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=3.54, 法向力=1634.7159, 切向力X=-1891.7969, 切向力Y=-453.3510
FPS=36.10, 法向力=1930.0464, 切向力X=75.5797, 切向力Y=396.4967
FPS=27.85, 法向力=1838.9513, 切向力X=130.4503, 切向力Y=396.3661
FPS=29.37, 法向力=1347.9017, 切向力X=140.7037, 切向力Y=269.0940
FPS=32.35, 法向力=1339.1997, 切向力X=171.5410, 切向力Y=151.3966
FPS=32.02, 法向力=1276.9692, 切向力X=766.1826, 切向力Y=442.0724
FPS=29.95, 法向力=1269.6963, 切向力X=750.2211, 切向力Y=513.4440
FPS=31.21, 法向力=1506.9592, 切向力X=-568.7032, 切向力Y=717.8661
FPS=30.26, 法向力=1860.0193, 切向力X=-744.4352, 切向力Y=863.0630
FPS=32.13, 法向力=1867.1917, 切向力X=-721.3346, 切向力Y=928.8292
FPS=29.76, 法向力=1445.2949, 切向力X=-401.0247, 切向力Y=1025.9023
FPS=31.89, 法向力=1496.3806, 切向力X=-599.7907, 切向力Y=1051.4073
FPS=28.26, 法向力=2907.5923, 切向力X=-1139.2063, 切向力Y=960.2630
FPS=31.27, 法向力=2853.6680, 切向力X=-1031.6179, 切向力Y=895.1293
FPS=30.02, 法向力=1497.2839, 切向力X=-115.5936, 切向力Y=197.7362
FPS=31.68, 法向力=1531.0323, 切向力X=-51.5778, 切向力Y=24.6282
FPS=33.75, 法向力=1718.3367, 切向力X=1598.6895, 切向力Y=-13.5612
FPS=30.76, 法向力=1713.2780, 切向力X=1592.3527, 切向力Y=-41.8654
FPS=34.50, 法向力=1997.4966, 切向力X=275.9138, 切向力Y=-69.2272
FPS=32.90, 法向力=2005.9103, 切向力X=196.8249, 切向力Y=17.4884
FPS=33.78, 法向力=1616.1780, 切向力X=-1222.8600, 切向力Y=714.4091
FPS=34.39, 法向力=1680.6072, 切向力X=-1363.5468, 切向力Y=779.0063
FPS=31.10, 法向力=1647.0898, 切向力X=802.7837, 切向力Y=1372.0909
FPS=32.44, 法向力=1609.7644, 切向力X=768.4044, 切向力Y=1378.9125
FPS=34.06, 法向力=1988.5410, 切向力X=2580.8894, 切向力Y=55.9372
FPS=31.80, 法向力=2016.2223, 切向力X=2632.6113, 切向力Y=-69.7856
FPS=32.57, 法向力=1341.3236, 切向力X=-345.8671, 切向力Y=261.7896
stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000208s, blend=0.003166s (9 tiles incl ref), finalize=0.000054s, total=0.003433s
FPS=32.24, 法向力=1326.5289, 切向力X=-366.2166, 切向力Y=339.7374
FPS=29.20, 法向力=1485.0601, 切向力X=-876.7846, 切向力Y=76.9970
FPS=32.91, 法向力=1520.8143, 切向力X=-781.3557, 切向力Y=-125.6815
FPS=33.45, 法向力=1535.0322, 切向力X=448.4703, 切向力Y=431.5336
FPS=32.80, 法向力=1679.3442, 切向力X=-143.0184, 切向力Y=588.1093
FPS=34.84, 法向力=1667.3600, 切向力X=-308.2288, 切向力Y=874.2921
FPS=33.13, 法向力=1684.4913, 切向力X=-332.0741, 切向力Y=897.1946
FPS=33.76, 法向力=1301.9534, 切向力X=828.8712, 切向力Y=843.4487
FPS=33.39, 法向力=1418.6791, 切向力X=969.7124, 切向力Y=910.7616
FPS=35.27, 法向力=1422.7805, 切向力X=1012.7023, 切向力Y=566.1217
FPS=34.40, 法向力=1426.7499, 切向力X=934.9624, 切向力Y=480.2133
FPS=33.17, 法向力=1851.9541, 切向力X=-914.2441, 切向力Y=-141.8632
FPS=30.07, 法向力=1531.5115, 切向力X=-235.1049, 切向力Y=205.2649
FPS=35.11, 法向力=1529.2748, 切向力X=-207.9092, 切向力Y=269.4786
