VV-Ocean海洋环境仿真与海洋数据动态可视化系统的研究与实现
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摘要
随着“数字海洋”一步步地深入研究,人们亟需采用先进的计算机虚拟现实与可视化手段给参与者提供逼真的感受,并直观地揭示海洋信息中隐藏的各种规律。本文基于VC++、OpenGL和GPU创建海洋水体3D渲染引擎,综合对海洋环境中地形、水体及模型等各种可见要素进行3D虚拟,同时研究各种真实的海洋监测和遥感数据在虚拟环境中进行可视化的方法,在此基础上研发实现面向海洋的虚拟现实与可视化系统—VV-Ocean(Ocean Oriented Virtual Reality and Visualization System)。在空间上,VV-Ocean可以实现城市、极地和全球范围的虚拟环境表达和交互性地理信息空间分析与可视化展示。论文的主要内容如下:
(1)海陆地形的数据组织与绘制研究
本文以多尺度地形绘制的研究为基础。针对局部小范围平面地形渲染,本文对传统的四叉树方法和最新的Geometry Clipmap方法进行分析比较与选择。针对南北两极区域以及全球性区域分别提出了数据重采样与坐标变换算法,采用Geometry Clipmap的手段取得了很好的效果和效率,同时能方便地进行地形坐标查询和交互漫游。
(2)海洋环境的高逼真度实时渲染研究
本文研究的核心是虚拟海洋环境的渲染。通过顶点纹理、法线纹理、反射纹理、刻蚀纹理和GPU像素着色编程实现仿真水面、反射折射光照、实时反射倒影、刻蚀叠加等水上及水下动态渲染效果;利用三维建模、透明贴图、粒子系统等方法模拟海底空间效果,对光线、雾效、气泡等进行实时渲染;同时,对虚拟鱼类进行路径规划和避障处理,最终构造一个丰富逼真的海洋环境。
(3)虚拟海洋环境中真实数据的多维动态可视化研究
数据是分析、研究、预测各种海洋属性与现象的基础。本论文的研究特色在于将海洋三维虚拟场景与数据可视化集成到一起,按需要在虚拟场景中进行有效展示。将海洋表面数据的可视化与海洋水面的仿真进行一体融合,将海洋水体数据在虚拟海洋场景中用点、线、面、体等形式展示,还可以将可视化结果按时间顺序动态播放出来,同时并提供了单独可视化展示窗口。系统整体上结合了虚拟现实的实时交互性与可视化的直观规律性等特点,能够为海洋科研和工作人员对相关的数据和现象进行描述、分析、预测提供虚拟支持。
(4)面向海陆一体仿真的系统集成技术研究
结合已有面向陆地城市3D仿真的VRGIS平台,进行技术集成创新,将VV-Ocean技术集成并应用于海陆景观一体化虚拟现实平台的建设,对水体渲染引擎插件式软件集成、水域可控性灵活编辑等海陆一体虚拟现实技术进行研究,实现三维海陆直观可视环境下的空间分析、实时查询、虚拟展示。
本文着重研究多尺度海陆地形的高速绘制和各种海洋动态水体要素的一体化渲染,并探索真实海洋数据多维动态可视化的方法,主要创新点有:
(1)提出多尺度海陆地形均采样变换方法与叠加显示的“镶嵌”算法
将地形数据均采样变换流程与绘制流程分离,针对极地区域范围和全球区域范围的地形绘制提出数据重采样和坐标映射算法实现对不同纬度地区的近似均匀采样,借助Geometry Clipmap手段实现海滨城市平面地形、极地区域平面地形以及全球区域球面地形的实时绘制。所采用的数据组织与坐标映射算法能快速地完成正向、逆向坐标映射,且与所采用的地形渲染流程分离,是将平面局部地形绘制扩展到半球、全球区域地形绘制的有效方法。在多尺度地形绘制基础上,研究并创新性地提出任意形状的局部地形“镶嵌”显示在全球球面地形上的算法。
(2)构建基于纹理的海洋动态水体3D高效渲染引擎
本文分析水面波动、光照、碰撞等物理模型的特点,构建专门对水面、水上水下光照、实时反射、光线、气泡、鱼类进行一体渲染的海洋水体3D渲染引擎,广泛采用动态顶点纹理、动态法线纹理、动态刻蚀纹理以及实时反射纹理来高效渲染海洋特效,极大地利用GPU纹理高速缓冲存储器,发挥GPU加速渲染的效能。该引擎能解决一系列海洋虚拟现实所特有的问题,包括水面动态光照、实时反射,虚拟鱼类的路径规划,水体环境复杂的碰撞检测,水底刻蚀效果的叠加等。
(3)提出海表真实数据4D可视化与海面动态仿真的GPU融合算法
改进仿真水面的网格分布模型,创新性地基于同一套水面网格模型将海表真实标量数据,尤其是MSLA数据在经度、纬度、高度以及时间维上的4D可视化与实时仿真水面的渲染通过GPU顶点程序进行水面顶点位置的融合,通过GPU片段程序进行输出色彩的融合;一方面能动态表达仿真的海表面,另一方面能直观展示真实数据在海表面上的分布与变化规律。这是将真实数据的可视化与环境的虚拟进行紧密结合的具体有效实践。
With the rapid development of“Digital Ocean”, there are higher demands for the virtual of true feeling environments and the reveal of the rules hidden in massive marine data. In VV-Ocean (Ocean Oriented Virtual Reality and Visualization System), all kinds of land-sea terrains can be rendered, besides, a waterbody rendering engine is established to render all kinds of waterbody elements in 3D space. At the same time, a variety of ocean monitoring and remote sensing data is expressed intuitively in the virtual environment. For regional, hemispherical, and global areas, roaming anywhere at any angle of view and geospatial analysis are interactively obtained and dynamically presented. Main works are:
