CN103675763B - A kind of based on hardware-accelerated vector quantization VTS radar video rendering method - Google Patents
A kind of based on hardware-accelerated vector quantization VTS radar video rendering method Download PDFInfo
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- CN103675763B CN103675763B CN201310638393.4A CN201310638393A CN103675763B CN 103675763 B CN103675763 B CN 103675763B CN 201310638393 A CN201310638393 A CN 201310638393A CN 103675763 B CN103675763 B CN 103675763B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/04—Display arrangements
- G01S7/06—Cathode-ray tube displays or other two dimensional or three-dimensional displays
- G01S7/062—Cathode-ray tube displays or other two dimensional or three-dimensional displays in which different colours are used
Abstract
The invention discloses a kind of based on hardware-accelerated vector quantization VTS radar video rendering method, the rectangular coordinate system of a vector quantization set up by the radar shown in VTS traffic control system for each needs, rectangular coordinate system is divided into many display polygons with enough accuracy, allow each sampled point of radar belong to one and specifically show polygon, show polygonal shape and size depends on the scaling of system and the sampling precision of radar.By radar original video being mapped to the vector graphics through dividing, determine the color depth of each vector graphics according to the range value of original video; Then according to the vertex position of window, length and width and scaling, the quantity of the vector graphics of required display is determined; Finally call graphic display card and show radar video with hardware efficiency.The present invention has when ensureing video precision, and display efficiency is high, radar video continuously smooth, the advantage not having hollow phenomenon to occur.
Description
Technical field
The invention discloses a kind of based on hardware-accelerated vector quantization VTS radar video rendering method, the VTS traffic management display system especially comparatively large for display data volume, performance requirement is very high, relates to radar video field of drawing.
Background technology
VTS utilizes the communications facility such as AIS base station, radar, CCTV, wireless telephone and Shipborne terminal monitoring navigation at bay and the boats and ships that access to the ports, and provides a kind of system of security information required in navigation to these boats and ships.China is commonly referred to VTS.Whether the air route can monitoring boats and ships by this system departs from, direct of travel, speed, the mutual Bank of Communications of boats and ships etc., required safe navigation information during promptly to provide entering and leaving port to boats and ships.
For one three (radar) stand a center VTS system for.For general accuracy requirement, the sampled distance of each radar is 7.5 meters, and sample range is 2480 points; Quantizing range is 4096.What above-mentioned parameter represented is is taking radar center as the center of circle, and 7.5*2480 rice (about 20 km) is in the circle of radius.From positive north, every the angle that (360/4096) is spent, get every 7.5 meters and a little sample, the border of through circle.Like this, 10158080 sampled points are had to need to draw for each radar.For three radar points, then need drafting 30474240 sampled points
If directly according to the primitive form of radar sampling, carry out drafting existence two subject matters:
If 1. whole radar sampling points in a VTS region all pass through software application central processing unit (CPU) and draw, the efficiency of computing machine is difficult to ensure.A modern VTS traffic control display server, needs the Concurrent Display of support 10 windows.And the display of point in original radar video is mainly based on the calculating of CPU, meanwhile, the CPU of traffic control server also needs the calculating carrying out mass data communication and ship-handling algorithm simultaneously, is difficult to support so large calculated amount.
2., for the sampled point of quantizing range same away from radar center point, the arcuate distance between a quantizing range can reach 20 meters-30 meters.If be amplified to certain proportion for some windows, a pixel only may represent the distance of 4-5 rice, but the distance between sampled point more than 20 meters, may there is a lot of spaces at the center of radar video like this, the radar video now shown can not ensure flatness and the continuity of eye-observation image.
Therefore, be badly in need of a kind of method for drafting for VTS radar video, the drafting efficiency of system can be increased substantially; And under the prerequisite ensureing quantified precision, the radar video meeting user and require can be drawn out.
