cheng
152 lines
11 KiB
Plaintext
152 lines
11 KiB
Plaintext
Config: ./config/ddjx01.json
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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]}
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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}
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Connecting to video source...
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OpenCV negotiated stream: FOURCC='....' (int=22, hex=0x00000016), size=1920x1080, fps=30.00, backend_id=1400
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Detected 15 candidate boxes with bk_thresh=25
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Sensor: valid for stitching
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Feature stitch tile selection: ref_idx=7, moving_indices=[1, 2, 3, 6, 8, 11, 12, 13]
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Latest-frame capture thread started.
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Camera calib not found or not JSON: D:\workspace\orisyssdk_git\./config/ddjx01.npy
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Video source: 0
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Stitch mode: True
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Optical flow algorithm: dis
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Poisson backend: auto
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CuPy available: True
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OpenCL available: False
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按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。
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FPS=0.53, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
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FPS=6.02, 法向力=2014.7576, 切向力X=1112.0831, 切向力Y=72.1919
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FPS=41.40, 法向力=1996.2455, 切向力X=1074.1069, 切向力Y=136.6684
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FPS=38.62, 法向力=1549.0315, 切向力X=415.2267, 切向力Y=-486.7039
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FPS=33.53, 法向力=1620.4619, 切向力X=253.0067, 切向力Y=-477.2607
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FPS=40.64, 法向力=1936.7975, 切向力X=221.9162, 切向力Y=-923.5311
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FPS=46.07, 法向力=1950.4841, 切向力X=229.1129, 切向力Y=-884.6642
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FPS=36.31, 法向力=1960.6089, 切向力X=229.5952, 切向力Y=-852.2947
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FPS=28.61, 法向力=1694.9591, 切向力X=920.1097, 切向力Y=-606.3918
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FPS=40.45, 法向力=1694.4613, 切向力X=953.5351, 切向力Y=-629.7728
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FPS=45.58, 法向力=1953.3339, 切向力X=973.9974, 切向力Y=357.5341
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FPS=41.18, 法向力=2075.5388, 切向力X=993.9507, 切向力Y=242.3214
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FPS=43.79, 法向力=1769.3716, 切向力X=1076.4225, 切向力Y=402.9514
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FPS=42.26, 法向力=1812.0746, 切向力X=1225.9155, 切向力Y=390.0173
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FPS=50.86, 法向力=1824.2964, 切向力X=1217.8329, 切向力Y=382.4683
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FPS=40.32, 法向力=1324.5737, 切向力X=799.3585, 切向力Y=-479.3854
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FPS=39.22, 法向力=1311.9470, 切向力X=783.9082, 切向力Y=-459.6545
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FPS=40.48, 法向力=1477.3268, 切向力X=379.9721, 切向力Y=104.4938
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FPS=45.31, 法向力=1508.0276, 切向力X=330.2249, 切向力Y=187.1334
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FPS=43.64, 法向力=1501.5129, 切向力X=374.5402, 切向力Y=186.2091
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FPS=45.07, 法向力=1287.7058, 切向力X=1034.3721, 切向力Y=258.2537
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FPS=24.90, 法向力=1729.7234, 切向力X=29.6895, 切向力Y=117.9303
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FPS=40.15, 法向力=1797.7058, 切向力X=74.6942, 切向力Y=64.1912
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FPS=43.07, 法向力=1819.1266, 切向力X=51.1288, 切向力Y=44.7542
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FPS=46.03, 法向力=2065.9565, 切向力X=940.9529, 切向力Y=-510.8974
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FPS=25.79, 法向力=2128.8372, 切向力X=958.8914, 切向力Y=-544.2225
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FPS=46.17, 法向力=1685.3752, 切向力X=1339.4124, 切向力Y=-893.9543
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FPS=47.72, 法向力=1845.5524, 切向力X=1702.6411, 切向力Y=-1187.8396
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stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.77, y_min=-84.16
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stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000207s, blend=0.002116s (9 tiles incl ref), finalize=0.000049s, total=0.002378s
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FPS=41.63, 法向力=1848.8912, 切向力X=1703.5175, 切向力Y=-1183.4937
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FPS=44.08, 法向力=1751.5204, 切向力X=851.7833, 切向力Y=-701.3905
