diff --git a/bagPositioning_test/bagPositioning_test.cpp b/bagPositioning_test/bagPositioning_test.cpp
index 94404a2..749d978 100644
--- a/bagPositioning_test/bagPositioning_test.cpp
+++ b/bagPositioning_test/bagPositioning_test.cpp
@@ -2530,7 +2530,7 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine* scanData,
 #define TEST_COMPUTE_GRASP_POINT	1
 #define TEST_COMPUTE_CALIB_PARA		0
 
-#define TEST_GROUP 28
+#define TEST_GROUP 29
 #define TEST_TOP_VIEW_GROUP			(TEST_GROUP - 8)
 #define TEST_TOP_ORIEN_GROUP		(TEST_GROUP - 6)
 int main()
@@ -2675,15 +2675,16 @@ int main()
 	"F:\\ShangGu\\纸箱拆垛数据\\380×580mm纸箱RGB点云及2d图像\\", //17
 	"F:\\ShangGu\\纸箱拆垛数据\\480×580mm纸箱rgb点云及2d图像\\", //18
 	"F:\\ShangGu\\编织袋数据\\科一现场\\", //19
+	"F:/ShangGu/编织袋数据/理想拆包数据/", //20
 
-	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //20
-	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //21
-	"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //22
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //23
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //24
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //25
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //26
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //27
+	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //21
+	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //22
+	"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //23
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //24
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //25
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //26
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //27
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //28
 	};
 
 	SVzNLRange fileIdx[TEST_GROUP] = { 
@@ -2691,6 +2692,8 @@ int main()
 		{1,29},{108,135},{0,200}, {1,200}, {1,12},
 		{2,4}, {1,5}, {1,1}, {1,3}, {1,11},
 		{5,22},{1, 15},{1,15}, {1, 15},{1,7},
+		{1,16},
+
 		{1,21},{1,28},
 		{3,3}, {1,51}, {4,83}, {1,74}, {1,61},	{1,84}
 	};
@@ -2718,7 +2721,7 @@ int main()
 	SG_bagPositionParam algoParam;
 	algoParam.outputMode = 0; //0-按序输出（左上），1-按大小输出（最大）
 	int endGroup =  TEST_GROUP - 1;
-	for (int grp = 0; grp <= 19; grp++)
+	for (int grp = 20; grp <= 20; grp++)
 	{
 		if (grp < 10)
 		{
@@ -2891,7 +2894,31 @@ int main()
 			algoParam.cornerParam.jumpCornerTh_1 = 60;
 			algoParam.cornerParam.jumpCornerTh_2 = 15;
 		}
-		else if ( (grp >= 20) && (grp <= 21))
+		else if (grp == 20)
+		{
+			char calibFile[250];
+			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\理想拆包数据\\ground_calib_para.txt");
+			poseCalibPara = _readCalibPara(calibFile);
+
+			algoParam.bagParam.bagL = 650;
+			algoParam.bagParam.bagW = 450; // 420; // 320;  //袋子宽40cm
+			algoParam.bagParam.bagH = 160;  //袋子高16cm
+
+			algoParam.growParam.maxLineSkipNum = 5;
+			algoParam.growParam.yDeviation_max = 20.0;
+			algoParam.growParam.maxSkipDistance = 20.0;
+			algoParam.growParam.zDeviation_max = 80;// algoParam.bagParam.bagH / 2; //袋子高度1/2
+			algoParam.growParam.minLTypeTreeLen = 50.0; //mm
+			algoParam.growParam.minVTypeTreeLen = 50.0; //mm
+
+			algoParam.cornerParam.cornerTh = 45;  //45度角
+			algoParam.cornerParam.scale = 50; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
+			algoParam.cornerParam.minEndingGap = 20;// algoParam.bagParam.bagW / 4;
+			algoParam.cornerParam.minEndingGap_z = 40;
+			algoParam.cornerParam.jumpCornerTh_1 = 60;
+			algoParam.cornerParam.jumpCornerTh_2 = 15;
+		}
+		else if ( (grp >= 21) && (grp <= 22))
 		{
 			algoParam.bagParam.bagL = 750;  //袋子长65cm
 			algoParam.bagParam.bagW = 450;  //袋子宽40cm
@@ -3026,21 +3053,22 @@ int main()
 			algoParam.cornerParam.jumpCornerTh_1 = 60;
 			algoParam.cornerParam.jumpCornerTh_2 = 15;
 		}
-		else if ( grp == 20) 
+		else if ( grp == 21) 
 		{
 			char calibFile[250];
 			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
 			poseCalibPara = _readCalibPara(calibFile);
 		}
-		else if (grp == 21)
+		else if (grp == 22)
 		{
 			char calibFile[250];
 			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\ground_calib_para.txt");
 			poseCalibPara = _readCalibPara(calibFile);
 		}
+
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
-			//fidx = 193;
+			//fidx = 2;
 			if (grp < TEST_TOP_VIEW_GROUP)  //正面抓取
 			{
 				algoParam.supportRotate = 0; //支持相机与对象之间有一个旋转角度（小于30度）
@@ -3056,6 +3084,11 @@ int main()
 					sprintf_s(_scan_file, "%s%d.txt", dataPath[grp], fidx);
 					laser3DPoints = vzReadXYZPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
 				}
+				else if (grp == 20)
+				{
+					sprintf_s(_scan_file, "%s%d_LaserData_Je08A354.txt", dataPath[grp], fidx);
+					laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
+				}
 				else
 				{
 					sprintf_s(_scan_file, "%sLaserLine%d_grid.txt", dataPath[grp], fidx);
diff --git a/sourceCode/SG_bagPositioning.cpp b/sourceCode/SG_bagPositioning.cpp
index 9f128fa..9458894 100644
--- a/sourceCode/SG_bagPositioning.cpp
+++ b/sourceCode/SG_bagPositioning.cpp
@@ -7,7 +7,8 @@
 
