RasterProcessTool/SimulationSAR/RTPCProcessCls.cpp

#include "stdafx.h"
#include "RTPCProcessCls.h"
#include "BaseConstVariable.h"
#include "SARSatelliteSimulationAbstractCls.h"
#include "SARSimulationTaskSetting.h"
#include "SatelliteOribtModel.h"
#include <QDebug>
#include "ImageOperatorBase.h"
#include "GeoOperator.h"
#include "EchoDataFormat.h"
#include <QDir>
#include <QDatetime>
#include <omp.h>
#include <QProgressDialog>
#include <QMessageBox>

#ifdef DEBUGSHOWDIALOG
#include "ImageShowDialogClass.h"
#endif

#ifdef __CUDANVCC___
#include "GPUTool.cuh"
#endif // __CUDANVCC___
#include <Imageshow/ImageShowDialogClass.h>







RTPCProcessCls::RTPCProcessCls()
{
	this->PluseCount = 0;
	this->PlusePoint = 0;
	this->TaskSetting = nullptr;
	this->EchoSimulationData = nullptr;
	this->DEMTiffPath = "";
	this->LandCoverPath = "";
	this->HHSigmaPath = "";
	this->HVSigmaPath = "";
	this->VHSigmaPath = "";
	this->VVSigmaPath = "";
	this->OutEchoPath = "";

	this->DEMTiffPath.clear();
	this->LandCoverPath.clear();
	this->HHSigmaPath.clear();
	this->HVSigmaPath.clear();
	this->VHSigmaPath.clear();
	this->VVSigmaPath.clear();
	this->OutEchoPath.clear();

	this->SigmaDatabasePtr = std::shared_ptr<SigmaDatabase>(new SigmaDatabase);

}

RTPCProcessCls::~RTPCProcessCls()
{
}

void RTPCProcessCls::setTaskSetting(std::shared_ptr < AbstractSARSatelliteModel> TaskSetting)
{
	this->TaskSetting = std::shared_ptr < AbstractSARSatelliteModel>(TaskSetting);
	qDebug() << "RTPCProcessCls::setTaskSetting";
}

void RTPCProcessCls::setEchoSimulationDataSetting(std::shared_ptr<EchoL0Dataset> EchoSimulationData)
{
	this->EchoSimulationData = std::shared_ptr<EchoL0Dataset>(EchoSimulationData);
	qDebug() << "RTPCProcessCls::setEchoSimulationDataSetting";
}

void RTPCProcessCls::setTaskFileName(QString EchoFileName)
{
	this->TaskFileName = EchoFileName;
}

void RTPCProcessCls::setDEMTiffPath(QString DEMTiffPath)
{
	this->DEMTiffPath = DEMTiffPath;
}

void RTPCProcessCls::setLandCoverPath(QString LandCoverPath)
{
	this->LandCoverPath = LandCoverPath;
}

void RTPCProcessCls::setHHSigmaPath(QString HHSigmaPath)
{
	this->HHSigmaPath = HHSigmaPath;
}

void RTPCProcessCls::setHVSigmaPath(QString HVSigmaPath)
{
	this->HVSigmaPath = HVSigmaPath;
}

void RTPCProcessCls::setVHSigmaPath(QString VHSigmaPath)
{
	this->VHSigmaPath = VHSigmaPath;
}

void RTPCProcessCls::setVVSigmaPath(QString VVSigmaPath)
{
	this->VVSigmaPath = VVSigmaPath;
}

void RTPCProcessCls::setOutEchoPath(QString OutEchoPath)
{
	this->OutEchoPath = OutEchoPath;
}



ErrorCode RTPCProcessCls::Process(long num_thread)
{
	// RTPC <20>㷨
	qDebug() << u8"params init ....";
	ErrorCode stateCode = this->InitParams();
	if (stateCode != ErrorCode::SUCCESS) {
		return stateCode;
	}
	else {}
	qDebug() << "DEMMainProcess";
	stateCode = this->DEMPreprocess();
	if (stateCode != ErrorCode::SUCCESS) {
		return stateCode;
	}
	else {}
	qDebug() << "RTPCMainProcess";

	//stateCode = this->RTPCMainProcess(num_thread);
	stateCode = this->RTPCMainProcess_GPU( );

	if (stateCode != ErrorCode::SUCCESS) {
		return stateCode;
	}
	else {}


	return ErrorCode::SUCCESS;
}

ErrorCode RTPCProcessCls::InitParams()
{
	if (nullptr == this->TaskSetting || this->DEMTiffPath.isEmpty() ||
		this->LandCoverPath.isEmpty() || this->HHSigmaPath.isEmpty() ||
		this->HVSigmaPath.isEmpty() || this->VHSigmaPath.isEmpty() ||
		this->VVSigmaPath.isEmpty()) {
		return ErrorCode::RTPC_PARAMSISEMPTY;
	}
	else {

	}

	// <20><>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><C2B7>

	this->OutEchoPath = QDir(this->OutEchoPath).absolutePath();
	// <20>ز<EFBFBD><D8B2><EFBFBD>С
	double imgStart_end = this->TaskSetting->getSARImageEndTime() - this->TaskSetting->getSARImageStartTime();
	this->PluseCount = ceil(imgStart_end * this->TaskSetting->getPRF());

	double rangeTimeSample = (this->TaskSetting->getFarRange() - this->TaskSetting->getNearRange()) * 2.0 / LIGHTSPEED;
	this->PlusePoint = ceil(rangeTimeSample * this->TaskSetting->getFs());

	// <20><>ʼ<EFBFBD><CABC><EFBFBD>ز<EFBFBD><D8B2><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
	qDebug() << "--------------Echo Data Setting ---------------------------------------";
	this->EchoSimulationData = std::shared_ptr<EchoL0Dataset>(new EchoL0Dataset);
	this->EchoSimulationData->setCenterFreq(this->TaskSetting->getCenterFreq());
	this->EchoSimulationData->setNearRange(this->TaskSetting->getNearRange());
	this->EchoSimulationData->setFarRange(this->TaskSetting->getFarRange());
	this->EchoSimulationData->setFs(this->TaskSetting->getFs());
	this->EchoSimulationData->setCenterAngle(this->TaskSetting->getCenterLookAngle());
	this->EchoSimulationData->setLookSide(this->TaskSetting->getIsRightLook() ? "R" : "L");
	this->EchoSimulationData->OpenOrNew(OutEchoPath, TaskFileName, PluseCount, PlusePoint);

	QString tmpfolderPath = QDir(OutEchoPath).filePath("tmp");
	if (QDir(tmpfolderPath).exists() == false) {
		QDir(OutEchoPath).mkpath(tmpfolderPath);
	}
	this->tmpfolderPath = tmpfolderPath;
	return ErrorCode::SUCCESS;
}

ErrorCode RTPCProcessCls::DEMPreprocess()
{

	this->demxyzPath = QDir(tmpfolderPath).filePath("demxyz.tif");
	gdalImage demds(this->DEMTiffPath);
	gdalImage demxyz = CreategdalImage(demxyzPath, demds.height, demds.width, 3, demds.gt, demds.projection, true, true);// X,Y,Z

