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物流展会算法
LAPTOP-S9HJSOEB\昊天 1 week ago
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import os
import random
import math
import numpy as np
from PIL import Image, ImageDraw, ImageFilter, ImageEnhance
from qrcode import QRCode
import qrcode.constants
import cv2
def generate_random_gradient(size=(2048, 2048)):
"""生成随机渐变背景"""
width, height = size
# 随机选择两个颜色
color1 = [random.randint(0, 255) for _ in range(3)]
color2 = [random.randint(0, 255) for _ in range(3)]
# 使用 NumPy 生成渐变数组（更高效）
gradient = np.linspace(color1, color2, height, dtype=np.uint8)
gradient = np.tile(gradient, (width, 1, 1))
gradient = np.transpose(gradient, (1, 0, 2))
# 转换为 PIL Image
img = Image.fromarray(gradient)
return img
def generate_qr_code(size=(200, 200)):
"""生成二维码（透明背景）"""
qr = QRCode(
version=1,
error_correction=qrcode.constants.ERROR_CORRECT_L,
box_size=10,
border=4,
)
# 随机生成数据
data = ''.join([str(random.randint(0, 9)) for _ in range(50)])
qr.add_data(data)
qr.make(fit=True)
# 转换为 PIL Image（先生成白色背景）
img = qr.make_image(fill_color="black", back_color="white")
# 转换为 RGBA
img = img.convert('RGBA')
# 将白色背景转为透明
datas = img.getdata()
new_data = []
for item in datas:
# 如果是白色（接近白色），则设为透明
if item[0] > 230 and item[1] > 230 and item[2] > 230:
new_data.append((255, 255, 255, 0))
else:
new_data.append(item)
img.putdata(new_data)
# 调整大小
img = img.resize(size, Image.Resampling.LANCZOS)
return img
def transform_qr_code(qr_img):
"""对二维码进行随机变换（亮度、清晰度）"""
# 确保图片是 RGBA 模式
if qr_img.mode != 'RGBA':
qr_img = qr_img.convert('RGBA')
# 随机亮度（只影响 RGB 通道，不影响 alpha 通道）
r, g, b, a = qr_img.split()
rgb_img = Image.merge('RGB', (r, g, b))
brightness = ImageEnhance.Brightness(rgb_img)
rgb_img = brightness.enhance(random.uniform(0.7, 1.3))
# 随机对比度
contrast = ImageEnhance.Contrast(rgb_img)
rgb_img = contrast.enhance(random.uniform(0.8, 1.2))
# 随机模糊（清晰度）
blur_radius = random.uniform(0, 1.5)
if blur_radius > 0:
rgb_img = rgb_img.filter(ImageFilter.GaussianBlur(radius=blur_radius))
# 重新合并 RGB 和 alpha 通道
qr_img = Image.merge('RGBA', rgb_img.split() + (a,))
return qr_img
def is_overlapping(x1, y1, w1, h1, x2, y2, w2, h2, margin=20):
"""检查两个矩形是否重叠（添加边距）"""
return not (x1 + w1 + margin < x2 or
x2 + w2 + margin < x1 or
y1 + h1 + margin < y2 or
y2 + h2 + margin < y1)
def calculate_bbox(img_size, x, y, width, height):
"""
计算边界框（YOLO 格式）
Args:
img_size: 原始图片大小 (width, height)
x, y: 二维码左上角坐标
width, height: 二维码宽高
Returns:
(x_center, y_center, bbox_width, bbox_height) - YOLO 格式的归一化坐标
"""
img_w, img_h = img_size
# 计算二维码中心
center_x = x + width / 2
center_y = y + height / 2
# 边界框就是二维码本身
bbox_width = width
bbox_height = height
# 归一化到 [0, 1]
x_norm = center_x / img_w
y_norm = center_y / img_h
w_norm = bbox_width / img_w
h_norm = bbox_height / img_h
# 确保在 [0, 1] 范围内
x_norm = max(0, min(1, x_norm))
y_norm = max(0, min(1, y_norm))
w_norm = max(0, min(1, w_norm))
h_norm = max(0, min(1, h_norm))
return x_norm, y_norm, w_norm, h_norm
def place_qr_codes(img, num_qrcodes=20):
"""
在图片上放置多个不重叠的二维码
Returns:
img: 生成的图片
annotations: 标注信息列表 [(x, y, w, h), ...]
"""
img_w, img_h = img.size
annotations = []
placed_boxes = []
for i in range(num_qrcodes):
# 随机二维码大小（50-200像素）
# 重点关注 50-100 范围，增加小目标样本
if random.random() < 0.7:
# 70% 概率生成 50-100 的小目标
qr_size_value = random.randint(50, 100)
else:
# 30% 概率生成 100-200 的中等目标
qr_size_value = random.randint(100, 200)
qr_size = (qr_size_value, qr_size_value)
# 生成二维码
qr_img = generate_qr_code(qr_size)
# 变换二维码（不旋转）
qr_img_transformed = transform_qr_code(qr_img)
qr_w, qr_h = qr_img_transformed.size
# 随机位置（确保二维码完全在图片内）
max_x = img_w - qr_w
max_y = img_h - qr_h
# 尝试找到不重叠的位置
max_attempts = 100
for attempt in range(max_attempts):
x = random.randint(0, max_x)
y = random.randint(0, max_y)
# 检查是否与已放置的二维码重叠
overlapping = False
for px, py, pw, ph in placed_boxes:
if is_overlapping(x, y, qr_w, qr_h, px, py, pw, ph):
overlapping = True
break
if not overlapping:
# 粘贴二维码（使用 alpha 通道作为 mask）
# img 需要先转换为 RGBA 模式
if img.mode != 'RGBA':
img = img.convert('RGBA')
# 提取 alpha 通道作为 mask
alpha = qr_img_transformed.split()[-1]
img.paste(qr_img_transformed, (x, y), alpha)
# 记录放置的盒子
placed_boxes.append((x, y, qr_w, qr_h))
# 计算边界框（直接使用二维码的位置和大小）
bbox_x, bbox_y, bbox_w, bbox_h = calculate_bbox(
(img_w, img_h), x, y, qr_w, qr_h
)
annotations.append((bbox_x, bbox_y, bbox_w, bbox_h))
break
else:
print(f"Warning: Could not place QR code {i+1} without overlap")
return img, annotations
def save_annotation(label_path, annotations):
"""保存标注文件（YOLO 格式）"""
with open(label_path, 'w') as f:
for x, y, w, h in annotations:
# 类别为 0（二维码）
f.write(f"0 {x:.6f} {y:.6f} {w:.6f} {h:.6f}\n")
def generate_dataset(output_root, num_train_images=30):
"""生成 YOLO8 二维码检测数据集"""
image_size = (2048, 2048)
# 增加每张图片的二维码数量，提高小目标检测效果
num_qrcodes_per_image = 50 # 从 20 增加到 50
num_val_images = max(1, num_train_images // 10)
# 创建文件夹
train_images_dir = os.path.join(output_root, "train", "images")
train_labels_dir = os.path.join(output_root, "train", "labels")
val_images_dir = os.path.join(output_root, "val", "images")
val_labels_dir = os.path.join(output_root, "val", "labels")
os.makedirs(train_images_dir, exist_ok=True)
os.makedirs(train_labels_dir, exist_ok=True)
os.makedirs(val_images_dir, exist_ok=True)
os.makedirs(val_labels_dir, exist_ok=True)
print(f"Generating {num_train_images} training images...")
for i in range(num_train_images):
print(f" Generating training image {i+1}/{num_train_images}")
# 生成随机渐变背景
img = generate_random_gradient(image_size)
# 放置二维码
img, annotations = place_qr_codes(img, num_qrcodes_per_image)
# 保存图片（转换为 RGB，JPEG 不支持透明通道）
if img.mode == 'RGBA':
img = img.convert('RGB')
img_name = f"train_{i:04d}.jpg"
img_path = os.path.join(train_images_dir, img_name)
img.save(img_path, quality=95)
# 保存标注
label_name = f"train_{i:04d}.txt"
label_path = os.path.join(train_labels_dir, label_name)
save_annotation(label_path, annotations)
print(f"Generating {num_val_images} validation images...")
for i in range(num_val_images):
print(f" Generating validation image {i+1}/{num_val_images}")
# 生成随机渐变背景
img = generate_random_gradient(image_size)
# 放置二维码
img, annotations = place_qr_codes(img, num_qrcodes_per_image)
# 保存图片（转换为 RGB，JPEG 不支持透明通道）
if img.mode == 'RGBA':
img = img.convert('RGB')
img_name = f"val_{i:04d}.jpg"
img_path = os.path.join(val_images_dir, img_name)
img.save(img_path, quality=95)
# 保存标注
label_name = f"val_{i:04d}.txt"
label_path = os.path.join(val_labels_dir, label_name)
save_annotation(label_path, annotations)
# 生成 data.yaml
yaml_content = f"""path: {os.path.abspath(output_root)}
train: train/images
val: val/images
nc: 1
names: ['qrcode']
"""
yaml_path = os.path.join(output_root, "data.yaml")
with open(yaml_path, 'w', encoding='utf-8') as f:
f.write(yaml_content)
print("\n" + "="*50)
print("Dataset generation completed!")
print("="*50)
print(f"Output directory: {output_root}")
print(f"Training images: {num_train_images}")
print(f"Validation images: {num_val_images}")
print(f"QR codes per image: {num_qrcodes_per_image}")
print(f"Image size: {image_size}")
print(f"Number of classes: 1")
print(f"Class name: qrcode")
print("="*50)
if __name__ == '__main__':
# 输出目录
output_root = r"D:\PycharmProjects\yolo\qrcode_dataset"
# 生成训练集图片数量（建议至少 100 张）
num_train_images = 100
# 生成数据集
generate_dataset(output_root, num_train_images)
print("\n" + "="*50)
print("训练建议：")
print("="*50)
print("使用 YOLOv8-p2 进行小目标检测：")
print(" yolo train data=data.yaml model=yolov8n-p2.pt epochs=200 imgsz=4096")
print("")
print("如果显存足够，可以使用 8192 输入尺寸：")
print(" yolo train data=data.yaml model=yolov8n-p2.pt epochs=200 imgsz=8192")
print("")
print("如果需要更高精度，使用 s 模型：")
print(" yolo train data=data.yaml model=yolov8s-p2.pt epochs=200 imgsz=4096")
print("="*50)

