修改了深度相机的接口代码

backend/app.py

@@ -918,12 +918,12 @@ if __name__ == '__main__':
 # 简单的测试事件处理器
 @socketio.on('connect')
 def handle_connect():
-    print('CLIENT CONNECTED!!!', flush=True)
+    # print('CLIENT CONNECTED!!!', flush=True)  # 控制台打印测试已关闭
     logger.info('客户端已连接')
 
 @socketio.on('disconnect')
 def handle_disconnect():
-    print('CLIENT DISCONNECTED!!!', flush=True)
+    # print('CLIENT DISCONNECTED!!!', flush=True)  # 控制台打印测试已关闭
     logger.info('客户端已断开连接')
 
 # @socketio.on('start_video')

backend/device_manager.py

@@ -30,7 +30,7 @@ from database import DatabaseManager
 try:
     import pykinect_azure as pykinect
     # 重新启用FemtoBolt功能，使用正确的Orbbec SDK K4A Wrapper路径
-    FEMTOBOLT_AVAILABLE = True
+    FEMTOBOLT_AVAILABLE = False
     print("信息: pykinect_azure库已安装，FemtoBolt深度相机功能已启用")
     print("使用Orbbec SDK K4A Wrapper以确保与FemtoBolt设备的兼容性")
 except ImportError:
@@ -659,11 +659,30 @@ class DeviceManager:
             return False
         
         try:
+            # 检查是否已经在推流
+            if self.femtobolt_streaming:
+                logger.warning('FemtoBolt深度相机推流已在运行')
+                return True
+            
+            # 重置停止事件
+            self.streaming_stop_event.clear()
+            
+            # 设置推流标志
             self.femtobolt_streaming = True
+            
+            # 启动推流线程
+            self.femtobolt_streaming_thread = threading.Thread(
+                target=self._femtobolt_streaming_thread,
+                daemon=True,
+                name='FemtoBoltStreamingThread'
+            )
+            self.femtobolt_streaming_thread.start()
+            
             logger.info('FemtoBolt深度相机推流已开始')
             return True
         except Exception as e:
             logger.error(f'FemtoBolt深度相机推流启动失败: {e}')
+            self.femtobolt_streaming = False
             return False
     
     def stop_femtobolt_stream(self):
@@ -815,7 +834,7 @@ class DeviceManager:
                             logger.error(f'摄像头帧推送失败: {e}')
                 
                 # 控制帧率
-                time.sleep(1/30)  # 30 FPS
+                # time.sleep(1/30)  # 30 FPS
                 
         except Exception as e:
             logger.error(f'摄像头推流线程异常: {e}')
@@ -833,11 +852,16 @@ class DeviceManager:
                         # 获取FemtoBolt帧
                         capture = self.femtobolt_camera.update()
                         
-                        # 检查capture是否有效以及color图像是否存在
+                        # 检查capture是否有效并获取彩色深度图像
-                        if capture is not None and capture.color is not None:
+                        if capture is not None:
-                            # 转换颜色格式
+                            ret, color_image = capture.get_transformed_colored_depth_image()
-                            color_image = capture.color
+                            if ret and color_image is not None:
+                                # 转换颜色格式（如果需要）
+                                if len(color_image.shape) == 3 and color_image.shape[2] == 4:
                                     color_image = cv2.cvtColor(color_image, cv2.COLOR_BGRA2BGR)
+                                elif len(color_image.shape) == 3 and color_image.shape[2] == 3:
+                                    # 已经是BGR格式，无需转换
+                                    pass
                                 
                                 # 调整帧大小
                                 height, width = color_image.shape[:2]

backend/tests/azure_kinect_image_example.py

@@ -43,7 +43,7 @@ class AzureKinectImageCapture:
     
     def __init__(self):
         self.device = None
-        self.current_mode = 1  # 1:彩色, 2:深度, 3:红外, 4:彩色深度
+        self.current_mode = 4  # 1:彩色, 2:深度, 3:红外, 4:彩色深度
         self.save_counter = 0
         
         # 创建保存图像的目录