2026-04-24 09:44:16.151 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始清理相机资源... 2026-04-24 09:44:16.269 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 资源已清理 2026-04-24 09:44:16.381 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK反初始化成功 2026-04-24 09:57:24.558 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1 2026-04-24 09:57:24.561 [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 2026-04-24 09:57:24.814 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1 2026-04-24 09:57:25.784 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功 2026-04-24 09:57:25.784 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息: 2026-04-24 09:57:25.784 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005 2026-04-24 09:57:25.784 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860 2026-04-24 09:57:25.784 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956 2026-04-24 09:57:25.785 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3 2026-04-24 09:57:25.785 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97 2026-04-24 09:57:25.785 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031 2026-04-24 09:57:25.785 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025 2026-04-24 09:57:25.785 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956 2026-04-24 09:57:25.786 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置失败，错误码: -26 2026-04-24 09:57:25.786 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化完成，流未启动（按需启动） 2026-04-24 09:57:25.786 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功 2026-04-24 09:57:25.786 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1 2026-04-24 09:57:25.816 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 初始化海康相机SDK... 2026-04-24 09:57:25.919 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK Version: 4.7.1.1 2026-04-24 09:57:25.920 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK初始化成功 2026-04-24 09:57:25.920 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始批量初始化 1 个相机... 2026-04-24 09:57:26.461 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 枚举到 3 个设备 2026-04-24 09:57:26.461 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始初始化相机: 192.168.100.89 2026-04-24 09:57:26.752 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 设备信息 - IP: 192.168.100.89, 型号: MV-CU060-10GC, 序列号: DA1455105 2026-04-24 09:57:26.752 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 初始化成功 2026-04-24 09:57:26.752 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 批量初始化完成，成功: 1/1 2026-04-24 09:57:27.495 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成 2026-04-24 09:57:51.165 [http-nio-8097-exec-1] 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/2026-04-24/1/1776995871164.png 2026-04-24 09:57:51.172 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[449] 宽[3072] 高[2048] 2026-04-24 09:57:51.173 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 创建目录: D:\data\media\2026-04-24\1 2026-04-24 09:57:51.219 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1776995871164.png 2026-04-24 09:57:52.260 [http-nio-8097-exec-2] 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/2026-04-24/1/1776995872260.png 2026-04-24 09:57:52.267 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[469] 宽[3072] 高[2048] 2026-04-24 09:57:52.319 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1776995872260.png 2026-04-24 09:58:12.811 [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=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0) 2026-04-24 09:58:12.813 [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 2026-04-24 09:58:12.813 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流未启动，现在启动流 2026-04-24 09:58:13.788 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流启动成功 2026-04-24 09:58:13.812 [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 2026-04-24 09:58:13.819 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 创建目录: D:\data\media\20260424\amplitude 2026-04-24 09:58:13.828 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\amplitude\192.168.100.82_amplitude_20260424_095813.png, 结果: true, 文件是否存在: true 2026-04-24 09:58:13.828 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:/data/media//20260424/amplitude/192.168.100.82_amplitude_20260424_095813.png 2026-04-24 09:58:13.833 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 创建目录: D:\data\media\20260424\rgb 2026-04-24 09:58:13.904 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\rgb\192.168.100.82_rgb_20260424_095813.png, 结果: true, 文件是否存在: true 2026-04-24 09:58:13.904 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:/data/media//20260424/rgb/192.168.100.82_rgb_20260424_095813.png 2026-04-24 09:58:13.905 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 创建目录: D:\data\media\20260424\depth 2026-04-24 09:58:13.908 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\depth\192.168.100.82_depth_20260424_095813.png, 结果: true, 文件是否存在: true 2026-04-24 09:58:13.908 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:/data/media//20260424/depth/192.168.100.82_depth_20260424_095813.png 2026-04-24 09:58:14.346 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:/data/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_095813.pcd, 结果: 0 2026-04-24 09:58:14.346 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_095813.pcd 2026-04-24 09:58:14.346 [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: 4 2026-04-24 09:58:14.472 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流已停止 