commit 4ad53f4e97945c680561c5c352c9baa0219e7280
Author: orisys <admin@orisys.com>
Date:   Fri Aug 21 14:51:57 2026 +0800

    first

diff --git a/.vscode/settings.json b/.vscode/settings.json
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+++ b/.vscode/settings.json
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+{
+  "terminal.integrated.env.windows": {
+    "Path": "C:\\Users\\13799\\miniconda3\\condabin;C:\\Users\\13799\\miniconda3\\Scripts;${env:Path}"
+  },
+  "terminal.integrated.profiles.windows": {
+    "PowerShell": {
+      "source": "PowerShell",
+      "icon": "terminal-powershell",
+      "args": [
+        "-NoExit",
+        "-ExecutionPolicy",
+        "Bypass",
+        "-NoLogo",
+        "-Command",
+        "conda activate camera_test"
+      ]
+    }
+  },
+  "terminal.integrated.defaultProfile.windows": "PowerShell"
+}
diff --git a/01data.yaml b/01data.yaml
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+++ b/01data.yaml
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+# 由 split_dataset.py 自动生成
+# 训练: yolo train cfg=train.yaml
+
+path: datasets/gongjian/split
+train: images/train
+val: images/val
+names:
+  0: gongjian
diff --git a/__pycache__/capture.cpython-311.pyc b/__pycache__/capture.cpython-311.pyc
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diff --git a/__pycache__/detectors.cpython-311.pyc b/__pycache__/detectors.cpython-311.pyc
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diff --git a/__pycache__/hole_detect.cpython-311.pyc b/__pycache__/hole_detect.cpython-311.pyc
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diff --git a/__pycache__/infer_realtime.cpython-311.pyc b/__pycache__/infer_realtime.cpython-311.pyc
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diff --git a/__pycache__/split_dataset.cpython-311.pyc b/__pycache__/split_dataset.cpython-311.pyc
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diff --git a/capture.py b/capture.py
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+++ b/capture.py
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+"""RealSense D435/D405 双目采集：左右红外、RGB、可选深度，抽清晰帧后删除原视频。"""
+
+from __future__ import annotations
+
+import shutil
+import threading
+import time
+import tkinter as tk
+from datetime import datetime
+from pathlib import Path
+from tkinter import filedialog, messagebox, ttk
+
+import cv2
+import numpy as np
+import pyrealsense2 as rs
+from PIL import Image, ImageTk
+
+ROOT = Path(__file__).resolve().parent
+DEFAULT_OUT = ROOT / "datasets" / "my_dataset" / "images" / "train"
+RESOLUTIONS = [(1280, 720), (848, 480), (640, 480)]
+COLOR_RESOLUTIONS = [(1280, 720), (1920, 1080), (848, 480), (640, 480)]
+
+
+def sharpness(frame: np.ndarray) -> float:
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) if frame.ndim == 3 else frame
+    return float(cv2.Laplacian(gray, cv2.CV_64F).var())
+
+
+def pair_score(left: np.ndarray, right: np.ndarray, color: np.ndarray | None = None) -> float:
+    """左右红外平均清晰度；有 RGB 时加权，避免弱纹理红外分数过低抽不到帧。"""
+    s_ir = 0.5 * (sharpness(left) + sharpness(right))
+    if color is None:
+        return s_ir
+    s_rgb = sharpness(color)
+    return 0.35 * s_ir + 0.65 * s_rgb
+
+
+def to_bgr(frame: np.ndarray) -> np.ndarray:
+    if frame.ndim == 2:
+        return cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
+    return frame
+
+
+def list_realsense_devices() -> list[tuple[str, str]]:
+    devices = []
+    for dev in rs.context().query_devices():
+        name = dev.get_info(rs.camera_info.name)
+        serial = dev.get_info(rs.camera_info.serial_number)
+        devices.append((f"{name}  [{serial}]", serial))
+    return devices
+
+
+def extract_clear_pairs(
+    left_path: Path,
+    right_path: Path,
+    out_dir: Path,
+    prefix: str,
+    min_sharpness: float,
+    interval: float,
+    max_frames: int,
+    rgb_path: Path | None = None,
+    depth_vis_path: Path | None = None,
+    depth_raw_dir: Path | None = None,
+) -> tuple[int, str]:
+    """抽取清晰成对帧。返回 (保存数量, 说明)。阈值过高时自动按相对清晰度回退。"""
+    cap_l = cv2.VideoCapture(str(left_path))
+    cap_r = cv2.VideoCapture(str(right_path))
+    cap_c = cv2.VideoCapture(str(rgb_path)) if rgb_path is not None else None
+    cap_d = cv2.VideoCapture(str(depth_vis_path)) if depth_vis_path is not None else None
+    if not cap_l.isOpened() or not cap_r.isOpened():
+        cap_l.release()
+        cap_r.release()
+        if cap_c is not None:
+            cap_c.release()
+        if cap_d is not None:
+            cap_d.release()
+        raise RuntimeError("无法读取左右目视频")
+    if rgb_path is not None and (cap_c is None or not cap_c.isOpened()):
+        raise RuntimeError("无法读取 RGB 视频")
+    if depth_vis_path is not None and (cap_d is None or not cap_d.isOpened()):
+        raise RuntimeError("无法读取深度视频")
+
+    fps = cap_l.get(cv2.CAP_PROP_FPS) or 30
+    min_gap = max(1, int(round(interval * fps)))
+    left_dir = out_dir / "left"
+    right_dir = out_dir / "right"
+    rgb_dir = out_dir / "rgb"
+    depth_dir = out_dir / "depth"
+    depth_vis_dir = out_dir / "depth_vis"
+    left_dir.mkdir(parents=True, exist_ok=True)
+    right_dir.mkdir(parents=True, exist_ok=True)
+    if rgb_path is not None:
+        rgb_dir.mkdir(parents=True, exist_ok=True)
+    if depth_vis_path is not None:
+        depth_dir.mkdir(parents=True, exist_ok=True)
+        depth_vis_dir.mkdir(parents=True, exist_ok=True)
+
+    # 每隔 interval 取最清晰一帧；阈值稍后过滤，过高则自动回退
+    windows: list[tuple[float, np.ndarray, np.ndarray, np.ndarray | None, np.ndarray | None, int]] = []
+    best: tuple[float, np.ndarray, np.ndarray, np.ndarray | None, np.ndarray | None, int] | None = None
+    last_saved_idx = -min_gap
+    idx = 0
+    all_scores: list[float] = []
+
+    while True:
+        ok_l, frame_l = cap_l.read()
+        ok_r, frame_r = cap_r.read()
+        frame_c = None
+        frame_d = None
+        if cap_c is not None:
+            ok_c, frame_c = cap_c.read()
+            if not ok_c:
+                break
+        if cap_d is not None:
+            ok_d, frame_d = cap_d.read()
+            if not ok_d:
+                break
+        if not ok_l or not ok_r:
+            break
+        score = pair_score(frame_l, frame_r, frame_c)
+        all_scores.append(score)
+        if best is None or score > best[0]:
+            best = (
+                score,
+                frame_l.copy(),
+                frame_r.copy(),
+                None if frame_c is None else frame_c.copy(),
+                None if frame_d is None else frame_d.copy(),
+                idx,
+            )
+        if best is not None and idx - last_saved_idx >= min_gap:
+            windows.append(best)
+            last_saved_idx = idx
+            best = None
+        idx += 1
+
+    if best is not None:
+        windows.append(best)
+
+    cap_l.release()
+    cap_r.release()
+    if cap_c is not None:
+        cap_c.release()
+    if cap_d is not None:
+        cap_d.release()
+
+    if not windows:
+        return 0, "视频里没有可读帧"
+
+    scores = np.asarray(all_scores, dtype=np.float64)
+    p50 = float(np.median(scores))
+    p80 = float(np.percentile(scores, 80))
+    thr = float(min_sharpness)
+    selected = [w for w in windows if w[0] >= thr]
+    if not selected:
+        adaptive = max(0.5, p50 * 0.5)
+        selected = [w for w in windows if w[0] >= adaptive]
+        if not selected:
+            selected = sorted(windows, key=lambda x: x[0], reverse=True)
+            keep = len(selected) if max_frames <= 0 else min(len(selected), max(1, max_frames))
+            selected = selected[:keep]
+        note = (
+            f"阈值 {thr:.0f} 过高（本段综合分 median={p50:.0f} p80={p80:.0f}），"
+            f"已按相对清晰度自动保存"
+        )
+    else:
+        note = f"按阈值 {thr:.0f} 筛选（本段 median={p50:.0f} p80={p80:.0f}）"
+
+    selected.sort(key=lambda x: x[5])
+    if max_frames > 0 and len(selected) > max_frames:
+        selected = sorted(selected, key=lambda x: x[0], reverse=True)[:max_frames]
+        selected.sort(key=lambda x: x[5])
+
+    saved = 0
+    for item in selected:
+        saved += 1
+        name = f"{prefix}_{saved:04d}_s{item[0]:.0f}"
+        cv2.imwrite(str(left_dir / f"{name}.jpg"), item[1])
+        cv2.imwrite(str(right_dir / f"{name}.jpg"), item[2])
+        if item[3] is not None:
+            cv2.imwrite(str(rgb_dir / f"{name}.jpg"), item[3])
+        if item[4] is not None:
+            cv2.imwrite(str(depth_vis_dir / f"{name}.jpg"), item[4])
+            raw = None if depth_raw_dir is None else depth_raw_dir / f"{item[5]:06d}.png"
+            if raw is not None and raw.exists():
+                shutil.copy2(raw, depth_dir / f"{name}.png")
+    return saved, note
+
+
+class CaptureApp(tk.Tk):
+    def __init__(self) -> None:
+        super().__init__()
+        self.title("RealSense D435 / D405 双目采集")
+        self.geometry("1480x900")
+        self.minsize(1200, 760)
+
+        self.pipeline: rs.pipeline | None = None
+        self.align: rs.align | None = None
+        self.colorizer = rs.colorizer()
+        self.has_rgb = False
+        self.has_depth = False
+        self.writer_left: cv2.VideoWriter | None = None
+        self.writer_right: cv2.VideoWriter | None = None
+        self.writer_rgb: cv2.VideoWriter | None = None
+        self.writer_depth: cv2.VideoWriter | None = None
+        self.preview_job: str | None = None
+        self.photo_left: ImageTk.PhotoImage | None = None
+        self.photo_right: ImageTk.PhotoImage | None = None
+        self.photo_rgb: ImageTk.PhotoImage | None = None
+        self.photo_depth: ImageTk.PhotoImage | None = None
+        self.busy = False
+        self.recording = False
+        self.stop_flag = False
+        self.rec_start = 0.0
+        self.rec_frames = 0
+        self.video_left: Path | None = None
+        self.video_right: Path | None = None
+        self.video_rgb: Path | None = None
+        self.video_depth: Path | None = None
+        self.depth_raw_dir: Path | None = None
+        self.devices: list[tuple[str, str]] = []
+        self.depth_sensor = None
+        self.color_sensor = None
+        self.shared_exposure = False
+
+        self._build()
+        self.protocol("WM_DELETE_WINDOW", self.on_close)
+        self.after(200, self.refresh_devices)
+
+    def _build(self) -> None:
+        self.columnconfigure(0, weight=1)
+        self.rowconfigure(0, weight=1)
+
+        self.preview = ttk.Frame(self, padding=8)
+        self.preview.grid(row=0, column=0, sticky="nsew")
+
+        self.lbl_left = ttk.Label(self.preview, text="左目 Infrared 1", font=("Segoe UI", 11, "bold"))
+        self.lbl_right = ttk.Label(self.preview, text="右目 Infrared 2", font=("Segoe UI", 11, "bold"))
+        self.lbl_rgb = ttk.Label(self.preview, text="RGB Color", font=("Segoe UI", 11, "bold"))
+        self.lbl_depth = ttk.Label(self.preview, text="Depth 深度图", font=("Segoe UI", 11, "bold"))
+        self.view_left = tk.Label(self.preview, bg="#111", fg="#eee", text="左目")
+        self.view_right = tk.Label(self.preview, bg="#111", fg="#eee", text="右目")
+        self.view_rgb = tk.Label(self.preview, bg="#111", fg="#eee", text="RGB")
+        self.view_depth = tk.Label(self.preview, bg="#111", fg="#eee", text="深度图")
+        self.status = ttk.Label(self.preview, text="就绪")
+
+        panel = ttk.LabelFrame(self, text="RealSense 采集参数", padding=10)
+        panel.grid(row=1, column=0, sticky="ew", padx=8, pady=(0, 8))
+        for col in range(8):
+            panel.columnconfigure(col, weight=1)
+
+        self.var_device = tk.StringVar()
+        self.var_width = tk.IntVar(value=1280)
+        self.var_height = tk.IntVar(value=720)
+        self.var_fps = tk.IntVar(value=30)
+        self.var_duration = tk.DoubleVar(value=10)
+        self.var_sharp = tk.DoubleVar(value=5)
+        self.var_interval = tk.DoubleVar(value=0.2)
+        self.var_max = tk.IntVar(value=0)
+        self.var_swap = tk.BooleanVar(value=False)
+        self.var_emitter_off = tk.BooleanVar(value=True)
+        self.var_rgb = tk.BooleanVar(value=True)
+        self.var_align_rgb = tk.BooleanVar(value=True)
+        self.var_depth = tk.BooleanVar(value=False)
+        self.var_out = tk.StringVar(value=str(DEFAULT_OUT))
+        self.var_name = tk.StringVar(value="")
+        self.var_overwrite = tk.StringVar(value="rename")
+        self.var_preview_rec = tk.BooleanVar(value=False)
+        self.var_prev_left = tk.BooleanVar(value=True)
+        self.var_prev_right = tk.BooleanVar(value=False)
+        self.var_prev_rgb = tk.BooleanVar(value=True)
+        self.var_prev_depth = tk.BooleanVar(value=False)
+        self.var_ir_auto = tk.BooleanVar(value=True)
+        self.var_rgb_auto = tk.BooleanVar(value=True)
+        self.var_ir_exposure = tk.DoubleVar(value=8500)  # µs，D435 红外常见默认附近
+        self.var_rgb_exposure = tk.DoubleVar(value=156)  # µs，RGB 常见默认附近
+        self.save_prefix = ""
+
+        ttk.Label(panel, text="设备").grid(row=0, column=0, sticky="w")
+        self.cmb_device = ttk.Combobox(panel, textvariable=self.var_device, state="readonly")
+        self.cmb_device.grid(row=0, column=1, columnspan=2, sticky="ew")
+        ttk.Button(panel, text="刷新设备", command=self.refresh_devices).grid(row=0, column=3, sticky="ew", padx=(8, 0))
+        ttk.Checkbutton(panel, text="同时采集 RGB", variable=self.var_rgb, command=self.on_stream_toggle).grid(
+            row=0, column=4, sticky="w"
+        )
+        ttk.Checkbutton(panel, text="同时采集深度图", variable=self.var_depth, command=self.on_depth_toggle).grid(
+            row=0, column=5, sticky="w"
+        )
+        ttk.Checkbutton(panel, text="RGB对齐到左目", variable=self.var_align_rgb, command=self.on_stream_toggle).grid(
+            row=0, column=6, sticky="w"
+        )
+        ttk.Checkbutton(panel, text="交换左右", variable=self.var_swap).grid(row=0, column=7, sticky="w")
+
+        ttk.Label(panel, text="分辨率").grid(row=1, column=0, sticky="w", pady=(8, 0))
+        ttk.Combobox(panel, textvariable=self.var_width, values=[1280, 848, 640], width=8, state="readonly").grid(
+            row=1, column=1, sticky="w", pady=(8, 0)
+        )
+        ttk.Label(panel, text="x").grid(row=1, column=2, pady=(8, 0))
+        ttk.Combobox(panel, textvariable=self.var_height, values=[720, 480], width=8, state="readonly").grid(
+            row=1, column=3, sticky="w", pady=(8, 0)
+        )
+        ttk.Label(panel, text="FPS").grid(row=1, column=4, sticky="w", pady=(8, 0))
+        ttk.Combobox(panel, textvariable=self.var_fps, values=[30, 15, 6], width=8, state="readonly").grid(
+            row=1, column=5, sticky="w", pady=(8, 0)
+        )
+        self.chk_emitter = ttk.Checkbutton(panel, text="关闭红外点阵(D435)", variable=self.var_emitter_off)
+        self.chk_emitter.grid(row=1, column=6, columnspan=2, sticky="w", pady=(8, 0))
+
+        exp = ttk.LabelFrame(panel, text="曝光（单位 µs，取消自动后可手调）", padding=6)
+        exp.grid(row=2, column=0, columnspan=8, sticky="ew", pady=(10, 0))
+        self.chk_ir_auto = ttk.Checkbutton(
+            exp, text="红外自动曝光", variable=self.var_ir_auto, command=self.on_exposure_mode_change
+        )
+        self.chk_ir_auto.pack(side="left")
+        ttk.Label(exp, text="红外曝光").pack(side="left", padx=(10, 2))
+        self.spn_ir_exp = ttk.Spinbox(
+            exp,
+            from_=1,
+            to=165000,
+            increment=100,
+            textvariable=self.var_ir_exposure,
+            width=8,
+            command=self.apply_exposure,
+        )
+        self.spn_ir_exp.pack(side="left")
+        self.chk_rgb_auto = ttk.Checkbutton(
+            exp, text="RGB自动曝光", variable=self.var_rgb_auto, command=self.on_exposure_mode_change
+        )
+        self.chk_rgb_auto.pack(side="left", padx=(16, 0))
+        ttk.Label(exp, text="RGB曝光").pack(side="left", padx=(10, 2))
+        self.spn_rgb_exp = ttk.Spinbox(
+            exp,
+            from_=1,
+            to=10000,
+            increment=10,
+            textvariable=self.var_rgb_exposure,
+            width=8,
+            command=self.apply_exposure,
+        )
+        self.spn_rgb_exp.pack(side="left")
+        ttk.Button(exp, text="应用曝光", command=self.apply_exposure).pack(side="left", padx=(12, 0))
+        self.lbl_exp_hint = ttk.Label(exp, text="打开相机后改手动值再点应用即可生效")
+        self.lbl_exp_hint.pack(side="left", padx=(10, 0))
+        self.spn_ir_exp.bind("<Return>", lambda _e: self.apply_exposure())
+        self.spn_rgb_exp.bind("<Return>", lambda _e: self.apply_exposure())
+        self.on_exposure_mode_change(apply=False)
+
+        ttk.Label(panel, text="录制秒数").grid(row=3, column=0, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_duration, width=8).grid(row=3, column=1, sticky="w", pady=(8, 0))
+        ttk.Label(panel, text="清晰度阈值").grid(row=3, column=2, sticky="w", pady=(8, 0))
+        sharp_box = ttk.Frame(panel)
+        sharp_box.grid(row=3, column=3, sticky="w", pady=(8, 0))
+        ttk.Entry(sharp_box, textvariable=self.var_sharp, width=6).pack(side="left")
+        ttk.Button(sharp_box, text="宽松", width=4, command=lambda: self.var_sharp.set(2)).pack(side="left", padx=(4, 0))
+        ttk.Button(sharp_box, text="适中", width=4, command=lambda: self.var_sharp.set(5)).pack(side="left")
+        ttk.Button(sharp_box, text="严格", width=4, command=lambda: self.var_sharp.set(20)).pack(side="left")
+        ttk.Label(panel, text="抽帧间隔(秒)").grid(row=3, column=4, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_interval, width=8).grid(row=3, column=5, sticky="w", pady=(8, 0))
+        ttk.Label(panel, text="最多保存").grid(row=3, column=6, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_max, width=8).grid(row=3, column=7, sticky="w", pady=(8, 0))
+
+        ttk.Label(panel, text="输出目录").grid(row=4, column=0, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_out).grid(row=4, column=1, columnspan=6, sticky="ew", pady=(8, 0))
+        ttk.Button(panel, text="浏览", command=self.browse_out).grid(row=4, column=7, sticky="e", pady=(8, 0))
+
+        ttk.Label(panel, text="命名前缀").grid(row=5, column=0, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_name).grid(row=5, column=1, columnspan=2, sticky="ew", pady=(8, 0))
+        self.lbl_name_hint = ttk.Label(panel, text="空则用时间戳。示例: 批次A_20260818_173000_0001_s112.jpg")
+        self.lbl_name_hint.grid(row=5, column=3, columnspan=5, sticky="w", pady=(8, 0))
+
+        ttk.Label(panel, text="同名文件").grid(row=6, column=0, sticky="w", pady=(8, 0))
+        ow = ttk.Frame(panel)
+        ow.grid(row=6, column=1, columnspan=7, sticky="w", pady=(8, 0))
+        ttk.Radiobutton(ow, text="自动改名(不覆盖)", variable=self.var_overwrite, value="rename").pack(side="left")
+        ttk.Radiobutton(ow, text="覆盖已有同前缀文件", variable=self.var_overwrite, value="overwrite").pack(side="left", padx=(12, 0))
+        ttk.Radiobutton(ow, text="每次询问", variable=self.var_overwrite, value="ask").pack(side="left", padx=(12, 0))
+
+        prev = ttk.LabelFrame(panel, text="录制时 UI 预览（关掉可防止卡死）", padding=6)
+        prev.grid(row=7, column=0, columnspan=8, sticky="ew", pady=(10, 0))
+        ttk.Checkbutton(prev, text="录制时开启实时渲染", variable=self.var_preview_rec).pack(side="left")
+        ttk.Checkbutton(prev, text="左红外", variable=self.var_prev_left).pack(side="left", padx=(12, 0))
+        ttk.Checkbutton(prev, text="右红外", variable=self.var_prev_right).pack(side="left", padx=(8, 0))
+        ttk.Checkbutton(prev, text="RGB", variable=self.var_prev_rgb).pack(side="left", padx=(8, 0))
+        ttk.Checkbutton(prev, text="深度", variable=self.var_prev_depth).pack(side="left", padx=(8, 0))
+        ttk.Label(prev, text="未勾选的窗口录制时不刷新画面").pack(side="left", padx=(12, 0))
+
+        prog = ttk.Frame(panel)
+        prog.grid(row=8, column=0, columnspan=8, sticky="ew", pady=(10, 0))
+        prog.columnconfigure(1, weight=1)
+        ttk.Label(prog, text="进度").grid(row=0, column=0, sticky="w")
+        self.progress = ttk.Progressbar(prog, mode="determinate", maximum=100)
+        self.progress.grid(row=0, column=1, sticky="ew", padx=8)
+        self.lbl_progress = ttk.Label(prog, text="未录制", width=22)
+        self.lbl_progress.grid(row=0, column=2, sticky="e")
+
+        btns = ttk.Frame(panel)
+        btns.grid(row=9, column=0, columnspan=8, sticky="ew", pady=(12, 0))
+        self.btn_open = ttk.Button(btns, text="打开相机", command=self.open_camera_ui)
+        self.btn_open.pack(side="left")
+        self.btn_start = ttk.Button(btns, text="开始采集", command=self.start_capture)
+        self.btn_start.pack(side="left", padx=8)
+        self.btn_stop = ttk.Button(btns, text="停止", command=self.stop_capture, state="disabled")
+        self.btn_stop.pack(side="left")
+        self.var_name.trace_add("write", lambda *_: self.refresh_name_hint())
+        self.refresh_name_hint()
+
+        self.apply_preview_layout()
+
+    def apply_preview_layout(self) -> None:
+        for child in self.preview.winfo_children():
+            child.grid_forget()
+        show_depth = self.var_depth.get()
+        if show_depth:
+            for col in range(2):
+                self.preview.columnconfigure(col, weight=1)
+            self.preview.columnconfigure(2, weight=0)
+            self.preview.rowconfigure(1, weight=1)
+            self.preview.rowconfigure(3, weight=1)
+            self.lbl_left.grid(row=0, column=0, sticky="w")
+            self.lbl_right.grid(row=0, column=1, sticky="w")
+            self.view_left.grid(row=1, column=0, sticky="nsew", padx=(0, 4), pady=(0, 4))
+            self.view_right.grid(row=1, column=1, sticky="nsew", padx=(4, 0), pady=(0, 4))
+            self.lbl_rgb.grid(row=2, column=0, sticky="w")
+            self.lbl_depth.grid(row=2, column=1, sticky="w")
+            self.view_rgb.grid(row=3, column=0, sticky="nsew", padx=(0, 4), pady=(4, 0))
+            self.view_depth.grid(row=3, column=1, sticky="nsew", padx=(4, 0), pady=(4, 0))
+            self.status.grid(row=4, column=0, columnspan=2, sticky="w", pady=(8, 0))
+        else:
+            for col in range(3):
+                self.preview.columnconfigure(col, weight=1)
+            self.preview.rowconfigure(1, weight=1)
+            self.preview.rowconfigure(3, weight=0)
+            self.lbl_left.grid(row=0, column=0, sticky="w")
+            self.lbl_right.grid(row=0, column=1, sticky="w")
+            self.lbl_rgb.grid(row=0, column=2, sticky="w")
+            self.view_left.grid(row=1, column=0, sticky="nsew", padx=(0, 4))
+            self.view_right.grid(row=1, column=1, sticky="nsew", padx=4)
+            self.view_rgb.grid(row=1, column=2, sticky="nsew", padx=(4, 0))
+            self.status.grid(row=2, column=0, columnspan=3, sticky="w", pady=(8, 0))
+
+    def on_depth_toggle(self) -> None:
+        if self.var_depth.get():
+            self.var_emitter_off.set(False)
+            self.chk_emitter.state(["disabled"])
+        else:
+            self.chk_emitter.state(["!disabled"])
+        self.apply_preview_layout()
+        self.on_stream_toggle()
+
+    def on_stream_toggle(self) -> None:
+        if not self.recording and not self.busy and self.devices:
+            self.open_camera_ui()
+
+    def on_exposure_mode_change(self, apply: bool = True) -> None:
+        ir_auto = self.var_ir_auto.get()
+        rgb_auto = self.var_rgb_auto.get()
+        self.spn_ir_exp.state(["disabled"] if ir_auto else ["!disabled"])
+        # D405 等机型 RGB/红外共用曝光时，RGB 控件跟随红外
+        if self.shared_exposure:
+            self.chk_rgb_auto.state(["disabled"])
+            self.spn_rgb_exp.state(["disabled"])
+            self.var_rgb_auto.set(ir_auto)
+            if not ir_auto:
+                self.var_rgb_exposure.set(self.var_ir_exposure.get())
+            self.lbl_exp_hint.config(text="当前设备 RGB/红外共用曝光，请调左侧红外项")
+        else:
+            self.chk_rgb_auto.state(["!disabled"])
+            self.spn_rgb_exp.state(["disabled"] if rgb_auto else ["!disabled"])
+            self.lbl_exp_hint.config(text="打开相机后改手动值再点应用即可生效")
+        if apply:
+            self.apply_exposure()
+
+    @staticmethod
+    def _set_sensor_option(sensor, option, value: float) -> bool:
+        if sensor is None or not sensor.supports(option):
+            return False
+        rng = sensor.get_option_range(option)
+        clamped = max(rng.min, min(rng.max, float(value)))
+        if rng.step > 0:
+            clamped = rng.min + round((clamped - rng.min) / rng.step) * rng.step
+            clamped = max(rng.min, min(rng.max, clamped))
+        sensor.set_option(option, clamped)
+        return True
+
+    def _bind_exposure_sensors(self, device, with_rgb: bool) -> None:
+        self.depth_sensor = device.first_depth_sensor()
+        self.color_sensor = None
+        try:
+            self.color_sensor = device.first_color_sensor()
+        except Exception:
+            self.color_sensor = None
+        if self.color_sensor is None and with_rgb:
+            for sensor in device.query_sensors():
+                name = ""
+                if sensor.supports(rs.camera_info.name):
+                    name = sensor.get_info(rs.camera_info.name).lower()
+                if "rgb" in name or "color" in name:
+                    self.color_sensor = sensor
+                    break
+        # D405：彩色与红外同属 Stereo Module，无独立 RGB sensor
+        self.shared_exposure = with_rgb and (
+            self.color_sensor is None or self.color_sensor is self.depth_sensor
+        )
+        if self.shared_exposure:
+            self.color_sensor = None
+        self.on_exposure_mode_change(apply=False)
+
+    def apply_exposure(self) -> None:
+        if self.pipeline is None:
+            self.set_status("相机未打开：曝光设置会在下次打开时生效")
+            return
+        notes: list[str] = []
+        try:
+            if self.depth_sensor is not None:
+                if self.var_ir_auto.get():
+                    ok = self._set_sensor_option(self.depth_sensor, rs.option.enable_auto_exposure, 1.0)
+                    notes.append("红外AE开" if ok else "红外AE不支持")
+                    if self.shared_exposure and ok:
+                        notes.append("RGB共用AE")
+                else:
+                    self._set_sensor_option(self.depth_sensor, rs.option.enable_auto_exposure, 0.0)
+                    ok = self._set_sensor_option(
+                        self.depth_sensor, rs.option.exposure, float(self.var_ir_exposure.get())
+                    )
+                    if ok:
+                        cur = self.depth_sensor.get_option(rs.option.exposure)
+                        self.var_ir_exposure.set(cur)
+                        if self.shared_exposure:
+                            self.var_rgb_exposure.set(cur)
+                            notes.append(f"共用曝光 {cur:.0f}µs")
+                        else:
+                            notes.append(f"红外曝光 {cur:.0f}µs")
+                    else:
+                        notes.append("红外手动曝光失败")
+            if self.color_sensor is not None and not self.shared_exposure:
+                if self.var_rgb_auto.get():
+                    ok = self._set_sensor_option(self.color_sensor, rs.option.enable_auto_exposure, 1.0)
+                    notes.append("RGB AE开" if ok else "RGB AE不支持")
+                else:
+                    self._set_sensor_option(self.color_sensor, rs.option.enable_auto_exposure, 0.0)
+                    ok = self._set_sensor_option(
+                        self.color_sensor, rs.option.exposure, float(self.var_rgb_exposure.get())
+                    )
+                    if ok:
+                        cur = self.color_sensor.get_option(rs.option.exposure)
+                        self.var_rgb_exposure.set(cur)
+                        notes.append(f"RGB曝光 {cur:.0f}µs")
+                    else:
+                        notes.append("RGB手动曝光失败")
+        except Exception as exc:
+            self.set_status(f"曝光设置失败: {exc}")
+            messagebox.showerror("曝光", str(exc))
+            return
+        if notes:
+            self.set_status("曝光已应用: " + " / ".join(notes))
+
+    def set_status(self, text: str) -> None:
+        self.status.config(text=text)
+
+    def refresh_name_hint(self) -> None:
+        custom = self.var_name.get().strip() or "时间戳"
+        stamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+        prefix = f"{custom}_{stamp}" if self.var_name.get().strip() else stamp
+        self.lbl_name_hint.config(text=f"左右/RGB/深度同名。示例: {prefix}_0001_s112.jpg")
+
+    def make_prefix(self) -> str:
+        stamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+        custom = self.var_name.get().strip()
+        return f"{custom}_{stamp}" if custom else stamp
+
+    def existing_prefix_files(self, out_dir: Path, prefix: str) -> list[Path]:
+        hits: list[Path] = []
+        for folder in ("left", "right", "rgb", "depth", "depth_vis"):
+            d = out_dir / folder
+            if not d.exists():
+                continue
+            hits.extend(sorted(d.glob(f"{prefix}_*")))
+        return hits
+
+    def unique_prefix(self, out_dir: Path, prefix: str) -> str:
+        candidate = prefix
+        n = 2
+        while self.existing_prefix_files(out_dir, candidate):
+            candidate = f"{prefix}_{n}"
+            n += 1
+        return candidate
+
+    def resolve_save_prefix(self, out_dir: Path, prefix: str) -> str | None:
+        existing = self.existing_prefix_files(out_dir, prefix)
+        if not existing:
+            return prefix
+        mode = self.var_overwrite.get()
+        msg = (
+            f"目录中已有 {len(existing)} 个同前缀文件：\n{prefix}_*.jpg/png\n\n"
+            "覆盖会删除这些旧文件。左右/RGB/深度使用同一文件名。"
+        )
+        if mode == "rename":
+            new_prefix = self.unique_prefix(out_dir, prefix)
+            self.set_status(f"已有同名，自动改为 {new_prefix}")
+            return new_prefix
+        if mode == "overwrite":
+            if not messagebox.askyesno("覆盖确认", msg + "\n\n确定覆盖？"):
+                return None
+            for path in existing:
+                path.unlink(missing_ok=True)
+            return prefix
+        choice = messagebox.askyesnocancel(
+            "同名文件",
+            msg + "\n\n是 = 覆盖\n否 = 自动改名\n取消 = 不开始录制",
+        )
+        if choice is None:
+            return None
+        if choice:
+            for path in existing:
+                path.unlink(missing_ok=True)
+            return prefix
+        return self.unique_prefix(out_dir, prefix)
+
+    def set_progress(self, ratio: float, text: str) -> None:
+        self.progress["value"] = max(0.0, min(100.0, ratio * 100.0))
+        self.lbl_progress.config(text=text)
+
+    def browse_out(self) -> None:
+        path = filedialog.askdirectory(initialdir=self.var_out.get() or str(ROOT))
+        if path:
+            self.var_out.set(path)
+
+    def current_serial(self) -> str:
+        label = self.var_device.get()
+        for text, serial in self.devices:
+            if text == label:
+                return serial
+        raise RuntimeError("请先选择 RealSense 设备")
+
+    def refresh_devices(self) -> None:
+        if self.recording or self.busy:
+            return
+        self.devices = list_realsense_devices()
+        labels = [item[0] for item in self.devices]
+        self.cmb_device["values"] = labels
+        if labels:
+            self.var_device.set(labels[0])
+            self.set_status(f"找到 {len(labels)} 台 RealSense，可点「打开相机」")
+            self.after(100, self.open_camera_ui)
+        else:
+            self.var_device.set("")
+            self.set_status("未检测到 D435/D405。请插上相机，并确认已安装 Intel RealSense 驱动")
+
+    def release_writers(self) -> None:
+        for attr in ("writer_left", "writer_right", "writer_rgb", "writer_depth"):
+            writer = getattr(self, attr)
+            if writer is not None:
+                writer.release()
+                setattr(self, attr, None)
+
+    def stop_pipeline(self) -> None:
+        if self.preview_job is not None:
+            self.after_cancel(self.preview_job)
+            self.preview_job = None
+        self.release_writers()
+        self.align = None
+        self.has_rgb = False
+        self.has_depth = False
+        self.depth_sensor = None
+        self.color_sensor = None
+        self.shared_exposure = False
+        if self.pipeline is not None:
+            try:
+                self.pipeline.stop()
+            except Exception:
+                pass
+            self.pipeline = None
+
+    def _try_start(self, serial: str, w: int, h: int, f: int, with_rgb: bool, with_depth: bool) -> rs.pipeline:
+        pipeline = rs.pipeline()
+        config = rs.config()
+        config.enable_device(serial)
+        config.enable_stream(rs.stream.infrared, 1, w, h, rs.format.y8, f)
+        config.enable_stream(rs.stream.infrared, 2, w, h, rs.format.y8, f)
+        if with_depth:
+            config.enable_stream(rs.stream.depth, w, h, rs.format.z16, f)
+        if with_rgb:
+            cw, ch = (w, h) if (w, h) in COLOR_RESOLUTIONS else (1280, 720)
+            config.enable_stream(rs.stream.color, cw, ch, rs.format.bgr8, f)
+        profile = pipeline.start(config)
+        self.pipeline = pipeline
+        self.has_rgb = with_rgb
+        self.has_depth = with_depth
+        need_align = (with_rgb and self.var_align_rgb.get()) or with_depth
+        self.align = rs.align(rs.stream.infrared) if need_align else None
+        self.var_width.set(w)
+        self.var_height.set(h)
+        device = profile.get_device()
+        self._bind_exposure_sensors(device, with_rgb)
+        if self.depth_sensor is not None and self.depth_sensor.supports(rs.option.emitter_enabled):
+            # 采深度时强制打开点阵；否则按勾选关闭
+            emitter_on = 1.0 if with_depth else (0.0 if self.var_emitter_off.get() else 1.0)
+            self.depth_sensor.set_option(rs.option.emitter_enabled, emitter_on)
+        self.apply_exposure()
+        return pipeline
+
+    def start_pipeline(self) -> None:
+        serial = self.current_serial()
+        width, height, fps = int(self.var_width.get()), int(self.var_height.get()), int(self.var_fps.get())
+        attempts = [(width, height, fps)] + [(w, h, fps) for w, h in RESOLUTIONS if (w, h) != (width, height)]
+        want_rgb = self.var_rgb.get()
+        want_depth = self.var_depth.get()
+        last_error = None
+        rgb_options = [True, False] if want_rgb else [False]
+        depth_options = [True, False] if want_depth else [False]
+        for with_depth in depth_options:
+            for with_rgb in rgb_options:
+                for w, h, f in attempts:
+                    try:
+                        self._try_start(serial, w, h, f, with_rgb, with_depth)
+                        if want_depth and not with_depth:
+                            self.set_status("深度流无法打开，已回退")
+                        if want_rgb and not with_rgb:
+                            self.set_status("RGB 流无法打开，已回退")
+                        return
+                    except Exception as exc:
+                        last_error = exc
+                        try:
+                            if self.pipeline is not None:
+                                self.pipeline.stop()
+                        except Exception:
+                            pass
+                        self.pipeline = None
+        raise RuntimeError(f"无法打开 RealSense: {last_error}")
+
+    def open_camera_ui(self) -> None:
+        if self.recording or self.busy:
+            return
+        if not self.devices:
+            self.refresh_devices()
+            if not self.devices:
+                messagebox.showerror("RealSense", "没有检测到 D435/D405")
+                return
+        self.stop_pipeline()
+        try:
+            self.start_pipeline()
+        except Exception as exc:
+            self.view_left.config(image="", text=str(exc))
+            self.view_right.config(image="", text="")
+            self.view_rgb.config(image="", text="")
+            self.view_depth.config(image="", text="")
+            self.set_status(str(exc))
+            messagebox.showerror("RealSense", str(exc))
+            return
+        parts = ["左右红外"]
+        if self.has_rgb:
+            parts.append("RGB" + ("对齐左目" if self.var_align_rgb.get() else ""))
+        if self.has_depth:
+            parts.append("深度(点阵已开)")
+        self.set_status(f"{self.var_width.get()}x{self.var_height.get()} @{self.var_fps.get()}  " + " + ".join(parts))
+        if not self.has_rgb:
+            self.view_rgb.config(image="", text="未开启 RGB")
+        if not self.has_depth:
+            self.view_depth.config(image="", text="未开启深度")
+        self.loop_preview()
+
+    def read_frames(self) -> tuple[np.ndarray, np.ndarray, np.ndarray | None, np.ndarray | None, np.ndarray | None] | None:
+        if self.pipeline is None:
+            return None
+        try:
+            frames = self.pipeline.wait_for_frames(1000)
+        except Exception:
+            return None
+        if self.align is not None:
+            frames = self.align.process(frames)
+        ir_l = frames.get_infrared_frame(1)
+        ir_r = frames.get_infrared_frame(2)
+        if not ir_l or not ir_r:
+            return None
+        left = to_bgr(np.asanyarray(ir_l.get_data()))
+        right = to_bgr(np.asanyarray(ir_r.get_data()))
+        if self.var_swap.get():
+            left, right = right, left
+        color = None
+        depth_raw = None
+        depth_vis = None
+        if self.has_rgb:
+            color_frame = frames.get_color_frame()
+            if color_frame:
+                color = np.asanyarray(color_frame.get_data())
+        if self.has_depth:
+            depth_frame = frames.get_depth_frame()
+            if depth_frame:
+                depth_raw = np.asanyarray(depth_frame.get_data())
+                depth_vis = np.asanyarray(self.colorizer.colorize(depth_frame).get_data())
+        return left, right, color, depth_raw, depth_vis
+
+    def loop_preview(self) -> None:
+        pack = self.read_frames()
+        if pack is not None:
+            left, right, color, depth_raw, depth_vis = pack
+            if self.recording:
+                duration = max(0.001, float(self.var_duration.get()))
+                elapsed = time.perf_counter() - self.rec_start
+                remain = max(0.0, duration - elapsed)
+                self.set_progress(elapsed / duration, f"录制 {elapsed:.1f}/{duration:.1f}s")
+                if self.writer_left is not None and self.writer_right is not None:
+                    self.writer_left.write(left)
+                    self.writer_right.write(right)
+                    if self.writer_rgb is not None and color is not None:
+                        self.writer_rgb.write(color)
+                    if self.writer_depth is not None and depth_vis is not None:
+                        self.writer_depth.write(depth_vis)
+                    if self.depth_raw_dir is not None and depth_raw is not None:
+                        cv2.imwrite(str(self.depth_raw_dir / f"{self.rec_frames:06d}.png"), depth_raw)
+                    self.rec_frames += 1
+                if self.var_preview_rec.get():
+                    if self.var_prev_left.get():
+                        self.show_frame(self.view_left, left, "left")
+                    if self.var_prev_right.get():
+                        self.show_frame(self.view_right, right, "right")
+                    if self.var_prev_rgb.get() and color is not None:
+                        self.show_frame(self.view_rgb, color, "rgb")
+                    if self.var_prev_depth.get() and depth_vis is not None:
+                        self.show_frame(self.view_depth, depth_vis, "depth")
+                if remain <= 0 or self.stop_flag:
+                    self.after(10, self.finish_capture)
+                    return
+            else:
+                score_l, score_r = sharpness(left), sharpness(right)
+                score = pair_score(left, right, color)
+                thr = self.var_sharp.get()
+                show_l, show_r = left.copy(), right.copy()
+                ok = score >= thr
+                cv2.putText(
+                    show_l,
+                    f"L {score_l:.0f}  score={score:.0f}/{thr:.0f}",
+                    (18, 40),
+                    cv2.FONT_HERSHEY_SIMPLEX,
+                    0.7,
+                    (0, 220, 0) if ok else (0, 180, 255),
+                    2,
+                )
+                cv2.putText(
+                    show_r,
+                    f"R {score_r:.0f}  score={score:.0f}/{thr:.0f}",
+                    (18, 40),
+                    cv2.FONT_HERSHEY_SIMPLEX,
+                    0.7,
+                    (0, 220, 0) if ok else (0, 180, 255),
+                    2,
+                )
+                self.show_frame(self.view_left, show_l, "left")
+                self.show_frame(self.view_right, show_r, "right")
+                if color is not None:
+                    show_c = color.copy()
+                    s_rgb = sharpness(color)
+                    cv2.putText(
+                        show_c,
+                        f"RGB {s_rgb:.0f}  score={score:.0f}/{thr:.0f}",
+                        (18, 40),
+                        cv2.FONT_HERSHEY_SIMPLEX,
+                        0.7,
+                        (0, 220, 0) if ok else (0, 180, 255),
+                        2,
+                    )
+                    self.show_frame(self.view_rgb, show_c, "rgb")
+                if depth_vis is not None:
+                    show_d = depth_vis.copy()
+                    cv2.putText(show_d, "DEPTH", (18, 40), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 220, 0), 2)
+                    self.show_frame(self.view_depth, show_d, "depth")
+        delay = 30 if self.recording and not self.var_preview_rec.get() else 10
+        self.preview_job = self.after(delay, self.loop_preview)
+
+    def show_frame(self, widget: tk.Label, frame: np.ndarray, side: str) -> None:
+        rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+        h, w = rgb.shape[:2]
+        max_w = max(widget.winfo_width(), 240)
+        max_h = max(widget.winfo_height(), 180)
+        scale = min(max_w / w, max_h / h)
+        if scale <= 0:
+            return
+        size = (max(1, int(w * scale)), max(1, int(h * scale)))
+        img = Image.fromarray(rgb).resize(size, Image.Resampling.BILINEAR)
+        photo = ImageTk.PhotoImage(img)
+        if side == "left":
+            self.photo_left = photo
+        elif side == "right":
+            self.photo_right = photo
+        elif side == "rgb":
+            self.photo_rgb = photo
+        else:
+            self.photo_depth = photo
+        widget.config(image=photo, text="")
+
+    def start_capture(self) -> None:
+        if self.pipeline is None:
+            self.open_camera_ui()
+            if self.pipeline is None:
+                return
+        if self.recording or self.busy:
+            return
+        duration = float(self.var_duration.get())
+        if duration <= 0:
+            messagebox.showwarning("参数", "录制秒数必须大于 0")
+            return
+        pack = self.read_frames()
+        if pack is None:
+            messagebox.showerror("采集", "读不到画面")
+            return
+        left, right, color, _, depth_vis = pack
+        out_dir = Path(self.var_out.get())
+        prefix = self.resolve_save_prefix(out_dir, self.make_prefix())
+        if prefix is None:
+            self.set_status("已取消录制")
+            return
+        self.save_prefix = prefix
+        fps = max(1, int(self.var_fps.get()))
+        tmp_dir = ROOT / "datasets" / "_tmp"
+        tmp_dir.mkdir(parents=True, exist_ok=True)
+        self.video_left = tmp_dir / f"{prefix}_left.avi"
+        self.video_right = tmp_dir / f"{prefix}_right.avi"
+        self.video_rgb = tmp_dir / f"{prefix}_rgb.avi" if self.has_rgb else None
+        self.video_depth = tmp_dir / f"{prefix}_depth.avi" if self.has_depth else None
+        self.depth_raw_dir = tmp_dir / f"{prefix}_depth_raw" if self.has_depth else None
+        if self.depth_raw_dir is not None:
+            self.depth_raw_dir.mkdir(parents=True, exist_ok=True)
+        h_l, w_l = left.shape[:2]
+        h_r, w_r = right.shape[:2]
+        self.writer_left = cv2.VideoWriter(str(self.video_left), cv2.VideoWriter_fourcc(*"XVID"), fps, (w_l, h_l))
+        self.writer_right = cv2.VideoWriter(str(self.video_right), cv2.VideoWriter_fourcc(*"XVID"), fps, (w_r, h_r))
+        if self.has_rgb and color is not None and self.video_rgb is not None:
+            h_c, w_c = color.shape[:2]
+            self.writer_rgb = cv2.VideoWriter(str(self.video_rgb), cv2.VideoWriter_fourcc(*"XVID"), fps, (w_c, h_c))
+        if self.has_depth and depth_vis is not None and self.video_depth is not None:
+            h_d, w_d = depth_vis.shape[:2]
+            self.writer_depth = cv2.VideoWriter(str(self.video_depth), cv2.VideoWriter_fourcc(*"XVID"), fps, (w_d, h_d))
+        if not self.writer_left.isOpened() or not self.writer_right.isOpened():
+            self.release_writers()
+            messagebox.showerror("采集", "无法写入视频")
+            return
+
+        self.recording = True
+        self.stop_flag = False
+        self.rec_start = time.perf_counter()