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2026-04-03 09:26:54.925 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 09:26:54.930 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 09:26:54.972 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 09:26:55.810 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 09:26:55.810 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 09:26:55.810 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 09:26:55.811 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 09:26:55.811 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 09:26:55.811 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 09:26:55.811 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 09:26:55.811 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 09:26:55.811 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 09:26:55.811 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 09:26:56.736 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 09:26:56.812 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 09:26:56.813 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 09:26:56.813 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 09:26:57.081 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 09:27:02.241 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:27:02.245 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:27:02.247 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:27:02.897 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_092702.pcd, 结果: 0
2026-04-03 09:27:02.897 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_092702.pcd
2026-04-03 09:27:02.897 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:27:02.897 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_092702.pcd, floorHeight=null, boxSize=155.0x155.0x250.0
2026-04-03 09:27:02.898 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_092702.pcd, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:27:03.513 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 257085
2026-04-03 09:27:03.540 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:27:03.541 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:27:04.133 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 85921.0 mm², 点数: 21655
2026-04-03 09:27:04.133 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 4
2026-04-03 09:27:04.133 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 4, 用时: 1235ms
2026-04-03 09:27:04.134 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 4, 层数: 1, 最高层: 1, 用时: 1235ms
2026-04-03 09:28:03.483 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 09:28:03.485 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 09:28:03.523 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 09:28:04.397 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 09:28:04.398 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 09:28:04.398 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 09:28:04.398 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 09:28:04.398 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 09:28:04.398 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 09:28:04.398 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 09:28:04.398 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 09:28:04.398 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 09:28:04.398 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 09:28:05.340 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 09:28:05.387 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 09:28:05.387 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 09:28:05.387 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 09:28:05.777 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 09:28:08.531 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:28:08.536 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:28:08.539 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:28:09.367 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_092808.pcd, 结果: 0
2026-04-03 09:28:09.367 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_092808.pcd
2026-04-03 09:28:09.367 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:28:09.367 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_092808.pcd, floorHeight=null, boxSize=155.0x155.0x250.0
2026-04-03 09:28:09.367 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_092808.pcd, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:28:09.686 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 256795
2026-04-03 09:28:09.704 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:28:09.705 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:28:09.922 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 147857.0 mm², 点数: 21618
2026-04-03 09:28:09.922 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 6
2026-04-03 09:28:09.922 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 6, 用时: 555ms
2026-04-03 09:28:09.923 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 6, 层数: 1, 最高层: 1, 用时: 555ms
2026-04-03 09:32:56.454 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:32:56.454 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:32:56.456 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:32:57.153 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093256.pcd, 结果: 0
2026-04-03 09:32:57.153 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093256.pcd
2026-04-03 09:32:57.153 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:32:57.154 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093256.pcd, floorHeight=null, boxSize=155.0x155.0x250.0
2026-04-03 09:32:57.154 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093256.pcd, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:32:57.633 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 257637
2026-04-03 09:32:57.645 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:32:57.645 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:32:57.854 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 129026.0 mm², 点数: 18902
2026-04-03 09:32:57.855 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 5
2026-04-03 09:32:57.855 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 5, 用时: 701ms
2026-04-03 09:32:57.855 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 701ms
2026-04-03 09:33:07.526 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:33:07.526 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:33:07.528 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:33:08.278 [http-nio-8097-exec-4] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093307.pcd, 结果: 0
2026-04-03 09:33:08.279 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093307.pcd
2026-04-03 09:33:08.279 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:33:08.279 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093307.pcd, floorHeight=null, boxSize=155.0x155.0x250.0
2026-04-03 09:33:08.279 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093307.pcd, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:33:08.766 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 258226
2026-04-03 09:33:08.780 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:33:08.781 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:33:09.016 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 129699.0 mm², 点数: 18925
2026-04-03 09:33:09.016 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 5
2026-04-03 09:33:09.018 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 5, 用时: 739ms
2026-04-03 09:33:09.019 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 739ms
2026-04-03 09:36:22.834 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:36:22.834 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:36:22.836 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:36:23.263 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093622.pcd, 结果: 0
2026-04-03 09:36:23.264 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093622.pcd
2026-04-03 09:36:23.264 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:36:23.264 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093622.pcd, floorHeight=null, boxSize=155.0x155.0x250.0
2026-04-03 09:36:23.264 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093622.pcd, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:36:23.527 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 257168
2026-04-03 09:36:23.534 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:36:23.534 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:36:23.662 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 146661.0 mm², 点数: 21757
2026-04-03 09:38:19.703 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 6
2026-04-03 09:38:19.703 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 6, 用时: 116439ms
2026-04-03 09:38:19.703 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 6, 层数: 1, 最高层: 1, 用时: 116439ms
2026-04-03 09:38:33.777 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:38:33.779 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:38:33.782 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:38:34.611 [http-nio-8097-exec-8] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093833.pcd, 结果: 0
2026-04-03 09:38:34.612 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093833.pcd
2026-04-03 09:38:34.612 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:38:34.612 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093833.pcd, floorHeight=null, boxSize=140.0x140.0x250.0
2026-04-03 09:38:34.613 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_093833.pcd, floorHeight=null, boxLength=140.0, boxWidth=140.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:38:35.131 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 256818
2026-04-03 09:38:35.143 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:38:35.144 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:38:35.369 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 147223.0 mm², 点数: 21793
2026-04-03 09:38:39.818 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 8
2026-04-03 09:38:39.819 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 8, 用时: 5206ms
2026-04-03 09:38:39.819 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 5206ms
2026-04-03 09:40:07.685 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:40:07.685 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:40:07.685 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:40:08.101 [http-nio-8097-exec-9] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094007.pcd, 结果: 0
2026-04-03 09:40:08.101 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094007.pcd
2026-04-03 09:40:08.101 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:40:08.101 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094007.pcd, floorHeight=null, boxSize=140.0x140.0x250.0
2026-04-03 09:40:08.101 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094007.pcd, floorHeight=null, boxLength=140.0, boxWidth=140.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:40:08.373 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 257626
2026-04-03 09:40:08.381 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:40:08.381 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:40:08.486 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 128367.0 mm², 点数: 18791
2026-04-03 09:40:16.235 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 7
2026-04-03 09:40:16.235 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 7, 用时: 8134ms
2026-04-03 09:40:16.235 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 7, 层数: 1, 最高层: 1, 用时: 8134ms
2026-04-03 09:41:01.298 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 09:41:01.300 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 09:41:01.339 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 09:41:02.138 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 09:41:02.138 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 09:41:02.138 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 09:41:02.139 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 09:41:02.139 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 09:41:02.139 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 09:41:02.139 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 09:41:02.139 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 09:41:02.139 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 09:41:02.139 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 09:41:03.053 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 09:41:03.147 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 09:41:03.147 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 09:41:03.147 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 09:41:03.387 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 09:41:08.029 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:41:08.032 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:41:08.034 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:41:08.473 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094108.pcd, 结果: 0
2026-04-03 09:41:08.474 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094108.pcd
2026-04-03 09:41:08.474 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:41:08.474 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094108.pcd, floorHeight=null, boxSize=140.0x140.0x250.0
2026-04-03 09:41:08.474 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094108.pcd, floorHeight=null, boxLength=140.0, boxWidth=140.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:41:08.800 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 257765
2026-04-03 09:41:08.816 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:41:08.816 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:41:09.052 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 128270.0 mm², 点数: 18792 比例：6.544387755102041
2026-04-03 09:41:09.052 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 7
2026-04-03 09:41:09.052 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 7, 用时: 578ms
2026-04-03 09:41:09.053 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 7, 层数: 1, 最高层: 1, 用时: 578ms
2026-04-03 09:41:35.289 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:41:35.289 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:41:35.290 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:41:35.706 [http-nio-8097-exec-2] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094135.pcd, 结果: 0
2026-04-03 09:41:35.706 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094135.pcd
2026-04-03 09:41:35.706 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:41:35.706 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094135.pcd, floorHeight=null, boxSize=137.0x137.0x250.0
2026-04-03 09:41:35.707 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094135.pcd, floorHeight=null, boxLength=137.0, boxWidth=137.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:41:35.985 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 257920
2026-04-03 09:41:35.993 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:41:35.993 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:41:36.099 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 128398.0 mm², 点数: 18795 比例：6.840961159358517
2026-04-03 09:41:36.099 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 7
2026-04-03 09:41:36.100 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 7, 用时: 393ms
2026-04-03 09:41:36.100 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 7, 层数: 1, 最高层: 1, 用时: 393ms
2026-04-03 09:44:55.070 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 09:44:55.071 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 09:44:55.071 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 09:44:55.500 [http-nio-8097-exec-4] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094455.pcd, 结果: 0
2026-04-03 09:44:55.501 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094455.pcd
2026-04-03 09:44:55.501 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 09:44:55.501 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094455.pcd, floorHeight=null, boxSize=137.0x137.0x250.0
2026-04-03 09:44:55.501 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_094455.pcd, floorHeight=null, boxLength=137.0, boxWidth=137.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:44:55.815 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 256852
2026-04-03 09:44:55.825 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 09:44:55.825 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 09:44:55.887 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 17633.0 mm², 点数: 2280 比例：0.9394746656721189
2026-04-03 09:44:55.887 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 1
2026-04-03 09:44:55.887 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 1, 用时: 386ms
2026-04-03 09:44:55.887 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 1, 层数: 1, 最高层: 1, 用时: 386ms
2026-04-03 10:05:47.902 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:05:47.902 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:05:47.904 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:05:48.306 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100547.pcd, 结果: 0
2026-04-03 10:05:48.306 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100547.pcd
2026-04-03 10:05:48.306 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:05:48.306 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100547.pcd, floorHeight=null, boxSize=137.0x137.0x250.0
2026-04-03 10:05:48.306 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100547.pcd, floorHeight=null, boxLength=137.0, boxWidth=137.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:05:48.567 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 257011
2026-04-03 10:05:48.576 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:05:48.576 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:05:48.640 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 17526.0 mm², 点数: 2276 比例：0.9337737759070808
2026-04-03 10:05:48.640 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 1
2026-04-03 10:05:48.640 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 1, 用时: 334ms
2026-04-03 10:05:48.640 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 1, 层数: 1, 最高层: 1, 用时: 334ms
2026-04-03 10:06:09.198 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:06:09.198 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:06:09.199 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:06:09.611 [http-nio-8097-exec-7] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100609.pcd, 结果: 0
2026-04-03 10:06:09.612 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100609.pcd
2026-04-03 10:06:09.612 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:06:09.612 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100609.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:06:09.612 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100609.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:06:09.873 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 256607
2026-04-03 10:06:09.881 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:06:09.882 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:06:09.943 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 17479.0 mm², 点数: 2276 比例：0.9590672153635117
2026-04-03 10:06:09.943 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 1
2026-04-03 10:06:09.943 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 1, 用时: 331ms
2026-04-03 10:06:09.943 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 1, 层数: 1, 最高层: 1, 用时: 331ms
2026-04-03 10:06:51.382 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:06:51.382 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:06:51.384 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:06:51.781 [http-nio-8097-exec-8] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100651.pcd, 结果: 0
2026-04-03 10:06:51.781 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100651.pcd
2026-04-03 10:06:51.781 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:06:51.781 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100651.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:06:51.781 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100651.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:06:52.049 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 255430
2026-04-03 10:06:52.054 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:06:52.054 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:06:52.129 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 51341.0 mm², 点数: 6990 比例：2.8170644718792865
2026-04-03 10:06:52.129 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 3
2026-04-03 10:06:52.129 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 3, 用时: 348ms
2026-04-03 10:06:52.129 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 3, 层数: 1, 最高层: 1, 用时: 348ms
2026-04-03 10:07:27.330 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:07:27.330 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:07:27.331 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:07:27.748 [http-nio-8097-exec-9] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100727.pcd, 结果: 0
2026-04-03 10:07:27.748 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100727.pcd
2026-04-03 10:07:27.748 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:07:27.748 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100727.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:07:27.748 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100727.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:07:28.009 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 253881
2026-04-03 10:07:28.017 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:07:28.017 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:07:28.126 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 144606.0 mm², 点数: 21063 比例：7.934485596707819
2026-04-03 10:07:28.127 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 8
2026-04-03 10:07:28.127 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 8, 用时: 379ms
2026-04-03 10:07:28.127 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 379ms
2026-04-03 10:07:49.418 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:07:49.418 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:07:49.420 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:07:49.827 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100749.pcd, 结果: 0
2026-04-03 10:07:49.828 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100749.pcd
2026-04-03 10:07:49.828 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:07:49.828 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100749.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:07:49.828 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100749.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:07:50.084 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 245998
2026-04-03 10:07:50.092 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:07:50.093 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:07:50.191 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 99428.0 mm², 点数: 14297 比例：5.455582990397805
2026-04-03 10:07:50.191 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 5
2026-04-03 10:07:50.191 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 5, 用时: 363ms
2026-04-03 10:07:50.191 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 363ms
2026-04-03 10:09:30.253 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 10:09:30.255 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 10:09:30.291 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 10:09:31.110 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 10:09:32.039 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 10:09:32.102 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 10:09:32.102 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 10:09:32.102 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 10:09:32.330 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 10:09:53.976 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:09:53.981 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:09:53.983 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:09:54.425 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100953.pcd, 结果: 0
2026-04-03 10:09:54.425 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100953.pcd
2026-04-03 10:09:54.425 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:09:54.425 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100953.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:09:54.426 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_100953.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:09:54.803 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 246751
2026-04-03 10:09:54.817 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:09:54.817 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:09:55.032 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 99611.0 mm², 点数: 14319 比例：5.46562414266118
2026-04-03 10:09:55.032 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 5
2026-04-03 10:09:55.032 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 5, 用时: 606ms
2026-04-03 10:09:55.033 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 606ms
2026-04-03 10:22:16.218 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:22:16.219 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:22:16.220 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:22:16.690 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102216.pcd, 结果: 0
2026-04-03 10:22:16.690 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102216.pcd
2026-04-03 10:22:16.690 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:22:16.690 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102216.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:22:16.690 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102216.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:22:17.033 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 246229
2026-04-03 10:22:17.042 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:22:17.042 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:23:26.602 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 99476.0 mm², 点数: 14291 比例：5.458216735253773
2026-04-03 10:23:26.602 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 5
2026-04-03 10:23:26.602 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 5, 用时: 69912ms
2026-04-03 10:23:26.602 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 69912ms
2026-04-03 10:23:32.423 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 10:23:32.427 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 10:23:32.490 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 10:23:33.362 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 10:23:33.362 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 10:23:33.362 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 10:23:33.363 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 10:23:33.363 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 10:23:33.363 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 10:23:33.363 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 10:23:33.363 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 10:23:33.363 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 10:23:33.363 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 10:23:34.286 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 10:23:34.364 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 10:23:34.364 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 10:23:34.364 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 10:23:34.780 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 10:23:37.997 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:23:38.001 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:23:38.003 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:23:38.466 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102338.pcd, 结果: 0
2026-04-03 10:23:38.467 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102338.pcd
2026-04-03 10:23:38.467 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:23:38.467 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102338.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:23:38.467 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102338.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:23:38.862 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 246603
2026-04-03 10:23:38.879 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3
2026-04-03 10:23:38.879 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:24:06.729 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 2 层面积: 17067.0 mm², 点数: 4045 比例：0.9364609053497942
2026-04-03 10:24:12.341 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 2 层箱子数: 1
2026-04-03 10:24:12.341 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 1, 用时: 33874ms
2026-04-03 10:24:12.343 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 1, 层数: 1, 最高层: 2, 用时: 33874ms
2026-04-03 10:25:41.008 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:25:41.009 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:25:41.010 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:25:41.444 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102541.pcd, 结果: 0
2026-04-03 10:25:41.444 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102541.pcd
2026-04-03 10:25:41.445 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:25:41.445 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102541.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:25:41.445 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102541.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:25:41.752 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 246261
2026-04-03 10:25:41.762 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3
2026-04-03 10:25:41.762 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:25:45.800 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 2 层面积: 17139.0 mm², 点数: 4045 比例：0.9404115226337448
2026-04-03 10:27:36.912 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 2 层箱子数: 1
2026-04-03 10:27:36.914 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 1, 用时: 115469ms
2026-04-03 10:27:36.915 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 1, 层数: 1, 最高层: 2, 用时: 115469ms
2026-04-03 10:27:46.271 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 10:27:46.272 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 10:27:46.324 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 10:27:47.152 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 10:27:47.152 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 10:27:47.152 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 10:27:47.152 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 10:27:47.152 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 10:27:47.152 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 10:27:47.152 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 10:27:47.152 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 10:27:47.152 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 10:27:47.153 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 10:27:48.082 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 10:27:48.146 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 10:27:48.146 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 10:27:48.146 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 10:27:48.514 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 10:27:51.830 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:27:51.835 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:27:51.837 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:27:52.309 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102751.pcd, 结果: 0
2026-04-03 10:27:52.309 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102751.pcd
2026-04-03 10:27:52.309 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:27:52.309 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102751.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:27:52.309 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_102751.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:27:52.667 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 246299
2026-04-03 10:27:52.684 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3
2026-04-03 10:27:52.685 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:27:52.950 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 2 层面积: 17147.0 mm², 点数: 4044 比例：0.9408504801097394
2026-04-03 10:27:57.194 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 2 层箱子数: 1
2026-04-03 10:27:57.194 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 9, 用时: 4885ms
2026-04-03 10:27:57.195 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 9, 层数: 1, 最高层: 2, 用时: 4885ms
2026-04-03 10:33:05.805 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:33:05.806 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:33:05.806 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:33:06.240 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_103305.pcd, 结果: 0
2026-04-03 10:33:06.241 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_103305.pcd
2026-04-03 10:33:06.241 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:33:06.241 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_103305.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:33:06.241 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_103305.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:33:06.514 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 246486
2026-04-03 10:33:06.522 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3
2026-04-03 10:33:06.522 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:33:06.599 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 2 层面积: 17233.0 mm², 点数: 4045 比例：0.9455692729766804
2026-04-03 10:33:06.599 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 2 层箱子数: 1
2026-04-03 10:33:06.599 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 9, 用时: 358ms
2026-04-03 10:33:06.599 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 9, 层数: 1, 最高层: 2, 用时: 358ms
2026-04-03 10:40:28.859 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:40:28.861 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:40:28.863 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:40:29.560 [http-nio-8097-exec-5] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104028.pcd, 结果: 0
2026-04-03 10:40:29.561 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104028.pcd
2026-04-03 10:40:29.561 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:40:29.561 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104028.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:40:29.561 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104028.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:40:30.079 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 237739
2026-04-03 10:40:30.099 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:40:30.100 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:40:30.347 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 143434.0 mm², 点数: 20246 比例：7.870178326474623
2026-04-03 10:40:30.347 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 8
2026-04-03 10:40:30.347 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 8, 用时: 786ms
2026-04-03 10:40:30.347 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 786ms
2026-04-03 10:47:50.500 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=false, captureRgb=false, captureDepth=false, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:47:50.502 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:47:50.503 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:47:50.948 [http-nio-8097-exec-7] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104750.pcd, 结果: 0
2026-04-03 10:47:50.948 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104750.pcd
2026-04-03 10:47:50.948 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 1
2026-04-03 10:47:50.948 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104750.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:47:50.948 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104750.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:47:51.246 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 238138
2026-04-03 10:47:51.256 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:47:51.256 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:47:51.388 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 144096.0 mm², 点数: 20184 比例：7.906502057613169
2026-04-03 10:47:51.388 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 8
2026-04-03 10:47:51.388 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 8, 用时: 440ms
2026-04-03 10:47:51.388 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 440ms
2026-04-03 10:47:59.021 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 10:47:59.023 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 10:47:59.079 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 10:47:59.903 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 10:47:59.903 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 10:47:59.903 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 10:47:59.903 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 10:47:59.903 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 10:47:59.904 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 10:47:59.904 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 10:47:59.904 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 10:47:59.904 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 10:47:59.904 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 10:48:00.832 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 10:48:00.925 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 10:48:00.925 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 10:48:00.925 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 10:48:01.201 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 10:48:14.621 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:48:14.622 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:48:14.624 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:48:14.645 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 创建目录: D:\data\20260403\amplitude
2026-04-03 10:48:14.660 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\amplitude\192.168.100.82_amplitude_20260403_104814.png, 结果: true, 文件是否存在: true
2026-04-03 10:48:14.661 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:\data\/20260403/amplitude/192.168.100.82_amplitude_20260403_104814.png
2026-04-03 10:48:14.661 [http-nio-8097-exec-1] ERROR [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 获取RGB数据失败: Unknow Error
2026-04-03 10:48:14.662 [http-nio-8097-exec-1] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存失败
2026-04-03 10:48:14.663 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 创建目录: D:\data\20260403\depth
2026-04-03 10:48:14.667 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\depth\192.168.100.82_depth_20260403_104814.png, 结果: true, 文件是否存在: true
2026-04-03 10:48:14.668 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:\data\/20260403/depth/192.168.100.82_depth_20260403_104814.png
2026-04-03 10:48:15.064 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104814.pcd, 结果: 0
2026-04-03 10:48:15.064 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104814.pcd
2026-04-03 10:48:15.064 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 3
2026-04-03 10:48:15.064 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104814.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:48:15.064 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104814.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:48:15.391 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 237818
2026-04-03 10:48:15.405 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:48:15.405 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:48:15.654 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 144104.0 mm², 点数: 20166 比例：7.9069410150891635
2026-04-03 10:48:15.654 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 8
2026-04-03 10:48:15.654 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 8, 用时: 590ms
2026-04-03 10:48:15.655 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 590ms
2026-04-03 10:49:47.414 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:49:47.416 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:49:47.417 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:49:47.422 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\amplitude\192.168.100.82_amplitude_20260403_104947.png, 结果: true, 文件是否存在: true
2026-04-03 10:49:47.422 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:\data\/20260403/amplitude/192.168.100.82_amplitude_20260403_104947.png
2026-04-03 10:49:53.522 [http-nio-8097-exec-3] ERROR [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 获取RGB数据失败: Unknow Error
2026-04-03 10:50:12.076 [http-nio-8097-exec-3] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存失败
2026-04-03 10:50:12.079 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\depth\192.168.100.82_depth_20260403_104947.png, 结果: true, 文件是否存在: true
2026-04-03 10:50:12.080 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:\data\/20260403/depth/192.168.100.82_depth_20260403_104947.png
2026-04-03 10:50:12.452 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104947.pcd, 结果: 0
2026-04-03 10:50:12.452 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104947.pcd
2026-04-03 10:50:12.453 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 3
2026-04-03 10:50:12.453 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104947.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:50:12.453 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_104947.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:50:12.688 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 237908
2026-04-03 10:50:12.696 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:50:12.696 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:50:12.813 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 143699.0 mm², 点数: 20179 比例：7.884718792866941
2026-04-03 10:50:12.813 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 8
2026-04-03 10:50:12.813 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 8, 用时: 360ms
2026-04-03 10:50:12.813 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 360ms
2026-04-03 10:51:55.733 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 10:51:55.734 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 10:51:55.775 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 10:51:56.608 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 10:51:56.609 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 10:51:56.609 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 10:51:56.609 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 10:51:56.609 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 10:51:56.609 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 10:51:56.609 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 10:51:56.609 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 10:51:56.609 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 10:51:56.609 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 10:51:57.553 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 10:51:57.637 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 10:51:57.637 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 10:51:57.637 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 10:51:57.967 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 10:52:20.272 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:52:20.278 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:52:20.301 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:52:20.328 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\amplitude\192.168.100.82_amplitude_20260403_105220.png, 结果: true, 文件是否存在: true
2026-04-03 10:52:20.328 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:\data\/20260403/amplitude/192.168.100.82_amplitude_20260403_105220.png
2026-04-03 10:52:25.595 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 创建目录: D:\data\20260403\rgb
2026-04-03 10:52:25.608 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\rgb\192.168.100.82_rgb_20260403_105220.png, 结果: true, 文件是否存在: true
2026-04-03 10:52:27.408 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:\data\/20260403/rgb/192.168.100.82_rgb_20260403_105220.png
2026-04-03 10:52:29.169 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\depth\192.168.100.82_depth_20260403_105220.png, 结果: true, 文件是否存在: true
2026-04-03 10:52:29.170 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:\data\/20260403/depth/192.168.100.82_depth_20260403_105220.png
2026-04-03 10:52:29.511 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_105220.pcd, 结果: 0
2026-04-03 10:52:29.511 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_105220.pcd
2026-04-03 10:52:29.512 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 4
2026-04-03 10:52:29.512 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_105220.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:52:29.512 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_105220.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:52:29.775 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 238012
2026-04-03 10:52:29.786 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:52:29.786 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:52:30.007 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 143754.0 mm², 点数: 20167 比例：7.887736625514403
2026-04-03 10:52:30.007 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 8
2026-04-03 10:52:30.007 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 8, 用时: 495ms
2026-04-03 10:52:30.008 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 495ms
2026-04-03 10:54:51.656 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 10:54:51.658 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 10:54:51.708 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 10:54:52.582 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 10:54:52.582 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 10:54:52.582 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 10:54:52.582 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 10:54:52.582 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 10:54:52.582 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 10:54:52.582 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 10:54:52.582 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 10:54:52.583 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 10:54:52.583 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 10:54:53.519 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 10:54:53.548 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 10:54:53.548 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 10:54:53.548 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 10:54:53.820 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 10:55:04.357 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 10:55:04.362 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 10:55:04.387 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 10:55:04.424 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\amplitude\192.168.100.82_amplitude_20260403_105504.png, 结果: true, 文件是否存在: true
2026-04-03 10:55:04.425 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:\data\/20260403/amplitude/192.168.100.82_amplitude_20260403_105504.png
2026-04-03 10:55:09.554 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\rgb\192.168.100.82_rgb_20260403_105504.png, 结果: true, 文件是否存在: true
2026-04-03 10:55:11.248 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:\data\/20260403/rgb/192.168.100.82_rgb_20260403_105504.png
2026-04-03 10:55:12.858 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\depth\192.168.100.82_depth_20260403_105504.png, 结果: true, 文件是否存在: true
2026-04-03 10:55:12.858 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:\data\/20260403/depth/192.168.100.82_depth_20260403_105504.png
2026-04-03 10:55:13.308 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_105504.pcd, 结果: 0
2026-04-03 10:55:13.309 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_105504.pcd
2026-04-03 10:55:13.309 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 4
2026-04-03 10:55:13.309 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_105504.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 10:55:13.310 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_105504.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:55:13.585 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 238704
2026-04-03 10:55:13.598 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 10:55:13.598 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 10:55:13.828 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 143330.0 mm², 点数: 20247 比例：7.864471879286694
2026-04-03 10:55:13.829 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 8
2026-04-03 10:55:13.829 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 8, 用时: 519ms
2026-04-03 10:55:13.830 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 519ms
2026-04-03 11:00:14.984 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1
2026-04-03 11:00:14.985 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - DLL文件已存在，跳过复制: D:\git\测试\lxCameraApi\libs\plc\LxCameraApi-1.dll
2026-04-03 11:00:15.032 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息:
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025
2026-04-03 11:00:15.857 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956
2026-04-03 11:00:16.805 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 流启动成功
2026-04-03 11:00:16.888 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置成功（5001）
2026-04-03 11:00:16.888 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功
2026-04-03 11:00:16.888 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1
2026-04-03 11:00:17.151 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成
2026-04-03 11:00:30.112 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 开始拍照，配置: CaptureConfig(captureAmplitude=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0)
2026-04-03 11:00:30.117 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照尝试
2026-04-03 11:00:30.142 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 设置命令码结果: 25
2026-04-03 11:00:30.175 [http-nio-8097-exec-2] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\amplitude\192.168.100.82_amplitude_20260403_110030.png, 结果: true, 文件是否存在: true
2026-04-03 11:00:30.175 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:\data\/20260403/amplitude/192.168.100.82_amplitude_20260403_110030.png
2026-04-03 11:00:34.676 [http-nio-8097-exec-2] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\rgb\192.168.100.82_rgb_20260403_110030.png, 结果: true, 文件是否存在: true
2026-04-03 11:00:34.676 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:\data\/20260403/rgb/192.168.100.82_rgb_20260403_110030.png
2026-04-03 11:00:34.679 [http-nio-8097-exec-2] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\20260403\depth\192.168.100.82_depth_20260403_110030.png, 结果: true, 文件是否存在: true
2026-04-03 11:00:34.680 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:\data\/20260403/depth/192.168.100.82_depth_20260403_110030.png
2026-04-03 11:00:35.103 [http-nio-8097-exec-2] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_110030.pcd, 结果: 0
2026-04-03 11:00:35.104 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 点云保存成功: D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_110030.pcd
2026-04-03 11:00:35.104 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 第 1 次拍照成功，保存文件数: 4
2026-04-03 11:00:35.104 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 收到计算箱子数量请求: pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_110030.pcd, floorHeight=null, boxSize=135.0x135.0x250.0
2026-04-03 11:00:35.104 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 开始计算箱子数量: BoxCountRequest(cameraId=null, cameraCalibratePath=D://data/cj.json, pcdFilePath=D:\data\/20260403/pointCloud/192.168.100.82_pointcloud_20260403_110030.pcd, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 11:00:35.425 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 238668
2026-04-03 11:00:35.442 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 2
2026-04-03 11:00:35.442 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 8
2026-04-03 11:00:35.713 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层面积: 143241.0 mm², 点数: 20195 比例：7.859588477366255
2026-04-03 11:00:35.713 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 1 层箱子数: 8
2026-04-03 11:00:35.713 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 8, 用时: 609ms
2026-04-03 11:00:35.714 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 箱子数量计算完成: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 609ms
2026-04-16 09:16:30.529 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始拍照，相机: 192.168.100.89, 保存路径: D:/data/media/2026-04-16/1/1776302190529.png
2026-04-16 09:16:30.536 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[26108] 宽[3072] 高[2048]
2026-04-16 09:16:30.538 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 创建目录: D:\data\media\2026-04-16\1
2026-04-16 09:16:30.564 [http-nio-8097-exec-4] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-16/1/1776302190529.png
2026-04-16 09:20:23.865 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始清理相机资源...
2026-04-16 09:20:23.909 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 资源已清理
2026-04-16 09:20:24.098 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK反初始化成功

