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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=30
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: C:\Users\orisys2601\Desktop\dd_claw\./config/ddjx01.npy
[Error] 读取配置文件失败: JSON 文件格式不匹配，找不到矩阵参数！
  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=0.47, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=5.08, 法向力=1509.3735, 切向力X=-302.8310, 切向力Y=972.6979
FPS=26.76, 法向力=1111.3643, 切向力X=-575.8857, 切向力Y=136.7672
FPS=28.44, 法向力=1057.5764, 切向力X=-561.6890, 切向力Y=161.4724
FPS=30.87, 法向力=1456.3389, 切向力X=-222.1656, 切向力Y=322.3061
FPS=32.73, 法向力=1442.3021, 切向力X=-288.5618, 切向力Y=268.7023
FPS=29.70, 法向力=1917.8254, 切向力X=-250.0246, 切向力Y=711.7618
Traceback (most recent call last):
  File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 599, in _on_timer
    data_plot[:, 1, i] = lowpass_filter(
                         ^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 125, 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=34.53, 法向力=1927.5444, 切向力X=-312.3400, 切向力Y=693.8900
Traceback (most recent call last):
  File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 599, in _on_timer
    data_plot[:, 1, i] = lowpass_filter(
                         ^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 125, 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=40.24, 法向力=1458.6370, 切向力X=-73.2592, 切向力Y=1453.4950
Traceback (most recent call last):
  File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 599, in _on_timer
    data_plot[:, 1, i] = lowpass_filter(
                         ^^^^^^^^^^^^^^^
  File "C:\Users\orisys2601\Desktop\dd_claw\examples\qt_viewer_2.py", line 125, 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=40.84, 法向力=1437.8748, 切向力X=-43.4202, 切向力Y=1401.7517
FPS=40.32, 法向力=1323.8347, 切向力X=-516.1204, 切向力Y=855.4493
FPS=32.67, 法向力=1341.8401, 切向力X=-631.1521, 切向力Y=777.0631
FPS=30.46, 法向力=1327.0924, 切向力X=-612.9222, 切向力Y=759.7850
FPS=30.91, 法向力=1347.0994, 切向力X=-211.8209, 切向力Y=684.6572
FPS=32.36, 法向力=1292.3995, 切向力X=-57.3909, 切向力Y=693.4932
FPS=29.80, 法向力=1411.8094, 切向力X=31.2399, 切向力Y=477.9405
FPS=31.69, 法向力=1486.4109, 切向力X=97.9119, 切向力Y=439.9634
FPS=30.12, 法向力=1185.0913, 切向力X=-217.4748, 切向力Y=655.9201
FPS=32.82, 法向力=1169.5835, 切向力X=-210.3701, 切向力Y=581.8332
FPS=30.70, 法向力=1311.5378, 切向力X=-562.1420, 切向力Y=918.1774
FPS=33.38, 法向力=1376.6870, 切向力X=-643.0939, 切向力Y=958.5068
FPS=30.91, 法向力=1528.6108, 切向力X=-218.0255, 切向力Y=1018.5632
FPS=33.46, 法向力=1520.0615, 切向力X=-192.1902, 切向力Y=1053.4580
FPS=28.75, 法向力=1656.8132, 切向力X=-652.9982, 切向力Y=233.3200
FPS=32.84, 法向力=1694.7858, 切向力X=-599.6809, 切向力Y=246.6519