	// <20>ֿ<EFBFBD><D6BF><EFBFBD><EFBFBD>㲢ת<E3B2A2><D7AA>ΪXYZ

	Eigen::MatrixXd demArr = demds.getData(0, 0, demds.height, demds.width, 1);
	Eigen::MatrixXd demR = demArr;
	Landpoint LandP{ 0,0,0 };
	Point3 GERpoint{ 0,0,0 };
	double R = 0;
	double dem_row = 0, dem_col = 0, dem_alt = 0;

	long line_invert = 1000;

	double rowidx = 0;
	double colidx = 0;
 
	for (int max_rows_ids = 0; max_rows_ids < demds.height; max_rows_ids = max_rows_ids + line_invert) {
		Eigen::MatrixXd demdata = demds.getData(max_rows_ids, 0, line_invert, demds.width, 1);
		Eigen::MatrixXd xyzdata_x = demdata.array() * 0;
		Eigen::MatrixXd xyzdata_y = demdata.array() * 0;
		Eigen::MatrixXd xyzdata_z = demdata.array() * 0;

		int datarows = demdata.rows();
		int datacols = demdata.cols();

		for (int i = 0; i < datarows; i++) {
			for (int j = 0; j < datacols; j++) {
				rowidx = i + max_rows_ids;
				colidx = j;
				demds.getLandPoint(rowidx, colidx, demdata(i, j), LandP); // <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
				LLA2XYZ(LandP, GERpoint); // <20><>γ<EFBFBD><CEB3>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ
				xyzdata_x(i, j) = GERpoint.x;
				xyzdata_y(i, j) = GERpoint.y;
				xyzdata_z(i, j) = GERpoint.z;
			}
		}
		demxyz.saveImage(xyzdata_x, max_rows_ids, 0, 1);
		demxyz.saveImage(xyzdata_y, max_rows_ids, 0, 2);
		demxyz.saveImage(xyzdata_z, max_rows_ids, 0, 3);
	}


	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

	this->demsloperPath = QDir(tmpfolderPath).filePath("demsloper.tif");
	this->demmaskPath = QDir(tmpfolderPath).filePath("demmask.tif");

	gdalImage demsloperxyz = CreategdalImage(this->demsloperPath, demds.height, demds.width, 4, demds.gt, demds.projection, true, true);// X,Y,Z,cosangle
	gdalImage demmask = CreategdalImage(this->demmaskPath, demxyz.height, demxyz.width, 1, demxyz.gt, demxyz.projection, true, true);// X,Y,Z

	line_invert = 1000;
	long start_ids = 0;
	long dem_rows = 0, dem_cols = 0;

	for (start_ids = 1; start_ids < demds.height; start_ids = start_ids + line_invert) {
		Eigen::MatrixXd demdata = demds.getData(start_ids - 1, 0, line_invert + 2, demxyz.width, 1);
		long startlineid = start_ids;
		Eigen::MatrixXd maskdata = demmask.getData(start_ids - 1, 0, line_invert + 2, demxyz.width, 1);
		Eigen::MatrixXd demsloper_x = demsloperxyz.getData(start_ids - 1, 0, line_invert + 2, demxyz.width, 1);
		Eigen::MatrixXd demsloper_y = demsloperxyz.getData(start_ids - 1, 0, line_invert + 2, demxyz.width, 2);
		Eigen::MatrixXd demsloper_z = demsloperxyz.getData(start_ids - 1, 0, line_invert + 2, demxyz.width, 3);
		Eigen::MatrixXd demsloper_angle = demsloperxyz.getData(start_ids - 1, 0, line_invert + 2, demxyz.width, 4);

		maskdata = maskdata.array() * 0;
		Landpoint p0, p1, p2, p3, p4, pslopeVector, pp;
		Vector3D  slopeVector;

		dem_rows = maskdata.rows();
		dem_cols = maskdata.cols();
		double sloperAngle = 0;
		Vector3D Zaxis = { 0,0,1 };

		double rowidx = 0, colidx = 0;

		for (long i = 1; i < dem_rows - 1; i++) {
			for (long j = 1; j < dem_cols - 1; j++) {
				rowidx = i + startlineid;
				colidx = j;
				demds.getLandPoint(rowidx, colidx, demdata(i, j), p0);
				demds.getLandPoint(rowidx - 1, colidx, demdata(i - 1, j), p1);
				demds.getLandPoint(rowidx, colidx - 1, demdata(i, j - 1), p2);
				demds.getLandPoint(rowidx + 1, colidx, demdata(i + 1, j), p3);
				demds.getLandPoint(rowidx, colidx + 1, demdata(i, j + 1), p4);

				pslopeVector = getSlopeVector(p0, p1, p2, p3, p4); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʸ<EFBFBD><CAB8>
				slopeVector = { pslopeVector.lon,pslopeVector.lat,pslopeVector.ati };
				pp = LLA2XYZ(p0);
				Zaxis.x = pp.lon;
				Zaxis.y = pp.lat;
				Zaxis.z = pp.ati;
				sloperAngle = getCosAngle(slopeVector, Zaxis); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

				demsloper_x(i, j) = slopeVector.x;
				demsloper_y(i, j) = slopeVector.y;
				demsloper_z(i, j) = slopeVector.z;
				demsloper_angle(i, j) = sloperAngle;
				maskdata(i, j)++;
			}
		}
		demmask.saveImage(maskdata, start_ids - 1, 0, 1);
		demsloperxyz.saveImage(demsloper_x, start_ids - 1, 0, 1);
		demsloperxyz.saveImage(demsloper_y, start_ids - 1, 0, 2);
		demsloperxyz.saveImage(demsloper_z, start_ids - 1, 0, 3);
		demsloperxyz.saveImage(demsloper_angle, start_ids - 1, 0, 4);
	}


	return ErrorCode::SUCCESS;
}


ErrorCode RTPCProcessCls::RTPCMainProcess_GPU( )
{
 
	double widthSpace = LIGHTSPEED / 2 / this->TaskSetting->getFs();

	double prf_time = 0;
	double dt = 1 / this->TaskSetting->getPRF();// <20><>ȡÿ<C8A1><C3BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	bool antflag = true; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ͼ
	Landpoint LandP{ 0,0,0 };
	Point3 GERpoint{ 0,0,0 };
	double R = 0;
	double dem_row = 0, dem_col = 0, dem_alt = 0;

	long double imageStarttime = 0;
	imageStarttime = this->TaskSetting->getSARImageStartTime();
	//std::vector<SatelliteOribtNode> sateOirbtNodes(this->PluseCount);

	std::shared_ptr<SatelliteOribtNode[]> sateOirbtNodes(new SatelliteOribtNode[this->PluseCount], delArrPtr);
	{ // <20><>̬<EFBFBD><CCAC><EFBFBD>㲻ͬ
		qDebug() << "Ant position finished started !!!";
		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬
		std::shared_ptr<double> antpos = this->EchoSimulationData->getAntPos();
		double dAt = 1e-6;
		double prf_time_dt = 0;
		Landpoint InP{ 0,0,0 }, outP{ 0,0,0 };
		for (long prf_id = 0; prf_id < this->PluseCount; prf_id++) {
			prf_time = dt * prf_id;
			prf_time_dt = prf_time + dAt;
			SatelliteOribtNode sateOirbtNode;
			SatelliteOribtNode sateOirbtNode_dAt;
			this->TaskSetting->getSatelliteOribtNode(prf_time, sateOirbtNode, antflag);
			this->TaskSetting->getSatelliteOribtNode(prf_time_dt, sateOirbtNode_dAt, antflag);

			sateOirbtNode.AVx = (sateOirbtNode_dAt.Vx - sateOirbtNode.Vx) / dAt; // <20><><EFBFBD>ٶ<EFBFBD>
			sateOirbtNode.AVy = (sateOirbtNode_dAt.Vy - sateOirbtNode.Vy) / dAt;
			sateOirbtNode.AVz = (sateOirbtNode_dAt.Vz - sateOirbtNode.Vz) / dAt;

