RasterProcessTool/LAMPSARProcessProgram/ToolBox/BaseToolbox/GF3CalibrationAndGeocodingClass.cpp

#include "GF3CalibrationAndGeocodingClass.h"
#include "SatelliteGF3xmlParser.h"
#include <QRegularExpression>
#include <QMessageBox>
#include "SatelliteOribtModel.h"
#include "boost/asio.hpp"
#include <boost/thread.hpp>
#include <thread>
#include <qprogressdialog.h>

ErrorCode GF3CalibrationRaster(QString inRasterPath, QString outRasterPath, double Qualifyvalue, double calibrationConst)
{
	gdalImage imgraster(inRasterPath.toUtf8().constData());

	if (!isExists(outRasterPath)) {
		gdalImageComplex outraster = CreategdalImageComplex(outRasterPath, imgraster.height, imgraster.width, 1, imgraster.gt, imgraster.projection, false, true);
	}
	gdalImageComplex outraster(outRasterPath);


	long blocklines = Memory1GB * 2 / 8 / imgraster.width;
	blocklines = blocklines < 100 ? 100 : blocklines;
	Eigen::MatrixXd imgArrb1 = Eigen::MatrixXd::Zero(blocklines, imgraster.width);
	Eigen::MatrixXd imgArrb2 = Eigen::MatrixXd::Zero(blocklines, imgraster.width);
	Eigen::MatrixXcd imgArr = Eigen::MatrixXcd::Zero(blocklines, imgraster.width);

	double quayCoff = Qualifyvalue * 1.0 / 32767;
	double caliCoff = std::pow(10.0, (calibrationConst * 1.0 / 20));
	qDebug() << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>:\t" << quayCoff / caliCoff;
	long startrow = 0;
	for (startrow = 0; startrow < imgraster.height; startrow = startrow + blocklines) {

		imgArrb1 = imgraster.getData(startrow, 0, blocklines, imgraster.width, 1);
		imgArrb2 = imgraster.getData(startrow, 0, blocklines, imgraster.width, 2);
		imgArr = outraster.getDataComplex(startrow, 0, blocklines, outraster.width, 1);
		imgArr.real() = imgArrb1.array() * quayCoff / caliCoff;
		imgArr.imag() = imgArrb2.array() * quayCoff / caliCoff;
		outraster.saveImage(imgArr, startrow, 0, 1);
	}
	qDebug() << "Ӱ<EFBFBD><EFBFBD>д<EFBFBD>뵽<EFBFBD><EFBFBD>" << outRasterPath;
	return ErrorCode::SUCCESS;
}

ErrorCode ImportGF3L1ARasterToWorkspace(QString inMetaxmlPath, QString inRasterPath, QString outWorkDirPath, POLARTYPEENUM polsartype)
{
	SatelliteGF3xmlParser gf3xml;
	gf3xml.loadFile(inMetaxmlPath);
	QString filename = getFileNameWidthoutExtend(inRasterPath);
	SARSimulationImageL1Dataset l1dataset;
	l1dataset.OpenOrNew(outWorkDirPath, filename, gf3xml.height, gf3xml.width);
	l1dataset.setSateAntPos(SatellitePos2SatelliteAntPos(gf3xml.antposs));
	l1dataset.setCenterFreq(gf3xml.RadarCenterFrequency);
	l1dataset.setcolCount(gf3xml.width);
	l1dataset.setrowCount(gf3xml.height);
	l1dataset.setNearRange(gf3xml.nearRange);
	l1dataset.setRefRange(gf3xml.refRange);
	l1dataset.setFs(gf3xml.eqvFs);
	l1dataset.setPRF(gf3xml.eqvPRF);
	l1dataset.setCenterAngle((gf3xml.incidenceAngleNearRange + gf3xml.incidenceAngleFarRange) / 2.0); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	l1dataset.setDopplerParametersReferenceTime(gf3xml.DopplerParametersReferenceTime);
	l1dataset.setTotalProcessedAzimuthBandWidth(gf3xml.TotalProcessedAzimuthBandWidth);
	l1dataset.setIncidenceAngleFarRange(gf3xml.incidenceAngleFarRange);
	l1dataset.setIncidenceAngleNearRangeet(gf3xml.incidenceAngleNearRange);
	l1dataset.setDopplerParams(gf3xml.d0, gf3xml.d1, gf3xml.d2, gf3xml.d3, gf3xml.d4);
	l1dataset.setDopplerCenterCoff(gf3xml.r0, gf3xml.r1, gf3xml.r2, gf3xml.r3, gf3xml.r4);
	l1dataset.setLatitudeCenter(gf3xml.latitude_center);
	l1dataset.setLongitudeCenter(gf3xml.longitude_center);
	l1dataset.setLatitudeTopLeft(gf3xml.latitude_topLeft);
	l1dataset.setLongitudeTopLeft(gf3xml.longitude_topLeft);
	l1dataset.setLatitudeTopRight(gf3xml.latitude_topRight);
	l1dataset.setLongitudeTopRight(gf3xml.longitude_topRight);
	l1dataset.setLatitudeBottomLeft(gf3xml.latitude_bottomLeft);
	l1dataset.setLongitudeBottomLeft(gf3xml.longitude_bottomLeft);
	l1dataset.setLatitudeBottomRight(gf3xml.latitude_bottomRight);
	l1dataset.setLongitudeBottomRight(gf3xml.longitude_bottomRight);
	l1dataset.setStartImageTime(gf3xml.start);
	l1dataset.setEndImageTime(gf3xml.end);
	l1dataset.saveToXml();