2026-04-24 09:58:14.472 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_095813.pcd boxSize=305.0x205.0x205.0 2026-04-24 09:58:14.472 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_095813.pcd, floorHeight=null, boxLength=305.0, boxWidth=205.0, boxHeight=205.0, stackType=null, maxBoxesPerLayer=7, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null) 2026-04-24 09:58:14.787 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 235709 2026-04-24 09:58:14.818 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3 2026-04-24 09:58:14.818 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 7 2026-04-24 09:58:15.294 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层面积: 443504.0 mm², 点数: 108827 比例：7.093226709316274 2026-04-24 09:58:15.294 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层箱子数: 7 2026-04-24 09:58:15.294 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 21, 用时: 822ms 2026-04-24 09:58:15.296 [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: 21, 层数: 1, 最高层: 3, 用时: 822ms 2026-04-24 10:41:46.195 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始清理相机资源... 2026-04-24 10:41:46.234 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 资源已清理 2026-04-24 10:41:46.443 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK反初始化成功 2026-04-24 11:00:46.715 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1 2026-04-24 11:00:46.717 [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 2026-04-24 11:00:46.768 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1 2026-04-24 11:00:47.643 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功 2026-04-24 11:00:47.643 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息: 2026-04-24 11:00:47.643 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005 2026-04-24 11:00:47.643 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860 2026-04-24 11:00:47.643 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956 2026-04-24 11:00:47.643 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3 2026-04-24 11:00:47.644 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97 2026-04-24 11:00:47.644 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031 2026-04-24 11:00:47.644 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025 2026-04-24 11:00:47.644 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956 2026-04-24 11:00:47.644 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置失败，错误码: -26 2026-04-24 11:00:47.644 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化完成，流未启动（按需启动） 2026-04-24 11:00:47.644 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功 2026-04-24 11:00:47.644 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1 2026-04-24 11:00:47.665 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 初始化海康相机SDK... 2026-04-24 11:00:47.716 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK Version: 4.7.1.1 2026-04-24 11:00:47.717 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK初始化成功 2026-04-24 11:00:47.717 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始批量初始化 1 个相机... 2026-04-24 11:00:48.270 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 枚举到 3 个设备 2026-04-24 11:00:48.272 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始初始化相机: 192.168.100.89 2026-04-24 11:00:48.524 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 设备信息 - IP: 192.168.100.89, 型号: MV-CU060-10GC, 序列号: DA1455105 2026-04-24 11:00:48.524 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 初始化成功 2026-04-24 11:00:48.524 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 批量初始化完成，成功: 1/1 2026-04-24 11:00:49.120 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成 2026-04-24 11:01:08.450 [http-nio-8097-exec-1] 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/2026-04-24/1/1776999668449.png 2026-04-24 11:01:08.457 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[366] 宽[3072] 高[2048] 2026-04-24 11:01:08.503 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1776999668449.png 2026-04-24 11:01:09.330 [http-nio-8097-exec-2] 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/2026-04-24/1/1776999669330.png 2026-04-24 11:01:09.334 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[382] 宽[3072] 高[2048] 2026-04-24 11:01:09.360 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1776999669330.png 2026-04-24 11:01:28.437 [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) 2026-04-24 11:01:28.440 [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 2026-04-24 11:01:28.440 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流未启动，现在启动流 2026-04-24 11:01:29.407 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流启动成功 2026-04-24 11:01:29.494 [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 2026-04-24 11:01:29.513 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\amplitude\192.168.100.82_amplitude_20260424_110129.png, 结果: true, 文件是否存在: true 2026-04-24 11:01:29.514 [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/media//20260424/amplitude/192.168.100.82_amplitude_20260424_110129.png 2026-04-24 11:01:29.624 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\rgb\192.168.100.82_rgb_20260424_110129.png, 结果: true, 文件是否存在: true 2026-04-24 11:01:29.626 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:/data/media//20260424/rgb/192.168.100.82_rgb_20260424_110129.png 2026-04-24 11:01:29.631 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\depth\192.168.100.82_depth_20260424_110129.png, 结果: true, 文件是否存在: true 