test/examples/logs/qt_viewer_20260521_095040.log

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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=10
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
▶ 启动 — 摄像机=0, 配置=config\ddjx01.json, 标定=./config/ddjx01.npy
FPS=0.49, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=6.36, 法向力=1531.8375, 切向力X=-850.3668, 切向力Y=-748.8601
FPS=24.59, 法向力=2269.2971, 切向力X=40.2216, 切向力Y=-519.9357
FPS=26.78, 法向力=2307.8467, 切向力X=58.6629, 切向力Y=-533.4066
FPS=25.62, 法向力=2366.3464, 切向力X=-854.9002, 切向力Y=-222.9382
FPS=29.62, 法向力=2409.0366, 切向力X=-839.8696, 切向力Y=-143.2048
FPS=26.20, 法向力=1664.6904, 切向力X=-716.0243, 切向力Y=-1055.5620
FPS=29.20, 法向力=1642.7150, 切向力X=-719.6075, 切向力Y=-1107.4397
FPS=27.66, 法向力=1839.4086, 切向力X=198.5980, 切向力Y=157.2755
FPS=28.21, 法向力=1805.1826, 切向力X=115.6737, 切向力Y=235.0430
FPS=27.49, 法向力=2034.4174, 切向力X=-51.2264, 切向力Y=-1244.8622
FPS=27.96, 法向力=1483.6956, 切向力X=206.0185, 切向力Y=-883.6023
FPS=28.70, 法向力=1435.1799, 切向力X=287.6072, 切向力Y=-965.6283
FPS=26.67, 法向力=1722.9379, 切向力X=730.0396, 切向力Y=-490.4530
FPS=29.11, 法向力=1732.9041, 切向力X=672.1000, 切向力Y=-524.9598
FPS=27.81, 法向力=1732.3763, 切向力X=693.2971, 切向力Y=-509.4069
FPS=27.78, 法向力=1295.5040, 切向力X=-86.8163, 切向力Y=-519.0591
FPS=26.12, 法向力=1973.2542, 切向力X=-644.7618, 切向力Y=-864.1526
FPS=29.08, 法向力=2006.9103, 切向力X=-712.7609, 切向力Y=-821.4170
FPS=25.93, 法向力=2501.9661, 切向力X=-81.4848, 切向力Y=-1457.1879
FPS=28.42, 法向力=2612.3865, 切向力X=-45.2577, 切向力Y=-1589.7286
FPS=26.72, 法向力=2344.5718, 切向力X=83.0081, 切向力Y=-433.6013
FPS=27.97, 法向力=2400.4497, 切向力X=124.7014, 切向力Y=-408.6208
FPS=28.77, 法向力=1811.9769, 切向力X=365.4493, 切向力Y=-606.9307
FPS=29.37, 法向力=1822.5244, 切向力X=382.3135, 切向力Y=-518.7598
FPS=28.21, 法向力=1814.3269, 切向力X=-178.6788, 切向力Y=-432.0292
FPS=28.91, 法向力=1863.0435, 切向力X=-162.7838, 切向力Y=-435.9192
FPS=27.58, 法向力=2662.2266, 切向力X=83.4162, 切向力Y=-214.9326
stitch_feature_optimized: canvas out_w=409, out_h=415, x_min=-79.32, y_min=-80.62
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000211s, blend=0.002180s (9 tiles incl ref), finalize=0.000058s, total=0.002455s
FPS=28.46, 法向力=1773.8865, 切向力X=-200.6324, 切向力Y=-499.7731
FPS=27.26, 法向力=1800.6028, 切向力X=-264.5415, 切向力Y=-474.0753
FPS=26.48, 法向力=2210.5400, 切向力X=389.5194, 切向力Y=810.0693
FPS=29.14, 法向力=2293.9170, 切向力X=378.5075, 切向力Y=751.0630
FPS=27.34, 法向力=1726.6400, 切向力X=-459.4526, 切向力Y=-187.7011
FPS=29.72, 法向力=1745.4015, 切向力X=-503.3637, 切向力Y=-154.9620
FPS=28.20, 法向力=1832.3000, 切向力X=523.4604, 切向力Y=474.7872
FPS=28.92, 法向力=1868.4938, 切向力X=453.6918, 切向力Y=581.8022
FPS=26.31, 法向力=2893.8115, 切向力X=-2264.5989, 切向力Y=-11467.8145
FPS=29.45, 法向力=2839.2847, 切向力X=-2341.7725, 切向力Y=-11773.2148
FPS=27.21, 法向力=8545.5801, 切向力X=-14999.6055, 切向力Y=-64278.6406
FPS=29.48, 法向力=8478.6133, 切向力X=-15056.8311, 切向力Y=-64569.0938
FPS=27.42, 法向力=32214.8789, 切向力X=-15196.2305, 切向力Y=-117876.7812
FPS=28.35, 法向力=52154.0469, 切向力X=-2919.3672, 切向力Y=-110592.5000
FPS=28.20, 法向力=52356.4648, 切向力X=-2692.8469, 切向力Y=-111260.4375
FPS=26.04, 法向力=42061.2734, 切向力X=2151.5593, 切向力Y=-72404.2109
FPS=29.19, 法向力=41342.1484, 切向力X=1975.3948, 切向力Y=-71180.1250
FPS=25.80, 法向力=23172.2344, 切向力X=13318.5801, 切向力Y=-35941.1641
FPS=27.84, 法向力=23197.1406, 切向力X=13514.1426, 切向力Y=-35809.9453
FPS=27.10, 法向力=17119.5234, 切向力X=2107.8003, 切向力Y=-10774.9199
FPS=29.17, 法向力=17107.0859, 切向力X=2193.1875, 切向力Y=-10849.7695
FPS=26.13, 法向力=10674.0068, 切向力X=-20720.4395, 切向力Y=57206.0508
