test/examples/logs/qt_viewer_20260519_174650.log

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=0.41, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=3.74, 法向力=1064.6818, 切向力X=-460.2403, 切向力Y=655.8373
FPS=37.55, 法向力=1326.9574, 切向力X=-126.6107, 切向力Y=819.9719
FPS=28.39, 法向力=1357.9213, 切向力X=-135.1868, 切向力Y=837.7831
FPS=29.32, 法向力=1503.1248, 切向力X=-1878.2544, 切向力Y=1172.9634
FPS=28.87, 法向力=1448.9026, 切向力X=-1748.4342, 切向力Y=1187.2297
FPS=35.13, 法向力=2263.5259, 切向力X=-823.8319, 切向力Y=716.5292
FPS=32.53, 法向力=1638.9951, 切向力X=-859.1016, 切向力Y=1078.6390
FPS=36.76, 法向力=1719.4849, 切向力X=-922.1686, 切向力Y=960.2186
FPS=33.64, 法向力=1355.8479, 切向力X=-453.1955, 切向力Y=680.5677
FPS=36.78, 法向力=1370.2004, 切向力X=-457.3957, 切向力Y=527.4294
FPS=33.41, 法向力=1362.6921, 切向力X=-421.8912, 切向力Y=513.8347
FPS=35.38, 法向力=2007.4982, 切向力X=-1401.0933, 切向力Y=-435.5247
FPS=34.24, 法向力=2048.2405, 切向力X=-1489.3091, 切向力Y=-506.1429
FPS=25.95, 法向力=1435.5974, 切向力X=-1212.8953, 切向力Y=540.7485
FPS=28.90, 法向力=2832.5308, 切向力X=392.1244, 切向力Y=-195.9514
FPS=29.59, 法向力=2909.6167, 切向力X=496.2383, 切向力Y=-143.6593
FPS=31.10, 法向力=1461.3718, 切向力X=-1248.3202, 切向力Y=854.4792
FPS=35.43, 法向力=1436.9766, 切向力X=-1293.7911, 切向力Y=866.9861
FPS=32.89, 法向力=1363.1581, 切向力X=-670.6580, 切向力Y=1232.8173
FPS=35.45, 法向力=1340.6626, 切向力X=-736.6183, 切向力Y=1238.3694
FPS=32.16, 法向力=1713.5840, 切向力X=-1689.9303, 切向力Y=556.6741
FPS=35.04, 法向力=1739.9629, 切向力X=-1734.3062, 切向力Y=538.8545
FPS=33.42, 法向力=1452.0573, 切向力X=-351.9725, 切向力Y=170.6559
FPS=34.81, 法向力=1509.2397, 切向力X=-285.8431, 切向力Y=109.6400
FPS=33.86, 法向力=1458.7095, 切向力X=-609.4690, 切向力Y=663.9632
FPS=36.53, 法向力=1569.3481, 切向力X=-566.2063, 切向力Y=689.6980
FPS=36.14, 法向力=1600.4291, 切向力X=-585.2892, 切向力Y=718.8779
stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000266s, blend=0.002169s (9 tiles incl ref), finalize=0.000061s, total=0.002502s
FPS=35.87, 法向力=1433.6814, 切向力X=-1002.2411, 切向力Y=672.1617
FPS=31.82, 法向力=1448.8743, 切向力X=399.1382, 切向力Y=-235.6329
FPS=35.60, 法向力=1450.5624, 切向力X=429.5777, 切向力Y=-287.0817
FPS=32.37, 法向力=1240.6384, 切向力X=-857.3041, 切向力Y=311.0209
FPS=35.95, 法向力=1231.0853, 切向力X=-898.2181, 切向力Y=318.0671
FPS=33.95, 法向力=1203.9935, 切向力X=-923.2743, 切向力Y=321.2319
FPS=37.72, 法向力=1636.9969, 切向力X=-495.9440, 切向力Y=719.9449
FPS=37.61, 法向力=1627.0468, 切向力X=-496.8716, 切向力Y=684.2385
FPS=36.39, 法向力=1402.5857, 切向力X=-462.7929, 切向力Y=-20.5679
