Digital twinborn scene efficient rendering method based on dynamic and static combination and vertex shader

Abstract

The invention relates to the technical field of data processing, in particular to a digital twin scene efficient rendering method based on dynamic and static combination and a vertex shader, which comprises the steps of early-stage preparation and scene analysis, three-dimensional modeling and material mapping, vertex shader design and optimization, dynamic and static combination rendering process design, post-processing and optimization, and deployment and integration. The method has the beneficial effects that the static scene is quickly rendered by using the pre-rendered cache data, the dynamic element is dynamically rendered by combining the real-time data source and the vertex shader, and the dynamic element and the real-time data source are seamlessly combined by using the image fusion algorithm, so that the rendering speed of the digital twinning scene is remarkably improved, and the rendering efficiency of the digital twinning scene is improved. The real-time performance and interactivity of dynamic elements are ensured, natural fusion of static and dynamic scenes is realized through fine regulation and control of weight factors, a high-quality and vivid digital twinning rendering image is finally presented, and the user experience and the application effect are greatly enhanced.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and specifically to an efficient rendering method for digital twin scenes based on dynamic and static combination and vertex shader. Background Art

[0002] With the rapid development of information technology, digital twin technology, as an emerging digital means, has shown great application potential in many fields. Digital twin technology realizes real-time monitoring, analysis and optimization of physical objects by constructing a virtual mapping of the physical world. In the application process of digital twin technology, the rendering effect of the scene is directly related to the user's perception and understanding of the virtual world. Therefore, efficient and realistic rendering technology has become an important direction for the development of digital twin technology.

[0003] In traditional digital twin scene rendering, a single rendering method is often used, that is, either all static rendering or all dynamic rendering. Although static rendering can achieve fast rendering of the scene, it cannot reflect the real-time changes in the physical world; and although dynamic rendering can reflect the changes in the physical world in real time, the rendering speed is relatively slow and has high requirements for hardware resources. In addition, traditional rendering technology also faces problems such as low rendering quality and weak interactivity, which cannot meet the digital twin technology's requirements for high quality and high interactivity.

[0004] In order to solve the limitations of traditional rendering technology, researchers began to explore the application of static and dynamic combination and vertex shaders in digital twin scene rendering. The idea of ​​static and dynamic combination is to divide the scene into static and dynamic parts, and adopt different rendering strategies respectively. The static part uses pre-rendered cache data for fast rendering, while the dynamic part combines real-time data source and vertex shader for dynamic rendering. Vertex shader, as a programmable rendering technology, can realize flexible processing of vertex data, thereby generating more realistic rendering effects. Summary of the invention

[0005] The purpose of the present invention is to provide an efficient rendering method for digital twin scenes based on dynamic and static combination and vertex shader to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a digital twin scene efficient rendering method based on dynamic and static combination and vertex shader, comprising the following steps: S11: Preliminary preparation and scenario analysis: clarify the specific requirements of the digital twin scenario, collect data related to the digital twin scenario, and divide the digital twin scenario into static and dynamic parts based on the clear requirements and collected data; S12: 3D modeling and material mapping: different 3D modeling schemes are used for the static part and the dynamic part to establish 3D models of the static part and the dynamic part, and materials and mapping are added to the 3D models; S13: Vertex shader design and optimization: write vertex shader code according to the needs of the digital twin scene, and improve the execution efficiency of the vertex shader by reducing unnecessary calculations, utilizing GPU parallel processing capabilities, and optimizing data structures; S14: Design of dynamic and static combined rendering process, using pre-rendered cache data to quickly render the static part, and using the designed vertex shader to render the dynamic part in real time, and finally merge the dynamic part with the static part; S15: Post-processing and optimization, optimizing the final rendering scene of the digital twin scene by adding post-processing effects and performing performance analysis and optimization on the rendering process; S16: Deployment and integration: deploy the optimized rendering system to the target platform and integrate the rendering system with other digital twin application modules to form a complete digital twin application system.