FPS=28.47, 法向力=10821.8730, 切向力X=-20933.1641, 切向力Y=57212.3828
FPS=28.00, 法向力=18327.0977, 切向力X=-16885.7324, 切向力Y=97647.3047
FPS=27.91, 法向力=18189.7070, 切向力X=-16916.3789, 切向力Y=97923.3828
FPS=28.74, 法向力=23249.8848, 切向力X=-18716.3770, 切向力Y=83303.9844
FPS=27.87, 法向力=15545.9414, 切向力X=-9654.3389, 切向力Y=47227.0430
FPS=26.96, 法向力=15621.4092, 切向力X=-9713.6230, 切向力Y=47585.7344
FPS=26.18, 法向力=12549.8252, 切向力X=-5433.2959, 切向力Y=25659.6504
FPS=28.90, 法向力=12649.3770, 切向力X=-5340.0259, 切向力Y=25778.2461
stitch_feature_optimized: canvas out_w=409, out_h=415, x_min=-79.32, y_min=-80.62
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000211s, blend=0.002201s (9 tiles incl ref), finalize=0.000051s, total=0.002470s
FPS=26.97, 法向力=8084.2061, 切向力X=-2859.7817, 切向力Y=14048.1514
FPS=29.58, 法向力=8078.2578, 切向力X=-2740.8203, 切向力Y=14114.8730
FPS=25.67, 法向力=6396.8887, 切向力X=-2856.0498, 切向力Y=9197.4023
FPS=26.67, 法向力=6396.5205, 切向力X=-2881.9451, 切向力Y=9221.4434
FPS=25.79, 法向力=3548.6719, 切向力X=-6122.4189, 切向力Y=611.7800
FPS=27.46, 法向力=3576.3313, 切向力X=-3015.5205, 切向力Y=-10566.0654
FPS=28.73, 法向力=3549.1567, 切向力X=-3006.0391, 切向力Y=-10714.5293
FPS=27.01, 法向力=2980.8726, 切向力X=-1367.3757, 切向力Y=-1888.1608
FPS=29.18, 法向力=2950.9380, 切向力X=-1297.6274, 切向力Y=-1848.5559
FPS=27.84, 法向力=3957.6987, 切向力X=-1347.2010, 切向力Y=-1324.0901
FPS=29.64, 法向力=4002.0327, 切向力X=-1425.7733, 切向力Y=-1293.9675
FPS=27.46, 法向力=2045.7738, 切向力X=-6318.7178, 切向力Y=-5901.6621
FPS=29.50, 法向力=1947.3101, 切向力X=-6460.3174, 切向力Y=-5972.6060
FPS=26.93, 法向力=3966.3567, 切向力X=-33377.6367, 切向力Y=-13554.2422
FPS=30.08, 法向力=3589.3159, 切向力X=-33886.5625, 切向力Y=-13630.7500
FPS=28.40, 法向力=6778.1064, 切向力X=-61575.0078, 切向力Y=-19201.2949
FPS=28.93, 法向力=6412.3428, 切向力X=-62218.4141, 切向力Y=-19171.0469
FPS=25.75, 法向力=16313.6826, 切向力X=-74439.4688, 切向力Y=-23972.0020
FPS=27.44, 法向力=15956.8867, 切向力X=-74418.5625, 切向力Y=-24445.5723
FPS=28.27, 法向力=27688.2188, 切向力X=-57732.6133, 切向力Y=-22545.7578
FPS=28.40, 法向力=28126.3828, 切向力X=-58053.6719, 切向力Y=-22328.3047
FPS=27.91, 法向力=26334.1172, 切向力X=-40715.8320, 切向力Y=-22659.5410
FPS=29.93, 法向力=26001.5645, 切向力X=-40224.9922, 切向力Y=-22763.4727
FPS=29.47, 法向力=23466.4375, 切向力X=-15306.2197, 切向力Y=-20979.4727
FPS=29.14, 法向力=8429.1943, 切向力X=46363.1055, 切向力Y=-13628.9297
FPS=29.70, 法向力=8305.3809, 切向力X=46552.4375, 切向力Y=-13857.8398
FPS=29.65, 法向力=20376.2656, 切向力X=99642.6641, 切向力Y=12511.3896
FPS=29.52, 法向力=20325.8379, 切向力X=99812.0469, 切向力Y=12493.3955
FPS=26.63, 法向力=23749.1719, 切向力X=95600.2969, 切向力Y=5875.5483
FPS=29.78, 法向力=23772.7598, 切向力X=95839.9922, 切向力Y=5906.7510
stitch_feature_optimized: canvas out_w=409, out_h=415, x_min=-79.32, y_min=-80.62
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000204s, blend=0.002146s (9 tiles incl ref), finalize=0.000050s, total=0.002406s
FPS=26.33, 法向力=21997.3066, 切向力X=69669.7891, 切向力Y=3547.4941
FPS=29.15, 法向力=22207.9902, 切向力X=69241.3750, 切向力Y=3884.6738
FPS=27.04, 法向力=17519.8613, 切向力X=42596.7266, 切向力Y=8174.4697
FPS=30.37, 法向力=17403.3438, 切向力X=42754.6953, 切向力Y=8444.4814
FPS=27.51, 法向力=11248.5078, 切向力X=13104.5215, 切向力Y=5846.1699
FPS=29.82, 法向力=11237.4941, 切向力X=13235.5840, 切向力Y=5856.4502
FPS=28.84, 法向力=2456.7607, 切向力X=-31602.8027, 切向力Y=-6014.8057
FPS=30.14, 法向力=2286.7971, 切向力X=-31950.8555, 切向力Y=-6098.3452
FPS=26.58, 法向力=6575.4238, 切向力X=-52014.2969, 切向力Y=-16483.3750
FPS=28.18, 法向力=5891.1729, 切向力X=-52567.2305, 切向力Y=-17708.9570
FPS=28.30, 法向力=18082.6875, 切向力X=-39344.0039, 切向力Y=-15041.6455
