Sunday, September 26, 2010

Implementing thermal imaging.

Over the last two days I've been working on simulating the thermal imaging sensor (TIS) for a military training simulator project. This supports two modes, white hot and black hot. In white hot mode hotter objects are brighter. The sky tends to be dark grey to black, the terrain varies from dark grey to white (for hot sand and roads during the days), and people and vehicles tend to be light grey to white. Black hot is just the opposite (hotter objects are darker), which means I only really needed to implement white hot, and added a final step in my post-processing shader which inverts the image when black hot is enabled.

Previously I had implemented night vision and incorporated it into our post-fx pipeline. This entailed adding a custom high contrast bright pass filter, a green filter (tweaked in various ways to match the reference videos) and a grainy effect (similar to film grain). The excessive contrast works well with the bloom part of the pipeline to give a realistic looking dramatic blooming effect when parts of the rendered image becomes brighter (for example, when weapons are fired).

I used the same part of the post-fx pipeline to implement thermal imaging, but applied a greyscale filter instead, and used significantly less contrast. At this stage the result was a grainy greyscale image, but there was no differentiation between hot and cold objects.

Looking at the reference videos I observed that there is significantly more contrast on thermal imaging camera during the day than at night. I implemented this in the application code itself rather than in shaders. We have a dynamic time of day and weather system which allows for any time of day and weather combination, each with its own set of diffuse, ambient, fog and sky parameters. When thermal imaging is enabled I intercept the calls to set these parameters and supply an alternative set of parameters that match the reference videos. Fortunately, I had reference videos showing TIS enabled during transitions from day to night and vice versa, so I could run the video alongside our simulator, dramatically increase the time elapse rate in our simulator, and observe the results as I tweaked the values. As for the sky, I modified the dynamic skydome shader so that it bypasses the part where it derives colour for various regions of the sky based on time of day and weather, and outputted a single colour based on time of day instead.

In the reference videos the foliage tends to range from dark grey to black (it would seem that plants aren't particularly warm). This was easy enough, I simply intercepted the calls to the SpeedTree API and modified lighting and fog parameters to give the desired look.

At this stage the scene looked very close to the reference videos for the most part, except for hot objects -- we needed some way to make infantry and vehicles stand out white against the dark backdrop. Initially I was going to do this with shaders -- either in the specific shaders for the infantry and vehicles or via post-processing. However, in the real world various vehicles have very specific heat signatures. For example, some tanks are specifically designed so that they have low heat signatures, so that they don't stand out when TIS is enabled. Similarly, many tanks, trucks and even infantry show very specific heat patterns. For example, a tank may appear dark everywhere except around its engine, which glows white, allowing it to be uniquely identified by a knowledgeable observer. As a result, a generic solution such as this would not suffice.

To obtain realistic results we needed the artists to provide an additional set of customized textures, one for each vehicle and infantry unit type. When thermal imaging is enabled, the graphics engine is instructed to swap out the default set of diffuse maps for an alternative set of heat maps. The final result is a final rendered image that is very close to the real thing.