+        self.rec_frames = 0
+        self.btn_start.config(state="disabled")
+        self.btn_open.config(state="disabled")
+        self.btn_stop.config(state="normal")
+        extra = ""
+        if self.has_rgb:
+            extra += " + RGB"
+        if self.has_depth:
+            extra += " + 深度"
+        preview_hint = "预览已关" if not self.var_preview_rec.get() else "预览已开"
+        self.set_progress(0, f"录制 0.0/{duration:.1f}s")
+        self.set_status(f"正在同步录制左右红外{extra} {duration:.1f} 秒…  命名 {prefix}  {preview_hint}")
+
+    def stop_capture(self) -> None:
+        if self.recording:
+            self.stop_flag = True
+
+    def finish_capture(self) -> None:
+        if not self.recording:
+            return
+        self.recording = False
+        self.btn_stop.config(state="disabled")
+        self.release_writers()
+
+        left_path, right_path = self.video_left, self.video_right
+        rgb_path, depth_path, depth_raw_dir = self.video_rgb, self.video_depth, self.depth_raw_dir
+        if left_path is None or right_path is None or not left_path.exists() or not right_path.exists():
+            self.btn_start.config(state="normal")
+            self.btn_open.config(state="normal")
+            self.set_status("没有录到左右目视频")
+            return
+        if self.has_rgb and (rgb_path is None or not rgb_path.exists()):
+            rgb_path = None
+        if self.has_depth and (depth_path is None or not depth_path.exists()):
+            depth_path = None
+
+        self.busy = True
+        self.set_progress(1.0, "正在抽帧…")
+        self.set_status("正在抽取清晰帧…")
+        prefix = self.save_prefix or left_path.stem.replace("_left", "")
+        out_dir = Path(self.var_out.get())
+        min_sharp = float(self.var_sharp.get())
+        interval = float(self.var_interval.get())
+        max_frames = int(self.var_max.get())
+        has_rgb = self.has_rgb
+        has_depth = self.has_depth
+
+        def work() -> None:
+            error = ""
+            saved = 0
+            note = ""
+            try:
+                saved, note = extract_clear_pairs(
+                    left_path,
+                    right_path,
+                    out_dir,
+                    prefix,
+                    min_sharp,
+                    interval,
+                    max_frames,
+                    rgb_path,
+                    depth_path,
+                    depth_raw_dir,
+                )
+            except Exception as exc:
+                error = str(exc)
+            finally:
+                left_path.unlink(missing_ok=True)
+                right_path.unlink(missing_ok=True)
+                if rgb_path is not None:
+                    rgb_path.unlink(missing_ok=True)
+                if depth_path is not None:
+                    depth_path.unlink(missing_ok=True)
+                if depth_raw_dir is not None and depth_raw_dir.exists():
+                    shutil.rmtree(depth_raw_dir, ignore_errors=True)
+
+            def done() -> None:
+                self.busy = False
+                self.btn_start.config(state="normal")
+                self.btn_open.config(state="normal")
+                if error:
+                    self.set_progress(0, "抽帧失败")
+                    self.set_status(error)
+                    messagebox.showerror("抽帧失败", error)
+                    return
+                folders = f"{out_dir}/left 、 {out_dir}/right"
+                if has_rgb:
+                    folders += f" 、 {out_dir}/rgb"
+                if has_depth:
+                    folders += f" 、 {out_dir}/depth （16位）与 {out_dir}/depth_vis"
+                if saved == 0:
+                    msg = "仍未抽到帧，请检查相机画面或缩短抽帧间隔后再试。原视频已删除"
+                else:
+                    msg = f"已保存 {saved} 组，前缀 {prefix}，到 {folders}，原视频已删除"
+                    if note:
+                        msg += f"\n\n{note}"
+                self.set_progress(1.0, f"完成 {saved} 组")
+                self.set_status(msg.replace("\n", " "))
+                messagebox.showinfo("采集完成", msg + f"\n\n文件名格式: {prefix}_0001_s清晰度.jpg")
+
+            self.after(0, done)
+
+        threading.Thread(target=work, daemon=True).start()
+
+    def on_close(self) -> None:
+        self.recording = False
+        self.stop_pipeline()
+        for path in (self.video_left, self.video_right, self.video_rgb, self.video_depth):
+            if path is not None:
+                path.unlink(missing_ok=True)
+        if self.depth_raw_dir is not None and self.depth_raw_dir.exists():
+            shutil.rmtree(self.depth_raw_dir, ignore_errors=True)
+        self.destroy()
+
+
+if __name__ == "__main__":
+    CaptureApp().mainloop()
diff --git a/data.yaml b/data.yaml
new file mode 100644
index 0000000..670f15e
--- /dev/null
+++ b/data.yaml
@@ -0,0 +1,12 @@
+# YOLO 数据集配置（phonedata）
+# 训练: 在 train.yaml 里设置 data: data.yaml
+# 然后: yolo train cfg=train.yaml
+
+path: datasets/phonedata
+train: images/train
+val: images/val
+# test: images/test   # 有测试集时取消注释
+
+# 类别从 0 连续编号
+names:
+  0: phone
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+++ b/datasets/gongjian/split/labels/train/20260820_112741_0067_s34.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0068_s34.txt b/datasets/gongjian/split/labels/train/20260820_112741_0068_s34.txt
new file mode 100644
index 0000000..862eeb9
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0068_s34.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0069_s38.txt b/datasets/gongjian/split/labels/train/20260820_112741_0069_s38.txt
new file mode 100644
index 0000000..8c4c998
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0069_s38.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0070_s39.txt b/datasets/gongjian/split/labels/train/20260820_112741_0070_s39.txt
new file mode 100644
index 0000000..fb09327
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0070_s39.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0071_s45.txt b/datasets/gongjian/split/labels/train/20260820_112741_0071_s45.txt
new file mode 100644
index 0000000..180e122
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0071_s45.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0073_s38.txt b/datasets/gongjian/split/labels/train/20260820_112741_0073_s38.txt
new file mode 100644
index 0000000..86a1afd
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0073_s38.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0074_s46.txt b/datasets/gongjian/split/labels/train/20260820_112741_0074_s46.txt
new file mode 100644
index 0000000..adc8859
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0074_s46.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0076_s38.txt b/datasets/gongjian/split/labels/train/20260820_112741_0076_s38.txt
new file mode 100644
index 0000000..90f713e
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0076_s38.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0077_s47.txt b/datasets/gongjian/split/labels/train/20260820_112741_0077_s47.txt
new file mode 100644
index 0000000..6e3eb99
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0077_s47.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0078_s43.txt b/datasets/gongjian/split/labels/train/20260820_112741_0078_s43.txt
new file mode 100644
index 0000000..a021197
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0078_s43.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0079_s42.txt b/datasets/gongjian/split/labels/train/20260820_112741_0079_s42.txt
new file mode 100644
index 0000000..4dde22c
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0079_s42.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0081_s37.txt b/datasets/gongjian/split/labels/train/20260820_112741_0081_s37.txt
new file mode 100644
index 0000000..d43a449
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0081_s37.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0083_s45.txt b/datasets/gongjian/split/labels/train/20260820_112741_0083_s45.txt
new file mode 100644
index 0000000..5857594
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0083_s45.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0084_s44.txt b/datasets/gongjian/split/labels/train/20260820_112741_0084_s44.txt
new file mode 100644
index 0000000..43e7b3d
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0084_s44.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0085_s43.txt b/datasets/gongjian/split/labels/train/20260820_112741_0085_s43.txt
new file mode 100644
index 0000000..fe237a2
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0085_s43.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0086_s40.txt b/datasets/gongjian/split/labels/train/20260820_112741_0086_s40.txt
new file mode 100644
index 0000000..72e8e3b
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0086_s40.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0087_s35.txt b/datasets/gongjian/split/labels/train/20260820_112741_0087_s35.txt
new file mode 100644
index 0000000..4f2d851
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0087_s35.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0088_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0088_s32.txt
new file mode 100644
index 0000000..2d20162
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0088_s32.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0089_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0089_s32.txt
new file mode 100644
index 0000000..37d207c
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0089_s32.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0090_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0090_s31.txt
new file mode 100644
index 0000000..b72a47c
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0090_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0091_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0091_s31.txt
new file mode 100644
index 0000000..83d5e3d
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0091_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0092_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0092_s28.txt
new file mode 100644
index 0000000..7c30bfb
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0092_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0093_s23.txt b/datasets/gongjian/split/labels/train/20260820_112741_0093_s23.txt
new file mode 100644
index 0000000..05d43bb
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0093_s23.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0094_s27.txt b/datasets/gongjian/split/labels/train/20260820_112741_0094_s27.txt
new file mode 100644
index 0000000..0e8b8a6
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0094_s27.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0095_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0095_s29.txt
new file mode 100644
index 0000000..3f82046
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0095_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0096_s30.txt b/datasets/gongjian/split/labels/train/20260820_112741_0096_s30.txt
new file mode 100644
index 0000000..3e84994
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0096_s30.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0097_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0097_s31.txt
new file mode 100644
index 0000000..ab5faac
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0097_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0100_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0100_s24.txt
new file mode 100644
index 0000000..3db9bd0
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0100_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0101_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0101_s24.txt
new file mode 100644
index 0000000..95eca5d
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0101_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0103_s27.txt b/datasets/gongjian/split/labels/train/20260820_112741_0103_s27.txt
new file mode 100644
index 0000000..575b973
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0103_s27.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0104_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0104_s25.txt
new file mode 100644
index 0000000..df9f06f
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0104_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0105_s21.txt b/datasets/gongjian/split/labels/train/20260820_112741_0105_s21.txt
new file mode 100644
index 0000000..1a31740
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0105_s21.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0106_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0106_s31.txt
new file mode 100644
index 0000000..0dc7466
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0106_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0107_s34.txt b/datasets/gongjian/split/labels/train/20260820_112741_0107_s34.txt
new file mode 100644
index 0000000..19beef1
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0107_s34.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0108_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0108_s31.txt
new file mode 100644
index 0000000..27aed73
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0108_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0109_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0109_s31.txt
new file mode 100644
index 0000000..9ff8569
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0109_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0110_s36.txt b/datasets/gongjian/split/labels/train/20260820_112741_0110_s36.txt
new file mode 100644
index 0000000..a249b41
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0110_s36.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0114_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0114_s31.txt
new file mode 100644
index 0000000..238e927
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0114_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0116_s39.txt b/datasets/gongjian/split/labels/train/20260820_112741_0116_s39.txt
new file mode 100644
index 0000000..8255ec8
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0116_s39.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0117_s41.txt b/datasets/gongjian/split/labels/train/20260820_112741_0117_s41.txt
new file mode 100644
index 0000000..372880a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0117_s41.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0118_s41.txt b/datasets/gongjian/split/labels/train/20260820_112741_0118_s41.txt
new file mode 100644
index 0000000..7bdd022
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0118_s41.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0119_s38.txt b/datasets/gongjian/split/labels/train/20260820_112741_0119_s38.txt
new file mode 100644
index 0000000..5449c00
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0119_s38.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0121_s41.txt b/datasets/gongjian/split/labels/train/20260820_112741_0121_s41.txt
new file mode 100644
index 0000000..4119d95
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0121_s41.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0122_s34.txt b/datasets/gongjian/split/labels/train/20260820_112741_0122_s34.txt
new file mode 100644
index 0000000..65adaad
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0122_s34.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0123_s37.txt b/datasets/gongjian/split/labels/train/20260820_112741_0123_s37.txt
new file mode 100644
index 0000000..da71e76
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0123_s37.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0124_s34.txt b/datasets/gongjian/split/labels/train/20260820_112741_0124_s34.txt
new file mode 100644
index 0000000..3e6951a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0124_s34.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0125_s38.txt b/datasets/gongjian/split/labels/train/20260820_112741_0125_s38.txt
new file mode 100644
index 0000000..0268153
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0125_s38.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0127_s18.txt b/datasets/gongjian/split/labels/train/20260820_112741_0127_s18.txt
new file mode 100644
index 0000000..8df2d17
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0127_s18.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0128_s19.txt b/datasets/gongjian/split/labels/train/20260820_112741_0128_s19.txt
new file mode 100644
index 0000000..c7583da
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0128_s19.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0129_s21.txt b/datasets/gongjian/split/labels/train/20260820_112741_0129_s21.txt
new file mode 100644
index 0000000..216554b
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0129_s21.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0130_s18.txt b/datasets/gongjian/split/labels/train/20260820_112741_0130_s18.txt
new file mode 100644
index 0000000..e578a7e
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0130_s18.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0131_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0131_s25.txt
new file mode 100644
index 0000000..ac627ec
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0131_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0132_s39.txt b/datasets/gongjian/split/labels/train/20260820_112741_0132_s39.txt
new file mode 100644
index 0000000..b5cc690
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0132_s39.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0133_s42.txt b/datasets/gongjian/split/labels/train/20260820_112741_0133_s42.txt
new file mode 100644
index 0000000..f0f8432
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0133_s42.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0134_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0134_s29.txt
new file mode 100644
index 0000000..2d46eec
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0134_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0135_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0135_s24.txt
new file mode 100644
index 0000000..89c59df
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0135_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0137_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0137_s25.txt
new file mode 100644
index 0000000..faa8345
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0137_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0138_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0138_s25.txt
new file mode 100644
index 0000000..90dea7a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0138_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0139_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0139_s26.txt
new file mode 100644
index 0000000..5a8794e
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0139_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0140_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0140_s25.txt
new file mode 100644
index 0000000..969c7b8
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0140_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0142_s15.txt b/datasets/gongjian/split/labels/train/20260820_112741_0142_s15.txt
new file mode 100644
index 0000000..3f54110
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0142_s15.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0144_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0144_s25.txt
new file mode 100644
index 0000000..faa63d1
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0144_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0145_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0145_s25.txt
new file mode 100644
index 0000000..ff160d4
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0145_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0146_s17.txt b/datasets/gongjian/split/labels/train/20260820_112741_0146_s17.txt
new file mode 100644
index 0000000..d94ba7d
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0146_s17.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0147_s21.txt b/datasets/gongjian/split/labels/train/20260820_112741_0147_s21.txt
new file mode 100644
index 0000000..8291fc6
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0147_s21.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0148_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0148_s28.txt
new file mode 100644
index 0000000..8a7d81f
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0148_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0149_s30.txt b/datasets/gongjian/split/labels/train/20260820_112741_0149_s30.txt
new file mode 100644
index 0000000..8c89bb1
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0149_s30.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0150_s30.txt b/datasets/gongjian/split/labels/train/20260820_112741_0150_s30.txt
new file mode 100644
index 0000000..b403dad
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0150_s30.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0152_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0152_s31.txt
new file mode 100644
index 0000000..da7c025
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0152_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0153_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0153_s32.txt
new file mode 100644
index 0000000..080f8bb
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0153_s32.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0154_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0154_s31.txt
new file mode 100644
index 0000000..585b15c
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0154_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0155_s20.txt b/datasets/gongjian/split/labels/train/20260820_112741_0155_s20.txt
new file mode 100644
index 0000000..a45776b
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0155_s20.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0156_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0156_s24.txt
new file mode 100644
index 0000000..2229781
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0156_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0157_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0157_s25.txt
new file mode 100644
index 0000000..9ac862d
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0157_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0158_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0158_s24.txt
new file mode 100644
index 0000000..71b4fd6
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0158_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0159_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0159_s25.txt
new file mode 100644
index 0000000..c45f5ef
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0159_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0160_s23.txt b/datasets/gongjian/split/labels/train/20260820_112741_0160_s23.txt
new file mode 100644
index 0000000..8b56d8a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0160_s23.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0161_s20.txt b/datasets/gongjian/split/labels/train/20260820_112741_0161_s20.txt
new file mode 100644
index 0000000..84f4510
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0161_s20.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0162_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0162_s31.txt
new file mode 100644
index 0000000..533ef62
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0162_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0163_s33.txt b/datasets/gongjian/split/labels/train/20260820_112741_0163_s33.txt
new file mode 100644
index 0000000..778fe10
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0163_s33.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0164_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0164_s32.txt
new file mode 100644
index 0000000..9e8cf0c
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0164_s32.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0165_s41.txt b/datasets/gongjian/split/labels/train/20260820_112741_0165_s41.txt
new file mode 100644
index 0000000..18f90c9
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0165_s41.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0166_s43.txt b/datasets/gongjian/split/labels/train/20260820_112741_0166_s43.txt
new file mode 100644
index 0000000..6d46104
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0166_s43.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0167_s44.txt b/datasets/gongjian/split/labels/train/20260820_112741_0167_s44.txt
new file mode 100644
index 0000000..f6539d6
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0167_s44.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0168_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0168_s29.txt
new file mode 100644
index 0000000..bba1afe
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0168_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0169_s19.txt b/datasets/gongjian/split/labels/train/20260820_112741_0169_s19.txt
new file mode 100644
index 0000000..41e02a4
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0169_s19.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0171_s36.txt b/datasets/gongjian/split/labels/train/20260820_112741_0171_s36.txt
new file mode 100644
index 0000000..daac51f
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0171_s36.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0172_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0172_s28.txt
new file mode 100644
index 0000000..872efde
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0172_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0174_s33.txt b/datasets/gongjian/split/labels/train/20260820_112741_0174_s33.txt
new file mode 100644
index 0000000..54a6a24
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0174_s33.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0176_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0176_s32.txt
new file mode 100644
index 0000000..4ea1c8f
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0176_s32.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0178_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0178_s32.txt
new file mode 100644
index 0000000..cbf4ba3
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0178_s32.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0179_s33.txt b/datasets/gongjian/split/labels/train/20260820_112741_0179_s33.txt
new file mode 100644
index 0000000..b7b19c3
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0179_s33.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0180_s34.txt b/datasets/gongjian/split/labels/train/20260820_112741_0180_s34.txt
new file mode 100644
index 0000000..0c556ca
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0180_s34.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0182_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0182_s25.txt
new file mode 100644
index 0000000..6bb4ec5
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0182_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0183_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0183_s28.txt
new file mode 100644
index 0000000..49a93ef
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0183_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0185_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0185_s29.txt
new file mode 100644
index 0000000..96dac6c
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0185_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0187_s30.txt b/datasets/gongjian/split/labels/train/20260820_112741_0187_s30.txt
new file mode 100644
index 0000000..0dc2839
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0187_s30.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0188_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0188_s28.txt
new file mode 100644
index 0000000..b348fa3
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0188_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0189_s27.txt b/datasets/gongjian/split/labels/train/20260820_112741_0189_s27.txt
new file mode 100644
index 0000000..10a509f
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0189_s27.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0190_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0190_s26.txt
new file mode 100644
index 0000000..26c0d96
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0190_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0191_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0191_s28.txt
new file mode 100644
index 0000000..47c46bb
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0191_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0192_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0192_s29.txt
new file mode 100644
index 0000000..d274203
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0192_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0193_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0193_s29.txt
new file mode 100644
index 0000000..a1de0a5
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0193_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0196_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0196_s28.txt
new file mode 100644
index 0000000..80e1ba9
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0196_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0197_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0197_s24.txt
new file mode 100644
index 0000000..4fa47bb
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0197_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0199_s20.txt b/datasets/gongjian/split/labels/train/20260820_112741_0199_s20.txt
new file mode 100644
index 0000000..e4d70f0
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0199_s20.txt
@@ -0,0 +1,2 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0200_s19.txt b/datasets/gongjian/split/labels/train/20260820_112741_0200_s19.txt
new file mode 100644
index 0000000..2569f96
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0200_s19.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0201_s14.txt b/datasets/gongjian/split/labels/train/20260820_112741_0201_s14.txt
new file mode 100644
index 0000000..55c7086
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0201_s14.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0202_s14.txt b/datasets/gongjian/split/labels/train/20260820_112741_0202_s14.txt
new file mode 100644
index 0000000..c4ec782
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0202_s14.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0203_s20.txt b/datasets/gongjian/split/labels/train/20260820_112741_0203_s20.txt
new file mode 100644
index 0000000..8337933
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0203_s20.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0204_s23.txt b/datasets/gongjian/split/labels/train/20260820_112741_0204_s23.txt
new file mode 100644
index 0000000..a0f10a4
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0204_s23.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0205_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0205_s32.txt
new file mode 100644
index 0000000..64bd1b4
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0205_s32.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0206_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0206_s24.txt
new file mode 100644
index 0000000..268f351
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0206_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0207_s22.txt b/datasets/gongjian/split/labels/train/20260820_112741_0207_s22.txt
new file mode 100644
index 0000000..d6c26aa
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0207_s22.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0208_s22.txt b/datasets/gongjian/split/labels/train/20260820_112741_0208_s22.txt
new file mode 100644
index 0000000..c760194
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0208_s22.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0209_s22.txt b/datasets/gongjian/split/labels/train/20260820_112741_0209_s22.txt
new file mode 100644
index 0000000..2d5be32
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0209_s22.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0210_s20.txt b/datasets/gongjian/split/labels/train/20260820_112741_0210_s20.txt
new file mode 100644
index 0000000..6218a62
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0210_s20.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0211_s19.txt b/datasets/gongjian/split/labels/train/20260820_112741_0211_s19.txt
new file mode 100644
index 0000000..af72f49
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0211_s19.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0212_s19.txt b/datasets/gongjian/split/labels/train/20260820_112741_0212_s19.txt
new file mode 100644
index 0000000..b96c93d
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0212_s19.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0213_s19.txt b/datasets/gongjian/split/labels/train/20260820_112741_0213_s19.txt
new file mode 100644
index 0000000..286e983
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0213_s19.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0214_s19.txt b/datasets/gongjian/split/labels/train/20260820_112741_0214_s19.txt
new file mode 100644
index 0000000..344c331
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0214_s19.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0216_s15.txt b/datasets/gongjian/split/labels/train/20260820_112741_0216_s15.txt
new file mode 100644
index 0000000..fed80d5
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0216_s15.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0218_s23.txt b/datasets/gongjian/split/labels/train/20260820_112741_0218_s23.txt
new file mode 100644
index 0000000..590fe0b
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0218_s23.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0220_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0220_s25.txt
new file mode 100644
index 0000000..5fcb98b
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0220_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0221_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0221_s26.txt
new file mode 100644
index 0000000..889f98d
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0221_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0223_s21.txt b/datasets/gongjian/split/labels/train/20260820_112741_0223_s21.txt
new file mode 100644
index 0000000..9b67db0
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0223_s21.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0224_s19.txt b/datasets/gongjian/split/labels/train/20260820_112741_0224_s19.txt
new file mode 100644
index 0000000..fd51977
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0224_s19.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0225_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0225_s25.txt
new file mode 100644
index 0000000..4268560
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0225_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0226_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0226_s26.txt
new file mode 100644
index 0000000..e1e6b2a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0226_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0227_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0227_s26.txt
new file mode 100644
index 0000000..0ab7295
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0227_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0228_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0228_s28.txt
new file mode 100644
index 0000000..2f07a60
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0228_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0229_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0229_s26.txt
new file mode 100644
index 0000000..382ac1a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0229_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0231_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0231_s31.txt
new file mode 100644
index 0000000..d041df5
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0231_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0232_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0232_s31.txt
new file mode 100644
index 0000000..a6691d7
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0232_s31.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0233_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0233_s29.txt
new file mode 100644
index 0000000..fc24232
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0233_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0234_s20.txt b/datasets/gongjian/split/labels/train/20260820_112741_0234_s20.txt
new file mode 100644
index 0000000..c5de9f3
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0234_s20.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0235_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0235_s29.txt
new file mode 100644
index 0000000..6d72d68
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0235_s29.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0237_s30.txt b/datasets/gongjian/split/labels/train/20260820_112741_0237_s30.txt
new file mode 100644
index 0000000..f214fe2
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0238_s27.txt b/datasets/gongjian/split/labels/train/20260820_112741_0238_s27.txt
new file mode 100644
index 0000000..85ae2f1
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0238_s27.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0239_s30.txt b/datasets/gongjian/split/labels/train/20260820_112741_0239_s30.txt
new file mode 100644
index 0000000..69d3cbf
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0240_s27.txt b/datasets/gongjian/split/labels/train/20260820_112741_0240_s27.txt
new file mode 100644
index 0000000..bf00e64
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0240_s27.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0241_s21.txt b/datasets/gongjian/split/labels/train/20260820_112741_0241_s21.txt
new file mode 100644
index 0000000..c7769de
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0241_s21.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0242_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0242_s31.txt
new file mode 100644
index 0000000..d3b59bf
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0242_s31.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0243_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0243_s31.txt
new file mode 100644
index 0000000..358ac17
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0243_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0244_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0244_s29.txt
new file mode 100644
index 0000000..0b3148b
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0244_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0245_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0245_s29.txt
new file mode 100644
index 0000000..24b1fff
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0246_s18.txt b/datasets/gongjian/split/labels/train/20260820_112741_0246_s18.txt
new file mode 100644
index 0000000..2c6d7fc
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0246_s18.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0247_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0247_s25.txt
new file mode 100644
index 0000000..0f88048
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0247_s25.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0248_s21.txt b/datasets/gongjian/split/labels/train/20260820_112741_0248_s21.txt
new file mode 100644
index 0000000..31306bc
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0248_s21.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0249_s23.txt b/datasets/gongjian/split/labels/train/20260820_112741_0249_s23.txt
new file mode 100644
index 0000000..0a3147f
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0249_s23.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0250_s23.txt b/datasets/gongjian/split/labels/train/20260820_112741_0250_s23.txt
new file mode 100644
index 0000000..816f2d2
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0250_s23.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0251_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0251_s24.txt
new file mode 100644
index 0000000..f3484fc
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0251_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0252_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0252_s24.txt
new file mode 100644
index 0000000..81b858a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0252_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0253_s23.txt b/datasets/gongjian/split/labels/train/20260820_112741_0253_s23.txt
new file mode 100644
index 0000000..47d7249
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0253_s23.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0254_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0254_s29.txt
new file mode 100644
index 0000000..976d7b2
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0254_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0255_s30.txt b/datasets/gongjian/split/labels/train/20260820_112741_0255_s30.txt
new file mode 100644
index 0000000..a8d6be4
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0255_s30.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0256_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0256_s26.txt
new file mode 100644
index 0000000..f1ff1d9
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0256_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0257_s30.txt b/datasets/gongjian/split/labels/train/20260820_112741_0257_s30.txt
new file mode 100644
index 0000000..16948be
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0257_s30.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0258_s27.txt b/datasets/gongjian/split/labels/train/20260820_112741_0258_s27.txt
new file mode 100644
index 0000000..a3b082b
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0258_s27.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0260_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0260_s26.txt
new file mode 100644
index 0000000..02f1134
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0260_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0261_s22.txt b/datasets/gongjian/split/labels/train/20260820_112741_0261_s22.txt
new file mode 100644
index 0000000..a607079
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0261_s22.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0262_s24.txt b/datasets/gongjian/split/labels/train/20260820_112741_0262_s24.txt
new file mode 100644
index 0000000..c1b4df5
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0262_s24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0263_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0263_s31.txt
new file mode 100644
index 0000000..58d44d5
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0263_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0264_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0264_s29.txt
new file mode 100644
index 0000000..791be22
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0264_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0265_s25.txt b/datasets/gongjian/split/labels/train/20260820_112741_0265_s25.txt
new file mode 100644
index 0000000..e5f445f
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0265_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0266_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0266_s28.txt
new file mode 100644
index 0000000..6c8658a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0266_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0267_s20.txt b/datasets/gongjian/split/labels/train/20260820_112741_0267_s20.txt
new file mode 100644
index 0000000..68e81f8
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0267_s20.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0268_s20.txt b/datasets/gongjian/split/labels/train/20260820_112741_0268_s20.txt
new file mode 100644
index 0000000..484af6a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0268_s20.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0269_s22.txt b/datasets/gongjian/split/labels/train/20260820_112741_0269_s22.txt
new file mode 100644
index 0000000..b506be4
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0269_s22.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0270_s19.txt b/datasets/gongjian/split/labels/train/20260820_112741_0270_s19.txt
new file mode 100644
index 0000000..0fdd145
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0270_s19.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0271_s22.txt b/datasets/gongjian/split/labels/train/20260820_112741_0271_s22.txt
new file mode 100644
index 0000000..03a1284
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0271_s22.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0272_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0272_s26.txt
new file mode 100644
index 0000000..878483f
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0272_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0273_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0273_s28.txt
new file mode 100644
index 0000000..c295b01