			InP.lon = sateOirbtNode.Px;
			InP.lat = sateOirbtNode.Py;
			InP.ati = sateOirbtNode.Pz;

			outP = XYZ2LLA(InP);

			antpos.get()[prf_id * 19 + 0] = prf_time + imageStarttime;
			antpos.get()[prf_id * 19 + 1] = sateOirbtNode.Px;
			antpos.get()[prf_id * 19 + 2] = sateOirbtNode.Py;
			antpos.get()[prf_id * 19 + 3] = sateOirbtNode.Pz;
			antpos.get()[prf_id * 19 + 4] = sateOirbtNode.Vx;
			antpos.get()[prf_id * 19 + 5] = sateOirbtNode.Vy;
			antpos.get()[prf_id * 19 + 6] = sateOirbtNode.Vz;
			antpos.get()[prf_id * 19 + 7] = sateOirbtNode.AntDirecX;
			antpos.get()[prf_id * 19 + 8] = sateOirbtNode.AntDirecY;
			antpos.get()[prf_id * 19 + 9] = sateOirbtNode.AntDirecZ;
			antpos.get()[prf_id * 19 + 10] = sateOirbtNode.AVx;
			antpos.get()[prf_id * 19 + 11] = sateOirbtNode.AVy;
			antpos.get()[prf_id * 19 + 12] = sateOirbtNode.AVz;
			antpos.get()[prf_id * 19 + 13] = sateOirbtNode.zeroDopplerDirectX;
			antpos.get()[prf_id * 19 + 14] = sateOirbtNode.zeroDopplerDirectY;
			antpos.get()[prf_id * 19 + 15] = sateOirbtNode.zeroDopplerDirectZ;
			antpos.get()[prf_id * 19 + 16] = outP.lon;
			antpos.get()[prf_id * 19 + 17] = outP.lat;
			antpos.get()[prf_id * 19 + 18] = outP.ati;
			sateOirbtNodes[prf_id] = sateOirbtNode;
		}
		this->EchoSimulationData->saveAntPos(antpos);
		antpos.reset();
		qDebug() << "Ant position finished sucessfully !!!";
	}

	// <20>ز<EFBFBD>
	long echoIdx = 0;
	double NearRange = this->EchoSimulationData->getNearRange(); // <20><>б<EFBFBD><D0B1>
	double FarRange = this->EchoSimulationData->getFarRange();

	double TimgNearRange = 2 * NearRange / LIGHTSPEED;
	double TimgFarRange = 2 * FarRange / LIGHTSPEED;

	double Fs = this->TaskSetting->getFs(); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	double Pt = this->TaskSetting->getPt() * this->TaskSetting->getGri();// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ 1v
	//double GainAntLen = -3;// -3dB Ϊ<><CEAA><EFBFBD>߰뾶
	long pluseCount = this->PluseCount;
	double lamda = this->TaskSetting->getCenterLamda(); // <20><><EFBFBD><EFBFBD>

	// <20><><EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ͼ
	std::shared_ptr<AbstractRadiationPattern> TransformPattern = this->TaskSetting->getTransformRadiationPattern(); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ͼ
	std::shared_ptr<AbstractRadiationPattern> ReceivePattern = this->TaskSetting->getReceiveRadiationPattern();   // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ͼ
	long PlusePoint = this->EchoSimulationData->getPlusePoints();

	// <20><>ʼ<EFBFBD><CABC><EFBFBD>ز<EFBFBD>
	this->EchoSimulationData->initEchoArr(std::complex<double>(0, 0));
	POLARTYPEENUM polartype = this->TaskSetting->getPolarType();
 
#ifndef __CUDANVCC___ 
	QMessageBox::information(this, u8"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ", u8"<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><EFBFBD>CUDA<EFBFBD><EFBFBD>");
#else

	// RTPC CUDA<44>汾 
	if (pluseCount * 4 * 18 > Memory1MB * 100) {
		long max = Memory1MB * 100 / 4 / 20 / PluseCount;
		QMessageBox::warning(nullptr, u8"<EFBFBD><EFBFBD><EFBFBD>泡<EFBFBD><EFBFBD>̫<EFBFBD><EFBFBD><EFBFBD><EFBFBD>", u8"<EFBFBD><EFBFBD>ǰƵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>£<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" + QString::number(max));
	}

	gdalImage demxyz(this->demxyzPath);// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	gdalImage demlandcls(this->LandCoverPath);// <20>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
	gdalImage demsloperxyz(this->demsloperPath);// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֿ<EFBFBD><D6BF><EFBFBD><EFBFBD><EFBFBD>
	long demRow = demxyz.height;
	long demCol = demxyz.width;

	long blokline = 100;

	// ÿ<><C3BF> 250MB*16 = 4GB

	blokline = Memory1MB * 500 / 8 / demCol;
	blokline = blokline < 1 ? 1 : blokline;
	bool bloklineflag = false;

	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ͼ
	double Tminphi = TransformPattern->getMinPhi();
	double Tmaxphi = TransformPattern->getMaxPhi();
	double Tmintheta = TransformPattern->getMinTheta();
	double Tmaxtheta = TransformPattern->getMaxTheta();

	long Tphinum = TransformPattern->getPhis().size();
	long Tthetanum = TransformPattern->getThetas().size();

	double TstartTheta = Tmintheta;
	double TstartPhi = Tminphi;

	double Tdtheta = (Tmaxtheta - Tmintheta) / (Tthetanum - 1);
	double Tdphi = (Tmaxphi - Tminphi) / (Tphinum - 1);

	float* h_TantPattern = (float*)mallocCUDAHost(sizeof(float) * Tthetanum * Tphinum);
	float* d_TantPattern = (float*)mallocCUDADevice(sizeof(float) * Tthetanum * Tphinum);

	for (long i = 0; i < Tthetanum; i++) {
		for (long j = Tphinum - 1; j >=0 ; j--) {
			//h_TantPattern[i * Tphinum + j] = TransformPattern->getGainLearThetaPhi(TstartTheta + i * Tdtheta, TstartPhi + j * Tdphi);
			h_TantPattern[i * Tphinum + j] = TransformPattern->getGain(TstartTheta + i * Tdtheta, TstartPhi + j * Tdphi);
		}
	}

	
	testOutAntPatternTrans("TransPattern.bin", h_TantPattern, TstartTheta, Tdtheta, TstartPhi, Tdphi, Tthetanum, Tphinum);
	for (long i = 0; i < Tthetanum; i++) {
		for (long j = 0; j < Tphinum; j++) {
			h_TantPattern[i * Tphinum + j] = powf(10.0, h_TantPattern[i * Tphinum + j]/10);
		}
	}
	HostToDevice(h_TantPattern, d_TantPattern, sizeof(float)* Tthetanum* Tphinum);