FPS=28.05, 法向力=17280.7676, 切向力X=18313.7285, 切向力Y=-18282.2227
FPS=28.40, 法向力=17138.1777, 切向力X=18530.7578, 切向力Y=-18292.5293
FPS=27.12, 法向力=17123.1719, 切向力X=18503.5742, 切向力Y=-18241.0781
FPS=27.79, 法向力=18672.2930, 切向力X=104492.6797, 切向力Y=9299.9229
FPS=26.98, 法向力=19354.0254, 切向力X=77980.0859, 切向力Y=9340.7852
FPS=26.97, 法向力=19279.3516, 切向力X=77532.0469, 切向力Y=9350.9688
FPS=25.94, 法向力=8096.0410, 切向力X=22611.7656, 切向力Y=1980.7938
FPS=27.70, 法向力=8139.7324, 切向力X=22620.0977, 切向力Y=2017.6313
FPS=26.59, 法向力=6278.3726, 切向力X=-50826.9609, 切向力Y=-18134.8184
FPS=27.16, 法向力=15966.9502, 切向力X=-73231.8438, 切向力Y=-41646.7188
FPS=27.53, 法向力=15834.1035, 切向力X=-73357.0156, 切向力Y=-42009.7188
FPS=26.29, 法向力=35722.4766, 切向力X=-28200.6348, 切向力Y=-39453.2656
FPS=28.68, 法向力=35657.5781, 切向力X=-28297.3809, 切向力Y=-39551.1094
FPS=27.41, 法向力=25378.2031, 切向力X=117645.9688, 切向力Y=-12242.7471
FPS=27.30, 法向力=24899.9297, 切向力X=119009.7812, 切向力Y=-12134.6816
FPS=27.20, 法向力=21802.4766, 切向力X=99817.0312, 切向力Y=-179.5892
FPS=29.03, 法向力=21773.8984, 切向力X=99556.9219, 切向力Y=-93.5639
FPS=26.50, 法向力=9363.8164, 切向力X=25910.8438, 切向力Y=-12614.3906
FPS=28.17, 法向力=9429.2832, 切向力X=25998.7324, 切向力Y=-12473.7021
stitch_feature_optimized: canvas out_w=409, out_h=415, x_min=-79.32, y_min=-80.62
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000206s, blend=0.002130s (9 tiles incl ref), finalize=0.000049s, total=0.002392s
FPS=26.41, 法向力=9401.0371, 切向力X=-23226.0352, 切向力Y=-39323.7812
FPS=27.48, 法向力=8408.2549, 切向力X=-2397.2090, 切向力Y=-16144.2344
FPS=28.57, 法向力=8396.2627, 切向力X=-2265.2266, 切向力Y=-16164.1680
FPS=29.04, 法向力=8385.8779, 切向力X=-2268.5950, 切向力Y=-16181.1426
FPS=26.88, 法向力=2825.0239, 切向力X=465.5212, 切向力Y=5078.6909
FPS=28.32, 法向力=2849.5029, 切向力X=442.9682, 切向力Y=5075.3262
FPS=28.62, 法向力=5286.8979, 切向力X=-11749.7754, 切向力Y=57009.4492
FPS=27.45, 法向力=12911.1484, 切向力X=-14649.5527, 切向力Y=38432.7578
FPS=27.98, 法向力=13310.0820, 切向力X=-15135.0898, 切向力Y=38652.9766
FPS=26.25, 法向力=4065.1531, 切向力X=-405.8235, 切向力Y=2354.8015
FPS=28.17, 法向力=4086.2056, 切向力X=-474.4205, 切向力Y=2364.3540
FPS=26.43, 法向力=3072.3384, 切向力X=3551.3813, 切向力Y=-22909.8281
FPS=28.14, 法向力=3038.4531, 切向力X=3549.4297, 切向力Y=-23007.0586
FPS=28.34, 法向力=11474.7832, 切向力X=9819.4355, 切向力Y=-71854.6875
FPS=28.74, 法向力=11324.8848, 切向力X=9884.7773, 切向力Y=-72186.4688
FPS=25.60, 法向力=19805.6641, 切向力X=11382.1055, 切向力Y=-48653.8789
FPS=26.95, 法向力=19779.2461, 切向力X=11458.8008, 切向力Y=-48540.5781
FPS=27.38, 法向力=11317.9033, 切向力X=17163.6074, 切向力Y=37733.7734
FPS=26.58, 法向力=12030.6885, 切向力X=-14085.9092, 切向力Y=67816.1250
FPS=29.14, 法向力=12041.3906, 切向力X=-14358.2500, 切向力Y=68018.8984
FPS=26.72, 法向力=4990.4512, 切向力X=-40478.4609, 切向力Y=-2124.8237
FPS=29.04, 法向力=4851.4258, 切向力X=-40746.0625, 切向力Y=-2158.6545
FPS=27.63, 法向力=15577.8271, 切向力X=-21713.2129, 切向力Y=-75608.0078
FPS=27.13, 法向力=15332.4473, 切向力X=-21637.7070, 切向力Y=-75988.3438
FPS=27.89, 法向力=22433.3516, 切向力X=22571.0332, 切向力Y=-77642.5078
FPS=28.02, 法向力=22403.4453, 切向力X=22448.5352, 切向力Y=-77728.6797
FPS=26.58, 法向力=8735.7227, 切向力X=10849.8213, 切向力Y=-17458.7266
FPS=26.86, 法向力=8790.0137, 切向力X=10815.6484, 切向力Y=-17385.1270
FPS=27.89, 法向力=5115.6504, 切向力X=2949.9883, 切向力Y=11285.1279
FPS=26.22, 法向力=6812.4385, 切向力X=-10522.4248, 切向力Y=57550.2109
stitch_feature_optimized: canvas out_w=409, out_h=415, x_min=-79.32, y_min=-80.62
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000260s, blend=0.002227s (9 tiles incl ref), finalize=0.000052s, total=0.002547s
