修改判断方法

web/src/main/java/com/zhehekeji/web/controller/IndustrialCameraController.java

@@ -154,6 +154,12 @@ public class IndustrialCameraController {
     }
 
 
+    @ApiOperation("直接上传")
+    @PostMapping("sendWithRetry")
+    public Result<String> sendWithRetry(@RequestBody IndustrialCameraVO industrialCameraVo) {
+        kuKouService.sendWithRetry(industrialCameraVo, true,0);
+        return Result.success("yes");
+    }
     @ApiOperation("站点盘点")
     @PostMapping("siteInventory")
     public Result<KuKou> siteInventory(@RequestBody IndustrialCameraVO industrialCameraVo) {
@@ -162,8 +168,15 @@ public class IndustrialCameraController {
         Result<List<String>> listResult = pic();
         boolean re = false;
         //sick识别
-        String code = SickSocket.readOCR(configProperties.getCameraConfig().getSickIp(), configProperties.getCameraConfig().getSickPort());
+
+        Integer count = 0;
+        String code = "";
         String pa = "";
+        try {
+            Thread.sleep(400);
+
+            code = SickSocket.readOCR(configProperties.getCameraConfig().getSickIp(), configProperties.getCameraConfig().getSickPort());
+
             //2d识别
             for (String path : listResult.getData()) {
                 re = FeatureMatchingExample.matchTemplate(
@@ -185,21 +198,24 @@ public class IndustrialCameraController {
             String pathPcd = configProperties.getSavePath().getMediaPath()
                     + "camera3D/"
                     + currentDate.format(formatter) + "/" + UUID.randomUUID() + "-";
-        int count = inventoryService.match3D(industrialCameraVo.getTypeMacth(),pathPcd+"-"+configProperties.getCameraConfig().getCamera3D()+".pcd","");
-        //3d识别
+            count = inventoryService.match3D(industrialCameraVo.getTypeMacth(), pathPcd + "-" + configProperties.getCameraConfig().getCamera3D() + ".pcd", "");
+
+        } catch (Exception e) {
+            log.error("识别异常", e);
+        }//3d识别
         //保存信息
         KuKou kuKou = new KuKou();
         kuKou.setCreateTime(LocalDateTime.now());
-
-        kuKou.setCategoryName(industrialCameraVo.getTypeMacth());
-        if (re && count==industrialCameraVo.getCount() && code.endsWith(industrialCameraVo.getCode())) {
-            kuKou.setFlag(1);
-        }else kuKou.setFlag(0);
         kuKou.setCount(count);
         kuKou.setCode(code);
         kuKou.setWmsCount(industrialCameraVo.getCount());
         kuKou.setWmsCode(industrialCameraVo.getCode());
         kuKou.setPath(configProperties.getSavePath().getNetPicPath() + pa + ".jpg");
+        kuKou.setCategoryName(industrialCameraVo.getTypeMacth());
+        if (re && count == industrialCameraVo.getCount() && code.endsWith(industrialCameraVo.getCode())) {
+            kuKou.setFlag(1);
+        } else kuKou.setFlag(0);
+
         kuKouService.save(kuKou);
 //        serialPortExample.openLight(0);
         return new Result<>(kuKou);

web/src/main/java/com/zhehekeji/web/service/KuKouService.java

@@ -58,7 +58,7 @@ public class KuKouService   extends ServiceImpl<KukouMapper,KuKou> implements IS
         CommandQueue.addCommand(scTransmission);
     }
 
-    private void sendWithRetry(IndustrialCameraVO scTransmission, Boolean flag, int retryCount) {
+    public void sendWithRetry(IndustrialCameraVO scTransmission, Boolean flag, int retryCount) {
         try {
             HttpHeaders headers = new HttpHeaders();
             headers.set("Content-Type", "application/json");

web/src/main/java/com/zhehekeji/web/service/RFID/CMD.java

@@ -5,6 +5,8 @@ package com.zhehekeji.web.service.RFID;
  *
  */
 public class CMD {
+    /**UHF mark to indicate the head of data package */
+    public final static byte HEAD = (byte) 0xA0;
 	public final static byte RESET = 0x70;
 	public final static byte SET_UART_BAUDRATE = 0x71;
 	public final static byte GET_FIRMWARE_VERSION = 0x72;