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2026-04-16 00:10:05.815 [scheduling-1] INFO [com.example.lxcameraapi.service.cron.CronTab] - corn delete file
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2026-04-03 00:10:00.017 [scheduling-1] INFO [com.example.lxcameraapi.util.LogUtil] - 定时任务执行 - Task: 清理文件任务, Status: START, Message: 开始执行文件清理任务, Time: 1775146200017
2026-04-03 00:10:00.023 [scheduling-1] INFO [com.example.lxcameraapi.util.LogUtil] - 定时任务执行 - Task: 清理文件任务, Status: SUCCESS, Message: 文件清理任务执行完成, Time: 1775146200023
2026-04-03 09:26:53.814 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 29712 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 09:26:53.815 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 09:26:54.761 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 09:26:54.763 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 09:26:54.763 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 09:26:54.829 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 09:26:57.661 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 09:26:57.690 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 4.415 seconds (process running for 5.231)
2026-04-03 09:27:02.084 [http-nio-8097-exec-1] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 09:27:02.240 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775179622240
2026-04-03 09:27:02.240 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:27:03.880 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 21655 个点到平面，像素面积：85921
2026-04-03 09:27:04.132 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:27:04.135 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 4, 层数: 1, 最高层: 1, 用时: 1235ms
2026-04-03 09:27:04.135 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 1904ms, Time: 1775179624135
2026-04-03 09:28:02.365 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 20600 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 09:28:02.368 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 09:28:03.340 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 09:28:03.341 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 09:28:03.341 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 09:28:03.399 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 09:28:06.822 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 09:28:06.877 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 4.999 seconds (process running for 5.742)
2026-04-03 09:28:08.375 [http-nio-8097-exec-1] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 09:28:08.529 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775179688529
2026-04-03 09:28:08.530 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:28:09.856 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 21618 个点到平面，像素面积：147857
2026-04-03 09:28:09.922 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:28:09.923 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 6, 层数: 1, 最高层: 1, 用时: 555ms
2026-04-03 09:28:09.923 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 1403ms, Time: 1775179689923
2026-04-03 09:32:56.453 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775179976453
2026-04-03 09:32:56.454 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:32:57.816 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 18902 个点到平面，像素面积：129026
2026-04-03 09:32:57.854 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:32:57.855 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 701ms
2026-04-03 09:32:57.855 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 1402ms, Time: 1775179977855
2026-04-03 09:33:07.525 [http-nio-8097-exec-4] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775179987525
2026-04-03 09:33:07.525 [http-nio-8097-exec-4] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:33:08.955 [http-nio-8097-exec-4] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 18925 个点到平面，像素面积：129699
2026-04-03 09:33:09.016 [http-nio-8097-exec-4] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:33:09.019 [http-nio-8097-exec-4] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 739ms
2026-04-03 09:33:09.019 [http-nio-8097-exec-4] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 1494ms, Time: 1775179989019
2026-04-03 09:36:22.833 [http-nio-8097-exec-6] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775180182833
2026-04-03 09:36:22.834 [http-nio-8097-exec-6] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=155.0, boxWidth=155.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:36:23.632 [http-nio-8097-exec-6] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 21757 个点到平面，像素面积：146661
2026-04-03 09:36:23.662 [http-nio-8097-exec-6] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:38:19.703 [http-nio-8097-exec-6] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 6, 层数: 1, 最高层: 1, 用时: 116439ms
2026-04-03 09:38:19.703 [http-nio-8097-exec-6] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 116871ms, Time: 1775180299703
2026-04-03 09:38:33.776 [http-nio-8097-exec-8] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=140.0, boxWidth=140.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775180313776
2026-04-03 09:38:33.777 [http-nio-8097-exec-8] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=140.0, boxWidth=140.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:38:35.308 [http-nio-8097-exec-8] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 21793 个点到平面，像素面积：147223
2026-04-03 09:38:35.368 [http-nio-8097-exec-8] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:38:39.819 [http-nio-8097-exec-8] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 5206ms
2026-04-03 09:38:39.819 [http-nio-8097-exec-8] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 6043ms, Time: 1775180319819
2026-04-03 09:40:07.684 [http-nio-8097-exec-9] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=140.0, boxWidth=140.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775180407684
2026-04-03 09:40:07.685 [http-nio-8097-exec-9] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=140.0, boxWidth=140.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:40:08.460 [http-nio-8097-exec-9] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 18791 个点到平面，像素面积：128367
2026-04-03 09:40:08.486 [http-nio-8097-exec-9] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:40:16.235 [http-nio-8097-exec-9] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 7, 层数: 1, 最高层: 1, 用时: 8134ms
2026-04-03 09:40:16.235 [http-nio-8097-exec-9] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 8551ms, Time: 1775180416235
2026-04-03 09:41:00.264 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 43424 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 09:41:00.266 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 09:41:01.155 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 09:41:01.156 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 09:41:01.156 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 09:41:01.210 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 09:41:03.946 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 09:41:03.971 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 4.211 seconds (process running for 4.922)
2026-04-03 09:41:07.916 [http-nio-8097-exec-1] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 09:41:08.028 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=140.0, boxWidth=140.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775180468028
2026-04-03 09:41:08.029 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=140.0, boxWidth=140.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:41:08.974 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 18792 个点到平面，像素面积：128270
2026-04-03 09:41:09.052 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:41:09.053 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 7, 层数: 1, 最高层: 1, 用时: 578ms
2026-04-03 09:41:09.054 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 1030ms, Time: 1775180469054
2026-04-03 09:41:35.288 [http-nio-8097-exec-2] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=137.0, boxWidth=137.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775180495288
2026-04-03 09:41:35.289 [http-nio-8097-exec-2] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=137.0, boxWidth=137.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:41:36.069 [http-nio-8097-exec-2] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 18795 个点到平面，像素面积：128398
2026-04-03 09:41:36.099 [http-nio-8097-exec-2] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:41:36.100 [http-nio-8097-exec-2] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 7, 层数: 1, 最高层: 1, 用时: 393ms
2026-04-03 09:41:36.100 [http-nio-8097-exec-2] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 812ms, Time: 1775180496100
2026-04-03 09:44:55.070 [http-nio-8097-exec-4] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=137.0, boxWidth=137.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775180695070
2026-04-03 09:44:55.070 [http-nio-8097-exec-4] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=137.0, boxWidth=137.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 09:44:55.857 [http-nio-8097-exec-4] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 2280 个点到平面，像素面积：17633
2026-04-03 09:44:55.887 [http-nio-8097-exec-4] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 09:44:55.887 [http-nio-8097-exec-4] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 1, 层数: 1, 最高层: 1, 用时: 386ms
2026-04-03 09:44:55.887 [http-nio-8097-exec-4] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 817ms, Time: 1775180695887
2026-04-03 10:05:47.901 [http-nio-8097-exec-6] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=137.0, boxWidth=137.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775181947901
2026-04-03 10:05:47.902 [http-nio-8097-exec-6] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=137.0, boxWidth=137.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:05:48.610 [http-nio-8097-exec-6] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 2276 个点到平面，像素面积：17526
2026-04-03 10:05:48.640 [http-nio-8097-exec-6] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:05:48.640 [http-nio-8097-exec-6] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 1, 层数: 1, 最高层: 1, 用时: 334ms
2026-04-03 10:05:48.640 [http-nio-8097-exec-6] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 739ms, Time: 1775181948640
2026-04-03 10:06:09.197 [http-nio-8097-exec-7] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775181969197
2026-04-03 10:06:09.198 [http-nio-8097-exec-7] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:06:09.914 [http-nio-8097-exec-7] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 2276 个点到平面，像素面积：17479
2026-04-03 10:06:09.943 [http-nio-8097-exec-7] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:06:09.943 [http-nio-8097-exec-7] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 1, 层数: 1, 最高层: 1, 用时: 331ms
2026-04-03 10:06:09.944 [http-nio-8097-exec-7] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 747ms, Time: 1775181969944
2026-04-03 10:06:51.381 [http-nio-8097-exec-8] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775182011381
2026-04-03 10:06:51.382 [http-nio-8097-exec-8] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:06:52.095 [http-nio-8097-exec-8] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 6990 个点到平面，像素面积：51341
2026-04-03 10:06:52.129 [http-nio-8097-exec-8] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:06:52.129 [http-nio-8097-exec-8] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 3, 层数: 1, 最高层: 1, 用时: 348ms
2026-04-03 10:06:52.130 [http-nio-8097-exec-8] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 749ms, Time: 1775182012130
2026-04-03 10:07:27.330 [http-nio-8097-exec-9] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775182047330
2026-04-03 10:07:27.330 [http-nio-8097-exec-9] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:07:28.097 [http-nio-8097-exec-9] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 21063 个点到平面，像素面积：144606
2026-04-03 10:07:28.126 [http-nio-8097-exec-9] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:07:28.127 [http-nio-8097-exec-9] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 379ms
2026-04-03 10:07:28.127 [http-nio-8097-exec-9] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 797ms, Time: 1775182048127
2026-04-03 10:07:49.418 [http-nio-8097-exec-10] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775182069418
2026-04-03 10:07:49.418 [http-nio-8097-exec-10] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:07:50.160 [http-nio-8097-exec-10] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 14297 个点到平面，像素面积：99428
2026-04-03 10:07:50.191 [http-nio-8097-exec-10] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:07:50.191 [http-nio-8097-exec-10] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 363ms
2026-04-03 10:07:50.191 [http-nio-8097-exec-10] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 773ms, Time: 1775182070191
2026-04-03 10:09:29.133 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 24672 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 10:09:29.135 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 10:09:30.114 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 10:09:30.115 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 10:09:30.115 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 10:09:30.173 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 10:09:32.871 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 10:09:32.896 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 4.273 seconds (process running for 5.258)
2026-04-03 10:09:53.847 [http-nio-8097-exec-1] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 10:09:53.975 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775182193975
2026-04-03 10:09:53.975 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:09:54.955 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 14319 个点到平面，像素面积：99611
2026-04-03 10:09:55.032 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:09:55.034 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 606ms
2026-04-03 10:09:55.034 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 1064ms, Time: 1775182195034
2026-04-03 10:22:16.218 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775182936218
2026-04-03 10:22:16.218 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:23:26.566 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 14291 个点到平面，像素面积：99476
2026-04-03 10:23:26.602 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:23:26.602 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 5, 层数: 1, 最高层: 1, 用时: 69912ms
2026-04-03 10:23:26.603 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 70385ms, Time: 1775183006603
2026-04-03 10:23:30.649 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 45860 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 10:23:30.651 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 10:23:32.082 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 10:23:32.084 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 10:23:32.084 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 10:23:32.237 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 10:23:35.632 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 10:23:35.673 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 5.637 seconds (process running for 7.128)
2026-04-03 10:23:37.866 [http-nio-8097-exec-1] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 10:23:37.997 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775183017997
2026-04-03 10:23:37.997 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:23:53.967 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 4045 个点到平面，像素面积：17067
2026-04-03 10:23:54.420 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:24:12.343 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 1, 层数: 1, 最高层: 2, 用时: 33874ms
2026-04-03 10:24:12.344 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 34354ms, Time: 1775183052344
2026-04-03 10:25:41.007 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775183141007
2026-04-03 10:25:41.008 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:25:45.762 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 4045 个点到平面，像素面积：17139
2026-04-03 10:25:45.799 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:27:36.915 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 1, 层数: 1, 最高层: 2, 用时: 115469ms
2026-04-03 10:27:36.916 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 115909ms, Time: 1775183256916
2026-04-03 10:27:44.915 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 47852 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 10:27:44.917 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 10:27:46.084 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 10:27:46.085 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 10:27:46.085 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 10:27:46.155 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 10:27:49.348 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 10:27:49.382 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 5.115 seconds (process running for 6.383)
2026-04-03 10:27:51.692 [http-nio-8097-exec-1] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 10:27:51.830 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775183271830
2026-04-03 10:27:51.830 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:27:52.851 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 4044 个点到平面，像素面积：17147
2026-04-03 10:27:52.949 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:27:57.195 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 9, 层数: 1, 最高层: 2, 用时: 4885ms
2026-04-03 10:27:57.196 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 5372ms, Time: 1775183277196
2026-04-03 10:33:05.805 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775183585805
2026-04-03 10:33:05.805 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:33:06.563 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 4045 个点到平面，像素面积：17233
2026-04-03 10:33:06.599 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:33:06.599 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 9, 层数: 1, 最高层: 2, 用时: 358ms
2026-04-03 10:33:06.600 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 795ms, Time: 1775183586600
2026-04-03 10:40:28.858 [http-nio-8097-exec-5] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775184028858
2026-04-03 10:40:28.859 [http-nio-8097-exec-5] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:40:30.289 [http-nio-8097-exec-5] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 20246 个点到平面，像素面积：143434
2026-04-03 10:40:30.346 [http-nio-8097-exec-5] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:40:30.347 [http-nio-8097-exec-5] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 786ms
2026-04-03 10:40:30.348 [http-nio-8097-exec-5] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 1490ms, Time: 1775184030348
2026-04-03 10:47:06.091 [http-nio-8097-exec-7] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775184426091
2026-04-03 10:47:06.092 [http-nio-8097-exec-7] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:47:51.351 [http-nio-8097-exec-7] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 20184 个点到平面，像素面积：144096
2026-04-03 10:47:51.388 [http-nio-8097-exec-7] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:47:51.388 [http-nio-8097-exec-7] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 440ms
2026-04-03 10:47:51.388 [http-nio-8097-exec-7] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 45297ms, Time: 1775184471388
2026-04-03 10:47:57.658 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 35136 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 10:47:57.660 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 10:47:58.838 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 10:47:58.840 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 10:47:58.840 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 10:47:58.914 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 10:48:01.908 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 10:48:01.940 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 4.855 seconds (process running for 5.677)
2026-04-03 10:48:11.115 [http-nio-8097-exec-1] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 10:48:11.325 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775184491325
2026-04-03 10:48:11.325 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:48:15.567 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 20166 个点到平面，像素面积：144104
2026-04-03 10:48:15.654 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:48:15.655 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 590ms
2026-04-03 10:48:15.656 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 4342ms, Time: 1775184495656
2026-04-03 10:49:43.855 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775184583855
2026-04-03 10:49:43.856 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:50:12.781 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 20179 个点到平面，像素面积：143699
2026-04-03 10:50:12.812 [http-nio-8097-exec-3] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:50:12.813 [http-nio-8097-exec-3] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 360ms
2026-04-03 10:50:12.813 [http-nio-8097-exec-3] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 28958ms, Time: 1775184612813
2026-04-03 10:51:54.553 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 34240 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 10:51:54.556 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 10:51:55.577 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 10:51:55.579 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 10:51:55.579 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 10:51:55.639 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 10:51:58.937 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 10:51:58.981 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 4.959 seconds (process running for 5.878)
2026-04-03 10:52:20.093 [http-nio-8097-exec-1] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 10:52:20.270 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775184740270
2026-04-03 10:52:20.271 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:52:29.935 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 20167 个点到平面，像素面积：143754
2026-04-03 10:52:30.007 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:52:30.008 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 495ms
2026-04-03 10:52:30.008 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 9748ms, Time: 1775184750008
2026-04-03 10:54:49.977 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 47832 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 10:54:49.980 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 10:54:51.413 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 10:54:51.415 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 10:54:51.415 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 10:54:51.503 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 10:54:54.491 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 10:54:54.523 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 5.143 seconds (process running for 6.136)
2026-04-03 10:55:04.168 [http-nio-8097-exec-1] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 10:55:04.356 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775184904356
2026-04-03 10:55:04.357 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 10:55:13.757 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 20247 个点到平面，像素面积：143330
2026-04-03 10:55:13.828 [http-nio-8097-exec-1] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 10:55:13.830 [http-nio-8097-exec-1] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 519ms
2026-04-03 10:55:13.830 [http-nio-8097-exec-1] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 9482ms, Time: 1775184913830
2026-04-03 11:00:13.693 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Starting LxCameraApiApplication using Java 21.0.10 with PID 11392 (D:\git\测试\lxCameraApi\target\classes started by 昊天 in D:\git\测试\lxCameraApi)
2026-04-03 11:00:13.695 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - No active profile set, falling back to 1 default profile: "default"
2026-04-03 11:00:14.798 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Initializing ProtocolHandler ["http-nio-8097"]
2026-04-03 11:00:14.799 [main] INFO [org.apache.catalina.core.StandardService] - Starting service [Tomcat]
2026-04-03 11:00:14.800 [main] INFO [org.apache.catalina.core.StandardEngine] - Starting Servlet engine: [Apache Tomcat/10.1.16]
2026-04-03 11:00:14.879 [main] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring embedded WebApplicationContext
2026-04-03 11:00:17.796 [main] INFO [org.apache.coyote.http11.Http11NioProtocol] - Starting ProtocolHandler ["http-nio-8097"]
2026-04-03 11:00:17.827 [main] INFO [com.example.lxcameraapi.LxCameraApiApplication] - Started LxCameraApiApplication in 4.735 seconds (process running for 5.627)
2026-04-03 11:00:29.910 [http-nio-8097-exec-2] INFO [o.a.c.core.ContainerBase.[Tomcat].[localhost].[/]] - Initializing Spring DispatcherServlet 'dispatcherServlet'
2026-04-03 11:00:30.110 [http-nio-8097-exec-2] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Params: [BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 127.0.0.1, Time: 1775185230110
2026-04-03 11:00:30.111 [http-nio-8097-exec-2] INFO [c.e.lxcameraapi.controller.BoxCountController] - 收到箱子数量计算请求: BoxCountRequest(cameraId=null, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=135.0, boxWidth=135.0, boxHeight=250.0, stackType=null, maxBoxesPerLayer=8, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)
2026-04-03 11:00:35.622 [http-nio-8097-exec-2] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 成功绘制 20195 个点到平面，像素面积：143241
2026-04-03 11:00:35.712 [http-nio-8097-exec-2] INFO [c.e.l.s.I.algorithm.PointCloudProcessor] - 图像已保存到：D://data\1.jpg
2026-04-03 11:00:35.715 [http-nio-8097-exec-2] INFO [c.e.lxcameraapi.controller.BoxCountController] - 箱子数量计算结果: 成功 - 总箱子数: 8, 层数: 1, 最高层: 1, 用时: 609ms
2026-04-03 11:00:35.715 [http-nio-8097-exec-2] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://127.0.0.1:8097/api/boxcount/calculate, Method: POST, Status: 200, Duration: 5615ms, Time: 1775185235715
2026-04-16 00:10:05.811 [scheduling-1] INFO [com.example.lxcameraapi.util.LogUtil] - 定时任务执行 - Task: 清理文件任务, Status: START, Message: 开始执行文件清理任务, Time: 1776269405811
2026-04-16 00:10:05.818 [scheduling-1] INFO [com.example.lxcameraapi.util.LogUtil] - 定时任务执行 - Task: 清理文件任务, Status: SUCCESS, Message: 文件清理任务执行完成, Time: 1776269405818
2026-04-16 09:16:30.527 [http-nio-8097-exec-4] INFO [com.example.lxcameraapi.util.LogUtil] - API请求 - URL: http://192.168.100.110:8097/category/single, Method: POST, Params: [BoxCountRequest(cameraId=1, cameraCalibratePath=null, pcdFilePath=null, floorHeight=null, boxLength=null, boxWidth=null, boxHeight=null, stackType=null, maxBoxesPerLayer=null, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null)], ClientIP: 192.168.100.99, Time: 1776302190527
2026-04-16 09:16:30.529 [http-nio-8097-exec-4] INFO [c.e.lxcameraapi.controller.CategoryController] - 开始拍照，IP: 1, 路径: D:/data/media/2026-04-16/1/1776302190529.png
2026-04-16 09:16:31.287 [http-nio-8097-exec-4] INFO [c.e.lxcameraapi.controller.CategoryController] - 检测结果: []
2026-04-16 09:16:31.287 [http-nio-8097-exec-4] INFO [com.example.lxcameraapi.util.LogUtil] - API响应 - URL: http://192.168.100.110:8097/category/single, Method: POST, Status: 200, Duration: 760ms, Time: 1776302191287
2026-04-16 09:20:23.809 [SpringApplicationShutdownHook] INFO [c.e.l.s.IndustrialCamera.algorithm.ONNXServiceNew] - 开始清理 ONNX 资源...
2026-04-16 09:20:23.864 [SpringApplicationShutdownHook] INFO [c.e.l.s.IndustrialCamera.algorithm.ONNXServiceNew] - 已关闭 Session: model
2026-04-16 09:20:23.865 [SpringApplicationShutdownHook] INFO [c.e.l.s.IndustrialCamera.algorithm.ONNXServiceNew] - ONNX 资源清理完成