	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ͼ
	double Rminphi = ReceivePattern->getMinPhi();
	double Rmaxphi = ReceivePattern->getMaxPhi();
	double Rmintheta = ReceivePattern->getMinTheta();
	double Rmaxtheta = ReceivePattern->getMaxTheta();

	long Rphinum = ReceivePattern->getPhis().size();
	long Rthetanum = ReceivePattern->getThetas().size();

	double RstartTheta = Rmintheta;
	double RstartPhi = Rminphi;

	double Rdtheta = (Rmaxtheta - Rmintheta) / (Rthetanum - 1);
	double Rdphi = (Rmaxphi - Rminphi) / (Rphinum - 1);

	float* h_RantPattern = (float*)mallocCUDAHost(sizeof(float) * Rthetanum * Rphinum);
	float* d_RantPattern = (float*)mallocCUDADevice(sizeof(float) * Rthetanum * Rphinum);

	for (long i = 0; i < Rthetanum; i++) {
		for (long j = 0; j < Rphinum; j++) {
			//h_RantPattern[i * Rphinum + j] = ReceivePattern->getGainLearThetaPhi(RstartTheta + i * Rdtheta, RstartPhi + j * Rdphi);
			h_RantPattern[i * Rphinum + j] = ReceivePattern->getGain(RstartTheta + i * Rdtheta, RstartPhi + j * Rdphi);
		}
	}

	
	testOutAntPatternTrans("ReceivePattern.bin", h_RantPattern, Rmintheta, Rdtheta, RstartPhi, Rdphi, Rthetanum, Rphinum);
	for (long i = 0; i < Tthetanum; i++) {
		for (long j = 0; j < Tphinum; j++) {
			h_RantPattern[i * Tphinum + j] = powf(10.0, h_RantPattern[i * Tphinum + j] / 10);
		}
	}
	HostToDevice(h_RantPattern, d_RantPattern, sizeof(float) * Rthetanum * Rphinum);



	//<2F><><EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
	QMap<long, long> clamap;
	long clamapid = 0;
	long startline = 0;

	for (startline = 0; startline < demRow; startline = startline + blokline) {
		Eigen::MatrixXd clsland = demlandcls.getData(startline, 0, blokline, demlandcls.width, 1);
		long clsrows = clsland.rows();
		long clscols = clsland.cols();
		long clsid = 0;
		for (long ii = 0; ii < clsrows; ii++) {
			for (long jj = 0; jj < clscols; jj++) {
				clsid = clsland(ii, jj);
				if (clamap.contains(clsid)) {}
				else {
					clamap.insert(clsid, clamapid);
					clamapid = clamapid + 1;
				}
			}
		}
	}

	std::cout << "class id recoding" << std::endl;
	for (long id : clamap.keys()) {
		std::cout << id << " -> " << clamap[id] << std::endl;
	}


	CUDASigmaParam* h_clsSigmaParam = (CUDASigmaParam*)mallocCUDAHost(sizeof(CUDASigmaParam) * clamapid);
	CUDASigmaParam* d_clsSigmaParam = (CUDASigmaParam*)mallocCUDADevice(sizeof(CUDASigmaParam) * clamapid);
	{
		std::map<long, SigmaParam> tempSigmaParam = this->SigmaDatabasePtr->getsigmaParams(polartype);
		for (long id : clamap.keys()) {
			SigmaParam tempp = tempSigmaParam[id];
			h_clsSigmaParam[clamap[id]].p1 = tempp.p1;
			h_clsSigmaParam[clamap[id]].p2 = tempp.p2;
			h_clsSigmaParam[clamap[id]].p3 = tempp.p3;
			h_clsSigmaParam[clamap[id]].p4 = tempp.p4;
			h_clsSigmaParam[clamap[id]].p5 = tempp.p5;
			h_clsSigmaParam[clamap[id]].p6 = tempp.p6;
		}

		// <20><>ӡ<EFBFBD><D3A1>־
		std::cout << "sigma params:" << std::endl;
		std::cout << "classid:\tp1\tp2\tp3\tp4\tp5\tp6"<<std::endl;
		for (long ii = 0; ii < clamapid; ii++) {
			std::cout << ii << ":\t" << h_clsSigmaParam[ii].p1;
			std::cout << "\t" << h_clsSigmaParam[ii].p2;
			std::cout << "\t" << h_clsSigmaParam[ii].p3;
			std::cout << "\t" << h_clsSigmaParam[ii].p4;
			std::cout << "\t" << h_clsSigmaParam[ii].p5;
			std::cout << "\t" << h_clsSigmaParam[ii].p6<<std::endl;
		}
		std::cout << "";
	}



	HostToDevice(h_clsSigmaParam, d_clsSigmaParam, sizeof(CUDASigmaParam) * clamapid);
	



	Eigen::MatrixXd dem_x = demxyz.getData(0, 0, blokline, demxyz.width, 1);  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	long tempDemRows = dem_x.rows();
	long tempDemCols = dem_x.cols();

	Eigen::MatrixXd dem_y = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);
	Eigen::MatrixXd dem_z = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);
	Eigen::MatrixXd demsloper_x = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);
	Eigen::MatrixXd demsloper_y = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);
	Eigen::MatrixXd demsloper_z = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);
	Eigen::MatrixXd sloperAngle = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);

	float* h_dem_x;
	float* h_dem_y;
	float* h_dem_z;
	float* h_demsloper_x;
	float* h_demsloper_y;
	float* h_demsloper_z;
	float* h_demsloper_angle;

	float* d_dem_x;
	float* d_dem_y;
	float* d_dem_z;
	float* d_demsloper_x;
	float* d_demsloper_y;
	float* d_demsloper_z;
	float* d_demsloper_angle;

	h_dem_x=(float* )mallocCUDAHost( sizeof(float) * blokline * tempDemCols);
	h_dem_y=(float* )mallocCUDAHost(sizeof(float) * blokline * tempDemCols);
	h_dem_z=(float* )mallocCUDAHost( sizeof(float) * blokline * tempDemCols);
	h_demsloper_x=(float* )mallocCUDAHost( sizeof(float) * blokline * tempDemCols);
	h_demsloper_y=(float* )mallocCUDAHost( sizeof(float) * blokline * tempDemCols);
	h_demsloper_z=(float* )mallocCUDAHost(sizeof(float) * blokline * tempDemCols);
	h_demsloper_angle= (float*)mallocCUDAHost( sizeof(float) * blokline * tempDemCols);

	d_dem_x=(float* )mallocCUDADevice( sizeof(float) * blokline * tempDemCols); // 7
	d_dem_y=(float* )mallocCUDADevice( sizeof(float) * blokline * tempDemCols);
	d_dem_z=(float* )mallocCUDADevice( sizeof(float) * blokline * tempDemCols);
	d_demsloper_x=(float* )mallocCUDADevice( sizeof(float) * blokline * tempDemCols);
	d_demsloper_y=(float* )mallocCUDADevice( sizeof(float) * blokline * tempDemCols);
	d_demsloper_z=(float* )mallocCUDADevice( sizeof(float) * blokline * tempDemCols);
	d_demsloper_angle= (float*)mallocCUDADevice( sizeof(float) * blokline * tempDemCols);

	float* h_dem_theta; // <20><><EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ͼ
	float* h_dem_phi;

	float* d_dem_theta;
	float* d_dem_phi;

	h_dem_theta=(float* )mallocCUDAHost( sizeof(float) * blokline * tempDemCols);
	h_dem_phi= (float*)mallocCUDAHost(sizeof(float) * blokline * tempDemCols);

	d_dem_theta= (float*)mallocCUDADevice(  sizeof(float) * blokline * tempDemCols);// 9
	d_dem_phi= (float*)mallocCUDADevice(  sizeof(float) * blokline * tempDemCols);

