Merge branch 'main' of http://182.92.203.107:3000/libingkun/skyeyesystem

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/controller/JmJobExecController.java

@@ -3,6 +3,7 @@ package com.zhangy.skyeye.jm.controller;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.zhangy.skyeye.jm.dto.JmJobDTO;
 import com.zhangy.skyeye.jm.dto.JmJobPageDTO;
+import com.zhangy.skyeye.jm.entity.JmImage;
 import com.zhangy.skyeye.jm.service.JmJobExecService;
 import com.zhangy.skyeye.jm.service.JmJobService;
 import com.zhangy.skyeye.jm.service.JmJobStatusService;
@@ -55,4 +56,10 @@ public class JmJobExecController {
         });
         return page;
     }
+
+    @RequestMapping("/brightness")
+    public Object adjustBrightness(@Valid @RequestBody JmImage param) {
+       jobExecService.adjustBrightness(param);
+       return "成功调整亮度";
+    }
 }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/entity/JmImage.java

@@ -82,6 +82,9 @@ public class JmImage extends GeoTiffDTO {
     @JsonFormat(timezone = "GMT+8", pattern = "yyyy-MM-dd HH:mm:ss")
     private Date imageTime;
 
+    /** 图像亮度 */
+    private Integer brightness;
+
     /** 图像识别结果 */
     private List<JmImageItem> itemList;
 

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/JmJobExecService.java

@@ -2,6 +2,7 @@ package com.zhangy.skyeye.jm.service;
 
 import com.zhangy.skyeye.jm.dto.JmJobDTO;
 import com.zhangy.skyeye.jm.dto.JmJobQueryDTO;
+import com.zhangy.skyeye.jm.entity.JmImage;
 import com.zhangy.skyeye.jm.entity.JmJobExec;
 
 import java.util.List;
@@ -54,4 +55,6 @@ public interface JmJobExecService {
      * 按任务配置删除任务执行、航线执行
      */
     void deleteByJobConf(Long... jobConfId);
+
+    void adjustBrightness(JmImage param);
 }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobExecServiceImpl.java

@@ -1,20 +1,16 @@
 package com.zhangy.skyeye.jm.service.impl;
 
 import cn.hutool.core.bean.BeanUtil;
+import com.alibaba.fastjson2.JSON;
 import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.common.extend.util.ObjectUtil;
 import com.zhangy.skyeye.jm.dto.JmJobDTO;
 import com.zhangy.skyeye.jm.dto.JmJobQueryDTO;
-import com.zhangy.skyeye.jm.entity.JmAirlineExec;
+import com.zhangy.skyeye.jm.dto.JmUavStatusDTO;
-import com.zhangy.skyeye.jm.entity.JmJobExec;
+import com.zhangy.skyeye.jm.entity.*;
-import com.zhangy.skyeye.jm.entity.JmJobPoint;
-import com.zhangy.skyeye.jm.entity.JmJobUav;
 import com.zhangy.skyeye.jm.event.JmJobStatusInitEvent;
 import com.zhangy.skyeye.jm.mapper.JmJobExecMapper;
-import com.zhangy.skyeye.jm.service.JmAirlineExecService;
+import com.zhangy.skyeye.jm.service.*;
-import com.zhangy.skyeye.jm.service.JmJobExecService;
-import com.zhangy.skyeye.jm.service.JmJobPointService;
-import com.zhangy.skyeye.jm.service.JmJobUavService;
 import com.zhangy.skyeye.publics.consts.ExecStatusEnum;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -42,6 +38,12 @@ public class JmJobExecServiceImpl implements JmJobExecService {
     @Autowired
     private ApplicationEventPublisher eventPublisher;
 
