test/examples/logs/qt_viewer_20260520_175145.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...
启动失败: Failed to open video source.
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=0.48, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=4.07, 法向力=1843.5967, 切向力X=-1754.2795, 切向力Y=-1353.9355
FPS=21.56, 法向力=1155.2886, 切向力X=-885.4968, 切向力Y=-645.0504
FPS=24.02, 法向力=1374.6885, 切向力X=-665.4804, 切向力Y=-1570.8580
FPS=26.65, 法向力=1439.4004, 切向力X=-693.6958, 切向力Y=-1535.1771
FPS=25.51, 法向力=1444.4576, 切向力X=-41.5067, 切向力Y=-597.2247
FPS=26.22, 法向力=1468.2714, 切向力X=-3.8920, 切向力Y=-575.5815
FPS=26.45, 法向力=1471.5750, 切向力X=-743.4324, 切向力Y=-1343.0181
FPS=24.84, 法向力=1652.6976, 切向力X=-1372.2971, 切向力Y=-1612.5221
FPS=26.61, 法向力=1661.5000, 切向力X=-1425.9514, 切向力Y=-1514.5294
FPS=24.29, 法向力=1495.5763, 切向力X=-1620.9019, 切向力Y=-1524.7634
FPS=23.77, 法向力=1560.1753, 切向力X=-1587.7554, 切向力Y=-1394.9569
FPS=24.19, 法向力=1778.9276, 切向力X=-1136.0803, 切向力Y=-791.4815
FPS=26.72, 法向力=1800.6920, 切向力X=-1052.4878, 切向力Y=-847.5103
FPS=26.79, 法向力=1026.6012, 切向力X=-280.9591, 切向力Y=-721.0289
FPS=24.45, 法向力=1527.9998, 切向力X=-1359.4891, 切向力Y=-1195.5839
FPS=28.23, 法向力=1482.6509, 切向力X=-1382.0258, 切向力Y=-1205.0709
FPS=25.74, 法向力=1693.7617, 切向力X=-1683.2010, 切向力Y=-275.8396
FPS=27.01, 法向力=1689.6184, 切向力X=-1687.9171, 切向力Y=-221.7421
FPS=27.26, 法向力=1722.8582, 切向力X=-1544.1586, 切向力Y=-1392.8010
FPS=28.14, 法向力=1724.6279, 切向力X=-1562.8481, 切向力Y=-1453.5167
FPS=26.42, 法向力=1476.7251, 切向力X=-1065.8037, 切向力Y=-487.8832
FPS=26.92, 法向力=2393.7852, 切向力X=-142.6767, 切向力Y=-902.4182
FPS=26.67, 法向力=2423.1978, 切向力X=-188.4839, 切向力Y=-882.3665
FPS=24.34, 法向力=1638.4702, 切向力X=-558.5245, 切向力Y=-1618.8652
FPS=26.77, 法向力=1655.2048, 切向力X=-515.3777, 切向力Y=-1785.4562
FPS=25.57, 法向力=2040.4253, 切向力X=-1117.2515, 切向力Y=-1251.7507
FPS=27.34, 法向力=2902.4731, 切向力X=-1610.9296, 切向力Y=-871.1628
stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000240s (hit), reset=0.000216s, blend=0.002149s (9 tiles incl ref), finalize=0.000053s, total=0.002660s
FPS=25.41, 法向力=3009.6135, 切向力X=-1590.0929, 切向力Y=-716.0477
FPS=19.22, 法向力=1677.4380, 切向力X=-1369.2493, 切向力Y=-305.7437
FPS=41.09, 法向力=1634.6833, 切向力X=-1460.6682, 切向力Y=-340.1167
FPS=32.32, 法向力=1238.8811, 切向力X=-1508.2034, 切向力Y=-844.8652
FPS=31.98, 法向力=1218.5181, 切向力X=-1599.7506, 切向力Y=-864.7001
FPS=32.33, 法向力=1185.9958, 切向力X=-1360.1793, 切向力Y=-1312.5896
FPS=31.28, 法向力=1210.8158, 切向力X=-1424.6853, 切向力Y=-1324.3264
FPS=31.63, 法向力=1289.0061, 切向力X=-368.2153, 切向力Y=-837.0352
FPS=31.61, 法向力=1280.6633, 切向力X=-392.7634, 切向力Y=-792.2137
FPS=31.43, 法向力=1508.9043, 切向力X=-893.2944, 切向力Y=-1488.7681
FPS=30.25, 法向力=1525.4658, 切向力X=-867.2307, 切向力Y=-1483.0593
FPS=28.10, 法向力=1692.2742, 切向力X=-1815.9468, 切向力Y=-1413.1912
FPS=30.98, 法向力=1678.3044, 切向力X=-1766.0671, 切向力Y=-1436.8158
