452 lines
17 KiB
Plaintext
452 lines
17 KiB
Plaintext
#ifndef GPUTOOL_H
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#define GPUTOOL_H
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#ifdef __CUDANVCC___
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#include "BaseConstVariable.h"
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#include <cuda_runtime.h>
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#include <device_launch_parameters.h>
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#include <cublas_v2.h>
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#include <cuComplex.h>
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#define __CUDADEBUG__
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// 默认显存分布
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enum LAMPGPUDATETYPE {
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LAMP_LONG,
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LAMP_FLOAT,
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LAMP_COMPLEXFLOAT
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};
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extern "C" struct CUDASigmaParam {
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float p1;
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float p2;
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float p3;
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float p4;
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float p5;
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float p6;
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};
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extern "C" struct CUDAVector {
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float x;
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float y;
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float z;
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};
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extern "C" struct CUDAVectorEllipsoidal {
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float theta;
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float phi;
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float pho;
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};
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// GPU 内存函数
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extern "C" void* mallocCUDAHost( long memsize); // 主机内存声明
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extern "C" void FreeCUDAHost(void* ptr);
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extern "C" void* mallocCUDADevice( long memsize); // GPU内存声明
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extern "C" void FreeCUDADevice(void* ptr);
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extern "C" void HostToDevice(void* hostptr, void* deviceptr, long memsize);//GPU 内存数据转移 设备 -> GPU
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extern "C" void DeviceToHost(void* hostptr, void* deviceptr, long memsize);//GPU 内存数据转移 GPU -> 设备
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// 仿真所需的常用函数
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extern "C" void distanceAB(float* Ax, float* Ay, float* Az, float* Bx, float* By, float* Bz, float* R, long member);
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extern "C" void BdistanceAs(float* Ax, float* Ay, float* Az, float Bx, float By, float Bz, float* R, long member);
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extern "C" void make_VectorA_B(float sX, float sY, float sZ, float* tX, float* tY, float* tZ, float* RstX, float* RstY, float* RstZ, long member);
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extern "C" void Norm_Vector(float* Vx, float* Vy, float* Vz, float* R, long member);
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extern "C" void cosAngle_VA_AB(float* Ax, float* Ay, float* Az, float* Bx, float* By, float* Bz, float* anglecos, long len);
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extern "C" void SatelliteAntDirectNormal(float* RstX, float* RstY, float* RstZ, float antXaxisX, float antXaxisY, float antXaxisZ, float antYaxisX, float antYaxisY, float antYaxisZ, float antZaxisX, float antZaxisY, float antZaxisZ, float antDirectX, float antDirectY, float antDirectZ, float* thetaAnt, float* phiAnt, long len);
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extern "C" void AntPatternInterpGain(float* anttheta, float* antphi, float* gain, float* antpattern, float starttheta, float startphi, float dtheta, float dphi, int thetapoints, int phipoints,long len);
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extern "C" void CUDA_RTPC_SiglePRF(
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float antPx, float antPy, float antPZ,
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float antXaxisX, float antXaxisY, float antXaxisZ,
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float antYaxisX, float antYaxisY, float antYaxisZ,
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float antZaxisX, float antZaxisY, float antZaxisZ,
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float antDirectX, float antDirectY, float antDirectZ,
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float* demx, float* demy, float* demz, long* demcls,
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float* demslopex, float* demslopey, float* demslopez, float* demslopeangle,
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float* Tantpattern, float Tstarttheta, float Tstartphi, float Tdtheta, float Tdphi, int Tthetapoints, int Tphipoints,
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float* Rantpattern, float Rstarttheta, float Rstartphi, float Rdtheta, float Rdphi, int Rthetapoints, int Rphipoints,
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float lamda, float fs, float nearrange, float Pt, int Freqnumbers,
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CUDASigmaParam* sigma0Paramslist, int sigmaparamslistlen,
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cuComplex* outecho, int* d_echoAmpFID,
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int linecount, int colcount
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);
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extern "C" void CUDARTPCPRF(float antPx, long len);
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extern "C" void CUDATestHelloWorld(float a, long len);
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extern "C" void CUDATBPImage(
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float* antPx,