+    @Autowired
+    private JmJobStatusService jobStatusService;
+
+    @Autowired
+    private JmJobService jobService;
+
     @Override
     public void initExecutingJobs() {
         List<JmJobDTO> executingJobs = this.selectWorking();
@@ -176,4 +178,26 @@ public class JmJobExecServiceImpl implements JmJobExecService {
         jmAirlineExecService.deleteByJob(jobConfId);
         jobExecMapper.deleteByConf(jobConfId);
     }
+
+    @Override
+    public void adjustBrightness(JmImage param) {
+        // update cache in order that the next coming image uses the new brightness
+        JmUavStatusDTO execSar = jobStatusService.getUav(param.getUavId());
+        execSar.setSarImageLight(param.getBrightness());
+
+        // update db in order that the next run of this job use the new brightness
+        JmJobDTO job = jobService.selectInfo(param.getJobId());
+        JmJobUav theUav = job.getUavList().stream()
+                .filter(uav -> uav.getUavId().equals(param.getUavId()))
+                .findFirst().orElse(null);
+        if (theUav != null) {
+            JmJobPayload theSar = theUav.getPayloadList().stream()
+                    .filter(sar -> sar.getPayloadId().equals(param.getPayloadId()))
+                    .findFirst().orElse(null);
+            if (theSar != null) {
+                theSar.setImageLight(param.getBrightness());
+                jobService.updateNotNull(job);
+            }
+        }
+    }
 }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobStatusServiceImpl.java

@@ -327,7 +327,7 @@ public class JmJobStatusServiceImpl implements JmJobStatusService {
             distance += uav.getDistance();
             distanced += uav.getDistanced();
         }
-        return distanced * 100 / distance;
+        return (distance == 0) ? 1 : (distanced * 100 / distance);
     }
 
     /**

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarImageServiceImpl.java

@@ -16,6 +16,7 @@ import com.zhangy.skyeye.publics.utils.OpenCVUtil;
 import com.zhangy.skyeye.sar.dto.SarBackImageFrameDTO;
 import com.zhangy.skyeye.sar.service.ISarImageService;
 import com.zhangy.skyeye.sar.service.SarWsAsyncService;
+import com.zhangy.skyeye.sar.util.RadarDisplayOptions;
 import com.zhangy.skyeye.sar.util.SarImageToneAdjuster;
 import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
@@ -212,6 +213,9 @@ public class SarImageServiceImpl implements ISarImageService {
         // 拆分多张图片，去掉自适应调整
         if (IMG_MAX_WITH > 20000) {
             SarImageToneAdjuster.autoToneWithClipping(baseMat, 0.5f);
+//            RadarDisplayOptions options = new RadarDisplayOptions();
+//            SarImageToneAdjuster.processForDisplayMat(baseMat, options);
+//            SarImageToneAdjuster.applyPseudoColorMat(baseMat, options);
         }
 
         // 5.保存后处理图（异步），用于前端显示
@@ -348,6 +352,7 @@ public class SarImageServiceImpl implements ISarImageService {
         image.setJobName(uav.getJobName());
         image.setUavName(uav.getUavName());
         image.setPayloadName(uav.getSarName());
+        image.setBrightness(uav.getSarImageLight());
         return image;
     }
 }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/util/RadarDisplayOptions.java

@@ -0,0 +1,20 @@
+package com.zhangy.skyeye.sar.util;
+
+public class RadarDisplayOptions {
+
+    /** 是否启用 log 压缩 */
+    public boolean enableLog = false;
+
+    /** gamma 值（enableLog=false 时生效） */
+    public double gamma16 = 0.75;
+    public double gamma8 = 0.6;
+
+    /** 是否启用伪彩 */
+    public boolean enablePseudoColor = true;
+
+    /** 使用的 LUT */
+    public RadarPseudoColorLUT lut = RadarPseudoColorLUT.IRON;
+
+    /** clip 百分比，直接复用你原来的逻辑 */
+    // public float clipPercentage = 0.1f;
+}

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/util/RadarPseudoColorLUT.java

@@ -0,0 +1,22 @@
+package com.zhangy.skyeye.sar.util;
+
+public enum RadarPseudoColorLUT {
+
+    IRON(new int[]{
+            0x000000, 0x200030, 0x400060, 0x600090,
+            0x8000C0, 0xA000E0, 0xC040FF, 0xE080FF,
+            0xFFB000, 0xFFD000, 0xFFFF80
+    }),
+
+    JET(new int[]{
+            0x00007F, 0x0000FF, 0x007FFF,
+            0x00FF7F, 0x7FFF00, 0xFF7F00,
+            0xFF0000
+    });
+
+    public final int[] colors;
+
+    RadarPseudoColorLUT(int[] colors) {
+        this.colors = colors;
+    }
+}