2026-04-24 11:01:29.631 [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/media//20260424/depth/192.168.100.82_depth_20260424_110129.png 2026-04-24 11:01:30.079 [http-nio-8097-exec-3] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:/data/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110129.pcd, 结果: 0 2026-04-24 11:01:30.079 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110129.pcd 2026-04-24 11:01:30.079 [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: 4 2026-04-24 11:01:30.166 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流已停止 2026-04-24 11:01:30.166 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110129.pcd boxSize=305.0x205.0x205.0 2026-04-24 11:01:30.166 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110129.pcd, floorHeight=null, boxLength=305.0, boxWidth=205.0, boxHeight=205.0, stackType=null, maxBoxesPerLayer=7, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null) 2026-04-24 11:01:30.478 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 235439 2026-04-24 11:01:30.499 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3 2026-04-24 11:01:30.500 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 7 2026-04-24 11:01:30.923 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层面积: 442400.0 mm², 点数: 108491 比例：7.075569772091163 2026-04-24 11:01:30.923 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层箱子数: 7 2026-04-24 11:01:30.923 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 21, 用时: 757ms 2026-04-24 11:01:30.924 [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: 21, 层数: 1, 最高层: 3, 用时: 757ms 2026-04-24 11:06:20.428 [http-nio-8097-exec-5] 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/2026-04-24/1/1776999980428.png 2026-04-24 11:06:20.433 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[6118] 宽[3072] 高[2048] 2026-04-24 11:06:20.460 [http-nio-8097-exec-5] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1776999980428.png 2026-04-24 11:07:05.543 [http-nio-8097-exec-6] 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/2026-04-24/1/1777000025542.png 2026-04-24 11:07:05.543 [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=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0) 2026-04-24 11:07:05.543 [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 2026-04-24 11:07:05.543 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流未启动，现在启动流 2026-04-24 11:07:05.552 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[6950] 宽[3072] 高[2048] 2026-04-24 11:07:05.596 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777000025542.png 2026-04-24 11:07:06.679 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流启动成功 2026-04-24 11:07:06.707 [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 2026-04-24 11:07:06.723 [http-nio-8097-exec-7] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\amplitude\192.168.100.82_amplitude_20260424_110706.png, 结果: true, 文件是否存在: true 2026-04-24 11:07:06.723 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:/data/media//20260424/amplitude/192.168.100.82_amplitude_20260424_110706.png 2026-04-24 11:07:06.829 [http-nio-8097-exec-7] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\rgb\192.168.100.82_rgb_20260424_110706.png, 结果: true, 文件是否存在: true 2026-04-24 11:07:06.829 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:/data/media//20260424/rgb/192.168.100.82_rgb_20260424_110706.png 2026-04-24 11:07:06.835 [http-nio-8097-exec-7] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\depth\192.168.100.82_depth_20260424_110706.png, 结果: true, 文件是否存在: true 2026-04-24 11:07:06.835 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:/data/media//20260424/depth/192.168.100.82_depth_20260424_110706.png 2026-04-24 11:07:07.745 [http-nio-8097-exec-7] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:/data/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110706.pcd, 结果: 0 2026-04-24 11:07:07.746 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110706.pcd 2026-04-24 11:07:07.746 [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: 4 2026-04-24 11:07:07.861 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流已停止 2026-04-24 11:07:07.861 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110706.pcd boxSize=305.0x205.0x205.0 2026-04-24 11:07:07.861 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110706.pcd, floorHeight=null, boxLength=305.0, boxWidth=205.0, boxHeight=205.0, stackType=null, maxBoxesPerLayer=7, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null) 2026-04-24 11:07:08.159 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 235319 2026-04-24 11:07:08.173 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3 2026-04-24 11:07:08.173 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 7 2026-04-24 11:07:08.552 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层面积: 442637.0 mm², 点数: 108233 比例：7.079360255897641 2026-04-24 11:07:08.552 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层箱子数: 7 2026-04-24 11:07:08.552 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 21, 用时: 691ms 2026-04-24 11:07:08.552 [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: 21, 层数: 1, 最高层: 3, 用时: 691ms 2026-04-24 11:07:40.475 [http-nio-8097-exec-8] 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/2026-04-24/1/1777000060475.png 2026-04-24 11:07:40.480 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[7593] 宽[3072] 高[2048] 2026-04-24 11:07:40.513 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777000060475.png 