CN109783842A - A kind of ray detection method and system based on voxel data - Google Patents
A kind of ray detection method and system based on voxel data Download PDFInfo
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Abstract
A kind of ray detection method based on voxel data, comprising steps of determining voxel grid of the Value value greater than 0 of ray and voxel grid intersection point；Quadrant according to Value value greater than 0 intersection point generates virtual grid, and obtains the inbreeding point of ray and virtual grid and the Value value of outbreeding point；Judge whether inbreeding point and outbreeding point meet rated condition；Calculate and obtain the coordinate that Value value is equal to 128.The present invention also provides a kind of ray detection systems based on voxel data, can quickly and accurately carry out ray detection.
Description
Technical field
The present invention relates to X-ray Testing Technology field, more particularly to a kind of ray detection method based on voxel data and
System.
Background technique
In the online game of 3D voxel landform, ray detection has wide application scenarios, for example obtains patch position, can
Mobile object collision detection etc..Mesh triangles face in client, usually by judging ray and the generation of landform voxel data
Whether intersection carries out ray detection.And in server, due to there is no terrain mesh data, only voxel data itself, therefore
It needs to provide a kind of ray detection method in server.
Summary of the invention
In order to solve the shortcomings of the prior art, the purpose of the present invention is to provide a kind of rays based on voxel data
Detection method and system can quickly and accurately carry out ray detection.
To achieve the above object, the ray detection method provided by the invention based on voxel data, comprising the following steps:
1) the voxel grid where ray starting point is obtained, determines voxel side of the Value value greater than 0 of ray and voxel grid intersection point
Lattice；
2) virtual grid is generated greater than quadrant locating for 0 intersection point according to Value value, and obtains the inbreeding of ray Yu virtual grid
The Value value of point and outbreeding point；
3) judge whether inbreeding point and outbreeding point meet rated condition；
4) calculate and obtain the coordinate that Value value is equal to 128.
Further, the step 1) further comprises:
If the Value value of current voxel grid is 0, continue along directions of rays towards next adjacent square stepping.
Further, the step 2 further comprises:
A virtual grid is generated according to half of voxel of quadrant offset locating for ray and voxel grid inbreeding point；
Intersection detection is carried out to current virtual grid and ray, obtains the Value value of its inbreeding point and outbreeding point.
Further, described that intersection detection is carried out to current virtual grid and ray, obtain its inbreeding point and outbreeding point
The step of Value value, further comprise:
The Value value on the vertex in the face of virtual grid according to existing for each intersection point carries out planar line to inbreeding point and outbreeding point
Property interpolation obtains the Value value after two intersection point interpolation respectively, wherein
8 vertex of virtual grid are 8 true voxel side centers of a lattice respectively, represent 8 Value values.
Further, the step 3) further comprises:
Judge whether the Value value of outbreeding point is greater than 128；
Judge the Value value of inbreeding point whether less than 128；
If the Value value of outbreeding point is greater than 128, and the Value value of inbreeding point then carries out next step less than 128；If remote
The Value value of intersection point is less than 128, and outbreeding point then continues according to directions of rays in the bounding box of current true voxel grid
The next virtual grid of stepping, and return to previous step；If the Value value of outbreeding point is less than 128, and outbreeding point is current true
Outside the bounding box of entity element grid, then voxel grid of the Value value greater than 0 of the determining ray and voxel grid intersection point is returned
The step of；If the Value value of outbreeding point is greater than 128, and the Value value of inbreeding point is greater than 128, then terminates to detect.
Further, the step 4) further comprises:
Go out the coordinate that Value value is equal to 128 in the interpolation of outbreeding point and inbreeding point.
To achieve the above object, the ray detection system provided by the invention based on voxel data, comprising:
Data acquisition module, obtains the voxel data including Value value of each voxel grid, and obtains ray and voxel grid
Intersection point；
Generation module, the quadrant according to Value value greater than 0 intersection point generate virtual grid；
Computing module calculates the Value value of the inbreeding point and outbreeding point that take ray and virtual grid；
Judgment module, judges whether inbreeding point and outbreeding point meet rated condition, if meeting rated condition, the calculating
Module passes through interpolation calculation according to the Value value of outbreeding point and inbreeding point and obtains the coordinate that Value value is equal to 128.
