KJ135
/
RasterProcessTool
mirror of http://172.16.0.12:5000/LAMPSARToolSoftware/RasterProcessTool.git
4
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

增加 GPU版本的 间接定位法

pull/4/head
陈增辉 2025-02-19 12:29:15 +08:00
parent b8cf53cf20
commit f426ce1f1d
7 changed files with 181 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
BaseCommonLibrary/BaseTool/PrintMsgToQDebug.cpp
View File

@ -5,3 +5,9 @@ BASECONSTVARIABLEAPI void PrintMsgToQDebug(char* msg)
qDebug() << QString(msg);
return ;
}
BASECONSTVARIABLEAPI void PrintTipMsgToQDebug(const char* tip, const char* msg)
{
qDebug() <<QString(tip)<<"\t:\t" << QString(msg);
return;
}

1
BaseCommonLibrary/BaseTool/PrintMsgToQDebug.h
View File

@ -4,6 +4,7 @@
#include "BaseConstVariable.h"
extern "C" BASECONSTVARIABLEAPI void PrintMsgToQDebug(char* msg);
extern "C" BASECONSTVARIABLEAPI void PrintTipMsgToQDebug(const char* tip, const char* msg);
#endif // !PRINTMSGTOQDEBUG_H_

5
GPUBaseLib/GPUBaseLib.vcxproj
View File

@ -25,6 +25,11 @@
<ClInclude Include="GPUTool\GPUBaseLibAPI.h" />
<CudaCompile Include="GPUTool\GPUTool.cuh" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\BaseCommonLibrary\BaseCommonLibrary.vcxproj">
<Project>{872ecd6f-30e3-4a1b-b17c-15e87d373ff6}</Project>
</ProjectReference>
</ItemGroup>
<PropertyGroup Label="Globals">
<VCProjectVersion>17.0</VCProjectVersion>
<Keyword>Win32Proj</Keyword>

4
GPUBaseLib/GPUTool/GPUTool.cu
View File

@ -11,6 +11,7 @@
#include <chrono>
#include "BaseConstVariable.h"
#include "GPUTool.cuh"
#include "PrintMsgToQDebug.h"
#ifdef __CUDANVCC___
#define BLOCK_DIM 1024
@ -486,7 +487,8 @@ void PrintLasterError(const char* s)
{
cudaError_t err = cudaGetLastError();
if (err != cudaSuccess) {
printf("%s: %s\n", s, cudaGetErrorString(err));
//printf("%s: %s\n", s, cudaGetErrorString(err));
PrintTipMsgToQDebug(s, cudaGetErrorString(err));
exit(2);
}
}

18
Toolbox/SimulationSARTool/PowerSimulationIncoherent/LookTableComputerClass.cpp
View File

@ -5,7 +5,7 @@
#include "FileOperator.h"
#include "BaseConstVariable.h"
#include "GPUTool.cuh"
#include "LookTableSimulationComputer.cuh"
#include <QDebug>
@ -259,6 +259,7 @@ namespace LookTableSimualtionMainProcessSpace {
int rowcount = 0;
int colcount = 0;
double fact_lamda = 1 / lamda;
for (long rid = 0; rid < demimg.height; rid = rid + GPUMemoryline) {
rowcount = GPUMemoryline;
colcount = demimg.width;
@ -279,7 +280,20 @@ namespace LookTableSimualtionMainProcessSpace {
HostToDevice(host_demZ.get(), device_demZ.get(), sizeof(double)* GPUMemoryline* demimg.width);
RDProcess_dopplerGPU(
device_demX.get(), device_demY.get(), device_demZ.get(),
device_Rid.get(), device_Cid.get(),
rowcount, colcount,
Xp0, Yp0, Zp0, Xv0, Yv0, Zv0,
Xp1, Yp1, Zp1, Xv1, Yv1, Zv1,
Xp2, Yp2, Zp2, Xv2, Yv2, Zv2,
Xp3, Yp3, Zp3, Xv3, Yv3, Zv3,
Xp4, Yp4, Zp4, Xv4, Yv4, Zv4,
Xp5, Yp5, Zp5, Xv5, Yv5, Zv5,
dopplerRefrenceTime, r0, r1, r2, r3, r4,
starttime, nearRange, farRange,
PRF, Fs,
fact_lamda);
// GPU -> ÄÚ´æ

