diff --git a/GrabBagApp/Presenter/Inc/GrabBagPresenter.h b/GrabBagApp/Presenter/Inc/GrabBagPresenter.h
index 29c0769e..ebbbb8fa 100644
--- a/GrabBagApp/Presenter/Inc/GrabBagPresenter.h
+++ b/GrabBagApp/Presenter/Inc/GrabBagPresenter.h
@@ -39,20 +39,21 @@ public:
 
     // 加载调试数据进行检测
     int LoadDebugDataAndDetect(const std::string& filePath);
-
-    IVrEyeDevice* GetEyeDevice(int index);
-    
-    // 相机列表管理相关函数
-    std::vector<IVrEyeDevice*> GetCameraList();
-    int GetCameraCount();
-    void GetCameraListWithNames(std::vector<IVrEyeDevice*>& cameraList, std::vector<QString>& cameraNames);
-    bool IsCameraConnected(int index);
     
     // 为所有相机设置状态回调
     void SetCameraStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void* param);
     
+    // 设置默认相机索引
+    void SetDefaultCameraIndex(int cameraIndex);
+    
+    // 获取当前默认相机索引
+    int GetDefaultCameraIndex() const { return m_currentCameraIndex; }
+    
     // 获取配置对象
     IVrConfig* GetConfig() { return m_vrConfig; }
+
+    // 获取相机列表
+    std::vector<std::pair<std::string, IVrEyeDevice*>> GetCameraList() const { return m_vrEyeDeviceList; }  // 返回相机列表，包括IP地址和设备指针
     
     // 手眼标定矩阵管理
     const CalibMatrix GetClibMatrix(int index) const;
@@ -115,7 +116,7 @@ private:
 
 private:
     IVrConfig*                      m_vrConfig = nullptr;
-    std::vector<IVrEyeDevice*>      m_vrEyeDeviceList;
+    std::vector<std::pair<std::string, IVrEyeDevice*>>      m_vrEyeDeviceList;
     IYGrabBagStatus*                m_pStatus = nullptr;
     DetectPresenter*                m_pDetectPresenter = nullptr;
 
@@ -134,9 +135,8 @@ private:
     std::condition_variable         m_algoDetectCondition;
     
     // 检测数据缓存 - 直接存储算法格式数据
-    std::vector<SVzNL3DLaserLine>   m_detectionDataCache;
-    std::mutex                      m_detectionDataMutex;
-
+    std::mutex                              m_detectionDataMutex;
+    std::vector<SVzNL3DLaserLine>           m_detectionDataCache;
     std::vector<SVzNLXYZRGBDLaserLine>      m_detectionDataCacheRGBD;
     
     // 算法参数成员变量
diff --git a/GrabBagApp/Presenter/Src/DetectPresenter.cpp b/GrabBagApp/Presenter/Src/DetectPresenter.cpp
index b2a8d9b5..0ca26f2b 100644
--- a/GrabBagApp/Presenter/Src/DetectPresenter.cpp
+++ b/GrabBagApp/Presenter/Src/DetectPresenter.cpp
@@ -171,8 +171,9 @@ int DetectPresenter::DetectBag(std::vector<SVzNLXYZRGBDLaserLine>& detectionData
     }
 
     // 从点云数据生成投影图像
-    detectionResult.image = PointCloudImageUtils::GeneratePointCloudImage(static_cast<SVzNLXYZRGBDLaserLine*>(detectionDataCache.data()),
-                                                     detectionDataCache.size(), objOps);
+    detectionResult.image = PointCloudImageUtils::GeneratePointCloudImage(
+                                            static_cast<SVzNLXYZRGBDLaserLine*>(detectionDataCache.data()),
+                                            detectionDataCache.size(), objOps);
     
     // 转换检测结果为UI显示格式（使用机械臂坐标系数据）
     for (size_t i = 0; i < objOps.size(); i++) {
diff --git a/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp b/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
index 26e7abbc..64981620 100644
--- a/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
+++ b/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
@@ -12,6 +12,7 @@
 #include <QImage>
 #include <QThread>
 
+#include "Version.h"
 #include "VrTimeUtils.h"
 #include "VrDateUtils.h"
 #include "SG_bagPositioning_Export.h"
@@ -28,7 +29,8 @@ GrabBagPresenter::GrabBagPresenter()
     , m_bRobotConnected(false)
     , m_currentWorkStatus(WorkStatus::Error)
 {
-
+    m_detectionDataCache.clear();
+    m_detectionDataCacheRGBD.clear();
 }
 
 GrabBagPresenter::~GrabBagPresenter()
@@ -63,8 +65,10 @@ GrabBagPresenter::~GrabBagPresenter()
     // 释放其他资源
     for(auto it = m_vrEyeDeviceList.begin(); it != m_vrEyeDeviceList.end(); it++)
     {
-        (*it)->CloseDevice();
-        delete (*it);
+        if (it->second != nullptr) {
+            it->second->CloseDevice();
+            delete it->second;
+        }
     }
     m_vrEyeDeviceList.clear();  
 
@@ -78,6 +82,7 @@ GrabBagPresenter::~GrabBagPresenter()
 
 int GrabBagPresenter::Init()
 {
+    LOG_DEBUG("Start APP Version: %s\n", GRABBAG_FULL_VERSION_STRING);
     // 初始化连接状态
     m_bCameraConnected = false;
     m_currentWorkStatus = WorkStatus::InitIng;
@@ -115,17 +120,22 @@ int GrabBagPresenter::Init()
 
     // 通知UI相机个数
     int cameraCount = configResult.cameraList.size();
+    
+    // 初始化相机列表，预分配空间
+    m_vrEyeDeviceList.resize(cameraCount, std::make_pair("", nullptr));
+    for(int i = 0; i < cameraCount; i++)
+    {
+        m_vrEyeDeviceList[i] = std::make_pair(configResult.cameraList[i].name, nullptr);
+    }   
     m_pStatus->OnCameraCountChanged(cameraCount);
-
-    m_currentCameraIndex = cameraCount > 1 ? 2 : 1;
-
+    
     if(cameraCount > 0){
         if (cameraCount >= 1) {
             // 尝试打开相机1
             LOG_INFO("Attempting to connect to camera 1 with IP: %s\n", configResult.cameraList[0].ip.c_str());
             
             // 发送页面提示信息
-            m_pStatus->OnStatusUpdate(QString("正在连接相机一: %1").arg(configResult.cameraList[0].ip.c_str()).toStdString());
+            m_pStatus->OnStatusUpdate(QString("正在连接%1: %2").arg(configResult.cameraList[0].name.c_str()).arg(configResult.cameraList[0].ip.c_str()).toStdString());
             
             // 初始化VrEyeDevice模块
             IVrEyeDevice* pDevice = nullptr;
@@ -139,24 +149,26 @@ int GrabBagPresenter::Init()
             ERR_CODE_RETURN(nRet);
             
