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backend/device_manager.py

@@ -408,41 +408,60 @@ class DeviceManager:
             return {'status': 'failed', 'error': str(e)}
     
     def _calibrate_imu(self) -> Dict[str, Any]:
-        """校准IMU传感器"""
+        """标准校准：采样较多帧，计算稳定零点偏移"""
         if not self.imu_device:
             return {'status': 'failed', 'error': 'IMU设备未连接'}
-        
         try:
-            # 收集静态数据进行零点校准
             samples = []
             for _ in range(100):
                 data = self.imu_device.read_data()
                 if data and 'head_pose' in data:
-                    samples.append(data)
+                    samples.append(data['head_pose'])
                 time.sleep(0.01)
-            
             if not samples:
                 return {'status': 'failed', 'error': '无法获取IMU数据进行校准'}
-            
-            # 计算头部姿态零点偏移（正立状态为标准零位）
             head_pose_offset = {
-                'rotation': np.mean([s['head_pose']['rotation'] for s in samples]),
+                'rotation': float(np.mean([s['rotation'] for s in samples])),
-                'tilt': np.mean([s['head_pose']['tilt'] for s in samples]),
+                'tilt': float(np.mean([s['tilt'] for s in samples])),
-                'pitch': np.mean([s['head_pose']['pitch'] for s in samples])
+                'pitch': float(np.mean([s['pitch'] for s in samples]))
             }
-            
             calibration = {
                 'status': 'success',
-                'head_pose_offset': head_pose_offset,  # 头部姿态零点偏移
+                'head_pose_offset': head_pose_offset,
+                'timestamp': datetime.now().isoformat()
+            }
+            if hasattr(self.imu_device, 'set_calibration'):
+                self.imu_device.set_calibration(calibration)
+            return calibration
+        except Exception as e:
+            return {'status': 'failed', 'error': str(e)}
+
+    def _quick_calibrate_imu(self) -> Dict[str, Any]:
+        """快速校准：采样少量帧，以当前姿态为零点（用于每次推流启动）"""
+        if not self.imu_device:
+            return {'status': 'failed', 'error': 'IMU设备未连接'}
+        try:
+            samples = []
+            for _ in range(10):  # 少量采样，加快启动
+                data = self.imu_device.read_data()
+                if data and 'head_pose' in data:
+                    samples.append(data['head_pose'])
+                time.sleep(0.01)
+            if not samples:
+                return {'status': 'failed', 'error': '无法获取IMU数据进行快速校准'}
+            head_pose_offset = {
+                'rotation': float(np.median([s['rotation'] for s in samples])),
+                'tilt': float(np.median([s['tilt'] for s in samples])),
+                'pitch': float(np.median([s['pitch'] for s in samples]))
+            }
+            calibration = {
+                'status': 'success',
+                'head_pose_offset': head_pose_offset,
                 'timestamp': datetime.now().isoformat()
             }
-            
-            # 保存校准数据到设备实例
             if hasattr(self.imu_device, 'set_calibration'):
                 self.imu_device.set_calibration(calibration)
-            
             return calibration
-            
         except Exception as e:
             return {'status': 'failed', 'error': str(e)}
     
@@ -661,6 +680,15 @@ class DeviceManager:
                 logger.error('IMU设备未初始化')
                 return False
                 
+            # 注释掉自动零点校准功能，直接发送原始数据
+            # # 在启动推流前进行快速零点校准（自动以当前姿态为基准）
+            # logger.info('正在进行IMU零点校准...')
+            # calibration_result = self._quick_calibrate_imu()
+            # if calibration_result.get('status') == 'success':
+            #     logger.info(f'IMU零点校准完成: {calibration_result["head_pose_offset"]}')
+            # else:
+            #     logger.warning(f'IMU零点校准失败，将使用默认零偏移: {calibration_result.get("error", "未知错误")}')
+                
             self.imu_streaming = True
             self.imu_thread = threading.Thread(target=self._imu_streaming_thread, daemon=True)
             self.imu_thread.start()
@@ -1078,7 +1106,7 @@ class DeviceManager:
                     if imu_data and 'head_pose' in imu_data:
                         # 直接使用设备提供的头部姿态数据，减少数据包装
                         head_pose = imu_data['head_pose']
-                        
+                        logger.warning(f'推送数据{head_pose}')
                         # 优化：直接发送最精简的数据格式，避免重复时间戳
                         self.socketio.emit('imu_data', {
                             'rotation': head_pose.get('rotation'),  # 旋转角：左旋(-), 右旋(+)
@@ -1917,14 +1945,8 @@ class RealIMUDevice:
         logger.debug(f'应用IMU校准数据: {self.head_pose_offset}')
 