web/src/main/java/com/zhehekeji/web/service/RFID/RFIDSocket.java

@@ -111,6 +111,60 @@ public class RFIDSocket {
         thread.start();
     }
 
+
+    public void readData6C(){
+        running = true;
+        buffer = new LinkedList();
+
+        Thread thread = new Thread(new Runnable() {
+
+            @SneakyThrows
+            @Override
+            public void run() {
+                while (true){
+                    if(!running){
+                        System.out.println("stop");
+                        break;
+                    }
+                    int i = 0;
+                    try {
+                        //读不到会阻塞 返回-1表示连接已断开
+                        i = is.read();
+                    } catch (IOException e) {
+                        log.error("disconnect");
+                    }
+                    if(i == -1){
+
+                        break;
+                    }
+                    int count = 0;
+                    try {
+                        count = is.available();
+                        if(count > 0){
+                            //把之前read的字节嫁过来
+                            byte[]readBytes = new byte[count+1];
+                            readBytes[0] = (byte)i;
+                            is.read(readBytes,1,count);
+                            for(byte b:readBytes){
+                                buffer.offer(b);
+                            }
+                        }
+                    } catch (IOException e) {
+                        log.error("");
+                    }
+                    while (buffer.size()> 0){
+                        String code = readTag();
+                        if(code != null){
+                            tags.add(code);
+                        }
+                    }
+                }
+
+            }
+        });
+        thread.start();
+    }
+
     private String readTag(){
         String tag = null;
         Byte b = buffer.poll();
@@ -227,8 +281,10 @@ public class RFIDSocket {
 
     }
 
+
+
     public static void main(String[] args) throws IOException, InterruptedException {
-        RFIDSocket rfid = new RFIDSocket("172.16.0.220",4001);
+        RFIDSocket rfid = new RFIDSocket("127.0.0.1",5002);
         rfid.startCheck();
         rfid.readData();
         Thread.sleep(30000);

