CN115828642B - Unity-based GPU (graphic processing unit) acceleration X-ray digital imaging simulation method - Google Patents
Unity-based GPU (graphic processing unit) acceleration X-ray digital imaging simulation method Download PDFInfo
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Abstract
The invention provides a Unity-based GPU acceleration X-ray digital imaging simulation method, which establishes an accurate mathematical model so that a simulation imaging result is more real; the GPU is used for acceleration, so that the operation efficiency of the simulation method is greatly improved, and the real-time interaction of the imaging process is possible; the simulation platform is built by using Unity, a platform interface is designed, the experience of a user is improved, and the interactivity of the platform is enhanced.
Description
Technical Field
The invention belongs to the field of X-ray digital imaging and computer graphics, and particularly relates to a Unity-based GPU (graphic processing Unit) -based accelerated X-ray digital imaging simulation method.
Background
The X-ray digital imaging technology is an advanced nondestructive testing technology, can detect the internal defects of the detected object under the condition of not damaging the detected object, has the advantages of high imaging precision and real-time display, and has wide application in the industrial detection fields of automobile manufacturing, aerospace and the like.
However, the X-ray digital imaging system has high manufacturing cost and high running cost, and the parameters related to the X-ray digital imaging system are numerous, different detection environments and detection objects correspond to different parameters, so that a great amount of experiments are needed to debug the parameters in order to obtain higher imaging quality. At the same time, X-rays also produce radiation that is harmful to the human body, the environment.
Today, advances in computer technology have enabled virtual simulation of X-ray digital imaging technology. Through simulation, the problems can be well solved. In addition, the simulation has the following advantages: the simulation can be used for verification of various ray detection algorithms and image reconstruction algorithms; the simulation can quickly obtain a large amount of data, and the simulation data is analyzed and compared with the real data, so that a related image processing algorithm can be improved, and the real image quality is further improved; the simulation has a good demonstration function, and can be used for education and teaching, operation training and the like in the field of X-ray digital imaging.
Three-dimensional simulation models in the existing X-ray digital imaging simulation technology are mainly two types: voxel model, triangular patch grid model. For ray simulation of a voxel model, a Monte Carlo method is mostly adopted, and the method can obtain a higher accurate value, but the calculation time is too long, and the calculation cost is very high; for ray simulation of a triangular patch grid model, a method for calculating the intersection length by using intersection points of rays and the model is mostly adopted, and the intersection calculation method also faces the problem of low calculation efficiency. With the rapid development of GPU parallel acceleration technology, the use of GPU programming can greatly improve the operating efficiency of algorithms. The main research objects of the existing X-ray digital imaging simulation technology are an X-ray detection algorithm and the physical characteristics of an X-ray detection system, and few researches are performed on the aspects of constructing a simulation platform of the whole system, visualizing the imaging process in a three-dimensional way, realizing real-time interaction when a user uses the simulation method and the like.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a Unity-based GPU acceleration X-ray digital imaging simulation method, which establishes an accurate mathematical model so that a simulation imaging result is more real; the GPU is used for acceleration, so that the operation efficiency of the simulation method is greatly improved, and the real-time interaction of the imaging process is possible; the simulation platform is built by using Unity, a platform interface is designed, the experience of a user is improved, and the interactivity of the platform is enhanced.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a Unity-based GPU (graphic processing unit) acceleration X-ray digital imaging simulation method comprises the following steps:
step one: abstracting a complex physical process of an X-ray digital imaging system into a mathematical model;
step two: constructing a simulation scene of an X-ray digital imaging system in Unity, wherein the simulation scene comprises a ray source, a detector and an object to be detected, and setting geometric parameters and physical parameters of the ray source, the detector and the object to be detected;
step three: translating, rotating and scaling the ray source, the detector and the object to be detected, and adjusting the spatial pose of the ray source, the detector and the object to be detected;
step four: extracting triangular patch grid data of a three-dimensional model of an object to be detected;
step five: calculating the distance of the X-rays penetrating through the object to be detected by using an intersection algorithm, and accelerating the intersection algorithm by using a GPU;
step six: calculating and outputting a final simulation image;
step seven: and carrying out three-dimensional visualization and user interaction through an interface of the virtual simulation platform.