	QString outRasterpath = l1dataset.getImageRasterPath();

	ErrorCode errorcode = ErrorCode::SUCCESS;
	qDebug() << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:\t" << inRasterPath;
	switch (polsartype)
	{
	case POLARHH:
		qDebug() << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>HH";
		errorcode = GF3CalibrationRaster(inRasterPath, outRasterpath, gf3xml.HH_QualifyValue, gf3xml.HH_CalibrationConst);
		break;
	case POLARHV:
		qDebug() << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>HH";
		errorcode = GF3CalibrationRaster(inRasterPath, outRasterpath, gf3xml.HV_QualifyValue, gf3xml.HV_CalibrationConst);
		break;
	case POLARVH:
		qDebug() << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>VH";
		errorcode = GF3CalibrationRaster(inRasterPath, outRasterpath, gf3xml.VH_QualifyValue, gf3xml.VH_CalibrationConst);
		break;
	case POLARVV:
		qDebug() << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>VV";
		errorcode = GF3CalibrationRaster(inRasterPath, outRasterpath, gf3xml.VV_QualifyValue, gf3xml.VV_CalibrationConst);
		break;
	default:
		break;
	}
	qDebug() << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD>\t" << QString::fromStdString(errorCode2errInfo(errorcode));

	return errorcode;
}

QVector<QString> SearchGF3DataTiff(QString inMetaxmlPath)
{
	// ָ<><D6B8>·<EFBFBD><C2B7>
	QString xmlpath = inMetaxmlPath; // <20>滻Ϊ<E6BBBB><CEAA><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5>·<EFBFBD><C2B7>
	QString absPath = QFileInfo(xmlpath).absolutePath();
	// <20><>ȡ·<C8A1><C2B7><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>Ŀ¼
	QDir directory(absPath);
	if (!directory.exists()) {
		qDebug() << "Directory does not exist:" << directory.absolutePath();
		return QVector<QString>(0);
	}

	// <20><><EFBFBD>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Խ<EFBFBD><D4BD>г<EFBFBD> .tif <20>ļ<EFBFBD>
	QStringList filters;
	filters << "*.tif" << "*.TIF" << "*.tiff" << "*.TIFF";
	QStringList files = directory.entryList(filters, QDir::Files);

	qDebug() << "TIFF Files in the directory" << directory.absolutePath() << ":";
	QVector<QString> filepath(0);

	for (long i = 0; i < files.count(); i++) {
		filepath.append(JoinPath(absPath, files[i]));
	}

