项目初始化

.gitignore

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+# General
+.DS_Store
+
+# Python
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# IDEs
+.idea/
+.vscode/
+*.swp
+*.swo
+
+# Project specific
+face_recognition.log

001保存摄像头流.py

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+import cv2
+import datetime
+import os
+
+def save_rtsp_to_video(rtsp_url, output_dir='output', duration_minutes=10):
+    """
+    将RTSP流保存为视频文件
+    
+    参数:
+        rtsp_url: RTSP流地址
+        output_dir: 输出目录
+        duration_minutes: 每个视频文件的时长(分钟)
+    """
+    # 创建输出目录
+    os.makedirs(output_dir, exist_ok=True)
+    
+    # 打开RTSP流
+    cap = cv2.VideoCapture(rtsp_url)
+    
+    if not cap.isOpened():
+        print("无法打开RTSP流")
+        return
+    
+    # 获取视频的帧率和尺寸
+    fps = int(cap.get(cv2.CAP_PROP_FPS))
+    if fps <= 0:
+        fps = 25  # 默认帧率
+    
+    frame_width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+    frame_height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+    
+    # 计算最大帧数(按duration_minutes分钟分割)
+    max_frames = fps * 60 * duration_minutes
+    
+    frame_count = 0
+    file_count = 1
+    
+    # 创建第一个视频文件
+    timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
+    output_file = os.path.join(output_dir, f"video_{timestamp}_part{file_count}.mp4")
+    fourcc = cv2.VideoWriter_fourcc(*'mp4v')  # 或者使用'avc1'
+    out = cv2.VideoWriter(output_file, fourcc, fps, (frame_width, frame_height))
+    
+    print(f"开始录制，保存到: {output_file}")
+    
+    try:
+        while True:
+            ret, frame = cap.read()
+            
+            if not ret:
+                print("无法获取帧，可能流已断开")
+                break
+            
+            # 写入帧
+            out.write(frame)
+            frame_count += 1
+            
+            # 如果达到最大帧数，创建新文件
+            if frame_count >= max_frames:
+                out.release()
+                file_count += 1
+                frame_count = 0
+                
+                timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
+                output_file = os.path.join(output_dir, f"video_{timestamp}_part{file_count}.mp4")
+                out = cv2.VideoWriter(output_file, fourcc, fps, (frame_width, frame_height))
+                print(f"创建新文件: {output_file}")
+            
+            # # 按q键退出(需要显示窗口时才有效)
+            # if cv2.waitKey(1) & 0xFF == ord('q'):
+            #     break
+                
+    except KeyboardInterrupt:
+        print("用户中断录制")
+    finally:
+        cap.release()
+        out.release()
+        # cv2.destroyAllWindows()
+        print("录制结束")
+
+if __name__ == "__main__":
+    # 示例RTSP URL - 替换为你的实际RTSP地址
+    rtsp_url = "rtsp://10.0.0.61/live/video6"
+    
+    # 调用函数开始录制
+    save_rtsp_to_video(rtsp_url, duration_minutes=10)

002查看摄像头id.py

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+import cv2
+
+def list_cameras():
+    index = 0
+    cameras = []
+    while True:
+        cap = cv2.VideoCapture(index)
+        if not cap.read()[0]:
+            break
+        cameras.append(f"Camera {index}: {cap.getBackendName()}")
+        cap.release()
+        index += 1
+    return cameras
+
+print(list_cameras())

003查看GUI后端.py

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+import cv2
+print(cv2.getBuildInformation())
+print("UI backend:", cv2.currentUIFramework())

