可以

.gitignore

@@ -4,4 +4,12 @@ Log/
 camera_params.json
 **.pyc**
 data/
-.env
+.env
+
+main.build/
+main.dist/
+main.onefile-build/
+main.spec
+
+dist/
+build/

main.py

@@ -166,10 +166,11 @@ class CameraWorker(QThread):
     log_msg       = pyqtSignal(str)
     disconnected  = pyqtSignal()
 
-    def __init__(self, color_cfg: dict, depth_cfg: dict):
+    def __init__(self, color_cfg: dict, depth_cfg: dict, preset: str | None = None):
         super().__init__()
         self._color_cfg          = color_cfg
         self._depth_cfg          = depth_cfg
+        self._preset             = preset
         self._lock               = threading.Lock()
         self._running            = True
         self._d2c                = False
@@ -180,10 +181,9 @@ class CameraWorker(QThread):
         self._has_dual_ir        = False
         self._ir_enabled         = False
         self._last_emit_ts       = 0.0
-        self._last_frames        = None   # 最近一帧，供"按键即拍"使用
-        self._capture_frames     = None   # 触发拍照时快照的帧
         self._consec_timeouts    = 0
         self._disconnect_emitted = False
+        self._sync_wait_count    = 0     # 等待同步帧的计数器
 
     def set_d2c(self, enabled: bool):
         with self._lock:
@@ -191,9 +191,8 @@ class CameraWorker(QThread):
 
     def trigger_capture(self, save_dir: str):
         with self._lock:
-            self._capture_dir    = save_dir
+            self._capture_dir = save_dir
-            self._capture_frames = self._last_frames  # 快照当前帧
+            self._do_capture  = True
-            self._do_capture     = True
 
     def stop(self):
         self._running = False
@@ -206,6 +205,7 @@ class CameraWorker(QThread):
             from pyorbbecsdk import (
                 Pipeline, Config, AlignFilter, PointCloudFilter,
                 OBStreamType, OBSensorType, OBFrameType, OBFormat,
+                OBFrameAggregateOutputMode,
                 save_point_cloud_to_ply,
             )
             from utils import frame_to_bgr_image
@@ -216,7 +216,7 @@ class CameraWorker(QThread):
         pipeline = Pipeline()
         config   = Config()
 
-        # 获取 SN + 探测 IR 类型
+        # 获取 SN + 探测 IR 类型 + 应用 preset
         try:
             device = pipeline.get_device()
             try:
@@ -228,6 +228,12 @@ class CameraWorker(QThread):
                 st = sensor_list[i].get_type()
                 if st in (OBSensorType.LEFT_IR_SENSOR, OBSensorType.RIGHT_IR_SENSOR):
                     self._has_dual_ir = True
+            if self._preset:
+                try:
+                    device.load_preset(self._preset)
+                    self.log_msg.emit(f"已加载 Preset：{self._preset}")
+                except Exception as exc:
+                    self.log_msg.emit(f"Preset 加载失败：{exc}")
         except Exception as exc:
             self.log_msg.emit(f"设备信息获取警告：{exc}")
 
@@ -245,6 +251,12 @@ 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
+        try:
+            config.set_frame_aggregate_output_mode(
+                OBFrameAggregateOutputMode.FULL_FRAME_REQUIRE)
+        except Exception:
+            pass
 
         # 启用与深度流分辨率/帧率一致的 IR 流（找不到匹配则跳过，不影响主流）
         self._ir_enabled = False
@@ -295,6 +307,11 @@ class CameraWorker(QThread):
             self.disconnected.emit()
             return
 
+        try:
+            pipeline.enable_frame_sync()
+        except Exception:
+            pass  # 部分固件版本不支持，忽略
+
         align_filter       = AlignFilter(align_to_stream=OBStreamType.COLOR_STREAM)
         point_cloud_filter = PointCloudFilter()
 
@@ -312,14 +329,9 @@ class CameraWorker(QThread):
                 self._consec_timeouts = 0
 
                 with self._lock:
-                    self._last_frames = frames   # 始终保存最新帧供快照
+                    d2c     = self._d2c
-                    d2c        = self._d2c
+                    do_cap  = self._do_capture
-                    do_cap     = self._do_capture
+                    cap_dir = self._capture_dir
-                    cap_dir    = self._capture_dir
-                    cap_frames = self._capture_frames
-                    if do_cap:
-                        self._do_capture     = False
-                        self._capture_frames = None
 
