String photoPath = resource + "/orthophoto/"+uuid;
try {
    // 创建ProcessBuilder
    String cmd="docker run -i --rm  -v "+photoPath+"/images:/code/images -v "+photoPath+"/odm_orthophoto:/code/odm_orthophoto opendronemap/odm";
    Runtime run = Runtime.getRuntime();
    // 启动进程
    Process process =run.exec(cmd);

    // 获取命令的输出
    BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
    String line;
    while ((line = reader.readLine()) != null) {
        System.out.println(line);
    }
    // 等待命令执行完成
    int exitCode = process.waitFor();
    log.info("cmd：{}，exit code: {}",cmd, exitCode);
    /**
     * 打印异常
     */
    FileInputStream errorStream = (FileInputStream)process.getErrorStream();
    InputStreamReader isr = new InputStreamReader(errorStream,"gbk");//读取
    BufferedReader bufr = new BufferedReader(isr);//缓冲
    String errline;
    while((errline =bufr.readLine())!=null) {
        log.error("docker error：{}",errline);
    }
    isr.close();
} catch (IOException | InterruptedException e) {
    log.error("OrthophotoUtil：{}",e.getMessage());
}

import com.sailen.tpm.modules.signal.config.TpmConfig;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PathVariable;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
 
import javax.imageio.ImageIO;
import javax.servlet.http.HttpServletResponse;
import java.awt.image.BufferedImage;
import java.io.FileInputStream;
import java.io.IOException;
import java.io.InputStream;
import java.util.Optional;
 
@RestController
@RequestMapping("/map")
public class MapPublicController {
    
 
    @GetMapping("/{layer}/{level}/{col}/{row}")
    public void xyz(@PathVariable String layer, @PathVariable String level, @PathVariable String col,
                    @PathVariable String row, HttpServletResponse response) {
        String dataPath = "your data path";
        StringBuffer buffer = new StringBuffer(dataPath);
        buffer.append("/").append(layer)
                .append("/").append(level)
                .append("/").append(col)
                .append("/").append(row);
        try {
            String tilePath = buffer.toString();
            InputStream inputStream = new FileInputStream(tilePath);
            if (Optional.of(inputStream).isPresent()) {
                BufferedImage bi = ImageIO.read(inputStream);
                ImageIO.write(bi, "PNG", response.getOutputStream());
                bi.flush();
                inputStream.close();
            }
        } catch (IOException e) {
            System.out.println(String.format("%s/%d/%d/%s请求瓦片出错!", layer, level, col, row));
        }
    } 
}

String cmd="winpty docker.exe run -it --rm  -v "+photoPath+"/images:/code/images -v "+photoPath+"/odm_orthophoto:/code/odm_orthophoto opendronemap/odm";

CommandLine commandLine = CommandLine.parse(cmd);
Executor executor = new DefaultExecutor();
ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
PumpStreamHandler streamHandler = new PumpStreamHandler(outputStream);
executor.setStreamHandler(streamHandler);
executor.execute(commandLine);

String cmd="docker run -it --rm  -v "+photoPath+"/images:/code/images -v "+photoPath+"/odm_orthophoto:/code/odm_orthophoto opendronemap/odm";
Runtime run = Runtime.getRuntime();
// 启动进程
Process process =run.exec(new String[]{ "cmd", "/c", cmd});

String cmd="docker run --rm  -v "+photoPath+"/images:/code/images -v "+photoPath+"/odm_orthophoto:/code/odm_orthophoto opendronemap/odm";
Runtime run = Runtime.getRuntime();
// 启动进程
Process process =run.exec(new String[]{ "cmd", "/c", cmd});

public static boolean runCMD(String cmd) {
    boolean result = false;
    try {
        Process process = Runtime.getRuntime().exec(cmd);
        // 读取输出流
        Thread outputThread = new Thread(() -> {
            try (BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()))) {
                String line;
                while ((line = reader.readLine()) != null) {
                    System.out.println(line);
                }
            } catch (IOException e) {
                e.printStackTrace();
            }
        });
        outputThread.start();
        // 读取错误流
        Thread errorThread = new Thread(() -> {
            try (BufferedReader reader = new BufferedReader(new InputStreamReader(process.getErrorStream()))) {
                String line;
                while ((line = reader.readLine()) != null) {
                    System.err.println(line);
                }
            } catch (IOException e) {
                e.printStackTrace();
            }
        });
        errorThread.start();
        process.waitFor(); // 等待命令执行完毕
        // 等待线程执行完毕
        outputThread.join();
        errorThread.join();
    }catch (Exception e) {
        log.error(e.getMessage());
    }
    return result;
}

/**
 * 执行 cmd命令
 * @param cmd
 * @return
 */
public static boolean runCMD(String cmd) {
    boolean result = false;
    StringBuilder stringBuilder = new StringBuilder();
    Process process = null;
    try {
        process = Runtime.getRuntime().exec(cmd);
        final InputStream is1 = process.getInputStream();
        new Thread(new Runnable() {
            public void run() {
                BufferedReader bufferedReader = null;
                String line = null;
                try {
                    bufferedReader = new BufferedReader(new InputStreamReader(is1, "GBK"));
                    while((line=bufferedReader.readLine()) != null)
                    {
//                            stringBuilder.append(line+"\n");
                        log.info(line);
                    }
                    is1.close();
                } catch (Exception e) {
                    // TODO Auto-generated catch block
                    e.printStackTrace();
                }
            }
        }).start(); // 启动单独的线程来清空p.getInputStream()的缓冲区
        result = true;

        InputStream is2 = process.getErrorStream();
        BufferedReader br2 = new BufferedReader(new InputStreamReader(is2));
        StringBuilder buf = new StringBuilder(); // 保存输出结果流
        String line2 = null;
        while((line2 = br2.readLine()) != null)
        {
//                buf.append(line2);
            log.info(line2);
            result = false;
        }
    } catch (Exception e) {
        e.printStackTrace();
    }

    return result;
}