diff --git a/README.md b/README.md
index 259ab15..d9c6598 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 # Vision Anti-Pinch
 
 C++ / TensorRT 实时摄像头风险推理，算法来自最新 run_risk.py。
-持续取图、推理并更新内存中的 FrameResult；可视化可选。
+持续取图、推理并更新内存中的 FrameResult；实时推理、录制和回灌默认开启可视化。
 
 相机每次取帧默认等待 **2000 ms**，连续超时 **6 次**才停止流水线（纯超时约 **12 秒**）；成功取得有效帧后清零超时计数。单次等待时间由 `config/camera.json` 的 `camera.timeout_ms` 配置。运行中的坏帧、取流错误共用该重试期限；设备失效时尝试重新打开相机，恢复有效帧后继续推理。GPU 错误仍按原有异常处理退出。
 
@@ -14,15 +14,17 @@ C++ / TensorRT 实时摄像头风险推理，算法来自最新 run_risk.py。
 git clone https://git.kendeji.fun/zmv/vision-anti-pinch.git
 cd vision-anti-pinch/orin
 ./scripts/initialize_camera.sh  # 开机后初始化 /dev/video5 摄像头链路
-./run.sh                      # 持续推理，结果只保存在内存
+./run.sh                      # 持续推理并显示预览，结果只保存在内存
 ```
 
-可选板端本地可视化：
+默认显示本地预览，叠加门区、检测框、手臂/手部关键点及风险信息。需要关闭预览时：
 
 ```bash
-./run.sh --visualize
+./run.sh --no-visualize
 ```
 
+`--visualize` 仍可显式开启；没有 DISPLAY / WAYLAND_DISPLAY 时自动跳过窗口并继续推理。
+
 Ctrl+C / SIGTERM 停止程序。
 关闭预览窗口或按 q/Esc 只关闭预览，推理继续。
 
diff --git a/orin/README.md b/orin/README.md
index d95837b..87d47ec 100644
--- a/orin/README.md
+++ b/orin/README.md
@@ -14,7 +14,7 @@ sha256sum -c SHA256SUMS
 ./run.sh
 ```
 
-可视化可选：`./run.sh --visualize`，需要板端本地桌面 DISPLAY。
+实时推理、录制和回灌默认开启可视化，显示门区、检测框、手臂/手部关键点及风险信息。使用 `./run.sh --no-visualize` 关闭；`--visualize` 仍可显式开启。需要板端桌面 DISPLAY / WAYLAND_DISPLAY，没有显示环境时自动跳过窗口并继续推理。
 默认持续推理直到 Ctrl+C / SIGTERM；正常退出没有统计输出。
 预览窗口关闭后推理继续。结果通过 C++ CameraPipeline::latest() 获取，不通过端口或结果文件传递。
 
