Pulse signal encoding method and device, electronic device and storage medium

Abstract

The embodiments of the present disclosure disclose a method and device for encoding a pulse signal, an electronic device, and a storage medium. The method converts a photon stream received for a local space into a pulse signal that characterizes a light intensity change process. Then, based on the generation moment of the pulse signal and in accordance with a timing relationship, a pulse sequence of pixel points corresponding to the local space is obtained based on the pulse signal. Furthermore, based on the timing relationship, a plurality of pulse characteristic values ​​are sequentially obtained from the pulse sequence of the pixel points, and a preset encoding method is used to encode the obtained plurality of pulse characteristic values ​​to obtain encoded data of the plurality of pulse characteristic values, thereby achieving compression of the pulse signal.

Description

Technical Field

[0001] The present disclosure relates to pulse vision technology and coding technology, and in particular to a pulse signal coding method and device, electronic equipment and storage medium. Background Art

[0002] The pulse camera converts the photon flow received in the local space into a pulse signal that represents the light intensity change process through the built-in photosensitive unit. The pulse sequence formed by the pulse signal can estimate the light intensity at any time, thereby obtaining the image at any time, that is, continuous imaging is achieved, thereby achieving continuous recording and expression of high-speed light processes. However, the continuous recording and expression capabilities of the pulse sequence for high-speed light processes require extremely high data rates, which puts a lot of pressure on data storage and transmission.

[0003] Therefore, how to utilize the high-frequency expression capability of pulse sequences while reducing the pressure of data storage and transmission is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present disclosure provide a pulse signal encoding method and device, an electronic device, and a storage medium to at least partially solve the above technical problems.

[0005] One aspect of an embodiment of the present disclosure provides a pulse signal encoding method, including:

[0006] Convert the photon flow received in the local space into a pulse signal representing the light intensity change process;

[0007] Based on the generation time of the pulse signal, according to the time sequence relationship, a pulse sequence of pixel points corresponding to the local space is obtained based on the pulse signal, and the pulse sequence includes a pulse characteristic value for indicating whether a pulse signal is generated at each time;

[0008] According to the time sequence relationship, a plurality of pulse characteristic values ​​are obtained from the pulse sequence of the pixel points in sequence, and the obtained plurality of pulse characteristic values ​​are encoded using a preset encoding method to obtain the encoded data of the plurality of pulse characteristic values.

[0009] Optionally, in the encoding method of any embodiment of the present disclosure, after generating the pulse sequence of pixel points corresponding to the local space, the method further includes:

[0010] Acquire two adjacent different pulse characteristic values ​​in the pulse sequence of the pixel point, and use the two adjacent different pulse characteristic values ​​as a pair of characteristic value pairs;

[0011] The two pulse eigenvalues ​​in the eigenvalue pair are exchanged.

[0012] Optionally, in the encoding method of any embodiment of the present disclosure, after generating the pulse sequence of pixel points corresponding to the local space, the method further includes:

[0013] For the pulse sequence of the pixel point, in response to the existence of M consecutive identical pulse characteristic values ​​in the pulse sequence, the pulse characteristic value in the pulse sequence of the pixel point is changed based on the M consecutive identical pulse characteristic values, wherein the value of M is an integer greater than 1.

[0014] Optionally, in the encoding method of any embodiment of the present disclosure, based on the M consecutive identical pulse characteristic values, changing the pulse characteristic value in the pulse sequence of the pixel point includes at least one of the following:

[0015] Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​into the identical pulse characteristic value;

[0016] Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​to the identical pulse characteristic value;

[0017] Changing the first pulse characteristic value among the M consecutive identical pulse characteristic values ​​to a different pulse characteristic value adjacent to the first pulse characteristic value;

[0018] The last pulse characteristic value among the M consecutive identical pulse characteristic values ​​is changed to a different pulse characteristic value adjacent to the last pulse characteristic value.

[0019] Optionally, in the encoding method of any embodiment of the present disclosure, a plurality of pulse characteristic values ​​are sequentially obtained from the pulse sequence of the pixel points, and the obtained plurality of pulse characteristic values ​​are encoded using a preset encoding method, including:

[0020] Sequentially acquiring multiple pulse characteristic values ​​from the pulse sequence of the pixel points, wherein the number of different pulse characteristic values ​​in the multiple pulse characteristic values ​​acquired each time is different;

[0021] The obtained multiple pulse characteristic values ​​are encoded by using a run length encoding method.

[0022] Optionally, in the encoding method of any embodiment of the present disclosure, converting the photon flow received in the local space into a pulse signal representing the light intensity change process includes:

[0023] Convert the photon streams received from each local space in the spatial region into pulse signals representing the light intensity variation process;

[0024] The pulse sequences of all pixel points corresponding to all local spaces in the spatial region form a pulse array according to the spatial position relationship, wherein all local spaces cover the spatial region and different local spaces in all spatial regions do not overlap;

[0025] According to the time sequence relationship, a plurality of pulse characteristic values ​​are sequentially obtained from the pulse sequence of the pixel points, and the obtained plurality of pulse characteristic values ​​are encoded by using a preset encoding method to obtain encoded data of the plurality of pulse characteristic values, including:

[0026] According to the timing relationship, a pulse signal frame at the time of generating a pulse signal is sequentially obtained from the pulse array, wherein the pulse signal frame includes a pulse characteristic value of all the pixel points at the time of generating the pulse signal;

[0027] Based on the pulse signal frame, generating a first image with a bit depth of 1;

[0028] Based on every N consecutive first images, a second image with a bit depth of N is formed, wherein the value of N is an integer greater than 1;

[0029] The second image is encoded by adopting an entropy encoding method to obtain encoded data of the second image.

[0030] Optionally, in the encoding method of any embodiment of the present disclosure, after composing a frame of a second image with a bit depth of N based on every N consecutive first images, the method further includes:

[0031] Based on the pulse characteristic value of each pixel in the second image, obtain 2 for representing the color of each pixel in the second image. N symbols;

[0032] Statistics 2 N The probability of each symbol appearing among the symbols;

[0033] Based on the 2 N The probability of each symbol appearing in the symbols is based on the preset method, N symbols are updated so that the updated 2 N The distribution probability of each symbol among the symbols is more uneven;

[0034] Encoding the second image by entropy coding includes:

[0035] The entropy coding method is used to encode the symbol corresponding to each pixel in the second image after the symbol is updated.

[0036] Optionally, in the encoding method of any embodiment of the present disclosure, based on the 2 NThe probability of each symbol appearing in the symbols is based on the preset method, N symbols to be updated, including:

[0037] According to the probability of each symbol appearing, N The symbols are sorted to obtain a symbol sequence;

[0038] Acquire a symbol with the highest probability of occurrence from the symbol sequence as a target symbol, and determine a pixel point position corresponding to the target symbol in the second image as a target position;

[0039] Traversing the symbols corresponding to each pixel point in the second image, if the symbol corresponding to the pixel point at the target position is an adjacent symbol of the target symbol, updating the symbol of the target pixel point at the target position whose symbol is the adjacent symbol to the target symbol;

[0040] Deleting the target symbol and the adjacent symbols from the symbol sequence;

[0041] Iteratively perform the operation of obtaining the symbol with the highest probability of occurrence from the symbol sequence as the target symbol, and determining the pixel point position corresponding to the target symbol in the second image as the target position, until the symbol corresponding to the pixel point at the target position in the second image is not an adjacent symbol of the target symbol.

[0042] Another aspect of the embodiments of the present disclosure provides a pulse signal encoding device, including:

[0043] A first generating module is used to convert the photon flow received in the local space into a pulse signal representing a light intensity variation process;

[0044] A second generating module is used to obtain a pulse sequence of pixel points corresponding to the local space based on the pulse signal according to a timing relationship based on the generation time of the pulse signal, wherein the pulse sequence includes a pulse characteristic value for indicating whether a pulse signal is generated at each time;

[0045] A first acquisition module, used to sequentially acquire a plurality of pulse characteristic values ​​from the pulse sequence of the pixel points according to a time sequence relationship;

[0046] The encoding module is used to encode the acquired multiple pulse characteristic values ​​in a preset encoding manner to obtain encoding data of the multiple pulse characteristic values.

[0047] Optionally, in the encoding device of any embodiment of the present disclosure, it further includes:

[0048] A second acquisition module is used to obtain two adjacent different pulse characteristic values ​​in the pulse sequence of the pixel points corresponding to the local space after the second generation module obtains the pulse sequence of the pixel points, and use the two adjacent different pulse characteristic values ​​as a pair of characteristic value pairs;

[0049] The interchange module is used to interchange the two pulse characteristic values ​​in the characteristic value pair.