[0007] Preferably, when the specific requirements of the digital twin scene are clarified, and data related to the digital twin scene is collected, and the digital twin scene is divided into a static part and a dynamic part according to the clarified requirements and the collected data, the following steps are included: S21: Requirements collation and confirmation: collect the specific requirements of digital twin production, including the specific requirements of digital twin scenarios, including scenario scope, accuracy requirements, and dynamic element types, and organize them into detailed requirements documents; S22: Data collection, first formulate a data collection plan, and collect static data and dynamic data separately according to the plan, and pre-process the collected data. The data collection plan includes the type of data to be collected, the source of the collected data, and the method of data collection; S23: Scene division: conduct in-depth analysis of the collected data to understand the structure, characteristics and changing patterns of dynamic elements of the scene, and divide different elements into dynamic and static parts.

[0008] Preferably, when preprocessing the collected data, the following steps are included: S31: Data cleaning, identifying and correcting errors, duplications, outliers and missing values ​​in the data set, including identifying and processing missing values ​​by deleting records containing missing values ​​and using specific values ​​to fill missing values, identifying and deleting duplicate records by comparing records in the data set, and identifying and processing outliers by statistical methods. The specific values ​​used in the method of filling missing values ​​with specific values ​​to identify and process missing values ​​include the mean, median and mode. When identifying outliers, the principle formula of the statistical method used is: ; Where X is the data point, μ is the mean, and σ is the standard deviation. When identifying outliers, when the size of Z calculated from data point X is greater than the set threshold, the data point X is marked as an outlier. S32: Format conversion, converting data into a format suitable for subsequent analysis and modeling, including data type conversion and data encoding; S33: Coordinate unification, converting data into data under a unified standard unit, including coordinate conversion, standardization processing and normalization processing. The principle formula of standardization processing is: ; in, Represents the value of data point X after normalization; The principle formula of normalization processing is: ; in, Represents the normalized value of data point X. Represents the minimum value in the data set. Represents the maximum value in the data set.

[0009] Preferably, when the collected data is deeply analyzed to understand the structure, characteristics and changing rules of dynamic elements of the scene, and to divide different elements into dynamic and static parts, the following steps are included: S41: Scene analysis: conduct in-depth analysis of the collected data to understand the structure, characteristics and changing patterns of dynamic elements of the scene; S42: static part division, according to the result of scene analysis, the elements that do not change with time are divided into static parts, and a three-dimensional model is established for them; S43: dynamic part division, dividing the elements that change over time into dynamic parts, and determining their data update frequency and rendering method; S44: Scene integration, integrating the static part and the dynamic part.

[0010] Preferably, when the static part is quickly rendered using the pre-rendered cache data, and the dynamic part is rendered in real time using the designed vertex shader, and finally the dynamic part is merged with the static part, the following steps are included: S51: static scene rendering, using pre-rendered cache data to quickly render the static part, using a graphics rendering engine to perform a rendering operation, and generating a rendered image of the static scene; S52: obtaining real-time data sources from sensors and databases, obtaining vertex data of dynamic elements, and cooperating with vertex shaders to obtain vertex positions of dynamic elements, and finally using a graphics rendering engine to perform rendering operations to generate a rendered image of the dynamic scene; S53: Fusion rendering, obtaining the rendered images of the static scene and the dynamic scene from the rendering engine, and fusing the two images into a final rendered image using an image fusion algorithm, wherein when fusing the images of the static scene and the dynamic scene into the final rendered image using the image fusion algorithm, the principle formula used is: ; in, is the final fused image, is a rendered image of a static scene, is a rendered image of a dynamic scene, is a weight factor used to control the contribution of the two images in the fusion result.

[0011] Preferably, when the pre-rendered cache data is used to quickly render the static part, and the graphics rendering engine is used to perform the rendering operation to generate a rendered image of the static scene, the following steps are included: S61: Load static data, load pre-rendered cache data and static textures from a storage medium; S62: construct a static scene, and construct a three-dimensional model of the static scene using the loaded data; S63: Setting rendering parameters, setting rendering parameters according to scene requirements, wherein the rendering parameters include lighting, material, viewing angle, etc.; S64: Execute a rendering operation, using a graphics rendering engine to execute the rendering operation and generate a rendered image of the static scene.