132
Toolbox/SimulationSARTool/PowerSimulationIncoherent/LookTableSimulationComputer.cu
View File

@ -20,9 +20,9 @@ extern __device__ __host__ double getNumberDopplerCenterRate(double R, double r
return dopplerCenterRate;
}
__device__ __host__ double getDopplerCenterRate(double Rx, double Ry, double Rz, double Vx, double Vy, double Vz, double lamda)
__device__ __host__ double getDopplerCenterRate(double Rx, double Ry, double Rz, double Vx, double Vy, double Vz, double fact_lamda)
{
return __device__ __host__ double();
return -2*(Rx*Vx+Ry*Vy+Rz*Vz)* fact_lamda;
}
__device__ __host__ double getPolyfitNumber(double x, double a0, double a1, double a2, double a3, double a4, double a5)
@ -31,6 +31,134 @@ __device__ __host__ double getPolyfitNumber(double x, double a0, double a1, doub
}
__global__ void Kernel_RDProcess_doppler(
double* demX, double* demY, double* demZ,
float* outRidx, float* outCidx,
long pixelcount,
double Xp0, double Yp0, double Zp0, double Xv0, double Yv0, double Zv0,
double Xp1, double Yp1, double Zp1, double Xv1, double Yv1, double Zv1,
double Xp2, double Yp2, double Zp2, double Xv2, double Yv2, double Zv2,
double Xp3, double Yp3, double Zp3, double Xv3, double Yv3, double Zv3,
double Xp4, double Yp4, double Zp4, double Xv4, double Yv4, double Zv4,
double Xp5, double Yp5, double Zp5, double Xv5, double Yv5, double Zv5,
double reftime, double r0, double r1, double r2, double r3, double r4,
double starttime, double nearRange, double farRange,
double PRF, double Fs,
double fact_lamda
) {
long idx = blockIdx.x * blockDim.x + threadIdx.x;
if (idx < pixelcount) {
double demx = demX[idx];
double demy = demY[idx];
double demz = demZ[idx];
float Rd_r = -1;
float Rd_c = -1;
double dt = 1 / PRF / 1000;
double Spx = 0, Spy = 0, Spz = 0, Svx = 0, Svy = 0, Svz = 0;
double Rx = 0, Ry = 0, Rz = 0,R = 0;
double dp1=0, dpn1=0, dp2=0, dpn2=0;
double ti = 0;
double inct = 0;
for (long i = 0; i < 10000; i++) { // ×î´óľü´úˇśÎ§
Spx = getPolyfitNumber(ti+dt, Xp0, Xp1, Xp2, Xp3, Xp4, Xp5);
Spy = getPolyfitNumber(ti+dt, Yp0, Yp1, Yp2, Yp3, Yp4, Yp5);
Spz = getPolyfitNumber(ti+dt, Zp0, Zp1, Zp2, Zp3, Zp4, Zp5);
Svx = getPolyfitNumber(ti+dt, Xv0, Xv1, Xv2, Xv3, Xv4, Xv5);
Svy = getPolyfitNumber(ti+dt, Yv0, Yv1, Yv2, Yv3, Yv4, Yv5);
Svz = getPolyfitNumber(ti+dt, Zv0, Zv1, Zv2, Zv3, Zv4, Zv5);
Rx = Spx - demx;
Ry = Spy - demy;
Rz = Spz - demz;
R = sqrt(Rx * Rx + Ry * Ry + Rz * Rz);
Rx = Rx / R;
Ry = Ry / R;
Rz = Rz / R;
dp2 = getDopplerCenterRate(Rx, Ry, Rz, Svx, Svy, Svz, fact_lamda);
dpn2 = getNumberDopplerCenterRate(R, r0, r1, r2, r3, r4, reftime);
// ti
Spx = getPolyfitNumber(ti, Xp0, Xp1, Xp2, Xp3, Xp4, Xp5);
Spy = getPolyfitNumber(ti, Yp0, Yp1, Yp2, Yp3, Yp4, Yp5);
Spz = getPolyfitNumber(ti, Zp0, Zp1, Zp2, Zp3, Zp4, Zp5);
Svx = getPolyfitNumber(ti, Xv0, Xv1, Xv2, Xv3, Xv4, Xv5);
Svy = getPolyfitNumber(ti, Yv0, Yv1, Yv2, Yv3, Yv4, Yv5);
Svz = getPolyfitNumber(ti, Zv0, Zv1, Zv2, Zv3, Zv4, Zv5);
Rx = Spx - demx;
Ry = Spy - demy;
Rz = Spz - demz;
R = sqrt(Rx * Rx + Ry * Ry + Rz * Rz);
Rx = Rx / R;
Ry = Ry / R;
Rz = Rz / R;
dp1=getDopplerCenterRate(Rx, Ry, Rz, Svx, Svy, Svz, fact_lamda);
dpn1 = getNumberDopplerCenterRate(R, r0, r1, r2, r3, r4, reftime);
// iter
inct = dt * (dp2 - dpn1) / (dp1 - dp2);
if (abs(inct) <= dt ||(abs(dp1 - dp2) < 1e-9)) {
Rd_r = (ti - starttime) * PRF;
Rd_c = 2 * (R - nearRange) / LIGHTSPEED * Fs;
outRidx[idx] = Rd_r;
outCidx[idx] = Rd_c;
return;
}
ti = ti - inct;
}
outRidx[idx] = -1;
outCidx[idx] = -1;
}
}
void RDProcess_dopplerGPU(
double* demX, double* demY, double* demZ,
float* outRidx, float* outCidx,
long rowcount, long colcount,
double Xp0, double Yp0, double Zp0, double Xv0, double Yv0, double Zv0,
double Xp1, double Yp1, double Zp1, double Xv1, double Yv1, double Zv1,
double Xp2, double Yp2, double Zp2, double Xv2, double Yv2, double Zv2,
double Xp3, double Yp3, double Zp3, double Xv3, double Yv3, double Zv3,
double Xp4, double Yp4, double Zp4, double Xv4, double Yv4, double Zv4,
double Xp5, double Yp5, double Zp5, double Xv5, double Yv5, double Zv5,
double reftime, double r0, double r1, double r2, double r3, double r4,
double starttime, double nearRange, double farRange,
double PRF, double Fs,
double fact_lamda)
{
long pixelcount = rowcount * colcount;
int numBlocks = (pixelcount + BLOCK_SIZE - 1) / BLOCK_SIZE;
Kernel_RDProcess_doppler << <numBlocks, BLOCK_SIZE >> > (
demX, demY, demZ,
outRidx, outCidx,
pixelcount,
Xp0, Yp0, Zp0, Xv0, Yv0, Zv0,
Xp1, Yp1, Zp1, Xv1, Yv1, Zv1,
Xp2, Yp2, Zp2, Xv2, Yv2, Zv2,
Xp3, Yp3, Zp3, Xv3, Yv3, Zv3,
Xp4, Yp4, Zp4, Xv4, Yv4, Zv4,
Xp5, Yp5, Zp5, Xv5, Yv5, Zv5,
reftime, r0, r1, r2, r3, r4,
starttime,nearRange, farRange,
PRF, Fs,
fact_lamda
);
PrintLasterError("RD with doppler function");
cudaDeviceSynchronize();
}

