diff --git a/config/config.yaml b/config/config.yaml
index 96cb058..e50d87b 100644
--- a/config/config.yaml
+++ b/config/config.yaml
@@ -10,9 +10,16 @@ model:
     confidence_threshold: 0.5
     
   distance_estimation:
-    focal_length: 1000  # 摄像头焦距
-    sensor_height: 3000  # 摄像头传感器高度(mm)
-    average_person_height: 1700  # 平均人身高(mm)
+    # focal_length: 1000  # 摄像头焦距
+    # sensor_height: 3000  # 摄像头传感器高度(mm)
+    # average_person_height: 1700  # 平均人身高(mm)
+    focal_length_mm : 35     # 焦距(mm)
+    sensor_width_mm : 23.6    # 传感器宽度(mm)
+    sensor_height_mm : 15.6   # 传感器高度(mm)
+    image_width_pixels : 640  # 图像宽度(像素)
+    image_height_pixels : 640 # 图像高度(像素)
+    camera_height_mm: 1700 # 摄像头安装高度(mm)
+    camera_tilt_angle: 15  # 摄像头俯仰角(度)
 
 api:
   host: "0.0.0.0"
diff --git a/main.py b/main.py
index 9ed6263..881cded 100644
--- a/main.py
+++ b/main.py
@@ -1,6 +1,6 @@
 import yaml
 import uvicorn
-from src. import RTSPCamera
+from src.camera_handler import RTSPCamera
 from src.person_detector import PersonDetector
 from src.distance_estimator import DistanceEstimator
 from src.api_server import DistanceAPI, app
@@ -26,10 +26,23 @@ def main():
     )
     
     # 初始化距离估算器
+    '''
+    focal_length_mm : 35     # 焦距(mm)
+    sensor_width_mm : 23.6    # 传感器宽度(mm)
+    sensor_height_mm : 15.6   # 传感器高度(mm)
+    image_width_pixels : 640  # 图像宽度(像素)
+    image_height_pixels : 640 # 图像高度(像素)
+    camera_height_mm: 1700 # 摄像头安装高度(mm)
+    camera_tilt_angle : 15  # 摄像头俯仰角(度)
+    '''
     estimator = DistanceEstimator(
-        config['model']['distance_estimation']['focal_length'],
-        config['model']['distance_estimation']['sensor_height'],
-        config['model']['distance_estimation']['average_person_height']
+        config['model']['distance_estimation']['focal_length_mm'],
+        config['model']['distance_estimation']['sensor_width_mm'],
+        config['model']['distance_estimation']['sensor_height_mm'],
+        config['model']['distance_estimation']['image_width_pixels'],
+        config['model']['distance_estimation']['image_height_pixels'],
+        config['model']['distance_estimation']['camera_height_mm'],
+        config['model']['distance_estimation']['camera_tilt_angle']
     )
     
     # 初始化API
diff --git a/output/detection_20250113_165518_851152.jpg b/output/detection_20250113_165518_851152.jpg
new file mode 100644
index 0000000..e092edf
Binary files /dev/null and b/output/detection_20250113_165518_851152.jpg differ
diff --git a/output/detection_20250113_165638_412391.jpg b/output/detection_20250113_165638_412391.jpg
new file mode 100644
index 0000000..47fedab
Binary files /dev/null and b/output/detection_20250113_165638_412391.jpg differ
diff --git a/src/__pycache__/api_server.cpython-39.pyc b/src/__pycache__/api_server.cpython-39.pyc
index 04898e4..546ad91 100644
Binary files a/src/__pycache__/api_server.cpython-39.pyc and b/src/__pycache__/api_server.cpython-39.pyc differ
diff --git a/src/__pycache__/camera_handler.cpython-39.pyc b/src/__pycache__/camera_handler.cpython-39.pyc
index 7b9355e..1e84446 100644
Binary files a/src/__pycache__/camera_handler.cpython-39.pyc and b/src/__pycache__/camera_handler.cpython-39.pyc differ
diff --git a/src/api_server.py b/src/api_server.py
index 32eb9e3..e44689f 100644
--- a/src/api_server.py
+++ b/src/api_server.py
@@ -1,35 +1,249 @@
-from fastapi import FastAPI, HTTPException
-from pydantic import BaseModel
-from typing import List, Optional
+from flask import Flask, request, jsonify, send_file
+from dataclasses import dataclass
+from typing import List, Optional, Dict
+import cv2
+import numpy as np
+from datetime import datetime
+import os
+import time
 
-app = FastAPI()
+app = Flask(__name__)
 