[0012] Preferably, when obtaining real-time data sources from sensors and databases, obtaining vertex data of dynamic elements, cooperating with vertex shaders to obtain vertex positions of dynamic elements, and finally using a graphics rendering engine to perform rendering operations to generate a rendered image of a dynamic scene, the specific steps are as follows: S71: Acquire a real-time data source, which is obtained from a sensor and a database, wherein the real-time data source includes a vehicle position and a pedestrian trajectory; S72: Update vertex data, update vertex data of dynamic elements according to real-time data source; S73: Set up vertex shader, write an appropriate vertex shader for processing vertex data and generating transformed vertex positions; S74: Execute a rendering operation, using a graphics rendering engine to execute the rendering operation and generate a rendered image of the dynamic scene.

[0013] Preferably, when optimizing the final rendering scene of the digital twin scene by adding post-processing effects and performing performance analysis and optimization on the rendering process, the method of adding post-processing effects includes: A11: Apply anti-aliasing algorithms to reduce jagged edges in rendered images. The anti-aliasing algorithms used include multi-sampling anti-aliasing algorithms, super-sampling anti-aliasing algorithms, and temporal anti-aliasing algorithms. A12: By simulating the depth of field effect of a camera, some parts of the scene are sharp and other parts are blurred; A13: Simulates the halo effect produced when light passes through a specific medium by applying specific filters and shaders.

[0014] Preferably, some parts of the scene are made clear and other parts are blurred by simulating the depth of field effect of the camera. The principle formula is: ; in, is the weight of the (x,y) position in the blur kernel, is the standard deviation of the Gaussian function and determines the intensity of the blur.

[0015] Preferably, when optimizing the final rendering scene of the digital twin scene by adding post-processing effects and performing performance analysis and optimization on the rendering process, the performance analysis and optimization on the rendering process includes the following steps: S81: Adjust rendering parameters, such as resolution, frame rate, lighting model, etc., according to the scene requirements and hardware performance to balance image quality and rendering speed; S82: Optimize data structure and use more efficient data structure to store and process rendering data; S83: Reduce redundant calculations in the rendering process through algorithm optimization and preprocessing; S84: Quality assessment, using quantitative indicators to evaluate the image quality of the rendering results, where the principle formula of the quantitative indicators includes: ; Where MAX is the maximum possible pixel value in the image, MSE is the mean square error, Represents the peak signal-to-noise ratio of the image; S85: Feedback mechanism, which provides feedback to the rendering process based on the quality assessment results to guide subsequent optimization and adjustment.

[0016] Compared with the prior art, the present invention has the following beneficial effects: By using pre-rendered cache data to quickly render static scenes, combining real-time data sources and vertex shaders to dynamically render dynamic elements, and using image fusion algorithms to seamlessly combine the two, this technical solution not only significantly improves the rendering speed of digital twin scenes, but also ensures the real-time and interactivity of dynamic elements. By fine-tuning the weight factors, the natural fusion of static and dynamic scenes is achieved, ultimately presenting high-quality, realistic digital twin rendering images, greatly enhancing user experience and application effects. By clarifying requirements, dividing scenes, adopting different 3D modeling solutions, optimizing vertex shader code and data structure, designing dynamic and static rendering processes, adding post-processing effects and performance optimization, the rendering efficiency is significantly improved, resource utilization is optimized, scene realism is enhanced, system flexibility is improved, development and maintenance costs are reduced, and real-time interaction is supported, providing an efficient, realistic and flexible rendering solution for digital twin applications. By acquiring dynamic data sources such as vehicle positions and pedestrian trajectories from sensors and databases in real time, and instantly updating the vertex data of dynamic elements, combined with carefully written vertex shaders to process vertex data and generate precisely transformed vertex positions, and finally using the graphics rendering engine to efficiently perform rendering operations, this technical solution can generate rendered images of dynamic scenes in real time, which not only ensures the real-time and accuracy of dynamic elements, but also significantly improves rendering efficiency, providing strong technical support for the display of dynamic scenes in digital twin applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the process of the present invention; Figure 2 It is a specific flow chart of the design steps of the dynamic and static combined rendering process of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The present invention provides a technical solution: Figure 1-Figure 2The digital twin scene efficient rendering method based on the combination of dynamic and static and vertex shader includes the following steps: S11: Preliminary preparation and scenario analysis: clarify the specific requirements of the digital twin scenario, collect data related to the digital twin scenario, and divide the digital twin scenario into static and dynamic parts based on the clear requirements and collected data; S12: 3D modeling and material mapping: different 3D modeling schemes are used for the static part and the dynamic part to establish 3D models of the static part and the dynamic part, and materials and mapping are added to the 3D models; S13: Vertex shader design and optimization: write vertex shader code according to the needs of the digital twin scene, and improve the execution efficiency of the vertex shader by reducing unnecessary calculations, utilizing GPU parallel processing capabilities, and optimizing data structures; S14: Design of dynamic and static combined rendering process, using pre-rendered cache data to quickly render the static part, and using the designed vertex shader to render the dynamic part in real time, and finally merge the dynamic part with the static part; S15: Post-processing and optimization, optimizing the final rendering scene of the digital twin scene by adding post-processing effects and performing performance analysis and optimization on the rendering process; S16: Deployment and integration: deploy the optimized rendering system to the target platform and integrate the rendering system with other digital twin application modules to form a complete digital twin application system.

