Add energy computation to RadarPostProcessNode #255
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include/rgl/api/core.h
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| @@ -295,6 +295,11 @@ typedef enum : int32_t | |||
| */ | |||
| RGL_FIELD_INCIDENT_ANGLE_F32, | |||
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| /** | |||
| * 3x4 matrix describing pose of the ray in the TODO coordinate system. | |||
src/RGLFields.hpp
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| NORMAL_VEC3_F32, | ||
| INCIDENT_ANGLE_F32, | ||
| }; | ||
| static std::set<rgl_field_t> allRealFields = {XYZ_VEC3_F32, |
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Is formatting here fine? Previous one seems correct.
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Both are the result of our clang-format. The new one misses the colon at the end of list, which causes different formatting. Fixed that.
src/gpu/nodeKernels.cu
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| const Vec3f dirZ = {0, 0, 1}; | ||
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| Vec3f rayDirCts = rayPose[tid] * Vec3f{0, 0, 1}; | ||
| Vec3f rayDirSph = {rayDirCts.length(), rayDirCts[0] == 0 && rayDirCts[1] == 0 ? 0 : atan2(rayDirCts.y(), rayDirCts.x()), |
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This (cts to sph) may be useful as some general math function.
src/gpu/nodeKernels.cu
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| Vec3f rayDirCts = rayPose[tid] * Vec3f{0, 0, 1}; | ||
| Vec3f rayDirSph = {rayDirCts.length(), rayDirCts[0] == 0 && rayDirCts[1] == 0 ? 0 : atan2(rayDirCts.y(), rayDirCts.x()), | ||
| std::acos(rayDirCts.z() / rayDirCts.length())}; | ||
| float phi = rayDirSph[1]; // azimuth, 0 = X-axis, positive = CCW |
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This and some variables below may be made const.
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Added const where possible.
src/gpu/nodeKernels.cu
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| LIMIT(count); | ||
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| constexpr float c0 = 299792458.0f; | ||
| constexpr float freq = 79E9f; |
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This should become a parameter in general, because this exact value may be specific for SmartMicro radar.
src/gpu/nodeKernels.cu
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| Vec3f vecK = waveNum * ((dirX * cp + dirY * sp) * st + dirZ * ct); | ||
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| float rayArea = hitDist[tid] * hitDist[tid] * std::sin(rayElevationStepRad) * rayAzimuthStepRad; | ||
| Vector<3, thrust::complex<float>> outBUBRFactor = {0, 0, 0}; |
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Seems that this not match this function signature, where you have three separate complex numbers for values.
| return -polCompR * refPolR + polCompU * refPolU; | ||
| } | ||
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| float getRayArea(float R) { return R * R * std::sin(elevationRad) * azimuthRad; } |
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Suggested change
| float getRayArea(float R) { return R * R * std::sin(elevationRad) * azimuthRad; } | |
| float getRayArea(float R) { return R * R * std::sin(elevationStep) * azimuthStep; } |
Signed-off-by: Paweł Liberadzki <[email protected]>
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* Fix bugs * Add ray area computation * Fix calculating ray polarization. Update ray directions calculation. Signed-off-by: Paweł Liberadzki <[email protected]> * Add RAY_POSE field * Implement BU, BR computation on GPU * Call energy computation in RadarPostprocessPointsNode * Review fixes --------- Signed-off-by: Paweł Liberadzki <[email protected]> Co-authored-by: Paweł Liberadzki <[email protected]>
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