302, 切向力Y=249.8238
FPS=28.06, 法向力=1976.2024, 切向力X=391.0735, 切向力Y=327.2803
FPS=29.62, 法向力=2354.1184, 切向力X=-44.8870, 切向力Y=546.5805
stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000218s, blend=0.002172s (9 tiles incl ref), finalize=0.000053s, total=0.002449s
FPS=26.81, 法向力=2362.0029, 切向力X=61.6085, 切向力Y=1492.7468
FPS=30.32, 法向力=2337.5015, 切向力X=109.9608, 切向力Y=1478.4559
FPS=30.37, 法向力=2092.6328, 切向力X=463.0860, 切向力Y=1230.2244
FPS=30.70, 法向力=2063.7119, 切向力X=429.4764, 切向力Y=1237.1461
FPS=29.67, 法向力=2007.7467, 切向力X=541.6758, 切向力Y=835.3663
FPS=30.02, 法向力=1998.0034, 切向力X=594.7098, 切向力Y=799.5067
FPS=27.56, 法向力=2375.9109, 切向力X=-60.2005, 切向力Y=530.3683
FPS=30.13, 法向力=2409.6934, 切向力X=-92.7758, 切向力Y=430.2859
FPS=28.75, 法向力=2321.6079, 切向力X=-45.7365, 切向力Y=1160.0599
FPS=31.32, 法向力=2347.7017, 切向力X=-57.6047, 切向力Y=1243.7896
FPS=29.68, 法向力=1954.3264, 切向力X=742.8762, 切向力Y=1065.1560
FPS=30.31, 法向力=2017.1542, 切向力X=759.5453, 切向力Y=1075.1663
FPS=26.23, 法向力=1846.7430, 切向力X=742.9606, 切向力Y=553.9069
FPS=30.93, 法向力=1892.7578, 切向力X=789.3829, 切向力Y=553.1064
FPS=26.92, 法向力=2257.1382, 切向力X=595.5402, 切向力Y=1608.0989
FPS=30.95, 法向力=2232.9321, 切向力X=621.4379, 切向力Y=1585.4237
FPS=28.70, 法向力=2061.6011, 切向力X=534.0295, 切向力Y=1548.2454
FPS=32.26, 法向力=2112.4082, 切向力X=504.8239, 切向力Y=1544.8384
FPS=30.16, 法向力=2159.5955, 切向力X=60.2762, 切向力Y=1058.5023
FPS=32.55, 法向力=2129.1016, 切向力X=111.8984, 切向力Y=1013.1819
FPS=30.63, 法向力=2369.3740, 切向力X=392.2424, 切向力Y=1138.6658
FPS=31.96, 法向力=2349.1851, 切向力X=389.2404, 切向力Y=1156.6169
FPS=31.45, 法向力=2142.5913, 切向力X=426.5936, 切向力Y=1475.4951
FPS=32.75, 法向力=2148.8486, 切向力X=412.2721, 切向力Y=1482.2878
FPS=30.56, 法向力=2231.3550, 切向力X=325.5813, 切向力Y=941.2933
FPS=31.07, 法向力=2226.3208, 切向力X=322.2618, 切向力Y=941.5645
FPS=30.37, 法向力=2028.3064, 切向力X=680.7014, 切向力Y=1058.2860
FPS=30.60, 法向力=2118.0056, 切向力X=694.5400, 切向力Y=1017.4791
FPS=30.71, 法向力=1768.2151, 切向力X=169.8654, 切向力Y=574.9568
FPS=31.77, 法向力=1797.2812, 切向力X=212.0379, 切向力Y=558.6409
stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89
stitch_feature_optimized steps: brightness=0.000005s, geom=0.000005s (hit), reset=0.000611s, blend=0.002414s (9 tiles incl ref), finalize=0.000054s, total=0.003090s
FPS=28.96, 法向力=2300.6606, 切向力X=-194.4677, 切向力Y=733.8806
FPS=32.74, 法向力=2302.4067, 切向力X=-229.6568, 切向力Y=800.0201
FPS=26.55, 法向力=2312.4290, 切向力X=-218.0212, 切向力Y=786.2635
FPS=24.24, 法向力=2204.9346, 切向力X=379.8931, 切向力Y=1311.9111
FPS=24.68, 法向力=2482.5847, 切向力X=505.0824, 切向力Y=965.2896
FPS=26.04, 法向力=2405.9688, 切向力X=417.9223, 切向力Y=994.7385
FPS=23.37, 法向力=2543.4915, 切向力X=850.0739, 切向力Y=1476.8529
FPS=23.25, 法向力=2125.4001, 切向力X=820.9694, 切向力Y=1194.5153
FPS=27.04, 法向力=2111.6755, 切向力X=828.2667, 切向力Y=1238.6982
FPS=24.77, 法向力=2067.9343, 切向力X=-65.0650, 切向力Y=1302.6333
FPS=26.27, 法向力=2095.1816, 切向力X=-118.2095, 切向力Y=1307.3511
FPS=25.49, 法向力=2031.1254, 切向力X=191.4522, 切向力Y=986.1852
FPS=24.47, 法向力=2092.9321, 切向力X=186.7188, 切向力Y=989.6184
FPS=24.89, 法向力=2067.2688, 切向力X=501.9781, 切向力Y=1224.9546
FPS=24.86, 法向力=2158.5110, 切向力X=1067.2980, 切向力Y=1370.6501
FPS=26.70, 法向力=2113.5205, 切向力X=1160.6615, 切向力Y=1326.4402
FPS=24.54, 法向力=2672.5342, 切向力X=485.2802, 切向力Y=679.8267
FPS=24.89, 法向力=2270.8501, 切向力X=638.9951, 切向力Y=1280.6755
FPS=25.79, 法向力=2276.1030, 切向力X=677.7782, 切向力Y=1273.0342