FPS=31.07, 法向力=1894.9707, 切向力X=619.5758, 切向力Y=250.0679
FPS=29.02, 法向力=1877.1459, 切向力X=757.5789, 切向力Y=141.6729
FPS=30.91, 法向力=1355.5287, 切向力X=-1320.4547, 切向力Y=669.6344
FPS=35.24, 法向力=1457.6902, 切向力X=-1457.8322, 切向力Y=721.4344
FPS=32.56, 法向力=2017.7319, 切向力X=-195.0383, 切向力Y=120.0811
FPS=35.34, 法向力=1811.4902, 切向力X=-17.0646, 切向力Y=78.9036
FPS=32.49, 法向力=1920.0486, 切向力X=-782.1624, 切向力Y=816.9581
FPS=35.79, 法向力=1968.2634, 切向力X=-751.5870, 切向力Y=765.1127
FPS=32.46, 法向力=2095.2532, 切向力X=1471.5959, 切向力Y=873.2383
FPS=34.20, 法向力=2150.4314, 切向力X=1516.0759, 切向力Y=643.9424
FPS=29.31, 法向力=1101.3412, 切向力X=690.3726, 切向力Y=-10.7386
FPS=34.39, 法向力=1111.4396, 切向力X=637.9022, 切向力Y=171.3743
FPS=32.94, 法向力=2683.5730, 切向力X=-970.1780, 切向力Y=556.4850
FPS=32.77, 法向力=2638.6724, 切向力X=-909.9249, 切向力Y=422.5291
FPS=33.21, 法向力=1856.6191, 切向力X=1336.2540, 切向力Y=251.4868
FPS=33.33, 法向力=1930.3240, 切向力X=1475.0000, 切向力Y=256.2606
stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000281s, blend=0.002197s (9 tiles incl ref), finalize=0.000045s, total=0.002529s
FPS=32.17, 法向力=1702.7883, 切向力X=-1515.9160, 切向力Y=236.5729
FPS=34.05, 法向力=1828.3005, 切向力X=-1486.3522, 切向力Y=351.5222
FPS=30.33, 法向力=1559.6216, 切向力X=89.7932, 切向力Y=158.4464
FPS=34.04, 法向力=1610.7203, 切向力X=258.4935, 切向力Y=99.3275
FPS=31.30, 法向力=2789.0088, 切向力X=-1957.2231, 切向力Y=135.5946
FPS=32.33, 法向力=2645.1670, 切向力X=-1825.2356, 切向力Y=155.0668
FPS=32.43, 法向力=1561.7137, 切向力X=-362.7719, 切向力Y=-816.5190
FPS=32.27, 法向力=1575.3127, 切向力X=-316.6523, 切向力Y=-838.8359
FPS=32.62, 法向力=2381.9165, 切向力X=-1629.9990, 切向力Y=-505.0516
FPS=33.81, 法向力=2315.3743, 切向力X=-1624.6609, 切向力Y=-486.6769
FPS=33.54, 法向力=1823.2732, 切向力X=331.5892, 切向力Y=1009.7595
FPS=34.11, 法向力=1736.6709, 切向力X=257.5282, 切向力Y=916.0470
FPS=31.49, 法向力=1741.6693, 切向力X=1052.0447, 切向力Y=-263.6071
FPS=33.10, 法向力=1726.2821, 切向力X=1121.1555, 切向力Y=-285.6948
FPS=34.03, 法向力=2485.9404, 切向力X=-2282.8872, 切向力Y=-636.7683
FPS=32.13, 法向力=2275.0332, 切向力X=-2011.5999, 切向力Y=-563.5431
FPS=32.77, 法向力=2223.4253, 切向力X=-777.1660, 切向力Y=-94.4756
FPS=34.23, 法向力=2273.4492, 切向力X=-810.0964, 切向力Y=-110.8518
FPS=32.30, 法向力=1681.4009, 切向力X=-1266.7715, 切向力Y=133.9179
FPS=32.67, 法向力=1705.9835, 切向力X=-1302.3754, 切向力Y=182.3628
FPS=30.28, 法向力=1402.6406, 切向力X=47.2993, 切向力Y=122.3103
FPS=32.16, 法向力=1417.1057, 切向力X=311.1682, 切向力Y=49.4366
FPS=33.77, 法向力=2878.8135, 切向力X=1596.5269, 切向力Y=-415.9797
FPS=32.61, 法向力=3041.6865, 切向力X=1712.6276, 切向力Y=-470.3628
FPS=32.53, 法向力=2685.0964, 切向力X=-759.8922, 切向力Y=-637.4709