             // 再打开设备
-            nRet = pDevice->OpenDevice(configResult.cameraList[0].ip.c_str());
+            nRet = pDevice->OpenDevice(configResult.cameraList[0].ip.c_str(), ProjectType::DirectBag ==  m_projectType);
             // 通过回调更新相机1状态
             bool camera1Connected = (SUCCESS == nRet);
             if(camera1Connected){
-                m_vrEyeDeviceList.push_back(pDevice);
                 LOG_INFO("Camera 1 connection successful, IP: %s\n", configResult.cameraList[0].ip.c_str());
-                m_pStatus->OnStatusUpdate(QString("相机一连接成功").toStdString());
+                m_pStatus->OnStatusUpdate(QString("%1连接成功").arg(configResult.cameraList[0].name.c_str()).toStdString());
             } else {
                 LOG_ERROR("Camera 1 connection failed, IP: %s, error code: %d\n", configResult.cameraList[0].ip.c_str(), nRet);
-                m_pStatus->OnStatusUpdate(QString("相机一连接失败: %1").arg(nRet).toStdString());
+                m_pStatus->OnStatusUpdate(QString("%1连接失败: %2").arg(configResult.cameraList[0].name.c_str()).arg(nRet).toStdString());
+                delete pDevice; // 释放失败的设备
+                pDevice = nullptr;
             }
+            m_vrEyeDeviceList[0] = std::make_pair(configResult.cameraList[0].name, pDevice); // 直接存储到索引0
             m_pStatus->OnCamera1StatusChanged(camera1Connected);
-            m_pStatus->OnStatusUpdate(camera1Connected ? "相机一连接成功" : "相机一连接失败");
+            m_pStatus->OnStatusUpdate(camera1Connected ? QString("%1连接成功").arg(configResult.cameraList[0].name.c_str()).toStdString() : QString("%1连接失败").arg(configResult.cameraList[0].name.c_str()).toStdString());
             m_bCameraConnected = camera1Connected;
         }
         else {
             LOG_WARNING("Camera count is 0, setting camera 1 as disconnected\n");
-            m_pStatus->OnStatusUpdate("配置文件中未找到相机配置，设置相机一为离线状态");
+            m_pStatus->OnStatusUpdate("配置文件中未找到相机配置，设置相机为离线状态");
             m_pStatus->OnCamera1StatusChanged(false);
             m_bCameraConnected = false;
         }
@@ -172,15 +184,20 @@ int GrabBagPresenter::Init()
             ERR_CODE_RETURN(nRet);
             
             // 尝试打开相机2
-            nRet = pDevice->OpenDevice(configResult.cameraList[1].ip.c_str());
+            nRet = pDevice->OpenDevice(configResult.cameraList[1].ip.c_str(), ProjectType::DirectBag ==  m_projectType);
             // 通过回调更新相机2状态
             bool camera2Connected = (SUCCESS == nRet);
             if(camera2Connected)
             {
-                m_vrEyeDeviceList.push_back(pDevice);
+                LOG_INFO("Camera 2 connection successful, IP: %s\n", configResult.cameraList[1].ip.c_str());
+            } else {
+                LOG_ERROR("Camera 2 connection failed, IP: %s, error code: %d\n", configResult.cameraList[1].ip.c_str(), nRet);
+                delete pDevice; // 释放失败的设备
+                pDevice = nullptr;
             }
+            m_vrEyeDeviceList[1] = std::make_pair(configResult.cameraList[1].name, pDevice); // 直接存储到索引1
             m_pStatus->OnCamera2StatusChanged(camera2Connected);
-            m_pStatus->OnStatusUpdate(camera2Connected ? "相机二连接成功" : "相机二连接失败");
+            m_pStatus->OnStatusUpdate(camera2Connected ? QString("%1连接成功").arg(configResult.cameraList[1].name.c_str()).toStdString() : QString("%1连接失败").arg(configResult.cameraList[1].name.c_str()).toStdString());
             // 只要有一个相机连接成功就认为相机连接正常
             if (camera2Connected) {
                 m_bCameraConnected = true;
@@ -202,18 +219,32 @@ int GrabBagPresenter::Init()
         ERR_CODE_RETURN(nRet);
         
         // 尝试打开相机1
-        nRet = pDevice->OpenDevice(nullptr);
+        nRet = pDevice->OpenDevice(nullptr, ProjectType::DirectBag ==  m_projectType);
         // 通过回调更新相机1状态
         bool camera1Connected = (SUCCESS == nRet);
         if(camera1Connected)
         {
-            m_vrEyeDeviceList.push_back(pDevice);
+            m_vrEyeDeviceList.resize(1);
+            m_vrEyeDeviceList[0] = std::make_pair("相机", pDevice); // 直接存储到索引0
+        } else {
+            delete pDevice; // 释放失败的设备
         }
         m_pStatus->OnCamera1StatusChanged(camera1Connected);
-        m_pStatus->OnStatusUpdate(camera1Connected ? "相机一连接成功" : "相机一连接失败");
+        m_pStatus->OnStatusUpdate(camera1Connected ? "相机连接成功" : "相机连接失败");
         m_bCameraConnected = camera1Connected;
     }
 
+    // 设置默认相机索引为第一个连接的相机
+    m_currentCameraIndex = 1; // 默认从1开始
+    for (int i = 0; i < static_cast<int>(m_vrEyeDeviceList.size()); i++) {
+        if (m_vrEyeDeviceList[i].second != nullptr) {
+            m_currentCameraIndex = i + 1; // 找到第一个连接的相机
+            break;
+        }
+    }
+    
+    LOG_INFO("Camera initialization completed. Connected cameras: %zu, default camera index: %d\n", 
+             m_vrEyeDeviceList.size(), m_currentCameraIndex);
     
     // 初始化机械臂协议
     nRet = InitRobotProtocol();
@@ -254,7 +285,8 @@ int GrabBagPresenter::Init()
     // 注册为配置变化监听器
     m_pConfigManager->AddConfigChangeListener(std::shared_ptr<IConfigChangeListener>(this, [](IConfigChangeListener*){}));
 #endif
-    m_pStatus->OnStatusUpdate("配置管理器初始化成功");
+    QString str = QString("%1 配置初始化成功").arg(ProjectTypeToString(configResult.projectType));
+    m_pStatus->OnStatusUpdate(str.toStdString());
     LOG_INFO("ConfigManager initialized successfully\n");
     
     return SUCCESS;
@@ -571,13 +603,17 @@ bool GrabBagPresenter::OnRobotWorkSignal(bool startWork, int cameraIndex)
     int nRet = SUCCESS;
     
     if (startWork) {
-        QString message = QString("收到开始工作信号，启动相机 %1 检测").arg(cameraIndex);
+        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
+            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
+        QString message = QString("收到信号，启动%1检测").arg(cameraName);
         if (nullptr != m_pStatus) {
             m_pStatus->OnStatusUpdate(message.toStdString());
         }
         nRet = StartDetection(cameraIndex);
     } else {
-        QString message = QString("收到停止工作信号，停止相机 %1 检测").arg(cameraIndex);
+        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
+            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
+        QString message = QString("收到信号，停止%1检测").arg(cameraName);
         if (nullptr != m_pStatus) {
             m_pStatus->OnStatusUpdate(message.toStdString());
         }
@@ -638,22 +674,35 @@ int GrabBagPresenter::StartDetection(int cameraIndex, bool isAuto)
     
     // 启动指定相机（cameraIndex为相机ID，从1开始编号）
     int arrayIndex = cameraIndex - 1;  // 转换为数组索引（从0开始）
+    
+    // 检查相机是否连接
+    if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size()) || 
+        m_vrEyeDeviceList[arrayIndex].second == nullptr) {
+        LOG_ERROR("Camera %d is not connected\n", cameraIndex);
+        QString cameraName = (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) ? 
+            QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first) : QString("相机%1").arg(cameraIndex);
+        m_pStatus->OnStatusUpdate(QString("%1 未连接").arg(cameraName).toStdString());
+        return ERR_CODE(DEV_NOT_FIND);
+    }
+    
     if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
         // 注册状态
-        m_vrEyeDeviceList[arrayIndex]->SetStatusCallback(&GrabBagPresenter::_StaticCameraNotify, this);
+        m_vrEyeDeviceList[arrayIndex].second->SetStatusCallback(&GrabBagPresenter::_StaticCameraNotify, this);
 