FPS=31.71, 法向力=1657.1864, 切向力X=-619.4561, 切向力Y=147.0999
FPS=30.65, 法向力=1695.1625, 切向力X=-142.9745, 切向力Y=767.2864
FPS=31.03, 法向力=1723.6316, 切向力X=-118.3207, 切向力Y=860.7509
stitch_feature_optimized: canvas out_w=418, out_h=427, x_min=-84.51, y_min=-85.42
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000350s, blend=0.002441s (9 tiles incl ref), finalize=0.000057s, total=0.002854s
FPS=31.29, 法向力=1339.0032, 切向力X=-529.9409, 切向力Y=1233.5005
FPS=31.00, 法向力=1334.1885, 切向力X=-504.6945, 切向力Y=1250.1667
FPS=31.74, 法向力=1165.1526, 切向力X=-911.5529, 切向力Y=680.8480
FPS=31.46, 法向力=1156.7358, 切向力X=-865.7690, 切向力Y=602.5157
FPS=35.29, 法向力=1393.1456, 切向力X=-637.8483, 切向力Y=894.2182
FPS=35.29, 法向力=1426.7146, 切向力X=-595.0623, 切向力Y=773.3568
FPS=33.65, 法向力=1796.4807, 切向力X=6.8526, 切向力Y=984.0396
FPS=37.06, 法向力=1722.5408, 切向力X=-18.1864, 切向力Y=1035.7102
FPS=33.96, 法向力=1326.3087, 切向力X=-580.1920, 切向力Y=165.8001
FPS=34.79, 法向力=1294.7363, 切向力X=-696.8393, 切向力Y=72.9584
FPS=34.45, 法向力=1353.4629, 切向力X=-748.5137, 切向力Y=79.6798
FPS=29.84, 法向力=1229.7385, 切向力X=-135.4218, 切向力Y=-281.6786
FPS=31.61, 法向力=1232.6809, 切向力X=-71.5171, 切向力Y=-304.5503
FPS=29.21, 法向力=1693.5547, 切向力X=-350.5994, 切向力Y=1079.4463
FPS=30.71, 法向力=1696.0946, 切向力X=-289.9446, 切向力Y=1126.1521
FPS=30.14, 法向力=1707.0754, 切向力X=-192.7370, 切向力Y=988.1028
FPS=30.04, 法向力=1651.3113, 切向力X=-65.2804, 切向力Y=960.9922
FPS=30.44, 法向力=1455.1058, 切向力X=-609.7972, 切向力Y=595.5880
FPS=31.08, 法向力=1479.8027, 切向力X=-685.4323, 切向力Y=376.6464
FPS=30.17, 法向力=1938.6504, 切向力X=75.9642, 切向力Y=1236.0061
FPS=30.83, 法向力=1977.6807, 切向力X=117.4473, 切向力Y=1209.5437
FPS=31.51, 法向力=1599.3856, 切向力X=-1308.1555, 切向力Y=196.8184
FPS=31.34, 法向力=1497.5708, 切向力X=-1424.9305, 切向力Y=163.3746
FPS=29.03, 法向力=1412.4108, 切向力X=-1622.7129, 切向力Y=-1236.0579
FPS=31.25, 法向力=1385.4518, 切向力X=-1636.1038, 切向力Y=-1301.0105
FPS=27.82, 法向力=1632.9363, 切向力X=-3416.1797, 切向力Y=-3287.2361
FPS=32.12, 法向力=1691.1259, 切向力X=-3616.0996, 切向力Y=-3357.6689
FPS=29.50, 法向力=4020.4756, 切向力X=-8160.1035, 切向力Y=-9235.3887
FPS=31.60, 法向力=4237.7168, 切向力X=-8447.6611, 切向力Y=-9514.0820
FPS=29.17, 法向力=6517.2354, 切向力X=-17582.9336, 切向力Y=-20206.5156
stitch_feature_optimized: canvas out_w=418, out_h=427, x_min=-84.51, y_min=-85.42
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000344s, blend=0.002341s (9 tiles incl ref), finalize=0.000057s, total=0.002750s
FPS=30.59, 法向力=6481.4365, 切向力X=-18106.5605, 切向力Y=-20606.6875
FPS=29.39, 法向力=8189.7207, 切向力X=-28069.8711, 切向力Y=-33099.3945
FPS=31.63, 法向力=7824.3506, 切向力X=-28573.5391, 切向力Y=-33482.6094
FPS=29.09, 法向力=12045.5088, 切向力X=-54113.3047, 切向力Y=-43634.3750