FPS=28.41, 法向力=6678.5352, 切向力X=-10881.7812, 切向力Y=57823.1484
FPS=26.70, 法向力=10104.4727, 切向力X=-20996.6641, 切向力Y=58370.2930
FPS=27.73, 法向力=10211.3711, 切向力X=-21683.6875, 切向力Y=58473.1562
FPS=26.31, 法向力=6718.2832, 切向力X=-43458.6211, 切向力Y=15107.3008
FPS=27.02, 法向力=6674.9775, 切向力X=-43630.2266, 切向力Y=15122.1240
FPS=28.61, 法向力=5664.7871, 切向力X=-46952.7344, 切向力Y=-24225.6289
FPS=28.12, 法向力=5744.4873, 切向力X=-46905.7070, 切向力Y=-24236.6367
FPS=26.52, 法向力=13120.7334, 切向力X=-29835.3613, 切向力Y=-36516.8750
FPS=27.93, 法向力=18815.2559, 切向力X=2388.3318, 切向力Y=-55972.6406
FPS=27.80, 法向力=18698.0469, 切向力X=2800.7656, 切向力Y=-56020.3359
FPS=26.33, 法向力=20202.0508, 切向力X=55061.1562, 切向力Y=-58951.4844
FPS=28.64, 法向力=20337.2109, 切向力X=55337.9727, 切向力Y=-58603.8398
FPS=25.36, 法向力=19787.6426, 切向力X=53343.4062, 切向力Y=-8694.2666
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FPS=24.15, 法向力=5934.0513, 切向力X=7913.4902, 切向力Y=-976.4360
FPS=25.93, 法向力=5925.1753, 切向力X=7830.7812, 切向力Y=-977.4226
FPS=25.59, 法向力=5535.1230, 切向力X=-40836.4609, 切向力Y=-1421.0759
FPS=25.97, 法向力=16444.5508, 切向力X=-61150.8516, 切向力Y=8152.0498
FPS=25.99, 法向力=16413.3965, 切向力X=-62144.1328, 切向力Y=8143.2515
FPS=24.86, 法向力=4847.3604, 切向力X=57.5545, 切向力Y=-4999.5615
FPS=26.43, 法向力=4888.1953, 切向力X=-13.8826, 切向力Y=-5155.8096
FPS=24.60, 法向力=4101.1279, 切向力X=16259.9756, 切向力Y=609.8733
FPS=25.87, 法向力=4088.6567, 切向力X=16341.0059, 切向力Y=723.2487
FPS=25.72, 法向力=2597.2786, 切向力X=-10779.6680, 切向力Y=-7141.8008
FPS=24.12, 法向力=9762.8877, 切向力X=-67660.0234, 切向力Y=13510.8262
FPS=26.70, 法向力=9796.3105, 切向力X=-67717.4375, 切向力Y=13455.1611
FPS=24.85, 法向力=11720.0381, 切向力X=-19614.0820, 切向力Y=1703.2498
FPS=25.38, 法向力=3511.1423, 切向力X=23830.4297, 切向力Y=-7444.1211
FPS=25.61, 法向力=3499.4885, 切向力X=23852.5312, 切向力Y=-7373.1685
FPS=25.40, 法向力=3538.0789, 切向力X=23832.8789, 切向力Y=-7419.7856
FPS=25.68, 法向力=5553.9868, 切向力X=19429.9609, 切向力Y=3829.7349
FPS=24.69, 法向力=6057.6235, 切向力X=124.0912, 切向力Y=16967.7617
FPS=26.60, 法向力=6075.4106, 切向力X=57.6183, 切向力Y=16928.7617
FPS=23.99, 法向力=2338.9214, 切向力X=-16358.7490, 切向力Y=-12450.3281
FPS=25.52, 法向力=11712.5469, 切向力X=-8041.4844, 切向力Y=-62517.5078
FPS=25.51, 法向力=11647.8574, 切向力X=-7929.4482, 切向力Y=-62606.5859
stitch_feature_optimized: canvas out_w=409, out_h=415, x_min=-79.32, y_min=-80.62
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000214s, blend=0.002121s (9 tiles incl ref), finalize=0.000048s, total=0.002389s
FPS=24.07, 法向力=4074.4458, 切向力X=-2579.5962, 切向力Y=807.8302
FPS=25.46, 法向力=4005.0088, 切向力X=-2653.8564, 切向力Y=885.9533
FPS=25.81, 法向力=4947.8701, 切向力X=-11349.1855, 切向力Y=45628.5156
FPS=25.73, 法向力=5056.8320, 切向力X=-11359.4463, 切向力Y=45713.8516
FPS=24.85, 法向力=8496.5928, 切向力X=-23323.1406, 切向力Y=-33896.1797
FPS=24.65, 法向力=16103.1768, 切向力X=7113.5576, 切向力Y=-68796.4062
FPS=25.45, 法向力=16215.6621, 切向力X=7231.2305, 切向力Y=-69187.3281
FPS=23.94, 法向力=5482.2334, 切向力X=11695.6367, 切向力Y=24631.1211
FPS=23.14, 法向力=6800.1143, 切向力X=-23612.7949, 切向力Y=8527.7266
FPS=23.81, 法向力=6764.4116, 切向力X=-23254.6562, 切向力Y=8725.4277
FPS=23.50, 法向力=15579.1172, 切向力X=-4448.9375, 切向力Y=-70119.4375
FPS=25.07, 法向力=5076.4834, 切向力X=-508.9660, 切向力Y=-647.0803
FPS=25.20, 法向力=4989.8516, 切向力X=-517.1548, 切向力Y=-601.5481
FPS=24.57, 法向力=5880.2715, 切向力X=-12649.4961, 切向力Y=29704.6094
FPS=24.82, 法向力=5759.5225, 切向力X=-12754.3994, 切向力Y=30024.7383
FPS=24.10, 法向力=5763.2568, 切向力X=-14731.6631, 切向力Y=-14784.5645
