diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index bf68661..2150f56 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -1,6 +1,7 @@
+
\ No newline at end of file
diff --git a/anger_main.py b/angle_main.py
similarity index 100%
rename from anger_main.py
rename to angle_main.py
diff --git a/anger_little.py b/angle_test.py
similarity index 100%
rename from anger_little.py
rename to angle_test.py
diff --git a/image/.idea/.gitignore b/image/.idea/.gitignore
new file mode 100644
index 0000000..26d3352
--- /dev/null
+++ b/image/.idea/.gitignore
@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml
diff --git a/image/.idea/image.iml b/image/.idea/image.iml
new file mode 100644
index 0000000..2d9ff9a
--- /dev/null
+++ b/image/.idea/image.iml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/image/.idea/inspectionProfiles/profiles_settings.xml b/image/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..105ce2d
--- /dev/null
+++ b/image/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/image/.idea/misc.xml b/image/.idea/misc.xml
new file mode 100644
index 0000000..7722ace
--- /dev/null
+++ b/image/.idea/misc.xml
@@ -0,0 +1,7 @@
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/image/.idea/modules.xml b/image/.idea/modules.xml
new file mode 100644
index 0000000..fe3ecb8
--- /dev/null
+++ b/image/.idea/modules.xml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/image/.idea/vcs.xml b/image/.idea/vcs.xml
new file mode 100644
index 0000000..6c0b863
--- /dev/null
+++ b/image/.idea/vcs.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/image/__init__.py b/image/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/image/del_photo/change.py b/image/del_photo/change.py
new file mode 100644
index 0000000..239e4b3
--- /dev/null
+++ b/image/del_photo/change.py
@@ -0,0 +1,90 @@
+import os
+from PIL import Image
+import numpy as np
+
+def is_large_gray(image, gray_lower_threshold=70, gray_upper_threshold=230, gray_ratio_threshold=0.7):
+ """
+ 判断图片是否大面积为灰色（基于像素的颜色值）
+
+ 参数：
+ - image: 图片对象（PIL Image）
+ - gray_lower_threshold: 灰色下限（低于此值不算“灰色”）
+ - gray_upper_threshold: 灰色上限（高于此值不算“灰色”）
+ - gray_ratio_threshold: 灰色像素占比阈值（>70% 算大面积灰色）
+
+ 返回：True 表示是大面积灰色，应删除
+ """
+ # 将图片转换为 numpy 数组
+ img_array = np.array(image)
+
+ # 获取图片的尺寸
+ height, width, _ = img_array.shape
+ total_pixels = height * width
+
+ # 判断是否为灰色像素（R、G、B 值都在 gray_lower_threshold 和 gray_upper_threshold 之间）
+ gray_pixels = np.sum(
+ (img_array[:, :, 0] >= gray_lower_threshold) &
+ (img_array[:, :, 0] <= gray_upper_threshold) &
+ (img_array[:, :, 1] >= gray_lower_threshold) &
+ (img_array[:, :, 1] <= gray_upper_threshold) &
+ (img_array[:, :, 2] >= gray_lower_threshold) &
+ (img_array[:, :, 2] <= gray_upper_threshold)
+ )
+
+ gray_ratio = gray_pixels / total_pixels
+
+ return gray_ratio > gray_ratio_threshold
+
+
+def process_images_in_folder(input_folder, output_folder):
+ """
+ 遍历文件夹，旋转图片并根据条件保存到输出文件夹
+ """
+ # 创建输出文件夹（如果不存在）
+ if not os.path.exists(output_folder):
+ os.makedirs(output_folder)
+
+ # 支持的图片格式
+ supported_formats = ('.jpg', '.jpeg', '.png', '.bmp', '.tiff', '.tif', '.webp')
+
+ for filename in os.listdir(input_folder):
+ file_path = os.path.join(input_folder, filename)
+
+ if not os.path.isfile(file_path):
+ continue
+
+ if not filename.lower().endswith(supported_formats):
+ continue
+
+ print(f"处理: {filename}")
+
+ try:
+ with Image.open(file_path) as img:
+ # 判断是否为大面积灰色
+ if is_large_gray(img):
+ print(f" 🔴 不保存大面积灰色图片: {filename}")
+ continue # 不保存该图片
+
+ # 否则：打开并旋转 180 度
+ rotated_img = img.rotate(180, expand=False)
+
+ # 构建新的保存路径
+ save_path = os.path.join(output_folder, filename)
+
+ # 保持原格式保存（覆盖原图）
+ rotated_img.save(save_path, format=img.format)
+ print(f" ✅ 已旋转并保存至: {save_path}")
+ except Exception as e:
+ print(f" ❌ 处理失败 {filename}: {e}")
+
+
+# ================ 使用示例 ================
+if __name__ == "__main__":
+ folder = "/media/hx/disk/folder_5"
+ output_folder = "/media/hx/disk/folder_5"
+