FPS=36.40, 法向力=1501.9630, 切向力X=-455.9786, 切向力Y=-5.3966
FPS=32.13, 法向力=2478.8589, 切向力X=-985.1265, 切向力Y=-153.0724
FPS=34.34, 法向力=2514.7637, 切向力X=-1090.0223, 切向力Y=-55.1661
FPS=27.60, 法向力=1697.0073, 切向力X=-219.0614, 切向力Y=-347.7463
FPS=30.92, 法向力=1663.1521, 切向力X=-198.7539, 切向力Y=-322.3150
FPS=33.79, 法向力=1655.9893, 切向力X=-1087.5881, 切向力Y=1675.2000
FPS=33.07, 法向力=1647.9672, 切向力X=-1053.4248, 切向力Y=1647.8018
FPS=35.24, 法向力=2206.3936, 切向力X=-860.2083, 切向力Y=237.8097
FPS=37.17, 法向力=2242.3101, 切向力X=-875.5824, 切向力Y=362.1600
FPS=33.77, 法向力=1740.4929, 切向力X=-912.3230, 切向力Y=363.4470
FPS=36.38, 法向力=1754.8838, 切向力X=-966.8751, 切向力Y=394.5104
FPS=34.64, 法向力=1373.7367, 切向力X=-1001.1646, 切向力Y=1025.6746
FPS=37.34, 法向力=1372.4175, 切向力X=-944.7896, 切向力Y=1072.4631
FPS=37.83, 法向力=1831.7915, 切向力X=-1469.8865, 切向力Y=1595.9097
FPS=35.13, 法向力=1811.5858, 切向力X=-1376.6161, 切向力Y=1670.8949
FPS=30.78, 法向力=1614.0052, 切向力X=-172.0847, 切向力Y=1424.3079
FPS=33.85, 法向力=1655.3236, 切向力X=-117.8423, 切向力Y=1405.7570
FPS=33.41, 法向力=2070.8550, 切向力X=-1159.5288, 切向力Y=286.1172
FPS=35.61, 法向力=2129.8994, 切向力X=-1351.9139, 切向力Y=245.2002
FPS=33.73, 法向力=2091.8896, 切向力X=-559.0555, 切向力Y=489.8723
FPS=36.80, 法向力=2057.2136, 切向力X=-382.3217, 切向力Y=565.9640
stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000353s, blend=0.002259s (9 tiles incl ref), finalize=0.000060s, total=0.002678s
FPS=34.37, 法向力=1510.1733, 切向力X=-564.1191, 切向力Y=597.6489
FPS=35.11, 法向力=1529.0925, 切向力X=-733.4398, 切向力Y=542.0576
FPS=27.97, 法向力=1524.2388, 切向力X=-800.9615, 切向力Y=1159.5931
FPS=33.96, 法向力=1543.8003, 切向力X=-799.0347, 切向力Y=1213.3771
FPS=24.96, 法向力=2009.7972, 切向力X=-408.4922, 切向力Y=-342.7956
FPS=26.37, 法向力=1822.1294, 切向力X=-116.3901, 切向力Y=963.0035
FPS=29.35, 法向力=1791.8817, 切向力X=-78.2393, 切向力Y=1058.1359
FPS=32.98, 法向力=1783.9066, 切向力X=-52.8316, 切向力Y=1042.6858
FPS=35.50, 法向力=1986.5123, 切向力X=-984.8811, 切向力Y=176.7209
FPS=33.47, 法向力=1981.7979, 切向力X=-1088.0549, 切向力Y=277.3613
FPS=34.25, 法向力=1727.0933, 切向力X=-1550.7264, 切向力Y=517.7266
FPS=34.41, 法向力=1695.7104, 切向力X=-1595.6946, 切向力Y=552.1558
FPS=35.92, 法向力=1698.7134, 切向力X=-919.7816, 切向力Y=1321.4592
FPS=34.83, 法向力=1799.5037, 切向力X=-951.9795, 切向力Y=1422.7045
FPS=35.02, 法向力=2193.1128, 切向力X=-997.2986, 切向力Y=669.7212
FPS=33.72, 法向力=2207.6340, 切向力X=-1127.8625, 切向力Y=606.9158
FPS=34.60, 法向力=1588.2197, 切向力X=-222.9024, 切向力Y=628.5171