FPS=29.87, 法向力=2234.1458, 切向力X=-1591.7865, 切向力Y=-783.2437
FPS=31.81, 法向力=2348.1377, 切向力X=-1583.5977, 切向力Y=-749.7877
FPS=31.85, 法向力=2415.0005, 切向力X=-1582.3877, 切向力Y=-728.8868
FPS=29.89, 法向力=1558.2432, 切向力X=-1505.3303, 切向力Y=-1258.1729
FPS=30.17, 法向力=1627.9407, 切向力X=-1613.3938, 切向力Y=-1298.7008
FPS=28.88, 法向力=1761.3699, 切向力X=-1217.4004, 切向力Y=-432.9496
FPS=29.42, 法向力=1753.0647, 切向力X=-1121.9679, 切向力Y=-540.0934
FPS=31.45, 法向力=1934.0646, 切向力X=-260.8122, 切向力Y=-609.6048
FPS=28.49, 法向力=1989.0490, 切向力X=-233.0739, 切向力Y=-620.8048
FPS=31.55, 法向力=1586.2430, 切向力X=-582.7693, 切向力Y=-800.3629
FPS=30.83, 法向力=1302.0079, 切向力X=-281.1985, 切向力Y=490.7545
FPS=30.74, 法向力=1320.8083, 切向力X=-449.8767, 切向力Y=681.0586
FPS=29.70, 法向力=1548.8386, 切向力X=-1058.4886, 切向力Y=-1237.5925
FPS=31.97, 法向力=1600.1782, 切向力X=-1042.2461, 切向力Y=-1242.1826
FPS=32.26, 法向力=1633.5171, 切向力X=-970.5421, 切向力Y=-1251.6553
FPS=29.50, 法向力=1604.8021, 切向力X=-1249.5090, 切向力Y=-843.7781
FPS=32.29, 法向力=1672.1658, 切向力X=-1258.4467, 切向力Y=-946.3506
stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000209s, blend=0.002210s (9 tiles incl ref), finalize=0.000052s, total=0.002476s
FPS=30.59, 法向力=2507.5151, 切向力X=-1486.4684, 切向力Y=-683.3791
FPS=32.46, 法向力=2638.8665, 切向力X=-1169.6692, 切向力Y=-707.9172
FPS=30.41, 法向力=1594.5573, 切向力X=-2051.4043, 切向力Y=-1344.7974
FPS=33.93, 法向力=1555.0426, 切向力X=-2037.1727, 切向力Y=-1321.5535
FPS=31.13, 法向力=1758.9849, 切向力X=-1122.5527, 切向力Y=-2003.7363
FPS=33.59, 法向力=1915.2069, 切向力X=-938.6024, 切向力Y=-1976.9175
FPS=30.73, 法向力=1805.0801, 切向力X=-1360.3792, 切向力Y=63.0346
FPS=33.27, 法向力=1935.8923, 切向力X=-1255.0996, 切向力Y=201.7787
FPS=31.59, 法向力=2392.9824, 切向力X=-1413.1826, 切向力Y=-426.7706
FPS=30.31, 法向力=2463.8027, 切向力X=-1431.9625, 切向力Y=-509.3106
FPS=31.36, 法向力=2452.7412, 切向力X=-1398.3716, 切向力Y=-551.9299
FPS=31.23, 法向力=1321.2816, 切向力X=-2207.4341, 切向力Y=136.8455
FPS=31.47, 法向力=1265.6909, 切向力X=-2029.9722, 切向力Y=382.3372
FPS=30.83, 法向力=2946.9990, 切向力X=-989.4875, 切向力Y=188.0242
FPS=30.42, 法向力=3075.1758, 切向力X=-1170.4111, 切向力Y=135.1397
FPS=30.47, 法向力=2521.6619, 切向力X=-1532.9995, 切向力Y=-742.9208
FPS=29.96, 法向力=2609.7876, 切向力X=-1396.3564, 切向力Y=-578.5316
FPS=30.98, 法向力=2242.1936, 切向力X=-2306.2673, 切向力Y=-530.0875
FPS=31.10, 法向力=3419.9050, 切向力X=-2327.4968, 切向力Y=-319.4901
FPS=30.79, 法向力=3598.3716, 切向力X=-2423.6843, 切向力Y=-285.0389
FPS=28.81, 法向力=3606.2288, 切向力X=-2427.9834, 切向力Y=-269.7242
FPS=28.16, 法向力=1511.0403, 切向力X=-2134.1733, 切向力Y=-148.3308
FPS=31.16, 法向力=1490.2699, 切向力X=-2136.5845, 切向力Y=-127.6675
FPS=29.30, 法向力=2938.3818, 切向力X=-1585.4229, 切向力Y=-375.2440
FPS=31.85, 法向力=2948.0745, 切向力X=-1607.0647, 切向力Y=-341.2956
FPS=28.59, 法向力=2395.6318, 切向力X=-1607.7236, 切向力Y=-1603.9768
FPS=30.13, 法向力=1923.1879, 切向力X=-927.5698, 切向力Y=-628.2905