	return filepath;
}

POLARTYPEENUM getDatasetGF3FilePolsarType(QString fileName)
{

	// <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	QRegularExpression re("_([A-Z]{2})_");
	QRegularExpressionMatch match = re.match(fileName);
	QString polarization = "";
	if (match.hasMatch()) {
		polarization = match.captured(1);
		polarization = polarization.toLower().replace("_", "");
		qDebug() << "Polarization extracted:" << polarization;
		if (polarization == "hh") {
			return POLARTYPEENUM::POLARHH;
		}
		else if (polarization == "hv") {
			return POLARTYPEENUM::POLARHV;
		}
		else if (polarization == "vh") {
			return POLARTYPEENUM::POLARVH;
		}
		else if (polarization == "vv") {
			return POLARTYPEENUM::POLARVV;
		}
		else {
			return POLARTYPEENUM::POLARUNKOWN;
		}
	}
	else {
		qDebug() << "No polarization found in the path.";
		return POLARTYPEENUM::POLARUNKOWN;
	}

	return POLARTYPEENUM::POLARUNKOWN;
}

ErrorCode ImportGF3L1AProcess(QString inMetaxmlPath, QString outWorkDirPath)
{
	QVector<QString> tiffpaths = SearchGF3DataTiff(inMetaxmlPath);
	ErrorCode errorcode = ErrorCode::SUCCESS;
	for (long i = 0; i < tiffpaths.count(); i++) {
		QString tiffpath = tiffpaths[i];
		QString filenamewithoutextern = getFileNameWidthoutExtend(tiffpath);
		QString filename = getFileNameFromPath(tiffpath);
		POLARTYPEENUM poltype = getDatasetGF3FilePolsarType(filename);

		switch (poltype)
		{
		case POLARHH:
			errorcode = ImportGF3L1ARasterToWorkspace(inMetaxmlPath, tiffpath, outWorkDirPath, POLARTYPEENUM::POLARHH);
			break;
		case POLARHV:
			errorcode = ImportGF3L1ARasterToWorkspace(inMetaxmlPath, tiffpath, outWorkDirPath, POLARTYPEENUM::POLARHV);
			break;
		case POLARVH:
			errorcode = ImportGF3L1ARasterToWorkspace(inMetaxmlPath, tiffpath, outWorkDirPath, POLARTYPEENUM::POLARVH);
			break;
		case POLARVV:
			errorcode = ImportGF3L1ARasterToWorkspace(inMetaxmlPath, tiffpath, outWorkDirPath, POLARTYPEENUM::POLARVV);
			break;
		case POLARUNKOWN:
			break;
		default:
			break;
		}
		if (errorcode == ErrorCode::SUCCESS) {
			return errorcode;
		}
		else {
			QMessageBox::warning(nullptr, u8"<EFBFBD><EFBFBD><EFBFBD><EFBFBD>", u8"<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
			break;
		}
	}
	return errorcode;
}

ErrorCode Complex2AmpRaster(QString inComplexPath, QString outRasterPath)
{
	gdalImageComplex inimg(inComplexPath);
	gdalImage ampimg = CreategdalImage(outRasterPath, inimg.height, inimg.width, inimg.band_num, inimg.gt, inimg.projection, true, true);

	long blocklines = Memory1GB * 2 / 8 / inimg.width;
	blocklines = blocklines < 100 ? 100 : blocklines;
	Eigen::MatrixXd imgArrb1 = Eigen::MatrixXd::Zero(blocklines, ampimg.width);
	Eigen::MatrixXcd imgArr = Eigen::MatrixXcd::Zero(blocklines, inimg.width);

	long startrow = 0;
	for (startrow = 0; startrow < inimg.height; startrow = startrow + blocklines) {

		imgArrb1 = ampimg.getData(startrow, 0, blocklines, inimg.width, 1);
		imgArr = inimg.getData(startrow, 0, blocklines, inimg.width, 2);
		imgArrb1 = imgArr.array().abs();
		ampimg.saveImage(imgArrb1, startrow, 0, 1);
	}
	qDebug() << "Ӱ<EFBFBD><EFBFBD>д<EFBFBD>뵽<EFBFBD><EFBFBD>" << outRasterPath;
	return ErrorCode::SUCCESS;
}