2026-04-24 11:07:41.013 [http-nio-8097-exec-9] 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/2026-04-24/1/1777000061013.png 2026-04-24 11:07:41.017 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[7603] 宽[3072] 高[2048] 2026-04-24 11:07:41.048 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777000061013.png 2026-04-24 11:09:55.042 [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=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0) 2026-04-24 11:09:55.042 [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 2026-04-24 11:09:55.042 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流未启动，现在启动流 2026-04-24 11:09:56.151 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流启动成功 2026-04-24 11:09:56.223 [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 2026-04-24 11:09:56.230 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\amplitude\192.168.100.82_amplitude_20260424_110956.png, 结果: true, 文件是否存在: true 2026-04-24 11:09:56.231 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:/data/media//20260424/amplitude/192.168.100.82_amplitude_20260424_110956.png 2026-04-24 11:09:56.301 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\rgb\192.168.100.82_rgb_20260424_110956.png, 结果: true, 文件是否存在: true 2026-04-24 11:09:56.301 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:/data/media//20260424/rgb/192.168.100.82_rgb_20260424_110956.png 2026-04-24 11:09:56.304 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\20260424\depth\192.168.100.82_depth_20260424_110956.png, 结果: true, 文件是否存在: true 2026-04-24 11:09:56.304 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:/data/media//20260424/depth/192.168.100.82_depth_20260424_110956.png 2026-04-24 11:09:56.742 [http-nio-8097-exec-10] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:/data/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110956.pcd, 结果: 0 2026-04-24 11:09:56.742 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110956.pcd 2026-04-24 11:09:56.742 [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: 4 2026-04-24 11:09:56.810 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流已停止 2026-04-24 11:09:56.810 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110956.pcd boxSize=305.0x205.0x205.0 2026-04-24 11:09:56.810 [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/media//20260424/pointCloud/192.168.100.82_pointcloud_20260424_110956.pcd, floorHeight=null, boxLength=305.0, boxWidth=205.0, boxHeight=205.0, stackType=null, maxBoxesPerLayer=7, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null) 2026-04-24 11:09:57.104 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 235251 2026-04-24 11:09:57.116 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3 2026-04-24 11:09:57.116 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 7 2026-04-24 11:09:57.484 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层面积: 443206.0 mm², 点数: 108207 比例：7.088460615753698 2026-04-24 11:09:57.484 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层箱子数: 7 2026-04-24 11:09:57.484 [http-nio-8097-exec-10] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 21, 用时: 674ms 2026-04-24 11:09:57.484 [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: 21, 层数: 1, 最高层: 3, 用时: 674ms 2026-04-24 11:17:14.454 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始清理相机资源... 2026-04-24 11:17:14.504 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 资源已清理 2026-04-24 11:17:14.660 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK反初始化成功 2026-04-24 19:54:59.560 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1 2026-04-24 19:54:59.562 [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 2026-04-24 19:54:59.619 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1 2026-04-24 19:55:00.509 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功 2026-04-24 19:55:00.509 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息: 2026-04-24 19:55:00.509 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005 2026-04-24 19:55:00.509 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860 2026-04-24 19:55:00.509 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956 2026-04-24 19:55:00.509 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3 2026-04-24 19:55:00.509 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97 2026-04-24 19:55:00.509 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031 2026-04-24 19:55:00.509 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025 2026-04-24 19:55:00.510 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956 2026-04-24 19:55:00.510 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置失败，错误码: -26 2026-04-24 19:55:00.510 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化完成，流未启动（按需启动） 2026-04-24 19:55:00.510 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功 2026-04-24 19:55:00.511 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1 2026-04-24 19:55:00.535 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 初始化海康相机SDK... 