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FPS=43.29, 法向力=1685.9509, 切向力X=825.4957, 切向力Y=-543.9323
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FPS=44.34, 法向力=2929.3447, 切向力X=708.9524, 切向力Y=1398.8925
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FPS=42.60, 法向力=2960.2368, 切向力X=677.6619, 切向力Y=1363.6716
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FPS=40.65, 法向力=2941.0215, 切向力X=649.2194, 切向力Y=1417.9067
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FPS=17.62, 法向力=1945.0969, 切向力X=646.9917, 切向力Y=-316.3316
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FPS=44.41, 法向力=2059.8206, 切向力X=1138.8550, 切向力Y=104.9102
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FPS=33.49, 法向力=2040.3892, 切向力X=1111.3618, 切向力Y=3.9252
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FPS=31.07, 法向力=2011.1155, 切向力X=1080.4558, 切向力Y=-3.7867
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FPS=32.93, 法向力=2870.4221, 切向力X=607.5314, 切向力Y=951.6470
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FPS=44.45, 法向力=1938.2982, 切向力X=1769.2260, 切向力Y=330.1163
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FPS=40.59, 法向力=1932.7457, 切向力X=1790.2487, 切向力Y=198.9030
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FPS=29.81, 法向力=1931.8424, 切向力X=1807.6356, 切向力Y=191.5879
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FPS=34.59, 法向力=1646.2333, 切向力X=417.3937, 切向力Y=-583.4060
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FPS=30.81, 法向力=1723.9805, 切向力X=477.1407, 切向力Y=-692.4913
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FPS=32.38, 法向力=1451.6243, 切向力X=1402.7767, 切向力Y=385.2454
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FPS=31.62, 法向力=1574.4321, 切向力X=1443.5591, 切向力Y=447.4735
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FPS=33.62, 法向力=2085.0703, 切向力X=535.3915, 切向力Y=-523.6516
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FPS=44.15, 法向力=2110.1318, 切向力X=477.4924, 切向力Y=-528.3721
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FPS=39.60, 法向力=1601.8384, 切向力X=-105.2700, 切向力Y=-344.1465
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FPS=32.02, 法向力=1532.8296, 切向力X=-85.8531, 切向力Y=-310.5866
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FPS=31.66, 法向力=1406.3722, 切向力X=751.5301, 切向力Y=1111.3323
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FPS=31.75, 法向力=1431.6401, 切向力X=847.8942, 切向力Y=1196.9272
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FPS=31.53, 法向力=1950.3273, 切向力X=693.8199, 切向力Y=44.0175
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FPS=30.54, 法向力=1980.4106, 切向力X=736.7104, 切向力Y=119.9047
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FPS=32.66, 法向力=2642.8306, 切向力X=873.3688, 切向力Y=-691.2703
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FPS=47.73, 法向力=2792.2183, 切向力X=823.4001, 切向力Y=-750.7092
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FPS=39.39, 法向力=1224.1204, 切向力X=713.0286, 切向力Y=-351.8248
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FPS=31.60, 法向力=1206.9187, 切向力X=702.2128, 切向力Y=-423.4438
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stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.77, y_min=-84.16
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stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000232s, blend=0.002141s (9 tiles incl ref), finalize=0.000046s, total=0.002425s
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FPS=32.16, 法向力=2168.8496, 切向力X=707.5429, 切向力Y=246.0058
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FPS=31.16, 法向力=2097.0210, 切向力X=888.0332, 切向力Y=247.6189
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FPS=31.44, 法向力=2280.5938, 切向力X=838.3364, 切向力Y=89.8569
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FPS=32.19, 法向力=2328.0342, 切向力X=868.3877, 切向力Y=94.1974
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FPS=45.22, 法向力=1464.3074, 切向力X=664.1224, 切向力Y=1173.4972
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FPS=38.77, 法向力=1467.8737, 切向力X=608.5759, 切向力Y=1096.0636
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FPS=32.35, 法向力=1453.5320, 切向力X=849.1412, 切向力Y=431.9210
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FPS=31.20, 法向力=1687.9657, 切向力X=1018.4503, 切向力Y=113.3564
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FPS=43.86, 法向力=2098.5488, 切向力X=1008.7047, 切向力Y=1763.7830
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FPS=42.73, 法向力=2142.0281, 切向力X=916.1230, 切向力Y=1901.9290
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FPS=30.37, 法向力=2169.4229, 切向力X=878.3124, 切向力Y=1936.0366
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FPS=32.24, 法向力=1580.2000, 切向力X=735.1746, 切向力Y=-244.2222
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FPS=31.70, 法向力=1574.0269, 切向力X=744.5885, 切向力Y=-335.4481
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FPS=32.76, 法向力=2154.3628, 切向力X=-15.2777, 切向力Y=-1206.2155
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FPS=43.91, 法向力=1543.1685, 切向力X=1733.6863, 切向力Y=354.5101
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FPS=41.49, 法向力=1607.3632, 切向力X=1758.1169, 切向力Y=384.2809
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FPS=31.67, 法向力=1586.0076, 切向力X=1759.6364, 切向力Y=439.1028
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FPS=34.00, 法向力=1811.1421, 切向力X=808.4476, 切向力Y=-450.3654