web/src/main/java/com/zhehekeji/web/service/RFID/RFIDSocketNew.java

@@ -0,0 +1,434 @@
+package com.zhehekeji.web.service.RFID;
+
+import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.net.InetSocketAddress;
+import java.net.Socket;
+import java.util.*;
+
+/**
+ * sick扫码枪
+ */
+@Slf4j
+public class RFIDSocketNew {
+
+    public byte cmd;
+    private Socket socket;
+
+    private OutputStream os;
+
+    private InputStream is;
+
+    private Queue<Byte> buffer;
+
+    private boolean running;
+
+    private int step;
+
+    private int length;
+
+    private int index;
+
+    /**
+     * 读到的所有code标签
+     */
+    private Set<String> tags = new HashSet<>();
+
+    private List<Byte> byteList = new ArrayList<>(30);
+
+    public Set<String> getTags() {
+        return tags;
+    }
+
+    public RFIDSocketNew(String ip, int port, String cmd) {
+        if (cmd.equals("6C")) {
+            this.cmd = (byte) CMD.INVENTORY;
+        } else {
+            this.cmd = (byte) CMD.REAL_TIME_INVENTORY;
+        }
+        socket = new Socket();
+        os = null;
+        is = null;
+        try {
+            socket.connect(new InetSocketAddress(ip, port), 3000);
+            os = socket.getOutputStream();
+            is = socket.getInputStream();
+        } catch (IOException e) {
+            log.error("RFIDSocket time out,ip:{},info:{}", ip, e);
+
+            close();
+
+
+        }
+    }
+
+    public void startCheck() {
+        Thread thread = new Thread(new Runnable() {
+            @Override
+            public void run() {
+                int i = 0;
+                while (true) {
+                    if (!running) {
+                        break;
+                    }
+                    byte[] antChanges = new byte[6];
+                    antChanges[0] = (byte) 0xa0;
+                    antChanges[1] = (byte) 0x04;
+                    antChanges[2] = (byte) 0x01;
+                    antChanges[3] = (byte) 0x74;
+                    if (i % 2 == 0) {
+                        //切换天线 使用天线0
+                        antChanges[4] = (byte) 0x00;
+                        antChanges[5] = (byte) 0xe7;
+                    } else {
+                        //切换天线 使用天线1
+                        antChanges[4] = (byte) 0x01;
+                        antChanges[5] = (byte) 0xe6;
+                    }
+                    i++;
+                    try {
+                        os.write(antChanges);
+                        Thread.sleep(10);
+                    } catch (InterruptedException | IOException e) {
+                        log.error("send cmd error:{}", e);
+                    }
+                    byte[] bytes = new byte[5];
+                    bytes[0] = (byte) 0xa0;
+                    bytes[1] = (byte) 0x03;
+                    bytes[2] = (byte) 0x01;
+                    bytes[3] = cmd;
+                    bytes[4] = (byte) 0xac;
+                    try {
+                        os.write(bytes);
+                        Thread.sleep(70);
+                    } catch (InterruptedException | IOException e) {
+                        log.warn("send rfid cmd error:{}", e);
+                    }
+                }
+            }
+        });
+        thread.start();
+
+    }
+
+    public void readData() {
+        running = true;
+        buffer = new LinkedList();
+
+        Thread thread = new Thread(new Runnable() {
+
+            @SneakyThrows
+            @Override
+            public void run() {
+                while (true) {
+                    if (!running) {
+                        System.out.println("stop");
+                        break;
+                    }
+                    int count = 0;
+                    byte[] header = new byte[1];
+                    byte[] lenBuf = new byte[1];
+                    // 1. 读取头部（0xA0）
+                    int headerRead = is.read(header);
+                    if (headerRead == -1) {
+                        System.out.println("连接已关闭或没有更多数据");
+                        break;
+                    }
+
+                    if (header[0] != (byte) 0xA0) {
+                        System.out.println("无效数据包头: 0x" + String.format("%02X", header[0]));
+                        continue; // 跳过非有效数据包
+                    }
+
+                    // 2. 读取长度字段
+                    int lenRead = is.read(lenBuf);
+                    if (lenRead == -1) {
+                        System.out.println("连接中断，无法读取长度字段");
+                        break;
+                    }
+
+                    int dataLength = lenBuf[0] & 0xFF; // 将byte转为无符号int
+
+                    // 3. 读取data部分
+                    int totalRead = 0;
+                    // 3. 构造完整数据包 buffer：head(1) + len(1) + data(dataLength)
+                    byte[] fullPacket = new byte[1 + 1 + dataLength];
+                    fullPacket[0] = (byte) 0xA0;
+                    fullPacket[1] = lenBuf[0];
+
+                    // 4. 读取剩余部分（data）
+                    while (totalRead < dataLength) {
+                        int bytesRead = is.read(fullPacket, 2 + totalRead, dataLength - totalRead);
+                        if (bytesRead == -1) {
+                            System.out.println("连接中断，数据未完全读取");
+                            break;
+                        }
+                        totalRead += bytesRead;
+                    }
+
+                    if (totalRead != dataLength) {
+                        System.out.println("数据包不完整，跳过");
+                        continue;
+                    }
+
+                    // 4. 成功读取一个完整数据包，可以进行处理
+                    tags.add(parse(fullPacket));
+
+
+
+                }
+            }
+        });
+        thread.start();
+    }
+
+
+    private void clear() {
+        byteList.clear();
+        step = 0;
+        length = 0;
+        index = 0;
+    }
+
+    public void close() {
+        running = false;
+        try {
+            is.close();
+            socket.close();
+            os.close();
+        } catch (IOException e) {
+            e.printStackTrace();
+            log.error("warn rfid close:{}", e);
+        }
+
+    }
+
+//
+//    public static void main(String[] args) throws IOException, InterruptedException {
+//        RFIDSocketNew rfid = new RFIDSocketNew("127.0.0.1",5002);
+//        rfid.startCheck();
+//        rfid.readData();
+//        Thread.sleep(30000);
+//        rfid.close();
+//        System.out.println(rfid.getTags());
+////         03 01 B0 AC
+//
+//        byte[]bytes = new byte[5];
+//        bytes[0] = (byte)0xa0;
+//        bytes[1] = (byte)0x03;
+//        bytes[2] = (byte)0x01;
+//        bytes[3] = (byte)0xb0;
+//        bytes[4] = (byte) calculateChecksum(bytes);
+////        int b = ;
+//        System.out.println((byte)0xac);
+//    }
+
+    /**
+     * 计算与C语言中一致的校验和：补码求和方式