FPS=23.24, 法向力=2401.8257, 切向力X=-420.2692, 切向力Y=1208.1216
FPS=26.64, 法向力=2422.1021, 切向力X=-501.1645, 切向力Y=1202.5336
FPS=23.34, 法向力=1995.5861, 切向力X=191.8858, 切向力Y=1453.2274
FPS=25.40, 法向力=1991.7651, 切向力X=221.5058, 切向力Y=1468.3719
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FPS=26.18, 法向力=3750.1592, 切向力X=1254.7756, 切向力Y=4516.3335
FPS=27.23, 法向力=3716.3289, 切向力X=1243.0300, 切向力Y=4558.2505
FPS=26.59, 法向力=3709.0737, 切向力X=1208.1995, 切向力Y=4600.3193
FPS=27.22, 法向力=3666.8835, 切向力X=1680.4702, 切向力Y=5435.1899
FPS=25.06, 法向力=3608.5010, 切向力X=1433.9697, 切向力Y=4165.2441
FPS=26.59, 法向力=3565.7202, 切向力X=1464.8438, 切向力Y=4180.0938
FPS=25.51, 法向力=3779.2910, 切向力X=1307.4087, 切向力Y=3974.8828
FPS=24.07, 法向力=3638.5610, 切向力X=1509.2961, 切向力Y=4271.2251
FPS=24.30, 法向力=3648.6958, 切向力X=1453.1338, 切向力Y=4244.7998
FPS=25.00, 法向力=3677.0039, 切向力X=1742.8381, 切向力Y=4050.5671
FPS=26.90, 法向力=3651.5627, 切向力X=1747.5770, 切向力Y=4075.5454
FPS=26.79, 法向力=3288.3633, 切向力X=1132.7036, 切向力Y=4530.7549
FPS=27.57, 法向力=3285.7578, 切向力X=1139.0963, 切向力Y=4519.6855
FPS=25.41, 法向力=3577.2368, 切向力X=1210.1423, 切向力Y=4093.2312
FPS=26.89, 法向力=3686.8796, 切向力X=1193.2197, 切向力Y=4585.9727
FPS=26.34, 法向力=3674.1782, 切向力X=1206.2971, 切向力Y=4603.6597
FPS=27.16, 法向力=3584.4502, 切向力X=1659.7708, 切向力Y=4140.1392
FPS=27.00, 法向力=3597.2349, 切向力X=1673.9998, 切向力Y=4142.0059
FPS=25.24, 法向力=3865.5405, 切向力X=1151.8602, 切向力Y=4637.7217
FPS=27.12, 法向力=3853.3896, 切向力X=1190.6152, 切向力Y=4565.5938
FPS=26.66, 法向力=3205.5151, 切向力X=1333.7041, 切向力Y=3718.2493
FPS=27.70, 法向力=3186.3416, 切向力X=1366.3380, 切向力Y=3681.3257
FPS=26.70, 法向力=3357.6353, 切向力X=1238.2051, 切向力Y=4235.3037
FPS=26.24, 法向力=3344.3599, 切向力X=991.9149, 切向力Y=3764.1501
FPS=26.54, 法向力=3310.5806, 切向力X=1054.0101, 切向力Y=3782.0737
FPS=25.38, 法向力=3668.1201, 切向力X=1270.1553, 切向力Y=3992.7644
FPS=25.65, 法向力=3609.7349, 切向力X=1359.4260, 切向力Y=4053.8545
FPS=24.96, 法向力=3160.7407, 切向力X=1028.8462, 切向力Y=4111.5518
stitch_feature_optimized: canvas out_w=416, out_h=427, x_min=-81.66, y_min=-87.89
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000250s, blend=0.002197s (9 tiles incl ref), finalize=0.000065s, total=0.002518s
FPS=26.31, 法向力=3077.9551, 切向力X=965.4912, 切向力Y=4205.1323
FPS=26.08, 法向力=3075.3345, 切向力X=1086.4399, 切向力Y=3895.6946
FPS=24.71, 法向力=3665.2510, 切向力X=1319.3710, 切向力Y=3686.3950
FPS=26.84, 法向力=3692.5576, 切向力X=1296.4473, 切向力Y=3737.5625
FPS=25.46, 法向力=3711.8955, 切向力X=1105.4164, 切向力Y=4216.8506
FPS=27.25, 法向力=3745.1672, 切向力X=1205.6842, 切向力Y=4168.8477
FPS=24.48, 法向力=3819.6909, 切向力X=1651.1757, 切向力Y=3972.1357
FPS=26.00, 法向力=3424.0098, 切向力X=1624.1788, 切向力Y=3962.1892
FPS=25.84, 法向力=3412.4385, 切向力X=1547.4937, 切向力Y=3902.7183
FPS=24.21, 法向力=3122.4741, 切向力X=1702.6233, 切向力Y=3752.7554
FPS=26.13, 法向力=3114.4307, 切向力X=1737.4673, 切向力Y=3783.8921
FPS=25.35, 法向力=3494.6790, 切向力X=1413.5525, 切向力Y=3907.9556
FPS=24.36, 法向力=3556.6094, 切向力X=995.3594, 切向力Y=3717.0156
FPS=26.56, 法向力=3594.9092, 切向力X=930.6340, 切向力Y=3689.8101
FPS=25.73, 法向力=3835.3831, 切向力X=1477.7664, 切向力Y=3847.8691
FPS=26.90, 法向力=3835.9568, 切向力X=1436.8358, 切向力Y=3847.9580
FPS=23.48, 法向力=3894.1973, 切向力X=580.9625, 切向力Y=3679.2285
FPS=25.72, 法向力=3852.7324, 切向力X=532.1154, 切向力Y=3740.9814
FPS=25.21, 法向力=3300.9648, 切向力X=1020.4838, 切向力Y=3860.2354