	HostToDevice((void*)h_dem_theta, (void*)d_dem_theta, sizeof(float) * blokline * tempDemCols);
	HostToDevice((void*)h_dem_phi, (void*)d_dem_phi, sizeof(float) * blokline * tempDemCols);

	// <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	float* h_R;// <20><><EFBFBD>䷽<EFBFBD><E4B7BD>
	float* h_localangle;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	float* d_R;// <20><><EFBFBD>䷽<EFBFBD><E4B7BD>
	float* d_localangle;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

	h_R=(float* )mallocCUDAHost(sizeof(float) * blokline * tempDemCols);
	h_localangle= (float*)mallocCUDAHost(sizeof(float) * blokline * tempDemCols); // 11

	d_R= (float*)mallocCUDADevice(sizeof(float) * blokline * tempDemCols);
	d_localangle= (float*)mallocCUDADevice( sizeof(float) * blokline * tempDemCols);

	float* h_RstX;
	float* h_RstY;
	float* h_RstZ;

	float* d_RstX;
	float* d_RstY;
	float* d_RstZ;

	h_RstX=(float*)mallocCUDAHost( sizeof(float) * blokline * tempDemCols);
	h_RstY=(float*)mallocCUDAHost( sizeof(float) * blokline * tempDemCols);
	h_RstZ=(float*)mallocCUDAHost( sizeof(float) * blokline * tempDemCols); // 14

	d_RstX=(float*)mallocCUDADevice(  sizeof(float) * blokline * tempDemCols);
	d_RstY=(float*)mallocCUDADevice(  sizeof(float) * blokline * tempDemCols);
	d_RstZ=(float*)mallocCUDADevice(  sizeof(float) * blokline * tempDemCols);

	float* h_sigma0;
	float* h_TransAnt;
	float* h_ReciveAnt;

	float* d_sigma0;
	float* d_TransAnt;
	float* d_ReciveAnt;

	h_sigma0= (float*)mallocCUDAHost( sizeof(float)* blokline* tempDemCols);
	h_TransAnt = (float*)mallocCUDAHost(sizeof(float) * blokline * tempDemCols);
	h_ReciveAnt = (float*)mallocCUDAHost(sizeof(float) * blokline * tempDemCols); // 17

	d_sigma0= (float*)mallocCUDADevice(  sizeof(float) * blokline * tempDemCols);
	d_TransAnt= (float*)mallocCUDADevice(  sizeof(float) * blokline * tempDemCols);
	d_ReciveAnt= (float*)mallocCUDADevice(  sizeof(float) * blokline * tempDemCols);

	// <20>ز<EFBFBD>
	cuComplex* h_echoAmp;
	cuComplex* d_echoAmp;
	h_echoAmp=(cuComplex*)mallocCUDAHost(sizeof(cuComplex) * blokline * tempDemCols);
	d_echoAmp=(cuComplex*)mallocCUDADevice( sizeof(cuComplex) * blokline * tempDemCols); //19

	long* h_FreqID;
	long* d_FreqID;
	h_FreqID=(long*)mallocCUDAHost( sizeof(long) * blokline * tempDemCols);
	d_FreqID=(long*)mallocCUDADevice( sizeof(long) * blokline * tempDemCols); //21

	// <20>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	Eigen::MatrixXd landcover = Eigen::MatrixXd::Zero(blokline, tempDemCols);// <20><><EFBFBD>渲<EFBFBD><E6B8B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	long* h_demcls = (long*)mallocCUDAHost(sizeof(long) * blokline * tempDemCols);
	long* d_demcls = (long*)mallocCUDADevice(sizeof(long) * blokline * tempDemCols);

	float* h_amp=(float*)mallocCUDAHost(sizeof(float) * blokline * tempDemCols);
	float* d_amp=(float*)mallocCUDADevice(sizeof(float) * blokline * tempDemCols);

	for (startline = 0; startline < demRow; startline = startline + blokline) {
		long newblokline = blokline;
		if ((startline + blokline) >= demRow) {
			newblokline = demRow - startline;
			bloklineflag = true;
		}
		dem_x = demxyz.getData(startline, 0, newblokline, demxyz.width, 1);  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		dem_y = demxyz.getData(startline, 0, newblokline, demxyz.width, 2);
		dem_z = demxyz.getData(startline, 0, newblokline, demxyz.width, 3);
		demsloper_x = demsloperxyz.getData(startline, 0, newblokline, demsloperxyz.width, 1);
		demsloper_y = demsloperxyz.getData(startline, 0, newblokline, demsloperxyz.width, 2);
		demsloper_z = demsloperxyz.getData(startline, 0, newblokline, demsloperxyz.width, 3);
		sloperAngle = demsloperxyz.getData(startline, 0, newblokline, demsloperxyz.width, 4);

		landcover = demlandcls.getData(startline, 0, newblokline, demlandcls.width, 1);

		if (bloklineflag) {
			FreeCUDAHost(h_dem_x);						FreeCUDADevice(d_dem_x);
			FreeCUDAHost(h_dem_y);						FreeCUDADevice(d_dem_y);
			FreeCUDAHost(h_dem_z);						FreeCUDADevice(d_dem_z);
			FreeCUDAHost(h_demsloper_x);				FreeCUDADevice(d_demsloper_x);
			FreeCUDAHost(h_demsloper_y);				FreeCUDADevice(d_demsloper_y);
			FreeCUDAHost(h_demsloper_z);				FreeCUDADevice(d_demsloper_z); //6
			FreeCUDAHost(h_demsloper_angle);			FreeCUDADevice(d_demsloper_angle);//7
			FreeCUDAHost(h_dem_theta);					FreeCUDADevice(d_dem_theta);
			FreeCUDAHost(h_dem_phi);					FreeCUDADevice(d_dem_phi); //9
			FreeCUDAHost(h_R);							FreeCUDADevice(d_R);
			FreeCUDAHost(h_localangle);					FreeCUDADevice(d_localangle); //11
			FreeCUDAHost(h_RstX);						FreeCUDADevice(d_RstX);
			FreeCUDAHost(h_RstY);						FreeCUDADevice(d_RstY);
			FreeCUDAHost(h_RstZ);						FreeCUDADevice(d_RstZ); //14
			FreeCUDAHost(h_sigma0);						FreeCUDADevice(d_sigma0);
			FreeCUDAHost(h_TransAnt);					FreeCUDADevice(d_TransAnt);
			FreeCUDAHost(h_ReciveAnt);					FreeCUDADevice(d_ReciveAnt); //17
			FreeCUDAHost(h_echoAmp);					FreeCUDADevice(d_echoAmp);//19
			FreeCUDAHost(h_FreqID);						FreeCUDADevice(d_FreqID);//20
			FreeCUDAHost(h_demcls);						FreeCUDADevice(d_demcls);
			FreeCUDAHost(h_amp);						FreeCUDADevice(d_amp);

