深度相机未连接启动报错问题修复，imu和足部相机优化

backend/device_manager.py

@@ -253,12 +253,18 @@ class DeviceManager:
             
             # 启动FemtoBolt设备
             # logger.info(f'尝试启动FemtoBolt设备...,参数详情是{self.femtobolt_config}')
+
+            
             self.femtobolt_camera = pykinect.start_device(config=self.femtobolt_config)
             if self.femtobolt_camera:
                 self.device_status['femtobolt'] = True
                 logger.info('✓ FemtoBolt深度相机初始化成功!')
             else:
-                raise Exception('设备启动返回None')
+                # 设备启动失败，但不抛出异常，允许应用继续运行
+                logger.warning('FemtoBolt设备启动返回None，可能设备未连接或被占用')
+                self.femtobolt_camera = None
+                self.device_status['femtobolt'] = False
+                return  # 直接返回，不抛出异常
             
         except Exception as e:
             logger.warning(f'FemtoBolt深度相机初始化失败: {e}')

backend/devices/camera_manager.py

@@ -119,14 +119,16 @@ class CameraManager(BaseDevice):
                     self.logger.warning(f"后端 {backend} 打开相机失败: {e}")
                     continue
             else:
-                raise Exception("所有后端都无法打开相机")
+                self.logger.warning("所有后端都无法打开相机，相机设备不可用")
+                return False
                 
             # 设置相机属性
             self._configure_camera()
             
             # 验证相机是否正常工作
             if not self._test_camera():
-                raise Exception("相机测试失败")
+                self.logger.warning("相机测试失败，相机设备不可用")
+                return False
                 
             self.is_connected = True
             self._device_info.update({
@@ -140,7 +142,17 @@ class CameraManager(BaseDevice):
             return True
             
         except Exception as e:
-            self.logger.error(f"相机初始化失败: {e}")
+            error_msg = f"相机初始化失败: {e}"
+            
+            # 提供更详细的错误信息和解决建议
+            if "所有后端都无法打开相机" in str(e):
+                error_msg += f"\n可能原因：\n1. 相机设备索引 {self.device_index} 不存在或被其他程序占用\n2. 相机驱动程序未正确安装\n3. 相机硬件连接问题\n建议：检查相机连接状态，尝试更换设备索引或重启相机设备"
+            elif "Camera index out of range" in str(e):
+                error_msg += f"\n相机设备索引 {self.device_index} 超出范围，请检查可用的相机设备"
+            elif "backend" in str(e).lower():
+                error_msg += "\n相机后端初始化失败，可能是驱动程序问题"
+                
+            self.logger.error(error_msg)
             self.is_connected = False
             if self.cap:
                 try:

backend/devices/device_coordinator.py

@@ -96,7 +96,7 @@ class DeviceCoordinator:
                 
                 # 初始化设备
                 if not self._initialize_devices():
-                    raise Exception("设备初始化失败")
+                    self.logger.warning("设备初始化失败，将以降级模式继续运行")
                     
                 # 启动监控线程
                 self._start_monitor()
@@ -170,7 +170,8 @@ class DeviceCoordinator:
                     
             # 至少需要一个设备初始化成功
             if success_count == 0:
-                raise Exception("没有设备初始化成功")
+                self.logger.warning("没有设备初始化成功，但系统将继续运行")
+                return False
                 
             self.logger.info(f"设备初始化完成，成功: {success_count}/{len(futures)}")
             return True

backend/devices/femtobolt_manager.py

@@ -22,6 +22,10 @@ import matplotlib
 from scipy import ndimage
 from scipy.interpolate import griddata
 import io
+import importlib
+from typing import Optional
+import subprocess
+import tempfile
 
 try:
     from .base_device import BaseDevice
@@ -72,6 +76,8 @@ class FemtoBoltManager(BaseDevice):
         self.femtobolt = None
         self.device_handle = None
         self.sdk_initialized = False
+        # 新增：记录已使用的k4a.dll路径，供子进程探测使用
+        self.k4a_dll_path: Optional[str] = None
         
         # 设备配置
         self.algorithm_type = self.config.get('algorithm_type', 'opencv')
@@ -440,6 +446,7 @@ class FemtoBoltManager(BaseDevice):
             self.logger.error(f"FemtoBolt设备配置失败: {e}")
             return False
             