FPS=24.73, 法向力=3519.8193, 切向力X=1268.7224, 切向力Y=3665.8860
FPS=26.66, 法向力=3564.3037, 切向力X=1275.6478, 切向力Y=3690.3862
FPS=23.91, 法向力=3336.7456, 切向力X=1595.5891, 切向力Y=3630.4785
Sensor disconnected.
⏸ 已暂停
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: 1
  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=1, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy
FPS=0.55, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=46.15, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=29.60, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=35.93, 法向力=987.7161, 切向力X=-315.5269, 切向力Y=-158.0090
FPS=43.00, 法向力=1006.0238, 切向力X=-253.6098, 切向力Y=-126.3206
FPS=29.05, 法向力=797.9636, 切向力X=-153.1163, 切向力Y=214.5666
FPS=31.56, 法向力=819.5315, 切向力X=-144.8010, 切向力Y=267.1635
Traceback (most recent call last):
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer
    data_plot = self._make_force_plot_data(self.data[:n].copy())
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data
    data_plot[:, 1, i] = lowpass_filter(
                         ^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter
    return filtfilt(b, a, y)
           ^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt
    edge, ext = _validate_pad(padtype, padlen, x, axis,
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad
    raise ValueError("The length of the input vector x must be greater "
ValueError: The length of the input vector x must be greater than padlen, which is 9.
FPS=30.98, 法向力=858.5684, 切向力X=62.7698, 切向力Y=-56.1706
Traceback (most recent call last):
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer
    data_plot = self._make_force_plot_data(self.data[:n].copy())
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data
    data_plot[:, 1, i] = lowpass_filter(
                         ^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter
    return filtfilt(b, a, y)
           ^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt
    edge, ext = _validate_pad(padtype, padlen, x, axis,
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad
    raise ValueError("The length of the input vector x must be greater "
ValueError: The length of the input vector x must be greater than padlen, which is 9.
FPS=40.56, 法向力=916.4617, 切向力X=33.2301, 切向力Y=-136.1900
Traceback (most recent call last):
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 569, in _on_timer
    data_plot = self._make_force_plot_data(self.data[:n].copy())
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 485, in _make_force_plot_data
    data_plot[:, 1, i] = lowpass_filter(
                         ^^^^^^^^^^^^^^^
  File "D:\workspace\orisyssdk_git\examples\qt_viewer.py", line 95, in lowpass_filter
    return filtfilt(b, a, y)
           ^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4171, in filtfilt
    edge, ext = _validate_pad(padtype, padlen, x, axis,
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\.conda\envs\py311\Lib\site-packages\scipy\signal\_signaltools.py", line 4221, in _validate_pad
    raise ValueError("The length of the input vector x must be greater "
ValueError: The length of the input vector x must be greater than padlen, which is 9.