			h_dem_x = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_dem_y = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_dem_z = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_demsloper_x = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_demsloper_y = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_demsloper_z = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_demsloper_angle = (float*)mallocCUDAHost(sizeof(float) * blokline * tempDemCols);
			h_dem_theta = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_dem_phi = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols); 
			h_R = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_localangle = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_RstX = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_RstY = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_RstZ = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_sigma0 = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_TransAnt = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_ReciveAnt = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			h_echoAmp = (cuComplex*)mallocCUDAHost(sizeof(cuComplex) * newblokline * tempDemCols);
			h_FreqID = (long*)mallocCUDAHost(sizeof(long) * newblokline * tempDemCols);
			h_demcls = (long*)mallocCUDAHost(sizeof(long) * newblokline * tempDemCols);
			h_amp = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);

			d_dem_x=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_dem_y=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_dem_z=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_demsloper_x=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_demsloper_y=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_demsloper_z=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);//6
			d_demsloper_angle=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);//7
			d_dem_theta=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_dem_phi=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);// 9
			d_R=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_localangle=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_RstX=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_RstY=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_RstZ=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_sigma0=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_TransAnt=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_ReciveAnt=(float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			d_echoAmp=(cuComplex*)mallocCUDADevice(sizeof(cuComplex) * newblokline * tempDemCols);
			d_FreqID=(long*)mallocCUDADevice(sizeof(long) * newblokline * tempDemCols); 
			d_demcls = (long*)mallocCUDADevice(sizeof(long) * newblokline * tempDemCols);
			d_amp = (float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
		}
//#   pragma omp parallel for
		for (long i = 0; i < newblokline; i++) {
			for (long j = 0; j < demxyz.width; j++) {
				h_dem_x[i * demxyz.width + j] = float(dem_x(i, j));
				h_dem_y[i * demxyz.width + j] = float(dem_y(i, j));
				h_dem_z[i * demxyz.width + j] = float(dem_z(i, j));
				h_demsloper_x[i * demxyz.width + j] = float(demsloper_x(i, j));
				h_demsloper_y[i * demxyz.width + j] = float(demsloper_y(i, j));
				h_demsloper_z[i * demxyz.width + j] = float(demsloper_z(i, j));
				h_demsloper_angle[i * demxyz.width + j] = float(sloperAngle(i, j));
				h_demcls[i * demxyz.width + j] = clamap[long(landcover(i, j))];
				h_amp[i * demxyz.width + j] = 0.0f;
			}
		}

		HostToDevice((void*)h_dem_x, (void*)d_dem_x, sizeof(float) * newblokline * tempDemCols); // <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> -> GPU
		HostToDevice((void*)h_dem_y, (void*)d_dem_y, sizeof(float) * newblokline * tempDemCols);
		HostToDevice((void*)h_dem_z, (void*)d_dem_z, sizeof(float) * newblokline * tempDemCols);
		HostToDevice((void*)h_demsloper_x, (void*)d_demsloper_x, sizeof(float) * newblokline * tempDemCols);
		HostToDevice((void*)h_demsloper_y, (void*)d_demsloper_y, sizeof(float) * newblokline * tempDemCols);
		HostToDevice((void*)h_demsloper_z, (void*)d_demsloper_z, sizeof(float) * newblokline * tempDemCols);
		HostToDevice((void*)h_demsloper_angle, (void*)d_demsloper_angle, sizeof(float) * newblokline * tempDemCols);
		HostToDevice((void*)h_dem_theta, (void*)d_dem_theta, sizeof(float) * newblokline * tempDemCols);
		HostToDevice((void*)h_dem_phi, (void*)d_dem_phi, sizeof(float) * newblokline* tempDemCols);
		HostToDevice((void*)h_demcls, (void*)d_demcls, sizeof(long) * newblokline* tempDemCols);
		HostToDevice((void*)h_amp, (void*)d_amp, sizeof(float) * newblokline* tempDemCols);

		long pixelcount = newblokline * tempDemCols;

		long echoblockline = Memory1MB * 2000 / 8 / 2 / PlusePoint;
		long startprfid = 0;
		
		for (startprfid = 0; startprfid < pluseCount; startprfid = startprfid + echoblockline) {
			long templine = startprfid + echoblockline < PluseCount ? echoblockline : PluseCount - startprfid;
			std::shared_ptr<std::complex<double>> echotemp = this->EchoSimulationData->getEchoArr(startprfid, templine);

			for (long tempprfid = 0; tempprfid < templine; tempprfid++) {
				{// <20><><EFBFBD><EFBFBD>
					long prfid = tempprfid + startprfid;
					// <20><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
					float antpx = sateOirbtNodes[prfid].Px;
					float antpy = sateOirbtNodes[prfid].Py;
					float antpz = sateOirbtNodes[prfid].Pz;
					float antvx = sateOirbtNodes[prfid].Vx;
					float antvy = sateOirbtNodes[prfid].Vy;
					float antvz = sateOirbtNodes[prfid].Vz; //6
					float antdirectx = sateOirbtNodes[prfid].AntDirecX;
					float antdirecty = sateOirbtNodes[prfid].AntDirecY;
					float antdirectz = sateOirbtNodes[prfid].AntDirecZ; // 9 <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
					float antXaxisX = sateOirbtNodes[prfid].AntXaxisX;
					float antXaxisY = sateOirbtNodes[prfid].AntXaxisY;
					float antXaxisZ = sateOirbtNodes[prfid].AntXaxisZ;//12 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ
					float antYaxisX = sateOirbtNodes[prfid].AntYaxisX;
					float antYaxisY = sateOirbtNodes[prfid].AntYaxisY;
					float antYaxisZ = sateOirbtNodes[prfid].AntYaxisZ;//15
					float antZaxisX = sateOirbtNodes[prfid].AntZaxisX;
					float antZaxisY = sateOirbtNodes[prfid].AntZaxisY;
					float antZaxisZ = sateOirbtNodes[prfid].AntZaxisZ;//18

#ifdef __PRFDEBUG__
					testOutAmpArr("h_dem_x.bin", h_dem_x, newblokline, tempDemCols);
					testOutAmpArr("h_dem_y.bin", h_dem_y, newblokline, tempDemCols);
					testOutAmpArr("h_dem_z.bin", h_dem_z, newblokline, tempDemCols);
					std::cout << "ant Position=[" << antpx << "," << antpy << "," << antpz << "]" << std::endl;
#endif // __PRFDEBUG__

					make_VectorA_B(antpx, antpy, antpz, d_dem_x, d_dem_y, d_dem_z, d_RstX, d_RstY, d_RstZ, pixelcount);  //  Rst = Rs - Rt; <20><><EFBFBD><EFBFBD>-> ָ<><D6B8> 
					Norm_Vector(d_RstX, d_RstY, d_RstZ, d_R, pixelcount); // R
					cosAngle_VA_AB(d_RstX, d_RstY, d_RstZ, d_demsloper_x, d_demsloper_y, d_demsloper_z, d_localangle, pixelcount); // <20>ֲ<EFBFBD><D6B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
					SatelliteAntDirectNormal(d_RstX, d_RstY, d_RstZ, 
						antXaxisX, antXaxisY, antXaxisZ,
						antYaxisX, antYaxisY, antYaxisZ,
						antZaxisX, antZaxisY, antZaxisZ,
						antdirectx, antdirecty, antdirectz,
						d_dem_theta, d_dem_phi, pixelcount);// <20><><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>
#ifdef __PRFDEBUG__
					DeviceToHost(h_RstX, d_RstX, sizeof(float)* pixelcount);
					DeviceToHost(h_RstY, d_RstY, sizeof(float)* pixelcount);
					DeviceToHost(h_RstZ, d_RstZ, sizeof(float)* pixelcount);