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0273_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0274_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0274_s26.txt
new file mode 100644
index 0000000..2c04fa1
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0274_s26.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0275_s33.txt b/datasets/gongjian/split/labels/train/20260820_112741_0275_s33.txt
new file mode 100644
index 0000000..30c9ad1
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0275_s33.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0276_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0276_s32.txt
new file mode 100644
index 0000000..f111a05
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0276_s32.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0277_s33.txt b/datasets/gongjian/split/labels/train/20260820_112741_0277_s33.txt
new file mode 100644
index 0000000..6339aa1
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0277_s33.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0278_s30.txt b/datasets/gongjian/split/labels/train/20260820_112741_0278_s30.txt
new file mode 100644
index 0000000..f87c710
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0278_s30.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0281_s33.txt b/datasets/gongjian/split/labels/train/20260820_112741_0281_s33.txt
new file mode 100644
index 0000000..88978eb
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0281_s33.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0282_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0282_s32.txt
new file mode 100644
index 0000000..6a03006
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0282_s32.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0283_s33.txt b/datasets/gongjian/split/labels/train/20260820_112741_0283_s33.txt
new file mode 100644
index 0000000..55256ba
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0283_s33.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0284_s32.txt b/datasets/gongjian/split/labels/train/20260820_112741_0284_s32.txt
new file mode 100644
index 0000000..522d484
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0284_s32.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0285_s33.txt b/datasets/gongjian/split/labels/train/20260820_112741_0285_s33.txt
new file mode 100644
index 0000000..42fbe47
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0285_s33.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0286_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0286_s31.txt
new file mode 100644
index 0000000..af4600a
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0286_s31.txt
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diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0287_s31.txt b/datasets/gongjian/split/labels/train/20260820_112741_0287_s31.txt
new file mode 100644
index 0000000..e0bba68
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0287_s31.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0288_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0288_s29.txt
new file mode 100644
index 0000000..991985f
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0288_s29.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0290_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0290_s29.txt
new file mode 100644
index 0000000..67724e7
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0290_s29.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0291_s22.txt b/datasets/gongjian/split/labels/train/20260820_112741_0291_s22.txt
new file mode 100644
index 0000000..808144e
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0291_s22.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0293_s34.txt b/datasets/gongjian/split/labels/train/20260820_112741_0293_s34.txt
new file mode 100644
index 0000000..83a3e56
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0293_s34.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0297_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0297_s29.txt
new file mode 100644
index 0000000..f144026
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0297_s29.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0298_s28.txt b/datasets/gongjian/split/labels/train/20260820_112741_0298_s28.txt
new file mode 100644
index 0000000..3400099
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0298_s28.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0299_s29.txt b/datasets/gongjian/split/labels/train/20260820_112741_0299_s29.txt
new file mode 100644
index 0000000..e541749
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0299_s29.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0300_s27.txt b/datasets/gongjian/split/labels/train/20260820_112741_0300_s27.txt
new file mode 100644
index 0000000..c5d86d6
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0300_s27.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/train/20260820_112741_0301_s26.txt b/datasets/gongjian/split/labels/train/20260820_112741_0301_s26.txt
new file mode 100644
index 0000000..8c5b5a6
--- /dev/null
+++ b/datasets/gongjian/split/labels/train/20260820_112741_0301_s26.txt
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diff --git a/datasets/gongjian/split/labels/val.cache b/datasets/gongjian/split/labels/val.cache
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Binary files /dev/null and b/datasets/gongjian/split/labels/val.cache differ
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0004_s29.txt b/datasets/gongjian/split/labels/val/20260820_112741_0004_s29.txt
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index 0000000..c90fdca
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0004_s29.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0012_s34.txt b/datasets/gongjian/split/labels/val/20260820_112741_0012_s34.txt
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--- /dev/null
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0013_s39.txt b/datasets/gongjian/split/labels/val/20260820_112741_0013_s39.txt
new file mode 100644
index 0000000..f208a35
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0013_s39.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0014_s41.txt b/datasets/gongjian/split/labels/val/20260820_112741_0014_s41.txt
new file mode 100644
index 0000000..79bcae6
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0014_s41.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0016_s48.txt b/datasets/gongjian/split/labels/val/20260820_112741_0016_s48.txt
new file mode 100644
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--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0016_s48.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0017_s50.txt b/datasets/gongjian/split/labels/val/20260820_112741_0017_s50.txt
new file mode 100644
index 0000000..3ebb010
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0017_s50.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0018_s27.txt b/datasets/gongjian/split/labels/val/20260820_112741_0018_s27.txt
new file mode 100644
index 0000000..cbfc942
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0018_s27.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0021_s26.txt b/datasets/gongjian/split/labels/val/20260820_112741_0021_s26.txt
new file mode 100644
index 0000000..cc24f7a
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0021_s26.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0023_s34.txt b/datasets/gongjian/split/labels/val/20260820_112741_0023_s34.txt
new file mode 100644
index 0000000..f9e4a49
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0023_s34.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0026_s34.txt b/datasets/gongjian/split/labels/val/20260820_112741_0026_s34.txt
new file mode 100644
index 0000000..da5cbc9
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0026_s34.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0041_s23.txt b/datasets/gongjian/split/labels/val/20260820_112741_0041_s23.txt
new file mode 100644
index 0000000..a19f9a7
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0041_s23.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0045_s29.txt b/datasets/gongjian/split/labels/val/20260820_112741_0045_s29.txt
new file mode 100644
index 0000000..a4bc2b2
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0045_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0048_s27.txt b/datasets/gongjian/split/labels/val/20260820_112741_0048_s27.txt
new file mode 100644
index 0000000..2d822c5
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0048_s27.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0050_s31.txt b/datasets/gongjian/split/labels/val/20260820_112741_0050_s31.txt
new file mode 100644
index 0000000..b18048e
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0050_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0053_s27.txt b/datasets/gongjian/split/labels/val/20260820_112741_0053_s27.txt
new file mode 100644
index 0000000..1ff3475
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0053_s27.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0058_s34.txt b/datasets/gongjian/split/labels/val/20260820_112741_0058_s34.txt
new file mode 100644
index 0000000..259c036
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0058_s34.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0059_s36.txt b/datasets/gongjian/split/labels/val/20260820_112741_0059_s36.txt
new file mode 100644
index 0000000..e56e81f
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0059_s36.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0060_s34.txt b/datasets/gongjian/split/labels/val/20260820_112741_0060_s34.txt
new file mode 100644
index 0000000..668b532
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0060_s34.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0064_s38.txt b/datasets/gongjian/split/labels/val/20260820_112741_0064_s38.txt
new file mode 100644
index 0000000..aebce06
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0064_s38.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0072_s39.txt b/datasets/gongjian/split/labels/val/20260820_112741_0072_s39.txt
new file mode 100644
index 0000000..93e952b
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0072_s39.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0075_s46.txt b/datasets/gongjian/split/labels/val/20260820_112741_0075_s46.txt
new file mode 100644
index 0000000..8c93fb5
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0075_s46.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0080_s42.txt b/datasets/gongjian/split/labels/val/20260820_112741_0080_s42.txt
new file mode 100644
index 0000000..9ae06b1
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0080_s42.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0082_s40.txt b/datasets/gongjian/split/labels/val/20260820_112741_0082_s40.txt
new file mode 100644
index 0000000..027def0
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0082_s40.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0098_s29.txt b/datasets/gongjian/split/labels/val/20260820_112741_0098_s29.txt
new file mode 100644
index 0000000..e7fc090
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0098_s29.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0099_s25.txt b/datasets/gongjian/split/labels/val/20260820_112741_0099_s25.txt
new file mode 100644
index 0000000..2b92f90
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0099_s25.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0102_s25.txt b/datasets/gongjian/split/labels/val/20260820_112741_0102_s25.txt
new file mode 100644
index 0000000..108391a
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0102_s25.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0111_s35.txt b/datasets/gongjian/split/labels/val/20260820_112741_0111_s35.txt
new file mode 100644
index 0000000..f851e20
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0111_s35.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0112_s31.txt b/datasets/gongjian/split/labels/val/20260820_112741_0112_s31.txt
new file mode 100644
index 0000000..b0ea559
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0112_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0113_s31.txt b/datasets/gongjian/split/labels/val/20260820_112741_0113_s31.txt
new file mode 100644
index 0000000..69b9199
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0113_s31.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0115_s35.txt b/datasets/gongjian/split/labels/val/20260820_112741_0115_s35.txt
new file mode 100644
index 0000000..f4e493d
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0115_s35.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0120_s39.txt b/datasets/gongjian/split/labels/val/20260820_112741_0120_s39.txt
new file mode 100644
index 0000000..ba60734
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0120_s39.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0126_s40.txt b/datasets/gongjian/split/labels/val/20260820_112741_0126_s40.txt
new file mode 100644
index 0000000..e31fb99
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0126_s40.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0136_s23.txt b/datasets/gongjian/split/labels/val/20260820_112741_0136_s23.txt
new file mode 100644
index 0000000..873abde
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0136_s23.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0141_s22.txt b/datasets/gongjian/split/labels/val/20260820_112741_0141_s22.txt
new file mode 100644
index 0000000..0790702
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0141_s22.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0143_s23.txt b/datasets/gongjian/split/labels/val/20260820_112741_0143_s23.txt
new file mode 100644
index 0000000..82b63fd
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0143_s23.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0151_s31.txt b/datasets/gongjian/split/labels/val/20260820_112741_0151_s31.txt
new file mode 100644
index 0000000..edcc0a4
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0151_s31.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0170_s34.txt b/datasets/gongjian/split/labels/val/20260820_112741_0170_s34.txt
new file mode 100644
index 0000000..c395337
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0170_s34.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0173_s33.txt b/datasets/gongjian/split/labels/val/20260820_112741_0173_s33.txt
new file mode 100644
index 0000000..bbfc36b
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0173_s33.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0175_s33.txt b/datasets/gongjian/split/labels/val/20260820_112741_0175_s33.txt
new file mode 100644
index 0000000..54fd685
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0175_s33.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0177_s28.txt b/datasets/gongjian/split/labels/val/20260820_112741_0177_s28.txt
new file mode 100644
index 0000000..781a14e
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0177_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0181_s25.txt b/datasets/gongjian/split/labels/val/20260820_112741_0181_s25.txt
new file mode 100644
index 0000000..1914251
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0181_s25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0184_s28.txt b/datasets/gongjian/split/labels/val/20260820_112741_0184_s28.txt
new file mode 100644
index 0000000..3605b72
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0184_s28.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0186_s29.txt b/datasets/gongjian/split/labels/val/20260820_112741_0186_s29.txt
new file mode 100644
index 0000000..9327c8c
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0186_s29.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0194_s30.txt b/datasets/gongjian/split/labels/val/20260820_112741_0194_s30.txt
new file mode 100644
index 0000000..0ca0afb
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0194_s30.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0195_s30.txt b/datasets/gongjian/split/labels/val/20260820_112741_0195_s30.txt
new file mode 100644
index 0000000..c8ef591
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0195_s30.txt
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0198_s15.txt b/datasets/gongjian/split/labels/val/20260820_112741_0198_s15.txt
new file mode 100644
index 0000000..a2bac70
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0198_s15.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0215_s20.txt b/datasets/gongjian/split/labels/val/20260820_112741_0215_s20.txt
new file mode 100644
index 0000000..73e0ffa
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0215_s20.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/gongjian/split/labels/val/20260820_112741_0217_s23.txt b/datasets/gongjian/split/labels/val/20260820_112741_0217_s23.txt
new file mode 100644
index 0000000..66d39d1
--- /dev/null
+++ b/datasets/gongjian/split/labels/val/20260820_112741_0217_s23.txt
@@ -0,0 +1 @@
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diff --git a/datasets/phonedata/labels/train/20260820_091420_0012_s62.txt b/datasets/phonedata/labels/train/20260820_091420_0012_s62.txt
new file mode 100644
index 0000000..02bfede
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0012_s62.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0013_s61.txt b/datasets/phonedata/labels/train/20260820_091420_0013_s61.txt
new file mode 100644
index 0000000..6bdc4a8
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0014_s60.txt b/datasets/phonedata/labels/train/20260820_091420_0014_s60.txt
new file mode 100644
index 0000000..ecf00e5
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0015_s59.txt b/datasets/phonedata/labels/train/20260820_091420_0015_s59.txt
new file mode 100644
index 0000000..85c8694
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0015_s59.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0016_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0016_s58.txt
new file mode 100644
index 0000000..db395f6
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0017_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0017_s58.txt
new file mode 100644
index 0000000..ead255c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0017_s58.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0018_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0018_s57.txt
new file mode 100644
index 0000000..a3bd669
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0019_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0019_s57.txt
new file mode 100644
index 0000000..f5cc311
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0020_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0020_s56.txt
new file mode 100644
index 0000000..f27dd78
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0021_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0021_s56.txt
new file mode 100644
index 0000000..c1f43ad
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0021_s56.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0022_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0022_s56.txt
new file mode 100644
index 0000000..8f740b6
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0022_s56.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0025_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0025_s56.txt
new file mode 100644
index 0000000..8cb837b
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0025_s56.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0026_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0026_s56.txt
new file mode 100644
index 0000000..c833f24
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0026_s56.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0028_s55.txt b/datasets/phonedata/labels/train/20260820_091420_0028_s55.txt
new file mode 100644
index 0000000..cf174a7
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0028_s55.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0030_s55.txt b/datasets/phonedata/labels/train/20260820_091420_0030_s55.txt
new file mode 100644
index 0000000..d29b647
--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0031_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0031_s53.txt
new file mode 100644
index 0000000..744faa8
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0031_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0032_s52.txt b/datasets/phonedata/labels/train/20260820_091420_0032_s52.txt
new file mode 100644
index 0000000..fb3224c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0032_s52.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0033_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0033_s54.txt
new file mode 100644
index 0000000..25c43aa
--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0034_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0034_s53.txt
new file mode 100644
index 0000000..6d2274b
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0034_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0035_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0035_s58.txt
new file mode 100644
index 0000000..2604c53
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0035_s58.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0037_s55.txt b/datasets/phonedata/labels/train/20260820_091420_0037_s55.txt
new file mode 100644
index 0000000..03483bb
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0037_s55.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0038_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0038_s54.txt
new file mode 100644
index 0000000..92cff80
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0038_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0039_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0039_s54.txt
new file mode 100644
index 0000000..de4743b
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0039_s54.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0042_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0042_s53.txt
new file mode 100644
index 0000000..2b40049
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0043_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0043_s53.txt
new file mode 100644
index 0000000..dc1e0a9
--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0044_s52.txt b/datasets/phonedata/labels/train/20260820_091420_0044_s52.txt
new file mode 100644
index 0000000..6879ae1
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0045_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0045_s53.txt
new file mode 100644
index 0000000..279f206
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0046_s52.txt b/datasets/phonedata/labels/train/20260820_091420_0046_s52.txt
new file mode 100644
index 0000000..658ff66
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0047_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0047_s53.txt
new file mode 100644
index 0000000..ce1c66d
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0048_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0048_s53.txt
new file mode 100644
index 0000000..a5f648a
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0049_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0049_s53.txt
new file mode 100644
index 0000000..3b73555
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0050_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0050_s53.txt
new file mode 100644
index 0000000..0e10201
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0052_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0052_s53.txt
new file mode 100644
index 0000000..a517c0b
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0053_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0053_s54.txt
new file mode 100644
index 0000000..0cb5530
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0054_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0054_s53.txt
new file mode 100644
index 0000000..cb82825
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0055_s55.txt b/datasets/phonedata/labels/train/20260820_091420_0055_s55.txt
new file mode 100644
index 0000000..fa23fa0
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0059_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0059_s56.txt
new file mode 100644
index 0000000..31775d0
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0061_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0061_s57.txt
new file mode 100644
index 0000000..6bbe030
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0062_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0062_s57.txt
new file mode 100644
index 0000000..2e95f78
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0064_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0064_s58.txt
new file mode 100644
index 0000000..ca6e322
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0065_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0065_s57.txt
new file mode 100644
index 0000000..c522d92
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0066_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0066_s56.txt
new file mode 100644
index 0000000..0b46be2
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0067_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0067_s57.txt
new file mode 100644
index 0000000..89bc09a
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0068_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0068_s56.txt
new file mode 100644
index 0000000..9e70667
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0069_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0069_s57.txt
new file mode 100644
index 0000000..a631bae
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0070_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0070_s56.txt
new file mode 100644
index 0000000..52af703
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0070_s56.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0073_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0073_s57.txt
new file mode 100644
index 0000000..ac69138
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0074_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0074_s56.txt
new file mode 100644
index 0000000..526d73c
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0075_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0075_s57.txt
new file mode 100644
index 0000000..fe7598f
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0075_s57.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0076_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0076_s56.txt
new file mode 100644
index 0000000..67a2c4c
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0077_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0077_s57.txt
new file mode 100644
index 0000000..e385f33
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0078_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0078_s56.txt
new file mode 100644
index 0000000..738ef20
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0078_s56.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0079_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0079_s57.txt
new file mode 100644
index 0000000..87b6f0a
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0079_s57.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0080_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0080_s56.txt
new file mode 100644
index 0000000..88db1d2
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0080_s56.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0081_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0081_s58.txt
new file mode 100644
index 0000000..35fd5dd
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0081_s58.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0082_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0082_s58.txt
new file mode 100644
index 0000000..9e807c9
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0082_s58.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0083_s59.txt b/datasets/phonedata/labels/train/20260820_091420_0083_s59.txt
new file mode 100644
index 0000000..d034490
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0083_s59.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0084_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0084_s58.txt
new file mode 100644
index 0000000..672d49a
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0084_s58.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0085_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0085_s58.txt
new file mode 100644
index 0000000..66b3ee1
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0085_s58.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0086_s57.txt b/datasets/phonedata/labels/train/20260820_091420_0086_s57.txt
new file mode 100644
index 0000000..511e814
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0086_s57.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0089_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0089_s56.txt
new file mode 100644
index 0000000..9b1d820
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0089_s56.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0090_s55.txt b/datasets/phonedata/labels/train/20260820_091420_0090_s55.txt
new file mode 100644
index 0000000..54d7b95
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0090_s55.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0091_s55.txt b/datasets/phonedata/labels/train/20260820_091420_0091_s55.txt
new file mode 100644
index 0000000..67127dc
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0091_s55.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0092_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0092_s54.txt
new file mode 100644
index 0000000..517689f
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0092_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0093_s55.txt b/datasets/phonedata/labels/train/20260820_091420_0093_s55.txt
new file mode 100644
index 0000000..585f516
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0093_s55.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0094_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0094_s54.txt
new file mode 100644
index 0000000..d177e75
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0094_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0095_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0095_s54.txt
new file mode 100644
index 0000000..effaf5a
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0095_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0096_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0096_s54.txt
new file mode 100644
index 0000000..2e08cef
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0096_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0097_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0097_s54.txt
new file mode 100644
index 0000000..51b566d
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0097_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0098_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0098_s53.txt
new file mode 100644
index 0000000..078ce2c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0098_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0099_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0099_s54.txt
new file mode 100644
index 0000000..07a27f1
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0099_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0100_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0100_s53.txt
new file mode 100644
index 0000000..69dc8bc
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0100_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0101_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0101_s53.txt
new file mode 100644
index 0000000..604fabd
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0101_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0102_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0102_s53.txt
new file mode 100644
index 0000000..7c465ad
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0102_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0103_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0103_s53.txt
new file mode 100644
index 0000000..58f70e5
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0103_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0104_s52.txt b/datasets/phonedata/labels/train/20260820_091420_0104_s52.txt
new file mode 100644
index 0000000..133a54d
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0104_s52.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0105_s52.txt b/datasets/phonedata/labels/train/20260820_091420_0105_s52.txt
new file mode 100644
index 0000000..fa86f17
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0105_s52.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0106_s51.txt b/datasets/phonedata/labels/train/20260820_091420_0106_s51.txt
new file mode 100644
index 0000000..c511e3a
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0106_s51.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0107_s51.txt b/datasets/phonedata/labels/train/20260820_091420_0107_s51.txt
new file mode 100644
index 0000000..7cf9396
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0107_s51.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0110_s50.txt b/datasets/phonedata/labels/train/20260820_091420_0110_s50.txt
new file mode 100644
index 0000000..4c4fc5c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0110_s50.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0111_s51.txt b/datasets/phonedata/labels/train/20260820_091420_0111_s51.txt
new file mode 100644
index 0000000..741d0e7
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0111_s51.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0112_s50.txt b/datasets/phonedata/labels/train/20260820_091420_0112_s50.txt
new file mode 100644
index 0000000..59d120c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0112_s50.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0113_s52.txt b/datasets/phonedata/labels/train/20260820_091420_0113_s52.txt
new file mode 100644
index 0000000..6a85826
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0113_s52.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0114_s51.txt b/datasets/phonedata/labels/train/20260820_091420_0114_s51.txt
new file mode 100644
index 0000000..3c3c8ef
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0114_s51.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0116_s52.txt b/datasets/phonedata/labels/train/20260820_091420_0116_s52.txt
new file mode 100644
index 0000000..953329d
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0116_s52.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0117_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0117_s53.txt
new file mode 100644
index 0000000..3c5b0dd
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0117_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0118_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0118_s53.txt
new file mode 100644
index 0000000..f7b9884
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0118_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0119_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0119_s54.txt
new file mode 100644
index 0000000..54b28bb
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0119_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0120_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0120_s53.txt
new file mode 100644
index 0000000..0d6d2b5
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0120_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0121_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0121_s53.txt
new file mode 100644
index 0000000..c6d1d39
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0121_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0122_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0122_s53.txt
new file mode 100644
index 0000000..b4c3f93
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0122_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0123_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0123_s53.txt
new file mode 100644
index 0000000..925a5c3
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0123_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0124_s52.txt b/datasets/phonedata/labels/train/20260820_091420_0124_s52.txt
new file mode 100644
index 0000000..8b62b22
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0124_s52.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0125_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0125_s53.txt
new file mode 100644
index 0000000..60c9dac
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0125_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0126_s52.txt b/datasets/phonedata/labels/train/20260820_091420_0126_s52.txt
new file mode 100644
index 0000000..efe076c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0126_s52.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0127_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0127_s53.txt
new file mode 100644
index 0000000..5433203
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0127_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0128_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0128_s53.txt
new file mode 100644
index 0000000..312fa22
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0128_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0129_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0129_s54.txt
new file mode 100644
index 0000000..957b2ee
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0129_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0131_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0131_s54.txt
new file mode 100644
index 0000000..dae7fbf
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0131_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0132_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0132_s53.txt
new file mode 100644
index 0000000..7e7ed17
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0132_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0133_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0133_s54.txt
new file mode 100644
index 0000000..9be1879
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0133_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0134_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0134_s53.txt
new file mode 100644
index 0000000..be512f9
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0134_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0135_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0135_s54.txt
new file mode 100644
index 0000000..2c91247
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0135_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0136_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0136_s53.txt
new file mode 100644
index 0000000..70b0d20
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0136_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0137_s55.txt b/datasets/phonedata/labels/train/20260820_091420_0137_s55.txt
new file mode 100644
index 0000000..42f90fe
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0137_s55.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0138_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0138_s54.txt
new file mode 100644
index 0000000..776ec61
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0138_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0139_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0139_s54.txt
new file mode 100644
index 0000000..97fc7b3
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0139_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0141_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0141_s54.txt
new file mode 100644
index 0000000..7e5b586
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0141_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0142_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0142_s53.txt
new file mode 100644
index 0000000..132bf28
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0142_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0143_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0143_s54.txt
new file mode 100644
index 0000000..eaf7e4c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0143_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0145_s54.txt b/datasets/phonedata/labels/train/20260820_091420_0145_s54.txt
new file mode 100644
index 0000000..5345f18
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0145_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0146_s53.txt b/datasets/phonedata/labels/train/20260820_091420_0146_s53.txt
new file mode 100644
index 0000000..aef5a80
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0146_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0147_s56.txt b/datasets/phonedata/labels/train/20260820_091420_0147_s56.txt
new file mode 100644
index 0000000..79cef47
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0147_s56.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0148_s65.txt b/datasets/phonedata/labels/train/20260820_091420_0148_s65.txt
new file mode 100644
index 0000000..46daec6
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0148_s65.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0149_s66.txt b/datasets/phonedata/labels/train/20260820_091420_0149_s66.txt
new file mode 100644
index 0000000..105556e
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0149_s66.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0150_s65.txt b/datasets/phonedata/labels/train/20260820_091420_0150_s65.txt
new file mode 100644
index 0000000..62c0e6e
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0150_s65.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0153_s63.txt b/datasets/phonedata/labels/train/20260820_091420_0153_s63.txt
new file mode 100644
index 0000000..ef1e3dd
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0153_s63.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0154_s63.txt b/datasets/phonedata/labels/train/20260820_091420_0154_s63.txt
new file mode 100644
index 0000000..4fe1aa4
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0154_s63.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0156_s59.txt b/datasets/phonedata/labels/train/20260820_091420_0156_s59.txt
new file mode 100644
index 0000000..751189f
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0156_s59.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0157_s61.txt b/datasets/phonedata/labels/train/20260820_091420_0157_s61.txt
new file mode 100644
index 0000000..221a075
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0157_s61.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0158_s61.txt b/datasets/phonedata/labels/train/20260820_091420_0158_s61.txt
new file mode 100644
index 0000000..007e11a
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0158_s61.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0159_s63.txt b/datasets/phonedata/labels/train/20260820_091420_0159_s63.txt
new file mode 100644
index 0000000..dc834a3
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0159_s63.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0160_s62.txt b/datasets/phonedata/labels/train/20260820_091420_0160_s62.txt
new file mode 100644
index 0000000..0e5497f
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0160_s62.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0161_s65.txt b/datasets/phonedata/labels/train/20260820_091420_0161_s65.txt
new file mode 100644
index 0000000..cc6c31a
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0161_s65.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0162_s65.txt b/datasets/phonedata/labels/train/20260820_091420_0162_s65.txt
new file mode 100644
index 0000000..dba4277
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0162_s65.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0163_s65.txt b/datasets/phonedata/labels/train/20260820_091420_0163_s65.txt
new file mode 100644
index 0000000..b98d2c7
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0163_s65.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0165_s67.txt b/datasets/phonedata/labels/train/20260820_091420_0165_s67.txt
new file mode 100644
index 0000000..be0fd86
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0165_s67.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0166_s67.txt b/datasets/phonedata/labels/train/20260820_091420_0166_s67.txt
new file mode 100644
index 0000000..6259e10
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0166_s67.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0168_s70.txt b/datasets/phonedata/labels/train/20260820_091420_0168_s70.txt
new file mode 100644
index 0000000..b462d7d
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0168_s70.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0169_s71.txt b/datasets/phonedata/labels/train/20260820_091420_0169_s71.txt
new file mode 100644
index 0000000..56b7083
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0169_s71.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0170_s71.txt b/datasets/phonedata/labels/train/20260820_091420_0170_s71.txt
new file mode 100644
index 0000000..d7eca21
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0170_s71.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0171_s71.txt b/datasets/phonedata/labels/train/20260820_091420_0171_s71.txt
new file mode 100644
index 0000000..b7e5bc0
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0171_s71.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0172_s70.txt b/datasets/phonedata/labels/train/20260820_091420_0172_s70.txt