         EVzResultDataType eDataType = keResultDataType_Position;
         if(m_projectType == ProjectType::DirectBag){
             eDataType = keResultDataType_PointXYZRGBA;
         }
         // 开始
-        nRet = m_vrEyeDeviceList[arrayIndex]->StartDetect(&GrabBagPresenter::_StaticDetectionCallback, eDataType, this);
+        nRet = m_vrEyeDeviceList[arrayIndex].second->StartDetect(&GrabBagPresenter::_StaticDetectionCallback, eDataType, this);
         LOG_INFO("Camera ID %d start detection nRet: %d\n", cameraIndex, nRet);
         if (nRet == SUCCESS) {
-            m_pStatus->OnStatusUpdate(QString("启动相机 %1 检测成功").arg(cameraIndex).toStdString());
+            QString cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
+            m_pStatus->OnStatusUpdate(QString("启动%1检测成功").arg(cameraName).toStdString());
         } else {
             LOG_ERROR("Camera ID %d start detection failed with error: %d\n", cameraIndex, nRet);
-            m_pStatus->OnStatusUpdate(QString("启动相机 %1 检测失败").arg(cameraIndex).toStdString());
+            QString cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
+            m_pStatus->OnStatusUpdate(QString("启动%1检测失败").arg(cameraName).toStdString());
         }
     } else {
         LOG_ERROR("Invalid camera ID: %d, valid range is 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
@@ -670,7 +719,7 @@ int GrabBagPresenter::StopDetection()
     
     // 停止所有相机的检测
     for (size_t i = 0; i < m_vrEyeDeviceList.size(); ++i) {
-        IVrEyeDevice* pDevice = m_vrEyeDeviceList[i];
+        IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
         if (pDevice) {
             int ret = pDevice->StopDetect();
             if (ret == 0) {
@@ -706,7 +755,7 @@ int GrabBagPresenter::StopDetection()
 int GrabBagPresenter::LoadDebugDataAndDetect(const std::string& filePath)
 {
     LOG_INFO("Loading debug data from file: %s\n", filePath.c_str());
-    
+
     m_currentWorkStatus = WorkStatus::Working;
 
     if (m_pStatus) {
@@ -766,54 +815,11 @@ int GrabBagPresenter::LoadDebugDataAndDetect(const std::string& filePath)
     return result;
 }
 
-IVrEyeDevice *GrabBagPresenter::GetEyeDevice(int index)
-{
-    if(m_vrEyeDeviceList.size() <= index) return nullptr;
-    return m_vrEyeDeviceList[index];
-}
-
-// 获取所有相机设备列表
-std::vector<IVrEyeDevice*> GrabBagPresenter::GetCameraList()
-{
-    return m_vrEyeDeviceList;
-}
-
-// 获取相机数量
-int GrabBagPresenter::GetCameraCount()
-{
-    return static_cast<int>(m_vrEyeDeviceList.size());
-}
-
-// 获取相机列表和名称
-void GrabBagPresenter::GetCameraListWithNames(std::vector<IVrEyeDevice*>& cameraList, std::vector<QString>& cameraNames)
-{
-    cameraList.clear();
-    cameraNames.clear();
-    
-    for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
-        if (m_vrEyeDeviceList[i] != nullptr) {
-            cameraList.push_back(m_vrEyeDeviceList[i]);
-            cameraNames.push_back(QString("相机 %1").arg(i + 1));
-        }
-    }
-}
-
-// 检查指定索引的相机是否连接
-bool GrabBagPresenter::IsCameraConnected(int index)
-{
-    if (index < 0 || index >= static_cast<int>(m_vrEyeDeviceList.size())) {
-        return false;
-    }
-    
-    IVrEyeDevice* pDevice = m_vrEyeDeviceList[index];
-    return (pDevice != nullptr);
-}
-
 // 为所有相机设置状态回调
 void GrabBagPresenter::SetCameraStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void* param)
 {
     for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
-        IVrEyeDevice* pDevice = m_vrEyeDeviceList[i];
+        IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
         if (pDevice) {
             pDevice->SetStatusCallback(fNotify, param);
             LOG_DEBUG("Status callback set for camera %zu\n", i + 1);
@@ -923,7 +929,7 @@ void GrabBagPresenter::_DetectionCallback(EVzResultDataType eDataType, SVzLaserL
     }
 
 
-    if(m_projectType == ProjectType::DirectBag){
+    if(keResultDataType_PointXYZRGBA == eDataType){
         SVzNLXYZRGBDLaserLine laser3DLine;
         laser3DLine.nTimeStamp = pLaserLinePoint->llTimeStamp;
         laser3DLine.nPointCnt = pLaserLinePoint->nPointCount;
@@ -932,12 +938,10 @@ void GrabBagPresenter::_DetectionCallback(EVzResultDataType eDataType, SVzLaserL
         memcpy(laser3DLine.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNLPointXYZRGBA) * pLaserLinePoint->nPointCount);
         std::lock_guard<std::mutex> lock(m_detectionDataMutex);
         m_detectionDataCacheRGBD.push_back(laser3DLine);
-    }else{        
+    }else if(keResultDataType_Position == eDataType){        
         
         // 转换数据格式：从SVzLaserLineData转换为SVzNL3DLaserLine并存储到缓存
         SVzNL3DLaserLine laser3DLine;
-        
-        // 复制基本信息
         laser3DLine.nTimeStamp = pLaserLinePoint->llTimeStamp;
         laser3DLine.nPositionCnt = pLaserLinePoint->nPointCount;
     
@@ -972,15 +976,18 @@ void GrabBagPresenter::_AlgoDetectThread()
             return m_currentWorkStatus == WorkStatus::Working;
         });
 
+        if(!m_bAlgoDetectThreadRunning){
+            break;
+        }
+
         // 检查设备状态是否准备就绪
         int nRet = _DetectTask();
 
+        LOG_ERROR("DetectTask result: %d\n", nRet);
         if(nRet != SUCCESS){
             m_currentWorkStatus = WorkStatus::Error;
-            if(m_pStatus){
-                m_pStatus->OnWorkStatusChanged(m_currentWorkStatus);
-            }
         }
+        LOG_DEBUG("Algo Thread end\n");
     }
 }
 
@@ -988,6 +995,7 @@ int GrabBagPresenter::_DetectTask()
 {   
     LOG_INFO("[Algo Thread] Start real detection task using algorithm\n");
     
+    std::lock_guard<std::mutex> lock(m_detectionDataMutex);
     // 1. 获取缓存的点云数据
     if (m_detectionDataCache.empty() && m_detectionDataCacheRGBD.empty()) {
         LOG_WARNING("No cached detection data available\n");
@@ -1064,7 +1072,6 @@ void GrabBagPresenter::_ClearDetectionDataCache()
 {
     std::lock_guard<std::mutex> lock(m_detectionDataMutex);
     
-    LOG_DEBUG("Clearing detection data cache, current size: %zu\n", m_detectionDataCache.size());
     
     // 释放缓存的内存
     for (auto& cachedLine : m_detectionDataCache) {
@@ -1073,10 +1080,17 @@ void GrabBagPresenter::_ClearDetectionDataCache()
             cachedLine.p3DPosition = nullptr;
         }
     }
+
+    for (auto& cachedLine : m_detectionDataCacheRGBD) {
+        if (cachedLine.p3DPoint) {
+            delete[] cachedLine.p3DPoint;
+            cachedLine.p3DPoint = nullptr;
+        }
+    }
     
     // 清空缓存容器
     m_detectionDataCache.clear();
-    
+    m_detectionDataCacheRGBD.clear();
     LOG_DEBUG("Detection data cache cleared successfully\n");
 }
 