FPS=24.71, 法向力=5758.7583, 切向力X=-14706.9590, 切向力Y=-14736.3691
FPS=25.43, 法向力=7172.9658, 切向力X=8694.8477, 切向力Y=-51704.9375
FPS=23.83, 法向力=6106.5938, 切向力X=3481.6521, 切向力Y=-5623.5498
FPS=26.66, 法向力=6098.2686, 切向力X=3491.9922, 切向力Y=-5617.4580
FPS=25.39, 法向力=4844.2651, 切向力X=-2629.8291, 切向力Y=-1256.3160
FPS=26.39, 法向力=3300.7395, 切向力X=-1442.3418, 切向力Y=-278.2329
FPS=26.68, 法向力=3338.3687, 切向力X=-1476.4171, 切向力Y=-283.5959
FPS=26.56, 法向力=3302.3301, 切向力X=-1522.4423, 切向力Y=-251.1930
FPS=26.34, 法向力=3245.5088, 切向力X=-1491.8303, 切向力Y=457.7529
FPS=25.53, 法向力=3555.6648, 切向力X=-1423.9768, 切向力Y=299.5822
FPS=27.90, 法向力=3591.9973, 切向力X=-1349.1624, 切向力Y=254.0583
FPS=25.59, 法向力=3531.0974, 切向力X=-3076.9470, 切向力Y=647.7551
FPS=27.59, 法向力=3520.9917, 切向力X=-3066.4270, 切向力Y=611.9266
FPS=27.05, 法向力=3522.6099, 切向力X=-1824.5934, 切向力Y=-392.2183
stitch_feature_optimized: canvas out_w=409, out_h=415, x_min=-79.32, y_min=-80.62
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000217s, blend=0.002288s (9 tiles incl ref), finalize=0.000066s, total=0.002577s
FPS=27.06, 法向力=3324.9395, 切向力X=-902.5704, 切向力Y=293.4327
FPS=27.92, 法向力=3433.9431, 切向力X=-880.5656, 切向力Y=235.6920
FPS=26.68, 法向力=3528.0220, 切向力X=-938.5248, 切向力Y=980.6135
FPS=27.94, 法向力=3546.4932, 切向力X=-882.7323, 切向力Y=902.3640
FPS=26.40, 法向力=3550.7344, 切向力X=-1328.4224, 切向力Y=1051.7894
FPS=28.82, 法向力=3516.4097, 切向力X=-1242.3746, 切向力Y=1034.5293
FPS=25.92, 法向力=3480.6289, 切向力X=-874.0490, 切向力Y=819.2908
FPS=29.34, 法向力=3502.4800, 切向力X=-923.5050, 切向力Y=823.9638
FPS=26.80, 法向力=3896.7961, 切向力X=-1972.8013, 切向力Y=-23.3152
FPS=27.30, 法向力=3986.5171, 切向力X=-1949.9120, 切向力Y=-150.0854
FPS=26.17, 法向力=4362.4150, 切向力X=-2149.6831, 切向力Y=415.6891
FPS=27.95, 法向力=2758.5776, 切向力X=-2732.5454, 切向力Y=603.4487
FPS=28.22, 法向力=2751.9336, 切向力X=-2783.0488, 切向力Y=554.7042
FPS=28.08, 法向力=2738.2446, 切向力X=-2769.0913, 切向力Y=544.3480
FPS=27.45, 法向力=3221.9287, 切向力X=-1138.2151, 切向力Y=1305.4158
FPS=26.26, 法向力=4233.5049, 切向力X=-2283.7056, 切向力Y=-233.7704
FPS=27.35, 法向力=4163.6973, 切向力X=-2197.0781, 切向力Y=-251.8224
FPS=26.12, 法向力=3670.0715, 切向力X=-1213.0811, 切向力Y=798.0181
FPS=26.44, 法向力=3583.0449, 切向力X=-1090.1570, 切向力Y=788.8099
FPS=24.28, 法向力=4328.7368, 切向力X=-2461.3218, 切向力Y=907.2283
FPS=27.54, 法向力=3901.9849, 切向力X=-2343.7817, 切向力Y=693.3452
FPS=26.94, 法向力=3949.6650, 切向力X=-2355.3765, 切向力Y=731.4276
FPS=25.57, 法向力=4881.6348, 切向力X=-1804.4913, 切向力Y=629.5782
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=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
  Video source: 0
  Stitch mode: True
  Optical flow algorithm: dis
  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=0.57, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=50.57, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=27.14, 法向力=2580.9097, 切向力X=-735.6903, 切向力Y=-444.7810
FPS=29.79, 法向力=2774.1548, 切向力X=-594.5504, 切向力Y=-436.0616
FPS=27.15, 法向力=2423.5327, 切向力X=279.2560, 切向力Y=-1137.0571
FPS=28.55, 法向力=2389.6248, 切向力X=218.5755, 切向力Y=-1254.1838
FPS=26.67, 法向力=2248.0642, 切向力X=781.5734, 切向力Y=-140.4047
FPS=31.45, 法向力=2270.5303, 切向力X=863.3885, 切向力Y=-79.5599
FPS=30.17, 法向力=1768.2976, 切向力X=-845.9907, 切向力Y=-656.3776
FPS=30.75, 法向力=1813.0096, 切向力X=-832.3342, 切向力Y=-600.6630
FPS=30.75, 法向力=2265.0166, 切向力X=763.0352, 切向力Y=-771.7941
FPS=30.51, 法向力=2193.9329, 切向力X=823.3427, 切向力Y=-907.2082
FPS=30.69, 法向力=1938.2358, 切向力X=507.5762, 切向力Y=-19.0562
FPS=31.72, 法向力=1956.7937, 切向力X=451.7248, 切向力Y=38.8127
