XplorePlane/XP.ImageProcessing.Processors/Core/PixelDepthHelper.cs

// ============================================================================
// Copyright © 2026 Hexagon Technology Center GmbH. All Rights Reserved.
// 文件名: PixelDepthHelper.cs
// 描述: 像素深度辅助工具，封装 8 位 / 16 位图像的常用类型转换操作
// 作者: 李伟 wei.lw.li@hexagon.com
// ============================================================================

using Emgu.CV;
using Emgu.CV.Structure;

namespace XP.ImageProcessing.Core;

/// <summary>
/// 像素深度辅助工具，封装 byte / ushort 之间的通用操作。
/// </summary>
public static class PixelDepthHelper
{
    /// <summary>
    /// 返回当前深度的最大像素值（byte → 255，ushort → 65535）。
    /// </summary>
    public static int MaxValue<TDepth>() where TDepth : struct, IComparable
        => typeof(TDepth) == typeof(ushort) ? 65535 : 255;

    /// <summary>
    /// 将任意深度灰度图转换为 8 位灰度图（用于需要 CV_8U 输入的 OpenCV 函数）。
    /// 16 位图按比例缩小到 [0, 255]。
    /// </summary>
    public static Image<Gray, byte> ToByteImage<TDepth>(Image<Gray, TDepth> src)
        where TDepth : struct, IComparable
    {
        if (typeof(TDepth) == typeof(byte))
            return (src as Image<Gray, byte>)!.Clone();

        // 16-bit → 8-bit：右移 8 位（等价于除以 256）
        var result = new Image<Gray, byte>(src.Width, src.Height);
        var srcData = src.Data as ushort[,,];
        if (srcData == null)
            return src.Convert<Gray, byte>();

        int h = src.Height, w = src.Width;
        Parallel.For(0, h, y =>
        {
            for (int x = 0; x < w; x++)
                result.Data[y, x, 0] = (byte)(srcData[y, x, 0] >> 8);
        });
        return result;
    }

    /// <summary>
    /// 将 8 位图升位到目标深度（byte 直接 Clone，ushort 左移 8 位）。
    /// </summary>
    public static Image<Gray, TDepth> FromByteImage<TDepth>(Image<Gray, byte> src)
        where TDepth : struct, IComparable
    {
        if (typeof(TDepth) == typeof(byte))
            return (src.Clone() as Image<Gray, TDepth>)!;

        var result = new Image<Gray, ushort>(src.Width, src.Height);
        int h = src.Height, w = src.Width;
        Parallel.For(0, h, y =>
        {
            for (int x = 0; x < w; x++)
                result.Data[y, x, 0] = (ushort)(src.Data[y, x, 0] << 8);
        });
        return (result as Image<Gray, TDepth>)!;
    }

    /// <summary>
    /// 将 float 图像归一化到目标深度范围后转换。
    /// </summary>
    public static Image<Gray, TDepth> FromFloatImage<TDepth>(Image<Gray, float> src)
        where TDepth : struct, IComparable
    {
        int maxVal = MaxValue<TDepth>();
        int h = src.Height, w = src.Width;

        // 求最小/最大值
        double minV = double.MaxValue, maxV = double.MinValue;
        for (int y = 0; y < h; y++)
        {
            for (int x = 0; x < w; x++)
            {
                float v = src.Data[y, x, 0];
                if (v < minV) minV = v;
                if (v > maxV) maxV = v;
            }
        }

        double range = maxV - minV;

        if (typeof(TDepth) == typeof(byte))
        {
            var result = new Image<Gray, byte>(w, h);
            if (range > 1e-9)
            {
                Parallel.For(0, h, y =>
                {
                    for (int x = 0; x < w; x++)
                        result.Data[y, x, 0] = (byte)Math.Clamp((int)((src.Data[y, x, 0] - minV) / range * 255.0), 0, 255);
                });
            }
            return (result as Image<Gray, TDepth>)!;
        }
        else
        {
            var result = new Image<Gray, ushort>(w, h);
            if (range > 1e-9)
            {
                Parallel.For(0, h, y =>
                {
                    for (int x = 0; x < w; x++)
                        result.Data[y, x, 0] = (ushort)Math.Clamp((int)((src.Data[y, x, 0] - minV) / range * 65535.0), 0, 65535);
                });
            }
            return (result as Image<Gray, TDepth>)!;
        }
    }

    /// <summary>
    /// 将目标深度图像转换为 float 图像（值域归一化到 0-1）。
    /// </summary>
    public static Image<Gray, float> ToFloatNormalized<TDepth>(Image<Gray, TDepth> src)
        where TDepth : struct, IComparable
    {
        double maxVal = MaxValue<TDepth>();
        int h = src.Height, w = src.Width;
        var result = new Image<Gray, float>(w, h);

        if (typeof(TDepth) == typeof(byte))
        {
            var srcByte = src.Data as byte[,,];
            Parallel.For(0, h, y =>
            {
                for (int x = 0; x < w; x++)
                    result.Data[y, x, 0] = srcByte![y, x, 0] / 255f;
            });
        }
        else
        {
            var srcUshort = src.Data as ushort[,,];
            Parallel.For(0, h, y =>
            {
                for (int x = 0; x < w; x++)
                    result.Data[y, x, 0] = srcUshort![y, x, 0] / 65535f;
            });
        }
        return result;
    }

    /// <summary>
    /// 读取单个像素值（统一返回 int）。
    /// </summary>
    public static int ReadPixel<TDepth>(Image<Gray, TDepth> img, int y, int x)
        where TDepth : struct, IComparable
    {
        if (typeof(TDepth) == typeof(byte))
            return (img.Data as byte[,,])![y, x, 0];
        return (img.Data as ushort[,,])![y, x, 0];
    }

    /// <summary>
    /// 写入单个像素值（从 int 转换）。
    /// </summary>
    public static void WritePixel<TDepth>(Image<Gray, TDepth> img, int y, int x, int value)
        where TDepth : struct, IComparable
    {
        if (typeof(TDepth) == typeof(byte))
            (img.Data as byte[,,])![y, x, 0] = (byte)Math.Clamp(value, 0, 255);
        else
            (img.Data as ushort[,,])![y, x, 0] = (ushort)Math.Clamp(value, 0, 65535);
    }

    /// <summary>
    /// 将参数中的阈值按目标深度归一化：
    /// 8 位参数范围 0-255，16 位参数范围 0-65535。
    /// 如果旧参数最大值是 255，则对 16 位图自动按比例放大（×256）。
    /// </summary>
    public static int ScaleThreshold<TDepth>(int threshold8bit) where TDepth : struct, IComparable
        => typeof(TDepth) == typeof(ushort) ? threshold8bit * 256 : threshold8bit;
}