 //version 1.1.0 : ��׼�汾�����������ˣ�1���汾�ţ�2�����ģʽ��֧�ְ�������Ͱ������
 //version 1.1.1 : �����˴�����롣������Ϊ��ʱ���������Ϊ SX_BAG_TRAY_EMPTY��ָʾ����Ϊ��
-std::string	m_strVersion = "1.1.1";
+//version 1.1.2 : ��������ײ����һ������Bug
+std::string	m_strVersion = "1.1.2";
 const char* sg_bagPositioningVersion(void)
 {
 	return m_strVersion.c_str();
@@ -717,7 +718,7 @@ SSG_peakRgnInfo _getRgnObjInfo(
 	{
 		for (int n = roi.top; n <= roi.bottom; n++)
 		{
-if ((m == 226) && (n == 742))
+if ((m == 663) && (n == 796))
 	int kkk = 1;
 
 			SVzNL3DPosition* a_pt = &(laser3DPoints[m].p3DPosition[n]);
@@ -3913,9 +3914,9 @@ if (i == 3)
 		for (int i = 0; i < smallObjPeaks.size(); i++)
 		{
 			SSG_2DValueI* a_samllPk = &smallObjPeaks[i];
-			if (highest_obj->centerPos.z > a_samllPk->valueD + algoParam.bagParam.bagH / 2)
+			SVzNL3DPosition* smallPkPt = &laser3DPoints[a_samllPk->x].p3DPosition[a_samllPk->y];
+			if (highest_obj->centerPos.z > smallPkPt->pt3D.z + algoParam.bagParam.bagH / 2)
 			{
-				SVzNL3DPosition* smallPkPt = &laser3DPoints[a_samllPk->x].p3DPosition[a_samllPk->y];
 				double dist = sqrt(pow(highest_obj->centerPos.x - smallPkPt->pt3D.x, 2) + pow(highest_obj->centerPos.y - smallPkPt->pt3D.y, 2));
 				double dia_angle = sqrt(pow(highest_obj->objSize.dWidth, 2) + pow(highest_obj->objSize.dHeight, 2));
 				//ͬ��Ƚ