US3725563A - Method of perspective transformation in scanned raster visual display - Google Patents

Method of perspective transformation in scanned raster visual display Download PDF

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US3725563A
US3725563A US00211372A US3725563DA US3725563A US 3725563 A US3725563 A US 3725563A US 00211372 A US00211372 A US 00211372A US 3725563D A US3725563D A US 3725563DA US 3725563 A US3725563 A US 3725563A
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image
spot
display
determining
axes
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B Woycechowsky
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Singer Co
CAE Link Corp
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Singer Co
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Assigned to LINK FLIGHT SIMULATION CORPORATION, KIRKWOOD INDUSTRIAL PARK, BINGHAMTON, NY 13902-1237, A DE CORP. reassignment LINK FLIGHT SIMULATION CORPORATION, KIRKWOOD INDUSTRIAL PARK, BINGHAMTON, NY 13902-1237, A DE CORP. ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: SINGER COMPANY, THE, A NJ CORP.
Assigned to CAE-LINK CORPORATION, A CORP. OF DE. reassignment CAE-LINK CORPORATION, A CORP. OF DE. MERGER (SEE DOCUMENT FOR DETAILS). DECEMBER 1, 1988, DELAWARE Assignors: CAE-LIN CORPORATION, A CORP. OF DE (CHANGED TO), LINK FACTICAL MILITARY SIMULATION CORPORATION, A CORP. OF DE, LINK FLIGHT SIMULATION CORPORATION, A DE CORP., LINK TRAINING SERVICES CORPORATION, A CORP. OF DE (MERGED INTO)
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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/30—Simulation of view from aircraft
    • G09B9/301—Simulation of view from aircraft by computer-processed or -generated image
    • G09B9/302—Simulation of view from aircraft by computer-processed or -generated image the image being transformed by computer processing, e.g. updating the image to correspond to the changing point of view

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  • a general method of providing perspective transfor- I mations in a visual display system having an image ⁇ 63] commumomn'pan of generated by a scanned raster device such as a CRT or 1971 abaldoned television projector is shown.
  • the television display is a window out of which an observer views a simulated Cl 5 35/12 35, picture of terrain.
  • the line of sight from the observer passing through the instantaneous spot position on the [51] Int. Cl ..G09b 9/08, H04n 3/30, G015 7/20 window is used to find a ground intersection point, the
  • PATENTEDAPR3 197a SHEET U20F 1o PATENTEUAPRB 197a SHEET 03 HF 10 ATTORNEY PATENTEnAPRs I975 3 725,553
  • Visual systems for use in aircraft simulators and other types of trainers have gained widespread use due to the increased cost of training in an actual aircraft or other vehicle or device.
  • four basic types of visual systems have been used, one of which is a camera model system in which a probe containing a TV camera is moved over a scale terrain model in accordance with computed attitude and position of the simulator. The resulting image is displayed to the trainee with a TV projector or CRT.
  • a second type system is the film-based system in which a predetermined path is flown by an aircraft and a motion picture recorded. The motion picture is then shown to the trainee as he flies the same path. Deviations may be simulated by optical distortion as is shown in patents granted to H. S. I-Iemstreet such as U.S. Pat. No. 3,233,508 granted on Feb. 8, 1966 and U.S. Pat. No. 3,261,912 granted on July 19, 1966. Also disclosed therein is a variation of the system of the present invention in which the film image is viewed by a TV camera and the resulting image projected via TV projector or CRT. Distortion in that case is accomplished by raster shaping.
  • a third type of system is a scan-transparency system wherein an image is generated by scanning a transparency containing othophotographic information. The information generated is displayed via TV as in the previous example.
  • Such a system is shown in U.S. Pat. No. 3,439,105, granted to W. C. Ebeling et al. on Apr. 15, 1969.
  • a fourth type system is a digital image generation system.
  • image information is stored in a computer which selects the desired information for display in a TV type display.
  • a variation of the film based system viewed by a TV camera is a film based system scanned by a flying spot scanner to generate an image.
  • the film based system and the scan transparency system have in common an important aspect.
  • the recorded information on them is from a specific viewpoint.
  • To produce a scene as it would appear if viewed from another viewpoint requires raster shaping.
  • the camera model and digital systems do not have this restriction there may be cases where it is desired to cause a change in viewpoint by raster shaping rather than moving the camera probe or reconstructing the digital image. For example, in the former case problems arise as the probe gets close to the model. In the later, construction of images uses considerable computer time.
  • the present invention provides a system which may be used for raster shaping in any visual system where it is desired to transform an image containing information as viewed from one viewpoint to an image which appears as if viewed from another viewpoint.
  • the invention accordingly comprises the several steps and the relation of one or more of such steps with respect to each of the others, and the apparatus embodying features of construction, combination(s) of elements and arrangement of parts which are adapted to effect such steps, all as exemplified in the following detailed disclosure, and the scope of the invention will be indicated in the claims.
  • FIG. 1 is a block diagram of a preferred embodiment of the invention in combination with an aircraft simulator
  • FIG. 2 is a flow diagram of a preferred set of equations for use with the invention
  • FIG. 3 is a perspective view of the relationship between an observers view through the display and the view on the image source;
  • FIG. 4 is a schematic view of a first type of scanned raster device
  • FIG. 5 is a schematic view of a second type of scanned raster device
  • FIG. 6 is a block diagram of a preferred embodiment of a raster computer for implementing the equations of FIG. 2;
  • FIG. 7 is a block diagram of a modification to the embodiment of FIG. 6 for compensating for image roll in those systems where it is desirable to roll the image before raster shaping is introduced;
  • FIG. 8 is a block diagram showing a second form of the equations of FIG. 2;
  • FIG. 9 is a block diagram of the implementation of the equations of FIG. 8;
  • FIG. 10 is a block diagram of the equations of FIG. 8 in rate rather than position form.
  • FIG. 11 is a block diagram of a third form which the equations of FIG. 2 may take.
  • FIG. 1 is a basic representation of the systems with which the present invention may be used.
  • Block 11 is an image source. It may be an image recorded on a frame of film, the image picked up by a probe in a camera model system, a digitally generated image, an orthophoto or other image.
  • Block 13 is a scanned raster device. It may be a TV camera viewing image source 1 l or a flying spot scanner device scanning image source 1 1 to produce a video signal.
  • Display 15 may be one or more TV projectors, CRTs, laser projectors or other similar devices capable of projecting a video signal.
  • Raster computer 17 is the system of the present invention which shapes the raster of device 13 to obtain the desired perspective.
  • Sync generator 19 provides sync commands to synchronize the scans of raster device 13 and display 15.
  • the image presented by block 11 will represent a scene as it would appear from a predetermined viewpoint. If it is film it will be as viewed from the location of the taking camera; if a probe image it will depend on the probe position and altitude. Likewise, if an othophoto it will appear as a map view from a certain altitude and if digitally generated will represent a view based on computer inputs. In each case, however, the viewpoint of the image is known.
  • FIG. I Examining the balance of FIG. I will further show the problem to be solved by the present invention.
  • Display is in a position to be viewed by a trainee in simulator cockpit 21.
  • This cockpit will contain controls and instruments duplicating those of the actual aircraft being simulated.
  • Control movements will be supplied as inputs to computer 23 which will use these inputs in equations of motion to compute the aircraft state vector (position, attitude, velocity). From this computed data, outputs from computer 23 drive the instruments in cockpit 21 such as altimeter, airspeed, etc.
  • the state vector information of the aircraft is available in computer 23 and may be used along with the information concerning the viewpoint from which the image was made by raster computer 17 in determining proper raster shape.
  • This viewpoint information is contained in block 11 and is provided to raster computer 17 and/or simulator computer 23.
  • the information may, for example, be recorded on the film and picked up by a device in block 11 in a film based system.
  • a device in block 11 in a film based system.
  • the position and attitude of the probe will be available.
  • the scale of the orthophoto will be known; and in a computer generated image, the inputs used in constructing the image will be known.
  • computers 17 and 23 have available the state vector of the simulated aircraft and the state vector of the image present in image source 11. This information will of course be constantly updated as the simulator flies and as the image changes due to film advancement, probe movement, etc.
  • a third type of information is used in the present invention. This is the instantaneous position of the scanning spot on the display as referenced to the eyepoint of the trainee. This information is known indirectly through sync generator 19 which controls the scanning of the spot on display 15. For an explanation of how the display raster may be made quite accurate see US. application Ser. No. 130217 filed by R. F. H. McCoy et al. on Apr. 1, 1971 and assigned to the same assignee as the present invention.
  • FIG. 2 shows a flow diagram of the computations. From the state vector of the simulated aircraft, the rotation of the aircraft with respect to a horizontal frame of reference is known. These rotations are 0,, the simulated pitch angle; (1),, the simulated roll angle; and 111,, the simulated heading angle. From these angles, computer 23 of FIG. 1 may compute the sines and cosines of the angles; and from the sines and cosines, the direction cosines of the simulated aircraft body to ground reference axes. This computation is shown in block 25 of FIG. 2 and results in a matrix.
  • Computer 23 may also compute the direction cosines of the window axes referenced to the body axes, m from ill the window heading with respect to the body axes; 0 the window pitch with respect to the body axes; and da the window roll with respect to the body axes.
  • the computation required to evaluate the w corresponds to the a computation shown in block 25. If the window axes are fixed with respect to the body axes, the w are constant and therefore need not be continuously computed. The evaluation of the w is indicated in block 27.
  • the simulated eyepoint is located some distance away from the simulated center of gravity. In situations where the eyepoint displacement is significant (e.g., takeoff and landing situations for transport aircraft), the eyepoint displacement with respect to the center of gravity must be taken into account.
  • the components of eyepoint displacement with respect to the center of gravity are referenced to the horizontal frame of reference by multiplying the body axes coordinates of the eyepoint (x yggp, 2 by the 04,, matrix.
  • the evaluation of the horizontal frame components of the eyepoint with respect to the center of gravity (x y 2 is shown in block 29.
  • Eyepoint altitude with respect to the horizontal plane of reference, hay) is also computed in block 29 by subtracting z from the altitude of the simulated aircraft, h,
  • Horizontal frame of reference components of eyepoint position relative to image position are found by respectively adding x and y to the horizontal frame components of the simulated aircrafts center of gravity (x and y,,) and then subtracting the image position coordinates (x and y This computation is shown in block 31 of FIG. 2.
  • the remainder of the computations must be done in raster computer 17 of FIG. 1, which is an analog computer, due to the fact that computations are being done for an instantaneous spot position.
  • the angles 111 and (BWI representing the coordinates of the instantaneous spot position as viewed from the pilots eyepoint, are generated in a manner to be described later.
  • the window axes coordinates of the instantaneous spot position are 1, tan 111 tan (9w),..
  • point 37 is a fixed point on the ground which is the reference for x y and x,, y,.
  • the X and Y position of the simulated eyepoint 39 with respect to the image axes 41, Ax and Ay, are also shown.
  • Line 43 is the line passing through the instantaneous spot 45 on display face 47. Since the direction lines of line 43 and the eyepoint altitude have been obtained, it is now possible to find the horizontal components (h (1 /11 and It d /d of line 43. This computation is done in block 51 ofFIG. 2 where they are added to the horizontal components of the eyepoint with respect to the image position. The results of the computation done in block 51 of FIG.
  • Block 57 transforms x d yup d and 2, d into a frame having two of its axes in the image plane 55 using horizontal frame to image frame direction cosines.
  • This direction cosines are defined in terms of the trigonometric functions of lily, 6 and just as the a are made up of terms containing trigonometric functions of 111,, 0,, and (1),.
  • the final step is shown in block 59.
  • flying spot scanner 61 will have an electron gun 63 and horizontal and vertical deflection plates 65 (only the vertical plates are shown). Electrons emitted by gun 63 will he I deflected by plates 65 and impinge on the face of the flying spot scanner which is coated with phosphor. The light emitted by the phospher surface will pass through film 67 and be collected by lens 69 to be imaged on photomultiplier tube 71 which provides a video signal to display of FIG. 1.
  • the relationship between the voltage on plates 65 and the resulting spot position is well known. Thus, it is only necessary to scale the values of y, and z, obtained in FIG. 2 so that the proper voltages are input to the plates.
  • y and z are the positions on the camera tube of the instantaneous ground intersection point. Thus, it is only necessary to drive the scan on the camera tube to that point which corresponds to the instantaneous line of sign associated with a display CRTs electron beam.
  • the image 73 which could be a projected film image or a computer generated image, or other image on a screen (or CRT), is imaged on camera tube 75 through lens 77. Since the position on image 73 is known, but not the position on tube 75, it is necessary to multiply y, and z; by the ratio of image to object distance in the system to obtain the values used in scanning tube 75.
  • FIG. 6 shows a typical embodiment of raster computer 17 of FIG. 1.
  • Sweep generator 81 will have an input on line 83 from the sync generator 19 of FIG. 1 to synchronize it with the display 15. If the display is planar, as assumed for block 33 of FIG. 2, the sweeps generated represent tan (0 and tan ⁇ p This may be done by generating a normal TV type linear sweep since, with the distance to the center of the display fixed, the tangenets of (0w) and 41 will correspond directly to the X and Y positions of the spot on the display.
  • the outputs of sweep generator 81 are inputs to block 85, a transformation apparatus.
  • This apparatus comprises three servos each driving sine-cosine potentiometers.
  • the three servos correspond to 41 0 4), and are driven by inputs corresponding to these values from computer 23.
  • the computation done in this block is equivalent to that of blocks 27 and 33 of FIG. 2 combined.
  • the servo driven potentiometers are connected together to perform the required multiplications. A system which describes how such multiplications are performed is shown in U.S. Pat. No. 3,003,252 granted to E. G. Schwarm on Oct. 10,1961.
  • the outputs from block 85 are inputs to a similar transformation block 87 which has servo inputs
  • This block will do the computations of the combined blocks 25 and 35 of FIG. 2.
  • Two of the outputs of block 87, d and d are multiplied by h obtained from computer 23 in multipliers 89 and 91 respectively.
  • Values of Ax, Ay and h,- also obtained from computer 23 are respectively multiplied by the third output of block 87 (d;,) in multipliers 93, 95 and 97. (All multipliers may be Analog Devices Model 422] or their equivalent).
  • the constantf of block 59 of FIG. 2 may be included in this computation thus causing dividers 105 and 107 to have respective outputs representing the y, and z, of block 59 of FIG. 2. These outputs are then used as inputs to scanned raster device 13 of FIG. 1.
  • the dividers used may be constructed using the instructions given on the data sheet for Analog Devices Multiplier Model 422.] published by Analog Devices of Norwood, Mass.
  • the matrix multiplications are done using servo multipliers.
  • the an, matrix of block 27 of FIG. 2 and the a matrix of block 25 may be multiplied in the simulator computer, in which case only one set of angles and thus only one block 85 or 87 would be required in the embodiment of FIG. 6.
  • FIG. 7 Because of screen shape it is often desirable to roll the image optically. However, since the equations implicitly take roll into account, if optical roll is used, derotation in the raster computer is required.
  • the circuits of FIG. 7 perform the function of a resolver transforming the coordinates y, and Z in one axis system to the coordinates y and 1 in an axis system rotated an angle from the original system.
  • Values of sin and cos (1), are obtained from computer 23 and the values y, sin 4) y, cos 1, sin di and z, cos (11,,, obtained in multipliers 111, 113, 115, and 117.
  • summing amplifier 119 y is found by adding z
  • sin (11,, and y, cos 42 and in amplifier 121 Z is found by adding z, cos and y, sin 42, (Signs are inverted through amplifiers 119 and 121.) In this manner optical roll, for example, is compensated for in the camera raster computer output.
  • FIG. 6 An examination of FIG. 6 shows that a relatively large number of multiplications and transformations must be done in the raster computer. Each function performed contributes to the noise in the system with the analog multipliers causing the greatest problems because of internal noise generation. Thus, it is desirable to have as few functions performed in the raster computer as possible.
  • blocks 33 and 35 may be combined by doing further computation in the digital computer. It is possible to go even further and combine not only blocks 33 and 35 but also 51 and 57 to end up with one matrix multiplication. Such an arrangement is shown in FIG. 8.
  • Sweep generator 81 provides the lb and 0 to block 123 where g g and g are computed.
  • the equations of block 33 of FIG. 2 are for a flat display and tangent functions used.
  • the equations for a spherical display are used. If block 123 were computing for a flat display the equations would be g I, g tan 111 and g tan (0 These quantities go to block 125 where A B and C are computed from the g s and mjs. These two computations replace all those shown in blocks 33, 35,51, and 57 of FIG. 2.
  • the rr s are found in the digital computer 23 using the quantities in the above mentioned blocks of FIG. 2.
  • the final block 127 corresponds to block 59 of FIG. 2.
  • the precise way of combining all the various transformations is not shown as it will be well within the capability of those skilled in the art to derive the equations for the 'lTu S.
  • Sweep generator 81 is the type previously described in connection with FIG. 6.
  • the gfs are obtained using the types of multipliers previously mentioned in describing FIG. 6 to obtain g, and g and an operational amplifier to invert sin 0 for g;,.
  • Blocks 131 are multiplying digital-to-analog converters such as Model 2254 available from Data Device Corporation of Hicksville, NY.
  • the quantities developed by the computer 23 were required to be converted to analog quantities before being used. This resulted in any noise on the analog lines being further amplified by the analog multipliers.
  • By using the digital signals directly as multiplying D/A inputs significant noise reduction is possible.
  • the multiplied 'rr g, quantities are summed in amplifiers 133 to obtain A B and C
  • the final outputs y and z are obtained by dividing B and C by A in block 135. (Basically the same computation as was done in blocks and 107 of FIG. 6.)
  • the bloclc 137, where the M are computed, 139, where the A B and C are computed, and 141, where the and z ⁇ are computed are the equivalents of blocks 123, and 127 of FIG. 8.
  • a block 142 wherein gfs are computed for use in block 137 and 139 is required.
  • digital computer 23 computes both the rr s and rr 's.
  • the final step, of integration, which provides the filtering to reduce noise is shown in block 143.
  • Initialization might also be done only each field or frame if the integrators used are accurate enough. A line by line initialization, however, assures that each line will start at the same azimuth independent of integrator accuracy. It should also be noted that the initial values need not be computed in real-time and may thus be precomputed and stored. A particular imple mentation of these equations is not shown as the techniques of FIG. 6 and 8, along with other well known analog methods, may be used in implementation as will be recognized by those skilled in the art.
  • FIG. 11 Another set of equations which provides a raster computer which is simpler and more noise-free than that of FIG. 6 is shown in FIG. 11. This set of equations allows the type of servo multipliers described in connection with FIG. 6 to be used in matrix multiplications. It will be recognized that the m, used in the equations of FIGS. 8 and do not lend themselves to use with servos and thus multipliers were required.
  • Block 123 the g s are computed as before (in FIGS. 8 and 10).
  • block 151 dfs are computed in a manner similar to that done in block 33 of FIG. 2 (block 87 of FIG. 6).
  • Block 153 is essentially the same as block 51 of FIG. 2. Additional digital computer computations have been used to provide X Y and H to eliminate some of the analog multiplications associated with block 51 of FIG. 2.
  • Block 155 is the same as block 57 of FIG. 2 except that, instead of finding film image plane coordinates, the scanned raster coordinates are found directly.
  • the lllw and G will then define the spot position with respect to the center of the moving window. To reference (11 and 0 to this fixed frame it is then only necessary to add the latitude and longitude (of the center of the moving window) respectively to ill and 0 and then take the sines and cosines of the resulting angular sums in order to find the direction cosines of the instantaneous line of sight.
  • a display system for presenting to an observer a desired simulated scene of the earths surface as viewed from the observers viewpoint, comprising an image source depicting a portion of the earths surface as viewed from an image viewing point, at least part of which scene contains the same information as that contained in the desired scene; a device with a controllable first spot for scanning the image source to develop a video signal, a display located within the observers l field of view to form a simulated window through which the observer may view said simulated scene, said display being of the type formed by scanning a second spot across the display to form a raster and modulating said second spot with the video signal developed by said device, a method of driving said first spot to obtain an image of the desired scene in proper perspective on said display comprising:
  • said display is a wide angle spherical display having a fixed frame of reference, only a relatively small portion of which is modulated by said video signal, the center of said portion is movable and may be defined by a latitude and longitude, said second set of direction cosines are the fixed display frame to body axes direction cosines; and the direction of said line in said display frame is obtained by adding the scan wave forms of said second spot to said latitude and longitude.
  • a display system for presenting to an observer a desired simulated scene of the earths surface as viewed from the observer's viewpoint, comprising an image source depicting a portion of the earths surface as viewed from an image viewing point, at least part of which scene contains the same information as that con tained in the desired scene; a device with a controllable first spot for scanning the image source to develop a video signal, a display located within the observers field of view to form a simulated window through which the observer may view said simulated scene, said display being of the type formed by scanning a second spot across the display to form a raster and modulating said second spot with the video signal developed by said device, apparatus for driving said first spot to obtain an image of the desired scene in proper perspective on said display comprising:
  • said device is a flying spot scanner, pickup photomultiplier tube and associated optics and wherein said device is arranged to scan said frame.
  • said image source is the image obtained from an optical probe viewing a model
  • said model is a portion of the earths surface
  • said device is a TV camera on which said image is focused.
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