+     *
+     * @param buffer 输入字节数组（不包含 Check 字段）
+     * @return 校验和（0x00 ~ 0xFF 的无符号值，以 int 形式返回）
+     */
+    public static byte[] calculateChecksum(byte[] buffer) {
+        // 1. 创建子数组，排除最后一个字节
+        byte[] data = new byte[buffer.length - 1];
+        System.arraycopy(buffer, 0, data, 0, data.length);
+
+        // 2. 计算校验和
+        int sum = 0;
+        for (byte b : data) {
+            sum += b & 0xFF; // 转为无符号 int
+        }
+        sum &= 0xFF; // 取低8位
+        int checksum = (~sum + 1) & 0xFF; // 补码 + 屏蔽高位
+
+        // 3. 写入校验和到 buffer 最后一个位置
+        buffer[buffer.length - 1] = (byte) checksum;
+
+        return buffer;
+    }
+
+    public static boolean calculateCheck(byte[] buffer) {
+        int sum = 0;
+        for (int i = 0; i < buffer.length - 1; i++) {
+            sum += buffer[ i] & 0xFF; // 将 byte 转换为无符号 int（0~255）
+        }
+        sum &= 0xFF; // 取低8位
+        int checksum = (~sum + 1) & 0xFF; // 补码 + 屏蔽高位
+        return sum == buffer[buffer.length - 1];
+    }
+
+    /**
+     * 解析RFID返回的数据包
+     *
+     * @param packet byte数组，包含完整数据包
+     */
+    public static String parse6C(byte[] packet) {
+        if (packet == null || packet.length < 8) {
+            System.out.println("数据包为空或长度不足");
+            return "";
+        }
+
+        // Step 1: 检查 Head 是否为 0xA0
+        if (packet[0] != (byte) 0xA0) {
+            System.out.println("无效的数据包头: " + java.lang.String.format("%02X", packet[0]));
+            return "";
+        }
+
+        // Step 2: 获取 Len 字段
+        int len = packet[1] & 0xFF; // 不包含 Len 自身
+        if (packet.length != 2 + len) { // Head(1) + Len(1) + 数据(len) + Check(1)
+            System.out.println("数据包长度不匹配");
+            return "";
+        }
+
+        // Step 3: 验证校验和
+        if (!calculateCheck(packet)) {
+            System.out.println("校验失败，数据可能损坏");
+            return "";
+        }
+
+        // Step 4: 解析各个字段
+        int offset = 2; // Head + Len = 偏移2
+
+        byte address = packet[offset++];
+        byte cmd = packet[offset++];
+        byte freqAnt = packet[offset++];
+
+        // 提取 FreqAnt 的高6位（频点） 和 低2位（天线号）
+        int freqPoint = (freqAnt & 0xFC) >>> 2; // 高6位
+        int antennaNo = (freqAnt & 0x03);       // 低2位
+
+        // Step 5: PC字段（2字节）
+        byte[] pcBytes = new byte[2];
+        System.arraycopy(packet, offset, pcBytes, 0, 2);
+        offset += 2;
+
+        // Step 6: RSSI（1字节）
+        byte rssiByte = packet[offset + 1];
+        int rssi = rssiByte & 0xFF; // 转无符号int
+
+        // Step 7: EPC（剩余字段）
+        int epcLength = len - 5; // Len - (Address + Cmd + FreqAnt + PC + RSSI)
+        byte[] epcBytes = new byte[epcLength];
+        System.arraycopy(packet, offset, epcBytes, 0, epcLength);
+        offset += epcLength;
+
+        // Step 8: 输出解析结果
+        System.out.println("Head: " + java.lang.String.format("%02X", packet[0] & 0xFF));
+        System.out.println("Len: " + len);
+        System.out.println("Address: " + java.lang.String.format("%02X", address & 0xFF));
+        System.out.println("Cmd: " + java.lang.String.format("%02X", cmd & 0xFF));
+        System.out.println("FreqAnt: " + java.lang.String.format("%02X", freqAnt & 0xFF));
+        System.out.println("  频点: " + freqPoint);
+        System.out.println("  天线号: " + antennaNo);
+        System.out.println("PC: " + bytesToHex(pcBytes));
+        System.out.println("EPC: " + bytesToHex(epcBytes));
+        System.out.println("RSSI: " + rssi + " dBm");
+        System.out.println("Check: " + java.lang.String.format("%02X", packet[packet.length - 1] & 0xFF));
+        return bytesToHex(epcBytes);
+    }
+
+    /**
+     * 校验和验证方法：对除Check外的所有字节求和后补码
+     */
+
+
+    /**
+     * 将 byte[] 转换为 Hex 字符串
+     */
+    private static String bytesToHex(byte[] bytes) {
+        StringBuilder sb = new StringBuilder();
+        for (byte b : bytes) {
+            sb.append(java.lang.String.format("%02X ", b & 0xFF));
+        }
+        return sb.toString().trim();
+    }
+
+    String parse(byte[] byteArray) {
+        if (byteArray == null ) {
+            return "";
+        }
+
+        if (cmd == CMD.REAL_TIME_INVENTORY) {
+            return parse6C(byteArray);
+        } else {
+            return parse6B(byteArray);
+        }
+    }
+
+    /**
+     * 解析RFID返回的数据包
+     *
+     * @param packet byte数组，包含完整数据包
+     */
+    public static String parse6B(byte[] packet) {
+        if (packet == null || packet.length < 8) { // 最小长度：Head(1)+Len(1)+Address(1)+Cmd(1)+AntID(1)+UID(8)+Check(1)=12
+            System.out.println("数据包为空或长度不足");
+            return "";
+        }
+
+        // Step 1: 检查 Head 是否为 0xA0
+        if (packet[0] != (byte) 0xA0) {
+            System.out.println("无效的数据包头: " + java.lang.String.format("%02X", packet[0]));
+            return "";
+        }
+
+        // Step 2: 获取 Len 字段
+        int len = packet[1] & 0xFF; // 不包含 Len 自身
+        if (packet.length != 2 + len) { // Head(1) + Len(1) + 数据(len) + Check(1)
+            System.out.println("数据包长度不匹配");
+            return "";
+        }
+
+        // Step 3: 验证校验和
+//        if (!calculateCheck(packet)) {
+//            System.out.println("校验失败，数据可能损坏");
+//            return "";
+//        }
+
+        // Step 4: 解析各个字段
+        int offset = 2; // Head + Len = 偏移2
+
+        byte address = packet[offset++];
+        byte cmd = packet[offset++];
+        byte antId = packet[offset++];
+
+        // Step 5: UID（8字节）
+        byte[] uidBytes = new byte[8];
+        System.arraycopy(packet, offset, uidBytes, 0, 8);
+        offset += 8;
+
+        // Step 6: 输出解析结果
+        System.out.println("Head: " + java.lang.String.format("%02X", packet[0] & 0xFF));
+        System.out.println("Len: " + len);
+        System.out.println("Address: " + java.lang.String.format("%02X", address & 0xFF));
+        System.out.println("Cmd: " + java.lang.String.format("%02X", cmd & 0xFF));
+        System.out.println("AntID: " + java.lang.String.format("%02X", antId & 0xFF));
+        System.out.println("UID: " + bytesToHex(uidBytes));
+        System.out.println("Check: " + java.lang.String.format("%02X", packet[packet.length - 1] & 0xFF));
+        return bytesToHex(uidBytes);
+    }
+
+    public static void main(String[] args) {
+//        A0 0A FF 89 05 01 02 03 04 05 01
+
+        System.out.println(parse6B(calculateChecksum(new byte[]{(byte) 0xA0, 0x0C, (byte) 0xFF, (byte) 0xb0, 0x05, 0x01,0x01, 0x06, 0x01, 0x01, 0x01, 0x01, 0x01,0x00})));
+
+        RFIDSocketNew rfidSocket = new RFIDSocketNew("127.0.0.1", 6000,"6B");
+
+//        rfidSocket.startCheck();
+        rfidSocket.readData();
+        try {
+            Thread.sleep(30000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        rfidSocket.close();
+        System.out.println(rfidSocket.getTags());
+    }
+}