FPS=33.99, 法向力=746.8263, 切向力X=0.4814, 切向力Y=169.0934
FPS=43.06, 法向力=752.3972, 切向力X=-29.5357, 切向力Y=193.4570
FPS=30.19, 法向力=745.9215, 切向力X=-35.7648, 切向力Y=191.0648
FPS=30.26, 法向力=1177.1364, 切向力X=-714.3524, 切向力Y=-530.8387
FPS=31.67, 法向力=1198.5574, 切向力X=-728.6755, 切向力Y=-571.0206
FPS=29.21, 法向力=1038.5889, 切向力X=-357.4453, 切向力Y=-30.8898
FPS=30.32, 法向力=1008.2762, 切向力X=-342.1230, 切向力Y=31.5098
FPS=29.46, 法向力=1315.3053, 切向力X=-730.1610, 切向力Y=160.0004
FPS=29.76, 法向力=1283.6357, 切向力X=-730.7975, 切向力Y=104.2621
FPS=28.95, 法向力=884.6875, 切向力X=-615.5920, 切向力Y=-317.1555
FPS=30.71, 法向力=889.9636, 切向力X=-626.2586, 切向力Y=-283.3881
FPS=29.50, 法向力=940.3849, 切向力X=158.2632, 切向力Y=220.1028
FPS=31.75, 法向力=940.8540, 切向力X=169.6530, 切向力Y=203.3889
FPS=29.21, 法向力=1209.7661, 切向力X=-231.9709, 切向力Y=518.8602
FPS=30.97, 法向力=1248.8027, 切向力X=-238.2907, 切向力Y=551.5449
FPS=28.68, 法向力=1059.3606, 切向力X=-437.0455, 切向力Y=530.3896
FPS=30.55, 法向力=1063.4109, 切向力X=-470.3731, 切向力Y=452.7749
FPS=28.88, 法向力=988.5145, 切向力X=-420.2427, 切向力Y=209.1905
FPS=30.97, 法向力=1001.0090, 切向力X=-385.9817, 切向力Y=276.7870
stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000224s, blend=0.002222s (9 tiles incl ref), finalize=0.000106s, total=0.002558s
FPS=27.81, 法向力=993.5797, 切向力X=-532.2087, 切向力Y=563.1449
FPS=29.58, 法向力=1043.4868, 切向力X=-395.2531, 切向力Y=515.9800
FPS=29.43, 法向力=1086.0498, 切向力X=-221.1471, 切向力Y=-245.1187
FPS=30.41, 法向力=1114.7397, 切向力X=-237.0081, 切向力Y=-173.1523
FPS=31.06, 法向力=956.6899, 切向力X=-334.9757, 切向力Y=-479.0164
FPS=30.24, 法向力=984.1998, 切向力X=-333.2471, 切向力Y=-424.1958
FPS=30.76, 法向力=834.7789, 切向力X=116.6739, 切向力Y=74.4799
FPS=30.73, 法向力=874.8163, 切向力X=202.4428, 切向力Y=0.2374
FPS=28.46, 法向力=815.0675, 切向力X=-670.2047, 切向力Y=149.0151
FPS=27.79, 法向力=816.3220, 切向力X=-589.2573, 切向力Y=96.7283
FPS=27.99, 法向力=852.9354, 切向力X=-257.5992, 切向力Y=-230.9318
FPS=31.36, 法向力=845.3796, 切向力X=-167.9850, 切向力Y=-160.8131
FPS=30.14, 法向力=977.3751, 切向力X=-734.1708, 切向力Y=-192.7563
FPS=31.46, 法向力=979.3811, 切向力X=-695.5369, 切向力Y=-354.4387
FPS=31.74, 法向力=774.4993, 切向力X=-296.6784, 切向力Y=130.3677
FPS=32.16, 法向力=778.6656, 切向力X=-289.9747, 切向力Y=186.2589
FPS=30.24, 法向力=915.9119, 切向力X=-108.6342, 切向力Y=335.1827
FPS=30.18, 法向力=890.2115, 切向力X=-146.4315, 切向力Y=453.8633
FPS=29.22, 法向力=1320.5480, 切向力X=-361.2277, 切向力Y=912.3873
FPS=28.67, 法向力=1307.8237, 切向力X=-455.9565, 切向力Y=707.2053
FPS=27.40, 法向力=1042.2836, 切向力X=-4.2604, 切向力Y=47.3709
FPS=29.62, 法向力=1128.5103, 切向力X=134.7079, 切向力Y=-37.5167
FPS=27.55, 法向力=1144.5168, 切向力X=-415.4328, 切向力Y=509.5645
FPS=29.68, 法向力=1243.7368, 切向力X=-428.1983, 切向力Y=530.7936