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float* antPy,
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float* antPz,
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float* imgx,
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float* imgy,
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float* imgz,
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cuComplex* echoArr,
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cuComplex* imgArr,
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float freq, float fs, float Rnear, float Rfar,
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long rowcount, long colcount,
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long prfid, long freqcount
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);
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extern "C" void calculationEcho(float* sigma0, float* TransAnt, float* ReciveAnt,
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float* localangle, float* R, float* slopeangle,
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float nearRange, float Fs, float pt, float lamda, long FreqIDmax,
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cuComplex* echoAmp, long* FreqID,
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long len);
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extern "C" void CUDAInterpSigma(
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long* demcls, float* sigmaAmp, float* localanglearr, long len,
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CUDASigmaParam* sigma0Paramslist, long sigmaparamslistlen);
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#endif
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#endif
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/**
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*
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double* databuffer = new double[nXSize * nYSize * 2];
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poBand->RasterIO(GF_Read, start_col, start_row, cols_count, rows_count, databuffer, cols_count,
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rows_count, GDT_CFloat64, 0, 0);
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GDALClose((GDALDatasetH)poDataset);
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Eigen::MatrixXcd rasterData(nYSize, nXSize); // 使用Eigen的MatrixXcd
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for(size_t i = 0; i < nYSize; i++) {
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for(size_t j = 0; j < nXSize; j++) {
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rasterData(i, j) = std::complex<double>(databuffer[i * nXSize * 2 + j * 2],
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databuffer[i * nXSize * 2 + j * 2 + 1]);
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}
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}
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delete[] databuffer;
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gdalImage demxyz(demxyzPath);// 地面点坐标
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gdalImage demlandcls(this->LandCoverPath);// 地表覆盖类型
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gdalImage demsloperxyz(this->demsloperPath);// 地面坡向
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omp_lock_t lock; // 定义锁
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omp_init_lock(&lock); // 初始化锁
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long start_ids = 1250;
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for (start_ids = 1; start_ids < demxyz.height; start_ids = start_ids + line_invert) { // 8+ 17 + 0.3 MB
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QDateTime current = QDateTime::currentDateTime();
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long pluseStep = Memory1MB * 100 / 3 / PlusePoint;
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if (pluseStep * num_thread * 3 > this->PluseCount) {
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pluseStep = this->PluseCount / num_thread / 3;
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}
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pluseStep = pluseStep > 50 ? pluseStep : 50;
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qDebug() << current.toString("yyyy-MM-dd HH:mm:ss.zzz") << " \tstart \t " << start_ids << " - " << start_ids + line_invert << "\t" << demxyz.height << "\t pluseCount:\t" << pluseStep;
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// 文件读取
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Eigen::MatrixXd dem_x = demxyz.getData(start_ids - 1, 0, line_invert + 1, demxyz.width, 1); //
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Eigen::MatrixXd dem_y = demxyz.getData(start_ids - 1, 0, line_invert + 1, demxyz.width, 2); //
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Eigen::MatrixXd dem_z = demxyz.getData(start_ids - 1, 0, line_invert + 1, demxyz.width, 3); //
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// 地表覆盖
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std::shared_ptr<long> dem_landcls = readDataArr<long>(demlandcls, start_ids - 1, 0, line_invert + 1, demxyz.width, 1, GDALREADARRCOPYMETHOD::VARIABLEMETHOD); // 地表覆盖类型
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long* dem_landcls_ptr = dem_landcls.get();
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double localAngle = 30.0;
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bool sigmaNoZeroFlag = true;
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for (long ii = 0; ii < dem_x.rows(); ii++) {
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for (long jj = 0; jj < dem_y.cols(); jj++) {
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if (0 != this->SigmaDatabasePtr->getAmp(dem_landcls_ptr[dem_x.cols() * ii + jj], localAngle, polartype)) {
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sigmaNoZeroFlag = false;
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break;
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}
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}
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if (!sigmaNoZeroFlag) {
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break;
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}
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}
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if (sigmaNoZeroFlag) {
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continue;
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}
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//#ifdef DEBUGSHOWDIALOG