diff --git a/orin/SHA256SUMS b/orin/SHA256SUMS
index 1fc8fc7..12b8838 100644
--- a/orin/SHA256SUMS
+++ b/orin/SHA256SUMS
@@ -1,11 +1,11 @@
 6d5e874fd27fcfd75d303d7e35d9672028af71041f52dcc82a1e83676faefa65  ./bin/drivers/max9295.ko
 8a78d04ef8be44e9b62a5e4ee315d3d6d679e34aedff02a234bbf4d40e222933  ./bin/drivers/max9296.ko
 3da628587477cc35d5e3f8aee86e718e2ddf16808e893e00ba6e164b2307e843  ./bin/drivers/sgx-yuv-gmsl2.ko
-0f178057529eb8be44bb9a639504dfe57a1e353a84d2351fd907304f6d951c11  ./build/camera_risk
+cd9711d71c6d04f40adf9434f893abe1744e9e2013f1459ddf736a80dcbbfd64  ./build/camera_risk
 8a572f661e056e3916758a442e73212842bfe89361dd1b07b87de8f6ae523cf8  ./config/camera.json
 9ba768d559fd3b64e833b50c62c70f2adfd6c169620aea5fba32cfb1b4c5b0e9  ./config/door_mask.json
 ebcd09e8c2e35008adbb0c1d222e580b17e0df1c8093df3481ba3374cd9a8174  ./engines/rtmw_l_384.engine
 f6a65b926ac1144484f4aa93cd26d7997d32d62310ab93fe867f2bd4412222e9  ./engines/yolo11s.engine
-eb90be468ff835bc2a1a79b83dbb3c9cfe78449e79d005596f887e8ac9981b86  ./README.md
+011e8d1e9b735536630a26cb0ee9930f4f6ae52052e26427156fb4d9a6f96e83  ./README.md
 7f42b0e7f9396e0d82313a892fc62c153261dab1206a206a466bce6376f58a36  ./run.sh
 54e1d63e3aa72ad9b056a224d55968d4947ca6703a8d1c405570de5707a7e7ef  ./scripts/initialize_camera.sh
diff --git a/orin/build/camera_risk b/orin/build/camera_risk
index 869acaa..c7896d7 100755
Binary files a/orin/build/camera_risk and b/orin/build/camera_risk differ
diff --git a/src/main.cpp b/src/main.cpp
index 7a97637..8f81f5b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -2,6 +2,7 @@
 #include "config.hpp"
 #include "stop_signals.hpp"
 #include "visualizer.hpp"
+#include <cstdlib>
 #include <functional>
 #include <iostream>
 #include <map>
@@ -10,7 +11,7 @@ int main(int argc,char** argv)try {
     auto root=std::filesystem::canonical("/proc/self/exe").parent_path().parent_path();
     auto configPath=root/"config/camera.json";
     cms::OutputOptions output;output.directory=root/"output";
-    bool visualize=false;
+    bool visualize=true;
     std::filesystem::path recordSession,replaySession;
     std::map<std::string,std::function<void(int&)>> arguments{
         {"--record-session",[&](int&i){if(++i>=argc)throw std::invalid_argument("--record-session needs a directory");recordSession=argv[i];}},
@@ -19,8 +20,9 @@ int main(int argc,char** argv)try {
         {"--save-annotated",[&](int&){output.annotated=true;}},
         {"--save-results",[&](int&){output.results=true;}},
         {"--visualize",[&](int&){visualize=true;}},
+        {"--no-visualize",[&](int&){visualize=false;}},
         {"--config",[&](int&i){if(++i>=argc)throw std::invalid_argument("--config needs a file");configPath=argv[i];}},
-        {"--help",[](int&){std::cout<<"camera_risk [--record-session NEW_DIR] [--replay-session DIR] [--save-original] [--save-annotated] [--save-results] [--config FILE] [--visualize]\nContinuous camera inference; replay runs to EOF without a camera.\nH.264 sessions require a new recording directory. Stop with Ctrl+C or SIGTERM to finalize video.\n";std::exit(0);}}
+        {"--help",[](int&){std::cout<<"camera_risk [--record-session NEW_DIR] [--replay-session DIR] [--save-original] [--save-annotated] [--save-results] [--config FILE] [--visualize|--no-visualize]\nVisualization is enabled by default for live inference, recording and replay.\nContinuous camera inference; replay runs to EOF without a camera.\nH.264 sessions require a new recording directory. Stop with Ctrl+C or SIGTERM to finalize video.\n";std::exit(0);}}
     };
     for(int i=1;i<argc;++i){auto handler=arguments.find(argv[i]);if(handler==arguments.end())throw std::invalid_argument("Unknown option: "+std::string(argv[i]));handler->second(i);}
 
