1

main.py

@@ -503,6 +503,8 @@ class CameraWorker(QThread):
         self._splat_radius       = 0
         self._d2c_method         = "sdk"
         self._capture_opts: dict = {}
+        self._hdr_enabled        = False
+        self._hdr_pending        = None   # None | bool，待应用的 HDR 开关
 
     def set_d2c(self, enabled: bool):
         with self._lock:
@@ -516,6 +518,10 @@ class CameraWorker(QThread):
         with self._lock:
             self._splat_radius = radius
 
+    def set_hdr(self, enabled: bool):
+        with self._lock:
+            self._hdr_pending = enabled
+
     def trigger_capture(self, save_dir: str, capture_opts: dict | None = None):
         with self._lock:
             self._capture_dir  = save_dir
@@ -538,6 +544,7 @@ class CameraWorker(QThread):
                 OBStreamType, OBSensorType, OBFrameType, OBFormat,
                 OBFrameAggregateOutputMode,
                 save_point_cloud_to_ply,
+                HDRMergeFilter, OBPropertyID, OBPermissionType, OBHdrConfig,
             )
             from utils import frame_to_bgr_image
         except ImportError as exc:
@@ -643,6 +650,21 @@ class CameraWorker(QThread):
         except Exception:
             pass  # 部分固件版本不支持，忽略
 
+        # HDR 支持检测
+        hdr_supported    = False
+        hdr_use_interleave = False
+        hdr_filter       = None
+        try:
+            dev = pipeline.get_device()
+            hdr_supported = dev.is_property_supported(
+                OBPropertyID.OB_STRUCT_DEPTH_HDR_CONFIG,
+                OBPermissionType.PERMISSION_READ_WRITE)
+            if hdr_supported:
+                hdr_use_interleave = dev.isFrameInterleaveSupported()
+                hdr_filter = HDRMergeFilter()
+        except Exception as exc:
+            self.log_msg.emit(f"HDR 检测警告：{exc}")
+
         align_filter       = AlignFilter(align_to_stream=OBStreamType.COLOR_STREAM)
         point_cloud_filter = PointCloudFilter()
 
@@ -666,6 +688,32 @@ class CameraWorker(QThread):
                     cap_dir     = self._capture_dir
                     splat_r     = self._splat_radius
                     cap_opts    = self._capture_opts
+                    hdr_pending = self._hdr_pending
+                    if hdr_pending is not None:
+                        self._hdr_pending = None
+
+                if hdr_pending is not None and hdr_supported:
+                    try:
+                        dev = pipeline.get_device()
+                        if hdr_use_interleave:
+                            if hdr_pending:
+                                dev.loadFrameInterleave("Depth from HDR")
+                            dev.set_bool_property(
+                                OBPropertyID.OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL,
+                                hdr_pending)
+                        else:
+                            cfg = OBHdrConfig()
+                            cfg.enable = hdr_pending
+                            if hdr_pending:
+                                cfg.exposure_1 = 7500
+                                cfg.gain_1     = 24
+                                cfg.exposure_2 = 100
+                                cfg.gain_2     = 16
+                            dev.set_hdr_config(cfg)
+                        self._hdr_enabled = hdr_pending
+                        self.log_msg.emit(f"HDR {'已开启' if hdr_pending else '已关闭'}")
+                    except Exception as exc:
+                        self.log_msg.emit(f"HDR 切换失败：{exc}")
 
                 # 首帧提取相机参数
                 if self._camera_params is None:
@@ -711,8 +759,18 @@ class CameraWorker(QThread):
                     continue
 
                 # 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:
+                    try:
+                        merged = hdr_filter.process(frames)
+                        if merged:
+                            display_frames = merged.as_frame_set()
+                    except Exception:
+                        pass
+
                 cf = frames.get_color_frame()
-                df = frames.get_depth_frame()
+                df = display_frames.get_depth_frame()
                 if not cf or not df:
                     continue
 
@@ -761,6 +819,19 @@ class CameraWorker(QThread):
                         self.disconnected.emit()
                     time.sleep(0.1)
 
+        if self._hdr_enabled and hdr_supported:
+            try:
+                dev = pipeline.get_device()
+                if hdr_use_interleave:
+                    dev.set_bool_property(
+                        OBPropertyID.OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, False)
+                else:
+                    cfg = OBHdrConfig()
+                    cfg.enable = False
+                    dev.set_hdr_config(cfg)
+            except Exception:
+                pass
+
         try:
             pipeline.stop()
         except Exception:
@@ -1098,6 +1169,7 @@ class MainWindow(QMainWindow):
         self.resize(_sz(1300), _sz(860))
 
         self._worker: CameraWorker | None = None
+        self._stopping_workers: list = []   # 保持引用直到线程真正结束
         self._batch_worker: BatchD2CWorker | None = None
         self._fetch_worker: FetchParamsWorker | None = None
         self._refresh_worker: RefreshDevicesWorker | None = None
@@ -1318,6 +1390,12 @@ class MainWindow(QMainWindow):
         self.d2c_check.stateChanged.connect(
             lambda s: self._worker and self._worker.set_d2c(s == Qt.Checked))
         row_ses.addWidget(self.d2c_check)
+        self.hdr_check = QCheckBox("HDR")
+        self.hdr_check.setToolTip("开启深度 HDR 合并（设备不支持时无效，见日志）")
+        self.hdr_check.setChecked(False)
+        self.hdr_check.stateChanged.connect(
+            lambda s: self._worker and self._worker.set_hdr(s == Qt.Checked))
+        row_ses.addWidget(self.hdr_check)
         vg3.addLayout(row_ses)
 
