设置一下

main.py

@@ -652,7 +652,7 @@ class CameraWorker(QThread):
 
         config.enable_stream(color_profile)
         config.enable_stream(depth_profile)
-        # 要求所有启用的流都到齐才输出帧集，避免不同时刻的帧被混合返回
+        # 要求所有启用的流都到齐才输出帧集，保证每帧同步
         try:
             config.set_frame_aggregate_output_mode(
                 OBFrameAggregateOutputMode.FULL_FRAME_REQUIRE)
@@ -724,7 +724,8 @@ class CameraWorker(QThread):
                 OBPermissionType.PERMISSION_READ_WRITE)
             if hdr_supported:
                 hdr_use_interleave = dev.isFrameInterleaveSupported()
-                hdr_filter = HDRMergeFilter()
+                if not hdr_use_interleave:
+                    hdr_filter = HDRMergeFilter()
         except Exception as exc:
             self.log_msg.emit(f"HDR 检测警告：{exc}")
 
@@ -834,7 +835,7 @@ class CameraWorker(QThread):
                 # 预览
                 # HDR merge：用 merged 帧集替换深度帧
                 display_frames = frames
-                if self._hdr_enabled and hdr_filter is not None:
+                if self._hdr_enabled and (not hdr_use_interleave) and hdr_filter is not None:
                     try:
                         merged = hdr_filter.process(frames)
                         if merged:
@@ -877,7 +878,7 @@ class CameraWorker(QThread):
 
                 depth_vis = depth_to_vis(depth_data, depth_scale)
                 self._last_emit_ts = time.monotonic()
-                self.preview_ready.emit(color_bgr.copy(), depth_vis.copy())
+                self.preview_ready.emit(color_bgr, depth_vis)
 
             except Exception as exc:
                 if self._running:
@@ -1250,6 +1251,8 @@ class MainWindow(QMainWindow):
         self._hotplug_pending = False
         self._pending_stream_cfg: tuple[dict, dict] | None = None
         self._closing = False
+        self._latest_preview: tuple[np.ndarray, np.ndarray] | None = None
+        self._preview_flush_scheduled = False
         self._session_dir: Path | None = None
         self._params_filename = "camera_params.json"
         self._color_profiles_data: list[dict] = []
@@ -2001,7 +2004,7 @@ class MainWindow(QMainWindow):
         self._worker.set_splat(self.capture_splat_combo.currentData())
         if self.hdr_check.isChecked():
             self._worker.set_hdr(True)
-        self._worker.preview_ready.connect(self._update_preview)
+        self._worker.preview_ready.connect(self._on_preview_ready)
         self._worker.capture_done.connect(self._on_capture_done)
         self._worker.params_ready.connect(self._on_params_ready)
         self._worker.log_msg.connect(self._append_d2c_log)
@@ -2014,6 +2017,8 @@ class MainWindow(QMainWindow):
 
     def _stop_stream(self):
         self._pending_stream_cfg = None
+        self._latest_preview = None
+        self._preview_flush_scheduled = False
         if self._worker:
             self._retire_worker(self._worker)
             self._worker = None
@@ -2035,6 +2040,8 @@ class MainWindow(QMainWindow):
     def _on_camera_disconnected(self):
         """相机断开：静默关闭流，不弹窗。"""
         self._pending_stream_cfg = None
+        self._latest_preview = None
+        self._preview_flush_scheduled = False
         if self._worker:
             self._retire_worker(self._worker)
             self._worker = None
@@ -2052,6 +2059,23 @@ class MainWindow(QMainWindow):
     #  Preview
     # ─────────────────────────────────
 
+    def _on_preview_ready(self, color_bgr: np.ndarray, depth_vis: np.ndarray):
+        self._latest_preview = (color_bgr, depth_vis)
+        if self._preview_flush_scheduled:
+            return
+        self._preview_flush_scheduled = True
+        QTimer.singleShot(0, self._flush_preview)
+
+    def _flush_preview(self):
+        frame = self._latest_preview
+        self._latest_preview = None
+        if frame is not None:
+            self._update_preview(*frame)
+        if self._latest_preview is not None:
+            QTimer.singleShot(0, self._flush_preview)
+        else:
+            self._preview_flush_scheduled = False
+
     def _update_preview(self, color_bgr: np.ndarray, depth_vis: np.ndarray):
         w, h = self.color_lbl.width(), self.color_lbl.height()
         self.color_lbl.setPixmap(ndarray_to_pixmap(color_bgr, w, h))