FPS=29.13, 法向力=1796.0322, 切向力X=173.8585, 切向力Y=-235.4453
FPS=31.82, 法向力=1786.8506, 切向力X=115.1228, 切向力Y=-187.5636
FPS=30.45, 法向力=4271.6221, 切向力X=736.3994, 切向力Y=-370.3740
FPS=32.83, 法向力=4343.0869, 切向力X=793.4999, 切向力Y=-331.1870
FPS=30.46, 法向力=1627.0066, 切向力X=184.3590, 切向力Y=-1406.1763
FPS=33.19, 法向力=1484.0648, 切向力X=-24.3168, 切向力Y=-1364.0354
FPS=30.24, 法向力=2251.4578, 切向力X=17.1437, 切向力Y=-1986.1010
FPS=33.14, 法向力=2352.7583, 切向力X=19.8501, 切向力Y=-1856.6287
FPS=30.36, 法向力=3001.1665, 切向力X=3725.1462, 切向力Y=-16255.3828
FPS=33.33, 法向力=3172.2747, 切向力X=3927.5518, 切向力Y=-16427.2539
FPS=29.10, 法向力=7536.8359, 切向力X=24708.1523, 切向力Y=-55243.9453
FPS=32.65, 法向力=7737.3843, 切向力X=25079.1855, 切向力Y=-55458.5000
FPS=31.43, 法向力=7782.5195, 切向力X=25138.1152, 切向力Y=-55429.3516
FPS=30.58, 法向力=13141.4023, 切向力X=42308.4062, 切向力Y=-16129.0732
stitch_feature_optimized: canvas out_w=404, out_h=417, x_min=-78.77, y_min=-79.14
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000274s, blend=0.002997s (9 tiles incl ref), finalize=0.000052s, total=0.003330s
FPS=31.21, 法向力=13420.1855, 切向力X=42195.1953, 切向力Y=-15928.1289
FPS=32.50, 法向力=10082.1904, 切向力X=6319.3301, 切向力Y=56815.8086
FPS=31.46, 法向力=10256.6367, 切向力X=6268.7007, 切向力Y=57114.5469
FPS=30.76, 法向力=9206.8291, 切向力X=-10152.4980, 切向力Y=9809.4160
FPS=30.43, 法向力=9047.7715, 切向力X=-10271.9180, 切向力Y=9556.8340
FPS=30.50, 法向力=8523.3838, 切向力X=-8351.1855, 切向力Y=-48330.0039
FPS=30.13, 法向力=8438.9434, 切向力X=-8287.6758, 切向力Y=-48497.1094
FPS=31.76, 法向力=9837.5371, 切向力X=-1056.1943, 切向力Y=-19390.2500
FPS=32.11, 法向力=9803.3691, 切向力X=-932.3432, 切向力Y=-19331.5410
FPS=30.05, 法向力=4624.7734, 切向力X=-4929.1992, 切向力Y=33507.0977
FPS=32.02, 法向力=4625.2642, 切向力X=-4982.2407, 切向力Y=33540.8633
FPS=29.25, 法向力=10183.2686, 切向力X=-20219.5039, 切向力Y=22816.5508
FPS=31.73, 法向力=10080.6270, 切向力X=-20955.8613, 切向力Y=22592.8047
FPS=30.12, 法向力=8628.6855, 切向力X=-12041.0898, 切向力Y=-48160.5547
FPS=30.85, 法向力=8250.2002, 切向力X=-12075.0391, 切向力Y=-48408.7930
FPS=28.46, 法向力=7818.5552, 切向力X=2356.6719, 切向力Y=-19624.5312
FPS=31.23, 法向力=7783.1509, 切向力X=2347.2173, 切向力Y=-19560.9297
FPS=29.32, 法向力=2584.9075, 切向力X=3634.1038, 切向力Y=14208.8691
FPS=29.53, 法向力=2536.9805, 切向力X=3574.2673, 切向力Y=14195.8379
FPS=30.45, 法向力=5810.5791, 切向力X=-232.3758, 切向力Y=18140.8027
FPS=30.87, 法向力=5969.0820, 切向力X=-463.0755, 切向力Y=18388.1445
FPS=28.50, 法向力=4497.6025, 切向力X=-16077.0684, 切向力Y=-1651.4021
FPS=32.11, 法向力=4307.3638, 切向力X=-16374.0605, 切向力Y=-1754.1858
FPS=29.60, 法向力=5482.2178, 切向力X=-11854.4199, 切向力Y=-14672.8027
FPS=30.26, 法向力=5576.8701, 切向力X=-11542.9727, 切向力Y=-14782.2773
FPS=30.76, 法向力=2815.2498, 切向力X=6899.5078, 切向力Y=-9460.7012
FPS=31.91, 法向力=2937.9387, 切向力X=6809.3701, 切向力Y=-9428.7227
FPS=29.40, 法向力=6772.9570, 切向力X=56603.1914, 切向力Y=-31732.8574
FPS=32.35, 法向力=6776.4146, 切向力X=56655.7031, 切向力Y=-31629.1602
FPS=31.01, 法向力=6071.8379, 切向力X=23198.5000, 切向力Y=-7118.0254
stitch_feature_optimized: canvas out_w=404, out_h=417, x_min=-78.77, y_min=-79.14
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000198s, blend=0.002121s (9 tiles incl ref), finalize=0.000047s, total=0.002371s
FPS=31.82, 法向力=6186.6777, 切向力X=23294.6680, 切向力Y=-7063.8867
FPS=29.51, 法向力=2294.6025, 切向力X=1763.0183, 切向力Y=3795.7869
FPS=31.27, 法向力=2255.9246, 切向力X=1834.9258, 切向力Y=3746.7715
FPS=30.24, 法向力=6111.2627, 切向力X=-28134.5547, 切向力Y=-2809.4814
FPS=32.00, 法向力=6048.2339, 切向力X=-28151.3086, 切向力Y=-2793.3721
FPS=30.25, 法向力=8311.3584, 切向力X=-54958.5625, 切向力Y=-14109.4834