web/src/main/java/com/zhehekeji/web/service/algorithm/InventoryService.java

@@ -23,6 +23,8 @@ import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.Map;
+import java.util.stream.Collectors;
 
 @Service
 @Slf4j
@@ -81,10 +83,42 @@ public class InventoryService {
 
     public int match3D(String category,String path,String configPath){
         //拍照
-        log.info("3D拍照pcd：     "+path);
-        LxPointCloudSaveImage.saveImage(configProperties.getCameraConfig().getCamera3D(), path,1);
+        List<Integer> results = new ArrayList<>();
+
+        for (int i = 0; i < 3; i++) {
+            String currentPath = path.replace(".pcd", "_" + i + ".pcd"); // 添加索引以区分不同次拍照的文件路径
+            LxPointCloudSaveImage.saveImage(configProperties.getCameraConfig().getCamera3D(), currentPath, 1);
+
+            Integer result = PointCloudProcessor.getBaijiuBox(
+                    currentPath,
+                    configProperties.getSavePath().getCroppingPath(),
+                    configProperties.getSavePath().getWinePreparationPath() + category + ".json"
+            );
+
+            results.add(result);
+
+            if (i >= 1 && results.get(i).equals(results.get(i - 1))) {
+                // 如果当前结果与上一次结果相同，则直接返回
+                return results.get(i);
+            }
+
+            if (i == 2) {
+                // 第三次拍照后检查是否有两个相同的结果
+
+                return results.get(2);
+            }
+
+
+
+                try {
+                    Thread.sleep(300*(i+1)); // 间隔300ms
+                } catch (InterruptedException e) {
+                    log.error("线程休眠异常", e);
+                }
+        }
+        return results.get(results.size() - 1);
 
-        return PointCloudProcessor.getBaijiuBox(path,configProperties.getSavePath().getCroppingPath(),configProperties.getSavePath().getWinePreparationPath()+category+".json");
+//        return PointCloudProcessor.getBaijiuBox(path,configProperties.getSavePath().getCroppingPath(),configProperties.getSavePath().getWinePreparationPath()+category+".json");
     }
 
 

web/src/main/java/com/zhehekeji/web/service/algorithm/PointCloudProcessor.java

@@ -17,8 +17,6 @@ import java.util.List;
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.stream.Collectors;
 
-import static com.zhehekeji.web.service.algorithm.PointToImageMapper.drawPointsAndCalculateArea;
-
 @Slf4j
 public class PointCloudProcessor {
 
@@ -449,7 +447,7 @@ public class PointCloudProcessor {
         }
         log.info("读取配置文件：pcdPojo:"+pcdPojo.toString());
 
-        return getLongitudinalType(points, pojo, pcdPojo.getWidth(), pcdPojo.getLength(), pcdPojo.getHigh(),pcdPojo.getArrangeType());
+        return PointToImageMapper.getLongitudinalType(points, pojo, pcdPojo.getWidth(), pcdPojo.getLength(), pcdPojo.getHigh(),pcdPojo.getArrangeType());
 