Further, in the second step, the geometric parameters of the radiation source include the shape and size of the focal spot of the radiation source, the spatial coordinates of the center of the focal spot of the radiation source, and the direction of the central ray of the focal spot of the radiation source; the physical parameters of the radiation source include tube voltage and tube current; the geometric parameters of the detector comprise the space coordinates of the central point of the detector plane, the normal vector of the detector plane, the size of the detector elements, the number of the detector elements in the width direction of the detector and the number of the detector elements in the height direction of the detector; the physical parameters of the detector include exposure time. The geometric parameters of the object to be detected comprise space position coordinates and attitude coordinates; the physical parameters of the object to be detected comprise the material quality and the corresponding density of the object to be detected.
Further, in the fifth step, the method for calculating the distance of the X-ray penetrating the object to be detected includes: traversing an array of point sources of the X-ray source; for each point light source, connecting the point light source with a detector element lattice to form a ray bundle, and traversing all rays in the ray bundle; traversing the triangular patch grid of the object to be detected for each ray, calculating to obtain all intersection point coordinates, and judging whether the intersection point is an incident point or an emergent point; removing repeated intersection points and cutting off tangent points for all intersection points obtained by each ray, and sequencing the results according to the ray direction and pairing every two pairs of incidence points and emergence points; and calculating and accumulating the distance between each pair of incident points and emergent points, wherein the final result is the distance of the ray passing through the object to be detected.
In the fifth step, GPU acceleration of the intersection algorithm is performed by using a ComputeShader program.
Further, in the seventh step, the interface of the virtual simulation platform includes the following units: the system comprises a three-dimensional visualization unit, a parameter setting unit, a process control unit and an information output unit;
further, the three-dimensional visualization unit performs three-dimensional visualization;
the parameter setting unit enables a user to adjust the physical parameters and the geometric parameters in the second step;
the process control unit is used for controlling the start and stop of the intersection algorithm;
the information output unit comprises an image information output unit and a text information output unit, wherein the image information output unit displays images generated by the simulation method in real time, and the text information output unit outputs the triangular patch grid number of the three-dimensional model of the object to be detected and the running time of the intersection algorithm.
The beneficial effects are that:
compared with the existing X-ray digital imaging simulation method, the invention establishes an accurate mathematical model, so that the simulation imaging result is more real; the GPU is used for acceleration, so that the operation efficiency of the simulation method is greatly improved, and the real-time interaction of the imaging process is possible; the simulation platform is built by using Unity, a platform interface is designed, the experience of a user is improved, and the interactivity of the platform is enhanced.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments below are briefly introduced, and it is obvious that the drawings in the following description are only examples of the present application, and other drawings may be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a Unity-based GPU acceleration X-ray digital imaging simulation method provided by an embodiment of the invention;
FIG. 2 is a diagram of the basic composition and position of an X-ray digital imaging system;
FIG. 3 is a flowchart of a method for calculating a distance of an X-ray passing through an object according to an embodiment of the present invention;
FIG. 4 is a diagram of an interface unit of a Unity-based GPU acceleration X-ray digital imaging simulation platform according to an embodiment of the present invention;
FIG. 5 is a scene diagram of a Unity-based GPU-accelerated X-ray digital imaging simulation platform provided by an embodiment of the invention.
Detailed Description
The technical solutions of the present embodiment will be clearly and completely described below with reference to the drawings in the present embodiment, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
As shown in fig. 1, the embodiment discloses a GPU acceleration X-ray digital imaging simulation method based on Unity, which includes the following steps:
step S101, abstract the complex physical process of the X-ray digital imaging system into a mathematical model.