Further, 8 vertex of virtual grid are 8 true voxel side centers of a lattice respectively, represent 8 Value
Value,
The Value value on computing module vertex in the face of virtual grid according to existing for each intersection point, to inbreeding point and outbreeding
Point carries out planar linear interpolation and obtains the Value value after two intersection point interpolation respectively.
Further, the rated condition is that the Value value of outbreeding point is greater than 128, and the Value value of inbreeding point is less than
128。
Further, the computing module goes out the seat that Value value is equal to 128 in the interpolation of outbreeding point and inbreeding point
Mark.
Ray detection method and system of the invention generates grid according to MC algorithm according to the Value value of each voxel grid
Principle carry out ray detection, therefore can quickly and accurately carry out ray detection.
Ray detection method and system of the invention carries out the calculating of Value value by planar linear interpolation, therefore can
Planar linear interpolation.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, and with it is of the invention
Embodiment together, is used to explain the present invention, and is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is ray detection method flow chart according to the present invention；
Fig. 2 is the specific flow chart of ray detection method according to the present invention；
The schematic diagram of the ray detection method of Fig. 3 to illustrate the invention；
Fig. 4 is ray detection system architecture diagram according to the present invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Fig. 1 is ray detection method flow chart according to the present invention, and Fig. 2 is the tool of ray detection method according to the present invention
Body flow chart is described in detail ray detection method of the invention below with reference to Fig. 1, Fig. 2.
In 3D voxel landform, for the ease of unified management, entire landform can be divided into an equal amount of multiple data
Block (Chunk), each chunk include n*n*n voxel data, and each voxel data includes 4 bytes, are respectively: material class
Type (Type), material ID(ID), material parameters (Param) and voxel value (Value).
Marching cube (Marching Cubes；MC) algorithm is the classic algorithm in iso-surface patch algorithm, it is
A kind of voxel grade method for reconstructing that W.Lorensen et al. put forward in 1987.MC algorithm is also referred to as " isosurface extraction " and calculates
Method.
As described above, the Value in voxel data occupies a byte, therefore value range is 0 ~ 255.It is raw in client
It is that the contour surface of value=128 is generated according to MC algorithm when at grid data.Ray detection method of the present invention is exactly
Based on the principle of MC algorithm, according to the Value value of voxel data, 128 contour surface is approximately equal on calculating ray with Value value
The intersection point of intersection.
Firstly, determining voxel grid of the Value value greater than 0 of ray and voxel grid intersection point in step S1.Specifically,
Step S1 includes the following steps.In step S11, the voxel grid where ray starting point is obtained；In step S12, precursor is worked as in judgement
Whether the Value value of plain grid is greater than 0, if Value value is greater than 0, carries out next step, if Value=0, is walked
Rapid S13.In step S13, continue along directions of rays towards next adjacent square stepping (being "No" in step S12), and return to step
Rapid S12.
In step S2, the quadrant according to Value value greater than 0 intersection point generates virtual grid, and obtains ray and virtual side
The inbreeding point of lattice and the Value value of outbreeding point.Specifically, step S2 includes the following steps.In step S21, according to ray and body
Half of voxel of quadrant offset locating for plain grid inbreeding point generates a virtual grid；In step S22, to current virtual grid with
Ray carries out intersection detection, obtains the Value value of its inbreeding point and outbreeding point.Wherein, 8 vertex of virtual grid are 8 respectively
A true voxel side's center of a lattice, represents 8 Value values.In the present embodiment, inbreeding point refers to ray and voxel grid
From the closer intersection point of the starting point of ray in intersection point, outbreeding point refers to the starting point in the intersection point of ray and voxel grid from ray farther out
Intersection point.
In addition, in step S22, the Value value on the vertex in the face of virtual grid according to existing for each intersection point, to inbreeding
Point carries out the Value value after planar linear interpolation obtains two intersection point interpolation respectively with outbreeding point.