@@ -1123,10 +1137,12 @@ void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detect
         LOG_INFO("[Robot TCP] SetMultiTargetData result: %d for camera ID: %d\n", result, cameraIndex);
         
         if (m_pStatus) {
+            QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
+                QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
             if (result != SUCCESS) {
-                m_pStatus->OnStatusUpdate(QString("发送多目标坐标给机械臂(TCP)失败，相机ID: %1").arg(cameraIndex).toStdString());
+                m_pStatus->OnStatusUpdate(QString("写坐标给机械臂失败，%1").arg(cameraName).toStdString());
             } else {
-                m_pStatus->OnStatusUpdate(QString("发送多目标坐标给机械臂(TCP)成功，相机ID: %1").arg(cameraIndex).toStdString());
+                m_pStatus->OnStatusUpdate(QString("写坐标给机械臂成功，%1").arg(cameraName).toStdString());
             }
         }
     } else {
@@ -1142,10 +1158,12 @@ void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detect
         LOG_INFO("[Serial] SendMultiTargetData result: %d for camera ID: %d\n", result, cameraIndex);
         
         if (m_pStatus) {
+            QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
+                QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
             if (result != SUCCESS) {
-                m_pStatus->OnStatusUpdate(QString("发送多目标坐标给串口失败，相机ID: %1").arg(cameraIndex).toStdString());
+                m_pStatus->OnStatusUpdate(QString("写坐标给串口失败，%1").arg(cameraName).toStdString());
             } else {
-                m_pStatus->OnStatusUpdate(QString("发送多目标坐标给串口成功，相机ID: %1").arg(cameraIndex).toStdString());
+                m_pStatus->OnStatusUpdate(QString("写坐标给串口成功，%1").arg(cameraName).toStdString());
             }
         }
     } else {
@@ -1246,8 +1264,8 @@ void GrabBagPresenter::OnCameraParamChanged(int cameraIndex, const CameraUIParam
     
     // 应用相机参数到实际设备
     if (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) {
-        IVrEyeDevice* device = m_vrEyeDeviceList[cameraIndex - 1];
-        if (device && IsCameraConnected(cameraIndex - 1)) {
+        IVrEyeDevice* device = m_vrEyeDeviceList[cameraIndex - 1].second;
+        if (device) {
             
             // 设置曝光时间
             if (cameraParam.exposeTime > 0) {
@@ -1309,7 +1327,9 @@ void GrabBagPresenter::OnCameraParamChanged(int cameraIndex, const CameraUIParam
     }
     
     if (m_pStatus) {
-        m_pStatus->OnStatusUpdate(QString("相机 %1 参数已更新").arg(cameraIndex).toStdString());
+        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
+            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
+        m_pStatus->OnStatusUpdate(QString("%1参数已更新").arg(cameraName).toStdString());
     }
 }
 
@@ -1326,7 +1346,6 @@ void GrabBagPresenter::OnAlgorithmParamChanged(const VrAlgorithmParams& algorith
     }
 }
 
-
 void GrabBagPresenter::OnSerialConnectionChanged(bool connected)
 {
     if (connected) {
@@ -1369,4 +1388,30 @@ bool GrabBagPresenter::OnSerialWorkSignal(bool startWork, int cameraIndex)
     }
 }
 
+// 设置默认相机索引
+void GrabBagPresenter::SetDefaultCameraIndex(int cameraIndex)
+{
+    LOG_INFO("Setting default camera index from %d to %d\n", m_currentCameraIndex, cameraIndex);
+    
+    // 验证相机索引的有效性（cameraIndex是配置中的索引，从1开始）
+    if (cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())) {
+        LOG_WARNING("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
+        if (m_pStatus) {
+            m_pStatus->OnStatusUpdate(QString("无效的相机索引: %1，有效范围: 1-%2").arg(cameraIndex).arg(m_vrEyeDeviceList.size()).toStdString());
+        }
+        return;
+    }
+    
+    // 更新默认相机索引
+    m_currentCameraIndex = cameraIndex;
+    
+    LOG_INFO("Default camera index updated to %d\n", m_currentCameraIndex);
+    
+    if (m_pStatus) {
+        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
+            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
+        m_pStatus->OnStatusUpdate(QString("设置%1为默认相机").arg(cameraName).toStdString());
+    }
+}
+
 
diff --git a/GrabBagApp/Utils/Inc/PointCloudImageUtils.h b/GrabBagApp/Utils/Inc/PointCloudImageUtils.h
index 38e34d74..93b77d6c 100644
--- a/GrabBagApp/Utils/Inc/PointCloudImageUtils.h
+++ b/GrabBagApp/Utils/Inc/PointCloudImageUtils.h
@@ -17,6 +17,10 @@ public:
     static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData, 
                                          int lineNum, 
                                          const std::vector<SSG_peakOrienRgnInfo>& objOps);
+    
+    // 新的点云图像生成函数 - 基于X、Y范围创建图像
+    static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData, 
+                                         int lineNum);
                 
 private:
     // 定义线特征颜色和大小获取函数
diff --git a/GrabBagApp/Utils/Src/LaserDataLoader.cpp b/GrabBagApp/Utils/Src/LaserDataLoader.cpp
index 8ef3917d..8550e4c6 100644
--- a/GrabBagApp/Utils/Src/LaserDataLoader.cpp
+++ b/GrabBagApp/Utils/Src/LaserDataLoader.cpp
@@ -42,7 +42,7 @@ int LaserDataLoader::LoadLaserScanData(const std::string& fileName,
                                                                &clockPerSecond);
     
     if (rawData == nullptr) {
-        m_lastError = "Failed to read laser scan data from file: " + fileName;
+        m_lastError = "Failed to laser from file: " + fileName;
         LOG_ERROR("Failed to load laser scan data from file: %s\n", fileName.c_str());
         return ERR_CODE(FILE_ERR_NOEXIST);
     }
@@ -400,7 +400,7 @@ int LaserDataLoader::LoadLaserScanData(const std::string& fileName,
                                                                        &clockPerSecond);
     
     if (rawData == nullptr) {
-        m_lastError = "Failed to read RGBD laser scan data from file: " + fileName;
+        m_lastError = "Failed to RGBD from file: " + fileName;
         LOG_ERROR("Failed to load RGBD laser scan data from file: %s\n", fileName.c_str());
         return ERR_CODE(FILE_ERR_NOEXIST);
     }
diff --git a/GrabBagApp/Utils/Src/PointCloudImageUtils.cpp b/GrabBagApp/Utils/Src/PointCloudImageUtils.cpp
index 21a0298a..ffa297fc 100644
--- a/GrabBagApp/Utils/Src/PointCloudImageUtils.cpp
+++ b/GrabBagApp/Utils/Src/PointCloudImageUtils.cpp
@@ -2,6 +2,7 @@
 #include <QPainter>
 #include <cmath>
 #include <algorithm>
+#include <limits>
 #include "SG_bagPositioning_Export.h"
 #include "SG_baseDataType.h"
 #include "VrLog.h"
@@ -177,6 +178,83 @@ QImage PointCloudImageUtils::GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scan
     return image;
 }
 