[0050] Optionally, in the encoding device of any embodiment of the present disclosure, it further includes:

[0051] A change module is used to change the pulse characteristic values ​​in the pulse sequence of the pixel points corresponding to the local space after the second generation module obtains the pulse sequence of the pixel points, in response to the existence of M consecutive identical pulse characteristic values ​​in the pulse sequence, based on the M consecutive identical pulse characteristic values, wherein the value of M is an integer greater than 1.

[0052] Optionally, in the encoding device of any embodiment of the present disclosure, the manner in which the interchange module changes the pulse characteristic value in the pulse sequence of the pixel point includes at least one of the following:

[0053] Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​into the identical pulse characteristic value;

[0054] Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​to the identical pulse characteristic value;

[0055] Changing the first pulse characteristic value among the M consecutive identical pulse characteristic values ​​to a different pulse characteristic value adjacent to the first pulse characteristic value;

[0056] The last pulse characteristic value among the M consecutive identical pulse characteristic values ​​is changed to a different pulse characteristic value adjacent to the last pulse characteristic value.

[0057] Optionally, in the encoding device of any embodiment of the present disclosure, the first acquisition module is specifically used to: sequentially acquire multiple pulse characteristic values ​​from the pulse sequence of the pixel point, and the number of different pulse characteristic values ​​in the multiple pulse characteristic values ​​acquired each time is different;

[0058] The encoding module is specifically used to encode the acquired multiple pulse characteristic values ​​by using a run length encoding method.

[0059] Optionally, in the encoding device of any embodiment of the present disclosure, the first generating module is specifically used to: respectively convert the photon flow received for each local space in the spatial region into a pulse signal representing the light intensity change process; the pulse sequences of all pixel points corresponding to all local spaces in the spatial region form a pulse array according to the spatial position relationship, wherein all local spaces cover the spatial region, and different local spaces in all spatial regions do not overlap;

[0060] The first acquisition module is specifically used to: acquire a pulse signal frame at the time of generating a pulse signal from the pulse array in sequence according to a time sequence relationship, wherein the pulse signal frame includes a pulse characteristic value of all the pixel points at the time of generating the pulse signal; based on the pulse signal frame, generate a first image with a bit depth of 1; based on every N consecutive first images, form a second image with a bit depth of N, wherein the value of N is an integer greater than 1;

[0061] The encoding module is specifically used to: encode the second image by adopting an entropy encoding method to obtain encoded data of the second image.

[0062] Optionally, in the encoding device of any embodiment of the present disclosure, it further includes:

[0063] an updating module, configured to obtain, after the first acquisition module forms a second image with a bit depth of N, a 2-bit pixel representing the color of each pixel in the second image based on the pulse characteristic value of each pixel in the second image; N symbols; statistics of 2 N The probability of each symbol appearing in the symbols; based on the 2 N The probability of each symbol appearing in the symbols is based on the preset method, N symbols are updated so that the updated 2 N The distribution probability of each symbol among the symbols is more uneven;

[0064] The encoding module is specifically used to: use entropy encoding to encode the symbol corresponding to each pixel in the second image after the symbol is updated.

[0065] Optionally, in the encoding device of any embodiment of the present disclosure, the updating module is specifically configured to adopt the following method, based on the 2 N The probability of each symbol appearing in the symbols is based on the preset method, N symbols to update:

[0066] According to the probability of each symbol appearing, N The symbols are sorted to obtain a symbol sequence;

[0067] Acquire a symbol with the highest probability of occurrence from the symbol sequence as a target symbol, and determine a pixel point position corresponding to the target symbol in the second image as a target position;

[0068] Traversing the symbols corresponding to each pixel point in the second image, if the symbol corresponding to the pixel point at the target position is an adjacent symbol of the target symbol, updating the symbol of the target pixel point at the target position whose symbol is the adjacent symbol to the target symbol;

[0069] Deleting the target symbol and the adjacent symbols from the symbol sequence;

[0070] Iteratively perform the operation of obtaining the symbol with the highest probability of occurrence from the symbol sequence as the target symbol, and determining the pixel point position corresponding to the target symbol in the second image as the target position, until the symbol corresponding to the pixel point at the target position in the second image is not an adjacent symbol of the target symbol.

[0071] Another aspect of the embodiments of the present disclosure provides an electronic device, including:

[0072] The pulse signal encoding device according to any embodiment of the present disclosure;

[0073] Memory for storing computer programs;

[0074] A processor is used to execute the computer program stored in the memory to control the pulse signal encoding device to implement the pulse signal encoding method described in any embodiment of the present disclosure.

[0075] Optionally, in the electronic device of any embodiment of the present disclosure, the electronic device is included as any one of the following: a pulse camera, a high-speed camera, an audio / video player, a navigation device, a fixed-position terminal, an entertainment unit, a smart phone, a communication device, a device in a motor vehicle, a camera, a sports or wearable camera, a detection device, a flight device, a medical device, and a security device.

[0076] According to another aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the pulse signal encoding method described in any embodiment of the present disclosure is implemented.

[0077] Based on the pulse signal encoding method and device, electronic device and storage medium of the embodiment of the present disclosure, the photon flow received for the local space is converted into a pulse signal representing the light intensity change process, and then based on the generation time of the pulse signal, according to the timing relationship, the pulse sequence of the pixel points corresponding to the local space is obtained based on the pulse signal, and then, according to the timing relationship, multiple pulse characteristic values ​​are obtained from the pulse sequence of the pixel points in sequence, and the obtained multiple pulse characteristic values ​​are encoded in a preset encoding method to obtain the encoding data of the multiple pulse characteristic values, thereby realizing the compression of the pulse signal. Based on the embodiment of the present disclosure, the continuous recording and digital expression of the light process is realized through the pulse sequence, and the pulse sequence of each pixel point can be used to estimate the light intensity at any time and obtain the image at any time, thereby realizing continuous imaging, having high time sensitivity, high-frequency expression ability and super strong expression ability for high-speed motion process, and can effectively record high-speed motion, and while utilizing the high-frequency expression ability of the pulse sequence, multiple pulse characteristic values ​​are used as encoding units and encoded in a preset encoding method, thereby realizing the compression of the pulse signal, which is conducive to reducing the pressure of data storage and transmission, thereby saving data storage and transmission bandwidth resources.

[0078] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0080] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0081] Figure 1 The figure is a flow chart of an embodiment of a pulse signal encoding method disclosed in the present invention.

[0082] Figure 2 FIG. 4 is an example diagram of a pulse array in an embodiment of the present disclosure.

[0083] Figure 3 The figure is a flow chart of another embodiment of the pulse signal encoding method disclosed in the present invention.

[0084] Figure 4 for Figure 3 An exemplary diagram showing how two pulse eigenvalues ​​in an eigenvalue pair are interchanged in the illustrated embodiment.

[0085] Figure 5 The flowchart is another embodiment of the pulse signal encoding method disclosed in the present invention.

[0086] Figure 6 for Figure 5An example diagram of changing a pulse characteristic value in a pulse sequence of a pixel in the embodiment shown.

[0087] Figure 7 The flowchart is another embodiment of the pulse signal encoding method disclosed in the present invention.

[0088] Figure 8 The present invention is a flowchart of another embodiment of the pulse signal encoding method disclosed herein.

[0089] Fig. 9 The present invention is a flow chart of another embodiment of the pulse signal encoding method disclosed herein.

[0090] Fig.10 The figure is a schematic diagram of the structure of an embodiment of a pulse signal encoding device disclosed in the present invention.

[0091] Fig.11 It is a schematic structural diagram of another embodiment of the pulse signal encoding device disclosed in the present invention.

[0092] Fig.12 The figure is a schematic structural diagram of another embodiment of the pulse signal encoding device disclosed in the present invention.

[0093] Fig.13 The figure is a schematic structural diagram of another embodiment of the pulse signal encoding device disclosed in the present invention.

[0094] Fig.14 The figure is a schematic diagram of the structure of an application embodiment of the electronic device disclosed in the present invention. DETAILED DESCRIPTION

[0095] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0096] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0097] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0098] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0099] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0100] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0101] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0102] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0103] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0104] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0105] The disclosed embodiments can be applied to electronic devices such as cameras (e.g., pulse cameras), terminal devices, computer systems, servers, etc., which can operate with many other general or special computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments and / or configurations suitable for use with electronic devices such as cameras, terminal devices, computer systems, servers, etc. include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0106] Electronic devices such as cameras, terminal devices, computer systems, servers, etc. can be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. Generally, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0107] Figure 1 FIG. 1 is a flow chart of an embodiment of a pulse signal encoding method disclosed in the present invention. Figure 1 As shown, the pulse signal encoding method of this embodiment includes:

[0108] 102, converting the photon flow received in the local space into a pulse signal representing the light intensity variation process.