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/util/SarImageToneAdjuster.java

@@ -48,10 +48,12 @@ public class SarImageToneAdjuster {
 
         // 处理8位图像
         if (depth == CvType.CV_8U) {
+            // preStretch8Bit(image, channels);
             process8BitImage(image, clipPercentage, channels);
         }
         // 处理16位图像
         else if (depth == CvType.CV_16U) {
+            // preStretch16Bit(image, channels);
             process16BitImage(image, clipPercentage, channels);
         }
         else {
@@ -441,4 +443,204 @@ public class SarImageToneAdjuster {
         lut.put(0, 0, lutData);
         return lut;
     }
+
+    public static void processForDisplayMat(Mat mat, RadarDisplayOptions options) {
+        int depth = mat.depth();
+
+        // 动态范围压缩（SAR 显示核心）
+        if (options.enableLog) {
+            applyLogCompressionMat(mat, depth == CvType.CV_16U);
+            if (depth == CvType.CV_16U) {
+                mat.convertTo(mat, CvType.CV_8U, 255.0 / 65535.0);
+            }
+        } else {
+            if (depth == CvType.CV_16U) {
+                applyGamma16U(mat, options.gamma16);
+                mat.convertTo(mat, CvType.CV_8U, 255.0 / 65535.0);
+            } else {
+                applyGamma8U(mat, options.gamma8);
+            }
+        }
+    }
+
+    private static void applyLogCompressionMat(Mat mat, boolean is16Bit) {
+
+        int rows = mat.rows();
+        int cols = mat.cols();
+
+        double maxValue = is16Bit ? 65535.0 : 255.0;
+        double logMax = Math.log(maxValue + 1.0);
+
+        for (int y = 0; y < rows; y++) {
+            for (int x = 0; x < cols; x++) {
+                double v = mat.get(y, x)[0];
+                double lv = Math.log(v + 1.0) / logMax;
+                mat.put(y, x, lv * maxValue);
+            }
+        }
+    }
+
+    private static void applyGamma8U(Mat image, double gamma) {
+        int channels = image.channels();
+        int total = (int) image.total() * channels;
+
+        byte[] data = new byte[total];
+        image.get(0, 0, data);
+
+        // 预计算 LUT（非常重要，速度快）
+        byte[] lut = new byte[256];
+        for (int i = 0; i < 256; i++) {
+            double normalized = i / 255.0;
+            double corrected = Math.pow(normalized, gamma);
+            lut[i] = (byte) Math.min(255, Math.max(0, (int) (corrected * 255.0 + 0.5)));
+        }
+
+        for (int i = 0; i < total; i++) {
+            int v = data[i] & 0xFF;
+            data[i] = lut[v];
+        }
+
+        image.put(0, 0, data);
+    }
+
+    private static void applyGamma16U(Mat image, double gamma) {
+        int channels = image.channels();
+        int total = (int) image.total() * channels;
+
+        short[] data = new short[total];
+        image.get(0, 0, data);
+
+        for (int i = 0; i < total; i++) {
+            int v = data[i] & 0xFFFF;
+            double normalized = v / 65535.0;
+            double corrected = Math.pow(normalized, gamma);
+            int out = (int) (corrected * 65535.0 + 0.5);
+            data[i] = (short) Math.min(65535, Math.max(0, out));
+        }
+
+        image.put(0, 0, data);
+    }
+
+
+    public static void applyPseudoColorMat(Mat gray, RadarDisplayOptions options) {
+        if (!options.enablePseudoColor) {
+            return;
+        }
+
+        Mat color = new Mat();
+        Imgproc.cvtColor(gray, color, Imgproc.COLOR_GRAY2BGR);
+
+        for (int y = 0; y < gray.rows(); y++) {
+            for (int x = 0; x < gray.cols(); x++) {
+                int v = (int) gray.get(y, x)[0];
+                if (gray.depth() == CvType.CV_16U) {