2026-04-24 19:55:00.627 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK Version: 4.7.1.1 2026-04-24 19:55:00.627 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK初始化成功 2026-04-24 19:55:00.627 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始批量初始化 1 个相机... 2026-04-24 19:55:01.179 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 枚举到 3 个设备 2026-04-24 19:55:01.179 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始初始化相机: 192.168.100.89 2026-04-24 19:55:01.429 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 设备信息 - IP: 192.168.100.89, 型号: MV-CU060-10GC, 序列号: DA1455105 2026-04-24 19:55:01.430 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 初始化成功 2026-04-24 19:55:01.430 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 批量初始化完成，成功: 1/1 2026-04-24 19:55:02.050 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成 2026-04-24 19:55:47.554 [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) 2026-04-24 19:55:47.557 [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 2026-04-24 19:55:47.557 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流未启动，现在启动流 2026-04-24 19:55:48.521 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流启动成功 2026-04-24 19:55:48.609 [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 2026-04-24 19:55:48.627 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 创建目录: D:\data\media\2026-04-24\amplitude 2026-04-24 19:55:48.640 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\amplitude\192.168.100.82_amplitude_2026-04-24_19-55-48.png, 结果: true, 文件是否存在: true 2026-04-24 19:55:48.640 [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/media//2026-04-24/amplitude/192.168.100.82_amplitude_2026-04-24_19-55-48.png 2026-04-24 19:55:48.647 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 创建目录: D:\data\media\2026-04-24\rgb 2026-04-24 19:55:48.720 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\rgb\192.168.100.82_rgb_2026-04-24_19-55-48.png, 结果: true, 文件是否存在: true 2026-04-24 19:55:48.720 [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/media//2026-04-24/rgb/192.168.100.82_rgb_2026-04-24_19-55-48.png 2026-04-24 19:55:48.720 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 创建目录: D:\data\media\2026-04-24\depth 2026-04-24 19:55:48.724 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\depth\192.168.100.82_depth_2026-04-24_19-55-48.png, 结果: true, 文件是否存在: true 2026-04-24 19:55:48.725 [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/media//2026-04-24/depth/192.168.100.82_depth_2026-04-24_19-55-48.png 2026-04-24 19:55:49.173 [http-nio-8097-exec-1] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:/data/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-55-48.pcd, 结果: 0 2026-04-24 19:55:49.174 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-55-48.pcd 2026-04-24 19:55:49.174 [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 2026-04-24 19:55:49.283 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流已停止 2026-04-24 19:55:49.284 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-55-48.pcd boxSize=305.0x205.0x205.0 2026-04-24 19:55:49.284 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-55-48.pcd, floorHeight=null, boxLength=305.0, boxWidth=205.0, boxHeight=205.0, stackType=null, maxBoxesPerLayer=7, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null) 2026-04-24 19:55:49.600 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 235193 2026-04-24 19:55:49.628 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3 2026-04-24 19:55:49.628 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 7 2026-04-24 19:55:50.182 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层面积: 440159.0 mm², 点数: 107967 比例：7.039728108756497 2026-04-24 19:55:50.182 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层箱子数: 7 2026-04-24 19:55:50.183 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 21, 用时: 899ms 2026-04-24 19:55:50.183 [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: 21, 层数: 1, 最高层: 3, 用时: 899ms 2026-04-24 19:55:50.930 [http-nio-8097-exec-2] 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/2026-04-24/1/1777031750929.png 2026-04-24 19:55:50.932 [http-nio-8097-exec-3] 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/2026-04-24/1/1777031750931.png 2026-04-24 19:55:50.939 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[35096] 宽[3072] 高[2048] 2026-04-24 19:55:50.949 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[35097] 宽[3072] 高[2048] 2026-04-24 19:55:50.988 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777031750929.png 2026-04-24 19:55:51.013 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777031750931.png 2026-04-24 19:57:50.954 [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=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0) 2026-04-24 19:57:50.955 [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 2026-04-24 19:57:50.955 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流未启动，现在启动流 2026-04-24 19:57:52.080 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流启动成功 2026-04-24 19:57:52.116 [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 2026-04-24 19:57:52.128 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\amplitude\192.168.100.82_amplitude_2026-04-24_19-57-52.png, 结果: true, 文件是否存在: true 2026-04-24 19:57:52.128 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:/data/media//2026-04-24/amplitude/192.168.100.82_amplitude_2026-04-24_19-57-52.png 2026-04-24 19:57:52.236 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\rgb\192.168.100.82_rgb_2026-04-24_19-57-52.png, 结果: true, 文件是否存在: true 2026-04-24 19:57:52.236 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:/data/media//2026-04-24/rgb/192.168.100.82_rgb_2026-04-24_19-57-52.png 2026-04-24 19:57:52.239 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\depth\192.168.100.82_depth_2026-04-24_19-57-52.png, 结果: true, 文件是否存在: true 2026-04-24 