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: 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' 退出程序，'s' 开始录像，'e' 结束录像。
FPS=0.50, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=6.18, 法向力=880.7823, 切向力X=257.7678, 切向力Y=80.3173
FPS=44.01, 法向力=872.2047, 切向力X=233.0141, 切向力Y=78.7022
FPS=31.76, 法向力=1093.0171, 切向力X=495.9394, 切向力Y=16.6474
FPS=32.63, 法向力=1109.1127, 切向力X=519.4908, 切向力Y=-73.9783
FPS=37.57, 法向力=1422.6580, 切向力X=684.8752, 切向力Y=-485.2582
FPS=37.53, 法向力=1445.9138, 切向力X=667.1577, 切向力Y=-351.5229
FPS=43.57, 法向力=1090.1260, 切向力X=-144.6465, 切向力Y=-849.0086
FPS=43.03, 法向力=1131.4070, 切向力X=-46.9090, 切向力Y=-956.5348
FPS=39.70, 法向力=1115.0078, 切向力X=446.2129, 切向力Y=-94.8797
FPS=43.52, 法向力=1152.3475, 切向力X=521.9121, 切向力Y=-142.9124
FPS=42.86, 法向力=1160.5818, 切向力X=542.8910, 切向力Y=-116.1747
FPS=43.10, 法向力=1460.9528, 切向力X=931.1874, 切向力Y=468.6752
FPS=42.39, 法向力=1430.6208, 切向力X=985.3777, 切向力Y=308.6190
FPS=42.78, 法向力=1015.0882, 切向力X=340.0883, 切向力Y=-807.4370
FPS=42.97, 法向力=987.1958, 切向力X=287.8381, 切向力Y=-817.4426
FPS=43.12, 法向力=986.8441, 切向力X=286.0481, 切向力Y=-796.0734
FPS=44.37, 法向力=1526.2778, 切向力X=558.9003, 切向力Y=-608.3759
FPS=44.44, 法向力=1489.6865, 切向力X=526.3605, 切向力Y=-656.8195
FPS=43.50, 法向力=1483.5596, 切向力X=573.2908, 切向力Y=-551.5143
FPS=44.24, 法向力=1015.7854, 切向力X=428.7354, 切向力Y=536.8954
FPS=44.40, 法向力=1049.8020, 切向力X=436.2014, 切向力Y=537.8098
FPS=39.11, 法向力=1503.2720, 切向力X=874.2682, 切向力Y=-752.3990
FPS=45.72, 法向力=1520.2969, 切向力X=938.1692, 切向力Y=-768.4153
FPS=46.93, 法向力=1483.4530, 切向力X=927.9158, 切向力Y=-737.5569
FPS=41.37, 法向力=921.6551, 切向力X=1332.7559, 切向力Y=-510.2177
FPS=45.97, 法向力=928.8935, 切向力X=1325.9524, 切向力Y=-465.8940
FPS=41.32, 法向力=1072.2179, 切向力X=378.5235, 切向力Y=298.1868
stitch_feature_optimized: canvas out_w=587, out_h=416, x_min=-142.03, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000265s, blend=0.002204s (9 tiles incl ref), finalize=0.000045s, total=0.002519s
FPS=45.20, 法向力=1099.8885, 切向力X=416.5516, 切向力Y=320.1268
FPS=46.09, 法向力=1111.5798, 切向力X=427.3347, 切向力Y=298.0108
FPS=44.01, 法向力=953.2820, 切向力X=1004.7444, 切向力Y=56.2947
FPS=46.54, 法向力=955.0135, 切向力X=1051.8276, 切向力Y=-12.4385
FPS=44.42, 法向力=955.8732, 切向力X=1011.4382, 切向力Y=13.5531
FPS=42.11, 法向力=1160.5903, 切向力X=33.7218, 切向力Y=-57.9003
FPS=44.50, 法向力=1282.7539, 切向力X=-100.7621, 切向力Y=138.2134