FPS=31.94, 法向力=2750.2563, 切向力X=-681.1658, 切向力Y=-461.5046
FPS=34.82, 法向力=2283.9231, 切向力X=36.5183, 切向力Y=-783.2402
FPS=32.81, 法向力=2228.3125, 切向力X=25.7526, 切向力Y=-743.7912
FPS=31.43, 法向力=2159.0657, 切向力X=901.1516, 切向力Y=452.6804
FPS=29.63, 法向力=1565.4064, 切向力X=-412.5023, 切向力Y=-392.1052
stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000212s, blend=0.002093s (9 tiles incl ref), finalize=0.000045s, total=0.002356s
FPS=33.41, 法向力=1563.1503, 切向力X=-444.2428, 切向力Y=-346.0515
FPS=29.01, 法向力=2096.6772, 切向力X=-1407.9998, 切向力Y=290.5385
FPS=33.80, 法向力=2106.6128, 切向力X=-1383.6245, 切向力Y=401.3184
FPS=30.31, 法向力=1713.3116, 切向力X=-679.8990, 切向力Y=322.6012
FPS=32.83, 法向力=1738.1799, 切向力X=-615.7578, 切向力Y=250.2039
FPS=31.98, 法向力=2123.1978, 切向力X=-807.9082, 切向力Y=-11.2104
FPS=32.14, 法向力=2194.9624, 切向力X=-754.2933, 切向力Y=130.4021
FPS=30.55, 法向力=1494.8647, 切向力X=121.7057, 切向力Y=-263.3293
FPS=33.02, 法向力=1476.3633, 切向力X=183.1575, 切向力Y=-334.2649
FPS=31.83, 法向力=1353.8240, 切向力X=322.9668, 切向力Y=-1197.4554
FPS=31.02, 法向力=1359.5787, 切向力X=448.6129, 切向力Y=-1258.6254
FPS=29.70, 法向力=1645.4125, 切向力X=1125.9844, 切向力Y=168.2613
FPS=31.48, 法向力=1673.4695, 切向力X=1183.9780, 切向力Y=383.9684
FPS=29.81, 法向力=2847.3882, 切向力X=2299.7275, 切向力Y=-543.4931
FPS=30.91, 法向力=2950.3835, 切向力X=2330.5403, 切向力Y=-673.8035
FPS=31.82, 法向力=1840.8660, 切向力X=657.2214, 切向力Y=-415.0436
FPS=30.82, 法向力=1399.7195, 切向力X=676.9377, 切向力Y=-700.7968
FPS=32.91, 法向力=1391.2963, 切向力X=646.1361, 切向力Y=-723.1804
FPS=30.94, 法向力=1414.0475, 切向力X=661.1819, 切向力Y=-721.2296
FPS=31.04, 法向力=1500.3998, 切向力X=-215.4493, 切向力Y=671.1067
FPS=29.98, 法向力=1627.3837, 切向力X=1051.9761, 切向力Y=-202.0128
FPS=32.05, 法向力=1663.4517, 切向力X=1069.5808, 切向力Y=-148.3135
FPS=29.69, 法向力=2980.2261, 切向力X=1799.8894, 切向力Y=-448.3479
FPS=32.18, 法向力=3034.8347, 切向力X=1889.7469, 切向力Y=-548.2708
FPS=33.36, 法向力=2081.1367, 切向力X=1257.5135, 切向力Y=-389.2390
FPS=32.24, 法向力=2186.9019, 切向力X=1337.4685, 切向力Y=-358.6683
FPS=28.48, 法向力=1798.0547, 切向力X=-346.0896, 切向力Y=17.2119
FPS=31.44, 法向力=1861.1385, 切向力X=-379.5483, 切向力Y=-7.2441
FPS=30.73, 法向力=1808.7249, 切向力X=-72.8781, 切向力Y=-93.2753
FPS=28.78, 法向力=2720.0146, 切向力X=-1452.7600, 切向力Y=-813.3651
stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000216s, blend=0.002190s (9 tiles incl ref), finalize=0.000048s, total=0.002460s
FPS=31.59, 法向力=2814.2314, 切向力X=-1542.0707, 切向力Y=-976.8230
FPS=28.86, 法向力=1867.1731, 切向力X=-992.5179, 切向力Y=-274.2264
FPS=31.76, 法向力=1780.1818, 切向力X=-908.9432, 切向力Y=-146.5433
FPS=30.07, 法向力=1886.1077, 切向力X=-993.1436, 切向力Y=-673.0915