         # 行 3：采集内容复选框
@@ -1587,6 +1665,7 @@ class MainWindow(QMainWindow):
         self._refresh_worker = RefreshDevicesWorker()
         self._refresh_worker.done.connect(self._on_refresh_done)
         self._refresh_worker.error.connect(self._on_refresh_error)
+        self._refresh_worker.finished.connect(self._on_refresh_finished)
         self._refresh_worker.start()
 
     def _on_refresh_done(self, result: dict):
@@ -1627,7 +1706,6 @@ class MainWindow(QMainWindow):
         self.device_status.setStyleSheet(style)
         self.d2c_device_status.setText(msg)
         self.d2c_device_status.setStyleSheet(style)
-        self._refresh_worker = None
 
     def _on_refresh_error(self, msg: str):
         self.refresh_btn.setEnabled(True)
@@ -1638,7 +1716,12 @@ class MainWindow(QMainWindow):
         self.device_status.setStyleSheet(style)
         self.d2c_device_status.setText(full)
         self.d2c_device_status.setStyleSheet(style)
+
+    def _on_refresh_finished(self):
+        w = self._refresh_worker
         self._refresh_worker = None
+        if w:
+            w.deleteLater()
 
     # ─────────────────────────────────
     #  Stream Toggle
@@ -1660,21 +1743,32 @@ class MainWindow(QMainWindow):
         else:
             self._stop_stream()
 
+    def _retire_worker(self, w: "CameraWorker"):
+        """请求 worker 停止，持有引用直到线程真正结束再销毁。"""
+        self._stopping_workers.append(w)
+        w.request_stop()
+        w.finished.connect(lambda: self._on_worker_finished(w))
+
+    def _on_worker_finished(self, w: "CameraWorker"):
+        if w in self._stopping_workers:
+            self._stopping_workers.remove(w)
+        w.deleteLater()
+
     def _start_stream(self, color_cfg: dict, depth_cfg: dict):
         old = self._worker
         self._worker = None
-        if old and old.isRunning():
+        if old:
-            # 异步等旧 pipeline 释放后再启动新的
+            self._retire_worker(old)
-            old.request_stop()
+
-            old.finished.connect(old.deleteLater)
+        pending = self._stopping_workers
-            old.finished.connect(lambda: self._do_start_stream(color_cfg, depth_cfg))
+        if pending:
+            # 等最后一个停止中的 worker 退出后再开新 pipeline
+            last = pending[-1]
+            last.finished.connect(lambda: self._do_start_stream(color_cfg, depth_cfg))
             self.capture_btn.setEnabled(False)
             self.color_combo.setEnabled(False)
             self.depth_combo.setEnabled(False)
-            self.stream_btn.setText("关闭")
+        else:
-            return
-        if old:
-            old.deleteLater()
             self._do_start_stream(color_cfg, depth_cfg)
 
     def _do_start_stream(self, color_cfg: dict, depth_cfg: dict):
@@ -1683,6 +1777,8 @@ class MainWindow(QMainWindow):
         self._worker.set_d2c(self.d2c_check.isChecked())
         self._worker.set_d2c_method(self.capture_d2c_method_combo.currentData())
         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.capture_done.connect(self._on_capture_done)
         self._worker.params_ready.connect(self._on_params_ready)
@@ -1696,10 +1792,8 @@ class MainWindow(QMainWindow):
 
     def _stop_stream(self):
         if self._worker:
-            w = self._worker
+            self._retire_worker(self._worker)
             self._worker = None
-            w.request_stop()
-            w.finished.connect(w.deleteLater)
         self.capture_btn.setEnabled(False)
         self.color_combo.setEnabled(True)
         self.depth_combo.setEnabled(True)
@@ -1818,6 +1912,7 @@ class MainWindow(QMainWindow):
         self._fetch_worker = FetchParamsWorker(cc, dc)
         self._fetch_worker.log.connect(self._append_d2c_log)
         self._fetch_worker.params_ready.connect(self._on_fetch_params_ready)
+        self._fetch_worker.finished.connect(self._on_fetch_finished)
         self._fetch_worker.start()
 
     def _on_fetch_params_ready(self, params: dict, path: str):
@@ -1854,7 +1949,12 @@ class MainWindow(QMainWindow):
         self._append_d2c_log(f"                {R[1].tolist()}")
         self._append_d2c_log(f"                {R[2].tolist()}")
         self._append_d2c_log(f"  Extrinsic t : {t.tolist()}  (mm)")
+
+    def _on_fetch_finished(self):
+        w = self._fetch_worker
         self._fetch_worker = None
+        if w:
+            w.deleteLater()
 
     def _resolve_params_file(self) -> str | None:
         explicit = self.params_path_edit.text().strip()
@@ -1911,12 +2011,19 @@ class MainWindow(QMainWindow):
                                             method=method, splat_radius=splat_r)
         self._batch_worker.log.connect(self.d2c_log.append)
         self._batch_worker.done.connect(self._on_batch_done)
+        self._batch_worker.finished.connect(self._on_batch_finished)
         self._batch_worker.start()
 
     def _on_batch_done(self):
         self.run_d2c_btn.setEnabled(True)
         self.d2c_log.append("\n[ 转换完成 ]")
 
+    def _on_batch_finished(self):
+        w = self._batch_worker
+        self._batch_worker = None
+        if w:
+            w.deleteLater()
+
     def _append_d2c_log(self, msg: str):
         self.d2c_log.append(msg)
 
@@ -1942,6 +2049,9 @@ class MainWindow(QMainWindow):
 
     def closeEvent(self, event):
         self._stop_stream()
+        # 等待所有后台 worker 真正退出，防止 QThread destroyed while running
+        for w in list(self._stopping_workers):
+            w.wait(3000)
         super().closeEvent(event)