+// 新的点云图像生成函数 - 基于X、Y范围创建图像
+QImage PointCloudImageUtils::GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData, int lineNum)
+{
+    if (!scanData || lineNum <= 0) {
+        return QImage();
+    }
+    
+    // 1. 遍历X, Y的范围，计算最小和最大值
+    double xMin = std::numeric_limits<double>::max();
+    double xMax = std::numeric_limits<double>::lowest();
+    double yMin = std::numeric_limits<double>::max();
+    double yMax = std::numeric_limits<double>::lowest();
+    
+    for (int i = 0; i < lineNum; i++) {
+        if (scanData[i].p3DPoint && scanData[i].nPointCnt > 0) {
+            for (int j = 0; j < scanData[i].nPointCnt; j++) {
+                const SVzNLPointXYZRGBA& point = scanData[i].p3DPoint[j];
+                
+                // 更新X范围
+                if (point.x < xMin) xMin = point.x;
+                if (point.x > xMax) xMax = point.x;
+                
+                // 更新Y范围
+                if (point.y < yMin) yMin = point.y;
+                if (point.y > yMax) yMax = point.y;
+            }
+        }
+    }
+    
+    // 检查范围是否有效
+    if (xMin >= xMax || yMin >= yMax) {
+        return QImage();
+    }
+    
+    // 2. 根据范围创建图像大小
+    // 设置图像分辨率，可以根据需要调整
+    const int imageWidth = xMax - xMin;
+    const int imageHeight = yMax - yMin;
+
+    
+    // 3. 创建默认黑底图像
+    QImage image(imageWidth, imageHeight, QImage::Format_RGB888);
+    image.fill(Qt::black);
+    
+    // 4. 遍历点云数据，将3D X, Y对应的颜色值赋值给图像
+    for (int i = 0; i < lineNum; i++) {
+        if (scanData[i].p3DPoint && scanData[i].nPointCnt > 0) {
+            for (int j = 0; j < scanData[i].nPointCnt; j++) {
+                const SVzNLPointXYZRGBA& point = scanData[i].p3DPoint[j];
+                
+                // 将3D坐标转换为图像坐标
+                int imageX = static_cast<int>((point.x - xMin));
+                int imageY = static_cast<int>((point.y - yMin));
+                
+                // 确保坐标在图像范围内
+                if (imageX >= 0 && imageX < imageWidth && 
+                    imageY >= 0 && imageY < imageHeight) {
+                    
+                    // 解析RGB颜色 - 参考_RGBDto2DImage函数的解析方式
+                    int nRGB = point.nRGB;
+                    int r = nRGB & 0xff;
+                    nRGB >>= 8;
+                    int g = nRGB & 0xff;
+                    nRGB >>= 8;
+                    int b = nRGB & 0xff;
+                    
+                    QColor pointColor(r, g, b);
+                    // 设置图像像素颜色
+                    image.setPixel(imageX, imageY, pointColor.rgb());
+                }
+            }
+        }
+    }
+    
+    return image;
+}
+
 void PointCloudImageUtils::GetLineFeatureStyle(int vType, int hType, int objId, 
                                               QColor& pointColor, int& pointSize)
 {
@@ -438,4 +516,4 @@ void PointCloudImageUtils::DrawDetectionTargets(QPainter& painter,
             painter.drawText(px + 15, py - 10, QString("%1").arg(i + 1));
         }
     }
-} 
\ No newline at end of file
+} 
diff --git a/GrabBagApp/Version.h b/GrabBagApp/Version.h
index 5bd759fe..779f980c 100644
--- a/GrabBagApp/Version.h
+++ b/GrabBagApp/Version.h
@@ -3,8 +3,8 @@
 
 
 #define GRABBAG_VERSION_STRING "1.1.0"
-#define GRABBAG_BUILD_STRING "0"
-#define GRABBAG_FULL_VERSION_STRING "V1.1.0_0"
+#define GRABBAG_BUILD_STRING "1"
+#define GRABBAG_FULL_VERSION_STRING "V1.1.0_1"
 
 // 获取版本信息的便捷函数
 inline const char* GetGrabBagVersion() {
diff --git a/GrabBagApp/devstatus.cpp b/GrabBagApp/devstatus.cpp
index 6e0ee4bf..cdc9065b 100644
--- a/GrabBagApp/devstatus.cpp
+++ b/GrabBagApp/devstatus.cpp
@@ -7,6 +7,9 @@
 devstatus::devstatus(QWidget *parent)
     : QWidget(parent)
     , ui(new Ui::devstatus)
+    , m_selectedCameraIndex(0)
+    , m_camera1Name("")
+    , m_camera2Name("")
 {
     ui->setupUi(this);
     
@@ -16,6 +19,9 @@ devstatus::devstatus(QWidget *parent)
     // 初始化时设置样式
     setItemStyle();
     
+    // 初始化点击事件
+    initClickEvents();
+    
     // 初始化设备状态（离线状态）
     updateCamera1Status(false);
     updateCamera2Status(false);
@@ -58,24 +64,66 @@ void devstatus::setRobotStatusImage(QWidget* widget, bool isOnline) {
     // widget->setFixedSize(32, 32); // 调整大小以适应图片
 }
 
+// 设置相机1名称
+void devstatus::setCamera1Name(const QString& name)
+{
+    m_camera1Name = name;
+    // 如果相机1已经初始化过状态，则更新显示文本
+    if (ui->dev_camera_1_txt) {
+        updateCamera1DisplayText(ui->dev_camera_1_txt->text().contains("在线"));
+    }
+}
+
+// 设置相机2名称
+void devstatus::setCamera2Name(const QString& name)
+{
+    m_camera2Name = name;
+    // 如果相机2已经初始化过状态，则更新显示文本
+    if (ui->dev_camera_2_txt) {
+        updateCamera2DisplayText(ui->dev_camera_2_txt->text().contains("在线"));
+    }
+}
+
 // 更新相机1状态
 void devstatus::updateCamera1Status(bool isConnected)
 {
     setCameraStatusImage(ui->dev_camer_1_img, isConnected);
-    
-    QString statusText = isConnected ? "相机1在线" : "相机1离线";
-    QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
-    
-    ui->dev_camera_1_txt->setText(statusText);
-    ui->dev_camera_1_txt->setStyleSheet(colorStyle);
+    updateCamera1DisplayText(isConnected);
 }
 
 // 更新相机2状态
 void devstatus::updateCamera2Status(bool isConnected)
 {
     setCameraStatusImage(ui->dev_camer_2_img, isConnected);
+    updateCamera2DisplayText(isConnected);
+}
+
+// 更新相机1显示文本的私有方法
+void devstatus::updateCamera1DisplayText(bool isConnected)
+{
+    QString statusText;
+    if (m_camera1Name.isEmpty()) {
+        statusText = isConnected ? "相机1在线" : "相机1离线";
+    } else {
+        statusText = isConnected ? QString("%1在线").arg(m_camera1Name) : QString("%1离线").arg(m_camera1Name);
+    }
+    
+    QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
+    
+    ui->dev_camera_1_txt->setText(statusText);
+    ui->dev_camera_1_txt->setStyleSheet(colorStyle);
+}
+
+// 更新相机2显示文本的私有方法
+void devstatus::updateCamera2DisplayText(bool isConnected)
+{
+    QString statusText;
+    if (m_camera2Name.isEmpty()) {
+        statusText = isConnected ? "相机2在线" : "相机2离线";
+    } else {
+        statusText = isConnected ? QString("%1在线").arg(m_camera2Name) : QString("%1离线").arg(m_camera2Name);
+    }
     
-    QString statusText = isConnected ? "相机2在线" : "相机2离线";
     QString colorStyle = isConnected ? "color: rgb(140, 180, 60);" : "color: rgb(220, 60, 60);";
     