FPS=29.75, 法向力=1142.4905, 切向力X=-110.1395, 切向力Y=-138.6988
FPS=26.06, 法向力=906.3805, 切向力X=-270.8400, 切向力Y=529.5860
FPS=30.66, 法向力=930.9248, 切向力X=-217.0660, 切向力Y=504.4432
FPS=30.63, 法向力=1071.4431, 切向力X=-360.0922, 切向力Y=314.2449
FPS=31.33, 法向力=1135.9501, 切向力X=-412.1961, 切向力Y=345.2607
FPS=31.81, 法向力=928.6622, 切向力X=195.5735, 切向力Y=413.8849
stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000213s, blend=0.002229s (9 tiles incl ref), finalize=0.000051s, total=0.002499s
FPS=29.58, 法向力=925.1658, 切向力X=281.5059, 切向力Y=512.9758
FPS=29.84, 法向力=929.1128, 切向力X=251.2150, 切向力Y=507.7955
FPS=28.16, 法向力=992.2197, 切向力X=-678.9376, 切向力Y=50.9580
FPS=29.02, 法向力=962.6734, 切向力X=-730.0314, 切向力Y=97.5407
FPS=29.24, 法向力=1041.5522, 切向力X=-689.1288, 切向力Y=15.0630
FPS=28.66, 法向力=783.0815, 切向力X=412.1154, 切向力Y=5.2627
FPS=28.62, 法向力=835.6448, 切向力X=518.6500, 切向力Y=50.2251
FPS=27.83, 法向力=781.6334, 切向力X=-349.1987, 切向力Y=178.9742
FPS=30.35, 法向力=814.6282, 切向力X=-327.2919, 切向力Y=219.3048
FPS=25.08, 法向力=696.4283, 切向力X=-531.7759, 切向力Y=316.8793
FPS=21.54, 法向力=756.2667, 切向力X=-503.6568, 切向力Y=324.0138
FPS=29.56, 法向力=724.6872, 切向力X=-48.1352, 切向力Y=180.1782
FPS=31.96, 法向力=729.6705, 切向力X=18.8543, 切向力Y=267.1771
FPS=31.22, 法向力=812.3079, 切向力X=258.2438, 切向力Y=63.9951
FPS=33.41, 法向力=793.2894, 切向力X=162.6203, 切向力Y=38.1275
FPS=28.80, 法向力=795.5626, 切向力X=188.8818, 切向力Y=283.0615
FPS=32.41, 法向力=804.6198, 切向力X=177.4686, 切向力Y=327.5970
FPS=30.56, 法向力=982.2949, 切向力X=-217.3812, 切向力Y=487.2209
FPS=32.66, 法向力=1038.6146, 切向力X=-209.0791, 切向力Y=521.1254
FPS=30.56, 法向力=757.0117, 切向力X=149.5312, 切向力Y=-184.2445
FPS=33.14, 法向力=774.8457, 切向力X=184.0917, 切向力Y=-193.9514
FPS=30.63, 法向力=1038.1813, 切向力X=946.1326, 切向力Y=405.5787
FPS=31.30, 法向力=1044.4490, 切向力X=909.5317, 切向力Y=406.1887
FPS=30.63, 法向力=1087.5442, 切向力X=-551.5648, 切向力Y=695.3154
FPS=33.41, 法向力=1128.1553, 切向力X=-529.8508, 切向力Y=674.3914
FPS=31.52, 法向力=1159.8728, 切向力X=-521.0239, 切向力Y=662.5093
FPS=30.84, 法向力=795.0240, 切向力X=-312.8335, 切向力Y=-1.1659
FPS=30.09, 法向力=806.1382, 切向力X=-375.8760, 切向力Y=-471.3898
FPS=30.91, 法向力=813.9219, 切向力X=-406.3410, 切向力Y=-429.0808
FPS=31.75, 法向力=875.0570, 切向力X=-320.0922, 切向力Y=193.0018
stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000211s, blend=0.002116s (9 tiles incl ref), finalize=0.000049s, total=0.002382s
FPS=31.44, 法向力=881.1025, 切向力X=-289.9706, 切向力Y=179.7144
FPS=31.84, 法向力=944.9934, 切向力X=-982.3029, 切向力Y=293.3170
FPS=32.75, 法向力=978.8785, 切向力X=-934.2389, 切向力Y=224.5897
FPS=30.85, 法向力=984.4500, 切向力X=-927.4200, 切向力Y=209.1696
FPS=31.19, 法向力=1182.6344, 切向力X=-663.8353, 切向力Y=418.1299