+ if not os.path.exists(folder):
+ print("❌ 输入文件夹不存在！")
+ else:
+ process_images_in_folder(folder, output_folder)
+ print("✅ 所有图片处理完成！")
\ No newline at end of file
diff --git a/image/del_photo/del_image_gray.py b/image/del_photo/del_image_gray.py
new file mode 100644
index 0000000..a1f936f
--- /dev/null
+++ b/image/del_photo/del_image_gray.py
@@ -0,0 +1,118 @@
+import os
+from pathlib import Path
+from PIL import Image
+import numpy as np
+
+
+def is_grayscale_image(image_path, saturation_threshold=0.05, gray_intensity_threshold=200):
+ """
+ 判断图像是否为“灰色图片”（低饱和度或接近灰度）
+
+ :param image_path: 图像路径
+ :param saturation_threshold: 饱和度阈值（0~1），越低越可能是灰色
+ :param gray_intensity_threshold: 亮度阈值，过滤纯白/纯黑
+ :return: True 表示是灰色图，应删除
+ """
+ try:
+ img = Image.open(image_path)
+
+ # 转为 RGB（处理灰度图自动转为 3 通道）
+ if img.mode != 'RGB':
+ img = img.convert('RGB')
+
+ # 转为 numpy 数组
+ rgb = np.array(img).astype(np.float32) # (H, W, 3)
+ H, W, _ = rgb.shape
+
+ if H * W == 0:
+ return True # 空图
+
+ # 转为 HSV（手动计算避免 PIL 的 hsv 转换问题）
+ r, g, b = rgb[..., 0], rgb[..., 1], rgb[..., 2]
+
+ max_c = np.maximum(np.maximum(r, g), b)
+ min_c = np.minimum(np.minimum(r, g), b)
+ delta = max_c - min_c
+
+ # 饱和度 S = delta / max_c
+ with np.errstate(divide='ignore', invalid='ignore'):
+ s = np.where(max_c == 0, 0, delta / max_c)
+
+ # 只取非纯黑区域的饱和度（避免纯黑区域干扰）
+ valid_s = s[(max_c > 10) & (max_c < gray_intensity_threshold)] # 忽略极暗和极亮
+
+ if len(valid_s) == 0:
+ return True # 全黑或全白
+
+ # 计算平均饱和度
+ avg_saturation = valid_s.mean()
+
+ # 如果平均饱和度很低，认为是灰色图
+ return avg_saturation < saturation_threshold
+
+ except Exception as e:
+ print(f"⚠️ 无法读取图像 {image_path}: {e}")
+ return True # 出错的图也删除（可选）
+
+
+def delete_gray_images(folder_path, extensions=None, dry_run=False):
+ """
+ 删除文件夹中的灰色图片
+
+ :param folder_path: 图片文件夹路径
+ :param extensions: 支持的图片格式
+ :param dry_run: 如果为 True，只打印不删除
+ """
+ if extensions is None:
+ extensions = ['.jpg', '.jpeg', '.png', '.bmp', '.tiff']
+
+ folder = Path(folder_path)
+ if not folder.exists():
+ print(f"❌ 文件夹不存在: {folder_path}")
+ return
+
+ image_files = []
+ for ext in extensions:
+ image_files.extend(folder.glob(f'*{ext}'))
+ image_files.extend(folder.glob(f'*{ext.upper()}'))
+
+ if not image_files:
+ print(f"🔍 文件夹中没有找到图片: {folder_path}")
+ return
+
+ print(f"🔍 扫描到 {len(image_files)} 张图片...")
+ deleted_count = 0
+
+ for img_path in image_files:
+ if is_grayscale_image(img_path):
+ print(f"🗑️ 灰色图: {img_path.name}")
+ if not dry_run:
+ try:
+ img_path.unlink() # 删除文件
+ print(f"✅ 已删除: {img_path.name}")
+ deleted_count += 1
+ except Exception as e:
+ print(f"❌ 删除失败 {img_path.name}: {e}")
+ else:
+ print(f"✅ 彩色图: {img_path.name} (保留)")
+
+ print("\n" + "=" * 50)
+ if dry_run:
+ print(f"🧪 模拟完成，共发现 {deleted_count} 张灰色图将被删除")
+ else:
+ print(f"✅ 删除完成！共删除 {deleted_count} 张灰色图片")
+ print(f"📁 保留图片数: {len(image_files) - deleted_count}")
+ print("=" * 50)
+
+
+# ================== 用户配置 ==================
+FOLDER_PATH = "/media/hx/disk/folder_5" # 修改为你的图片文件夹
+DRY_RUN = False # 先设为 True 测试，确认无误后再改为 False
+
+# ================== 执行 ==================
+if __name__ == "__main__":
+ print(f"🚀 开始检测并删除灰色图片...")
+ delete_gray_images(
+ folder_path=FOLDER_PATH,
+ dry_run=DRY_RUN
+ )
\ No newline at end of file
diff --git a/image/del_photo/del_image_ssim.py b/image/del_photo/del_image_ssim.py
new file mode 100644
index 0000000..fc6c3d7
--- /dev/null
+++ b/image/del_photo/del_image_ssim.py
@@ -0,0 +1,103 @@
+import os
+import cv2
+from skimage.metrics import structural_similarity as ssim
+
+def calculate_ssim(image_path1, image_path2):
+ """
+ 计算两张图片的 SSIM 相似度
+ """
+ # 读取图像
+ img1 = cv2.imread(image_path1)
+ img2 = cv2.imread(image_path2)
+
+ if img1 is None:
+ print(f"❌ 无法读取图片1: {image_path1}")
+ return None
+ if img2 is None:
+ print(f"❌ 无法读取图片2: {image_path2}")
+ return None
+
+ # 转为灰度图
+ gray1 = cv2.cvtColor(img1, cv2.COLOR_BGR2GRAY)
+ gray2 = cv2.cvtColor(img2, cv2.COLOR_BGR2GRAY)
+
+ # 确保尺寸一致
+ if gray1.shape != gray2.shape:
+ print("⚠️ 图像尺寸不一致，正在调整...")