FPS=31.78, 法向力=1959.5342, 切向力X=-899.0682, 切向力Y=-628.1230
FPS=29.85, 法向力=1977.3270, 切向力X=-936.4186, 切向力Y=-653.8333
FPS=32.35, 法向力=2204.8086, 切向力X=-1614.3071, 切向力Y=-1611.3921
stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000212s, blend=0.002184s (9 tiles incl ref), finalize=0.000059s, total=0.002461s
FPS=30.57, 法向力=2520.4375, 切向力X=-719.4585, 切向力Y=-514.2314
FPS=30.67, 法向力=2385.1965, 切向力X=-747.8811, 切向力Y=-336.9957
FPS=31.51, 法向力=2377.6416, 切向力X=-717.1868, 切向力Y=-311.3214
FPS=30.61, 法向力=2124.8882, 切向力X=-975.8051, 切向力Y=-2038.8732
FPS=30.19, 法向力=2103.1694, 切向力X=-973.1394, 切向力Y=-1910.9884
FPS=28.49, 法向力=2239.9438, 切向力X=-470.2876, 切向力Y=-546.7152
FPS=30.75, 法向力=2245.3916, 切向力X=-394.6542, 切向力Y=-538.4524
FPS=29.58, 法向力=2383.9216, 切向力X=-1289.9376, 切向力Y=-1358.9688
FPS=31.26, 法向力=2546.6753, 切向力X=-1294.8361, 切向力Y=-1324.9125
FPS=28.55, 法向力=1349.6835, 切向力X=-1311.2429, 切向力Y=-268.3171
FPS=31.40, 法向力=1351.1443, 切向力X=-1350.4792, 切向力Y=-166.6615
FPS=28.65, 法向力=1254.7106, 切向力X=-1709.5198, 切向力Y=-317.4357
FPS=28.84, 法向力=1264.0791, 切向力X=-1736.2026, 切向力Y=-420.4771
FPS=31.05, 法向力=1413.7402, 切向力X=-1168.8069, 切向力Y=880.9741
FPS=31.83, 法向力=1479.4866, 切向力X=-1163.5365, 切向力Y=862.2444
FPS=27.64, 法向力=2383.5786, 切向力X=-970.0455, 切向力Y=-668.2107
FPS=30.11, 法向力=2569.0896, 切向力X=-779.7258, 切向力Y=-729.3079
FPS=28.19, 法向力=1612.9537, 切向力X=-1680.6082, 切向力Y=641.4019
FPS=31.45, 法向力=1638.5588, 切向力X=-1699.7390, 切向力Y=586.4520
FPS=29.18, 法向力=1805.8989, 切向力X=-1726.2234, 切向力Y=-767.4451
FPS=30.50, 法向力=1838.1409, 切向力X=-1786.1450, 切向力Y=-726.3062
FPS=29.30, 法向力=1597.2546, 切向力X=-1802.6149, 切向力Y=-162.7138
FPS=28.53, 法向力=1670.6313, 切向力X=-1842.7827, 切向力Y=-176.7494
FPS=29.47, 法向力=2745.9321, 切向力X=-2250.9404, 切向力Y=-1842.4536
FPS=29.15, 法向力=1968.5054, 切向力X=-2263.8984, 切向力Y=-1240.9198
FPS=29.68, 法向力=2013.7838, 切向力X=-2297.3994, 切向力Y=-1258.7252
FPS=29.21, 法向力=2004.9902, 切向力X=-2284.5779, 切向力Y=-1252.6460
FPS=28.46, 法向力=2768.0112, 切向力X=-1778.4836, 切向力Y=-677.7140
FPS=30.16, 法向力=2763.2495, 切向力X=-1715.7047, 切向力Y=-625.3348
FPS=30.51, 法向力=1780.4292, 切向力X=-1521.1150, 切向力Y=153.5269
stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000215s, blend=0.003144s (9 tiles incl ref), finalize=0.000053s, total=0.003418s
FPS=29.61, 法向力=1797.6831, 切向力X=-1545.3883, 切向力Y=178.8793
FPS=29.91, 法向力=1933.9048, 切向力X=-1344.4346, 切向力Y=-338.5018
FPS=28.11, 法向力=1895.5288, 切向力X=-1345.9847, 切向力Y=-320.1543
FPS=29.18, 法向力=2144.6228, 切向力X=-1266.9302, 切向力Y=-630.0850
FPS=30.91, 法向力=2289.9072, 切向力X=-1283.6295, 切向力Y=-1386.1646
FPS=27.82, 法向力=2290.8811, 切向力X=-1194.7671, 切向力Y=-1384.1345
FPS=29.79, 法向力=2275.1340, 切向力X=-1208.0789, 切向力Y=-1385.6570
FPS=27.67, 法向力=2027.4303, 切向力X=-1828.1196, 切向力Y=-611.2944
FPS=24.61, 法向力=2003.7456, 切向力X=-1880.1433, 切向力Y=-506.4366