FPS=44.27, 法向力=1289.5598, 切向力X=-138.1279, 切向力Y=177.6315
FPS=42.38, 法向力=1835.1548, 切向力X=-307.3185, 切向力Y=-1132.8792
FPS=39.57, 法向力=1853.1808, 切向力X=-349.3814, 切向力Y=-1005.7840
FPS=40.64, 法向力=1145.8251, 切向力X=1175.5979, 切向力Y=-228.6479
FPS=45.52, 法向力=1154.3470, 切向力X=1178.8364, 切向力Y=-233.2078
FPS=43.22, 法向力=1371.7939, 切向力X=702.3593, 切向力Y=115.3951
FPS=46.16, 法向力=1355.7461, 切向力X=677.3453, 切向力Y=249.3884
FPS=46.77, 法向力=1360.7417, 切向力X=685.0073, 切向力Y=249.5258
FPS=40.82, 法向力=1227.1910, 切向力X=273.9285, 切向力Y=-187.9442
FPS=46.79, 法向力=1239.3219, 切向力X=336.1741, 切向力Y=-257.2133
FPS=46.22, 法向力=1243.3455, 切向力X=377.4246, 切向力Y=-286.5884
FPS=41.73, 法向力=1134.0907, 切向力X=195.4843, 切向力Y=851.1583
FPS=45.37, 法向力=1136.9624, 切向力X=250.9509, 切向力Y=892.1301
FPS=39.26, 法向力=1165.9380, 切向力X=701.5791, 切向力Y=-48.2242
FPS=47.25, 法向力=1237.7632, 切向力X=878.1533, 切向力Y=-5.7703
FPS=44.72, 法向力=1282.3254, 切向力X=953.0172, 切向力Y=33.8801
FPS=42.21, 法向力=1413.6667, 切向力X=1419.8242, 切向力Y=-1250.4307
FPS=43.76, 法向力=1369.3671, 切向力X=1348.0356, 切向力Y=-1256.3113
FPS=44.39, 法向力=1403.2239, 切向力X=1370.6821, 切向力Y=-1294.3218
FPS=40.79, 法向力=1252.9927, 切向力X=1013.8784, 切向力Y=-344.2112
FPS=45.65, 法向力=1280.0859, 切向力X=1105.1973, 切向力Y=-185.5376
FPS=43.76, 法向力=1180.6261, 切向力X=1009.8857, 切向力Y=-129.2545
FPS=42.97, 法向力=1676.9779, 切向力X=1615.5658, 切向力Y=-477.5576
stitch_feature_optimized: canvas out_w=587, out_h=416, x_min=-142.03, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000006s (hit), reset=0.000279s, blend=0.003007s (9 tiles incl ref), finalize=0.000153s, total=0.003447s
FPS=42.65, 法向力=1726.8818, 切向力X=1697.0256, 切向力Y=-490.5370
FPS=41.64, 法向力=1324.8970, 切向力X=1245.1890, 切向力Y=21.7534
FPS=46.27, 法向力=1323.8196, 切向力X=1244.6636, 切向力Y=21.2107
FPS=42.81, 法向力=1297.6187, 切向力X=1207.3276, 切向力Y=31.8472
FPS=43.22, 法向力=1286.4409, 切向力X=933.5368, 切向力Y=-488.6082
FPS=45.13, 法向力=1209.0706, 切向力X=1061.0392, 切向力Y=-585.9441
FPS=42.75, 法向力=1321.1512, 切向力X=261.8966, 切向力Y=625.8672
FPS=45.49, 法向力=1382.5424, 切向力X=200.9138, 切向力Y=634.4418
FPS=45.41, 法向力=1389.2236, 切向力X=210.5341, 切向力Y=679.5054
FPS=40.61, 法向力=1147.3149, 切向力X=1209.7810, 切向力Y=-79.1348
FPS=47.60, 法向力=1196.3810, 切向力X=1318.5153, 切向力Y=-114.6378
FPS=42.04, 法向力=1034.0919, 切向力X=804.4247, 切向力Y=413.9113
FPS=47.13, 法向力=1055.2419, 切向力X=627.3044, 切向力Y=405.2812