                 # 首帧提取相机参数
                 if self._camera_params is None:
@@ -334,17 +346,34 @@ class CameraWorker(QThread):
                         except Exception:
                             pass
 
-                # 执行拍照
+                # 执行拍照（等待 RGB-D 时间戳对齐后再拍）
                 if do_cap and cap_dir:
-                    try:
+                    ts_diff = self._frame_ts_diff(frames)
-                        self._run_capture(
+                    self._sync_wait_count += 1
-                            cap_frames or frames, cap_dir,
+                    threshold_ms = 1000 // max(self._depth_cfg.get("fps", 30), 1)
-                            align_filter, point_cloud_filter,
+                    force = self._sync_wait_count >= 10
-                            frame_to_bgr_image, save_point_cloud_to_ply,
+                    if ts_diff <= threshold_ms or force:
-                            OBFrameType, OBFormat,
+                        with self._lock:
-                        )
+                            self._do_capture  = False
-                    except Exception as exc:
+                            self._capture_dir = ""
-                        self.log_msg.emit(f"拍照错误：{exc}")
+                        self._sync_wait_count = 0
+                        if force and ts_diff > threshold_ms:
+                            self.log_msg.emit(
+                                f"警告：RGB-D 时间差 {ts_diff}ms 仍未对齐，强制拍摄")
+                        else:
+                            self.log_msg.emit(f"帧同步良好（RGB-D 差 {ts_diff}ms），开始拍摄")
+                        try:
+                            self._run_capture(
+                                frames, cap_dir,
+                                align_filter, point_cloud_filter,
+                                frame_to_bgr_image, save_point_cloud_to_ply,
+                                OBFrameType, OBFormat,
+                            )
+                        except Exception as exc:
+                            self.log_msg.emit(f"拍照错误：{exc}")
+                    else:
+                        self.log_msg.emit(
+                            f"等待帧同步…RGB-D 差 {ts_diff}ms（{self._sync_wait_count}/10）")
                     continue
 
                 # 预览
@@ -455,6 +484,18 @@ class CameraWorker(QThread):
 
     # ── Static helpers ──
 
+    @staticmethod
+    def _frame_ts_diff(frames) -> int:
+        """返回彩色帧与深度帧时间戳差值（ms），获取失败返回 0。"""
+        try:
+            cf = frames.get_color_frame()
+            df = frames.get_depth_frame()
+            if cf and df:
+                return abs(int(cf.get_timestamp()) - int(df.get_timestamp()))
+        except Exception:
+            pass
+        return 0
+
     @staticmethod
     def _extract_params(color_frame, depth_frame) -> dict:
         cvp = color_frame.get_stream_profile().as_video_stream_profile()
@@ -671,6 +712,15 @@ class MainWindow(QMainWindow):
         self.depth_combo.setStyleSheet(COMBO_CSS)
         g2.addWidget(self.depth_combo)
 
+        g2.addSpacing(12)
+        g2.addWidget(QLabel("Preset："))
+        self.preset_combo = QComboBox()
+        self.preset_combo.setMinimumWidth(160)
+        self.preset_combo.setMaxVisibleItems(12)
+        self.preset_combo.setStyleSheet(COMBO_CSS)
+        self.preset_combo.setEnabled(False)
+        g2.addWidget(self.preset_combo)
+
         g2.addStretch()
         self.stream_btn = QPushButton("开启")
         self.stream_btn.setCheckable(True)
@@ -770,32 +820,37 @@ class MainWindow(QMainWindow):
     def _build_d2c_tab(self) -> QWidget:
         w = QWidget()
         layout = QVBoxLayout(w)
-        layout.setContentsMargins(12, 10, 12, 10)
+        layout.setContentsMargins(12, 8, 12, 8)
-        layout.setSpacing(8)
+        layout.setSpacing(6)
 
-        # ── 深度图目录 ──
+        COMBO_CSS = "QComboBox { combobox-popup: 0; }"
-        row1 = QHBoxLayout()
-        row1.addWidget(QLabel("深度图目录："))
-        self.d2c_dir_edit = QLineEdit()
-        self.d2c_dir_edit.setPlaceholderText("选择包含 PNG 深度图的文件夹…")
-        row1.addWidget(self.d2c_dir_edit)
-        br1 = QPushButton("浏览…"); br1.setFixedWidth(70)
-        br1.clicked.connect(lambda: self._browse_dir(self.d2c_dir_edit))
-        row1.addWidget(br1)
-        layout.addLayout(row1)
 