(1) Research on data organization and rendering methods of all kinds of land-sea terrains
The foundation of this research is the rendering of multi-scale land-sea terrain. The traditional quadtree method and the latest Geometry Clipmap method are separately used to express surface topography; by contrast, the latter one is selected for the rendering of urban area. Transformation and data organization strategies are separately proposed for both hemispheric area and global area which are rendered through Geometry Clipmap way. On the one hand, satisfying efficiencies and effectivenesses could be achieved; on the other hand, coordinates query and profile analysis can be implemented on all kinds of virtual terrains.
(2) Research on the real-time rendering of highly realistic marine environment
The core of this research is the real-time rendering of realistic marine environment. Dynamic water surface are simulated in real time based on GPU vertex textures created by continuous height maps; dynamic lighting, real-time reflections and caustics are created through normal textures, reflected textures and caustic textures which are sampled in GPU pixel shaders. Three-dimensional modeling, transparent mapping and particle system are used to produce rays, fog and bubbles in the submarine space; at the same time, path planning and obstacle avoidance methods are designed to drive the virtual fish. All of the elements above comprise rich and realistic virtual marine scenes.
(3) Research on dynamic visualization of multi-dimensional marine data in the virtual environment
Real data is the basis of analyzing, investigating, and predicting ocean properties and phenomena. The characteristic feature of this research is seamless integration of virtual reality technology and visualization technology. In VV-Ocean system, visualization works of sea surface data are combined with sea water rendering, waterbody data are displayed in the form of point rendering, line rendering, surface rendering and volume rendering. Furthermore, dynamic broadcasting of continuous data in the time dimension could be executed as needed, and a separate window is provided as needed for the output of visualization results. The system has integrated the interactive characteristic of virtual reality technology and intuitive characteristic of visualization technology, and it may assist the ocean related researchers and experts in depicting, understanding, and forecasting marine data and phenomena in the virtual environment.
(4) Research on system integration technologies of land-sea oriented virtual reality platform
On the basis of urban simulation oriented VRGIS platform, a land-sea oriented platform is developed relying on the integrating of VV-Ocean technologies. Waterbody rendering is encapsulated as a plug-in and water areas can be edited easily in the integrated platform. At last, land-sea oriented geospatial analysis, interactive query, and random wandering can be carried out in the virtual land-sea environment.
Several effective practice are done during the process of my work, including rapid rendering of multi-scale terrains, comprehensive displaying of dynamic submarine scenes in a 3D rendering engine of waterbody, and intuitive expression of multi-dimensional marine data. Main innovative aspects are:
(1) Uniform sampling methods and mosaic display algorithm of multi-scale land-sea terrains
The uniform sampling work flow and rendering flow are separated, and different rendering methods are provided for areas of different scale. For the rendering of hemispheric scale and world scale terrains, data organization and transformation methods are separately provided. At last, not only spherical tarrain of global scale, but also flat terrains of both urban and polar scale could be rendered in real time by means of Geometry Clipmap. For all kinds of terrains, it is easy to do coordinate querying, camera positioning, and interactive roaming with the help of forward and backward coordinate mappings. In addition, an algorithm of mosaic display of local terrain in the global spherical terrain is proposed.
(2) Construction of texture based 3D rendering engine for dynamic marine waterbody
Considering physical characteristic of wave, light, and collision, a marine waterbody 3D engine is established to deal with the rendering of lighting effects, real time reflections, rays, bubbles, fish, etc. To make full use of the GPU texture cache and explore the accelerateon ability of GPU rendering, dynamic vertex textures, normal textures, caustic textures and reflection texture are widely used for all kinds of ocean effects. The waterbody 3D engine solves a series of ocean related virtual reality problems, such as dynamic lighting effects, real time reflections, path planning of the virtual fish, complex collisions in the submarine space, mixture of caustics effects and so on.
(3) Seamless fusion of 4D visualization works and realistic water rendering through GPU programming
The model and work flow of simulated water is improved for the visualization of sea surface data. Sea surface data (especially MSLA data) is visualized in the longitude dimension, the latitude dimension, the altitude dimension, and the time dimension using the same mesh that is used for the rendering of simulated water. To switch between visualization work and simulation work with flexibility, the positions of the vertices are manipulated by one GPU vertex program, and the colors output are manipulated by one GPU fragment program. One the one hand, the dynamic water surface could be displayed; on the other hand, the distribution and rule of marine data could be expressed intuitively. This is specific and effective practice in combining the real data based visualization work with 3D simulation work.
