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sar3d: GPU port of the notebook with four views

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The sar3d processor is rewritten as a checked port of Multi_antenna_3D_clean_v1.ipynb:
NVRTC kernels, timing from the trace stamps, notebook parameter names and one cubic
SAR_VOXEL_M. It adds front, side, top and 3D views, drops gpr_cpp and the parity tools,
and the GUI speed now applies only while the socket speed is ignored.
This commit is contained in:
Ayzen
2026-10-02 16:05:22 +03:00
parent 61ef8720e1
commit 45861f4047
50 changed files with 1737 additions and 8144 deletions
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Makefile
+27 -60
View File
@@ -8,43 +8,28 @@ VISA_LDFLAGS := $(LDFLAGS) -lvisa
BUILD_DIR := build
BIN_DIR := $(BUILD_DIR)/bin
# --- gpr_cpp: vendored C++/CUDA 3D SAR library (originally from VNA_AlGo).
# Built automatically by the $(GPR_CPP_LIB) rule below via its own CMake
# (build_cmake.sh). CUDA headers and libnvrtc come from the pip nvidia-*
# packages inside this repo's venv (same detection as build_cmake.sh); when
# those are absent (e.g. Jetson, where CUDA comes with JetPack) the system
# toolkit at /usr/local/cuda is used. libcuda is always the system driver.
GPR_CPP_DIR ?= data_acq_and_processing/gpr_cpp
GPR_CPP_LIB ?= $(GPR_CPP_DIR)/build/libgpr_core_cpp.a
# Absolute so the derived -rpath (libnvrtc dir) survives running the binary
# from outside the repo root.
GPR_VENV ?= $(CURDIR)/.venv
GPR_CUDA_INC_DIR ?= $(dir $(firstword $(wildcard $(GPR_VENV)/lib/python*/site-packages/nvidia/*/include/nvrtc.h)))
# cuda.h can live in a DIFFERENT pip package than nvrtc.h (Jetson: cuda_runtime
# vs cuda_nvrtc); the unified cu13 package on dev machines has both in one dir.
GPR_CUDA_RT_INC_DIR ?= $(dir $(firstword $(wildcard $(GPR_VENV)/lib/python*/site-packages/nvidia/*/include/cuda.h)))
GPR_NVRTC_LIB ?= $(firstword $(wildcard $(GPR_VENV)/lib/python*/site-packages/nvidia/*/lib/libnvrtc.so*))
# System-CUDA fallback. An empty GPR_CUDA_INC_DIR would also corrupt the compile
# command: a bare `-I` swallows the next argument.
ifeq ($(strip $(GPR_CUDA_INC_DIR)),)
GPR_CUDA_INC_DIR := /usr/local/cuda/include
# --- CUDA for the sar3d processor (optional). Its kernels are compiled at run
# time by NVRTC and launched through the CUDA driver API, so no nvcc is needed:
# only nvrtc.h, cuda.h, libnvrtc and the NVIDIA driver's libcuda. Headers and
# libnvrtc come from the pip nvidia-cuda-* packages in .venv (requirements.txt,
# x86_64) or from a system toolkit in /usr/local/cuda (Jetson). Without them
# data_processor still builds; sar3d then reports that CUDA is missing.
CUDA_ROOTS := $(wildcard $(CURDIR)/.venv/lib/python3*/site-packages/nvidia/*) /usr/local/cuda
CUDA_NVRTC_HEADER := $(firstword $(wildcard $(addsuffix /include/nvrtc.h,$(CUDA_ROOTS))))
CUDA_DRIVER_HEADER := $(firstword $(wildcard $(addsuffix /include/cuda.h,$(CUDA_ROOTS))))
CUDA_NVRTC_LIB := $(firstword $(wildcard $(addsuffix /lib/libnvrtc.so.*,$(CUDA_ROOTS)) $(addsuffix /lib64/libnvrtc.so.*,$(CUDA_ROOTS))))
CUDA_DRIVER_LIB := $(firstword $(wildcard /usr/lib/*-linux-gnu/libcuda.so.1 /usr/lib/*-linux-gnu/nvidia/libcuda.so.1 /usr/lib64/libcuda.so.1))
ifneq ($(and $(CUDA_NVRTC_HEADER),$(CUDA_DRIVER_HEADER),$(CUDA_NVRTC_LIB),$(CUDA_DRIVER_LIB)),)
SAR3D_CXXFLAGS := -DSAR3D_WITH_CUDA $(addprefix -I,$(sort $(dir $(CUDA_NVRTC_HEADER) $(CUDA_DRIVER_HEADER))))
# The rpath lets data_processor find the pip libnvrtc without LD_LIBRARY_PATH.
SAR3D_LDFLAGS := $(CUDA_NVRTC_LIB) $(CUDA_DRIVER_LIB) -Wl,-rpath,$(dir $(CUDA_NVRTC_LIB))
endif
ifeq ($(strip $(GPR_CUDA_RT_INC_DIR)),)
GPR_CUDA_RT_INC_DIR := /usr/local/cuda/include
endif
ifeq ($(strip $(GPR_NVRTC_LIB)),)
GPR_NVRTC_LIB := $(firstword $(wildcard /usr/local/cuda/lib64/libnvrtc.so*))
endif
# Deduplicated CUDA include flags (a single dir on dev machines).
GPR_CUDA_INC_FLAGS := $(addprefix -I,$(sort $(GPR_CUDA_INC_DIR) $(GPR_CUDA_RT_INC_DIR)))
GPR_CUDA_LIB_DIR := $(dir $(GPR_NVRTC_LIB))