FPS=32.50, 法向力=1886.6516, 切向力X=-802.1182, 切向力Y=-700.2957
FPS=29.69, 法向力=1097.9348, 切向力X=-114.8633, 切向力Y=-456.7624
FPS=30.31, 法向力=1117.0459, 切向力X=-60.1199, 切向力Y=-499.9545
FPS=30.50, 法向力=1054.2112, 切向力X=1126.1340, 切向力Y=-381.3681
FPS=29.49, 法向力=1070.7302, 切向力X=1165.9766, 切向力Y=-513.1752
FPS=30.80, 法向力=1523.5031, 切向力X=107.7664, 切向力Y=444.3980
FPS=30.73, 法向力=1565.9651, 切向力X=-24.1751, 切向力Y=605.1567
FPS=31.07, 法向力=1502.6431, 切向力X=-1286.3826, 切向力Y=-1238.1133
FPS=30.57, 法向力=1486.6072, 切向力X=-1241.2626, 切向力Y=-1325.2793
FPS=29.43, 法向力=3485.6152, 切向力X=1342.0599, 切向力Y=-182.5275
FPS=28.37, 法向力=1660.2198, 切向力X=-1725.0076, 切向力Y=-1632.1664
FPS=30.84, 法向力=1630.6211, 切向力X=-1736.7441, 切向力Y=-1597.4843
FPS=31.08, 法向力=1129.8765, 切向力X=556.5009, 切向力Y=-524.9990
FPS=31.73, 法向力=1126.5192, 切向力X=565.0066, 切向力Y=-519.3826
FPS=30.31, 法向力=1159.6567, 切向力X=82.0930, 切向力Y=39.2757
FPS=31.40, 法向力=1181.5261, 切向力X=151.4226, 切向力Y=-29.7753
FPS=30.45, 法向力=983.1708, 切向力X=849.0258, 切向力Y=-737.3753
FPS=28.56, 法向力=2147.5054, 切向力X=2781.0938, 切向力Y=-205.1011
FPS=31.27, 法向力=2047.8914, 切向力X=2496.7974, 切向力Y=-170.9790
FPS=30.37, 法向力=1173.3048, 切向力X=48.7069, 切向力Y=-669.2203
FPS=32.33, 法向力=1176.9896, 切向力X=42.9519, 切向力Y=-627.3730
FPS=29.90, 法向力=2026.2919, 切向力X=-2064.1284, 切向力Y=-981.7328
FPS=32.23, 法向力=2044.7300, 切向力X=-2115.9897, 切向力Y=-915.8975
FPS=28.73, 法向力=1672.0380, 切向力X=-1408.7596, 切向力Y=-156.8148
FPS=30.46, 法向力=1710.4573, 切向力X=-1380.2955, 切向力Y=-42.0553
FPS=30.39, 法向力=1462.9879, 切向力X=639.7524, 切向力Y=94.8906
stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000212s, blend=0.002162s (9 tiles incl ref), finalize=0.000046s, total=0.002427s
FPS=29.29, 法向力=1419.3647, 切向力X=733.6405, 切向力Y=196.3857
FPS=31.70, 法向力=1544.0176, 切向力X=1611.4532, 切向力Y=-343.1219
FPS=30.27, 法向力=1558.4500, 切向力X=1640.0305, 切向力Y=-434.1638
FPS=29.90, 法向力=1766.5502, 切向力X=-976.0479, 切向力Y=-1118.8030
FPS=29.26, 法向力=983.5406, 切向力X=346.2663, 切向力Y=-715.8933
FPS=31.81, 法向力=1006.9926, 切向力X=316.2206, 切向力Y=-711.1193
FPS=30.32, 法向力=1960.1599, 切向力X=-879.2787, 切向力Y=-757.4230
FPS=32.86, 法向力=1957.1217, 切向力X=-923.9614, 切向力Y=-651.9292
FPS=31.08, 法向力=1401.9508, 切向力X=563.5146, 切向力Y=-55.6919
FPS=32.66, 法向力=1450.5576, 切向力X=487.1025, 切向力Y=-40.5979
FPS=31.63, 法向力=1476.0353, 切向力X=627.3409, 切向力Y=589.3418
FPS=31.34, 法向力=1563.6018, 切向力X=603.6307, 切向力Y=700.8848
FPS=29.61, 法向力=2487.1553, 切向力X=1360.9775, 切向力Y=-821.0792
FPS=29.04, 法向力=1400.3152, 切向力X=990.4208, 切向力Y=521.1843
FPS=32.66, 法向力=1329.2959, 切向力X=883.0221, 切向力Y=469.6806