-        # ── 相机参数 ──
+        # ── 第 1 步：刷新设备 ──
-        params_grp = QGroupBox("相机参数")
+        grp1 = self._step_group(1, "刷新设备")
-        pg = QVBoxLayout(params_grp)
+        g1 = QHBoxLayout(grp1)
+        g1.setContentsMargins(8, 4, 8, 6)
+        d2c_refresh_btn = QPushButton("刷新设备")
+        d2c_refresh_btn.setFixedHeight(28)
+        d2c_refresh_btn.clicked.connect(self._refresh_devices)
+        g1.addWidget(d2c_refresh_btn)
+        self.d2c_device_status = QLabel("未连接设备，请点击「刷新设备」")
+        self.d2c_device_status.setStyleSheet("color:#aaa; font-size:12px;")
+        g1.addWidget(self.d2c_device_status)
+        g1.addStretch()
+        layout.addWidget(grp1)
+
+        # ── 第 2 步：相机参数 ──
+        grp2 = self._step_group(2, "相机参数（用于软件 D2C 计算）")
+        pg = QVBoxLayout(grp2)
+        pg.setContentsMargins(8, 4, 8, 6)
         pg.setSpacing(6)
 
-        # 从分辨率自动查找
         combo_row = QHBoxLayout()
         combo_row.addWidget(QLabel("RGB："))
         self.d2c_color_combo = QComboBox()
         self.d2c_color_combo.setMinimumWidth(240)
         self.d2c_color_combo.setMaxVisibleItems(12)
-        self.d2c_color_combo.setStyleSheet("QComboBox { combobox-popup: 0; }")
+        self.d2c_color_combo.setStyleSheet(COMBO_CSS)
         combo_row.addWidget(self.d2c_color_combo)
 
         combo_row.addSpacing(12)
@@ -803,7 +858,7 @@ class MainWindow(QMainWindow):
         self.d2c_depth_combo = QComboBox()
         self.d2c_depth_combo.setMinimumWidth(240)
         self.d2c_depth_combo.setMaxVisibleItems(12)
-        self.d2c_depth_combo.setStyleSheet("QComboBox { combobox-popup: 0; }")
+        self.d2c_depth_combo.setStyleSheet(COMBO_CSS)
         combo_row.addWidget(self.d2c_depth_combo)
 
         combo_row.addSpacing(12)
@@ -814,13 +869,11 @@ class MainWindow(QMainWindow):
         combo_row.addStretch()
         pg.addLayout(combo_row)
 
-        # 分隔线提示
         sep = QLabel("── 或直接指定 JSON 文件 ──")
         sep.setAlignment(Qt.AlignCenter)
         sep.setStyleSheet("color:#666; font-size:11px;")
         pg.addWidget(sep)
 
-        # 手动选 JSON
         json_row = QHBoxLayout()
         self.params_path_edit = QLineEdit()
         self.params_path_edit.setPlaceholderText("留空则使用上方自动查找结果…")
@@ -830,19 +883,33 @@ class MainWindow(QMainWindow):
         json_row.addWidget(br2)
         pg.addLayout(json_row)
 
-        # 当前选中的参数文件
         self.params_selected_lbl = QLabel("（尚未选定参数文件）")
         self.params_selected_lbl.setStyleSheet("color:#888; font-size:12px;")
         pg.addWidget(self.params_selected_lbl)
+        layout.addWidget(grp2)
 
-        layout.addWidget(params_grp)
+        # ── 第 3 步：深度图目录 ──
+        grp3 = self._step_group(3, "深度图目录")
+        g3 = QHBoxLayout(grp3)
+        g3.setContentsMargins(8, 4, 8, 6)
+        g3.setSpacing(8)
+        self.d2c_dir_edit = QLineEdit()
+        self.d2c_dir_edit.setPlaceholderText("选择包含 PNG 深度图的文件夹…")
+        g3.addWidget(self.d2c_dir_edit)
+        br1 = QPushButton("浏览…"); br1.setFixedWidth(70)
+        br1.clicked.connect(lambda: self._browse_dir(self.d2c_dir_edit))
+        g3.addWidget(br1)
+        layout.addWidget(grp3)
 