# libnvrtc from pip ships only as libnvrtc.so.N (no .so symlink), so link the
# full path; the rpath makes the binary find it without LD_LIBRARY_PATH.
DATA_PROCESSOR_LDFLAGS := $(LDFLAGS) $(GPR_CPP_LIB) $(GPR_NVRTC_LIB) -lcuda -Wl,-rpath,$(GPR_CUDA_LIB_DIR)
# Rewritten only when the CUDA setup changes, so installing (or removing) CUDA
# rebuilds the sar3d GPU code instead of keeping a stale build.
SAR3D_CUDA_STAMP := $(BUILD_DIR)/sar3d_cuda.flags
$(shell mkdir -p $(BUILD_DIR) && echo '$(SAR3D_CXXFLAGS) $(SAR3D_LDFLAGS)' | cmp -s - $(SAR3D_CUDA_STAMP) || echo '$(SAR3D_CXXFLAGS) $(SAR3D_LDFLAGS)' > $(SAR3D_CUDA_STAMP))
INCLUDES := \
-I$(GPR_CPP_DIR)/include \
$(GPR_CUDA_INC_FLAGS) \
-Idata_acq_and_processing/common_cpp/ipc/include \
-Idata_acq_and_processing/common_cpp/config/include \
-Idata_acq_and_processing/third_party \
@@ -92,6 +77,7 @@ PROCESSOR_SOURCES := \
data_acq_and_processing/processing/processors/src/gpr_processor.cpp \
data_acq_and_processing/processing/processors/src/passthrough_processor.cpp \
data_acq_and_processing/processing/processors/src/sar3d_processor.cpp \
data_acq_and_processing/processing/processors/src/sar3d_gpu.cpp \
data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp \
data_acq_and_processing/processing/data_processor/src/data_processor.cpp \
data_acq_and_processing/processing/data_processor/src/main.cpp \
@@ -139,27 +125,12 @@ TARGETS := \
$(BIN_DIR)/data_preprocessor \
$(BIN_DIR)/data_processor
.PHONY: all clean kamil_adc_collector sar3d_parity
.PHONY: all clean kamil_adc_collector
all: $(TARGETS)
kamil_adc_collector: $(BIN_DIR)/kamil_adc_collector
# On-demand parity check of the sar3d processor against the reference notebook
# volumes (scripts/sar3d_volume_compare.py diffs the dumped volume against a
# *_volume.npz export). Not part of `all`.
SAR3D_PARITY_OBJS := $(addprefix $(BUILD_DIR)/, \
data_acq_and_processing/processing/tools/sar3d_parity_main.o \
data_acq_and_processing/processing/processors/src/sar3d_processor.o \
data_acq_and_processing/common_cpp/config/src/run_config.o \
data_acq_and_processing/common_cpp/ipc/src/shared_types.o)
sar3d_parity: $(BIN_DIR)/sar3d_parity
$(BIN_DIR)/sar3d_parity: $(SAR3D_PARITY_OBJS) $(GPR_CPP_LIB)
@mkdir -p $(BIN_DIR)
$(CXX) $(SAR3D_PARITY_OBJS) -o $@ $(DATA_PROCESSOR_LDFLAGS)
$(BIN_DIR)/sweep_orchestrator: $(SWEEP_ORCH_OBJS)
@mkdir -p $(BIN_DIR)
$(CXX) $(SWEEP_ORCH_OBJS) -o $@ $(ORCH_LDFLAGS)
@@ -168,17 +139,13 @@ $(BIN_DIR)/data_preprocessor: $(PREPROCESSOR_OBJS)
@mkdir -p $(BIN_DIR)
$(CXX) $(PREPROCESSOR_OBJS) -o $@ $(LDFLAGS)
$(BIN_DIR)/data_processor: $(DATA_PROCESSOR_OBJS) $(GPR_CPP_LIB)
$(BIN_DIR)/data_processor: $(DATA_PROCESSOR_OBJS) $(SAR3D_CUDA_STAMP)
@mkdir -p $(BIN_DIR)
$(CXX) $(DATA_PROCESSOR_OBJS) -o $@ $(DATA_PROCESSOR_LDFLAGS)
$(CXX) $(DATA_PROCESSOR_OBJS) -o $@ $(LDFLAGS) $(SAR3D_LDFLAGS)
$(if $(SAR3D_LDFLAGS),,@echo "note: CUDA not found, data_processor built without the sar3d GPU backend")
# Vendored gpr_cpp static lib: delegate to its CMake build (also produces the
# standalone_bp example used by sar3d_parity cross-checks).
GPR_CPP_SRC_FILES := $(wildcard $(GPR_CPP_DIR)/src/*) $(wildcard $(GPR_CPP_DIR)/include/gpr/*) \
$(wildcard $(GPR_CPP_DIR)/examples/*) $(GPR_CPP_DIR)/CMakeLists.txt $(GPR_CPP_DIR)/build_cmake.sh
$(GPR_CPP_LIB): $(GPR_CPP_SRC_FILES)
GPR_BUILD_PYTHON=OFF VENV=$(abspath $(GPR_VENV)) bash $(GPR_CPP_DIR)/build_cmake.sh
$(BUILD_DIR)/data_acq_and_processing/processing/processors/src/sar3d_gpu.o: CXXFLAGS += $(SAR3D_CXXFLAGS)
$(BUILD_DIR)/data_acq_and_processing/processing/processors/src/sar3d_gpu.o: $(SAR3D_CUDA_STAMP)
# The collector compiles into its own build/kamil/ tree with collector-only
# includes (no VISA), so the shared driver/config sources it reuses never collide
@@ -201,4 +168,4 @@ $(BUILD_DIR)/%.o: %.cpp
-include $(DEPFILES)
clean:
rm -rf $(BUILD_DIR) $(GPR_CPP_DIR)/build
rm -rf $(BUILD_DIR)