63
pom.xml
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@ -27,7 +27,10 @@
<url/>
</scm>
<properties>
<java.version>21</java.version>
<java.version>20</java.version>
<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
<project.reporting.outputEncoding>UTF-8</project.reporting.outputEncoding>
<maven.compiler.encoding>UTF-8</maven.compiler.encoding>
</properties>
<dependencies>
<dependency>
@ -57,6 +60,12 @@
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-web</artifactId>
</dependency>
<!-- 串口通信库 -->
<dependency>
<groupId>com.fazecast</groupId>
<artifactId>jSerialComm</artifactId>
<version>2.10.2</version>
</dependency>
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-web-services</artifactId>
@ -64,7 +73,7 @@
<dependency>
<groupId>com.microsoft.onnxruntime</groupId>
<artifactId>onnxruntime</artifactId>
<version>1.19.0</version>
<version>1.16.0</version>
</dependency>
<dependency>
<groupId>com.sun.jna</groupId>
@ -90,7 +99,7 @@
<dependency>
<groupId>org.projectlombok</groupId>
<artifactId>lombok</artifactId>
<version>1.18.30</version>
<version>1.18.32</version>
</dependency>
<!-- SpringDoc OpenAPI 依赖（替代SpringFox） -->
<dependency>
@ -105,15 +114,15 @@
<version>5.8.16</version>
</dependency>
<dependency>
<groupId>MvCameraControlWrapper</groupId>
<artifactId>MvCameraControlWrapper</artifactId>
<version>1.0</version>
<scope>system</scope>
<systemPath>${project.basedir}/src/main/resources/libs/MvCameraControlWrapper.jar</systemPath>
</dependency>
<dependency>
<groupId>MvCameraControlWrapper</groupId>
<artifactId>MvCameraControlWrapper</artifactId>
<version>1.0</version>
<scope>system</scope>
<systemPath>${project.basedir}/src/main/resources/libs/MvCameraControlWrapper.jar</systemPath>
</dependency>
<dependency>
<dependency>
<groupId>com.google.zxing</groupId>
<artifactId>javase</artifactId>
<version>3.5.0</version>
@ -159,18 +168,44 @@
<artifactId>maven-compiler-plugin</artifactId>
<version>3.11.0</version>
<configuration>
<source>21</source>
<target>21</target>
<source>20</source>
<target>20</target>
<encoding>UTF-8</encoding>
<annotationProcessorPaths>
<path>
<groupId>org.projectlombok</groupId>
<artifactId>lombok</artifactId>
<version>1.18.30</version>
<version>1.18.32</version>
</path>
</annotationProcessorPaths>
</configuration>
</plugin>
<!-- 复制libs目录下的DLL文件到target目录 -->
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-resources-plugin</artifactId>
<version>3.3.1</version>
<executions>
<execution>
<id>copy-dll-files</id>
<phase>package</phase>
<goals>
<goal>copy-resources</goal>
</goals>
<configuration>
<outputDirectory>${project.build.directory}/libs</outputDirectory>
<resources>
<resource>
<directory>${project.basedir}/libs</directory>
<includes>
<include>**/*.dll</include>
</includes>
</resource>
</resources>
</configuration>
</execution>
</executions>
</plugin>
</plugins>
</build>