[0020] As described in the above steps S11-S16, the efficient rendering method of digital twin scenes based on the combination of static and dynamic and vertex shaders of the present invention significantly improves rendering efficiency, optimizes resource utilization, enhances scene realism, improves system flexibility, reduces development and maintenance costs, and supports real-time interaction, providing an efficient, realistic and flexible rendering solution for digital twin applications.

[0021] Preferably, when the specific requirements of the digital twin scene are clarified, and data related to the digital twin scene is collected, and the digital twin scene is divided into a static part and a dynamic part according to the clarified requirements and the collected data, the following steps are included: S21: Requirements collation and confirmation: collect the specific requirements of digital twin production, including the specific requirements of digital twin scenarios, including scenario scope, accuracy requirements, and dynamic element types, and organize them into detailed requirements documents; S22: Data collection, first formulate a data collection plan, and collect static data and dynamic data separately according to the plan, and pre-process the collected data. The data collection plan includes the type of data to be collected, the source of the collected data, and the method of data collection; S23: Scene division: conduct in-depth analysis of the collected data to understand the structure, characteristics and changing patterns of dynamic elements of the scene, and divide different elements into dynamic and static parts.

[0022] As described in the above steps S21-S23, the present invention systematically organizes the specific requirements of the digital twin scene (including scene scope, accuracy requirements and dynamic element types), and formulates a detailed data collection plan to comprehensively collect and pre-process static and dynamic data, and then scientifically and reasonably divides the scene into static and dynamic parts based on in-depth analysis of these data. This technical solution ensures the precise positioning, data integrity and rendering efficiency of the digital twin scene, and provides a solid foundation for efficient and realistic digital twin applications.

[0023] Preferably, when preprocessing the collected data, the following steps are included: S31: Data cleaning, identifying and correcting errors, duplications, outliers and missing values ​​in the data set, including identifying and processing missing values ​​by deleting records containing missing values ​​and using specific values ​​to fill missing values, identifying and deleting duplicate records by comparing records in the data set, and identifying and processing outliers by statistical methods. The specific values ​​used in the method of filling missing values ​​with specific values ​​to identify and process missing values ​​include the mean, median and mode. When identifying outliers, the principle formula of the statistical method used is: ; Where X is the data point, μ is the mean, and σ is the standard deviation. When identifying outliers, when the size of Z calculated from data point X is greater than the set threshold, the data point X is marked as an outlier. S32: Format conversion, converting data into a format suitable for subsequent analysis and modeling, including data type conversion and data encoding; S33: Coordinate unification, converting data into data under a unified standard unit, including coordinate conversion, standardization processing and normalization processing. The principle formula of standardization processing is: ; in, Represents the value of data point X after normalization; The principle formula of normalization processing is: ; in, Represents the normalized value of data point X. Represents the minimum value in the data set. Represents the maximum value in the data set.

[0024] As described in the above steps S31-S33, the present invention pre-processes the collected data, including data cleaning (identifying and correcting errors, duplications, outliers and missing values, and using statistical methods such as Z scores to identify outliers), format conversion (data type conversion and data encoding to meet subsequent analysis and modeling needs) and coordinate unification (coordinate conversion, standardization and normalization to ensure that the data is in the same standard unit). This technical solution effectively improves the data quality and provides an accurate, consistent and easy-to-process data foundation for subsequent digital twin scenario analysis and modeling, thereby enhancing the accuracy and reliability of digital twin applications.