+ h, w = min(gray1.shape[0], gray2.shape[0]), min(gray1.shape[1], gray2.shape[1])
+ gray1 = cv2.resize(gray1, (w, h))
+ gray2 = cv2.resize(gray2, (w, h))
+
+ # 计算 SSIM
+ try:
+ similarity = ssim(gray1, gray2)
+ return similarity
+ except Exception as e:
+ print(f"❌ SSIM 计算失败: {e}")
+ return None
+
+
+def delete_similar_consecutive_images(folder_path, threshold=0.95, extensions=None):
+ """
+ 删除相似度高于阈值的连续图片
+
+ :param folder_path: 图片所在的文件夹路径
+ :param threshold: SSIM 阈值，默认为 0.95
+ :param extensions: 支持的图片格式列表，默认为 ['.jpg', '.jpeg', '.png']
+ """
+ if extensions is None:
+ extensions = ['.jpg', '.jpeg', '.png']
+
+ folder = os.path.abspath(folder_path)
+ if not os.path.exists(folder):
+ print(f"❌ 文件夹不存在: {folder_path}")
+ return
+
+ # 获取所有图片文件路径
+ image_files = []
+ for ext in extensions:
+ image_files.extend([os.path.join(folder, f) for f in os.listdir(folder) if f.lower().endswith(ext)])
+
+ if not image_files:
+ print(f"🔍 文件夹中没有找到图片: {folder_path}")
+ return
+
+ # 按文件名排序以确保顺序正确
+ image_files.sort()
+
+ print(f"🔍 扫描到 {len(image_files)} 张图片...")
+ deleted_count = 0
+
+ # 遍历每一对连续的图片
+ for i in range(len(image_files) - 1):
+ img_path1 = image_files[i]
+ img_path2 = image_files[i + 1]
+
+ similarity = calculate_ssim(img_path1, img_path2)
+ if similarity is not None and similarity > threshold:
+ print(f"🗑️ 删除相似图片: {img_path2} (SSIM: {similarity:.4f})")
+ try:
+ os.remove(img_path2)
+ deleted_count += 1
+ except Exception as e:
+ print(f"❌ 删除失败 {img_path2}: {e}")
+ else:
+ print(f"✅ 保留图片: {img_path2}")
+
+ print("\n" + "=" * 50)
+ print(f"✅ 删除完成！共删除 {deleted_count} 张相似图片")
+ print(f"📁 保留图片数: {len(image_files) - deleted_count}")
+ print("=" * 50)
+
+
+# ================== 用户配置 ==================
+FOLDER_PATH = "/media/hx/disk/folder_5" # 修改为你的图片文件夹路径
+THRESHOLD = 0.90 # SSIM 阈值
+
+# ================== 执行 ==================
+if __name__ == "__main__":
+ print(f"🚀 开始检测并删除相似图片...")
+ delete_similar_consecutive_images(
+ folder_path=FOLDER_PATH,
+ threshold=THRESHOLD
+ )
\ No newline at end of file
diff --git a/image/del_photo/ssim.py b/image/del_photo/ssim.py
new file mode 100644
index 0000000..ecce5cd
--- /dev/null
+++ b/image/del_photo/ssim.py
@@ -0,0 +1,63 @@
+import cv2
+from skimage.metrics import structural_similarity as ssim
+import os
+
+def calculate_ssim(image_path1, image_path2):
+ """
+ 计算两张图片的 SSIM 相似度
+ """
+ # 读取图像
+ img1 = cv2.imread(image_path1)
+ img2 = cv2.imread(image_path2)
+
+ if img1 is None:
+ print(f"❌ 无法读取图片1: {image_path1}")
+ return None
+ if img2 is None:
+ print(f"❌ 无法读取图片2: {image_path2}")
+ return None
+
+ # 转为灰度图
+ gray1 = cv2.cvtColor(img1, cv2.COLOR_BGR2GRAY)
+ gray2 = cv2.cvtColor(img2, cv2.COLOR_BGR2GRAY)
+
+ # 确保尺寸一致
+ if gray1.shape != gray2.shape:
+ print("⚠️ 图像尺寸不一致，正在调整...")
+ h, w = min(gray1.shape[0], gray2.shape[0]), min(gray1.shape[1], gray2.shape[1])
+ gray1 = cv2.resize(gray1, (w, h))
+ gray2 = cv2.resize(gray2, (w, h))
+
+ # 计算 SSIM
+ try:
+ similarity = ssim(gray1, gray2)
+ return similarity
+ except Exception as e:
+ print(f"❌ SSIM 计算失败: {e}")
+ return None
+
+
+# ==================== 使用示例 ====================
+if __name__ == "__main__":
+ # 替换成你本地的两张图片路径
+ path1 = "/home/hx/桌面/image/image/frame_20250805_120334_585.jpg"
+ path2 = "/home/hx/桌面/image/image/frame_20250805_120334_570.jpg"
+
+ # 检查文件是否存在
+ if not os.path.exists(path1):
+ print(f"文件不存在: {path1}")
+ print("请修改 path1 为实际存在的图片路径")
+ elif not os.path.exists(path2):
+ print(f"文件不存在: {path2}")
+ print("请修改 path2 为实际存在的图片路径")
+ else:
+ print("正在计算 SSIM...")