     ui->dev_camera_2_txt->setText(statusText);
@@ -200,3 +248,80 @@ void devstatus::adjustFramesForSingleCameraHorizontalLayout()
         ui->frame_robot->setGeometry(frameWidth + spacing, 0, frameWidth, frameHeight);
     }
 }
+
+// 初始化点击事件
+void devstatus::initClickEvents()
+{
+    // 为相机1的frame添加点击事件
+    if (ui->frame_camera_1) {
+        ui->frame_camera_1->installEventFilter(this);
+        ui->frame_camera_1->setMouseTracking(true);
+        ui->frame_camera_1->setCursor(Qt::PointingHandCursor); // 设置鼠标样式为手型
+    }
+    
+    // 为相机2的frame添加点击事件
+    if (ui->frame_camera_2) {
+        ui->frame_camera_2->installEventFilter(this);
+        ui->frame_camera_2->setMouseTracking(true);
+        ui->frame_camera_2->setCursor(Qt::PointingHandCursor); // 设置鼠标样式为手型
+    }
+}
+
+// 事件过滤器，处理鼠标点击事件
+bool devstatus::eventFilter(QObject *obj, QEvent *event)
+{
+    if (event->type() == QEvent::MouseButtonPress) {
+        QMouseEvent *mouseEvent = static_cast<QMouseEvent*>(event);
+        if (mouseEvent->button() == Qt::LeftButton) {
+            if (obj == ui->frame_camera_1) {
+                onCamera1Clicked();
+                return true;
+            } else if (obj == ui->frame_camera_2) {
+                onCamera2Clicked();
+                return true;
+            }
+        }
+    }
+    return QWidget::eventFilter(obj, event);
+}
+
+// 相机1点击槽函数
+void devstatus::onCamera1Clicked()
+{
+    if (m_selectedCameraIndex != 1) {
+        m_selectedCameraIndex = 1;
+        setCameraSelectedStyle(1);
+        emit cameraClicked(1);
+    }
+}
+
+// 相机2点击槽函数
+void devstatus::onCamera2Clicked()
+{
+    if (m_selectedCameraIndex != 2) {
+        m_selectedCameraIndex = 2;
+        setCameraSelectedStyle(2);
+        emit cameraClicked(2);
+    }
+}
+
+// 设置相机选中状态的样式
+void devstatus::setCameraSelectedStyle(int cameraIndex)
+{
+    // 重置所有相机的样式
+    if (ui->frame_camera_1) {
+        ui->frame_camera_1->setStyleSheet("background-color: rgb(37, 38, 42);");
+    }
+    if (ui->frame_camera_2) {
+        ui->frame_camera_2->setStyleSheet("background-color: rgb(37, 38, 42);");
+    }
+    
+    // 设置选中相机的样式
+    QString selectedStyle = "QFrame { background-color: rgb(67, 68, 72);}";
+    
+    if (cameraIndex == 1 && ui->frame_camera_1) {
+        ui->frame_camera_1->setStyleSheet(selectedStyle);
+    } else if (cameraIndex == 2 && ui->frame_camera_2) {
+        ui->frame_camera_2->setStyleSheet(selectedStyle);
+    }
+}
diff --git a/GrabBagApp/devstatus.h b/GrabBagApp/devstatus.h
index 904a6fbe..0633b8ec 100644
--- a/GrabBagApp/devstatus.h
+++ b/GrabBagApp/devstatus.h
@@ -5,6 +5,10 @@
 #include <QLabel>
 #include <QVBoxLayout>
 #include <QHBoxLayout>
+#include <QEvent>
+#include <QMouseEvent>
+#include <QObject>
+#include <QString>
 
 namespace Ui {
 class devstatus;
@@ -24,12 +28,35 @@ public:
     void updateRobotStatus(bool isConnected);
     void updateSerialStatus(bool isConnected);
     
+    // 设置相机名称方法
+    void setCamera1Name(const QString& name);
+    void setCamera2Name(const QString& name);
+    
     // 设置相机数量（用于控制相机二的显示和布局方向）
     void setCameraCount(int cameraCount);
+    
+    // 事件过滤器
+    bool eventFilter(QObject *obj, QEvent *event) override;
+
+signals:
+    // 相机点击信号
+    void cameraClicked(int cameraIndex);
+
+private slots:
+    // 相机点击槽函数
+    void onCamera1Clicked();
+    void onCamera2Clicked();
 
 private:
     Ui::devstatus *ui;
     
+    // 当前选中的相机索引
+    int m_selectedCameraIndex;
+    
+    // 相机名称
+    QString m_camera1Name;
+    QString m_camera2Name;
+    
     // 设置状态图片的私有成员函数
     void setCameraStatusImage(QWidget* widget, bool isOnline);
     void setRobotStatusImage(QWidget* widget, bool isOnline);
@@ -37,11 +64,21 @@ private:
     // 设置样式的私有成员函数
     void setItemStyle();
     
+    // 设置相机选中状态的样式
+    void setCameraSelectedStyle(int cameraIndex);
+    
     // 布局管理的私有成员函数
     void setVerticalLayout();
     void setHorizontalLayoutForSingleCamera();
     void adjustFramesForVerticalLayout();
     void adjustFramesForSingleCameraHorizontalLayout();
+    
+    // 初始化点击事件
+    void initClickEvents();
+    
+    // 更新相机显示文本的私有方法
+    void updateCamera1DisplayText(bool isConnected);
+    void updateCamera2DisplayText(bool isConnected);
 };
 
 #endif // DEVSTATUS_H
diff --git a/GrabBagApp/dialogcamera.cpp b/GrabBagApp/dialogcamera.cpp
index 395c0708..f314509e 100644
--- a/GrabBagApp/dialogcamera.cpp
+++ b/GrabBagApp/dialogcamera.cpp
@@ -4,13 +4,11 @@
 #include "VrLog.h"
 #include "StyledMessageBox.h"
 
-DialogCamera::DialogCamera(const std::vector<IVrEyeDevice*>& deviceList, 
-                          const std::vector<QString>& cameraNames, 
+DialogCamera::DialogCamera(const std::vector<std::pair<std::string, IVrEyeDevice*>>& deviceList, 
                           QWidget *parent) :
     QDialog(parent),
     ui(new Ui::DialogCamera),
-    m_deviceList(deviceList),
-    m_cameraNames(cameraNames)
+    m_deviceList(deviceList)
 {
     ui->setupUi(this);
 
@@ -27,7 +25,7 @@ DialogCamera::DialogCamera(const std::vector<IVrEyeDevice*>& deviceList,
     
     // 设置默认选择第一个相机
     m_currentCameraIndex = 0;
-    m_currentDevice = m_deviceList[0];
+    m_currentDevice = m_deviceList[0].second;
     
     // 连接ComboBox的信号槽
     connect(ui->combo_camera, QOverload<int>::of(&QComboBox::currentIndexChanged),
@@ -48,24 +46,21 @@ void DialogCamera::InitCameraComboBox()
     ui->combo_camera->clear();
     
     // 添加相机选项
-    for (size_t i = 0; i < m_cameraNames.size(); ++i) {
-        ui->combo_camera->addItem(m_cameraNames[i]);
+    for (size_t i = 0; i < m_deviceList.size(); ++i) {
+        ui->combo_camera->addItem(QString::fromStdString(m_deviceList[i].first));
     }
     
     // 默认选择第一个
-    if (!m_cameraNames.empty()) {
+    if (!m_deviceList.empty()) {
         ui->combo_camera->setCurrentIndex(0);
     }
-    
-    // 设置ComboBox样式
-    ui->combo_camera->setStyleSheet("QComboBox { font-size: 18pt; color: white; }");
 }
 
 void DialogCamera::on_camera_selection_changed(int index)
 {
     if (index >= 0 && index < static_cast<int>(m_deviceList.size())) {
         m_currentCameraIndex = index;
-        m_currentDevice = m_deviceList[index];
+        m_currentDevice = m_deviceList[index].second;
         
         // 重新加载当前选择相机的参数
         InitCameraParameters();
diff --git a/GrabBagApp/dialogcamera.h b/GrabBagApp/dialogcamera.h
index 7bbfdc58..51d6f382 100644
--- a/GrabBagApp/dialogcamera.h
+++ b/GrabBagApp/dialogcamera.h
@@ -16,8 +16,7 @@ class DialogCamera : public QDialog
 
 public:
     // 支持多相机的构造函数
-    explicit DialogCamera(const std::vector<IVrEyeDevice*>& deviceList, 
-                         const std::vector<QString>& cameraNames, 
+    explicit DialogCamera(const std::vector<std::pair<std::string, IVrEyeDevice*>>& deviceList, 
                          QWidget *parent = nullptr);
     ~DialogCamera();
 