Summary of the invention
Technical matters to be solved by this invention is: directly draw radar original video for VTS software application central processor CPU, efficiency is low, the problem that the reliability of image is not high, proposes a kind of based on hardware-accelerated vector quantization VTS radar video rendering method.After the radar original video received is carried out vector quantization by the method, drawn the method for the radar video with enough accuracy by software transfer graphics accelerator (GPU), the radar video of VTS traffic control system is shown there is high-level efficiency and level and smooth continuous print feature.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
Based on a hardware-accelerated vector quantization VTS radar video rendering method, concrete steps are as follows:
The vector quantization rectangular coordinate system being initial point with the null position of one's respective area sea chart set up by step one, the radar shown in VTS system for each needs, rectangular coordinate system is divided into a plurality of display polygon, each sampled point of radar is at a display polygonal internal, and the space between two sampled points of arbitrary neighborhood is covered by the display polygon at these two sampled point places;
Step 2, with the coordinate showing each sampled point in polygon for element sets up display polygon matrix, according to the difference of sample amplitude value, show different color gradient, if the range value of sampled point is zero, then showing polygonal color gradient is zero;
Step 3, with the positive integer in radar sampling cycle common divisor for control cycle, collect all sampling number certificates, then by matrix operation, obtain the data of all display polygons in linear time efficiency;
Step 4, vertex position, size, engineer's scale according to window in VTS system cloud gray model, display polygon data step 3 obtained passes to graphic display card, call the display polygon rendering function of graphic display card, use hardware-accelerated mode to draw.
As present invention further optimization scheme, in step one, determine the polygonal shape of described display and size by the scaling of VTS system and the sampling precision of radar.
As present invention further optimization scheme, control cycle described in step 3 is 1 second.
The present invention adopts above technical scheme compared with prior art, has following technique effect: the present invention, by radar original video being mapped to the vector graphics through dividing, determines the color depth of each vector graphics according to the range value of original video; Then according to the vertex position of window, length and width and scaling, the quantity of the vector graphics of required display is determined; Finally call graphic display card and show radar video with hardware efficiency.The present invention has when ensureing video precision, and display efficiency is high, radar video continuously smooth, the advantage not having hollow phenomenon to occur.
Accompanying drawing explanation
Fig. 1 is the main flow schematic diagram drawn the runtime of the present invention.
Fig. 2 is vector quantization to the solution effect schematic diagram of radar video hollow and Burr Problem.
Embodiment
Below in conjunction with accompanying drawing, with regard to embodiment, the present invention is further illustrated.
Disclosed in this invention a kind of based on hardware-accelerated vector quantization VTS radar video rendering method, it is the rectangular coordinate system that a vector quantization set up by the radar shown in VTS traffic control system for each needs, rectangular coordinate system is divided into many display polygons (quadrilateral, pentagon, hexagon, heptagon, octagon) with enough accuracy, allow each sampled point of radar belong to one and specifically show polygon, show polygonal shape and size depends on the scaling of system and the sampling precision of radar.Like this when video display, the video of radar can be allowed to adopt hardware-accelerated mode, show polygonal form with magnanimity and show.
The main flow schematic diagram that runtime of the present invention draws as shown in Figure 1, first for each application scenario, first the rectangular coordinate system that is initial point with the null position of one's respective area sea chart is set up, centered by the central point of each radar, from positive north (the Y-axis positive dirction of corresponding rectangular coordinate system), set up a sampled point every 7.5 meters, set up 2480 sampled points; Then eastwards (X-axis positive dirction) rotates 360/4096 degree, sets up 2480 same sampled points; Until sampling angle stops after getting back to direct north.4096*2480 sampled point has been had like this with regard to one.There are how many radars VTS management area, just has the sampled point that how many group is such.
Then for each sampled point sets up a display polygon, two display polygon scopes can fill the space between two sampled points just.The polygonal precision of such display just can ensure that the display of video reaches the precision of original video.Then set up the display polygon matrix of a 4096*2480, each value of matrix stores the coordinate of each point of display polygon.If the range value of sampled point is zero, then showing polygonal color gradient is zero, then show transparent; Otherwise, show the difference of polygonal color according to amplitude of samples value, show different color gradient.Then according to vertex position and the length and width of each window, determine have which display polygon to need display; With engineer's scale, determine corresponding several pixel in the polygonal length of side of display.Finally call the display polygon rendering function of GPU, use hardware accelerated rendering.