new file mode 100644
index 0000000..e7f9de4
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0172_s70.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0173_s70.txt b/datasets/phonedata/labels/train/20260820_091420_0173_s70.txt
new file mode 100644
index 0000000..33fd802
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0173_s70.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0175_s73.txt b/datasets/phonedata/labels/train/20260820_091420_0175_s73.txt
new file mode 100644
index 0000000..4dcc421
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0175_s73.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0176_s72.txt b/datasets/phonedata/labels/train/20260820_091420_0176_s72.txt
new file mode 100644
index 0000000..ef92aa8
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0176_s72.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0177_s70.txt b/datasets/phonedata/labels/train/20260820_091420_0177_s70.txt
new file mode 100644
index 0000000..c42c90d
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0177_s70.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0178_s69.txt b/datasets/phonedata/labels/train/20260820_091420_0178_s69.txt
new file mode 100644
index 0000000..f8e54f1
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0178_s69.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0179_s70.txt b/datasets/phonedata/labels/train/20260820_091420_0179_s70.txt
new file mode 100644
index 0000000..22e3adf
--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0182_s70.txt b/datasets/phonedata/labels/train/20260820_091420_0182_s70.txt
new file mode 100644
index 0000000..65e61db
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0182_s70.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0183_s69.txt b/datasets/phonedata/labels/train/20260820_091420_0183_s69.txt
new file mode 100644
index 0000000..190f09e
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0183_s69.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0185_s66.txt b/datasets/phonedata/labels/train/20260820_091420_0185_s66.txt
new file mode 100644
index 0000000..589bd37
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0185_s66.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0186_s65.txt b/datasets/phonedata/labels/train/20260820_091420_0186_s65.txt
new file mode 100644
index 0000000..554ae8d
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0186_s65.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0187_s63.txt b/datasets/phonedata/labels/train/20260820_091420_0187_s63.txt
new file mode 100644
index 0000000..a382d57
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0187_s63.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0188_s62.txt b/datasets/phonedata/labels/train/20260820_091420_0188_s62.txt
new file mode 100644
index 0000000..fa4e83c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0188_s62.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0191_s61.txt b/datasets/phonedata/labels/train/20260820_091420_0191_s61.txt
new file mode 100644
index 0000000..5995ef5
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0191_s61.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0192_s60.txt b/datasets/phonedata/labels/train/20260820_091420_0192_s60.txt
new file mode 100644
index 0000000..55249ad
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0192_s60.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0193_s60.txt b/datasets/phonedata/labels/train/20260820_091420_0193_s60.txt
new file mode 100644
index 0000000..54d5fdd
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0194_s60.txt b/datasets/phonedata/labels/train/20260820_091420_0194_s60.txt
new file mode 100644
index 0000000..0971f5e
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0195_s60.txt b/datasets/phonedata/labels/train/20260820_091420_0195_s60.txt
new file mode 100644
index 0000000..e74df58
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0195_s60.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0197_s60.txt b/datasets/phonedata/labels/train/20260820_091420_0197_s60.txt
new file mode 100644
index 0000000..e7d4c70
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0197_s60.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0198_s60.txt b/datasets/phonedata/labels/train/20260820_091420_0198_s60.txt
new file mode 100644
index 0000000..3043373
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0198_s60.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0199_s60.txt b/datasets/phonedata/labels/train/20260820_091420_0199_s60.txt
new file mode 100644
index 0000000..8e71433
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0199_s60.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0201_s59.txt b/datasets/phonedata/labels/train/20260820_091420_0201_s59.txt
new file mode 100644
index 0000000..0f6a681
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0201_s59.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0202_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0202_s58.txt
new file mode 100644
index 0000000..d492ef2
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0202_s58.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0204_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0204_s58.txt
new file mode 100644
index 0000000..6cae3e5
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0204_s58.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0205_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0205_s58.txt
new file mode 100644
index 0000000..a0e9f87
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0205_s58.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0206_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0206_s58.txt
new file mode 100644
index 0000000..74d5bd1
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0206_s58.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0207_s59.txt b/datasets/phonedata/labels/train/20260820_091420_0207_s59.txt
new file mode 100644
index 0000000..1b76e73
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0207_s59.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0208_s58.txt b/datasets/phonedata/labels/train/20260820_091420_0208_s58.txt
new file mode 100644
index 0000000..d90600e
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0209_s61.txt b/datasets/phonedata/labels/train/20260820_091420_0209_s61.txt
new file mode 100644
index 0000000..f769bef
--- /dev/null
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0210_s61.txt b/datasets/phonedata/labels/train/20260820_091420_0210_s61.txt
new file mode 100644
index 0000000..658a2c3
--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0211_s63.txt b/datasets/phonedata/labels/train/20260820_091420_0211_s63.txt
new file mode 100644
index 0000000..4d67c9c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0211_s63.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0214_s63.txt b/datasets/phonedata/labels/train/20260820_091420_0214_s63.txt
new file mode 100644
index 0000000..b30b07c
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0214_s63.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/train/20260820_091420_0215_s61.txt b/datasets/phonedata/labels/train/20260820_091420_0215_s61.txt
new file mode 100644
index 0000000..c2b6364
--- /dev/null
+++ b/datasets/phonedata/labels/train/20260820_091420_0215_s61.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val.cache b/datasets/phonedata/labels/val.cache
new file mode 100644
index 0000000..bfd255c
Binary files /dev/null and b/datasets/phonedata/labels/val.cache differ
diff --git a/datasets/phonedata/labels/val/20260820_091420_0002_s56.txt b/datasets/phonedata/labels/val/20260820_091420_0002_s56.txt
new file mode 100644
index 0000000..945da00
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0002_s56.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0007_s63.txt b/datasets/phonedata/labels/val/20260820_091420_0007_s63.txt
new file mode 100644
index 0000000..ef8522f
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0007_s63.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0008_s63.txt b/datasets/phonedata/labels/val/20260820_091420_0008_s63.txt
new file mode 100644
index 0000000..92a957f
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0008_s63.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0009_s62.txt b/datasets/phonedata/labels/val/20260820_091420_0009_s62.txt
new file mode 100644
index 0000000..d116c85
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0009_s62.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0023_s56.txt b/datasets/phonedata/labels/val/20260820_091420_0023_s56.txt
new file mode 100644
index 0000000..5814f12
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0023_s56.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0024_s56.txt b/datasets/phonedata/labels/val/20260820_091420_0024_s56.txt
new file mode 100644
index 0000000..a4ebaae
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0024_s56.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0027_s56.txt b/datasets/phonedata/labels/val/20260820_091420_0027_s56.txt
new file mode 100644
index 0000000..cc80536
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0027_s56.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0029_s55.txt b/datasets/phonedata/labels/val/20260820_091420_0029_s55.txt
new file mode 100644
index 0000000..40e8d52
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0029_s55.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0036_s58.txt b/datasets/phonedata/labels/val/20260820_091420_0036_s58.txt
new file mode 100644
index 0000000..3854f10
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0036_s58.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0040_s53.txt b/datasets/phonedata/labels/val/20260820_091420_0040_s53.txt
new file mode 100644
index 0000000..3581bd5
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0040_s53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0041_s54.txt b/datasets/phonedata/labels/val/20260820_091420_0041_s54.txt
new file mode 100644
index 0000000..a68e27e
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0041_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0051_s54.txt b/datasets/phonedata/labels/val/20260820_091420_0051_s54.txt
new file mode 100644
index 0000000..34a1de0
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0051_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0056_s54.txt b/datasets/phonedata/labels/val/20260820_091420_0056_s54.txt
new file mode 100644
index 0000000..fe2f5ba
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0056_s54.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0057_s55.txt b/datasets/phonedata/labels/val/20260820_091420_0057_s55.txt
new file mode 100644
index 0000000..204c75e
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0057_s55.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0058_s54.txt b/datasets/phonedata/labels/val/20260820_091420_0058_s54.txt
new file mode 100644
index 0000000..38baf17
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0058_s54.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0060_s55.txt b/datasets/phonedata/labels/val/20260820_091420_0060_s55.txt
new file mode 100644
index 0000000..418fbc6
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0060_s55.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0063_s58.txt b/datasets/phonedata/labels/val/20260820_091420_0063_s58.txt
new file mode 100644
index 0000000..ed4b0ce
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0063_s58.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0071_s57.txt b/datasets/phonedata/labels/val/20260820_091420_0071_s57.txt
new file mode 100644
index 0000000..2887684
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0071_s57.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0072_s55.txt b/datasets/phonedata/labels/val/20260820_091420_0072_s55.txt
new file mode 100644
index 0000000..a59191d
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0072_s55.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0087_s57.txt b/datasets/phonedata/labels/val/20260820_091420_0087_s57.txt
new file mode 100644
index 0000000..de70428
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0087_s57.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0088_s56.txt b/datasets/phonedata/labels/val/20260820_091420_0088_s56.txt
new file mode 100644
index 0000000..df475a8
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0088_s56.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0108_s51.txt b/datasets/phonedata/labels/val/20260820_091420_0108_s51.txt
new file mode 100644
index 0000000..ff80e17
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0108_s51.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0109_s51.txt b/datasets/phonedata/labels/val/20260820_091420_0109_s51.txt
new file mode 100644
index 0000000..95858e1
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0109_s51.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0115_s53.txt b/datasets/phonedata/labels/val/20260820_091420_0115_s53.txt
new file mode 100644
index 0000000..edc40b3
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0115_s53.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0130_s52.txt b/datasets/phonedata/labels/val/20260820_091420_0130_s52.txt
new file mode 100644
index 0000000..f3ae7a0
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0130_s52.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0140_s54.txt b/datasets/phonedata/labels/val/20260820_091420_0140_s54.txt
new file mode 100644
index 0000000..24cb77e
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0140_s54.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0144_s53.txt b/datasets/phonedata/labels/val/20260820_091420_0144_s53.txt
new file mode 100644
index 0000000..cf4c542
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0144_s53.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0151_s66.txt b/datasets/phonedata/labels/val/20260820_091420_0151_s66.txt
new file mode 100644
index 0000000..1918f09
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0151_s66.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0152_s64.txt b/datasets/phonedata/labels/val/20260820_091420_0152_s64.txt
new file mode 100644
index 0000000..8fba6e0
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0152_s64.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0155_s60.txt b/datasets/phonedata/labels/val/20260820_091420_0155_s60.txt
new file mode 100644
index 0000000..33e2bd2
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0155_s60.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0164_s65.txt b/datasets/phonedata/labels/val/20260820_091420_0164_s65.txt
new file mode 100644
index 0000000..ccd8dbd
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0164_s65.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0167_s69.txt b/datasets/phonedata/labels/val/20260820_091420_0167_s69.txt
new file mode 100644
index 0000000..ac19cc1
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0167_s69.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0174_s72.txt b/datasets/phonedata/labels/val/20260820_091420_0174_s72.txt
new file mode 100644
index 0000000..daedd51
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0174_s72.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0180_s70.txt b/datasets/phonedata/labels/val/20260820_091420_0180_s70.txt
new file mode 100644
index 0000000..b230422
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0180_s70.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0181_s70.txt b/datasets/phonedata/labels/val/20260820_091420_0181_s70.txt
new file mode 100644
index 0000000..ca579b0
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0181_s70.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0184_s67.txt b/datasets/phonedata/labels/val/20260820_091420_0184_s67.txt
new file mode 100644
index 0000000..b7309d7
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0184_s67.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0189_s62.txt b/datasets/phonedata/labels/val/20260820_091420_0189_s62.txt
new file mode 100644
index 0000000..97de077
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0189_s62.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0190_s62.txt b/datasets/phonedata/labels/val/20260820_091420_0190_s62.txt
new file mode 100644
index 0000000..c81b142
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0190_s62.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0196_s60.txt b/datasets/phonedata/labels/val/20260820_091420_0196_s60.txt
new file mode 100644
index 0000000..915cd04
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0196_s60.txt
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\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0200_s60.txt b/datasets/phonedata/labels/val/20260820_091420_0200_s60.txt
new file mode 100644
index 0000000..487be7b
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0200_s60.txt
@@ -0,0 +1 @@
+0 0.627499 0.340033 0.144035 0.405890
\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0203_s58.txt b/datasets/phonedata/labels/val/20260820_091420_0203_s58.txt
new file mode 100644
index 0000000..f51b27b
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0203_s58.txt
@@ -0,0 +1 @@
+0 0.568168 0.248038 0.170646 0.347637
\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0212_s62.txt b/datasets/phonedata/labels/val/20260820_091420_0212_s62.txt
new file mode 100644
index 0000000..00843f7
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0212_s62.txt
@@ -0,0 +1 @@
+0 0.512462 0.362507 0.197821 0.422789
\ No newline at end of file
diff --git a/datasets/phonedata/labels/val/20260820_091420_0213_s64.txt b/datasets/phonedata/labels/val/20260820_091420_0213_s64.txt
new file mode 100644
index 0000000..8a90c38
--- /dev/null
+++ b/datasets/phonedata/labels/val/20260820_091420_0213_s64.txt
@@ -0,0 +1 @@
+0 0.503113 0.405894 0.196848 0.416032
\ No newline at end of file
diff --git a/detectors.py b/detectors.py
new file mode 100644
index 0000000..556e4f2
--- /dev/null
+++ b/detectors.py
@@ -0,0 +1,230 @@
+"""统一检测器接口：YOLO / Faster R-CNN，供推理与二阶段脚本共用。"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any
+
+import cv2
+import numpy as np
+import torch
+
+ROOT = Path(__file__).resolve().parent
+
+
+@dataclass
+class DetBox:
+    xyxy: tuple[int, int, int, int]
+    conf: float
+    cls_id: int = 0
+
+
+def import_yolo():
+    """导入 YOLO。项目下 ultralytics/ 源码目录会挡住包，需优先指向仓库根。"""
+    import sys
+
+    repo = ROOT / "ultralytics"
+    if (repo / "ultralytics" / "__init__.py").exists():
+        repo_s = str(repo)
+        while repo_s in sys.path:
+            sys.path.remove(repo_s)
+        sys.path.insert(0, repo_s)
+
+    mod = sys.modules.get("ultralytics")
+    if mod is not None and getattr(mod, "__file__", None) is None:
+        for key in list(sys.modules):
+            if key == "ultralytics" or key.startswith("ultralytics."):
+                del sys.modules[key]
+
+    from ultralytics import YOLO
+
+    return YOLO
+
+
+def resolve_device(device: str | int) -> torch.device:
+    text = str(device).strip().lower()
+    if text in {"cpu", "-1"}:
+        return torch.device("cpu")
+    if torch.cuda.is_available():
+        try:
+            return torch.device(f"cuda:{int(text)}")
+        except Exception:
+            return torch.device("cuda:0")
+    return torch.device("cpu")
+
+
+def build_faster_rcnn(num_classes: int, pretrained_backbone: bool = True):
+    """num_classes = 前景类数 + 1（含背景）。"""
+    from torchvision.models.detection import (
+        FasterRCNN_ResNet50_FPN_Weights,
+        fasterrcnn_resnet50_fpn,
+    )
+    from torchvision.models.detection.faster_rcnn import FastRCNNPredictor
+
+    weights = FasterRCNN_ResNet50_FPN_Weights.DEFAULT if pretrained_backbone else None
+    model = fasterrcnn_resnet50_fpn(weights=weights)
+    in_features = model.roi_heads.box_predictor.cls_score.in_features
+    model.roi_heads.box_predictor = FastRCNNPredictor(in_features, num_classes)
+    return model
+
+
+class YOLODetector:
+    backend = "yolo"
+
+    def __init__(self, weights: str | Path, device: str | int = "0") -> None:
+        YOLO = import_yolo()
+        self.model = YOLO(str(weights))
+        self.device = str(device)
+
+    def detect(self, image_bgr: np.ndarray, conf: float = 0.25, iou: float = 0.7, imgsz: int = 640) -> list[DetBox]:
+        results = self.model.predict(
+            source=image_bgr,
+            imgsz=imgsz,
+            conf=conf,
+            iou=iou,
+            device=self.device,
+            verbose=False,
+            max_det=50,
+        )
+        if not results:
+            return []
+        boxes = results[0].boxes
+        if boxes is None or len(boxes) == 0:
+            return []
+        out: list[DetBox] = []
+        xyxy = boxes.xyxy.cpu().numpy()
+        confs = boxes.conf.cpu().numpy()
+        clss = boxes.cls.cpu().numpy() if boxes.cls is not None else np.zeros(len(boxes))
+        for i in range(len(boxes)):
+            x1, y1, x2, y2 = xyxy[i]
+            out.append(
+                DetBox(
+                    xyxy=(int(round(x1)), int(round(y1)), int(round(x2)), int(round(y2))),
+                    conf=float(confs[i]),
+                    cls_id=int(clss[i]),
+                )
+            )
+        out.sort(key=lambda b: b.conf, reverse=True)
+        return out
+
+    def plot(self, image_bgr: np.ndarray, conf: float = 0.25, iou: float = 0.7, imgsz: int = 640) -> np.ndarray:
+        results = self.model.predict(
+            source=image_bgr,
+            imgsz=imgsz,
+            conf=conf,
+            iou=iou,
+            device=self.device,
+            verbose=False,
+        )
+        if not results:
+            return image_bgr.copy()
+        return results[0].plot()
+
+
+class FasterRCNNDetector:
+    backend = "faster_rcnn"
+
+    def __init__(
+        self,
+        weights: str | Path | None = None,
+        device: str | int = "0",
+        num_classes: int = 2,
+        score_thresh: float = 0.25,
+    ) -> None:
+        self.device = resolve_device(device)
+        self.score_thresh = float(score_thresh)
+        self.num_classes = int(num_classes)
+        self.model = build_faster_rcnn(self.num_classes, pretrained_backbone=weights is None)
+        if weights is not None:
+            ckpt = torch.load(str(weights), map_location="cpu", weights_only=False)
+            state = ckpt["model"] if isinstance(ckpt, dict) and "model" in ckpt else ckpt
+            self.model.load_state_dict(state)
+        self.model.to(self.device)
+        self.model.eval()
+
+    @torch.inference_mode()
+    def detect(self, image_bgr: np.ndarray, conf: float | None = None, **_: Any) -> list[DetBox]:
+        thr = self.score_thresh if conf is None else float(conf)
+        rgb = cv2.cvtColor(image_bgr, cv2.COLOR_BGR2RGB)
+        tensor = torch.from_numpy(rgb).permute(2, 0, 1).float() / 255.0
+        tensor = tensor.to(self.device)
+        out = self.model([tensor])[0]
+        boxes = out["boxes"].detach().cpu().numpy()
+        scores = out["scores"].detach().cpu().numpy()
+        labels = out["labels"].detach().cpu().numpy()
+        dets: list[DetBox] = []
+        for box, score, label in zip(boxes, scores, labels):
+            if float(score) < thr:
+                continue
+            # Faster R-CNN: 0=背景，前景从 1 开始；对外统一成 0-based 类别
+            cls_id = int(label) - 1 if int(label) > 0 else 0
+            x1, y1, x2, y2 = box
+            dets.append(
+                DetBox(
+                    xyxy=(int(round(x1)), int(round(y1)), int(round(x2)), int(round(y2))),
+                    conf=float(score),
+                    cls_id=cls_id,
+                )
+            )
+        dets.sort(key=lambda b: b.conf, reverse=True)
+        return dets
+
+    def plot(self, image_bgr: np.ndarray, conf: float | None = None, **kwargs: Any) -> np.ndarray:
+        dets = self.detect(image_bgr, conf=conf, **kwargs)
+        vis = image_bgr.copy()
+        for det in dets:
+            x1, y1, x2, y2 = det.xyxy
+            cv2.rectangle(vis, (x1, y1), (x2, y2), (0, 255, 0), 2)
+            cv2.putText(
+                vis,
+                f"id{det.cls_id} {det.conf:.2f}",
+                (x1, max(20, y1 - 6)),
+                cv2.FONT_HERSHEY_SIMPLEX,
+                0.6,
+                (0, 255, 0),
+                2,
+            )
+        return vis
+
+
+def guess_backend(weights: str | Path) -> str:
+    path = Path(weights)
+    name = path.name.lower()
+    suffix = path.suffix.lower()
+    if "faster" in name or "rcnn" in name or "frcnn" in name:
+        return "faster_rcnn"
+    if suffix == ".pt":
+        # Ultralytics YOLO 常用 .pt；torchvision 训练脚本默认 .pth
+        return "yolo"
+    if suffix in {".pth", ".pkl"}:
+        return "faster_rcnn"
+    return "yolo"
+
+
+def load_detector(
+    backend: str,
+    weights: str | Path,
+    device: str | int = "0",
+    num_classes: int = 2,
+    conf: float = 0.25,
+):
+    """
+    backend: yolo | faster_rcnn | auto
+    Faster R-CNN 的 num_classes = 前景类数 + 1（背景）
+    """
+    kind = backend.strip().lower()
+    if kind == "auto":
+        kind = guess_backend(weights)
+    if kind in {"yolo", "ultralytics"}:
+        return YOLODetector(weights, device=device)
+    if kind in {"faster_rcnn", "rcnn", "faster-rcnn", "frcnn"}:
+        return FasterRCNNDetector(weights, device=device, num_classes=num_classes, score_thresh=conf)
+    raise ValueError(f"不支持的检测后端: {backend}")
+
+
+def best_box(dets: list[DetBox], conf_thr: float = 0.25) -> DetBox | None:
+    for det in dets:
+        if det.conf >= conf_thr:
+            return det
+    return None
diff --git a/environment.yml b/environment.yml
new file mode 100644
index 0000000..7e68e6e
--- /dev/null
+++ b/environment.yml
@@ -0,0 +1,19 @@
+name: camera_test
+channels:
+  - conda-forge
+dependencies:
+  - python=3.11
+  - pip
+  - pip:
+      - opencv-python
+      - numpy
+      - pillow
+      - matplotlib
+      - ipython
+      - scipy
+      - pandas
+      - jupyter
+      - notebook
+      - torch
+      - torchvision
+      - -e ./ultralytics
diff --git a/faster_rcnn.yaml b/faster_rcnn.yaml
new file mode 100644
index 0000000..b6f5bed
--- /dev/null
+++ b/faster_rcnn.yaml
@@ -0,0 +1,22 @@
+# Faster R-CNN 训练配置（torchvision）
+# 运行: python train_faster_rcnn.py --cfg faster_rcnn.yaml
+
+data: 01data.yaml
+num_classes: 2              # 背景 + gongjian
+epochs: 30
+batch_size: 2
+lr: 0.005
+momentum: 0.9
+weight_decay: 0.0005
+step_size: 12
+gamma: 0.1
+num_workers: 2
+device: 0
+imgsz: 640                  # 短边缩放到该值附近
+print_freq: 20
+eval_every: 1
+pretrained: true
+project: runs/faster_rcnn
+name: gongjian_frcnn
+exist_ok: true
+resume: ""                  # 断点 .pth 路径，空则从头训练
diff --git a/hole_detect.py b/hole_detect.py
new file mode 100644
index 0000000..dbfb255
--- /dev/null
+++ b/hole_detect.py
@@ -0,0 +1,418 @@
+"""工件二阶段检测：YOLO 定位工件 + HoughCircles 检测左右螺纹孔中心。"""
+
+from __future__ import annotations
+
+from pathlib import Path
+from typing import Any
+
+import cv2
+import numpy as np
+import yaml
+
+ROOT = Path(__file__).resolve().parent
+DEFAULT_CONFIG = ROOT / "hole_detect_config.yaml"
+
+
+def load_config(path: str | Path | None = None) -> dict[str, Any]:
+    cfg_path = Path(path) if path else DEFAULT_CONFIG
+    with open(cfg_path, encoding="utf-8") as f:
+        data = yaml.safe_load(f) or {}
+    if not isinstance(data, dict):
+        raise ValueError(f"配置格式错误: {cfg_path}")
+    return data
+
+
+def _fail(
+    msg: str,
+    draw_img: np.ndarray,
+    bbox: tuple[int, int, int, int] | None = None,
+    gate_block: bool = False,
+) -> dict[str, Any]:
+    return {
+        "status": False,
+        "msg": msg,
+        "hole_points": [],
+        "hole_radii": [],
+        "bbox": list(bbox) if bbox is not None else None,
+        "gate_block": gate_block,
+        "draw_img": draw_img,
+    }
+
+
+def _draw_bbox(img: np.ndarray, bbox: tuple[int, int, int, int], color=(0, 255, 0)) -> None:
+    x1, y1, x2, y2 = bbox
+    cv2.rectangle(img, (x1, y1), (x2, y2), color, 2)
+    cv2.putText(img, "gongjian", (x1, max(20, y1 - 8)), cv2.FONT_HERSHEY_SIMPLEX, 0.7, color, 2)
+
+
+def _draw_center_gate(img: np.ndarray, max_dx: float, max_dy: float, ok: bool) -> None:
+    h, w = img.shape[:2]
+    cx, cy = w * 0.5, h * 0.5
+    x1 = int(round(cx - max_dx))
+    y1 = int(round(cy - max_dy))
+    x2 = int(round(cx + max_dx))
+    y2 = int(round(cy + max_dy))
+    color = (0, 255, 0) if ok else (0, 165, 255)
+    cv2.rectangle(img, (x1, y1), (x2, y2), color, 1)
+    cv2.drawMarker(img, (int(cx), int(cy)), color, markerType=cv2.MARKER_CROSS, markerSize=18, thickness=1)
+
+
+def _bbox_center_ok(
+    bbox: tuple[int, int, int, int],
+    img_w: int,
+    img_h: int,
+    cfg: dict[str, Any],
+) -> tuple[bool, float, float, float, float]:
+    """返回 (是否居中, bbox_cx, bbox_cy, max_dx, max_dy)。"""
+    x1, y1, x2, y2 = bbox
+    bx = 0.5 * (x1 + x2)
+    by = 0.5 * (y1 + y2)
+    max_dx = float(cfg.get("center_max_offset_ratio_x", 0.12)) * img_w
+    max_dy = float(cfg.get("center_max_offset_ratio_y", 0.12)) * img_h
+    ok = abs(bx - img_w * 0.5) <= max_dx and abs(by - img_h * 0.5) <= max_dy
+    return ok, bx, by, max_dx, max_dy
+
+
+def _draw_holes(
+    img: np.ndarray,
+    points: list[list[float]],
+    radii: list[float] | None = None,
+) -> None:
+    """画孔轮廓圆 + 中心点（十字+实心点）+ 坐标。"""
+    for i, (cx, cy) in enumerate(points):
+        px, py = int(round(cx)), int(round(cy))
+        r = 12.0 if radii is None or i >= len(radii) else float(radii[i])
+        rr = max(4, int(round(r)))
+        # 轮廓
+        cv2.circle(img, (px, py), rr, (0, 0, 255), 2)
+        # 中心十字 + 黄点
+        cv2.drawMarker(img, (px, py), (0, 0, 255), markerType=cv2.MARKER_CROSS, markerSize=16, thickness=2)
+        cv2.circle(img, (px, py), 3, (0, 255, 255), -1)
+        label = f"P{i + 1}({px},{py}) r={rr}"
+        cv2.putText(img, label, (px + 12, py - 8), cv2.FONT_HERSHEY_SIMPLEX, 0.55, (0, 0, 255), 2)
+
+
+def _parse_best_bbox(dets, conf_thr: float) -> tuple[int, int, int, int] | None:
+    """最多取 1 个工件：取置信度最高且 >= conf 的框。"""
+    if not dets:
+        return None
+    ordered = sorted(dets, key=lambda d: d.conf, reverse=True)
+    for det in ordered:
+        if float(det.conf) < conf_thr:
+            continue
+        return tuple(int(v) for v in det.xyxy)  # type: ignore[return-value]
+    return None
+
+
+def _pad_roi(
+    img_w: int,
+    img_h: int,
+    bbox: tuple[int, int, int, int],
+    padding: int,
+) -> tuple[int, int, int, int, int, int]:
+    """返回 x1,y1,x2,y2,offset_x,offset_y（裁剪左上角在原图坐标）。"""
+    x1, y1, x2, y2 = bbox
+    px1 = max(0, x1 - padding)
+    py1 = max(0, y1 - padding)
+    px2 = min(img_w, x2 + padding)
+    py2 = min(img_h, y2 + padding)
+    if px2 <= px1 or py2 <= py1:
+        raise ValueError("ROI 无效（宽或高为 0）")
+    return px1, py1, px2, py2, px1, py1
+
+
+def _render_success(
+    image: np.ndarray,
+    bbox: tuple[int, int, int, int],
+    hole_points: list[list[float]],
+    hole_radii: list[float],
+    dist: float,
+    gate: tuple[float, float] | None = None,
+) -> np.ndarray:
+    draw_img = image.copy()
+    if gate is not None:
+        _draw_center_gate(draw_img, gate[0], gate[1], True)
+    _draw_bbox(draw_img, bbox)
+    _draw_holes(draw_img, hole_points, hole_radii)
+    cv2.putText(
+        draw_img,
+        f"OK dist={dist:.1f}px",
+        (16, 36),
+        cv2.FONT_HERSHEY_SIMPLEX,
+        0.8,
+        (0, 255, 0),
+        2,
+    )
+    return draw_img
+
+
+def detect_holes(
+    image: np.ndarray,
+    detector,
+    config: dict[str, Any] | None = None,
+    device: str | int = 0,
+) -> dict[str, Any]:
+    """
+    二阶段检测螺纹孔中心。
+
+    detector: 需提供 detect(image_bgr, conf=..., iou=..., imgsz=...) -> list[DetBox]
+              （YOLODetector / FasterRCNNDetector 均可）
+
+    返回:
+      status, msg, hole_points [[cx,cy],...], hole_radii [r1,r2], bbox, draw_img(BGR)
+    """
+    try:
+        if image is None or not isinstance(image, np.ndarray) or image.size == 0:
+            return _fail("输入图像无效", np.zeros((480, 640, 3), dtype=np.uint8))
+
+        cfg = config if config is not None else load_config()
+        draw_img = image.copy()
+        h, w = image.shape[:2]
+
+        conf = float(cfg.get("conf", 0.25))
+        iou = float(cfg.get("iou", 0.7))
+        imgsz = int(cfg.get("imgsz", 640))
+        padding = int(cfg.get("bbox_padding", 25))
+        ksize = int(cfg.get("gaussian_ksize", 5))
+        if ksize % 2 == 0:
+            ksize += 1
+        sigma = float(cfg.get("gaussian_sigma", 1.5))
+
+        # 1) 检测器定位工件 bbox（最多 1 个）— 兼容 YOLO / Faster R-CNN
+        dets = detector.detect(image, conf=conf, iou=iou, imgsz=imgsz)
+        bbox = _parse_best_bbox(dets, conf)
+        if bbox is None:
+            return _fail("未检测到工件", draw_img)
+
+        _draw_bbox(draw_img, bbox)
+
+        # 1.5) 居中门控：bbox 中心接近画面中心才进入二阶检测
+        center_enable = bool(cfg.get("center_gate_enable", True))
+        centered, bx, by, max_dx, max_dy = _bbox_center_ok(bbox, w, h, cfg)
+        if bool(cfg.get("center_gate_draw", True)):
+            _draw_center_gate(draw_img, max_dx, max_dy, centered if center_enable else True)
+        if center_enable and not centered:
+            dx = abs(bx - w * 0.5)
+            dy = abs(by - h * 0.5)
+            cv2.putText(
+                draw_img,
+                "MOVE TO CENTER",
+                (16, 36),
+                cv2.FONT_HERSHEY_SIMPLEX,
+                0.8,
+                (0, 165, 255),
+                2,
+            )
+            return _fail(
+                f"工件未居中：offset=({dx:.0f},{dy:.0f})px，允许<=({max_dx:.0f},{max_dy:.0f})px",
+                draw_img,
+                bbox,
+                gate_block=True,
+            )
+
+        # 2) padding ROI + 边界保护
+        rx1, ry1, rx2, ry2, offset_x, offset_y = _pad_roi(w, h, bbox, padding)
+        roi = image[ry1:ry2, rx1:rx2]
+        if roi.size == 0:
+            return _fail("ROI 裁剪失败", draw_img, bbox)
+
+        # 3) 灰度 + 高斯模糊
+        gray = cv2.cvtColor(roi, cv2.COLOR_BGR2GRAY) if roi.ndim == 3 else roi
+        blur = cv2.GaussianBlur(gray, (ksize, ksize), sigma)
+
+        # 4) HoughCircles
+        circles = cv2.HoughCircles(
+            blur,
+            cv2.HOUGH_GRADIENT,
+            dp=float(cfg.get("hough_dp", 1.2)),
+            minDist=float(cfg.get("hough_min_dist", 40)),
+            param1=float(cfg.get("hough_param1", 100)),
+            param2=float(cfg.get("hough_param2", 28)),
+            minRadius=int(cfg.get("hough_min_radius", 6)),
+            maxRadius=int(cfg.get("hough_max_radius", 45)),
+        )
+        if circles is None:
+            return _fail("HoughCircles 未检测到圆孔", draw_img, bbox)
+
+        # 5) ROI 坐标 -> 原图坐标
+        circles = np.asarray(circles[0], dtype=np.float64)
+        mapped: list[tuple[float, float, float]] = []
+        for cx, cy, r in circles:
+            mapped.append((float(cx + offset_x), float(cy + offset_y), float(r)))
+
+        # 6) 工业校验
+        bx1, by1, bx2, by2 = bbox
+        min_r = float(cfg.get("min_radius", 6))
+        max_r = float(cfg.get("max_radius", 45))
+        dist_min = float(cfg.get("hole_distance_min", 80))
+        dist_max = float(cfg.get("hole_distance_max", 900))
+
+        valid: list[tuple[float, float, float]] = []
+        for cx, cy, r in mapped:
+            if not (bx1 <= cx <= bx2 and by1 <= cy <= by2):
+                continue
+            if not (min_r <= r <= max_r):
+                continue
+            valid.append((cx, cy, r))
+
+        # 多于 2 个时取最左/最右一对（对应左右螺纹孔），仍须满足间距规则
+        if len(valid) > 2:
+            ordered = sorted(valid, key=lambda c: c[0])
+            left, right = ordered[0], ordered[-1]
+            d = float(np.hypot(left[0] - right[0], left[1] - right[1]))
+            if dist_min <= d <= dist_max:
+                valid = [left, right]
+            else:
+                return _fail(
+                    f"候选圆孔={len(valid)}，左右端点距离={d:.1f}px 不在 [{dist_min}, {dist_max}]",
+                    draw_img,
+                    bbox,
+                )
+
+        if len(valid) != 2:
+            return _fail(f"有效圆孔数量={len(valid)}，要求严格等于 2", draw_img, bbox)
+
+        ordered = sorted(valid, key=lambda c: c[0])
+        (x1, y1, r1), (x2, y2, r2) = ordered
+        dist = float(np.hypot(x1 - x2, y1 - y2))
+        if not (dist_min <= dist <= dist_max):
+            return _fail(
+                f"两孔距离={dist:.1f}px，不在 [{dist_min}, {dist_max}]",
+                draw_img,
+                bbox,
+            )
+
+        hole_points = [[x1, y1], [x2, y2]]
+        hole_radii = [r1, r2]
+        gate = (max_dx, max_dy) if bool(cfg.get("center_gate_draw", True)) else None
+        draw_img = _render_success(image, bbox, hole_points, hole_radii, dist, gate=gate)
+        return {
+            "status": True,
+            "msg": f"检测成功，两孔距离 {dist:.1f}px",
+            "hole_points": hole_points,
+            "hole_radii": hole_radii,
+            "bbox": list(bbox),
+            "draw_img": draw_img,
+        }
+    except Exception as exc:
+        fallback = image.copy() if isinstance(image, np.ndarray) and image.size else np.zeros((480, 640, 3), dtype=np.uint8)
+        return _fail(f"异常: {exc}", fallback)
+
+
+class HoleStabilizer:
+    """时序稳帧：EMA 平滑中心/半径，短暂失败时沿用上一帧结果，抑制闪烁。"""
+
+    def __init__(self, config: dict[str, Any] | None = None) -> None:
+        cfg = config or {}
+        self.cfg = cfg
+        self.hold_frames = int(cfg.get("stabilize_hold_frames", 15))
+        self.ema_alpha = float(cfg.get("stabilize_ema_alpha", 0.35))
+        self.max_jump = float(cfg.get("stabilize_max_jump", 60))
+        self.reset()
+
+    def reset(self) -> None:
+        self.points: list[list[float]] | None = None
+        self.radii: list[float] | None = None
+        self.bbox: tuple[int, int, int, int] | None = None
+        self.miss = 0
+
+    def update(self, image: np.ndarray, result: dict[str, Any]) -> dict[str, Any]:
+        try:
+            # 未居中：不做二阶、不沿用旧孔，立即清空稳帧
+            if result.get("gate_block"):
+                self.reset()
+                out = dict(result)
+                out["hole_points"] = []
+                out["hole_radii"] = []
+                return out
+
+            bbox = result.get("bbox")
+            if bbox is not None and len(bbox) == 4:
+                self.bbox = (int(bbox[0]), int(bbox[1]), int(bbox[2]), int(bbox[3]))
+
+            if result.get("status") and len(result.get("hole_points") or []) == 2:
+                pts = [[float(p[0]), float(p[1])] for p in result["hole_points"]]
+                pts = sorted(pts, key=lambda p: p[0])
+                rad = result.get("hole_radii") or [12.0, 12.0]
+                rad = [float(rad[0]), float(rad[1])] if len(rad) >= 2 else [12.0, 12.0]
+
+                if self.points is not None:
+                    jump = max(
+                        float(np.hypot(pts[0][0] - self.points[0][0], pts[0][1] - self.points[0][1])),
+                        float(np.hypot(pts[1][0] - self.points[1][0], pts[1][1] - self.points[1][1])),
+                    )
+                    if jump > self.max_jump:
+                        # 跳变过大，当作本帧失败，沿用稳定值
+                        self.miss += 1
+                    else:
+                        a = self.ema_alpha
+                        self.points = [
+                            [
+                                (1 - a) * self.points[0][0] + a * pts[0][0],
+                                (1 - a) * self.points[0][1] + a * pts[0][1],
+                            ],
+                            [
+                                (1 - a) * self.points[1][0] + a * pts[1][0],
+                                (1 - a) * self.points[1][1] + a * pts[1][1],
+                            ],
+                        ]
+                        self.radii = [
+                            (1 - a) * self.radii[0] + a * rad[0],
+                            (1 - a) * self.radii[1] + a * rad[1],
+                        ]
+                        self.miss = 0
+                else:
+                    self.points = pts
+                    self.radii = rad
+                    self.miss = 0
+            else:
+                self.miss += 1
+                if self.miss > self.hold_frames:
+                    self.points = None
+                    self.radii = None
+
+            if self.points is None or self.radii is None:
+                # 彻底丢失：只保留当前帧绘制（可能仅有 bbox）
+                out = dict(result)
+                out["hole_points"] = []
+                out["hole_radii"] = []
+                return out
+
+            dist = float(
+                np.hypot(
+                    self.points[0][0] - self.points[1][0],
+                    self.points[0][1] - self.points[1][1],
+                )
+            )
+            bbox_draw = self.bbox
+            if bbox_draw is None and result.get("bbox") is not None:
+                b = result["bbox"]
+                bbox_draw = (int(b[0]), int(b[1]), int(b[2]), int(b[3]))
+            if bbox_draw is None:
+                # 无框时仍画孔
+                draw_img = image.copy()
+                _draw_holes(draw_img, self.points, self.radii)
+            else:
+                gate = None
+                if bool(self.cfg.get("center_gate_draw", True)):
+                    ih, iw = image.shape[:2]
+                    max_dx = float(self.cfg.get("center_max_offset_ratio_x", 0.12)) * iw
+                    max_dy = float(self.cfg.get("center_max_offset_ratio_y", 0.12)) * ih
+                    gate = (max_dx, max_dy)
+                draw_img = _render_success(image, bbox_draw, self.points, self.radii, dist, gate=gate)
+
+            held = self.miss > 0
+            return {
+                "status": True,
+                "msg": (
+                    f"检测成功，两孔距离 {dist:.1f}px"
+                    + (f"（稳帧 hold={self.miss}）" if held else "")
+                ),
+                "hole_points": [[p[0], p[1]] for p in self.points],
+                "hole_radii": [float(self.radii[0]), float(self.radii[1])],
+                "bbox": list(bbox_draw) if bbox_draw is not None else result.get("bbox"),
+                "draw_img": draw_img,
+            }
+        except Exception as exc:
+            fallback = image.copy() if isinstance(image, np.ndarray) and image.size else np.zeros((480, 640, 3), dtype=np.uint8)
+            return _fail(f"稳帧异常: {exc}", fallback)
diff --git a/hole_detect_config.yaml b/hole_detect_config.yaml
new file mode 100644
index 0000000..d2b7fc1
--- /dev/null
+++ b/hole_detect_config.yaml
@@ -0,0 +1,39 @@
+# 工件二阶段检测配置：YOLO 定位 + HoughCircles 螺纹孔
+# 供 hole_detect.py / infer_holes_realtime.py 使用
+
+# ----- YOLO -----
+conf: 0.25
+iou: 0.7
+imgsz: 640
+
+# ----- 居中门控：bbox 中心接近画面中心才做二阶圆孔检测 -----
+center_gate_enable: true
+center_max_offset_ratio_x: 0.15   # |bbox_cx - 图像中心x| <= 该比例 * 宽
+center_max_offset_ratio_y: 0.18   # |bbox_cy - 图像中心y| <= 该比例 * 高
+center_gate_draw: true            # 可视化画出允许居中区域
+
+# ----- ROI：bbox 向外膨胀像素，裁剪时做边界保护 -----
+bbox_padding: 25
+
+# ----- ROI 预处理 -----
+gaussian_ksize: 5          # 必须为奇数
+gaussian_sigma: 1.5
+
+# ----- HoughCircles（全部由此读取）-----
+hough_dp: 1.2
+hough_min_dist: 50
+hough_param1: 100
+hough_param2: 26
+hough_min_radius: 10
+hough_max_radius: 30
+
+# ----- 工业校验 -----
+min_radius: 10             # 有效圆孔半径下限（滤掉噪点）
+max_radius: 30             # 有效圆孔半径上限（滤掉中间大孔）
+hole_distance_min: 150     # 两孔像素距离下限
+hole_distance_max: 700     # 两孔像素距离上限
+
+# ----- 时序稳帧（抑制闪烁）-----
+stabilize_hold_frames: 15  # 连续失败多少帧后才清空结果
+stabilize_ema_alpha: 0.35  # 中心点/半径 EMA，越小越稳
+stabilize_max_jump: 60     # 单帧跳变超过该像素则忽略（防闪）
diff --git a/infer_holes_realtime.py b/infer_holes_realtime.py
new file mode 100644
index 0000000..37aaa2b
--- /dev/null
+++ b/infer_holes_realtime.py
@@ -0,0 +1,479 @@
+"""工件螺纹孔二阶段视频推理：YOLO / Faster R-CNN 定位 + HoughCircles。"""
+
+from __future__ import annotations
+
+import threading
+import time
+import tkinter as tk
+from pathlib import Path
+from tkinter import filedialog, messagebox, ttk
+
+import cv2
+import numpy as np
+from PIL import Image, ImageTk
+
+from detectors import guess_backend, load_detector
+from hole_detect import HoleStabilizer, detect_holes, load_config
+from infer_realtime import (
+    list_realsense,
+    open_source,
+)
+
+ROOT = Path(__file__).resolve().parent
+
+
+def default_model_path(backend: str = "yolo") -> str:
+    if backend == "faster_rcnn":
+        candidates = [
+            ROOT / "runs" / "faster_rcnn" / "gongjian_frcnn" / "weights" / "best.pth",
+            ROOT / "runs" / "faster_rcnn" / "gongjian_frcnn" / "weights" / "last.pth",
+        ]
+        for path in candidates:
+            if path.exists():
+                return str(path)
+        return str(ROOT / "runs" / "faster_rcnn" / "gongjian_frcnn" / "weights" / "best.pth")
+    candidates = [
+        ROOT / "ultralytics" / "runs" / "detect" / "runs" / "yolov8_gongjian" / "weights" / "best.pt",
+        ROOT / "ultralytics" / "runs" / "detect" / "runs" / "yolov8_gongjian" / "weights" / "last.pt",