FPS=36.30, 法向力=1550.8843, 切向力X=-206.3145, 切向力Y=641.6782
FPS=37.08, 法向力=1771.3544, 切向力X=613.9995, 切向力Y=1484.1458
FPS=34.22, 法向力=1782.6698, 切向力X=533.7198, 切向力Y=1537.6191
FPS=33.08, 法向力=1712.5435, 切向力X=-566.2414, 切向力Y=941.6818
FPS=33.02, 法向力=1844.4662, 切向力X=-624.0888, 切向力Y=842.7521
FPS=32.26, 法向力=1939.5068, 切向力X=-776.7308, 切向力Y=-104.3935
FPS=35.43, 法向力=1863.1375, 切向力X=-676.0355, 切向力Y=-168.0085
FPS=34.24, 法向力=2090.7229, 切向力X=-493.1604, 切向力Y=1035.4246
FPS=34.06, 法向力=2130.4861, 切向力X=-468.8302, 切向力Y=1128.8649
FPS=23.63, 法向力=1272.6531, 切向力X=-351.1815, 切向力Y=490.1481
FPS=33.80, 法向力=1324.4086, 切向力X=-280.5574, 切向力Y=448.0146
FPS=30.53, 法向力=2829.5146, 切向力X=-792.8209, 切向力Y=-109.1110
FPS=31.78, 法向力=1892.8597, 切向力X=-378.3928, 切向力Y=-558.5203
stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000269s, blend=0.002133s (9 tiles incl ref), finalize=0.000054s, total=0.002463s
FPS=33.25, 法向力=1930.1809, 切向力X=-275.7532, 切向力Y=-716.0814
FPS=31.82, 法向力=2130.5977, 切向力X=-266.5330, 切向力Y=300.3757
FPS=33.99, 法向力=2095.3049, 切向力X=-211.5536, 切向力Y=528.0374
FPS=33.66, 法向力=2094.6316, 切向力X=-332.4191, 切向力Y=538.2770
FPS=32.16, 法向力=1691.8104, 切向力X=-482.4522, 切向力Y=-260.8849
FPS=32.13, 法向力=1658.5045, 切向力X=-421.0305, 切向力Y=-104.3984
FPS=33.46, 法向力=2690.4946, 切向力X=-895.4196, 切向力Y=400.1114
FPS=31.50, 法向力=1351.4221, 切向力X=-959.1686, 切向力Y=1890.7701
FPS=35.33, 法向力=1359.2554, 切向力X=-910.8300, 切向力Y=1913.6750
FPS=32.10, 法向力=1772.3372, 切向力X=-710.0813, 切向力Y=241.2951
FPS=31.46, 法向力=1771.2992, 切向力X=-801.1293, 切向力Y=242.6782
FPS=27.28, 法向力=1949.5439, 切向力X=-701.5604, 切向力Y=2021.9657
FPS=32.08, 法向力=1933.2623, 切向力X=-649.3328, 切向力Y=2137.1992
FPS=29.12, 法向力=1157.7472, 切向力X=-324.1089, 切向力Y=696.7888
FPS=24.43, 法向力=1230.1610, 切向力X=-266.3303, 切向力Y=2586.0688
FPS=26.42, 法向力=1191.1755, 切向力X=-350.2701, 切向力Y=2688.0708
FPS=29.04, 法向力=1793.5881, 切向力X=-46.6984, 切向力Y=-773.8577
FPS=30.63, 法向力=1749.7109, 切向力X=-136.1754, 切向力Y=-698.3903
FPS=27.66, 法向力=1879.8246, 切向力X=410.4065, 切向力Y=-47.2706
FPS=33.89, 法向力=1910.9585, 切向力X=449.3947, 切向力Y=-92.9259
FPS=32.06, 法向力=1420.2793, 切向力X=239.0944, 切向力Y=1099.1757
FPS=32.08, 法向力=1420.4673, 切向力X=262.7390, 切向力Y=1235.9476
FPS=31.98, 法向力=2127.9165, 切向力X=65.3619, 切向力Y=502.2100
FPS=31.81, 法向力=2095.5107, 切向力X=4.7817, 切向力Y=569.1088
FPS=32.41, 法向力=1275.0088, 切向力X=-291.2109, 切向力Y=1906.9695
FPS=34.07, 法向力=1285.8765, 切向力X=-240.5770, 切向力Y=1874.6335
