init

examples/qt_viewer.py

@@ -0,0 +1,793 @@
+"""
+Orisys SDK 实时监控 — Qt 统一界面
+
+将所有可视化和曲线整合到一个窗口中，适合销售演示使用。
+SDK version: 0.3.1
+"""
+
+import os
+import sys
+os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
+import cv2
+import orisys
+import numpy as np
+import time
+import argparse
+from datetime import datetime
+
+try:
+    from scipy.signal import butter, filtfilt
+except Exception:
+    butter = None
+    filtfilt = None
+
+# 下面这些参数只影响右侧三条力曲线的显示，不改变传感器读数、光流图或幅值图数据。
+FORCE_SAMPLE_RATE_HZ = 30.0
+PLOT_BUFFER_POINTS = 120
+PLOT_WINDOW_SEC = PLOT_BUFFER_POINTS / FORCE_SAMPLE_RATE_HZ
+Y_AXIS_MIN_SPAN = 20000.0
+CURVE_THEME_COLOR = '#00E5FF'
+
+from PyQt5.QtWidgets import (
+    QMainWindow, QWidget, QHBoxLayout, QVBoxLayout,
+    QLabel, QApplication, QSplitter, QPlainTextEdit,
+    QPushButton, QFileDialog, QLineEdit,
+)
+from PyQt5.QtCore import Qt, QTimer
+from PyQt5.QtGui import QImage, QPixmap, QFont, QIcon
+
+try:
+    import pyqtgraph as pg
+except Exception:
+    print("PyQtGraph is not installed. Please install it using 'pip install pyqt5 pyqtgraph'.")
+    sys.exit(1)
+
+# ---------------------------------------------------------------------------
+# 工具
+# ---------------------------------------------------------------------------
+
+def cv2_to_pixmap(img_bgr: np.ndarray) -> QPixmap:
+    rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
+    h, w, ch = rgb.shape
+    qimg = QImage(rgb.data, w, h, ch * w, QImage.Format_RGB888)
+    return QPixmap.fromImage(qimg)
+
+def draw_magnitude_map(vfield, threshold=1.5, colormap=cv2.COLORMAP_JET) -> np.ndarray:
+    flow_field = vfield
+    magnitude = np.sqrt(flow_field[:, :, 0] ** 2 + flow_field[:, :, 1] ** 2)
+
+    downsample_factor = 10
+    h, w = magnitude.shape
+    magnitude_downsampled = magnitude[::downsample_factor, ::downsample_factor]
+    magnitude_smoothed = cv2.resize(magnitude_downsampled, (w, h), interpolation=cv2.INTER_CUBIC)
+
+    magnitude_thresholded = magnitude_smoothed.copy()
+    magnitude_thresholded[magnitude_smoothed < threshold] = 0
+
+    mag_min, mag_max = magnitude_thresholded.min(), magnitude_thresholded.max()
+    if mag_max > mag_min:
+        magnitude_norm = ((magnitude_thresholded - mag_min) / (mag_max - mag_min) * 255).astype(np.uint8)
+    else:
+        magnitude_norm = np.zeros_like(magnitude_thresholded, dtype=np.uint8)
+
+    magnitude_colored = cv2.applyColorMap(magnitude_norm, colormap)
+    out_img = cv2.resize(magnitude_colored, (400, 400), interpolation=cv2.INTER_CUBIC)
+    return out_img
+
+
+def lowpass_filter(data, cutoff_hz, sample_rate_hz=FORCE_SAMPLE_RATE_HZ, order=2):
+    """和 qt_viewer_2.py 一样用于三条力曲线显示的低通滤波。"""
+    y = np.asarray(data, dtype=np.float64)
+    if cutoff_hz == 0 or y.size == 0:
+        return y.copy()
+
+    nyquist = 0.5 * sample_rate_hz
+    if cutoff_hz < 0 or cutoff_hz >= nyquist:
+        raise ValueError(
+            f"cutoff_hz must be in (0, {nyquist}) for sample_rate_hz={sample_rate_hz}"
+        )
+
+    if butter is not None and filtfilt is not None:
+        b, a = butter(order, cutoff_hz / nyquist, btype="low")
+        padlen = 3 * (max(len(b), len(a)) - 1)
+        if y.size <= padlen:
+            return y.copy()
+        return filtfilt(b, a, y)
+
+    window = min(max(int(sample_rate_hz / max(cutoff_hz, 1e-6)), 3), y.size)
+    if window % 2 == 0:
+        window -= 1
+    if window <= 1:
+        return y.copy()
+    kernel = np.ones(window, dtype=np.float64) / window
+    pad = window // 2
+    forward = np.convolve(np.pad(y, (pad, pad), mode="edge"), kernel, mode="valid")