2
src/main/java/com/example/lxcameraapi/conf/AppConfig.java
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@ -13,6 +13,7 @@ import java.util.Map;
public class AppConfig {
public String templatePath;
public String picPath;
public String picUrl;
public double threshold = 0.7;
public List<Camera> lxCamera;
@ -47,6 +48,7 @@ public class AppConfig {
String deepConvertConfPath;
String computeConfPath;
String calibratePath;
Integer imageSize;
}
@Data

7
src/main/java/com/example/lxcameraapi/controller/BoxCountController.java
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@ -36,9 +36,9 @@ public class BoxCountController {
public BoxCountResponse countBoxes(@RequestBody BoxCountRequest request) {
log.info("收到箱子数量计算请求: {}", request);
String pcdFilePath = "D:\\data\\";
String cameraIp = appConfig.getLxCamera().getFirst().getIp();
String cameraCalibratePath = appConfig.getLxCamera().getFirst().getCalibratePath();
String pcdFilePath = appConfig.getPicPath();
String cameraIp = appConfig.getLxCamera().isEmpty() ? null : appConfig.getLxCamera().get(0).getIp();
String cameraCalibratePath = appConfig.getLxCamera().isEmpty() ? null : appConfig.getLxCamera().get(0).getCalibratePath();
request.setCameraCalibratePath(cameraCalibratePath);
CaptureResult captureResult = lxCameraService.capture(cameraIp,pcdFilePath);
request.setPcdFilePath(captureResult.getFilePath("pointCloud"));
@ -46,6 +46,7 @@ public class BoxCountController {
try {
BoxCountResult result = lxCameraService.countBoxes(request);
BoxCountResponse response = BoxCountResponse.fromResult(result);
response.setImagePath(captureResult.getFilePath("rgb").replace(appConfig.getPicPath(), appConfig.getPicUrl()));
log.info("箱子数量计算结果: {}", result.getSummary());

89
src/main/java/com/example/lxcameraapi/controller/CategoryController.java
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@ -1,11 +1,25 @@
package com.example.lxcameraapi.controller;
import ai.onnxruntime.OrtException;
import com.example.lxcameraapi.conf.AppConfig;
import com.example.lxcameraapi.service.IndustrialCamera.algorithm.ONNXServiceNew;
import com.example.lxcameraapi.service.IndustrialCamera.algorithm.PointCloudProcessor;
import com.example.lxcameraapi.service.IndustrialCamera.camera.hik.CaptureImageResponse;
import com.example.lxcameraapi.service.IndustrialCamera.camera.hik.ImageCaptureService;
import com.example.lxcameraapi.service.IndustrialCamera.camera.lx.config.BoxCountRequest;
import com.example.lxcameraapi.service.IndustrialCamera.camera.lx.config.BoxCountResponse;
import com.example.lxcameraapi.service.IndustrialCamera.pojo.Pojo;
import com.example.lxcameraapi.service.IndustrialCamera.yolo.BoundingBox;
import com.example.lxcameraapi.service.IndustrialCamera.yolo.ClassifyEntity;
import lombok.extern.slf4j.Slf4j;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.bind.annotation.*;
import jakarta.annotation.Resource;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
@Slf4j
@RestController
@ -13,5 +27,76 @@ import jakarta.annotation.Resource;
public class CategoryController {
@Resource
AppConfig appConfig;
@Resource
private ImageCaptureService imageCaptureService;
@Resource
private ONNXServiceNew onnxServiceNew;
/**
* 品规识别
*/
@PostMapping("/single")
public BoxCountResponse captureSingle(@RequestBody BoxCountRequest request) {
BoxCountResponse boxCountResponse = new BoxCountResponse();
try {
// 获取当前日期格式为 yyyy-MM-dd
LocalDateTime currentDate = LocalDateTime.now();
DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd");
String formattedDate = currentDate.format(formatter);
String path = appConfig.getPicPath()+ formattedDate + "/" + request.getCameraId() + "/" + System.currentTimeMillis() + ".png";
String url = appConfig.getPicUrl() + formattedDate + "/" + request.getCameraId() + "/" + System.currentTimeMillis() + ".png";
log.info("开始拍照，IP: {}, 路径: {}", request.getCameraId(), path);
String ip = null;
for (AppConfig.Camera camera : appConfig.getHikCamera()) {
if (camera.getId().equals(request.getCameraId()))
ip = camera.getIp();
}
boolean success = imageCaptureService.captureImage(ip, path);
List<BoundingBox> detectResults = onnxServiceNew.detect(path, null);
log.info("检测结果: {}", detectResults);
boxCountResponse.setImagePath(url);
if (!detectResults.isEmpty()){
// 统计每个 index 出现的次数
Map<Integer, Long> indexCountMap = detectResults.stream()
.collect(Collectors.groupingBy(
BoundingBox::getIndex,
Collectors.counting()
));
// 找到出现次数最多的 index
Map.Entry<Integer, Long> maxIndexEntry = indexCountMap.entrySet().stream()
.max(Map.Entry.comparingByValue())
.orElse(null);
if (maxIndexEntry != null) {
// 根据最多的 index 找到对应的 name
String mostCommonName = detectResults.stream()
.filter(box -> box.getIndex().equals(maxIndexEntry.getKey()))
.findFirst()
.map(BoundingBox::getName)
.orElse("Unknown");
boxCountResponse.setResult(mostCommonName);
log.info("检测结果统计 - 最常见的类别: {}, 出现次数: {}", mostCommonName, maxIndexEntry.getValue());
} else {
boxCountResponse.setResult("Unknown");
}
return boxCountResponse;
}
} catch (OrtException e) {
log.error("检测异常", e);
return boxCountResponse;
}
boxCountResponse.setResult("Unknown");
return boxCountResponse;
}
}

173
src/main/java/com/example/lxcameraapi/controller/DrawController.java
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@ -0,0 +1,173 @@
package com.example.lxcameraapi.controller;
import com.example.lxcameraapi.service.IndustrialCamera.opencv.OpencvService;
import com.example.lxcameraapi.service.IndustrialCamera.yolo.BoundingBox;
import lombok.extern.slf4j.Slf4j;
import org.opencv.core.Mat;
import org.opencv.imgcodecs.Imgcodecs;
import org.springframework.web.bind.annotation.*;
import jakarta.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
/**
* 图像绘制控制器
*/
@Slf4j
@RestController
@RequestMapping("/draw")
public class DrawController {
@Resource
private OpencvService opencvService;
/**
* 在图片上绘制边界框并标注
*
* @param boxes 边界框列表
* @param sourcePath 源图片路径
* @param destPath 目标图片路径
* @return 处理结果
*/
@PostMapping("/box")
public String drawBox(@RequestBody List<BoundingBox> boxes,
@RequestParam String sourcePath,
@RequestParam String destPath) {
try {
log.info("开始绘制边界框，源路径: {}, 目标路径: {}, 框数量: {}",
sourcePath, destPath, boxes.size());
opencvService.drawBoundingBoxesOnImage(boxes, sourcePath, destPath);
return "绘制成功，已保存到: " + destPath;
} catch (Exception e) {
log.error("绘制边界框失败", e);
return "绘制失败: " + e.getMessage();
}
}
/**
* 在图片左上角绘制图例（按置信度排序）
*
* @param boxes 边界框列表
* @param sourcePath 源图片路径
* @param destPath 目标图片路径
* @return 处理结果
*/
@PostMapping("/legend")
public String drawLegend(@RequestBody List<BoundingBox> boxes,
@RequestParam String sourcePath,
@RequestParam String destPath) {
try {
log.info("开始绘制图例，源路径: {}, 目标路径: {}, 框数量: {}",
sourcePath, destPath, boxes.size());
opencvService.drawLegendOnImage(boxes, sourcePath, destPath);
return "绘制成功，已保存到: " + destPath;
} catch (Exception e) {
log.error("绘制图例失败", e);
return "绘制失败: " + e.getMessage();
}
}
/**
* 同时绘制边界框和图例
*
* @param boxes 边界框列表
* @param sourcePath 源图片路径
* @param destPath 目标图片路径
* @return 处理结果
*/
@PostMapping("/both")
public String drawBoth(@RequestBody List<BoundingBox> boxes,
@RequestParam String sourcePath,
@RequestParam String destPath) {
try {
log.info("开始绘制边界框和图例，源路径: {}, 目标路径: {}, 框数量: {}",
sourcePath, destPath, boxes.size());
// 读取图片
Mat image = Imgcodecs.imread(sourcePath);
if (image.empty()) {
return "读取图片失败: " + sourcePath;
}
// 绘制边界框
Mat result = opencvService.drawBoundingBoxesOnMat(image, boxes);
// 绘制图例
result = opencvService.drawLegendOnMat(result, boxes);
// 保存图片
Imgcodecs.imwrite(destPath, result);
return "绘制成功，已保存到: " + destPath;
} catch (Exception e) {
log.error("绘制失败", e);
return "绘制失败: " + e.getMessage();
}
}
/**
* 示例：创建测试数据并绘制
*
* @param sourcePath 源图片路径
* @param destPath 目标图片路径
* @return 处理结果
*/
@GetMapping("/example")
public String drawExample(@RequestParam String sourcePath,
@RequestParam(defaultValue = "D:\\data\\result.jpg") String destPath) {
try {
// 创建测试数据
List<BoundingBox> boxes = new ArrayList<>();
BoundingBox box1 = new BoundingBox();
box1.setName("箱子A");
box1.setConfidence(0.95);
box1.setX(100);
box1.setY(100);
box1.setW(200);
box1.setH(150);
boxes.add(box1);
BoundingBox box2 = new BoundingBox();
box2.setName("箱子B");
box2.setConfidence(0.88);
box2.setX(350);
box2.setY(200);
box2.setW(180);
box2.setH(120);
boxes.add(box2);
BoundingBox box3 = new BoundingBox();
box3.setName("箱子C");
box3.setConfidence(0.72);
box3.setX(150);
box2.setY(400);
box3.setW(160);
box3.setH(100);
boxes.add(box3);
log.info("示例绘制，框数量: {}", boxes.size());
// 绘制边界框和图例
Mat image = Imgcodecs.imread(sourcePath);
if (image.empty()) {
return "读取图片失败: " + sourcePath;
}
Mat result = opencvService.drawBoundingBoxesOnMat(image, boxes);
result = opencvService.drawLegendOnMat(result, boxes);
Imgcodecs.imwrite(destPath, result);
return "示例绘制成功，已保存到: " + destPath;
} catch (Exception e) {
log.error("示例绘制失败", e);
return "绘制失败: " + e.getMessage();
}
}
}

25
src/main/java/com/example/lxcameraapi/controller/HikCaptureController.java
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@ -7,6 +7,7 @@ import org.springframework.web.bind.annotation.*;
import jakarta.annotation.Resource;
import java.util.List;
import java.util.ArrayList;
/**
* 海康相机单张拍照控制器
@ -160,4 +161,28 @@ public class HikCaptureController {
return CameraCheckResponse.failure("检查失败: " + e.getMessage());
}
}
/**
* 连续拍照
*/
@GetMapping("/batch")
public BatchCaptureResponse captureBatch(@RequestParam(defaultValue = "192.168.100.89") String ip,
@RequestParam(defaultValue = "D:\\data") String basePath,
@RequestParam(defaultValue = "100") int count) {
try {
log.info("开始连拍，IP: {}, 路径: {}, 数量: {}", ip, basePath, count);
List<String> successPaths = imageCaptureService.captureBatch(ip, basePath, count);
if (!successPaths.isEmpty()) {
log.info("连拍完成，IP: {}, 成功: {}/{}", ip, successPaths.size(), count);
return BatchCaptureResponse.success(ip, basePath, count, successPaths.size(), successPaths);
} else {
log.warn("连拍失败，IP: {}, 路径: {}", ip, basePath);
return BatchCaptureResponse.failure("连拍失败，请检查相机是否已初始化", ip);
}
} catch (Exception e) {
log.error("连拍异常", e);
return BatchCaptureResponse.failure("连拍失败: " + e.getMessage(), ip);
}
}
}

2
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/QrCode/IdentifyService.java
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@ -16,7 +16,7 @@ public class IdentifyService {
public static void main(String[] args) {
try {
// 加载二维码图片
File qrCodeImage = new File("E:\\work\\20250104153857.jpeg");
File qrCodeImage = new File("D:\\data\\QQ20260414-171933.jpg");
// 使用 ImageIO 读取图片
BufferedImage bufferedImage = ImageIO.read(qrCodeImage);