FPS=24.64, 法向力=2329.7961, 切向力X=-2060.4048, 切向力Y=-328.9684
FPS=26.77, 法向力=1679.1914, 切向力X=-1000.5518, 切向力Y=-306.1775
FPS=26.56, 法向力=1669.0013, 切向力X=-1033.0880, 切向力Y=-139.9065
FPS=27.99, 法向力=2860.9470, 切向力X=-1716.3188, 切向力Y=-349.3109
FPS=26.98, 法向力=2107.6729, 切向力X=-1589.5945, 切向力Y=-123.3016
FPS=26.55, 法向力=2021.2206, 切向力X=-1655.7986, 切向力Y=-48.7529
FPS=21.84, 法向力=2592.8398, 切向力X=-1450.4463, 切向力Y=-274.1381
FPS=20.09, 法向力=2619.5337, 切向力X=-1417.6344, 切向力Y=-248.9717
FPS=19.87, 法向力=1497.7362, 切向力X=-1924.3713, 切向力Y=-390.6766
FPS=25.34, 法向力=2508.0078, 切向力X=-2230.0327, 切向力Y=30.5698
FPS=25.74, 法向力=2682.3037, 切向力X=-2245.4053, 切向力Y=-122.3277
FPS=28.07, 法向力=1604.3206, 切向力X=-2343.7209, 切向力Y=-220.6269
FPS=27.28, 法向力=1603.4684, 切向力X=-2288.3638, 切向力Y=-155.2178
FPS=28.24, 法向力=1674.9651, 切向力X=-1403.6245, 切向力Y=283.2889
FPS=23.99, 法向力=1255.0996, 切向力X=-1614.3499, 切向力Y=-1193.1387
FPS=28.87, 法向力=1248.4006, 切向力X=-1625.8640, 切向力Y=-1170.7480
FPS=26.22, 法向力=2045.5789, 切向力X=-2311.3052, 切向力Y=260.4735
FPS=29.33, 法向力=2011.3623, 切向力X=-2390.1973, 切向力Y=378.8657
FPS=28.37, 法向力=2908.9731, 切向力X=-1877.9297, 切向力Y=-705.9144
FPS=28.80, 法向力=3001.7405, 切向力X=-1894.0499, 切向力Y=-666.4316
FPS=27.77, 法向力=3393.4441, 切向力X=-2903.5132, 切向力Y=-379.0509
stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000228s, blend=0.002447s (9 tiles incl ref), finalize=0.000053s, total=0.002735s
FPS=30.26, 法向力=3375.1836, 切向力X=-2872.9143, 切向力Y=-259.2753
FPS=27.31, 法向力=2717.2373, 切向力X=-2334.3181, 切向力Y=732.0391
FPS=28.40, 法向力=2694.7305, 切向力X=-2309.8591, 切向力Y=819.3786
FPS=26.95, 法向力=2224.8833, 切向力X=-1490.6847, 切向力Y=-123.2686
FPS=28.21, 法向力=3145.5601, 切向力X=-1815.1409, 切向力Y=-228.6929
FPS=28.42, 法向力=3206.1682, 切向力X=-1954.5232, 切向力Y=-275.3874
FPS=25.91, 法向力=2604.2769, 切向力X=-1552.3818, 切向力Y=209.6557
FPS=30.41, 法向力=2612.8923, 切向力X=-1515.5923, 切向力Y=319.7614
FPS=27.81, 法向力=2223.4856, 切向力X=-1679.9620, 切向力Y=-468.7108
FPS=28.38, 法向力=2207.5278, 切向力X=-1760.3303, 切向力Y=-446.0594
FPS=27.79, 法向力=2382.9551, 切向力X=-1758.9380, 切向力Y=880.2739
FPS=29.14, 法向力=2445.3047, 切向力X=-1760.8469, 切向力Y=1113.3801
FPS=26.63, 法向力=2340.8582, 切向力X=-1843.7502, 切向力Y=-631.4734
FPS=23.72, 法向力=2403.5532, 切向力X=-1854.9670, 切向力Y=-661.0912
FPS=26.59, 法向力=2488.1741, 切向力X=-2011.9475, 切向力Y=-270.8372
FPS=26.45, 法向力=2603.4189, 切向力X=-2195.5620, 切向力Y=-182.0240
FPS=28.45, 法向力=2586.1572, 切向力X=-2247.4900, 切向力Y=-186.0667
FPS=26.97, 法向力=2585.5991, 切向力X=-2201.5205, 切向力Y=-231.9566
FPS=29.59, 法向力=1207.6736, 切向力X=-1632.8123, 切向力Y=188.2169
FPS=28.29, 法向力=1825.6664, 切向力X=-2124.0122, 切向力Y=31.7537
FPS=28.54, 法向力=1931.7642, 切向力X=-2206.8276, 切向力Y=-61.1427
FPS=26.25, 法向力=2276.3997, 切向力X=-1501.3726, 切向力Y=-1063.5403
FPS=29.71, 法向力=2189.3643, 切向力X=-1575.6633, 切向力Y=-1005.3223