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// dialog->load_double_MatrixX_data(dem_z, "dem_z");
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//#endif
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Eigen::MatrixXd demsloper_x = demsloperxyz.getData(start_ids - 1, 0, line_invert + 1, demxyz.width, 1); //
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Eigen::MatrixXd demsloper_y = demsloperxyz.getData(start_ids - 1, 0, line_invert + 1, demxyz.width, 2); //
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Eigen::MatrixXd demsloper_z = demsloperxyz.getData(start_ids - 1, 0, line_invert + 1, demxyz.width, 3); //
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Eigen::MatrixXd sloperAngle = demsloperxyz.getData(start_ids - 1, 0, line_invert + 1, demxyz.width, 4); //
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sloperAngle = sloperAngle.array() * T180_PI;
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long dem_rows = dem_x.rows();
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long dem_cols = dem_x.cols();
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long freqidx = 0;//
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#ifdef DEBUGSHOWDIALOG
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ImageShowDialogClass* dialog = new ImageShowDialogClass(nullptr);
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dialog->show();
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Eigen::MatrixXd landaArr = Eigen::MatrixXd::Zero(dem_rows, dem_cols);
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for (long i = 0; i < dem_rows; i++) {
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for (long j = 0; j < dem_cols; j++) {
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landaArr(i, j) = dem_landcls.get()[i * dem_cols + j];
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}
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}
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dialog->load_double_MatrixX_data(landaArr, "landCover");
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#endif
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//qDebug() << " pluse bolck size :\t " << pluseStep << " all size:\t" << this->PluseCount;
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long processNumber = 0;
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#pragma omp parallel for
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for (long startprfidx = 0; startprfidx < this->PluseCount; startprfidx = startprfidx + pluseStep) { // 17 + 0.3 MB
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long prfcount_step = startprfidx + pluseStep < this->PluseCount ? pluseStep : this->PluseCount - startprfidx;
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Eigen::MatrixXcd echoPluse = Eigen::MatrixXcd::Zero(prfcount_step, PlusePoint); // 当前脉冲的回波积分情况
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// 内存预分配
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Eigen::MatrixXd Rst_x = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd Rst_y = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd Rst_z = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd R = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd localangle = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd Vst_x = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd Vst_y = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd Vst_z = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd fde = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd fr = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd Rx = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd sigam = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd echoAmp = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols()).array() + Pt;
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Eigen::MatrixXd Rphi = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd TimeRange = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd TransAnt = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd ReciveAnt = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd AntTheta = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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Eigen::MatrixXd AntPhi = Eigen::MatrixXd::Zero(dem_x.rows(), dem_x.cols());
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double minR = 0, maxR = 0;
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double minLocalAngle = 0, maxLocalAngle = 0;
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Vector3D Rt = { 0,0,0 };
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SatelliteOribtNode oRs = SatelliteOribtNode{ 0 };;
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Vector3D p0 = {}, slopeVector = {}, sateAntDirect = {};
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Vector3D Rs = {}, Vs = {}, Ast = {};
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SatelliteAntDirect antdirectNode = {};
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std::complex<double> echofreq;
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std::complex<double> Imag1(0, 1);
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double TAntPattern = 1; // 发射天线方向图
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double RAntPanttern = 1;// 接收天线方向图
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double maxechoAmp = 1;
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double tempAmp = 1;
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for (long prfidx = 0; prfidx < prfcount_step; prfidx++)
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{
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oRs = sateOirbtNodes[prfidx + startprfidx];
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// 计算天线方向图
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for (long jj = 1; jj < dem_cols - 1; jj++) {
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for (long ii = 1; ii < dem_rows - 1; ii++) {
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p0.x = dem_x(ii, jj);
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p0.y = dem_y(ii, jj);
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p0.z = dem_z(ii, jj);
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this->TaskSetting->getSatelliteAntDirectNormal(oRs, p0, antdirectNode);
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//antdirectNode.ThetaAnt = antdirectNode.ThetaAnt * r2d;
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//antdirectNode.PhiAnt = antdirectNode.PhiAnt * r2d;
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AntTheta(ii, jj) = antdirectNode.ThetaAnt * r2d;