FPS=28.41, 法向力=1155.1057, 切向力X=865.7163, 切向力Y=-462.0353
FPS=32.37, 法向力=1116.1267, 切向力X=938.7983, 切向力Y=-287.4322
FPS=29.47, 法向力=1578.9626, 切向力X=1993.0814, 切向力Y=-726.1768
FPS=31.59, 法向力=1646.0430, 切向力X=2046.4336, 切向力Y=-813.4945
FPS=29.05, 法向力=1943.7526, 切向力X=-892.5970, 切向力Y=-404.4394
FPS=30.44, 法向力=1944.2373, 切向力X=-774.7346, 切向力Y=-411.2725
FPS=30.90, 法向力=1634.3998, 切向力X=1285.5386, 切向力Y=-936.2592
FPS=29.45, 法向力=1554.6102, 切向力X=1294.4044, 切向力Y=-971.7737
FPS=32.37, 法向力=2156.1733, 切向力X=-768.9745, 切向力Y=-1063.2458
FPS=28.52, 法向力=2273.1785, 切向力X=-692.4657, 切向力Y=-1104.5652
FPS=28.59, 法向力=1839.6067, 切向力X=-947.9727, 切向力Y=-931.9426
FPS=28.43, 法向力=1295.1216, 切向力X=1429.4150, 切向力Y=-453.9643
FPS=31.49, 法向力=1202.3315, 切向力X=1327.7544, 切向力Y=-388.0480
FPS=29.27, 法向力=1220.1149, 切向力X=-39.9487, 切向力Y=-308.9171
FPS=30.85, 法向力=1186.9786, 切向力X=-34.2742, 切向力Y=-295.6937
stitch_feature_optimized: canvas out_w=420, out_h=419, x_min=-91.25, y_min=-84.37
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000257s, blend=0.002227s (9 tiles incl ref), finalize=0.000056s, total=0.002546s
FPS=30.41, 法向力=1333.0771, 切向力X=-36.1269, 切向力Y=-766.3210
FPS=29.14, 法向力=1270.3008, 切向力X=75.7997, 切向力Y=-793.6500
FPS=30.40, 法向力=1793.3727, 切向力X=679.2899, 切向力Y=-710.5807
FPS=29.67, 法向力=1776.7454, 切向力X=661.8749, 切向力Y=-694.8381
FPS=30.36, 法向力=2346.4512, 切向力X=-1275.5135, 切向力Y=100.0968
FPS=29.46, 法向力=1177.8723, 切向力X=7.5323, 切向力Y=-360.5781
FPS=31.33, 法向力=1150.4313, 切向力X=21.5096, 切向力Y=-441.7030
FPS=30.63, 法向力=1417.1194, 切向力X=-890.2764, 切向力Y=-632.1870
FPS=30.59, 法向力=1453.6466, 切向力X=-994.3335, 切向力Y=-717.4889
FPS=29.13, 法向力=2187.1165, 切向力X=-814.6277, 切向力Y=-1452.2478
FPS=30.13, 法向力=2085.9792, 切向力X=-865.0232, 切向力Y=-1300.1680
FPS=31.28, 法向力=1340.9014, 切向力X=1203.9553, 切向力Y=-587.9681
FPS=28.59, 法向力=1631.9125, 切向力X=-429.7372, 切向力Y=-542.9890
FPS=31.57, 法向力=1642.3226, 切向力X=-514.3642, 切向力Y=-577.4584
FPS=27.81, 法向力=2078.7976, 切向力X=-1503.1327, 切向力Y=-221.3559
FPS=32.03, 法向力=2126.5793, 切向力X=-1512.5485, 切向力Y=-150.7814
FPS=30.37, 法向力=1344.5872, 切向力X=-1087.0472, 切向力Y=-821.8687
FPS=30.45, 法向力=1316.1306, 切向力X=-1047.9854, 切向力Y=-829.3639
FPS=28.65, 法向力=1191.5269, 切向力X=718.6777, 切向力Y=-901.5402
FPS=29.65, 法向力=1202.3850, 切向力X=697.6632, 切向力Y=-951.8540
FPS=30.88, 法向力=2060.3140, 切向力X=2876.1504, 切向力Y=-7.6439
FPS=28.16, 法向力=1850.5298, 切向力X=-543.6523, 切向力Y=-727.3799
FPS=31.27, 法向力=1822.3715, 切向力X=-408.6406, 切向力Y=-723.9150
FPS=18.83, 法向力=2473.6167, 切向力X=2751.6367, 切向力Y=-713.1632
Sensor disconnected.