FPS=27.47, 法向力=1652.1627, 切向力X=-1260.8147, 切向力Y=1097.2001
FPS=28.44, 法向力=1588.6334, 切向力X=-1249.0695, 切向力Y=1217.6022
FPS=27.08, 法向力=1631.2466, 切向力X=-1425.7559, 切向力Y=34.4965
FPS=26.68, 法向力=2284.4587, 切向力X=-1887.3683, 切向力Y=-751.9064
FPS=28.61, 法向力=2339.9585, 切向力X=-1971.0969, 切向力Y=-718.8724
FPS=28.66, 法向力=2315.4346, 切向力X=-1936.3262, 切向力Y=-721.4755
FPS=26.35, 法向力=1274.4089, 切向力X=-692.4136, 切向力Y=196.4974
stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000225s, blend=0.002322s (9 tiles incl ref), finalize=0.000050s, total=0.002603s
FPS=29.34, 法向力=3325.2476, 切向力X=-2209.5664, 切向力Y=-207.1814
FPS=27.61, 法向力=3619.0212, 切向力X=-2311.7214, 切向力Y=-334.2382
FPS=27.79, 法向力=2241.8804, 切向力X=-1987.9403, 切向力Y=-1129.7754
FPS=25.66, 法向力=2224.5811, 切向力X=-1982.6442, 切向力Y=-1150.1804
FPS=25.86, 法向力=3123.2073, 切向力X=-1264.3182, 切向力Y=-374.7939
FPS=29.20, 法向力=3158.6880, 切向力X=-1214.3729, 切向力Y=-374.8504
FPS=27.44, 法向力=2567.0889, 切向力X=-1230.7532, 切向力Y=-1370.0264
FPS=28.38, 法向力=2578.4995, 切向力X=-1332.8250, 切向力Y=-1275.9076
FPS=30.32, 法向力=1417.0181, 切向力X=-764.5547, 切向力Y=142.6465
FPS=29.29, 法向力=1404.8511, 切向力X=-609.9531, 切向力Y=158.0884
FPS=25.95, 法向力=1734.4302, 切向力X=-2012.8751, 切向力Y=1278.5066
FPS=28.70, 法向力=1771.1724, 切向力X=-2006.1819, 切向力Y=1299.9373
FPS=28.17, 法向力=1507.7773, 切向力X=-1269.7719, 切向力Y=-666.5216
FPS=28.57, 法向力=2603.0620, 切向力X=-1513.5078, 切向力Y=-935.8665
FPS=28.70, 法向力=2652.0771, 切向力X=-1555.3477, 切向力Y=-935.3916
FPS=25.84, 法向力=1627.3430, 切向力X=-1160.4258, 切向力Y=717.3143
FPS=28.61, 法向力=1677.4604, 切向力X=-1300.0706, 切向力Y=555.7795
FPS=27.77, 法向力=2423.4741, 切向力X=-2017.7834, 切向力Y=-175.9971
FPS=26.09, 法向力=2418.4663, 切向力X=-2159.1597, 切向力Y=-195.3349
FPS=28.62, 法向力=1829.5686, 切向力X=-2497.6741, 切向力Y=1034.2048
FPS=29.45, 法向力=1793.3584, 切向力X=-2232.3018, 切向力Y=1107.0674
FPS=26.03, 法向力=2677.3228, 切向力X=-1072.2170, 切向力Y=-1109.6057
FPS=29.27, 法向力=2833.6831, 切向力X=-1103.7439, 切向力Y=-1024.3770
FPS=27.58, 法向力=1987.2947, 切向力X=-2001.0869, 切向力Y=-328.9597
FPS=28.28, 法向力=1936.0984, 切向力X=-2045.2009, 切向力Y=-370.0137
FPS=28.19, 法向力=2360.9751, 切向力X=-1575.0972, 切向力Y=492.1984
FPS=29.11, 法向力=2427.7595, 切向力X=-995.1217, 切向力Y=-654.2582
FPS=29.68, 法向力=2330.7646, 切向力X=-999.5656, 切向力Y=-520.5527
FPS=25.44, 法向力=2541.1279, 切向力X=-1668.7266, 切向力Y=-720.0883
FPS=29.07, 法向力=2491.2739, 切向力X=-1659.3511, 切向力Y=-684.4696
stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000256s, blend=0.002240s (9 tiles incl ref), finalize=0.000051s, total=0.002554s
FPS=27.37, 法向力=1382.2031, 切向力X=-1065.1167, 切向力Y=-724.8328
FPS=28.49, 法向力=1395.4387, 切向力X=-1010.1381, 切向力Y=-695.8220
FPS=24.81, 法向力=2853.6826, 切向力X=-978.5534, 切向力Y=-509.9845
FPS=28.83, 法向力=3005.6162, 切向力X=-1005.2939, 切向力Y=-475.8262
FPS=28.16, 法向力=1571.0527, 切向力X=-2402.0430, 切向力Y=861.4403