FPS=31.25, 法向力=12082.6455, 切向力X=-54407.3867, 切向力Y=-43146.2617
FPS=25.06, 法向力=17929.1914, 切向力X=-80624.9219, 切向力Y=-49254.4727
FPS=28.50, 法向力=17721.4883, 切向力X=-81124.9453, 切向力Y=-49144.7109
FPS=26.16, 法向力=21609.7305, 切向力X=-98751.9062, 切向力Y=-52014.8438
FPS=22.45, 法向力=19920.3848, 切向力X=-101091.3047, 切向力Y=-49758.0469
FPS=28.46, 法向力=19874.7500, 切向力X=-100925.8125, 切向力Y=-49480.6094
FPS=26.78, 法向力=17172.2285, 切向力X=-91490.5625, 切向力Y=-45313.2344
FPS=30.83, 法向力=17518.8750, 切向力X=-90570.4219, 切向力Y=-44693.0625
FPS=28.21, 法向力=13740.3555, 切向力X=-74088.4141, 切向力Y=-38194.0156
FPS=30.17, 法向力=13995.1562, 切向力X=-74143.3594, 切向力Y=-37951.5625
FPS=28.05, 法向力=9662.1758, 切向力X=-39518.2578, 切向力Y=-20872.1836
FPS=29.85, 法向力=9390.8027, 切向力X=-39900.6562, 切向力Y=-20854.7227
FPS=27.40, 法向力=5818.3467, 切向力X=-16402.3691, 切向力Y=-6723.1357
FPS=30.19, 法向力=5719.5063, 切向力X=-16611.5508, 切向力Y=-6639.8379
FPS=27.88, 法向力=4527.7158, 切向力X=-11310.3076, 切向力Y=-3444.7446
FPS=30.32, 法向力=4488.4346, 切向力X=-11304.9238, 切向力Y=-3494.2739
FPS=29.42, 法向力=3295.2402, 切向力X=-8086.9819, 切向力Y=-2879.9749
FPS=31.37, 法向力=3360.5942, 切向力X=-7980.5244, 切向力Y=-2913.2407
FPS=28.09, 法向力=2665.0415, 切向力X=-5194.1445, 切向力Y=-2379.0693
FPS=30.55, 法向力=2586.1577, 切向力X=-5165.7661, 切向力Y=-2472.5081
FPS=29.89, 法向力=1927.0491, 切向力X=2910.9888, 切向力Y=-1912.5649
FPS=30.85, 法向力=2023.5696, 切向力X=2933.4590, 切向力Y=-1925.9021
FPS=28.05, 法向力=2518.5444, 切向力X=24600.8027, 切向力Y=-1048.6171
FPS=29.73, 法向力=2522.9351, 切向力X=24561.3008, 切向力Y=-1113.4987
FPS=28.40, 法向力=6832.7910, 切向力X=52569.0898, 切向力Y=-6777.2041
FPS=29.28, 法向力=6751.5044, 切向力X=52828.2266, 切向力Y=-6920.4111
stitch_feature_optimized: canvas out_w=418, out_h=427, x_min=-84.51, y_min=-85.42
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000206s, blend=0.002122s (9 tiles incl ref), finalize=0.000051s, total=0.002386s
FPS=30.81, 法向力=13172.7793, 切向力X=73272.8203, 切向力Y=-13203.0059
FPS=29.25, 法向力=13280.3262, 切向力X=73637.1328, 切向力Y=-13304.9277
FPS=28.90, 法向力=17762.2754, 切向力X=82432.0547, 切向力Y=-15952.3750
FPS=31.13, 法向力=17842.5430, 切向力X=82902.4219, 切向力Y=-16222.2559
FPS=32.08, 法向力=20958.6055, 切向力X=82473.6562, 切向力Y=-15774.5020
FPS=30.57, 法向力=18903.6641, 切向力X=71702.5781, 切向力Y=-11467.5449
FPS=30.93, 法向力=18622.1406, 切向力X=71742.2578, 切向力Y=-11622.2715
FPS=31.32, 法向力=18576.5645, 切向力X=71673.8516, 切向力Y=-11699.1289
FPS=29.66, 法向力=15003.8906, 切向力X=57667.5469, 切向力Y=-8020.4873
FPS=32.05, 法向力=14664.6963, 切向力X=57052.8750, 切向力Y=-7772.7373
FPS=28.91, 法向力=13265.5488, 切向力X=49187.6562, 切向力Y=-7185.5444
FPS=31.94, 法向力=13035.7959, 切向力X=48795.5703, 切向力Y=-6808.6025
FPS=28.66, 法向力=11961.1680, 切向力X=44839.4883, 切向力Y=-6268.3081
FPS=31.90, 法向力=12020.1240, 切向力X=44552.2539, 切向力Y=-5958.8682