FPS=48.57, 法向力=1068.7986, 切向力X=622.4249, 切向力Y=314.9218
FPS=41.80, 法向力=981.2421, 切向力X=277.1898, 切向力Y=-110.4141
FPS=46.86, 法向力=975.9376, 切向力X=89.3547, 切向力Y=-159.3989
FPS=47.84, 法向力=972.7890, 切向力X=104.3451, 切向力Y=-126.2208
FPS=42.42, 法向力=1203.9567, 切向力X=505.0753, 切向力Y=454.7995
FPS=47.56, 法向力=1144.6173, 切向力X=617.2422, 切向力Y=461.4386
FPS=47.10, 法向力=1145.7421, 切向力X=608.9006, 切向力Y=434.3892
FPS=43.31, 法向力=1056.4827, 切向力X=1025.0132, 切向力Y=-472.3436
FPS=46.38, 法向力=1082.7023, 切向力X=1052.3240, 切向力Y=-442.2499
FPS=42.78, 法向力=1264.7542, 切向力X=571.6752, 切向力Y=51.5785
FPS=47.98, 法向力=1214.4648, 切向力X=524.5505, 切向力Y=140.0161
FPS=48.69, 法向力=1191.2029, 切向力X=526.0870, 切向力Y=178.8729
FPS=45.70, 法向力=1278.2207, 切向力X=586.9200, 切向力Y=556.6067
FPS=46.16, 法向力=1262.6957, 切向力X=583.1608, 切向力Y=553.9526
FPS=45.10, 法向力=1276.3754, 切向力X=583.7700, 切向力Y=362.2242
FPS=37.85, 法向力=2148.5146, 切向力X=853.2052, 切向力Y=-1130.7485
FPS=41.79, 法向力=2183.8972, 切向力X=855.1646, 切向力Y=-1218.4568
stitch_feature_optimized: canvas out_w=587, out_h=416, x_min=-142.03, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000294s, blend=0.003168s (9 tiles incl ref), finalize=0.000055s, total=0.003523s
FPS=40.84, 法向力=2216.8374, 切向力X=903.7537, 切向力Y=-1224.8969
FPS=41.64, 法向力=1446.8867, 切向力X=717.2819, 切向力Y=-866.4873
FPS=44.16, 法向力=1515.7178, 切向力X=609.7374, 切向力Y=-948.9739
FPS=41.99, 法向力=1200.1815, 切向力X=884.4008, 切向力Y=69.9359
FPS=44.09, 法向力=1200.3308, 切向力X=903.6242, 切向力Y=98.2713
FPS=41.14, 法向力=945.6190, 切向力X=663.6815, 切向力Y=-1214.8313
FPS=44.92, 法向力=982.7155, 切向力X=643.7739, 切向力Y=-1389.8118
FPS=44.29, 法向力=968.3673, 切向力X=627.0728, 切向力Y=-1374.6736
FPS=40.87, 法向力=2115.9424, 切向力X=194.6832, 切向力Y=154.6142
FPS=44.93, 法向力=2058.6279, 切向力X=165.0790, 切向力Y=150.2871
FPS=45.36, 法向力=2074.5527, 切向力X=123.7549, 切向力Y=150.4445
FPS=42.27, 法向力=1264.4351, 切向力X=861.2169, 切向力Y=331.4524
FPS=46.03, 法向力=1388.5178, 切向力X=915.1956, 切向力Y=284.3448
FPS=40.22, 法向力=939.2588, 切向力X=741.3499, 切向力Y=748.5795
FPS=46.24, 法向力=975.2780, 切向力X=848.4539, 切向力Y=696.0719
FPS=43.48, 法向力=996.8929, 切向力X=846.7454, 切向力Y=655.8646
FPS=45.34, 法向力=1981.6648, 切向力X=-718.0681, 切向力Y=215.7314
FPS=43.82, 法向力=2042.2859, 切向力X=-788.7897, 切向力Y=286.8457
FPS=42.48, 法向力=2047.5994, 切向力X=-766.5746, 切向力Y=271.3527
FPS=43.88, 法向力=1306.5757, 切向力X=1064.9163, 切向力Y=233.4292