+    
     def _start_device(self) -> bool:
         """
         启动FemtoBolt设备
@@ -448,26 +455,54 @@ class FemtoBoltManager(BaseDevice):
             bool: 启动是否成功
         """
         try:
-            # 启动FemtoBolt设备
+            if not self.pykinect:
-            self.logger.info(f'尝试启动FemtoBolt设备...')
+                return False
+            
+            # 通过探测后再真正启动
+            # 在真正调用 start_device 之前，先通过 k4a.dll 查询已安装设备数量，0 则跳过
+            try:
+                import os, ctypes
+                k4a_path = getattr(self, "k4a_dll_path", None)
+                if not k4a_path:
+                    base_dir = os.path.dirname(os.path.abspath(__file__))
+                    k4a_path = os.path.normpath(os.path.join(base_dir, "..", "dll", "femtobolt", "k4a.dll"))
+                k4a = ctypes.CDLL(k4a_path)
+                try:
+                    # 有些环境需要显式声明返回类型
+                    k4a.k4a_device_get_installed_count.restype = ctypes.c_uint32
+                except Exception:
+                    pass
+                device_count = int(k4a.k4a_device_get_installed_count())
+            except Exception as e:
+                self.logger.warning(f"获取FemtoBolt设备数量失败，跳过启动: {e}")
+                return False
+
+            if device_count <= 0:
+                self.logger.warning("未检测到FemtoBolt深度相机，跳过启动")
+                return False
+            else:
+                self.logger.info(f"检测到 FemtoBolt 设备数量: {device_count}")
 
-            # 启动真实设备
             self.device_handle = self.pykinect.start_device(config=self.femtobolt_config)
             if self.device_handle:
                 self.logger.info('✓ FemtoBolt深度相机初始化成功!')
             else:
-                raise Exception('设备启动返回None')
+                self.logger.warning('FemtoBolt设备启动返回None，设备可能未连接')
+                return False
             
-            # 等待设备稳定
+            # # 等待设备稳定
-            time.sleep(1.0)
+            # time.sleep(1.0)
             
-            # 测试捕获
+            # # 测试捕获（可选，失败不抛异常，只作为稳定性判断）
-            if not self._test_capture():
+            # try:
-                raise Exception("设备捕获测试失败")
+            #     if not self._test_capture():
+            #         self.logger.warning('FemtoBolt设备捕获测试失败')
+            #         return False
+            # except Exception:
+            #     return False
             
-            self.logger.info("FemtoBolt设备启动成功")
+            self.logger.info('FemtoBolt设备启动成功')
             return True
-            
         except Exception as e:
             self.logger.error(f"FemtoBolt设备启动失败: {e}")
             return False

backend/devices/imu_manager.py

@@ -77,7 +77,7 @@ class RealIMUDevice:
         head_pose = raw_data['head_pose'].copy()
         angle=head_pose['rotation'] - self.head_pose_offset['rotation']
         # 减去基准值（零点偏移）
-        head_pose['rotation'] = ((angle + 180) % 360) - 180
+        head_pose['rotation'] = round(((angle + 180) % 360) - 180, 1)
         head_pose['tilt'] = head_pose['tilt'] - self.head_pose_offset['tilt']
         head_pose['pitch'] = head_pose['pitch'] - self.head_pose_offset['pitch']
         
@@ -103,9 +103,9 @@ class RealIMUDevice:
             pitchl, rxl, 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 = -round(rxl / 32768.0 * k_angle,2)
+            roll = -round(rxl / 32768.0 * k_angle,1)
-            pitch = -round(pitchl / 32768.0 * k_angle,2)
+            pitch = -round(pitchl / 32768.0 * k_angle,1)
-            yaw = -round(yawl / 32768.0 * k_angle,2)
+            yaw = -round(yawl / 32768.0 * k_angle,1)
             temp = temp / 100.0
             self.last_data = {
                 'roll': roll,
@@ -285,9 +285,9 @@ class BleIMUDevice:
         head_pose = raw_data['head_pose'].copy()
         # 与串口IMU保持一致：对 rotation 做归一化到 [-180, 180)
         angle = head_pose['rotation'] - self.head_pose_offset['rotation']
-        head_pose['rotation'] = ((angle + 180) % 360) - 180
+        head_pose['rotation'] = round(((angle + 180) % 360) - 180,1)
-        head_pose['tilt'] = head_pose['tilt'] - self.head_pose_offset['tilt']
+        head_pose['tilt'] = round(head_pose['tilt'] - self.head_pose_offset['tilt'],1)
-        head_pose['pitch'] = head_pose['pitch'] - self.head_pose_offset['pitch']
+        head_pose['pitch'] = round(head_pose['pitch'] - self.head_pose_offset['pitch'],1)
         calibrated_data['head_pose'] = head_pose
         return calibrated_data
 