FPS=31.40, 法向力=8325.3770, 切向力X=-55544.4453, 切向力Y=-14869.4766
FPS=31.42, 法向力=17428.4805, 切向力X=-12215.3975, 切向力Y=-31821.4023
FPS=31.70, 法向力=17294.6992, 切向力X=-12029.3418, 切向力Y=-31882.1328
FPS=29.96, 法向力=11852.1143, 切向力X=29008.0547, 切向力Y=-51482.1953
FPS=31.40, 法向力=12522.4326, 切向力X=29956.6172, 切向力Y=-51628.9180
FPS=30.25, 法向力=2706.4072, 切向力X=2805.5654, 切向力Y=-834.4159
FPS=31.60, 法向力=2648.5125, 切向力X=2649.6104, 切向力Y=-945.8795
FPS=30.81, 法向力=3541.3647, 切向力X=-6161.9258, 切向力Y=19278.7090
FPS=32.45, 法向力=3512.8047, 切向力X=-6190.7988, 切向力Y=19459.5664
FPS=32.07, 法向力=3510.0557, 切向力X=-6175.6768, 切向力Y=19464.5020
FPS=28.95, 法向力=4528.0039, 切向力X=-11116.8145, 切向力Y=-10818.4707
FPS=31.34, 法向力=4520.0625, 切向力X=-11044.8184, 切向力Y=-10843.5986
FPS=29.10, 法向力=8985.4941, 切向力X=-6417.6104, 切向力Y=-56866.3398
FPS=30.95, 法向力=8943.1523, 切向力X=-6154.5410, 切向力Y=-57139.9336
FPS=30.14, 法向力=5998.5107, 切向力X=3960.5806, 切向力Y=-12518.9766
FPS=31.89, 法向力=5932.9292, 切向力X=3869.8838, 切向力Y=-12532.3711
FPS=30.49, 法向力=4800.5068, 切向力X=-9974.4355, 切向力Y=30396.5469
FPS=30.81, 法向力=4773.2256, 切向力X=-9965.5254, 切向力Y=30401.3672
FPS=31.33, 法向力=8014.0249, 切向力X=-19239.6309, 切向力Y=-30809.5391
FPS=30.83, 法向力=7794.8975, 切向力X=-19254.4688, 切向力Y=-30949.5898
FPS=30.28, 法向力=14929.8564, 切向力X=10548.1699, 切向力Y=-80051.0781
FPS=31.33, 法向力=14486.6201, 切向力X=10381.3242, 切向力Y=-79677.9531
FPS=28.87, 法向力=3264.7168, 切向力X=6634.6777, 切向力Y=5677.0400
FPS=32.07, 法向力=3347.2957, 切向力X=6741.6841, 切向力Y=5623.4893
stitch_feature_optimized: canvas out_w=404, out_h=417, x_min=-78.77, y_min=-79.14
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000202s, blend=0.002134s (9 tiles incl ref), finalize=0.000046s, total=0.002387s
FPS=28.34, 法向力=10334.5664, 切向力X=-36351.8906, 切向力Y=56521.2578
FPS=31.66, 法向力=10152.9941, 切向力X=-36446.7539, 切向力Y=56829.0312
FPS=29.00, 法向力=15797.1709, 切向力X=-37916.6562, 切向力Y=-32791.9453
FPS=31.81, 法向力=15949.9551, 切向力X=-37935.9492, 切向力Y=-32782.6172
FPS=29.41, 法向力=21487.3828, 切向力X=26570.4766, 切向力Y=-75817.3281
FPS=31.28, 法向力=21387.2812, 切向力X=26582.5605, 切向力Y=-76207.0625
FPS=30.81, 法向力=3918.3308, 切向力X=12557.3535, 切向力Y=27245.7051
FPS=32.14, 法向力=3875.1045, 切向力X=12443.4180, 切向力Y=27266.8281
FPS=30.25, 法向力=7700.7881, 切向力X=-19895.0020, 切向力Y=7765.7622
FPS=32.06, 法向力=7713.7637, 切向力X=-19981.1992, 切向力Y=7726.9971
FPS=31.70, 法向力=13014.5840, 切向力X=7635.0073, 切向力Y=-77335.8281
FPS=31.56, 法向力=12991.5586, 切向力X=7810.7354, 切向力Y=-77474.8750
FPS=27.17, 法向力=4296.7393, 切向力X=9981.0527, 切向力Y=-13738.6045
FPS=27.47, 法向力=4365.2871, 切向力X=9944.2246, 切向力Y=-13803.3584
FPS=27.67, 法向力=5817.9443, 切向力X=-16073.9648, 切向力Y=40624.0820
FPS=28.48, 法向力=5939.7559, 切向力X=-16019.9014, 切向力Y=40706.7578
FPS=27.02, 法向力=10550.9443, 切向力X=-21083.5977, 切向力Y=-22105.3359
FPS=28.07, 法向力=10620.4717, 切向力X=-21396.3359, 切向力Y=-21886.7578
FPS=28.28, 法向力=12558.3262, 切向力X=12433.5684, 切向力Y=-57364.9844
FPS=28.26, 法向力=12404.9854, 切向力X=12530.2510, 切向力Y=-57708.7422
FPS=27.04, 法向力=2578.5562, 切向力X=4571.7002, 切向力Y=14553.7461
FPS=28.72, 法向力=2560.0620, 切向力X=4646.2710, 切向力Y=14610.0566
FPS=26.74, 法向力=6111.8354, 切向力X=-33306.3984, 切向力Y=-14256.9033
FPS=27.28, 法向力=8373.3184, 切向力X=-8427.7656, 切向力Y=-31136.1367
FPS=28.78, 法向力=8244.9932, 切向力X=-8606.2275, 切向力Y=-31136.8359
FPS=27.45, 法向力=2892.5500, 切向力X=-817.9592, 切向力Y=-4136.1235
FPS=29.68, 法向力=2947.1582, 切向力X=-736.2064, 切向力Y=-4112.7607
FPS=27.75, 法向力=3465.5957, 切向力X=-809.2123, 切向力Y=-1221.2242
FPS=29.01, 法向力=3414.4529, 切向力X=-924.9664, 切向力Y=-1180.9401