+ sim = calculate_ssim(path1, path2)
+ if sim is not None:
+ print(f"✅ SSIM 相似度: {sim:.4f}")
+ if sim > 0.9:
+ print("🔴 太相似（>0.9），应跳过重复帧")
+ elif sim > 0.7:
+ print("🟡 较相似，内容变化不大")
+ else:
+ print("🟢 差异明显，建议保存")
\ No newline at end of file
diff --git a/image/image.py b/image/image.py
new file mode 100644
index 0000000..78a0c50
--- /dev/null
+++ b/image/image.py
@@ -0,0 +1,144 @@
+import cv2
+import time
+import os
+import numpy as np
+from PIL import Image
+from skimage.metrics import structural_similarity as ssim
+
+# ================== 配置参数 ==================
+url = "rtsp://admin:XJ123456@192.168.1.51:554/streaming/channels/101"
+save_interval = 15 # 每隔 N 帧处理一次（可调）
+SSIM_THRESHOLD = 0.9 # SSIM 相似度阈值，>0.9 认为太像
+output_dir = os.path.join("userdata", "image") # 固定路径：userdata/image
+
+# 灰色判断参数
+GRAY_LOWER = 70
+GRAY_UPPER = 230
+GRAY_RATIO_THRESHOLD = 0.7
+
+# 创建输出目录
+if not os.path.exists(output_dir):
+ os.makedirs(output_dir)
+ print(f"已创建目录: {output_dir}")
+
+def is_large_gray(image, gray_lower=GRAY_LOWER, gray_upper=GRAY_UPPER, ratio_thresh=GRAY_RATIO_THRESHOLD):
+ """
+ 判断图片是否大面积为灰色（R/G/B 都在 [gray_lower, gray_upper] 区间）
+ """
+ img_array = np.array(image)
+ if len(img_array.shape) != 3 or img_array.shape[2] != 3:
+ return True # 非三通道图视为无效/灰色
+
+ h, w, _ = img_array.shape
+ total = h * w
+
+ gray_mask = (
+ (img_array[:, :, 0] >= gray_lower) & (img_array[:, :, 0] <= gray_upper) &
+ (img_array[:, :, 1] >= gray_lower) & (img_array[:, :, 1] <= gray_upper) &
+ (img_array[:, :, 2] >= gray_lower) & (img_array[:, :, 2] <= gray_upper)
+ )
+ gray_pixels = np.sum(gray_mask)
+ gray_ratio = gray_pixels / total
+
+ return gray_ratio > ratio_thresh
+
+max_retry_seconds = 10 # 最大重试时间为10秒
+retry_interval_seconds = 1 # 每隔1秒尝试重新连接一次
+
+while True: # 外层循环用于处理重新连接逻辑
+ cap = cv2.VideoCapture(url)
+ start_time = time.time() # 记录开始尝试连接的时间
+
+ while not cap.isOpened(): # 如果无法打开摄像头，则进入重试逻辑
+ if time.time() - start_time >= max_retry_seconds:
+ print(f"已尝试重新连接 {max_retry_seconds} 秒，但仍无法获取视频流。")
+ exit()
+
+ print("无法打开摄像头，正在尝试重新连接...")
+ time.sleep(retry_interval_seconds) # 等待一段时间后再次尝试
+ cap = cv2.VideoCapture(url)
+
+ print("✅ 开始读取视频流...")
+
+ frame_count = 0
+ last_gray = None # 用于 SSIM 去重
+
+ try:
+ while True:
+ ret, frame = cap.read()
+ if not ret:
+ print("读取帧失败，可能是流中断或摄像头断开")
+ cap.release() # 释放资源以便重新连接
+ break # 跳出内层循环尝试重新连接
+
+ frame_count += 1
+
+ # 仅在指定间隔处理保存逻辑
+ if frame_count % save_interval != 0:
+ cv2.imshow('Camera Stream (Live)', frame)
+ if cv2.waitKey(1) == ord('q'):
+ raise KeyboardInterrupt
+ continue
+
+ print(f"处理帧 {frame_count}")
+
+ # 转为 PIL 图像（用于后续判断和旋转）
+ rgb_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+ pil_image = Image.fromarray(rgb_frame)
+
+ # STEP 1: 判断是否为大面积灰色（优先级最高）
+ if is_large_gray(pil_image):
+ print(f"跳过：大面积灰色图像 (frame_{frame_count})")
+ cv2.imshow('Camera Stream (Live)', frame)
+ if cv2.waitKey(1) == ord('q'):
+ raise KeyboardInterrupt
+ continue
+
+ # STEP 2: 判断是否为重复帧（基于 SSIM）
+ gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+ if last_gray is not None:
+ try:
+ similarity = ssim(gray, last_gray)
+ if similarity > SSIM_THRESHOLD:
+ print(f"跳过：与上一帧太相似 (SSIM={similarity:.3f})")