FPS=30.06, 法向力=1571.4050, 切向力X=-2414.2227, 切向力Y=787.7050
FPS=28.20, 法向力=1496.4348, 切向力X=-1414.8042, 切向力Y=-523.8530
FPS=28.72, 法向力=1492.5094, 切向力X=-1287.8955, 切向力Y=-588.8903
FPS=30.11, 法向力=2549.0542, 切向力X=-1894.2793, 切向力Y=99.7096
FPS=27.94, 法向力=3677.3125, 切向力X=-2341.1780, 切向力Y=455.3190
FPS=27.10, 法向力=3776.3748, 切向力X=-2436.7312, 切向力Y=415.3462
FPS=29.31, 法向力=3745.1743, 切向力X=-2427.0225, 切向力Y=450.9047
FPS=25.80, 法向力=2740.0188, 切向力X=-2576.7974, 切向力Y=-173.8992
FPS=28.56, 法向力=1708.4246, 切向力X=-1978.4592, 切向力Y=489.6651
FPS=27.92, 法向力=1669.2710, 切向力X=-2007.1923, 切向力Y=654.2249
FPS=26.13, 法向力=1501.1597, 切向力X=-1855.0562, 切向力Y=477.6156
FPS=28.50, 法向力=1525.1848, 切向力X=-1801.2090, 切向力Y=452.0168
FPS=26.52, 法向力=4261.7231, 切向力X=-1671.1112, 切向力Y=371.4687
FPS=30.05, 法向力=4438.7651, 切向力X=-1649.5051, 切向力Y=422.5551
FPS=28.46, 法向力=2757.9834, 切向力X=-1497.3215, 切向力Y=448.5571
FPS=29.87, 法向力=4253.6528, 切向力X=-2314.8953, 切向力Y=447.7567
FPS=28.25, 法向力=4212.4878, 切向力X=-2368.4951, 切向力Y=517.0353
FPS=28.74, 法向力=4205.6621, 切向力X=-2338.6548, 切向力Y=520.8772
FPS=27.37, 法向力=2864.7859, 切向力X=-1415.0371, 切向力Y=161.3586
FPS=29.02, 法向力=2980.5830, 切向力X=-1467.1035, 切向力Y=217.5855
FPS=28.05, 法向力=1496.9354, 切向力X=-1412.8730, 切向力Y=792.7416
FPS=26.67, 法向力=1411.4073, 切向力X=-2453.8628, 切向力Y=-136.0812
FPS=29.56, 法向力=1429.0635, 切向力X=-2478.6724, 切向力Y=-150.4405
FPS=27.22, 法向力=1631.6606, 切向力X=-1836.0811, 切向力Y=-215.3919
FPS=28.73, 法向力=1671.9825, 切向力X=-1753.4829, 切向力Y=-299.2431
stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000212s, blend=0.002242s (9 tiles incl ref), finalize=0.000051s, total=0.002511s
FPS=26.68, 法向力=2599.6123, 切向力X=-1524.2799, 切向力Y=-1169.1880
FPS=27.74, 法向力=2618.1499, 切向力X=-1662.0165, 切向力Y=-1116.5635
FPS=26.16, 法向力=2752.7832, 切向力X=-1945.7686, 切向力Y=-718.2249
FPS=22.53, 法向力=2833.2280, 切向力X=-1992.1177, 切向力Y=-715.0730
FPS=27.64, 法向力=4133.8408, 切向力X=-2219.8242, 切向力Y=896.9333
FPS=30.05, 法向力=4186.0840, 切向力X=-2188.9639, 切向力Y=913.7854
FPS=29.11, 法向力=2859.7271, 切向力X=-1626.3961, 切向力Y=-1202.8955
FPS=30.08, 法向力=1453.8704, 切向力X=-2300.6001, 切向力Y=511.9931
FPS=29.40, 法向力=1458.2524, 切向力X=-2413.5996, 切向力Y=512.2864
FPS=22.54, 法向力=2782.6233, 切向力X=-1609.8792, 切向力Y=-225.1905
FPS=24.86, 法向力=2768.4668, 切向力X=-1661.4866, 切向力Y=-145.3961
FPS=24.23, 法向力=3686.3074, 切向力X=-2735.3953, 切向力Y=421.8853
FPS=26.09, 法向力=2616.1011, 切向力X=-2131.2275, 切向力Y=496.8198
FPS=31.31, 法向力=2527.2373, 切向力X=-2236.0889, 切向力Y=453.5410
FPS=30.57, 法向力=2550.5559, 切向力X=-2232.9551, 切向力Y=464.7611
FPS=27.55, 法向力=1871.0977, 切向力X=-3099.3457, 切向力Y=-23.1100
FPS=26.12, 法向力=2475.3975, 切向力X=-2249.7002, 切向力Y=-37.3477
FPS=27.75, 法向力=2440.7017, 切向力X=-2217.1929, 切向力Y=51.0520
FPS=27.93, 法向力=2366.4771, 切向力X=-1903.1860, 切向力Y=350.6344
FPS=29.99, 法向力=2338.5615, 切向力X=-1989.1709, 切向力Y=464.9889