FPS=32.63, 法向力=1223.5806, 切向力X=-696.5778, 切向力Y=414.4063
FPS=30.74, 法向力=1289.0764, 切向力X=-757.5173, 切向力Y=372.6609
FPS=30.42, 法向力=1267.3655, 切向力X=-757.0676, 切向力Y=381.4963
FPS=30.08, 法向力=851.7134, 切向力X=-276.8569, 切向力Y=353.8641
FPS=30.78, 法向力=873.4407, 切向力X=-307.5554, 切向力Y=334.1033
FPS=28.20, 法向力=1098.2712, 切向力X=-511.3723, 切向力Y=343.5350
FPS=30.06, 法向力=1078.4170, 切向力X=-519.4764, 切向力Y=320.9833
FPS=28.55, 法向力=988.5007, 切向力X=-145.0396, 切向力Y=243.0716
FPS=30.57, 法向力=998.9502, 切向力X=-153.9946, 切向力Y=249.5539
FPS=28.75, 法向力=931.5571, 切向力X=-584.4492, 切向力Y=184.5329
FPS=28.89, 法向力=950.2699, 切向力X=-671.7350, 切向力Y=192.9807
FPS=29.18, 法向力=1079.8352, 切向力X=-512.8641, 切向力Y=-79.9904
FPS=30.46, 法向力=1115.6832, 切向力X=-390.4214, 切向力Y=-151.6436
FPS=27.85, 法向力=887.3845, 切向力X=24.1522, 切向力Y=10.7398
FPS=29.38, 法向力=920.3749, 切向力X=19.1029, 切向力Y=-65.3998
FPS=28.62, 法向力=892.5164, 切向力X=-116.0974, 切向力Y=190.6813
FPS=29.83, 法向力=925.0328, 切向力X=-130.7855, 切向力Y=213.9364
FPS=29.21, 法向力=1002.1632, 切向力X=-491.2265, 切向力Y=310.0308
FPS=28.88, 法向力=1117.8097, 切向力X=-172.2230, 切向力Y=1028.1111
FPS=27.74, 法向力=1116.8652, 切向力X=-251.9872, 切向力Y=926.8922
FPS=26.15, 法向力=954.4119, 切向力X=-512.1284, 切向力Y=282.5128
FPS=28.56, 法向力=930.8807, 切向力X=-466.7433, 切向力Y=216.4207
FPS=28.51, 法向力=975.7863, 切向力X=284.6652, 切向力Y=611.0985
FPS=30.54, 法向力=994.5211, 切向力X=294.4171, 切向力Y=638.9979
FPS=29.44, 法向力=904.4323, 切向力X=167.4489, 切向力Y=536.7897
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FPS=30.07, 法向力=956.2293, 切向力X=234.5274, 切向力Y=440.2448
FPS=29.66, 法向力=951.6285, 切向力X=-346.9662, 切向力Y=274.4604
FPS=26.39, 法向力=946.4866, 切向力X=-376.9036, 切向力Y=182.6711
FPS=23.16, 法向力=1223.0841, 切向力X=-713.5158, 切向力Y=694.7966
FPS=25.64, 法向力=1336.6503, 切向力X=-788.9243, 切向力Y=754.4083
FPS=25.59, 法向力=823.5127, 切向力X=-184.7360, 切向力Y=27.4294
FPS=25.05, 法向力=972.8250, 切向力X=-358.7701, 切向力Y=293.2654
FPS=26.94, 法向力=1000.9466, 切向力X=-381.6719, 切向力Y=307.8782
FPS=22.35, 法向力=909.9242, 切向力X=69.7704, 切向力Y=305.9125
FPS=26.38, 法向力=947.9354, 切向力X=33.5068, 切向力Y=351.1113
FPS=25.36, 法向力=1064.6226, 切向力X=310.8185, 切向力Y=328.6164
FPS=24.52, 法向力=946.8978, 切向力X=460.0737, 切向力Y=-34.2494
FPS=26.07, 法向力=942.6730, 切向力X=463.4035, 切向力Y=-116.3128
FPS=23.85, 法向力=946.9153, 切向力X=-402.0983, 切向力Y=380.7497
FPS=26.36, 法向力=968.6769, 切向力X=-476.5454, 切向力Y=413.6026
FPS=25.92, 法向力=1171.3241, 切向力X=-82.1521, 切向力Y=3.3901
FPS=25.58, 法向力=1036.0022, 切向力X=-536.3455, 切向力Y=500.1497
FPS=26.07, 法向力=1118.1980, 切向力X=-618.6097, 切向力Y=424.2217
FPS=24.39, 法向力=1135.3525, 切向力X=-212.0995, 切向力Y=-326.8579