ErrorCode Complex2PhaseRaster(QString inComplexPath, QString outRasterPath)
{
	gdalImageComplex inimg(inComplexPath);
	gdalImage ampimg = CreategdalImage(outRasterPath, inimg.height, inimg.width, inimg.band_num, inimg.gt, inimg.projection, true, true);


	long blocklines = Memory1GB * 2 / 8 / inimg.width;
	blocklines = blocklines < 100 ? 100 : blocklines;
	Eigen::MatrixXd imgArrb1 = Eigen::MatrixXd::Zero(blocklines, ampimg.width);
	Eigen::MatrixXcd imgArr = Eigen::MatrixXcd::Zero(blocklines, inimg.width);

	long startrow = 0;
	for (startrow = 0; startrow < inimg.height; startrow = startrow + blocklines) {

		imgArrb1 = ampimg.getData(startrow, 0, blocklines, inimg.width, 1);
		imgArr = inimg.getData(startrow, 0, blocklines, inimg.width, 2);
		imgArrb1 = imgArr.array().arg();
		ampimg.saveImage(imgArrb1, startrow, 0, 1);
	}
	qDebug() << "Ӱ<EFBFBD><EFBFBD>д<EFBFBD>뵽<EFBFBD><EFBFBD>" << outRasterPath;
	return ErrorCode::SUCCESS;
}

ErrorCode Complex2dBRaster(QString inComplexPath, QString outRasterPath)
{
	gdalImageComplex inimg(inComplexPath);
	gdalImage ampimg = CreategdalImage(outRasterPath, inimg.height, inimg.width, inimg.band_num, inimg.gt, inimg.projection, true, true);


	long blocklines = Memory1GB * 2 / 8 / inimg.width;
	blocklines = blocklines < 100 ? 100 : blocklines;
	Eigen::MatrixXd imgArrb1 = Eigen::MatrixXd::Zero(blocklines, ampimg.width);
	Eigen::MatrixXcd imgArr = Eigen::MatrixXcd::Zero(blocklines, inimg.width);

	long startrow = 0;
	for (startrow = 0; startrow < inimg.height; startrow = startrow + blocklines) {

		imgArrb1 = ampimg.getData(startrow, 0, blocklines, inimg.width, 1);
		imgArr = inimg.getData(startrow, 0, blocklines, inimg.width, 2);
		imgArrb1 = imgArr.array().abs().log10() * 20.0;
		ampimg.saveImage(imgArrb1, startrow, 0, 1);
	}
	qDebug() << "Ӱ<EFBFBD><EFBFBD>д<EFBFBD>뵽<EFBFBD><EFBFBD>" << outRasterPath;
	return ErrorCode::SUCCESS;
}

ErrorCode ResampleDEM(QString indemPath, QString outdemPath, double gridx, double gridy)
{
	double gridlat = gridy / 110000.0;
	double gridlon = gridx / 100000.0;

	long espgcode = GetEPSGFromRasterFile(indemPath.toUtf8().constData());
	if (espgcode == 4326) {
		resampleRaster(indemPath.toUtf8().constData(), outdemPath.toUtf8().constData(), gridlon, gridlat);
		return ErrorCode::SUCCESS;
	}
	else {
		QMessageBox::warning(nullptr, u8"<EFBFBD><EFBFBD><EFBFBD><EFBFBD>", u8"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>WGS84<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DEMӰ<EFBFBD><EFBFBD>");
		return ErrorCode::FAIL;
	}
}


ErrorCode RD_PSTN(double& refrange, double& lamda, double& timeR, double& R, double& tx, double& ty, double& tz, double& slopex, double& slopey, double& slopez, PolyfitSatelliteOribtModel& polyfitmodel, SatelliteOribtNode& node, double& d0, double& d1, double& d2, double& d3, double& d4)
{
	double dt = 1e-6;
	double inct = 0;
	bool antfalg = false;
	double timeR2 = 0;
	//return ((R_s1.array() * V_s1.array()).rowwise().sum().array() * (-2) / (R * this->lamda))[0];
	//double t = (R - this->refrange) * (1e6 / LIGHTSPEED);
	//return this->doppler_paras(0) + this->doppler_paras(1) * t + this->doppler_paras(2) * t * t + this->doppler_paras(3) * t * t * t + this->doppler_paras(4) * t * t * t * t;
	double R1 = 0;
	double R2 = 0;
	double dplerTheory1 = 0;
	double dplerTheory2 = 0;
	double dplerNumber1 = 0;
	double dplerNumber2 = 0;
	double dplerR = 0;
	// Rst=Rs-Rt;