FPS=29.60, 法向力=11395.8604, 切向力X=38949.5195, 切向力Y=-4526.9795
FPS=30.62, 法向力=11417.1562, 切向力X=38856.1602, 切向力Y=-4440.0918
FPS=29.67, 法向力=9882.1074, 切向力X=27963.0859, 切向力Y=-4792.4346
FPS=31.49, 法向力=9737.4297, 切向力X=27832.9141, 切向力Y=-4755.1016
FPS=29.35, 法向力=8012.9219, 切向力X=11126.1787, 切向力Y=-4080.6155
FPS=32.34, 法向力=8102.6313, 切向力X=11119.4512, 切向力Y=-3994.1792
FPS=29.01, 法向力=6255.0879, 切向力X=1363.4805, 切向力Y=-3071.0859
FPS=31.53, 法向力=6284.0166, 切向力X=1329.9346, 切向力Y=-3013.0745
FPS=28.90, 法向力=3744.5283, 切向力X=-7865.2627, 切向力Y=2394.7085
FPS=29.59, 法向力=3712.6226, 切向力X=-8096.9521, 切向力Y=2553.2056
FPS=27.92, 法向力=1912.2880, 切向力X=-7444.3315, 切向力Y=2694.5967
FPS=29.17, 法向力=1925.0459, 切向力X=-7437.5610, 切向力Y=2592.3057
FPS=28.40, 法向力=1628.0017, 切向力X=-1346.4426, 切向力Y=1119.9158
FPS=30.62, 法向力=1671.4489, 切向力X=-1299.9016, 切向力Y=1015.8008
FPS=30.43, 法向力=1495.5112, 切向力X=-584.6556, 切向力Y=1220.8945
FPS=31.10, 法向力=1532.5164, 切向力X=-519.2991, 切向力Y=1221.0306
stitch_feature_optimized: canvas out_w=418, out_h=427, x_min=-84.51, y_min=-85.42
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000235s, blend=0.002154s (9 tiles incl ref), finalize=0.000052s, total=0.002447s
FPS=31.39, 法向力=983.4551, 切向力X=1972.6482, 切向力Y=-918.0306
FPS=32.66, 法向力=936.6230, 切向力X=2038.8633, 切向力Y=-1058.9980
FPS=26.47, 法向力=2141.2830, 切向力X=12906.0176, 切向力Y=-2341.2153
FPS=28.17, 法向力=2112.6350, 切向力X=12911.1846, 切向力Y=-2355.2231
FPS=26.04, 法向力=4641.0146, 切向力X=41077.0156, 切向力Y=-9296.6914
FPS=27.42, 法向力=4428.6553, 切向力X=41203.7422, 切向力Y=-9633.7744
FPS=27.28, 法向力=10555.2441, 切向力X=78282.1406, 切向力Y=-22037.3047
FPS=25.72, 法向力=19057.0898, 切向力X=97368.3047, 切向力Y=-30660.1816
FPS=27.17, 法向力=18927.5039, 切向力X=98530.3906, 切向力Y=-30343.1133
FPS=25.16, 法向力=24145.6367, 切向力X=106240.7344, 切向力Y=-34914.9453
FPS=27.35, 法向力=24347.2012, 切向力X=106907.0703, 切向力Y=-34983.0742
FPS=24.23, 法向力=28686.5859, 切向力X=104619.9062, 切向力Y=-34509.7656
FPS=27.19, 法向力=28845.0898, 切向力X=104760.0781, 切向力Y=-34636.8828
FPS=25.20, 法向力=28213.0898, 切向力X=98556.7422, 切向力Y=-33867.5742
FPS=25.48, 法向力=27921.9258, 切向力X=92340.3125, 切向力Y=-32736.2930
FPS=27.04, 法向力=27979.0195, 切向力X=92331.6484, 切向力Y=-32868.3633
FPS=25.15, 法向力=27015.8555, 切向力X=85061.0156, 切向力Y=-31064.0352
FPS=26.67, 法向力=26918.8555, 切向力X=84927.7422, 切向力Y=-31135.5371
FPS=25.62, 法向力=24063.8633, 切向力X=71687.9375, 切向力Y=-27886.0449
FPS=25.90, 法向力=18383.2070, 切向力X=42845.9297, 切向力Y=-19545.9961
FPS=26.41, 法向力=18759.2676, 切向力X=43113.1836, 切向力Y=-19581.6992
FPS=27.23, 法向力=13451.5117, 切向力X=17178.3066, 切向力Y=-13228.7598
FPS=27.70, 法向力=13573.3828, 切向力X=17185.8359, 切向力Y=-13145.1035