[0025] Preferably, when the collected data is deeply analyzed to understand the structure, characteristics and changing rules of dynamic elements of the scene, and to divide different elements into dynamic and static parts, the following steps are included: S41: Scene analysis: conduct in-depth analysis of the collected data to understand the structure, characteristics and changing patterns of dynamic elements of the scene; S42: static part division, according to the result of scene analysis, the elements that do not change with time are divided into static parts, and a three-dimensional model is established for them; S43: dynamic part division, dividing the elements that change over time into dynamic parts, and determining their data update frequency and rendering method; S44: Scene integration, integrating the static part and the dynamic part.

[0026] As described in the above steps S41-S44, the present invention analyzes the collected data in depth to accurately grasp the scene structure, characteristics and changing rules of dynamic elements. The technical solution scientifically divides the scene elements into two parts: static and dynamic: the static part builds a stable three-dimensional model to reduce the rendering burden; the dynamic part is flexibly processed according to the change frequency and rendering requirements to achieve efficient updates. In the end, the two parts are seamlessly integrated, which not only optimizes the rendering process, but also significantly improves the real-time and interactivity of the digital twin scene, laying a solid foundation for efficient rendering and realistic display of the scene.

[0027] Preferably, when the static part is quickly rendered using the pre-rendered cache data, and the dynamic part is rendered in real time using the designed vertex shader, and finally the dynamic part is merged with the static part, the following steps are included: S51: static scene rendering, using pre-rendered cache data to quickly render the static part, using a graphics rendering engine to perform a rendering operation, and generating a rendered image of the static scene; S52: obtaining real-time data sources from sensors and databases, obtaining vertex data of dynamic elements, and cooperating with vertex shaders to obtain vertex positions of dynamic elements, and finally using a graphics rendering engine to perform rendering operations to generate a rendered image of the dynamic scene; S53: Fusion rendering, obtaining the rendered images of the static scene and the dynamic scene from the rendering engine, and fusing the two images into a final rendered image using an image fusion algorithm, wherein when fusing the images of the static scene and the dynamic scene into the final rendered image using the image fusion algorithm, the principle formula used is: ; in, is the final fused image, is a rendered image of a static scene, is a rendered image of a dynamic scene, is a weight factor used to control the contribution of the two images in the fusion result.

[0028] As described in the above steps S51-S53, the present invention uses pre-rendered cache data to quickly render static scenes, combines real-time data sources and vertex shaders to dynamically render dynamic elements, and uses an image fusion algorithm to seamlessly combine the two. This technical solution not only significantly improves the rendering speed of digital twin scenes, but also ensures the real-time and interactivity of dynamic elements. By fine-tuning the weight factors, the natural fusion of static and dynamic scenes is achieved, ultimately presenting high-quality, realistic digital twin rendering images, greatly enhancing user experience and application effects.

[0029] Preferably, when the pre-rendered cache data is used to quickly render the static part, and the graphics rendering engine is used to perform the rendering operation to generate a rendered image of the static scene, the following steps are included: S61: Load static data, load pre-rendered cache data and static textures from a storage medium; S62: construct a static scene, and construct a three-dimensional model of the static scene using the loaded data; S63: Setting rendering parameters, setting rendering parameters according to scene requirements, wherein the rendering parameters include lighting, material, viewing angle, etc.; S64: Execute a rendering operation, using a graphics rendering engine to execute the rendering operation and generate a rendered image of the static scene.

[0030] As described in the above steps S61-S64, the present invention constructs a three-dimensional model of the static scene by loading pre-rendered cache data and static textures, and accurately sets rendering parameters such as lighting, material, and viewing angle according to scene requirements. Finally, an efficient graphics rendering engine is used to perform rendering operations. This technical solution can quickly generate high-quality static scene rendering images, which not only significantly improves the rendering speed, but also ensures the realism and visual effects of the scene, providing strong support for efficient rendering and realistic display of digital twin applications.

[0031] Preferably, when obtaining real-time data sources from sensors and databases, obtaining vertex data of dynamic elements, cooperating with vertex shaders to obtain vertex positions of dynamic elements, and finally using a graphics rendering engine to perform rendering operations to generate a rendered image of a dynamic scene, the specific steps are as follows: S71: Acquire a real-time data source, which is obtained from a sensor and a database, wherein the real-time data source includes a vehicle position and a pedestrian trajectory; S72: Update vertex data, update vertex data of dynamic elements according to real-time data source; S73: Set up vertex shader, write an appropriate vertex shader for processing vertex data and generating transformed vertex positions; S74: Execute a rendering operation, using a graphics rendering engine to execute the rendering operation and generate a rendered image of the dynamic scene.

