codes/simulator/include/singlephoton.py

import numpy as np
# import matlab.engine
from .SSP.ssp import get_ssp_depth

c = 3e8


class SinglePhotonImaging:
    def __init__(self, lr: int, lc: int, tp: float):
        """
        初始化深度估计器

        参数:
            lr: 图像行数
            lc: 图像列数
            tp: 时间bin持续时间 (秒)
        """
        self.lr = lr
        self.lc = lc
        self.tp = tp

    def _spad2tof(self, spad: np.ndarray) -> np.ndarray:
        """
        将稀疏SPAD数据转换为时间飞行(TOF)对象数组 [内部方法]

        参数:
            spad: 稀疏SPAD数据矩阵 [N, M]

        返回:
            np.ndarray: TOF对象数组 [lr, lc]，每个元素为时间bin数组
        """
        rows, cols = spad.nonzero()
        values = spad.data
        tof = np.empty((self.lr, self.lc), dtype=np.ndarray)

        for i in range(self.lr * self.lc):
            indices = np.where(rows == i)[0]
            ph = []
            for j in indices:
                ph += [int(cols[j])] * int(values[j])

            ph = np.array([ph]).T

            x = i % self.lc
            y = i // self.lc

            tof[x, y] = ph

        return tof

    def _time_to_depth(self, time_data: np.ndarray, time_bin: float) -> np.ndarray:
        """统一时间到深度转换"""
        return time_data * c / 2 * time_bin

    def max_hist(self, spads: np.ndarray) -> np.ndarray:
        """
        通过滑动窗口均值法获取深度图

        参数:
            spads: 稀疏SPAD数据矩阵 [N, T]

        返回:
            np.ndarray: 深度图矩阵 [lc, lr] (单位:米)
        """
        print("Max Hist Processing...")

        spads_dense = spads.todense()
        max_histogram_mean = np.empty(self.lr * self.lc, dtype=float)

        for i in range(self.lr * self.lc):
            data = np.ascontiguousarray(spads_dense[i, :]).ravel()
            max_index = np.argmax(data)
            max_histogram_mean[i] = max_index

        depth = self._time_to_depth(
            max_histogram_mean.reshape(self.lr, self.lc).T, self.tp
        )

        return depth

    # def shin(self, spads: np.ndarray) -> np.ndarray:
    #     """
    #     使用Shin算法估计深度图

    #     参数:
    #         spads: 稀疏SPAD数据矩阵 [N, T]

    #     返回:
    #         np.ndarray: 深度图矩阵 [lc, lr] (单位:米)
    #     """
    #     print("Shin Processing...")

    #     tofs = self._spad2tof(spads)
    #     eng = matlab.engine.start_matlab()
    #     eng.addpath(r"matlab\fcns_Shin")
    #     matlab_tofs = eng.eval("cell(1, 3136)", nargout=1)
    #     matlab_tofs = [tof for row in tofs for tof in row]

    #     tof_shin = np.array(eng.cal_Shin(matlab_tofs))
    #     eng.quit()

    #     depth = self._time_to_depth(tof_shin, self.tp)
    #     return depth

    # def rapp(
    #     self, spads: np.ndarray, signal_per_pixel: float, frame_num: int
    # ) -> np.ndarray:
    #     """
    #     使用Rapp算法估计深度图

    #     参数:
    #         spads: 稀疏SPAD数据矩阵 [N, T]
    #         signal_per_pixel: 每像素平均信号光子数
    #         frame_num: 总帧数

    #     返回:
    #         np.ndarray: 深度图矩阵 [lc, lr] (单位:米)
    #     """
    #     print("Rapp Processing...")

    #     binnum = spads.shape[1]
    #     tofs = self._spad2tof(spads)

    #     sbr = 0.2
    #     perframenum = 50.0
    #     numFrames = perframenum * frame_num
    #     eng = matlab.engine.start_matlab()
    #     eng.addpath(r"matlab\fcns_Rapp")

    #     matlab_tofs = eng.eval("cell(1, 3136)", nargout=1)
    #     matlab_tofs = [tof for row in tofs for tof in row]

    #     tof_rapp = np.array(
    #         eng.cal_Rapp_py(
    #             matlab_tofs,
    #             signal_per_pixel,
    #             numFrames,
    #             sbr,
    #             float(self.tp),
    #             float(binnum),
    #         )
    #     )

    #     eng.quit()

    #     depth = self._time_to_depth(tof_rapp, self.tp)

    #     return depth

    # def li(self, spads: np.ndarray) -> np.ndarray:
    #     """
    #     使用Li算法估计深度图

    #     参数:
    #         spads: 稀疏SPAD数据矩阵 [N, T]

    #     返回:
    #         np.ndarray: 深度图矩阵 [lc, lr] (单位:米)
    #     """
    #     print("Li Processing...")
    #     eng = matlab.engine.start_matlab()
    #     eng.addpath(r"matlab\fcns_Li", nargout=0)

    #     # 直接使用原始SPAD数据
    #     spads = spads.todense()
    #     tof_li = np.array(
    #         eng.cal_Li_py(
    #             spads,
    #             float(self.tp),
    #             float(spads.shape[1]),
    #             nargout=1,
    #         )
    #     )
    #     eng.quit()

    #     depth = self._time_to_depth(tof_li, self.tp)

    #     return depth

    def ssp(self, spads: np.ndarray) -> np.ndarray:
        """
        使用SSP算法估计深度图

        参数:
            spads: 稀疏SPAD数据矩阵 [N, T]

        返回:
            np.ndarray: 深度图矩阵 [lc, lr] (单位:米)
        """
        # print("SSP Processing...")
        tp = self.tp
        tr = spads.shape[1]
        depth = get_ssp_depth(spads, tr, tp, self.lr, self.lc)

        return depth