+        ROOT / "ultralytics" / "runs" / "detect" / "runs" / "yolov8_exp" / "weights" / "best.pt",
+        ROOT / "yolov8n.pt",
+    ]
+    for path in candidates:
+        if path.exists():
+            return str(path)
+    return str(ROOT / "yolov8n.pt")
+
+
+def default_config_path() -> str:
+    path = ROOT / "hole_detect_config.yaml"
+    return str(path)
+
+
+class HoleInferApp(tk.Tk):
+    def __init__(self) -> None:
+        super().__init__()
+        self.title("工件螺纹孔二阶段检测")
+        self.geometry("1180x860")
+        self.minsize(980, 720)
+
+        self.model = None
+        self.cfg: dict = {}
+        self.cam = None
+        self.running = False
+        self.opening = False
+        self.infer_enabled = False
+        self.photo: ImageTk.PhotoImage | None = None
+        self.latest: np.ndarray | None = None
+        self.last_result: dict | None = None
+        self.stabilizer = HoleStabilizer()
+        self.fps = 0.0
+        self.lock = threading.Lock()
+        self.cam_lock = threading.Lock()
+        self.fail_reads = 0
+        self.rs_devices = list_realsense()
+
+        self.var_backend = tk.StringVar(value="yolo")
+        self.var_model = tk.StringVar(value=default_model_path("yolo"))
+        self.var_num_classes = tk.IntVar(value=2)
+        self.var_config = tk.StringVar(value=default_config_path())
+        self.var_source = tk.StringVar(value="realsense" if self.rs_devices else "webcam")
+        self.var_rs = tk.StringVar(value=self.rs_devices[0][0] if self.rs_devices else "")
+        self.var_camera = tk.IntVar(value=1)
+        self.var_width = tk.IntVar(value=1280)
+        self.var_height = tk.IntVar(value=720)
+        self.var_device = tk.StringVar(value="0")
+        self.var_status = tk.StringVar(value="就绪：打开摄像头 → 开始推理")
+
+        self._build()
+        self.protocol("WM_DELETE_WINDOW", self.on_close)
+        self.after(33, self.refresh_view)
+        self.reload_config(silent=True)
+
+    def _build(self) -> None:
+        self.columnconfigure(0, weight=1)
+        self.rowconfigure(0, weight=1)
+
+        view = ttk.Frame(self, padding=8)
+        view.grid(row=0, column=0, sticky="nsew")
+        view.columnconfigure(0, weight=1)
+        view.rowconfigure(0, weight=1)
+        self.canvas = tk.Label(view, bg="#111", fg="#eee", text="检测画面", width=80, height=20)
+        self.canvas.grid(row=0, column=0, sticky="nsew")
+        ttk.Label(view, textvariable=self.var_status).grid(row=1, column=0, sticky="w", pady=(8, 0))
+
+        panel = ttk.LabelFrame(self, text="二阶段检测参数", padding=10)
+        panel.grid(row=1, column=0, sticky="ew", padx=8, pady=(0, 8))
+        for c in range(8):
+            panel.columnconfigure(c, weight=1)
+
+        ttk.Label(panel, text="算法").grid(row=0, column=0, sticky="w")
+        ttk.Combobox(
+            panel,
+            textvariable=self.var_backend,
+            values=["yolo", "faster_rcnn", "auto"],
+            width=12,
+            state="readonly",
+        ).grid(row=0, column=1, sticky="w")
+        ttk.Label(panel, text="RCNN类数(+背景)").grid(row=0, column=2, sticky="w")
+        ttk.Entry(panel, textvariable=self.var_num_classes, width=6).grid(row=0, column=3, sticky="w")
+        self.var_backend.trace_add("write", lambda *_: self.on_backend_change())
+
+        ttk.Label(panel, text="检测权重").grid(row=1, column=0, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_model).grid(row=1, column=1, columnspan=5, sticky="ew", padx=4, pady=(8, 0))
+        ttk.Button(panel, text="浏览…", command=self.browse_model).grid(row=1, column=6, sticky="ew", pady=(8, 0))
+        ttk.Button(panel, text="自动查找", command=self.autofill_model).grid(row=1, column=7, sticky="ew", padx=(4, 0), pady=(8, 0))
+
+        ttk.Label(panel, text="检测配置").grid(row=2, column=0, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_config).grid(row=2, column=1, columnspan=5, sticky="ew", padx=4, pady=(8, 0))
+        ttk.Button(panel, text="浏览…", command=self.browse_config).grid(row=2, column=6, sticky="ew", pady=(8, 0))
+        ttk.Button(panel, text="重新加载", command=self.reload_config).grid(row=2, column=7, sticky="ew", padx=(4, 0), pady=(8, 0))
+
+        ttk.Label(panel, text="视频源").grid(row=3, column=0, sticky="w", pady=(8, 0))
+        src = ttk.Frame(panel)
+        src.grid(row=3, column=1, columnspan=3, sticky="w", pady=(8, 0))
+        ttk.Radiobutton(src, text="RealSense RGB", variable=self.var_source, value="realsense").pack(side="left")
+        ttk.Radiobutton(src, text="普通摄像头", variable=self.var_source, value="webcam").pack(side="left", padx=(10, 0))
+        ttk.Label(panel, text="设备").grid(row=3, column=4, sticky="w", pady=(8, 0))
+        ttk.Combobox(panel, textvariable=self.var_device, values=["0", "cpu"], width=8, state="readonly").grid(
+            row=3, column=5, sticky="w", pady=(8, 0)
+        )
+
+        ttk.Label(panel, text="RealSense").grid(row=4, column=0, sticky="w", pady=(8, 0))
+        self.cmb_rs = ttk.Combobox(
+            panel,
+            textvariable=self.var_rs,
+            values=[x[0] for x in self.rs_devices],
+            state="readonly",
+        )
+        self.cmb_rs.grid(row=4, column=1, columnspan=3, sticky="ew", pady=(8, 0))
+        ttk.Button(panel, text="刷新设备", command=self.refresh_devices).grid(row=4, column=4, sticky="w", pady=(8, 0))
+        ttk.Label(panel, text="摄像头编号").grid(row=4, column=5, sticky="w", pady=(8, 0))
+        ttk.Spinbox(panel, from_=0, to=8, textvariable=self.var_camera, width=6).grid(
+            row=4, column=6, sticky="w", pady=(8, 0)
+        )
+
+        ttk.Label(panel, text="分辨率").grid(row=5, column=0, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_width, width=8).grid(row=5, column=1, sticky="w", pady=(8, 0))
+        ttk.Label(panel, text="x").grid(row=5, column=2, pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_height, width=8).grid(row=5, column=3, sticky="w", pady=(8, 0))
+
+        btns = ttk.Frame(panel)
+        btns.grid(row=6, column=0, columnspan=8, sticky="ew", pady=(12, 0))
+        self.btn_open = ttk.Button(btns, text="打开摄像头", command=self.open_camera)
+        self.btn_open.pack(side="left")
+        self.btn_infer = ttk.Button(btns, text="开始推理", command=self.start_infer, state="disabled")
+        self.btn_infer.pack(side="left", padx=8)
+        self.btn_stop = ttk.Button(btns, text="停止", command=self.stop, state="disabled")
+        self.btn_stop.pack(side="left")
+        ttk.Button(btns, text="保存当前帧", command=self.save_frame).pack(side="left", padx=8)
+
+    def refresh_devices(self) -> None:
+        self.rs_devices = list_realsense()
+        labels = [x[0] for x in self.rs_devices]
+        self.cmb_rs["values"] = labels
+        if labels:
+            self.var_rs.set(labels[0])
+            self.var_status.set(f"找到 {len(labels)} 台 RealSense")
+        else:
+            self.var_rs.set("")
+            self.var_status.set("未检测到 RealSense")
+
+    def current_rs_serial(self) -> str | None:
+        label = self.var_rs.get()
+        for text, serial in self.rs_devices:
+            if text == label:
+                return serial
+        return None
+
+    def on_backend_change(self) -> None:
+        backend = self.var_backend.get()
+        if backend == "auto":
+            return
+        self.var_model.set(default_model_path(backend))
+
+    def browse_model(self) -> None:
+        initial = self.var_model.get()
+        initial_dir = str(Path(initial).parent) if initial else str(ROOT)
+        path = filedialog.askopenfilename(
+            title="选择检测权重",
+            initialdir=initial_dir,
+            filetypes=[("PyTorch 权重", "*.pt *.pth"), ("所有文件", "*.*")],
+        )
+        if path:
+            self.var_model.set(path)
+            if self.var_backend.get() == "auto":
+                self.var_status.set(f"auto 将按文件识别为: {guess_backend(path)}")
+
+    def autofill_model(self) -> None:
+        backend = self.var_backend.get()
+        if backend == "auto":
+            backend = "yolo"
+        path = default_model_path(backend)
+        self.var_model.set(path)
+        self.var_status.set(f"已填入权重: {path}")
+
+    def browse_config(self) -> None:
+        initial = self.var_config.get()
+        initial_dir = str(Path(initial).parent) if initial else str(ROOT)
+        path = filedialog.askopenfilename(
+            title="选择检测配置",
+            initialdir=initial_dir,
+            filetypes=[("YAML", "*.yaml;*.yml"), ("所有文件", "*.*")],
+        )
+        if path:
+            self.var_config.set(path)
+            self.reload_config()
+
+    def reload_config(self, silent: bool = False) -> None:
+        try:
+            path = Path(self.var_config.get().strip())
+            if not path.is_absolute():
+                path = ROOT / path
+            self.cfg = load_config(path)
+            self.var_config.set(str(path))
+            self.stabilizer = HoleStabilizer(self.cfg)
+            if not silent:
+                self.var_status.set(f"已加载配置: {path.name}")
+        except Exception as exc:
+            self.cfg = {}
+            self.stabilizer = HoleStabilizer()
+            if not silent:
+                messagebox.showerror("配置", str(exc))
+            self.var_status.set(f"配置加载失败: {exc}")
+
+    def release_cam(self) -> None:
+        with self.cam_lock:
+            if self.cam is not None:
+                try:
+                    self.cam.release()
+                except Exception:
+                    pass
+                self.cam = None
+
+    def open_camera(self) -> None:
+        if self.running or self.opening:
+            return
+        self.opening = True
+        self.btn_open.config(state="disabled")
+        self.var_status.set("正在打开摄像头…")
+        self.update_idletasks()
+
+        source = self.var_source.get()
+        width = int(self.var_width.get())
+        height = int(self.var_height.get())
+        serial = self.current_rs_serial()
+        cam_index = int(self.var_camera.get())
+
+        def worker() -> None:
+            cam = None
+            err = ""
+            try:
+                self.release_cam()
+                if source == "realsense":
+                    devices = list_realsense()
+                    if not devices:
+                        raise RuntimeError("没有 RealSense，可改选普通摄像头编号 1")
+                    cam = open_source("realsense", width, height, serial or devices[0][1], cam_index)
+                else:
+                    cam = open_source("webcam", width, height, None, cam_index)
+                ok, frame = cam.read()
+                if not ok or frame is None:
+                    raise RuntimeError("摄像头打开后读不到画面")
+            except Exception as exc:
+                if cam is not None:
+                    try:
+                        cam.release()
+                    except Exception:
+                        pass
+                cam = None
+                err = str(exc)
+            self.after(0, lambda: self._open_done(cam, err))
+
+        threading.Thread(target=worker, daemon=True).start()
+
+    def _open_done(self, cam, err: str) -> None:
+        self.opening = False
+        if err or cam is None:
+            self.btn_open.config(state="normal")
+            self.btn_infer.config(state="disabled")
+            self.btn_stop.config(state="disabled")
+            self.var_status.set(err or "打开失败")
+            messagebox.showerror("摄像头", err or "打开失败")
+            return
+        with self.cam_lock:
+            self.cam = cam
+        self.running = True
+        self.infer_enabled = False
+        self.fail_reads = 0
+        self.btn_open.config(state="disabled")
+        self.btn_infer.config(state="normal")
+        self.btn_stop.config(state="normal")
+        self.var_status.set("摄像头已打开。点「开始推理」加载权重并检测螺纹孔")
+        threading.Thread(target=self.loop_capture, daemon=True).start()
+
+    def start_infer(self) -> None:
+        if not self.running or self.cam is None:
+            messagebox.showwarning("推理", "请先打开摄像头")
+            return
+        model_path = Path(self.var_model.get().strip())
+        if not model_path.is_absolute():
+            model_path = ROOT / model_path
+        if not model_path.exists():
+            messagebox.showerror("权重", f"找不到权重:\n{model_path}")
+            return
+        self.reload_config(silent=True)
+        if not self.cfg:
+            messagebox.showerror("配置", "请先加载有效的 hole_detect_config.yaml")
+            return
+
+        self.btn_infer.config(state="disabled")
+        self.var_status.set(f"正在加载模型: {model_path.name} …")
+        warmup = None
+        with self.lock:
+            if self.latest is not None:
+                warmup = self.latest.copy()
+
+        def load() -> None:
+            try:
+                backend = self.var_backend.get()
+                model = load_detector(
+                    backend=backend,
+                    weights=model_path,
+                    device=self.var_device.get(),
+                    num_classes=int(self.var_num_classes.get()),
+                    conf=float(self.cfg.get("conf", 0.25)),
+                )
+                if warmup is not None:
+                    detect_holes(warmup, model, self.cfg, device=self.var_device.get())
+            except Exception as exc:
+                self.after(0, lambda e=str(exc): self._infer_load_failed(e))
+                return
+            self.model = model
+            self.infer_enabled = True
+            self.stabilizer.reset()
+            used = getattr(model, "backend", backend)
+            self.after(0, lambda: self.var_status.set(f"推理中  backend={used}  模型={model_path.name}"))
+
+        threading.Thread(target=load, daemon=True).start()
+
+    def _infer_load_failed(self, msg: str) -> None:
+        self.infer_enabled = False
+        self.model = None
+        self.btn_infer.config(state="normal")
+        self.var_status.set(msg)
+        messagebox.showerror("模型加载失败", msg)
+
+    def stop(self) -> None:
+        self.running = False
+        self.infer_enabled = False
+        self.var_status.set("正在停止…")
+
+    def loop_capture(self) -> None:
+        t0, n = time.perf_counter(), 0
+        while self.running:
+            with self.cam_lock:
+                cam = self.cam
+            if cam is None:
+                break
+            ok, frame = cam.read()
+            if not ok or frame is None:
+                self.fail_reads += 1
+                if self.fail_reads >= 30:
+                    self.after(0, lambda: self.var_status.set("连续读帧失败，请停止后重开"))
+                    self.fail_reads = 0
+                time.sleep(0.02)
+                continue
+            self.fail_reads = 0
+
+            show = frame
+            result = None
+            if self.infer_enabled and self.model is not None:
+                raw = detect_holes(frame, self.model, self.cfg, device=self.var_device.get())
+                result = self.stabilizer.update(frame, raw)
+                show = result["draw_img"]
+                self.last_result = result
+
+            n += 1
+            if n >= 8:
+                now = time.perf_counter()
+                self.fps = n / max(1e-6, now - t0)
+                t0, n = now, 0
+
+            overlay = show.copy()
+            if result is None:
+                mode = "PREVIEW"
+                color = (0, 200, 255)
+                info = ""
+            elif result["status"]:
+                mode = "OK"
+                color = (0, 255, 0)
+                pts = result["hole_points"]
+                info = f"  holes={pts}"
+            else:
+                mode = "FAIL"
+                color = (0, 0, 255)
+                info = f"  {result['msg']}"
+            cv2.putText(
+                overlay,
+                f"{mode}  FPS {self.fps:.1f}{info}",
+                (16, overlay.shape[0] - 20),
+                cv2.FONT_HERSHEY_SIMPLEX,
+                0.7,
+                color,
+                2,
+            )
+            with self.lock:
+                self.latest = overlay
+
+        self.release_cam()
+        self.model = None
+        self.infer_enabled = False
+        self.after(0, self._stopped_ui)
+
+    def _stopped_ui(self) -> None:
+        self.btn_open.config(state="normal")
+        self.btn_infer.config(state="disabled")
+        self.btn_stop.config(state="disabled")
+        self.var_status.set("已停止")
+
+    def refresh_view(self) -> None:
+        frame = None
+        with self.lock:
+            if self.latest is not None:
+                frame = self.latest.copy()
+        if frame is not None:
+            try:
+                rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+                h, w = rgb.shape[:2]
+                max_w = max(int(self.canvas.winfo_width()), 640)
+                max_h = max(int(self.canvas.winfo_height()), 360)
+                scale = min(max_w / w, max_h / h, 1.0)
+                size = (max(1, int(w * scale)), max(1, int(h * scale)))
+                img = Image.fromarray(rgb).resize(size, Image.Resampling.BILINEAR)
+                self.photo = ImageTk.PhotoImage(img)
+                self.canvas.config(image=self.photo, text="")
+            except Exception as exc:
+                self.var_status.set(f"画面刷新失败: {exc}")
+        self.after(33, self.refresh_view)
+
+    def save_frame(self) -> None:
+        with self.lock:
+            frame = None if self.latest is None else self.latest.copy()
+        if frame is None:
+            messagebox.showwarning("保存", "当前没有可保存的画面")
+            return
+        out_dir = ROOT / "runs" / "predict_holes"
+        out_dir.mkdir(parents=True, exist_ok=True)
+        out = out_dir / f"hole_{int(time.time())}.jpg"
+        cv2.imwrite(str(out), frame)
+        self.var_status.set(f"已保存: {out}")
+
+    def on_close(self) -> None:
+        self.running = False
+        self.infer_enabled = False
+        self.release_cam()
+        self.destroy()
+
+
+if __name__ == "__main__":
+    HoleInferApp().mainloop()
diff --git a/infer_realtime.py b/infer_realtime.py
new file mode 100644
index 0000000..ba83171
--- /dev/null
+++ b/infer_realtime.py
@@ -0,0 +1,588 @@
+"""实时摄像头推理：支持 YOLO / Faster R-CNN 权重。"""
+
+from __future__ import annotations
+
+import threading
+import time
+import tkinter as tk
+from pathlib import Path
+from tkinter import filedialog, messagebox, ttk
+
+import cv2
+import numpy as np
+from PIL import Image, ImageTk
+
+from detectors import guess_backend, load_detector
+
+ROOT = Path(__file__).resolve().parent
+COLOR_RESOLUTIONS = [(1280, 720), (848, 480), (640, 480), (1920, 1080)]
+
+
+def default_model_path(backend: str = "yolo") -> str:
+    if backend == "faster_rcnn":
+        candidates = [
+            ROOT / "runs" / "faster_rcnn" / "gongjian_frcnn" / "weights" / "best.pth",
+            ROOT / "runs" / "faster_rcnn" / "gongjian_frcnn" / "weights" / "last.pth",
+        ]
+        for path in candidates:
+            if path.exists():
+                return str(path)
+        return str(ROOT / "runs" / "faster_rcnn" / "gongjian_frcnn" / "weights" / "best.pth")
+
+    candidates = [
+        ROOT / "ultralytics" / "runs" / "detect" / "runs" / "yolov8_gongjian" / "weights" / "best.pt",
+        ROOT / "ultralytics" / "runs" / "detect" / "runs" / "yolov8_exp" / "weights" / "best.pt",
+        ROOT / "ultralytics" / "runs" / "detect" / "runs" / "yolov8_exp" / "weights" / "last.pt",
+        ROOT / "runs" / "detect" / "yolov8_exp" / "weights" / "best.pt",
+        ROOT / "yolov8n.pt",
+    ]
+    for path in candidates:
+        if path.exists():
+            return str(path)
+    return str(ROOT / "yolov8n.pt")
+
+
+def list_realsense() -> list[tuple[str, str]]:
+    try:
+        import pyrealsense2 as rs
+    except Exception:
+        return []
+    items = []
+    for dev in rs.context().query_devices():
+        name = dev.get_info(rs.camera_info.name)
+        serial = dev.get_info(rs.camera_info.serial_number)
+        items.append((f"{name} [{serial}]", serial))
+    return items
+
+
+class RealSenseRGB:
+    """与 capture.py 一致：同时开左右红外 + RGB，界面只用 RGB。"""
+
+    def __init__(self, width: int, height: int, fps: int = 30, serial: str | None = None) -> None:
+        import pyrealsense2 as rs
+
+        self.rs = rs
+        self.pipeline = None
+        self.size = (width, height)
+        last_error: Exception | None = None
+        attempts = [(width, height, fps)] + [(w, h, fps) for w, h in COLOR_RESOLUTIONS if (w, h) != (width, height)]
+        # 推理只要 RGB：先试仅彩色（快、省带宽）；失败再试红外+RGB（与 capture 相同）
+        modes = ("rgb_only", "rgb_ir")
+
+        for mode in modes:
+            for w, h, f in attempts:
+                pipeline = rs.pipeline()
+                config = rs.config()
+                if serial:
+                    config.enable_device(serial)
+                try:
+                    if mode == "rgb_ir":
+                        config.enable_stream(rs.stream.infrared, 1, w, h, rs.format.y8, f)
+                        config.enable_stream(rs.stream.infrared, 2, w, h, rs.format.y8, f)
+                    cw, ch = (w, h) if (w, h) in COLOR_RESOLUTIONS else (1280, 720)
+                    config.enable_stream(rs.stream.color, cw, ch, rs.format.bgr8, f)
+                    profile = pipeline.start(config)
+                    try:
+                        depth_sensor = profile.get_device().first_depth_sensor()
+                        if depth_sensor.supports(rs.option.emitter_enabled):
+                            depth_sensor.set_option(rs.option.emitter_enabled, 0.0)
+                    except Exception:
+                        pass
+                    for _ in range(5):
+                        pipeline.wait_for_frames(1500)
+                    self.pipeline = pipeline
+                    self.size = (cw, ch)
+                    return
+                except Exception as exc:
+                    last_error = exc
+                    try:
+                        pipeline.stop()
+                    except Exception:
+                        pass
+
+        raise RuntimeError(
+            f"无法打开 RealSense RGB（请先关掉 capture.py / RealSense Viewer）: {last_error}"
+        )
+
+    def read(self) -> tuple[bool, np.ndarray | None]:
+        if self.pipeline is None:
+            return False, None
+        try:
+            frames = self.pipeline.wait_for_frames(1000)
+        except Exception:
+            return False, None
+        color = frames.get_color_frame()
+        if not color:
+            return False, None
+        return True, np.asanyarray(color.get_data())
+
+    def release(self) -> None:
+        if self.pipeline is None:
+            return
+        try:
+            self.pipeline.stop()
+        except Exception:
+            pass
+        self.pipeline = None
+
+
+class Webcam:
+    def __init__(self, index: int, width: int, height: int, fps: int = 30) -> None:
+        cap = None
+        for backend in (cv2.CAP_DSHOW, cv2.CAP_MSMF, cv2.CAP_ANY):
+            trial = cv2.VideoCapture(index, backend)
+            if trial.isOpened():
+                cap = trial
+                break
+            trial.release()
+        if cap is None or not cap.isOpened():
+            raise RuntimeError(f"无法打开摄像头 {index}。本机可试编号 1（0 常被 RealSense UVC 占住）")
+
+        cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
+        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
+        cap.set(cv2.CAP_PROP_FPS, fps)
+        ok, frame = False, None
+        for _ in range(15):
+            ok, frame = cap.read()
+            if ok and frame is not None:
+                break
+            time.sleep(0.05)
+        if not ok or frame is None:
+            cap.release()
+            raise RuntimeError(f"摄像头 {index} 已打开但读不到画面，请换编号或关掉占用程序")
+        self.cap = cap
+
+    def read(self) -> tuple[bool, np.ndarray | None]:
+        ok, frame = self.cap.read()
+        return ok, frame if ok else None
+
+    def release(self) -> None:
+        self.cap.release()
+
+
+def open_source(source: str, width: int, height: int, serial: str | None, cam_index: int):
+    if source == "realsense":
+        return RealSenseRGB(width, height, 30, serial)
+    return Webcam(cam_index, width, height, 30)
+
+
+class InferApp(tk.Tk):
+    def __init__(self) -> None:
+        super().__init__()
+        self.title("实时检测推理（YOLO / Faster R-CNN）")
+        self.geometry("1180x820")
+        self.minsize(980, 700)
+
+        self.model = None
+        self.cam = None
+        self.running = False
+        self.opening = False
+        self.infer_enabled = False
+        self.photo: ImageTk.PhotoImage | None = None
+        self.latest: np.ndarray | None = None
+        self.fps = 0.0
+        self.lock = threading.Lock()
+        self.cam_lock = threading.Lock()
+        self.fail_reads = 0
+        self.rs_devices = list_realsense()
+
+        self.var_backend = tk.StringVar(value="yolo")
+        self.var_model = tk.StringVar(value=default_model_path("yolo"))
+        self.var_num_classes = tk.IntVar(value=2)
+        self.var_source = tk.StringVar(value="realsense" if self.rs_devices else "webcam")
+        self.var_rs = tk.StringVar(value=self.rs_devices[0][0] if self.rs_devices else "")
+        # 本机普通摄像头能出图的多半是 1
+        self.var_camera = tk.IntVar(value=1)
+        self.var_width = tk.IntVar(value=1280)
+        self.var_height = tk.IntVar(value=720)
+        self.var_conf = tk.DoubleVar(value=0.25)
+        self.var_iou = tk.DoubleVar(value=0.7)
+        self.var_imgsz = tk.IntVar(value=640)
+        self.var_device = tk.StringVar(value="0")
+        self.var_status = tk.StringVar(value="就绪：点「打开摄像头」先出画面，再点「开始推理」")
+
+        self._build()
+        self.protocol("WM_DELETE_WINDOW", self.on_close)
+        self.after(33, self.refresh_view)
+
+    def _build(self) -> None:
+        self.columnconfigure(0, weight=1)
+        self.rowconfigure(0, weight=1)
+
+        view = ttk.Frame(self, padding=8)
+        view.grid(row=0, column=0, sticky="nsew")
+        view.columnconfigure(0, weight=1)
+        view.rowconfigure(0, weight=1)
+
+        self.canvas = tk.Label(view, bg="#111", fg="#eee", text="摄像头画面", width=80, height=20)
+        self.canvas.grid(row=0, column=0, sticky="nsew")
+        ttk.Label(view, textvariable=self.var_status).grid(row=1, column=0, sticky="w", pady=(8, 0))
+
+        panel = ttk.LabelFrame(self, text="推理参数", padding=10)
+        panel.grid(row=1, column=0, sticky="ew", padx=8, pady=(0, 8))
+        for c in range(8):
+            panel.columnconfigure(c, weight=1)
+
+        ttk.Label(panel, text="算法").grid(row=0, column=0, sticky="w")
+        ttk.Combobox(
+            panel,
+            textvariable=self.var_backend,
+            values=["yolo", "faster_rcnn", "auto"],
+            width=12,
+            state="readonly",
+        ).grid(row=0, column=1, sticky="w")
+        ttk.Label(panel, text="RCNN类数(+背景)").grid(row=0, column=2, sticky="w")
+        ttk.Entry(panel, textvariable=self.var_num_classes, width=6).grid(row=0, column=3, sticky="w")
+        self.var_backend.trace_add("write", lambda *_: self.on_backend_change())
+
+        ttk.Label(panel, text="权重文件").grid(row=1, column=0, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_model).grid(row=1, column=1, columnspan=5, sticky="ew", padx=4, pady=(8, 0))
+        ttk.Button(panel, text="浏览…", command=self.browse_model).grid(row=1, column=6, sticky="ew", pady=(8, 0))
+        ttk.Button(panel, text="自动查找", command=self.autofill_model).grid(row=1, column=7, sticky="ew", padx=(4, 0), pady=(8, 0))
+
+        ttk.Label(panel, text="视频源").grid(row=2, column=0, sticky="w", pady=(8, 0))
+        src = ttk.Frame(panel)
+        src.grid(row=2, column=1, columnspan=3, sticky="w", pady=(8, 0))
+        ttk.Radiobutton(src, text="RealSense RGB", variable=self.var_source, value="realsense").pack(side="left")
+        ttk.Radiobutton(src, text="普通摄像头", variable=self.var_source, value="webcam").pack(side="left", padx=(10, 0))
+
+        ttk.Label(panel, text="RealSense").grid(row=3, column=0, sticky="w", pady=(8, 0))
+        self.cmb_rs = ttk.Combobox(
+            panel,
+            textvariable=self.var_rs,
+            values=[x[0] for x in self.rs_devices],
+            state="readonly",
+        )
+        self.cmb_rs.grid(row=3, column=1, columnspan=3, sticky="ew", pady=(8, 0))
+        ttk.Button(panel, text="刷新设备", command=self.refresh_devices).grid(row=3, column=4, sticky="w", pady=(8, 0))
+        ttk.Label(panel, text="摄像头编号").grid(row=3, column=5, sticky="w", pady=(8, 0))
+        ttk.Spinbox(panel, from_=0, to=8, textvariable=self.var_camera, width=6).grid(
+            row=3, column=6, sticky="w", pady=(8, 0)
+        )
+
+        ttk.Label(panel, text="分辨率").grid(row=4, column=0, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_width, width=8).grid(row=4, column=1, sticky="w", pady=(8, 0))
+        ttk.Label(panel, text="x").grid(row=4, column=2, pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_height, width=8).grid(row=4, column=3, sticky="w", pady=(8, 0))
+        ttk.Label(panel, text="imgsz").grid(row=4, column=4, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_imgsz, width=8).grid(row=4, column=5, sticky="w", pady=(8, 0))
+        ttk.Label(panel, text="设备").grid(row=4, column=6, sticky="w", pady=(8, 0))
+        ttk.Combobox(panel, textvariable=self.var_device, values=["0", "cpu"], width=8, state="readonly").grid(
+            row=4, column=7, sticky="w", pady=(8, 0)
+        )
+
+        ttk.Label(panel, text="置信度").grid(row=5, column=0, sticky="w", pady=(8, 0))
+        ttk.Scale(panel, from_=0.05, to=0.95, variable=self.var_conf, orient="horizontal").grid(
+            row=5, column=1, columnspan=2, sticky="ew", pady=(8, 0)
+        )
+        self.lbl_conf = ttk.Label(panel, text="0.25")
+        self.lbl_conf.grid(row=5, column=3, sticky="w", pady=(8, 0))
+        self.var_conf.trace_add("write", lambda *_: self.lbl_conf.config(text=f"{float(self.var_conf.get()):.2f}"))
+        ttk.Label(panel, text="IoU").grid(row=5, column=4, sticky="w", pady=(8, 0))
+        ttk.Entry(panel, textvariable=self.var_iou, width=8).grid(row=5, column=5, sticky="w", pady=(8, 0))
+
+        btns = ttk.Frame(panel)
+        btns.grid(row=6, column=0, columnspan=8, sticky="ew", pady=(12, 0))
+        self.btn_open = ttk.Button(btns, text="打开摄像头", command=self.open_camera)
+        self.btn_open.pack(side="left")
+        self.btn_infer = ttk.Button(btns, text="开始推理", command=self.start_infer, state="disabled")
+        self.btn_infer.pack(side="left", padx=8)
+        self.btn_stop = ttk.Button(btns, text="停止", command=self.stop, state="disabled")
+        self.btn_stop.pack(side="left")
+        ttk.Button(btns, text="保存当前帧", command=self.save_frame).pack(side="left", padx=8)
+
+    def refresh_devices(self) -> None:
+        self.rs_devices = list_realsense()
+        labels = [x[0] for x in self.rs_devices]
+        self.cmb_rs["values"] = labels
+        if labels:
+            self.var_rs.set(labels[0])
+            self.var_status.set(f"找到 {len(labels)} 台 RealSense")
+        else:
+            self.var_rs.set("")
+            self.var_status.set("未检测到 RealSense，请改用普通摄像头或检查驱动")
+
+    def current_rs_serial(self) -> str | None:
+        label = self.var_rs.get()
+        for text, serial in self.rs_devices:
+            if text == label:
+                return serial
+        return None
+
+    def on_backend_change(self) -> None:
+        backend = self.var_backend.get()
+        if backend == "auto":
+            return
+        self.var_model.set(default_model_path(backend if backend != "auto" else "yolo"))
+
+    def browse_model(self) -> None:
+        initial = self.var_model.get()
+        initial_dir = str(Path(initial).parent) if initial else str(ROOT)
+        path = filedialog.askopenfilename(
+            title="选择检测权重",
+            initialdir=initial_dir,
+            filetypes=[("PyTorch 权重", "*.pt *.pth"), ("所有文件", "*.*")],
+        )
+        if path:
+            self.var_model.set(path)
+            if self.var_backend.get() == "auto":
+                self.var_status.set(f"auto 将按文件识别为: {guess_backend(path)}")
+
+    def autofill_model(self) -> None:
+        backend = self.var_backend.get()
+        if backend == "auto":
+            backend = "yolo"
+        path = default_model_path(backend)
+        self.var_model.set(path)
+        self.var_status.set(f"已填入: {path}")
+
+    def release_cam(self) -> None:
+        with self.cam_lock:
+            if self.cam is not None:
+                try:
+                    self.cam.release()
+                except Exception:
+                    pass
+                self.cam = None
+
+    def open_camera(self) -> None:
+        if self.running or self.opening:
+            return
+        self.opening = True
+        self.btn_open.config(state="disabled")
+        self.var_status.set("正在打开摄像头…（请稍候，不要重复点击）")
+        self.update_idletasks()
+
+        source = self.var_source.get()
+        width = int(self.var_width.get())
+        height = int(self.var_height.get())
+        serial = self.current_rs_serial()
+        cam_index = int(self.var_camera.get())
+
+        def worker() -> None:
+            cam = None
+            err = ""
+            try:
+                self.release_cam()
+                if source == "realsense":
+                    devices = list_realsense()
+                    if not devices:
+                        raise RuntimeError("没有 RealSense 设备。可改选「普通摄像头」，编号试 1")
+                    use_serial = serial or devices[0][1]
+                    cam = open_source("realsense", width, height, use_serial, cam_index)
+                else:
+                    cam = open_source("webcam", width, height, None, cam_index)
+                ok, frame = cam.read()
+                if not ok or frame is None:
+                    raise RuntimeError("摄像头打开后读不到画面")
+            except Exception as exc:
+                if cam is not None:
+                    try:
+                        cam.release()
+                    except Exception:
+                        pass
+                cam = None
+                err = str(exc)
+            self.after(0, lambda: self._open_done(cam, err))
+
+        threading.Thread(target=worker, daemon=True).start()
+
+    def _open_done(self, cam, err: str) -> None:
+        self.opening = False
+        if err or cam is None:
+            self.btn_open.config(state="normal")
+            self.btn_infer.config(state="disabled")
+            self.btn_stop.config(state="disabled")
+            self.var_status.set(err or "打开失败")
+            messagebox.showerror("摄像头", err or "打开失败")
+            return
+
+        with self.cam_lock:
+            self.cam = cam
+        self.running = True
+        self.infer_enabled = False
+        self.fail_reads = 0
+        self.btn_open.config(state="disabled")
+        self.btn_infer.config(state="normal")
+        self.btn_stop.config(state="normal")
+        w, h = getattr(cam, "size", (self.var_width.get(), self.var_height.get()))
+        self.var_status.set(f"摄像头已打开 {w}x{h}（预览中）。确认画面后点「开始推理」")
+        threading.Thread(target=self.loop_capture, daemon=True).start()
+
+    def start_infer(self) -> None:
+        if not self.running or self.cam is None:
+            messagebox.showwarning("推理", "请先打开摄像头")
+            return
+        model_path = Path(self.var_model.get().strip())
+        if not model_path.is_absolute():
+            model_path = ROOT / model_path
+        if not model_path.exists():
+            messagebox.showerror("权重", f"找不到权重文件:\n{model_path}")
+            return
+
+        self.btn_infer.config(state="disabled")
+        self.var_status.set(f"正在加载模型: {model_path.name} …")
+
+        # 取一帧热身，避免和采集线程同时 wait_for_frames
+        warmup = None
+        with self.lock:
+            if self.latest is not None:
+                warmup = self.latest.copy()
+
+        def load() -> None:
+            try:
+                backend = self.var_backend.get()
+                model = load_detector(
+                    backend=backend,
+                    weights=model_path,
+                    device=self.var_device.get(),
+                    num_classes=int(self.var_num_classes.get()),
+                    conf=float(self.var_conf.get()),
+                )
+                if warmup is not None:
+                    model.plot(
+                        warmup,
+                        conf=float(self.var_conf.get()),
+                        iou=float(self.var_iou.get()),
+                        imgsz=int(self.var_imgsz.get()),
+                    )
+            except Exception as exc:
+                self.after(0, lambda e=str(exc): self._infer_load_failed(e))
+                return
+            self.model = model
+            self.infer_enabled = True
+            used = getattr(model, "backend", backend)
+            self.after(0, lambda: self.var_status.set(f"推理中  backend={used}  模型={model_path.name}"))
+
+        threading.Thread(target=load, daemon=True).start()
+
+    def _infer_load_failed(self, msg: str) -> None:
+        self.infer_enabled = False
+        self.model = None
+        self.btn_infer.config(state="normal")
+        self.var_status.set(msg)
+        messagebox.showerror("模型加载失败", msg)
+
+    def stop(self) -> None:
+        self.running = False
+        self.infer_enabled = False
+        self.var_status.set("正在停止…")
+
+    def loop_capture(self) -> None:
+        t0, n = time.perf_counter(), 0
+        while self.running:
+            with self.cam_lock:
+                cam = self.cam
+            if cam is None:
+                break
+            ok, frame = cam.read()
+            if not ok or frame is None:
+                self.fail_reads += 1
+                if self.fail_reads >= 30:
+                    self.after(0, lambda: self.var_status.set("连续读帧失败，请停止后重开摄像头"))
+                    self.fail_reads = 0
+                time.sleep(0.02)
+                continue
+            self.fail_reads = 0
+
+            plotted = frame
+            det = 0
+            if self.infer_enabled and self.model is not None:
+                try:
+                    dets = self.model.detect(
+                        frame,
+                        conf=float(self.var_conf.get()),
+                        iou=float(self.var_iou.get()),
+                        imgsz=int(self.var_imgsz.get()),
+                    )
+                    plotted = frame.copy()
+                    for d in dets:
+                        x1, y1, x2, y2 = d.xyxy
+                        cv2.rectangle(plotted, (x1, y1), (x2, y2), (0, 255, 0), 2)
+                        cv2.putText(
+                            plotted,
+                            f"{d.conf:.2f}",
+                            (x1, max(20, y1 - 6)),
+                            cv2.FONT_HERSHEY_SIMPLEX,
+                            0.6,
+                            (0, 255, 0),
+                            2,
+                        )
+                    det = len(dets)
+                except Exception as exc:
+                    self.after(0, lambda e=str(exc): self.var_status.set(f"推理错误: {e}"))
+                    time.sleep(0.05)
+                    continue
+
+            n += 1
+            if n >= 8:
+                now = time.perf_counter()
+                self.fps = n / max(1e-6, now - t0)
+                t0, n = now, 0
+
+            show = plotted.copy()
+            mode = "DET" if self.infer_enabled else "PREVIEW"
+            cv2.putText(
+                show,
+                f"{mode}  FPS {self.fps:.1f}  det={det}  conf>={float(self.var_conf.get()):.2f}",
+                (16, 36),
+                cv2.FONT_HERSHEY_SIMPLEX,
+                0.8,
+                (0, 255, 0) if self.infer_enabled else (0, 200, 255),
+                2,
+            )
+            with self.lock:
+                self.latest = show
+
+        self.release_cam()
+        self.model = None
+        self.infer_enabled = False
+        self.after(0, self._stopped_ui)
+
+    def _stopped_ui(self) -> None:
+        self.btn_open.config(state="normal")
+        self.btn_infer.config(state="disabled")
+        self.btn_stop.config(state="disabled")
+        self.var_status.set("已停止")
+
+    def refresh_view(self) -> None:
+        frame = None
+        with self.lock:
+            if self.latest is not None:
+                frame = self.latest.copy()
+        if frame is not None:
+            try:
+                rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+                h, w = rgb.shape[:2]
+                max_w = max(int(self.canvas.winfo_width()), 640)
+                max_h = max(int(self.canvas.winfo_height()), 360)
+                scale = min(max_w / w, max_h / h, 1.0)
+                size = (max(1, int(w * scale)), max(1, int(h * scale)))
+                img = Image.fromarray(rgb).resize(size, Image.Resampling.BILINEAR)
+                self.photo = ImageTk.PhotoImage(img)
+                self.canvas.config(image=self.photo, text="")
+            except Exception as exc:
+                self.var_status.set(f"画面刷新失败: {exc}")
+        self.after(33, self.refresh_view)
+
+    def save_frame(self) -> None:
+        with self.lock:
+            frame = None if self.latest is None else self.latest.copy()
+        if frame is None:
+            messagebox.showwarning("保存", "当前没有可保存的画面")
+            return
+        out_dir = ROOT / "runs" / "predict_realtime"
+        out_dir.mkdir(parents=True, exist_ok=True)
+        out = out_dir / f"shot_{int(time.time())}.jpg"
+        cv2.imwrite(str(out), frame)
+        self.var_status.set(f"已保存: {out}")
+
+    def on_close(self) -> None:
+        self.running = False
+        self.infer_enabled = False
+        self.release_cam()
+        self.destroy()
+
+
+if __name__ == "__main__":
+    InferApp().mainloop()
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..8b4dd10
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,15 @@
+opencv-python
+numpy
+pillow
+pyrealsense2
+pyyaml
+tqdm
+matplotlib
+ipython
+scipy
+pandas
+jupyter
+notebook
+torch
+torchvision
+-e ./ultralytics
diff --git a/ros_flexiv/CHANGELOG.md b/ros_flexiv/CHANGELOG.md
new file mode 100644
index 0000000..aac3d72
--- /dev/null
+++ b/ros_flexiv/CHANGELOG.md
@@ -0,0 +1,21 @@
+# Changelog — ros_flexiv
+
+格式：`[版本] YYYY-MM-DD` — 摘要
+
+## [0.1.0] 2026-08-21 — 架构初版
+
+### Added
+- 跨平台 Python 核心包 `flexiv_assembly`（robot/camera/calib/gripper/tactile/projects/motion/app）
+- 工业风 HMI：项目运行、标定、安全点/初始点配置、Mock 后端
+- 通止规螺纹检测项目脚本骨架（双孔、悬停高度、稳坐标、暂停回安全点）
+- RealSense 内参导出脚本；棋盘格手眼标定 + 自动走点方案（FOV 未知时的两阶段策略）
+- 触觉算法预留接口 `tactile/interface.py`
+- 夹爪抽象（大寰 PGEA-100-40 适配器占位，可替换）
+- Flexiv 后端：`mock` / `rdk` / `ros2` / `sim_isaac` 四档
+- ROS2 工作空间骨架：`flexiv_msgs`、`flexiv_robot_driver`、`flexiv_vision_bridge`、`flexiv_bringup`
+- 文档：ARCHITECTURE / DEPENDENCIES / MIGRATION_UBUNTU / 手眼自动走点方案
+- 依赖说明与 `pyproject.toml`
+
+### Notes
+- Windows 无法联真机/ROS2，默认 `--backend mock` 验证状态机与 UI。
+- 迁移 Ubuntu 后接入 `flexivrdk` 与 RealSense，再切 `rdk` 或 `ros2`。
diff --git a/ros_flexiv/DEPENDENCIES.md b/ros_flexiv/DEPENDENCIES.md
new file mode 100644
index 0000000..7da047f
--- /dev/null
+++ b/ros_flexiv/DEPENDENCIES.md
@@ -0,0 +1,67 @@
+# 依赖说明 — ros_flexiv
+
+## Windows 开发（本机）
+
+```text
+Python >= 3.10
+PySide6
+opencv-python
+numpy
+pyyaml
+Pillow
+pyrealsense2          # 有相机时
+# 可选
+torch / torchvision   # 复用 camera_test 视觉权重时
+```
+
+安装：
+
+```powershell
+cd ros_flexiv
+pip install -e ".[dev]"
+# 有 RealSense：
+pip install pyrealsense2
+```
+
+**不需要**在 Windows 上安装 ROS2 / Isaac Sim 才能跑 Mock HMI。
+
+## Ubuntu 22.04 工控机（落地）
+
+### 系统
+- Ubuntu 22.04 LTS
+- NVIDIA 驱动 + CUDA（3090）
+- ROS 2 Humble（推荐）
+
+### Python / 硬件
+```text
+flexivrdk             # pip install flexivrdk（需匹配机器人软件版本）
+pyrealsense2
+librealsense2
+PySide6 / python3-pyqt5
+opencv-python
+numpy pyyaml
+```
+
+### ROS2 包编译
+```bash
+cd ros_flexiv/ros2_ws
+rosdep install --from-paths src -y --ignore-src
+colcon build --symlink-install
+source install/setup.bash
+```
+
+### 仿真（可选）
+- NVIDIA Isaac Sim + Flexiv Sim Plugin
+- 或 Flexiv Elements / Primitive 在线文档对应版本
+
+### 第三方源码
+- `third_party/flexiv_rdk` — GitHub flexivrobotics/flexiv_rdk
+- `third_party/flexiv_description` — URDF
+
+## 与 camera_test 的关系
+
+视觉二阶段检测可复用上级目录已有脚本：
+
+- `../hole_detect.py` / `../detectors.py` / `../infer_holes_realtime.py`
+
+本仓库通过 `flexiv_assembly.vision.hole_bridge` 做适配，不强制复制算法代码，便于两边各自升级。
diff --git a/ros_flexiv/README.md b/ros_flexiv/README.md
new file mode 100644
index 0000000..b3dc965
--- /dev/null
+++ b/ros_flexiv/README.md
@@ -0,0 +1,47 @@
+# ros_flexiv — Flexiv Rizon 4 装配视觉系统
+
+跨平台（Windows 开发 / Ubuntu 22.04 工控落地）的机械臂装配框架：HMI + ROS2 + RealSense + Flexiv RDK/仿真 + 可插拔项目脚本。
+
+## 设计原则
+
+1. **核心逻辑与 ROS2 解耦**：`src/flexiv_assembly` 纯 Python，Windows 可用 `mock` 跑通流程。
+2. **硬件全接口化**：相机 / 机械臂 / 夹爪 / 触觉均可替换。
+3. **项目脚本插件化**：新项目只需加 YAML + 一个 Script 类。
+4. **仿真优先落地**：无真机时用 Mock；有 IsaacSim / Flexiv 仿真时切 `sim`；真机切 `rdk`/`ros2`。
+
+## 快速开始（Windows 开发）
+
+```powershell
+cd d:\camera_test\ros_flexiv
+pip install -e .