19:57:52.240 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:/data/media//2026-04-24/depth/192.168.100.82_depth_2026-04-24_19-57-52.png 2026-04-24 19:57:52.661 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:/data/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-57-52.pcd, 结果: 0 2026-04-24 19:57:52.661 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-57-52.pcd 2026-04-24 19:57:52.661 [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: 4 2026-04-24 19:57:52.759 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流已停止 2026-04-24 19:57:52.759 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-57-52.pcd boxSize=305.0x205.0x205.0 2026-04-24 19:57:52.759 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-57-52.pcd, floorHeight=null, boxLength=305.0, boxWidth=205.0, boxHeight=205.0, stackType=null, maxBoxesPerLayer=7, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null) 2026-04-24 19:57:53.012 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 234944 2026-04-24 19:57:53.022 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3 2026-04-24 19:57:53.023 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 7 2026-04-24 19:57:53.331 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层面积: 441850.0 mm², 点数: 107814 比例：7.066773290683726 2026-04-24 19:57:53.331 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层箱子数: 7 2026-04-24 19:57:53.331 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 21, 用时: 572ms 2026-04-24 19:57:53.331 [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: 21, 层数: 1, 最高层: 3, 用时: 572ms 2026-04-24 19:57:54.552 [http-nio-8097-exec-7] 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/2026-04-24/1/1777031874552.png 2026-04-24 19:57:54.552 [http-nio-8097-exec-8] 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/2026-04-24/1/1777031874552.png 2026-04-24 19:57:54.558 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[37375] 宽[3072] 高[2048] 2026-04-24 19:57:54.560 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[37376] 宽[3072] 高[2048] 2026-04-24 19:57:54.587 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777031874552.png 2026-04-24 19:57:54.614 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777031874552.png 2026-04-24 19:58:09.972 [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=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0) 2026-04-24 19:58:09.972 [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 2026-04-24 19:58:09.972 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流未启动，现在启动流 2026-04-24 19:58:10.879 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流启动成功 2026-04-24 19:58:10.956 [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 2026-04-24 19:58:10.962 [http-nio-8097-exec-9] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\amplitude\192.168.100.82_amplitude_2026-04-24_19-58-10.png, 结果: true, 文件是否存在: true 2026-04-24 19:58:10.963 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:/data/media//2026-04-24/amplitude/192.168.100.82_amplitude_2026-04-24_19-58-10.png 2026-04-24 19:58:11.046 [http-nio-8097-exec-9] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\rgb\192.168.100.82_rgb_2026-04-24_19-58-10.png, 结果: true, 文件是否存在: true 2026-04-24 19:58:11.047 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:/data/media//2026-04-24/rgb/192.168.100.82_rgb_2026-04-24_19-58-10.png 2026-04-24 19:58:11.052 [http-nio-8097-exec-9] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\depth\192.168.100.82_depth_2026-04-24_19-58-10.png, 结果: true, 文件是否存在: true 2026-04-24 19:58:11.052 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:/data/media//2026-04-24/depth/192.168.100.82_depth_2026-04-24_19-58-10.png 2026-04-24 19:58:11.484 [http-nio-8097-exec-9] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:/data/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-58-10.pcd, 结果: 0 2026-04-24 19:58:11.484 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-58-10.pcd 2026-04-24 19:58:11.485 [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: 4 2026-04-24 19:58:11.623 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流已停止 2026-04-24 19:58:11.623 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-58-10.pcd boxSize=305.0x205.0x205.0 2026-04-24 19:58:11.623 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_19-58-10.pcd, floorHeight=null, boxLength=305.0, boxWidth=205.0, boxHeight=205.0, stackType=null, maxBoxesPerLayer=7, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null) 2026-04-24 19:58:11.967 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 235100 2026-04-24 19:58:11.986 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3 2026-04-24 19:58:11.986 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 7 2026-04-24 19:58:12.427 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层面积: 441432.0 mm², 点数: 107797 比例：7.060087964814074 2026-04-24 19:58:12.427 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层箱子数: 7 2026-04-24 19:58:12.427 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 21, 用时: 804ms 2026-04-24 19:58:12.427 [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: 21, 层数: 1, 最高层: 3, 用时: 804ms 2026-04-24 20:00:21.868 [http-nio-8097-exec-2] 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/2026-04-24/1/1777032021868.png 2026-04-24 20:00:21.868 [http-nio-8097-exec-3] 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/2026-04-24/1/1777032021868.png 2026-04-24 20:00:21.877 