[0032] As described in the above steps S71-S74, the present invention obtains dynamic data sources such as vehicle positions and pedestrian trajectories from sensors and databases in real time, and instantly updates the vertex data of dynamic elements. It combines carefully written vertex shaders to process vertex data and generate precisely transformed vertex positions, and finally uses a graphics rendering engine to efficiently perform rendering operations. This technical solution can generate rendered images of dynamic scenes in real time, which not only ensures the real-time and accuracy of dynamic elements, but also significantly improves rendering efficiency, providing strong technical support for the display of dynamic scenes in digital twin applications.

[0033] Preferably, when optimizing the final rendering scene of the digital twin scene by adding post-processing effects and performing performance analysis and optimization on the rendering process, the method of adding post-processing effects includes: A11: Apply anti-aliasing algorithms to reduce jagged edges in rendered images. The anti-aliasing algorithms used include multi-sampling anti-aliasing algorithms, super-sampling anti-aliasing algorithms, and temporal anti-aliasing algorithms. A12: By simulating the depth of field effect of a camera, some parts of the scene are sharp and other parts are blurred; A13: Simulates the halo effect produced when light passes through a specific medium by applying specific filters and shaders.

[0034] Preferably, some parts of the scene are made clear and other parts are blurred by simulating the depth of field effect of the camera. The principle formula is: ; in, is the weight of the (x,y) position in the blur kernel, is the standard deviation of the Gaussian function and determines the intensity of the blur.

[0035] As described above, the present invention reduces the aliasing phenomenon of rendered images by applying multi-sampling anti-aliasing, super-sampling anti-aliasing and temporal anti-aliasing algorithms, simulates the camera depth of field effect to achieve a partially clear and partially blurred visual hierarchy in the scene, and applies specific filters and shaders to simulate the halo effect. This technical solution significantly improves the final rendering quality of the digital twin scene, not only enhancing the smoothness and delicacy of the image, but also enhancing the realism and three-dimensional sense of the scene through the depth of field effect. The halo effect further enhances the atmosphere and visual effect of the scene, and optimizes the user experience and application effect as a whole.

[0036] Preferably, when optimizing the final rendering scene of the digital twin scene by adding post-processing effects and performing performance analysis and optimization on the rendering process, the performance analysis and optimization on the rendering process includes the following steps: S81: Adjust rendering parameters, such as resolution, frame rate, lighting model, etc., according to the scene requirements and hardware performance to balance image quality and rendering speed; S82: Optimize data structure and use more efficient data structure to store and process rendering data; S83: Reduce redundant calculations in the rendering process through algorithm optimization and preprocessing; S84: Quality assessment, using quantitative indicators to evaluate the image quality of the rendering results, where the principle formula of the quantitative indicators includes: ; Where MAX is the maximum possible pixel value in the image, MSE is the mean square error, Represents the peak signal-to-noise ratio of the image; S85: Feedback mechanism, which provides feedback to the rendering process based on the quality assessment results to guide subsequent optimization and adjustment.

[0037] As described in the above steps S81-S85, the present invention adjusts the rendering parameters carefully to balance the image quality and rendering speed, optimizes the data structure to improve the data processing efficiency, uses algorithm optimization and preprocessing to reduce redundant calculations, combines quantitative indicators for quality assessment, and guides subsequent optimization based on the feedback of the evaluation results. This technical solution comprehensively improves the performance of the digital twin scene rendering process, not only significantly speeds up the rendering speed, but also ensures high-quality image output, and provides solid technical support for real-time and efficient digital twin applications. It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An efficient rendering method for digital twin scenes based on the combination of dynamic and static and vertex shader; characterized by: The following steps are included: S11: Preliminary preparation and scenario analysis: clarify the specific requirements of the digital twin scenario, collect data related to the digital twin scenario, and divide the digital twin scenario into static and dynamic parts based on the clear requirements and collected data; S12: 3D modeling and material mapping: different 3D modeling schemes are used for the static part and the dynamic part to establish 3D models of the static part and the dynamic part, and materials and mapping are added to the 3D models; S13: Vertex shader design and optimization: write vertex shader code according to the needs of the digital twin scene, and improve the execution efficiency of the vertex shader by reducing unnecessary calculations, utilizing GPU parallel processing capabilities, and optimizing data structures; S14: Design of dynamic and static combined rendering process, using pre-rendered cache data to quickly render the static part, and using the designed vertex shader to render the dynamic part in real time, and finally merge the dynamic part with the static part; S15: Post-processing and optimization, optimizing the final rendering scene of the digital twin scene by adding post-processing effects and performing performance analysis and optimization on the rendering process; S16: Deployment and integration: deploy the optimized rendering system to the target platform and integrate the rendering system with other digital twin application modules to form a complete digital twin application system.