+                    v = v >> 8; // 16bit → 8bit 映射（工业常用）
+                }
+                int rgb = mapToLUT(v, options.lut.colors);
+
+                color.put(y, x,
+                        (rgb >> 16) & 0xFF,
+                        (rgb >> 8) & 0xFF,
+                        rgb & 0xFF
+                );
+            }
+        }
+
+        // 用伪彩图替换原 Mat（显示专用）
+        gray.release();
+        color.copyTo(gray);
+    }
+
+    private static int mapToLUT(int v, int[] keyColors) {
+        if (v <= 0) return keyColors[0];
+        if (v >= 255) return keyColors[keyColors.length - 1];
+
+        int n = keyColors.length;
+
+        // 映射到 [0, n-1]
+        float pos = v * (n - 1) / 255.0f;
+
+        int idx = (int) Math.floor(pos);
+        float t = pos - idx;
+
+        // 边界保护
+        if (idx >= n - 1) {
+            return keyColors[n - 1];
+        }
+
+        int c0 = keyColors[idx];
+        int c1 = keyColors[idx + 1];
+
+        int r0 = (c0 >> 16) & 0xFF;
+        int g0 = (c0 >> 8) & 0xFF;
+        int b0 = c0 & 0xFF;
+
+        int r1 = (c1 >> 16) & 0xFF;
+        int g1 = (c1 >> 8) & 0xFF;
+        int b1 = c1 & 0xFF;
+
+        int r = (int) (r0 + t * (r1 - r0));
+        int g = (int) (g0 + t * (g1 - g0));
+        int b = (int) (b0 + t * (b1 - b0));
+
+        return (r << 16) | (g << 8) | b;
+    }
+
+    private static void preStretch8Bit(Mat image, int channels) {
+        int totalValues = (int) image.total() * channels;
+        byte[] data = new byte[totalValues];
+        image.get(0, 0, data);
+
+        // 找 min/max（忽略 alpha）
+        int min = 255, max = 0;
+        for (int i = 0; i < totalValues; i++) {
+            if (channels == 4 && (i % 4) == 3) continue; // 跳过 alpha
+            int v = data[i] & 0xFF;
+            if (v < min) min = v;
+            if (v > max) max = v;
+        }
+
+        if (max <= min) return; // 全黑或全白，跳过
+
+        float scale = 255.0f / (max - min);
+
+        for (int i = 0; i < totalValues; i++) {
+            if (channels == 4 && (i % 4) == 3) continue; // alpha不变
+            int v = data[i] & 0xFF;
+            int val = Math.round((v - min) * scale);
+            data[i] = (byte) Math.min(255, Math.max(0, val));
+        }
+
+        image.put(0, 0, data);
+    }
+
+    /**
+     * 16bit 单通道/多通道预拉伸
+     */
+    private static void preStretch16Bit(Mat image, int channels) {
+        int totalValues = (int) image.total() * channels;
+        short[] data = new short[totalValues];
+        image.get(0, 0, data);
+
+        int min = 65535, max = 0;
+        for (int i = 0; i < totalValues; i++) {
+            if (channels == 4 && (i % 4) == 3) continue;
+            int v = data[i] & 0xFFFF;
+            if (v < min) min = v;
+            if (v > max) max = v;
+        }
+
+        if (max <= min) return;
+
+        float scale = 65535.0f / (max - min);
+
+        for (int i = 0; i < totalValues; i++) {
+            if (channels == 4 && (i % 4) == 3) continue;
+            int v = data[i] & 0xFFFF;
+            int val = Math.round((v - min) * scale);
+            data[i] = (short) Math.min(65535, Math.max(0, val));
+        }
+
+        image.put(0, 0, data);
+    }
 }

frontend/Skyeye-sys-ui/public/config.js

@@ -4,6 +4,7 @@ window.config = {
   api: 'http://127.0.0.1:9116',
   socket: 'http://127.0.0.1:9116', //外网服务器,
   imagePath: 'http://192.168.112.181:9000/files',
+  // imagePath: 'http://127.0.0.1:8080/files',
   arithmeticPath: 'http://127.0.0.1:18090/ktkx/UavPlanning/SAR',
   tokenKey: 'accessToken',
   refreshTokenKey: 'refreshToken',