CN104700437A - Signal level high-fidelity real time infrared complex scene generation method - Google Patents
Signal level high-fidelity real time infrared complex scene generation method Download PDFInfo
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Abstract
The invention provides a signal level high-fidelity real time infrared complex scene generation method. The method includes allowing a target image real-time rendering computer, an interference image real-time rendering computer and a background image real-time rendering computer to acquire original images from an infrared irradiation characteristic database according to acquired trajectory parameters and generate dynamic infrared images according to the acquired original images; allowing an atmospheric transmission effect real-time solution computer to compute the atmospheric effect of each pixel of a composite image in real time according to atmospheric transmissivity data and path radiation data in the vertical direction of an atmospheric spectral database and the dynamic infrared images; allowing an image real-time composite processing computer to generate the composite image after the atmospheric effect is applied according to the atmospheric effect of each pixel of the composite image. The fidelity of a generated complex infrared scene and the instantaneity of a semi-physical simulation system can be guaranteed, and the method can be widely applied to the semi-physical simulation systems.
Description
Technical field
The present invention relates to simulation technical field, particularly a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method supporting hardware-in-the-loop simulation.
Background technology
The raising of modern infrared imaging device performance, promotes Infrared scene generation technology development.Current infrared imaging guidance semi-matter simulating system is proposed higher requirement to the frame frequency of Dynamic IR Scene generation system and image scale, makes system to real-time, the requirement increase calculating scale.And the performance of existing hardware equipment cannot ensure the real-time of directly carrying out Dynamic IR imaging simulation.At present, domestic project normally utilize the infrared module of the softwares such as Vega Primer directly generate infrared image.Although the method realizes simple, also there is many limitation: first, cannot depart from Windows operating system, the proper frame time that also just cannot meet required by hardware-in-the-loop simulation is synchronous; Secondly, cannot signal-level simulation be realized, namely cannot calculate by physical theory the radiance value obtained on image representated by each pixel, also just be difficult to checking and the check of model.Real-time is key and the basic demand of Infrared Scene dynamic realtime generation technique, and it is related to simulation accuracy and the reliability of system.
Summary of the invention
The object of the present invention is to provide a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method, the generated fidelity of complicated Infrared Scene and the real-time of semi-matter simulating system can be ensured, can be widely used in semi-matter simulating system.
For solving the problem, the invention provides a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method, comprising:
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine obtain original image according to the trajectory parameter got separately respectively from ir signature database, and generate the dynamic infrared image of signal level of target, interference and background respectively according to the original image got separately;
Atmospheric propagating effects real-time resolving computing machine obtains atmospheric transmittance data vertical direction and journey radiation data from atmospheric optical spec database, and calculates the atmospheric effect of each pixel in composograph in real time according to the atmospheric transmittance data in the dynamic infrared image of the signal level of described target, interference and background and the vertical direction that gets and journey radiation data;
Image synthesizes process computer in real time and generates the composograph after applying atmospheric effect according to the atmospheric effect of pixel each in composograph.
Further, in the above-mentioned methods, the original image in described ir signature database comprises primary radiation luminance picture, original transparency image, raw range image and original true value image.
Further, in the above-mentioned methods, the dynamic infrared image of the signal level of described target comprises the radiance image of target, transparency image, range image and true value image;
The dynamic infrared image of the signal level of described interference comprises the radiance image of interference, transparency image, range image and true value image;
The dynamic infrared image of the signal level of described background comprises the radiance image of interference, transparency image, range image and true value image.