2. The method for efficiently rendering a digital twin scene based on the combination of dynamic and static and vertex shader according to claim 1 is characterized in that: When clarifying the specific requirements of the digital twin scenario, collecting data related to the digital twin scenario, and dividing the digital twin scenario into static and dynamic parts based on the specified requirements and the collected data, the following steps are included: S21: Requirements collation and confirmation: collect the specific requirements of digital twin production, including the specific requirements of digital twin scenarios, including scenario scope, accuracy requirements, and dynamic element types, and organize them into detailed requirements documents; S22: Data collection, first formulate a data collection plan, and collect static data and dynamic data separately according to the plan, and pre-process the collected data. The data collection plan includes the type of data to be collected, the source of the collected data, and the method of data collection; S23: Scene division: conduct in-depth analysis of the collected data to understand the structure, characteristics and changing patterns of dynamic elements of the scene, and divide different elements into dynamic and static parts.

3. The method for efficiently rendering a digital twin scene based on the combination of dynamic and static and vertex shader according to claim 2 is characterized in that: The preprocessing of the collected data includes the following steps: S31: Data cleaning, identifying and correcting errors, duplications, outliers and missing values ​​in the data set, including identifying and processing missing values ​​by deleting records containing missing values ​​and using specific values ​​to fill missing values, identifying and deleting duplicate records by comparing records in the data set, and identifying and processing outliers by statistical methods. The specific values ​​used in the method of filling missing values ​​with specific values ​​to identify and process missing values ​​include the mean, median and mode. When identifying outliers, the principle formula of the statistical method used is: ； Where X is the data point, μ is the mean, and σ is the standard deviation. When identifying outliers, when the size of Z calculated from data point X is greater than the set threshold, the data point X is marked as an outlier. S32: Format conversion, converting data into a format suitable for subsequent analysis and modeling, including data type conversion and data encoding; S33: Coordinate unification, converting data into data under a unified standard unit, including coordinate conversion, standardization processing and normalization processing. The principle formula of standardization processing is: ； in, Represents the value of data point X after normalization; The principle formula of normalization processing is: ； in, Represents the normalized value of data point X. Represents the minimum value in the data set. Represents the maximum value in the data set.

4. The method for efficiently rendering a digital twin scene based on the combination of dynamic and static and vertex shader according to claim 3 is characterized in that: When conducting an in-depth analysis of the collected data, understanding the structure, characteristics, and changing rules of dynamic elements of the scene, and dividing different elements into dynamic and static parts, the following steps are included: S41: Scene analysis: conduct in-depth analysis of the collected data to understand the structure, characteristics and changing patterns of dynamic elements of the scene; S42: static part division, according to the result of scene analysis, the elements that do not change with time are divided into static parts, and a three-dimensional model is established for them; S43: dynamic part division, dividing the elements that change over time into dynamic parts, and determining their data update frequency and rendering method; S44: Scene integration, integrating the static part and the dynamic part.