[0109] Optionally, in some of the implementations, a signal collector, such as a photosensitive device in a camera, a pixel of a CMOS sensor, etc., can be used to continuously collect light signals in a local space and accumulate the light signals in the local space. In response to the signal accumulation amount reaching a preset threshold, a pulse signal is generated, and the signal accumulation amount is set to zero (i.e., reset) for re-accumulation.

[0110] 104. Based on the generation time of the pulse signal and in accordance with the time sequence relationship, a pulse sequence of pixel points corresponding to the local space is obtained based on the pulse signal.

[0111] The pulse sequence can also be called a pulse stream or a pulse signal stream. The pulse sequence includes a pulse characteristic value for indicating whether a pulse signal is generated at each moment. Specifically, two preset values ​​can be used to respectively indicate whether a pulse signal is generated. For example, in some implementations, binary symbols 1 and 0 can be used as pulse characteristic values, respectively indicating whether a pulse signal is generated at the corresponding moment or not.

[0112] 106 , acquiring multiple pulse characteristic values ​​from the pulse sequence of the pixel point in sequence according to a time sequence relationship, and encoding the acquired multiple pulse characteristic values ​​in a preset encoding manner to obtain encoding data of the multiple pulse characteristic values.

[0113] In the embodiment of the present disclosure, the number of multiple pulse characteristic values ​​obtained from the pulse sequence of the pixel point each time can be set according to the different encoding objects and encoding methods, and can be updated according to actual needs; in addition, under the same encoding object and encoding method, the number of multiple pulse characteristic values ​​obtained from the pulse sequence of the pixel point each time can be the same, different, or partially the same and partially different. The embodiment of the present disclosure does not limit the specific considerations and value-taking methods for the number of multiple pulse characteristic values ​​obtained from the pulse sequence of the pixel point each time.

[0114] Based on the embodiments of the present disclosure, continuous recording and digital expression of light processes are achieved through pulse sequences. The pulse sequence of each pixel can be used to estimate the light intensity at any time and obtain the image at any time, thereby achieving continuous imaging. It has high time sensitivity, high-frequency expression capability and super strong expression capability for high-speed motion processes, and can effectively record high-speed motion. In addition, while utilizing the high-frequency expression capability of the pulse sequence, a preset encoding method is used to encode multiple pulse characteristic values ​​as encoding units (also called: symbols), thereby achieving compression of the pulse signal, which is beneficial to reducing data storage and transmission pressure, thereby saving data storage and transmission bandwidth resources.

[0115] Optionally, in some of the implementations, the preset encoding method of the embodiments of the present disclosure may be lossless compression encoding, such as entropy preserving encoding (referred to as entropy encoding for short), etc. The embodiments of the present disclosure do not limit the specific encoding method used.

[0116] Lossless compression coding, referred to as lossless coding or distortion-free coding, information-preserving coding or entropy-preserving coding, refers to the use of compressed data for decoding. The recovered data is exactly the same as the original data. No information is lost after data compression. Only the redundant information in the image data is deleted. Therefore, the original image can be accurately and undistortedly restored after decompression.

[0117] In the disclosed embodiment, information entropy is the number of bits required to express a content (data). For entropy coding, the calculation formula of information entropy is as follows:

[0118] H(x)=E[I(x i )]=E[log(2,1 / P(x i ))]=-∑P(x i )log(2,P(x i )), i=1,2,..n

[0119] Among them, H(x) is the size of the content after entropy coding, x i is the characters contained in the content, P(x i ) is the character x iThe distribution probability among the characters contained in the content.

[0120] The following two specific examples are used to illustrate the information entropy of entropy coding:

[0121] In a specific example, assuming that the characters contained in content 1 include 50 a characters and 50 b characters, and one character corresponds to one byte, then storing the uncompressed content 1 requires 100 bytes, that is, 800 bits. Since the content only contains a character and b character, the distribution probability of a character is 0.5, and the distribution probability of b character is 0.5, the information entropy of the content 1 after entropy coding is the sum of the following two parts:

[0122] H(x)=-(50*log(2,0.5)+50*log(2,0.5))=100bits.

[0123] Therefore, by using entropy coding, it is possible to achieve a compression space of about 8 times for the content.

[0124] In another specific example, assuming that content 2 includes 90 a characters and 10 b characters, and one character corresponds to one byte, the storage space occupied by not storing the uncompressed content 2 is the same as that of storing the uncompressed content 1, which is 800 bits.

[0125] Since content 2 also only contains characters a and b, the distribution probability of character a is 0.9, and the distribution probability of character b is 0.1. After entropy coding, the information entropy of content 2 is the sum of the following two parts:

[0126] H(x)=-(90*log(2,0.5)+10*log(2,0.5))=46.9bits.

[0127] Therefore, by using entropy coding, the content can be compressed about 20 times.

[0128] It can be seen that the more uneven the distribution probability of the characters contained in the content is, the larger the compression space of the entropy coding is, and the higher the compression rate (ie, the ratio between the storage space occupied before and after compression) is.

[0129] Based on the pulse signal generation process, when the accumulated amount of light signals in the local space reaches a preset threshold, a pulse signal is generated, and the accumulated amount of the signal is reset to zero and accumulated again. In a scene with weak light intensity, the distribution probability of the pulse characteristic value 1 in the pulse sequence of each pixel is small, and the distribution probability of the pulse characteristic value 0 is large, for example, a pulse characteristic value of a segment in a pulse sequence is 10000000010000000100000; while in a scene with strong light intensity, the distribution probability of the pulse characteristic value 1 in the pulse sequence of each pixel is large, and the distribution probability of the pulse characteristic value 0 is small, that is, the distribution probability of the pulse characteristic values ​​1 and 0 in the pulse sequence of each pixel is uneven, for example, a pulse characteristic value of a segment in a pulse sequence is 111111111010101011010101101; or the distribution probability of the pulse characteristic values ​​1 and 0 in the pulse sequence of each pixel can be uneven for a specific light intensity scene by controlling the preset threshold of the accumulated amount of the signal. In this way, multiple pulse characteristic values ​​are obtained from the pulse sequence of each pixel point in turn and encoded as a coding unit. For example, from a segment of pulse characteristic values ​​10000000010000000100000, 10000000, 100000 are selected in turn for encoding. Since the distribution probability of pulse characteristic values ​​1 and 0 in the coding unit is uneven, it helps to further improve the coding compression space and coding efficiency, thereby further reducing data storage and transmission pressure and saving data storage and transmission bandwidth resources.

[0130] Optionally, in some of the implementations, in operation 102, for example, the signal collector in the pulse camera can be used to convert the photon stream received for each local space in the spatial region into a pulse signal representing the light intensity change process. Wherein, each signal collector in the pulse camera corresponds to each pixel point, and the pulse sequences of all pixel points corresponding to all local spaces in the spatial region form a pulse array according to the spatial position relationship, and all local spaces cover the entire spatial region, and different local spaces in all spatial regions do not overlap.

[0131] like Figure 2 As shown in FIG. 1 , an example diagram of a pulse array in an embodiment of the present disclosure is shown. Figure 2 As shown, x and y are the two coordinate axes of the pixel coordinate system, and t is the time coordinate axis. The pulse signals corresponding to each local space form a pulse sequence, and the cross section of the pulse array at a certain moment is a pulse matrix (also called a pulse signal frame at the moment of pulse signal generation). The pulse array consists of two symbols 1 and 0, where 1 ( Figure 2The solid point in the middle indicates that the signal collector (corresponding to a local space) generates a pulse signal at the sampling moment, and each signal collector corresponds to a pixel point in the pulse signal frame; 0 indicates that the signal collector does not generate a pulse signal at the sampling moment. The pulse camera can continuously record the changes in the instantaneous light intensity value of each local space, without the concept of frame rate and exposure time, breaking through the limitations of traditional cameras.

[0132] Figure 3 FIG. 1 is a flow chart of another embodiment of the pulse signal encoding method disclosed in the present invention. Figure 3 As shown, the pulse signal encoding method of this embodiment includes:

[0133] 202 , converting the photon flow received in the local space into a pulse signal representing a light intensity variation process.

[0134] 204 , based on the generation time of the pulse signal and in accordance with the time sequence relationship, a pulse sequence of pixel points corresponding to the local space is obtained based on the pulse signal.

[0135] The pulse sequence includes a pulse characteristic value for indicating whether a pulse signal is generated at each time point.

[0136] 206 , obtaining two adjacent different pulse characteristic values ​​in the pulse sequence of the pixel point, and taking the two adjacent different pulse characteristic values ​​as a pair of characteristic value pairs.