Further, in the above-mentioned methods, target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine obtain original image according to the trajectory parameter got separately respectively from ir signature database, and generate target respectively according to the original image got separately, the step of dynamic infrared image of signal level of interference and background comprises:
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine obtain original image according to the trajectory parameter got separately respectively from ir signature database;
The instantaneous field of view of target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine difference calculating detector and instantaneous field of view's area, computing formula is as follows:
，
，
，
Wherein,
,
represent the instantaneous field of view with detector pixel in vertical direction in horizontal direction respectively,
,
represent the visual field width with detector in vertical direction in horizontal direction respectively,
,
represent horizontal resolution and the vertical resolution of detector respectively,
represent instantaneous field of view's area of detector pixel;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine calculate the instantaneous field of view shared by single pixel of original radiance image in the original image got separately respectively, and computing formula is as follows:
，
，
，
,
represent the field angle shared by single pixel with primary radiation luminance picture in vertical direction in horizontal direction respectively,
represent the overlay area area of the single pixel of primary radiation luminance picture,
,
represent respectively primary radiation luminance picture in the horizontal direction with shared field angle in vertical direction,
,
represent line number and the columns of radiance image respectively, wherein,
，
，
represent the real space size representated by each pixel on radiance image,
represent the space length between primary radiation luminance picture and target;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine calculate the central projection of target respectively to the position on detector plane, and computing formula is as follows:
，
，
Wherein,
,
represent that the central projection of target is to the horizontal level on detector plane and upright position respectively,
,
represent position angle and the angle of pitch of sight line respectively;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine calculate the position at primary radiation luminance picture center respectively, and computing formula is as follows:
，
，
Wherein,
,
represent horizontal level and the upright position at the center of primary radiation luminance picture respectively;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively according to the coordinate position of the single pixel of primary radiation luminance picture
corresponding Space Angle is calculated with the field angle shared by this pixel
, computing formula is as follows:
，
；
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively by the pixel on primary radiation luminance picture
project on detector plane, resolve its coordinate position on detector plane
, then by the pixel on primary radiation luminance picture
project on detector plane, resolve its coordinate position on detector plane
, computing formula is as follows:
，
，
，
；
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively according on detector plane
with
relative position, by the pixel of primary radiation luminance picture
radiance project on detector plane to obtain the radiance value of each pixel of the radiance image of the radiance image of the target of the dynamic infrared image of the signal level of target, the radiance image of interference of dynamic infrared image of the signal level of interference and the background of the dynamic infrared image of the signal level of background respectively;
The transparency image of the target of correspondence, range image and true value image is obtained according to the radiance image of target, obtain the transparency image of the interference of correspondence, range image and true value image according to the radiance image of interference, obtain the transparency image of the background of correspondence, range image and true value image according to the radiance image of background.
Further, in the above-mentioned methods, target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively according on detector plane
with
relative position, by the pixel of primary radiation luminance picture
radiance project on detector plane to obtain respectively in the step of the radiance value of each pixel of the radiance image of the radiance image of the target of the dynamic infrared image of the signal level of target, the radiance image of interference of dynamic infrared image of the signal level of interference and the background of the dynamic infrared image of the signal level of background
If
,
, then:
，
，
If
,
, then:
，
，
，
，
；
If
,
, then:
，
，
，
，
，
；
If
,
, then:
，
，
，
，
，
，
，
，
，
，
，
，
Wherein,
represent the radiance value of certain pixel of radiance image of target, interference or background.
Further, in the above-mentioned methods, Atmospheric propagating effects real-time resolving computing machine also comprised before atmospheric optical spec database obtains the step of atmospheric transmittance data vertical direction and journey radiation data:
Image synthesizes the pixel of process computer to same position place in the dynamic infrared image of the signal level of target, interference and background in real time and draws near by distance and sort, and forms the pixel of the same position arranged from top layer to bottom.
Further, in the above-mentioned methods, Atmospheric propagating effects real-time resolving computing machine obtains atmospheric transmittance data vertical direction and journey radiation data from atmospheric optical spec database, and comprises according to the step that the atmospheric transmittance data in the dynamic infrared image of the signal level of described target, interference and background and the vertical direction that gets and journey radiation data calculate the atmospheric effect of each pixel in composograph in real time:
At every turn by from top layer to the order of bottom calculate target, interference and background signal level dynamic infrared image in same position to sort the synthesis radiation energy value of two adjacent pixels, computing formula is as follows:
Wherein,
represent remote pixel radiance value,
represent closely pixel radiance value,
,
represent the atmospheric transmittance between this two pixel and journey radiation respectively,
represent the transparency of closely pixel,
represent the synthesis radiation energy value of this two pixel, by what calculate
assignment is given
;
In composograph, the atmospheric effect of each pixel is the distance value of each pixel in composograph, transparence value and synthesis radiation energy value equal the distance value of bottom pixel and transparence value and synthesis radiation energy value respectively.
Further, in the above-mentioned methods, the atmospheric transmittance between two pixels
with journey radiation
obtained by following step:
According to atmospheric transmittance data and the journey radiation data of the vertical direction in described atmospheric optical spec database, calculate oblique Cheng Fang atmospheric transmittance value upwards and journey radiance value, computing formula is as follows:
，
，
Wherein,
,
represent the atmospheric transmittance in oblique Cheng Fangxiang and vertical direction respectively,
,
represent the atmospheric path radiation in oblique Cheng Fangxiang and vertical direction respectively,
represent the angle of vertical direction and oblique Cheng Fangxiang;
Right
,
carry out linear interpolation, obtain the atmospheric transmittance between two pixels
with journey radiation
.