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AntPhi(ii, jj) = antdirectNode.PhiAnt * r2d;
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}
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}
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// 计算发射天线方向图
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for (long jj = 1; jj < dem_cols - 1; jj++) {
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for (long ii = 1; ii < dem_rows - 1; ii++) {
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TransformPattern->getGainLinear(AntTheta(ii, jj), AntPhi(ii, jj), TransAnt(ii, jj));
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//TransAnt(ii, jj) = TAntPattern;
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}
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}
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// 计算接收天线方向图
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for (long jj = 1; jj < dem_cols - 1; jj++) {
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for (long ii = 1; ii < dem_rows - 1; ii++) {
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TransformPattern->getGainLinear(AntTheta(ii, jj), AntPhi(ii, jj), ReciveAnt(ii, jj));
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//ReciveAnt(ii, jj) = RAntPanttern;
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}
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}
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// 计算经过增益的能量
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echoAmp = Pt * TransAnt.array() * ReciveAnt.array();
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maxechoAmp = echoAmp.maxCoeff();
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if (std::abs(maxechoAmp) < PRECISIONTOLERANCE) { // 这种情况下，不在合成孔径范围中
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continue;
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}
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Rs.x = sateOirbtNodes[prfidx + startprfidx].Px; // 卫星位置
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Rs.y = sateOirbtNodes[prfidx + startprfidx].Py;
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Rs.z = sateOirbtNodes[prfidx + startprfidx].Pz;
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Vs.x = sateOirbtNodes[prfidx + startprfidx].Vx; // 卫星速度
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Vs.y = sateOirbtNodes[prfidx + startprfidx].Vy;
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Vs.z = sateOirbtNodes[prfidx + startprfidx].Vz;
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Ast.x = sateOirbtNodes[prfidx + startprfidx].AVx;// 卫星加速度
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Ast.y = sateOirbtNodes[prfidx + startprfidx].AVy;
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Ast.z = sateOirbtNodes[prfidx + startprfidx].AVz;
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Rst_x = Rs.x - dem_x.array(); // Rst = Rs - Rt;
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Rst_y = Rs.y - dem_y.array();
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Rst_z = Rs.z - dem_z.array();
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R = (Rst_x.array().pow(2) + Rst_y.array().pow(2) + Rst_z.array().pow(2)).array().sqrt(); // R
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minR = R.minCoeff();
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maxR = R.maxCoeff();
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//qDebug() << "minR:\t" << minR << " maxR:\t" << maxR;
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if (maxR<NearRange || minR>FarRange) {
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continue;
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}
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else {}
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// getCosAngle
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// double c = dot(a, b) / (getlength(a) * getlength(b));
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// return acos(c > 1 ? 1 : c < -1 ? -1 : c) * r2d;
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// localangle = getCosAngle(Rst, slopeVector) * T180_PI; // 注意这个只能实时计算，因为非实时计算代价太大
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localangle = (Rst_x.array() * demsloper_x.array() + Rst_y.array() * demsloper_y.array() + Rst_z.array() * demsloper_z.array()).array(); // dot(a, b)
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localangle = localangle.array() / R.array();
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localangle = localangle.array() / (demsloper_x.array().pow(2) + demsloper_y.array().pow(2) + demsloper_z.array().pow(2)).array().sqrt().array();
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localangle = localangle.array().acos(); // 弧度值
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minLocalAngle = localangle.minCoeff();
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maxLocalAngle = localangle.maxCoeff();
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if (maxLocalAngle<0 || minLocalAngle>PI / 2) {
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continue;
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}
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else {}
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//Vst_x = Vs.x + 1 * earthRoute * dem_y.array(); // Vst = Vs - Vt;
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//Vst_y = Vs.y - 1 * earthRoute * dem_x.array();
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//Vst_z = Vs.z - Eigen::MatrixXd::Zero(dem_x.rows(), dem_y.cols()).array();
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//// 计算多普勒中心频率 Rst, Vst : ( - 2 / lamda) * dot(Rs - Rt, Vs - Vt) / R; // 星载合成孔径雷达原始回波数据模拟研究 3.18
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//fde = (-2 / lamda) * (Rst_x.array() * Vst_x.array() + Rst_y.array() * Vst_y.array() + Rst_z.array() * Vst_z.array()).array() / (R.array());
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//// 计算多普勒频率斜率 // 星载合成孔径雷达原始回波数据模拟研究 3.19
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//// -(2/lamda)*( dot(Vs - Vt, Vs - Vt)/R + dot(Ast, Rs - Rt)/R - std::pow(dot(Vs - Vt, Rs - Rt),2 )/std::pow(R,3));
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//fr = (-2 / lamda) *
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// (Vst_x.array() * Vst_x.array() + Vst_y.array() * Vst_y.array() + Vst_z.array() * Vst_z.array()).array() / (R.array()) +
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// (-2 / lamda) *
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// (Ast.x * Rst_x.array() + Ast.y * Rst_y.array() + Ast.z * Rst_z.array()).array() / (R.array()) -