config.yaml

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+# 人脸识别系统配置文件
+
+# CompreFace API配置
+compreface:
+#  host: "http://192.168.30.195"
+  host: "http://10.0.0.202"
+#  port: "9900"
+  port: "8000"
+  # api_key: "your_api_key_here"
+#  recognition_api_key: "9115667c-4968-400f-9006-7b2646fba8df"
+  recognition_api_key: "a5924457-62c9-47dc-a6e7-15462c502d2c"
+#  detection_api_key: "08f31eab-de28-4c00-aea5-eb69f2619783"
+  detection_api_key: "070283a2-faa3-423b-9772-2cd48ecc5362"
+
+# WebSocket配置
+websocket:
+  url: "ws://127.0.0.1:3344"
+  status_interval: 0.2  # 状态查询间隔(秒)
+  reconnect_delay: 5  # 重连延迟(秒)
+
+# 二维码设置
+qrcode:
+  image_path: "qrcode.jpg"  # 二维码图片路径
+  display_duration: 10       # 显示持续时间(秒)
+
+video:
+  path: "exhibition.mp4"  # 视频文件路径
+  loop: true  # 是否循环播放
+
+# 摄像头配置
+camera:
+#  device_id: "/dev/v4l/by-id/usb-SYX-230524-J_HD_Camera-video-index0" # 摄像头设备ID, id是动态变化的， ls /dev/v4l/by-id/ 查看系统创建的链接
+  device_id: 0 # 摄像头设备ID, id是动态变化的， ls /dev/v4l/by-id/ 查看系统创建的链接
+  width: 1280
+  height: 720
+  fps: 30
+  retry_interval: 2 # 打开摄像头失败后的重试间隔(秒)
+
+# 人脸检测配置
+face_detection:
+  frame_interval: 10  # 检测帧间隔(每N帧检测一次)
+  quality_threshold: 10  # 图像质量阈值(Laplacian方差)
+  min_face_size: 80  # 最小人脸尺寸(像素)
+  face_present_duration: 2.0  # 持续出现时长(秒)才触发识别
+
+# 人脸识别配置
+face_recognition:
+#  similarity_threshold: 0.85  # 相似度阈值(低于此值视为陌生人)
+  recognition_cooldown: 20.0  # 同一人识别冷却时间(秒)
+  
+# 角色映射配置
+role_mapping:
+  stranger_threshold: 0.98  # 人脸识别阈值
+  # visitor_threshold: 0.70  # 访客识别阈值
+  # 低于visitor_threshold视为陌生人
+
+# 日志配置
+logging:
+  level: "INFO"  # DEBUG, INFO, WARNING, ERROR
+  file: "face_recognition.log"
+  max_bytes: 10485760  # 10MB
+  backup_count: 5
+
+
+# 中文字体设置
+display:
+  font_path: "/usr/share/fonts/truetype/noto/NotoMono-Regular.ttf"
+
+
+stream:
+#  enabled: true  # 开关推流功能
+  enabled: false  # 开关推流功能
+  rtmp_url: "rtsp://127.0.0.1/live/video6"
+  
+  ffmpeg:
+    fps: 10  # 推流帧率
+    video_bitrate: "1000k"  # 码率
+    preset: "ultrafast"  # 编码速度
+    tune: "zerolatency"  # 低延迟优化
+    pixel_format: "yuv420p"
+    video_codec: "libx264"
+    audio: false  # 不包含音频

face_rec.service

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+[Unit]
+Description=Face Rec GUI Service (system-level)
+After=display-manager.service
+# 或者 After=gdm.service / lightdm.service，根据你系统用的显示管理器
+
+[Service]
+Type=simple
+User=unitree
+WorkingDirectory=/home/unitree/robot_face_rec
+
+ExecStart=/home/unitree/robot_face_rec/start.sh
+Restart=on-failure
+RestartSec=5
+TimeoutStartSec=30
+
+StandardOutput=journal
+StandardError=journal
+
+# 如果需要，你可以设置环境，但脚本里会重写 DISPLAY
+# Environment=DISPLAY=:0
+# Environment=XAUTHORITY=/home/unitree/.Xauthority
+
+[Install]
+WantedBy=graphical.target

