test/examples/logs/plot_20260520_095316.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=20
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: D:\workspace\orisyssdk_git\./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' 退出程序，'s' 开始录像，'e' 结束录像。
FPS=0.54, 法向力=0.0000, 切向力X=0.0000, 切向力Y=0.0000
FPS=6.61, 法向力=1263.2065, 切向力X=623.4379, 切向力Y=-728.6444
FPS=30.60, 法向力=1251.6226, 切向力X=642.0236, 切向力Y=-590.4093
FPS=41.35, 法向力=1389.3793, 切向力X=-308.1837, 切向力Y=-466.5520
FPS=39.34, 法向力=1365.9683, 切向力X=-350.0494, 切向力Y=-528.5284
FPS=44.24, 法向力=1118.6206, 切向力X=-479.1864, 切向力Y=534.1259
FPS=38.83, 法向力=1114.0746, 切向力X=-524.0089, 切向力Y=592.1266
FPS=22.86, 法向力=1760.2494, 切向力X=307.0132, 切向力Y=-650.2607
FPS=40.94, 法向力=1816.1074, 切向力X=258.6071, 切向力Y=-782.8573
FPS=36.86, 法向力=1570.7161, 切向力X=327.8412, 切向力Y=265.6483
FPS=51.87, 法向力=1626.7859, 切向力X=357.3121, 切向力Y=206.5600
FPS=43.93, 法向力=1624.3964, 切向力X=421.3587, 切向力Y=162.1985
FPS=40.23, 法向力=1142.0710, 切向力X=74.5547, 切向力Y=433.3022
FPS=44.74, 法向力=1124.0249, 切向力X=11.8718, 切向力Y=393.9284
FPS=39.53, 法向力=1152.1093, 切向力X=609.7429, 切向力Y=231.5276
FPS=40.03, 法向力=1172.2122, 切向力X=526.9471, 切向力Y=229.5035
FPS=48.11, 法向力=1391.3063, 切向力X=8.3320, 切向力Y=501.5316
FPS=42.44, 法向力=1494.0504, 切向力X=46.2968, 切向力Y=495.5129
FPS=41.37, 法向力=1514.7842, 切向力X=37.2382, 切向力Y=480.1064
FPS=42.21, 法向力=1396.1013, 切向力X=-1163.7062, 切向力Y=90.7747
FPS=41.32, 法向力=1400.6812, 切向力X=-1218.7771, 切向力Y=-20.3005
FPS=39.02, 法向力=1413.7617, 切向力X=-1228.2748, 切向力Y=-35.0924
FPS=45.77, 法向力=1826.9297, 切向力X=525.5258, 切向力Y=510.1946
FPS=42.83, 法向力=1906.8491, 切向力X=631.8024, 切向力Y=453.1938
FPS=43.01, 法向力=1343.5466, 切向力X=852.5941, 切向力Y=17.8309
FPS=42.43, 法向力=1292.9919, 切向力X=769.7025, 切向力Y=62.7522
FPS=44.15, 法向力=1289.6694, 切向力X=793.8053, 切向力Y=45.7480
FPS=39.78, 法向力=1632.6240, 切向力X=631.9442, 切向力Y=-275.4358
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000225s, blend=0.002094s (9 tiles incl ref), finalize=0.000055s, total=0.002380s
FPS=48.91, 法向力=1604.3185, 切向力X=597.1545, 切向力Y=-169.6259
FPS=43.04, 法向力=1229.5685, 切向力X=419.8760, 切向力Y=-527.6962
FPS=40.84, 法向力=1243.0931, 切向力X=394.4381, 切向力Y=-564.7396
FPS=42.94, 法向力=1236.5839, 切向力X=379.9468, 切向力Y=-575.7297
FPS=47.09, 法向力=1618.9397, 切向力X=40.7236, 切向力Y=547.7233
FPS=42.38, 法向力=1630.9319, 切向力X=-7.0985, 切向力Y=564.8072
FPS=42.47, 法向力=1112.8000, 切向力X=649.6472, 切向力Y=-290.6820
FPS=42.13, 法向力=1130.3534, 切向力X=680.6464, 切向力Y=-348.6094
FPS=38.93, 法向力=1117.6082, 切向力X=676.3276, 切向力Y=-314.6881
