diff --git a/.gitignore b/.gitignore index 1086e3f3..794d571a 100644 --- a/.gitignore +++ b/.gitignore @@ -21420,3 +21420,5 @@ frontend/src/renderer/src/services/api.js frontend/src/renderer/src/services/api.js frontend/src/renderer/src/services/api.js frontend/src/renderer/src/services/api.js +frontend/src/renderer/src/services/api.js +backend/devices/utils/config.ini diff --git a/backend/devices/imu_manager.py b/backend/devices/imu_manager.py index d925bc5e..f24bab8f 100644 --- a/backend/devices/imu_manager.py +++ b/backend/devices/imu_manager.py @@ -67,7 +67,6 @@ class RealIMUDevice: if 'head_pose_offset' in calibration: self.head_pose_offset = calibration['head_pose_offset'] 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]: """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""" if not raw_data or 'head_pose' not in raw_data: @@ -76,15 +75,14 @@ class RealIMUDevice: # 应用校准偏移 calibrated_data = raw_data.copy() 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'] = 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'] calibrated_data['head_pose'] = head_pose return calibrated_data - @staticmethod def _checksum(data: bytes) -> int: return sum(data[:-1]) & 0xFF @@ -115,7 +113,7 @@ class RealIMUDevice: 'yaw': yaw, 'temperature': temp } - # logger.debug(f'解析姿态角包: roll={roll}, pitch={pitch}, yaw={yaw}, temp={temp}') + # print(f'解析姿态角包: roll={roll}, pitch={pitch}, yaw={yaw}, temp={temp}') return self.last_data else: # logger.debug(f'忽略的数据包类型: 0x{packet_type:02X}') @@ -356,37 +354,16 @@ class IMUManager(BaseDevice): self.logger.info('开始IMU快速零点校准...') - # 收集校准样本 - calibration_samples = [] - sample_count = 50 # 减少样本数量以加快校准速度 + # 直接读取一次原始数据作为校准偏移量 + raw_data = self.imu_device.read_data(apply_calibration=False) + if not raw_data or 'head_pose' not in raw_data: + return {'status': 'error', 'error': '无法读取IMU原始数据'} - for i in range(sample_count): - try: - # 读取原始数据（不应用校准） - raw_data = self.imu_device.read_data(apply_calibration=False) - if raw_data and 'head_pose' in raw_data: - calibration_samples.append(raw_data['head_pose']) - time.sleep(0.02) # 20ms间隔 - except Exception as e: - self.logger.warning(f'校准样本采集失败: {e}') - continue - - if len(calibration_samples) < sample_count * 0.7: - return { - 'status': 'error', - 'error': f'校准样本不足: {len(calibration_samples)}/{sample_count}' - } - - # 计算平均值作为零点偏移 - rotation_sum = sum(sample['rotation'] for sample in calibration_samples) - tilt_sum = sum(sample['tilt'] for sample in calibration_samples) - pitch_sum = sum(sample['pitch'] for sample in calibration_samples) - - count = len(calibration_samples) + # 使用当前姿态作为零点偏移 self.head_pose_offset = { - 'rotation': rotation_sum / count, - 'tilt': tilt_sum / count, - 'pitch': pitch_sum / count + 'rotation': raw_data['head_pose']['rotation'], + 'tilt': raw_data['head_pose']['tilt'], + 'pitch': raw_data['head_pose']['pitch'] } # 应用校准到设备 @@ -396,8 +373,7 @@ class IMUManager(BaseDevice): self.logger.info(f'IMU快速校准完成: {self.head_pose_offset}') return { 'status': 'success', - 'head_pose_offset': self.head_pose_offset, - 'samples_used': count + 'head_pose_offset': self.head_pose_offset } except Exception as e: @@ -504,8 +480,8 @@ class IMUManager(BaseDevice): if data: # 缓存数据 - self.data_buffer.append(data) - self.last_valid_data = data + # self.data_buffer.append(data) + # self.last_valid_data = data # 发送数据到前端 if self._socketio: diff --git a/backend/devices/utils/config.ini b/backend/devices/utils/config.ini index 5cf905ba..215581bd 100644 --- a/backend/devices/utils/config.ini +++ b/backend/devices/utils/config.ini @@ -29,7 +29,7 @@ depth_range_max = 1700 [DEVICES] imu_device_type = real -imu_port = COM3 +imu_port = COM8 imu_baudrate = 9600 pressure_device_type = real pressure_use_mock = False diff --git a/backend/main.py b/backend/main.py index 7fcbf172..e7ab525b 100644 --- a/backend/main.py +++ b/backend/main.py @@ -947,7 +947,7 @@ class AppServer: self.logger.error(f'校准设备失败: {e}') return jsonify({'success': False, 'error': str(e)}), 500 - @self.app.route('/api/devices/imu/calibrate', methods=['POST']) + @self.app.route('/api/devices/calibrate/imu', methods=['POST']) def calibrate_imu(): """校准IMU""" try: diff --git a/backend/tests/test111.py b/backend/tests/test111.py index 4680a9b1..cdb324bb 100644 --- a/backend/tests/test111.py +++ b/backend/tests/test111.py @@ -1,79 +1,53 @@ -import ctypes -import time -import numpy as np +from PIL import Image +import colorsys -# === DLL 加载 === -dll = ctypes.WinDLL(r"D:\BodyBalanceEvaluation\backend\dll\smitsense\SMiTSenseUsbWrapper.dll") +def get_unique_colors(image_path): + img = Image.open(image_path).convert("RGB") + unique_colors = list(set(img.getdata())) + return unique_colors -# === DLL 函数声明 === -dll.SMiTSenseUsb_Init.argtypes = [ctypes.c_int] -dll.SMiTSenseUsb_Init.restype = ctypes.c_int +def get_representative_colors(colors, n=12): + # 按亮度排序并均匀抽取 + def brightness(rgb): + r, g, b = rgb + return 0.2126*r + 0.7152*g + 0.0722*b + + colors.sort(key=brightness) + total = len(colors) + if total <= n: + return colors + step = total / n + return [colors[int(i*step)] for i in range(n)] -dll.SMiTSenseUsb_ScanDevices.argtypes = [ctypes.POINTER(ctypes.c_int)] -dll.SMiTSenseUsb_ScanDevices.restype = ctypes.c_int +def sort_colors_by_hue(colors): + # 转为 HSV，并按色相排序 + def rgb_to_hue(rgb): + r, g, b = [x/255.0 for x in rgb] + h, s, v = colorsys.rgb_to_hsv(r, g, b) + return h + return sorted(colors, key=rgb_to_hue) -dll.SMiTSenseUsb_OpenAndStart.argtypes = [ - ctypes.c_int, - ctypes.POINTER(ctypes.c_uint16), - ctypes.POINTER(ctypes.c_uint16) -] -dll.SMiTSenseUsb_OpenAndStart.restype = ctypes.c_int +def show_color_preview(colors, width=600, height_per_color=50): + n = len(colors) + height = n * height_per_color + img = Image.new("RGB", (width, height)) + + for i, color in enumerate(colors): + for y in range(i*height_per_color, (i+1)*height_per_color): + for x in range(width): + img.putpixel((x, y), color) + + img.show() -dll.SMiTSenseUsb_GetLatestFrame.argtypes = [ - ctypes.POINTER(ctypes.c_uint16), - ctypes.c_int -] -dll.SMiTSenseUsb_GetLatestFrame.restype = ctypes.c_int - -dll.SMiTSenseUsb_StopAndClose.argtypes = [] -dll.SMiTSenseUsb_StopAndClose.restype = ctypes.c_int - -# === 初始化设备 === -ret = dll.SMiTSenseUsb_Init(0) -if ret != 0: - raise RuntimeError(f"Init failed: {ret}") - -count = ctypes.c_int() -ret = dll.SMiTSenseUsb_ScanDevices(ctypes.byref(count)) -if ret != 0 or count.value == 0: - raise RuntimeError("No devices found") - -# 打开设备 -rows = ctypes.c_uint16() -cols = ctypes.c_uint16() -ret = dll.SMiTSenseUsb_OpenAndStart(0, ctypes.byref(rows), ctypes.byref(cols)) -if ret != 0: - raise RuntimeError("OpenAndStart failed") - -rows_val, cols_val = rows.value, cols.value -frame_size = rows_val * cols_val -buf_type = ctypes.c_uint16 * frame_size -buf = buf_type() - -# 创建一个 NumPy 数组视图，复用内存 -data_array = np.ctypeslib.as_array(buf).reshape((rows_val, cols_val)) - -print(f"设备已打开: {rows_val}x{cols_val}") - -try: - while True: - ret = dll.SMiTSenseUsb_GetLatestFrame(buf, frame_size) - time.sleep(1) - # while True: - # ret = dll.SMiTSenseUsb_GetLatestFrame(buf, frame_size) - # if ret == 0: - # # data_array 已经复用缓冲区内存，每次直接访问即可 - # # 例如打印最大值和前5行前5列的数据 - # print("最大压力值:", data_array.max()) - # print("前5x5数据:\n", data_array[:5, :5]) - # else: - # print("读取数据帧失败") - - # time.sleep(1) # 每秒读取一帧 - -except KeyboardInterrupt: - print("退出中...") - -finally: - dll.SMiTSenseUsb_StopAndClose() - print("设备已关闭") +if __name__ == "__main__": + image_path = r"D:\项目资料\技术文档资料\中康项目资料\11.png" + + colors = get_unique_colors(image_path) + rep_colors = get_representative_colors(colors, 12) + sorted_colors = sort_colors_by_hue(rep_colors) + + print("12 个代表性颜色（按彩虹顺序）：") + for i, color in enumerate(sorted_colors, 1): + print(f"{i}: {color}") + + show_color_preview(sorted_colors) diff --git a/backend/tests/test1imu10a.py b/backend/tests/test1imu10a.py index 231c172b..c316509d 100644 --- a/backend/tests/test1imu10a.py +++ b/backend/tests/test1imu10a.py @@ -59,7 +59,7 @@ def parse_packet(data): # else: # return f"未知包类型: {packet_type:#04x}" -def read_imu(port='COM6', baudrate=9600): +def read_imu(port='COM8', baudrate=9600): ser = serial.Serial(port, baudrate, timeout=1) buffer = bytearray() diff --git a/backend/tests/test44femtobolt.py b/backend/tests/test44femtobolt.py new file mode 100644 index 00000000..af8b7b91 --- /dev/null +++ b/backend/tests/test44femtobolt.py @@ -0,0 +1,94 @@ +import os +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.colors import ListedColormap +import pykinect_azure as pykinect + + +class FemtoBoltContourViewer: + def __init__(self, depth_min=900, depth_max=1100): + self.depth_min = depth_min + self.depth_max = depth_max + + # 自定义离散彩虹色，层次明显 + colors = [ + 'darkblue', 'blue', 'cyan', 'lime', 'yellow', + 'orange', 'red', 'darkred' + ] + self.cmap = ListedColormap(colors) + + self.device_handle = None + self.pykinect = None + self.config = None + + def _load_sdk(self): + """加载并初始化 FemtoBolt SDK""" + base_dir = os.path.dirname(os.path.abspath(__file__)) + dll_path = os.path.join(base_dir, "..", "dll", "femtobolt", "bin", "k4a.dll") + self.pykinect = pykinect + self.pykinect.initialize_libraries(track_body=False, module_k4a_path=dll_path) + + def _configure_device(self): + """配置 FemtoBolt 深度相机""" + 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.config.color_resolution = 0 + self.device_handle = self.pykinect.start_device(config=self.config) + + def run(self): + self._load_sdk() + self._configure_device() + + plt.ion() # 打开交互模式 + fig, ax = plt.subplots(figsize=(7, 7)) + print("FemtoBolt 深度相机启动成功，关闭窗口或 Ctrl+C 退出") + + # 设置离散等高线层次 + levels = np.linspace(self.depth_min, self.depth_max, len(self.cmap.colors) + 1) + + try: + while plt.fignum_exists(fig.number): # 窗口存在才继续 + capture = self.device_handle.update() + if capture is None: + continue + ret, depth_image = capture.get_depth_image() + if not ret or depth_image is None: + continue + + depth = depth_image.astype(np.uint16) + # 限制深度范围 + depth[depth > self.depth_max] = 0 + depth[depth < self.depth_min] = 0 + depth = depth[0:350, 0:350] + + # 屏蔽无效值 + depth_masked = np.ma.masked_equal(depth, 0) + + # 背景灰色 + background = np.ones_like(depth) * 0.5 + + # 绘制 + ax.clear() + ax.imshow(background, origin='lower', cmap='gray', alpha=0.3) + ax.grid(True, which='both', axis='both', color='white', + linestyle='--', linewidth=1, zorder=0) + ax.contourf(depth_masked, levels=levels, cmap=self.cmap, + vmin=self.depth_min, vmax=self.depth_max, + origin='upper', zorder=2) + + plt.pause(0.05) + + except KeyboardInterrupt: + print("检测到退出信号，结束程序") + finally: + if self.device_handle: + self.device_handle.stop() + self.device_handle.close() + plt.close(fig) + + +if __name__ == "__main__": + viewer = FemtoBoltContourViewer(depth_min=900, depth_max=1100) + viewer.run()