@@ -38,8 +37,7 @@ private:
 
 private:
     Ui::DialogCamera *ui;
-    std::vector<IVrEyeDevice*> m_deviceList;    // 相机设备列表
-    std::vector<QString> m_cameraNames;         // 相机名称列表
+    std::vector<std::pair<std::string, IVrEyeDevice*>> m_deviceList;    // 相机设备列表
     IVrEyeDevice* m_currentDevice = nullptr;    // 当前选择的相机设备
     int m_currentCameraIndex = 0;               // 当前选择的相机索引
 };
diff --git a/GrabBagApp/dialogcamera.ui b/GrabBagApp/dialogcamera.ui
index 52c65b21..b038a276 100644
--- a/GrabBagApp/dialogcamera.ui
+++ b/GrabBagApp/dialogcamera.ui
@@ -19,7 +19,7 @@
   <widget class="QLabel" name="label_camera_title">
    <property name="geometry">
     <rect>
-     <x>30</x>
+     <x>50</x>
      <y>10</y>
      <width>491</width>
      <height>41</height>
@@ -371,12 +371,17 @@ background-color: rgb(47, 48, 52);</string>
   <widget class="QComboBox" name="combo_camera">
    <property name="geometry">
     <rect>
-     <x>30</x>
+     <x>50</x>
      <y>60</y>
      <width>211</width>
      <height>41</height>
     </rect>
    </property>
+   <property name="font">
+    <font>
+     <pointsize>16</pointsize>
+    </font>
+   </property>
    <property name="styleSheet">
     <string notr="true">color: rgb(221, 225, 233);
 selection-color: rgb(255, 255, 255);
diff --git a/GrabBagApp/dialogcameralevel.cpp b/GrabBagApp/dialogcameralevel.cpp
index 720ce3f4..c84bfade 100644
--- a/GrabBagApp/dialogcameralevel.cpp
+++ b/GrabBagApp/dialogcameralevel.cpp
@@ -46,12 +46,10 @@ DialogCameraLevel::~DialogCameraLevel()
     delete ui;
 }
 
-void DialogCameraLevel::setCameraList(const std::vector<IVrEyeDevice*>& cameraList, 
-                                     const std::vector<QString>& cameraNames,
+void DialogCameraLevel::setCameraList(const std::vector<std::pair<std::string, IVrEyeDevice*>>& cameraList, 
                                      GrabBagPresenter* presenter)
 {
     m_cameraList = cameraList;
-    m_cameraNames = cameraNames;
     m_presenter = presenter;
     
     // 重新初始化相机选择框
@@ -62,13 +60,13 @@ void DialogCameraLevel::initializeCameraCombo()
 {
     ui->combo_camera->clear();
     
-    if (m_cameraNames.empty()) {
+    if (m_cameraList.empty()) {
         ui->combo_camera->setEnabled(false);
         ui->label_level_result->setText("无可用相机设备");
         ui->label_level_result->setAlignment(Qt::AlignCenter);
     } else {
-        for (const auto& name : m_cameraNames) {
-            ui->combo_camera->addItem(name);
+        for (const auto& camera : m_cameraList) {
+            ui->combo_camera->addItem(QString::fromStdString(camera.first));
         }
         ui->combo_camera->setEnabled(true);
         
@@ -220,8 +218,8 @@ bool DialogCameraLevel::performCameraLeveling()
         cameraName = QString("Camera_%1").arg(cameraIndex);
 #else
         // 正常模式下从列表获取名称
-        if (selectedIndex >= 0 && selectedIndex < m_cameraNames.size()) {
-            cameraName = m_cameraNames[selectedIndex];
+        if (selectedIndex >= 0 && selectedIndex < m_cameraList.size()) {
+            cameraName = QString::fromStdString(m_cameraList[selectedIndex].first);
         } else {
             cameraName = QString("Camera_%1").arg(cameraIndex);
         }
@@ -290,7 +288,7 @@ bool DialogCameraLevel::startCameraScan(int cameraIndex)
         return false;
     }
     
-    IVrEyeDevice* camera = m_cameraList[cameraIndex];
+    IVrEyeDevice* camera = m_cameraList[cameraIndex].second;
     if (!camera) {
         LOG_ERROR("Camera device is null at index: %d\n", cameraIndex);
         return false;
@@ -315,7 +313,7 @@ bool DialogCameraLevel::stopCameraScan(int cameraIndex)
         return false;
     }
     
-    IVrEyeDevice* camera = m_cameraList[cameraIndex];
+    IVrEyeDevice* camera = m_cameraList[cameraIndex].second;
     if (!camera) {
         LOG_ERROR("Camera device is null at index: %d\n", cameraIndex);
         return false;
@@ -708,8 +706,9 @@ void DialogCameraLevel::simulateScanProcess()
 // 相机选择改变的槽函数
 void DialogCameraLevel::on_combo_camera_currentIndexChanged(int index)
 {
-    if (index >= 0 && index < m_cameraNames.size()) {
-        LOG_INFO("Camera selection changed to index: %d (%s)\n", index, m_cameraNames[index].toUtf8().constData());
+    if (index >= 0 && index < m_cameraList.size()) {
+        LOG_INFO("Camera selection changed to index: %d (%s)\n", index, 
+                        QString::fromStdString(m_cameraList[index].first).toUtf8().constData());
         checkAndDisplayCalibrationStatus(index);
     } else {
         LOG_WARNING("Invalid camera index selected: %d\n", index);
@@ -768,14 +767,14 @@ bool DialogCameraLevel::loadCameraCalibrationData(int cameraIndex, const QString
 // 检查并显示相机标定状态
 void DialogCameraLevel::checkAndDisplayCalibrationStatus(int cameraIndex)
 {
-    if (cameraIndex < 0 || cameraIndex >= m_cameraNames.size()) {
+    if (cameraIndex < 0 || cameraIndex >= m_cameraList.size()) {
         LOG_WARNING("Invalid camera index for status check: %d\n", cameraIndex);
         ui->label_level_result->setText("无效的相机索引");
         ui->label_level_result->setAlignment(Qt::AlignCenter);
         return;
     }
     
-    QString cameraName = m_cameraNames[cameraIndex];
+    QString cameraName = QString::fromStdString(m_cameraList[cameraIndex].first);
     int configCameraIndex = cameraIndex + 1; // 转换为1-based索引
     
     // 尝试加载该相机的标定数据
diff --git a/GrabBagApp/dialogcameralevel.h b/GrabBagApp/dialogcameralevel.h
index 5993ae06..5aae68e4 100644
--- a/GrabBagApp/dialogcameralevel.h
+++ b/GrabBagApp/dialogcameralevel.h
@@ -29,7 +29,7 @@ public:
     ~DialogCameraLevel();
 
     // 设置相机列表和presenter
-    void setCameraList(const std::vector<IVrEyeDevice*>& cameraList,  const std::vector<QString>& cameraNames,
+    void setCameraList(const std::vector<std::pair<std::string, IVrEyeDevice*>>& cameraList, 
                       GrabBagPresenter* presenter);
 
 private slots:
@@ -41,8 +41,7 @@ private:
     Ui::DialogCameraLevel *ui;
     
     // 相机列表和名称
-    std::vector<IVrEyeDevice*> m_cameraList;
-    std::vector<QString> m_cameraNames;
+    std::vector<std::pair<std::string, IVrEyeDevice*>> m_cameraList;
     GrabBagPresenter* m_presenter = nullptr;
     
     // 扫描数据缓存
diff --git a/GrabBagApp/dialogcameralevel.ui b/GrabBagApp/dialogcameralevel.ui
index e8dca123..f5d74d1f 100644
--- a/GrabBagApp/dialogcameralevel.ui
+++ b/GrabBagApp/dialogcameralevel.ui
@@ -114,7 +114,7 @@
    </property>
    <property name="font">
     <font>
-     <pointsize>9</pointsize>
+     <pointsize>16</pointsize>
     </font>
    </property>
    <property name="styleSheet">
diff --git a/GrabBagApp/mainwindow.cpp b/GrabBagApp/mainwindow.cpp
index 96f93131..4695c719 100644
--- a/GrabBagApp/mainwindow.cpp
+++ b/GrabBagApp/mainwindow.cpp
@@ -76,8 +76,6 @@ MainWindow::MainWindow(QWidget *parent)
     // 初始化日志模型
     m_logModel = new QStringListModel(this);
     ui->detect_log->setModel(m_logModel);
-    
-    // 原有的状态指示器已删除，状态显示统一在devstatus中处理
 