FPS=42.61, 法向力=1197.4163, 切向力X=120.6389, 切向力Y=160.8086
FPS=41.72, 法向力=1257.8226, 切向力X=272.2395, 切向力Y=156.3450
FPS=42.17, 法向力=1251.8978, 切向力X=331.9527, 切向力Y=107.3747
FPS=43.40, 法向力=2674.8438, 切向力X=-134.6089, 切向力Y=-152.2067
FPS=44.34, 法向力=2687.8140, 切向力X=-111.7511, 切向力Y=-129.0750
FPS=47.96, 法向力=1522.3270, 切向力X=94.6786, 切向力Y=86.9945
FPS=49.49, 法向力=1581.0720, 切向力X=81.6768, 切向力Y=49.7968
FPS=43.00, 法向力=1571.8818, 切向力X=56.4068, 切向力Y=44.5360
FPS=35.17, 法向力=1265.5262, 切向力X=803.2302, 切向力Y=538.9907
FPS=32.27, 法向力=1235.9893, 切向力X=826.6854, 切向力Y=588.0931
FPS=31.17, 法向力=1431.3008, 切向力X=-16.4011, 切向力Y=-634.6710
FPS=30.76, 法向力=1507.5220, 切向力X=8.2602, 切向力Y=-777.7924
FPS=39.71, 法向力=1207.8263, 切向力X=-280.2910, 切向力Y=462.3206
FPS=45.44, 法向力=1208.4302, 切向力X=-251.7995, 切向力Y=502.3451
FPS=50.57, 法向力=1242.4082, 切向力X=-231.5647, 切向力Y=473.4583
FPS=27.83, 法向力=1877.5544, 切向力X=-389.8789, 切向力Y=-856.9761
FPS=41.94, 法向力=1099.1914, 切向力X=99.1293, 切向力Y=186.6510
FPS=38.07, 法向力=1029.8430, 切向力X=123.0897, 切向力Y=239.8387
FPS=43.95, 法向力=1072.8783, 切向力X=181.4605, 切向力Y=209.3608
FPS=41.08, 法向力=1262.8889, 切向力X=248.4125, 切向力Y=1529.1973
FPS=42.83, 法向力=1269.9818, 切向力X=260.5885, 切向力Y=1498.9375
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000257s, blend=0.002922s (9 tiles incl ref), finalize=0.000063s, total=0.003247s
FPS=48.32, 法向力=1217.0621, 切向力X=252.6425, 切向力Y=1477.8625
FPS=40.90, 法向力=968.0432, 切向力X=-178.4875, 切向力Y=-608.3248
FPS=38.26, 法向力=1014.9576, 切向力X=-285.4710, 切向力Y=-710.3647
FPS=39.14, 法向力=1007.4672, 切向力X=34.6847, 切向力Y=90.6290
FPS=43.68, 法向力=1016.0555, 切向力X=12.3948, 切向力Y=48.6105
FPS=41.02, 法向力=1181.5378, 切向力X=387.2784, 切向力Y=-702.6882
FPS=46.44, 法向力=1205.6918, 切向力X=388.6022, 切向力Y=-713.9340
FPS=44.50, 法向力=1227.4209, 切向力X=347.4170, 切向力Y=-706.2283
FPS=46.36, 法向力=1383.9985, 切向力X=246.8673, 切向力Y=113.2743
FPS=45.52, 法向力=1351.2595, 切向力X=220.8835, 切向力Y=198.6864
FPS=33.57, 法向力=1370.4319, 切向力X=228.0956, 切向力Y=203.7497
FPS=11.81, 法向力=1120.5520, 切向力X=-575.5595, 切向力Y=-917.0818
FPS=40.13, 法向力=1121.8021, 切向力X=-652.2490, 切向力Y=-1064.6226
FPS=38.84, 法向力=1956.9243, 切向力X=196.0334, 切向力Y=-459.9698
FPS=45.88, 法向力=1953.7593, 切向力X=246.2457, 切向力Y=-454.3707
FPS=38.32, 法向力=1601.1038, 切向力X=23.5767, 切向力Y=-416.3753
FPS=49.30, 法向力=1629.1770, 切向力X=31.1471, 切向力Y=-546.9860
FPS=46.17, 法向力=1636.4725, 切向力X=63.6678, 切向力Y=-558.2455
FPS=45.57, 法向力=1383.8064, 切向力X=-568.0819, 切向力Y=10.8456
FPS=48.08, 法向力=1422.2600, 切向力X=-582.8696, 切向力Y=-24.3322
FPS=46.23, 法向力=1448.4388, 切向力X=-570.4658, 切向力Y=-73.5792