@@ -483,9 +483,9 @@ class BleIMUDevice:
                 angleZ = float(np.short((np.short(buf[L+1]) << 8) | buf[L]) * scaleAngle); L += 2
                 with self._lock:
                     # 映射：roll=X, pitch=Y, yaw=Z
-                    self.last_data['roll'] = angleX*-1
+                    self.last_data['roll'] = round(angleX*-1, 1)
-                    self.last_data['pitch'] = angleY*-1
+                    self.last_data['pitch'] = round(angleY*-1, 1)
-                    self.last_data['yaw'] = angleZ*-1
+                    self.last_data['yaw'] = round(angleZ*-1, 1)
                     if tmp_temperature is not None:
                         self.last_data['temperature'] = tmp_temperature
         except Exception:

backend/devices/utils/config_manager.py

@@ -206,7 +206,7 @@ class ConfigManager:
             'baudrate': self.config.getint('DEVICES', 'imu_baudrate', fallback=9600),
             'timeout': self.config.getfloat('DEVICES', 'imu_timeout', fallback=1.0),
             'calibration_samples': self.config.getint('DEVICES', 'imu_calibration_samples', fallback=100),
-            'mac_address': self.config.get('DEVICES', 'imu_mac_address', fallback=''),
+            'mac_address': self.config.get('DEVICES', 'imu_mac_address', fallback='ef:3c:1a:0a:fe:02'),
         }
         
     def _get_pressure_config(self) -> Dict[str, Any]:

backend/main.py

@@ -1567,7 +1567,7 @@ class AppServer:
         except Exception as e:
             self.logger.error(f'启动设备数据推送失败: {e}')
             self.is_pushing_data = False
-            raise
+            # 不抛出异常，允许应用继续运行
             
     def stop_device_push_data(self):
         """停止设备数据推送"""

backend/testcamera.py

@@ -30,7 +30,7 @@ class CameraViewer:
 
 if __name__ == "__main__":
     # 修改这里的数字可以切换不同摄像头设备
-    viewer = CameraViewer(device_index=3)
+    viewer = CameraViewer(device_index=1)
     viewer.start_stream()
 
 # import ctypes

backend/tests/testfemtobolt.py

@@ -2,6 +2,7 @@ import os
 import numpy as np
 import cv2
 from matplotlib.colors import LinearSegmentedColormap
+import ctypes
 
 
 class FemtoBoltViewer:
@@ -42,12 +43,42 @@ class FemtoBoltViewer:
             print(f"加载 SDK 失败: {e}")
             return False
 
+    # def _configure_device(self):
+    #     self.config = self.pykinect.default_configuration
+    #     self.config.depth_mode = self.pykinect.K4A_DEPTH_MODE_NFOV_UNBINNED
+    #     self.config.camera_fps = self.pykinect.K4A_FRAMES_PER_SECOND_15
+    #     self.config.synchronized_images_only = False
+    #     self.device_handle = self.pykinect.start_device(config=self.config)
+    def get_device_count():
+        base_dir = os.path.dirname(os.path.abspath(__file__))
+        dll_path = os.path.join(base_dir, "..", "dll", "femtobolt", "k4a.dll")
+        k4a = ctypes.CDLL(dll_path)
+        count = k4a.k4a_device_get_installed_count()
+        return count
     def _configure_device(self):
+     try:
+        base_dir = os.path.dirname(os.path.abspath(__file__))
+        dll_path = os.path.join(base_dir, "..", "dll", "femtobolt", "k4a.dll")
+        k4a = ctypes.CDLL(dll_path)
+        device_count = k4a.k4a_device_get_installed_count()
+        # device_count = get_device_count()
+        if device_count == 0:
+            print("未检测到任何深度相机，请检查连接。",device_count)
+            return False
+
         self.config = self.pykinect.default_configuration
         self.config.depth_mode = self.pykinect.K4A_DEPTH_MODE_NFOV_UNBINNED
         self.config.camera_fps = self.pykinect.K4A_FRAMES_PER_SECOND_15
         self.config.synchronized_images_only = False
+
         self.device_handle = self.pykinect.start_device(config=self.config)
+        print("设备启动成功")
+        return True
+     except Exception as e:
+        print(f"设备初始化失败: {e}")
+        return False
+
+
 
     def _generate_contour_image(self, depth):
         """改进版 OpenCV 等高线渲染，梯度平滑、局部对比增强"""
@@ -114,8 +145,12 @@ class FemtoBoltViewer:
         if not self._load_sdk():
             print("SDK 加载失败，程序退出")
             return
-
+        # import pykinect_azure as pykinect
-        self._configure_device()
+        # print(dir(pykinect.k4a.device))
+        # self._configure_device()
+        if not self._configure_device():
+            print("设备配置失败，程序退出")
+            return
         print("FemtoBolt 深度相机启动成功，按 Ctrl+C 或 ESC 退出", self.config)
 
         try: