Marine environment three-dimensional data rendering method

Abstract

The invention discloses a marine environment three-dimensional data rendering method, which comprises the following steps of: obtaining initial three-dimensional data of a marine environment, and performing grid mapping on the initial three-dimensional data to obtain a three-dimensional grid model; acquiring scene data of a marine environment, and rendering the scene data to the three-dimensional grid model to obtain a three-dimensional complete model; obtaining user interaction information, and converting the three-dimensional complete model according to the user interaction information to obtain a converted three-dimensional complete model; and processing each three-dimensional object in the converted three-dimensional complete model through a preset data processing algorithm, and displaying the processed three-dimensional complete model by using a visualization tool to obtain a corresponding rendered image. According to the method, real-time three-dimensional rendering is performed through scene modeling, projection transformation, blanking and clipping algorithms in combination with multi-source marine environment data, so that the rendering performance and the utilization of computing resources are remarkably optimized, and the interactivity with users and the data analysis capability are enhanced.

Description

Technical Field

[0001] The present invention relates to the field of information processing technology, and in particular to a method for rendering three-dimensional data of an ocean environment. Background Art

[0002] With the rapid development of geospatial informatics, the application areas of spatial information have expanded from professional disciplines such as geography, oceanography, and environment to the broader field of earth system science. The means of data acquisition have continued to mature and develop, resulting in an increasing demand for spatial big data.

[0003] Existing technologies for processing spatial big data often rely on a single data source, such as satellite remote sensing or buoy observations, which leads to incomplete information and insufficient accuracy, making it difficult to fully reflect complex changes in the ocean environment. Secondly, existing 3D data rendering methods are mostly based on less efficient rendering engines, which cannot achieve real-time high-quality display. Especially when processing large-scale data, rendering performance and user interaction experience are obviously insufficient. In addition, existing technologies directly render based on 3D data, resulting in waste of computing resources and low efficiency during the rendering process. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a method and system for rendering three-dimensional data of an ocean environment.

[0005] According to a first aspect of the present invention, a method for rendering three-dimensional data of an ocean environment comprises:

[0006] Acquire initial three-dimensional data of the ocean environment, and perform grid mapping on the initial three-dimensional data to obtain a three-dimensional grid model;

[0007] Acquiring scene data of the ocean environment, and rendering the scene data to the three-dimensional grid model to obtain a three-dimensional complete model;

[0008] Acquiring user interaction information, and converting the three-dimensional complete model according to the user interaction information to obtain a converted three-dimensional complete model;

[0009] Each three-dimensional object in the converted three-dimensional complete model is processed by a preset data processing algorithm, and the processed three-dimensional complete model is displayed using a visualization tool to obtain a corresponding rendered image.

[0010] The method for rendering three-dimensional data of an ocean environment according to an embodiment of the present invention has at least the following beneficial effects:

[0011] The method obtains the initial three-dimensional data of the ocean environment and performs grid mapping on the initial three-dimensional data to obtain a three-dimensional grid model; obtains the scene data of the ocean environment and renders the scene data to the three-dimensional grid model to obtain a three-dimensional complete model; obtains user interaction information and converts the three-dimensional complete model according to the user interaction information to obtain a converted three-dimensional complete model; processes each three-dimensional object in the converted three-dimensional complete model by a preset data processing algorithm, and displays the processed three-dimensional complete model by using a visualization tool to obtain a corresponding rendered image. The method performs real-time three-dimensional rendering by combining multi-source ocean environment data through scene modeling, projection transformation, hidden removal and clipping algorithms, which significantly optimizes rendering performance and computing resource utilization, and enhances user interactivity and data analysis capabilities.

[0012] According to some embodiments of the present invention, grid mapping the initial three-dimensional data includes:

[0013] Dividing the corresponding ocean space according to the initial three-dimensional data to obtain a plurality of grid units;

[0014] Preprocessing the initial three-dimensional data to obtain processed three-dimensional data;

[0015] According to each of the grid units, the processed three-dimensional data is network mapped using an interpolation method to obtain a three-dimensional grid model.

[0016] According to some embodiments of the present invention, rendering the scene data to the three-dimensional mesh model comprises:

[0017] Defining a three-dimensional model corresponding to the scene data according to the scene data;

[0018] Rendering the three-dimensional model of each of the scene data to the three-dimensional mesh model.

[0019] According to some embodiments of the present invention, the user interaction information includes an image selection instruction, and after rendering the scene data to the three-dimensional mesh model to obtain a three-dimensional complete model, the method further includes:

[0020] Determine a model coordinate type according to the image selection instruction, wherein the model coordinate type includes two-dimensional coordinates and three-dimensional coordinates;

[0021] The three-dimensional complete model is converted into a model corresponding to the model coordinate type using a coordinate conversion algorithm.

[0022] According to some embodiments of the present invention, converting the three-dimensional complete model according to the user interaction information includes:

[0023] confirming a user coordinate system according to the user interaction information;

[0024] The three-dimensional complete model is transformed into the user coordinate system.

[0025] According to some embodiments of the present invention, the processing of each three-dimensional object in the converted three-dimensional complete model by using a preset data processing algorithm includes:

[0026] Performing a hidden process on each three-dimensional object in the converted three-dimensional complete model according to a hidden process algorithm to obtain a three-dimensional complete model after hidden process;

[0027] The three-dimensional complete model after the hidden part is removed is clipped by using a clipping algorithm to obtain a processed three-dimensional complete model.

[0028] According to some embodiments of the present invention, the user interaction information includes a user operation instruction, and after the processed three-dimensional complete model is displayed using a visualization tool to obtain a corresponding rendering, the method further includes:

[0029] When the user operation instruction is received, a corresponding image operation is performed on the rendering according to the user operation instruction, wherein the user operation instruction includes at least one of zooming in on an image, zooming out on an image, and translating an image.

[0030] According to a second aspect of an embodiment of the present invention, a system for rendering three-dimensional data of an ocean environment comprises:

[0031] A calculation module, used for acquiring initial three-dimensional data of the ocean environment, and performing grid mapping on the initial three-dimensional data to obtain a three-dimensional grid model;

[0032] A rendering module, used to obtain scene data of the ocean environment, and render the scene data to the three-dimensional grid model to obtain a three-dimensional complete model;

[0033] A conversion module, used to obtain user interaction information, and convert the three-dimensional complete model according to the user interaction information to obtain a converted three-dimensional complete model;

[0034] The processing module is used to process each three-dimensional object in the converted three-dimensional complete model through a preset data processing algorithm, and to display the processed three-dimensional complete model using a visualization tool to obtain a corresponding rendered image.

[0035] According to an embodiment of the third aspect of the present invention, an electronic device includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the above-mentioned ocean environment three-dimensional data rendering method.

[0036] According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned method for rendering three-dimensional data of an ocean environment.

[0037] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0039] Figure 1 It is a flow chart of a method for rendering three-dimensional data of an ocean environment provided by an embodiment of the present invention;

[0040] Figure 2 It is a logic flow chart provided by an embodiment of the present invention;

[0041] Figure 3 It is a structural schematic diagram of a marine environment three-dimensional data rendering system provided by an embodiment of the present invention;

[0042] Figure 4 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0044] In the description of the present invention, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0045] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0046] In the description of the present invention, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0047] In the construction and rendering of marine environmental data, traditional methods often rely on a single data source, such as satellite remote sensing or buoy observations. The limitations of this data source will lead to incomplete information and insufficient accuracy, making it difficult to fully reflect the complex changes in the marine environment. In addition, existing 3D data rendering technologies are mostly based on less efficient rendering engines and cannot achieve real-time high-quality display. Especially when processing large-scale data, there are obvious deficiencies in rendering performance and user interaction experience. In addition, traditional data processing and visualization technologies often lack effective hidden and clipping algorithms, resulting in waste of computing resources and inefficiency in the rendering process.

[0048] In order to solve the existing defects, refer to Figure 1 The embodiment of the present application provides a method for rendering three-dimensional data of an ocean environment. The method is applied to a central controller. The controller can be a server, an electronic device, or a mobile terminal, etc., which is not specifically limited here. The method includes the following steps S110 to S140.

[0049] Step S110: Acquire initial three-dimensional data of the ocean environment, and perform grid mapping on the initial three-dimensional data to obtain a three-dimensional grid model.

[0050] In this step, obtaining the initial three-dimensional data of the ocean environment includes collecting various ocean environment-related data, including terrain, entities, materials, etc., and organizing and storing them according to certain rules and formats. These initial three-dimensional data are the basis for constructing a three-dimensional scene, and their accuracy and completeness directly affect the final visualization effect.

[0051] In the process of collecting and organizing data related to the marine environment, the marine data needed and their rules and formats include: Ocean area: the area of ​​each sea area (such as the Pacific Ocean, the Atlantic Ocean, etc.), specifically a value in square kilometers, stored as a floating point number; Water depth data: water depth information of each sea area, including the deepest point and the average water depth, specifically a value in meters, stored as a floating point number, and also contains coordinate information of depth measurement; Ocean temperature: seawater temperature data at different depths and locations, specifically a value in degrees Celsius, stored as a floating point number, with a timestamp and geographic coordinates; Salinity: salinity distribution data of seawater, specifically a value in kilograms / cubic meter, stored as a floating point number, with a timestamp and geographic coordinates; Ocean current data: the speed and direction of the ocean current, specifically a value in meters / second, stored as a floating point number, with a timestamp and geographic coordinates.

[0052] In this embodiment, high-precision marine environmental data, including seawater temperature, salinity, current velocity, wave height and other parameters, are obtained by using the Beidou satellite navigation system. The high-precision positioning capability of the Beidou satellite navigation system is used to improve the precision and accuracy of the data. Multi-source data fusion technology is used in combination with other satellite remote sensing data, buoy observation data, etc. to reduce the deviation and incompleteness that may be caused by a single data source and improve the comprehensiveness of the data.

[0053] The collected relevant data are then preprocessed, including detecting and eliminating outliers in the relevant data using statistical methods and physical models and eliminating obviously abnormal data points, processing missing values ​​in the relevant data using interpolation or filling methods based on historical data, and standardizing the relevant data to obtain initial three-dimensional data, so that different parameters have the same dimension and the relevant data are standardized to facilitate subsequent processing and analysis, and then grid mapping is performed based on the initial three-dimensional data to obtain a three-dimensional grid model.

[0054] In some embodiments, the initial three-dimensional data is grid mapped in step S110, including the following steps:

[0055] Divide the corresponding ocean space according to the initial three-dimensional data to obtain multiple grid units;

[0056] Preprocessing the initial three-dimensional data to obtain processed three-dimensional data;

[0057] According to each grid unit, the processed three-dimensional data is network mapped using the interpolation method to obtain a three-dimensional grid model.

[0058] In this step, the ocean area is divided into several grid cells by using the gridding algorithm based on the Beidou satellite navigation system to obtain the gridding corresponding to the ocean environment. The size and shape of each grid cell can be adjusted according to actual needs to ensure the precision and processing efficiency of the data. The center coordinates of each grid cell are:

[0059] (x i ,y i ,z i );

[0060] Among them, x i ,y i 、z i are the longitude, latitude and depth of the grid cell center, respectively.

[0061] The initial three-dimensional data is then mapped to a grid, with each grid cell corresponding to a data point. The interpolation method is used to calculate the parameter values ​​within the grid cell to achieve spatial continuity of the data, wherein the interpolation method is calculated based on the initial three-dimensional data.

[0062] The initial three-dimensional data includes multiple parameters such as temperature, salinity, depth, and current velocity. The distribution of these parameters in the ocean area is usually discrete and may come from measurements, models, or other data sources. The grid cell center coordinates are the center coordinates (longitude, latitude, and depth) of each grid cell, which are used to determine the location of the grid cell in the ocean area. The surrounding discrete data points can be mapped to the grid cell through interpolation calculation.

[0063] Preferably, the interpolation method can be a linear interpolation, a bilinear interpolation or a Kriging interpolation method, and the calculation result obtained by the interpolation method is the mapping data mapped to the grid unit, and the various parameter values ​​obtained by the interpolation calculation will be mapped to the corresponding grid unit, wherein the various parameter values ​​in the grid unit calculated by the interpolation method are based on the initial three-dimensional data and the grid center coordinates, and these parameter values ​​can be temperature, salinity, flow rate, etc., thereby forming a spatially continuous parameter field. This method does not limit the various parameter values, and usually includes but is not limited to: temperature, salinity, depth, flow rate, etc. Therefore, the mapping data finally mapped to the grid unit can be of various types, usually expressed in numerical form, and each grid unit can contain multiple parameter values, thereby forming a multidimensional data structure (such as an array or matrix) for subsequent analysis and visualization.

[0064] In this embodiment, a three-dimensional grid model of the marine environment is generated based on the grid division and mapping data, wherein each grid unit in the grid division contains multi-dimensional information such as seawater temperature, salinity, flow velocity, wave height, etc., and the grid data is interpolated by using a three-dimensional interpolation algorithm to generate a continuous three-dimensional data field. Preferably, the calculation can be performed by interpolation algorithms such as cubic spline interpolation and Kriging interpolation. For the generation of a three-dimensional continuous data field, cubic spline interpolation and Kriging interpolation are used to estimate and predict a more delicate three-dimensional data distribution using the existing parameter values ​​in the grid unit. For cubic spline interpolation and Kriging interpolation, the former is a three-dimensional interpolation algorithm performed on the mapping data after the three-dimensional grid is generated to create a continuous three-dimensional data field, while the latter is to first map the discrete data into the grid unit. The source of the grid data is mainly the initial three-dimensional data interpolation result, which then forms the basis for three-dimensional interpolation.

[0065] Before building the grid model, the interpolation method is used to calculate the parameter values ​​within the grid cells, so that the initial three-dimensional data can be mapped to specific grid cells. Each grid cell will have corresponding parameter values ​​such as temperature and salinity, and then for discrete data points, it is ensured that each grid cell has representative parameter values.

[0066] After generating the 3D grid model, the parameters mapped to the grid cells are further interpolated in 3D to generate a continuous 3D data field, smooth the data, eliminate noise, and make the environmental parameters in 3D space change more naturally and continuously. In the 3D interpolation algorithm, the grid data mainly comes from the mapped data processed in the previous step. Specifically, each grid cell will contain the data of various parameter values ​​(such as temperature, salinity, flow velocity, wave height, etc.) obtained by interpolation calculation in the early grid division and mapping process.

[0067] In this embodiment, the specific implementation process of cubic spline interpolation and Kriging interpolation includes:

[0068] (1) Cubic spline interpolation: perform cubic spline interpolation on the data of each grid unit to generate a continuous three-dimensional data field. The cubic spline interpolation formula is:

[0069] S(x)=a i +b i (xx i )+c i (xx i ) 2 +d i (xx i ) 3 ;

[0070] Among them, a i , b, ci , d i is the interpolation coefficient, S(x) is the interpolation result, that is, the estimated value at position x. a is the interpolation coefficient, which means the value at node x i The function value at node x. b is the interpolation coefficient, which indicates the i The derivative (slope) at node x. c is the interpolation coefficient, which indicates the i The second derivative at . d is the interpolation coefficient, which means at node x i The third derivative at x i is the horizontal coordinate of the known data point, and is the center coordinate of the grid cell. The interpolation result S(x) represents the estimated value at position x, which is the value of the current environmental parameters (such as temperature, salinity, etc.). The interpolation coefficients a, b, c, and d are not fixed values, but are calculated based on the values ​​of the known data points and the derivative conditions. The continuity and smoothness conditions need to be met at each node, and the linear equation system is used to solve them.

[0071] (2) Kriging interpolation: The Kriging interpolation algorithm is used to interpolate data based on spatial correlation. The Kriging interpolation formula is:

[0072]

[0073] Among them, Z(x) is the interpolation result, that is, the estimated value at position x. i is the weight coefficient, which indicates the contribution of each known data point to the interpolation result. i ) is the known data point value. It means at position x i The interpolation result Z(x) represents the estimated value at position x, which is the value of the current environmental parameters (such as temperature, salinity, etc.). i It is calculated by minimizing the interpolation error and considering spatial correlation. The Kriging method uses a covariance function to describe the spatial relationship between data points and needs to be fitted by sample data. Known data point value: refers to the value at a specific location x i The environmental parameter values ​​obtained by measurement or other means are the basis of interpolation calculation. Kriging and cubic spline interpolation both rely on these known data points for estimation.

[0074] Step S120: Acquire scene data of the ocean environment, and render the scene data into a three-dimensional mesh model to obtain a three-dimensional complete model.

[0075] In this step, by acquiring the scene data of the ocean environment, mathematical methods and algorithms are used to geometrically model the terrain, objects, etc. in the ocean environment, and then by creating basic elements such as points, lines, and surfaces, the scene data is rendered into a three-dimensional mesh model, thereby constructing a three-dimensional model with real shape and structure.

[0076] In some embodiments, rendering the scene data to a three-dimensional mesh model in step S120 includes the following steps:

[0077] Define a three-dimensional model corresponding to the scene data according to the scene data;

[0078] Render the 3D model of the scene data into a 3D mesh model.

[0079] In this embodiment, the ocean environment also includes scenes of ocean environment data, including the ocean surface, seabed topography, and ocean environment parameters (such as temperature, salinity, and flow rate). The basic scene of the ocean environment is constructed by using a three-dimensional grid model generated by grid division.

[0080] The 3D grid model is the basis for scene construction, but it is not equivalent to a complete scene. The grid model mainly reflects the geometric shape and spatial organization of the ocean environment, while the complete scene also includes: the ocean surface (simulating ocean waves, wind effects, etc.), the seabed topography (including topographic undulations, sediments and other features), and the 3D distribution of environmental parameters (such as the spatial distribution of temperature, salinity and flow rate, mainly represented by color coding or other visualization methods). Therefore, the 3D grid model provides a spatial basis for the scene, while the complete scene requires further visual effects and representation of environmental parameters.

[0081] In scene construction, we first need to define and assign models to various objects. Each object (such as ocean, seabed, buoy, ship, etc.) contains multiple definitions. For the ocean, there are different parameters such as water quality and depth; for the seabed, there are detailed information about the terrain, including depth and landform features; for buoys, there are location, type, function (data collection or warning, etc.); for ships, there are size, speed, type (cargo ship, fishing boat, etc.).

[0082] The needs of different scenes are collected, and the scene data is determined. Then, various objects in the scene are defined according to the scene data, including the ocean, the seabed, buoys, ships, etc., and specific 3D models and attributes are assigned to each object. Each object corresponds to a specific 3D model, which can come from an existing 3D library or a custom design. Among them, when selecting a model, it is necessary to consider that the model needs to be consistent with the definition of the object. For example, the model of the buoy should show its unique shape and characteristics, and the style and details of the model need to be coordinated with the overall style of the scene to ensure visual consistency. The specific attributes (such as color and material) should be consistent with the physical characteristics and environmental parameters of the object, so as to ensure the realism and consistency of the scene.

[0083] Finally, the three-dimensional model of the scene data is rendered into a three-dimensional grid model to form a complete three-dimensional model of the ocean environment. Through scene modeling and projection transformation technology, a realistic three-dimensional display of the ocean environment is achieved.

[0084] In some embodiments, after rendering the scene data to a three-dimensional mesh model in step S120 to obtain a three-dimensional complete model, the method further includes the following steps:

[0085] Determine the model coordinate type according to the image selection instruction, the model coordinate type includes two-dimensional coordinate and three-dimensional coordinate;

[0086] The coordinate conversion algorithm is used to convert the three-dimensional complete model into a model corresponding to the model coordinate type.

[0087] In this step, the user interaction information includes image selection instructions, including but not limited to operations such as the user selecting a three-dimensional image or a two-dimensional image. The model coordinate type is determined by the image selection instructions in the user interaction information, wherein the model coordinate type includes two-dimensional coordinates and three-dimensional coordinates, so that the three-dimensional complete model is converted into a model corresponding to the model coordinate type using a coordinate conversion algorithm.

[0088] The formula for converting two-dimensional coordinates to three-dimensional coordinates is:

[0089] (x,y)→(x,y,f(x,y));

[0090] Among them, f(x, y) is the height value or other attribute value of the corresponding position in the three-dimensional scene.

[0091] The formula for transforming from three-dimensional to two-dimensional coordinates is:

[0092] (x,y,z)→(x,y).

[0093] Step S130: Obtain user interaction information, and convert the three-dimensional complete model according to the user interaction information to obtain a converted three-dimensional complete model.

[0094] In this step, the user interaction information includes the viewpoint and sight direction of the current observer. By performing view transformation according to the viewpoint and sight direction of the observer, the three-dimensional scene is converted into the observer coordinate system, and then the converted three-dimensional complete model is obtained, thereby improving user interactivity.

[0095] In some embodiments, in step S130, converting the three-dimensional complete model according to the user interaction information includes the following steps:

[0096] Confirm the user coordinate system based on user interaction information;

[0097] Convert the complete 3D model to the user coordinate system.

[0098] In this step, objects in the three-dimensional complete model are projected and transformed according to the viewpoint position and viewing direction of the observer so that they can be correctly displayed on the two-dimensional screen to ensure the accuracy and authenticity of the viewing angle.

[0099] In this embodiment, the viewpoint position is first obtained. The viewpoint position refers to the position of the observer in the three-dimensional space. Preferably, the viewpoint position is an absolute position or a coordinate relative to the model, wherein the absolute position generally refers to the position in the world coordinate system, which is represented by the three-dimensional coordinates (x, y, z). For example, the viewpoint may be located at (0, 5, 10), which means x=0, y=5, z=10. The position of the viewpoint in the relative position is related to the local coordinate system of the target model. In this embodiment, the viewpoint position is represented as an offset from a certain point of the model, so it is calculated by using the absolute position.

[0100] Then, according to the viewpoint position and viewing direction of the observer, the objects in the three-dimensional complete model are converted to a two-dimensional plane through projection transformation, specifically through perspective projection. In perspective projection, the size of the object is inversely proportional to the distance.

[0101] The perspective projection matrix formula is:

[0102]

[0103] Where f is the focal length, and a and b are the distances to the near and far planes.

[0104] Finally, since different viewpoint positions and observation directions determine the specific parameters and matrices of the transformation, the main corresponding transformations are: position transformation, which is to transform the view of the object from the world coordinate system, direction transformation, which is to adjust the display direction of the object in the view coordinate system, and clipping transformation, which is to clip the invisible part of the object according to the viewpoint and observation direction to improve rendering efficiency.

[0105] In this embodiment, a view transformation is performed according to the viewpoint and sight direction of the observer to transform the three-dimensional scene into the observer coordinate system. The view transformation matrix is:

[0106]

[0107] Among them, R is the rotation matrix and T is the translation vector.

[0108] Then use perspective projection to project the 3D scene onto a 2D plane. The perspective projection matrix is:

[0109]

[0110] Where d is the distance from the viewpoint to the projection plane. The three-dimensional coordinates are converted to two-dimensional coordinates using the projection transformation formula:

[0111]

[0112] Among them, (x, y, z) is the three-dimensional coordinate, and (x′, y′, z′) is the two-dimensional coordinate after projection.

[0113] This enables the linkage between two-dimensional maps and three-dimensional scenes, provides multi-dimensional data display and analysis functions, and enhances the user's interactive experience.

[0114] Step S140: Process each three-dimensional object in the converted three-dimensional complete model using a preset data processing algorithm, and display the processed three-dimensional complete model using a visualization tool to obtain a corresponding rendered image.

[0115] In this step, the preset data processing algorithm is preferably a hidden layer removal algorithm and a cropping algorithm, so that each three-dimensional object in the converted three-dimensional complete model is processed by the preset data processing algorithm, the rendering efficiency is improved, unnecessary calculations and resource consumption are reduced, and then the processed three-dimensional complete model is displayed using a visualization tool to obtain a corresponding rendered image.

[0116] In some embodiments, in step S140, each three-dimensional object in the converted three-dimensional complete model is processed by a preset data processing algorithm, including the following steps:

[0117] Performing hidden processing on each three-dimensional object in the converted three-dimensional complete model according to a hidden algorithm to obtain a three-dimensional complete model after hidden processing;

[0118] The clipping algorithm is used to clip the hidden three-dimensional complete model to obtain the processed three-dimensional complete model.

[0119] In this step, in the 3D complete model, due to the occlusion relationship between objects, it is necessary to eliminate the display of the occluded part to improve display efficiency and realism. At the same time, objects beyond the field of view are cut to avoid unnecessary calculations and rendering, improve rendering efficiency and accuracy, and ensure that only the visible part is displayed.

[0120] In this embodiment, each three-dimensional object in the converted three-dimensional complete model is processed by a hidden algorithm and a clipping algorithm. First, a hidden algorithm is used to perform hidden processing. Preferably, this embodiment uses a Z buffer algorithm to perform hidden processing to ensure that only visible parts are displayed during rendering. The basic steps of the Z buffer algorithm include initializing the Z buffer, updating the Z value when rendering each pixel, etc. Among them, the Z buffer algorithm (also known as the depth buffer algorithm) is mainly used to deal with visibility issues in graphics rendering, ensuring that only visible parts are displayed when rendering a three-dimensional scene, and avoiding obscured objects or surfaces from being drawn.

[0121] Moreover, the Z-buffer algorithm is mainly used to perform hidden processing on three-dimensional models, including all three-dimensional objects in the scene, such as the ocean surface: due to different lighting and observation angles, its height and surface details may affect visibility; seabed terrain: when there are other floating objects (such as ships, buoys) on the ocean model, they may block the view of the seabed; other three-dimensional objects: such as ships, buoys, etc., these objects may cover or block the back parts in the scene.

[0122] Among them, the basic steps of the Z buffer algorithm include:

[0123] (1) Initialize the Z buffer: Create a depth buffer for each pixel, and set the initial value to the maximum depth (such as infinity), indicating that no object is visible.

[0124] (2) Render each pixel: For each rendered object in the scene, calculate its projection position on the viewport and the corresponding depth value (Z value). Check the depth value of the current pixel (the value in the Z buffer) and compare it with the newly calculated depth value. If the new depth value is smaller (meaning the object is closer to the observer), update the depth value of the pixel in the Z buffer and update the color value of the pixel to the color of the new object. If the new depth value is larger, do not make any changes and keep the existing value in the Z buffer.

[0125] (3) Rendering completed: After all objects are rendered and the Z buffer is updated, the final output image only contains the visible parts.

[0126] Then, a clipping algorithm is required to perform clipping processing. Preferably, this embodiment uses a viewing frustum clipping technology to clip geometric bodies that exceed the viewing frustum, thereby avoiding rendering irrelevant parts and improving rendering efficiency.

[0127] The viewing frustum clipping formula is:

[0128] -w≤x ′ ≤w, -w≤y ′ ≤w,0≤z ′ ≤w;

[0129] Among them, x ′ Indicates the horizontal coordinate (X-axis coordinate) in the viewing cone. ′ When the value of y exceeds -w or w, it means that the point is beyond the boundary of the viewing frustum in the horizontal direction. ′ Indicates the ordinate (Y-axis coordinate) in the viewing cone. ′ When the value of exceeds -w or w, it means that the point is beyond the boundary of the viewing frustum in the vertical direction. ′ Indicates the depth coordinate (Z-axis coordinate) in the viewing frustum. ′ When the value exceeds 0 or w, it means that the point exceeds the front and rear boundaries of the viewing frustum in the depth direction. In the formula, 0 represents the near clipping plane of the viewing frustum, and w represents the far clipping plane. w is the width parameter of the viewing frustum, which is related to the scale and viewing angle of the view. It mainly defines the boundary of the viewing frustum and determines the size of the visible area. Specifically, w is usually related to the viewing angle and the viewing distance (the distance from the viewpoint to the near clipping plane and the far clipping plane). This embodiment uses the viewing frustum clipping formula to define x ′ ,y ′ and z ′ The range of the image is used to determine which geometries are within the viewing frustum and which are outside, so that geometries beyond these ranges will be clipped, thereby improving rendering efficiency and reducing unnecessary calculations and resource consumption.

[0130] In some embodiments, after the processed three-dimensional complete model is displayed using a visualization tool in step S140 to obtain a corresponding rendering, the method further includes the following steps:

[0131] When a user operation instruction is received, a corresponding image operation is performed on the rendering according to the user operation instruction, wherein the user operation instruction includes at least one of zooming in on the image, zooming out on the image, and translating the image.

[0132] In this step, the user interaction information includes user operation instructions, including but not limited to zooming in, zooming out, and translating the model. When the user operation instruction is received, the corresponding image operation is performed on the rendering according to the user operation instruction.

[0133] In this embodiment, when the two-dimensional map is zoomed in, reduced, or translated, the three-dimensional earth will also change accordingly. For example, if the two-dimensional map is zoomed in to a specified location, the three-dimensional earth will also be zoomed in to the same location. If necessary, a video can be recorded here for a more intuitive understanding, thereby achieving real-time update and interaction of two-dimensional and three-dimensional data, that is, operations (such as zooming in, reducing, and translating) on ​​the two-dimensional map are reflected in the three-dimensional scene in real time.

[0134] Specifically, the coordinate conversion algorithm is used to achieve seamless connection between the two-dimensional map and the three-dimensional scene. The formula for converting two-dimensional coordinates to three-dimensional coordinates is:

[0135] (x,y)→(z,y,f(x,y));

[0136] Among them, f(x, y) is the height value or other attribute value of the corresponding position in the three-dimensional scene.

[0137] The formula for transforming from three-dimensional to two-dimensional coordinates is:

[0138] (x,y,z)→(x,y);

[0139] By realizing linkage between the two-dimensional and three-dimensional engines according to image selection instructions, and then realizing interaction with the three-dimensional scene through the two-dimensional map interface, a comprehensive analysis and display of marine environmental data can be achieved. By selecting an area on the two-dimensional map, the corresponding area display in the three-dimensional scene can be updated in real time.

[0140] In this embodiment, obtaining the corresponding rendering image also requires simulating the lighting effect in the real world. According to the position, intensity and color of the light source and the material properties of the surface of the object, the brightness and color of the visible surface are calculated to make the scene more realistic, which specifically includes:

[0141] Assume that the coordinates of the light source in three-dimensional space are represented by a vector L = (L x ,L y ,L z ). The light intensity and color are expressed in RGB values, i.e. light =(R light ,G light ,B light ). The ability of the object surface to reflect ambient light, i.e. the ambient reflection coefficient k a The reflectivity of the object surface to diffuse light, i.e. the diffuse reflectance coefficient k d The reflectivity of the object surface to the specularly reflected light, i.e. the specular reflection coefficient k s . Controls the glossiness of the specular reflection, i.e. glossiness n.

[0142] The Phong lighting model is usually used to calculate the brightness and color of visible surfaces, which combines the contributions of ambient light, diffuse light, and specular light. The specific steps are as follows:

[0143] Ambient light is the light evenly distributed in the scene, and the calculation formula is:

[0144] I ambient =k a I ambient_light ;

[0145] Among them I ambient_light is the intensity of the ambient light.

[0146] The formula for calculating the brightness of diffuse reflected light is:

[0147] I diffuse =k d I light max(0,N,L);

[0148] Where N is the normal vector to the surface of the object. L is the unit vector pointing from the light source to the surface point, normalized. max(0,N,L) ensures that diffuse light is only calculated when the light hits the surface.

[0149] The formula for calculating the brightness of specular reflected light is:

[0150] I specular =k s I light max(0,R,V) n ;

[0151] Where R is the reflection vector of the light relative to the normal, calculated as: R = 2(N·L)NL. V is the unit vector pointing from the surface point to the observer, normalized. n is the glossiness, which controls the intensity of the specular reflection.

[0152] The final visible surface brightness and color can be obtained by adding the above three parts:

[0153] I total =I ambient +I diffuse +I specular ;

[0154] The final rendered image is then drawn based on the processed data and calculation results, including the configuration of display elements, methods, styles, and texture mapping operations to present a realistic and beautiful marine environment scene, including:

[0155] When generating the final rendered image, the processed data and calculation results include: geometric data including vertex coordinates and normal vectors of the ocean surface, material properties including reflection coefficients (such as ambient light, diffuse reflection and specular reflection coefficients) and glossiness, light source information including the position, intensity and color of the light source, and texture data including texture images used to add details to the surface of the object (such as the wave texture and color of the ocean), wherein the geometric data including the vertex coordinates and normal vectors of the ocean surface are represented by a mesh, defining the shape and surface characteristics of the object, material properties including reflection coefficients (such as ambient light, diffuse reflection and specular reflection coefficients) and glossiness determine the reflection characteristics of the object surface to light, and light source information including the position, intensity and color of the light source are used to calculate the lighting effect.

[0156] Then, the 3D scene is initialized and the light source is configured based on the processed data and calculation results. This includes creating a mesh and applying vertices and normal vectors, setting material properties for the mesh, and mapping the texture to the surface. Then, a lighting model (such as the Phong model) is used to calculate the brightness and color of each vertex. Finally, the processed geometric data and calculation results are passed to WebGL for 3D rendering, the mesh is drawn, and the resulting image is displayed, effectively presenting a realistic and beautiful ocean environment scene.

[0157] Among them, the input and output list of the ocean environment three-dimensional data rendering method is shown in the following table:

[0158]

[0159] In this embodiment, WebGL is used to render three-dimensional data of the ocean environment. The vertex shader and fragment shader are written using WebGL's shader language GLSL to process the three-dimensional data rendering process of the ocean environment. The vertex shader is responsible for converting three-dimensional vertices to two-dimensional screen coordinates, and the fragment shader is responsible for calculating the color of each pixel, thereby realizing cross-platform three-dimensional data display and ensuring the smoothness and interactivity of the user interface.

[0160] Finally, visualization tools (such as Three.js) are used to display the rendering results, intuitively reflecting the three-dimensional structure and dynamic changes of the ocean environment.

[0161] Reference Figure 2In this embodiment, the scene modeling of the corresponding ocean environment is performed by combining the Beidou satellite navigation system, satellite remote sensing data, buoy observation data, and data collection and preprocessing, and then the constructed scene is converted through projection transformation to obtain a three-dimensional complete model. By utilizing the hidden and clipping algorithms, it is ensured that only the visible part is displayed, and finally data rendering is performed to realize the data rendering of the three-dimensional data of the ocean environment. In addition, through data linkage, the linkage between the two-dimensional map and the three-dimensional scene is realized, providing multi-dimensional data display and analysis functions, and enhancing the user's interactive experience.

[0162] This embodiment obtains the initial three-dimensional data of the ocean environment and performs grid mapping on the initial three-dimensional data to obtain a three-dimensional grid model; obtains the scene data of the ocean environment and renders the scene data to the three-dimensional grid model to obtain a three-dimensional complete model; obtains user interaction information and converts the three-dimensional complete model according to the user interaction information to obtain a converted three-dimensional complete model; processes each three-dimensional object in the converted three-dimensional complete model through a preset data processing algorithm, and displays the processed three-dimensional complete model using a visualization tool to obtain a corresponding rendered image. This method performs real-time three-dimensional rendering through scene modeling, projection transformation, hidden and clipping algorithms, combined with multi-source ocean environment data, significantly optimizes rendering performance and computing resource utilization, and enhances user interactivity and data analysis capabilities.

[0163] Reference Figure 3 Some embodiments of the present application provide a load balancing scheduling system, the system includes a computing module 310, a rendering module 320, a conversion module 330, and a processing module 340, specifically:

[0164] The calculation module 310 is used to obtain the initial three-dimensional data of the ocean environment, and perform grid mapping on the initial three-dimensional data to obtain a three-dimensional grid model;

[0165] A rendering module 320 is used to obtain scene data of the ocean environment and render the scene data into a three-dimensional mesh model to obtain a three-dimensional complete model;

[0166] The conversion module 330 is used to obtain user interaction information, and convert the three-dimensional complete model according to the user interaction information to obtain a converted three-dimensional complete model;

[0167] The processing module 340 is used to process each three-dimensional object in the converted three-dimensional complete model through a preset data processing algorithm, and to display the processed three-dimensional complete model using a visualization tool to obtain a corresponding rendered image.

[0168] In one embodiment, the calculation module 310 is further used to divide the ocean space according to the initial three-dimensional data to obtain a plurality of grid units.

[0169] In one implementation, the calculation module 310 is further used to pre-process the initial three-dimensional data to obtain processed three-dimensional data.

[0170] In one implementation, the calculation module 310 is further used to: perform network mapping on the processed three-dimensional data using an interpolation method according to each grid unit to obtain a three-dimensional grid model.

[0171] In one implementation, the rendering module 320 is further configured to: define a three-dimensional model corresponding to the scene data according to the scene data.

[0172] In one embodiment, the rendering module 320 is further configured to render the three-dimensional model of the scene data into a three-dimensional mesh model.

[0173] In one implementation, the rendering module 320 is further used to: determine a model coordinate type according to the image selection instruction, where the model coordinate type includes a two-dimensional coordinate and a three-dimensional coordinate.

[0174] In one implementation, the rendering module 320 is further configured to: utilize a coordinate conversion algorithm to convert the three-dimensional complete model into a model corresponding to the model coordinate type.

[0175] In one implementation, the conversion module 330 is further used to: confirm the user coordinate system according to the user interaction information.

[0176] In one embodiment, the conversion module 330 is further used to convert the three-dimensional complete model into a user coordinate system.

[0177] In one implementation, the processing module 340 is further configured to perform a hidden object removal process on each three-dimensional object in the converted three-dimensional complete model according to a hidden object removal algorithm to obtain a hidden object-free three-dimensional complete model.

[0178] In one implementation, the processing module 340 is further configured to: perform cropping processing on the hidden three-dimensional complete model using a cropping algorithm to obtain a processed three-dimensional complete model.

[0179] In one embodiment, the processing module 340 is further used to: when receiving a user operation instruction, perform a corresponding image operation on the rendering according to the user operation instruction, wherein the user operation instruction includes at least one of zooming in on the image, zooming out the image, and translating the image.

[0180] Reference Figure 4 The embodiment of the present application further provides an electronic device, the electronic device comprising:

[0181] at least one memory;

[0182] at least one processor;

[0183] at least one program;

[0184] At least one hydrogen fuel cell; the program is stored in the memory, and the processor executes at least one program to implement the above-mentioned ocean environment three-dimensional data rendering method implemented in the present disclosure.

[0185] The electronic device may be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a vehicle-mounted computer, etc.

[0186] The electronic device according to the embodiment of the present application is described in detail below.

[0187] The processor 1600 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement a technical solution of a method for rendering three-dimensional data of an ocean environment provided in an embodiment of the present disclosure;

[0188] The memory 1700 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1700 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1700, and the processor 1600 calls and executes the method for rendering three-dimensional data of an ocean environment in the embodiment of the present disclosure.

[0189] Input / output interface 1800, used to implement information input and output;

[0190] The communication interface 1900 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0191] Bus 2000 , which transmits information between various components of the device (e.g., processor 1600 , memory 1700 , input / output interface 1800 , and communication interface 1900 );

[0192] The processor 1600 , the memory 1700 , the input / output interface 1800 , and the communication interface 1900 are connected to each other in communication within the device via the bus 2000 .

[0193] The embodiment of the present disclosure further provides a storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned ocean environment three-dimensional data rendering method.

[0194] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0195] The embodiments described in the embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0196] Those skilled in the art will appreciate that the technical solutions shown in the figures do not limit the embodiments of the present disclosure and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0197] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0198] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0199] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0200] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

Claims

1. A method for rendering three-dimensional data of an ocean environment, characterized in that: The method comprises: Acquire initial three-dimensional data of the ocean environment, and perform grid mapping on the initial three-dimensional data to obtain a three-dimensional grid model; Acquiring scene data of the ocean environment, and rendering the scene data to the three-dimensional grid model to obtain a three-dimensional complete model; Acquiring user interaction information, and converting the three-dimensional complete model according to the user interaction information to obtain a converted three-dimensional complete model; Each three-dimensional object in the converted three-dimensional complete model is processed by a preset data processing algorithm, and the processed three-dimensional complete model is displayed using a visualization tool to obtain a corresponding rendered image.

2. The method for rendering three-dimensional data of an ocean environment according to claim 1, characterized in that: The grid mapping of the initial three-dimensional data comprises: Dividing the corresponding ocean space according to the initial three-dimensional data to obtain a plurality of grid units; Preprocessing the initial three-dimensional data to obtain processed three-dimensional data; According to each of the grid units, the processed three-dimensional data is network mapped using an interpolation method to obtain a three-dimensional grid model.

3. The method for rendering three-dimensional data of an ocean environment according to claim 1, characterized in that: The rendering of the scene data to the three-dimensional mesh model comprises: Defining a three-dimensional model corresponding to the scene data according to the scene data; The three-dimensional model of the scene data is rendered into the three-dimensional mesh model.

4. The method for rendering three-dimensional data of an ocean environment according to claim 3, characterized in that: The user interaction information includes an image selection instruction, and after rendering the scene data to the three-dimensional mesh model to obtain a three-dimensional complete model, the method further includes: Determine a model coordinate type according to the image selection instruction, wherein the model coordinate type includes two-dimensional coordinates and three-dimensional coordinates; The three-dimensional complete model is converted into a model corresponding to the model coordinate type using a coordinate conversion algorithm.

5. The method for rendering three-dimensional data of an ocean environment according to claim 4, characterized in that: The converting the three-dimensional complete model according to the user interaction information includes: confirming a user coordinate system according to the user interaction information; The three-dimensional complete model is transformed into the user coordinate system.

6. The method for rendering three-dimensional data of an ocean environment according to claim 5, characterized in that: The processing of each three-dimensional object in the converted three-dimensional complete model by a preset data processing algorithm includes: Performing a hidden process on each three-dimensional object in the converted three-dimensional complete model according to a hidden process algorithm to obtain a three-dimensional complete model after hidden process; The three-dimensional complete model after the hidden part is removed is clipped by using a clipping algorithm to obtain a processed three-dimensional complete model.

7. The method for rendering three-dimensional data of an ocean environment according to claim 6, characterized in that: The user interaction information includes user operation instructions. After the processed three-dimensional complete model is displayed using a visualization tool to obtain a corresponding rendering, the method further includes: When the user operation instruction is received, a corresponding image operation is performed on the rendering according to the user operation instruction, wherein the user operation instruction includes at least one of zooming in on an image, zooming out on an image, and translating an image.

8. A marine environment three-dimensional data rendering system, characterized in that: The system comprises: A calculation module, used for acquiring initial three-dimensional data of the ocean environment, and performing grid mapping on the initial three-dimensional data to obtain a three-dimensional grid model; A rendering module, used to obtain scene data of the ocean environment, and render the scene data to the three-dimensional grid model to obtain a three-dimensional complete model; A conversion module, used to obtain user interaction information, and convert the three-dimensional complete model according to the user interaction information to obtain a converted three-dimensional complete model; The processing module is used to process each three-dimensional object in the converted three-dimensional complete model through a preset data processing algorithm, and to display the processed three-dimensional complete model using a visualization tool to obtain a corresponding rendered image.

9. An electronic device, characterized in that: It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute a method for rendering three-dimensional data of an ocean environment as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the method for rendering three-dimensional data of an ocean environment as described in any one of claims 1 to 7.

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