     // 注册自定义类型，使其能够在信号槽中跨线程传递
     qRegisterMetaType<DetectionResult>("DetectionResult");
@@ -139,11 +137,16 @@ void MainWindow::Init()
 
     m_deviceStatusWidget = new devstatus(); //因为初始化回调的数据要存储，所以要在init前创建好
 
+    // 连接devstatus的相机点击信号到MainWindow的槽函数
+    connect(m_deviceStatusWidget, SIGNAL(cameraClicked(int)), 
+            this, SLOT(onCameraClicked(int)));
+
     // 将设备状态widget添加到frame_dev中
     QVBoxLayout* frameDevLayout = new QVBoxLayout(ui->frame_dev);
     frameDevLayout->setContentsMargins(0, 0, 0, 0);
     frameDevLayout->addWidget(m_deviceStatusWidget);
     
+    
     // 设置列表视图模式
     ui->detect_result_list->setViewMode(QListView::IconMode);
     ui->detect_result_list->setResizeMode(QListView::Adjust);
@@ -302,6 +305,19 @@ void MainWindow::OnCameraCountChanged(int cameraCount)
     // 设置设备状态widget中的相机数量
     if (m_deviceStatusWidget) {
         m_deviceStatusWidget->setCameraCount(cameraCount);
+        
+        // 设置相机名称（从配置文件中读取）
+        if (m_presenter) {
+            const auto& cameraList = m_presenter->GetCameraList();
+            if (cameraList.size() >= 1) {
+                QString camera1Name = QString::fromStdString(cameraList[0].first);
+                m_deviceStatusWidget->setCamera1Name(camera1Name);
+            }
+            if (cameraList.size() >= 2) {
+                QString camera2Name = QString::fromStdString(cameraList[1].first);
+                m_deviceStatusWidget->setCamera2Name(camera2Name);
+            }
+        }
     }
     
     // 根据相机个数调整页面布局
@@ -482,15 +498,10 @@ void MainWindow::on_btn_camera_clicked()
     setButtonSelectedState(ui->btn_camera, true);
 
     // 使用新的相机列表获取功能
-    std::vector<IVrEyeDevice*> availableCameras;
-    std::vector<QString> cameraNames;
-    
-    // 获取相机列表和名称
-    m_presenter->GetCameraListWithNames(availableCameras, cameraNames);
     
     // 如果对话框不存在，创建新的DialogCamera
     if (nullptr == ui_dialogCamera) {
-        ui_dialogCamera = new DialogCamera(availableCameras, cameraNames, this);
+        ui_dialogCamera = new DialogCamera(m_presenter->GetCameraList(), this);
         
         // 连接对话框关闭信号
         connect(ui_dialogCamera, &QDialog::finished, this, [this]() {
@@ -570,13 +581,8 @@ void MainWindow::on_btn_camera_levelling_clicked()
         });
     }
     
-    // 获取相机列表和名称
-    std::vector<IVrEyeDevice*> availableCameras;
-    std::vector<QString> cameraNames;
-    m_presenter->GetCameraListWithNames(availableCameras, cameraNames);
-    
     // 设置相机列表和presenter到对话框
-    ui_dialogCameraLevel->setCameraList(availableCameras, cameraNames, m_presenter);
+    ui_dialogCameraLevel->setCameraList(m_presenter->GetCameraList(), m_presenter);
     
     ui_dialogCameraLevel->show();
 }
@@ -636,7 +642,7 @@ void MainWindow::on_btn_test_clicked()
         if (result == 0) {
             updateStatusLog(tr("调试数据加载和检测成功"));
         } else {
-            QString errorMsg = tr("调试数据加载失败，错误码: %1").arg(result);
+            QString errorMsg = tr("调试数据复检失败: %1").arg(result);
             updateStatusLog(errorMsg);
         }
         
@@ -817,3 +823,11 @@ void MainWindow::setupMultiCameraLayout()
     updateStatusLog(tr("页面布局已调整为多相机模式"));
 }
 
+// 处理相机点击事件
+void MainWindow::onCameraClicked(int cameraIndex)
+{
+    if (m_presenter) {
+        m_presenter->SetDefaultCameraIndex(cameraIndex);
+    }
+}
+
diff --git a/GrabBagApp/mainwindow.h b/GrabBagApp/mainwindow.h
index 7fd61075..8f298dec 100644
--- a/GrabBagApp/mainwindow.h
+++ b/GrabBagApp/mainwindow.h
@@ -67,6 +67,9 @@ private slots:
     
     // 清空日志槽函数
     void clearDetectionLogUI();
+    
+    // 处理相机点击事件
+    void onCameraClicked(int cameraIndex);
 
     // UI操作相关槽
     void on_btn_start_clicked();
diff --git a/VrEyeDevice/Inc/IVrEyeDevice.h b/VrEyeDevice/Inc/IVrEyeDevice.h
index 67148dae..6c60c7af 100644
--- a/VrEyeDevice/Inc/IVrEyeDevice.h
+++ b/VrEyeDevice/Inc/IVrEyeDevice.h
@@ -26,7 +26,7 @@ public:
     /**
      * Open设备
      */
-    virtual int OpenDevice(const char* sIP) = 0;
+    virtual int OpenDevice(const char* sIP, bool bRGBD = false) = 0;
 
     /**
      * 获取版本信息
diff --git a/VrEyeDevice/Src/VrEyeDevice.cpp b/VrEyeDevice/Src/VrEyeDevice.cpp
index bbb70064..3b56d949 100644
--- a/VrEyeDevice/Src/VrEyeDevice.cpp
+++ b/VrEyeDevice/Src/VrEyeDevice.cpp
@@ -31,7 +31,7 @@ int CVrEyeDevice::SetStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void *param
     return SUCCESS;
 }
 
-int CVrEyeDevice::OpenDevice(const char* sIP)
+int CVrEyeDevice::OpenDevice(const char* sIP, bool bRGBD)
 {
     int nErrCode = SUCCESS;
     // 搜索设备
@@ -110,9 +110,9 @@ int CVrEyeDevice::OpenDevice(const char* sIP)
     LOG_DEBUG("SenddataLen ret : %d\n", nnnRet);
 
 
-#if 0
     //启用RGBD
-    VzNL_EnableRGB(m_pHandle, VzTrue);
+    VzNL_EnableRGB(m_pHandle, bRGBD ? VzTrue : VzFalse);
+#if 0
     float  exposeThres = VzNL_GetRGBAutoExposeThres(m_pHandle, &nnnRet);
     
     //白平衡
@@ -170,6 +170,7 @@ int CVrEyeDevice::StartDetect(VzNL_AutoOutputLaserLineExCB fCallFunc, EVzResultD
 {
     int nErrCode = SUCCESS;
     if(!m_pHandle) return ERRCODE(DEV_NO_OPEN);
+    LOG_DEBUG("StartDetect eDataType: %d\n", eDataType);
     nErrCode = VzNL_StartAutoDetectEx(m_pHandle, eDataType, keFlipType_None, fCallFunc, param);
     return nErrCode;
 }
diff --git a/VrEyeDevice/_Inc/VrEyeDevice.h b/VrEyeDevice/_Inc/VrEyeDevice.h
index aea54c78..0b7ddcb9 100644
--- a/VrEyeDevice/_Inc/VrEyeDevice.h
+++ b/VrEyeDevice/_Inc/VrEyeDevice.h
@@ -30,7 +30,7 @@ public:
     /**
      * Open设备
      */
-    int OpenDevice(const char* sIP) override;
+    int OpenDevice(const char* sIP, bool bRGBD = false) override;
 
     /**
      * 获取版本信息