增加 GPU版本的 间接定位法

BaseCommonLibrary/BaseTool/PrintMsgToQDebug.cpp

@@ -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;
+}

BaseCommonLibrary/BaseTool/PrintMsgToQDebug.h

@@ -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_
 
 

GPUBaseLib/GPUBaseLib.vcxproj

@@ -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>

GPUBaseLib/GPUTool/GPUTool.cu

@@ -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);
 	}
 }

Toolbox/SimulationSARTool/PowerSimulationIncoherent/LookTableComputerClass.cpp

@@ -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

Toolbox/SimulationSARTool/PowerSimulationIncoherent/LookTableSimulationComputer.cu

@@ -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();
+}
+
+
 
 
 

Toolbox/SimulationSARTool/PowerSimulationIncoherent/LookTableSimulationComputer.cuh

@@ -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
 
 );