FPS=32.66, 法向力=2309.7036, 切向力X=-304.0273, 切向力Y=-34.7900
FPS=33.32, 法向力=2259.4814, 切向力X=-136.3133, 切向力Y=23.2134
FPS=30.51, 法向力=1178.2826, 切向力X=-887.8141, 切向力Y=1968.7427
FPS=28.28, 法向力=1646.5491, 切向力X=-500.1133, 切向力Y=411.2445
stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000270s, blend=0.002200s (9 tiles incl ref), finalize=0.000058s, total=0.002534s
FPS=32.66, 法向力=1675.5780, 切向力X=-411.3986, 切向力Y=168.9330
FPS=30.71, 法向力=1370.2385, 切向力X=56.9089, 切向力Y=992.7275
FPS=31.06, 法向力=1378.6406, 切向力X=23.8292, 切向力Y=1068.0580
FPS=22.31, 法向力=1490.5599, 切向力X=1285.4900, 切向力Y=725.1188
FPS=25.91, 法向力=1545.4629, 切向力X=1366.0844, 切向力Y=583.0234
FPS=29.46, 法向力=2393.3604, 切向力X=160.4951, 切向力Y=-192.1033
FPS=30.25, 法向力=1055.3035, 切向力X=-534.1108, 切向力Y=2249.6343
FPS=31.23, 法向力=1081.6376, 切向力X=-482.2648, 切向力Y=2417.3850
FPS=33.00, 法向力=1562.2482, 切向力X=-365.4141, 切向力Y=1290.8232
FPS=33.63, 法向力=1588.8879, 切向力X=-379.7579, 切向力Y=1296.6362
FPS=29.82, 法向力=1847.6061, 切向力X=-198.5820, 切向力Y=1510.0974
FPS=33.15, 法向力=1803.5880, 切向力X=-257.1650, 切向力Y=1423.8936
FPS=29.68, 法向力=1491.1536, 切向力X=-215.5789, 切向力Y=1453.2428
FPS=33.34, 法向力=1555.3801, 切向力X=-339.8061, 切向力Y=1384.6217
FPS=32.51, 法向力=1075.3240, 切向力X=-845.4142, 切向力Y=798.6021
FPS=34.86, 法向力=1133.8508, 切向力X=-887.7524, 切向力Y=724.8635
FPS=33.79, 法向力=1664.0369, 切向力X=8.8490, 切向力Y=197.1561
FPS=33.96, 法向力=1682.2966, 切向力X=9.7492, 切向力Y=377.7819
FPS=29.90, 法向力=1252.6509, 切向力X=-869.4514, 切向力Y=1032.8083
FPS=34.28, 法向力=1289.3853, 切向力X=-854.6022, 切向力Y=1007.8111
FPS=33.20, 法向力=1116.0659, 切向力X=595.9535, 切向力Y=1650.6532
FPS=33.21, 法向力=1078.2411, 切向力X=532.9844, 切向力Y=1548.9995
FPS=32.35, 法向力=2149.0205, 切向力X=-292.0470, 切向力Y=454.4871
FPS=24.83, 法向力=2121.6682, 切向力X=-337.2742, 切向力Y=517.9343
FPS=29.43, 法向力=1506.8359, 切向力X=-462.9023, 切向力Y=910.4794
FPS=30.70, 法向力=2059.1719, 切向力X=-302.5813, 切向力Y=576.0335
FPS=32.88, 法向力=2102.2996, 切向力X=-402.7238, 切向力Y=542.7641
FPS=31.27, 法向力=2190.9424, 切向力X=-534.4615, 切向力Y=-225.1925
FPS=29.54, 法向力=2128.3940, 切向力X=-509.5561, 切向力Y=-86.0753
FPS=31.58, 法向力=1581.8826, 切向力X=897.2963, 切向力Y=1265.2322
stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000395s, blend=0.002320s (9 tiles incl ref), finalize=0.000061s, total=0.002782s
FPS=33.27, 法向力=1528.7598, 切向力X=920.6344, 切向力Y=1350.9158
FPS=30.00, 法向力=1185.8621, 切向力X=-1028.6655, 切向力Y=621.6952
FPS=34.22, 法向力=1146.9028, 切向力X=-959.9648, 切向力Y=800.4104