+ cv2.imshow('Camera Stream (Live)', frame)
+ if cv2.waitKey(1) == ord('q'):
+ raise KeyboardInterrupt
+ continue
+ except Exception as e:
+ print(f"SSIM 计算异常: {e}")
+
+ # 更新 last_gray 用于下一帧比较
+ last_gray = gray.copy()
+
+ # STEP 3: 旋转 180 度
+ rotated_pil = pil_image.rotate(180, expand=False)
+
+ # 生成文件名（时间戳 + 毫秒防重），使用 .png 扩展名
+ timestamp = time.strftime("%Y%m%d_%H%M%S")
+ ms = int((time.time() % 1) * 1000)
+ filename = f"frame_{timestamp}_{ms:03d}.png" # ✅ 确保是 .png
+ filepath = os.path.join(output_dir, filename)
+
+ # 保存图像为 PNG 格式（无损）
+ try:
+ rotated_pil.save(filepath, format='PNG') # ✅ PNG 不需要 quality 参数
+ print(f"已保存: {filepath}")
+ except Exception as e:
+ print(f"保存失败 {filename}: {e}")
+
+ # 显示画面
+ cv2.imshow('Camera Stream (Live)', frame)
+ if cv2.waitKey(1) == ord('q'):
+ raise KeyboardInterrupt
+
+ except KeyboardInterrupt:
+ print("\n用户中断")
+ break # 跳出外层循环并退出程序
+
+ finally:
+ cap.release()
+ cv2.destroyAllWindows()
+ print(f"视频流已关闭，共处理 {frame_count} 帧。")
+
+print("程序结束")
diff --git a/image/image_upload.py b/image/image_upload.py
new file mode 100644
index 0000000..3169611
--- /dev/null
+++ b/image/image_upload.py
@@ -0,0 +1,165 @@
+import cv2
+import time
+import os
+import numpy as np
+from PIL import Image
+from skimage.metrics import structural_similarity as ssim
+import threading
+import transport_client
+from transport_client import send_images # 导入上传函数
+# ================== 配置数 ==================
+url = "rtsp://admin:XJ123456@192.168.1.51:554/streaming/channels/101"
+save_interval = 15 # 每隔 N 帧处理一次（可调）
+SSIM_THRESHOLD = 0.9 # SSIM 相似度阈值，>0.9 认为太像
+output_dir = os.path.join("userdata", "image") # 固定路径：userdata/image
+# 灰色判断参数
+GRAY_LOWER = 70
+GRAY_UPPER = 230
+GRAY_RATIO_THRESHOLD = 0.7
+
+# 上传配置（新增）
+UPLOAD_SERVER_URL = "http://www.xj-robot.com:6000/upload"
+UPLOAD_SITE_NAME = "FactoryA"
+UPLOAD_LINE_ID = "Line1"
+UPLOAD_PURPOSE = "DET"
+
+# 创建输出目录
+if not os.path.exists(output_dir):
+ os.makedirs(output_dir)
+ print(f"已创建目录: {output_dir}")
+
+def is_large_gray(image, gray_lower=GRAY_LOWER, gray_upper=GRAY_UPPER, ratio_thresh=GRAY_RATIO_THRESHOLD):
+ """
+ 判断图片是否大面积为灰色（R/G/B 都在 [gray_lower, gray_upper] 区间）
+ """
+ img_array = np.array(image)
+ if len(img_array.shape) != 3 or img_array.shape[2] != 3:
+ return True # 非三通道图视为无效/灰色
+
+ h, w, _ = img_array.shape
+ total = h * w
+
+ gray_mask = (
+ (img_array[:, :, 0] >= gray_lower) & (img_array[:, :, 0] <= gray_upper) &
+ (img_array[:, :, 1] >= gray_lower) & (img_array[:, :, 1] <= gray_upper) &
+ (img_array[:, :, 2] >= gray_lower) & (img_array[:, :, 2] <= gray_upper)
+ )
+ gray_pixels = np.sum(gray_mask)
+ gray_ratio = gray_pixels / total
+
+ return gray_ratio > ratio_thresh
+
+max_retry_seconds = 10 # 最大重试时间为10秒
+retry_interval_seconds = 1 # 每隔1秒尝试重新连接一次
+
+while True: # 外层循环用于处理重新连接逻辑
+ cap = cv2.VideoCapture(url)
+ start_time = time.time() # 记录开始尝试连接的时间
+
+ while not cap.isOpened(): # 如果无法打开摄像头，则进入重试逻辑
+ if time.time() - start_time >= max_retry_seconds:
+ print(f"已尝试重新连接 {max_retry_seconds} 秒，但仍无法获取视频流。")
+ exit()
+
+ print("无法打开摄像头，正在尝试重新连接...")
+ time.sleep(retry_interval_seconds) # 等待一段时间后再次尝试
+ cap = cv2.VideoCapture(url)
+
+ print("✅ 开始读取视频流...")