FPS=24.59, 法向力=2858.1323, 切向力X=-526.7198, 切向力Y=-1456.1151
stitch_feature_optimized: canvas out_w=404, out_h=417, x_min=-78.77, y_min=-79.14
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000252s, blend=0.002368s (9 tiles incl ref), finalize=0.000062s, total=0.002689s
FPS=26.16, 法向力=2859.3706, 切向力X=-551.9865, 切向力Y=-1451.9299
FPS=26.69, 法向力=2285.0215, 切向力X=-114.4576, 切向力Y=-2081.0562
FPS=29.23, 法向力=2321.1035, 切向力X=-183.6652, 切向力Y=-2194.0303
FPS=28.29, 法向力=2292.2126, 切向力X=-955.0815, 切向力Y=-982.1165
FPS=26.34, 法向力=3440.7866, 切向力X=600.1064, 切向力Y=-872.1860
FPS=28.77, 法向力=3461.0835, 切向力X=685.2404, 切向力Y=-806.4938
FPS=21.20, 法向力=2394.1184, 切向力X=401.9061, 切向力Y=-1789.4487
FPS=44.64, 法向力=2412.3069, 切向力X=439.8738, 切向力Y=-1799.2478
FPS=32.06, 法向力=2969.4971, 切向力X=771.3633, 切向力Y=-980.8633
FPS=35.58, 法向力=2972.2158, 切向力X=691.7831, 切向力Y=-928.6819
FPS=34.65, 法向力=2685.3813, 切向力X=215.7426, 切向力Y=-48.1157
FPS=35.33, 法向力=2667.0339, 切向力X=192.7509, 切向力Y=10.6616
FPS=34.97, 法向力=2701.2246, 切向力X=87.5337, 切向力Y=-30.7714
FPS=31.36, 法向力=2570.2876, 切向力X=-241.3622, 切向力Y=-561.2350
FPS=34.49, 法向力=2549.1873, 切向力X=-335.7554, 切向力Y=-681.2014
FPS=31.01, 法向力=3028.8638, 切向力X=1452.1553, 切向力Y=-1050.7571
FPS=34.12, 法向力=3073.6299, 切向力X=1519.8281, 切向力Y=-1007.8834
FPS=33.62, 法向力=2044.9943, 切向力X=497.7878, 切向力Y=-706.8559
FPS=32.94, 法向力=1978.4658, 切向力X=442.3237, 切向力Y=-723.8891
FPS=32.37, 法向力=1987.6191, 切向力X=-96.7974, 切向力Y=-759.0131
FPS=33.28, 法向力=2050.3125, 切向力X=24.3558, 切向力Y=-771.8405
FPS=33.46, 法向力=1942.5613, 切向力X=366.8683, 切向力Y=-897.2997
FPS=33.75, 法向力=1841.6575, 切向力X=222.8561, 切向力Y=-854.1732
FPS=34.10, 法向力=1859.7297, 切向力X=194.7733, 切向力Y=-868.8749
FPS=31.04, 法向力=2708.2847, 切向力X=-199.5523, 切向力Y=162.5120
FPS=33.92, 法向力=2747.3130, 切向力X=-215.9413, 切向力Y=189.8559
FPS=33.36, 法向力=2025.3384, 切向力X=502.6971, 切向力Y=-436.9402
FPS=34.60, 法向力=1950.5095, 切向力X=491.8651, 切向力Y=-503.5201
FPS=32.83, 法向力=3027.9094, 切向力X=-162.9804, 切向力Y=-1296.6495
FPS=33.34, 法向力=2937.1743, 切向力X=-327.2424, 切向力Y=-1188.7227
stitch_feature_optimized: canvas out_w=404, out_h=417, x_min=-78.77, y_min=-79.14
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000195s, blend=0.002118s (9 tiles incl ref), finalize=0.000160s, total=0.002480s
FPS=33.43, 法向力=2973.4546, 切向力X=-308.5685, 切向力Y=-1174.4584
FPS=33.62, 法向力=1930.0427, 切向力X=10.8768, 切向力Y=-857.4177
FPS=33.09, 法向力=1966.3909, 切向力X=23.4874, 切向力Y=-804.9843
FPS=34.75, 法向力=2131.4116, 切向力X=-102.5817, 切向力Y=-89.2674
FPS=35.54, 法向力=2129.3328, 切向力X=-381.5652, 切向力Y=-134.3795
FPS=33.23, 法向力=2947.3755, 切向力X=354.8855, 切向力Y=-2128.8992
FPS=34.24, 法向力=3020.1782, 切向力X=400.2916, 切向力Y=-2088.6628
FPS=35.98, 法向力=3083.6685, 切向力X=459.0925, 切向力Y=-2118.8657
FPS=33.75, 法向力=2092.0547, 切向力X=-842.8965, 切向力Y=341.9479
FPS=34.13, 法向力=2042.5631, 切向力X=-874.0501, 切向力Y=412.8281
FPS=32.50, 法向力=2723.1592, 切向力X=1379.2249, 切向力Y=-68.6888
FPS=34.79, 法向力=2604.0300, 切向力X=1426.4290, 切向力Y=-151.5612
FPS=32.27, 法向力=3967.8604, 切向力X=1168.7570, 切向力Y=-173.7586
FPS=33.99, 法向力=4105.0850, 切向力X=1201.8459, 切向力Y=-128.1475
FPS=32.08, 法向力=3113.2056, 切向力X=583.4606, 切向力Y=104.2182
FPS=35.37, 法向力=3089.1143, 切向力X=639.4694, 切向力Y=190.4670
FPS=34.40, 法向力=2000.0214, 切向力X=-1184.4094, 切向力Y=-977.4653
FPS=35.33, 法向力=2062.0356, 切向力X=-1092.0364, 切向力Y=-1002.1272
FPS=34.47, 法向力=2077.9741, 切向力X=-1089.1956, 切向力Y=-968.4044
FPS=14.53, 法向力=2223.3149, 切向力X=1027.1923, 切向力Y=-682.7178
Sensor disconnected.