+    return np.convolve(np.pad(forward[::-1], (pad, pad), mode="edge"), kernel, mode="valid")[::-1]
+
+
+class TeeStream:
+    """同时写入多个流"""
+    def __init__(self, *streams):
+        self.streams = streams
+
+    def write(self, text):
+        for s in self.streams:
+            s.write(text)
+
+    def flush(self):
+        for s in self.streams:
+            s.flush()
+
+
+class WidgetLogHandler:
+    """将 print 输出实时显示到 QPlainTextEdit"""
+    def __init__(self, widget: QPlainTextEdit):
+        self.widget = widget
+        self.buf = ""
+
+    def write(self, text: str):
+        self.buf += text
+        while "\n" in self.buf:
+            line, self.buf = self.buf.split("\n", 1)
+            if line:
+                self.widget.appendPlainText(line)
+
+    def flush(self):
+        if self.buf:
+            self.widget.appendPlainText(self.buf)
+            self.buf = ""
+
+# ---------------------------------------------------------------------------
+# 样式表
+# ---------------------------------------------------------------------------
+
+STYLE = """
+QMainWindow {
+    background-color: #000000;
+}
+
+/* ---- 图像面板 ---- */
+QLabel#arrowsLabel, QLabel#magLabel {
+    border: 1px solid #262626;
+    border-radius: 4px;
+    background-color: #0b0b0b;
+}
+
+/* ---- 顶栏按钮 & 输入 - — */
+QPushButton {
+    background-color: #1a1a1a;
+    color: #999999;
+    border: 1px solid #333333;
+    border-radius: 4px;
+    padding: 6px 16px;
+    font-family: "SimHei";
+    font-size: 13px;
+}
+QPushButton:hover {
+    background-color: #262626;
+    color: #cccccc;
+    border: 1px solid #555555;
+}
+QPushButton#btnStart {
+    background-color: #0d2818;
+    color: #4caf84;
+    border: 1px solid #1a4d30;
+}
+QPushButton#btnStart:hover {
+    background-color: #143d24;
+    color: #6fd4a0;
+}
+QPushButton#btnStart:disabled {
+    background-color: #0f0f0f;
+    color: #333333;
+    border: 1px solid #222222;
+}
+QPushButton#btnStop {
+    background-color: #2b1010;
+    color: #e05555;
+    border: 1px solid #4d1a1a;
+}
+QPushButton#btnStop:hover {
+    background-color: #3d1818;
+    color: #f07070;
+}
+QPushButton#btnStop:disabled {
+    background-color: #0f0f0f;
+    color: #333333;
+    border: 1px solid #222222;
+}
+QLineEdit {
+    background-color: #0d0d0d;
+    color: #999999;
+    border: 1px solid #333333;
+    border-radius: 4px;
+    padding: 5px 10px;
+    font-size: 13px;
+}
+
+/* ---- 力曲线容器 ---- */
+GraphicsLayoutWidget {
+    border: 1px solid #262626;
+    border-radius: 4px;
+}
+
+/* ---- 日志面板 ---- */
+QPlainTextEdit {
+    background-color: #0b0b0b;
+    color: #777777;
+    border: 1px solid #262626;
+    border-radius: 4px;
+    font-family: "Cascadia Code", "Consolas", "Courier New", monospace;
+    font-size: 13px;
+    padding: 8px;
+    selection-background-color: #1a3a4a;
+    selection-color: #cccccc;
+}
+
+QPlainTextEdit QScrollBar:vertical {
+    background-color: #0b0b0b;
+    width: 6px;
+    margin: 1px;
+    border-radius: 3px;
+}
+QPlainTextEdit QScrollBar::handle:vertical {
+    background-color: #262626;
+    border-radius: 3px;
+    min-height: 30px;
+}
+QPlainTextEdit QScrollBar::handle:vertical:hover {
+    background-color: #3a3a3a;
+}
+QPlainTextEdit QScrollBar::add-line:vertical,
+QPlainTextEdit QScrollBar::sub-line:vertical {
+    height: 0px;
+}
+QPlainTextEdit QScrollBar::add-page:vertical,
+QPlainTextEdit QScrollBar::sub-page:vertical {
+    background: none;
+}
+
+QSplitter::handle {
+    background-color: #1a1a1a;
+}
+QSplitter::handle:vertical {
+    height: 1px;
+}
+QSplitter::handle:horizontal {
+    width: 1px;
+}
+"""
+
+# ---------------------------------------------------------------------------