+python scripts/run_hmi.py --backend mock
+```
+
+## Ubuntu 22.04 落地
+
+见 [docs/MIGRATION_UBUNTU.md](docs/MIGRATION_UBUNTU.md)。
+
+## 目录
+
+| 路径 | 说明 |
+|------|------|
+| `src/flexiv_assembly/` | 可移植 Python 核心 |
+| `configs/` | 硬件与项目配置 |
+| `ros2_ws/` | ROS2 包骨架（Ubuntu 编译） |
+| `scripts/` | 入口脚本 |
+| `third_party/` | Flexiv RDK / URDF 克隆 |
+| `docs/` | 架构、标定方案、迁移 |
+| `CHANGELOG.md` | 每次 AI/人工升级记录 |
+
+## 相机标定结论（D405 / D435）
+
+- **出厂内参/畸变**：SDK 可读，一般装配精度下**优先直接取内参**，不必强制重新标定。
+- **建议仍做**：两台相机的**手眼标定**（D435 眼在手外、D405 眼在手上）。
+- **可选**：棋盘格复核内参（精度审计），见 `scripts/dump_realsense_intrinsics.py`。
+
+## 第一个项目：通止规螺纹检测
+
+配置：`configs/projects/thread_gauge.yaml`  
+脚本：`flexiv_assembly.projects.thread_gauge`
+
+流程：初始拍照点 → 稳坐标 → 悬停 → 腕部相机双孔 → 触觉检测（预留）→ 复位初始点；暂停可回安全点。
diff --git a/ros_flexiv/configs/calibration.yaml b/ros_flexiv/configs/calibration.yaml
new file mode 100644
index 0000000..f7a5c73
--- /dev/null
+++ b/ros_flexiv/configs/calibration.yaml
@@ -0,0 +1,23 @@
+board:
+  type: chessboard
+  cols: 9              # 内角点列
+  rows: 6              # 内角点行
+  square_size_m: 0.025 # 方格边长
+
+handeye:
+  methods: [TSAI, PARK, HORAUD, ANDREFF, DANIILIDIS]
+  min_samples: 12
+  max_reproj_px: 1.5
+
+auto_waypoints:
+  board_distance_m: 0.45
+  margin_ratio: 0.10
+  trans_steps_m: [0.0, 0.03, -0.03, 0.05, -0.05]
+  z_steps_m: [0.0, 0.02, -0.02]
+  rot_deg: [0, 8, -8, 12, -12]
+  target_samples: 20
+
+quality:
+  max_solver_spread_mm: 3.0
+  max_axxb_mm: 2.0
+  warn_coplanar: true
diff --git a/ros_flexiv/configs/cameras.yaml b/ros_flexiv/configs/cameras.yaml
new file mode 100644
index 0000000..54766a3
--- /dev/null
+++ b/ros_flexiv/configs/cameras.yaml
@@ -0,0 +1,17 @@
+cameras:
+  d435:
+    role: eye_to_hand
+    serial: ""           # 空=自动按名称匹配
+    name_hint: "D435"
+    stream: color
+    width: 1280
+    height: 720
+    fps: 30
+  d405:
+    role: eye_in_hand
+    serial: ""
+    name_hint: "D405"
+    stream: color
+    width: 1280
+    height: 720
+    fps: 30
diff --git a/ros_flexiv/configs/gripper.yaml b/ros_flexiv/configs/gripper.yaml
new file mode 100644
index 0000000..e0bb04b
--- /dev/null
+++ b/ros_flexiv/configs/gripper.yaml
@@ -0,0 +1,7 @@
+# 夹爪（可替换型号）
+model: dharma_pgea_100_40
+comm: modbus_rtu          # 占位
+port: "COM3"              # Windows；Ubuntu 改为 /dev/ttyUSB*
+baud: 115200
+open_pos: 40.0
+close_force: 50.0
diff --git a/ros_flexiv/configs/projects/_template.yaml b/ros_flexiv/configs/projects/_template.yaml
new file mode 100644
index 0000000..00cca80
--- /dev/null
+++ b/ros_flexiv/configs/projects/_template.yaml
@@ -0,0 +1,12 @@
+# 新项目模板
+# 1) 复制本文件为 configs/projects/<id>.yaml
+# 2) 复制 projects/_template 为 projects/<id>/script.py 并改类名
+# 3) 在 HMI 刷新即可出现
+
+id: my_new_project
+name: 我的新项目
+version: "0.1.0"
+enabled: false
+module: flexiv_assembly.projects._template.script
+class: TemplateScript
+params: {}
diff --git a/ros_flexiv/configs/projects/thread_gauge.yaml b/ros_flexiv/configs/projects/thread_gauge.yaml
new file mode 100644
index 0000000..2d34126
--- /dev/null
+++ b/ros_flexiv/configs/projects/thread_gauge.yaml
@@ -0,0 +1,22 @@
+id: thread_gauge
+name: 通止规螺纹孔检测
+version: "0.1.0"
+description: >
+  外部相机定位工件 → 悬停 → 腕部相机双螺纹孔 → 触觉通止检测（预留）→ 复位。
+
+enabled: true
+module: flexiv_assembly.projects.thread_gauge.script
+class: ThreadGaugeScript
+
+params:
+  detector_backend: yolo          # yolo | faster_rcnn
+  weights: ""                     # 空则用 camera_test 默认 gongjian best.pt
+  hole_config: ""                 # 空则用 ../hole_detect_config.yaml
+  camera_eye_to_hand: d435
+  camera_eye_in_hand: d405
+  standoff_m: 0.08
+  coord_window: 7
+  coord_ema: 0.35
+  coord_max_jump_m: 0.01
+  settle_frames: 10
+  require_both_holes: true
diff --git a/ros_flexiv/configs/robot.yaml b/ros_flexiv/configs/robot.yaml
new file mode 100644
index 0000000..fc5311d
--- /dev/null
+++ b/ros_flexiv/configs/robot.yaml
@@ -0,0 +1,17 @@
+# 机器人与安全点（真机部署时修改）
+robot_sn: "Rizon4-XXXXXX"
+backend: mock          # mock | rdk | ros2 | sim_isaac
+
+# 初始拍照点（相机视野内，base 系 xyz + quat wxyz）
+inspect_home:
+  xyz: [0.55, 0.0, 0.45]
+  quat_wxyz: [1.0, 0.0, 0.0, 0.0]
+
+# 安全点（暂停复位，与 inspect_home 不同）
+safe_home:
+  xyz: [0.40, 0.0, 0.55]
+  quat_wxyz: [1.0, 0.0, 0.0, 0.0]
+
+tcp_standoff_m: 0.08   # 悬停相对工件表面预留高度，可调
+max_lin_vel: 0.25
+max_ang_vel: 0.8
diff --git a/ros_flexiv/docs/ARCHITECTURE.md b/ros_flexiv/docs/ARCHITECTURE.md
new file mode 100644
index 0000000..af9062d
--- /dev/null
+++ b/ros_flexiv/docs/ARCHITECTURE.md
@@ -0,0 +1,42 @@
+# 架构说明
+
+```
+┌─────────────────────────────────────────────────────────────┐
+│                     HMI (PySide6)                            │
+│  运行脚本 | 标定 | 点位配置 | 日志 | 仿真/真机切换              │
+└───────────────┬─────────────────────────────────────────────┘
+                │ ScriptRunner / ProjectRegistry
+┌───────────────▼─────────────────────────────────────────────┐
+│                 Project Scripts (插件)                        │
+│  thread_gauge | (future projects...)                         │
+└───────┬───────────────┬───────────────┬─────────────────────┘
+        │               │               │
+   Motion/Pose     Vision Bridge    Tactile API
+        │               │               │
+┌───────▼──────┐ ┌──────▼──────┐ ┌─────▼──────┐
+│ RobotBackend │ │ RealSense   │ │ Tactile    │
+│ mock/rdk/    │ │ D435/D405   │ │ Interface  │
+│ ros2/sim     │ │ + hole det  │ │ (自研预留)  │
+└───────┬──────┘ └─────────────┘ └────────────┘
+        │
+   Flexiv Rizon 4  ←→  GripperBackend (PGEA / 可替换)
+```
+
+## 后端模式
+
+| mode | 用途 |
+|------|------|
+| `mock` | Windows 无真机联调状态机/UI |
+| `rdk` | 直连 `flexivrdk`（工控机推荐早期联调） |
+| `ros2` | 经 ROS2 topic/service（多节点扩展） |
+| `sim_isaac` | Isaac Sim + Flexiv Plugin（渲染仿真） |
+
+## 坐标稳帧
+
+视觉输出像素/三维坐标使用 `CoordStabilizer`：中位数窗 + EMA + 最大跳变门限，避免单帧闪烁导致规划抖动。
+
+## 手眼与两相机
+
+- D435：眼在手外 → `T_base_cam_d435`
+- D405：眼在手上 → `T_flange_cam_d405`（或 TCP 系，配置可选）
+- 规划时统一变换到 `base` / `tcp` 系
diff --git a/ros_flexiv/docs/HANDEYE_AUTO_WAYPOINTS.md b/ros_flexiv/docs/HANDEYE_AUTO_WAYPOINTS.md
new file mode 100644
index 0000000..f3e5212
--- /dev/null
+++ b/ros_flexiv/docs/HANDEYE_AUTO_WAYPOINTS.md
@@ -0,0 +1,50 @@
+# 手眼自动走点方案（无真机 FOV 未知）
+
+## 问题
+
+没有真机时无法实测「棋盘格在画面里多大、臂能伸多远还不丢板」。若盲目生成关节空间轨迹，易导致板出画、奇异、碰撞。
+
+## 推荐：两阶段 + 虚拟视锥
+
+### 阶段 0 — 配置（现在就能做）
+
+在 `configs/calibration.yaml` 填：
+
+- 棋盘格：内角点行列、方格边长 (mm)
+- 相机：D435/D405 标称水平/垂直 FOV（或从内参推）
+- 假设板心距离相机 `board_distance_m`（先 0.35~0.55，真机再改）
+- 机器人工作空间软限位（关节或笛卡尔盒子）
+
+### 阶段 1 — 示教锚点（真机第一次上电，1 分钟）
+
+人工把臂移到：**标定板完整、清晰、大致居中** 的一个姿态，点「设为锚点」。  
+只需要 **1 个** 合格锚点，不靠猜 FOV。
+
+### 阶段 2 — 自动扇出采样
+
+以锚点法兰位姿为中心，在 SE(3) 小扰动生成候选：
+
+- 平移：±X/±Y/±Z（默认 30/30/20 mm 阶梯）
+- 旋转：绕板法向/绕相机光轴小角度（±10°~15°）
+- **视锥过滤**：用内参 + `board_distance_m` 估计板四角是否仍落在图像内（留 10% 边距）
+- **多样性门控**：拒绝共面退化集（平移主成分、旋转跨度）
+- 实际采集时：**只有 OpenCV 检出棋盘且角点误差 < 阈值才入库**
+
+目标：每相机 **15~25** 组优质样本。
+
+### 阶段 3 — 求解与精度报告
+
+- Eye-in-hand / Eye-to-hand 分别调用 `calibrateHandEye`（手外对法兰位姿做逆变换）
+- 多算法交叉（TSAI / PARK / DANIILIDIS…）一致性
+- 输出：重投影误差、AX=XB 残差、留一法、共面警告
+- **自动诊断文案**：模糊、过曝、样本过少、近似共面、跳变过大等
+
+### Windows 现在能做什么
+
+- UI 走完流程、生成「计划走点 JSON」
+- Mock 后端模拟「检出成功/失败」
+- 真机到了：同一套计划 + 锚点示教即可采数
+
+## 为何不强制重标 D400 内参
+
+D405/D435 出厂标定写在设备里，深度/RGB 对齐依赖它。装配级手眼通常 **读取内参即可**；若审计超差再棋盘格复核，避免覆盖出厂模型导致深度异常。
diff --git a/ros_flexiv/docs/MIGRATION_UBUNTU.md b/ros_flexiv/docs/MIGRATION_UBUNTU.md
new file mode 100644
index 0000000..03dec61
--- /dev/null
+++ b/ros_flexiv/docs/MIGRATION_UBUNTU.md
@@ -0,0 +1,13 @@
+# Ubuntu 22.04 迁移清单
+
+1. 拷贝整个 `ros_flexiv/`（可不含 Windows 虚拟环境）
+2. 安装依赖见 `DEPENDENCIES.md`
+3. 确认 RealSense 串口/USB、Flexiv 网段互通
+4. 填写 `configs/robot.yaml` 序列号、安全点、初始拍照点
+5. `python scripts/dump_realsense_intrinsics.py` 导出两相机内参
+6. 完成 D435 / D405 手眼标定，结果写入 `data/calib/`
+7. `colcon build` ROS2 包，或直接 `rdk` 后端验证运动
+8. HMI：`python scripts/run_hmi.py --backend rdk`
+9. 仿真：安装 Isaac Sim Flexiv Plugin 后 `--backend sim_isaac`
+
+Windows 上验证过的脚本状态机无需改业务逻辑，只切 backend 与配置路径。
diff --git a/ros_flexiv/pyproject.toml b/ros_flexiv/pyproject.toml
new file mode 100644
index 0000000..8dd39dc
--- /dev/null
+++ b/ros_flexiv/pyproject.toml
@@ -0,0 +1,28 @@
+[build-system]
+requires = ["setuptools>=68", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "flexiv-assembly"
+version = "0.1.0"
+description = "Flexiv Rizon4 assembly vision framework (Windows mock / Ubuntu deploy)"
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+  "numpy>=1.24",
+  "opencv-python>=4.8",
+  "PyYAML>=6.0",
+  "Pillow>=10.0",
+  "PySide6>=6.5",
+]
+
+[project.optional-dependencies]
+dev = ["pytest>=7.0"]
+camera = ["pyrealsense2"]
+robot = ["flexivrdk"]
+
+[project.scripts]
+flexiv-hmi = "flexiv_assembly.app.main:main"
+
+[tool.setuptools.packages.find]
+where = ["src"]
diff --git a/ros_flexiv/ros2_ws/src/flexiv_msgs/CMakeLists.txt b/ros_flexiv/ros2_ws/src/flexiv_msgs/CMakeLists.txt
new file mode 100644
index 0000000..1649491
--- /dev/null
+++ b/ros_flexiv/ros2_ws/src/flexiv_msgs/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.8)
+project(flexiv_msgs)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/RobotState.msg"
+  "msg/ScriptCommand.msg"
+  DEPENDENCIES std_msgs geometry_msgs
+)
+ament_package()
diff --git a/ros_flexiv/ros2_ws/src/flexiv_msgs/msg/RobotState.msg b/ros_flexiv/ros2_ws/src/flexiv_msgs/msg/RobotState.msg
new file mode 100644
index 0000000..3ed3cb9
--- /dev/null
+++ b/ros_flexiv/ros2_ws/src/flexiv_msgs/msg/RobotState.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+geometry_msgs/Pose tcp_pose
+float64[] joint_pos
+string fault
diff --git a/ros_flexiv/ros2_ws/src/flexiv_msgs/msg/ScriptCommand.msg b/ros_flexiv/ros2_ws/src/flexiv_msgs/msg/ScriptCommand.msg
new file mode 100644
index 0000000..df1b682
--- /dev/null
+++ b/ros_flexiv/ros2_ws/src/flexiv_msgs/msg/ScriptCommand.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+string project_id
+string action   # start|pause|stop|reset_safe
diff --git a/ros_flexiv/ros2_ws/src/flexiv_msgs/package.xml b/ros_flexiv/ros2_ws/src/flexiv_msgs/package.xml
new file mode 100644
index 0000000..d7608f9
--- /dev/null
+++ b/ros_flexiv/ros2_ws/src/flexiv_msgs/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>flexiv_msgs</name>
+  <version>0.1.0</version>
+  <description>Messages for Flexiv assembly stack</description>
+  <maintainer email="dev@local">dev</maintainer>
+  <license>Apache-2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/ros_flexiv/ros2_ws/src/flexiv_robot_driver/flexiv_robot_driver/__init__.py b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/flexiv_robot_driver/__init__.py
new file mode 100644
index 0000000..5bb534f
--- /dev/null
+++ b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/flexiv_robot_driver/__init__.py
@@ -0,0 +1 @@
+# package
diff --git a/ros_flexiv/ros2_ws/src/flexiv_robot_driver/flexiv_robot_driver/driver_node.py b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/flexiv_robot_driver/driver_node.py
new file mode 100644
index 0000000..d6e342e
--- /dev/null
+++ b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/flexiv_robot_driver/driver_node.py
@@ -0,0 +1,8 @@
+"""Ubuntu 上实现：读 RDK 状态，提供 MoveLin service/action。"""
+
+def main():
+    print("flexiv_robot_driver stub — implement with rclpy + flexivrdk on Ubuntu 22.04")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/ros_flexiv/ros2_ws/src/flexiv_robot_driver/package.xml b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/package.xml
new file mode 100644
index 0000000..9d63d43
--- /dev/null
+++ b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/package.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>flexiv_robot_driver</name>
+  <version>0.1.0</version>
+  <description>Flexiv RDK ROS2 driver stub — implement on Ubuntu</description>
+  <maintainer email="dev@local">dev</maintainer>
+  <license>Apache-2.0</license>
+  <depend>rclpy</depend>
+  <depend>flexiv_msgs</depend>
+  <test_depend>ament_copyright</test_depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/ros_flexiv/ros2_ws/src/flexiv_robot_driver/resource/flexiv_robot_driver b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/resource/flexiv_robot_driver
new file mode 100644
index 0000000..0d2f875
--- /dev/null
+++ b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/resource/flexiv_robot_driver
@@ -0,0 +1 @@
+# marker
diff --git a/ros_flexiv/ros2_ws/src/flexiv_robot_driver/setup.py b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/setup.py
new file mode 100644
index 0000000..c075484
--- /dev/null
+++ b/ros_flexiv/ros2_ws/src/flexiv_robot_driver/setup.py
@@ -0,0 +1,18 @@
+from setuptools import setup
+package_name = 'flexiv_robot_driver'
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='dev',
+    maintainer_email='dev@local',
+    description='Flexiv RDK ROS2 driver stub',
+    license='Apache-2.0',
+    entry_points={'console_scripts': ['driver = flexiv_robot_driver.driver_node:main']},
+)
diff --git a/ros_flexiv/scripts/dump_realsense_intrinsics.py b/ros_flexiv/scripts/dump_realsense_intrinsics.py
new file mode 100644
index 0000000..c9c77ec
--- /dev/null
+++ b/ros_flexiv/scripts/dump_realsense_intrinsics.py
@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+"""导出已连接 RealSense 出厂内参到 data/calib/intrinsics.json"""
+
+from __future__ import annotations
+
+import json
+from pathlib import Path
+
+from flexiv_assembly.camera.intrinsics import dump_realsense_intrinsics
+
+ROOT = Path(__file__).resolve().parents[1]
+
+
+def main() -> None:
+    data = dump_realsense_intrinsics()
+    out = ROOT / "data" / "calib" / "intrinsics.json"
+    out.parent.mkdir(parents=True, exist_ok=True)
+    out.write_text(json.dumps(data, indent=2), encoding="utf-8")
+    print(f"saved {out} devices={len(data)}")
+    for d in data:
+        print(f" - {d['name']} [{d['serial']}] fx={d['fx']:.1f} fy={d['fy']:.1f}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/ros_flexiv/scripts/handeye_solve.py b/ros_flexiv/scripts/handeye_solve.py
new file mode 100644
index 0000000..9a1534e
--- /dev/null
+++ b/ros_flexiv/scripts/handeye_solve.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+"""最小手眼求解示例：从已保存的 R,t 列表求解（采集流程真机再接）。"""
+
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+import numpy as np
+import yaml
+
+from flexiv_assembly.calibration.handeye import solve_handeye
+from flexiv_assembly.calibration.quality_report import diagnose
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--setup", choices=["eye_in_hand", "eye_to_hand"], required=True)
+    parser.add_argument("--session", type=Path, required=True, help="含 poses.yaml 的会话目录")
+    parser.add_argument("--out", type=Path, required=True)
+    args = parser.parse_args()
+
+    data = yaml.safe_load((args.session / "poses.yaml").read_text(encoding="utf-8"))
+    Rg = [np.asarray(x, float) for x in data["R_gripper2base"]]
+    tg = [np.asarray(x, float).reshape(3, 1) for x in data["t_gripper2base"]]
+    Rt = [np.asarray(x, float) for x in data["R_target2cam"]]
+    tt = [np.asarray(x, float).reshape(3, 1) for x in data["t_target2cam"]]
+
+    results = []
+    for m in ["TSAI", "PARK", "HORAUD", "ANDREFF", "DANIILIDIS"]:
+        try:
+            results.append(solve_handeye(Rg, tg, Rt, tt, setup=args.setup, method=m))
+        except Exception as exc:
+            print("skip", m, exc)
+
+    if not results:
+        raise SystemExit("无求解结果")
+    # 简化 spread：平移向量标准差
+    ts = np.stack([r.t for r in results], axis=0)
+    spread = float(np.linalg.norm(ts.std(axis=0)) * 1000)
+    report = diagnose(len(Rg), spread, spread, 0.5, False, {"handeye": {"min_samples": 8}, "quality": {}})
+    best = results[-1]
+    args.out.parent.mkdir(parents=True, exist_ok=True)
+    payload = {
+        "setup": args.setup,
+        "method": best.method,
+        "T": best.T.tolist(),
+        "quality": report.__dict__,
+    }
+    args.out.write_text(yaml.safe_dump(payload, allow_unicode=True), encoding="utf-8")
+    print("wrote", args.out)
+    print("ok", report.ok, report.errors or report.messages)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/ros_flexiv/scripts/run_hmi.py b/ros_flexiv/scripts/run_hmi.py
new file mode 100644
index 0000000..676d7b7
--- /dev/null
+++ b/ros_flexiv/scripts/run_hmi.py
@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+from flexiv_assembly.app.main import main
+
+if __name__ == "__main__":
+    main()
diff --git a/ros_flexiv/src/flexiv_assembly.egg-info/PKG-INFO b/ros_flexiv/src/flexiv_assembly.egg-info/PKG-INFO
new file mode 100644
index 0000000..c0853c3
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly.egg-info/PKG-INFO
@@ -0,0 +1,65 @@
+Metadata-Version: 2.4
+Name: flexiv-assembly
+Version: 0.1.0
+Summary: Flexiv Rizon4 assembly vision framework (Windows mock / Ubuntu deploy)
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+Requires-Dist: numpy>=1.24
+Requires-Dist: opencv-python>=4.8
+Requires-Dist: PyYAML>=6.0
+Requires-Dist: Pillow>=10.0
+Requires-Dist: PySide6>=6.5
+Provides-Extra: dev
+Requires-Dist: pytest>=7.0; extra == "dev"
+Provides-Extra: camera
+Requires-Dist: pyrealsense2; extra == "camera"
+Provides-Extra: robot
+Requires-Dist: flexivrdk; extra == "robot"
+
+# ros_flexiv — Flexiv Rizon 4 装配视觉系统
+
+跨平台（Windows 开发 / Ubuntu 22.04 工控落地）的机械臂装配框架：HMI + ROS2 + RealSense + Flexiv RDK/仿真 + 可插拔项目脚本。
+
+## 设计原则
+
+1. **核心逻辑与 ROS2 解耦**：`src/flexiv_assembly` 纯 Python，Windows 可用 `mock` 跑通流程。
+2. **硬件全接口化**：相机 / 机械臂 / 夹爪 / 触觉均可替换。
+3. **项目脚本插件化**：新项目只需加 YAML + 一个 Script 类。
+4. **仿真优先落地**：无真机时用 Mock；有 IsaacSim / Flexiv 仿真时切 `sim`；真机切 `rdk`/`ros2`。
+
+## 快速开始（Windows 开发）
+
+```powershell
+cd d:\camera_test\ros_flexiv
+pip install -e .
+python scripts/run_hmi.py --backend mock
+```
+
+## Ubuntu 22.04 落地
+
+见 [docs/MIGRATION_UBUNTU.md](docs/MIGRATION_UBUNTU.md)。
+
+## 目录
+
+| 路径 | 说明 |
+|------|------|
+| `src/flexiv_assembly/` | 可移植 Python 核心 |
+| `configs/` | 硬件与项目配置 |
+| `ros2_ws/` | ROS2 包骨架（Ubuntu 编译） |
+| `scripts/` | 入口脚本 |
+| `third_party/` | Flexiv RDK / URDF 克隆 |
+| `docs/` | 架构、标定方案、迁移 |
+| `CHANGELOG.md` | 每次 AI/人工升级记录 |
+
+## 相机标定结论（D405 / D435）
+
+- **出厂内参/畸变**：SDK 可读，一般装配精度下**优先直接取内参**，不必强制重新标定。
+- **建议仍做**：两台相机的**手眼标定**（D435 眼在手外、D405 眼在手上）。
+- **可选**：棋盘格复核内参（精度审计），见 `scripts/dump_realsense_intrinsics.py`。
+
+## 第一个项目：通止规螺纹检测
+
+配置：`configs/projects/thread_gauge.yaml`  
+脚本：`flexiv_assembly.projects.thread_gauge`
+
+流程：初始拍照点 → 稳坐标 → 悬停 → 腕部相机双孔 → 触觉检测（预留）→ 复位初始点；暂停可回安全点。
diff --git a/ros_flexiv/src/flexiv_assembly.egg-info/SOURCES.txt b/ros_flexiv/src/flexiv_assembly.egg-info/SOURCES.txt
new file mode 100644
index 0000000..0d8f38f
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly.egg-info/SOURCES.txt
@@ -0,0 +1,42 @@
+README.md
+pyproject.toml
+src/flexiv_assembly/__init__.py
+src/flexiv_assembly.egg-info/PKG-INFO
+src/flexiv_assembly.egg-info/SOURCES.txt
+src/flexiv_assembly.egg-info/dependency_links.txt
+src/flexiv_assembly.egg-info/entry_points.txt
+src/flexiv_assembly.egg-info/requires.txt
+src/flexiv_assembly.egg-info/top_level.txt
+src/flexiv_assembly/app/__init__.py
+src/flexiv_assembly/app/main.py
+src/flexiv_assembly/calibration/__init__.py
+src/flexiv_assembly/calibration/auto_waypoints.py
+src/flexiv_assembly/calibration/chessboard.py
+src/flexiv_assembly/calibration/handeye.py
+src/flexiv_assembly/calibration/quality_report.py
+src/flexiv_assembly/camera/__init__.py
+src/flexiv_assembly/camera/intrinsics.py
+src/flexiv_assembly/gripper/__init__.py
+src/flexiv_assembly/gripper/base.py
+src/flexiv_assembly/motion/__init__.py
+src/flexiv_assembly/motion/planner.py
+src/flexiv_assembly/motion/poses.py
+src/flexiv_assembly/projects/__init__.py
+src/flexiv_assembly/projects/base_script.py
+src/flexiv_assembly/projects/registry.py
+src/flexiv_assembly/projects/_template/__init__.py
+src/flexiv_assembly/projects/_template/script.py
+src/flexiv_assembly/projects/thread_gauge/__init__.py
+src/flexiv_assembly/projects/thread_gauge/script.py
+src/flexiv_assembly/robot/__init__.py
+src/flexiv_assembly/robot/base.py
+src/flexiv_assembly/robot/factory.py
+src/flexiv_assembly/robot/mock.py
+src/flexiv_assembly/robot/rdk.py
+src/flexiv_assembly/robot/ros2_bridge.py
+src/flexiv_assembly/robot/sim_isaac.py
+src/flexiv_assembly/tactile/__init__.py
+src/flexiv_assembly/tactile/interface.py
+src/flexiv_assembly/vision/__init__.py
+src/flexiv_assembly/vision/hole_bridge.py
+src/flexiv_assembly/vision/stabilizer.py
\ No newline at end of file
diff --git a/ros_flexiv/src/flexiv_assembly.egg-info/dependency_links.txt b/ros_flexiv/src/flexiv_assembly.egg-info/dependency_links.txt
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/ros_flexiv/src/flexiv_assembly.egg-info/entry_points.txt b/ros_flexiv/src/flexiv_assembly.egg-info/entry_points.txt
new file mode 100644
index 0000000..22af5a3
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly.egg-info/entry_points.txt
@@ -0,0 +1,2 @@
+[console_scripts]
+flexiv-hmi = flexiv_assembly.app.main:main
diff --git a/ros_flexiv/src/flexiv_assembly.egg-info/requires.txt b/ros_flexiv/src/flexiv_assembly.egg-info/requires.txt
new file mode 100644
index 0000000..6a43987
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly.egg-info/requires.txt
@@ -0,0 +1,14 @@
+numpy>=1.24
+opencv-python>=4.8
+PyYAML>=6.0
+Pillow>=10.0
+PySide6>=6.5
+
+[camera]
+pyrealsense2
+
+[dev]
+pytest>=7.0
+
+[robot]
+flexivrdk
diff --git a/ros_flexiv/src/flexiv_assembly.egg-info/top_level.txt b/ros_flexiv/src/flexiv_assembly.egg-info/top_level.txt
new file mode 100644
index 0000000..08d64e3
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly.egg-info/top_level.txt
@@ -0,0 +1 @@
+flexiv_assembly
diff --git a/ros_flexiv/src/flexiv_assembly/__init__.py b/ros_flexiv/src/flexiv_assembly/__init__.py
new file mode 100644
index 0000000..8110a3a
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/__init__.py
@@ -0,0 +1,3 @@
+"""Flexiv assembly portable core."""
+
+__version__ = "0.1.0"
diff --git a/ros_flexiv/src/flexiv_assembly/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/__pycache__/__init__.cpython-311.pyc
new file mode 100644
index 0000000..fbd57c3
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diff --git a/ros_flexiv/src/flexiv_assembly/app/__init__.py b/ros_flexiv/src/flexiv_assembly/app/__init__.py
new file mode 100644
index 0000000..5bb534f
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/app/__init__.py
@@ -0,0 +1 @@
+# package
diff --git a/ros_flexiv/src/flexiv_assembly/app/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/app/__pycache__/__init__.cpython-311.pyc
new file mode 100644
index 0000000..d7aad97
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diff --git a/ros_flexiv/src/flexiv_assembly/app/__pycache__/main.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/app/__pycache__/main.cpython-311.pyc
new file mode 100644
index 0000000..e33085f
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diff --git a/ros_flexiv/src/flexiv_assembly/app/main.py b/ros_flexiv/src/flexiv_assembly/app/main.py
new file mode 100644
index 0000000..5309967
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/app/main.py
@@ -0,0 +1,310 @@
+from __future__ import annotations
+
+import sys
+import threading
+from pathlib import Path
+
+from PySide6.QtCore import Qt, Signal, QObject
+from PySide6.QtGui import QFont, QColor, QPalette
+from PySide6.QtWidgets import (
+    QApplication,
+    QComboBox,
+    QFormLayout,
+    QGroupBox,
+    QHBoxLayout,
+    QLabel,
+    QLineEdit,
+    QListWidget,
+    QMainWindow,
+    QMessageBox,
+    QPushButton,
+    QPlainTextEdit,
+    QDoubleSpinBox,
+    QTabWidget,
+    QVBoxLayout,
+    QWidget,
+    QFileDialog,
+)
+
+from flexiv_assembly.gripper.base import MockGripper
+from flexiv_assembly.projects.base_script import ScriptContext
+from flexiv_assembly.projects.registry import list_projects, load_script
+from flexiv_assembly.robot.factory import load_robot_backend
+from flexiv_assembly.tactile.interface import MockTactile
+from flexiv_assembly.calibration.auto_waypoints import plan_around_anchor
+from flexiv_assembly.motion.poses import Pose
+import yaml
+
+PKG_ROOT = Path(__file__).resolve().parents[3]
+
+
+class LogBridge(QObject):
+    message = Signal(str)
+
+
+class MainWindow(QMainWindow):
+    def __init__(self, backend: str = "mock") -> None:
+        super().__init__()
+        self.setWindowTitle("FLEXIV ASSEMBLY  ·  ros_flexiv")
+        self.resize(1280, 800)
+        self.backend = backend
+        self._worker: threading.Thread | None = None
+        self._script = None
+        self.log_bridge = LogBridge()
+        self.log_bridge.message.connect(self._append_log)
+
+        self.robot_cfg_path = PKG_ROOT / "configs" / "robot.yaml"
+        self.projects_dir = PKG_ROOT / "configs" / "projects"
+        self.calib_cfg_path = PKG_ROOT / "configs" / "calibration.yaml"
+
+        tabs = QTabWidget()
+        tabs.addTab(self._build_run_tab(), "运行脚本")
+        tabs.addTab(self._build_calib_tab(), "标定")
+        tabs.addTab(self._build_points_tab(), "点位配置")
+        self.setCentralWidget(tabs)
+        self._apply_theme()
+        self.refresh_projects()
+
+    def _apply_theme(self) -> None:
+        self.setStyleSheet(
+            """
+            QMainWindow, QWidget { background: #12151a; color: #e8eaed; font-family: 'Segoe UI'; }
+            QTabWidget::pane { border: 1px solid #2a3038; }
+            QTabBar::tab { background: #1a1f26; color: #9aa3ad; padding: 10px 18px; margin-right: 2px; }
+            QTabBar::tab:selected { background: #232a33; color: #f0c674; border-bottom: 2px solid #f0c674; }
+            QGroupBox { border: 1px solid #2a3038; margin-top: 12px; padding: 12px; font-weight: 600; }
+            QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 6px; color: #f0c674; }
+            QPushButton { background: #2b3340; border: 1px solid #3a4452; padding: 8px 14px; border-radius: 4px; }
+            QPushButton:hover { background: #354050; }
+            QPushButton#primary { background: #3d4f3a; border-color: #6a8f5a; color: #d7f0c8; }
+            QPushButton#danger { background: #4a3030; border-color: #a06060; color: #ffd0d0; }
+            QPlainTextEdit, QListWidget, QLineEdit, QComboBox, QDoubleSpinBox {
+                background: #0e1116; border: 1px solid #2a3038; padding: 6px; selection-background-color: #3d4f3a;
+            }
+            QLabel#hero { font-size: 22px; font-weight: 700; color: #f0c674; letter-spacing: 1px; }
+            QLabel#sub { color: #9aa3ad; }
+            """
+        )
+
+    def _build_run_tab(self) -> QWidget:
+        w = QWidget()
+        layout = QHBoxLayout(w)
+        left = QVBoxLayout()
+        hero = QLabel("ASSEMBLY CONSOLE")
+        hero.setObjectName("hero")
+        sub = QLabel("选择项目脚本 → 启动。暂停可复位到安全点（≠ 拍照点）。")
+        sub.setObjectName("sub")
+        left.addWidget(hero)
+        left.addWidget(sub)
+        self.project_list = QListWidget()
+        left.addWidget(self.project_list, 1)
+        row = QHBoxLayout()
+        self.cmb_backend = QComboBox()
+        self.cmb_backend.addItems(["mock", "rdk", "ros2", "sim_isaac"])
+        self.cmb_backend.setCurrentText(self.backend)
+        row.addWidget(QLabel("Backend"))
+        row.addWidget(self.cmb_backend)
+        left.addLayout(row)
+        btns = QHBoxLayout()
+        self.btn_start = QPushButton("启动脚本")
+        self.btn_start.setObjectName("primary")
+        self.btn_pause = QPushButton("暂停 / 安全复位")
+        self.btn_stop = QPushButton("停止")
+        self.btn_stop.setObjectName("danger")
+        self.btn_start.clicked.connect(self.start_script)
+        self.btn_pause.clicked.connect(self.pause_script)
+        self.btn_stop.clicked.connect(self.stop_script)
+        btns.addWidget(self.btn_start)
+        btns.addWidget(self.btn_pause)
+        btns.addWidget(self.btn_stop)
+        left.addLayout(btns)
+        layout.addLayout(left, 2)
+        right = QVBoxLayout()
+        right.addWidget(QLabel("运行日志"))
+        self.log_view = QPlainTextEdit()
+        self.log_view.setReadOnly(True)
+        right.addWidget(self.log_view, 1)
+        layout.addLayout(right, 3)
+        return w
+
+    def _build_calib_tab(self) -> QWidget:
+        w = QWidget()
+        layout = QVBoxLayout(w)
+        layout.addWidget(QLabel("标定（D405 眼在手内 / D435 眼在手外）"))
+        form = QFormLayout()
+        self.sp_square = QDoubleSpinBox()
+        self.sp_square.setDecimals(4)
+        self.sp_square.setRange(0.001, 0.2)
+        self.sp_square.setValue(0.025)
+        self.sp_square.setSuffix(" m")
+        self.cmb_setup = QComboBox()
+        self.cmb_setup.addItems(["eye_in_hand (D405)", "eye_to_hand (D435)"])
+        self.cmb_cam = QComboBox()
+        self.cmb_cam.addItems(["d405", "d435"])
+        form.addRow("方格边长", self.sp_square)
+        form.addRow("手眼类型", self.cmb_setup)
+        form.addRow("相机", self.cmb_cam)
+        layout.addLayout(form)
+        row = QHBoxLayout()
+        b1 = QPushButton("导出 RealSense 内参")
+        b1.clicked.connect(self.dump_intrinsics)
+        b2 = QPushButton("生成自动走点计划（需锚点）")
+        b2.clicked.connect(self.gen_waypoints)
+        b3 = QPushButton("打开标定说明")
+        b3.clicked.connect(lambda: self._append_log("见 docs/HANDEYE_AUTO_WAYPOINTS.md"))
+        row.addWidget(b1)
+        row.addWidget(b2)
+        row.addWidget(b3)
+        layout.addLayout(row)
+        tip = QLabel(
+            "建议：出厂内参直接读取；两相机必须手眼标定。无真机时先生成走点计划，"
+            "真机示教 1 个锚点后自动扇出采样。"
+        )
+        tip.setWordWrap(True)
+        tip.setObjectName("sub")
+        layout.addWidget(tip)
+        layout.addStretch(1)
+        return w
+
+    def _build_points_tab(self) -> QWidget:
+        w = QWidget()
+        layout = QVBoxLayout(w)
+        box = QGroupBox("robot.yaml 关键点")
+        form = QFormLayout(box)
+        self.ed_inspect = QLineEdit("0.55, 0.0, 0.45")
+        self.ed_safe = QLineEdit("0.40, 0.0, 0.55")
+        self.sp_standoff = QDoubleSpinBox()
+        self.sp_standoff.setRange(0.01, 0.3)
+        self.sp_standoff.setSingleStep(0.005)
+        self.sp_standoff.setValue(0.08)
+        form.addRow("初始拍照点 xyz", self.ed_inspect)
+        form.addRow("安全点 xyz", self.ed_safe)
+        form.addRow("悬停预留高度 m", self.sp_standoff)
+        layout.addWidget(box)
+        save = QPushButton("保存到 configs/robot.yaml")
+        save.setObjectName("primary")
+        save.clicked.connect(self.save_points)
+        layout.addWidget(save)
+        self._load_points_into_form()
+        layout.addStretch(1)
+        return w
+
+    def refresh_projects(self) -> None:
+        self.project_list.clear()
+        for p in list_projects(self.projects_dir):
+            self.project_list.addItem(f"{p['name']}  [{p['id']}]")
+            self.project_list.item(self.project_list.count() - 1).setData(Qt.UserRole, p["path"])
+
+    def _append_log(self, text: str) -> None:
+        self.log_view.appendPlainText(text)
+
+    def _selected_project(self) -> str | None:
+        item = self.project_list.currentItem()
+        return item.data(Qt.UserRole) if item else None
+
+    def start_script(self) -> None:
+        path = self._selected_project()
+        if not path:
+            QMessageBox.warning(self, "项目", "请先选择一个脚本项目")
+            return
+        if self._worker and self._worker.is_alive():
+            QMessageBox.warning(self, "项目", "已有脚本在运行")
+            return
+
+        def work() -> None:
+            try:
+                script, pdata = load_script(path)
+                self._script = script
+                robot = load_robot_backend(self.robot_cfg_path, self.cmb_backend.currentText())
+                robot_cfg = yaml.safe_load(self.robot_cfg_path.read_text(encoding="utf-8"))
+                ctx = ScriptContext(
+                    robot=robot,
+                    gripper=MockGripper(),
+                    tactile=MockTactile(),
+                    robot_cfg=robot_cfg,
+                    project_cfg=pdata,
+                    log=lambda m: self.log_bridge.message.emit(m),
+                    ask_reset_to_safe=lambda: True,
+                )
+                self.log_bridge.message.emit(f"启动: {pdata.get('name')}")
+                script.run(ctx)
+            except Exception as exc:
+                self.log_bridge.message.emit(f"启动失败: {exc}")
+
+        self._worker = threading.Thread(target=work, daemon=True)
+        self._worker.start()
+
+    def pause_script(self) -> None:
+        if self._script:
+            self._script.request_pause()
+            self._append_log("已请求暂停（将询问/执行安全点复位）")
+
+    def stop_script(self) -> None:
+        if self._script:
+            self._script.request_stop()
+            self._append_log("已请求停止")
+
+    def dump_intrinsics(self) -> None:
+        try:
+            from flexiv_assembly.camera.intrinsics import dump_realsense_intrinsics
+            import json
+
+            data = dump_realsense_intrinsics()
+            out = PKG_ROOT / "data" / "calib" / "intrinsics.json"
+            out.parent.mkdir(parents=True, exist_ok=True)
+            out.write_text(json.dumps(data, indent=2), encoding="utf-8")
+            self._append_log(f"已写入 {out}  设备数={len(data)}")
+        except Exception as exc:
+            self._append_log(f"导出内参失败（无相机/驱动也可忽略）: {exc}")
+
+    def gen_waypoints(self) -> None:
+        cfg = yaml.safe_load(self.calib_cfg_path.read_text(encoding="utf-8")) or {}
+        aw = cfg.get("auto_waypoints", {})
+        # 用当前 inspect_home 当临时锚点演示
+        robot_cfg = yaml.safe_load(self.robot_cfg_path.read_text(encoding="utf-8"))
+        anchor = Pose.from_lists(robot_cfg["inspect_home"]["xyz"], robot_cfg["inspect_home"]["quat_wxyz"])
+        plan = plan_around_anchor(
+            anchor,
+            aw.get("trans_steps_m", [0, 0.03, -0.03]),
+            aw.get("z_steps_m", [0, 0.02, -0.02]),
+            aw.get("rot_deg", [0, 8, -8]),
+            int(aw.get("target_samples", 20)),
+        )
+        out = PKG_ROOT / "data" / "calib" / "waypoint_plan.yaml"
+        payload = {
+            "anchor": {"xyz": anchor.xyz.tolist(), "quat_wxyz": anchor.quat_wxyz.tolist()},
+            "poses": [{"xyz": p.xyz.tolist(), "quat_wxyz": p.quat_wxyz.tolist(), "note": n} for p, n in zip(plan.poses, plan.notes)],
+        }
+        out.write_text(yaml.safe_dump(payload, allow_unicode=True), encoding="utf-8")
+        self._append_log(f"已生成走点计划 {out}  共 {len(plan.poses)} 点（真机请先示教真实锚点）")
+
+    def _load_points_into_form(self) -> None:
+        cfg = yaml.safe_load(self.robot_cfg_path.read_text(encoding="utf-8")) or {}
+        self.ed_inspect.setText(", ".join(str(x) for x in cfg["inspect_home"]["xyz"]))
+        self.ed_safe.setText(", ".join(str(x) for x in cfg["safe_home"]["xyz"]))
+        self.sp_standoff.setValue(float(cfg.get("tcp_standoff_m", 0.08)))
+
+    def save_points(self) -> None:
+        cfg = yaml.safe_load(self.robot_cfg_path.read_text(encoding="utf-8")) or {}
+        cfg["inspect_home"]["xyz"] = [float(x.strip()) for x in self.ed_inspect.text().split(",")]
+        cfg["safe_home"]["xyz"] = [float(x.strip()) for x in self.ed_safe.text().split(",")]
+        cfg["tcp_standoff_m"] = float(self.sp_standoff.value())
+        self.robot_cfg_path.write_text(yaml.safe_dump(cfg, allow_unicode=True, sort_keys=False), encoding="utf-8")
+        self._append_log("点位已保存")
+
+
+def main(argv: list[str] | None = None) -> None:
+    argv = list(sys.argv if argv is None else argv)
+    backend = "mock"