[0137] 208 , swapping two pulse eigenvalues ​​in the eigenvalue pair to make the distribution probability of different pulse eigenvalues ​​in a plurality of pulse eigenvalues ​​as a coding unit uneven or further improve the unevenness.

[0138] Figure 4 for Figure 3 The example diagram of exchanging two pulse characteristic values ​​in a characteristic value pair in the embodiment shown in the figure. Figure 4 As shown, they are pulse signal frames (correspondingly called: first pulse signal frame and second pulse signal frame) of different pixel points at the adjacent first pulse signal generation moment and second pulse signal generation moment, and two different pulse characteristic values ​​0 and 1 of one pixel point in the first pulse signal frame and the second pulse signal frame are obtained as a pair of characteristic value pairs (0,1), and 0 and 1 in the characteristic value pair (0,1) are swapped. After the swap, the pulse characteristic values ​​of the pixel point in the first pulse signal frame and the second pulse signal frame become 1 and 0 respectively.

[0139] Optionally, in some of the implementations, in operations 206-208, at least one pair of eigenvalue pairs may be obtained for the pulse sequence of each pixel in at least one pixel, and the two pulse eigenvalues ​​in each eigenvalue pair in the at least one pair of eigenvalue pairs may be interchanged. In a specific implementation, the number of pixels, the number of eigenvalue pairs obtained for each pixel to interchange pulse eigenvalues, and the selection criteria of eigenvalue pairs (e.g., randomly selecting eigenvalue pairs, continuously selecting eigenvalue pairs, or selecting eigenvalue pairs at intervals, etc.) may be set according to actual needs (e.g., the distribution of pulse eigenvalues ​​in the pulse sequence, the compression rate requirements, the impact on the overall quality of the subsequent reconstructed image, etc.), and the embodiments of the present disclosure do not limit this. For example, in one specific implementation, for a pulse sequence of a pixel point, before executing operations 206-208, it can be determined whether the distribution probabilities of different pulse characteristic values ​​1 and 0 in each of the multiple pulse characteristic values ​​serving as a coding unit are the same or less than a preset difference. Operations 206-208 are executed for the multiple pulse characteristic values ​​of each coding unit whose distribution probabilities of different pulse characteristic values ​​1 and 0 are the same or less than the preset difference, while operations 206-208 are not executed for the multiple pulse characteristic values ​​of each coding unit whose distribution probabilities of different pulse characteristic values ​​1 and 0 are not less than the preset difference. Alternatively, in another specific implementation, for each of the multiple pulse characteristic values ​​that serve as a coding unit, it is first determined whether executing operations 206-208 can improve the unevenness of the distribution probabilities of different pulse characteristic values ​​among the multiple pulse characteristic values ​​of each coding unit. Operations 206-208 are executed only when the executing operations 206-208 can improve the unevenness of the distribution probabilities of different pulse characteristic values ​​among the multiple pulse characteristic values ​​of each coding unit. If the executing operations 206-208 cannot further improve the unevenness of the distribution probabilities of different pulse characteristic values ​​among the multiple pulse characteristic values ​​of each coding unit, operations 206-208 are not executed.

[0140] 210 , acquiring multiple pulse characteristic values ​​from the pulse sequence of the pixel point in sequence according to a time sequence relationship, and encoding the acquired multiple pulse characteristic values ​​using a preset encoding method to obtain encoded data of the multiple pulse characteristic values.

[0141] In addition, after obtaining multiple pulse characteristic values ​​from the pulse sequence of the pixel point in sequence, the multiple pulse characteristic values ​​obtained each time can be used as a coding unit, and two different adjacent pulse characteristic values ​​located in different coding units can be obtained from two adjacent coding units. The two adjacent different pulse characteristic values ​​can be used as a pair of characteristic value pairs, and the two pulse characteristic values ​​in the characteristic value pair can be interchanged to make the distribution probability of different pulse characteristic values ​​in the multiple pulse characteristic values ​​as a coding unit uneven or further increase its unevenness.

[0142] Alternatively, after obtaining multiple pulse characteristic values ​​from the pulse sequence of the pixel point in sequence, the multiple pulse characteristic values ​​obtained each time can be used as a coding unit. If the coding contents of two adjacent coding units are the same, and there are two different adjacent pulse characteristic values ​​located in different coding units respectively, then the two adjacent different pulse characteristic values ​​are used as a pair of characteristic value pairs, and the two pulse characteristic values ​​in the characteristic value pair are interchanged so that the coding contents of the two adjacent coding units are different.

[0143] Based on the generation process of the pulse signal, when the light intensity in the local space is relatively stable or changes little, in the pulse sequence of each pixel point, the distribution of the pulse characteristic values ​​1 and 0 has a certain regularity. For example, in a pulse sequence, the pulse characteristic values ​​1 and 0 are arranged at intervals, and one of the pulse sequence fragments is 10101010. Assuming that the value of the maximum is 4, the coding content in each coding unit is the same, which is 1010. Based on the embodiment of the present disclosure, 0 and 1 in 10101010 are interchanged as a characteristic value pair to obtain 10110010, then the coding contents in the two coding units are 1011 and 0010 respectively, and the distribution probability of each pulse characteristic value 1 and 0 in each coding unit becomes uneven, and the coding contents of the two coding units are different, thereby improving the unevenness of the distribution probability of different characters in the coding content, which helps to improve the coding compression space and coding efficiency of the pulse signal, further reduce the pressure of data storage and transmission, and save data storage and transmission bandwidth resources. In actual applications, a pulse camera may include H*W signal collectors, corresponding to H*W pixels. The values ​​of H and W are usually high, for example, thousands, tens of thousands or even higher respectively. For some of the pixels, exchanging two adjacent different pulse characteristic values ​​can have a controllable impact on the overall effect.

[0144] Figure 5 FIG. 1 is a flow chart of another embodiment of the pulse signal encoding method disclosed in the present invention. Figure 5 As shown, the pulse signal encoding method of this embodiment includes:

[0145] 302 , converting the photon flow received in the local space into a pulse signal representing a light intensity variation process.

[0146] 304 , based on the generation time of the pulse signal and in accordance with the time sequence relationship, a pulse sequence of pixel points corresponding to the local space is obtained based on the pulse signal.

[0147] The pulse sequence includes a pulse characteristic value for indicating whether a pulse signal is generated at each time point.

[0148] 306. In response to the existence of M consecutive identical pulse characteristic values ​​in the pulse sequence of the pixel point, the pulse characteristic value in the pulse sequence of the pixel point is changed based on the M consecutive identical pulse characteristic values ​​to further enhance the unevenness of the distribution probability of different pulse characteristic values ​​among the multiple pulse characteristic values ​​as a coding unit.

[0149] The value of M is an integer greater than 1, and the value of M can be set according to actual needs. In some specific applications, the value of M can be, for example, 6, 8, 10, etc., which is not limited in the embodiments of the present disclosure.

[0150] For example, in one specific implementation, for the pulse sequence of the pixel point, before changing the pulse characteristic value in the pulse sequence of the pixel point, it can be determined whether changing the pulse characteristic value in the pulse sequence of the pixel point can improve the unevenness of the distribution probability of different pulse characteristic values ​​among multiple pulse characteristic values ​​of each coding unit. The pulse characteristic value in the pulse sequence of the pixel point is changed only when the unevenness of the distribution probability of different pulse characteristic values ​​among multiple pulse characteristic values ​​of each coding unit can be improved. If changing the pulse characteristic value in the pulse sequence of the pixel point cannot further improve the unevenness of the distribution probability of different pulse characteristic values ​​among multiple pulse characteristic values ​​of each coding unit, the pulse characteristic value in the pulse sequence of the pixel point is not changed.

[0151] 308 , acquiring multiple pulse characteristic values ​​from the pulse sequence of the pixel point in sequence according to the time sequence relationship, and encoding the acquired multiple pulse characteristic values ​​using a preset encoding method to obtain encoding data of the multiple pulse characteristic values.

[0152] Most of them are integers greater than 1.

[0153] Optionally, in operation 306, based on the M consecutive identical pulse characteristic values, a manner of changing the pulse characteristic value in the pulse sequence of the pixel point may include, but is not limited to, at least one of the following:

[0154] Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​into the identical pulse characteristic value;

[0155] Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​to the same pulse characteristic value;

[0156] Changing the first pulse characteristic value among the M consecutive identical pulse characteristic values ​​to a different pulse characteristic value adjacent to the first pulse characteristic value;

[0157] The last pulse characteristic value among the M consecutive identical pulse characteristic values ​​is changed to a different pulse characteristic value adjacent to the last pulse characteristic value.

[0158] Figure 6 for Figure 5 The example diagram of changing the pulse characteristic value in the pulse sequence of a pixel in the embodiment shown is as follows. Figure 6 As shown, a specific example of changing the last pulse characteristic value 1 of 8 consecutive identical pulse characteristic values ​​1 of a pixel point to a different pulse characteristic value 0 adjacent to the last pulse characteristic value is shown when the value of M is 8. In addition, a different pulse characteristic value 0 adjacent to the previous 8 consecutive identical pulse characteristic values ​​1 may be changed to the same pulse characteristic value 1, or a different pulse characteristic value 0 adjacent to the previous 8 consecutive identical pulse characteristic values ​​1 may be changed to the same pulse characteristic value 1, or the first pulse characteristic value 1 of the 8 consecutive identical pulse characteristic values ​​1 may be changed to a different pulse characteristic value 0 adjacent to the previous 1st pulse characteristic value 1, and so on.

[0159] Since the pulse camera corresponds to multiple pixel points, for several of the pixel points, when multiple consecutive identical pulse characteristic values ​​1 or 0 appear in their pulse sequence, the first or last pulse characteristic value among the multiple consecutive identical pulse characteristic values ​​is changed to a different pulse characteristic value, or an identical pulse characteristic value is added or subtracted before or after the multiple consecutive identical pulse characteristic values, and the overall impact on the pixel point and the entire pulse signal frame can be controlled. Changing the pulse characteristic value in the pulse sequence of the pixel point based on the M consecutive identical pulse characteristic values ​​can further improve the unevenness of the distribution probability of different characters in the encoded content, help to improve the encoding compression space and encoding efficiency of the pulse signal, further reduce data storage and transmission pressure, and save data storage and transmission bandwidth resources.

[0160] Optionally, in the pulse signal encoding method of any of the above embodiments of the present disclosure, in operation 106, a plurality of pulse characteristic values ​​can be obtained from the pulse sequence of pixel points in sequence according to a timing relationship, and the number of different pulse characteristic values ​​in the plurality of pulse characteristic values ​​obtained each time is different; then, the plurality of pulse characteristic values ​​obtained are encoded using a run length encoding method.

[0161] In a specific application, when the multiple pulse characteristic values ​​obtained are encoded using the Run-Length Encoding (RLE) method, the number of multiple pulse characteristic values ​​obtained each time can be greater than 50, for example, it can be 80, 100, 1000 or higher, etc., and the embodiments of the present disclosure do not limit this.

[0162] Among them, run length coding means encoding the pulse sequence of each pixel in the entire time domain, for example, run length coding is performed on 1000 pulse characteristic values ​​of each pixel in turn. In some implementations, the N pulse characteristic values ​​can be directly encoded by run length coding. Alternatively, in other implementations, the pulse sequence of the pixel point can be processed by the above operations 206-208 or operation 206 for each pixel in at least one pixel respectively, and then N pulse characteristic values ​​are obtained from the processed pulse sequence in turn as a coding unit, and encoded by run length coding.

[0163] Therefore, N pulse characteristic values ​​are obtained from the pulse sequence of each pixel point in turn as a coding unit, and are encoded using a run length coding method to achieve compression of the pulse signal, which is beneficial to reducing data storage and transmission pressure, thereby saving data storage and transmission bandwidth resources.

[0164] Assume that a pulse characteristic value in a pulse sequence of a pixel point is 10000000100000010000010000. In a specific implementation, each pulse characteristic value 1 and the pulse characteristic value 0 after it and before the next pulse characteristic value 1 are used as a coding unit (also called symbol:). At this time, there are 4 coding units: 10000000, 1000000, 100000, 10000, and the distribution probability of each coding unit is 0.25. Then its information entropy is

[0165] H(x)=-(1*log2(0.25)+1*log2(0.25)+1*log2(0.25)+1*log2(0.25))=8, and the compression ratio is 26:8.

[0166] Since the compression rate of information entropy is related to the distribution probability of different characters, the more uneven the distribution probability of different characters is, the higher the compression rate is. If the pulse sequence of pixel points is processed accordingly using the above operations 206-208 or operation 206 before the encoder, the distribution probability of different pulse characteristic values ​​among the N pulse characteristic values ​​of a coding unit can be made uneven or its unevenness can be further improved, which helps to further improve the coding compression space and coding efficiency, thereby further reducing data storage and transmission pressure and saving data storage and transmission bandwidth resources.

[0167] In addition, Figure 1-Figure 6On the basis of any pulse signal encoding method embodiment, N pulse characteristic values ​​are obtained from the pulse sequence of pixel points in sequence according to the timing relationship, and the obtained N pulse characteristic values ​​are encoded by a preset encoding method to obtain encoded data of the N pulse characteristic values, which may include: for each pixel point in all pixel points corresponding to all local spaces in the spatial area, a pulse characteristic value is obtained from the pulse sequence of pixel points in sequence according to the timing relationship to obtain a pulse characteristic value for all pixel points at the same time; based on a pulse characteristic value of all pixel points at the same time, a frame of a first image with a bit depth of 1 is generated; based on every N consecutive frames of the first image, a frame of a second image with a bit depth of N is formed, wherein the value of N is an integer greater than 1; the second image is encoded by entropy coding to obtain encoded data of the second image.

[0168] Figure 7 FIG. 1 is a flow chart of another embodiment of the pulse signal encoding method disclosed in the present invention. Figure 7 As shown, the pulse signal encoding method of this embodiment includes:

[0169] 402 , convert the photon streams received from each local space in the spatial region into pulse signals representing a light intensity variation process.

[0170] 404 , based on the generation time of the pulse signal and in accordance with the time sequence relationship, a pulse sequence of a pixel point corresponding to each local space is obtained based on the pulse signal corresponding to each local space.

[0171] The pulse sequence includes a pulse characteristic value for indicating whether a pulse signal is generated at each moment. The pulse sequence of all pixel points corresponding to all local spaces in the spatial region forms a pulse array according to the spatial position relationship, and all local spaces cover the entire spatial region, and different local spaces in all spatial regions do not overlap.

[0172] 406 , according to the time sequence relationship, sequentially obtain a pulse signal frame at the time of pulse signal generation from the pulse arrays corresponding to all the pixels, the pulse signal frame including the pulse characteristic values ​​of all the pixels at the time of pulse signal generation.

[0173] 408 , generating a first image with a bit depth of 1 based on each pulse signal frame.

[0174] 410 , compose a frame of a second image with a bit depth of N based on every N consecutive frames of the first image.

[0175] The value of N is an integer greater than 1. In a specific application, the value of N may be, for example, 8, 16, etc., which is not limited in the embodiment of the present disclosure.

[0176] In some of the implementations, an N-bit shift register may be set for each pixel, and a pulse characteristic value (0 or 1 signal) may be input at each pulse signal generation moment. The pulse characteristic values ​​of all pixels at a pulse signal generation moment generate a first image with a bit depth of 1. After accumulating N frames, a second image with a bit depth of N is formed by N consecutive first images. Afterwards, the second image may be sent to an entropy encoder for encoding.

[0177] 412. Encode the second image using an entropy coding method to obtain coded data of the second image.

[0178] The entropy coding method of the embodiments of the present disclosure may include, but is not limited to, any entropy coding method such as Huffman coding, Arithmetic coding, Exp-Golomb coding, Run Length Encoding (RLE), Context-Adaptive Variable Length Coding (CAVLC), Context-Adaptive Binary Arithmetic Coding (CABAC), Shannon coding, etc.

[0179] Optionally, for an example of a second image, when the second image is encoded using Huffman coding, the compression ratio can be about 3:1.

[0180] In addition, in some other implementations, before operation 406, operations 206-208 or operation 306 can be selectively performed for at least one pixel point to make the pulse characteristic value distribution of the at least one pixel point in every N consecutive first frames uneven or further improve its unevenness. The specific implementation can refer to the records of the above embodiments and will not be repeated here.

[0181] Based on this embodiment, a frame of a first image with a bit depth of 1 can be generated from each pulse signal frame, and then a frame of a second image with a bit depth of N can be composed based on every N consecutive frames of the first image. The second image with a bit depth of N is used as the encoding unit for encoding. Based on the generation process of the pulse signal, the distribution probability of different pulse characteristic values ​​in N consecutive pulse signal frames is usually uneven, and thus the distribution probability of different characters in the corresponding second image with a bit depth of N is also uneven. Entropy coding is used for encoding, which can improve the compression rate of the encoded data, which is beneficial to reduce data storage and transmission pressure, thereby saving data storage and transmission bandwidth resources.

[0182] Figure 8 FIG. 1 is a flow chart of another embodiment of the pulse signal encoding method disclosed in the present invention. Figure 8 As shown, in Figure 7 Based on the embodiment shown, the pulse signal encoding method of this embodiment further includes, after operation 410:

[0183] 502, based on the pulse characteristic value of each pixel in the second image, obtain 2 for representing the color of each pixel in the second image N symbol.