-class Distance(BaseModel):
+@dataclass
+class Distance:
+    """距离估计结果模型"""
+    person_id: int
     distance_mm: float
     confidence: float
+    bbox: List[int]
+    timestamp: str
+    
+    def to_dict(self):
+        return {
+            'person_id': self.person_id,
+            'distance_mm': self.distance_mm,
+            'confidence': self.confidence,
+            'bbox': self.bbox,
+            'timestamp': self.timestamp
+        }
+
+@dataclass
+class HealthCheck:
+    """健康检查响应模型"""
+    status: str
+    camera_connected: bool
+    detector_loaded: bool
+    estimator_initialized: bool
+    
+    def to_dict(self):
+        return {
+            'status': self.status,
+            'camera_connected': self.camera_connected,
+            'detector_loaded': self.detector_loaded,
+            'estimator_initialized': self.estimator_initialized
+        }
+
+@dataclass
+class CameraConfig:
+    """相机配置模型"""
+    rtsp_url: str
+    fps: int = 30
+    width: int = 1920
+    height: int = 1080
+    
+    @classmethod
+    def from_dict(cls, data):
+        return cls(
+            rtsp_url=data['rtsp_url'],
+            fps=data.get('fps', 30),
+            width=data.get('width', 1920),
+            height=data.get('height', 1080)
+        )
 
 class DistanceAPI:
     def __init__(self, camera, detector, estimator):
         self.camera = camera
+        self.camera.start()
+        time.sleep(10)
+        print('相机启动')
+
         self.detector = detector
         self.estimator = estimator
+        self.output_dir = "output"
+        self.ensure_output_dir()
         
-    async def get_distances(self) -> List[Distance]:
+    def ensure_output_dir(self):
+        """确保输出目录存在"""
+        if not os.path.exists(self.output_dir):
+            os.makedirs(self.output_dir)
+            
+    def get_timestamp(self):
+        """获取当前时间戳"""
+        return datetime.now().strftime("%Y%m%d_%H%M%S_%f")
+    
+    def save_visualization(self, frame, distances):
+        """保存可视化结果"""
+        timestamp = self.get_timestamp()
+        output_path = os.path.join(self.output_dir, f"detection_{timestamp}.jpg")
+        cv2.imwrite(output_path, frame)
+        return output_path
+            
+    def get_distances(self, save_visualization: bool = False) -> Dict:
+        """获取距离估计结果"""
+        # 获取视频帧
         frame = self.camera.get_frame()
         if frame is None:
-            raise HTTPException(status_code=500, detail="No frame available")
+            return jsonify({'error': '无法获取视频帧'}), 500
             
-        persons = self.detector.detect(frame)
-        distances = []
+        # 检测人物
+        persons, _ = self.detector.detect(frame)
+        if not persons:
+            return {
+                "count": 0,
+                "distances": [],
+                "visualization_path": None,
+                "timestamp": self.get_timestamp()
+            }
         
-        for person in persons:
+        # 估计距离
+        distances = []
+        vis_frame = frame.copy()
+        
+        for i, person in enumerate(persons):
             bbox = person['bbox']
-            person_height = bbox[3] - bbox[1]  # y2 - y1
-            distance = self.estimator.estimate_distance(person_height, frame.shape[0])
+            distance, confidence = self.estimator.estimate_distance(frame, bbox)
             
+            # 可视化
+            vis_frame = self.estimator.visualize_estimation(
+                vis_frame, bbox, distance, confidence
+            )
+            
+            # 添加结果
             distances.append(Distance(
+                person_id=i,
                 distance_mm=distance,
-                confidence=person['confidence']
+                confidence=confidence,
+                bbox=list(bbox),
+                timestamp=self.get_timestamp()
             ))
+        
+        # 保存可视化结果
+        visualization_path = None
+        if save_visualization and distances:
+            visualization_path = self.save_visualization(vis_frame, distances)
             
-        return distances
\ No newline at end of file
+        return {
+            "count": len(distances),
+            "distances": [d.to_dict() for d in distances],
+            "visualization_path": visualization_path,
+            "timestamp": self.get_timestamp()
+        }
+    
+    def check_health(self) -> Dict:
+        """检查服务健康状态"""
+        camera_ok = self.camera.get_frame() is not None
+        
+        health = HealthCheck(
+            status="healthy" if camera_ok else "degraded",
+            camera_connected=camera_ok,
+            detector_loaded=True,
+            estimator_initialized=True
+        )
+        return health.to_dict()
+    
+    def update_camera_config(self, config: CameraConfig) -> bool:
+        """更新相机配置"""
+        try:
+            # 停止当前相机
+            self.camera.stop()
+            
+            # 更新相机参数
+            self.camera.rtsp_url = config.rtsp_url
+            self.camera.fps = config.fps
+            
+            # 重启相机
+            self.camera.start()
+            time.sleep(10)  # 等待相机初始化
+            
+            # 验证连接
+            frame = self.camera.get_frame()
+            if frame is None:
+                raise Exception("无法连接到新的相机配置")
+                
+            return True
+        except Exception as e:
+            return False
+
+def create_routes(app: Flask, api: DistanceAPI):
+    @app.route('/health', methods=['GET'])
+    def health_check():
+        """健康检查接口"""
+        return jsonify(api.check_health())
+
+    @app.route('/distances', methods=['GET'])
+    def get_distances():
+        """获取距离估计结果"""
+        save_visualization = request.args.get('save_visualization', 'false').lower() == 'true'
+        return jsonify(api.get_distances(save_visualization))
+    
+    @app.route('/visualization/<filename>', methods=['GET'])
+    def get_visualization(filename):
+        """获取可视化结果图片"""
+        file_path = os.path.join(api.output_dir, filename)
+        if not os.path.exists(file_path):
+            return jsonify({'error': '图片不存在'}), 404
+        return send_file(file_path, mimetype='image/jpeg')
+
+    @app.route('/camera/config', methods=['POST'])
+    def update_camera_config():
+        """更新相机配置"""
+        try:
+            config_data = request.get_json()
+            config = CameraConfig.from_dict(config_data)
+            success = api.update_camera_config(config)
+            return jsonify({"status": "success" if success else "failed"})
+        except Exception as e:
+            return jsonify({'error': str(e)}), 500
+
+    @app.route('/camera/frame', methods=['GET'])
+    def get_current_frame():
+        """获取当前视频帧"""
+        frame = api.camera.get_frame()
+        if frame is None:
+            return jsonify({'error': '无法获取视频帧'}), 500
+            
+        # 保存当前帧
+        timestamp = api.get_timestamp()
+        output_path = os.path.join(api.output_dir, f"frame_{timestamp}.jpg")
+        cv2.imwrite(output_path, frame)
+        
+        return send_file(output_path, mimetype='image/jpeg')
+
+def create_app(camera, detector, estimator):
+    """创建Flask应用实例"""
+    api = DistanceAPI(camera, detector, estimator)
+    create_routes(app, api)
+    return app
+
+# 使用示例
+def main():
+    from src.camera_handler import RTSPCamera
+    from src.person_detector import PersonDetector
+    from src.distance_estimator import DistanceEstimator
+    
+    # 初始化组件
+    camera = RTSPCamera("rtsp://10.0.0.17:8554/camera_test/2")
+    detector = PersonDetector("yolov8n.pt")
+    estimator = DistanceEstimator(
+        focal_length_mm=35,
+        sensor_width_mm=23.5,
+        sensor_height_mm=15.6,
+        image_width_pixels=1920,
+        image_height_pixels=1080
+    )
+    
+    # 创建应用
+    app = create_app(camera, detector, estimator)
+    
+    # 启动服务
+    app.run(host='0.0.0.0', port=5000, debug=True)
\ No newline at end of file
diff --git a/src/camera_handler.py b/src/camera_handler.py
index 18a3f15..d895492 100644
--- a/src/camera_handler.py
+++ b/src/camera_handler.py
@@ -20,10 +20,15 @@ class RTSPCamera:
     def _update_frame(self):
         cap = cv2.VideoCapture(self.rtsp_url)
         while self.running:
-            ret, frame = cap.read()
-            if ret:
-                self.frame = frame
-            time.sleep(1/self.fps)
+            if cap is None:
+                time.sleep(5)
+                cap = cv2.VideoCapture(self.rtsp_url)
+            else:
+                ret, frame = cap.read()
+                if ret:
+                    self.frame = frame
+                # 若视频流是实时的 cv2捕获的视频帧是当前时刻的帧.
+                time.sleep(1/self.fps)
             
     def get_frame(self):
         return self.frame.copy() if self.frame is not None else None
diff --git a/test_api_server.py b/test_api_server.py
new file mode 100644
index 0000000..2ba5c98
--- /dev/null
+++ b/test_api_server.py
@@ -0,0 +1,3 @@
+from src.api_server import main
+
+main()
\ No newline at end of file
diff --git a/tests/__pycache__/run_tests.cpython-39.pyc b/tests/__pycache__/run_tests.cpython-39.pyc
index 881861f..9ac6b74 100644
Binary files a/tests/__pycache__/run_tests.cpython-39.pyc and b/tests/__pycache__/run_tests.cpython-39.pyc differ
diff --git a/tests/__pycache__/test_api_server.cpython-39.pyc b/tests/__pycache__/test_api_server.cpython-39.pyc
new file mode 100644
index 0000000..4456b87
Binary files /dev/null and b/tests/__pycache__/test_api_server.cpython-39.pyc differ
diff --git a/tests/run_tests.py b/tests/run_tests.py
index 913fff4..b3fbf0e 100644
--- a/tests/run_tests.py
+++ b/tests/run_tests.py
@@ -2,7 +2,7 @@ import asyncio
 from .test_camera import test_rtsp_camera
 from .test_person_detector import test_person_detector
 from .test_distance_estimator import test_distance_estimator
-from .test_api import test_distance_api
+from .test_api_server import test_run
 
 async def run_all_tests():
     print("开始运行所有测试...")
@@ -12,11 +12,11 @@ async def run_all_tests():
     # print("\n2. 测试人物检测模块")
     # test_person_detector()
     
-    print("\n3. 测试距离估算模块")
-    test_distance_estimator()
+    # print("\n3. 测试距离估算模块")
+    # test_distance_estimator()
     
-    # print("\n4. 测试API模块")
-    # await test_distance_api()
+    print("\n4. 测试API模块")
+    test_run()
     
     print("\n所有测试完成!")
 
diff --git a/tests/test_api.py b/tests/test_api.py
deleted file mode 100644
index 2ce3a88..0000000
--- a/tests/test_api.py
+++ /dev/null
@@ -1,40 +0,0 @@
-import asyncio
-import numpy as np
-from src.api_server import DistanceAPI, Distance
-from src.camera_handler import RTSPCamera
-from src.person_detector import PersonDetector
-from src.distance_estimator import DistanceEstimator
-
-async def test_distance_api():
-    # 初始化所有组件
-    camera = RTSPCamera(0)  # 使用本地摄像头测试
-    detector = PersonDetector("yolov8n.pt")
-    estimator = DistanceEstimator(
-        focal_length=35,
-        sensor_height=24,
-        avg_person_height=1700
-    )
-    
-    # 初始化API
-    api = DistanceAPI(camera, detector, estimator)
-    
-    print("测试API...")
-    camera.start()
-    await asyncio.sleep(2)  # 等待摄像头初始化
-    
-    try:
-        distances = await api.get_distances()
-        assert isinstance(distances, list), "返回结果应该是列表"
-        for distance in distances:
-            assert isinstance(distance, Distance), "返回结果应该是Distance对象"
-            assert distance.distance_mm > 0, "距离应该大于0"
-            assert 0 <= distance.confidence <= 1, "置信度应该在0-1之间"
-            
-        print(f"检测到 {len(distances)} 个人物的距离")
-        for i, d in enumerate(distances):
-            print(f"人物 {i+1}: 距离 = {d.distance_mm:.2f}mm, 置信度 = {d.confidence:.2f}")
-            
-    finally:
-        camera.stop()
-    
-    print("API测试完成!") 
\ No newline at end of file
diff --git a/tests/test_api_server.py b/tests/test_api_server.py
deleted file mode 100644
index 210888d..0000000
--- a/tests/test_api_server.py
+++ /dev/null
@@ -1,40 +0,0 @@
-from fastapi import FastAPI, HTTPException
-from pydantic import BaseModel
-from typing import List, Optional
-
-class Distance(BaseModel):
-    distance_mm: float
-    confidence: float
-    detection_image_path: Optional[str] = None
-
-class DistanceAPI:
-    def __init__(self, camera, detector, estimator):
-        self.camera = camera
-        self.detector = detector
-        self.estimator = estimator
-        
-    async def get_distances(self) -> List[Distance]:
-        frame = self.camera.get_frame()
-        if frame is None:
-            raise HTTPException(status_code=500, detail="No frame available")
-            
-        # 检测人物并保存可视化结果
-        persons, vis_path = self.detector.detect(
-            frame,
-            save_visualization=True,
-            save_path="output/detections"
-        )
-        
-        distances = []
-        for person in persons:
-            bbox = person['bbox']
-            person_height = bbox[3] - bbox[1]  # y2 - y1
-            distance = self.estimator.estimate_distance(person_height, frame.shape[0])
-            
-            distances.append(Distance(
-                distance_mm=distance,
-                confidence=person['confidence'],
-                detection_image_path=vis_path
-            ))
-            
-        return distances
\ No newline at end of file