+    if "--backend" in argv:
+        i = argv.index("--backend")
+        if i + 1 < len(argv):
+            backend = argv[i + 1]
+    app = QApplication(sys.argv)
+    win = MainWindow(backend=backend)
+    win.show()
+    sys.exit(app.exec())
+
+
+if __name__ == "__main__":
+    main()
diff --git a/ros_flexiv/src/flexiv_assembly/calibration/__init__.py b/ros_flexiv/src/flexiv_assembly/calibration/__init__.py
new file mode 100644
index 0000000..323c228
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/calibration/__init__.py
@@ -0,0 +1 @@
+# package marker
diff --git a/ros_flexiv/src/flexiv_assembly/calibration/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/calibration/__pycache__/__init__.cpython-311.pyc
new file mode 100644
index 0000000..719ce16
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diff --git a/ros_flexiv/src/flexiv_assembly/calibration/__pycache__/auto_waypoints.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/calibration/__pycache__/auto_waypoints.cpython-311.pyc
new file mode 100644
index 0000000..b1199b8
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diff --git a/ros_flexiv/src/flexiv_assembly/calibration/auto_waypoints.py b/ros_flexiv/src/flexiv_assembly/calibration/auto_waypoints.py
new file mode 100644
index 0000000..b3dc12c
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/calibration/auto_waypoints.py
@@ -0,0 +1,63 @@
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+import numpy as np
+
+from flexiv_assembly.motion.poses import Pose
+
+
+@dataclass
+class WaypointPlan:
+    poses: list[Pose]
+    notes: list[str]
+
+
+def plan_around_anchor(
+    anchor: Pose,
+    trans_steps_m: list[float],
+    z_steps_m: list[float],
+    rot_deg: list[float],
+    target_samples: int = 20,
+) -> WaypointPlan:
+    """
+    以示教锚点为中心生成笛卡尔扰动候选。
+    真机采集时再用棋盘格检出 + 视锥过滤筛掉无效点。
+    """
+    poses: list[Pose] = []
+    notes: list[str] = []
+    for dx in trans_steps_m:
+        for dy in trans_steps_m:
+            for dz in z_steps_m:
+                for yaw in rot_deg:
+                    if len(poses) >= target_samples * 2:
+                        break
+                    xyz = anchor.xyz.copy()
+                    xyz[0] += dx
+                    xyz[1] += dy
+                    xyz[2] += dz
+                    # 简化：仅记录 yaw 扰动意图（真机用旋转矩阵组合）
+                    q = anchor.quat_wxyz.copy()
+                    poses.append(Pose(xyz=xyz, quat_wxyz=q))
+                    notes.append(f"d=({dx:.3f},{dy:.3f},{dz:.3f}) yaw={yaw}")
+    # 多样性：隔点取样
+    step = max(1, len(poses) // max(1, target_samples))
+    poses = poses[::step][:target_samples]
+    notes = notes[::step][:target_samples]
+    return WaypointPlan(poses=poses, notes=notes)
+
+
+def estimate_board_in_fov(
+    fx: float,
+    fy: float,
+    width: int,
+    height: int,
+    board_w_m: float,
+    board_h_m: float,
+    distance_m: float,
+    margin_ratio: float = 0.1,
+) -> bool:
+    """粗略：板在给定距离下投影是否落在图像内（含边距）。"""
+    u = fx * (board_w_m / 2) / max(distance_m, 1e-6)
+    v = fy * (board_h_m / 2) / max(distance_m, 1e-6)
+    return (u < width * (0.5 - margin_ratio)) and (v < height * (0.5 - margin_ratio))
diff --git a/ros_flexiv/src/flexiv_assembly/calibration/chessboard.py b/ros_flexiv/src/flexiv_assembly/calibration/chessboard.py
new file mode 100644
index 0000000..973c396
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/calibration/chessboard.py
@@ -0,0 +1,36 @@
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+import numpy as np
+
+
+@dataclass
+class ChessboardSpec:
+    cols: int
+    rows: int
+    square_size_m: float
+
+
+def make_object_points(spec: ChessboardSpec) -> np.ndarray:
+    obj = np.zeros((spec.rows * spec.cols, 3), np.float32)
+    grid = np.mgrid[0 : spec.cols, 0 : spec.rows].T.reshape(-1, 2)
+    obj[:, :2] = grid * spec.square_size_m
+    return obj
+
+
+def detect_chessboard(gray: np.ndarray, spec: ChessboardSpec):
+    import cv2
+
+    flags = cv2.CALIB_CB_ADAPTIVE_THRESH | cv2.CALIB_CB_NORMALIZE_IMAGE
+    ok, corners = cv2.findChessboardCorners(gray, (spec.cols, spec.rows), flags)
+    if not ok:
+        return False, None
+    corners = cv2.cornerSubPix(
+        gray,
+        corners,
+        (11, 11),
+        (-1, -1),
+        (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001),
+    )
+    return True, corners
diff --git a/ros_flexiv/src/flexiv_assembly/calibration/handeye.py b/ros_flexiv/src/flexiv_assembly/calibration/handeye.py
new file mode 100644
index 0000000..bdb2011
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/calibration/handeye.py
@@ -0,0 +1,58 @@
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+import cv2
+import numpy as np
+
+
+@dataclass
+class HandEyeResult:
+    R: np.ndarray
+    t: np.ndarray
+    method: str
+    T: np.ndarray
+
+
+def _method_const(name: str):
+    table = {
+        "TSAI": cv2.CALIB_HAND_EYE_TSAI,
+        "PARK": cv2.CALIB_HAND_EYE_PARK,
+        "HORAUD": cv2.CALIB_HAND_EYE_HORAUD,
+        "ANDREFF": cv2.CALIB_HAND_EYE_ANDREFF,
+        "DANIILIDIS": cv2.CALIB_HAND_EYE_DANIILIDIS,
+    }
+    return table[name.upper()]
+
+
+def solve_handeye(
+    R_gripper2base: list[np.ndarray],
+    t_gripper2base: list[np.ndarray],
+    R_target2cam: list[np.ndarray],
+    t_target2cam: list[np.ndarray],
+    setup: str = "eye_in_hand",
+    method: str = "DANIILIDIS",
+) -> HandEyeResult:
+    """
+    setup:
+      - eye_in_hand: 相机在法兰/TCP 上（D405）
+      - eye_to_hand: 相机固定（D435）——对 gripper2base 取逆后再解
+    """
+    Rg, tg = R_gripper2base, t_gripper2base
+    if setup == "eye_to_hand":
+        Rg, tg = [], []
+        for R, t in zip(R_gripper2base, t_gripper2base):
+            T = np.eye(4)
+            T[:3, :3] = R
+            T[:3, 3] = t.reshape(3)
+            Ti = np.linalg.inv(T)
+            Rg.append(Ti[:3, :3])
+            tg.append(Ti[:3, 3].reshape(3, 1))
+
+    R_cam2gripper, t_cam2gripper = cv2.calibrateHandEye(
+        Rg, tg, R_target2cam, t_target2cam, method=_method_const(method)
+    )
+    T = np.eye(4)
+    T[:3, :3] = R_cam2gripper
+    T[:3, 3] = t_cam2gripper.reshape(3)
+    return HandEyeResult(R=R_cam2gripper, t=t_cam2gripper.reshape(3), method=method, T=T)
diff --git a/ros_flexiv/src/flexiv_assembly/calibration/quality_report.py b/ros_flexiv/src/flexiv_assembly/calibration/quality_report.py
new file mode 100644
index 0000000..cb31bf1
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/calibration/quality_report.py
@@ -0,0 +1,42 @@
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+
+
+@dataclass
+class CalibQualityReport:
+    ok: bool
+    score_mm: float
+    messages: list[str] = field(default_factory=list)
+    warnings: list[str] = field(default_factory=list)
+    errors: list[str] = field(default_factory=list)
+
+
+def diagnose(
+    n_samples: int,
+    solver_spread_mm: float,
+    axxb_mm: float,
+    mean_reproj_px: float,
+    coplanar_hint: bool,
+    cfg: dict,
+) -> CalibQualityReport:
+    msgs, warns, errs = [], [], []
+    min_samples = int(cfg.get("handeye", {}).get("min_samples", 12))
+    max_spread = float(cfg.get("quality", {}).get("max_solver_spread_mm", 3.0))
+    max_axxb = float(cfg.get("quality", {}).get("max_axxb_mm", 2.0))
+    max_reproj = float(cfg.get("handeye", {}).get("max_reproj_px", 1.5))
+
+    if n_samples < min_samples:
+        errs.append(f"有效样本不足 {n_samples}/{min_samples}：请增加姿态多样性或检查板是否出画。")
+    if mean_reproj_px > max_reproj:
+        warns.append(f"重投影误差偏高 {mean_reproj_px:.2f}px：检查清晰度/曝光/板平整度。")
+    if solver_spread_mm > max_spread:
+        errs.append(f"多算法结果离散 {solver_spread_mm:.2f}mm：样本可能近似共面或噪声大。")
+    if axxb_mm > max_axxb:
+        errs.append(f"AX=XB 残差 {axxb_mm:.2f}mm：法兰位姿与板位姿时间对齐/坐标系可能有误。")
+    if coplanar_hint and cfg.get("quality", {}).get("warn_coplanar", True):
+        warns.append("姿态共面风险：请增加绕板法向/深度方向的旋转与平移。")
+    if not errs:
+        msgs.append("标定质量门控通过（仍建议做一次探针触碰验证）。")
+    score = max(solver_spread_mm, axxb_mm)
+    return CalibQualityReport(ok=not errs, score_mm=score, messages=msgs, warnings=warns, errors=errs)
diff --git a/ros_flexiv/src/flexiv_assembly/camera/__init__.py b/ros_flexiv/src/flexiv_assembly/camera/__init__.py
new file mode 100644
index 0000000..323c228
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/camera/__init__.py
@@ -0,0 +1 @@
+# package marker
diff --git a/ros_flexiv/src/flexiv_assembly/camera/intrinsics.py b/ros_flexiv/src/flexiv_assembly/camera/intrinsics.py
new file mode 100644
index 0000000..3c546fd
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/camera/intrinsics.py
@@ -0,0 +1,76 @@
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+
+
+@dataclass
+class CameraIntrinsics:
+    serial: str
+    name: str
+    width: int
+    height: int
+    fx: float
+    fy: float
+    ppx: float
+    ppy: float
+    coeffs: list[float]
+    model: str = "brown_conrady"
+
+    def as_K(self) -> np.ndarray:
+        return np.array([[self.fx, 0, self.ppx], [0, self.fy, self.ppy], [0, 0, 1]], dtype=float)
+
+
+def dump_realsense_intrinsics() -> list[dict[str, Any]]:
+    """读取已连接 RealSense 的出厂彩色内参（无需棋盘格）。"""
+    import pyrealsense2 as rs
+
+    out: list[dict[str, Any]] = []
+    ctx = rs.context()
+    for dev in ctx.query_devices():
+        name = dev.get_info(rs.camera_info.name)
+        serial = dev.get_info(rs.camera_info.serial_number)
+        # 启临时 pipeline 拿 color profile intrinsics
+        pipe = rs.pipeline()
+        cfg = rs.config()
+        cfg.enable_device(serial)
+        cfg.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
+        try:
+            profile = pipe.start(cfg)
+            stream = profile.get_stream(rs.stream.color).as_video_stream_profile()
+            intr = stream.get_intrinsics()
+            item = CameraIntrinsics(
+                serial=serial,
+                name=name,
+                width=intr.width,
+                height=intr.height,
+                fx=intr.fx,
+                fy=intr.fy,
+                ppx=intr.ppx,
+                ppy=intr.ppy,
+                coeffs=list(intr.coeffs),
+                model=str(intr.model),
+            )
+            out.append(
+                {
+                    "serial": item.serial,
+                    "name": item.name,
+                    "width": item.width,
+                    "height": item.height,
+                    "fx": item.fx,
+                    "fy": item.fy,
+                    "ppx": item.ppx,
+                    "ppy": item.ppy,
+                    "coeffs": item.coeffs,
+                    "model": item.model,
+                    "K": item.as_K().tolist(),
+                }
+            )
+        finally:
+            try:
+                pipe.stop()
+            except Exception:
+                pass
+    return out
diff --git a/ros_flexiv/src/flexiv_assembly/gripper/__init__.py b/ros_flexiv/src/flexiv_assembly/gripper/__init__.py
new file mode 100644
index 0000000..323c228
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/gripper/__init__.py
@@ -0,0 +1 @@
+# package marker
diff --git a/ros_flexiv/src/flexiv_assembly/gripper/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/gripper/__pycache__/__init__.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/gripper/__pycache__/base.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/gripper/__pycache__/base.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/gripper/base.py b/ros_flexiv/src/flexiv_assembly/gripper/base.py
new file mode 100644
index 0000000..d2d9ee1
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/gripper/base.py
@@ -0,0 +1,57 @@
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+
+
+class GripperBackend(ABC):
+    name: str = "gripper"
+
+    @abstractmethod
+    def connect(self) -> None: ...
+
+    @abstractmethod
+    def open(self, pos: float | None = None) -> None: ...
+
+    @abstractmethod
+    def close(self, force: float | None = None) -> None: ...
+
+    @abstractmethod
+    def disconnect(self) -> None: ...
+
+
+class MockGripper(GripperBackend):
+    name = "mock_gripper"
+
+    def connect(self) -> None:
+        pass
+
+    def open(self, pos: float | None = None) -> None:
+        pass
+
+    def close(self, force: float | None = None) -> None:
+        pass
+
+    def disconnect(self) -> None:
+        pass
+
+
+class DharmaPGEA(GripperBackend):
+    """大寰 PGEA-100-40 占位；通讯协议按厂家手册补全，便于整夹爪替换。"""
+
+    name = "dharma_pgea_100_40"
+
+    def __init__(self, port: str = "COM3", baud: int = 115200) -> None:
+        self.port = port
+        self.baud = baud
+
+    def connect(self) -> None:
+        raise NotImplementedError("接入 Modbus/厂家 SDK")
+
+    def open(self, pos: float | None = None) -> None:
+        raise NotImplementedError
+
+    def close(self, force: float | None = None) -> None:
+        raise NotImplementedError
+
+    def disconnect(self) -> None:
+        pass
diff --git a/ros_flexiv/src/flexiv_assembly/motion/__init__.py b/ros_flexiv/src/flexiv_assembly/motion/__init__.py
new file mode 100644
index 0000000..323c228
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/motion/__init__.py
@@ -0,0 +1 @@
+# package marker
diff --git a/ros_flexiv/src/flexiv_assembly/motion/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/motion/__pycache__/__init__.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/motion/__pycache__/planner.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/motion/__pycache__/planner.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/motion/__pycache__/poses.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/motion/__pycache__/poses.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/motion/planner.py b/ros_flexiv/src/flexiv_assembly/motion/planner.py
new file mode 100644
index 0000000..3fb726d
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/motion/planner.py
@@ -0,0 +1,10 @@
+from __future__ import annotations
+
+from flexiv_assembly.motion.poses import Pose
+
+
+def offset_z(pose: Pose, dz: float) -> Pose:
+    p = pose.copy()
+    p.xyz = p.xyz.copy()
+    p.xyz[2] += dz
+    return p
diff --git a/ros_flexiv/src/flexiv_assembly/motion/poses.py b/ros_flexiv/src/flexiv_assembly/motion/poses.py
new file mode 100644
index 0000000..b78ed8f
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/motion/poses.py
@@ -0,0 +1,28 @@
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Sequence
+
+import numpy as np
+
+
+@dataclass
+class Pose:
+    """刚体位姿：位置 (m) + 四元数 wxyz。"""
+
+    xyz: np.ndarray
+    quat_wxyz: np.ndarray
+
+    @staticmethod
+    def from_lists(xyz: Sequence[float], quat_wxyz: Sequence[float]) -> "Pose":
+        return Pose(np.asarray(xyz, dtype=float), np.asarray(quat_wxyz, dtype=float))
+
+    def copy(self) -> "Pose":
+        return Pose(self.xyz.copy(), self.quat_wxyz.copy())
+
+
+@dataclass
+class RobotState:
+    pose: Pose
+    joint_pos: np.ndarray | None = None
+    fault: str = ""
diff --git a/ros_flexiv/src/flexiv_assembly/projects/__init__.py b/ros_flexiv/src/flexiv_assembly/projects/__init__.py
new file mode 100644
index 0000000..323c228
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/projects/__init__.py
@@ -0,0 +1 @@
+# package marker
diff --git a/ros_flexiv/src/flexiv_assembly/projects/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/projects/__pycache__/__init__.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/projects/__pycache__/base_script.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/projects/__pycache__/base_script.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/projects/__pycache__/registry.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/projects/__pycache__/registry.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/projects/_template/__init__.py b/ros_flexiv/src/flexiv_assembly/projects/_template/__init__.py
new file mode 100644
index 0000000..5bb534f
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/projects/_template/__init__.py
@@ -0,0 +1 @@
+# package
diff --git a/ros_flexiv/src/flexiv_assembly/projects/_template/script.py b/ros_flexiv/src/flexiv_assembly/projects/_template/script.py
new file mode 100644
index 0000000..aa5d2dd
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/projects/_template/script.py
@@ -0,0 +1,17 @@
+from __future__ import annotations
+
+from flexiv_assembly.projects.base_script import BaseScript, ScriptContext, ScriptState
+
+
+class TemplateScript(BaseScript):
+    id = "my_new_project"
+    name = "模板项目"
+
+    def __init__(self, params: dict | None = None) -> None:
+        super().__init__()
+        self.params = params or {}
+
+    def run(self, ctx: ScriptContext) -> None:
+        self.state = ScriptState.RUNNING
+        ctx.log("模板脚本：在此编写你的工艺流程")
+        self.state = ScriptState.DONE
diff --git a/ros_flexiv/src/flexiv_assembly/projects/base_script.py b/ros_flexiv/src/flexiv_assembly/projects/base_script.py
new file mode 100644
index 0000000..e35b025
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/projects/base_script.py
@@ -0,0 +1,47 @@
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+from dataclasses import dataclass, field
+from enum import Enum, auto
+from typing import Callable
+
+
+class ScriptState(Enum):
+    IDLE = auto()
+    RUNNING = auto()
+    PAUSED = auto()
+    RESETTING = auto()
+    DONE = auto()
+    ERROR = auto()
+
+
+@dataclass
+class ScriptContext:
+    robot: object
+    gripper: object
+    tactile: object
+    robot_cfg: dict
+    project_cfg: dict
+    log: Callable[[str], None] = field(default=lambda _m: None)
+    ask_reset_to_safe: Callable[[], bool] = field(default=lambda: True)
+
+
+class BaseScript(ABC):
+    """所有可运行项目脚本的基类。"""
+
+    id: str = "base"
+    name: str = "Base"
+
+    def __init__(self) -> None:
+        self.state = ScriptState.IDLE
+        self._stop = False
+        self._pause = False
+
+    def request_pause(self) -> None:
+        self._pause = True
+
+    def request_stop(self) -> None:
+        self._stop = True
+
+    @abstractmethod
+    def run(self, ctx: ScriptContext) -> None: ...
diff --git a/ros_flexiv/src/flexiv_assembly/projects/registry.py b/ros_flexiv/src/flexiv_assembly/projects/registry.py
new file mode 100644
index 0000000..9568f45
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/projects/registry.py
@@ -0,0 +1,29 @@
+from __future__ import annotations
+
+import importlib
+from pathlib import Path
+
+import yaml
+
+from flexiv_assembly.projects.base_script import BaseScript
+
+
+def list_projects(config_dir: str | Path) -> list[dict]:
+    root = Path(config_dir)
+    items = []
+    for path in sorted(root.glob("*.yaml")):
+        data = yaml.safe_load(path.read_text(encoding="utf-8")) or {}
+        if not data.get("enabled", True):
+            continue
+        items.append({"id": data.get("id", path.stem), "name": data.get("name", path.stem), "path": str(path), "raw": data})
+    return items
+
+
+def load_script(project_yaml: str | Path) -> tuple[BaseScript, dict]:
+    data = yaml.safe_load(Path(project_yaml).read_text(encoding="utf-8")) or {}
+    module_name = data["module"]
+    class_name = data["class"]
+    mod = importlib.import_module(module_name)
+    cls = getattr(mod, class_name)
+    script: BaseScript = cls(data.get("params") or {})
+    return script, data
diff --git a/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/__init__.py b/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/__init__.py
new file mode 100644
index 0000000..323c228
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/__init__.py
@@ -0,0 +1 @@
+# package marker
diff --git a/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/__pycache__/__init__.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/__pycache__/script.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/__pycache__/script.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/script.py b/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/script.py
new file mode 100644
index 0000000..99cfd9a
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/projects/thread_gauge/script.py
@@ -0,0 +1,149 @@
+from __future__ import annotations
+
+import time
+
+import numpy as np
+
+from flexiv_assembly.motion.planner import offset_z
+from flexiv_assembly.motion.poses import Pose
+from flexiv_assembly.projects.base_script import BaseScript, ScriptContext, ScriptState
+from flexiv_assembly.tactile.interface import MockTactile, TactileSample
+from flexiv_assembly.vision.stabilizer import CoordStabilizer
+
+
+class ThreadGaugeScript(BaseScript):
+    """
+    通止规螺纹检测流程骨架：
+    1) 到 inspect_home
+    2) 外相机检测工件世界坐标（稳帧）
+    3) 带 standoff 悬停
+    4) 腕部相机双孔 → 逐孔触觉（预留）→ 回悬停
+    5) 回 inspect_home；暂停可回 safe_home
+    """
+
+    id = "thread_gauge"
+    name = "通止规螺纹孔检测"
+
+    def __init__(self, params: dict | None = None) -> None:
+        super().__init__()
+        self.params = params or {}
+
+    def run(self, ctx: ScriptContext) -> None:
+        self.state = ScriptState.RUNNING
+        self._stop = False
+        self._pause = False
+        log = ctx.log
+        robot = ctx.robot
+        cfg = ctx.robot_cfg
+        standoff = float(self.params.get("standoff_m", cfg.get("tcp_standoff_m", 0.08)))
+
+        inspect = Pose.from_lists(cfg["inspect_home"]["xyz"], cfg["inspect_home"]["quat_wxyz"])
+        safe = Pose.from_lists(cfg["safe_home"]["xyz"], cfg["safe_home"]["quat_wxyz"])
+
+        try:
+            log("连接设备…")
+            robot.connect()
+            ctx.gripper.connect()
+            ctx.tactile.connect()
+
+            log("移动到初始拍照点 inspect_home")
+            robot.move_linear(inspect)
+            if not self._checkpoint(ctx, safe):
+                return
+
+            log("外相机检测工件（此处接 D435 + hole/bbox 管线；Mock 给固定点）")
+            stab = CoordStabilizer(
+                window=int(self.params.get("coord_window", 7)),
+                ema=float(self.params.get("coord_ema", 0.35)),
+                max_jump=float(self.params.get("coord_max_jump_m", 0.01)),
+            )
+            workpiece = None
+            for _ in range(int(self.params.get("settle_frames", 10))):
+                # TODO: 真机替换为视觉测距/手眼变换后的 base 系坐标
+                raw = np.array([0.55, 0.02, 0.12], dtype=float)
+                workpiece = stab.update(raw)
+                time.sleep(0.05)
+            if workpiece is None:
+                raise RuntimeError("工件坐标稳帧失败")
+            log(f"稳坐标 workpiece_xyz={workpiece}")
+
+            hover = Pose.from_lists(
+                [float(workpiece[0]), float(workpiece[1]), float(workpiece[2]) + standoff],
+                inspect.quat_wxyz.tolist(),
+            )
+            log(f"移动到悬停点 standoff={standoff}m")
+            robot.move_linear(hover)
+            if not self._checkpoint(ctx, safe):
+                return
+
+            # 腕部相机双孔（像素/相机系）— 真机用 D405 + detect_holes
+            log("腕部相机检测双螺纹孔中心")
+            holes = [[ -0.02, 0.0, 0.0], [0.02, 0.0, 0.0]]  # Mock 相对悬停
+            for hi, hole in enumerate(holes):
+                if not self._checkpoint(ctx, safe):
+                    return
+                target = Pose.from_lists(
+                    [
+                        hover.xyz[0] + hole[0],
+                        hover.xyz[1] + hole[1],
+                        hover.xyz[2],
+                    ],
+                    hover.quat_wxyz.tolist(),
+                )
+                log(f"孔 {hi+1}: 移到孔上方")
+                robot.move_linear(target)
+                log(f"孔 {hi+1}: 切换触觉策略（相机不用）")
+                ctx.tactile.reset(hi)
+                for _ in range(40):
+                    if not self._checkpoint(ctx, safe):
+                        return
+                    sample = TactileSample(
+                        timestamp=time.time(),
+                        force_xyz=np.zeros(3),
+                        torque_xyz=np.zeros(3),
+                        contact=True,
+                    )
+                    cmd = ctx.tactile.step(sample)
+                    log(cmd.message)
+                    if cmd.done:
+                        break
+                    time.sleep(0.05)
+                log(f"孔 {hi+1}: 回悬停")
+                robot.move_linear(hover)
+
+            log("全部孔完成，复位 inspect_home")
+            robot.move_linear(inspect)
+            self.state = ScriptState.DONE
+            log("脚本完成")
+        except Exception as exc:
+            self.state = ScriptState.ERROR
+            log(f"ERROR: {exc}")
+            try:
+                robot.move_linear(safe)
+            except Exception:
+                pass
+        finally:
+            try:
+                ctx.tactile.disconnect()
+                ctx.gripper.disconnect()
+                robot.disconnect()
+            except Exception:
+                pass
+
+    def _checkpoint(self, ctx: ScriptContext, safe: Pose) -> bool:
+        if self._stop:
+            ctx.log("收到停止")
+            self.state = ScriptState.RESETTING
+            ctx.robot.move_linear(safe)
+            self.state = ScriptState.IDLE
+            return False
+        if self._pause:
+            self.state = ScriptState.PAUSED
+            ctx.log("已暂停：请求复位到安全点？")
+            if ctx.ask_reset_to_safe():
+                self.state = ScriptState.RESETTING
+                ctx.robot.move_linear(safe)
+                ctx.log("已复位安全点")
+            self._pause = False
+            self.state = ScriptState.RUNNING
+        return True
diff --git a/ros_flexiv/src/flexiv_assembly/robot/__init__.py b/ros_flexiv/src/flexiv_assembly/robot/__init__.py
new file mode 100644
index 0000000..323c228
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/robot/__init__.py
@@ -0,0 +1 @@
+# package marker
diff --git a/ros_flexiv/src/flexiv_assembly/robot/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/robot/__pycache__/__init__.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/robot/base.py b/ros_flexiv/src/flexiv_assembly/robot/base.py
new file mode 100644
index 0000000..333da2a
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/robot/base.py
@@ -0,0 +1,30 @@
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+
+from flexiv_assembly.motion.poses import Pose, RobotState
+
+
+class RobotBackend(ABC):
+    """机械臂统一后端。Windows 用 Mock；Ubuntu 接 RDK/ROS2/仿真。"""
+
+    name: str = "base"
+
+    @abstractmethod
+    def connect(self) -> None: ...
+
+    @abstractmethod
+    def disconnect(self) -> None: ...
+
+    @abstractmethod
+    def get_state(self) -> RobotState: ...
+
+    @abstractmethod
+    def move_linear(self, target: Pose, vel: float = 0.2, asym: float = 0.5) -> None:
+        """阻塞式直线移动到目标（仿真/真机实现可改为异步+回调）。"""
+
+    @abstractmethod
+    def stop(self) -> None: ...
+
+    def is_connected(self) -> bool:
+        return True
diff --git a/ros_flexiv/src/flexiv_assembly/robot/factory.py b/ros_flexiv/src/flexiv_assembly/robot/factory.py
new file mode 100644
index 0000000..3864266
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/robot/factory.py
@@ -0,0 +1,27 @@
+from __future__ import annotations
+
+from pathlib import Path
+
+import yaml
+
+from flexiv_assembly.motion.poses import Pose
+from flexiv_assembly.robot.base import RobotBackend
+from flexiv_assembly.robot.mock import MockRobot
+from flexiv_assembly.robot.rdk import RdkRobot
+from flexiv_assembly.robot.ros2_bridge import Ros2Robot
+from flexiv_assembly.robot.sim_isaac import IsaacSimRobot
+
+
+def load_robot_backend(cfg_path: str | Path, backend_override: str | None = None) -> RobotBackend:
+    cfg = yaml.safe_load(Path(cfg_path).read_text(encoding="utf-8")) or {}
+    mode = (backend_override or cfg.get("backend") or "mock").lower()
+    home = Pose.from_lists(cfg["inspect_home"]["xyz"], cfg["inspect_home"]["quat_wxyz"])
+    if mode == "mock":
+        return MockRobot(home=home)
+    if mode == "rdk":
+        return RdkRobot(str(cfg.get("robot_sn", "Rizon4-XXXXXX")))
+    if mode == "ros2":
+        return Ros2Robot()
+    if mode in {"sim", "sim_isaac", "isaac"}:
+        return IsaacSimRobot()
+    raise ValueError(f"未知 backend: {mode}")
diff --git a/ros_flexiv/src/flexiv_assembly/robot/mock.py b/ros_flexiv/src/flexiv_assembly/robot/mock.py
new file mode 100644
index 0000000..1d9f1bb
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/robot/mock.py
@@ -0,0 +1,45 @@
+from __future__ import annotations
+
+import time
+
+import numpy as np
+
+from flexiv_assembly.motion.poses import Pose, RobotState
+from flexiv_assembly.robot.base import RobotBackend
+
+
+class MockRobot(RobotBackend):
+    """无真机时的状态机联调后端。"""
+
+    name = "mock"
+
+    def __init__(self, home: Pose | None = None) -> None:
+        self._pose = home or Pose.from_lists([0.5, 0.0, 0.4], [1, 0, 0, 0])
+        self._connected = False
+
+    def connect(self) -> None:
+        self._connected = True
+
+    def disconnect(self) -> None:
+        self._connected = False
+
+    def is_connected(self) -> bool:
+        return self._connected
+
+    def get_state(self) -> RobotState:
+        return RobotState(pose=self._pose.copy(), joint_pos=np.zeros(7))
+
+    def move_linear(self, target: Pose, vel: float = 0.2, asym: float = 0.5) -> None:
+        if not self._connected:
+            raise RuntimeError("MockRobot 未连接")
+        # 简单插值，体现耗时
+        steps = max(5, int(20 * np.linalg.norm(target.xyz - self._pose.xyz) / max(vel, 1e-3)))
+        start = self._pose.copy()
+        for i in range(1, steps + 1):
+            a = i / steps
+            self._pose.xyz = (1 - a) * start.xyz + a * target.xyz
+            self._pose.quat_wxyz = target.quat_wxyz.copy()
+            time.sleep(0.02)
+
+    def stop(self) -> None:
+        pass
diff --git a/ros_flexiv/src/flexiv_assembly/robot/rdk.py b/ros_flexiv/src/flexiv_assembly/robot/rdk.py
new file mode 100644
index 0000000..166f378
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/robot/rdk.py
@@ -0,0 +1,38 @@
+from __future__ import annotations
+
+from flexiv_assembly.motion.poses import Pose, RobotState
+from flexiv_assembly.robot.base import RobotBackend
+
+
+class RdkRobot(RobotBackend):
+    """Flexiv RDK 后端。需安装 flexivrdk，仅在工控机/有机器人网络时可用。"""
+
+    name = "rdk"
+
+    def __init__(self, robot_sn: str) -> None:
+        self.robot_sn = robot_sn
+        self._robot = None
+
+    def connect(self) -> None:
+        try:
+            import flexivrdk  # type: ignore
+        except ImportError as exc:
+            raise RuntimeError(
+                "未安装 flexivrdk。Ubuntu: pip install flexivrdk；并确认与机器人软件版本匹配。"
+            ) from exc
+        self._robot = flexivrdk.Robot(self.robot_sn)
+        # 具体使能/模式切换请按 RDK Manual 补全
+        # self._robot.Enable(...)
+
+    def disconnect(self) -> None:
+        self._robot = None
+
+    def get_state(self) -> RobotState:
+        raise NotImplementedError("请按 flexivrdk API 填充 TCP/法兰位姿读取")
+
+    def move_linear(self, target: Pose, vel: float = 0.2, asym: float = 0.5) -> None:
+        raise NotImplementedError("请按 RDK Primitive / NRT 运动接口实现直线移动")
+
+    def stop(self) -> None:
+        if self._robot is not None:
+            pass  # Stop / fault clear per manual
diff --git a/ros_flexiv/src/flexiv_assembly/robot/ros2_bridge.py b/ros_flexiv/src/flexiv_assembly/robot/ros2_bridge.py
new file mode 100644
index 0000000..497e76d
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/robot/ros2_bridge.py
@@ -0,0 +1,35 @@
+from __future__ import annotations
+
+from flexiv_assembly.motion.poses import Pose, RobotState
+from flexiv_assembly.robot.base import RobotBackend
+
+
+class Ros2Robot(RobotBackend):
+    """经 ROS2 与驱动节点通信。Windows 上仅占位。"""
+
+    name = "ros2"
+
+    def __init__(self, node_name: str = "flexiv_hmi_client") -> None:
+        self.node_name = node_name
+        self._node = None
+
+    def connect(self) -> None:
+        try:
+            import rclpy  # type: ignore
+        except ImportError as exc:
+            raise RuntimeError("当前环境无 ROS2 Python（rclpy）。请在 Ubuntu Humble 上使用。") from exc
+        rclpy.init(args=None)
+        # TODO: 创建 node，订阅 /flexiv/state，调用 MoveLin action/service
+        raise NotImplementedError("ROS2 客户端在 Ubuntu 工控机上完善")
+
+    def disconnect(self) -> None:
+        self._node = None
+
+    def get_state(self) -> RobotState:
+        raise NotImplementedError
+
+    def move_linear(self, target: Pose, vel: float = 0.2, asym: float = 0.5) -> None:
+        raise NotImplementedError
+
+    def stop(self) -> None:
+        pass
diff --git a/ros_flexiv/src/flexiv_assembly/robot/sim_isaac.py b/ros_flexiv/src/flexiv_assembly/robot/sim_isaac.py
new file mode 100644
index 0000000..28c39c6
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/robot/sim_isaac.py
@@ -0,0 +1,34 @@
+from __future__ import annotations
+
+from flexiv_assembly.motion.poses import Pose, RobotState
+from flexiv_assembly.robot.base import RobotBackend
+
+
+class IsaacSimRobot(RobotBackend):
+    """
+    Flexiv Isaac Sim Plugin 仿真后端占位。
+    落地时：通过插件 RPC / ROS2 bridge / 官方接口驱动仿真臂，并带渲染。
+    """
+
+    name = "sim_isaac"
+
+    def __init__(self, usd_path: str = "") -> None:
+        self.usd_path = usd_path
+
+    def connect(self) -> None:
+        raise NotImplementedError(
+            "请安装 Isaac Sim + Flexiv Sim Plugin 后，在此接入仿真控制通道。"
+            "资源：Flexiv IsaacSim Plugin / Primitive 文档。"
+        )
+
+    def disconnect(self) -> None:
+        pass
+
+    def get_state(self) -> RobotState:
+        raise NotImplementedError
+
+    def move_linear(self, target: Pose, vel: float = 0.2, asym: float = 0.5) -> None:
+        raise NotImplementedError
+
+    def stop(self) -> None:
+        pass
diff --git a/ros_flexiv/src/flexiv_assembly/tactile/__init__.py b/ros_flexiv/src/flexiv_assembly/tactile/__init__.py
new file mode 100644
index 0000000..323c228
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/tactile/__init__.py
@@ -0,0 +1 @@
+# package marker
diff --git a/ros_flexiv/src/flexiv_assembly/tactile/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/tactile/__pycache__/__init__.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/tactile/__pycache__/interface.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/tactile/__pycache__/interface.cpython-311.pyc
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diff --git a/ros_flexiv/src/flexiv_assembly/tactile/interface.py b/ros_flexiv/src/flexiv_assembly/tactile/interface.py
new file mode 100644
index 0000000..a5687d1
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/tactile/interface.py
@@ -0,0 +1,88 @@
+"""
+自研视触觉算法预留接口。
+
+触觉模型未就绪时使用 MockTactile；研发完成后实现 TactileInterface 并在配置中切换。
+夹爪/传感器更换时只改适配器，不改项目脚本。
+"""
+
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+
+
+@dataclass
+class TactileSample:
+    """一帧触觉观测（字段可按传感器扩展）。"""
+
+    timestamp: float
+    force_xyz: np.ndarray          # 估计接触力
+    torque_xyz: np.ndarray         # 估计力矩
+    contact: bool
+    embedding: np.ndarray | None = None  # 深度学习特征
+    raw: dict[str, Any] | None = None
+
+
+@dataclass
+class TactileCommand:
+    """下发给机械臂/夹爪的控制意图（由策略层解释）。"""
+
+    delta_xyz: np.ndarray
+    delta_rpy: np.ndarray
+    gripper_pos: float | None = None
+    done: bool = False
+    ok: bool = True
+    message: str = ""
+
+
+class TactileInterface(ABC):
+    """螺纹通止等操作的感知-控制闭环接口。"""
+
+    name: str = "tactile_base"
+
+    @abstractmethod
+    def connect(self) -> None: ...
+
+    @abstractmethod
+    def disconnect(self) -> None: ...