254
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/algorithm/ONNXServiceNew.java
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@ -5,9 +5,7 @@ import com.example.lxcameraapi.service.IndustrialCamera.yolo.BoundingBox;
import com.example.lxcameraapi.service.IndustrialCamera.yolo.ClassifyEntity;
import lombok.extern.slf4j.Slf4j;
import ai.onnxruntime.*;
import lombok.extern.slf4j.Slf4j;
import org.opencv.core.Mat;
import org.opencv.imgcodecs.Imgcodecs;
import org.springframework.http.ResponseEntity;
@ -47,54 +45,36 @@ public class ONNXServiceNew {
private static final Map<String, AppConfig.YoloModelConfig> ortMap = new ConcurrentHashMap<>();
private static final OrtEnvironment environment = OrtEnvironment.getEnvironment();
public static void main(String[] args) {
System.load(new File(System.getProperty("user.dir")+"\\libs\\opencv\\opencv_java480.dll").getAbsolutePath());
ortMap.put("a", new AppConfig.YoloModelConfig());
ortMap.get("a").setImageSize(2048);
ortMap.get("a").setConfThreshold(0.5f);
ortMap.get("a").setNames(new String[]{"0"});
int imageSize = 1024;
String imagePath = "D:\\data\\1\\0153\\1_852df494-1f33-4962-b79b-11cc04e46bb7.jpg.jpg";
Mat img2 = Imgcodecs.imread(imagePath);;
String modelPath = "D:/git/测试/lxCameraApi/best.onnx";
List<String> name = Arrays.asList("0143", "0153", "0173", "0177", "0191", "0253", "0256", "0266", "0268", "0286", "0302", "0304", "0305", "0307", "0320", "0326", "0336", "0339", "0343", "0352", "0458", "0461", "0462", "0473", "0477", "0486", "0490", "0492", "0930", "1101", "1102", "1104", "1262", "1269", "1302", "1308", "1359", "1366", "1622", "1625", "1919", "1976", "20", "2165", "2188", "2210", "2224", "2445", "2476", "2611", "2730", "2731", "2910", "2914", "2943", "3027", "3028", "3029", "3212", "3226", "3344", "3501", "3509", "3538", "3725", "3741", "3751", "3754", "3763", "3766", "3808");
int imageSize = 2048;
String imagePath = "D:\\data\\1776157002220.png";
OrtEnvironment environment = OrtEnvironment.getEnvironment();
OrtSession.SessionOptions sessionOptions = new OrtSession.SessionOptions();
String modelPath = "D:\\data\\best.onnx";
// List<String> name = Arrays.asList("0143", "0153", "0173", "0177", "0191", "0253", "0256", "0266", "0268", "0286", "0302", "0304", "0305", "0307", "0320", "0326", "0336", "0339", "0343", "0352", "0458", "0461", "0462", "0473", "0477", "0486", "0490", "0492", "0930", "1101", "1102", "1104", "1262", "1269", "1302", "1308", "1359", "1366", "1622", "1625", "1919", "1976", "20", "2165", "2188", "2210", "2224", "2445", "2476", "2611", "2730", "2731", "2910", "2914", "2943", "3027", "3028", "3029", "3212", "3226", "3344", "3501", "3509", "3538", "3725", "3741", "3751", "3754", "3763", "3766", "3808");
OrtSession.SessionOptions sessionOptions = null;
// 使用gpu,需要本机按钻过cuda，并修改pom.xml，不安装也能运行本程序
// sessionOptions.addCUDA(0);
// 实际项目中，视频识别必须开启GPU，并且要防止队列堆积
OrtSession session = null;
ONNXServiceNew onnxServiceNew = new ONNXServiceNew();
try {
sessionOptions = new OrtSession.SessionOptions();
session = environment.createSession(modelPath, sessionOptions);
ortSessions.put("a", session);
List<BoundingBox> boxes = onnxServiceNew.detect(imagePath, "a");
OrtSession finalSession = session;
float[] imageData = new float[0];
try {
Mat image = resizeKeepAspectRatio(img2, 1024);
Imgcodecs.imwrite(imagePath+".jpg", Objects.requireNonNull(img2));
imageData = processImageFromURL(imagePath+".jpg", imageSize);
} catch (IOException ex) {
throw new RuntimeException(ex);
}
// 构建输入张量
long[] shape = new long[]{1, 3, imageSize, imageSize}; // batch_size, channels, height, width
OnnxTensor inputTensor = null;
inputTensor = OnnxTensor.createTensor(OrtEnvironment.getEnvironment(), FloatBuffer.wrap(imageData), shape);
HashMap<String, OnnxTensor> stringOnnxTensorHashMap = new HashMap<>();
stringOnnxTensorHashMap.put(session.getInputInfo().keySet().iterator().next(), inputTensor);
// 执行推理
OrtSession.Result result = session.run(stringOnnxTensorHashMap);
// 获取第一个输出（大多数情况下只有一个输出）
float[] outputData = ((float[][]) result.get(0).getValue())[0];
// 获取最大概率对应的类别 ID
int predictedClassId = argmax(outputData, 0.5);
ClassifyEntity classifyEntity = new ClassifyEntity();
// classifyEntity.setIndex(predictedClassId);
// classifyEntity.setName(config.getNames()[predictedClassId]);
// classifyEntity.setConfidence(outputData[predictedClassId]);
@ -105,10 +85,15 @@ public class ONNXServiceNew {
// DrawBoundingBox.drawBoundingBoxesOnImage(imagePath, "D:\\data\\2024-04-24_08-55-42-492data.BMP.jpg", filteredDetections);
System.out.println(predictedClassId);
System.out.println(name.get(predictedClassId));
System.out.println(boxes);
// System.out.println(name.get(predictedClassId));
} catch (OrtException e) {
throw new RuntimeException(e);
} finally {
if (sessionOptions != null) {
sessionOptions.close();
}
}
// // 处理图像
@ -373,16 +358,17 @@ public class ONNXServiceNew {
@PostConstruct
public void initSession() {
OrtSession.SessionOptions sessionOptions = new OrtSession.SessionOptions();
// 使用gpu,需要本机按钻过cuda，并修改pom.xml，不安装也能运行本程序
// sessionOptions.addCUDA(0);
// 实际项目中，视频识别必须开启GPU，并且要防止队列堆积
// 大模型
OrtSession session = null;
OrtSession.SessionOptions sessionOptions = null;
try {
sessionOptions = new OrtSession.SessionOptions();
// 使用gpu,需要本机按钻过cuda，并修改pom.xml，不安装也能运行本程序
// sessionOptions.addCUDA(0);
// 实际项目中，视频识别必须开启GPU，并且要防止队列堆积
// 大模型
OrtSession session = null;
if (configProperties.getYoloModelConfig().getModelPath() != null) {
session = OrtEnvironment.getEnvironment().createSession(configProperties.getYoloModelConfig().getModelPath(), sessionOptions);
session = environment.createSession(configProperties.getYoloModelConfig().getModelPath(), sessionOptions);
OrtSession finalSession = session;
session.getInputInfo().keySet().forEach(x -> {
@ -407,6 +393,7 @@ public class ONNXServiceNew {
if (configProperties.getYoloModelConfig().getModelMap() != null) {
OrtSession.SessionOptions finalSessionOptions = sessionOptions;
configProperties.getYoloModelConfig().getModelMap().forEach((k, v) -> {
try {
// 判断v文件是否存在
@ -415,7 +402,7 @@ public class ONNXServiceNew {
return;
}
OrtSession session1 = OrtEnvironment.getEnvironment().createSession(v.getModelPath(), sessionOptions);
OrtSession session1 = environment.createSession(v.getModelPath(), finalSessionOptions);
session1.getInputInfo().keySet().forEach(x -> {
System.out.println("input name = " + x);
@ -441,6 +428,7 @@ public class ONNXServiceNew {
} catch (OrtException e) {
throw new RuntimeException(e);
}
// sessionOptions 不在这里关闭，它的生命周期应该与 Session 一致
}
private OrtSession getSession(String type) {
@ -479,33 +467,43 @@ public class ONNXServiceNew {
// 构建输入张量
long[] shape = new long[]{1, 3, config.getImageSize(), config.getImageSize()}; // batch_size, channels, height, width
OnnxTensor inputTensor = null;
inputTensor = OnnxTensor.createTensor(OrtEnvironment.getEnvironment(), FloatBuffer.wrap(imageData), shape);
OrtSession.Result result = null;
try {
inputTensor = OnnxTensor.createTensor(environment, FloatBuffer.wrap(imageData), shape);
HashMap<String, OnnxTensor> stringOnnxTensorHashMap = new HashMap<>();
stringOnnxTensorHashMap.put(session.getInputInfo().keySet().iterator().next(), inputTensor);
HashMap<String, OnnxTensor> stringOnnxTensorHashMap = new HashMap<>();
stringOnnxTensorHashMap.put(session.getInputInfo().keySet().iterator().next(), inputTensor);
// 执行推理
OrtSession.Result result = session.run(stringOnnxTensorHashMap);
// 获取第一个输出（大多数情况下只有一个输出）
float[] outputData = ((float[][]) result.get(0).getValue())[0];
List<ClassifyEntity> classifyEntities = new ArrayList<>();
for (int i = 0; i < outputData.length; i += 5) {
ClassifyEntity classifyEntity = new ClassifyEntity();
classifyEntity.setIndex(i);
classifyEntity.setName(config.getNames()[i]);
classifyEntity.setConfidence(outputData[i]);
// classifyEntity.setClassProb(String.format("%.4f", outputData[i]));
classifyEntities.add(classifyEntity);
}
// 执行推理
result = session.run(stringOnnxTensorHashMap);
// 获取第一个输出（大多数情况下只有一个输出）
float[] outputData = ((float[][]) result.get(0).getValue())[0];
List<ClassifyEntity> classifyEntities = new ArrayList<>();
for (int i = 0; i < outputData.length; i += 5) {
ClassifyEntity classifyEntity = new ClassifyEntity();
classifyEntity.setIndex(i);
classifyEntity.setName(config.getNames()[i]);
classifyEntity.setConfidence(outputData[i]);
// classifyEntity.setClassProb(String.format("%.4f", outputData[i]));
classifyEntities.add(classifyEntity);
}
// 获取最大概率对应的类别 ID
// int predictedClassId = argmax(outputData, configProperties.getYoloModelConfig().getConfThreshold());
// 获取最大概率对应的类别 ID
// int predictedClassId = argmax(outputData, configProperties.getYoloModelConfig().getConfThreshold());
// float[] output = (float[]) result.get(0).getValue();
// float[] output = (float[]) result.get(0).getValue();
// DrawBoundingBox.drawBoundingBoxesOnImage(imagePath, "D:\\data\\2024-04-24_08-55-42-492data.BMP.jpg", filteredDetections);
// DrawBoundingBox.drawBoundingBoxesOnImage(imagePath, "D:\\data\\2024-04-24_08-55-42-492data.BMP.jpg", filteredDetections);
return classifyEntities;
return classifyEntities;
} finally {
if (inputTensor != null) {
inputTensor.close();
}
if (result != null) {
result.close();
}
}
}
@ -531,35 +529,45 @@ public class ONNXServiceNew {
// 构建输入张量
long[] shape = new long[]{1, 3, config.getImageSize(), config.getImageSize()}; // batch_size, channels, height, width
OnnxTensor inputTensor = null;
inputTensor = OnnxTensor.createTensor(OrtEnvironment.getEnvironment(), FloatBuffer.wrap(imageData), shape);
HashMap<String, OnnxTensor> stringOnnxTensorHashMap = new HashMap<>();
stringOnnxTensorHashMap.put(session.getInputInfo().keySet().iterator().next(), inputTensor);
// 执行推理
OrtSession.Result result = session.run(stringOnnxTensorHashMap);
// 获取第一个输出（大多数情况下只有一个输出）
float[] outputData = ((float[][]) result.get(0).getValue())[0];
// 获取最大概率对应的类别 ID
int predictedClassId = argmax(outputData, configProperties.getYoloModelConfig().getConfThreshold());
ClassifyEntity classifyEntity = new ClassifyEntity();
classifyEntity.setIndex(predictedClassId);
if (predictedClassId!=-1){
log.info("识别模版：{}",config.getNames()[predictedClassId]);
classifyEntity.setName(config.getNames()[predictedClassId]);
classifyEntity.setConfidence(outputData[predictedClassId]);
}else {
log.info("未识别模版");
}
// classifyEntity.setClassProb(String.format("%.4f", outputData[i]));
OrtSession.Result result = null;
try {
inputTensor = OnnxTensor.createTensor(environment, FloatBuffer.wrap(imageData), shape);
HashMap<String, OnnxTensor> stringOnnxTensorHashMap = new HashMap<>();
stringOnnxTensorHashMap.put(session.getInputInfo().keySet().iterator().next(), inputTensor);
// float[] output = (float[]) result.get(0).getValue();
// 执行推理
result = session.run(stringOnnxTensorHashMap);
// 获取第一个输出（大多数情况下只有一个输出）
float[] outputData = ((float[][]) result.get(0).getValue())[0];
// DrawBoundingBox.drawBoundingBoxesOnImage(imagePath, "D:\\data\\2024-04-24_08-55-42-492data.BMP.jpg", filteredDetections);
// 获取最大概率对应的类别 ID
int predictedClassId = argmax(outputData, configProperties.getYoloModelConfig().getConfThreshold());
ClassifyEntity classifyEntity = new ClassifyEntity();
classifyEntity.setIndex(predictedClassId);
if (predictedClassId!=-1){
log.info("识别模版：{}",config.getNames()[predictedClassId]);
classifyEntity.setName(config.getNames()[predictedClassId]);
classifyEntity.setConfidence(outputData[predictedClassId]);
}else {
log.info("未识别模版");
}
// classifyEntity.setClassProb(String.format("%.4f", outputData[i]));
// float[] output = (float[]) result.get(0).getValue();
// DrawBoundingBox.drawBoundingBoxesOnImage(imagePath, "D:\\data\\2024-04-24_08-55-42-492data.BMP.jpg", filteredDetections);
return classifyEntity;
return classifyEntity;
} finally {
if (inputTensor != null) {
inputTensor.close();
}
if (result != null) {
result.close();
}
}
}
/**
@ -585,29 +593,38 @@ public class ONNXServiceNew {
// 构建输入张量
long[] shape = new long[]{1, 3, config.getImageSize(), config.getImageSize()}; // batch_size, channels, height, width
OnnxTensor inputTensor = null;
inputTensor = OnnxTensor.createTensor(OrtEnvironment.getEnvironment(), FloatBuffer.wrap(imageData), shape);
HashMap<String, OnnxTensor> stringOnnxTensorHashMap = new HashMap<>();
stringOnnxTensorHashMap.put(session.getInputInfo().keySet().iterator().next(), inputTensor);
OrtSession.Result result = null;
try {
inputTensor = OnnxTensor.createTensor(environment, FloatBuffer.wrap(imageData), shape);
// 执行推理
OrtSession.Result result = session.run(stringOnnxTensorHashMap);
HashMap<String, OnnxTensor> stringOnnxTensorHashMap = new HashMap<>();
stringOnnxTensorHashMap.put(session.getInputInfo().keySet().iterator().next(), inputTensor);
float[][] outputData = ((float[][][]) result.get(0).getValue())[0];
// 执行推理
result = session.run(stringOnnxTensorHashMap);
outputData = transposeMatrix(outputData);
float[][] outputData = ((float[][][]) result.get(0).getValue())[0];
// float[] output = (float[]) result.get(0).getValue();
outputData = transposeMatrix(outputData);
// 解析推理结果
List<BoundingBox> detections = parseOutput(outputData, config.getConfThreshold(), config);
// float[] output = (float[]) result.get(0).getValue();
List<BoundingBox> filteredDetections = nonMaxSuppression(detections, 0.5f); // IoU 阈值设为 0.5
// 解析推理结果
List<BoundingBox> detections = parseOutput(outputData, config.getConfThreshold(), config);
System.out.println(filteredDetections);
return filteredDetections;
List<BoundingBox> filteredDetections = nonMaxSuppression(detections, 0.5f); // IoU 阈值设为 0.5
System.out.println(filteredDetections);
return filteredDetections;
} finally {
if (inputTensor != null) {
inputTensor.close();
}
if (result != null) {
result.close();
}
}
}
private static List<BoundingBox> parseOutput(float[][] outputData, double confThreshold, AppConfig.YoloModelConfig config) {
@ -618,6 +635,12 @@ public class ONNXServiceNew {
float[] conditionalProbabilities = Arrays.copyOfRange(bbox, 4, bbox.length);
int label = argmax(conditionalProbabilities, confThreshold);
// 如果没有找到满足阈值的类别，跳过这个检测框
if (label == -1) {
continue;
}
float conf = conditionalProbabilities[label];
bbox[4] = conf;
@ -662,4 +685,23 @@ public class ONNXServiceNew {
}
return arg;
}
/**
* 销毁时清理资源
*/
@jakarta.annotation.PreDestroy
public void destroy() {
log.info("开始清理 ONNX 资源...");
for (Map.Entry<String, OrtSession> entry : ortSessions.entrySet()) {
try {
entry.getValue().close();
log.info("已关闭 Session: {}", entry.getKey());
} catch (OrtException e) {
log.error("关闭 Session 时出错: {}", entry.getKey(), e);
}
}
ortSessions.clear();
ortMap.clear();
log.info("ONNX 资源清理完成");
}
}

106
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/camera/hik/BatchCaptureResponse.java
Unescape Escape View File

@ -0,0 +1,106 @@
package com.example.lxcameraapi.service.IndustrialCamera.camera.hik;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
import java.util.List;
/**
* 连拍响应类
*/
@Data
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class BatchCaptureResponse {
/**
* 是否成功
*/
private boolean success;
/**
* 错误消息（仅在失败时返回）
*/
private String message;
/**
* 错误码（0表示成功）
*/
private int errorCode;
/**
* 相机IP
*/
private String ip;
/**
* 基础路径
*/
private String basePath;
/**
* 请求拍摄数量
*/
private int totalCount;
/**
* 实际成功数量
*/
private int successCount;
/**
* 成功的文件路径列表
*/
private List<String> successPaths;
/**
* 时间戳
*/
private long timestamp;
/**
* 创建成功响应
*/
public static BatchCaptureResponse success(String ip, String basePath, int totalCount,
int successCount, List<String> successPaths) {
return BatchCaptureResponse.builder()
.success(true)
.message("连拍完成")
.errorCode(0)
.ip(ip)
.basePath(basePath)
.totalCount(totalCount)
.successCount(successCount)
.successPaths(successPaths)
.timestamp(System.currentTimeMillis())
.build();
}
/**
* 创建失败响应
*/
public static BatchCaptureResponse failure(String message) {
return BatchCaptureResponse.builder()
.success(false)
.message(message)
.errorCode(-1)
.timestamp(System.currentTimeMillis())
.build();
}
/**
* 创建失败响应（带IP）
*/
public static BatchCaptureResponse failure(String message, String ip) {
return BatchCaptureResponse.builder()
.success(false)
.message(message)
.errorCode(-1)
.ip(ip)
.timestamp(System.currentTimeMillis())
.build();
}
}

151
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/camera/hik/ImageCaptureService.java
Unescape Escape View File