In step S3, judge whether inbreeding point and outbreeding point meet rated condition.Specifically, step S3 includes following step
It is rapid: in step S31, to judge whether the Value value of outbreeding point is greater than 128；In step S32, judge inbreeding point Value value whether
Less than 128；In step S33, judge outbreeding point whether in the bounding box of current true voxel grid.If outbreeding point
Value value is greater than 128, and the Value value of inbreeding point then carries out next step less than 128；If the Value value of outbreeding point is small
In 128, and outbreeding point then continues the next virtual side of stepping according to directions of rays in the bounding box of current true voxel grid
Lattice (step S34), and return step S22；If the Value value of outbreeding point is less than 128, and outbreeding point is in current true voxel side
Outside the bounding box of lattice, then return step S13；If the Value value of outbreeding point is greater than 128, and the Value value of inbreeding point is greater than
128, then terminate to detect.
In step S4, the coordinate that Value value is equal to 128 is calculated and obtained.Specifically, in step S41, in outbreeding point and closely
The interpolation of intersection point goes out the coordinate that Value value is equal to 128.
The schematic diagram of the ray detection method of Fig. 3 to illustrate the invention.Then, with the mode of 2D plane come further detailed
The embodiment that ground illustrates the present invention.As described in Figure 3, voxel grid 311,312,313,314 is adjacent, and ray 331 is from voxel
Towards arrow direction in grid 311, intersect with voxel grid 311,312,313.In addition, by the Value of voxel grid 311,312
Value is set as 0, and the Value value of voxel grid 313 is set as 255.
Firstly, obtaining the voxel grid where 331 starting point of ray, i.e. voxel grid 311.
Then, since the Value value of voxel grid 311 is 0, continue to step to voxel grid 312；Due to voxel side
The Value value of lattice 312 is 0, therefore is further continued for stepping to voxel grid 313.
Then, since the Value value of voxel grid 313 is that 0) 255(is greater than, and ray 331 is close with voxel grid 313
Intersection point 313a is located at right upper quadrant, therefore generates virtual grid 321.Wherein 4 vertex of virtual grid 321 respectively correspond 4
True voxel grid 311,312,313,314.
Then, intersection detection is carried out with ray 331 to virtual grid 321, obtains inbreeding point 321a and outbreeding point respectively
321b.Inbreeding point 321a is located at the upside a line of virtual grid 321, therefore its Value value is voxel grid 311 and voxel side
The Value interpolation of lattice 312, since two Value values are all 0, the Value value of inbreeding point 321a is 0.In the same manner, outbreeding
Point 321b is located at left side a line, therefore its Value value is the Value interpolation of voxel grid 312 and voxel grid 313, due to
The Value value of voxel grid 312 is 0 and the Value value of voxel grid 313 is 255, it is assumed that outbreeding point 321b is located at left side
4/5 position from the top to the bottom, therefore its Value value is 204(Value=0+0.8*(255-0)).
Then, since the Value value of outbreeding point 321b is greater than 128, and it is located in voxel grid 313, inbreeding point 321a
Valure value be 0(less than 128), therefore interpolation goes out equivalent point.Equivalent point with a distance from inbreeding point 321a with outbreeding point 321b
Ratio with a distance from inbreeding point 321a is (128-0)/(204-0)=0.62.
Fig. 4 is 400 architecture diagram of ray detection system according to the present invention, as shown in figure 4, the ray based on voxel data is examined
Examining system 400 includes: data acquisition module 401, generation module 402, computing module 403 and judgment module 404.
Data acquisition module 401, obtains the voxel data including Value value of each voxel grid, and obtain ray with
The intersection point of voxel grid.
Generation module 402, the quadrant according to Value value greater than 0 intersection point generate virtual grid.Wherein, virtual grid
8 vertex be 8 true voxel side centers of a lattice respectively, represent 8 Value values.
Computing module 403 calculates the Value value of the inbreeding point and outbreeding point that take ray and virtual grid.Specifically, it counts
The Value value for calculating the vertex in the face of virtual grid according to existing for each intersection point of module 403 carries out with outbreeding point inbreeding point flat
Area linear interpolation obtains the Value value after two intersection point interpolation respectively.
Judgment module 404, judges whether inbreeding point and outbreeding point meet rated condition.If the Value value of outbreeding point
Greater than 128, and the Value value of inbreeding point less than 128, then computing module 403 passes through according to outbreeding point and the Value value of inbreeding point
Interpolation calculation simultaneously obtains the coordinate that Value value is equal to 128, specifically, goes out Value value in the interpolation of outbreeding point and inbreeding point
Coordinate equal to 128；If the Value value of outbreeding point is less than 128, and outbreeding point is in the bounding box of current true voxel grid
Interior, then data acquisition module 401 continues the next virtual grid of stepping according to directions of rays, and the calculating of computing module 403 is penetrated
The Value value of the intersection point of line and next virtual grid, and be sent to judgment module 404 and judged；If outbreeding point
Value value is less than 128, and outbreeding point outside the bounding box of current true voxel grid, then return module 401 obtains ray under
The intersection point of one voxel grid, and continue to detect；If the Value value of outbreeding point is greater than 128, and the Value of inbreeding point
Value is greater than 128, then terminates to detect.
According to the present embodiment, according to the Value value of each voxel grid, ray detection is carried out by MC method.It therefore, can be fast
Speed accurately carries out ray detection.
According to the present embodiment, the calculating of Value value is carried out by planar linear interpolation.It therefore, being capable of planar linear interpolation.
Those of ordinary skill in the art will appreciate that: the foregoing is only a preferred embodiment of the present invention, and does not have to
In the limitation present invention, although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art
For, still can to foregoing embodiments record technical solution modify, or to part of technical characteristic into
Row equivalent replacement.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of ray detection method based on voxel data, comprising the following steps:
1) the voxel grid where ray starting point is obtained, determines voxel side of the Value value greater than 0 of ray and voxel grid intersection point
Lattice；
2) virtual grid is generated greater than quadrant locating for 0 intersection point according to Value value, and obtains the inbreeding of ray Yu virtual grid
The Value value of point and outbreeding point；
3) judge whether inbreeding point and outbreeding point meet rated condition；
4) calculate and obtain the coordinate that Value value is equal to 128.
2. the ray detection method according to claim 1 based on voxel data, which is characterized in that the step 1), into
One step includes:
If the Value value of current voxel grid is 0, continue along directions of rays towards next adjacent square stepping.
3. the ray detection method according to claim 1 based on voxel data, which is characterized in that the step 2, into
One step includes:
A virtual grid is generated according to half of voxel of quadrant offset locating for ray and voxel grid inbreeding point；
Intersection detection is carried out to current virtual grid and ray, obtains the Value value of its inbreeding point and outbreeding point.
4. the ray detection method according to claim 3 based on voxel data, which is characterized in that described to current virtual
The step of grid and ray carry out intersection detection, obtain the Value value of its inbreeding point and outbreeding point further comprises:
The Value value on the vertex in the face of virtual grid according to existing for each intersection point carries out planar line to inbreeding point and outbreeding point
Property interpolation obtains the Value value after two intersection point interpolation respectively, wherein
8 vertex of virtual grid are 8 true voxel side centers of a lattice respectively, represent 8 Value values.
5. the ray detection method according to claim 1 based on voxel data, which is characterized in that the step 3), into
One step includes:
Judge whether the Value value of outbreeding point is greater than 128；
Judge the Value value of inbreeding point whether less than 128；
If the Value value of outbreeding point is greater than 128, and the Value value of inbreeding point then carries out next step less than 128；If remote
The Value value of intersection point is less than 128, and outbreeding point then continues according to directions of rays in the bounding box of current true voxel grid
The next virtual grid of stepping, and return to previous step；If the Value value of outbreeding point is less than 128, and outbreeding point is current true
Outside the bounding box of entity element grid, then voxel grid of the Value value greater than 0 of the determining ray and voxel grid intersection point is returned
The step of；If the Value value of outbreeding point is greater than 128, and the Value value of inbreeding point is greater than 128, then terminates to detect.
6. the ray detection method according to claim 1 based on voxel data, which is characterized in that the step 4), into
One step includes:
Go out the coordinate that Value value is equal to 128 in the interpolation of outbreeding point and inbreeding point.
7. a kind of ray detection system based on voxel data characterized by comprising
Data acquisition module, obtains the voxel data including Value value of each voxel grid, and obtains ray and voxel grid
Intersection point；
Generation module, the quadrant according to Value value greater than 0 intersection point generate virtual grid；
Computing module calculates the Value value of the inbreeding point and outbreeding point that take ray and virtual grid；
Judgment module, judges whether inbreeding point and outbreeding point meet rated condition, if meeting rated condition, the calculating
Module passes through interpolation calculation according to the Value value of outbreeding point and inbreeding point and obtains the coordinate that Value value is equal to 128.
8. the ray detection system according to claim 7 based on voxel data, which is characterized in that
8 vertex of virtual grid are 8 true voxel side centers of a lattice respectively, represent 8 Value values,
The Value value on computing module vertex in the face of virtual grid according to existing for each intersection point, to inbreeding point and outbreeding
Point carries out planar linear interpolation and obtains the Value value after two intersection point interpolation respectively.
9. the ray detection system according to claim 7 based on voxel data, which is characterized in that the rated condition is
The Value value of outbreeding point is greater than 128, and the Value value of inbreeding point is less than 128.
10. the ray detection system according to claim 7 based on voxel data, which is characterized in that the computing module
Go out the coordinate that Value value is equal to 128 in the interpolation of outbreeding point and inbreeding point.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111921202A (en) * | 2020-09-16 | 2020-11-13 | 成都完美天智游科技有限公司 | Data processing method, device and equipment for virtual scene and readable storage medium |
| CN116027341A (en) * | 2021-10-25 | 2023-04-28 | 珠海一微半导体股份有限公司 | Grid and voxel positioning method based on laser observation direction, robot and chip |
| CN116954265A (en) * | 2023-09-20 | 2023-10-27 | 天津云圣智能科技有限责任公司 | Method and device for rescheduling local motion trail and electronic equipment |
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| CN103529959A (en) * | 2013-01-21 | 2014-01-22 | Tcl集团股份有限公司 | Border covering method and system based on key point ray collision detection and electronic device |
| CN107300645A (en) * | 2017-06-06 | 2017-10-27 | 华中科技大学 | A kind of quick ray-tracing procedure and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103529959A (en) * | 2013-01-21 | 2014-01-22 | Tcl集团股份有限公司 | Border covering method and system based on key point ray collision detection and electronic device |
| CN107300645A (en) * | 2017-06-06 | 2017-10-27 | 华中科技大学 | A kind of quick ray-tracing procedure and system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111921202A (en) * | 2020-09-16 | 2020-11-13 | 成都完美天智游科技有限公司 | Data processing method, device and equipment for virtual scene and readable storage medium |
| CN116027341A (en) * | 2021-10-25 | 2023-04-28 | 珠海一微半导体股份有限公司 | Grid and voxel positioning method based on laser observation direction, robot and chip |
| WO2023071377A1 (en) * | 2021-10-25 | 2023-05-04 | 珠海一微半导体股份有限公司 | Grid and voxel positioning methods based on laser observation direction, robot, and chip |
| CN116027341B (en) * | 2021-10-25 | 2024-05-03 | 珠海一微半导体股份有限公司 | Grid and voxel positioning method based on laser observation direction, robot and chip |
| CN116954265A (en) * | 2023-09-20 | 2023-10-27 | 天津云圣智能科技有限责任公司 | Method and device for rescheduling local motion trail and electronic equipment |
| CN116954265B (en) * | 2023-09-20 | 2023-12-05 | 天津云圣智能科技有限责任公司 | Method and device for rescheduling local motion trail and electronic equipment |
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Denomination of invention: A method and system of ray detection based on voxel data Effective date of registration: 20221217 Granted publication date: 20220715 Pledgee: Agricultural Bank of China Limited Suzhou Industrial Park sub branch Pledgor: Suzhou Snail Digital Technology Co.,Ltd. Registration number: Y2022320010815 |