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// (-2 / lamda) *
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// (Vst_x.array() * Rst_x.array() + Vst_y.array() * Rst_y.array() + Vst_z.array() * Rst_z.array()).array().pow(2) / (R.array().pow(3));
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// 计算回波
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Rx = R;// -(lamda / 2) * (fde * TRx + 0.5 * fr * TRx * TRx); // 斜距历程值
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// 逐点计算 this->SigmaDatabasePtr->getAmp(covercls, localangle, polartype); // 后向散射系数 HH
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for (long ii = 0; ii < dem_x.rows(); ii++) {
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for (long jj = 0; jj < dem_y.cols(); jj++) {
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sigam(ii, jj) = this->SigmaDatabasePtr->getAmp(dem_landcls_ptr[dem_x.cols() * ii + jj], localangle(ii, jj) * r2d, polartype);
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}
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}
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if (sigam.maxCoeff() > 0) {}
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else {
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continue;
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}
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// projArea = 1 / std::cos(sloperAngle) * std::sin(localangle); // 投影面积系数，单位投影面积 1m x 1m --注意这里是假设，后期再补充
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// echoAmp = projArea*TAntPattern * RAntPanttern * sigam / (4 * PI * R * R);
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echoAmp = echoAmp.array() * sigam.array() * (1 / sloperAngle.array().cos() * localangle.array().sin()); // 反射强度
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echoAmp = echoAmp.array() / (4 * PI * R.array().pow(2)); // 距离衰减
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Rphi = -4 * PI / lamda * Rx.array();// 距离徙动相位
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// 积分
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TimeRange = ((2 * R.array() / LIGHTSPEED - TimgNearRange).array() * Fs).array();
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double localAnglepoint = -1;
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long prf_freq_id = 0;
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for (long jj = 1; jj < dem_cols - 1; jj++) {
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for (long ii = 1; ii < dem_rows - 1; ii++) {
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prf_freq_id = std::floor(TimeRange(ii, jj));
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if (prf_freq_id < 0 || prf_freq_id >= PlusePoint || localangle(ii, jj) < 0 || localangle(ii, jj) > PI / 2 || echoAmp(ii, jj) == 0) {
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continue;
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}
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echofreq = echoAmp(ii, jj) * std::exp(Rphi(ii, jj) * Imag1);
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echoPluse(prfidx, prf_freq_id) = echoPluse(prfidx, prf_freq_id) + echofreq;
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}
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}
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#ifdef DEBUGSHOWDIALOG
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ImageShowDialogClass* localangledialog = new ImageShowDialogClass(dialog);
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localangledialog->show();
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localangledialog->load_double_MatrixX_data(localangle.array() * r2d, "localangle");
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ImageShowDialogClass* sigamdialog = new ImageShowDialogClass(dialog);
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sigamdialog->show();
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sigamdialog->load_double_MatrixX_data(TimeRange, "TimeRange");
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ImageShowDialogClass* ampdialog = new ImageShowDialogClass(dialog);
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ampdialog->show();
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ampdialog->load_double_MatrixX_data(echoAmp, "echoAmp");
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Eigen::MatrixXd echoPluseamp = echoPluse.array().abs().cast<double>().array();
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ImageShowDialogClass* echoampdialog = new ImageShowDialogClass(dialog);
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|
echoampdialog->show();
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echoampdialog->load_double_MatrixX_data(echoPluseamp, "echoPluseamp");
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|
|
|
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dialog->exec();
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#endif
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//qDebug() << QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss.zzz") << " end " << prfidx;
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|
}
|
|
//qDebug() << QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss.zzz")<<" step "<< prfcount_step;
|
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|
omp_set_lock(&lock); // 回波整体赋值处理
|
|
for (long prfidx = 0; prfidx < prfcount_step; prfidx++) {
|
|
for (long freqidx = 0; freqidx < PlusePoint; freqidx++)
|
|
{
|
|
//qDebug() << prfidx << " " << freqidx << " " << echoPluse(prfidx, freqidx).real() << " + " << echoPluse(prfidx, freqidx).imag() << " j";
|
|
echo.get()[(prfidx + startprfidx) * PlusePoint + freqidx] = echo.get()[(prfidx + startprfidx) * PlusePoint + freqidx] + echoPluse(prfidx, freqidx);
|
|
}
|
|
}
|
|
//this->EchoSimulationData->saveEchoArr(echo, 0, PluseCount);
|
|
omp_unset_lock(&lock); // 解锁
|
|
//qDebug() << QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss.zzz") << " step 2" << prfcount_step;
|
|
}
|
|
|
|
omp_set_lock(&lock); // 保存文件
|
|
processNumber = processNumber + pluseStep;
|
|
|
|
this->EchoSimulationData->saveEchoArr(echo, 0, PluseCount);
|
|
omp_unset_lock(&lock); // 解锁
|
|
|
|
qDebug() << QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss.zzz") << " \t " << start_ids << "\t--\t " << start_ids + line_invert << "\t/\t" << demxyz.height;
|
|
|
|
}
|
|
omp_destroy_lock(&lock); // 销毁锁
|
|
|
|
|
|
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|
|
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|
*/ |