Based on hardware-accelerated vector quantization VTS radar video rendering method, be first that sampled point corresponding for each radar is converted to rectangular coordinate, be mapped to in sea chart zero point rectangular coordinate system that is initial point.Then by regions relevant to radar sampling point all in sea chart region, the square that the length of side is 7.5 meters is divided into.If have multiple sampled point in each square, then the amplitude of samples value of multiple point is added up, then determine the color depth in this region, be finally pushed to display server and show.
In order to high-level efficiency, high-precision display radar video, need to be divided into following three steps:
One. radar video display engineering design
In the early stage of each VTS project construction, all can obtain the sea chart of this project construction, the position of all radars and the position of sampled point can be known simultaneously.Then be all distributed to by the sampled point of all radars with in the radar sampling precision square that is the length of side, the region that all radars can cover is included in such square.When such effect can guarantee the runtime, circular radar video can reach the efficiency of constant time for the time efficiency of the mapping of rectangular screen.
Such as the radar that sampled distance mentioned above is 7.5 meters, sample range is 2480 points, quantizing range is 4096, its sampled point can be stored in the matrix of [4096] [2480] of int type, then uses the matrix of polygon [4096] [2480] to preserve display rectangle.Polygon form stores the coordinate of four to eight points, represents the display polygon corresponding to this sampled point.
Two. runtime video data process
Although human eye is about 0.1 second for the resolving time of image, the sweep time of VTS radar is about 3 seconds, so the image update efficiency of 0.1 second is insignificant.Here with 1 second for control cycle, process the display of radar video.Each control cycle initial, radar video handling procedure receives and transmits by Transmission Control Protocol the radar original video data come; After having accepted data, data be stored in the amplitude of samples matrix of int radar_sample [4096] [2480], have how many radars just to have how many individual such matrix, the value of matrix is the range value of sampling gained; After obtaining amplitude of samples matrix, according to the mapping relations between sampling matrix and display matrix, change the range value of sampled point into each and show polygonal color depth.All like this numerical evaluation of the radar video of display that needs all complete, and directly can call graphic display card to carry out the polygonal hardware-accelerated display of display below.
Three. windows display real-time optimization
Last at 1S control cycle, master control program is opened according to there being how many windows at present, the vertex position (longitude and latitude) of each window, the length and width (unit: rice) of setting and the ratio (pixel/distance) of convergent-divergent, deciding to need which display polygon needs display.Take out these and show polygonal numbering and color depth, put into a buffering.Then according to the position data (polygon [4096] [2480]) that engineering design generates, decide to show polygonal display position, display size and color depth.Search the algorithm that display polygon is a linear session efficiency, during display square, will the OPENGL function accelerated based on GPU hardware be called.
In sum: according to the radar video of the vector quantization that division methods mentioned above generates, the polygonal length of side of each display is the precision based on radar sampling distance, so the precision of radar video reaches original video precision seen by user.Vector quantization to the solution effect schematic diagram of radar video hollow and Burr Problem as shown in Figure 2, when designing display polygon, the all display polygons formed through Engineering Division are all tangent, ensure not exist the possibility in space, so radar video involved in the present invention necessarily continuously smooth.Due in the data encasement phase, show the data such as polygonal position, sampled point and the mapping of display polygon and all write in allocation list, without the need to real-time calculating; When runtime display video, primary control program also calculates the display polygon in screen ranges, and only display needs necessary display polygon, does not have extra consumption; Simultaneously in final display, because video has been broken down into a lot of vector display polygons, GPU can be called and shown with hardware-accelerated form.This assures the optimum of the present invention in time efficiency.
So VTS radar video involved in the present invention has the advantages such as precision is accurate, display effect is level and smooth, efficiency of algorithm is high, expandability is strong.The part that the present invention does not relate to prior art that maybe can adopt all same as the prior art is realized.Above embodiments of the present invention are explained in detail, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also makes a variety of changes under the prerequisite not departing from present inventive concept.