	for (int i = 0; i < 50; i++) {
		polyfitmodel.getSatelliteOribtNode(timeR, node, antfalg);
		R1 = std::sqrt(std::pow(node.Px - tx, 2) + std::pow(node.Py - ty, 2) + std::pow(node.Pz - tz, 2));
		dplerTheory1 = (-2 / lamda) * (((node.Px - tx) * (node.Vx + EARTHWE * ty) + (node.Py - ty) * (node.Vy - EARTHWE * tz) + (node.Pz - tz) * (node.Vz - 0)) / R1);
		dplerR = (R1 - refrange) * 1e6 / LIGHTSPEED;
		dplerNumber1 = d0 + dplerR * d1 + std::pow(dplerR, 2) * d2 + std::pow(dplerR, 3) * d3 + std::pow(dplerR, 4) * d4;

		timeR2 = timeR + dt;
		polyfitmodel.getSatelliteOribtNode(timeR2, node, antfalg);
		R2 = std::sqrt(std::pow(node.Px - tx, 2) + std::pow(node.Py - ty, 2) + std::pow(node.Pz - tz, 2));
		dplerTheory2 = (-2 / lamda) * (((node.Px - tx) * (node.Vx + EARTHWE * ty) + (node.Py - ty) * (node.Vy - EARTHWE * tz) + (node.Pz - tz) * (node.Vz - 0)) / R2);
		dplerR = (R2 - refrange) * 1e6 / LIGHTSPEED;
		dplerNumber2 = d0 + dplerR * d1 + std::pow(dplerR, 2) * d2 + std::pow(dplerR, 3) * d3 + std::pow(dplerR, 4) * d4;

		inct = dt * (dplerTheory2 - dplerNumber1) / (dplerTheory1 - dplerTheory2);
		if (std::abs(dplerTheory1 - dplerTheory2) < 1e-9 || std::abs(inct) < dt) {
			break;
		}
		timeR = timeR - inct;
	}
	R = R1; // б<><D0B1>
	return ErrorCode::SUCCESS;
}

ErrorCode GF3RDCreateLookTable(QString inxmlPath, QString indemPath, QString outworkdir, QString outlooktablePath,QString outLocalIncidenceAnglePath,bool localincAngleFlag)
{
	QString indemfilename = getFileNameWidthoutExtend(indemPath);

	QString resampleDEMXYZPath = JoinPath(outworkdir, indemfilename + "_XYZ.tif");
	QString resampleDEMSLOPEPath = JoinPath(outworkdir, indemfilename + "_slopevector.tif");
	DEM2XYZRasterAndSlopRaster(indemPath, resampleDEMXYZPath, resampleDEMSLOPEPath);

	gdalImage demxyz(resampleDEMXYZPath);// X,Y,Z
	gdalImage demslope(resampleDEMSLOPEPath);// X,Y,Z
	gdalImage rasterRC = CreategdalImage(outlooktablePath, demxyz.height, demxyz.width, 2, demxyz.gt, demxyz.projection, true, true);// X,Y,Z
	gdalImage localincangleRaster;
	if (localincAngleFlag) {
		localincangleRaster = CreategdalImage(outLocalIncidenceAnglePath, demxyz.height, demxyz.width, 2, demxyz.gt, demxyz.projection, true, true);// X,Y,Z
	}
	

	SARSimulationImageL1Dataset l1dataset;
	l1dataset.Open(inxmlPath);
	// RD <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD>
	QVector<double> dopplers = l1dataset.getDopplerParams(); // <20><><EFBFBD><EFBFBD><EFBFBD>ղ<EFBFBD><D5B2><EFBFBD>
	double d0 = dopplers[0];
	double d1 = dopplers[1];
	double d2 = dopplers[2];
	double d3 = dopplers[3];
	double d4 = dopplers[4];

	double fs = l1dataset.getFs();// Fs<46><73><EFBFBD><EFBFBD>
	double prf = (l1dataset.getEndImageTime() - l1dataset.getStartImageTime()) / (l1dataset.getrowCount() - 1);// PRF <20><><EFBFBD><EFBFBD>

	double nearRange = l1dataset.getNearRange();
	double imagestarttime = l1dataset.getStartImageTime();
	double refrange = l1dataset.getRefRange();
	double lamda = (LIGHTSPEED*1e-6)/ l1dataset.getCenterFreq();