FPS=26.52, 法向力=1095.0485, 切向力X=-179.2694, 切向力Y=-245.7886
FPS=24.68, 法向力=789.2843, 切向力X=-111.4539, 切向力Y=301.8645
FPS=25.60, 法向力=974.9575, 切向力X=229.9431, 切向力Y=366.6539
FPS=25.31, 法向力=1011.7037, 切向力X=260.2773, 切向力Y=374.8434
FPS=25.19, 法向力=1080.6262, 切向力X=162.9591, 切向力Y=311.3152
FPS=26.73, 法向力=1063.1915, 切向力X=138.2250, 切向力Y=348.2389
FPS=24.81, 法向力=717.8434, 切向力X=-137.0352, 切向力Y=224.7443
FPS=25.41, 法向力=816.7044, 切向力X=363.3251, 切向力Y=535.1223
FPS=26.05, 法向力=848.7010, 切向力X=286.3270, 切向力Y=563.6333
FPS=25.33, 法向力=735.8273, 切向力X=528.1473, 切向力Y=-189.6214
FPS=26.38, 法向力=732.6193, 切向力X=506.3907, 切向力Y=-239.0498
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FPS=23.92, 法向力=995.8634, 切向力X=12.9240, 切向力Y=-60.6732
FPS=25.52, 法向力=973.4648, 切向力X=35.7891, 切向力Y=98.8344
FPS=25.28, 法向力=873.4344, 切向力X=421.6156, 切向力Y=385.2543
FPS=24.42, 法向力=1205.8469, 切向力X=161.3680, 切向力Y=276.3948
FPS=26.67, 法向力=1209.2595, 切向力X=136.9292, 切向力Y=336.1606
FPS=24.54, 法向力=985.8165, 切向力X=77.4832, 切向力Y=570.3588
FPS=24.96, 法向力=996.5088, 切向力X=166.9187, 切向力Y=538.4871
FPS=24.60, 法向力=918.6622, 切向力X=54.0323, 切向力Y=795.9880
FPS=25.53, 法向力=935.4473, 切向力X=32.9158, 切向力Y=874.2398
FPS=25.73, 法向力=1262.4111, 切向力X=218.7210, 切向力Y=513.5219
FPS=24.11, 法向力=903.0507, 切向力X=-64.8125, 切向力Y=324.8771
FPS=26.12, 法向力=914.5208, 切向力X=-99.8538, 切向力Y=356.8234
FPS=24.57, 法向力=737.6021, 切向力X=-283.5537, 切向力Y=426.1483
FPS=23.97, 法向力=756.9368, 切向力X=192.3972, 切向力Y=362.4188
FPS=24.10, 法向力=812.4440, 切向力X=69.9777, 切向力Y=387.0516
FPS=22.66, 法向力=905.2178, 切向力X=-93.8301, 切向力Y=650.9146
FPS=24.26, 法向力=1678.2683, 切向力X=-989.8859, 切向力Y=7420.4189
FPS=25.50, 法向力=1606.8706, 切向力X=-1049.9783, 切向力Y=7706.5410
FPS=23.55, 法向力=3356.1936, 切向力X=4489.5576, 切向力Y=11940.5791
FPS=23.56, 法向力=3253.0703, 切向力X=4852.2432, 切向力Y=12171.4268
FPS=23.60, 法向力=3772.4878, 切向力X=27579.9082, 切向力Y=36277.0859
FPS=23.68, 法向力=7340.8818, 切向力X=54036.8672, 切向力Y=69436.6484
FPS=21.21, 法向力=7310.7148, 切向力X=54249.1016, 切向力Y=69152.7266
FPS=20.99, 法向力=12612.5703, 切向力X=58225.7227, 切向力Y=94878.3750
FPS=20.91, 法向力=13237.9492, 切向力X=57289.6875, 切向力Y=98044.3906
FPS=21.98, 法向力=12827.1348, 切向力X=57329.2578, 切向力Y=98648.7812
FPS=20.82, 法向力=13199.0586, 切向力X=48418.8516, 切向力Y=95018.0781
FPS=20.90, 法向力=8724.1787, 切向力X=18167.4531, 切向力Y=58724.0391
FPS=21.50, 法向力=8519.7715, 切向力X=18585.8594, 切向力Y=59086.8398
FPS=21.42, 法向力=3398.3933, 切向力X=7245.4312, 切向力Y=14365.4316
stitch_feature_optimized: canvas out_w=418, out_h=428, x_min=-82.03, y_min=-89.96
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FPS=21.34, 法向力=2359.6060, 切向力X=4686.5435, 切向力Y=7809.5630