+
+ frame_count = 0
+ last_gray = None # 用于 SSIM 去重
+
+ try:
+ while True:
+ ret, frame = cap.read()
+ if not ret:
+ print("读取帧失败，可能是流中断或摄像头断开")
+ cap.release() # 释放资源以便重新连接
+ break # 跳出内层循环尝试重新连接
+
+ frame_count += 1
+
+ # 仅在指定间隔处理保存逻辑
+ if frame_count % save_interval != 0:
+ cv2.imshow('Camera Stream (Live)', frame)
+ if cv2.waitKey(1) == ord('q'):
+ raise KeyboardInterrupt
+ continue
+
+ print(f"处理帧 {frame_count}")
+
+ # 转为 PIL 图像（用于后续判断和旋转）
+ rgb_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+ pil_image = Image.fromarray(rgb_frame)
+
+ # STEP 1: 判断是否为大面积灰色（优先级最高）
+ if is_large_gray(pil_image):
+ print(f"跳过：大面积灰色图像 (frame_{frame_count})")
+ cv2.imshow('Camera Stream (Live)', frame)
+ if cv2.waitKey(1) == ord('q'):
+ raise KeyboardInterrupt
+ continue
+
+ # STEP 2: 判断是否为重复帧（基于 SSIM）
+ gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+ if last_gray is not None:
+ try:
+ similarity = ssim(gray, last_gray)
+ if similarity > SSIM_THRESHOLD:
+ print(f"跳过：与上一帧太相似 (SSIM={similarity:.3f})")
+ cv2.imshow('Camera Stream (Live)', frame)
+ if cv2.waitKey(1) == ord('q'):
+ raise KeyboardInterrupt
+ continue
+ except Exception as e:
+ print(f"SSIM 计算异常: {e}")
+
+ # 更新 last_gray 用于下一帧比较
+ last_gray = gray.copy()
+
+ # STEP 3: 旋转 180 度
+ rotated_pil = pil_image.rotate(180, expand=False)
+
+ # 生成文件名（时间戳 + 毫秒防重），使用 .png 扩展名
+ timestamp = time.strftime("%Y%m%d_%H%M%S")
+ ms = int((time.time() % 1) * 1000)
+ filename = f"frame_{timestamp}_{ms:03d}.png" # ✅ 确保是 .png
+ filepath = os.path.join(output_dir, filename)
+
+ # 保存图像为 PNG 格式（无损）
+ try:
+ rotated_pil.save(filepath, format='PNG') # ✅ PNG 不需要 quality 参数
+ print(f"已保存: {filepath}")
+
+ # ✅ 新增：异步上传
+ def upload_task():
+ send_images(
+ folder_path=output_dir,
+ server_url=UPLOAD_SERVER_URL,
+ site_name=UPLOAD_SITE_NAME,
+ line_id=UPLOAD_LINE_ID,
+ purpose=UPLOAD_PURPOSE
+ )
+
+ threading.Thread(target=upload_task, daemon=True).start()
+ print(f"📤 已提交上传任务: {filename}")
+
+ except Exception as e:
+ print(f"保存失败 {filename}: {e}")
+
+ # 显示画面
+ cv2.imshow('Camera Stream (Live)', frame)
+ if cv2.waitKey(1) == ord('q'):
+ raise KeyboardInterrupt
+
+ except KeyboardInterrupt:
+ print("\n用户中断")
+ break # 跳出外层循环并退出程序
+
+ finally:
+ cap.release()
+ cv2.destroyAllWindows()
+ print(f"视频流已关闭，共处理 {frame_count} 帧。")
+
+print("程序结束")
\ No newline at end of file
diff --git a/image/transport_client.py b/image/transport_client.py
new file mode 100644
index 0000000..39c217d
--- /dev/null
+++ b/image/transport_client.py
@@ -0,0 +1,194 @@
+import os
+import time
+import hashlib
+import requests
+import json
+import shutil
+from pathlib import Path
+from typing import Dict, List, Tuple, Optional
+
+STATE_FILE = ".transfer_state.json"
+MAX_CHUNK_SIZE = 1024 * 1024 # 1MB chunks
+VALID_IMAGE_EXTENSIONS = {'.jpg', '.jpeg', '.png', '.bmp', '.gif'}
+MAX_RETRIES = 5
+BACKOFF_BASE = 2 # Exponential backoff base
+
+def send_images(
+ folder_path: str,
+ server_url: str,
+ site_name: str,
+ line_id: str,
+ purpose: str,
+ max_retries: int = MAX_RETRIES
+) -> None:
+ """
+ 发送图像文件到服务器，支持断点续传和重试机制
+
+ Args:
+ folder_path: 本地图像文件夹路径
+ server_url: 服务器URL (e.g., "http://localhost:5000/upload")
+ site_name: 现场名称
+ line_id: 现场线号
+ purpose: 图像用途 (DET/SEG等)
+ max_retries: 最大重试次数
+ """
+ folder = Path(folder_path)
+ if not folder.is_dir():
+ raise ValueError(f"Invalid folder path: {folder_path}")
+
+ # 初始化状态文件
+ state_path = folder / STATE_FILE
+ transfer_state = _load_transfer_state(state_path)
+
+ # 获取待发送文件列表 (过滤状态文件和非图像文件)
+ files_to_send = [
+ f for f in folder.iterdir()
+ if f.is_file()
+ and f.name != STATE_FILE
+ and f.suffix.lower() in VALID_IMAGE_EXTENSIONS
+ ]
+
+ for file_path in files_to_send:
+ file_id = _get_file_id(file_path)
+ file_size = file_path.stat().st_size
+
+ # 初始化文件传输状态
+ if file_id not in transfer_state:
+ transfer_state[file_id] = {
+ "file_path": str(file_path),
+ "total_size": file_size,
+ "sent": 0,
+ "retry_count": 0
+ }
+
+ file_state = transfer_state[file_id]
+ retry_count = 0
+ last_error = None
+
+ while file_state["sent"] < file_size and retry_count < max_retries:
+ try:
+ # 发送当前块
+ chunk_start = file_state["sent"]
+ chunk_end = min(chunk_start + MAX_CHUNK_SIZE, file_size)
+ chunk_size = chunk_end - chunk_start
+
+ with open(file_path, 'rb') as f:
+ f.seek(chunk_start)