	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3>
	PolyfitSatelliteOribtModel polyfitmodel;
	QVector < SatelliteAntPos > antposes = l1dataset.getXmlSateAntPos();
	polyfitmodel.setSatelliteOribtStartTime(imagestarttime);
	for (long i = 0; i < antposes.size(); i++) {
		SatelliteOribtNode node;
		node.time = antposes[i].time;
		node.Px = antposes[i].Px;
		node.Py = antposes[i].Py;
		node.Pz = antposes[i].Pz;
		node.Vx = antposes[i].Vx;
		node.Vy = antposes[i].Vy;
		node.Vz = antposes[i].Vz;
		polyfitmodel.addOribtNode(node);
	}
	polyfitmodel.polyFit(3, false);

	qDebug() << "-----------------------------------";
	qDebug() << "satellite polyfit model params:\n";
	qDebug() << polyfitmodel.getSatelliteOribtModelParamsString();
	qDebug() << "-----------------------------------";

	// <20><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ұ<EFBFBD>
	//1.<2E><><EFBFBD><EFBFBD><EFBFBD>ֿ<EFBFBD>
	long cpucore_num = std::thread::hardware_concurrency();
	long blockline = Memory1MB * 500 / 8 / cpucore_num / 4 / l1dataset.getcolCount();
	blockline = blockline < 50 ? 50 : blockline;
	//2.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	long colcount = l1dataset.getcolCount();
	long rowcount = l1dataset.getrowCount();
	long startRId = 0;
	
	long processNumber = 0;
	QProgressDialog progressDialog(u8"<EFBFBD><EFBFBD><EFBFBD>ұ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>", u8"<EFBFBD><EFBFBD>ֹ", 0, rowcount);
	progressDialog.setWindowTitle(u8"<EFBFBD><EFBFBD><EFBFBD>ұ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
	progressDialog.setWindowModality(Qt::WindowModal);
	progressDialog.setAutoClose(true);
	progressDialog.setValue(0);
	progressDialog.setMaximum(rowcount);
	progressDialog.setMinimum(0);
	progressDialog.show();
	omp_lock_t lock;
	omp_init_lock(&lock);



#pragma omp parallel for num_threads(cpucore_num-1)
	for (startRId = 0; startRId < rowcount; startRId = startRId + blockline) {
		Eigen::MatrixXd sar_r = rasterRC.getData(startRId, 0, blockline, colcount, 1);
		Eigen::MatrixXd sar_c = rasterRC.getData(startRId, 0, blockline, colcount, 2);
		Eigen::MatrixXd dem_x = demxyz.getData(startRId, 0, blockline, colcount, 1);
		Eigen::MatrixXd dem_y = demxyz.getData(startRId, 0, blockline, colcount, 2);
		Eigen::MatrixXd dem_z = demxyz.getData(startRId, 0, blockline, colcount, 3);

		// <20><><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		double timeR = 0;
		long blockrows = sar_r.rows();
		long blockcols = sar_r.cols();
		double tx = 0;
		double ty = 0;
		double tz = 0;
		double R = 0;
		double slopex=0,  slopey=0, slopez=0;
		SatelliteOribtNode node{0,0,0,0,0,0,0,0};
		bool antflag = false;
		for (long i = 0; i < blockrows; i++) {
			for (long j = 0; j < blockcols; j++) {
				tx = dem_x(i, j);
				ty = dem_y(i, j);
				tz = dem_z(i, j);
				if (RD_PSTN(refrange,lamda, timeR,R,tx,ty,tz,slopex,slopey,slopez,polyfitmodel,node,d0,d1,d2,d3,d4) == ErrorCode::SUCCESS) {
					sar_r(i, j) = timeR * prf;
					sar_c(i, j) = ((R - nearRange) / 2 / LIGHTSPEED) * fs;
				}
				else {
					sar_r(i, j) = -1;
					sar_c(i, j) = -1;
				}
			}
		}
		