(1)海陆地形的数据组织与绘制研究
本文以多尺度地形绘制的研究为基础。针对局部小范围平面地形渲染,本文对传统的四叉树方法和最新的Geometry Clipmap方法进行分析比较与选择。针对南北两极区域以及全球性区域分别提出了数据重采样与坐标变换算法,采用Geometry Clipmap的手段取得了很好的效果和效率,同时能方便地进行地形坐标查询和交互漫游。
(2)海洋环境的高逼真度实时渲染研究
本文研究的核心是虚拟海洋环境的渲染。通过顶点纹理、法线纹理、反射纹理、刻蚀纹理和GPU像素着色编程实现仿真水面、反射折射光照、实时反射倒影、刻蚀叠加等水上及水下动态渲染效果;利用三维建模、透明贴图、粒子系统等方法模拟海底空间效果,对光线、雾效、气泡等进行实时渲染;同时,对虚拟鱼类进行路径规划和避障处理,最终构造一个丰富逼真的海洋环境。
(3)虚拟海洋环境中真实数据的多维动态可视化研究
数据是分析、研究、预测各种海洋属性与现象的基础。本论文的研究特色在于将海洋三维虚拟场景与数据可视化集成到一起,按需要在虚拟场景中进行有效展示。将海洋表面数据的可视化与海洋水面的仿真进行一体融合,将海洋水体数据在虚拟海洋场景中用点、线、面、体等形式展示,还可以将可视化结果按时间顺序动态播放出来,同时并提供了单独可视化展示窗口。系统整体上结合了虚拟现实的实时交互性与可视化的直观规律性等特点,能够为海洋科研和工作人员对相关的数据和现象进行描述、分析、预测提供虚拟支持。
(4)面向海陆一体仿真的系统集成技术研究
结合已有面向陆地城市3D仿真的VRGIS平台,进行技术集成创新,将VV-Ocean技术集成并应用于海陆景观一体化虚拟现实平台的建设,对水体渲染引擎插件式软件集成、水域可控性灵活编辑等海陆一体虚拟现实技术进行研究,实现三维海陆直观可视环境下的空间分析、实时查询、虚拟展示。
本文着重研究多尺度海陆地形的高速绘制和各种海洋动态水体要素的一体化渲染,并探索真实海洋数据多维动态可视化的方法,主要创新点有:
(1)提出多尺度海陆地形均采样变换方法与叠加显示的“镶嵌”算法
将地形数据均采样变换流程与绘制流程分离,针对极地区域范围和全球区域范围的地形绘制提出数据重采样和坐标映射算法实现对不同纬度地区的近似均匀采样,借助Geometry Clipmap手段实现海滨城市平面地形、极地区域平面地形以及全球区域球面地形的实时绘制。所采用的数据组织与坐标映射算法能快速地完成正向、逆向坐标映射,且与所采用的地形渲染流程分离,是将平面局部地形绘制扩展到半球、全球区域地形绘制的有效方法。在多尺度地形绘制基础上,研究并创新性地提出任意形状的局部地形“镶嵌”显示在全球球面地形上的算法。
(2)构建基于纹理的海洋动态水体3D高效渲染引擎
本文分析水面波动、光照、碰撞等物理模型的特点,构建专门对水面、水上水下光照、实时反射、光线、气泡、鱼类进行一体渲染的海洋水体3D渲染引擎,广泛采用动态顶点纹理、动态法线纹理、动态刻蚀纹理以及实时反射纹理来高效渲染海洋特效,极大地利用GPU纹理高速缓冲存储器,发挥GPU加速渲染的效能。该引擎能解决一系列海洋虚拟现实所特有的问题,包括水面动态光照、实时反射,虚拟鱼类的路径规划,水体环境复杂的碰撞检测,水底刻蚀效果的叠加等。
(3)提出海表真实数据4D可视化与海面动态仿真的GPU融合算法
改进仿真水面的网格分布模型,创新性地基于同一套水面网格模型将海表真实标量数据,尤其是MSLA数据在经度、纬度、高度以及时间维上的4D可视化与实时仿真水面的渲染通过GPU顶点程序进行水面顶点位置的融合,通过GPU片段程序进行输出色彩的融合;一方面能动态表达仿真的海表面,另一方面能直观展示真实数据在海表面上的分布与变化规律。这是将真实数据的可视化与环境的虚拟进行紧密结合的具体有效实践。
With the rapid development of“Digital Ocean”, there are higher demands for the virtual of true feeling environments and the reveal of the rules hidden in massive marine data. In VV-Ocean (Ocean Oriented Virtual Reality and Visualization System), all kinds of land-sea terrains can be rendered, besides, a waterbody rendering engine is established to render all kinds of waterbody elements in 3D space. At the same time, a variety of ocean monitoring and remote sensing data is expressed intuitively in the virtual environment. For regional, hemispherical, and global areas, roaming anywhere at any angle of view and geospatial analysis are interactively obtained and dynamically presented. Main works are:
(1) Research on data organization and rendering methods of all kinds of land-sea terrains
The foundation of this research is the rendering of multi-scale land-sea terrain. The traditional quadtree method and the latest Geometry Clipmap method are separately used to express surface topography; by contrast, the latter one is selected for the rendering of urban area. Transformation and data organization strategies are separately proposed for both hemispheric area and global area which are rendered through Geometry Clipmap way. On the one hand, satisfying efficiencies and effectivenesses could be achieved; on the other hand, coordinates query and profile analysis can be implemented on all kinds of virtual terrains.