As shown in fig. 2, the X-ray digital imaging system comprises three basic components, a source 210, an object to be detected 220, and a detector 230.
The ideal X-ray source is a point source and produces only a single energy beam. When a narrow beam, unienergy X-ray penetrates a material of uniform thickness, the variation in X-ray intensity decay will follow beer's law, calculated as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
and->
X-ray intensity before and after incidence, respectively, < >>
For the thickness of the substance->
Is the line declineAnd (5) reducing the coefficient. Line attenuation coefficient->
Related to the physical state and chemical composition of the object 220 to be inspected.
The actual source 210 is not an ideal point source, and has a particular size and shape, expressed in terms of source focal spot size and focal spot size.
The actual X-rays have a multi-energy nature and the interaction of the multi-energy rays with the substance is manifested as a fusion of all photons at each energy level with the substance interaction. The linear attenuation coefficients of the same substance under rays with different energies are different, so that the multi-energy characteristics of the X-ray source need to be considered in the simulation process. And (3) making:
wherein, the liquid crystal display device comprises a liquid crystal display device,
is the line attenuation coefficient>
For substance density->
For the line attenuation coefficient->
Density of substance->
Is a ratio of (2). The multi-energy X-ray intensity decay is calculated as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
and->
X-ray intensity before and after incidence and exit respectively, < >>
For the distance of the X-ray through the object, +.>
Is the energy of the X-ray photon, +.>
Is the energy of the largest X-ray photon.
Photon energy generated by X-rays is continuously distributed in a certain area, and for convenience of mathematical modeling, a discretized energy list is used for defining X-ray energy spectrum distribution, and an energy spectrum database with tube voltage and tube current as indexes is established.
The detector 230 converts the invisible X-rays into a digitized image signal that can be processed for computer reading using photoelectric conversion and analog-to-digital conversion.
Step S102, constructing a simulation scene of the X-ray digital imaging system in Unity, mainly comprising three parts of a ray source 210, a detector 230 and an object 220 to be detected, and setting parameters of the parts.
The simulation scene of the X-ray digital imaging system is constructed according to the mathematical model established in the step S101.
In Unity, each part is represented by a GameObject class. Both the radiation source 210 and the detector 230 are represented by discretization during simulation, the radiation source 210 is discretized into a point light source array, and the detector 230 is discretized into a probe element lattice.
Parameters of all parts are set, and the parameters specifically comprise the following parameters:
the geometrical parameters of the radiation source 210 include the shape and size of the radiation source focus, the spatial coordinates of the center of the radiation source focus, and the direction of the central rays of the radiation source focus; physical parameters of the radiation source 210 include tube voltage, tube current.
The geometric parameters of the detector 230 include the spatial coordinates of the center point of the detector plane, the normal vector of the detector plane, the size of the detector's detector elements, the number of detector elements in the width direction of the detector, and the number of detector elements in the height direction of the detector; the physical parameters of the detector include exposure time.
The geometric parameters of the object to be detected 220 include spatial position coordinates and attitude coordinates; the physical parameters of the object to be detected comprise the material quality and the corresponding density of the object to be detected.
In step S103, the radiation source 210, the detector 230, and the object 220 to be detected are translated, rotated, and scaled, and their spatial pose is adjusted.
As shown in fig. 2, in general, the direction of the rays at the center of the focal spot of the source is in line with the normal vector at the center point of the detector plane. The above rules are followed when spatial pose adjustment is performed for the source and detector. The object to be detected is located between the radiation source and the detector.
Step S104, for the three-dimensional model of the object to be detected 220, triangular patch mesh data thereof is extracted.
In Unity, the object to be detected 220 is a GameObject class whose shape is represented by a triangular patch grid.
Step S105, accelerating through the GPU, and calculating the distance of the X-rays penetrating through the object by using an intersection algorithm.
According to the mathematical model in step S101, the calculation of the X-ray intensity attenuation needs to obtain the distance of the X-ray passing through the object 220 to be detected, and the basic idea of the algorithm adopted is to calculate the intersection point of the X-ray beam and the object 220 to be detected according to the relative spatial positions of the radiation source 210, the detector 230 and the object 220 to be detected adjusted in step S103, and calculate the intersection length according to the distance between the intersection points, namely, the distance of the X-ray passing through the object 220 to be detected.
As shown in fig. 3, a specific method for calculating the distance of the X-ray passing through the object to be detected is as follows:
step S301, traversing a point light source array of the X-ray source.
Step S302, for each point light source in step S301, connecting the point light source with a detector element lattice to form a ray bundle, and traversing all rays in the ray bundle.
Step S303, traversing the triangle patch grid extracted in step S103 for each ray in step S302, calculating all triangle patches intersected with the ray by using an M-pillar ray triangle intersection algorithm in computer graphics to obtain all intersection point coordinates, and judging whether the intersection point is an incident point or an emergent point.
Step S304, for all the intersection points obtained in step S303, removing repeated intersection points, discarding tangent points, and sorting the results according to the ray directions and pairing every two pairs according to the 'incident point-emergent point'.
In step S305, the distances between each pair of the incident point and the exit point in step S304 are calculated and accumulated, and the final result is the distance that the ray passes through the object to be detected.
The algorithm has three layers of circulation traversal, and a traditional calculation method is used for spending a great deal of time and cost, so that the actual application requirement is difficult to meet, and a GPU acceleration method is adopted.
The GPU acceleration method is essentially parallel operation, and for the intersection algorithm, each ray independently acts without mutual influence, so that the parallel thought can be adopted, and the distance of each ray passing through the object to be detected can be calculated.
In Unity, computeCHader, which is a program running on the GPU independent of the rendering pipeline, is used for GPU acceleration. Programming through a C# script in Unity, transmitting data required in the intersection algorithm from the C# script to a texture memory in the GPU, running the intersection algorithm by using ComputeShader, and transmitting the result back to the C# script.
And the GPU acceleration method is utilized to accelerate the intersection algorithm, and compared with the traditional intersection algorithm running on the CPU, the acceleration ratio can reach hundreds of times or even thousands of times under the same parameter and same environment.
Step S106, calculating, generating and outputting a final simulation image.
From the mathematical model in step S101, the final simulation image represented by the two-dimensional matrix storing gray information can be computationally generated and output from the parameters set in step S102 and the distance of the X-ray penetrating object calculated in step S105.
Step S107, the three-dimensional visualization and user interaction interface of the virtual simulation platform.
As shown in fig. 4, the interface of the simulation platform is composed of the following units:
three-dimensional visualization unit 401: three-dimensional visualization can be performed for the entire simulation platform.
Adding cameras into the Unity simulation scene constructed in the step S102, setting two cameras, wherein one camera is a fixed camera, and displaying the whole view of the whole simulation platform at a fixed position; and one is a mobile camera, the translation, rotation and scaling of the visual angle of the mobile camera can be realized by adding C# script codes to the mobile camera and using mouse operation, and a user can freely roam the whole simulation scene at the first visual angle.
Parameter setting unit 402: through the parameter setting unit, a user can conveniently adjust various parameters involved in the simulation method. The parameters that can be set include the physical parameters and geometric parameters involved in step S102.
The process control unit 403: can be used for controlling the start and stop of the simulation algorithm.
An information output unit 404: the information output unit comprises an image information output unit and a text information output unit, wherein the image information output unit can display images generated by the simulation method in real time, and the text information output unit can output text information such as the number of triangular surface patch grids of the three-dimensional model of the object to be detected, the running time of the simulation algorithm and the like.
The three-dimensional visualization and user interaction interface of the simulation platform improve the experience of the user and the interactivity and the friendliness.
As shown in fig. 5, the simulation platform scenario provided in this embodiment includes all the units involved in step S107.
In summary, compared with the existing X-ray digital imaging simulation method, the embodiment of the invention establishes an accurate mathematical model, so that the simulation imaging result is more real; the GPU is used for acceleration, so that the operation efficiency of the simulation method is greatly improved, and the real-time interaction of the imaging process is possible; the simulation platform is built by using Unity, a platform interface is designed, the experience of a user is improved, and the interactivity of the platform is enhanced.
While the invention has been described with reference to the preferred embodiments, the above examples are not intended to limit the scope of the invention, and any modifications, equivalents, improvements and changes within the spirit and principles of the invention are intended to be included within the scope of the claims.
Claims (4)
1. The Unity-based GPU acceleration X-ray digital imaging simulation method is characterized by comprising the following steps of:
step one: abstracting a complex physical process of an X-ray digital imaging system into a mathematical model;
step two: constructing a simulation scene of an X-ray digital imaging system in Unity, wherein the simulation scene comprises a ray source, a detector and an object to be detected, and setting geometric parameters and physical parameters of the ray source, the detector and the object to be detected;
step three: translating, rotating and scaling the ray source, the detector and the object to be detected, and adjusting the spatial pose of the ray source, the detector and the object to be detected;
step four: extracting triangular patch grid data of a three-dimensional model of an object to be detected;
step five: calculating the distance of the X-ray penetrating through the object to be detected by using an intersection algorithm, and accelerating the intersection algorithm by using a GPU, wherein the method comprises the following steps: the method for calculating the distance of X-rays penetrating through an object to be detected comprises the following steps: traversing an array of point sources of the X-ray source; for each point light source, connecting the point light source with a detector element lattice to form a ray bundle, and traversing all rays in the ray bundle; traversing the triangular patch grid of the object to be detected for each ray, calculating to obtain all intersection point coordinates, and judging whether the intersection point is an incident point or an emergent point; removing repeated intersection points and cutting off tangent points for all intersection points obtained by each ray, and sequencing the results according to the ray direction and pairing every two pairs of incidence points and emergence points; calculating and accumulating the distance between each pair of incident points and emergent points, wherein the final result is the distance of the ray passing through the object to be detected; GPU acceleration of the intersection algorithm is carried out by using a ComputeShader program;
step six: calculating and outputting a final simulation image;
step seven: and carrying out three-dimensional visualization and user interaction through an interface of the virtual simulation platform.
2. The method for simulating digital imaging of a GPU-accelerated X-ray based on Unity according to claim 1, wherein in the second step, the geometric parameters of the source include shape and size of the source focal spot, spatial coordinates of the center of the source focal spot, and direction of the center ray of the source focal spot; the physical parameters of the radiation source include tube voltage and tube current; the geometric parameters of the detector comprise the space coordinates of the central point of the detector plane, the normal vector of the detector plane, the size of the detector elements, the number of the detector elements in the width direction of the detector and the number of the detector elements in the height direction of the detector; the physical parameters of the detector include exposure time; the geometric parameters of the object to be detected comprise space position coordinates and attitude coordinates; the physical parameters of the object to be detected comprise the material quality and the corresponding density of the object to be detected.
3. The method for simulating digital imaging of a GPU-accelerated X-ray based on Unity according to claim 1, wherein in step seven, the interface of the virtual simulation platform comprises the following elements: the system comprises a three-dimensional visualization unit, a parameter setting unit, a process control unit and an information output unit.
4. A method for simulating digital imaging of a GPU-accelerated X-rays based on Unity according to claim 3, wherein:
the three-dimensional visualization unit performs three-dimensional visualization;
the parameter setting unit enables a user to adjust the physical parameters and the geometric parameters in the second step;
the process control unit is used for controlling the start and stop of the intersection algorithm;
the information output unit comprises an image information output unit and a text information output unit, wherein the image information output unit displays images generated by the simulation method in real time, and the text information output unit outputs the triangular patch grid number of the three-dimensional model of the object to be detected and the running time of the intersection algorithm.
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