FPS=53.30, 法向力=1463.7600, 切向力X=229.6731, 切向力Y=-211.1659
FPS=47.42, 法向力=1464.6411, 切向力X=259.2452, 切向力Y=-135.7456
FPS=46.05, 法向力=1445.4993, 切向力X=228.7237, 切向力Y=-164.2309
FPS=40.22, 法向力=1237.3645, 切向力X=762.4139, 切向力Y=-503.3926
FPS=24.89, 法向力=1242.8751, 切向力X=745.0690, 切向力Y=-540.4650
FPS=40.23, 法向力=1198.1638, 切向力X=-137.9160, 切向力Y=718.1301
FPS=43.32, 法向力=1155.7480, 切向力X=-96.9462, 切向力Y=651.8037
FPS=48.74, 法向力=1287.7542, 切向力X=304.4974, 切向力Y=918.9614
FPS=41.86, 法向力=1272.3303, 切向力X=328.1284, 切向力Y=784.2525
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000360s, blend=0.002204s (9 tiles incl ref), finalize=0.000059s, total=0.002629s
FPS=36.57, 法向力=1268.8293, 切向力X=256.9798, 切向力Y=869.1227
FPS=41.55, 法向力=1308.4751, 切向力X=569.8448, 切向力Y=-1015.9365
FPS=43.57, 法向力=1259.5181, 切向力X=622.3857, 切向力Y=-950.2397
FPS=39.40, 法向力=1525.4274, 切向力X=285.8839, 切向力Y=-317.3749
FPS=46.97, 法向力=1425.3389, 切向力X=134.7373, 切向力Y=-239.9707
FPS=44.52, 法向力=1435.8094, 切向力X=121.7803, 切向力Y=-225.1216
FPS=38.67, 法向力=1686.4119, 切向力X=303.6521, 切向力Y=-287.5224
FPS=45.14, 法向力=1806.7751, 切向力X=375.4529, 切向力Y=-424.0426
FPS=48.26, 法向力=1821.4829, 切向力X=333.2890, 切向力Y=-414.8043
FPS=49.57, 法向力=1901.2958, 切向力X=-541.0944, 切向力Y=-282.7004
FPS=45.09, 法向力=1860.0903, 切向力X=-611.4348, 切向力Y=-442.4641
FPS=52.54, 法向力=1913.1372, 切向力X=-536.1819, 切向力Y=-345.5545
FPS=45.37, 法向力=1282.5826, 切向力X=426.4080, 切向力Y=1107.7358
FPS=42.42, 法向力=1414.8137, 切向力X=555.4744, 切向力Y=1164.0881
FPS=43.23, 法向力=1636.7740, 切向力X=1017.0887, 切向力Y=285.5198
FPS=44.52, 法向力=1682.9109, 切向力X=1013.6989, 切向力Y=309.3153
FPS=31.50, 法向力=1415.4260, 切向力X=-221.1205, 切向力Y=-370.4922
FPS=34.79, 法向力=1392.3223, 切向力X=-370.7291, 切向力Y=-368.2462
FPS=35.48, 法向力=1381.9001, 切向力X=-378.5469, 切向力Y=-360.7653
FPS=44.61, 法向力=1335.5349, 切向力X=448.5328, 切向力Y=65.1165
FPS=41.62, 法向力=1402.0435, 切向力X=379.4181, 切向力Y=57.5490
FPS=40.06, 法向力=1260.9326, 切向力X=207.2579, 切向力Y=328.7548
FPS=42.43, 法向力=1297.9985, 切向力X=98.6965, 切向力Y=354.8316
FPS=35.24, 法向力=1315.2969, 切向力X=346.3015, 切向力Y=1094.5389
FPS=29.86, 法向力=1305.2716, 切向力X=313.6124, 切向力Y=1069.2092
FPS=37.12, 法向力=1733.1313, 切向力X=407.9584, 切向力Y=-37.1834
FPS=47.50, 法向力=1707.0804, 切向力X=370.1536, 切向力Y=13.0854
FPS=46.07, 法向力=1695.1401, 切向力X=364.4514, 切向力Y=10.0899
FPS=40.09, 法向力=1119.8318, 切向力X=647.7222, 切向力Y=66.2754
FPS=45.31, 法向力=1122.2515, 切向力X=575.1404, 切向力Y=125.3186
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000003s, geom=0.000003s (hit), reset=0.000271s, blend=0.002238s (9 tiles incl ref), finalize=0.000061s, total=0.002577s