FPS=26.33, 法向力=10010.0928, 切向力X=9736.4453, 切向力Y=-3066.6819
FPS=28.60, 法向力=9984.1426, 切向力X=9695.8789, 切向力Y=-3088.7720
FPS=26.83, 法向力=5667.9170, 切向力X=7169.3521, 切向力Y=-1841.7341
FPS=28.61, 法向力=5614.7583, 切向力X=7307.9326, 切向力Y=-1838.7213
FPS=27.80, 法向力=4812.9712, 切向力X=4833.2363, 切向力Y=-977.3829
FPS=27.98, 法向力=4952.1328, 切向力X=4875.7637, 切向力Y=-1038.5833
FPS=28.92, 法向力=3573.6548, 切向力X=7836.2637, 切向力Y=-2691.3423
stitch_feature_optimized: canvas out_w=418, out_h=427, x_min=-84.51, y_min=-85.42
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000005s (hit), reset=0.000313s, blend=0.002385s (9 tiles incl ref), finalize=0.000213s, total=0.002919s
FPS=25.99, 法向力=3569.1938, 切向力X=19863.0488, 切向力Y=-5931.1064
FPS=28.27, 法向力=3483.4966, 切向力X=20143.3984, 切向力Y=-6071.4531
FPS=28.61, 法向力=3434.8977, 切向力X=20126.7578, 切向力Y=-6074.0610
FPS=28.10, 法向力=6592.7451, 切向力X=38293.6172, 切向力Y=-10884.9844
FPS=28.28, 法向力=11507.9316, 切向力X=56591.5391, 切向力Y=-16334.1289
FPS=28.90, 法向力=11458.6377, 切向力X=56693.7422, 切向力Y=-16717.5977
FPS=28.84, 法向力=16213.4590, 切向力X=66549.6250, 切向力Y=-21958.1855
FPS=30.50, 法向力=16375.1387, 切向力X=67135.3281, 切向力Y=-22088.5625
FPS=28.58, 法向力=18075.4941, 切向力X=69188.9922, 切向力Y=-25621.7500
FPS=30.78, 法向力=18210.2891, 切向力X=69390.0000, 切向力Y=-25997.3555
FPS=29.25, 法向力=18419.0664, 切向力X=67655.2891, 切向力Y=-27915.9609
FPS=30.51, 法向力=18305.3535, 切向力X=67609.0938, 切向力Y=-28134.5352
FPS=29.08, 法向力=17910.7930, 切向力X=63212.9766, 切向力Y=-26719.4160
FPS=30.84, 法向力=17776.4102, 切向力X=63086.9688, 切向力Y=-26720.4355
FPS=28.82, 法向力=17069.9609, 切向力X=58674.6250, 切向力Y=-25292.1914
FPS=29.54, 法向力=16894.3594, 切向力X=58335.5742, 切向力Y=-25314.4180
FPS=27.64, 法向力=15883.1855, 切向力X=53920.6641, 切向力Y=-23843.0137
FPS=29.36, 法向力=15666.9287, 切向力X=53566.9062, 切向力Y=-23885.7773
FPS=25.49, 法向力=14537.4648, 切向力X=38890.2500, 切向力Y=-17469.6113
FPS=26.25, 法向力=14428.0977, 切向力X=38643.2344, 切向力Y=-17370.7207
FPS=25.80, 法向力=11139.1191, 切向力X=16560.2266, 切向力Y=-12677.2646
FPS=25.98, 法向力=7141.2856, 切向力X=6257.3135, 切向力Y=-4985.6362
FPS=27.43, 法向力=7182.2964, 切向力X=6159.6455, 切向力Y=-4907.8091
FPS=25.53, 法向力=3948.0215, 切向力X=3211.8774, 切向力Y=-629.8855
FPS=28.51, 法向力=3923.0439, 切向力X=3243.3020, 切向力Y=-546.2634
FPS=26.90, 法向力=3196.1699, 切向力X=2495.1484, 切向力Y=-394.6371
FPS=29.21, 法向力=3197.2627, 切向力X=2507.1958, 切向力Y=-357.0764
FPS=27.00, 法向力=2817.8755, 切向力X=2015.2937, 切向力Y=473.1430
FPS=28.53, 法向力=2790.7629, 切向力X=2072.1267, 切向力Y=529.1954
FPS=27.30, 法向力=2313.3916, 切向力X=1594.0348, 切向力Y=845.1514
stitch_feature_optimized: canvas out_w=418, out_h=427, x_min=-84.51, y_min=-85.42
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000256s, blend=0.002177s (9 tiles incl ref), finalize=0.000117s, total=0.002558s