+# 主窗口
+# ---------------------------------------------------------------------------
+
+class MainWindow(QMainWindow):
+    def __init__(self, args, log_file):
+        super().__init__()
+        self.setWindowTitle("Orisys SDK")
+        self.setStyleSheet(STYLE)
+
+        logo_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "logo.png")
+        if os.path.exists(logo_path):
+            self.setWindowIcon(QIcon(logo_path))
+
+        self.sensor = None
+        self.start_time = None
+        self.args = args
+
+        # 录像状态
+        self.is_save = False
+        self.frame_count = 0
+        self.writer = None
+        self.save_path = None
+
+        # 曲线数据缓冲：只存原始 fn/fx/fy，滤波只在绘图副本上做。
+        self.npoints = PLOT_BUFFER_POINTS
+        self.lowpass_cutoff_hz = getattr(args, "cutoff", 10.0)
+        self._init_plot_buffer()
+
+        self._setup_ui()
+        self._create_plots()
+
+        # 同步参数到 UI
+        self.camera_edit.setText(args.video)
+        self.config_edit.setText(args.config)
+        self.cal_edit.setText(args.cal)
+
+        # stdout → 日志文件 + 界面日志面板
+        self.log_handler = WidgetLogHandler(self.log_widget)
+        sys.stdout = TeeStream(log_file, self.log_handler)
+        sys.stderr = sys.stdout
+
+        self._y_range_alpha = 0.5
+
+        self.timer = QTimer()
+        self.timer.timeout.connect(self._on_timer)
+        self._running = False
+
+    def _init_plot_buffer(self):
+        self.data = np.full((self.npoints, 2, 3), np.nan, dtype=np.float64)
+        self._plot_sample_count = 0
+        self._y_range_smooth = [None, None, None]
+
+    # ---- UI 构建 ----
+
+    def _setup_ui(self):
+        central = QWidget()
+        self.setCentralWidget(central)
+        root_layout = QVBoxLayout(central)
+        root_layout.setContentsMargins(6, 6, 6, 6)
+        root_layout.setSpacing(6)
+
+        # ---- 顶栏 ----
+        bar = QHBoxLayout()
+        bar.setSpacing(8)
+
+        self.btn_camera = QPushButton("摄像机")
+        self.btn_camera.setObjectName("btnCamera")
+        self.btn_camera.clicked.connect(self._select_camera)
+        bar.addWidget(self.btn_camera)
+        self.camera_edit = QLineEdit("1")
+        self.camera_edit.setPlaceholderText("摄像头编号 或 视频路径")
+        bar.addWidget(self.camera_edit, 1)
+
+        self.btn_config = QPushButton("配置")
+        self.btn_config.setObjectName("btnConfig")
+        self.btn_config.clicked.connect(self._select_config)
+        bar.addWidget(self.btn_config)
+        self.config_edit = QLineEdit("./config/ddjx01.json")
+        bar.addWidget(self.config_edit, 1)
+
+        self.btn_reset = QPushButton("重置")
+        self.btn_reset.setObjectName("btnReset")
+        self.btn_reset.setEnabled(False)
+        self.btn_reset.clicked.connect(self._on_reset)
+        bar.addWidget(self.btn_reset)
+        self.cal_edit = QLineEdit("./config/ddjx01.npy")
+        bar.addWidget(self.cal_edit, 1)
+
+        self.btn_start = QPushButton("启动")
+        self.btn_start.setObjectName("btnStart")
+        self.btn_start.clicked.connect(self._on_start)
+        bar.addWidget(self.btn_start)
+
+        self.btn_stop = QPushButton("暂停")
+        self.btn_stop.setObjectName("btnStop")
+        self.btn_stop.setEnabled(False)
+        self.btn_stop.clicked.connect(self._on_stop)
+        bar.addWidget(self.btn_stop)
+
+        root_layout.addLayout(bar)
+
+        # ---- 外层纵向 splitter：主区域 / 日志 ----
+        v_splitter = QSplitter(Qt.Vertical)
+
+        # ---- 主区域：图像 (左) | 曲线 (右) ----
+        h_splitter = QSplitter(Qt.Horizontal)
+
+        # 左侧图像面板
+        left = QWidget()