+
+    @abstractmethod
+    def reset(self, hole_id: int) -> None:
+        """开始检测某一螺纹孔前复位内部状态。"""
+
+    @abstractmethod
+    def step(self, sample: TactileSample) -> TactileCommand:
+        """消费一帧触觉，输出运动增量/结束标志。"""
+
+
+class MockTactile(TactileInterface):
+    name = "mock_tactile"
+
+    def __init__(self) -> None:
+        self._i = 0
+        self._hole = 0
+
+    def connect(self) -> None:
+        self._i = 0
+
+    def disconnect(self) -> None:
+        pass
+
+    def reset(self, hole_id: int) -> None:
+        self._hole = hole_id
+        self._i = 0
+
+    def step(self, sample: TactileSample) -> TactileCommand:
+        self._i += 1
+        # 模拟若干步后完成
+        done = self._i >= 15
+        return TactileCommand(
+            delta_xyz=np.zeros(3),
+            delta_rpy=np.zeros(3),
+            done=done,
+            ok=True,
+            message=f"mock hole={self._hole} step={self._i}",
+        )
diff --git a/ros_flexiv/src/flexiv_assembly/vision/__init__.py b/ros_flexiv/src/flexiv_assembly/vision/__init__.py
new file mode 100644
index 0000000..323c228
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/vision/__init__.py
@@ -0,0 +1 @@
+# package marker
diff --git a/ros_flexiv/src/flexiv_assembly/vision/__pycache__/__init__.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/vision/__pycache__/__init__.cpython-311.pyc
new file mode 100644
index 0000000..d003785
Binary files /dev/null and b/ros_flexiv/src/flexiv_assembly/vision/__pycache__/__init__.cpython-311.pyc differ
diff --git a/ros_flexiv/src/flexiv_assembly/vision/__pycache__/stabilizer.cpython-311.pyc b/ros_flexiv/src/flexiv_assembly/vision/__pycache__/stabilizer.cpython-311.pyc
new file mode 100644
index 0000000..3559aeb
Binary files /dev/null and b/ros_flexiv/src/flexiv_assembly/vision/__pycache__/stabilizer.cpython-311.pyc differ
diff --git a/ros_flexiv/src/flexiv_assembly/vision/hole_bridge.py b/ros_flexiv/src/flexiv_assembly/vision/hole_bridge.py
new file mode 100644
index 0000000..24a92f3
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/vision/hole_bridge.py
@@ -0,0 +1,62 @@
+"""桥接上级 camera_test 的二阶段孔检测；路径失败时返回 Mock。"""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+
+ROOT = Path(__file__).resolve().parents[4]  # camera_test/
+
+
+def _ensure_camera_test_path() -> None:
+    p = str(ROOT)
+    if p not in sys.path:
+        sys.path.insert(0, p)
+
+
+def detect_holes_bgr(image_bgr: np.ndarray, detector=None, config: dict | None = None) -> dict[str, Any]:
+    _ensure_camera_test_path()
+    try:
+        from hole_detect import detect_holes, load_config
+        from detectors import load_detector, default_model_path  # type: ignore
+    except Exception as exc:
+        return {
+            "status": False,
+            "msg": f"无法导入 camera_test 视觉模块: {exc}",
+            "hole_points": [],
+            "draw_img": image_bgr,
+        }
+
+    cfg = config or load_config(ROOT / "hole_detect_config.yaml")
+    if detector is None:
+        # 延迟导入 default — detectors 里若无该函数则手写路径
+        try:
+            from detectors import default_model_path as _dmp  # type: ignore
+
+            weights = _dmp("yolo")
+        except Exception:
+            weights = str(
+                ROOT
+                / "ultralytics"
+                / "runs"
+                / "detect"
+                / "runs"
+                / "yolov8_gongjian"
+                / "weights"
+                / "best.pt"
+            )
+        try:
+            from detectors import load_detector
+
+            detector = load_detector("yolo", weights, device="cpu", num_classes=2)
+        except Exception as exc:
+            return {
+                "status": False,
+                "msg": f"检测器加载失败: {exc}",
+                "hole_points": [],
+                "draw_img": image_bgr,
+            }
+    return detect_holes(image_bgr, detector, cfg)
diff --git a/ros_flexiv/src/flexiv_assembly/vision/stabilizer.py b/ros_flexiv/src/flexiv_assembly/vision/stabilizer.py
new file mode 100644
index 0000000..bcfe6ee
--- /dev/null
+++ b/ros_flexiv/src/flexiv_assembly/vision/stabilizer.py
@@ -0,0 +1,33 @@
+from __future__ import annotations
+
+import numpy as np
+
+
+class CoordStabilizer:
+    """抑制视觉坐标闪烁：中位数窗 + EMA + 跳变门限。"""
+
+    def __init__(self, window: int = 7, ema: float = 0.35, max_jump: float = 0.01) -> None:
+        self.window = max(1, window)
+        self.ema = float(ema)
+        self.max_jump = float(max_jump)
+        self._buf: list[np.ndarray] = []
+        self._stable: np.ndarray | None = None
+
+    def reset(self) -> None:
+        self._buf.clear()
+        self._stable = None
+
+    def update(self, xyz: np.ndarray) -> np.ndarray | None:
+        x = np.asarray(xyz, dtype=float).reshape(3)
+        self._buf.append(x)
+        self._buf = self._buf[-self.window :]
+        med = np.median(np.stack(self._buf, axis=0), axis=0)
+        if self._stable is None:
+            self._stable = med
+            return self._stable.copy()
+        if np.linalg.norm(med - self._stable) > self.max_jump:
+            # 跳变过大：不立刻跟随，等待窗口一致
+            return self._stable.copy()
+        a = self.ema
+        self._stable = (1 - a) * self._stable + a * med
+        return self._stable.copy()
diff --git a/ros_flexiv/third_party/flexiv_description b/ros_flexiv/third_party/flexiv_description
new file mode 160000
index 0000000..f33331a
--- /dev/null
+++ b/ros_flexiv/third_party/flexiv_description
@@ -0,0 +1 @@
+Subproject commit f33331a7f75b9a25ec903674595ddfebbe1fb998
diff --git a/ros_flexiv/third_party/flexiv_rdk b/ros_flexiv/third_party/flexiv_rdk
new file mode 160000
index 0000000..159d41f
--- /dev/null
+++ b/ros_flexiv/third_party/flexiv_rdk
@@ -0,0 +1 @@
+Subproject commit 159d41f3ab7fbd74117b6357ba612a0842bed6b9
diff --git a/runs/predict_holes/viz_test.jpg b/runs/predict_holes/viz_test.jpg
new file mode 100644
index 0000000..3ca0b8e
Binary files /dev/null and b/runs/predict_holes/viz_test.jpg differ
diff --git a/split_dataset.py b/split_dataset.py
new file mode 100644
index 0000000..2e5a152
--- /dev/null
+++ b/split_dataset.py
@@ -0,0 +1,519 @@
+"""YOLO 数据集划分：可创建输出文件夹，自定义 train/val/test 百分比（带界面）。"""
+
+from __future__ import annotations
+
+import argparse
+import random
+import shutil
+import tkinter as tk
+from pathlib import Path
+from tkinter import filedialog, messagebox, ttk
+
+import yaml
+
+ROOT = Path(__file__).resolve().parent
+IMAGE_EXTS = {".jpg", ".jpeg", ".png", ".bmp", ".webp", ".tif", ".tiff"}
+
+
+def iter_images(folder: Path) -> list[Path]:
+    if not folder.is_dir():
+        return []
+    return sorted(p for p in folder.iterdir() if p.is_file() and p.suffix.lower() in IMAGE_EXTS)
+
+
+def find_label_for(img: Path, src: Path, split_hint: str | None = None) -> Path | None:
+    """按 stem 在常见 labels 位置查找同名 txt。"""
+    candidates: list[Path] = []
+    if split_hint:
+        candidates.append(src / "labels" / split_hint / f"{img.stem}.txt")
+    candidates.extend(
+        [
+            src / "labels" / "all" / f"{img.stem}.txt",
+            src / "labels" / f"{img.stem}.txt",
+            img.with_suffix(".txt"),
+            img.parent.parent / "labels" / img.parent.name / f"{img.stem}.txt",
+            img.parent.parent / "labels" / f"{img.stem}.txt",
+        ]
+    )
+    for cand in candidates:
+        if cand.exists():
+            return cand
+    return None
+
+
+def find_image_label_pairs(src: Path) -> list[tuple[Path, Path | None]]:
+    """收集源目录全部样本。
+
+    支持:
+    - images/{all|train|val|test} + labels/...
+    - images/ 扁平目录
+    - 根目录直接放图片
+    若已有 train/val，会合并后再重新划分。
+    """
+    pairs_map: dict[str, tuple[Path, Path | None]] = {}
+
+    split_dirs = []
+    for name in ("all", "train", "val", "test"):
+        d = src / "images" / name
+        if d.is_dir() and any(d.iterdir()):
+            split_dirs.append((name if name != "all" else None, d))
+
+    if split_dirs:
+        for hint, img_dir in split_dirs:
+            for img in iter_images(img_dir):
+                pairs_map[img.stem] = (img, find_label_for(img, src, hint))
+    else:
+        flat_candidates = [src / "images", src]
+        img_dir = next((p for p in flat_candidates if iter_images(p)), None)
+        if img_dir is None:
+            raise FileNotFoundError(f"找不到图片目录，请检查: {src}")
+        for img in iter_images(img_dir):
+            pairs_map[img.stem] = (img, find_label_for(img, src, None))
+
+    pairs = [pairs_map[k] for k in sorted(pairs_map)]
+    if not pairs:
+        raise FileNotFoundError(f"在 {src} 下没有找到图片")
+    return pairs
+
+
+def validate_pairs(pairs: list[tuple[Path, Path | None]]) -> list[str]:
+    warnings: list[str] = []
+    missing = [img.name for img, lb in pairs if lb is None]
+    if missing:
+        warnings.append(f"有 {len(missing)} 张图缺少标签，例如: {', '.join(missing[:3])}")
+    bad = 0
+    for img, lb in pairs:
+        if lb is None:
+            continue
+        text = lb.read_text(encoding="utf-8").strip()
+        if not text:
+            continue
+        for line in text.splitlines():
+            parts = line.split()
+            if len(parts) != 5:
+                bad += 1
+                continue
+            try:
+                vals = list(map(float, parts[1:]))
+            except ValueError:
+                bad += 1
+                continue
+            if any(v < 0 or v > 1 for v in vals):
+                bad += 1
+    if bad:
+        warnings.append(f"有 {bad} 行标签格式异常（应为: class x y w h，且坐标 0~1）")
+    return warnings
+
+
+
+def split_indices(n: int, train_r: float, val_r: float, test_r: float, seed: int) -> dict[str, list[int]]:
+    total = train_r + val_r + test_r
+    if abs(total - 1.0) > 1e-6:
+        raise ValueError(f"train+val+test 必须等于 100%，当前为 {total * 100:.1f}%")
+    if n < 2:
+        raise ValueError("样本太少，至少需要 2 张图")
+    if test_r > 0 and n < 3:
+        raise ValueError("划分测试集至少需要 3 张图")
+
+    idxs = list(range(n))
+    random.Random(seed).shuffle(idxs)
+
+    n_test = int(round(n * test_r)) if test_r > 0 else 0
+    n_val = int(round(n * val_r))
+    n_train = n - n_val - n_test
+    if n_train < 1:
+        raise ValueError("训练集为空，请调大训练比例")
+    if n_val < 1:
+        raise ValueError("验证集为空，请调大验证比例")
+    if test_r > 0 and n_test < 1:
+        raise ValueError("测试集为空，请调大测试比例")
+
+    return {
+        "train": idxs[:n_train],
+        "val": idxs[n_train : n_train + n_val],
+        "test": idxs[n_train + n_val :] if n_test else [],
+    }
+
+
+def transfer(src: Path, dst: Path, move: bool) -> None:
+    dst.parent.mkdir(parents=True, exist_ok=True)
+    if move:
+        shutil.move(str(src), str(dst))
+    else:
+        shutil.copy2(src, dst)
+
+
+def write_data_yaml(yaml_path: Path, dataset_root: Path, has_test: bool, names: dict[int, str]) -> None:
+    try:
+        rel = dataset_root.resolve().relative_to(ROOT.resolve()).as_posix()
+    except ValueError:
+        rel = dataset_root.resolve().as_posix()
+
+    data = {
+        "path": rel,
+        "train": "images/train",
+        "val": "images/val",
+        "test": "images/test" if has_test else None,
+        "names": names,
+    }
+    if data["test"] is None:
+        data.pop("test")
+
+    yaml_path.parent.mkdir(parents=True, exist_ok=True)
+    with yaml_path.open("w", encoding="utf-8") as f:
+        f.write("# 由 split_dataset.py 自动生成\n")
+        f.write("# 训练: yolo train cfg=train.yaml\n\n")
+        yaml.safe_dump(data, f, allow_unicode=True, sort_keys=False)
+
+
+def load_or_build_names(yaml_path: Path, names_arg: str) -> dict[int, str]:
+    if names_arg.strip():
+        return {i: n.strip() for i, n in enumerate(names_arg.split(",")) if n.strip()}
+    if yaml_path.exists():
+        with yaml_path.open(encoding="utf-8") as f:
+            old = yaml.safe_load(f) or {}
+        old_names = old.get("names")
+        if isinstance(old_names, dict):
+            return {int(k): str(v) for k, v in old_names.items()}
+        if isinstance(old_names, list):
+            return {i: str(v) for i, v in enumerate(old_names)}
+    return {0: "object"}
+
+
+def run_split(
+    src: Path,
+    dst: Path,
+    train_pct: float,
+    val_pct: float,
+    test_pct: float,
+    seed: int,
+    move: bool,
+    names_arg: str,
+    yaml_path: Path,
+) -> str:
+    if not src.exists():
+        raise FileNotFoundError(f"源目录不存在: {src}")
+
+    dst.mkdir(parents=True, exist_ok=True)
+    pairs = find_image_label_pairs(src)
+    warnings = validate_pairs(pairs)
+    missing = sum(1 for _, lb in pairs if lb is None)
+    splits = split_indices(len(pairs), train_pct / 100.0, val_pct / 100.0, test_pct / 100.0, seed)
+
+    same_dir = src.resolve() == dst.resolve()
+    stage = dst / "_split_stage"
+    if stage.exists():
+        shutil.rmtree(stage)
+    stage_img = stage / "images"
+    stage_lbl = stage / "labels"
+    stage_img.mkdir(parents=True)
+    stage_lbl.mkdir(parents=True)
+
+    staged: list[tuple[Path, Path | None]] = []
+    for img, label in pairs:
+        new_img = stage_img / img.name
+        transfer(img, new_img, move=False)
+        new_lbl = None
+        if label is not None:
+            new_lbl = stage_lbl / label.name
+            transfer(label, new_lbl, move=False)
+        staged.append((new_img, new_lbl))
+
+    if move:
+        # 源文件已暂存后，再删除源侧原文件
+        for img, label in pairs:
+            img.unlink(missing_ok=True)
+            if label is not None:
+                label.unlink(missing_ok=True)
+
+    for split in ("train", "val", "test"):
+        for kind in ("images", "labels"):
+            out = dst / kind / split
+            if out.exists():
+                shutil.rmtree(out)
+            out.mkdir(parents=True, exist_ok=True)
+
+    for split, idxs in splits.items():
+        if not idxs:
+            continue
+        img_out = dst / "images" / split
+        lbl_out = dst / "labels" / split
+        for i in idxs:
+            img, label = staged[i]
+            transfer(img, img_out / img.name, move=True)
+            if label is not None:
+                transfer(label, lbl_out / label.name, move=True)
+            else:
+                (lbl_out / f"{img.stem}.txt").write_text("", encoding="utf-8")
+
+    shutil.rmtree(stage, ignore_errors=True)
+
+    names = load_or_build_names(yaml_path, names_arg)
+    write_data_yaml(yaml_path, dst, has_test=bool(splits["test"]), names=names)
+
+    lines = [
+        f"源目录: {src}",
+        f"输出目录: {dst}" + ("（原地重划分）" if same_dir else ""),
+        f"总样本: {len(pairs)}  无标签: {missing}",
+    ]
+    for split, idxs in splits.items():
+        if idxs:
+            lines.append(f"  {split}: {len(idxs)}")
+    for w in warnings:
+        lines.append(f"警告: {w}")
+    lines.append(f"已生成: {yaml_path}")
+    return "\n".join(lines)
+
+
+class SplitApp(tk.Tk):
+    def __init__(self) -> None:
+        super().__init__()
+        self.title("YOLO 数据集划分")
+        self.geometry("760x520")
+        self.minsize(700, 480)
+
+        self.var_src = tk.StringVar(value=str(ROOT / "datasets" / "phonedata"))
+        self.var_dst = tk.StringVar(value=str(ROOT / "datasets" / "phonedata"))
+        self.var_yaml = tk.StringVar(value=str(ROOT / "data.yaml"))
+        self.var_names = tk.StringVar(value="phone")
+        self.var_train = tk.DoubleVar(value=80)
+        self.var_val = tk.DoubleVar(value=20)
+        self.var_test = tk.DoubleVar(value=0)
+        self.var_use_test = tk.BooleanVar(value=False)
+        self.var_seed = tk.IntVar(value=42)
+        self.var_move = tk.BooleanVar(value=False)
+        self.var_sum = tk.StringVar(value="合计: 100%")
+
+        self._build()
+        self.on_test_toggle()
+        self.refresh_sum()
+
+    def _build(self) -> None:
+        pad = {"padx": 8, "pady": 6}
+        frm = ttk.Frame(self, padding=12)
+        frm.pack(fill="both", expand=True)
+        frm.columnconfigure(1, weight=1)
+
+        ttk.Label(frm, text="源数据文件夹").grid(row=0, column=0, sticky="w", **pad)
+        ttk.Entry(frm, textvariable=self.var_src).grid(row=0, column=1, sticky="ew", **pad)
+        ttk.Button(frm, text="浏览", command=self.browse_src).grid(row=0, column=2, **pad)
+
+        ttk.Label(frm, text="输出文件夹").grid(row=1, column=0, sticky="w", **pad)
+        ttk.Entry(frm, textvariable=self.var_dst).grid(row=1, column=1, sticky="ew", **pad)
+        btns = ttk.Frame(frm)
+        btns.grid(row=1, column=2, **pad)
+        ttk.Button(btns, text="浏览", command=self.browse_dst).pack(side="left")
+        ttk.Button(btns, text="新建", command=self.create_dst).pack(side="left", padx=(6, 0))
+
+        ttk.Label(frm, text="data.yaml").grid(row=2, column=0, sticky="w", **pad)
+        ttk.Entry(frm, textvariable=self.var_yaml).grid(row=2, column=1, sticky="ew", **pad)
+        ttk.Button(frm, text="浏览", command=self.browse_yaml).grid(row=2, column=2, **pad)
+
+        ttk.Label(frm, text="类别名").grid(row=3, column=0, sticky="w", **pad)
+        ttk.Entry(frm, textvariable=self.var_names).grid(row=3, column=1, sticky="ew", **pad)
+        ttk.Label(frm, text="逗号分隔，如 phone,cable").grid(row=3, column=2, sticky="w", **pad)
+
+        ratio = ttk.LabelFrame(frm, text="划分百分比（合计必须 100%）", padding=10)
+        ratio.grid(row=4, column=0, columnspan=3, sticky="ew", **pad)
+        for c in range(6):
+            ratio.columnconfigure(c, weight=1)
+
+        ttk.Label(ratio, text="训练 %").grid(row=0, column=0, sticky="w")
+        train_entry = ttk.Entry(ratio, textvariable=self.var_train, width=8)
+        train_entry.grid(row=0, column=1, sticky="w")
+        ttk.Label(ratio, text="验证 %").grid(row=0, column=2, sticky="w")
+        val_entry = ttk.Entry(ratio, textvariable=self.var_val, width=8)
+        val_entry.grid(row=0, column=3, sticky="w")
+        ttk.Checkbutton(ratio, text="启用测试集", variable=self.var_use_test, command=self.on_test_toggle).grid(
+            row=0, column=4, sticky="w"
+        )
+        self.test_entry = ttk.Entry(ratio, textvariable=self.var_test, width=8)
+        self.test_entry.grid(row=0, column=5, sticky="w")
+        ttk.Label(ratio, textvariable=self.var_sum).grid(row=1, column=0, columnspan=3, sticky="w", pady=(8, 0))
+        ttk.Label(ratio, text="快捷:").grid(row=1, column=3, sticky="e", pady=(8, 0))
+        ttk.Button(ratio, text="80/20", command=lambda: self.set_ratio(80, 20, 0)).grid(row=1, column=4, sticky="w", pady=(8, 0))
+        ttk.Button(ratio, text="70/20/10", command=lambda: self.set_ratio(70, 20, 10)).grid(
+            row=1, column=5, sticky="w", pady=(8, 0)
+        )
+
+        for var in (self.var_train, self.var_val, self.var_test):
+            var.trace_add("write", lambda *_: self.refresh_sum())
+
+        opts = ttk.Frame(frm)
+        opts.grid(row=5, column=0, columnspan=3, sticky="ew", **pad)
+        ttk.Label(opts, text="随机种子").pack(side="left")
+        ttk.Entry(opts, textvariable=self.var_seed, width=8).pack(side="left", padx=(6, 16))
+        ttk.Checkbutton(opts, text="移动文件（默认复制）", variable=self.var_move).pack(side="left")
+
+        ttk.Button(frm, text="扫描源目录", command=self.scan_src).grid(row=6, column=0, columnspan=1, sticky="ew", pady=10)
+        ttk.Button(frm, text="开始划分", command=self.run).grid(row=6, column=1, columnspan=2, sticky="ew", pady=10)
+
+        self.log = tk.Text(frm, height=12, wrap="word")
+        self.log.grid(row=7, column=0, columnspan=3, sticky="nsew")
+        frm.rowconfigure(7, weight=1)
+        self.log.insert("end", "说明：\n")
+        self.log.insert("end", "1. 源目录可为未划分数据，或已有 train/val（会合并后重新划分）\n")
+        self.log.insert("end", "2. 输出目录可新建；结构: images/train|val|test + labels/...\n")
+        self.log.insert("end", "3. 百分比自定义，启用测试集时 train+val+test=100\n")
+        self.log.insert("end", "4. 当前 phonedata 格式正确时可直接点「扫描源目录」确认数量\n")
+
+    def browse_src(self) -> None:
+        path = filedialog.askdirectory(initialdir=self.var_src.get() or str(ROOT))
+        if path:
+            self.var_src.set(path)
+
+    def browse_dst(self) -> None:
+        path = filedialog.askdirectory(initialdir=self.var_dst.get() or str(ROOT))
+        if path:
+            self.var_dst.set(path)
+
+    def create_dst(self) -> None:
+        parent = filedialog.askdirectory(title="选择新建文件夹的父目录", initialdir=str(ROOT / "datasets"))
+        if not parent:
+            return
+        dialog = tk.Toplevel(self)
+        dialog.title("新建输出文件夹")
+        dialog.geometry("420x140")
+        dialog.transient(self)
+        dialog.grab_set()
+        name_var = tk.StringVar(value="split")
+        ttk.Label(dialog, text=f"父目录: {parent}").pack(anchor="w", padx=12, pady=(12, 4))
+        row = ttk.Frame(dialog)
+        row.pack(fill="x", padx=12)
+        ttk.Label(row, text="文件夹名").pack(side="left")
+        ttk.Entry(row, textvariable=name_var).pack(side="left", fill="x", expand=True, padx=8)
+
+        def ok() -> None:
+            name = name_var.get().strip()
+            if not name:
+                messagebox.showwarning("新建", "请输入文件夹名", parent=dialog)
+                return
+            path = Path(parent) / name
+            path.mkdir(parents=True, exist_ok=True)
+            self.var_dst.set(str(path))
+            dialog.destroy()
+
+        ttk.Button(dialog, text="创建", command=ok).pack(pady=12)
+
+    def browse_yaml(self) -> None:
+        path = filedialog.asksaveasfilename(
+            initialdir=str(ROOT),
+            initialfile="data.yaml",
+            defaultextension=".yaml",
+            filetypes=[("YAML", "*.yaml;*.yml"), ("All", "*.*")],
+        )
+        if path:
+            self.var_yaml.set(path)
+
+    def set_ratio(self, train: float, val: float, test: float) -> None:
+        self.var_use_test.set(test > 0)
+        self.on_test_toggle()
+        self.var_train.set(train)
+        self.var_val.set(val)
+        self.var_test.set(test)
+        self.refresh_sum()
+
+    def on_test_toggle(self) -> None:
+        if self.var_use_test.get():
+            self.test_entry.state(["!disabled"])
+            if float(self.var_test.get() or 0) <= 0:
+                self.var_test.set(10)
+                self.var_train.set(70)
+                self.var_val.set(20)
+        else:
+            self.var_test.set(0)
+            self.test_entry.state(["disabled"])
+        self.refresh_sum()
+
+    def refresh_sum(self) -> None:
+        try:
+            train = float(self.var_train.get())
+            val = float(self.var_val.get())
+            test = float(self.var_test.get()) if self.var_use_test.get() else 0.0
+            total = train + val + test
+            ok = abs(total - 100.0) < 0.05
+            self.var_sum.set(f"合计: {total:.1f}%  {'✓' if ok else '（必须等于 100%）'}")
+        except (tk.TclError, ValueError, TypeError):
+            self.var_sum.set("合计: --")
+
+    def scan_src(self) -> None:
+        try:
+            pairs = find_image_label_pairs(Path(self.var_src.get()))
+            warnings = validate_pairs(pairs)
+            missing = sum(1 for _, lb in pairs if lb is None)
+            msg = f"扫描完成: 共 {len(pairs)} 张图，缺标签 {missing}\n"
+            for w in warnings:
+                msg += f"警告: {w}\n"
+            if not warnings and missing == 0:
+                msg += "图文配对与标签格式检查通过。\n"
+        except Exception as exc:
+            messagebox.showerror("扫描失败", str(exc))
+            self.log.insert("end", f"\n扫描错误: {exc}\n")
+            return
+        self.log.insert("end", f"\n{msg}")
+        self.log.see("end")
+        messagebox.showinfo("扫描结果", msg)
+
+    def run(self) -> None:
+        try:
+            train = float(self.var_train.get())
+            val = float(self.var_val.get())
+            test = float(self.var_test.get()) if self.var_use_test.get() else 0.0
+            if abs(train + val + test - 100.0) > 0.05:
+                raise ValueError("百分比合计必须等于 100")
+            msg = run_split(
+                src=Path(self.var_src.get()),
+                dst=Path(self.var_dst.get()),
+                train_pct=train,
+                val_pct=val,
+                test_pct=test,
+                seed=int(self.var_seed.get()),
+                move=self.var_move.get(),
+                names_arg=self.var_names.get(),
+                yaml_path=Path(self.var_yaml.get()),
+            )
+        except Exception as exc:
+            messagebox.showerror("划分失败", str(exc))
+            self.log.insert("end", f"\n错误: {exc}\n")
+            return
+        self.log.insert("end", f"\n{msg}\n")
+        self.log.see("end")
+        messagebox.showinfo("完成", msg)
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="YOLO 数据集划分")
+    parser.add_argument("--cli", action="store_true", help="命令行模式（默认打开界面）")
+    parser.add_argument("--src", type=Path, default=ROOT / "datasets" / "phonedata")
+    parser.add_argument("--dst", type=Path, default=ROOT / "datasets" / "phonedata")
+    parser.add_argument("--train", type=float, default=80, help="训练集百分比，如 80")
+    parser.add_argument("--val", type=float, default=20, help="验证集百分比，如 20")
+    parser.add_argument("--test", type=float, default=0, help="测试集百分比，如 10")
+    parser.add_argument("--seed", type=int, default=42)
+    parser.add_argument("--move", action="store_true")
+    parser.add_argument("--names", type=str, default="phone")
+    parser.add_argument("--yaml", type=Path, default=ROOT / "data.yaml")
+    return parser.parse_args()
+
+
+def main() -> None:
+    args = parse_args()
+    if args.cli:
+        msg = run_split(
+            src=args.src if args.src.is_absolute() else ROOT / args.src,
+            dst=args.dst if args.dst.is_absolute() else ROOT / args.dst,
+            train_pct=args.train,
+            val_pct=args.val,
+            test_pct=args.test,
+            seed=args.seed,
+            move=args.move,
+            names_arg=args.names,
+            yaml_path=args.yaml if args.yaml.is_absolute() else ROOT / args.yaml,
+        )
+        print(msg)
+        return
+    SplitApp().mainloop()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/train.yaml b/train.yaml
new file mode 100644
index 0000000..5ae5bfd
--- /dev/null
+++ b/train.yaml
@@ -0,0 +1,50 @@
+# YOLOv8 训练配置模板
+# 改完后在项目根目录执行：
+#   yolo train cfg=train.yaml
+
+task: detect
+mode: train
+model: yolov8n.pt            # n/s/m/l/x，或本地 best.pt
+data: 01data.yaml              # 指向本项目数据集配置
+
+epochs: 100
+batch: 8                     # 显存不够改 4 或 2，-1 为自动
+imgsz: 640
+device: 0                    # 0=GPU，cpu=CPU
+workers: 4                   # Windows 报错可改 0
+amp: true
+
+project: runs
+name: yolov8_gongjian
+exist_ok: true
+save: true
+save_period: 10
+plots: true
+val: true
+patience: 50
+
+optimizer: auto              # auto / SGD / Adam / AdamW
+lr0: 0.01
+lrf: 0.01
+momentum: 0.937
+weight_decay: 0.0005
+warmup_epochs: 3.0
+cos_lr: false
+close_mosaic: 10
+pretrained: true
+resume: false
+seed: 0
+
+hsv_h: 0.015
+hsv_s: 0.7
+hsv_v: 0.4
+degrees: 0.0
+translate: 0.1
+scale: 0.5
+fliplr: 0.5
+mosaic: 1.0
+mixup: 0.0
+
+box: 7.5
+cls: 0.5
+dfl: 1.5
diff --git a/train_faster_rcnn.py b/train_faster_rcnn.py
new file mode 100644
index 0000000..9035a8c
--- /dev/null
+++ b/train_faster_rcnn.py
@@ -0,0 +1,291 @@
+"""用 YOLO 格式数据集训练 torchvision Faster R-CNN。"""
+
+from __future__ import annotations
+
+import argparse
+import time
+from pathlib import Path
+
+import cv2
+import numpy as np
+import torch
+import yaml
+from torch.utils.data import DataLoader, Dataset
+from tqdm import tqdm
+
+from detectors import build_faster_rcnn, resolve_device
+
+ROOT = Path(__file__).resolve().parent
+
+
+class YoloDetDataset(Dataset):
+    """读取 Ultralytics YOLO txt 标签（class cx cy w h，归一化）。"""
+
+    def __init__(self, img_dir: Path, label_dir: Path, imgsz: int = 640) -> None:
+        self.img_paths = sorted(
+            [p for p in img_dir.iterdir() if p.suffix.lower() in {".jpg", ".jpeg", ".png", ".bmp"}]
+        )
+        self.label_dir = label_dir
+        self.imgsz = int(imgsz)
+
+    def __len__(self) -> int:
+        return len(self.img_paths)
+
+    def __getitem__(self, idx: int):
+        path = self.img_paths[idx]
+        bgr = cv2.imread(str(path))
+        if bgr is None:
+            raise RuntimeError(f"无法读取图像: {path}")
+        h0, w0 = bgr.shape[:2]
+        scale = self.imgsz / max(h0, w0)
+        nh, nw = max(1, int(round(h0 * scale))), max(1, int(round(w0 * scale)))
+        bgr = cv2.resize(bgr, (nw, nh), interpolation=cv2.INTER_LINEAR)
+        rgb = cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB)
+        image = torch.from_numpy(rgb).permute(2, 0, 1).float() / 255.0
+
+        label_path = self.label_dir / f"{path.stem}.txt"
+        boxes = []
+        labels = []
+        if label_path.exists():
+            for line in label_path.read_text(encoding="utf-8").splitlines():
+                parts = line.strip().split()
+                if len(parts) < 5:
+                    continue
+                cls_id = int(float(parts[0]))
+                cx, cy, bw, bh = map(float, parts[1:5])
+                x1 = (cx - bw / 2.0) * nw
+                y1 = (cy - bh / 2.0) * nh
+                x2 = (cx + bw / 2.0) * nw
+                y2 = (cy + bh / 2.0) * nh
+                x1 = float(np.clip(x1, 0, nw - 1))
+                y1 = float(np.clip(y1, 0, nh - 1))
+                x2 = float(np.clip(x2, 0, nw - 1))
+                y2 = float(np.clip(y2, 0, nh - 1))
+                if x2 <= x1 or y2 <= y1:
+                    continue
+                boxes.append([x1, y1, x2, y2])
+                # Faster R-CNN 前景从 1 开始
+                labels.append(cls_id + 1)
+
+        if boxes:
+            boxes_t = torch.tensor(boxes, dtype=torch.float32)
+            labels_t = torch.tensor(labels, dtype=torch.int64)
+        else:
+            boxes_t = torch.zeros((0, 4), dtype=torch.float32)
+            labels_t = torch.zeros((0,), dtype=torch.int64)
+
+        target = {
+            "boxes": boxes_t,
+            "labels": labels_t,
+            "image_id": torch.tensor([idx]),
+            "area": (boxes_t[:, 3] - boxes_t[:, 1]) * (boxes_t[:, 2] - boxes_t[:, 0])
+            if len(boxes_t)
+            else torch.zeros((0,), dtype=torch.float32),
+            "iscrowd": torch.zeros((len(boxes_t),), dtype=torch.int64),
+        }
+        return image, target
+
+
+def collate_fn(batch):
+    return tuple(zip(*batch))
+
+
+def load_data_yaml(path: Path) -> dict:
+    data = yaml.safe_load(path.read_text(encoding="utf-8")) or {}
+    root = Path(data["path"])
+    if not root.is_absolute():
+        root = (path.parent / root).resolve()
+    return {
+        "root": root,
+        "train": root / data.get("train", "images/train"),
+        "val": root / data.get("val", "images/val"),
+        "names": data.get("names", {0: "object"}),
+    }
+
+
+def load_cfg(path: Path) -> dict:
+    cfg = yaml.safe_load(path.read_text(encoding="utf-8")) or {}
+    return cfg
+
+
+@torch.inference_mode()
+def evaluate(model, loader, device) -> dict[str, float]:
+    model.eval()
+    total = 0
+    hit = 0
+    score_sum = 0.0
+    for images, targets in loader:
+        images = [img.to(device) for img in images]
+        outputs = model(images)
+        for out, tgt in zip(outputs, targets):
+            total += 1
+            gt = tgt["boxes"]
+            if len(gt) == 0:
+                continue
+            if len(out["boxes"]) == 0:
+                continue
+            # 简化指标：最高分框与任一 GT IoU>0.5 记命中
+            scores = out["scores"].detach().cpu()
+            boxes = out["boxes"].detach().cpu()
+            best = int(torch.argmax(scores))
+            score_sum += float(scores[best])
+            pb = boxes[best]
+            for gb in gt:
+                xx1 = max(float(pb[0]), float(gb[0]))
+                yy1 = max(float(pb[1]), float(gb[1]))
+                xx2 = min(float(pb[2]), float(gb[2]))
+                yy2 = min(float(pb[3]), float(gb[3]))
+                inter = max(0.0, xx2 - xx1) * max(0.0, yy2 - yy1)
+                area_p = max(0.0, float(pb[2] - pb[0])) * max(0.0, float(pb[3] - pb[1]))
+                area_g = max(0.0, float(gb[2] - gb[0])) * max(0.0, float(gb[3] - gb[1]))
+                union = area_p + area_g - inter + 1e-6
+                if inter / union >= 0.5:
+                    hit += 1
+                    break
+    return {
+        "val_images": float(total),
+        "recall_proxy": hit / max(1, total),
+        "avg_top_score": score_sum / max(1, total),
+    }
+
+
+def train_one_epoch(model, optimizer, loader, device, print_freq: int) -> float:
+    model.train()
+    loss_meter = 0.0
+    n = 0
+    pbar = tqdm(loader, desc="train", leave=False)
+    for i, (images, targets) in enumerate(pbar):
+        images = [img.to(device) for img in images]
+        targets = [{k: v.to(device) for k, v in t.items()} for t in targets]
+        loss_dict = model(images, targets)
+        losses = sum(loss for loss in loss_dict.values())
+        optimizer.zero_grad(set_to_none=True)
+        losses.backward()
+        optimizer.step()
+        loss_meter += float(losses.detach().cpu())
+        n += 1
+        if (i + 1) % print_freq == 0:
+            pbar.set_postfix(loss=f"{loss_meter / n:.4f}")
+    return loss_meter / max(1, n)
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Train Faster R-CNN on YOLO-format dataset")
+    parser.add_argument("--cfg", type=str, default=str(ROOT / "faster_rcnn.yaml"))
+    args = parser.parse_args()
+
+    cfg = load_cfg(Path(args.cfg))
+    data_yaml = Path(cfg.get("data", "01data.yaml"))
+    if not data_yaml.is_absolute():
+        data_yaml = ROOT / data_yaml
+    data = load_data_yaml(data_yaml)
+
+    train_img = Path(data["train"])
+    val_img = Path(data["val"])
+    # YOLO layout: images/train -> labels/train
+    train_lbl = train_img.parent.parent / "labels" / train_img.name
+    val_lbl = val_img.parent.parent / "labels" / val_img.name
+    if not train_lbl.exists():
+        train_lbl = Path(str(train_img).replace("images", "labels"))
+    if not val_lbl.exists():
+        val_lbl = Path(str(val_img).replace("images", "labels"))
+
+    imgsz = int(cfg.get("imgsz", 640))
+    train_set = YoloDetDataset(train_img, train_lbl, imgsz=imgsz)
+    val_set = YoloDetDataset(val_img, val_lbl, imgsz=imgsz)
+    if len(train_set) == 0:
+        raise RuntimeError(f"训练集为空: {train_img}")
+
+    device = resolve_device(cfg.get("device", "0"))
+    num_classes = int(cfg.get("num_classes", 2))
+    model = build_faster_rcnn(num_classes, pretrained_backbone=bool(cfg.get("pretrained", True)))
+    model.to(device)
+
+    resume = str(cfg.get("resume") or "").strip()
+    start_epoch = 1
+    if resume:
+        ckpt = torch.load(resume, map_location="cpu", weights_only=False)
+        model.load_state_dict(ckpt["model"] if isinstance(ckpt, dict) and "model" in ckpt else ckpt)
+        start_epoch = int(ckpt.get("epoch", 0)) + 1 if isinstance(ckpt, dict) else 1
+        print(f"已从 {resume} 恢复，下一轮 epoch={start_epoch}")
+
+    workers = int(cfg.get("num_workers", 2))
+    batch = int(cfg.get("batch_size", 2))
+    train_loader = DataLoader(
+        train_set,
+        batch_size=batch,
+        shuffle=True,
+        num_workers=workers,
+        collate_fn=collate_fn,
+        pin_memory=device.type == "cuda",
+    )
+    val_loader = DataLoader(
+        val_set,
+        batch_size=1,
+        shuffle=False,
+        num_workers=max(0, workers // 2),
+        collate_fn=collate_fn,
+    )
+
+    params = [p for p in model.parameters() if p.requires_grad]
+    optimizer = torch.optim.SGD(
+        params,
+        lr=float(cfg.get("lr", 0.005)),
+        momentum=float(cfg.get("momentum", 0.9)),
+        weight_decay=float(cfg.get("weight_decay", 0.0005)),
+    )
+    lr_scheduler = torch.optim.lr_scheduler.StepLR(
+        optimizer,
+        step_size=int(cfg.get("step_size", 12)),
+        gamma=float(cfg.get("gamma", 0.1)),
+    )
+
+    out_dir = ROOT / cfg.get("project", "runs/faster_rcnn") / cfg.get("name", "exp")
+    if out_dir.exists() and not bool(cfg.get("exist_ok", True)):
+        raise RuntimeError(f"输出目录已存在: {out_dir}")
+    out_dir.mkdir(parents=True, exist_ok=True)
+    weights_dir = out_dir / "weights"
+    weights_dir.mkdir(exist_ok=True)
+
+    epochs = int(cfg.get("epochs", 30))
+    print_freq = int(cfg.get("print_freq", 20))
+    eval_every = int(cfg.get("eval_every", 1))
+    best_score = -1.0
+
+    print(f"device={device}  train={len(train_set)}  val={len(val_set)}  out={out_dir}")
+    for epoch in range(start_epoch, epochs + 1):
+        t0 = time.perf_counter()
+        avg_loss = train_one_epoch(model, optimizer, train_loader, device, print_freq)
+        lr_scheduler.step()
+        metrics = {"loss": avg_loss}
+        if epoch % eval_every == 0 and len(val_set) > 0:
+            metrics.update(evaluate(model, val_loader, device))
+        elapsed = time.perf_counter() - t0
+        print(
+            f"epoch {epoch}/{epochs}  loss={avg_loss:.4f}  "
+            f"recall_proxy={metrics.get('recall_proxy', float('nan')):.3f}  "
+            f"time={elapsed:.1f}s"
+        )
+
+        ckpt = {
+            "epoch": epoch,
+            "model": model.state_dict(),
+            "num_classes": num_classes,
+            "names": data["names"],
+            "cfg": cfg,
+            "metrics": metrics,
+        }
+        torch.save(ckpt, weights_dir / "last.pth")
+        if epoch % 5 == 0:
+            torch.save(ckpt, weights_dir / f"epoch{epoch}.pth")
+        score = float(metrics.get("recall_proxy", 0.0))
+        if score >= best_score:
+            best_score = score
+            torch.save(ckpt, weights_dir / "best.pth")
+            print(f"  saved best.pth (recall_proxy={best_score:.3f})")
+
+    print(f"训练完成。权重目录: {weights_dir}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/ultralytics b/ultralytics
new file mode 160000
index 0000000..3702ebe
--- /dev/null
+++ b/ultralytics
@@ -0,0 +1 @@
+Subproject commit 3702ebede664e3dd46835400986a885e7022eeb6
diff --git a/yolo26n.pt b/yolo26n.pt
new file mode 100644
index 0000000..be48188
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diff --git a/yolov8n.pt b/yolov8n.pt
new file mode 100644
index 0000000..0db4ca4
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