5. The method for efficiently rendering a digital twin scene based on the combination of dynamic and static and vertex shader according to claim 4 is characterized in that: When using pre-rendered cache data to quickly render the static part, and using the designed vertex shader to render the dynamic part in real time, and finally fusing the dynamic part with the static part, the following steps are included: S51: static scene rendering, using pre-rendered cache data to quickly render the static part, using a graphics rendering engine to perform a rendering operation, and generating a rendered image of the static scene; S52: obtaining real-time data sources from sensors and databases, obtaining vertex data of dynamic elements, and cooperating with vertex shaders to obtain vertex positions of dynamic elements, and finally using a graphics rendering engine to perform rendering operations to generate a rendered image of the dynamic scene; S53: Fusion rendering, obtaining the rendered images of the static scene and the dynamic scene from the rendering engine, and fusing the two images into a final rendered image using an image fusion algorithm, wherein when fusing the images of the static scene and the dynamic scene into the final rendered image using the image fusion algorithm, the principle formula used is: ； in, is the final fused image, is a rendered image of a static scene, is a rendered image of a dynamic scene, is a weight factor used to control the contribution of the two images in the fusion result.

6. The method for efficiently rendering a digital twin scene based on the combination of dynamic and static and vertex shader according to claim 5 is characterized in that: When the pre-rendered cache data is used to quickly render the static part, and the graphics rendering engine is used to perform the rendering operation to generate a rendered image of the static scene, the following steps are included: S61: Load static data, load pre-rendered cache data and static textures from a storage medium; S62: construct a static scene, and construct a three-dimensional model of the static scene using the loaded data; S63: Setting rendering parameters, setting rendering parameters according to scene requirements, wherein the rendering parameters include lighting, material, viewing angle, etc.; S64: Execute a rendering operation, using a graphics rendering engine to execute the rendering operation and generate a rendered image of the static scene.

7. The method for efficiently rendering a digital twin scene based on the combination of dynamic and static and vertex shader according to claim 6 is characterized in that: When obtaining real-time data sources from sensors and databases, obtaining vertex data of dynamic elements, and cooperating with vertex shaders to obtain vertex positions of dynamic elements, and finally using graphics rendering engines to perform rendering operations to generate rendered images of dynamic scenes, the specific steps are as follows: S71: Acquire a real-time data source, which is obtained from a sensor and a database, wherein the real-time data source includes a vehicle position and a pedestrian trajectory; S72: Update vertex data, update vertex data of dynamic elements according to real-time data source; S73: Set up vertex shader, write an appropriate vertex shader for processing vertex data and generating transformed vertex positions; S74: Execute a rendering operation, using a graphics rendering engine to execute the rendering operation and generate a rendered image of the dynamic scene.

8. The method for efficiently rendering a digital twin scene based on the combination of dynamic and static and vertex shader according to claim 7 is characterized in that: When optimizing the final rendered scene of the digital twin scene by adding post-processing effects and profiling and optimizing the rendering process, the methods for adding post-processing effects include: A11: Apply anti-aliasing algorithms to reduce jagged edges in rendered images. The anti-aliasing algorithms used include multi-sampling anti-aliasing algorithms, super-sampling anti-aliasing algorithms, and temporal anti-aliasing algorithms. A12: By simulating the depth of field effect of a camera, some parts of the scene are sharp and other parts are blurred; A13: Simulates the halo effect produced when light passes through a medium by applying filters and shaders.

9. The method for efficiently rendering a digital twin scene based on the combination of dynamic and static and vertex shader according to claim 8 is characterized in that: By simulating the depth of field effect of the camera, some parts of the scene are made clear while other parts are blurred. The principle formula is: ； in, is the weight of the (x,y) position in the blur kernel, is the standard deviation of the Gaussian function and determines the intensity of the blur.

10. The digital twin scene efficient rendering method based on dynamic and static combination and vertex shader according to claim 9 is characterized in that: When optimizing the final rendered scene of the digital twin scene by adding post-processing effects and profiling and optimizing the rendering process, profiling and optimizing the rendering process includes the following steps: S81: Adjust rendering parameters, such as resolution, frame rate, lighting model, etc., according to the scene requirements and hardware performance to balance image quality and rendering speed; S82: Optimize data structure and use more efficient data structure to store and process rendering data; S83: Reduce redundant calculations in the rendering process through algorithm optimization and preprocessing; S84: Quality assessment, using quantitative indicators to evaluate the image quality of the rendering results, where the principle formula of the quantitative indicators includes: ； Where MAX is the maximum possible pixel value in the image, MSE is the mean square error, Represents the peak signal-to-noise ratio of the image; S85: Feedback mechanism, which provides feedback to the rendering process based on the quality assessment results to guide subsequent optimization and adjustment.

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