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[40093] 宽[3072] 高[2048] 2026-04-24 20:00:21.908 [http-nio-8097-exec-2] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777032021868.png 2026-04-24 20:00:21.919 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[40094] 宽[3072] 高[2048] 2026-04-24 20:00:21.944 [http-nio-8097-exec-3] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777032021868.png 2026-04-24 20:03:19.013 [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=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0) 2026-04-24 20:03:19.014 [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 2026-04-24 20:03:19.014 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流未启动，现在启动流 2026-04-24 20:03:20.142 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流启动成功 2026-04-24 20:03:20.187 [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 2026-04-24 20:03:20.192 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\amplitude\192.168.100.82_amplitude_2026-04-24_20-03-20.png, 结果: true, 文件是否存在: true 2026-04-24 20:03:20.192 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:/data/media//2026-04-24/amplitude/192.168.100.82_amplitude_2026-04-24_20-03-20.png 2026-04-24 20:03:20.258 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\rgb\192.168.100.82_rgb_2026-04-24_20-03-20.png, 结果: true, 文件是否存在: true 2026-04-24 20:03:20.258 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:/data/media//2026-04-24/rgb/192.168.100.82_rgb_2026-04-24_20-03-20.png 2026-04-24 20:03:20.261 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\depth\192.168.100.82_depth_2026-04-24_20-03-20.png, 结果: true, 文件是否存在: true 2026-04-24 20:03:20.261 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:/data/media//2026-04-24/depth/192.168.100.82_depth_2026-04-24_20-03-20.png 2026-04-24 20:03:20.668 [http-nio-8097-exec-6] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:/data/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_20-03-20.pcd, 结果: 0 2026-04-24 20:03:20.668 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_20-03-20.pcd 2026-04-24 20:03:20.668 [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: 4 2026-04-24 20:03:20.786 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流已停止 2026-04-24 20:03:20.786 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_20-03-20.pcd boxSize=305.0x205.0x205.0 2026-04-24 20:03:20.786 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_20-03-20.pcd, floorHeight=null, boxLength=305.0, boxWidth=205.0, boxHeight=205.0, stackType=null, maxBoxesPerLayer=7, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null) 2026-04-24 20:03:21.058 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 234966 2026-04-24 20:03:21.072 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3 2026-04-24 20:03:21.072 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 7 2026-04-24 20:03:21.400 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层面积: 441872.0 mm², 点数: 107716 比例：7.067125149940024 2026-04-24 20:03:21.400 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层箱子数: 7 2026-04-24 20:03:21.400 [http-nio-8097-exec-6] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 21, 用时: 614ms 2026-04-24 20:03:21.400 [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: 21, 层数: 1, 最高层: 3, 用时: 614ms 2026-04-24 20:04:35.969 [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=true, captureRgb=true, captureDepth=true, captureDepthColor=false, capturePointCloud=true, maxConnectRetries=3, maxCaptureRetries=3, retryInterval=500, maxDepthValue=1000.0, colormapType=0) 2026-04-24 20:04:35.969 [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 2026-04-24 20:04:35.969 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流未启动，现在启动流 2026-04-24 20:04:37.079 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流启动成功 2026-04-24 20:04:37.110 [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 2026-04-24 20:04:37.115 [http-nio-8097-exec-8] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\amplitude\192.168.100.82_amplitude_2026-04-24_20-04-37.png, 结果: true, 文件是否存在: true 2026-04-24 20:04:37.116 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 强度图保存成功: D:/data/media//2026-04-24/amplitude/192.168.100.82_amplitude_2026-04-24_20-04-37.png 2026-04-24 20:04:37.179 [http-nio-8097-exec-8] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\rgb\192.168.100.82_rgb_2026-04-24_20-04-37.png, 结果: true, 文件是否存在: true 2026-04-24 20:04:37.179 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 RGB图保存成功: D:/data/media//2026-04-24/rgb/192.168.100.82_rgb_2026-04-24_20-04-37.png 2026-04-24 20:04:37.183 [http-nio-8097-exec-8] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 图像保存: D:\data\media\2026-04-24\depth\192.168.100.82_depth_2026-04-24_20-04-37.png, 结果: true, 文件是否存在: true 2026-04-24 20:04:37.183 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 深度图保存成功: D:/data/media//2026-04-24/depth/192.168.100.82_depth_2026-04-24_20-04-37.png 2026-04-24 20:04:37.554 [http-nio-8097-exec-8] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageSaver] - 点云保存: D:/data/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_20-04-37.pcd, 结果: 0 2026-04-24 20:04:37.555 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_20-04-37.pcd 2026-04-24 20:04:37.555 [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: 4 2026-04-24 20:04:37.688 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 流已停止 2026-04-24 20:04:37.688 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_20-04-37.pcd