23
Toolbox/SimulationSARTool/PowerSimulationIncoherent/LookTableSimulationComputer.cuh
View File

@ -10,7 +10,7 @@
extern __device__ __host__ double getNumberDopplerCenterRate(double R, double r0, double r1, double r2, double r3, double r4,double reftime);
extern __device__ __host__ double getDopplerCenterRate(double Rx,double Ry,double Rz,double Vx,double Vy,double Vz,double lamda);
extern __device__ __host__ double getDopplerCenterRate(double Rx,double Ry,double Rz,double Vx,double Vy,double Vz,double fact_lamda); //fact_lamda lamda 的倒数
extern __device__ __host__ double getPolyfitNumber(double x, double a0, double a1, double a2, double a3, double a4,double a5);
@ -26,8 +26,25 @@ extern __device__ __host__ double getPolyfitNumber(double x, double a0, double a
//
extern "C" void RDProcess_doppler(
extern "C" void RDProcess_dopplerGPU(
double* demX, double* demY, double* demZ, // 处理入射坐标
float* outRidx,float* outCidx, // 输出 行列数
long rowcount,long colcount,
double Xp0 = 0, double Yp0 = 0,double Zp0 = 0,double Xv0 = 0,double Yv0 = 0,double Zv0 = 0, // 轨道参数
double Xp1 = 0, double Yp1 = 0,double Zp1 = 0,double Xv1 = 0,double Yv1 = 0,double Zv1 = 0,
double Xp2 = 0, double Yp2 = 0,double Zp2 = 0,double Xv2 = 0,double Yv2 = 0,double Zv2 = 0,
double Xp3 = 0, double Yp3 = 0,double Zp3 = 0,double Xv3 = 0,double Yv3 = 0,double Zv3 = 0,
double Xp4 = 0, double Yp4 = 0,double Zp4 = 0,double Xv4 = 0,double Yv4 = 0,double Zv4 = 0,
double Xp5 = 0, double Yp5 = 0,double Zp5 = 0,double Xv5 = 0,double Yv5 = 0,double Zv5 = 0,
double reftime=0, // 轨道参数
double r0 = 0, double r1 = 0, double r2 = 0, double r3 = 0, double r4 = 0,
double starttime,// 成像参数
double nearRange,
double farRange,
double PRF,
double Fs,
double fact_lamda // lamda 倒数
);