FPS=39.19, 法向力=1110.4385, 切向力X=578.6868, 切向力Y=103.2361
FPS=41.90, 法向力=1770.8044, 切向力X=505.3468, 切向力Y=-30.2662
FPS=43.84, 法向力=1752.4602, 切向力X=409.0413, 切向力Y=-19.5643
FPS=43.31, 法向力=1420.8375, 切向力X=-646.9136, 切向力Y=-77.8711
FPS=45.89, 法向力=1386.7288, 切向力X=-838.2748, 切向力Y=0.3631
FPS=40.81, 法向力=1412.1621, 切向力X=-864.6887, 切向力Y=-7.4938
FPS=44.61, 法向力=991.3584, 切向力X=702.0036, 切向力Y=-619.5603
FPS=42.30, 法向力=983.0992, 切向力X=768.5955, 切向力Y=-607.0224
FPS=25.75, 法向力=1243.9739, 切向力X=-302.2937, 切向力Y=66.8123
FPS=42.26, 法向力=1374.5874, 切向力X=-131.2808, 切向力Y=-51.2900
FPS=48.65, 法向力=1909.6233, 切向力X=418.8969, 切向力Y=-486.0941
FPS=43.75, 法向力=1931.4375, 切向力X=411.8350, 切向力Y=-468.8712
FPS=52.61, 法向力=1894.9495, 切向力X=409.9143, 切向力Y=-436.9997
FPS=42.03, 法向力=1446.4368, 切向力X=560.3004, 切向力Y=6.0505
FPS=53.66, 法向力=1425.8717, 切向力X=498.7820, 切向力Y=-33.7844
FPS=44.43, 法向力=1421.0787, 切向力X=487.5871, 切向力Y=23.7296
FPS=41.07, 法向力=1250.6995, 切向力X=-134.1616, 切向力Y=-699.2563
FPS=44.99, 法向力=1195.1113, 切向力X=-179.0423, 切向力Y=-706.1276
FPS=49.36, 法向力=1142.2257, 切向力X=-198.5545, 切向力Y=-651.0198
FPS=39.83, 法向力=1442.8500, 切向力X=444.1367, 切向力Y=-653.5461
FPS=29.94, 法向力=1441.4500, 切向力X=432.5766, 切向力Y=-649.6972
FPS=38.39, 法向力=1379.2910, 切向力X=732.7904, 切向力Y=-140.2245
FPS=44.73, 法向力=1467.3713, 切向力X=753.9971, 切向力Y=-244.3320
FPS=40.73, 法向力=1528.9711, 切向力X=-1138.5388, 切向力Y=349.6744
FPS=44.56, 法向力=1496.2139, 切向力X=-1191.9360, 切向力Y=376.9520
FPS=50.78, 法向力=1491.5972, 切向力X=-1187.8176, 切向力Y=457.2949
FPS=44.22, 法向力=990.4379, 切向力X=367.8112, 切向力Y=-105.0769
FPS=29.85, 法向力=983.3870, 切向力X=341.2602, 切向力Y=-10.2007
FPS=46.44, 法向力=1312.8049, 切向力X=464.7234, 切向力Y=-642.8719
FPS=44.71, 法向力=1333.5812, 切向力X=482.5517, 切向力Y=-653.0536
stitch_feature_optimized: canvas out_w=544, out_h=419, x_min=-141.62, y_min=-82.24
stitch_feature_optimized steps: brightness=0.000004s, geom=0.000004s (hit), reset=0.000532s, blend=0.002525s (9 tiles incl ref), finalize=0.000064s, total=0.003129s
FPS=26.69, 法向力=1239.1772, 切向力X=294.0899, 切向力Y=480.7628
FPS=40.62, 法向力=1294.6366, 切向力X=328.8021, 切向力Y=407.6120
FPS=41.69, 法向力=1693.7421, 切向力X=755.1652, 切向力Y=598.2183
FPS=42.31, 法向力=1708.2307, 切向力X=754.1370, 切向力Y=571.9681
FPS=46.89, 法向力=1733.0786, 切向力X=746.6871, 切向力Y=580.5729
FPS=39.57, 法向力=1798.3181, 切向力X=163.3699, 切向力Y=720.3599
FPS=43.92, 法向力=1708.8113, 切向力X=200.8147, 切向力Y=664.7965
FPS=38.13, 法向力=1773.1770, 切向力X=148.4408, 切向力Y=748.4823
FPS=44.26, 法向力=1178.1609, 切向力X=-470.0042, 切向力Y=-165.4675
FPS=42.03, 法向力=1193.3643, 切向力X=-500.8464, 切向力Y=-344.1499