+        left_layout = QVBoxLayout(left)
+        left_layout.setContentsMargins(0, 0, 0, 0)
+        left_layout.setSpacing(6)
+
+        self.arrows_label = QLabel()
+        self.arrows_label.setObjectName("arrowsLabel")
+        self.arrows_label.setMinimumSize(160, 160)
+        self.arrows_label.setScaledContents(True)
+        self.arrows_label.setAlignment(Qt.AlignCenter)
+        left_layout.addWidget(self.arrows_label)
+
+        self.mag_label = QLabel()
+        self.mag_label.setObjectName("magLabel")
+        self.mag_label.setMinimumSize(160, 160)
+        self.mag_label.setScaledContents(True)
+        self.mag_label.setAlignment(Qt.AlignCenter)
+        left_layout.addWidget(self.mag_label)
+
+        h_splitter.addWidget(left)
+
+        # 右侧力曲线
+        pg.setConfigOption('background', '#000000')
+        pg.setConfigOption('foreground', '#777777')
+        pg.setConfigOptions(antialias=True)
+        self.graph_widget = pg.GraphicsLayoutWidget()
+        self.graph_widget.setMinimumWidth(300)
+        h_splitter.addWidget(self.graph_widget)
+
+        self.h_splitter = h_splitter
+
+        v_splitter.addWidget(h_splitter)
+
+        # ---- 底部日志面板 ----
+        self.log_widget = QPlainTextEdit()
+        self.log_widget.setReadOnly(True)
+        self.log_widget.setMaximumBlockCount(2000)
+        font = QFont("Consolas", 12)
+        font.setStyleHint(QFont.Monospace)
+        self.log_widget.setFont(font)
+        v_splitter.addWidget(self.log_widget)
+
+        v_splitter.setStretchFactor(0, 4)
+        v_splitter.setStretchFactor(1, 1)
+
+        root_layout.addWidget(v_splitter)
+
+    def _create_plots(self):
+        titles = ["法向力", "切向力 X", "切向力 Y"]
+        self.plots = []
+        self.curves = []
+        self.dot_glows = []
+        self.dot_cores = []
+
+        axis_pen = pg.mkPen(color=(38, 38, 38), width=1)  # #262626
+        label_font = QFont("SimHei", 9)
+
+        for i, title in enumerate(titles):
+            p = self.graph_widget.addPlot(title=None)
+
+            # 标题：黑体
+            p.setTitle(title, color='#999999', size='14pt')
+            p.titleLabel.setFont(QFont("SimHei", 14))
+
+            # X 轴标签
+            p.setLabel('bottom', '时间', units='s')
+            p.getAxis('bottom').label.setFont(label_font)
+
+            # 仅保留左 + 下轴线，隐藏右 + 上边框
+            p.showAxis('top', False)
+            p.showAxis('right', False)
+            p.getAxis('left').setPen(axis_pen)
+            p.getAxis('bottom').setPen(axis_pen)
+
+            # 仅横向网格，极淡
+            p.showGrid(x=False, y=True, alpha=0.12)
+
+            # 等宽刻度字体
+            tick_font = QFont("Consolas", 11)
+            tick_font.setStyleHint(QFont.Monospace)
+            p.getAxis('left').setTickFont(tick_font)
+            p.getAxis('bottom').setTickFont(tick_font)
+
+            # 曲线样式与 qt_viewer_2.py 对齐
+            curve = p.plot(pen=pg.mkPen(color=CURVE_THEME_COLOR, width=2), fillLevel=0)
+
+            # 终点光晕: #00e5ff 30% 透明，半径 8
+            dot_glow = p.plot([], [], pen=None, symbol='o', symbolSize=8,
+                              symbolPen=None, symbolBrush=(0, 229, 255, 76))
+            # 终点核心: 纯白，半径 4
+            dot_core = p.plot([], [], pen=None, symbol='o', symbolSize=4,
+                              symbolPen=None, symbolBrush=(255, 255, 255, 255))
+
+            p.setXRange(0, PLOT_WINDOW_SEC, padding=0)
+            p.enableAutoRange(x=False, y=False)
+
+            self.plots.append(p)
+            self.curves.append(curve)
+            self.dot_glows.append(dot_glow)
+            self.dot_cores.append(dot_core)
+
+            if i < 2:
+                self.graph_widget.nextRow()
+
+    def adjust_square_images(self):
+        """根据窗口高度调整左侧面板宽度，使两张图保持正方形"""
+        top_bar_h = 48
+        log_h = self.log_widget.height()
+        spacing = 20
+        available = self.height() - top_bar_h - log_h - spacing
+        each_h = max(available // 2, 160)
+        self.h_splitter.setSizes([each_h, self.width() - each_h])
+
+    def _make_force_plot_data(self, data_plot):
+        for i in range(3):
+            data_plot[:, 1, i] = lowpass_filter(
+                data_plot[:, 1, i],
+                self.lowpass_cutoff_hz,
+                sample_rate_hz=FORCE_SAMPLE_RATE_HZ,
+            )
+        return data_plot
+
+    # ---- 帧处理 ----
+
+    def _on_timer(self):
+        if self.sensor is None:
+            return
+        sensor = self.sensor
+
+        sensor.get_img()
+
+        # 录像写入
+        if self.is_save and self.writer is not None and sensor.frame is not None:
+            self.frame_count += 1
+            save_img = sensor.frame
+            if len(save_img.shape) == 2 or (len(save_img.shape) == 3 and save_img.shape[2] == 1):
+                if len(save_img.shape) == 3:
+                    save_img = save_img.squeeze(2)
+                save_img = cv2.cvtColor(save_img, cv2.COLOR_GRAY2BGR)
+            self.writer.write(save_img)
+
+        sensor.compute_deformation(check_motion=True, threshold=0)
+
+        fps, fn, fx, fy, flow, vnormal, vshear = sensor.read_info(
+            sensor.info.FPS, sensor.info.FNORMAL,
+            sensor.info.FSHEARX, sensor.info.FSHEARY,
+            sensor.info.VRAW, sensor.info.VNORMAL,
+            sensor.info.VSHEAR,
+        )
+        print(f"FPS={fps:.2f}, 法向力={fn:.4f}, 切向力X={fx:.4f}, 切向力Y={fy:.4f}")
+
+        # 图像
+        _bg_bgr = (22, 16, 11)
+        _img = sensor.img
+        _h, _w = _img.shape[:2]
+        black_img = np.empty((_h, _w, 3), dtype=_img.dtype)
+        black_img[:, :, 0] = _bg_bgr[0]
+        black_img[:, :, 1] = _bg_bgr[1]
+        black_img[:, :, 2] = _bg_bgr[2]
+
+        arrows = orisys.util.draw_arrows(
+            black_img, flow,
+            threshold=2, grid_spacing=20,
+            arrow_scale=0.5,
+            below_threshold_color=(160, 160, 160),
+        )
+        arrows = cv2.resize(arrows, (400, 400), interpolation=cv2.INTER_CUBIC)
+        self.arrows_label.setPixmap(cv2_to_pixmap(arrows))
+
+        mag = draw_magnitude_map(flow)
+        self.mag_label.setPixmap(cv2_to_pixmap(mag))
+
+        # 曲线：只对右侧三条力曲线的显示数据做缓冲和低通滤波。
+        current_time = time.time() - self.start_time
+        if self._plot_sample_count < self.npoints:
+            idx = self._plot_sample_count
+            self.data[idx, 0, :] = current_time
+            self.data[idx, 1, 0] = fn
+            self.data[idx, 1, 1] = fx
+            self.data[idx, 1, 2] = fy
+            self._plot_sample_count += 1
+        else:
+            for i in range(3):
+                self.data[:-1, 0, i] = self.data[1:, 0, i]
+                self.data[:-1, 1, i] = self.data[1:, 1, i]
+            self.data[-1, 0, :] = current_time
+            self.data[-1, 1, 0] = fn
+            self.data[-1, 1, 1] = fx
+            self.data[-1, 1, 2] = fy
+
+        n = self._plot_sample_count
+        if n == 0:
+            return
+
+        data_plot = self._make_force_plot_data(self.data[:n].copy())
+
+        for i, curve in enumerate(self.curves):
+            x = data_plot[:, 0, i]
+            y = data_plot[:, 1, i]
+            curve.setData(x, y)
+            ymin, ymax = y.min(), y.max()
+            if self._y_range_smooth[i] is None:
+                self._y_range_smooth[i] = (ymin, ymax)
+            else:
+                prev_min, prev_max = self._y_range_smooth[i]
+                alpha = self._y_range_alpha
+                ymin = alpha * ymin + (1 - alpha) * prev_min
+                ymax = alpha * ymax + (1 - alpha) * prev_max
+            if ymax - ymin < Y_AXIS_MIN_SPAN:
+                mid = (ymin + ymax) / 2
+                ymin = mid - Y_AXIS_MIN_SPAN / 2
+                ymax = mid + Y_AXIS_MIN_SPAN / 2
+            self._y_range_smooth[i] = (ymin, ymax)
+            pad = max((ymax - ymin) * 0.12, 0.01)
+            self.plots[i].setYRange(ymin - pad, ymax + pad)
+            # 终点标记
+            last_x = x[-1:]
+            last_y = y[-1:]
+            self.dot_glows[i].setData(last_x, last_y)
+            self.dot_cores[i].setData(last_x, last_y)
+
+        if n < self.npoints:
+            for p in self.plots:
+                p.setXRange(0, PLOT_WINDOW_SEC, padding=0)
+        else:
+            x0 = float(data_plot[0, 0, 0])
+            x1 = float(data_plot[-1, 0, 0])
+            if x1 <= x0:
+                x1 = x0 + PLOT_WINDOW_SEC
+            for p in self.plots:
+                p.setXRange(x0, x1, padding=0)
+
+    # ---- 键盘 & 录像 ----
+
+    def _on_start(self):
+        if self._running:
+            return
+        self.btn_start.setText("启动中...")
+        self.btn_start.setEnabled(False)
+        QApplication.processEvents()
+
+        try:
+            src = self.camera_edit.text()
+            cfg = self.config_edit.text()
+            cal = self.cal_edit.text()
+            verbose = getattr(self.args, 'verbose', True)
+            try:
+                src = int(src)
+            except ValueError:
+                pass
+            self.sensor = orisys.Sensor(src, config_name=cfg, cal_path=cal, verbose=verbose)
+        except Exception as e:
+            self.btn_start.setText("启动")
+            self.btn_start.setEnabled(True)
+            print(f"启动失败: {e}")
+            return
+
+        self.start_time = time.time()
+        self._init_plot_buffer()
+        self._running = True
+        self.timer.start(10)
+        self.btn_start.setText("启动")
+        self.btn_stop.setEnabled(True)
+        self.btn_reset.setEnabled(True)
+        print(f"▶ 启动 — 摄像机={src}, 配置={cfg}, 标定={cal}")
+
+    def _on_stop(self):
+        if not self._running:
+            return
+        self._running = False
+        self.timer.stop()
+        self.btn_stop.setText("停止中...")
+        self.btn_stop.setEnabled(False)
+        QApplication.processEvents()
+
+        if self.sensor is not None:
+            self.sensor.disconnect()
+            self.sensor = None
+
+        self.btn_start.setEnabled(True)
+        self.btn_stop.setText("暂停")
+        self.btn_reset.setEnabled(False)
+        print("⏸ 已暂停")
+
+    def _select_camera(self):
+        text = self.camera_edit.text()
+        path, _ = QFileDialog.getOpenFileName(
+            self, "选择视频文件", "data", "视频 (*.mp4 *.avi *.mov);;所有文件 (*)",
+        )
+        if path:
+            self.camera_edit.setText(path)
+
+    def _select_config(self):
+        path, _ = QFileDialog.getOpenFileName(
+            self, "选择配置文件", "config", "JSON (*.json);;所有文件 (*)",
+        )
+        if path:
+            self.config_edit.setText(path)
+
+    def _select_cal(self):
+        path, _ = QFileDialog.getOpenFileName(
+            self, "选择标定文件", "config", "NumPy (*.npy);;所有文件 (*)",
+        )
+        if path:
+            self.cal_edit.setText(path)
+
+    def _on_reset(self):
+        """Reset optical flow tracker when drift occurs (same as basic_pipeline 'r' key)."""
+        if self.sensor is None or not self._running:
+            print("请先启动传感器后再重置追踪器。")
+            return
+        self.sensor.reset()
+        print("追踪器已重置。")
+
+    def keyPressEvent(self, event):
+        key = event.key()
+        if key == Qt.Key_Escape:
+            if self.isFullScreen():
+                self.showNormal()
+            else:
+                self.showFullScreen()
+        elif key == Qt.Key_Q:
+            print("\n正在退出示例程序...")
+            self.close()
+        elif key == Qt.Key_S:
+            self._start_recording()
+        elif key == Qt.Key_E:
+            self._stop_recording()
+        elif key == Qt.Key_R:
+            self._on_reset()
+        else:
+            super().keyPressEvent(event)
+
+    def _start_recording(self):
+        if self.sensor is None:
+            print("请先启动采集")
+            return
+        self.save_path = "./data/pulse_test.mp4"
+        os.makedirs(os.path.dirname(self.save_path), exist_ok=True)
+
+        save_img = self.sensor.frame
+        if save_img is None:
+            print("当前没有可用帧，无法确定录像尺寸。")
+            return
+
+        temp_img = save_img.copy()
+        if len(temp_img.shape) == 2 or (len(temp_img.shape) == 3 and temp_img.shape[2] == 1):
+            if len(temp_img.shape) == 3:
+                temp_img = temp_img.squeeze(2)
+            temp_img = cv2.cvtColor(temp_img, cv2.COLOR_GRAY2BGR)
+
+        fh, fw = temp_img.shape[:2]
+        self.writer = cv2.VideoWriter(
+            self.save_path, cv2.VideoWriter_fourcc(*'mp4v'), 30, (fw, fh),
+        )
+        if self.writer.isOpened():
+            self.is_save = True
+            print(f"开始录像：{self.save_path}")
+        else:
+            print(f"无法创建录像文件：{self.save_path}")
+            self.writer = None
+
+    def _stop_recording(self):
+        self.is_save = False
+        if self.writer is not None:
+            self.writer.release()
+            self.writer = None
+        if self.save_path is not None:
+            print(f"录像结束：{self.save_path}，总帧数：{self.frame_count}")
+        else:
+            print(f"录像结束，总帧数：{self.frame_count}")
+        self.frame_count = 0
+
+    def closeEvent(self, event):
+        self.timer.stop()
+        if self.writer is not None:
+            self.writer.release()
+        if self.sensor is not None:
+            self.sensor.disconnect()
+        event.accept()
+
+# ---------------------------------------------------------------------------
+# 入口
+# ---------------------------------------------------------------------------
+
+def main():
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    log_dir = os.path.join(script_dir, "logs")
+    os.makedirs(log_dir, exist_ok=True)
+    log_path = os.path.join(log_dir, f"qt_viewer_{datetime.now().strftime('%Y%m%d_%H%M%S')}.log")
+    log_file = open(log_path, 'w', encoding='utf-8')
+    # stdout 到文件的临时重定向（创建 MainWindow 后会加上日志面板）
+    sys.stdout = log_file
+    sys.stderr = sys.stdout
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--video", "-v", type=str, default="0")
+    parser.add_argument("--config", "-c", type=str, default="./config/ddjx01.json")
+    parser.add_argument("--cal", "-cal", type=str, default="./config/ddjx01.npy")
+    parser.add_argument("--verbose", "-verbose", type=bool, default=True)
+    parser.add_argument(
+        "--cutoff",
+        type=float,
+        default=10.0,
+        help="Low-pass cutoff for force curves (Hz), sample rate 30 Hz",
+    )
+    args = parser.parse_args()
+
+    print("\n按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏")
+
+    # 高 DPI 适配（笔记本高分屏）
+    QApplication.setAttribute(Qt.AA_EnableHighDpiScaling, True)
+    QApplication.setAttribute(Qt.AA_UseHighDpiPixmaps, True)
+    app = QApplication(sys.argv)
+    window = MainWindow(args, log_file)
+    window.showFullScreen()
+    QApplication.processEvents()
+    window.adjust_square_images()
+    window._on_start()
+
+    sys.exit(app.exec_())
+
+if __name__ == '__main__':
+    main()