Further, in the above-mentioned methods, image synthesizes the step that process computer generates the composograph after applying atmospheric effect according to the atmospheric effect of pixel each in composograph in real time and comprises:
Each pixel of synthetic images applies atmospheric effect impact, and computing formula is as follows:
Wherein,
,
represent synthesis radiation energy value and the transparence value at certain pixel place in composograph respectively,
,
,
represent the atmospheric transmittance from this pixel to detector, journey radiation and sky radiation respectively,
the radiance value of this pixel after expression applying atmospheric effect;
The composograph after applying atmospheric effect is generated according to the radiance value after the applying atmospheric effect of all pixels.
Further, in the above-mentioned methods, pixel is to the atmospheric transmittance at detector place
with journey radiation
obtained by following step:
According to atmospheric transmittance data and the journey radiation data of the vertical direction in described atmospheric optical spec database, calculate oblique Cheng Fang atmospheric transmittance value upwards and journey radiance value, computing formula is as follows:
，
，
Wherein,
,
represent the atmospheric transmittance in oblique Cheng Fangxiang and vertical direction respectively,
,
represent the atmospheric path radiation in oblique Cheng Fangxiang and vertical direction respectively,
represent the angle of vertical direction and oblique Cheng Fangxiang;
Right
,
carry out linear interpolation, obtain the atmospheric transmittance of pixel to detector place
with journey radiation
.
Compared with prior art, the present invention obtains original image according to the trajectory parameter got separately respectively by target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine from ir signature database, and generates the dynamic infrared image of signal level of target, interference and background respectively according to the original image got separately; Atmospheric propagating effects real-time resolving computing machine obtains atmospheric transmittance data vertical direction and journey radiation data from atmospheric optical spec database, and calculates the atmospheric effect of each pixel in composograph in real time according to the atmospheric transmittance data in the dynamic infrared image of the signal level of described target, interference and background and the vertical direction that gets and journey radiation data; Image synthesizes process computer in real time and generates the composograph after applying atmospheric effect according to the atmospheric effect of pixel each in composograph, both the fidelity of generated complicated Infrared Scene had been ensured, ensure again the real-time of semi-matter simulating system, can be widely used in semi-matter simulating system.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the system that the signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method of one embodiment of the invention adopts;
Fig. 2 is the process flow diagram of the signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method of one embodiment of the invention;
Fig. 3 be one embodiment of the invention radiance image slices vegetarian refreshments to detector front upslide shadow schematic diagram;
Fig. 4 is the rendering image coarseness distance-taxis process schematic diagram of one embodiment of the invention;
Fig. 5 is single pixel sequence process schematic diagram in the rendering image of one embodiment of the invention.
Embodiment
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
As shown in Figure 1, the invention provides the system that a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method adopts and comprise fiber reflection memory network 1, target image real-time rendering computing machine 2, background image real-time rendering computing machine 4, interfering picture real-time rendering computing machine 5, Atmospheric propagating effects real-time resolving computing machine 3, image synthesizes process computer 6 and image real-time rendering computing machine 7 to be expanded in real time, wherein, image real-time rendering computing machine 7 to be expanded removes target image for follow-up expansion process, other image outside background image and interfering picture.Each computing machine couples together by fiber reflection memory network 1.Target image real-time rendering computing machine 2, background image real-time rendering computing machine 4, interfering picture real-time rendering computing machine 5, image synthesizes process computer 6 in real time and image real-time rendering computing machine 7 to be expanded can use high-performance GPU (Graphic Processin Unit, GPU) the real-time generation of respective complicated Infrared Scene is completed, each rendering computers uses high-performance GPU to have walked abreast playing up of respective infrared image, and rendering image is transferred to image by fiber reflection memory network 1 synthesizes process computer 6 in real time, and complete the real-time synthesis of complex scene.In one embodiment of the invention, each computing machine can adopt VxWorks real time operating system.
The system that described signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method adopts can adopt following clock synchronous strategy:
(1) system uses the clock synchronous service that simulation computer provides, and is responsible for the synchro control realizing whole system;
(2), in simulation process, each computing node completes simulation and calculation according to local local clock;
(3) each computing node completes after every frame resolves based on local clock, carries out emulation and waits for, the synchro control word of querying server;
(4) clock synchronous service is according to the propelling of the simulation step length controlling calculation node of setting, sends Solid rocket engine word when arriving simulation step length to each computing node, realizes the propelling of emulation, the clock synchronous of completion system.
This clock synchronous strategy effectively can be eliminated node local clock and to drift about the offset error brought, and, efficiently transmission feature stable by reflective memory real-time network, effectively reduces the shake of time synchronized.
As shown in Figure 2, the invention provides a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method, comprise step S1 ~ step S3.
Step S1, target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine obtain original image according to the trajectory parameter got separately respectively from ir signature database, and generate the dynamic infrared image of signal level of target, interference and background respectively according to the original image got separately; Concrete, ir signature database calculates by physical theory model the signal level data obtained, and each rendering computers can generate the dynamic infrared image of target/interference/background in real time according to respective ir radiation data storehouse and image projection algorithm.After emulation starts, system resolves order and trajectory parameter by fiber reflection memory network 1 to respectively playing up calculating transmission according to the target/interference/background type within the scope of detector field of view and quantity.According to trajectory parameter and ir signature database, target image rendering computers 2 generates the dynamic infrared image of the signal level of real-time target radiation feature image and target, interfering picture rendering computers 5 generates the dynamic infrared image of the signal level that namely real-time interference emission characteristic image disturbs, and background image rendering computers 4 generates the dynamic infrared image of the signal level of real-time background radiation feature image and background.
Preferably, the original image in described ir signature database comprises primary radiation luminance picture, original transparency image, raw range image and original true value image.Concrete, according to Tactical Simulation demand, set up the theoretical model of typical target, background and interference, and pre-service completes the ir signature database of typical target, background and interference on this basis.The infrared primary radiation brightness data of signal level of target/interference/background, raw range data, original transmitance data and original truth table are preserved in ir radiation data storehouse; Each width ir signature image in ir radiation data storehouse comprises four kinds of image informations, is respectively radiance image, transparency image, range image and true value figure.Radiance image represents the radiance of target/interference/background.Transparency image is mainly used to consider blocking between target.True value image is encoded to the one of emitter/reflecting body, is mainly used to distinguish each entity in emulation.Range image then describes spatial positional information.This four width image is all store with the form of two-dimensional array.
Accordingly, the dynamic infrared image of the signal level of described target comprises the radiance image of target, transparency image, range image and true value image;
The dynamic infrared image of the signal level of described interference comprises the radiance image of interference, transparency image, range image and true value image;
The dynamic infrared image of the signal level of described background comprises the radiance image of interference, transparency image, range image and true value image.
Preferably, step S1 comprises:
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine obtain original image according to the trajectory parameter got separately respectively from ir signature database;
The instantaneous field of view of target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine difference calculating detector and instantaneous field of view's area, computing formula is as follows:
，
，
，
Wherein,
,
represent the instantaneous field of view with detector pixel in vertical direction in horizontal direction respectively,
,
represent the visual field width with detector in vertical direction in horizontal direction respectively,
,
represent horizontal resolution and the vertical resolution of detector respectively,
represent instantaneous field of view's area of detector pixel;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine calculate the instantaneous field of view shared by single pixel of original radiance image in the original image got separately respectively, and computing formula is as follows:
，
，
，
,
represent the field angle shared by single pixel with primary radiation luminance picture in vertical direction in horizontal direction respectively,
represent the overlay area area of the single pixel of primary radiation luminance picture,
,
represent respectively primary radiation luminance picture in the horizontal direction with shared field angle in vertical direction,
,
represent line number and the columns of radiance image respectively, wherein,
，
，
represent the real space size representated by each pixel on radiance image,
represent the space length between primary radiation luminance picture and target;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine calculate the central projection of target respectively to the position on detector plane, and computing formula is as follows:
，
，
Wherein,
,
represent that the central projection of target is to the horizontal level on detector plane and upright position respectively,
,
represent position angle and the angle of pitch of sight line respectively;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine calculate the position at primary radiation luminance picture center respectively, and computing formula is as follows:
，
，
Wherein,
,
represent horizontal level and the upright position at the center of primary radiation luminance picture respectively;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine carry out iterative processing to each pixel in primary radiation brightness, namely respectively according to the coordinate position of the single pixel of primary radiation luminance picture
corresponding Space Angle is calculated with the field angle shared by this pixel
, computing formula is as follows:
，
；
After the step of the instantaneous field of view's Equivalent Conversion by above-mentioned Space Angle and detector pixel, target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively by the pixel on primary radiation luminance picture
project on detector plane, resolve its coordinate position on detector plane
, then by the pixel on primary radiation luminance picture
project on detector plane, resolve its coordinate position on detector plane
, computing formula is as follows:
，
，
，
；
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively according on detector plane
with
relative position, by the pixel of primary radiation luminance picture
radiance project on detector plane to obtain the radiance value of each pixel of the radiance image of the radiance image of the target of the dynamic infrared image of the signal level of target, the radiance image of interference of dynamic infrared image of the signal level of interference and the background of the dynamic infrared image of the signal level of background respectively;
The transparency image of the target of correspondence, range image and true value image is obtained according to the radiance image of target, obtain the transparency image of the interference of correspondence, range image and true value image according to the radiance image of interference, obtain the transparency image of the background of correspondence, range image and true value image according to the radiance image of background.
Preferably, target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively according on detector plane
with
relative position, by the pixel of primary radiation luminance picture
radiance project on detector plane to obtain respectively in the step of the radiance value of each pixel of the radiance image of the radiance image of the target of the dynamic infrared image of the signal level of target, the radiance image of interference of dynamic infrared image of the signal level of interference and the background of the dynamic infrared image of the signal level of background
As shown in (a) in Fig. 3, if
,
, then:
，
，
As shown in (b) in Fig. 3, if
,
, then:
，
，
，
，
；
As shown in (c) in Fig. 3, if
,
, then:
，
，
，
，
，
；
As shown in (d) in Fig. 3, if
,
, then:
，
，
，
，
，
，
，
，
，
，
，
，
Wherein,
represent the radiance value of certain pixel of radiance image of target, interference or background.
Step S2, Atmospheric propagating effects real-time resolving computing machine obtains atmospheric transmittance data vertical direction and journey radiation data from atmospheric optical spec database, and calculates the atmospheric effect of each pixel in composograph in real time according to the atmospheric transmittance data in the dynamic infrared image of the signal level of described target, interference and background and the vertical direction that gets and journey radiation data; Concrete, Atmospheric propagating effects real-time resolving is here Atmospheric propagating effects/impact that spatial information, atmospheric optical spec database and linear interpolation according to each pixel calculates the infrared radiation of each pixel in real time.Atmospheric transfer model (MODTRAN) can be utilized to generate atmospheric optical spec database, be used for storing the atmospheric transmittance data in vertical direction and journey radiation data.
Preferably, also comprise before step S2:
Image synthesizes the pixel of process computer to same position place in the dynamic infrared image of the signal level of target, interference and background in real time and draws near by distance and sort, and forms the pixel of the same position arranged from top layer to bottom.Concrete, target/interference/background dynamic infrared image collection that each rendering computers transmits by synthesis process computer 6 is in real time divided into several subsets, and transfers to GPU to carry out parallel computation according to Images uniting algorithm, completes the real-time synthesis of complicated Infrared Scene.Concrete, the dynamic infrared image of the signal level of target, interference and background the form of two-dimensional array can be stored in each self-defining region of memory in fiber reflection memory network 1 respectively.Image synthesizes process computer 6 collects target that each image real-time rendering machine solution calculates, interference and the background dynamic infrared image of signal level from fiber reflection memory network 1 in real time, and synthesizes process in real time.
Detailed, image synthesizes process computer 6 reads the generation of each image real-time rendering node successively rendering image and dynamic infrared image from fiber reflection memory network 1 in real time, and these rendering images insertion list is managed.Every frame rendering image
all comprise a width range image
, a width radiance image
, a width transparency image
with a width truth table image T, namely
,
,
represent the number of image real-time rendering node; And every frame rendering image
then by
individual pixel composition, that is, every width range image
, radiance image
with transparency image
all by
individual pixel composition,
represent line number,
represent columns;
Then, by the number of a frame rendering image by task
be divided into the sub-rendering image of many groups
.Often organize sub-rendering image
or by a width range image
, a width radiance image
, a width transparency image
with a width truth table image
composition, namely
,
; Wherein, every width range image
, radiance image
, transparency image
with by
individual pixel composition.Such as, image synthesizes the task number of processing node in real time
be 512 × 4, rendering image
be made up of 512 × 512 pixels, then every width rendering image after segmentation
be made up of 128 pixels;
Then, image synthesizes process computer generation in real time
individual task, all tasks in parallel perform, and each task is responsible for the sub-rendering image heap of process one group, and often organize sub-rendering image heap and be actually the set be made up of the sub-rendering image of all image real-time rendering node generations, its concrete disposal route is as follows:
1. determine that the lowest distance value of every width range image in sub-rendering image heap is respectively
,
(
), wherein,
with
represent that the pixel of traversal is positioned at respectively
row and
row,
represent and be positioned at the
in range image (
,
) distance value of place's pixel.Then, sort to these lowest distance value, make it by descending sort, then the lowest distance value after sequence is followed successively by
, wherein
(
).Finally correspondingly adjust the order of the range image corresponding to each lowest distance value, radiance image, transparency image, rendering image, namely
,
(
), as shown in Figure 4.
2. appoint get a pixel P on sub-rendering image (
,
),
,
represent the position that this pixel is residing on sub-rendering image, then on each sub-rendering image, the distance value of this pixel position, radiance value, transparence value are respectively
,
.Wherein
,
,
can variously to determine by following respectively,
(
)
(
)
(
)
Then carry out bubble sort to these distance values of this pixel position, make it by descending sort, the distance value after sequence is followed successively by
, wherein
(
).Correspondingly adjust the order of each radiance value, transparence value, namely
,
.Finally travel through pixels all on sub-rendering image by with descending, to make the radiance value of each pixel position, distance value and transparence value be adjusted, as shown in Figure 5.
Preferably, step S2 comprises:
At every turn by from top layer to the order of bottom calculate target, interference and background signal level dynamic infrared image in same position to sort the synthesis radiation energy value of two adjacent pixels, computing formula is as follows:
Wherein,
represent remote pixel radiance value,
represent closely pixel radiance value,
,
represent the atmospheric transmittance between this two pixel and journey radiation respectively,
represent the transparency of closely pixel,
represent the synthesis radiation energy value of this two pixel, by what calculate
assignment is given
;
In composograph, the atmospheric effect of each pixel is the distance value of each pixel in composograph, transparence value and synthesis radiation energy value equal the distance value of bottom pixel and transparence value and synthesis radiation energy value respectively.Concrete, once determine the distance order of final pixel, the radiance value of each pixel on final composograph just can be calculated.Radiation energy synthesis for any position need process from the most top layer pixel of this position, and the radiation energy of each pixel of forward direction successively, until bottom pixel terminates.First calculate the synthesis radiation energy of this position top layer pixel and time top layer pixel (remote pixel and closely pixel), then will calculate
assignment is given
and apply it in the radiation energy synthesis of next step two pixel, namely synthesize with the radiation energy of secondary top layer pixel the next position place pixel (now, this pixel be closely pixel), next coming in order are analogized, until bottom pixel stops.The distance value of last synthesized image vegetarian refreshments and transparence value equal distance value and the transparence value of bottom pixel respectively.
Preferably, the atmospheric transmittance between two pixels
with journey radiation
obtained by following step:
According to atmospheric transmittance data and the journey radiation data of the vertical direction in described atmospheric optical spec database, calculate oblique Cheng Fang atmospheric transmittance value upwards and journey radiance value, computing formula is as follows:
，
，
Wherein,
,
represent the atmospheric transmittance in oblique Cheng Fangxiang and vertical direction respectively,
,
represent the atmospheric path radiation in oblique Cheng Fangxiang and vertical direction respectively,
represent the angle of vertical direction and oblique Cheng Fangxiang;
Right
,
carry out linear interpolation, obtain the atmospheric transmittance between two pixels
with journey radiation
.
Step S3, image synthesizes process computer in real time and generates the composograph after applying atmospheric effect according to the atmospheric effect of pixel each in composograph.Concrete, image synthesizes process computer in real time and synthesizes final complicated Infrared Scene in real time by the rendering image that fiber reflection memory network transmits.
Preferably, step S3 comprises:
Each pixel of synthetic images applies atmospheric effect impact, and computing formula is as follows:
Wherein,
,
represent synthesis radiation energy value and the transparence value at certain pixel place in composograph respectively,
,
,
represent the atmospheric transmittance from this pixel to detector, journey radiation and sky radiation respectively,
the radiance value of this pixel after expression applying atmospheric effect;
The composograph after applying atmospheric effect is generated according to the radiance value after the applying atmospheric effect of all pixels.Concrete, after all tasks complete the process of each group of sub-rendering image heap, image synthesizes process computer 6 in real time and all sons is played up composograph according to block position again and be assembled into a complete composograph, and these composograph data being written to the reflective memory storage area of specifying, whole processing procedure terminates.
Preferably, pixel is to the atmospheric transmittance at detector place
with journey radiation
obtained by following step:
According to atmospheric transmittance data and the journey radiation data of the vertical direction in described atmospheric optical spec database, calculate oblique Cheng Fang atmospheric transmittance value upwards and journey radiance value, computing formula is as follows:
，
，
Wherein,
,
represent the atmospheric transmittance in oblique Cheng Fangxiang and vertical direction respectively,
,
represent the atmospheric path radiation in oblique Cheng Fangxiang and vertical direction respectively,
represent the angle of vertical direction and oblique Cheng Fangxiang;
Right
,
carry out linear interpolation, obtain the atmospheric transmittance of pixel to detector place
with journey radiation
.
The present invention passes through
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For system disclosed in embodiment, owing to corresponding to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
Obviously, those skilled in the art can carry out various change and modification to invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method, is characterized in that, comprising:
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine obtain original image according to the trajectory parameter got separately respectively from ir signature database, and generate the dynamic infrared image of signal level of target, interference and background respectively according to the original image got separately;
Atmospheric propagating effects real-time resolving computing machine obtains atmospheric transmittance data vertical direction and journey radiation data from atmospheric optical spec database, and calculates the atmospheric effect of each pixel in composograph in real time according to the atmospheric transmittance data in the dynamic infrared image of the signal level of described target, interference and background and the vertical direction that gets and journey radiation data;
Image synthesizes process computer in real time and generates the composograph after applying atmospheric effect according to the atmospheric effect of pixel each in composograph.
2. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 1, it is characterized in that, the original image in described ir signature database comprises primary radiation luminance picture, original transparency image, raw range image and original true value image.
3. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 2, it is characterized in that, the dynamic infrared image of the signal level of described target comprises the radiance image of target, transparency image, range image and true value image;
The dynamic infrared image of the signal level of described interference comprises the radiance image of interference, transparency image, range image and true value image;
The dynamic infrared image of the signal level of described background comprises the radiance image of interference, transparency image, range image and true value image.
4. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 3, it is characterized in that, target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine obtain original image according to the trajectory parameter got separately respectively from ir signature database, and generate target respectively according to the original image got separately, the step of dynamic infrared image of signal level of interference and background comprises:
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine obtain original image according to the trajectory parameter got separately respectively from ir signature database;
The instantaneous field of view of target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine difference calculating detector and instantaneous field of view's area, computing formula is as follows:
，
，
，
Wherein,
,
represent the instantaneous field of view with detector pixel in vertical direction in horizontal direction respectively,
,
represent the visual field width with detector in vertical direction in horizontal direction respectively,
,
represent horizontal resolution and the vertical resolution of detector respectively,
represent instantaneous field of view's area of detector pixel;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine calculate the instantaneous field of view shared by single pixel of original radiance image in the original image got separately respectively, and computing formula is as follows:
，
，
，
,
represent the field angle shared by single pixel with primary radiation luminance picture in vertical direction in horizontal direction respectively,
represent the overlay area area of the single pixel of primary radiation luminance picture,
,
represent respectively primary radiation luminance picture in the horizontal direction with shared field angle in vertical direction,
,
represent line number and the columns of radiance image respectively, wherein,
，
，
represent the real space size representated by each pixel on radiance image,
represent the space length between primary radiation luminance picture and target;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine calculate the central projection of target respectively to the position on detector plane, and computing formula is as follows:
，
，
Wherein,
,
represent that the central projection of target is to the horizontal level on detector plane and upright position respectively,
,
represent position angle and the angle of pitch of sight line respectively;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine calculate the position at primary radiation luminance picture center respectively, and computing formula is as follows:
，
，
Wherein,
,
represent horizontal level and the upright position at the center of primary radiation luminance picture respectively;
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively according to the coordinate position of the single pixel of primary radiation luminance picture
corresponding Space Angle is calculated with the field angle shared by this pixel
, computing formula is as follows:
，
；
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively by the pixel on primary radiation luminance picture
project on detector plane, resolve its coordinate position on detector plane
, then by the pixel on primary radiation luminance picture
project on detector plane, resolve its coordinate position on detector plane
, computing formula is as follows:
，
，
，
；
Target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively according on detector plane
with
relative position, by the pixel of primary radiation luminance picture
radiance project on detector plane to obtain the radiance value of each pixel of the radiance image of the radiance image of the target of the dynamic infrared image of the signal level of target, the radiance image of interference of dynamic infrared image of the signal level of interference and the background of the dynamic infrared image of the signal level of background respectively;
The transparency image of the target of correspondence, range image and true value image is obtained according to the radiance image of target, obtain the transparency image of the interference of correspondence, range image and true value image according to the radiance image of interference, obtain the transparency image of the background of correspondence, range image and true value image according to the radiance image of background.
5. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 4, it is characterized in that, target image real-time rendering computing machine, interfering picture real-time rendering computing machine and background image real-time rendering computing machine are respectively according on detector plane
with
relative position, by the pixel of primary radiation luminance picture
radiance project on detector plane to obtain respectively in the step of the radiance value of each pixel of the radiance image of the radiance image of the target of the dynamic infrared image of the signal level of target, the radiance image of interference of dynamic infrared image of the signal level of interference and the background of the dynamic infrared image of the signal level of background
If
,
, then:
，
，
If
,
, then:
，
，
，
，
；
If
,
, then:
，
，
，
，
，
；
If
,
, then:
，
，
，
，
，
，
，
，
，
，
，
，
Wherein,
represent the radiance value of certain pixel of radiance image of target, interference or background.
6. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 5, it is characterized in that, Atmospheric propagating effects real-time resolving computing machine also comprised before atmospheric optical spec database obtains the step of atmospheric transmittance data vertical direction and journey radiation data:
Image synthesizes the pixel of process computer to same position place in the dynamic infrared image of the signal level of target, interference and background in real time and draws near by distance and sort, and forms the pixel of the same position arranged from top layer to bottom.
7. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 6, it is characterized in that, Atmospheric propagating effects real-time resolving computing machine obtains atmospheric transmittance data vertical direction and journey radiation data from atmospheric optical spec database, and comprises according to the step that the atmospheric transmittance data in the dynamic infrared image of the signal level of described target, interference and background and the vertical direction that gets and journey radiation data calculate the atmospheric effect of each pixel in composograph in real time:
At every turn by from top layer to the order of bottom calculate target, interference and background signal level dynamic infrared image in same position to sort the synthesis radiation energy value of two adjacent pixels, computing formula is as follows:
Wherein,
represent remote pixel radiance value,
represent closely pixel radiance value,
,
represent the atmospheric transmittance between this two pixel and journey radiation respectively,
represent the transparency of closely pixel,
represent the synthesis radiation energy value of this two pixel, by what calculate
assignment is given
;
In composograph, the atmospheric effect of each pixel is the distance value of each pixel in composograph, transparence value and synthesis radiation energy value equal the distance value of bottom pixel and transparence value and synthesis radiation energy value respectively.
8. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 7, is characterized in that, the atmospheric transmittance between two pixels
with journey radiation
obtained by following step:
According to atmospheric transmittance data and the journey radiation data of the vertical direction in described atmospheric optical spec database, calculate oblique Cheng Fang atmospheric transmittance value upwards and journey radiance value, computing formula is as follows:
，
，
Wherein,
,
represent the atmospheric transmittance in oblique Cheng Fangxiang and vertical direction respectively,
,
represent the atmospheric path radiation in oblique Cheng Fangxiang and vertical direction respectively,
represent the angle of vertical direction and oblique Cheng Fangxiang;
Right
,
carry out linear interpolation, obtain the atmospheric transmittance between two pixels
with journey radiation
.
9. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 8, it is characterized in that, image synthesizes process computer in real time and comprises according to the step of the composograph after the atmospheric effect generation applying atmospheric effect of pixel each in composograph:
Each pixel of synthetic images applies atmospheric effect impact, and computing formula is as follows:
Wherein,
,
represent synthesis radiation energy value and the transparence value at certain pixel place in composograph respectively,
,
,
represent the atmospheric transmittance from this pixel to detector, journey radiation and sky radiation respectively,
the radiance value of this pixel after expression applying atmospheric effect;
The composograph after applying atmospheric effect is generated according to the radiance value after the applying atmospheric effect of all pixels.
10. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 9, it is characterized in that, pixel is to the atmospheric transmittance at detector place
with journey radiation
obtained by following step:
According to atmospheric transmittance data and the journey radiation data of the vertical direction in described atmospheric optical spec database, calculate oblique Cheng Fang atmospheric transmittance value upwards and journey radiance value, computing formula is as follows:
，
，
Wherein,
,
represent the atmospheric transmittance in oblique Cheng Fangxiang and vertical direction respectively,
,
represent the atmospheric path radiation in oblique Cheng Fangxiang and vertical direction respectively,
represent the angle of vertical direction and oblique Cheng Fangxiang;
Right
,
carry out linear interpolation, obtain the atmospheric transmittance of pixel to detector place
with journey radiation
.
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