[0184] For example, when the value of N is 16, the second image with a bit depth of 16 has a total of 2 16 symbol.

[0185] Each pixel in the second image has a corresponding color, and a symbol for representing its color can be calculated based on a plurality of continuous pulse characteristic values ​​of each pixel in the second image in a preset manner. N There is no restriction on the specific implementation of each symbol.

[0186] 504, stats 2 N The probability of each symbol appearing among the symbols.

[0187] 506, based on 2 N The probability of each symbol appearing in the symbols is based on the preset method, N symbols are updated so that the updated 2 N The distribution probability of each symbol in the symbols is uneven or further increases its unevenness.

[0188] Accordingly, in this example, operation 412 may include:

[0189] 508 , using an entropy coding method, encode the symbol corresponding to each pixel in the second image after the symbol is updated to obtain coded data of the second image.

[0190] Based on this embodiment, based on 2 N The probability of each symbol appearing in 2 N symbols are updated, further making the distribution probability of different symbols uneven or further improving their unevenness, which helps to further improve the coding compression space and coding efficiency of the second image, thereby further reducing data storage and transmission pressure and saving data storage and transmission bandwidth resources.

[0191] Fig. 9 FIG. 1 is a flow chart of another embodiment of the pulse signal encoding method disclosed in the present invention. Fig. 9 As shown, in Figure 8 Based on the illustrated embodiment, in this embodiment, operation 506 may include:

[0192] 5062, according to the probability of each symbol appearing, N The symbols are sorted to obtain a symbol sequence.

[0193] Continuing with the above example, when the value of N is 16, the second image with a bit depth of 16 has a total of 2 16 symbols, excluding symbols that have not appeared, counting the probability of each symbol appearing among all the symbols that have appeared, and sorting them according to the probability of each symbol appearing to obtain a symbol sequence.

[0194] 5064, obtaining a symbol with the highest probability of occurrence from the symbol sequence as a target symbol, and determining a pixel point position corresponding to the target symbol in the second image as a target position.

[0195] 5066, traverse the symbols corresponding to the pixels in the second image to determine whether the symbol corresponding to the pixel at the target position is an adjacent symbol of the target symbol.

[0196] The difference between the bit depths of the adjacent symbols and the target symbol is 1.

[0197] If the symbol corresponding to the pixel point at the target position is an adjacent symbol of the target symbol in the symbol sequence, perform operation 5068; if the symbol corresponding to the pixel point at the target position is not an adjacent symbol of the target symbol in the symbol sequence, perform operation 508.

[0198] 5068, updating the symbol of the target pixel point at the target position whose symbol is the adjacent symbol to the target symbol.

[0199] 5070, delete the target symbol and adjacent symbols from the symbol sequence.

[0200] Thereafter, operation 5064 is iteratively performed until no symbol corresponding to the pixel point at the target position in the second image is an adjacent symbol of the target symbol.

[0201] Continuing with the above example, when the value of is 16, the second image with a bit depth of 16 has a total of 2 16 symbols, excluding symbols that have not appeared, counting the probability of each symbol appearing among all the symbols that have appeared, and sorting them according to the probability of each symbol appearing to obtain a symbol sequence.

[0202] In one specific example, assuming that the symbol sequence is (2, 4, 16, 64), the probability of symbol 2 is the highest and it is the target symbol, the pixel position (i.e., the target position) corresponding to the target symbol 2 in the second image is (60, 80), and the adjacent symbol of the target symbol 2 is 4, then based on this embodiment, in the first round of update, all pixels with the pixel position (60, 80) and the symbol 4 in the second image are used as target pixels, and the symbol of the target pixel is updated from 4 to the target symbol 2, and then the target symbol 2 and the adjacent symbol 4 are deleted from the symbol sequence to obtain a new symbol sequence (16, 64). For the new symbol sequence (16, 64), the probability of symbol 16 being the target symbol is the highest, but symbol 64 is not the adjacent symbol of the target symbol 16, therefore, the second round of update is not performed, the target symbol 16 is deleted, and the new symbol sequence (64) is obtained. For the new symbol sequence (64), since there is only one symbol left and there is no adjacent symbol, it cannot be updated, and the iterative update operation ends.

[0203] In another specific example, assuming that the symbol sequence is (2, 4, 8, 16), symbol 2 has the highest probability and is the target symbol. The pixel position (i.e., the target position) corresponding to target symbol 2 in the second image is (60, 80), and the adjacent symbol of target symbol 2 is 4. Based on this embodiment, in the first round of updating, all pixels with pixel positions (60, 80) and symbol 4 in the second image are used as target pixels, and the symbol of the target pixel is updated from 4 to target symbol 2. Then, target symbols 2 and 4 are deleted from the symbol sequence to obtain a new symbol sequence (8, 16). For the new symbol sequence (8, 16), the probability of symbol 8 is the largest and it is the target symbol. The pixel position (i.e., the target position) corresponding to the target symbol in the second image is (12, 100). The target symbol 8 has an adjacent symbol 16. In the second round of updating, all pixels with pixel positions (12, 100) and symbol 16 in the second image are used as target pixels, and the symbol of the target pixel is updated from 16 to target symbol 8. Then, the target symbol 8 and the adjacent symbol 16 are deleted from the symbol sequence. The symbol sequence is then empty and cannot be updated, and the iterative update operation ends.

[0204] Any pulse signal encoding method provided in the embodiments of the present disclosure may be executed by any appropriate device with data processing capability, including but not limited to: a terminal device and a server, etc. Alternatively, any pulse signal encoding method provided in the embodiments of the present disclosure may be executed by a processor, such as the processor executing any pulse signal encoding method mentioned in the embodiments of the present disclosure by calling corresponding instructions stored in a memory. This will not be described in detail below.

[0205] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0206] Fig.10 1 is a schematic diagram of the structure of an embodiment of a pulse signal encoding device of the present disclosure. The pulse signal encoding device of the present disclosure embodiment can be used to implement the pulse signal encoding method embodiment of the present disclosure. Fig.10 As shown, the pulse signal encoding device of this embodiment includes: a first generating module 602, a second generating module 604, a first acquiring module 606 and an encoding module 608. Among them:

[0207] The first generating module 602 is used to convert the photon flow received in the local space into a pulse signal representing the light intensity variation process.

[0208] The second generation module 604 is used to obtain a pulse sequence of pixel points corresponding to the local space based on the pulse signal according to the timing relationship based on the generation time of the pulse signal, and the pulse sequence includes a pulse characteristic value for indicating whether a pulse signal is generated at each time.

[0209] The first acquisition module 606 is used to sequentially acquire a plurality of pulse characteristic values ​​from the pulse sequence of the pixel point according to a time sequence relationship.

[0210] The encoding module 608 is used to encode the obtained multiple pulse characteristic values ​​in a preset encoding manner to obtain encoded data of the multiple pulse characteristic values.

[0211] Based on this embodiment, by converting the photon flow received for the local space into a pulse signal that characterizes the light intensity change process, then based on the generation time of the pulse signal, according to the timing relationship, the pulse sequence of the pixel points corresponding to the local space is obtained based on the pulse signal, and then, according to the timing relationship, multiple pulse characteristic values ​​are obtained from the pulse sequence of the pixel points in sequence, and the obtained multiple pulse characteristic values ​​are encoded using a preset encoding method to obtain the encoded data of the multiple pulse characteristic values, thereby realizing the compression of the pulse signal. Based on the disclosed embodiment, the continuous recording and digital expression of the light process is realized through the pulse sequence, and the pulse sequence of each pixel point can be used to estimate the light intensity at any time and obtain the image at any time, thereby realizing continuous imaging, having high time sensitivity, high-frequency expression ability and super strong expression ability for high-speed motion process, and being able to effectively record high-speed motion, and while utilizing the high-frequency expression ability of the pulse sequence, encoding is performed in units of multiple pulse characteristic values ​​using a preset encoding method, thereby realizing the compression of the pulse signal, which is conducive to reducing the pressure of data storage and transmission, thereby saving data storage and transmission bandwidth resources.

[0212] Fig.11 FIG. 1 is a schematic diagram of another embodiment of the pulse signal encoding device disclosed in the present invention. Fig.11 As shown, in Fig.10 On the basis of the illustrated embodiment, the pulse signal encoding device of this embodiment further includes: a second acquisition module 702 and an interchange module 704 .

[0213] in:

[0214] The second acquisition module 702 is used to obtain two adjacent different pulse eigenvalues ​​in the pulse sequence of the pixel point corresponding to the local space after the second generation module 604 obtains the pulse sequence of the pixel point, and use the two adjacent different pulse eigenvalues ​​as a pair of eigenvalue pairs.