     }
 
@@ -628,6 +626,8 @@ public class PointCloudProcessor {
     private static int getLongitudinalType(List<double[]> points, PcdPojo pojo, int l, int w, int height,String type){
 //pojo里面的floorHeight为地板的值，以后所有的height都将根据地板值进行计算地板值减去当前点的z轴值，为高度，且当为height的倍数的时候，认为是有效的点，其中1倍的冗余在50mm，每高一层，冗余增加20mm
 //        计算
+
+        System.load(new File(System.getProperty("user.dir")+"\\libs\\opencv_java480.dll").getAbsolutePath());
         System.out.println("新方法调用");
         double baseTolerance = 50; // 初始冗余 50mm
         double additionalTolerancePerLevel = 20; // 每层增加 20mm 冗余
@@ -691,42 +691,88 @@ public class PointCloudProcessor {
     }
 
     public static void main(String[] args) {
-        String path ="E:\\泸州\\27\\40016743\\30,31\\d970c134-98ff-4e7a-b951-b2cbdf9acfd4--192.168.56.11.pcd";
-        String configPath = "E:\\泸州\\27\\27.json";
-        String typeConfPath = "E:\\泸州\\27\\temlent\\40016743.json";
-        List<double[]> points = readPCD(path);
-        PcdPojo pojo = new PcdPojo();
-        PcdPojo pcdPojo = new PcdPojo();
-        pojo.setConfigPath(configPath);
-        ObjectMapper mapper = new ObjectMapper();
-        try {
-            // 读取 JSON 文件并转换为 配置信息
-            PcdPojo pojoIn = mapper.readValue(new File(pojo.getConfigPath()), mapper.getTypeFactory().constructType(PcdPojo.class));
-            // 打印转换后的实体类列表
-            pojo = pojo.setPCDInfo(pojoIn);
-            // 读取 JSON 文件并转换为 配置信息
-            pcdPojo = mapper.readValue(new File(typeConfPath), mapper.getTypeFactory().constructType(PcdPojo.class));
+        String configPath = "E:\\工作\\pcd\\27.json";
+        File rootFolder = new File("E:\\pr3d\\新建文件夹\\4-2"); // 替换为你自己的路径
 
+        // 调用处理方法
+        processAllSubFolders(rootFolder,configPath);
+    }
+//    20 47 16
+    /**
+     * 遍历所有子文件夹，每个子文件夹中只包含一个 .pcd 和一个 .json 文件
+     */
+    public static void processAllSubFolders(File folder,String configPath) {
+        if (!folder.exists() || !folder.isDirectory()) {
+            System.out.println("无效目录: " + folder.getAbsolutePath());
+            return;
+        }
 
-            //报错则认为没有配置文件，返回盘点失败
-        } catch (JsonMappingException e) {
-            e.printStackTrace();
+        // 获取所有子文件夹和文件
+        File[] files = folder.listFiles();
 
-        } catch (JsonProcessingException e) {
-            e.printStackTrace();
-        } catch (IOException e) {
-            e.printStackTrace();
+        if (files == null) return;
+
+        for (File file : files) {
+            if (file.isDirectory()) {
+                // 如果是子文件夹，继续递归
+                processAllSubFolders(file,configPath);
+            }
         }
 
-//        int i = getLongitudinalType(points,pojo, pcdPojo.getWidth(), pcdPojo.getLength(), pcdPojo.getHigh(),pcdPojo.getArrangeType());
+        // 在当前文件夹中查找 pcd 和 json 文件
+        File pcdFile = null;
+        File jsonFile = null;
 
-        int i =  PointToImageMapper.getLongitudinalType(points,pojo, pcdPojo.getWidth(), pcdPojo.getLength(), pcdPojo.getHigh(),pcdPojo.getArrangeType());
+        for (File file : files) {
+            if (file.isFile()) {
+                if (file.getName().endsWith(".pcd")) {
+                    pcdFile = file;
+                } else if (file.getName().endsWith(".json")) {
+                    jsonFile = file;
+                }
+            }
+        }
+
+        // 如果两个文件都存在，则执行你的逻辑
+        if (pcdFile != null && jsonFile != null) {
+//            System.out.println("原个数"+folder.getName());
 
-        System.out.println(i);
+            int count = adfadasdf(pcdFile.getAbsolutePath(),jsonFile.getAbsolutePath(),configPath);
+            if (count != Integer.parseInt(folder.getName().split("_")[1])){
+                System.out.println("个数有问题 index:"+folder.getName().split("_")[0]+" 记录数量:"+folder.getName().split("_")[1]
+                        +"    计算数量："+count+"     pcd位置："+pcdFile.getAbsolutePath());
+            }
+        } else {
+            // 可选：打印缺失文件的信息
+            // System.out.println("缺少 pcd 或 json 文件: " + folder.getAbsolutePath());
+        }
     }
+    static int adfadasdf(String pcdPath, String jsonPath, String configPath){
+
+        try {
+
+            List<double[]> points = readPCD(pcdPath);
+            PcdPojo pojo = new PcdPojo();
+            PcdPojo pcdPojo = new PcdPojo();
 
+            ObjectMapper mapper = new ObjectMapper();
+
+            // 读取 JSON 配置
+            PcdPojo pojoIn = mapper.readValue(new File(configPath), mapper.getTypeFactory().constructType(PcdPojo.class));
+            pojo = pojo.setPCDInfo(pojoIn);
 
+            pcdPojo = mapper.readValue(new File(jsonPath), mapper.getTypeFactory().constructType(PcdPojo.class));
 