					testOutAmpArr("h_RstX.bin", h_RstX, newblokline, tempDemCols);
					testOutAmpArr("h_RstY.bin", h_RstY, newblokline, tempDemCols);
					testOutAmpArr("h_RstZ.bin", h_RstZ, newblokline, tempDemCols);
#endif // __PRFDEBUG__
					AntPatternInterpGain(d_dem_theta, d_dem_phi, d_TransAnt,  d_TantPattern, TstartTheta, TstartPhi, Tdtheta, Tdphi, Tthetanum, Tphinum, pixelcount);
					AntPatternInterpGain(d_dem_theta, d_dem_phi, d_ReciveAnt, d_RantPattern, RstartTheta, RstartPhi, Rdtheta, Rdphi, Rthetanum, Rphinum, pixelcount);
#ifdef __PRFDEBUG__					
					DeviceToHost(h_dem_theta, d_dem_theta, sizeof(float)* pixelcount); // <20><>GPU -> <20><><EFBFBD><EFBFBD>
					DeviceToHost(h_dem_phi, d_dem_phi, sizeof(float)* pixelcount);
					DeviceToHost(h_localangle, d_localangle, sizeof(float)* pixelcount);

					testOutAmpArr("h_localangle.bin", h_localangle, newblokline, tempDemCols);

					DeviceToHost(h_TransAnt, d_TransAnt, sizeof(float)* pixelcount);
					DeviceToHost(h_ReciveAnt, d_ReciveAnt, sizeof(float)* pixelcount);

					testOutAmpArr("ant_theta.bin", h_dem_theta, newblokline, tempDemCols);
					testOutAmpArr("ant_phi.bin", h_dem_phi, newblokline, tempDemCols);
					testOutAmpArr("antPattern_Trans.bin", h_TransAnt, newblokline, tempDemCols);
					testOutAmpArr("antPattern_Receive.bin", h_ReciveAnt, newblokline, tempDemCols);
#endif // __PRFDEBUG__
					CUDAInterpSigma(d_demcls, d_amp, d_localangle, pixelcount, d_clsSigmaParam, clamapid);
#ifdef __PRFDEBUG__	
					DeviceToHost(h_amp, d_amp, sizeof(float)* pixelcount);
					testOutAmpArr("amp.bin", h_amp,newblokline, tempDemCols);
					testOutClsArr("h_demcls.bin", h_demcls,newblokline, tempDemCols);

#endif // __PRFDEBUG__ 

					// <20><><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD>
					calculationEcho(d_amp, d_TransAnt, d_ReciveAnt, d_localangle, d_R, d_demsloper_angle, NearRange, Fs, Pt, lamda, PlusePoint, d_echoAmp, d_FreqID, pixelcount);
					DeviceToHost(h_echoAmp, d_echoAmp, sizeof(cuComplex) * pixelcount);
					DeviceToHost(h_FreqID, d_FreqID, sizeof(long) * pixelcount);
					//DeviceToHost(h_amp, d_amp, sizeof(float) * pixelcount);

#ifdef __PRFDEBUG__	
					float* h_echoAmp_real = (float*)mallocCUDAHost(sizeof(float) * pixelcount);
					float* h_echoAmp_imag = (float*)mallocCUDAHost(sizeof(float) * pixelcount);

					for (long freqi = 0; freqi < pixelcount; freqi++) {
						h_echoAmp_real[freqi] = h_echoAmp[freqi].x;
						h_echoAmp_imag[freqi] = h_echoAmp[freqi].y;
					}
					testOutAmpArr("h_echoAmp_real.bin", h_echoAmp_real, newblokline, tempDemCols);
					testOutAmpArr("h_echoAmp_imag.bin", h_echoAmp_imag, newblokline, tempDemCols);
					testOutClsArr("h_FreqID.bin", h_FreqID, newblokline, tempDemCols);

					FreeCUDAHost(h_echoAmp_real);
					FreeCUDAHost(h_echoAmp_imag);

					exit(0);
#endif // __PRFDEBUG__ 
					for (long freqi = 0; freqi < pixelcount; freqi++) {
						long pluseid = h_FreqID[freqi];
						echotemp.get()[tempprfid * PlusePoint + pluseid] = std::complex<double>(h_echoAmp[freqi].x, h_echoAmp[freqi].y);
					}
					if (prfid % 1000 == 0) {
						std::cout << "[" << QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss.zzz").toStdString() << "]  dem:\t" << startline << "\t-\t" << startline + newblokline << "\t:\t pluse :\t" << prfid << " / " << pluseCount << std::endl;
					}
				}

			}
			
			this->EchoSimulationData->saveEchoArr(echotemp, startprfid, templine);

		}

}

	std::cout << std::endl;


	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>
	FreeCUDAHost(h_dem_x);				FreeCUDADevice(d_dem_x);
	FreeCUDAHost(h_dem_y);				FreeCUDADevice(d_dem_y);
	FreeCUDAHost(h_dem_z);				FreeCUDADevice(d_dem_z);
	FreeCUDAHost(h_demsloper_x);		FreeCUDADevice(d_demsloper_x);
	FreeCUDAHost(h_demsloper_y);		FreeCUDADevice(d_demsloper_y);
	FreeCUDAHost(h_demsloper_z);		FreeCUDADevice(d_demsloper_z); //6
	FreeCUDAHost(h_demsloper_angle);	FreeCUDADevice(d_demsloper_angle); //7

	// <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>
	FreeCUDAHost(h_dem_theta);			FreeCUDADevice(d_dem_theta);
	FreeCUDAHost(h_dem_phi);			FreeCUDADevice(d_dem_phi);// 9
	FreeCUDAHost(h_R);					FreeCUDADevice(d_R);
	FreeCUDAHost(h_localangle);			FreeCUDADevice(h_localangle); //11

	FreeCUDAHost(h_RstX);				FreeCUDADevice(d_RstX);
	FreeCUDAHost(h_RstY);				FreeCUDADevice(d_RstY);
	FreeCUDAHost(h_RstZ);				FreeCUDADevice(d_RstZ); //14

	FreeCUDAHost(h_sigma0);				FreeCUDADevice(d_sigma0);
	FreeCUDAHost(h_TransAnt);			FreeCUDADevice(d_TransAnt);
	FreeCUDAHost(h_ReciveAnt);			FreeCUDADevice(d_ReciveAnt); //17
	FreeCUDAHost(h_echoAmp);			FreeCUDADevice(d_echoAmp);//19
	FreeCUDAHost(h_FreqID);				FreeCUDADevice(d_FreqID);//20

	FreeCUDAHost(h_demcls);				FreeCUDADevice(d_demcls);
	FreeCUDAHost(h_amp);				FreeCUDADevice(d_amp);