@ -295,36 +295,41 @@ public class ImageCaptureService {
* @param savePath 保存路径
* @return 是否成功
*/
private boolean saveImageAsJpeg(Handle hCamera, byte[] pData,
private boolean saveImageAsJpeg(Handle hCamera, byte[] pData,
MV_FRAME_OUT_INFO stImageInfo, String savePath) {
try {
// 计算输出缓冲区大小 (RGB格式，每像素3字节)
int imageLen = stImageInfo.width * stImageInfo.height * 3;
byte[] imageBuffer = new byte[imageLen];
// 设置保存参数
MV_SAVE_IMAGE_PARAM stSaveParam = new MV_SAVE_IMAGE_PARAM();
stSaveParam.width = stImageInfo.width;
stSaveParam.height = stImageInfo.height;
stSaveParam.data = pData;
stSaveParam.dataLen = stImageInfo.frameLen;
stSaveParam.pixelType = stImageInfo.pixelType;
stSaveParam.imageBuffer = imageBuffer;
stSaveParam.imageType = MV_SAVE_IAMGE_TYPE.MV_Image_Jpeg;
stSaveParam.methodValue = 0; // 0-最近邻插值，1-双线性插值，2-Hamilton
stSaveParam.jpgQuality = 85; // JPG质量(50-99]
// 转换图像格式
int nRet = MvCameraControl.MV_CC_SaveImage(hCamera, stSaveParam);
// 确保目录存在
java.io.File file = new java.io.File(savePath);
java.io.File parentDir = file.getParentFile();
if (parentDir != null && !parentDir.exists()) {
boolean created = parentDir.mkdirs();
if (created) {
log.info("创建目录: {}", parentDir.getAbsolutePath());
}
}
// 使用 MV_CC_SaveImageToFileEx 直接保存到文件（避免手动管理缓冲区）
MV_SAVE_IMAGE_TO_FILE_PARAM_EX stSaveFileParam = new MV_SAVE_IMAGE_TO_FILE_PARAM_EX();
stSaveFileParam.imageType = MV_SAVE_IAMGE_TYPE.MV_Image_Jpeg;
stSaveFileParam.pixelType = stImageInfo.pixelType;
// 使用 ExtendWidth 和 ExtendHeight（而不是 width 和 height）
stSaveFileParam.width = stImageInfo.ExtendWidth;
stSaveFileParam.height = stImageInfo.ExtendHeight;
stSaveFileParam.dataLen = stImageInfo.frameLen;
stSaveFileParam.data = pData;
stSaveFileParam.methodValue = 1; // 1-双线性插值
stSaveFileParam.jpgQuality = 85; // JPG质量(50-99]
stSaveFileParam.imagePath = savePath;
// 直接保存到文件
int nRet = MvCameraControl.MV_CC_SaveImageToFileEx(hCamera, stSaveFileParam);
if (MV_OK != nRet) {
log.error("图像格式转换失败，errcode: [0x{}]", Integer.toHexString(nRet));
log.error("图像保存失败，errcode: [0x{}]", Integer.toHexString(nRet));
return false;
}
// 保存到文件
saveDataToFile(imageBuffer, imageLen, savePath);
log.info("图像保存成功: {}", savePath);
return true;
} catch (Exception e) {
@ -333,37 +338,6 @@ public class ImageCaptureService {
}
}
/**
* 保存数据到文件
* @param data 数据
* @param dataSize 数据大小
* @param fileName 文件路径
*/
private void saveDataToFile(byte[] data, int dataSize, String fileName) {
java.io.FileOutputStream os = null;
try {
// 确保目录存在
java.io.File file = new java.io.File(fileName);
java.io.File parentDir = file.getParentFile();
if (parentDir != null && !parentDir.exists()) {
parentDir.mkdirs();
}
os = new java.io.FileOutputStream(fileName);
os.write(data, 0, dataSize);
} catch (Exception e) {
log.error("保存文件失败: {}", fileName, e);
} finally {
if (os != null) {
try {
os.close();
} catch (Exception e) {
log.error("关闭文件流异常", e);
}
}
}
}
/**
* 查找相机索引
* @param stDeviceList 设备列表
@ -430,4 +404,73 @@ public class ImageCaptureService {
public boolean isCameraInitialized(String ip) {
return handleMap.containsKey(ip);
}
/**
* 连续拍照
* @param ip 相机IP
* @param basePath 基础路径
* @param count 连拍数量
* @return 成功拍照的文件路径列表
*/
public List<String> captureBatch(String ip, String basePath, int count) {
List<String> successPaths = new ArrayList<>();
if (!isSdkInitialized) {
log.error("SDK未初始化");
return successPaths;
}
// 获取相机句柄
Handle hCamera = handleMap.get(ip);
if (hCamera == null) {
log.error("相机 {} 未初始化，请先调用init方法", ip);
return successPaths;
}
log.info("开始连拍，相机: {}, 数量: {}, 基础路径: {}", ip, count, basePath);
// 确保基础路径存在
java.io.File baseDir = new java.io.File(basePath);
if (!baseDir.exists()) {
boolean created = baseDir.mkdirs();
if (created) {
log.info("创建基础目录: {}", baseDir.getAbsolutePath());
}
}
for (int i = 0; i < count; i++) {
try {
// 生成保存路径
String timestamp = String.valueOf(System.currentTimeMillis());
String fileName = String.format("%s_%04d.jpg", timestamp, i);
String savePath = basePath + java.io.File.separator + fileName;
// 调用单次拍照
boolean success = captureImage(ip, savePath);
if (success) {
successPaths.add(savePath);
log.info("连拍进度: {}/{}, 保存: {}", i + 1, count, fileName);
} else {
log.warn("连拍失败: {}/{}, 路径: {}", i + 1, count, savePath);
}
// 添加短暂延迟，避免相机过快响应
if (i < count - 1) {
try {
Thread.sleep(10);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
break;
}
}
} catch (Exception e) {
log.error("连拍异常: {}/{}", i + 1, count, e);
}
}
log.info("连拍完成，相机: {}, 成功: {}/{}", ip, successPaths.size(), count);
return successPaths;
}
}

4
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/camera/hik/ImageSave.java
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@ -20,7 +20,7 @@ public class ImageSave
public static void main(String[] args)
{
int nRet = MV_OK;
int camIndex = -1;
int camIndex = 1;
ArrayList<MV_CC_DEVICE_INFO> stDeviceList = null;
@ -344,7 +344,7 @@ public class ImageSave
}
// Choose a device to operate
int camIndex = 0;
int camIndex = 1;
while (true)
{

3
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/camera/lx/BoxCountCalculator.java
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@ -241,7 +241,6 @@ public class BoxCountCalculator {
}
BoxCountResult result = BoxCountResult.success(request.getPcdFilePath());
result.setFloorHeight(request.getFloorHeight());
result.setBoxDimensions(new double[]{
request.getBoxLength(),
request.getBoxWidth(),
@ -260,6 +259,8 @@ public class BoxCountCalculator {
// 2. 创建PcdPojo
PcdPojo pojo = createPcdPojo(request);
result.setFloorHeight(pojo.getFloorHeight());
// 3. 按层过滤点云
Map<Integer, List<double[]>> layerPointsMap = filterPointsByLayer(
points,

92
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/camera/lx/LxCameraServiceImpl.java
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@ -154,15 +154,6 @@ public class LxCameraServiceImpl implements LxCameraService {
log.info("设备 {} 初始化成功", sn);
logDeviceInfo(info);
// 启动流
result = instance.DcStartStream(handleRef.getValue());
if (result == 0) {
deviceInfo.streamStarted = true;
log.info("设备 {} 流启动成功", sn);
} else {
log.warn("设备 {} 流启动失败，错误码: {}", sn, result);
}
// 设置命令码
result = instance.DcSetCmd(handleRef.getValue(), 5001);
if (result == 0 || result == 25) {
@ -171,6 +162,10 @@ public class LxCameraServiceImpl implements LxCameraService {
log.warn("设备 {} 命令码设置失败，错误码: {}", sn, result);
}
// 不自动启动流，改为按需启动
deviceInfo.streamStarted = false;
log.info("设备 {} 初始化完成，流未启动（按需启动）", sn);
return handleRef;
} else {
log.error("设备 {} 初始化失败，错误码: {}", sn, result);
@ -231,10 +226,17 @@ public class LxCameraServiceImpl implements LxCameraService {
try {
log.info("相机 {} 第 {} 次拍照尝试", cameraSn, retryCount);
// 如果是重试，先停止之前的流
if (retryCount > 1) {
stopStreamIfNeeded(cameraSn, instance);
}
// 获取设备句柄
PointerByReference handleRef = getHandle(cameraSn, type, instance, config);
if (handleRef == null) {
log.warn("相机 {} 第 {} 次获取句柄失败", cameraSn, retryCount);
// 停止流（如果之前启动过）
stopStreamIfNeeded(cameraSn, instance);
result = CaptureResult.failure(cameraSn, -3, "获取句柄失败");
result.withRetryCount(retryCount);
@ -244,12 +246,18 @@ public class LxCameraServiceImpl implements LxCameraService {
continue;
}
// 检查流状态
// 检查流状态，如果未启动则启动流
DeviceInfo deviceInfo = handleMap.get(cameraSn);
if (deviceInfo != null && !deviceInfo.streamStarted) {
log.warn("相机 {} 流未启动，重新初始化", cameraSn);
boolean reconnectSuccess = reconnect(cameraSn);
if (!reconnectSuccess) {
log.info("相机 {} 流未启动，现在启动流", cameraSn);
int startStreamResult = instance.DcStartStream(deviceInfo.handleRef.getValue());
if (startStreamResult == 0) {
deviceInfo.streamStarted = true;
log.info("相机 {} 流启动成功", cameraSn);
} else {
log.error("相机 {} 流启动失败，错误码: {}", cameraSn, startStreamResult);
// 停止流（如果之前启动过）
stopStreamIfNeeded(cameraSn, instance);
result = CaptureResult.failure(cameraSn, -4, "流启动失败");
result.withRetryCount(retryCount);
if (retryCount < config.getMaxCaptureRetries()) {
@ -257,7 +265,6 @@ public class LxCameraServiceImpl implements LxCameraService {
}
continue;
}
deviceInfo = handleMap.get(cameraSn);
}
// 生成日期和时间戳
@ -270,6 +277,8 @@ public class LxCameraServiceImpl implements LxCameraService {
Files.createDirectories(basePath1);
} catch (Exception e) {
log.error("相机 {} 创建目录失败: {}", cameraSn, e.getMessage());
// 停止流（如果之前启动过）
stopStreamIfNeeded(cameraSn, instance);
result = CaptureResult.failure(cameraSn, -2, "创建目录失败");
result.withRetryCount(retryCount);
if (retryCount < config.getMaxCaptureRetries()) {
@ -347,6 +356,8 @@ public class LxCameraServiceImpl implements LxCameraService {
log.info("相机 {} 点云保存成功: {}", cameraSn, pointCloudPath);
} else {
log.warn("相机 {} 点云保存失败", cameraSn);
// 停止流
stopStreamIfNeeded(cameraSn, instance);
result = CaptureResult.failure(cameraSn, -1, "点云保存失败");
result.withRetryCount(retryCount);
if (retryCount < config.getMaxCaptureRetries()) {
@ -359,6 +370,18 @@ public class LxCameraServiceImpl implements LxCameraService {
// 拍照成功
log.info("相机 {} 第 {} 次拍照成功，保存文件数: {}", cameraSn, retryCount, result.getFilePaths().size());
result.withRetryCount(retryCount);
// 停止流，减少网络负载
if (deviceInfo != null && deviceInfo.streamStarted) {
int stopStreamResult = instance.DcStopStream(deviceInfo.handleRef.getValue());
if (stopStreamResult == 0) {
deviceInfo.streamStarted = false;
log.info("相机 {} 流已停止", cameraSn);
} else {
log.warn("相机 {} 流停止失败，错误码: {}", cameraSn, stopStreamResult);
}
}
return result;
} catch (InterruptedException e) {
@ -369,6 +392,8 @@ public class LxCameraServiceImpl implements LxCameraService {
return result;
} catch (Exception e) {
log.error("相机 {} 第 {} 次拍照发生异常", cameraSn, retryCount, e);
// 停止流（如果之前启动过）
stopStreamIfNeeded(cameraSn, instance);
result = CaptureResult.failure(cameraSn, -5, "拍照异常: " + e.getMessage());
result.withRetryCount(retryCount);
@ -442,6 +467,31 @@ public class LxCameraServiceImpl implements LxCameraService {
}
}
/**
* 如果流已启动，则停止流
* @param cameraSn 相机序列号
* @param instance DcLibrary实例
*/
private void stopStreamIfNeeded(String cameraSn, DcLibrary instance) {
DeviceInfo deviceInfo = handleMap.get(cameraSn);
if (deviceInfo != null && deviceInfo.streamStarted && deviceInfo.handleRef != null) {
Pointer handle = deviceInfo.handleRef.getValue();
if (handle != null) {
try {
int stopStreamResult = instance.DcStopStream(handle);
if (stopStreamResult == 0) {
deviceInfo.streamStarted = false;
log.info("相机 {} 流已停止", cameraSn);
} else {
log.warn("相机 {} 流停止失败，错误码: {}", cameraSn, stopStreamResult);
}
} catch (Exception e) {
log.error("相机 {} 停止流时发生异常", cameraSn, e);
}
}
}
}
@Override
public boolean reconnect(String cameraSn) {
log.info("开始重连相机: SN={}", cameraSn);
@ -477,17 +527,15 @@ public class LxCameraServiceImpl implements LxCameraService {
handleMap.put(cameraSn, deviceInfo);
log.info("相机 {} 重连成功", cameraSn);
result = instance.DcStartStream(handleRef.getValue());
if (result == 0) {
deviceInfo.streamStarted = true;
log.info("相机 {} 重连后流启动成功", cameraSn);
}
result = instance.DcSetCmd(handleRef.getValue(), 5001);
if (result == 0 || result == 25) {
log.info("相机 {} 重连后命令码设置成功", cameraSn);
}
// 不自动启动流，改为按需启动
deviceInfo.streamStarted = false;
log.info("相机 {} 重连完成，流未启动（按需启动）", cameraSn);
return true;
} else {
log.error("相机 {} 重连失败，错误码: {}", cameraSn, result);
@ -554,8 +602,8 @@ public class LxCameraServiceImpl implements LxCameraService {
@Override
public BoxCountResult countBoxes(BoxCountRequest request) {
log.info("收到计算箱子数量请求: pcdFilePath={}, floorHeight={}, boxSize={}x{}x{}",
request.getPcdFilePath(), request.getFloorHeight(),
log.info("收到计算箱子数量请求: pcdFilePath={} boxSize={}x{}x{}",
request.getPcdFilePath(),
request.getBoxLength(), request.getBoxWidth(), request.getBoxHeight());
try {

4
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/camera/lx/config/BoxCountResponse.java
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@ -81,6 +81,9 @@ public class BoxCountResponse {
*/
private String errorMessage;
private String imagePath;
private String result;
/**
* 从 BoxCountResult 创建响应对象
*/
@ -97,6 +100,7 @@ public class BoxCountResponse {
.calculationTime(result.getCalculationTime())
.floorHeight(result.getFloorHeight())
.boxDimensions(result.getBoxDimensions())
.result(String.valueOf(result.getTotalBoxCount()))
.stackType(result.getStackType());
if (!result.isSuccess()) {