		Eigen::MatrixXd Angle_Arr = Eigen::MatrixXd::Zero(dem_x.rows(),dem_x.cols()).array()+181;
		if (localincAngleFlag) {
			Eigen::MatrixXd demslope_x = demslope.getData(startRId, 0, blockline, colcount, 1);
			Eigen::MatrixXd demslope_y = demslope.getData(startRId, 0, blockline, colcount, 2);
			Eigen::MatrixXd demslope_z = demslope.getData(startRId, 0, blockline, colcount, 3);
			Eigen::MatrixXd Angle_Arr = localincangleRaster.getData(startRId, 0, blockline, colcount, 1);

			double Rst_x = 0, Rst_y = 0, Rst_z = 0, localangle = 0;
			double slopeR = 0;
			for (long i = 0; i < blockrows; i++) {
				for (long j = 0; j < blockcols; j++) {
					timeR = sar_r(i, j) / prf;
					slopex = demslope_x(i, j);
					slopey = demslope_y(i, j);
					slopez = demslope_z(i, j);
					tx = dem_x(i, j);
					ty = dem_y(i, j);
					tz = dem_z(i, j);

					polyfitmodel.getSatelliteOribtNode(timeR, node, antflag);
					Rst_x = node.Px - tx;
					Rst_y = node.Py - ty;
					Rst_z = node.Pz - tz;
					R = std::sqrt(Rst_x*Rst_x+Rst_y*Rst_y+Rst_z*Rst_z);
					slopeR = std::sqrt(slopex*slopex + slopey * slopey + slopez * slopez);
					localangle = ((slopex * Rst_x) + (slopey * Rst_y) + (slopez * Rst_z));
					localangle = std::acos(localangle / R/slopeR)*r2d;
					Angle_Arr(i, j) = localangle;
				}
			}
		}

		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		omp_set_lock(&lock);
		rasterRC.saveImage(sar_r, startRId, 0, 1);
		rasterRC.saveImage(sar_c, startRId, 0, 2);
		if (localincAngleFlag) {
			localincangleRaster.saveImage(Angle_Arr, startRId, 0, 1);
		}
		else {}
		processNumber = processNumber + blockrows;
		std::cout << "\rprocess bar:\t" << processNumber * 100.0 / rowcount << " % " << "\t\t\t";
		if (progressDialog.maximum() <= processNumber) {
			processNumber = progressDialog.maximum() - 1;
		}
		progressDialog.setValue(processNumber);
		omp_unset_lock(&lock);
	}
	progressDialog.close();
	return ErrorCode::SUCCESS;
}



ErrorCode GF3OrthSLC( QString inRasterPath, QString inlooktablePath, QString outRasterPath)
{

	gdalImage slcRaster(inRasterPath);// 
	gdalImage looktableRaster(inlooktablePath);// 
	gdalImage outRaster(outRasterPath);// 

	if (outRaster.height != looktableRaster.height || outRaster.width != looktableRaster.width) {
		qDebug() << "look table size is not same as outRaster size"<< looktableRaster.height <<"!="<<outRaster.height<<"   "<<looktableRaster.width<<"!="<<outRaster.width;
		return ErrorCode::FAIL;
	}

	Eigen::MatrixXd slcImg = slcRaster.getData(0, 0, slcRaster.height, slcRaster.width, 1);
	Eigen::MatrixXd sar_r = looktableRaster.getData(0, 0, looktableRaster.height, looktableRaster.width, 1);
	Eigen::MatrixXd sar_c = looktableRaster.getData(0, 0, looktableRaster.height, looktableRaster.width, 1);
	Eigen::MatrixXd outImg = outRaster.getData(0, 0, outRaster.height, outRaster.width, 1);

	long lookRows = sar_r.rows();
	long lookCols = sar_r.cols();

	long slcRows = slcImg.rows();
	long slcCols = slcImg.cols();

	long lastr = 0;
	long nextr = 0;
	long lastc = 0;
	long nextc = 0;
	double Bileanervalue = 0;
	// <20><>ֵ
	Landpoint p0{ 0,0,0 }, p11{ 0,0,0 }, p21{ 0,0,0 }, p12{ 0,0,0 }, p22{ 0,0,0 }, p{ 0,0,0 };