#endif

	this->EchoSimulationData->saveToXml();
	return ErrorCode::SUCCESS;
}


void RTPCProcessMain(long num_thread, QString TansformPatternFilePath, QString ReceivePatternFilePath, QString simulationtaskName, QString OutEchoPath, QString GPSXmlPath, QString TaskXmlPath, QString demTiffPath, QString LandCoverPath, QString HHSigmaPath, QString HVSigmaPath, QString VHSigmaPath, QString VVSigmaPath)
{

	std::shared_ptr < AbstractSARSatelliteModel>  task = ReadSimulationSettingsXML(TaskXmlPath);

	if (nullptr == task)
	{
		return;
	}
	else {
		// <20><>ӡ<EFBFBD><D3A1><EFBFBD><EFBFBD>
		qDebug() << "--------------Task Seting ---------------------------------------";
		qDebug() << "SARImageStartTime: " << task->getSARImageStartTime();
		qDebug() << "SARImageEndTime: " << task->getSARImageEndTime();
		qDebug() << "BandWidth: " << task->getBandWidth();
		qDebug() << "CenterFreq: " << task->getCenterFreq();
		qDebug() << "PRF: " << task->getPRF();
		qDebug() << "Fs: " << task->getFs();
		qDebug() << "POLAR: " << task->getPolarType();
		qDebug() << "NearRange: " << task->getNearRange();
		qDebug() << "FarRange: " << task->getFarRange();
		qDebug() << (task->getFarRange() - task->getNearRange()) * 2 / LIGHTSPEED * task->getFs();
		qDebug() << "\n\n";
	}
	// 1.2 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ͼ
	std::vector<RadiationPatternGainPoint> TansformPatternGainpoints = ReadGainFile(TansformPatternFilePath);
	std::shared_ptr<AbstractRadiationPattern> TansformPatternGainPtr = CreateAbstractRadiationPattern(TansformPatternGainpoints);

	std::vector<RadiationPatternGainPoint> ReceivePatternGainpoints = ReadGainFile(ReceivePatternFilePath);
	std::shared_ptr<AbstractRadiationPattern> ReceivePatternGainPtr = CreateAbstractRadiationPattern(ReceivePatternGainpoints);

	task->setTransformRadiationPattern(TansformPatternGainPtr);
	task->setReceiveRadiationPattern(ReceivePatternGainPtr);

	//2. <20><>ȡGPS<50>ڵ<EFBFBD>
	std::vector<SatelliteOribtNode> nodes;
	ErrorCode stateCode = ReadSateGPSPointsXML(GPSXmlPath, nodes);

	if (stateCode != ErrorCode::SUCCESS)
	{
		qWarning() << QString::fromStdString(errorCode2errInfo(stateCode));
		return;
	}
	else {}

	std::shared_ptr<AbstractSatelliteOribtModel> SatelliteOribtModel = CreataPolyfitSatelliteOribtModel(nodes, task->getSARImageStartTime(), 3); // <20>Գ<EFBFBD><D4B3><EFBFBD><EFBFBD><EFBFBD>ʼʱ<CABC><CAB1><EFBFBD><EFBFBD>Ϊ ʱ<><CAB1><EFBFBD>ο<EFBFBD><CEBF><EFBFBD><EFBFBD><EFBFBD>
	SatelliteOribtModel->setbeamAngle(task->getCenterLookAngle(), task->getIsRightLook()); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ͼ

	if (nullptr == SatelliteOribtModel)
	{
		return;
	}
	else {
		task->setSatelliteOribtModel(SatelliteOribtModel);
	}

	qDebug() << "--------------  RTPC init ---------------------------------------";
	RTPCProcessCls rtpc;
	rtpc.setTaskSetting(task);						//qDebug() << "setTaskSetting";
	rtpc.setTaskFileName(simulationtaskName);		//qDebug() << "setTaskFileName";
	rtpc.setDEMTiffPath(demTiffPath);				//qDebug() << "setDEMTiffPath";
	rtpc.setLandCoverPath(LandCoverPath);			//qDebug() << "setLandCoverPath";
	rtpc.setHHSigmaPath(HHSigmaPath);			//qDebug() << "setHHSigmaPath";
	rtpc.setHVSigmaPath(HVSigmaPath);			//qDebug() << "setHVSigmaPath";
	rtpc.setVHSigmaPath(VHSigmaPath);			//qDebug() << "setVHSigmaPath";
	rtpc.setVVSigmaPath(VVSigmaPath);			//qDebug() << "setVVSigmaPath";
	rtpc.setOutEchoPath(OutEchoPath);				//qDebug() << "setOutEchoPath";
	qDebug() << "--------------  RTPC start---------------------------------------";
	rtpc.Process(num_thread); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	qDebug() << "--------------  RTPC end---------------------------------------";
}

void testOutAntPatternTrans(QString antpatternfilename,float* antPatternArr,
	double starttheta,	double deltetheta,
	double startphi, double deltaphi,
	long thetanum, long phinum)
{


	Eigen::MatrixXd antPatternMatrix(thetanum,phinum);
	for (long t = 0; t < thetanum; ++t) {
		for (long p = 0; p < phinum; ++p) {
			long index = t * phinum + p;
			if (index < thetanum * phinum) {
				antPatternMatrix(t, p) = static_cast<double>(antPatternArr[index]);  // Copy to Eigen matrix
			}
		}
	}

	Eigen::MatrixXd gt(2, 3);
	gt(0, 0)=startphi;//x
	gt(0, 1)=deltaphi;
	gt(0, 2)=0;

	gt(1, 0)=starttheta;
	gt(1, 1)=0;
	gt(1, 2)=deltetheta;

	QString antpatternfilepath = getDebugDataPath(antpatternfilename);
	gdalImage  ds= CreategdalImage(antpatternfilepath, thetanum, phinum, 1, gt, "", true, true, true);
	ds.saveImage(antPatternMatrix, 0, 0, 1);
}



void testOutClsArr(QString filename, long* amp, long rowcount, long colcount) {

	Eigen::MatrixXd h_amp_img = Eigen::MatrixXd::Zero(rowcount, colcount);

	for (long hii = 0; hii < rowcount; hii++) {
		for (long hjj = 0; hjj < colcount; hjj++) {
			h_amp_img(hii, hjj) = amp[hii * colcount + hjj];
		}
	}
	QString ampPath = getDebugDataPath(filename);
	saveEigenMatrixXd2Bin(h_amp_img, ampPath);
	std::cout << filename.toLocal8Bit().constData() << std::endl;
	std::cout << "max:\t" << h_amp_img.maxCoeff() << std::endl;
	std::cout << "min:\t" << h_amp_img.minCoeff() << std::endl;

}

void testOutAmpArr(QString filename, float* amp, long rowcount, long colcount)
{


	Eigen::MatrixXd h_amp_img = Eigen::MatrixXd::Zero(rowcount, colcount);

	for (long hii = 0; hii < rowcount; hii++) {
		for (long hjj = 0; hjj < colcount; hjj++) {
			h_amp_img(hii, hjj) = amp[hii * colcount + hjj];
		}
	}
	QString ampPath = getDebugDataPath(filename);
	saveEigenMatrixXd2Bin(h_amp_img, ampPath);
	std::cout << filename.toLocal8Bit().constData() << std::endl;
	std::cout << "max:\t" << h_amp_img.maxCoeff() << std::endl;
	std::cout << "min:\t" << h_amp_img.minCoeff() << std::endl;


}