FPS=33.10, 法向力=1961.1370, 切向力X=51.2345, 切向力Y=1223.9857
FPS=35.29, 法向力=1969.9216, 切向力X=-36.6881, 切向力Y=1281.7002
FPS=31.48, 法向力=2131.9443, 切向力X=-1138.9434, 切向力Y=224.5368
FPS=32.58, 法向力=2306.4448, 切向力X=-1272.2849, 切向力Y=46.4960
FPS=33.42, 法向力=1436.7546, 切向力X=35.1142, 切向力Y=1610.6814
FPS=35.25, 法向力=1456.1660, 切向力X=15.5192, 切向力Y=1606.7234
FPS=32.45, 法向力=1918.3608, 切向力X=-57.6754, 切向力Y=1814.6790
FPS=33.19, 法向力=1939.3110, 切向力X=-80.1924, 切向力Y=1836.5732
FPS=30.31, 法向力=2378.7864, 切向力X=-466.5301, 切向力Y=33.7478
FPS=34.76, 法向力=2388.8896, 切向力X=-465.3174, 切向力Y=-43.1673
FPS=29.50, 法向力=1967.6215, 切向力X=-410.8236, 切向力Y=133.4598
FPS=25.24, 法向力=2018.5840, 切向力X=-435.9827, 切向力Y=113.1385
FPS=30.66, 法向力=2093.5330, 切向力X=611.1218, 切向力Y=958.6345
FPS=30.90, 法向力=1286.8101, 切向力X=146.6454, 切向力Y=772.7163
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FPS=34.39, 法向力=2102.2795, 切向力X=1660.4944, 切向力Y=2267.6370
FPS=34.53, 法向力=1900.6201, 切向力X=794.9641, 切向力Y=2253.5247
FPS=35.02, 法向力=1913.1656, 切向力X=931.5372, 切向力Y=2155.9839
FPS=33.74, 法向力=2224.4917, 切向力X=1463.8450, 切向力Y=1975.2922
FPS=33.48, 法向力=2199.6345, 切向力X=707.4701, 切向力Y=1806.4148
FPS=34.45, 法向力=2286.5137, 切向力X=816.9319, 切向力Y=1794.4517
FPS=32.08, 法向力=2286.7725, 切向力X=797.3920, 切向力Y=1823.2729
FPS=34.57, 法向力=2131.9058, 切向力X=1494.5074, 切向力Y=2087.6514
FPS=31.73, 法向力=2126.8286, 切向力X=1538.9907, 切向力Y=2040.1428
FPS=33.49, 法向力=1963.0546, 切向力X=1164.1056, 切向力Y=1888.3514
FPS=36.67, 法向力=1908.2471, 切向力X=1146.3054, 切向力Y=1922.6016
FPS=35.23, 法向力=2339.7275, 切向力X=1149.7535, 切向力Y=1922.7417
FPS=34.28, 法向力=2331.1353, 切向力X=1070.1360, 切向力Y=1937.2843
FPS=36.23, 法向力=2305.9954, 切向力X=798.4489, 切向力Y=1232.9460
FPS=34.15, 法向力=2322.5828, 切向力X=772.7766, 切向力Y=1156.3387
stitch_feature_optimized: canvas out_w=552, out_h=416, x_min=-149.71, y_min=-83.68
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000268s, blend=0.002158s (9 tiles incl ref), finalize=0.000057s, total=0.002489s
FPS=34.60, 法向力=1986.4095, 切向力X=1336.9766, 切向力Y=2457.0234
FPS=36.02, 法向力=2052.6267, 切向力X=1260.8658, 切向力Y=2572.6121
FPS=34.41, 法向力=2225.5374, 切向力X=180.3794, 切向力Y=1886.1443
FPS=33.22, 法向力=2171.8389, 切向力X=227.7674, 切向力Y=1982.1479
FPS=34.12, 法向力=2103.9543, 切向力X=1965.4489, 切向力Y=2367.5432
FPS=35.34, 法向力=2176.8489, 切向力X=2092.2705, 切向力Y=2371.2832
FPS=13.60, 法向力=2349.4834, 切向力X=1628.1866, 切向力Y=1837.4990
Sensor disconnected.