227
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/opencv/OpencvService.java
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@ -0,0 +1,227 @@
package com.example.lxcameraapi.service.IndustrialCamera.opencv;
import com.example.lxcameraapi.service.IndustrialCamera.yolo.BoundingBox;
import lombok.extern.slf4j.Slf4j;
import org.opencv.core.*;
import org.opencv.imgcodecs.Imgcodecs;
import org.opencv.imgproc.Imgproc;
import org.springframework.stereotype.Service;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.List;
/**
* OpenCV图像处理服务
*/
@Slf4j
@Service
public class OpencvService {
// 颜色配置 (BGR格式)
private static final Scalar BOX_COLOR = new Scalar(0, 255, 0); // 绿色边框
private static final Scalar TEXT_COLOR = new Scalar(255, 255, 255); // 白色文字
private static final Scalar BG_COLOR = new Scalar(0, 0, 0); // 黑色背景
// 字体配置
private static final int FONT_FACE = Imgproc.FONT_HERSHEY_SIMPLEX;
private static final double FONT_SCALE = 0.6;
private static final int THICKNESS = 2;
/**
* 在图片上绘制边界框并标注名称和置信度
*
* @param boxes 边界框列表
* @param sourcePath 源图片路径
* @param destPath 目标图片路径
*/
public void drawBoundingBoxesOnImage(List<BoundingBox> boxes, String sourcePath, String destPath) {
try {
// 读取图片
Mat image = Imgcodecs.imread(sourcePath);
if (image.empty()) {
log.error("读取图片失败: {}", sourcePath);
return;
}
if (boxes == null || boxes.isEmpty()) {
log.warn("边界框列表为空");
// 保存原图
Imgcodecs.imwrite(destPath, image);
return;
}
// 绘制每个边界框
for (BoundingBox box : boxes) {
drawBox(image, box);
}
// 保存图片
Imgcodecs.imwrite(destPath, image);
log.info("图片已保存: {}", destPath);
} catch (Exception e) {
log.error("绘制边界框失败", e);
}
}
/**
* 在图片上绘制边界框并标注名称和置信度（使用Mat对象）
*
* @param image 图像Mat对象
* @param boxes 边界框列表
* @return 处理后的Mat对象
*/
public Mat drawBoundingBoxesOnMat(Mat image, List<BoundingBox> boxes) {
if (image == null || image.empty()) {
log.error("图像对象为空");
return image;
}
if (boxes == null || boxes.isEmpty()) {
log.warn("边界框列表为空");
return image;
}
// 绘制每个边界框
for (BoundingBox box : boxes) {
drawBox(image, box);
}
return image;
}
/**
* 在图片左上角绘制图例（根据置信度从大到小排序，每个元素一行）
*
* @param boxes 边界框列表
* @param sourcePath 源图片路径
* @param destPath 目标图片路径
*/
public void drawLegendOnImage(List<BoundingBox> boxes, String sourcePath, String destPath) {
try {
// 读取图片
Mat image = Imgcodecs.imread(sourcePath);
if (image.empty()) {
log.error("读取图片失败: {}", sourcePath);
return;
}
// 绘制图例
drawLegend(image, boxes);
// 保存图片
Imgcodecs.imwrite(destPath, image);
log.info("图片已保存: {}", destPath);
} catch (Exception e) {
log.error("绘制图例失败", e);
}
}
/**
* 在图片左上角绘制图列（使用Mat对象）
*
* @param image 图像Mat对象
* @param boxes 边界框列表
* @return 处理后的Mat对象
*/
public Mat drawLegendOnMat(Mat image, List<BoundingBox> boxes) {
if (image == null || image.empty()) {
log.error("图像对象为空");
return image;
}
// 绘制图例
drawLegend(image, boxes);
return image;
}
/**
* 绘制单个边界框
*
* @param image 图像Mat对象
* @param box 边界框对象
*/
private void drawBox(Mat image, BoundingBox box) {
if (box == null) {
return;
}
int x = (int) box.getX();
int y = (int) box.getY();
int w = (int) box.getW();
int h = (int) box.getH();
// 绘制矩形框
Point topLeft = new Point(x, y);
Point bottomRight = new Point(x + w, y + h);
Imgproc.rectangle(image, topLeft, bottomRight, BOX_COLOR, THICKNESS);
// 准备标签文本
String label = String.format("%s: %.2f", box.getName(), box.getConfidence());
// 计算文本大小
int[] baseline = new int[1];
Size textSize = Imgproc.getTextSize(label, FONT_FACE, FONT_SCALE, THICKNESS, baseline);
// 绘制标签背景
Point labelTopLeft = new Point(x, y - textSize.height - 10);
Point labelBottomRight = new Point(x + textSize.width, y);
Imgproc.rectangle(image, labelTopLeft, labelBottomRight, BG_COLOR, -1); // -1 表示填充
// 绘制标签文本
Point textOrg = new Point(x, y - 5);
Imgproc.putText(image, label, textOrg, FONT_FACE, FONT_SCALE, TEXT_COLOR, THICKNESS);
}
/**
* 绘制图例（在图片左上角）
*
* @param image 图像Mat对象
* @param boxes 边界框列表
*/
private void drawLegend(Mat image, List<BoundingBox> boxes) {
if (boxes == null || boxes.isEmpty()) {
return;
}
// 按置信度从大到小排序
List<BoundingBox> sortedBoxes = new ArrayList<>(boxes);
sortedBoxes.sort(Comparator.comparingDouble(BoundingBox::getConfidence).reversed());
// 计算图例参数
int[] baseline = new int[1];
Size textSize = Imgproc.getTextSize("Text", FONT_FACE, FONT_SCALE, THICKNESS, baseline);
int lineHeight = (int) textSize.height + 15;
int margin = 10;
int startY = margin + (int) textSize.height;
// 绘制背景区域（半透明黑色）
int maxTextWidth = 0;
for (BoundingBox box : sortedBoxes) {
String label = String.format("%s: %.2f", box.getName(), box.getConfidence());
Size labelSize = Imgproc.getTextSize(label, FONT_FACE, FONT_SCALE, THICKNESS, baseline);
maxTextWidth = Math.max(maxTextWidth, (int) labelSize.width);
}
int bgHeight = sortedBoxes.size() * lineHeight + margin * 2;
int bgWidth = maxTextWidth + margin * 2;
Mat overlay = image.clone();
Rect bgRect = new Rect(0, 0, bgWidth, bgHeight);
Imgproc.rectangle(overlay, bgRect.tl(), bgRect.br(), BG_COLOR, -1);
Core.addWeighted(overlay, 0.7, image, 0.3, 0, image);
// 绘制每行标签
for (int i = 0; i < sortedBoxes.size(); i++) {
BoundingBox box = sortedBoxes.get(i);
String label = String.format("%s: %.2f", box.getName(), box.getConfidence());
Point textOrg = new Point(margin, startY + i * lineHeight);
Imgproc.putText(image, label, textOrg, FONT_FACE, FONT_SCALE, TEXT_COLOR, THICKNESS);
}
}
}

2
src/main/java/com/example/lxcameraapi/service/IndustrialCamera/pojo/Pojo.java
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@ -10,4 +10,6 @@ public class Pojo {
private String determinePath;
//结果
private Boolean result;
private String cameraId;
private String category;
}

0
src/main/resources/libs/MvCameraControlWrapper1.jar → src/main/java/com/example/lxcameraapi/util/RplidarDriver.java
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303
src/main/java/com/example/lxcameraapi/util/main.cpp
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@ -0,0 +1,303 @@
/*
* SLAMTEC LIDAR
* Ultra Simple Data Grabber Demo App
*
* Copyright (c) 2009 - 2014 RoboPeak Team
* http://www.robopeak.com
* Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd.
* http://www.slamtec.com
*
*/
/*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <string.h>
#include "sl_lidar.h"
#include "sl_lidar_driver.h"
#ifndef _countof
#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
#endif
#ifdef _WIN32
#include <Windows.h>
#define delay(x) ::Sleep(x)
#else
#include <unistd.h>
static inline void delay(sl_word_size_t ms){
while (ms>=1000){
usleep(1000*1000);
ms-=1000;
};
if (ms!=0)
usleep(ms*1000);
}
#endif
using namespace sl;
void print_usage(int argc, const char * argv[])
{
printf("Usage:\n"
" For serial channel\n %s --channel --serial <com port> [baudrate]\n"
" The baudrate used by different models is as follows:\n"
" A1(115200),A2M7(256000),A2M8(115200),A2M12(256000),"
"A3(256000),S1(256000),S2(1000000),S3(1000000)\n"
" For udp channel\n %s --channel --udp <ipaddr> [port NO.]\n"
" The T1 default ipaddr is 192.168.11.2,and the port NO.is 8089. Please refer to the datasheet for details.\n"
, argv[0], argv[0]);
}
bool checkSLAMTECLIDARHealth(ILidarDriver * drv)
{
sl_result op_result;
sl_lidar_response_device_health_t healthinfo;
op_result = drv->getHealth(healthinfo);
if (SL_IS_OK(op_result)) { // the macro IS_OK is the preperred way to judge whether the operation is succeed.
printf("SLAMTEC Lidar health status : %d\n", healthinfo.status);
if (healthinfo.status == SL_LIDAR_STATUS_ERROR) {
fprintf(stderr, "Error, slamtec lidar internal error detected. Please reboot the device to retry.\n");
// enable the following code if you want slamtec lidar to be reboot by software
// drv->reset();
return false;
} else {
return true;
}
} else {
fprintf(stderr, "Error, cannot retrieve the lidar health code: %x\n", op_result);
return false;
}
}
bool ctrl_c_pressed;
void ctrlc(int)
{
ctrl_c_pressed = true;
}
int main(int argc, const char * argv[]) {
const char * opt_is_channel = NULL;
const char * opt_channel = NULL;
const char * opt_channel_param_first = NULL;
sl_u32 opt_channel_param_second = 0;
sl_u32 baudrateArray[2] = {115200, 256000};
sl_result op_result;
int opt_channel_type = CHANNEL_TYPE_SERIALPORT;
bool useArgcBaudrate = false;
IChannel* _channel;
printf("Ultra simple LIDAR data grabber for SLAMTEC LIDAR.\n"
"Version: %s\n", SL_LIDAR_SDK_VERSION);
if (argc>1)
{
opt_is_channel = argv[1];
}
else
{
print_usage(argc, argv);
return -1;
}
if(strcmp(opt_is_channel, "--channel")==0){
opt_channel = argv[2];
if(strcmp(opt_channel, "-s")==0||strcmp(opt_channel, "--serial")==0)
{
// read serial port from the command line...
opt_channel_param_first = argv[3];// or set to a fixed value: e.g. "com3"
// read baud rate from the command line if specified...
if (argc>4) opt_channel_param_second = strtoul(argv[4], NULL, 10);
useArgcBaudrate = true;
}
else if(strcmp(opt_channel, "-u")==0||strcmp(opt_channel, "--udp")==0)
{
// read ip addr from the command line...
opt_channel_param_first = argv[3];//or set to a fixed value: e.g. "192.168.11.2"
if (argc>4) opt_channel_param_second = strtoul(argv[4], NULL, 10);//e.g. "8089"
opt_channel_type = CHANNEL_TYPE_UDP;
}
else
{
print_usage(argc, argv);
return -1;
}
}
else
{
print_usage(argc, argv);
return -1;
}
if(opt_channel_type == CHANNEL_TYPE_SERIALPORT)
{
if (!opt_channel_param_first) {
#ifdef _WIN32
// use default com port
opt_channel_param_first = "\\\\.\\com3";
#elif __APPLE__
opt_channel_param_first = "/dev/tty.SLAB_USBtoUART";
#else
opt_channel_param_first = "/dev/ttyUSB0";
#endif
}
}
// create the driver instance
ILidarDriver * drv = *createLidarDriver();
if (!drv) {
fprintf(stderr, "insufficent memory, exit\n");
exit(-2);
}
sl_lidar_response_device_info_t devinfo;
bool connectSuccess = false;
if(opt_channel_type == CHANNEL_TYPE_SERIALPORT){
if(useArgcBaudrate){
_channel = (*createSerialPortChannel(opt_channel_param_first, opt_channel_param_second));
if (SL_IS_OK((drv)->connect(_channel))) {
op_result = drv->getDeviceInfo(devinfo);
if (SL_IS_OK(op_result))
{
connectSuccess = true;
}
else{
delete drv;
drv = NULL;
}
}
}
else{
size_t baudRateArraySize = (sizeof(baudrateArray))/ (sizeof(baudrateArray[0]));
for(size_t i = 0; i < baudRateArraySize; ++i)
{
_channel = (*createSerialPortChannel(opt_channel_param_first, baudrateArray[i]));
if (SL_IS_OK((drv)->connect(_channel))) {
op_result = drv->getDeviceInfo(devinfo);
if (SL_IS_OK(op_result))
{
connectSuccess = true;
break;
}
else{
delete drv;
drv = NULL;
}
}
}
}
}
else if(opt_channel_type == CHANNEL_TYPE_UDP){
_channel = *createUdpChannel(opt_channel_param_first, opt_channel_param_second);
if (SL_IS_OK((drv)->connect(_channel))) {
op_result = drv->getDeviceInfo(devinfo);
if (SL_IS_OK(op_result))
{
connectSuccess = true;
}
else{
delete drv;
drv = NULL;
}
}
}
if (!connectSuccess) {
(opt_channel_type == CHANNEL_TYPE_SERIALPORT)?
(fprintf(stderr, "Error, cannot bind to the specified serial port %s.\n"
, opt_channel_param_first)):(fprintf(stderr, "Error, cannot connect to the specified ip addr %s.\n"
, opt_channel_param_first));
goto on_finished;
}
// print out the device serial number, firmware and hardware version number..
printf("SLAMTEC LIDAR S/N: ");
for (int pos = 0; pos < 16 ;++pos) {
printf("%02X", devinfo.serialnum[pos]);
}
printf("\n"
"Firmware Ver: %d.%02d\n"
"Hardware Rev: %d\n"
, devinfo.firmware_version>>8
, devinfo.firmware_version & 0xFF
, (int)devinfo.hardware_version);
// check health...
if (!checkSLAMTECLIDARHealth(drv)) {
goto on_finished;
}
signal(SIGINT, ctrlc);
if(opt_channel_type == CHANNEL_TYPE_SERIALPORT)
drv->setMotorSpeed();
// start scan...
drv->startScan(0,1);
// fetech result and print it out...
while (1) {
sl_lidar_response_measurement_node_hq_t nodes[8192];
size_t count = _countof(nodes);
op_result = drv->grabScanDataHq(nodes, count);
if (SL_IS_OK(op_result)) {
drv->ascendScanData(nodes, count);
for (int pos = 0; pos < (int)count ; ++pos) {
printf("%s theta: %03.2f Dist: %08.2f Q: %d \n",
(nodes[pos].flag & SL_LIDAR_RESP_HQ_FLAG_SYNCBIT) ?"S ":" ",
(nodes[pos].angle_z_q14 * 90.f) / 16384.f,
nodes[pos].dist_mm_q2/4.0f,
nodes[pos].quality >> SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT);
}
}
if (ctrl_c_pressed){
break;
}
}
drv->stop();
delay(200);
if(opt_channel_type == CHANNEL_TYPE_SERIALPORT)
drv->setMotorSpeed(0);
// done!
on_finished:
if(drv) {
delete drv;
drv = NULL;
}
return 0;
}

15
src/main/resources/application.yml
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@ -20,15 +20,18 @@ lxCamera:
# 1左2右
direction: 1
# 图片保存路径
savePath: "D://go/lxCamera/1"
# 校准文件路径
calibratePath: "D://data/cj.json"
# 品规配置文件
configPath: "E://go/lxCamera/conf"
# 切割配置。浅货位的配置，若切割后个数多与500个，则认为有个数
convertConfPath: "E://pz.json"
# 深度切割配置，深货位配置，若切割后个数多与500个，则认为有个数
DeepConvertConfPath: "E://pz.json"
#两台相机
hikCamera:
- id: 1
ip: 192.168.100.89
imageSize: 640
swagger:
enabled: true
@ -48,11 +51,15 @@ deleteFile:
path:
- "D://go/deleteFile"
day: 7
picPath: "D:/data/media/"
picUrl: "http://127.0.0.1:9012/pic/"
yoloModelConfig:
# 模型地址
modelPath: "D:/git/测试/lxCameraApi/best.onnx"
modelPath: "D:/PycharmProjects/yolo/runs/detect/train22/weights/best.onnx"
# 图片大小
imgSize: 640
# 置信度
confThreshold: 0.5
names: ['0143','0153','0173','0177','0191','0253','0256','0266','0268','0286','0302','0304','0305','0307','0320','0326','0336','0339','0343','0352','0458','0461','0462','0473','0477','0486','0490','0492','0930','1101','1102','1104','1262','1269','1302','1308','1359','1366','1622','1625','1919','1976','20','2165','2188','2210','2224','2445','2476','2611','2730','2731','2910','2914','2943','3027','3028','3029','3212','3226','3344','3501','3509','3538','3725','3741','3751','3754','3763','3766','3808']

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src/main/resources/libs/MvCameraControl.dll
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src/main/resources/libs/opencv_java480.dll
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7
start.bat
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@ -0,0 +1,7 @@
@echo off
chcp 65001
echo Starting LxCameraApi...
echo If you see DLL loading errors, please install Visual C++ Redistributable:
echo https://aka.ms/vs/17/release/vc_redist.x64.exe
echo.
java -Djava.library.path=./libs -jar LxCameraApi-1.0.1-SNAPSHOT.jar
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