(2) Research on the real-time rendering of highly realistic marine environment
The core of this research is the real-time rendering of realistic marine environment. Dynamic water surface are simulated in real time based on GPU vertex textures created by continuous height maps; dynamic lighting, real-time reflections and caustics are created through normal textures, reflected textures and caustic textures which are sampled in GPU pixel shaders. Three-dimensional modeling, transparent mapping and particle system are used to produce rays, fog and bubbles in the submarine space; at the same time, path planning and obstacle avoidance methods are designed to drive the virtual fish. All of the elements above comprise rich and realistic virtual marine scenes.
(3) Research on dynamic visualization of multi-dimensional marine data in the virtual environment
Real data is the basis of analyzing, investigating, and predicting ocean properties and phenomena. The characteristic feature of this research is seamless integration of virtual reality technology and visualization technology. In VV-Ocean system, visualization works of sea surface data are combined with sea water rendering, waterbody data are displayed in the form of point rendering, line rendering, surface rendering and volume rendering. Furthermore, dynamic broadcasting of continuous data in the time dimension could be executed as needed, and a separate window is provided as needed for the output of visualization results. The system has integrated the interactive characteristic of virtual reality technology and intuitive characteristic of visualization technology, and it may assist the ocean related researchers and experts in depicting, understanding, and forecasting marine data and phenomena in the virtual environment.
(4) Research on system integration technologies of land-sea oriented virtual reality platform
On the basis of urban simulation oriented VRGIS platform, a land-sea oriented platform is developed relying on the integrating of VV-Ocean technologies. Waterbody rendering is encapsulated as a plug-in and water areas can be edited easily in the integrated platform. At last, land-sea oriented geospatial analysis, interactive query, and random wandering can be carried out in the virtual land-sea environment.
Several effective practice are done during the process of my work, including rapid rendering of multi-scale terrains, comprehensive displaying of dynamic submarine scenes in a 3D rendering engine of waterbody, and intuitive expression of multi-dimensional marine data. Main innovative aspects are:
(1) Uniform sampling methods and mosaic display algorithm of multi-scale land-sea terrains
The uniform sampling work flow and rendering flow are separated, and different rendering methods are provided for areas of different scale. For the rendering of hemispheric scale and world scale terrains, data organization and transformation methods are separately provided. At last, not only spherical tarrain of global scale, but also flat terrains of both urban and polar scale could be rendered in real time by means of Geometry Clipmap. For all kinds of terrains, it is easy to do coordinate querying, camera positioning, and interactive roaming with the help of forward and backward coordinate mappings. In addition, an algorithm of mosaic display of local terrain in the global spherical terrain is proposed.
(2) Construction of texture based 3D rendering engine for dynamic marine waterbody
Considering physical characteristic of wave, light, and collision, a marine waterbody 3D engine is established to deal with the rendering of lighting effects, real time reflections, rays, bubbles, fish, etc. To make full use of the GPU texture cache and explore the accelerateon ability of GPU rendering, dynamic vertex textures, normal textures, caustic textures and reflection texture are widely used for all kinds of ocean effects. The waterbody 3D engine solves a series of ocean related virtual reality problems, such as dynamic lighting effects, real time reflections, path planning of the virtual fish, complex collisions in the submarine space, mixture of caustics effects and so on.
(3) Seamless fusion of 4D visualization works and realistic water rendering through GPU programming
The model and work flow of simulated water is improved for the visualization of sea surface data. Sea surface data (especially MSLA data) is visualized in the longitude dimension, the latitude dimension, the altitude dimension, and the time dimension using the same mesh that is used for the rendering of simulated water. To switch between visualization work and simulation work with flexibility, the positions of the vertices are manipulated by one GPU vertex program, and the colors output are manipulated by one GPU fragment program. One the one hand, the dynamic water surface could be displayed; on the other hand, the distribution and rule of marine data could be expressed intuitively. This is specific and effective practice in combining the real data based visualization work with 3D simulation work.
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