FPS=27.58, 法向力=2568.0337, 切向力X=-1900.7278, 切向力Y=-288.0329
FPS=32.04, 法向力=2663.2485, 切向力X=-1964.1000, 切向力Y=-353.3901
FPS=28.49, 法向力=2939.5239, 切向力X=-869.9413, 切向力Y=595.5620
FPS=30.90, 法向力=3008.7478, 切向力X=-920.4805, 切向力Y=646.7002
FPS=30.64, 法向力=1562.6466, 切向力X=-2499.7034, 切向力Y=828.8038
FPS=31.14, 法向力=1552.5745, 切向力X=-2494.3794, 切向力Y=961.4141
FPS=27.93, 法向力=1804.7294, 切向力X=-2631.3801, 切向力Y=-158.9045
FPS=29.89, 法向力=1838.0808, 切向力X=-2574.0425, 切向力Y=-225.8071
FPS=27.87, 法向力=2193.8303, 切向力X=-2645.4551, 切向力Y=318.4180
FPS=29.38, 法向力=2166.6680, 切向力X=-2535.7256, 切向力Y=412.2078
stitch_feature_optimized: canvas out_w=411, out_h=418, x_min=-80.71, y_min=-82.39
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000004s (hit), reset=0.000227s, blend=0.002201s (9 tiles incl ref), finalize=0.000061s, total=0.002496s
FPS=29.61, 法向力=2222.5220, 切向力X=-2012.8391, 切向力Y=759.6765
FPS=31.01, 法向力=2190.0928, 切向力X=-2046.2229, 切向力Y=793.4841
FPS=29.64, 法向力=2758.2275, 切向力X=-2682.6135, 切向力Y=354.2839
FPS=31.00, 法向力=2889.7568, 切向力X=-2502.1108, 切向力Y=404.2935
FPS=27.23, 法向力=2437.3677, 切向力X=-1879.7917, 切向力Y=-273.2677
FPS=38.88, 法向力=2404.1143, 切向力X=-1957.6194, 切向力Y=-272.7808
FPS=30.49, 法向力=3278.6423, 切向力X=-2969.1653, 切向力Y=675.3054
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=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=0.53, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=42.14, 法向力=1173.8784, 切向力X=-189.6994, 切向力Y=-695.2877
FPS=33.11, 法向力=1221.3521, 切向力X=-70.9926, 切向力Y=-676.9893
FPS=31.22, 法向力=1085.5049, 切向力X=207.7463, 切向力Y=-16.9398
FPS=33.48, 法向力=1103.0106, 切向力X=270.2598, 切向力Y=14.0813
FPS=31.18, 法向力=3308.3579, 切向力X=-107.5053, 切向力Y=217.5872
FPS=33.64, 法向力=3345.1094, 切向力X=-153.5377, 切向力Y=160.7700
FPS=34.16, 法向力=1320.1626, 切向力X=173.6262, 切向力Y=214.2073
FPS=37.21, 法向力=1283.5370, 切向力X=317.9001, 切向力Y=287.5009
FPS=35.93, 法向力=1300.0652, 切向力X=240.3373, 切向力Y=220.4301
FPS=32.82, 法向力=1392.5779, 切向力X=-305.4032, 切向力Y=-241.5940
FPS=35.35, 法向力=1497.2429, 切向力X=-215.7257, 切向力Y=-322.9037
FPS=33.50, 法向力=1403.3623, 切向力X=92.1023, 切向力Y=266.3768
FPS=36.40, 法向力=1476.9185, 切向力X=144.2484, 切向力Y=344.9301
FPS=33.85, 法向力=1436.9065, 切向力X=103.7685, 切向力Y=399.3000
FPS=31.56, 法向力=2146.2043, 切向力X=553.7924, 切向力Y=-152.0836
FPS=36.32, 法向力=2240.0146, 切向力X=589.8829, 切向力Y=-225.5339
FPS=32.79, 法向力=2161.6533, 切向力X=-236.9363, 切向力Y=-906.6096
FPS=37.07, 法向力=2174.6917, 切向力X=-196.7767, 切向力Y=-941.9246
FPS=33.13, 法向力=1412.6704, 切向力X=-374.0087, 切向力Y=480.9095
FPS=36.50, 法向力=1356.2882, 切向力X=-418.5195, 切向力Y=544.4687
FPS=33.04, 法向力=1478.8745, 切向力X=-410.6902, 切向力Y=-1115.3013
FPS=36.07, 法向力=1527.9739, 切向力X=-315.7131, 切向力Y=-1193.5393
FPS=34.44, 法向力=1776.8059, 切向力X=-833.5392, 切向力Y=1100.1875
FPS=33.84, 法向力=1830.5968, 切向力X=-672.8221, 切向力Y=1148.3940
