CN104700437B - Signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method - Google Patents
Signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method Download PDFInfo
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Abstract
The invention provides a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method, including：Target image real-time rendering computer, interference figure obtain original image as real-time rendering computer and background image real-time rendering computer respectively according to the trajectory parameter each got from infrared signature database, and generate dynamic infrared image respectively according to the original image each got；Atmospheric propagating effects real-time resolving computer calculates the atmospheric effect of each pixel in composograph according to the atmospheric transmittance data in dynamic infrared image and atmospheric optical spec database in vertical direction and journey radiation data in real time；Image synthesizes processing computer and applies the composograph after atmospheric effect according to the atmospheric effect generation of each pixel in composograph in real time.The present invention can ensure the fidelity of complicated IR Scene generated and the real-time of semi-matter simulating system, can be widely used in semi-matter simulating system.
Description
Technical field
The present invention relates to simulation technical field, more particularly to a kind of signal level high fidelity reality for supporting HWIL simulation
When infrared complex scene generation method.
Background technology
The raising of modern infrared imaging device performance, Infrared scene generation technology is promoted to continue to develop.At present it is infrared into
Higher requirement is proposed to the frame frequency and image scale of Dynamic IR Scene generation system as guiding semi-matter simulating system,
So that requirement increase of the system to real-time, calculation scale.And the performance of existing hardware equipment can not ensure directly to enter Mobile state
The real-time of Simulations of Infrared Image.At present, it is typically direct using the infrared module of the softwares such as Vega Primer on domestic project
Generate infrared image.Although this method realizes that simply there is also many limitations：First, Windows operations system can not be departed from
System operation, the proper frame time required by also can not just meeting HWIL simulation are synchronous；Secondly, signal can not be realized
Level emulation, i.e., the radiance value obtained on image representated by each pixel can not be calculated by physical theory, also
It is difficult to complete the checking and check of model.Real-time is key and the basic demand of IR Scene dynamic realtime generation technique, it
It is related to the simulation accuracy and reliability of system.
The content of the invention
It is an object of the invention to provide a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method, Neng Goubao
The fidelity of complicated IR Scene and the real-time of semi-matter simulating system generated is demonstrate,proved, it is in kind imitative to can be widely used in half
In true system.
To solve the above problems, the present invention provides a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method,
Including：
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
Original image is obtained according to the trajectory parameter each got respectively from infrared signature database, and obtained according to respective
To original image generate respectively target, interference and background signal level dynamic infrared image；
Atmospheric propagating effects real-time resolving computer obtains the atmospheric transmittance in vertical direction from atmospheric optical spec database
Data and journey radiation data, and according to the dynamic infrared image of the signal level of the target, interference and background and what is got hang down
The upward atmospheric transmittance data of Nogata and journey radiation data calculate the atmospheric effect of each pixel in composograph in real time；
Image synthesizes processing computer and applies air according to the atmospheric effect generation of each pixel in composograph in real time
Composograph after effect.
Further, in the above-mentioned methods, the original image in the infrared signature database includes primary radiation
Luminance picture, original transparency image, initial range image and original true value image.
Further, in the above-mentioned methods, radiation of the dynamic infrared image of the signal level of the target including target is bright
Spend image, transparency image, range image and true value image；
The dynamic infrared image of the signal level of the interference includes the radiance image, transparency image, distance of interference
Image and true value image；
The dynamic infrared image of the signal level of the background includes the radiance image, transparency image, distance of interference
Image and true value image.
Further, in the above-mentioned methods, target image real-time rendering computer, interference figure as real-time rendering computer and
Background image real-time rendering computer obtains respectively according to the trajectory parameter each got from infrared signature database
Original image, and the infrared dynamic of the signal level of target, interference and background is generated according to the original image each got respectively
The step of image, includes：
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
Original image is obtained according to the trajectory parameter each got respectively from infrared signature database；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
The instantaneous field of view of calculating detector and instantaneous field of view's area, calculation formula are as follows respectively：
,
,
,
Wherein,、The instantaneous field of view in horizontal direction with detector pixel in vertical direction is represented respectively,、The visual field width in horizontal direction with detector in vertical direction is represented respectively,、Represent respectively
The horizontal resolution and vertical resolution of detector,Represent instantaneous field of view's area of detector pixel；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
The instantaneous field of view shared by the single pixel point of original radiance image in the original image each got is calculated respectively, is calculated
Formula is as follows：
,
,
,
、The single pixel in horizontal direction with primary radiation luminance picture in vertical direction is represented respectively
The shared angle of visual field of point,The overlay area area of the single pixel point of primary radiation luminance picture is represented,、Represent respectively primary radiation luminance picture in the horizontal direction with the angle of visual field shared in vertical direction,、Point
Not Biao Shi radiance image line number and columns, wherein,
,
,
The real space size representated by each pixel on radiance image is represented,Represent primary radiation
Space length between luminance picture and target；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
The position in the central projection to detector plane of target is calculated respectively, and calculation formula is as follows：
,
,
Wherein,、The horizontal level in the central projection to detector plane of target and upright position are represented respectively,、Azimuth and the angle of pitch of sight are represented respectively；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
The position at primary radiation luminance picture center is calculated respectively, and calculation formula is as follows：
,
,
Wherein,、Horizontal level and the upright position at the center of primary radiation luminance picture are represented respectively；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
Respectively according to primary radiation luminance picture single pixel point coordinate positionCalculated with the angle of visual field shared by the pixel
Corresponding Space Angle, calculation formula is as follows：
,
；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
Respectively by the pixel on primary radiation luminance pictureProject on detector plane, resolve it on detector plane
Coordinate position, then by the pixel on primary radiation luminance pictureProject on detector plane, solve
Calculate its coordinate position on detector plane, calculation formula is as follows：
,
,
,
；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
Respectively according on detector planeWithRelative position, by the pixel of primary radiation luminance picture
Radiance project on detector plane to respectively obtain the radiation of the target of the dynamic infrared image of the signal level of target
Luminance picture, interference signal level dynamic infrared image interference radiance image and background signal level it is infrared dynamic
The radiance value of each pixel of the radiance image of the background of state image；
The transparency image of target, range image and true value image according to corresponding to obtaining the radiance image of target,
Transparency image, range image and the true value image disturbed according to corresponding to obtaining the radiance image of interference, according to background
Radiance image obtain corresponding to background transparency image, range image and true value image.
Further, in the above-mentioned methods, target image real-time rendering computer, interference figure as real-time rendering computer and
Background image real-time rendering computer is respectively according on detector planeWithRelative position, by primary radiation
The pixel of luminance pictureRadiance project on detector plane to respectively obtain the infrared of the signal level of target
The radiance image of the target of dynamic image, interference signal level dynamic infrared image interference radiance image and
The step of radiance value of each pixel of the radiance image of the background of the dynamic infrared image of the signal level of background
In,
If,, then：
,
,
If,, then：
,,
,
,
；
If,, then：
,
,
,
,
,
；
If,, then：
,
,
,
,
,
,
,
,
,
,
,
,
Wherein,Represent the radiance of some pixel of the radiance image of target, interference or background
Value.
Further, in the above-mentioned methods, Atmospheric propagating effects real-time resolving computer obtains from atmospheric optical spec database
Also include before the step of atmospheric transmittance data and journey radiation data in vertical direction：
Image synthesizes processing computer to same position in the dynamic infrared image of the signal level of target, interference and background in real time
The pixel at the place of putting draws near by distance to be ranked up, the pixel formed at the same position arranged from top layer to bottom.
Further, in the above-mentioned methods, Atmospheric propagating effects real-time resolving computer obtains from atmospheric optical spec database
Atmospheric transmittance data and journey radiation data in vertical direction, and according to the red of the signal level of the target, interference and background
Atmospheric transmittance data and journey radiation data on outer dynamic image and the vertical direction got are calculated in composograph in real time
The step of atmospheric effect of each pixel, includes：
Calculated every time by the order from top layer to bottom same in the dynamic infrared image of the signal level of target, interference and background
The synthesis radiation energy value of two adjacent pixels of one opening position sequence, calculation formula are as follows：
Wherein,Remote pixel radiance value is represented,Represent closely pixel radiance
Value,、The atmospheric transmittance between two pixel and journey radiation are represented respectively,Represent closely pixel
Transparency,The synthesis radiation energy value of two pixel is represented, by what is calculatedIt is assigned to；
The atmospheric effect of each pixel is distance value, the transparence value of each pixel in composograph in composograph
It is respectively equal to the distance value and transparence value and synthesis radiation energy value of bottom pixel with synthesis radiation energy value.
Further, in the above-mentioned methods, the atmospheric transmittance between two pixelsRadiated with journeyUnder
State step acquisition：
The atmospheric transmittance data and journey radiation data of vertical direction in the atmospheric optical spec database, calculate oblique
Atmospheric transmittance value and journey radiance value, calculation formula upward Cheng Fang is as follows：
,
,
Wherein,、The atmospheric transmittance in oblique Cheng Fangxiang and vertical direction is represented respectively,、Point
The atmospheric path radiation in oblique Cheng Fangxiang and vertical direction is not represented,Represent vertical direction and oblique Cheng Fangxiang angle；
It is right、Linear interpolation is carried out, obtains the atmospheric transmittance between two pixelsRadiated with journey。
Further, in the above-mentioned methods, image synthesizes processing computer according to each pixel in composograph in real time
Atmospheric effect generation apply atmospheric effect after composograph the step of include：
Applying atmospheric effect to each pixel of composograph influences, and calculation formula is as follows：
Wherein,、The synthesis radiation energy value and transparency in composograph at some pixel are represented respectively
Value,、、Atmospheric transmittance, journey radiation and sky at detector from the pixel are represented respectively
Radiation,Expression applies the radiance value of the pixel after atmospheric effect；
Apply the composite diagram after atmospheric effect according to the radiance value generation after the application atmospheric effect of all pixels point
Picture.
Further, in the above-mentioned methods, atmospheric transmittance of the pixel at detectorRadiated with journey
Obtained by following step：
The atmospheric transmittance data and journey radiation data of vertical direction in the atmospheric optical spec database, calculate oblique
Atmospheric transmittance value and journey radiance value, calculation formula upward Cheng Fang is as follows：
,
,
Wherein,、The atmospheric transmittance in oblique Cheng Fangxiang and vertical direction is represented respectively,、
The atmospheric path radiation in oblique Cheng Fangxiang and vertical direction is represented respectively,Represent vertical direction and oblique Cheng Fangxiang angle；
It is right、Linear interpolation is carried out, obtains atmospheric transmittance of the pixel at detectorRadiated with journey。
Compared with prior art, the present invention by target image real-time rendering computer, interference figure as real-time rendering calculate
Machine and background image real-time rendering computer are distinguished according to the trajectory parameter each got from infrared signature database
Original image is obtained, and generates according to the original image each got the infrared of the signal level of target, interference and background respectively
Dynamic image；Atmospheric propagating effects real-time resolving computer obtains the atmospheric transmittance in vertical direction from atmospheric optical spec database
Data and journey radiation data, and according to the dynamic infrared image of the signal level of the target, interference and background and what is got hang down
The upward atmospheric transmittance data of Nogata and journey radiation data calculate the atmospheric effect of each pixel in composograph in real time；Figure
The conjunction after applying atmospheric effect is generated according to the atmospheric effect of each pixel in composograph as synthesis in real time handles computer
Into image, both ensure the fidelity of complicated IR Scene generated, ensure the real-time of semi-matter simulating system again, can be extensive
Ground is applied in semi-matter simulating system.
Brief description of the drawings
Fig. 1 is that the signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method of one embodiment of the invention is used
The schematic diagram of system；
Fig. 2 is the flow chart of the signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method of one embodiment of the invention；
Fig. 3 is the radiance image slices vegetarian refreshments of one embodiment of the invention to detector front upslide shadow schematic diagram；
Fig. 4 is that the image coarseness distance-taxis that renders of one embodiment of the invention handles schematic diagram；
Fig. 5 is that the single pixel point sequence in image that renders of one embodiment of the invention handles schematic diagram.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
Used as shown in figure 1, the present invention provides a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method
System include fiber reflection memory network 1, target image real-time rendering computer 2, background image real-time rendering computer 4, dry
Disturb image real-time rendering computer 5, Atmospheric propagating effects real-time resolving computer 3, image synthesize in real time processing computer 6 and
Image real-time rendering computer 7 to be extended, wherein, image real-time rendering computer 7 to be extended is handled for follow-up expansion
Other images in addition to target image, background image and interference figure picture.Fiber reflection memory network 1 connects each computer
Come.Target image real-time rendering computer 2, background image real-time rendering computer 4, interference figure are as real-time rendering computer 5, figure
As synthesis handles computer 6 in real time and high-performance GPU (Graphic can be used in image real-time rendering computer 7 to be extended
Processin Unit, GPU) the real-time generation of respective complicated IR Scene is completed, each rendering computers use high-performance GPU
Rendering for respective infrared image is completed parallel, and will render image image is transferred to by fiber reflection memory network 1 and synthesize in real time
Computer 6 is handled, and completes the real-time synthesis of complex scene.Each computer can use VxWorks real in one embodiment of the invention
When operating system.
When system can use following used by described signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method
Clock synchronization policy：
（1）System uses the clock synchronous service that simulation computer provides, and is responsible for realizing the Synchronization Control of whole system；
（2）In simulation process, each calculate node completes simulation and calculation according to local local clock；
（3）Each calculate node is based on local clock and completed after being resolved per frame, carries out emulation wait, inquires about the same of server
Walk control word；
（4）Clock synchronous service controls the propulsion of calculate node according to the simulation step length of setting, when reaching simulation step length
Solid rocket engine word is sent to each calculate node, realizes the propulsion of emulation, the clock for completing system is synchronous.
The clock synchronization policy can effectively eliminate the offset error that the drift of node local clock is brought, real by reflective memory
When network stabilization, efficient transmission feature, effectively reduce time synchronized shake.
As shown in Fig. 2 the present invention provides a kind of signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method, including step
Rapid S1~step S3.
Step S1, target image real-time rendering computer, interference figure are as real-time rendering computer and the real-time wash with watercolours of background image
Dye computer obtains original image respectively according to the trajectory parameter each got from infrared signature database, and according to
The original image each got generates the dynamic infrared image of the signal level of target, interference and background respectively；It is specifically, infrared
Radiation feature database is to calculate the signal DBMS obtained by physical theory model, and each rendering computers can be according to respective
Ir radiation data storehouse and image projection algorithm generate the dynamic infrared image of target/interference/background in real time.After emulation starts,
System is according to target/interference/background type in the range of detector field of view and quantity by fiber reflection memory network 1 to respectively rendering
Calculate to send and resolve order and trajectory parameter.According to trajectory parameter and infrared signature database, target image renders calculating
Machine 2 generates the dynamic infrared image that real-time target radiation feature image is the signal level of target, and interference figure is given birth to as rendering computers 5
It is the dynamic infrared image for the signal level disturbed into real-time interference radiation feature image, background image rendering computers 4 generate reality
When background radiation feature image be background signal level dynamic infrared image.
Preferably, the original image in the infrared signature database includes primary radiation luminance picture, original
Lightness image, initial range image and original true value image.Specifically, according to Tactical Simulation demand, typical target, background are established
And the theoretical model of interference, and typical target, background and the infrared signature data of interference are completed in pretreatment on this basis
Storehouse.Ir radiation data storehouse preserves infrared primary radiation brightness data, the initial range number of the signal level of target/interference/background
According to, original transmitance data and original truth table；Each width infrared signature image in ir radiation data storehouse includes
Four kinds of image informations, respectively radiance image, transparency image, range image and true value figure.Radiance graphical representation
The radiance of target/interference/background.Transparency image be mainly used to consider target between block.True value image is to transmitting
A kind of coding of body/reflector, is mainly used to distinguish each entity in emulation.Range image then describes space bit confidence
Breath.This four width image is stored in the form of two-dimensional array.
Accordingly, the dynamic infrared image of the signal level of the target includes radiance image, the transparency figure of target
Picture, range image and true value image；
The dynamic infrared image of the signal level of the interference includes the radiance image, transparency image, distance of interference
Image and true value image；
The dynamic infrared image of the signal level of the background includes the radiance image, transparency image, distance of interference
Image and true value image.
Preferably, step S1 includes：
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
Original image is obtained according to the trajectory parameter each got respectively from infrared signature database；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
The instantaneous field of view of calculating detector and instantaneous field of view's area, calculation formula are as follows respectively：
,
,
,
Wherein,、The instantaneous field of view in horizontal direction with detector pixel in vertical direction is represented respectively,、The visual field width in horizontal direction with detector in vertical direction is represented respectively,、Represent to visit respectively
The horizontal resolution and vertical resolution of device are surveyed,Represent instantaneous field of view's area of detector pixel；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
The instantaneous field of view shared by the single pixel point of original radiance image in the original image each got is calculated respectively, is calculated
Formula is as follows：
,
,
,
、The single pixel in horizontal direction with primary radiation luminance picture in vertical direction is represented respectively
The shared angle of visual field of point,The overlay area area of the single pixel point of primary radiation luminance picture is represented,、Represent respectively primary radiation luminance picture in the horizontal direction with the angle of visual field shared in vertical direction,、Point
Not Biao Shi radiance image line number and columns, wherein,
,
,
The real space size representated by each pixel on radiance image is represented,Represent primary radiation
Space length between luminance picture and target；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
The position in the central projection to detector plane of target is calculated respectively, and calculation formula is as follows：
,
,
Wherein,、The horizontal level in the central projection to detector plane of target and upright position are represented respectively,、Azimuth and the angle of pitch of sight are represented respectively；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
The position at primary radiation luminance picture center is calculated respectively, and calculation formula is as follows：
,
,
Wherein,、Horizontal level and the upright position at the center of primary radiation luminance picture are represented respectively；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
Processing is iterated to each pixel in primary radiation brightness, i.e., respectively according to the single pixel of primary radiation luminance picture
The coordinate position of pointWith shared by the pixel the angle of visual field calculate corresponding to Space Angle, calculation formula is as follows：
,
；
After by the step of instantaneous field of view's Equivalent Conversion of above-mentioned Space Angle and detector pixel, target image is real-time
Rendering computers, interference figure are as real-time rendering computer and background image real-time rendering computer are respectively by primary radiation luminance graph
As upper pixelProject on detector plane, resolve its coordinate position on detector plane, then will
Pixel on primary radiation luminance pictureProject on detector plane, resolve it on detector plane
Coordinate position, calculation formula is as follows：
,
,
,
；
Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer
Respectively according on detector planeWithRelative position, by the pixel of primary radiation luminance picture
Radiance project on detector plane to respectively obtain the radiation of the target of the dynamic infrared image of the signal level of target
Luminance picture, interference signal level dynamic infrared image interference radiance image and background signal level it is infrared dynamic
The radiance value of each pixel of the radiance image of the background of state image；
The transparency image of target, range image and true value image according to corresponding to obtaining the radiance image of target,
Transparency image, range image and the true value image disturbed according to corresponding to obtaining the radiance image of interference, according to background
Radiance image obtain corresponding to background transparency image, range image and true value image.
Preferably, target image real-time rendering computer, interference figure are as real-time rendering computer and the real-time wash with watercolours of background image
Computer is contaminated respectively according on detector planeWithRelative position, by the pixel of primary radiation luminance picture
PointRadiance project on detector plane to respectively obtain the target of the dynamic infrared image of the signal level of target
Radiance image, interference signal level dynamic infrared image the radiance image of interference and the signal level of background
In the step of radiance value of each pixel of the radiance image of the background of dynamic infrared image,
In Fig. 3（a）It is shown, if,, then：
,
,
In Fig. 3（b）It is shown, if,, then：
,
,
,
,
；
In Fig. 3（c）It is shown, if,, then：
,
,
,
,
,
；
In Fig. 3（d）It is shown, if,, then：
,
,
,
,
,
,
,
,
,
,
,
,
Wherein,Represent the radiance value of some pixel of the radiance image of target, interference or background.
Step S2, Atmospheric propagating effects real-time resolving computer obtain the air in vertical direction from atmospheric optical spec database
Transmitance data and journey radiation data, and the dynamic infrared image according to the signal level of the target, interference and background and acquisition
To vertical direction on atmospheric transmittance data and journey radiation data calculate the air of each pixel in composograph in real time
Effect；Specifically, Atmospheric propagating effects real-time resolving here is spatial information, the atmospheric optical spec database according to each pixel
And linear interpolation calculates Atmospheric propagating effects/influence of the infra-red radiation of each pixel in real time.Using atmospheric transfer model
（MODTRAN）Atmospheric optical spec database is generated, for storing the atmospheric transmittance data and journey radiation data in vertical direction.
Preferably, also include before step S2：
Image synthesizes processing computer to same position in the dynamic infrared image of the signal level of target, interference and background in real time
The pixel at the place of putting draws near by distance to be ranked up, the pixel formed at the same position arranged from top layer to bottom.
Specifically, target/interference/background dynamic infrared image collection point that the computer 6 of synthesis processing in real time transmits each rendering computers
Into several subsets, and transfer to GPU to carry out parallel computation according to image composition algorithm, complete the real-time conjunction of complicated IR Scene
Into.Specifically, the dynamic infrared image of the signal level of target, interference and background can be respectively stored in light in the form of two-dimensional array
Each customized region of memory on fine Reflective memory network 1.Image synthesizes processing computer 6 and received from fiber reflection memory network 1 in real time
Collect the dynamic infrared image of the signal level of target, interference and background that each image real-time rendering machine solution calculates, and carry out reality
Shi Hecheng processing.
Detailed, image synthesizes processing computer 6 and is successively read the real-time wash with watercolours of each image from fiber reflection memory network 1 in real time
Image i.e. dynamic infrared image is rendered caused by dye node, and these are rendered into image insertion list and is managed.Rendered per frame
ImageAll include a width range image, a width radiance image, a width transparency imageWith a width truth table image
T, i.e.,,,Represent the number of image real-time rendering node；And render image per frameThen byIndividual pixel composition, that is to say, that every width range image, radiance imageWith transparency imageAll byIt is individual
Pixel forms,Represent line number,Represent columns；
Then, a frame is rendered into number of the image by taskIt is divided into multigroup son to render image.Every group of son renders imageOr by a width range image, a width radiance image, a width transparency imageWith a width truth table image
Composition, i.e.,,；Wherein, every width range image, radiance image, transparency figure
PictureWith byIndividual pixel composition.For example, image synthesizes the task number of processing node in real timeFor 512 × 4, render
ImageIt is made up of 512 × 512 pixels, then every width renders image after splittingIt is made up of 128 pixels；
Then, image synthesizes processing computer and produced in real timeIndividual task, all tasks in parallel perform, and each task is responsible for
Handle one group of son and render image stack, it is actually the sub- wash with watercolours as caused by all image real-time rendering nodes that every group of son, which renders image stack,
The set of image composition is contaminated, its specific processing method is as follows：
1. determine that the lowest distance value that son renders every width range image in image stack is respectively,(), wherein,WithRepresent that the pixel of traversal is located at respectivelyRow andRow,
Represent positioned at theOpen in range image (,) place's pixel distance value.Then, these lowest distance values are ranked up, made
It is arranged in descending order, then the lowest distance value after sorting is followed successively by, wherein().The last range image correspondingly adjusted corresponding to each lowest distance value, radiance image, transparency
Image, the order for rendering image, i.e.,, (), as shown in Figure 4.
2. appoint take son render a pixel P on image (,),、It is residing to represent that the pixel renders on image in son
Position, then each son render the distance value of the pixel opening position, radiance value, transparence value on image and be respectively,.Wherein、、Following various determination can be pressed respectively,
()
()
()
Then bubble sort is carried out to these distance values of the pixel opening position, it is arranged in descending order, after sequence
Distance value is followed successively by, wherein ().Correspondingly adjust
The order of each radiance value, transparence value, i.e.,,.Finally traveled through by with descending
Son renders pixel all on image, so that radiance value, distance value and the transparence value of each pixel opening position
It can be adjusted, as shown in Figure 5.
Preferably, step S2 includes：
Calculated every time by the order from top layer to bottom same in the dynamic infrared image of the signal level of target, interference and background
The synthesis radiation energy value of two adjacent pixels of one opening position sequence, calculation formula are as follows：
Wherein,Remote pixel radiance value is represented,Represent closely pixel radiance
Value,、The atmospheric transmittance between two pixel and journey radiation are represented respectively,Represent closely pixel
Transparency,The synthesis radiation energy value of two pixel is represented, by what is calculatedIt is assigned to；
The atmospheric effect of each pixel is distance value, the transparence value of each pixel in composograph in composograph
It is respectively equal to the distance value and transparence value and synthesis radiation energy value of bottom pixel with synthesis radiation energy value.Specifically, one
Denier determines the distance order of final pixel point, can calculate the radiance value of each pixel on final composograph.
Radiation energy synthesis for any position need to be propagated forward each successively from the top pixel start to process of the opening position
The radiation energy of pixel, until bottom pixel terminates.First calculate the opening position top layer pixel and time top layer pixel is (remote
Range Profile vegetarian refreshments and closely pixel) synthesis radiation energy, then will calculateIt is assigned to, and will
It is applied in the radiation energy synthesis of two pixels in next step, i.e., (now, should with pixel at secondary top layer pixel the next position
Pixel is closely pixel) radiation energy synthesized, next coming in order are analogized, until bottom pixel terminates.Finally
The distance value and transparence value of synthesized image vegetarian refreshments are respectively equal to the distance value and transparence value of bottom pixel.
Preferably, the atmospheric transmittance between two pixelsRadiated with journeyObtained by following step：
The atmospheric transmittance data and journey radiation data of vertical direction in the atmospheric optical spec database, calculate oblique
Atmospheric transmittance value and journey radiance value, calculation formula upward Cheng Fang is as follows：
,
,
Wherein,、The atmospheric transmittance in oblique Cheng Fangxiang and vertical direction is represented respectively,、
The atmospheric path radiation in oblique Cheng Fangxiang and vertical direction is represented respectively,Represent vertical direction and oblique Cheng Fangxiang angle；
It is right、Linear interpolation is carried out, obtains the atmospheric transmittance between two pixelsRadiated with journey。
Step S3, image synthesize processing computer and applied according to the atmospheric effect generation of each pixel in composograph in real time
Add the composograph after atmospheric effect.It is transmitted across specifically, image synthesizes processing computer in real time by fiber reflection memory network
That comes renders the image final complicated IR Scene of synthesis in real time.
Preferably, step S3 includes：
Applying atmospheric effect to each pixel of composograph influences, and calculation formula is as follows：
Wherein,、The synthesis radiation energy value and transparency in composograph at some pixel are represented respectively
Value,、、Atmospheric transmittance, journey radiation and sky spoke at detector from the pixel are represented respectively
Penetrate,Expression applies the radiance value of the pixel after atmospheric effect；
Apply the composite diagram after atmospheric effect according to the radiance value generation after the application atmospheric effect of all pixels point
Picture.Specifically, after all tasks completion each group renders the processing of image stack, image synthesizes processing computer 6 root again in real time
All sons are rendered into composograph according to segmentation block position and are assembled into the complete composograph of a width, and this composograph data is write
Enter to specified reflective memory storage region, whole processing procedure and terminate.
Preferably, atmospheric transmittance of the pixel at detectorRadiated with journeyObtained by following step
Take：
The atmospheric transmittance data and journey radiation data of vertical direction in the atmospheric optical spec database, calculate oblique
Atmospheric transmittance value and journey radiance value, calculation formula upward Cheng Fang is as follows：
,
,
Wherein,、The atmospheric transmittance in oblique Cheng Fangxiang and vertical direction is represented respectively,、Point
The atmospheric path radiation in oblique Cheng Fangxiang and vertical direction is not represented,Represent vertical direction and oblique Cheng Fangxiang angle；
It is right、Linear interpolation is carried out, obtains atmospheric transmittance of the pixel at detectorRadiated with journey。
The present invention passes through
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment
For, due to corresponding to the method disclosed in Example, so description is fairly simple, related part is referring to method part illustration
.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, the composition and step of each example are generally described according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specialty
Technical staff can realize described function using distinct methods to each specific application, but this realization should not
Think beyond the scope of this invention.
Obviously, those skilled in the art can carry out the spirit of various changes and modification without departing from the present invention to invention
And scope.So, if these modifications and variations of the present invention belong to the claims in the present invention and its equivalent technologies scope it
Interior, then the present invention is also intended to including these changes and modification.
Claims (9)
- A kind of 1. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method, it is characterised in that including：Target image real-time rendering computer, interference figure as real-time rendering computer and background image real-time rendering computer according to The trajectory parameter each got obtains original image respectively from infrared signature database, and according to each getting Original image generates the dynamic infrared image of the signal level of target, interference and background respectively；Specific steps include：Target image real-time rendering computer, interference figure as real-time rendering computer and background image real-time rendering computer according to The trajectory parameter each got obtains original image respectively from infrared signature database；Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer difference The instantaneous field of view of calculating detector and instantaneous field of view's area, calculation formula are as follows：Wherein,、The instantaneous field of view in horizontal direction with detector pixel in vertical direction is represented respectively,、The visual field width in horizontal direction with detector in vertical direction is represented respectively,、Represent respectively The horizontal resolution and vertical resolution of detector,Represent instantaneous field of view's area of detector pixel；Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer difference Calculate the instantaneous field of view shared by the single pixel point of original radiance image, calculation formula in the original image each got It is as follows：、The single pixel point institute in horizontal direction with primary radiation luminance picture in vertical direction is represented respectively The angle of visual field accounted for,The overlay area area of the single pixel point of primary radiation luminance picture is represented,、 Represent respectively primary radiation luminance picture in the horizontal direction with the angle of visual field shared in vertical direction,、Table respectively Show the line number and columns of radiance image, wherein,The real space size representated by each pixel on radiance image is represented,Represent primary radiation brightness Space length between image and target；Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer difference The position in the central projection to detector plane of target is calculated, calculation formula is as follows：Wherein,、The horizontal level in the central projection to detector plane of target and upright position are represented respectively,、Azimuth and the angle of pitch of sight are represented respectively；Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer difference The position at primary radiation luminance picture center is calculated, calculation formula is as follows：Wherein,、Horizontal level and the upright position at the center of primary radiation luminance picture are represented respectively；Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer difference According to the coordinate position of the single pixel point of primary radiation luminance pictureWith the angle of visual field calculating pair shared by the pixel The Space Angle answered, calculation formula is as follows：Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer difference By the pixel on primary radiation luminance pictureProject on detector plane, resolve its seat on detector plane Cursor position, then by the pixel on primary radiation luminance pictureProject on detector plane, Resolve its coordinate position on detector plane, calculation formula is as follows：Target image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer difference According on detector planeWithRelative position, by the pixel of primary radiation luminance picture's Radiance projects to bright to respectively obtain the radiation of the target of the dynamic infrared image of the signal level of target on detector plane Spend image, interference signal level dynamic infrared image interference radiance image and background signal level infrared dynamic The radiance value of each pixel of the radiance image of the background of image；The transparency image of target, range image and true value image according to corresponding to obtaining the radiance image of target, according to The radiance image of interference obtains transparency image, range image and the true value image of corresponding interference, according to the spoke of background Penetrate luminance picture and obtain transparency image, range image and the true value image of corresponding background；Atmospheric propagating effects real-time resolving computer obtains the atmospheric transmittance data in vertical direction from atmospheric optical spec database With journey radiation data, and according to the dynamic infrared image of the signal level of the target, interference and background and the Vertical Square got Upward atmospheric transmittance data and journey radiation data calculate the atmospheric effect of each pixel in composograph in real time；Image synthesizes processing computer and applies atmospheric effect according to the atmospheric effect generation of each pixel in composograph in real time Composograph afterwards.
- 2. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 1, it is characterised in that described Original image in infrared signature database includes primary radiation luminance picture, original transparency image, initial range figure Picture 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 characterised in that described The dynamic infrared image of the signal level of target includes radiance image, transparency image, range image and the true value figure of target Picture；The dynamic infrared image of the signal level of the interference includes the radiance image, transparency image, range image of interference With true value image；The dynamic infrared image of the signal level of the background includes the radiance image, transparency image, range image of interference With true value image.
- 4. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 1, it is characterised in that target Image real-time rendering computer, interference figure are as real-time rendering computer and background image real-time rendering computer are respectively according to detection In device planeWithRelative position, by the pixel of primary radiation luminance pictureRadiance Project on detector plane to respectively obtain the radiance image of the target of the dynamic infrared image of the signal level of target, do The back of the body of the dynamic infrared image of the radiance image of the interference of the dynamic infrared image for the signal level disturbed and the signal level of background In the step of radiance value of each pixel of the radiance image of scape,If,, then：If,, then：If,, then：If,, then：Wherein,Represent the radiance value of some pixel of the radiance image of target, interference or background.
- 5. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 4, it is characterised in that air Transmission effects real-time resolving computer obtains atmospheric transmittance data and journey radiation in vertical direction from atmospheric optical spec database Also include before the step of data：Image synthesize in real time processing computer to same position in the dynamic infrared image of the signal level of target, interference and background at Pixel draw near and be ranked up by distance, the pixel formed at the same position arranged from top layer to bottom.
- 6. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 5, it is characterised in that air Transmission effects real-time resolving computer obtains atmospheric transmittance data and journey radiation in vertical direction from atmospheric optical spec database Data, and according to big in the dynamic infrared image of the signal level of the target, interference and background and the vertical direction got Vapor permeability data and journey radiation data calculate the step of atmospheric effect of each pixel in composograph in real time to be included：Same position in the dynamic infrared image of the signal level of target, interference and background is calculated by the order from top layer to bottom every time The synthesis radiation energy value of two adjacent pixels of place's sequence is put, calculation formula is as follows：Wherein,Remote pixel radiance value is represented,Closely pixel radiance value is represented,、The atmospheric transmittance between two pixel and journey radiation are represented respectively,Represent the saturating of closely pixel Lightness,The synthesis radiation energy value of two pixel is represented, by what is calculatedIt is assigned to；The atmospheric effect of each pixel is distance value, transparence value and the conjunction of each pixel in composograph in composograph It is respectively equal to the distance value and transparence value and synthesis radiation energy value of bottom pixel into radiation energy value.
- 7. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 6, it is characterised in that two pictures Atmospheric transmittance between vegetarian refreshmentsRadiated with journeyObtained by following step：The atmospheric transmittance data and journey radiation data of vertical direction in the atmospheric optical spec database, calculate oblique Cheng Fang Upward atmospheric transmittance value and journey radiance value, calculation formula is as follows：Wherein,、The atmospheric transmittance in oblique Cheng Fangxiang and vertical direction is represented respectively,、Respectively The atmospheric path radiation in oblique Cheng Fangxiang and vertical direction is represented,Represent vertical direction and oblique Cheng Fangxiang angle；It is right、Linear interpolation is carried out, obtains the atmospheric transmittance between two pixelsRadiated with journey。
- 8. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 7, it is characterised in that image Synthesis processing computer applies the synthesis after atmospheric effect according to the atmospheric effect generation of each pixel in composograph in real time The step of image, includes：Applying atmospheric effect to each pixel of composograph influences, and calculation formula is as follows：Wherein,、Synthesis radiation energy value and transparence value at some pixel in composograph are represented respectively,、、Atmospheric transmittance, journey radiation and sky radiation at detector from the pixel are represented respectively,Expression applies the radiance value of the pixel after atmospheric effect；Apply the composograph after atmospheric effect according to the radiance value generation after the application atmospheric effect of all pixels point.
- 9. signal level high fidelity REAL TIME INFRARED THERMAL IMAGE complex scene generation method as claimed in claim 8, it is characterised in that pixel Atmospheric transmittance at point to detectorRadiated with journeyObtained by following step：The atmospheric transmittance data and journey radiation data of vertical direction in the atmospheric optical spec database, calculate oblique Cheng Fang Upward atmospheric transmittance value and journey radiance value, calculation formula is as follows：Wherein,、The atmospheric transmittance in oblique Cheng Fangxiang and vertical direction is represented respectively,、Table respectively Show the atmospheric path radiation in oblique Cheng Fangxiang and vertical direction,Represent vertical direction and oblique Cheng Fangxiang angle；It is right、Linear interpolation is carried out, obtains atmospheric transmittance of the pixel at detectorRadiated with journey。
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