FPS=46.82, 法向力=1319.8610, 切向力X=1141.7474, 切向力Y=546.6621
FPS=43.60, 法向力=1339.9065, 切向力X=1128.4563, 切向力Y=512.7345
FPS=46.28, 法向力=1182.9431, 切向力X=732.3446, 切向力Y=584.1978
FPS=45.02, 法向力=1158.9319, 切向力X=583.9448, 切向力Y=638.9706
FPS=44.82, 法向力=1357.2131, 切向力X=505.5857, 切向力Y=-376.2823
FPS=46.19, 法向力=1420.6938, 切向力X=598.3853, 切向力Y=-606.3630
FPS=42.90, 法向力=1451.5261, 切向力X=689.1646, 切向力Y=-594.0641
FPS=44.29, 法向力=1031.2502, 切向力X=552.6307, 切向力Y=1171.6398
FPS=45.46, 法向力=1025.2737, 切向力X=477.9881, 切向力Y=1094.7325
FPS=41.28, 法向力=1162.9397, 切向力X=293.6598, 切向力Y=10.6848
stitch_feature_optimized: canvas out_w=587, out_h=416, x_min=-142.03, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000261s, blend=0.002148s (9 tiles incl ref), finalize=0.000045s, total=0.002460s
FPS=46.46, 法向力=1263.4115, 切向力X=282.9964, 切向力Y=-492.7559
FPS=46.95, 法向力=1283.5894, 切向力X=273.5979, 切向力Y=-528.0822
FPS=40.19, 法向力=1526.8535, 切向力X=951.8265, 切向力Y=528.2757
FPS=45.64, 法向力=1736.3561, 切向力X=1004.5517, 切向力Y=761.4574
FPS=40.05, 法向力=1219.9021, 切向力X=11.3364, 切向力Y=1130.0574
FPS=46.53, 法向力=1324.4905, 切向力X=-243.8387, 切向力Y=831.7396
FPS=46.38, 法向力=1323.2069, 切向力X=-269.3537, 切向力Y=812.7429
FPS=40.30, 法向力=988.4542, 切向力X=673.5325, 切向力Y=224.7763
FPS=43.98, 法向力=1013.3297, 切向力X=784.8489, 切向力Y=188.8410
FPS=44.31, 法向力=1009.1200, 切向力X=777.8080, 切向力Y=202.0910
FPS=42.06, 法向力=1076.4543, 切向力X=852.1627, 切向力Y=-508.9253
FPS=46.15, 法向力=1177.0720, 切向力X=950.3363, 切向力Y=-617.4706
FPS=42.69, 法向力=1191.3955, 切向力X=906.8243, 切向力Y=-643.0070
FPS=42.66, 法向力=1551.5825, 切向力X=828.8878, 切向力Y=1406.1638
FPS=43.51, 法向力=1582.7640, 切向力X=886.0968, 切向力Y=1429.5170
FPS=41.50, 法向力=1003.6876, 切向力X=782.0789, 切向力Y=855.0636
FPS=46.49, 法向力=1034.7723, 切向力X=801.3972, 切向力Y=841.9480
FPS=43.44, 法向力=1031.5734, 切向力X=772.6089, 切向力Y=805.0285
FPS=45.82, 法向力=942.5875, 切向力X=525.4230, 切向力Y=678.2047
FPS=45.73, 法向力=1010.5400, 切向力X=365.2832, 切向力Y=153.0048
FPS=41.21, 法向力=1712.5803, 切向力X=588.3007, 切向力Y=-347.8763
FPS=44.10, 法向力=1783.9362, 切向力X=641.0488, 切向力Y=-433.3416
FPS=47.59, 法向力=1825.7489, 切向力X=668.7078, 切向力Y=-466.7502
FPS=42.68, 法向力=1127.8695, 切向力X=709.6434, 切向力Y=763.7568
FPS=45.76, 法向力=1182.3074, 切向力X=654.1011, 切向力Y=792.9239
FPS=16.72, 法向力=1242.5374, 切向力X=590.8857, 切向力Y=982.9524
Sensor disconnected.