@@ -43,7 +45,9 @@ int main(int argc,char** argv)try {
      */
     // Optional observer. Closing/failing the window never requests inference stop.
     if(visualize) {
-        try {cms::runLocalVisualization(pipeline);}
+        auto display=std::getenv("DISPLAY");auto wayland=std::getenv("WAYLAND_DISPLAY");
+        if((!display||!*display)&&(!wayland||!*wayland))std::cerr<<"No display session; inference continues without visualization.\n";
+        else try {cms::runLocalVisualization(pipeline);}
         catch(std::exception const& e){std::cerr<<"Visualization unavailable; inference continues: "<<e.what()<<std::endl;}
     }
     pipeline.join();
diff --git a/tests/ORIN_SESSION_REPORT.md b/tests/ORIN_SESSION_REPORT.md
index 9da5d51..a7f4d47 100644
--- a/tests/ORIN_SESSION_REPORT.md
+++ b/tests/ORIN_SESSION_REPORT.md
@@ -36,3 +36,10 @@
 `0f178057529eb8be44bb9a639504dfe57a1e353a84d2351fd907304f6d951c11`
 
 独立包 `orin/build/camera_risk` 已更新，`orin/SHA256SUMS` 全部校验通过。使用独立包实际运行并完整回灌 13 帧，再次核对 `/proc/<pid>/exe` 与上述哈希一致；部署检查日志位于 `/tmp/vap-video-session-deployment-20260924/`。测试结束恢复原来的无常驻进程状态。
+
+
+## 默认开启可视化补充验证（2026-09-24）
+
+实时推理、录制和回灌默认显示全部现有叠加；新增 `--no-visualize`，无显示环境自动跳过预览。已在 Orin 的真实桌面上通过 X11 窗口列表确认默认创建 `CMS Camera Risk` 窗口，并使用更新后的独立包完成真实摄像头 13 帧录制、13 帧完整回灌、录制 SIGTERM（1.267 秒）及回灌 SIGINT（0.916 秒）检查。另验证 `--no-visualize` 和清除 DISPLAY / WAYLAND_DISPLAY 后均能正常完成 TensorRT 回灌。
+
+新二进制 SHA256：`cd9711d71c6d04f40adf9434f893abe1744e9e2013f1459ddf736a80dcbbfd64`。源码构建文件、独立包文件及 `/proc/<pid>/exe` 一致；`orin/SHA256SUMS` 已刷新。完整数据在 `orin_session_results.json` 的 `default_visualization` 中，日志位于 `/tmp/vap-default-preview-20260924/`。此次未重复模拟采集和板端故障注入；仍未覆盖有人员时的关键点显示、窗口按钮/键盘关闭操作。测试前后均无常驻推理进程。
diff --git a/tests/orin_session_results.json b/tests/orin_session_results.json
index abfe7dd..6229e20 100644
--- a/tests/orin_session_results.json
+++ b/tests/orin_session_results.json
@@ -19,5 +19,25 @@
     "binary_sha256": "0f178057529eb8be44bb9a639504dfe57a1e353a84d2351fd907304f6d951c11",
     "running_binary_sha256": "0f178057529eb8be44bb9a639504dfe57a1e353a84d2351fd907304f6d951c11",
     "replayed_frames": 13
+  },
+  "default_visualization": {
+    "platform": "orin-desktop",
+    "binary": "/home/orin/vision-anti-pinch-0923/orin/build/camera_risk",
+    "binary_sha256": "cd9711d71c6d04f40adf9434f893abe1744e9e2013f1459ddf736a80dcbbfd64",
+    "running_binary_sha256": "cd9711d71c6d04f40adf9434f893abe1744e9e2013f1459ddf736a80dcbbfd64",
+    "recorded_frames": 13,
+    "replayed_frames": 13,
+    "frames_with_people": 0,
+    "max_raw_pose_error_px": 0.0,
+    "matching_track_frames": 13,
+    "matching_decision_frames": 13,
+    "video_bytes": 317961,
+    "uncompressed_bgr_bytes": 115015680,
+    "sigterm_seconds": 1.266686278000634,
+    "replay_sigint_seconds": 0.9155338489999849,
+    "interrupted_frames": 2,
+    "default_window_observed": true,
+    "no_visualize_replay_passed": true,
+    "headless_replay_passed": true
   }
 }