+ chunk_data = f.read(chunk_size)
+
+ # 准备请求
+ params = {
+ "site_name": site_name,
+ "line_id": line_id,
+ "purpose": purpose,
+ "file_id": file_id,
+ "start_byte": chunk_start,
+ "total_size": file_size if chunk_start == 0 else None
+ }
+
+ files = {"chunk": (file_path.name, chunk_data, "application/octet-stream")}
+
+ # 发送请求
+ response = requests.post(
+ server_url,
+ params=params,
+ files=files,
+ timeout=30
+ )
+
+ # 处理响应
+ if response.status_code == 200:
+ # 更新已发送字节数
+ file_state["sent"] = chunk_end
+ transfer_state[file_id] = file_state
+ _save_transfer_state(state_path, transfer_state)
+
+ # 传输完成
+ if file_state["sent"] >= file_size:
+ _cleanup_after_success(file_path, state_path, transfer_state, file_id)
+ retry_count = 0 # 重置重试计数器
+ else:
+ raise Exception(f"Server error: {response.status_code}, {response.text}")
+
+ except Exception as e:
+ last_error = str(e)
+ retry_count += 1
+ file_state["retry_count"] = retry_count
+ transfer_state[file_id] = file_state
+ _save_transfer_state(state_path, transfer_state)
+
+ # 指数退避重试
+ wait_time = BACKOFF_BASE ** retry_count
+ print(f"Retry {retry_count}/{max_retries} for {file_path.name} in {wait_time}s: {last_error}")
+ time.sleep(wait_time)
+
+ # 处理传输失败
+ if file_state["sent"] < file_size:
+ print(f"Failed to send {file_path.name} after {max_retries} attempts")
+ # 验证服务器连接
+ if _check_server_health(server_url):
+ print("Server is reachable - skipping this file")
+ else:
+ print("Server unreachable - will retry later")
+ # 重置重试计数器以便下次尝试
+ file_state["retry_count"] = 0
+ transfer_state[file_id] = file_state
+ _save_transfer_state(state_path, transfer_state)
+
+def _load_transfer_state(state_path: Path) -> Dict:
+ """加载传输状态"""
+ if state_path.exists():
+ try:
+ with open(state_path, 'r') as f:
+ return json.load(f)
+ except:
+ return {}
+ return {}
+
+def _save_transfer_state(state_path: Path, state: Dict) -> None:
+ """原子化保存传输状态"""
+ temp_path = state_path.with_suffix('.tmp')
+ with open(temp_path, 'w') as f:
+ json.dump(state, f, indent=2)
+ shutil.move(str(temp_path), str(state_path))
+
+def _get_file_id(file_path: Path) -> str:
+ """生成文件唯一ID (路径+修改时间+大小)"""
+ stat = file_path.stat()
+ unique_str = f"{file_path.resolve()}|{stat.st_mtime}|{stat.st_size}"
+ return hashlib.sha256(unique_str.encode()).hexdigest()[:16]
+
+def _cleanup_after_success(
+ file_path: Path,
+ state_path: Path,
+ transfer_state: Dict,
+ file_id: str
+) -> None:
+ """传输成功后清理"""
+ # 删除本地文件
+ file_path.unlink()
+ # 清除状态记录
+ if file_id in transfer_state:
+ del transfer_state[file_id]
+ _save_transfer_state(state_path, transfer_state)
+ print(f"Successfully sent and deleted {file_path.name}")
+
+def _check_server_health(server_url: str) -> bool:
+ """检查服务器健康状态"""
+ try:
+ # 提取基础URL (移除/upload部分)
+ base_url = server_url.rsplit('/', 1)[0]
+ response = requests.get(f"{base_url}/health", timeout=5)
+ return response.status_code == 200
+ except:
+ return False
+
+if __name__ == "__main__":
+ # 示例用法
+ send_images(
+ folder_path=r"C:\Users\chuyi\Pictures\test",
+ server_url="http://www.xj-robot.com:6000/upload",
+ site_name="FactoryA",
+ line_id="Line1",
+ purpose="DET"
+ )
\ No newline at end of file
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diff --git a/output_masks/mask_rotation.py b/output_masks/mask_rotation.py
index 6c9fbff..f920f61 100644
--- a/output_masks/mask_rotation.py
+++ b/output_masks/mask_rotation.py
@@ -61,4 +61,3 @@ for i, cnt in enumerate(contours):
cv2.imwrite(result_image_path, vis_image)
print(f"✅ 旋转矩形可视化已保存至: {result_image_path}")
-# 如果你想把结果保存为 JSON 或 CSV，也可以扩展
\ No newline at end of file
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diff --git a/test_file.py b/test_line_angle_f.py
similarity index 100%
rename from test_file.py
rename to test_line_angle_f.py
diff --git a/test_f.py b/test_line_angle_f1error.py
similarity index 100%
rename from test_f.py
rename to test_line_angle_f1error.py
diff --git a/test_f1.py b/test_seg_angle_f.py
similarity index 100%
rename from test_f1.py
rename to test_seg_angle_f.py
diff --git a/test_juxingkuang.py b/test_seg_angle_f1.py
similarity index 100%
rename from test_juxingkuang.py
rename to test_seg_angle_f1.py
diff --git a/test.py b/test_seg_angle_f2.py
similarity index 100%
rename from test.py
rename to test_seg_angle_f2.py