+            // 调用你的方法
+            int result = PointToImageMapper.getLongitudinalType(points, pojo, pcdPojo.getWidth(), pcdPojo.getLength(), pcdPojo.getHigh(), pcdPojo.getArrangeType());
+            return result;
+
+        } catch (Exception e) {
+//            System.err.println("处理失败: " + folderPath + "，错误信息: " + e.getMessage());
+            e.printStackTrace();
+        }
+        return 0;
+    }
 
 
 

web/src/main/java/com/zhehekeji/web/service/algorithm/PointToImageMapper.java

@@ -1,4 +1,7 @@
 package com.zhehekeji.web.service.algorithm;
+import org.opencv.core.*;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.opencv.imgproc.Imgproc;
 import org.springframework.stereotype.Service;
 
 import java.awt.*;
@@ -31,7 +34,7 @@ public class PointToImageMapper {
     public static int getLongitudinalType(List<double[]> points, PcdPojo pojo, int l, int w, int height,String type){
 //pojo里面的floorHeight为地板的值，以后所有的height都将根据地板值进行计算地板值减去当前点的z轴值，为高度，且当为height的倍数的时候，认为是有效的点，其中1倍的冗余在50mm，每高一层，冗余增加20mm
 //        计算
-        System.out.println("新方法调用");
+//        System.out.println("新方法调用");
         double baseTolerance = 50; // 初始冗余 50mm
         double additionalTolerancePerLevel = 20; // 每层增加 20mm 冗余
         Map<Integer, List<double[]>> map = new HashMap<>();
@@ -78,21 +81,53 @@ public class PointToImageMapper {
                 layersCount +=maxL;
             }
         }
+        int count = 0;
+//        for (int h =1; h<=5; h++){
+//            if (map.containsKey(h) && map.get(h).size()>1000){
+//                double area = 0;
+//                try {
+//                    List<double[]> pointsLayers = map.get(h);
+//                    if (map.containsKey(h+1)&& map.get(h+1).size()>1000){
+//                        pointsLayers.addAll(map.get(h+1));
+//                    }
+//
+//                    area = drawPointsAndCalculateArea(pointsLayers, String.valueOf(h),pojo,l,w);
+//
+//                } catch (Exception e) {
+//                    throw new RuntimeException(e);
+//                }
+//                if (area>0){
+//                    System.out.println("面积："+area);
+//                    System.out.println("个数："+area/(double) (l*w));
+//                    int i =(int) Math.min(Math.round(area/(double) (l*w)),layersCount);
+//                    if (i==0|| i>=layersCount) {
+//                        count+=layersCount;
+//                    }else {
+//                        return i +count;
+//                    }
+//                }
+//            }else {
+//
+//                count+=layersCount;
+//            }
+//        }
         for (int h =5; h>0; h--){
             if (map.containsKey(h) && map.get(h).size()>1000){
                 double area = 0;
                 try {
 
-                    area = drawPointsAndCalculateArea(map.get(h), String.valueOf(h),pojo);
+                    area = drawPointsAndCalculateArea(map.get(h), String.valueOf(h),pojo,l,w);
 
                 } catch (Exception e) {
                     throw new RuntimeException(e);
                 }
                 if (area>0){
-                    System.out.println("面积："+area);
-                    System.out.println("个数："+area/(double) (l*w));
-                    int i =(layersCount*(h-1))+(int) Math.min(Math.round(area/(double) (l*w)),layersCount);
-                    return i;
+//                    System.out.println("面积："+area);
+//                    System.out.println("个数："+area/(double) (l*w));
+                    int i =(int) Math.min(Math.round(area/(double) (l*w)),layersCount);
+                    if (i>0) {
+                        return (layersCount * (h - 1)) + i;
+                    }
                 }
             }
         }
@@ -104,10 +139,11 @@ public class PointToImageMapper {
      * 根据点集合生成图像，并计算不同颜色区域的面积
      */
     public static  Double drawPointsAndCalculateArea(
-            List<double[]> points,String taskId,PcdPojo pojo
+            List<double[]> points,String taskId,PcdPojo pojo,
+            int l,int w
            ) throws Exception {
-        int imageWidth = 600;
-        int imageHeight =  600;
+        int imageWidth = 1200;
+        int imageHeight =  1200;
         String drawMode= "point";
 
         if (points == null || points.isEmpty()) {
@@ -142,7 +178,7 @@ public class PointToImageMapper {
         g.setBackground(Color.WHITE);
         g.clearRect(0, 0, imageWidth, imageHeight);
 
-        // Step 5: 绘制点或连线
+        // Step 5: 绘制点
         List<PointColorMapping> mappedPoints = new ArrayList<>();
 
         for (double[] point : points) {
@@ -203,8 +239,120 @@ public class PointToImageMapper {
         // 可选：保存图像
         ImageIO.write(image, "PNG", generateImageFilePath().toFile());
 
