fix mp4 compatibility issues

.gitignore

@@ -13,6 +13,7 @@ build/
 .mypy_cache/
 .ruff_cache/
 *.egg
+/tmp
 
 # Large model weights — 统一放仓库根目录 models/（见 fish_api 默认 settings）
 models/
@@ -44,3 +45,6 @@ mockdata/**
 .cursor/
 
 frp/
+
+# 项目专属 ffmpeg 静态构建（二进制太大，通过 scripts/setup_ffmpeg.sh 下载）
+tools/ffmpeg/

FishMeasure/fish_video_weight_evaluation.py

@@ -41,6 +41,37 @@ from utils.keep_largest_cluster import keep_largest_cluster_with_colors
 from utils.correct_tail_rotation import correct_tail_rotation_array
 
 
+def get_h264_fourcc():
+    """返回最佳的 H.264 FourCC 编码器代码。
+
+    尝试顺序：avc1 (最兼容), X264, H264
+    如果都不可用，回退到 mp4v (MPEG-4，兼容性较差但通用)
+    """
+    # 尝试的 H.264 FourCC 代码（按浏览器兼容性排序）
+    h264_candidates = ["avc1", "X264", "H264"]
+    for codec in h264_candidates:
+        fourcc = cv2.VideoWriter_fourcc(*codec)
+        # 测试是否可用（创建临时视频）
+        try:
+            import tempfile
+            import os
+            with tempfile.NamedTemporaryFile(suffix=".mp4", delete=False) as f:
+                tmp_path = f.name
+            test_writer = cv2.VideoWriter(tmp_path, fourcc, 10.0, (64, 64))
+            if test_writer.isOpened():
+                test_writer.release()
+                os.unlink(tmp_path)
+                print(f"[VideoEncoder] Using H.264 codec: {codec}")
+                return fourcc
+            test_writer.release()
+            os.unlink(tmp_path)
+        except Exception:
+            pass
+    # 回退到 mp4v（MPEG-4 Part 2）
+    print("[VideoEncoder] H.264 not available, falling back to mp4v (MPEG-4)")
+    return cv2.VideoWriter_fourcc(*"mp4v")
+
+
 def estimate_pointcloud_length_pca(points: np.ndarray) -> float:
     """
     Estimate point cloud "length" as the extent along the 1st PCA axis.
@@ -642,7 +673,7 @@ def finalize_preview_video_with_weights(
         out_frames.append(combined)
     video_path = output_images_folder / f"{svo_name}_preview.mp4"
     h, w = out_frames[0].shape[:2]
-    fourcc = cv2.VideoWriter_fourcc(*"mp4v")
+    fourcc = get_h264_fourcc()
     vw = cv2.VideoWriter(str(video_path), fourcc, float(fps_video), (w, h))
     for fr in out_frames:
         vw.write(fr)
@@ -1297,41 +1328,6 @@ def process_single_svo2(svo_path, output_base, yolo_model, sam_predictor, sam_de
     print(f"Reading from SVO2 file: {svo_path.name}")
     print(f"Output folder: {output_base.resolve()}")
     
-    # Check if output folder already exists and contains point clouds
-    # If so, skip data generation and directly run weight estimation
-    if output_base.exists() and output_cloud_folder.exists():
-        # Check if there are point cloud files
-        point_cloud_files = list(output_cloud_folder.glob("*.ply"))
-        if point_cloud_files and do_weight_estimation:
-            print(f"\n{'='*60}")
-            print(f"Output folder already exists with {len(point_cloud_files)} point cloud files")
-            print(f"Skipping data generation, directly running weight estimation...")
-            print(f"{'='*60}")
-            
-            # Run weight estimation directly
-            weight_output_dir = output_base / "weight_estimation"
-            results = run_weight_estimation(
-                cloud_folder=output_cloud_folder,
-                output_dir=weight_output_dir,
-                topk_length=weight_topk_length,
-                remove_outliers=weight_remove_outliers,
-                outlier_method=weight_outlier_method,
-                max_cv_length=max_cv_length,
-                verbose=True,
-                top_k=weight_top_k,
-                top_by_length=weight_top_by_length,
-                length_switch_to_weight_mm=weight_length_switch_mm,
-            )
-            return results is not None
-        elif point_cloud_files and not do_weight_estimation:
-            print(f"\n{'='*60}")
-            print(f"Output folder already exists with {len(point_cloud_files)} point cloud files")
-            print(f"Weight estimation not requested (--run-weight-estimation not set)")
-            print(f"Skipping processing...")
-            print(f"{'='*60}")
-            return True
-        # If folder exists but no point clouds, continue with normal processing
-    
     # Initialize ZED reader
     zed_reader = ZEDReader(svo_path=str(svo_path), camera_mode=False, use_yolo_detector=False)
     if not zed_reader.open():
@@ -1820,7 +1816,7 @@ def process_single_svo2(svo_path, output_base, yolo_model, sam_predictor, sam_de
                 video_path = output_images_folder / f"{svo_name}_preview.mp4"
                 h, w = video_frames[0].shape[:2]
                 fps_v = 10.0
-                fourcc = cv2.VideoWriter_fourcc(*"mp4v")
+                fourcc = get_h264_fourcc()
                 video_writer = cv2.VideoWriter(str(video_path), fourcc, fps_v, (w, h))
                 for frame in video_frames:
                     video_writer.write(frame)
@@ -2975,7 +2971,7 @@ def main():
                 fps = 10.0  # Frames per second
                 
                 # Create video writer
-                fourcc = cv2.VideoWriter_fourcc(*'mp4v')
+                fourcc = get_h264_fourcc()
                 video_writer = cv2.VideoWriter(str(video_path), fourcc, fps, (w, h))
                 
                 for frame in video_frames:

fish_api/README.md

@@ -45,9 +45,11 @@ OpenAPI：`http://127.0.0.1:8000/docs`
 
 ## 对外 GET（由其它系统轮询）
 
-- `GET /api/v1/biomass/real/camera/` — 每次 GET 消费一条未投递的称重快照（SQLite 游标）；无新数据时 `data.result` 为空，响应头 `X-Fish-Biomass-New: 0`
+- `GET /api/v1/biomass/real/camera/` — 每次 GET 消费**该客户端**下一条未投递的称重快照（SQLite **按客户端独立游标**）；无新数据时 `data.result` 为空，响应头 `X-Fish-Biomass-New: 0`
 - `GET /api/v1/biomass/health/result/` — 同上，行为 / 健康快照队列
 
+**客户端区分**：请求头 `X-Fish-Client-Id: <字符串>` 或查询参数 `client_id=<字符串>`（**优先头**）。未携带时等价于 `default`，与旧版「全局一条游标」行为一致。不同 `client_id` 各自从当前队列消费，互不影响。
+
 `result` 中每条鱼含算法字段：`id`（跟踪 ID）、`weight`（g）、`length`（mm）。不可交付或失败的推理不会进入客户端队列。
 
 ## 流式输入（分块上传）

fish_api/app/db.py

@@ -18,6 +18,22 @@ from typing import Any, Optional, Set, Tuple
 from app.settings import Settings
 from app.state import HealthSnapshot, MeasureSnapshot
 
+# 未带客户端标识时与旧行为兼容：共享同一条投递游标
+DEFAULT_CLIENT_ID = "default"
+MAX_CLIENT_ID_LEN = 128
+
+
+def normalize_client_id(raw: Optional[str]) -> str:
+    """供轮询接口使用；过长截断，空值回退为 DEFAULT_CLIENT_ID。"""
+    if raw is None:
+        return DEFAULT_CLIENT_ID
+    s = str(raw).strip()
+    if not s:
+        return DEFAULT_CLIENT_ID
+    if len(s) > MAX_CLIENT_ID_LEN:
+        s = s[:MAX_CLIENT_ID_LEN]
+    return s
+
 
 def _connect(path: Path) -> sqlite3.Connection:
     path.parent.mkdir(parents=True, exist_ok=True)
@@ -60,33 +76,64 @@ def init_db(settings: Settings) -> None:
                 PRIMARY KEY (path, kind)
             );
 
-            CREATE TABLE IF NOT EXISTS delivery_cursor (
-                kind TEXT PRIMARY KEY CHECK (kind IN ('measure', 'health')),
-                last_delivered_id INTEGER NOT NULL DEFAULT 0
+            CREATE TABLE IF NOT EXISTS delivery_client_cursor (
+                client_id TEXT NOT NULL,
+                kind TEXT NOT NULL CHECK (kind IN ('measure', 'health')),
+                last_delivered_id INTEGER NOT NULL DEFAULT 0,
+                PRIMARY KEY (client_id, kind)
             );
             """
         )
+        _migrate_delivery_cursor_from_legacy(conn)
         _ensure_delivery_cursors(conn)
     finally:
         conn.close()
 
 
+def _migrate_delivery_cursor_from_legacy(conn: sqlite3.Connection) -> None:
+    """旧表 delivery_cursor(kind) → delivery_client_cursor(default, kind)。"""
+    row = conn.execute(
+        "SELECT name FROM sqlite_master WHERE type='table' AND name='delivery_cursor'"
+    ).fetchone()
+    if row is None:
+        return
+    for kind in ("measure", "health"):
+        r = conn.execute(
+            "SELECT last_delivered_id FROM delivery_cursor WHERE kind = ?", (kind,)
+        ).fetchone()
+        if r is not None:
+            conn.execute(
+                """
+                INSERT OR REPLACE INTO delivery_client_cursor
+                    (client_id, kind, last_delivered_id)
+                VALUES (?, ?, ?)
+                """,
+                (DEFAULT_CLIENT_ID, kind, int(r["last_delivered_id"])),
+            )
+    conn.execute("DROP TABLE delivery_cursor")
+    conn.commit()
+
+
 def _ensure_delivery_cursors(conn: sqlite3.Connection) -> None:
-    """为每条流插入一行游标；首次插入时 last_delivered_id=当前 MAX(id)，避免升级后逐条投递历史快照。"""
+    """为默认客户端插入一行游标；首次插入时 last_delivered_id=当前 MAX(id)，避免升级后逐条投递历史快照。"""
     for kind, table in (
         ("measure", "measure_snapshots"),
         ("health", "health_snapshots"),
     ):
         row = conn.execute(
-            "SELECT 1 FROM delivery_cursor WHERE kind = ?", (kind,)
+            "SELECT 1 FROM delivery_client_cursor WHERE client_id = ? AND kind = ?",
+            (DEFAULT_CLIENT_ID, kind),
         ).fetchone()
         if row is None:
             mid = conn.execute(
                 f"SELECT COALESCE(MAX(id), 0) FROM {table}"
             ).fetchone()[0]
             conn.execute(
-                "INSERT INTO delivery_cursor (kind, last_delivered_id) VALUES (?, ?)",
-                (kind, int(mid)),
+                """
+                INSERT INTO delivery_client_cursor (client_id, kind, last_delivered_id)
+                VALUES (?, ?, ?)
+                """,
+                (DEFAULT_CLIENT_ID, kind, int(mid)),
             )
     conn.commit()
 
@@ -304,10 +351,17 @@ def _health_row_deliverable(
 
 
 def _last_delivered_id(
-    conn: sqlite3.Connection, kind: str, snapshots_table: str
+    conn: sqlite3.Connection,
+    kind: str,
+    snapshots_table: str,
+    client_id: str,
 ) -> int:
     row = conn.execute(
-        "SELECT last_delivered_id FROM delivery_cursor WHERE kind = ?", (kind,)
+        """
+        SELECT last_delivered_id FROM delivery_client_cursor
+        WHERE kind = ? AND client_id = ?
+        """,
+        (kind, client_id),
     ).fetchone()
     if row is not None:
         return int(row["last_delivered_id"])
@@ -315,21 +369,26 @@ def _last_delivered_id(
         f"SELECT COALESCE(MAX(id), 0) FROM {snapshots_table}"
     ).fetchone()[0]
     conn.execute(
-        "INSERT INTO delivery_cursor (kind, last_delivered_id) VALUES (?, ?)",
-        (kind, int(mid)),
+        """
+        INSERT INTO delivery_client_cursor (client_id, kind, last_delivered_id)
+        VALUES (?, ?, ?)
+        """,
+        (client_id, kind, int(mid)),
     )
     return int(mid)
 
 
 def pop_next_measure(
     settings: Settings,
+    client_id: str = DEFAULT_CLIENT_ID,
 ) -> Tuple[MeasureSnapshot, bool, Optional[int]]:
-    """取队首未投递且可交付的 measure 快照并推进游标；跳过不可交付行仅推进游标。"""
+    """取该客户端队首未投递且可交付的 measure 快照并推进其游标；跳过不可交付行仅推进游标。"""
+    cid = normalize_client_id(client_id)
     init_db(settings)
     conn = _connect(settings.sqlite_path)
     try:
         conn.execute("BEGIN IMMEDIATE")
-        last_id = _last_delivered_id(conn, "measure", "measure_snapshots")
+        last_id = _last_delivered_id(conn, "measure", "measure_snapshots", cid)
 
         while True:
             next_row = conn.execute(
@@ -355,8 +414,11 @@ def pop_next_measure(
                 data = []
 
             conn.execute(
-                "UPDATE delivery_cursor SET last_delivered_id = ? WHERE kind = ?",
-                (nid, "measure"),
+                """
+                UPDATE delivery_client_cursor SET last_delivered_id = ?
+                WHERE kind = ? AND client_id = ?
+                """,
+                (nid, "measure", cid),
             )
 
             if not measure_result_deliverable(data, err):
@@ -380,13 +442,17 @@ def pop_next_measure(
         conn.close()
 
 
-def pop_next_health(settings: Settings) -> Tuple[HealthSnapshot, bool, Optional[int]]:
-    """取队首未投递且可交付的 health 快照并推进游标；跳过不可交付行仅推进游标。"""
+def pop_next_health(
+    settings: Settings,
+    client_id: str = DEFAULT_CLIENT_ID,
+) -> Tuple[HealthSnapshot, bool, Optional[int]]:
+    """取该客户端队首未投递且可交付的 health 快照并推进其游标；跳过不可交付行仅推进游标。"""
+    cid = normalize_client_id(client_id)
     init_db(settings)
     conn = _connect(settings.sqlite_path)
     try:
         conn.execute("BEGIN IMMEDIATE")
-        last_id = _last_delivered_id(conn, "health", "health_snapshots")
+        last_id = _last_delivered_id(conn, "health", "health_snapshots", cid)
 
         while True:
             next_row = conn.execute(
@@ -412,8 +478,11 @@ def pop_next_health(settings: Settings) -> Tuple[HealthSnapshot, bool, Optional[
             err: Optional[str] = next_row["error"]
 
             conn.execute(
-                "UPDATE delivery_cursor SET last_delivered_id = ? WHERE kind = ?",
-                (nid, "health"),
+                """
+                UPDATE delivery_client_cursor SET last_delivered_id = ?
+                WHERE kind = ? AND client_id = ?
+                """,
+                (nid, "health", cid),
             )
 
             if not _health_row_deliverable(beh, hlth, raw_en, err):
@@ -529,14 +598,14 @@ def clear_watch_cache_and_snapshots(settings: Settings) -> None:
             conn.execute("DELETE FROM watch_processed WHERE kind = ?", ("measure",))
             conn.execute("DELETE FROM measure_snapshots")
             conn.execute(
-                "UPDATE delivery_cursor SET last_delivered_id = 0 WHERE kind = ?",
+                "UPDATE delivery_client_cursor SET last_delivered_id = 0 WHERE kind = ?",
                 ("measure",),
             )
         if settings.action_watch_use_state_file:
             conn.execute("DELETE FROM watch_processed WHERE kind = ?", ("action",))
             conn.execute("DELETE FROM health_snapshots")
             conn.execute(
-                "UPDATE delivery_cursor SET last_delivered_id = 0 WHERE kind = ?",
+                "UPDATE delivery_client_cursor SET last_delivered_id = 0 WHERE kind = ?",
                 ("health",),
             )
         conn.commit()

fish_api/app/main.py

@@ -4,9 +4,9 @@ import asyncio
 from contextlib import asynccontextmanager
 
 from fastapi import FastAPI
-from fastapi.staticfiles import StaticFiles
 
 from app.logging_config import setup_logging
+from app.media_static import MediaStaticFiles
 from app.db import init_db
 from app.routers import biomass, ingest
 from app.services.action_watch import run_action_watch_loop
@@ -46,7 +46,7 @@ _settings = get_settings()
 _settings.media_root.mkdir(parents=True, exist_ok=True)
 app.mount(
     "/media",
-    StaticFiles(directory=str(_settings.media_root)),
+    MediaStaticFiles(directory=str(_settings.media_root)),
     name="media",
 )
 

fish_api/app/media_static.py

@@ -0,0 +1,180 @@
+"""托管预览视频：Linux 上 mimetypes 常无法识别 .mp4，Starlette 会退回 text/plain，导致浏览器表现异常。
+
+同时提供 Range 请求支持，使视频可以在浏览器中流式播放、跳转进度。
+"""
+
+from __future__ import annotations
+
+import os
+from mimetypes import guess_type
+from pathlib import Path
+from typing import Union
+
+from starlette.datastructures import Headers
+from starlette.responses import FileResponse, Response, StreamingResponse
+from starlette.staticfiles import NotModifiedResponse, StaticFiles
+from starlette.types import Scope
+
+PathLike = Union[str, "os.PathLike[str]"]
+
+
+def _media_type_for_file(path: PathLike) -> str:
+    ext = Path(path).suffix.lower()
+    if ext in (".mp4", ".m4v"):
+        return "video/mp4"
+    if ext == ".webm":
+        return "video/webm"
+    if ext == ".mkv":
+        return "video/x-matroska"
+    guessed = guess_type(str(path))[0]
+    if guessed:
+        return guessed
+    return "application/octet-stream"
+
+
+def _parse_range_header(range_header: str, file_size: int) -> list[tuple[int, int]]:
+    """解析 HTTP Range 头，返回 (start, end) 列表。"""
+    if not range_header.startswith("bytes="):
+        return []
+    ranges = []
+    for part in range_header[len("bytes="):].split(","):
+        part = part.strip()
+        if part.startswith("-"):
+            # 后缀范围：最后 N 字节
+            try:
+                suffix = int(part[1:])
+                if suffix > 0:
+                    start = max(0, file_size - suffix)
+                    ranges.append((start, file_size - 1))
+            except ValueError:
+                continue
+        else:
+            if "-" in part:
+                start_str, end_str = part.split("-", 1)
+                try:
+                    start = int(start_str) if start_str else 0
+                except ValueError:
+                    continue
+                try:
+                    end = int(end_str) if end_str else file_size - 1
+                except ValueError:
+                    continue
+                if start > end:
+                    continue
+                end = min(end, file_size - 1)
+                ranges.append((start, end))
+    return ranges
+
+
+class _RangeFileResponse(Response):
+    """支持 HTTP Range 请求的文件响应，用于视频流播放。"""
+
+    def __init__(
+        self,
+        path: PathLike,
+        media_type: str | None = None,
+        stat_result: os.stat_result | None = None,
+        headers: dict | None = None,
+        range_header: str | None = None,
+    ):
+        self.path = path
+        self.stat_result = stat_result or os.stat(path)
+        self.file_size = self.stat_result.st_size
+        self.range_header = range_header
+
+        headers = headers or {}
+        headers.setdefault("accept-ranges", "bytes")
+        headers.setdefault("last-modified", str(self.stat_result.st_mtime))
+
+        # 解析 Range 请求
+        ranges = []
+        if range_header:
+            ranges = _parse_range_header(range_header, self.file_size)
+
+        if len(ranges) == 1:
+            # 单范围请求
+            start, end = ranges[0]
+            self.status_code = 206
+            self.start = start
+            self.end = end
+            headers["content-length"] = str(end - start + 1)
+            headers["content-range"] = f"bytes {start}-{end}/{self.file_size}"
+        elif len(ranges) > 1:
+            # 多范围请求太复杂，返回整个文件
+            self.status_code = 200
+            self.start = 0
+            self.end = self.file_size - 1
+            headers["content-length"] = str(self.file_size)
+        else:
+            # 无 Range 请求，返回整个文件
+            self.status_code = 200
+            self.start = 0
+            self.end = self.file_size - 1
+            headers["content-length"] = str(self.file_size)
+
+        super().__init__(
+            content=None,
+            status_code=self.status_code,
+            headers=headers,
+            media_type=media_type,
+        )
+
+    async def __call__(self, scope: Scope, receive, send):
+        if self.status_code == 416:
+            await send({"type": "http.response.start", "status": 416, "headers": self.raw_headers})
+            await send({"type": "http.response.body", "body": b""})
+            return
+
+        await send({"type": "http.response.start", "status": self.status_code, "headers": self.raw_headers})
+
+        chunk_size = 64 * 1024  # 64KB chunks
+        async def file_stream():
+            with open(self.path, "rb") as f:
+                f.seek(self.start)
+                remaining = self.end - self.start + 1
+                while remaining > 0:
+                    to_read = min(chunk_size, remaining)
+                    chunk = f.read(to_read)
+                    if not chunk:
+                        break
+                    yield chunk
+                    remaining -= len(chunk)
+
+        async for chunk in file_stream():
+            await send({"type": "http.response.body", "body": chunk, "more_body": True})
+        await send({"type": "http.response.body", "body": b"", "more_body": False})
+
+
+class MediaStaticFiles(StaticFiles):
+    """与 StaticFiles 相同，但对常见视频后缀显式设置 Content-Type，并支持 Range 请求。"""
+
+    def file_response(
+        self,
+        full_path: PathLike,
+        stat_result: os.stat_result,
+        scope: Scope,
+        status_code: int = 200,
+    ) -> Response:
+        request_headers = Headers(scope=scope)
+        range_header = request_headers.get("range")
+        media_type = _media_type_for_file(full_path)
+
+        # 视频文件支持 Range 请求
+        if media_type.startswith("video/") and range_header:
+            response = _RangeFileResponse(
+                full_path,
+                media_type=media_type,
+                stat_result=stat_result,
+                range_header=range_header,
+            )
+        else:
+            response = FileResponse(
+                full_path,
+                status_code=status_code,
+                stat_result=stat_result,
+                media_type=media_type,
+            )
+
+        if self.is_not_modified(response.headers, request_headers):
+            return NotModifiedResponse(response.headers)
+        return response

fish_api/app/prestart_fresh.py

@@ -1,10 +1,12 @@
 """启动前清空状态：SQLite、watch 旧 JSON、测量/行为运行时目录。
 
 由 start_fresh.sh 在 uvicorn 之前调用，使 FishMeasure 与 FishAction 均在无缓存下重新推理。
+可通过环境变量 KEEP_MEASURE_OUTPUT=1 保留测量输出目录以复用点云。
 """
 
 from __future__ import annotations
 
+import os
 from pathlib import Path
 
 from app.db import clear_runtime_compute_dirs, remove_sqlite_database_files
@@ -31,14 +33,30 @@ def run_prestart_fresh() -> None:
         flush=True,
     )
 
-    clear_runtime_compute_dirs(s)
-    print(
-        "[prestart-fresh] cleared compute dirs: "
-        f"measure_output={s.measure_output_root}, "
-        f"action_output={s.action_output_root}, "
-        f"media={s.media_root}, stream_tmp={s.stream_tmp_dir}",
-        flush=True,
-    )
+    # 检查是否保留测量输出目录（用于复用点云）
+    keep_measure_output = os.environ.get("KEEP_MEASURE_OUTPUT", "").strip() in ("1", "true", "yes")
+
+    if keep_measure_output:
+        # 只清理其他目录，保留 measure_output_root
+        from app.db import _safe_rm_tree
+        _safe_rm_tree(s.action_output_root)
+        _safe_rm_tree(s.media_root)
+        _safe_rm_tree(s.stream_tmp_dir)
+        print(
+            "[prestart-fresh] cleared compute dirs (kept measure_output for cloud reuse): "
+            f"action_output={s.action_output_root}, "
+            f"media={s.media_root}, stream_tmp={s.stream_tmp_dir}",
+            flush=True,
+        )
+    else:
+        clear_runtime_compute_dirs(s)
+        print(
+            "[prestart-fresh] cleared compute dirs: "
+            f"measure_output={s.measure_output_root}, "
+            f"action_output={s.action_output_root}, "
+            f"media={s.media_root}, stream_tmp={s.stream_tmp_dir}",
+            flush=True,
+        )
 
     if s.measure_watch_use_state_file:
         if s.measure_watch_state_file is not None:

fish_api/app/routers/biomass.py

@@ -1,9 +1,11 @@
 from __future__ import annotations
 
-from fastapi import APIRouter, Depends
+from typing import Optional
+
+from fastapi import APIRouter, Depends, Header, Query
 from starlette.responses import JSONResponse
 
-from app.db import pop_next_health, pop_next_measure
+from app.db import normalize_client_id, pop_next_health, pop_next_measure
 from app.settings import Settings, get_settings
 
 router = APIRouter(prefix="/api/v1/biomass", tags=["biomass"])
@@ -16,10 +18,27 @@ def _new_headers(has_new: bool) -> dict[str, str]:
     return {HEADER_BIOMASS_NEW: "1" if has_new else "0"}
 
 
+def _resolve_client_id(
+    x_fish_client_id: Optional[str] = Header(None, alias="X-Fish-Client-Id"),
+    client_id: Optional[str] = Query(
+        None,
+        description="客户端标识；与请求头 X-Fish-Client-Id 二选一（优先头）。未带时共用 default 游标",
+    ),
+) -> str:
+    if x_fish_client_id is not None and str(x_fish_client_id).strip():
+        return normalize_client_id(x_fish_client_id)
+    if client_id is not None and str(client_id).strip():
+        return normalize_client_id(client_id)
+    return normalize_client_id(None)
+
+
 @router.get("/real/camera/")
-async def get_real_camera(settings: Settings = Depends(get_settings)):
-    """双目实时结果：每次 GET 投递下一条未消费的 FishMeasure 快照（SQLite 游标）。"""
-    m, has_new, _ = pop_next_measure(settings)
+async def get_real_camera(
+    settings: Settings = Depends(get_settings),
+    client_id: str = Depends(_resolve_client_id),
+):
+    """双目实时结果：每次 GET 投递该客户端下一条未消费的 FishMeasure 快照（按 client_id 独立游标）。"""
+    m, has_new, _ = pop_next_measure(settings, client_id)
     if not has_new:
         return JSONResponse(
             content={
@@ -61,9 +80,12 @@ async def get_real_camera(settings: Settings = Depends(get_settings)):
 
 
 @router.get("/health/result/")
-async def get_health_result(settings: Settings = Depends(get_settings)):
-    """行为 / 健康结果：每次 GET 投递下一条未消费的 FishAction 快照（SQLite 游标）。"""
-    h, has_new, _ = pop_next_health(settings)
+async def get_health_result(
+    settings: Settings = Depends(get_settings),
+    client_id: str = Depends(_resolve_client_id),
+):
+    """行为 / 健康结果：每次 GET 投递该客户端下一条未消费的 FishAction 快照（按 client_id 独立游标）。"""
+    h, has_new, _ = pop_next_health(settings, client_id)
     if not has_new:
         return JSONResponse(
             content={

fish_api/app/services/measure.py

@@ -241,9 +241,11 @@ def _split_sbs_video(src: Path, left_dst: Path, right_dst: Path) -> bool:
 
     Returns True if split succeeded, False otherwise (caller should fall back to copy).
     """
+    ffmpeg_path = _get_ffmpeg_path()
+    ffprobe_path = str(Path(ffmpeg_path).parent / "ffprobe")
     probe = subprocess.run(
         [
-            "ffprobe", "-v", "quiet", "-print_format", "json",
+            ffprobe_path, "-v", "quiet", "-print_format", "json",
             "-show_streams", str(src),
         ],
         capture_output=True, text=True,
@@ -263,19 +265,282 @@ def _split_sbs_video(src: Path, left_dst: Path, right_dst: Path) -> bool:
     if half_w < 1 or w < h:
         return False
 
+    encoder, encoder_options, _ = _get_h264_encoder()
     for crop, dst in [
         (f"crop={half_w}:{h}:{half_w}:0", left_dst),
         (f"crop={half_w}:{h}:0:0", right_dst),
     ]:
-        r = subprocess.run(
-            ["ffmpeg", "-y", "-i", str(src), "-vf", crop, "-an", "-q:v", "5", str(dst)],
-            capture_output=True, text=True,
-        )
+        cmd = [ffmpeg_path, "-y", "-i", str(src), "-vf", crop, "-an"]
+        if encoder:
+            cmd.extend(["-c:v", encoder, "-pix_fmt", "yuv420p", "-movflags", "+faststart"])
+            cmd.extend(encoder_options)
+        else:
+            cmd.extend(["-q:v", "5"])
+        cmd.append(str(dst))
+        r = subprocess.run(cmd, capture_output=True, text=True)
         if r.returncode != 0:
             return False
     return True
 
 
+def _get_ffmpeg_path() -> str:
+    """获取可用的 ffmpeg 路径。优先使用项目配置的 ffmpeg。"""
+    # 优先使用项目目录下的 ffmpeg
+    project_ffmpeg = Path("/home/ubuntu/projects/FishServer/tools/ffmpeg/bin/ffmpeg")
+    if project_ffmpeg.is_file():
+        return str(project_ffmpeg)
+    # 尝试系统路径
+    system_paths = ["/usr/bin/ffmpeg", "/usr/local/bin/ffmpeg"]
+    for path in system_paths:
+        if Path(path).is_file():
+            return path
+    # 回退到 PATH 中的 ffmpeg
+    return "ffmpeg"
+
+
+def _get_h264_encoder() -> tuple[str, list[str], str]:
+    """检测可用的H.264编码器，返回 (encoder_name, options, ffmpeg_path)。
+
+    优先使用 libx264（纯软件，最可靠），硬件编码器需要实际测试才能确认可用。
+    """
+    encoders_to_try = [
+        ("libx264", ["-preset", "fast", "-crf", "23"]),
+        ("h264_nvenc", ["-preset", "fast"]),
+        ("libopenh264", []),
+    ]
+
+    ffmpeg_path = _get_ffmpeg_path()
+    try:
+        result = subprocess.run(
+            [ffmpeg_path, "-encoders"],
+            capture_output=True, text=True, timeout=10
+        )
+        encoders_output = result.stdout
+        for encoder, options in encoders_to_try:
+            if encoder in encoders_output:
+                return encoder, options, ffmpeg_path
+    except Exception:
+        pass
+    return "", [], ffmpeg_path
+
+
+def _get_x264_path() -> Optional[str]:
+    """检测系统上是否有可用的 x264 命令行工具。"""
+    for path in ["/usr/bin/x264", "/usr/local/bin/x264", "x264"]:
+        if path == "x264":
+            try:
+                result = subprocess.run(["which", "x264"], capture_output=True, text=True, timeout=5)
+                if result.returncode == 0 and result.stdout.strip():
+                    return result.stdout.strip()
+            except Exception:
+                pass
+        elif Path(path).is_file():
+            return path
+    return None
+
+
+def _transcode_with_x264(src: Path, dst: Path) -> bool:
+    """使用 x264 命令行工具将视频转码为 H.264。
+
+    这是当 ffmpeg 的 H.264 编码器都不可用时（如 libopenh264 版本不匹配）的最后备选方案。
+    通过 ffmpeg 提取原始 YUV 帧，然后用 x264 编码。
+    """
+    import tempfile
+    import shutil
+
+    x264_path = _get_x264_path()
+    ffmpeg_path = _get_ffmpeg_path()
+
+    if not x264_path:
+        logger.debug("[FishMeasure] x264 not available")
+        return False
+
+    # 首先用 ffprobe 获取视频信息
+    try:
+        probe = subprocess.run(
+            ["ffprobe", "-v", "quiet", "-print_format", "json", "-show_streams", str(src)],
+            capture_output=True, text=True, timeout=10
+        )
+        import json as _json
+        streams = _json.loads(probe.stdout).get("streams", [])
+        vstream = next((s for s in streams if s.get("codec_type") == "video"), None)
+        if not vstream:
+            return False
+        width = int(vstream["width"])
+        height = int(vstream["height"])
+        fps_str = vstream.get("r_frame_rate", "25/1")
+        # 解析 fps (可能是 "30/1" 或 "30000/1001" 格式)
+        if "/" in fps_str:
+            num, den = map(int, fps_str.split("/"))
+            fps = num / den if den != 0 else 25.0
+        else:
+            fps = float(fps_str)
+    except Exception as e:
+        logger.debug("[FishMeasure] x264 probe failed: {}", str(e))
+        return False
+
+    tmp_yuv = None
+    try:
+        # 创建临时 YUV 文件
+        with tempfile.NamedTemporaryFile(suffix=".yuv", delete=False) as f:
+            tmp_yuv = Path(f.name)
+
+        # 步骤1: 用 ffmpeg 提取 YUV 原始帧
+        extract_cmd = [
+            ffmpeg_path, "-y", "-i", str(src),
+            "-f", "rawvideo",
+            "-pix_fmt", "yuv420p",
+            str(tmp_yuv)
+        ]
+        result = subprocess.run(extract_cmd, capture_output=True, text=True, timeout=300)
+        if result.returncode != 0:
+            logger.debug("[FishMeasure] x264: YUV extraction failed: {}", result.stderr[-200:] if result.stderr else "unknown")
+            return False
+
+        # 步骤2: 用 x264 编码
+        # x264 需要特定格式的输入参数
+        encode_cmd = [
+            x264_path,
+            "--input-res", f"{width}x{height}",
+            "--fps", str(fps),
+            "--preset", "fast",
+            "--crf", "23",
+            "--output-csp", "i420",
+            "-o", str(dst),
+            str(tmp_yuv)
+        ]
+        result = subprocess.run(encode_cmd, capture_output=True, text=True, timeout=600)
+
+        if result.returncode == 0 and dst.is_file():
+            logger.info("[FishMeasure] x264 transcoding SUCCESS: {} ({} bytes)", dst.name, dst.stat().st_size)
+            return True
+        else:
+            stderr = result.stderr[-300:] if result.stderr else "Unknown error"
+            logger.warning("[FishMeasure] x264 transcoding FAILED: {}", stderr)
+            if dst.exists():
+                dst.unlink()
+            return False
+    except Exception as e:
+        logger.warning("[FishMeasure] x264 transcoding exception: {}", str(e))
+        if dst.exists():
+            dst.unlink()
+        return False
+    finally:
+        if tmp_yuv and tmp_yuv.exists():
+            tmp_yuv.unlink()
+
+
+def _transcode_fallback(src: Path, dst: Path) -> bool:
+    """备选转码方案：提取帧为图像序列，然后用ffmpeg编码为H.264。
+
+    这种方法避免编码器直接读取 mp4v 文件的兼容性问题。
+    """
+    import tempfile
+    import shutil
+
+    encoder, encoder_options, ffmpeg_path = _get_h264_encoder()
+    if not encoder:
+        return False
+
+    tmp_dir = tempfile.mkdtemp()
+    try:
+        # 步骤1: 提取帧为 jpg 序列
+        frames_pattern = f"{tmp_dir}/frame_%04d.jpg"
+        extract_cmd = [
+            ffmpeg_path, "-y", "-i", str(src),
+            "-q:v", "2",  # 高质量
+            frames_pattern
+        ]
+        result = subprocess.run(extract_cmd, capture_output=True, text=True, timeout=60)
+        if result.returncode != 0:
+            logger.debug("[FishMeasure] Fallback: frame extraction failed: {}", result.stderr[-200:] if result.stderr else "unknown")
+            return False
+
+        # 步骤2: 从帧编码为 H.264 MP4
+        encode_cmd = [
+            ffmpeg_path, "-y",
+            "-i", frames_pattern,
+            "-c:v", encoder,
+            "-pix_fmt", "yuv420p",
+            "-movflags", "+faststart",
+            "-an",
+        ]
+        encode_cmd.extend(encoder_options)
+        encode_cmd.append(str(dst))
+
+        result = subprocess.run(encode_cmd, capture_output=True, text=True, timeout=120)
+
+        if result.returncode == 0 and dst.is_file():
+            logger.info("[FishMeasure] Fallback transcoding SUCCESS: {} ({} bytes)", dst.name, dst.stat().st_size)
+            return True
+        else:
+            stderr = result.stderr[-300:] if result.stderr else "Unknown error"
+            logger.warning("[FishMeasure] Fallback transcoding FAILED: {}", stderr)
+            if dst.exists():
+                dst.unlink()
+            return False
+    except Exception as e:
+        logger.warning("[FishMeasure] Fallback transcoding exception: {}", str(e))
+        if dst.exists():
+            dst.unlink()
+        return False
+    finally:
+        # 清理临时目录
+        shutil.rmtree(tmp_dir, ignore_errors=True)
+
+
+def _transcode_to_h264(src: Path, dst: Path) -> bool:
+    """使用 ffmpeg 将视频转码为 H.264 (浏览器兼容格式)。
+
+    尝试多种H.264编码器，包括软件编码和硬件加速编码。
+    如果直接转码失败，依次尝试备选方案：
+    1. 提取帧重新编码
+    2. 使用 x264 命令行工具（当 ffmpeg 的 H.264 编码器都不可用时）
+    """
+    encoder, encoder_options, ffmpeg_path = _get_h264_encoder()
+
+    # 如果有可用的 ffmpeg H.264 编码器，先尝试直接转码
+    if encoder:
+        try:
+            # 基础参数
+            cmd = [
+                ffmpeg_path, "-y", "-i", str(src),
+                "-c:v", encoder,
+                "-pix_fmt", "yuv420p",  # 确保兼容性
+                "-movflags", "+faststart",  # 优化网络播放（moov前置）
+                "-an",  # 去除音频
+            ]
+            cmd.extend(encoder_options)
+            cmd.append(str(dst))
+
+            logger.info("[FishMeasure] Transcoding with {} using {}: {} -> {}", encoder, ffmpeg_path, src.name, dst.name)
+            result = subprocess.run(
+                cmd, capture_output=True, text=True, timeout=300
+            )
+
+            if result.returncode == 0 and dst.is_file():
+                logger.info("[FishMeasure] Transcoding SUCCESS: {} ({} bytes)", dst.name, dst.stat().st_size)
+                return True
+            else:
+                stderr = result.stderr[-500:] if result.stderr else "Unknown error"
+                logger.warning("[FishMeasure] Direct transcoding FAILED, trying fallback: {}", stderr)
+                # 尝试备选方案1: 提取帧重新编码
+                if _transcode_fallback(src, dst):
+                    return True
+                # 备选方案1失败，尝试 x264
+                logger.info("[FishMeasure] Fallback failed, trying x264...")
+                return _transcode_with_x264(src, dst)
+        except Exception as e:
+            logger.warning("[FishMeasure] Transcoding exception: {}", str(e))
+            if _transcode_fallback(src, dst):
+                return True
+            return _transcode_with_x264(src, dst)
+    else:
+        # 没有可用的 ffmpeg H.264 编码器，直接尝试 x264
+        logger.warning("[FishMeasure] No H.264 encoder available in ffmpeg, trying x264...")
+        return _transcode_with_x264(src, dst)
+
+
 def _publish_media(
     left: Optional[Path],
     right: Optional[Path],
@@ -298,7 +563,13 @@ def _publish_media(
     def publish(src: Optional[Path], dst: Path) -> str:
         if src is None or not src.is_file():
             return ""
-        shutil.copy2(src, dst)
+        # 尝试转码为 H.264，如果失败则直接复制原文件
+        if _transcode_to_h264(src, dst):
+            logger.info("[FishMeasure] transcoded to H.264: {} -> {}", src.name, dst.name)
+        else:
+            # 转码失败，直接复制原文件
+            shutil.copy2(src, dst)
+            logger.warning("[FishMeasure] copied without transcoding: {} -> {}", src.name, dst.name)
         return f"{base}/media/{dst.name}"
 
     vl = publish(left, left_dst)

fish_api/app/settings.py

@@ -4,10 +4,15 @@ from functools import lru_cache
 from pathlib import Path
 from typing import Optional
 
-from pydantic import Field, field_validator, model_validator
+from pydantic import AliasChoices, Field, field_validator, model_validator
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
 
+def _fish_api_env_file() -> Path:
+    """fish_api/.env — 与启动 cwd 无关，避免从仓库根跑 uvicorn 时读不到 .env。"""
+    return Path(__file__).resolve().parents[1] / ".env"
+
+
 def fish_repo_root() -> Path:
     # fish_api/app/settings.py -> parent[2] = repo root (contains FishMeasure/, fish_api/)
     return Path(__file__).resolve().parents[2]
@@ -36,12 +41,16 @@ def _default_action_output_root() -> Path:
 
 class Settings(BaseSettings):
     model_config = SettingsConfigDict(
-        env_file=".env",
+        env_file=_fish_api_env_file(),
         env_file_encoding="utf-8",
         extra="ignore",
     )
 
-    public_base_url: str = "http://127.0.0.1:8000"
+    #: 对外可访问的 API 基址（无末尾 `/`），用于 biomass 等 JSON 里 `video_left` / `video_right` 的绝对 URL。环境变量：**PUBLIC_BASE_URL**
+    public_base_url: str = Field(
+        default="http://127.0.0.1:8000",
+        validation_alias=AliasChoices("PUBLIC_BASE_URL", "public_base_url"),
+    )
 
     ingest_api_key: str = ""
 

fish_api/start_fresh.sh

@@ -4,6 +4,9 @@
 #   bash fish_api/start_fresh.sh
 #   PORT=8001 HOST=0.0.0.0 bash fish_api/start_fresh.sh
 #
+# 保留测量输出目录以复用点云（配合 .env 中 MEASURE_REUSE_EXISTING_CLOUDS=true）：
+#   KEEP_MEASURE_OUTPUT=1 bash fish_api/start_fresh.sh
+#
 # 首次使用请先：cd fish_api && uv sync
 #
 set -euo pipefail
@@ -11,7 +14,8 @@ set -euo pipefail
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 cd "$DIR"
 
-export PUBLIC_BASE_URL="${PUBLIC_BASE_URL:-http://127.0.0.1:8000}"
+# 勿在此默认导出 PUBLIC_BASE_URL：shell 环境会覆盖 fish_api/.env（pydantic 优先级）。
+# 未设置时由 app/settings.py 的默认值或 .env 中的 PUBLIC_BASE_URL 决定。
 unset PYTHON_FISH_MEASURE PYTHON_FISH_ACTION 2>/dev/null || true
 
 if command -v uv >/dev/null 2>&1; then

fish_api/start_no_fresh.sh

@@ -11,7 +11,8 @@ set -euo pipefail
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 cd "$DIR"
 
-export PUBLIC_BASE_URL="${PUBLIC_BASE_URL:-http://127.0.0.1:8000}"
+# 勿在此默认导出 PUBLIC_BASE_URL：shell 环境会覆盖 fish_api/.env（pydantic 优先级）。
+# 未设置时由 app/settings.py 的默认值或 .env 中的 PUBLIC_BASE_URL 决定。
 unset PYTHON_FISH_MEASURE PYTHON_FISH_ACTION 2>/dev/null || true
 
 PORT="${PORT:-8000}"

scripts/biomass_poller.py

@@ -40,12 +40,14 @@ def _should_log(resp: httpx.Response, body: Any) -> bool:
     return resp.headers.get("X-Fish-Biomass-New", "").strip() == "1"
 
 
-async def poll_once(client: httpx.AsyncClient, base: str) -> None:
+async def poll_once(
+    client: httpx.AsyncClient, base: str, extra_headers: dict[str, str]
+) -> None:
     base = base.rstrip("/")
     camera_url = f"{base}/api/v1/biomass/real/camera/"
     health_url = f"{base}/api/v1/biomass/health/result/"
-    r1 = await client.get(camera_url)
-    r2 = await client.get(health_url)
+    r1 = await client.get(camera_url, headers=extra_headers)
+    r2 = await client.get(health_url, headers=extra_headers)
     b1 = _fmt_body(r1)
     b2 = _fmt_body(r2)
     if _should_log(r1, b1):
@@ -54,11 +56,13 @@ async def poll_once(client: httpx.AsyncClient, base: str) -> None:
         logger.info("[health/result/] HTTP {} | {}", r2.status_code, json.dumps(b2, ensure_ascii=False))
 
 
-async def poll_loop(base: str, interval: float) -> None:
+async def poll_loop(
+    base: str, interval: float, extra_headers: dict[str, str]
+) -> None:
     async with httpx.AsyncClient(timeout=30.0) as client:
         while True:
             try:
-                await poll_once(client, base)
+                await poll_once(client, base, extra_headers)
             except Exception:
                 logger.exception("poll round failed")
             await asyncio.sleep(max(interval, 0.5))
@@ -77,6 +81,11 @@ def main() -> None:
         default=float(os.environ.get("POLL_INTERVAL", "5")),
         help="轮询间隔秒数（默认 POLL_INTERVAL 或 5）",
     )
+    parser.add_argument(
+        "--client-id",
+        default=os.environ.get("BIOMASS_CLIENT_ID", "").strip() or None,
+        help="传给 X-Fish-Client-Id（默认 BIOMASS_CLIENT_ID；不设则与网关 default 游标一致）",
+    )
     args = parser.parse_args()
 
     logger.remove()
@@ -87,12 +96,16 @@ def main() -> None:
         "<level>{level: <8}</level> | "
         "<level>{message}</level>",
     )
+    extra: dict[str, str] = {}
+    if args.client_id:
+        extra["X-Fish-Client-Id"] = args.client_id
     logger.info(
-        "biomass_poller 启动 | base={} | interval={}s | GET /api/v1/biomass/real/camera/ 与 /health/result/",
+        "biomass_poller 启动 | base={} | interval={}s | client_id={} | GET biomass real/camera + health/result",
         args.base_url.rstrip("/"),
         args.interval,
+        args.client_id or "(default)",
     )
-    asyncio.run(poll_loop(args.base_url, args.interval))
+    asyncio.run(poll_loop(args.base_url, args.interval, extra))
 
 
 if __name__ == "__main__":

scripts/setup_ffmpeg.sh

@@ -0,0 +1,58 @@
+#!/bin/bash
+# 下载并设置项目专属的 ffmpeg 静态构建版本
+# 这确保项目使用一致的 ffmpeg 版本，避免环境问题
+
+set -e
+
+PROJECT_ROOT="/home/ubuntu/projects/FishServer"
+TOOLS_DIR="$PROJECT_ROOT/tools"
+FFMPEG_DIR="$TOOLS_DIR/ffmpeg"
+FFMPEG_VERSION="6.1.1"
+FFMPEG_ARCH="amd64"
+
+echo "[setup-ffmpeg] Setting up project-specific ffmpeg..."
+
+# 创建工具目录
+mkdir -p "$TOOLS_DIR"
+
+# 检查是否已存在
+if [ -f "$FFMPEG_DIR/bin/ffmpeg" ]; then
+    echo "[setup-ffmpeg] ffmpeg already exists at $FFMPEG_DIR/bin/ffmpeg"
+    "$FFMPEG_DIR/bin/ffmpeg" -version | head -1
+    exit 0
+fi
+
+# 下载 ffmpeg 静态构建版本
+echo "[setup-ffmpeg] Downloading ffmpeg $FFMPEG_VERSION..."
+cd "$TOOLS_DIR"
+
+# 使用 johnvansickle 的静态构建版本
+DOWNLOAD_URL="https://johnvansickle.com/ffmpeg/releases/ffmpeg-${FFMPEG_VERSION}-${FFMPEG_ARCH}-static.tar.xz"
+TAR_FILE="ffmpeg-${FFMPEG_VERSION}-${FFMPEG_ARCH}-static.tar.xz"
+
+if command -v wget &> /dev/null; then
+    wget -q --show-progress "$DOWNLOAD_URL" -O "$TAR_FILE"
+elif command -v curl &> /dev/null; then
+    curl -L --progress-bar "$DOWNLOAD_URL" -o "$TAR_FILE"
+else
+    echo "[setup-ffmpeg] Error: wget or curl is required"
+    exit 1
+fi
+
+# 解压
+echo "[setup-ffmpeg] Extracting..."
+tar -xf "$TAR_FILE"
+
+# 移动到新位置
+EXTRACTED_DIR=$(tar -tf "$TAR_FILE" | head -1 | cut -f1 -d"/")
+mv "$EXTRACTED_DIR" "$FFMPEG_DIR"
+
+# 清理
+rm "$TAR_FILE"
+
+# 验证
+echo "[setup-ffmpeg] Verifying installation..."
+"$FFMPEG_DIR/bin/ffmpeg" -version | head -1
+"$FFMPEG_DIR/bin/ffmpeg" -encoders | grep -i "h264\|x264" | head -5
+
+echo "[setup-ffmpeg] Done! ffmpeg is installed at $FFMPEG_DIR/bin/ffmpeg"

scripts/start_fresh.sh

@@ -4,6 +4,9 @@
 #   bash scripts/start_fresh.sh
 #   PORT=8001 bash scripts/start_fresh.sh
 #
+# 保留测量输出目录以复用点云（配合 .env 中 MEASURE_REUSE_EXISTING_CLOUDS=true）：
+#   KEEP_MEASURE_OUTPUT=1 bash scripts/start_fresh.sh
+#
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 exec bash "$ROOT/fish_api/start_fresh.sh"