diff --git a/ultralytics_yolo11-main/test1.py b/ultralytics_yolo11-main/line_test.py
similarity index 100%
rename from ultralytics_yolo11-main/test1.py
rename to ultralytics_yolo11-main/line_test.py
diff --git a/ultralytics_yolo11-main/point_data.yaml b/ultralytics_yolo11-main/point_data.yaml
new file mode 100644
index 0000000..ce14459
--- /dev/null
+++ b/ultralytics_yolo11-main/point_data.yaml
@@ -0,0 +1,50 @@
+path: /home/hx/yolo/ultralytics_yolo11-main/dataset2 # 数据集所在路径
+train: train # 数据集路径下的train.txt
+val: val # 数据集路径下的val.txt
+test: test # 数据集路径下的test.txt
+
+
+nc: 1 # number of classes
+kpt_shape: [4, 3] # number of keypoints, number of dims (2 for x,y or 3 for x,y,visible)
+scales: # model compound scaling constants, i.e. 'model=yolo11n-pose.yaml' will call yolo11.yaml with scale 'n'
+ # [depth, width, max_channels]
+ n: [0.50, 0.25, 1024] # summary: 344 layers, 2908507 parameters, 2908491 gradients, 7.7 GFLOPs
+ s: [0.50, 0.50, 1024] # summary: 344 layers, 9948811 parameters, 9948795 gradients, 23.5 GFLOPs
+ m: [0.50, 1.00, 512] # summary: 434 layers, 20973273 parameters, 20973257 gradients, 72.3 GFLOPs
+ l: [1.00, 1.00, 512] # summary: 656 layers, 26230745 parameters, 26230729 gradients, 91.4 GFLOPs
+ x: [1.00, 1.50, 512] # summary: 656 layers, 58889881 parameters, 58889865 gradients, 204.3 GFLOPs
+
+# YOLO11n backbone
+backbone:
+ # [from, repeats, module, args]
+ - [-1, 1, Conv, [64, 3, 2]] # 0-P1/2
+ - [-1, 1, Conv, [128, 3, 2]] # 1-P2/4
+ - [-1, 2, C3k2, [256, False, 0.25]]
+ - [-1, 1, Conv, [256, 3, 2]] # 3-P3/8
+ - [-1, 2, C3k2, [512, False, 0.25]]
+ - [-1, 1, Conv, [512, 3, 2]] # 5-P4/16
+ - [-1, 2, C3k2, [512, True]]
+ - [-1, 1, Conv, [1024, 3, 2]] # 7-P5/32
+ - [-1, 2, C3k2, [1024, True]]
+ - [-1, 1, SPPF, [1024, 5]] # 9
+ - [-1, 2, C2PSA, [1024]] # 10
+
+# YOLO11n head
+head:
+ - [-1, 1, nn.Upsample, [None, 2, "nearest"]]
+ - [[-1, 6], 1, Concat, [1]] # cat backbone P4
+ - [-1, 2, C3k2, [512, False]] # 13
+
+ - [-1, 1, nn.Upsample, [None, 2, "nearest"]]
+ - [[-1, 4], 1, Concat, [1]] # cat backbone P3
+ - [-1, 2, C3k2, [256, False]] # 16 (P3/8-small)
+
+ - [-1, 1, Conv, [256, 3, 2]]
+ - [[-1, 13], 1, Concat, [1]] # cat head P4
+ - [-1, 2, C3k2, [512, False]] # 19 (P4/16-medium)
+
+ - [-1, 1, Conv, [512, 3, 2]]
+ - [[-1, 10], 1, Concat, [1]] # cat head P5
+ - [-1, 2, C3k2, [1024, True]] # 22 (P5/32-large)
+
+ - [[16, 19, 22], 1, Pose, [nc, kpt_shape]] # Detect(P3, P4, P5)
\ No newline at end of file
diff --git a/ultralytics_yolo11-main/train_point_main.py b/ultralytics_yolo11-main/train_point_main.py
new file mode 100644
index 0000000..fa40d0f
--- /dev/null
+++ b/ultralytics_yolo11-main/train_point_main.py
@@ -0,0 +1,22 @@
+from ultralytics import YOLO
+
+if __name__ == '__main__':
+ # ✅ 使用官方支持的关键点模型（YOLOv11）
+ model = YOLO(r'ultralytics/cfg/models/11/yolo11-pose.yaml') # 或
+
+ results = model.train(
+ data='point_data.yaml',
+ imgsz=1280,
+ epochs=100,
+ batch=4,
+ workers=10,
+ device='0',
+ project='runs/train',
+ name='exp_pose',
+ exist_ok=False,
+ optimizer='AdamW',
+ lr0=0.001,
+ patience=20,
+ # ✅ 关键：指定关键点数量
+ kpt_shape=[4, 2], # [数量, 坐标维度]，您的任务是 4 个关键点 (x,y)
+ )
\ No newline at end of file
diff --git a/ultralytics_yolo11-main/main.py b/ultralytics_yolo11-main/train_seg_main.py
similarity index 100%
rename from ultralytics_yolo11-main/main.py
rename to ultralytics_yolo11-main/train_seg_main.py
diff --git a/ultralytics_yolo11-main/ultralytics/cfg/models/11/yolo11-pose.yaml b/ultralytics_yolo11-main/ultralytics/cfg/models/11/yolo11-pose.yaml
index a744a33..2de92c7 100644
--- a/ultralytics_yolo11-main/ultralytics/cfg/models/11/yolo11-pose.yaml
+++ b/ultralytics_yolo11-main/ultralytics/cfg/models/11/yolo11-pose.yaml
@@ -2,8 +2,8 @@
# YOLO11-pose keypoints/pose estimation model. For Usage examples see https://docs.ultralytics.com/tasks/pose
# Parameters
-nc: 80 # number of classes
-kpt_shape: [17, 3] # number of keypoints, number of dims (2 for x,y or 3 for x,y,visible)
+nc: 1 # number of classes
+kpt_shape: [4, 3] # number of keypoints, number of dims (2 for x,y or 3 for x,y,visible)
scales: # model compound scaling constants, i.e. 'model=yolo11n-pose.yaml' will call yolo11.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.50, 0.25, 1024] # summary: 344 layers, 2908507 parameters, 2908491 gradients, 7.7 GFLOPs