preview_qrcode.py

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+import math
+import os
+import cv2
+import yaml
+import numpy as np
+from PIL import Image, ImageDraw, ImageFont, ImageFilter
+
+# Canvas Configuration
+CANVAS_SIZE = (1920, 1080)
+BG_COLOR_START = (240, 242, 245)
+BG_COLOR_END = (200, 210, 230)
+
+# Colors
+PRIMARY_COLOR = (23, 43, 77)       # Dark Blue for headings
+SECONDARY_COLOR = (94, 108, 132)   # Grey for secondary text
+ACCENT_COLOR = (0, 82, 204)        # Bright Blue for highlights/numbers
+CARD_BG_COLOR = (255, 255, 255)
+CARD_SHADOW_COLOR = (9, 30, 66, 40) # Shadow color
+
+INSTRUCTION_TITLE = "访客预约流程"
+INSTRUCTION_SUBTITLE = "Visitor Registration Process"
+INSTRUCTION_STEPS = [
+    "第一步：扫码关注“康达新材”公众号。",
+    "第二步：点击【关于我们】→【我是访客】进入“访客注册”界面，填写并上传相应信息并点击“提交”。",
+    "第三步：将第二步信息提交完毕后在“访客预约”界面选择右下角的“+”号按钮，填写预约信息。",
+    "第四步：请仔细阅读安全告知书，点击我知道了。",
+    "第五步：填写被访人信息及来访事由等内容并提交。",
+    "第六步：显示提交成功，并且手机、微信会收到预约相关短信通知。",
+]
+
+def load_config(path="config.yaml"):
+    try:
+        with open(path, "r", encoding="utf-8") as f:
+            return yaml.safe_load(f)
+    except FileNotFoundError:
+        return {}
+
+def resolve_font(size: int, preferred: str | None = None) -> ImageFont.FreeTypeFont:
+    candidates = [preferred] if preferred else []
+    candidates += [
+        "C:/Windows/Fonts/msyhbd.ttc", # Microsoft YaHei Bold
+        "C:/Windows/Fonts/msyh.ttc",   # Microsoft YaHei
+        "C:/Windows/Fonts/simhei.ttf",
+        "/usr/share/fonts/truetype/noto/NotoSansCJK-Bold.ttc",
+        "/usr/share/fonts/truetype/noto/NotoSansCJK-Regular.ttc",
+        "/usr/share/fonts/truetype/noto/NotoMono-Regular.ttf",
+    ]
+    for path in candidates:
+        if path and os.path.exists(path):
+            try:
+                return ImageFont.truetype(path, size)
+            except OSError:
+                continue
+    return ImageFont.load_default()
+
+def wrap_text(text: str, font: ImageFont.FreeTypeFont, max_width: int, draw: ImageDraw.ImageDraw):
+    lines = []
+    current = ""
+    for ch in text:
+        tentative = current + ch
+        # Pillow 10+ uses textlength, older uses textsize
+        try:
+            width = draw.textlength(tentative, font=font)
+        except AttributeError:
+            width, _ = draw.textsize(tentative, font=font)
+            
+        if width <= max_width:
+            current = tentative
+        else:
+            if current:
+                lines.append(current)
+            current = ch
+    if current:
+        lines.append(current)
+    return lines
+
+def create_gradient_background(size: tuple[int, int], start_color: tuple[int, int, int], end_color: tuple[int, int, int]) -> Image.Image:
+    width, height = size
+    # Vertical gradient
+    base = Image.new('RGB', size, start_color)
+    top = Image.new('RGB', size, end_color)
+    mask = Image.new('L', size)
+    mask_data = np.tile(np.linspace(0, 255, height, dtype=np.uint8), (width, 1)).T
+    mask = Image.fromarray(mask_data, 'L')
+    return Image.composite(top, base, mask)
+
+def draw_rounded_rect(draw, box, radius, fill, outline=None, width=0):
+    draw.rounded_rectangle(box, radius=radius, fill=fill, outline=outline, width=width)
+
+def draw_shadow(image, box, radius, offset=(0, 4), blur=10, shadow_color=(0,0,0,50)):
+    # Create a separate shadow layer
+    shadow_layer = Image.new('RGBA', image.size, (0,0,0,0))
+    shadow_draw = ImageDraw.Draw(shadow_layer)
+    
+    sx0, sy0, sx1, sy1 = box
+    dx, dy = offset
+    
+    shadow_box = (sx0 + dx, sy0 + dy, sx1 + dx, sy1 + dy)
+    shadow_draw.rounded_rectangle(shadow_box, radius=radius, fill=shadow_color)
+    
+    # Blur the shadow
+    shadow_layer = shadow_layer.filter(ImageFilter.GaussianBlur(blur))
+    
+    # Composite
+    image.alpha_composite(shadow_layer)
+
+def build_canvas(qr_image: np.ndarray, title_font, subtitle_font, body_font, step_title_font, badge_font) -> np.ndarray:
+    canvas_width, canvas_height = CANVAS_SIZE
+    
+    # 1. Background
+    bg = create_gradient_background(CANVAS_SIZE, (245, 247, 250), (223, 225, 230)).convert("RGBA")
+    
+    draw = ImageDraw.Draw(bg, "RGBA")
+    
+    # Layout Constants
+    MARGIN = 50
+    GUTTER = 40
+    
+    # Left Panel (QR Code) - 35% width approx
+    left_width = int((canvas_width - 2 * MARGIN - GUTTER) * 0.35)
+    right_width = canvas_width - 2 * MARGIN - GUTTER - left_width
+    
+    left_box = (MARGIN, MARGIN, MARGIN + left_width, canvas_height - MARGIN)
+    right_box = (MARGIN + left_width + GUTTER, MARGIN, canvas_width - MARGIN, canvas_height - MARGIN)
+    
+    # --- Draw Left Panel ---
+    # Shadow
+    draw_shadow(bg, left_box, radius=30, offset=(0, 10), blur=20, shadow_color=(0,0,0,30))
+    # Card
+    draw_rounded_rect(draw, left_box, radius=30, fill=(255, 255, 255, 255))
+    
+    # Left Content
+    cx = (left_box[0] + left_box[2]) // 2
+    cy_top = left_box[1] + 120
+    
+    # Title
+    text = "访客登记"
+    try:
+        w = draw.textlength(text, font=title_font)
+    except:
+        w, _ = draw.textsize(text, font=title_font)
+    draw.text((cx - w/2, cy_top), text, font=title_font, fill=PRIMARY_COLOR)
+    
+    # Subtitle
+    text = "Visitor Registration"
+    try:
+        w = draw.textlength(text, font=subtitle_font)
+    except:
+        w, _ = draw.textsize(text, font=subtitle_font)
+    draw.text((cx - w/2, cy_top + 70), text, font=subtitle_font, fill=SECONDARY_COLOR)
+    
+    # QR Code
+    qr_size = min(left_width - 100, 500)
+    qr_y = cy_top + 180
+    
+    # Resize QR
+    qr_pil = Image.fromarray(cv2.cvtColor(qr_image, cv2.COLOR_BGR2RGB))
+    qr_pil = qr_pil.resize((qr_size, qr_size), Image.LANCZOS)
+    bg.paste(qr_pil, (cx - qr_size//2, qr_y))
+    
+    # Scan Hint
+    hint_y = qr_y + qr_size + 50
+    hint_text = "请使用微信扫码登记"
+    try:
+        w = draw.textlength(hint_text, font=step_title_font)
+    except:
+        w, _ = draw.textsize(hint_text, font=step_title_font)
+    
+    # Draw a pill background for hint
+    pill_padding = 20
+    pill_box = (cx - w/2 - pill_padding, hint_y - pill_padding, cx + w/2 + pill_padding, hint_y + 40 + pill_padding)
+    draw.rounded_rectangle(pill_box, radius=30, fill=(240, 242, 245), outline=None)
+    draw.text((cx - w/2, hint_y), hint_text, font=step_title_font, fill=ACCENT_COLOR)
+    
+    # --- Draw Right Panel ---
+    
+    # Right Title Area - Compacted
+    rt_y = MARGIN + 20
+    draw.text((right_box[0], rt_y), INSTRUCTION_TITLE, font=title_font, fill=PRIMARY_COLOR)
+    draw.text((right_box[0], rt_y + 60), INSTRUCTION_SUBTITLE, font=subtitle_font, fill=SECONDARY_COLOR)
+    
+    # Separator Line
+    sep_y = rt_y + 110
+    draw.line((right_box[0], sep_y, right_box[2], sep_y), fill=(200, 200, 200), width=2)
+    
+    # Grid Configuration
+    grid_y_start = sep_y + 40
+    grid_width = right_width
+    cols = 2
+    col_gap = 30
+    row_gap = 30
+    
+    col_width = (grid_width - (cols - 1) * col_gap) // cols
+    
+    # Pre-calculate text layout to find uniform height
+    max_lines = 0
+    processed_steps = []
+    
+    padding = 30
+    badge_size = 50
+    text_left_margin = badge_size + 20
+    
+    # Calculate available width for text inside a card
+    text_max_width = col_width - padding * 2 - text_left_margin
+    
+    for i, step in enumerate(INSTRUCTION_STEPS):
+        # Remove "第一步：" etc prefix if present to make it cleaner, we have badges
+        clean_step = step.split("：", 1)[-1] if "：" in step else step
+        
+        lines = wrap_text(clean_step, body_font, text_max_width, draw)
+        processed_steps.append(lines)
+        max_lines = max(max_lines, len(lines))
+    
+    # Calculate Card Height
+    # Padding top + max_lines * line_height + Padding bottom
+    line_height = body_font.size + 10
+    card_content_height = max(badge_size, max_lines * line_height)
+    uniform_card_height = int(padding * 2 + card_content_height)
+    
+    # Check if we overflow canvas height
+    total_grid_height = 3 * uniform_card_height + 2 * row_gap
+    if grid_y_start + total_grid_height > canvas_height - MARGIN:
+        print(f"Warning: Content might overflow vertically. Required: {grid_y_start + total_grid_height}, Available: {canvas_height - MARGIN}")
+        # Dynamic adjustment if needed (e.g. reduce gaps) but for now we rely on the font resizing done in main()
+    
+    # Draw Grid
+    for idx, lines in enumerate(processed_steps):
+        row = idx // cols
+        col = idx % cols
+        
+        x = right_box[0] + col * (col_width + col_gap)
+        y = grid_y_start + row * (uniform_card_height + row_gap)
+        
+        card_box = (x, y, x + col_width, y + uniform_card_height)
+        
+        # Card Shadow
+        draw_shadow(bg, card_box, radius=20, offset=(0, 4), blur=12, shadow_color=(0,0,0,15))
+        # Card Body
+        draw_rounded_rect(draw, card_box, radius=20, fill=(255, 255, 255))
+        
+        # Badge (Step Number)
+        bx = x + padding
+        by = y + padding
+        draw.ellipse((bx, by, bx + badge_size, by + badge_size), fill=ACCENT_COLOR)
+        
+        num_text = str(idx + 1)
+        try:
+            nw = draw.textlength(num_text, font=badge_font)
+        except:
+            nw, _ = draw.textsize(num_text, font=badge_font)
+        # Center number
+        draw.text((bx + (badge_size - nw)/2, by + (badge_size - badge_font.size)/2 - 2), 
+                  num_text, font=badge_font, fill=(255, 255, 255))
+        
+        # Text
+        tx = x + padding + text_left_margin
+        ty = y + padding
+        
+        for line in lines:
+            draw.text((tx, ty), line, font=body_font, fill=PRIMARY_COLOR)
+            ty += line_height
+
+    return cv2.cvtColor(np.array(bg.convert("RGB")), cv2.COLOR_RGB2BGR)
+
+def create_mock_qrcode(size: int = 640) -> np.ndarray:
+    img = np.full((size, size, 3), 255, dtype=np.uint8) # White background
+    
+    # Draw some patterns
+    block = size // 15
+    for y in range(0, size, block):
+        for x in range(0, size, block):
+            if (x // block + y // block) % 2 == 0:
+                color = (0, 0, 0)
+                # Corner markers
+                if (x < 3*block and y < 3*block) or (x > size-4*block and y < 3*block) or (x < 3*block and y > size-4*block):
+                     color = (0, 0, 0)
+                elif np.random.rand() > 0.3:
+                     color = (0, 0, 0)
+                else:
+                     color = (255, 255, 255)
+                
+                cv2.rectangle(img, (x, y), (x + block, y + block), color, -1)
+                
+    # Borders for markers
+    marker_len = 3 * block
+    thickness = block
+    # Top Left
+    cv2.rectangle(img, (0,0), (marker_len, marker_len), (0,0,0), thickness)
+    # Top Right
+    cv2.rectangle(img, (size-marker_len,0), (size, marker_len), (0,0,0), thickness)
+    # Bottom Left
+    cv2.rectangle(img, (0,size-marker_len), (marker_len, size), (0,0,0), thickness)
+    
+    return img
+
+def main():
+    config = load_config()
+    preferred_font = config.get("display", {}).get("font_path") if config else None
+    
+    # Define Fonts - Adjusted sizes for better fit
+    # Title for left/right headers
+    title_font = resolve_font(56, preferred_font)
+    # Subtitles
+    subtitle_font = resolve_font(30, preferred_font)
+    # Step text - Reduced to ensure fit
+    body_font = resolve_font(24, preferred_font)
+    # Step titles or emphasis
+    step_title_font = resolve_font(28, preferred_font)
+    # Badge numbers
+    badge_font = resolve_font(30, preferred_font)
+
+    # Mock data
+    mock_qr = create_mock_qrcode(500)
+    
+    # Build
+    canvas = build_canvas(mock_qr, title_font, subtitle_font, body_font, step_title_font, badge_font)
+
+    # Display
+    window_name = "Visitor Registration Preview"
+    cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
+    cv2.resizeWindow(window_name, 1280, 720)
+    cv2.imshow(window_name, canvas)
+    
+    print("Displaying preview. Press any key to exit.")
+    cv2.waitKey(0)
+    cv2.destroyAllWindows()
+    
+    # Save for verification
+    cv2.imwrite("preview_qrcode_sota.jpg", canvas)
+    print("Saved preview to preview_qrcode_sota.jpg")
+
+if __name__ == "__main__":
+    main()

start.sh

@@ -0,0 +1,62 @@
+#!/bin/bash
+
+# --- 日志相关 ---
+LOG_DIR="/home/unitree/robot_face_rec/logs/face_rec"
+mkdir -p "$LOG_DIR"
+LOG_FILE="$LOG_DIR/face_rec_$(date +%Y%m%d_%H%M%S).log"
+
+{
+  echo "===== $(date) Starting face_rec script ====="
+  echo "User: $(whoami)"
+  echo "PWD before cd: $(pwd)"
+  echo "Python: $(which python) / Version: $(python --version 2>&1)"
+} >> "$LOG_FILE"
+
+# 切换到项目目录
+cd /home/unitree/robot_face_rec || {
+  echo "Failed to cd to project dir" >> "$LOG_FILE"
+  exit 1
+}
+
+{
+  echo "PWD after cd: $(pwd)"
+  echo "Env before display detection: DISPLAY=$DISPLAY, XAUTHORITY=$XAUTHORITY"
+} >> "$LOG_FILE"
+
+# --- 动态检测 DISPLAY 的逻辑 ---
+# 方法：尝试从正在运行的 Xorg / X 进程环境中读取 DISPLAY
+
+display_found=""
+
+for pid in $(pgrep Xorg); do
+  if [ -r /proc/$pid/environ ]; then
+    disp=$(tr '\0' '\n' < /proc/$pid/environ | grep '^DISPLAY=' | cut -d'=' -f2-)
+    if [ -n "$disp" ]; then
+      # display_found="$disp"
+      echo "Chosen "
+      break
+    fi
+  fi
+done
+
+# 如果还没找到 DISPLAY，则尝试 fallback
+if [ -z "$display_found" ]; then
+  # 常见默认：:0
+  display_found=":0"
+  echo "Chosen default"
+fi
+
+export DISPLAY="$display_found"
+
+{
+  echo "Chosen DISPLAY = $DISPLAY"
+} >> "$LOG_FILE"
+
+# XAUTHORITY：假设用户的 .Xauthority 存在于 home 目录
+export XAUTHORITY="/home/unitree/.Xauthority"
+{
+  echo "Using XAUTHORITY = $XAUTHORITY"
+} >> "$LOG_FILE"
+
+# 最终执行 Python 程序（不后台化，用 exec 替换进程）
+exec python face_rec.py >> "$LOG_FILE" 2>&1