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深度相机未连接启动报错问题修复，imu和足部相机优化

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This commit is contained in:
zhaozilong12 2025-09-11 15:06:55 +08:00
parent 84e18180a4
commit 3b5fce9be5
9 changed files with 124 additions and 35 deletions
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8
backend/device_manager.py
View File

@ -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}')

18
backend/devices/camera_manager.py
View File

@ -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:

5
backend/devices/device_coordinator.py
View File

@ -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

63
backend/devices/femtobolt_manager.py
View File

@ -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
@ -448,30 +455,58 @@ class FemtoBoltManager(BaseDevice):
bool: 启动是否成功
"""
try:
# 启动FemtoBolt设备
self.logger.info(f'尝试启动FemtoBolt设备...')
if not self.pykinect:
return False
# 启动真实设备
# 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}")
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')
# 等待设备稳定
time.sleep(1.0)
self.logger.warning('FemtoBolt设备启动返回None，设备可能未连接')
return False
# 测试捕获
if not self._test_capture():
raise Exception("设备捕获测试失败")
self.logger.info("FemtoBolt设备启动成功")
# # 等待设备稳定
# time.sleep(1.0)
# # 测试捕获（可选，失败不抛异常，只作为稳定性判断）
# try:
# 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')
return True
except Exception as e:
self.logger.error(f"FemtoBolt设备启动失败: {e}")
return False
def _test_capture(self) -> bool:
"""
测试设备捕获

20
backend/devices/imu_manager.py
View File

@ -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)
pitch = -round(pitchl / 32768.0 * k_angle,2)
yaw = -round(yawl / 32768.0 * k_angle,2)
roll = -round(rxl / 32768.0 * k_angle,1)
pitch = -round(pitchl / 32768.0 * k_angle,1)
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['tilt'] = head_pose['tilt'] - self.head_pose_offset['tilt']
head_pose['pitch'] = head_pose['pitch'] - self.head_pose_offset['pitch']
head_pose['rotation'] = round(((angle + 180) % 360) - 180,1)
head_pose['tilt'] = round(head_pose['tilt'] - self.head_pose_offset['tilt'],1)
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['pitch'] = angleY*-1
self.last_data['yaw'] = angleZ*-1
self.last_data['roll'] = round(angleX*-1, 1)
self.last_data['pitch'] = round(angleY*-1, 1)
self.last_data['yaw'] = round(angleZ*-1, 1)
if tmp_temperature is not None:
self.last_data['temperature'] = tmp_temperature
except Exception:

2
backend/devices/utils/config_manager.py
View File

@ -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]:

2
backend/main.py
View File

@ -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"""

2
backend/testcamera.py
View File

@ -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

39
backend/tests/testfemtobolt.py
View File

@ -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
self._configure_device()
# import pykinect_azure as pykinect
# 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: