A new approach for real-time imaging from laser beam to complex targets
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摘要: 针对激光雷达探测中复杂目标姿态获取困难、目标与光斑真实耦合情况难获取等问题，提出了一种基于GPU编程的激光束照射复杂目标图像实时生成新方法。基于现代图形硬件的GPU编程技术和帧缓存对象特性，该算法以每个平面光源矩阵为观察者，在光源空间坐标系中渲染当前场景并将渲染结果记录到内存纹理中，然后在世界坐标中将光源观察到的结果复原和映射到模型上，可以实现实时映射渲染。采用深度缓存原理、纹理映射原理和OSG文件读写插件，即可正确获取模型每个三角面片顶点上的光源辐照度、顶点位置及面片法线等信息。经测试，该算法普适性强、能够读取多种格式三维文件，适应于均匀或非均匀面光源，对系统图形硬件的要求很低，能够满足两个面光源准实时性计算需求，可以准实时得到模型被照射面片所属部件、被照射三角面片顶点、法线信息以及三角面片顶点接收到的辐照强度值。该算法可为激光照明、识别探测等提供参考和依据。Abstract: Target detection by lidar is challenging due to the difficulty in obtaining the complex attitude of targets and capturing the real coincidence between target and facula. To address this problem, in this paper, a real-time mapping method of laser beam to complex targets based on GPU programming is proposed. By taking advantages of modern graphics hardware with respect to GPU programming technology and frame buffer object merit, the proposed approach takes each surface light source matrix as the observer, renders the current scene in the light source spatial coordinate system, and records the rendering results into the memory texture. To realize real-time mapping and rendering, the results observed by the light source in the world coordinates are restored and mapped to the model. Based on deep cache principle of Zbuffer and texture mapping principle, the model information (e.g., light source irradiance, vertex position and patch normal on the vertex of each triangular patch) can be correctly obtained with virtue OSG file reading-writing plug-in. Extensive experiments demonstrate the strong universality of the proposed algorithm. It is powerful in reading three-dimension files of various formats and is suitable for uniform or non-uniform surface light sources. It meets the quasi real-time computational requirements of two surface light sources with low requirements on system graphics hardware. Various model information could be acquired in quasi real-time, e.g., the components of the illuminated surface piece, the vertices of the illuminated triangular surface, the normal information and the irradiation intensity received by the vertex of the triangular patch. The algorithm is novel in providing reference and basis for laser illumination, recognition and detection.
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Key words:
- frame buffer object /
- deep cache /
- surface light source /
- complex target /
- real-time mapping
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表 1 光源类输入输出约定
Table 1. Description of input and output about light source class
No. name description data type 1 lightPos light position input/vec3 2 lightDir light direction input/vec3 3 lightUp light waggling direction Input/vec3 4 lightSize light size input/vec2 5 lightDataW width of light data Input/int 6 lightDataH height of light data input/int 7 lightID light ID input/int 8 lightMaxAttenuation the farthest distance the light source can reach input/double 9 lightData light data input/W*H 10 lightSpaceImage rendering results in the light source spatial coordinate system output/numerical matrix 
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表 2 三角面片上辐照度信息
Table 2. Irradiance information on triangular patches
part name x/m y/m z/m x/m y/m z/m x/m y/m z/m x/m y/m z/m energy/
(μW·m−2)first vertex second vertex third vertex identity normal of a triangle cylinder1 0.1736 0.12 0.9848 0.0872 0.12 0.9962 0.0872 0.00 0.9962 0.1305 0.00 0.9914 132867.00 cylinder1 0.0872 0.12 0.9962 0.0000 0.00 1.0000 0.0872 0.00 0.9962 0.0436 0.00 0.9990 132867.00 box4 0.0500 0.20 2.0800 0.0500 0.20 2.2000 0.0500 0.00 2.2000 1.0000 0.00 0.0000 111684.00 box4 0.0000 0.20 2.2000 0.0000 0.00 2.2000 0.0500 0.00 2.2000 0.0000 0.00 1.0000 111684.00 box4 −0.0500 0.20 2.2000 −0.0500 0.00 2.2000 0.0000 0.00 2.2000 0.0000 0.00 1.0000 16894.30 cylinder1 0.0872 0.48 0.9962 0.0000 0.48 1.0000 0.0000 0.36 1.0000 0.0436 0.00 0.9990 14565.00 cylinder1 0.0000 0.48 1.0000 −0.0872 0.36 0.9962 0.0000 0.36 1.0000 −0.0436 0.00 0.9990 14565.00 box4 −0.0500 0.20 2.0800 −0.0500 0.00 2.0800 −0.0500 0.00 2.2000 −1.0000 0.00 0.0000 14203.50 box4 0.0000 −0.20 2.2000 0.0000 0.00 2.2000 −0.0500 0.00 2.2000 0.0000 0.00 1.0000 14203.50 box4 −0.0500 0.40 2.0800 −0.0500 0.20 2.0800 −0.0500 0.20 2.2000 −1.0000 0.00 0.0000 14148.40
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