boxSize=305.0x205.0x205.0 2026-04-24 20:04:37.688 [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/media//2026-04-24/pointCloud/192.168.100.82_pointcloud_2026-04-24_20-04-37.pcd, floorHeight=null, boxLength=305.0, boxWidth=205.0, boxHeight=205.0, stackType=null, maxBoxesPerLayer=7, baseTolerance=null, additionalTolerancePerLevel=null, minBounds=null, maxBounds=null) 2026-04-24 20:04:37.961 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 成功读取PCD文件，点数: 235070 2026-04-24 20:04:37.974 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 过滤后的点云层数: 3 2026-04-24 20:04:37.974 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 每层最大箱子数: 7 2026-04-24 20:04:38.290 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层面积: 442194.0 mm², 点数: 107721 比例：7.072275089964014 2026-04-24 20:04:38.290 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 第 3 层箱子数: 7 2026-04-24 20:04:38.290 [http-nio-8097-exec-8] INFO [c.e.l.s.I.camera.lx.BoxCountCalculator] - 计算完成，总箱子数: 21, 用时: 602ms 2026-04-24 20:04:38.290 [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: 21, 层数: 1, 最高层: 3, 用时: 602ms 2026-04-24 20:04:39.499 [http-nio-8097-exec-7] 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/2026-04-24/1/1777032279498.png 2026-04-24 20:04:39.499 [http-nio-8097-exec-9] 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/2026-04-24/1/1777032279499.png 2026-04-24 20:04:39.504 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[44842] 宽[3072] 高[2048] 2026-04-24 20:04:39.526 [http-nio-8097-exec-7] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777032279498.png 2026-04-24 20:04:39.538 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[44843] 宽[3072] 高[2048] 2026-04-24 20:04:39.562 [http-nio-8097-exec-9] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777032279499.png 2026-04-24 20:12:51.740 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始清理相机资源... 2026-04-24 20:12:51.788 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 资源已清理 2026-04-24 20:12:51.926 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK反初始化成功 2026-04-24 21:26:02.169 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化所有Lx相机，数量: 1 2026-04-24 21:26:02.172 [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 2026-04-24 21:26:02.262 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 开始初始化设备: SN=192.168.100.82, Type=1 2026-04-24 21:26:03.392 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化成功 2026-04-24 21:26:03.392 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备详细信息: 2026-04-24 21:26:03.393 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备类型: 1005 2026-04-24 21:26:03.393 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - ID: F83B51129860 2026-04-24 21:26:03.393 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - IP: 192.168.100.82:3956 2026-04-24 21:26:03.393 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - SN: 04C8BF8A094B12F3 2026-04-24 21:26:03.394 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - MAC: fa:7e:64:c8:27:97 2026-04-24 21:26:03.394 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 固件版本: V1.1.26_231031 2026-04-24 21:26:03.394 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 算法版本: 1.1.5,20231025 2026-04-24 21:26:03.394 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备名称: camera_M4_192.168.100.82_3956 2026-04-24 21:26:03.395 [main] WARN [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 命令码设置失败，错误码: -26 2026-04-24 21:26:03.396 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 设备 192.168.100.82 初始化完成，流未启动（按需启动） 2026-04-24 21:26:03.396 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 相机 192.168.100.82 初始化成功 2026-04-24 21:26:03.397 [main] INFO [c.e.l.s.I.camera.lx.LxCameraServiceImpl] - 所有Lx相机初始化完成，成功: 1 2026-04-24 21:26:03.445 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 初始化海康相机SDK... 2026-04-24 21:26:03.630 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK Version: 4.7.1.1 2026-04-24 21:26:03.631 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK初始化成功 2026-04-24 21:26:03.631 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始批量初始化 1 个相机... 2026-04-24 21:26:04.202 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 枚举到 3 个设备 2026-04-24 21:26:04.203 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始初始化相机: 192.168.100.89 2026-04-24 21:26:04.619 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 设备信息 - IP: 192.168.100.89, 型号: MV-CU060-10GC, 序列号: DA1455105 2026-04-24 21:26:04.620 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 初始化成功 2026-04-24 21:26:04.620 [main] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 批量初始化完成，成功: 1/1 2026-04-24 21:26:05.672 [main] INFO [c.e.l.s.IndustrialCamera.camera.lx.ImageCropper] - ImageCropper 初始化完成 2026-04-24 21:26:22.177 [http-nio-8097-exec-1] 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/2026-04-24/1/1777037182177.png 2026-04-24 21:26:22.189 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 获取图像成功: 帧[322] 宽[3072] 高[2048] 2026-04-24 21:26:22.256 [http-nio-8097-exec-1] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 图像保存成功: D:/data/media/2026-04-24/1/1777037182177.png 2026-04-24 21:26:41.387 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 开始清理相机资源... 2026-04-24 21:26:41.443 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - 相机 192.168.100.89 资源已清理 2026-04-24 21:26:41.608 [SpringApplicationShutdownHook] INFO [c.e.l.s.I.camera.hik.ImageCaptureService] - SDK反初始化成功