Claims (2)
1., based on a hardware-accelerated vector quantization VTS radar video rendering method, it is characterized in that, concrete steps are as follows:
The vector quantization rectangular coordinate system being initial point with the null position of one's respective area sea chart set up by step one, the radar shown in VTS system for each needs, rectangular coordinate system is divided into a plurality of display polygon, each sampled point of radar is at a display polygonal internal, and the space between two sampled points of arbitrary neighborhood is covered by the display polygon at these two sampled point places; The polygonal shape of described display and size are determined by the scaling of VTS system and the sampling precision of radar;
Step 2, with the coordinate showing each sampled point in polygon for element sets up display polygon matrix, according to the difference of sample amplitude value, show different color gradient, if the range value of sampled point is zero, then showing polygonal color gradient is zero;
Step 3, with the positive integer in radar sampling cycle common divisor for control cycle, collect all sampling number certificates, then by matrix operation, obtain the data of all display polygons in linear time efficiency;
Step 4, vertex position, size, engineer's scale according to window in VTS system cloud gray model, display polygon data step 3 obtained passes to graphic display card, call the display polygon rendering function of graphic display card, use hardware-accelerated mode to draw.
2. a kind of based on hardware-accelerated vector quantization VTS radar video rendering method as claimed in claim 1, it is characterized in that: control cycle described in step 3 is 1 second.
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| CN106844852B (en) * | 2016-12-19 | 2020-01-10 | 中国船舶重工集团南京鹏力科技集团有限公司 | Ship distribution thermodynamic diagram construction method based on VTS system |
| CN110501684B (en) * | 2019-08-23 | 2022-12-23 | 北京航天朗智科技有限公司 | Radar data processing device and radar data processing method |
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| US6212132B1 (en) * | 1998-08-04 | 2001-04-03 | Japan Radio Co., Ltd. | Three-dimensional radar apparatus and method for displaying three-dimensional radar image |
| CN101308210A (en) * | 2008-04-25 | 2008-11-19 | 深圳市亿威尔信息技术有限公司 | Radar presentation image production method and system |
| WO2010046792A1 (en) * | 2008-10-21 | 2010-04-29 | Nxp B.V. | Method of edge anti-aliasing a graphics geometry and a vectorgraphics processor for executing the same |
| CN102096066A (en) * | 2010-12-02 | 2011-06-15 | 南京莱斯信息技术股份有限公司 | Method for showing radar initial video in real time |
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| CN102540150A (en) * | 2011-12-26 | 2012-07-04 | 南京鹏力系统工程研究所 | Implementation method for multi-radar video multi-window on-screen display in VTS (vessel traffic service) system |
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Address after: 211106 Jiangning Development Zone, Jiangsu, Changqing street, No. 32, No. Co-patentee after: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Patentee after: Nanjing Peng Peng Technology Group Co.,Ltd. Address before: 211106 Jiangning Development Zone, Jiangsu, Changqing street, No. 32, No. Co-patentee before: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Patentee before: Nanjing Pride Systems Engineering Institute Address after: 211106 Jiangning Development Zone, Jiangsu, Changqing street, No. 32, No. Co-patentee after: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Patentee after: CSIC NANJING PRIDE TECHNOLOGY GROUP CO.,LTD. Address before: 211106 Jiangning Development Zone, Jiangsu, Changqing street, No. 32, No. Co-patentee before: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Patentee before: Nanjing Peng Peng Technology Group Co.,Ltd. |
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Address after: 211106 No. 32, Changqing street, Jiangning Development Zone, Nanjing, Jiangsu Patentee after: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Patentee after: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Address before: 211106 No. 32, Changqing street, Jiangning Development Zone, Nanjing, Jiangsu Patentee before: CSIC NANJING PRIDE TECHNOLOGY GROUP CO.,LTD. Patentee before: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA |
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Effective date of registration: 20230802 Address after: 211106 No. 32, Changqing street, Jiangning Development Zone, Nanjing, Jiangsu Patentee after: China Shipbuilding Pengli (Nanjing) Atmospheric and Ocean Information System Co.,Ltd. Patentee after: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Patentee after: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Address before: 211106 No. 32, Changqing street, Jiangning Development Zone, Nanjing, Jiangsu Patentee before: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Patentee before: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA |
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