FPS=21.61, 法向力=1787.8193, 切向力X=3816.4822, 切向力Y=6266.6304
FPS=21.35, 法向力=1789.9410, 切向力X=3762.7559, 切向力Y=6268.7729
FPS=21.57, 法向力=1386.7960, 切向力X=2745.9414, 切向力Y=4280.6318
FPS=22.35, 法向力=1311.8822, 切向力X=2631.0913, 切向力Y=3375.8689
FPS=21.76, 法向力=1281.7913, 切向力X=2612.7234, 切向力Y=3394.1836
FPS=21.43, 法向力=1070.2222, 切向力X=1985.7218, 切向力Y=3569.3105
FPS=20.89, 法向力=956.6124, 切向力X=1745.2983, 切向力Y=3423.8215
FPS=21.72, 法向力=866.8002, 切向力X=1810.2246, 切向力Y=3044.5342
FPS=22.50, 法向力=936.4372, 切向力X=1852.3680, 切向力Y=3081.2581
FPS=21.49, 法向力=1004.8689, 切向力X=2082.1650, 切向力Y=2530.5632
FPS=21.37, 法向力=907.9279, 切向力X=1327.3149, 切向力Y=2789.1560
FPS=21.53, 法向力=988.6449, 切向力X=1201.4912, 切向力Y=2669.1460
FPS=21.04, 法向力=812.7767, 切向力X=1270.2800, 切向力Y=2302.9429
FPS=22.17, 法向力=648.8715, 切向力X=1460.0046, 切向力Y=2494.9038
FPS=22.47, 法向力=654.5660, 切向力X=1410.6375, 切向力Y=2442.3911
FPS=21.22, 法向力=1173.6284, 切向力X=1306.1079, 切向力Y=2259.1458
FPS=21.28, 法向力=1006.9850, 切向力X=1471.6556, 切向力Y=1634.8931
FPS=22.40, 法向力=966.8995, 切向力X=1516.9617, 切向力Y=1522.6194
FPS=21.91, 法向力=872.5859, 切向力X=947.4987, 切向力Y=1953.1665
FPS=21.54, 法向力=775.2636, 切向力X=1259.5327, 切向力Y=1887.3226
FPS=24.43, 法向力=736.8522, 切向力X=1192.5044, 切向力Y=1899.2683
FPS=22.17, 法向力=1151.5460, 切向力X=1074.0143, 切向力Y=1488.9104
FPS=22.58, 法向力=664.0900, 切向力X=1087.9919, 切向力Y=1533.7527
FPS=23.98, 法向力=632.0325, 切向力X=1097.6814, 切向力Y=1593.3965
FPS=22.90, 法向力=879.4373, 切向力X=1451.1677, 切向力Y=1422.1047
FPS=22.93, 法向力=683.3995, 切向力X=1439.2256, 切向力Y=1187.4080
FPS=23.95, 法向力=682.0309, 切向力X=1386.4136, 切向力Y=1220.8062
FPS=22.54, 法向力=809.9454, 切向力X=1471.4604, 切向力Y=1794.1554
FPS=23.75, 法向力=781.4933, 切向力X=1486.0916, 切向力Y=1841.3048
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FPS=24.12, 法向力=780.5208, 切向力X=1083.0081, 切向力Y=1314.9006
FPS=22.59, 法向力=1494.7227, 切向力X=1679.6125, 切向力Y=1186.0559
FPS=23.53, 法向力=1385.8843, 切向力X=1580.3315, 切向力Y=1162.7878
FPS=24.56, 法向力=1125.3145, 切向力X=836.6315, 切向力Y=1115.3978
FPS=22.42, 法向力=1015.7014, 切向力X=1703.7729, 切向力Y=1731.1931
FPS=24.72, 法向力=1119.5066, 切向力X=1853.8097, 切向力Y=1787.9431
FPS=24.40, 法向力=1330.8737, 切向力X=1077.5002, 切向力Y=1023.8943
FPS=24.65, 法向力=1082.0388, 切向力X=1387.8162, 切向力Y=1216.4258
FPS=23.99, 法向力=1086.7848, 切向力X=1368.8892, 切向力Y=1255.3518
FPS=23.65, 法向力=1176.9563, 切向力X=1254.0725, 切向力Y=795.8913
FPS=25.85, 法向力=1120.4951, 切向力X=1107.9850, 切向力Y=832.0140
FPS=23.92, 法向力=693.5701, 切向力X=574.0021, 切向力Y=1455.9519
FPS=24.15, 法向力=1016.4036, 切向力X=768.6504, 切向力Y=1636.1282
FPS=20.30, 法向力=1157.3939, 切向力X=738.4558, 切向力Y=1560.4620
Sensor disconnected.
⏸ 已暂停