[0215] The interchange module 704 is used to interchange the two pulse eigenvalues ​​in the eigenvalue pair.

[0216] Fig.12 FIG. 1 is a schematic diagram of the structure of another embodiment of the pulse signal encoding device disclosed in the present invention. Fig.12 As shown, in Fig.10 On the basis of the shown embodiment, the encoding device of the pulse signal of this embodiment also includes: a change module 802, which is used to change the pulse characteristic value in the pulse sequence of the pixel points after the second generation module 604 obtains the pulse sequence of the pixel points corresponding to the local space, in response to the existence of M consecutive identical pulse characteristic values ​​in the pulse sequence, based on the M consecutive identical pulse characteristic values, wherein the value of M is an integer greater than 1.

[0217] Optionally, in some of the implementations, the way in which the interchange module 704 changes the pulse characteristic values ​​in the pulse sequence of pixel points may, for example, include but is not limited to at least one of the following: changing a different pulse characteristic value adjacent to M consecutive identical pulse characteristic values ​​to the same pulse characteristic value; changing a different pulse characteristic value adjacent to M consecutive identical pulse characteristic values ​​to the same pulse characteristic value; changing the first pulse characteristic value of M consecutive identical pulse characteristic values ​​to a different pulse characteristic value adjacent to the first pulse characteristic value; changing the last pulse characteristic value of M consecutive identical pulse characteristic values ​​to a different pulse characteristic value adjacent to the last pulse characteristic value.

[0218] Optionally, in some implementations of any of the above-mentioned pulse signal encoding device embodiments of the present disclosure, the first acquisition module 606 is specifically used to: sequentially acquire multiple pulse characteristic values ​​from the pulse sequence of pixel points, and the number of different pulse characteristic values ​​in the multiple pulse characteristic values ​​acquired each time is different. Correspondingly, the encoding module 608 is specifically used to: encode the acquired multiple pulse characteristic values ​​using a run length encoding method.

[0219] Optionally, in some other implementations of the encoding device embodiment of any pulse signal disclosed above, the first generation module 602 is specifically used to: convert the photon flow received for each local space in the spatial region into a pulse signal representing the light intensity change process, and the pulse sequence of all pixel points corresponding to all local spaces in the spatial region forms a pulse array according to the spatial position relationship, wherein all local spaces cover the spatial region, and different local spaces in all spatial regions do not overlap. Correspondingly, the first acquisition module 606 is specifically used to: sequentially acquire a pulse signal frame at the generation time of a pulse signal from the pulse array according to the timing relationship, and the pulse signal frame includes a pulse characteristic value of all pixel points at the generation time of a pulse signal; generate a frame of a first image with a bit depth of 1 based on the pulse signal frame; and form a frame of a second image with a bit depth of N based on every N consecutive first images, wherein the value of N is an integer greater than 1. The encoding module 608 is specifically used to: encode the second image using an entropy encoding method to obtain the encoded data of the second image.

[0220] Fig.13 FIG. 1 is a schematic diagram of the structure of another embodiment of the pulse signal encoding device disclosed in the present invention. Fig.13 As shown, in the pulse signal encoding device corresponding to the other implementations described above, it may also include: an updating module 902, which is used to obtain, based on the pulse characteristic value of each pixel in the second image, a 2-bit color representation of each pixel in the second image after the first acquisition module 606 forms a second image with a bit depth of multiple bits. N Symbols; Statistics 2 NThe probability of each symbol appearing among the symbols; based on 2 N The probability of each symbol appearing in the symbols is based on the preset method. N symbols are updated so that the updated 2 N The distribution probability of each symbol in the symbols is more uneven. Accordingly, in this embodiment, the encoding module 608 is specifically used to: use entropy encoding to encode the symbol corresponding to each pixel in the second image after the symbol is updated.

[0221] Optionally, in some implementations, the update module 902 is specifically configured to adopt the following method, based on 2 N The probability of each symbol appearing in the symbols is based on the preset method, N symbols are updated: according to the probability of each symbol appearing, the above 2 N symbols are sorted to obtain a symbol sequence; the symbol with the highest probability of appearing is obtained from the symbol sequence as the target symbol, and the pixel position corresponding to the target symbol in the second image is determined as the target position; the symbols corresponding to the pixels in the second image are traversed, and if the symbol corresponding to the pixel at the target position is an adjacent symbol of the target symbol, the symbol of the target pixel at the target position whose symbol is an adjacent symbol is updated as the target symbol; the target symbol and the adjacent symbols are deleted from the symbol sequence; the operation of iteratively obtaining the symbol with the highest probability of appearing from the symbol sequence as the target symbol and determining the pixel position corresponding to the target symbol in the second image as the target position is performed until the symbol corresponding to no pixel at the target position in the second image is an adjacent symbol of the target symbol.

[0222] In addition, an embodiment of the present disclosure further provides an electronic device, including:

[0223] The pulse signal encoding device of any embodiment of the present disclosure;

[0224] Memory for storing computer programs;

[0225] The processor is used to execute the computer program stored in the memory to control the pulse signal encoding device to implement the pulse signal encoding method of any of the above embodiments of the present disclosure.

[0226] Optionally, in some of the implementations, the electronic device may include but is not limited to any of the following: pulse cameras, high-speed cameras, audio / video players, navigation devices, fixed-position terminals, entertainment units, smart phones, communication devices, devices in motor vehicles, cameras, sports or wearable cameras, detection equipment, flight equipment, medical equipment, security equipment, etc.

[0227] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the pulse signal encoding method of any of the above embodiments of the present disclosure is implemented.

[0228] Fig.14 This is a schematic diagram of the structure of an application embodiment of the electronic device disclosed in the present invention. Fig.14 The electronic device according to the embodiment of the present disclosure is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signals from them.

[0229] like Fig.14 As shown, the electronic device includes a pulse signal encoding device, one or more processors and a memory. The processor can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device to perform desired functions.

[0230] The memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may execute the program instructions to implement the pulse signal encoding method of each embodiment of the present disclosure described above and / or other desired functions.

[0231] In one example, the electronic device may further include: an input device and an output device, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0232] In addition, the input device may also include, for example, a keyboard, a mouse, and the like.

[0233] The output device can output various information to the outside, including the determined distance information, direction information, etc. The output device can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0234] Of course, to simplify, Fig.14Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device may further include any other appropriate components.

[0235] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the pulse signal encoding method according to various embodiments of the present disclosure described in the above part of this specification.

[0236] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0237] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the pulse signal encoding method according to various embodiments of the present disclosure described in the above part of this specification.

[0238] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0239] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0240] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0241] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0242] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0243] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0244] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0245] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0246] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A pulse signal encoding method, characterized in that: include: Convert the photon flow received in the local space into a pulse signal representing the light intensity change process; Based on the generation time of the pulse signal, according to the time sequence relationship, a pulse sequence of pixel points corresponding to the local space is obtained based on the pulse signal, and the pulse sequence includes a pulse characteristic value for indicating whether a pulse signal is generated at each time; Acquire multiple pulse characteristic values ​​from the pulse sequence of the pixel points in sequence according to a time sequence relationship, and encode the acquired multiple pulse characteristic values ​​using a preset encoding method to obtain encoded data of the multiple pulse characteristic values; After obtaining the pulse sequence of pixel points corresponding to the local space, the method further includes: Acquire two adjacent different pulse characteristic values ​​in the pulse sequence of the pixel point, and use the two adjacent different pulse characteristic values ​​as a pair of characteristic value pairs; The two pulse eigenvalues ​​in the eigenvalue pair are exchanged.

2. The method according to claim 1, characterized in that After obtaining the pulse sequence of the pixel points corresponding to the local space, the method further includes: For the pulse sequence of the pixel point, in response to the existence of M consecutive identical pulse characteristic values ​​in the pulse sequence, the pulse characteristic value in the pulse sequence of the pixel point is changed based on the M consecutive identical pulse characteristic values, wherein the value of M is an integer greater than 1.

3. The method according to claim 2, characterized in that Based on the M consecutive identical pulse characteristic values, changing the pulse characteristic value in the pulse sequence of the pixel point includes at least one of the following: Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​into the identical pulse characteristic value; Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​to the identical pulse characteristic value; Changing the first pulse characteristic value among the M consecutive identical pulse characteristic values ​​to a different pulse characteristic value adjacent to the first pulse characteristic value; The last pulse characteristic value among the M consecutive identical pulse characteristic values ​​is changed to a different pulse characteristic value adjacent to the last pulse characteristic value.