-        # ── Splat + 运行 ──
+        # ── 第 4 步：开始转换 ──
-        opt_run = QHBoxLayout()
+        step4_row = QHBoxLayout()
+        step4_lbl = QLabel("第 4 步  ·  开始转换")
+        step4_lbl.setStyleSheet("color:#8ec8ff; font-weight:bold; font-size:12px;")
+        step4_row.addWidget(step4_lbl)
         self.splat_check = QCheckBox("Splat 3×3 填充（减少 D2C 空洞，默认开启）")
         self.splat_check.setChecked(True)
-        opt_run.addWidget(self.splat_check)
+        step4_row.addWidget(self.splat_check)
-        opt_run.addStretch()
+        step4_row.addStretch()
         self.run_d2c_btn = QPushButton("▶  开始批量 D2C 转换")
         self.run_d2c_btn.setFixedHeight(36)
         self.run_d2c_btn.setStyleSheet(
@@ -851,8 +918,8 @@ class MainWindow(QMainWindow):
             "QPushButton:disabled{ background:#444; color:#777; }"
         )
         self.run_d2c_btn.clicked.connect(self._run_batch_d2c)
-        opt_run.addWidget(self.run_d2c_btn)
+        step4_row.addWidget(self.run_d2c_btn)
-        layout.addLayout(opt_run)
+        layout.addLayout(step4_row)
 
         # ── 日志 ──
         layout.addWidget(QLabel("输出日志："))
@@ -875,6 +942,7 @@ class MainWindow(QMainWindow):
 
         self.color_combo.clear()
         self.depth_combo.clear()
+        self.preset_combo.clear()
         self.d2c_color_combo.clear()
         self.d2c_depth_combo.clear()
         self._color_profiles_data.clear()
@@ -916,14 +984,39 @@ class MainWindow(QMainWindow):
                 self.depth_combo.addItem(label, cfg)
                 self.d2c_depth_combo.addItem(label, cfg)
 
+            # 枚举 preset
+            try:
+                preset_list = p.get_device().get_available_preset_list()
+                current_preset = p.get_device().get_current_preset_name()
+                if preset_list and len(preset_list) > 0:
+                    self.preset_combo.addItem("── 不切换 ──", None)
+                    for name in preset_list:
+                        self.preset_combo.addItem(name, name)
+                    # 选中当前 preset
+                    idx = self.preset_combo.findData(current_preset)
+                    if idx >= 0:
+                        self.preset_combo.setCurrentIndex(idx)
+                    self.preset_combo.setEnabled(True)
+                else:
+                    self.preset_combo.addItem("（设备不支持）", None)
+                    self.preset_combo.setEnabled(False)
+            except Exception:
+                self.preset_combo.addItem("（不支持）", None)
+                self.preset_combo.setEnabled(False)
+
             nc, nd = len(self._color_profiles_data), len(self._depth_profiles_data)
-            self.device_status.setText(
+            msg = f"已连接  SN: {sn}    彩色 {nc} 项 / 深度 {nd} 项"
-                f"已连接  SN: {sn}    彩色 {nc} 项 / 深度 {nd} 项")
+            self.device_status.setText(msg)
             self.device_status.setStyleSheet("color:#4aaa4a; font-size:12px;")
+            self.d2c_device_status.setText(msg)
+            self.d2c_device_status.setStyleSheet("color:#4aaa4a; font-size:12px;")
 
         except Exception as exc:
-            self.device_status.setText(f"未找到设备：{exc}")
+            msg = f"未找到设备：{exc}"
+            self.device_status.setText(msg)
             self.device_status.setStyleSheet("color:#cc6666; font-size:12px;")
+            self.d2c_device_status.setText(msg)
+            self.d2c_device_status.setStyleSheet("color:#cc6666; font-size:12px;")
 
     # ─────────────────────────────────
     #  Stream Toggle
@@ -947,7 +1040,8 @@ class MainWindow(QMainWindow):
 
     def _start_stream(self, color_cfg: dict, depth_cfg: dict):
         self._stop_stream()   # 确保旧 worker 已停止
-        self._worker = CameraWorker(color_cfg, depth_cfg)
+        preset = self.preset_combo.currentData()  # None 表示不切换
+        self._worker = CameraWorker(color_cfg, depth_cfg, preset=preset)
         self._worker.preview_ready.connect(self._update_preview)
         self._worker.capture_done.connect(self._on_capture_done)
         self._worker.params_ready.connect(self._on_params_ready)