FPS=43.41, 法向力=1439.2531, 切向力X=-105.6099, 切向力Y=-487.3675
FPS=39.29, 法向力=1460.0039, 切向力X=19.2390, 切向力Y=-561.4825
FPS=36.02, 法向力=1137.8320, 切向力X=-309.9969, 切向力Y=-1005.7189
FPS=52.47, 法向力=1144.6937, 切向力X=-368.8009, 切向力Y=-1039.1116
FPS=46.63, 法向力=1128.5679, 切向力X=-348.0337, 切向力Y=-992.7451
FPS=36.15, 法向力=1549.2629, 切向力X=32.4907, 切向力Y=153.5206
FPS=45.43, 法向力=1581.1680, 切向力X=-12.3679, 切向力Y=212.1506
FPS=41.96, 法向力=1578.8516, 切向力X=-26.5614, 切向力Y=108.8710
FPS=46.16, 法向力=1069.1423, 切向力X=671.0996, 切向力Y=215.0388
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FPS=31.74, 法向力=1251.8772, 切向力X=217.2124, 切向力Y=839.1345
FPS=23.22, 法向力=1236.5002, 切向力X=215.1953, 切向力Y=809.3730
FPS=20.74, 法向力=1520.4496, 切向力X=1442.4166, 切向力Y=763.5919
FPS=20.89, 法向力=1629.2070, 切向力X=1101.5269, 切向力Y=553.2607
FPS=31.80, 法向力=1617.6670, 切向力X=1133.3899, 切向力Y=589.1346
FPS=29.73, 法向力=1616.1648, 切向力X=1085.1483, 切向力Y=595.6600
FPS=21.96, 法向力=1050.4556, 切向力X=686.0206, 切向力Y=387.1301
FPS=19.40, 法向力=1033.2765, 切向力X=814.5910, 切向力Y=399.6442
FPS=23.24, 法向力=1330.8527, 切向力X=604.4223, 切向力Y=-586.9314
FPS=21.02, 法向力=1438.7234, 切向力X=1147.5035, 切向力Y=142.9965
FPS=20.93, 法向力=1467.0659, 切向力X=1214.5535, 切向力Y=180.6454
FPS=29.16, 法向力=1032.3328, 切向力X=780.5939, 切向力Y=667.7137
FPS=29.75, 法向力=1054.5442, 切向力X=782.3003, 切向力Y=589.7974
FPS=24.31, 法向力=1217.7058, 切向力X=959.5233, 切向力Y=1544.7618
Traceback (most recent call last):
  File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 255, in <module>
    main()
  File "D:\workspace\orisyssdk_git\examples\plot_data.py", line 153, in main
    sensor.get_img() # 获取并拼接复眼图像
    ^^^^^^^^^^^^^^^^
  File "C:\workspace\orisyssdk_git\src\orisys\sensor.py", line 241, in get_img
    img = np.ascontiguousarray(self.stitcher.stitch_rt_optimized(blend=True))
                               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 73, in stitch_rt_optimized
    feature_stitched = self.stitch_feature_optimized(
                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 184, in stitch_feature_optimized
    return self._render_feature_tiles(
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 665, in _render_feature_tiles
    self._blend_tile_inplace(blend_buf, wsum, cov, tile_bgr, weight_maps[wkey], y0, x0, _scratch)
  File "C:\workspace\orisyssdk_git\src\orisys\Stitcher.py", line 409, in _blend_tile_inplace
    def _blend_tile_inplace(self, blend, wsum, cov, src, weight, y0, x0, scratch=None):

KeyboardInterrupt