FPS=28.08, 法向力=2323.5503, 切向力X=1695.6064, 切向力Y=785.3317
FPS=28.23, 法向力=2520.1538, 切向力X=1191.3745, 切向力Y=-26.1310
FPS=26.21, 法向力=1902.3125, 切向力X=1549.0247, 切向力Y=774.9415
FPS=27.25, 法向力=1958.8577, 切向力X=1614.0410, 切向力Y=723.1378
FPS=27.23, 法向力=2164.9092, 切向力X=1549.9696, 切向力Y=104.4647
FPS=27.99, 法向力=2235.0332, 切向力X=1551.8892, 切向力Y=144.0316
FPS=26.72, 法向力=1620.1367, 切向力X=1838.4702, 切向力Y=52.7633
FPS=28.43, 法向力=1570.4241, 切向力X=1878.6387, 切向力Y=69.8186
FPS=26.17, 法向力=1761.6476, 切向力X=1164.2766, 切向力Y=1118.8116
FPS=28.61, 法向力=1802.1917, 切向力X=1267.6033, 切向力Y=1154.3481
FPS=27.91, 法向力=1898.5858, 切向力X=1064.7195, 切向力Y=295.8300
FPS=28.19, 法向力=1908.9281, 切向力X=1162.9065, 切向力Y=217.7100
FPS=27.52, 法向力=1717.8311, 切向力X=1133.3929, 切向力Y=340.0806
FPS=12.24, 法向力=1657.5914, 切向力X=770.6281, 切向力Y=733.9172
FPS=40.51, 法向力=1637.0885, 切向力X=787.8185, 切向力Y=698.9650
FPS=33.22, 法向力=1133.8268, 切向力X=1118.9921, 切向力Y=600.6842
FPS=33.34, 法向力=1168.0212, 切向力X=1153.3232, 切向力Y=583.1916
FPS=32.24, 法向力=1431.7371, 切向力X=257.2110, 切向力Y=664.2767
FPS=30.90, 法向力=1529.3149, 切向力X=183.6705, 切向力Y=611.1656
FPS=31.73, 法向力=1531.6901, 切向力X=872.9446, 切向力Y=467.4865
FPS=33.50, 法向力=1557.0951, 切向力X=844.1377, 切向力Y=444.6363
FPS=30.61, 法向力=1251.1978, 切向力X=1106.1155, 切向力Y=921.6523
FPS=33.44, 法向力=1254.7440, 切向力X=1165.3949, 切向力Y=995.6622
FPS=30.48, 法向力=1578.5897, 切向力X=584.7957, 切向力Y=-258.4114
FPS=33.47, 法向力=1624.8831, 切向力X=595.1139, 切向力Y=-320.4827
FPS=30.50, 法向力=1273.6179, 切向力X=692.5327, 切向力Y=680.3885
FPS=32.64, 法向力=1289.8662, 切向力X=639.6027, 切向力Y=750.4628
FPS=32.09, 法向力=1523.3060, 切向力X=463.6853, 切向力Y=1129.9871
FPS=32.58, 法向力=1510.4768, 切向力X=449.7258, 切向力Y=1114.2688
FPS=31.11, 法向力=1411.5391, 切向力X=561.3345, 切向力Y=786.7571
stitch_feature_optimized: canvas out_w=418, out_h=427, x_min=-84.51, y_min=-85.42
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000206s, blend=0.002105s (9 tiles incl ref), finalize=0.000050s, total=0.002367s
FPS=32.17, 法向力=1377.8932, 切向力X=629.0267, 切向力Y=796.5300
FPS=32.11, 法向力=1583.4441, 切向力X=363.6527, 切向力Y=881.0869
FPS=33.19, 法向力=1618.4673, 切向力X=369.7521, 切向力Y=797.2236
FPS=30.83, 法向力=1630.8031, 切向力X=373.9634, 切向力Y=793.0401
FPS=31.65, 法向力=1366.8754, 切向力X=393.2392, 切向力Y=1542.8672
FPS=32.32, 法向力=1367.4795, 切向力X=439.1738, 切向力Y=1433.7781
FPS=31.16, 法向力=1374.7382, 切向力X=140.7696, 切向力Y=480.1952
FPS=31.69, 法向力=1415.8533, 切向力X=43.1400, 切向力Y=471.1428
FPS=30.78, 法向力=1314.8560, 切向力X=139.9083, 切向力Y=820.5954
FPS=32.68, 法向力=1287.6721, 切向力X=68.2253, 切向力Y=776.3089
FPS=28.75, 法向力=1240.2185, 切向力X=583.4763, 切向力Y=669.5624
FPS=9.29, 法向力=1821.4355, 切向力X=684.0640, 切向力Y=483.9497
Sensor disconnected.