     def apply_calibration(self, raw_data: Dict[str, Any]) -> Dict[str, Any]:
-        if not self.calibration_data:
+        """应用校准：将当前姿态减去初始偏移，得到相对于初始姿态的变化量"""
-            return raw_data
+        # 禁用校准应用：直接返回原始数据
-        if 'head_pose' in raw_data:
-            before = raw_data['head_pose'].copy()
-            raw_data['head_pose']['rotation'] -= self.head_pose_offset.get('rotation', 0)
-            raw_data['head_pose']['tilt'] -= self.head_pose_offset.get('tilt', 0)
-            raw_data['head_pose']['pitch'] -= self.head_pose_offset.get('pitch', 0)
-            logger.debug(f"校准前: {before}, 校准后: {raw_data['head_pose']}")
         return raw_data
 
     @staticmethod
@@ -1944,10 +1966,12 @@ class RealIMUDevice:
         packet_type = data[1]
         vals = [int.from_bytes(data[i:i+2], 'little', signed=True) for i in range(2, 10, 2)]
         if packet_type == 0x53:  # 姿态角，单位0.01°
-            roll, pitch, yaw, temp = vals
+            rxl, pitchl, yawl, temp = vals  # 注意这里 vals 已经是有符号整数
-            roll /= 100.0
+            # 使用第一段代码里的比例系数
-            pitch /= 100.0
+            k_angle = 180.0
-            yaw /= 100.0
+            roll = rxl / 32768.0 * k_angle
+            pitch = pitchl / 32768.0 * k_angle
+            yaw = yawl / 32768.0 * k_angle
             temp = temp / 100.0
             self.last_data = {
                 'roll': roll,
@@ -2047,16 +2071,8 @@ class MockIMUDevice:
             self.head_pose_offset = calibration['head_pose_offset']
     
     def apply_calibration(self, raw_data: Dict[str, Any]) -> Dict[str, Any]:
-        """应用校准数据"""
+        """应用校准：将当前姿态减去初始偏移，得到相对姿态"""
-        if not self.calibration_data:
+        # 禁用校准应用：直接返回原始数据
-            return raw_data
-        
-        # 应用头部姿态零点校准
-        if 'head_pose' in raw_data:
-            raw_data['head_pose']['rotation'] -= self.head_pose_offset['rotation']
-            raw_data['head_pose']['tilt'] -= self.head_pose_offset['tilt']
-            raw_data['head_pose']['pitch'] -= self.head_pose_offset['pitch']
-        
         return raw_data
     
     def read_data(self) -> Dict[str, Any]:

backend/tests/test1imu10a.py

@@ -0,0 +1,89 @@
+import serial
+import time
+
+def checksum(data):
+    return sum(data[:-1]) & 0xFF
+
+def parse_packet(data):
+    if len(data) != 11:
+        return None
+    if data[0] != 0x55:
+        return None
+    if checksum(data) != data[-1]:
+        print("校验失败")
+        return None
+
+    packet_type = data[1]
+    # 后 8 字节拆成 4 个 16 位有符号整数（小端序）
+    vals = [int.from_bytes(data[i:i+2], 'little', signed=True) for i in range(2, 10, 2)]
+
+    # if packet_type == 0x51:  # 加速度 (单位 0.001g)
+    #     ax, ay, az, temp = vals
+    #     ax /= 1000
+    #     ay /= 1000
+    #     az /= 1000
+    #     temp /= 100
+    #     return f"加速度 (g): x={ax:.3f}, y={ay:.3f}, z={az:.3f}, 温度={temp:.2f}℃"
+
+    # elif packet_type == 0x52:  # 角速度 (单位 0.01°/s)
+    #     wx, wy, wz, temp = vals
+    #     wx /= 100
+    #     wy /= 100
+    #     wz /= 100
+    #     temp /= 100
+    #     return f"角速度 (°/s): x={wx:.2f}, y={wy:.2f}, z={wz:.2f}, 温度={temp:.2f}℃"
+
+    if packet_type == 0x53:  # 姿态角
+        rxl, pitchl, yawl, temp = vals  # 注意这里 vals 已经是有符号整数
+        # 使用第一段代码里的比例系数
+        k_angle = 180.0
+        roll = rxl / 32768.0 * k_angle
+        pitch = pitchl / 32768.0 * k_angle
+        yaw = yawl / 32768.0 * k_angle
+
+        temp /= 100  # 温度依然是 0.01°C
+
+        return f"姿态角 (°): roll={roll:.2f}, pitch={pitch:.2f}, yaw={yaw:.2f}, 温度={temp:.2f}℃"
+
+    # elif packet_type == 0x54:  # 磁力计 (单位 uT)
+    #     mx, my, mz, temp = vals
+    #     temp /= 100
+    #     return f"磁力计 (uT): x={mx}, y={my}, z={mz}, 温度={temp:.2f}℃"
+
+    # elif packet_type == 0x56:  # 气压 (单位 Pa)
+    #     p1, p2, p3, temp = vals
+    #     pressure = ((p1 & 0xFFFF) | ((p2 & 0xFFFF) << 16)) / 100
+    #     temp /= 100
+    #     return f"气压 (Pa): pressure={pressure:.2f}, 温度={temp:.2f}℃"
+
+    # else:
+    #     return f"未知包类型: {packet_type:#04x}"
+
+def read_imu(port='COM6', baudrate=9600):
+    ser = serial.Serial(port, baudrate, timeout=1)
+    buffer = bytearray()
+
+    try:
+        while True:
+            bytes_waiting = ser.in_waiting
+            if bytes_waiting:
+                data = ser.read(bytes_waiting)
+                buffer.extend(data)
+
+                while len(buffer) >= 11:
+                    if buffer[0] != 0x55:
+                        buffer.pop(0)
+                        continue
+                    packet = buffer[:11]
+                    result = parse_packet(packet)
+                    if result:
+                        print(result)
+                    buffer = buffer[11:]
+            time.sleep(0.01)
+    except KeyboardInterrupt:
+        print("程序终止")
+    finally:
+        ser.close()
+
+if __name__ == "__main__":
+    read_imu(port='COM8', baudrate=9600)

backend/tests/testim10a.py

@@ -33,15 +33,15 @@ def parse_packet(data):
         # return f"角速度 (°/s): x={wx:.2f}, y={wy:.2f}, z={wz:.2f}, 温度={temp:.2f}℃"
     elif packet_type == 0x53:  # 姿态角，单位0.01°
         roll, pitch, yaw, temp = vals
-        roll /= 100
+        # roll /= 100
-        pitch /= 100
+        # pitch /= 100
-        yaw /= 100
+        # yaw /= 100
-        temp = temp / 100
+        # temp = temp / 100
         return f"姿态角 (°): roll={roll:.2f}, pitch={pitch:.2f}, yaw={yaw:.2f}, 温度={temp:.2f}℃"
     elif packet_type == 0x54:  # 磁力计，单位uT
         mx, my, mz, temp = vals
         temp = temp / 100
-        # return f"磁力计 (uT): x={mx}, y={my}, z={mz}, 温度={temp:.2f}℃"
+        #return f"磁力计 (uT): x={mx}, y={my}, z={mz}, 温度={temp:.2f}℃"
     elif packet_type == 0x56:  # 气压，单位Pa
         p1, p2, p3, temp = vals
         pressure = ((p1 & 0xFFFF) | ((p2 & 0xFFFF) << 16)) / 100  # 简单合成，大部分IMU气压是3字节，这里简单示范

frontend/src/renderer/src/views/Detection.vue

@@ -1020,17 +1020,17 @@ function handleIMUData(data) {
     if (rotationCharts) {
       rotationCharts.setOption({
         series: [{ data: [{ value: rVal }] }]
-      }, true, true)
+      })
     }
     if (pitchCharts) {
       pitchCharts.setOption({
         series: [{ data: [{ value: pVal }] }]
-      }, true, true)
+      })
     }
     if (tiltCharts) {
       tiltCharts.setOption({
         series: [{ data: [{ value: tVal }] }]
-      }, true, true)
+      })
     }
 
     // 更新最值跟踪逻辑使用原始数值（不做四舍五入）