FPS=34.56, 法向力=1796.3923, 切向力X=-641.8569, 切向力Y=1204.8866
FPS=34.62, 法向力=1843.7935, 切向力X=1161.7549, 切向力Y=0.3390
FPS=36.71, 法向力=1824.5403, 切向力X=1267.1646, 切向力Y=-9.1919
stitch_feature_optimized: canvas out_w=409, out_h=418, x_min=-78.46, y_min=-81.82
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000257s, blend=0.002252s (9 tiles incl ref), finalize=0.000095s, total=0.002611s
FPS=33.72, 法向力=1835.2897, 切向力X=1277.2300, 切向力Y=85.5579
FPS=35.63, 法向力=1229.7054, 切向力X=509.8776, 切向力Y=-978.0134
FPS=36.37, 法向力=1216.7576, 切向力X=430.9541, 切向力Y=-946.8144
FPS=34.29, 法向力=1799.6423, 切向力X=156.6850, 切向力Y=535.2917
FPS=37.23, 法向力=1741.8511, 切向力X=13.1991, 切向力Y=510.8336
FPS=33.28, 法向力=1695.1100, 切向力X=-94.9491, 切向力Y=281.9187
FPS=37.32, 法向力=1731.0894, 切向力X=-99.6336, 切向力Y=377.8426
FPS=31.94, 法向力=2079.6772, 切向力X=505.8530, 切向力Y=835.8367
FPS=35.77, 法向力=2225.6477, 切向力X=761.4966, 切向力Y=801.1444
FPS=33.07, 法向力=1767.0115, 切向力X=-933.5431, 切向力Y=1363.8113
FPS=36.25, 法向力=1742.0930, 切向力X=-1068.2649, 切向力Y=1399.0110
FPS=32.29, 法向力=1733.6807, 切向力X=-904.5281, 切向力Y=1360.6680
FPS=33.01, 法向力=2294.4382, 切向力X=49.3968, 切向力Y=-176.8515
FPS=35.64, 法向力=2298.3240, 切向力X=72.8453, 切向力Y=-256.8237
FPS=32.66, 法向力=1814.3850, 切向力X=-871.5222, 切向力Y=-543.0529
FPS=35.69, 法向力=1821.0571, 切向力X=-738.6404, 切向力Y=-417.5038
FPS=34.38, 法向力=1810.6223, 切向力X=-698.6760, 切向力Y=-422.0049
FPS=34.44, 法向力=1686.6211, 切向力X=485.7797, 切向力Y=-301.8947
FPS=34.30, 法向力=1666.4863, 切向力X=468.4195, 切向力Y=-254.1687
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FPS=34.24, 法向力=1380.6084, 切向力X=-2149.7590, 切向力Y=1699.4314
FPS=32.61, 法向力=1569.9019, 切向力X=-1847.0869, 切向力Y=3712.6499
FPS=33.79, 法向力=1652.8340, 切向力X=-1760.8864, 切向力Y=3744.8250
FPS=33.76, 法向力=1652.0508, 切向力X=-1770.8674, 切向力Y=3790.5312
FPS=32.16, 法向力=1709.7950, 切向力X=-2810.7085, 切向力Y=2024.7411
FPS=33.49, 法向力=1763.5562, 切向力X=-2770.0679, 切向力Y=1987.8584
FPS=35.03, 法向力=2493.8428, 切向力X=-3134.2830, 切向力Y=1615.4108
FPS=34.49, 法向力=2466.7295, 切向力X=-3305.0469, 切向力Y=1690.2045
FPS=34.22, 法向力=1648.1565, 切向力X=-1278.2415, 切向力Y=1048.1382
FPS=35.73, 法向力=1647.0176, 切向力X=-1218.6965, 切向力Y=920.0675
FPS=32.85, 法向力=2478.0986, 切向力X=-2902.0928, 切向力Y=1520.5190
FPS=34.61, 法向力=2409.8853, 切向力X=-2892.6914, 切向力Y=1577.3595
FPS=34.15, 法向力=2394.2327, 切向力X=-2873.5068, 切向力Y=1578.2626
FPS=32.36, 法向力=1749.9476, 切向力X=-2422.2402, 切向力Y=3010.3208
FPS=33.84, 法向力=1807.4575, 切向力X=-2443.4360, 切向力Y=3237.4233
FPS=31.12, 法向力=2045.2241, 切向力X=-705.2205, 切向力Y=3083.4265
FPS=35.81, 法向力=2075.1548, 切向力X=-422.5712, 切向力Y=3260.9238
FPS=32.53, 法向力=1887.4514, 切向力X=-2658.1768, 切向力Y=3508.0359
FPS=35.10, 法向力=1862.5013, 切向力X=-2752.9507, 切向力Y=3541.5908
FPS=29.63, 法向力=2019.2366, 切向力X=-2535.0605, 切向力Y=2606.8984
Sensor disconnected.
⏸ 已暂停