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FPS=32.50, 法向力=1783.1467, 切向力X=825.9097, 切向力Y=-450.3670
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FPS=32.51, 法向力=1433.0146, 切向力X=938.3185, 切向力Y=-160.3732
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FPS=31.74, 法向力=1453.7317, 切向力X=901.0811, 切向力Y=-104.8697
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FPS=32.24, 法向力=2160.9468, 切向力X=735.2777, 切向力Y=-460.8401
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FPS=51.02, 法向力=2178.4785, 切向力X=686.6276, 切向力Y=-413.8177
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FPS=38.04, 法向力=1243.7672, 切向力X=400.9785, 切向力Y=101.7963
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FPS=30.74, 法向力=1334.5212, 切向力X=450.4277, 切向力Y=384.1502
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FPS=32.27, 法向力=1470.0818, 切向力X=355.4960, 切向力Y=517.8054
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FPS=31.12, 法向力=1489.8752, 切向力X=317.5279, 切向力Y=561.8421
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FPS=31.26, 法向力=1850.1418, 切向力X=698.3931, 切向力Y=-249.3536
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FPS=32.12, 法向力=1953.9763, 切向力X=716.6660, 切向力Y=-660.6288
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FPS=32.84, 法向力=1870.7450, 切向力X=794.8956, 切向力Y=-707.3704
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stitch_feature_optimized: canvas out_w=473, out_h=418, x_min=-144.77, y_min=-84.16
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stitch_feature_optimized steps: brightness=0.000004s, geom=0.000003s (hit), reset=0.000355s, blend=0.002400s (9 tiles incl ref), finalize=0.000046s, total=0.002808s
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FPS=31.12, 法向力=1473.6329, 切向力X=497.3732, 切向力Y=407.3516
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FPS=32.43, 法向力=1513.6724, 切向力X=387.2728, 切向力Y=427.1435
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FPS=31.86, 法向力=1524.8840, 切向力X=399.2861, 切向力Y=404.6324
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FPS=32.54, 法向力=2405.4260, 切向力X=1134.9302, 切向力Y=-1186.2871
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FPS=29.97, 法向力=2382.1040, 切向力X=1154.1724, 切向力Y=-1235.0505
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FPS=32.80, 法向力=1389.9995, 切向力X=1177.1343, 切向力Y=459.1689
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FPS=30.55, 法向力=1391.2725, 切向力X=1320.5967, 切向力Y=546.7678
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FPS=33.12, 法向力=1999.2213, 切向力X=1240.2555, 切向力Y=-267.8247
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FPS=49.49, 法向力=1464.7896, 切向力X=602.2012, 切向力Y=-326.3427
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FPS=28.36, 法向力=1501.4001, 切向力X=645.4558, 切向力Y=-418.6153
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FPS=29.69, 法向力=1488.1309, 切向力X=662.5906, 切向力Y=-420.2888
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FPS=22.73, 法向力=1505.7449, 切向力X=656.1889, 切向力Y=-433.3736
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FPS=21.97, 法向力=1484.2886, 切向力X=1719.6440, 切向力Y=663.4675
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FPS=19.18, 法向力=1535.6528, 切向力X=767.5608, 切向力Y=772.8625
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FPS=31.62, 法向力=1506.8672, 切向力X=810.8687, 切向力Y=737.3496
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FPS=29.45, 法向力=2385.1426, 切向力X=866.6565, 切向力Y=-508.4058
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FPS=23.54, 法向力=2366.0444, 切向力X=853.6666, 切向力Y=-449.9455
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Traceback (most recent call last):
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File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in <module>
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main()
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File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 153, in main
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sensor.get_img() # 获取并拼接复眼图像
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^^^^^^^^^^^^^^^^
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File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 241, in get_img
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img = np.ascontiguousarray(self.stitcher.stitch_rt_optimized(blend=True))
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 73, in stitch_rt_optimized
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feature_stitched = self.stitch_feature_optimized(
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 184, in stitch_feature_optimized
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return self._render_feature_tiles(
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^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 644, in _render_feature_tiles
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max_th = max(h0c, *(tb.shape[0] for tb in tiles_bgr_c)) if tiles_bgr_c else h0c
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 644, in <genexpr>
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max_th = max(h0c, *(tb.shape[0] for tb in tiles_bgr_c)) if tiles_bgr_c else h0c
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KeyboardInterrupt
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