4. The method according to any one of claims 1 to 3, characterized in that: Sequentially acquiring multiple pulse characteristic values ​​from the pulse sequence of the pixel points, and encoding the acquired multiple pulse characteristic values ​​using a preset encoding method, including: Sequentially acquiring multiple pulse characteristic values ​​from the pulse sequence of the pixel points, wherein the number of different pulse characteristic values ​​in the multiple pulse characteristic values ​​acquired each time is different; The obtained multiple pulse characteristic values ​​are encoded by using a run length encoding method.

5. The method according to any one of claims 1 to 3, characterized in that: Convert the photon flow received in the local space into a pulse signal representing the light intensity change process, including: Convert the photon streams received from each local space in the spatial region into pulse signals representing the light intensity variation process; The pulse sequences of all pixel points corresponding to all local spaces in the spatial region form a pulse array according to the spatial position relationship, wherein all local spaces cover the spatial region and different local spaces in the spatial region do not overlap; According to the time sequence relationship, a plurality of pulse characteristic values ​​are sequentially obtained from the pulse sequence of the pixel points, and the obtained plurality of pulse characteristic values ​​are encoded by using a preset encoding method to obtain encoded data of the plurality of pulse characteristic values, including: According to the timing relationship, a pulse signal frame at the time of generating a pulse signal is sequentially obtained from the pulse array, wherein the pulse signal frame includes a pulse characteristic value of all the pixel points at the time of generating the pulse signal; Based on the pulse signal frame, generating a first image with a bit depth of 1; Based on every N consecutive first images, a second image with a bit depth of N is formed, wherein the value of N is an integer greater than 1; The second image is encoded by adopting an entropy encoding method to obtain encoded data of the second image.

6. The method according to claim 5, characterized in that After composing a frame of a second image with a bit depth of N based on every N consecutive first images, the method further includes: Based on the pulse characteristic value of each pixel in the second image, obtain 2 for representing the color of each pixel in the second image. N symbols; Statistics 2 N The probability of each symbol appearing among the symbols; Based on the 2 N The probability of each symbol appearing in the symbols is based on the preset method, N symbols are updated so that the updated 2 N The distribution probability of each symbol among the symbols is more uneven; Encoding the second image by entropy coding includes: The entropy coding method is used to encode the symbol corresponding to each pixel in the second image after the symbol is updated.

7. The method according to claim 6, characterized in that Based on the 2 N The probability of each symbol appearing in the symbols is based on the preset method, N symbols to be updated, including: According to the probability of each symbol appearing, N The symbols are sorted to obtain a symbol sequence; Acquire a symbol with the highest probability of occurrence from the symbol sequence as a target symbol, and determine a pixel point position corresponding to the target symbol in the second image as a target position; Traversing the symbols corresponding to each pixel point in the second image, if the symbol corresponding to the pixel point at the target position is an adjacent symbol of the target symbol, updating the symbol of the target pixel point at the target position whose symbol is the adjacent symbol to the target symbol; Deleting the target symbol and the adjacent symbols from the symbol sequence; Iteratively perform the operation of obtaining the symbol with the highest probability of occurrence from the symbol sequence as the target symbol, and determining the pixel point position corresponding to the target symbol in the second image as the target position, until the symbol corresponding to the pixel point at the target position in the second image is not an adjacent symbol of the target symbol.

8. A pulse signal encoding device, characterized in that: include: A first generating module is used to convert the photon flow received in the local space into a pulse signal representing a light intensity variation process; A second generating module is used to obtain a pulse sequence of pixel points corresponding to the local space based on the pulse signal according to a timing relationship based on the generation time of the pulse signal, wherein the pulse sequence includes a pulse characteristic value for indicating whether a pulse signal is generated at each time; A first acquisition module, used to sequentially acquire a plurality of pulse characteristic values ​​from the pulse sequence of the pixel points according to a time sequence relationship; An encoding module, used for encoding the acquired multiple pulse characteristic values ​​in a preset encoding manner to obtain encoding data of the multiple pulse characteristic values; A second acquisition module is used to obtain two adjacent different pulse characteristic values ​​in the pulse sequence of the pixel points corresponding to the local space after the second generation module obtains the pulse sequence of the pixel points, and use the two adjacent different pulse characteristic values ​​as a pair of characteristic value pairs; The interchange module is used to interchange the two pulse characteristic values ​​in the characteristic value pair.

9. The device according to claim 8, characterized in that Also includes: A change module is used to change the pulse characteristic values ​​in the pulse sequence of the pixel points corresponding to the local space after the second generation module obtains the pulse sequence of the pixel points, in response to the existence of M consecutive identical pulse characteristic values ​​in the pulse sequence, based on the M consecutive identical pulse characteristic values, wherein the value of M is an integer greater than 1.

10. The device according to claim 9, characterized in that The way in which the changing module changes the pulse characteristic value in the pulse sequence of the pixel point includes at least one of the following: Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​into the identical pulse characteristic value; Changing a different pulse characteristic value adjacent to the M consecutive identical pulse characteristic values ​​to the identical pulse characteristic value; Changing the first pulse characteristic value among the M consecutive identical pulse characteristic values ​​to a different pulse characteristic value adjacent to the first pulse characteristic value; The last pulse characteristic value among the M consecutive identical pulse characteristic values ​​is changed to a different pulse characteristic value adjacent to the last pulse characteristic value.

11. The device according to any one of claims 8 to 10, characterized in that: A first acquisition module is specifically used to: sequentially acquire multiple pulse characteristic values ​​from the pulse sequence of the pixel points, wherein the number of different pulse characteristic values ​​in the multiple pulse characteristic values ​​acquired each time is different; The encoding module is specifically used to encode the acquired multiple pulse characteristic values ​​by using a run length encoding method.

12. The device according to any one of claims 8 to 10, characterized in that: The first generating module is specifically used to: respectively convert the photon flow received for each local space in the spatial region into a pulse signal representing the light intensity change process; the pulse sequence of all pixel points corresponding to all local spaces in the spatial region forms a pulse array according to the spatial position relationship, wherein all local spaces cover the spatial region, and different local spaces in the spatial region do not overlap; The first acquisition module is specifically used to: acquire a pulse signal frame at the time of generating a pulse signal from the pulse array in sequence according to a time sequence relationship, wherein the pulse signal frame includes a pulse characteristic value of all the pixel points at the time of generating the pulse signal; based on the pulse signal frame, generate a first image with a bit depth of 1; based on every N consecutive first images, form a second image with a bit depth of N, wherein the value of N is an integer greater than 1; The encoding module is specifically used to: encode the second image by adopting an entropy encoding method to obtain encoded data of the second image.

13. The device according to claim 12, characterized in that Also includes: an updating module, configured to obtain, after the first acquisition module forms a second image with a bit depth of N, a 2-bit pixel representing the color of each pixel in the second image based on the pulse characteristic value of each pixel in the second image; N symbols; statistics of 2 N The probability of each symbol appearing in the symbols; based on the 2 N The probability of each symbol appearing in the symbols is based on the preset method, N symbols are updated so that the updated 2 N The distribution probability of each symbol among the symbols is more uneven; The encoding module is specifically used to: use entropy encoding to encode the symbol corresponding to each pixel in the second image after the symbol is updated.

14. The device according to claim 13, characterized in that The update module is specifically used to adopt the following method, based on the 2 N The probability of each symbol appearing in the symbols is based on the preset method, N symbols to update: According to the probability of each symbol appearing, N The symbols are sorted to obtain a symbol sequence; Acquire a symbol with the highest probability of occurrence from the symbol sequence as a target symbol, and determine a pixel point position corresponding to the target symbol in the second image as a target position; Traversing the symbols corresponding to each pixel point in the second image, if the symbol corresponding to the pixel point at the target position is an adjacent symbol of the target symbol, updating the symbol of the target pixel point at the target position whose symbol is the adjacent symbol to the target symbol; Deleting the target symbol and the adjacent symbols from the symbol sequence; Iteratively perform the operation of obtaining the symbol with the highest probability of occurrence from the symbol sequence as the target symbol, and determining the pixel point position corresponding to the target symbol in the second image as the target position, until the symbol corresponding to the pixel point at the target position in the second image is not an adjacent symbol of the target symbol.

15. An electronic device, characterized in that: include: The pulse signal encoding device according to any one of claims 8 to 14; Memory for storing computer programs; A processor is used to execute the computer program stored in the memory to control the pulse signal encoding device to implement the pulse signal encoding method described in any one of claims 1-7.

16. The electronic device according to claim 15, characterized in that: The electronic device is included in any of the following: pulse camera, high-speed camera, audio / video player, navigation equipment, fixed position terminal, entertainment unit, smart phone, communication equipment, equipment in motor vehicle, camera, sports or wearable camera, detection equipment, flight equipment, medical equipment, security equipment.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the pulse signal encoding method described in any one of claims 1 to 7 is implemented.

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