+//        int targetWidth = (int) (scaleX*l);  // 替换为你想放置的矩形宽度（像素）
+//        int targetHeight = (int) (scaleY*w);  // 替换为你想放置的矩形高度（像素）
+//
+//        // 调用纯 Java 实现的矩形检测方法
+//        int maxRectangles = detectMaxRectanglesWithRotationJavaOnly(image, targetWidth, targetHeight);
+//        System.out.println("最大可容纳矩形数量：" + maxRectangles);
+        // 可选：删除临时文件
+        // tempFile.delete();
         return area;
     }
+    /**
+     * 使用纯 Java 实现，在给定图像中检测红色区域最多可容纳的目标矩形数量（支持旋转方向判断）
+     *
+     * @param bufferedImage 输入的 BufferedImage 图像
+     * @param targetWidth   目标矩形宽度（像素）
+     * @param targetHeight  目标矩形高度（像素）
+     * @return 可容纳的矩形数量
+     */
+    public static int detectMaxRectanglesWithRotationJavaOnly(BufferedImage bufferedImage, int targetWidth, int targetHeight) {
+        int width = bufferedImage.getWidth();
+        int height = bufferedImage.getHeight();
+
+        // Step 1: 提取红色区域（RGB > 200, G/B < 50）
+        boolean[][] redMask = new boolean[width][height];
+        for (int y = 0; y < height; y++) {
+            for (int x = 0; x < width; x++) {
+                int rgb = bufferedImage.getRGB(x, y);
+                int r = (rgb >> 16) & 0xFF;
+                int g = (rgb >> 8) & 0xFF;
+                int b = rgb & 0xFF;
+                redMask[x][y] = (r > 200 && g < 50 && b < 50);
+            }
+        }
+
+        // Step 2: 连通区域标记（8邻域）
+        int[][] labels = new int[width][height];
+        int labelCount = 0;
+        for (int y = 0; y < height; y++) {
+            for (int x = 0; x < width; x++) {
+                if (redMask[x][y] && labels[x][y] == 0) {
+                    labelCount++;
+                    floodFillJavaOnly(redMask, labels, x, y, labelCount);
+                }
+            }
+        }
+
+        // Step 3: 收集每个区域的边界框
+        Map<Integer, int[]> regionBounds = new HashMap<>();
+        for (int y = 0; y < height; y++) {
+            for (int x = 0; x < width; x++) {
+                int label = labels[x][y];
+                if (label > 0) {
+                    int finalX = x;
+                    int finalY = y;
+                    regionBounds.computeIfAbsent(label, k -> new int[]{finalX, finalY, finalX, finalY});
+                    int[] bounds = regionBounds.get(label);
+                    bounds[0] = Math.min(bounds[0], x);
+                    bounds[1] = Math.min(bounds[1], bounds[1]);
+                    bounds[2] = Math.max(bounds[2], x);
+                    bounds[3] = Math.max(bounds[3], y);
+                }
+            }
+        }
+
+        // Step 4: 判断每个区域是否能容纳目标矩形
+        int count = 0;
+        for (int[] bounds : regionBounds.values()) {
+            int regionWidth = bounds[2] - bounds[0];
+            int regionHeight = bounds[3] - bounds[1];
+double margin = 0.90;
+            if ((regionWidth >= targetWidth * margin && regionHeight >= targetHeight * margin) ||
+                    (regionHeight >= targetWidth * margin && regionWidth >= targetHeight * margin)) {
+
+                // 引入 margin 控制可用空间（比如留出 5% 边距）
+                int usableWidth = (int) (Math.min(regionWidth, regionHeight) * margin);
+                int usableHeight = (int) (Math.max(regionWidth, regionHeight) * margin);
+
+                int numWidth = usableWidth / Math.min(targetWidth, targetHeight);
+                int numHeight = usableHeight / Math.max(targetWidth, targetHeight);
+                count += numWidth * numHeight;
+            }
+        }
+
+        return count;
+    }
+
+    /**
+     * 八邻域连通区域填充
+     */
+    private static void floodFillJavaOnly(boolean[][] redMask, int[][] labels, int startX, int startY, int label) {
+        Queue<int[]> queue = new LinkedList<>();
+        queue.offer(new int[]{startX, startY});
+        labels[startX][startY] = label;
+
+        while (!queue.isEmpty()) {
+            int[] point = queue.poll();
+            int x = point[0];
+            int y = point[1];
+
+            for (int dy = -1; dy <= 1; dy++) {
+                for (int dx = -1; dx <= 1; dx++) {
+                    int nx = x + dx;
+                    int ny = y + dy;
+                    if (nx >= 0 && nx < redMask.length &&
+                            ny >= 0 && ny < redMask[0].length &&
+                            redMask[nx][ny] && labels[nx][ny] == 0) {
+                        labels[nx][ny] = label;
+                        queue.offer(new int[]{nx, ny});
+                    }
+                }
+            }
+        }
+    }
+
     /**
      * 生成 E:/data/pcdImage/yyyy-MM-dd/HHmmssSSS.png 格式的路径
      * 并创建父目录（如果不存在）