	QProgressDialog progressDialog(u8"<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>", u8"<EFBFBD><EFBFBD>ֹ", 0, lookRows);
	progressDialog.setWindowTitle(u8"<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
	progressDialog.setWindowModality(Qt::WindowModal);
	progressDialog.setAutoClose(true);
	progressDialog.setValue(0);
	progressDialog.setMaximum(lookRows);
	progressDialog.setMinimum(0);
	progressDialog.show();

	for (long i = 0; i < lookRows; i++) {
		for (long j = 0; j < lookCols; j++) {
			p0 = {sar_r(i,j),sar_c(i,j),0};
			lastr = std::floor(sar_r(i, j));
			nextr = std::ceil(sar_r(i, j));
			lastc = std::floor(sar_c(i, j));
			nextc = std::ceil(sar_c(i, j));
			if (lastr < 0 || lastc < 0 || nextr >= slcRows || nextc >= slcCols) {
				continue;
			}
			p11 = { sar_r(i,j),sar_c(i,j),0 };
			p11 = Landpoint{ 0,0,slcImg(lastr,lastc) };
			p21 = Landpoint{ 0,1,slcImg(nextr,lastc) };
			p12 = Landpoint{ 1,0,slcImg(lastr,nextc) };
			p22 = Landpoint{ 1,1,slcImg(nextr,nextc) };
			Bileanervalue = Bilinear_interpolation(p0, p11, p21, p12, p22);
			outImg(i, j) = Bileanervalue;
		}
		progressDialog.setValue(i);
	}
	outRaster.saveImage(outImg, 0, 0, 1);
	progressDialog.close();
	return ErrorCode::SUCCESS;
}

ErrorCode GF3RDProcess(QString inxmlPath, QString indemPath, QString outworkdir, double gridx, double gridy)
{
	SARSimulationImageL1Dataset l1dataset;
	l1dataset.Open(inxmlPath);

	DemBox box = l1dataset.getExtend();
	double dlon = 0.1 * (box.max_lon - box.min_lon);
	double dlat = 0.1 * (box.max_lat - box.min_lat);

	double minlat = box.min_lat - dlat;
	double minlon = box.min_lon - dlon;
	double maxlat = box.max_lat + dlat;
	double maxlon = box.max_lon + dlon;

	// <20>ü<EFBFBD>DEM
	QString filename = getFileNameWidthoutExtend(l1dataset.getxmlFilePath());
	filename = filename.right(5);
	QString clipDEMPath = JoinPath(outworkdir, getFileNameWidthoutExtend(indemPath) + filename + "_clip.tif");
	cropRasterByLatLon(indemPath.toUtf8().constData(), clipDEMPath.toUtf8().constData(), minlon, maxlon, minlat, maxlat);
	QString resampleDEMPath = JoinPath(outworkdir, getFileNameWidthoutExtend(indemPath) + filename + "_clip_resample.tif");
	resampleRaster(clipDEMPath.toUtf8().constData(), resampleDEMPath.toUtf8().constData(), gridx, gridy);


	QString outlooktablePath = JoinPath(outworkdir, getFileNameWidthoutExtend(l1dataset.getxmlFilePath()) + "_looktable.tif");
	QString outlocalAnglePath = JoinPath(outworkdir, getFileNameWidthoutExtend(l1dataset.getxmlFilePath()) + "_localAngle.tif");

	QString outOrthPath=JoinPath(outworkdir, getFileNameWidthoutExtend(l1dataset.getxmlFilePath()) + "_orth.tif");
	if (GF3RDCreateLookTable(inxmlPath, resampleDEMPath, outworkdir, outlooktablePath, outlocalAnglePath,true) != ErrorCode::SUCCESS) {
		qDebug() << "<EFBFBD><EFBFBD><EFBFBD>ұ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\t" + getFileNameWidthoutExtend(inxmlPath);
		return ErrorCode::FAIL;
	}
	return ErrorCode::SUCCESS;
}