[PATCH v7 1/4] ipa: libipa: Add Vector class
Kieran Bingham
kieran.bingham at ideasonboard.com
Mon Jun 10 17:10:31 CEST 2024
Quoting Paul Elder (2024-06-10 15:19:38)
> Add a vector class to libipa. The original purpose of this is to replace
> the floating-point Point class that Raspberry Pi used in their Pwl, as
> that implementation of Point seemed more akin to a Vector than a Point.
>
> This is added to libipa instead of to geometry.h to avoid public API
> issues, plus this is not expected to be needed by applications.
>
> Signed-off-by: Paul Elder <paul.elder at ideasonboard.com>
> Reviewed-by: Stefan Klug <stefan.klug at ideasonboard.com>
>
> ---
> Changes in v7:
> - fix documentation
> - fix license and copyright
> - remove toString()
>
> No change in v6
>
> New in v5
> ---
> src/ipa/libipa/vector.cpp | 145 +++++++++++++++++++++++++++
> src/ipa/libipa/vector.h | 199 ++++++++++++++++++++++++++++++++++++++
> 2 files changed, 344 insertions(+)
> create mode 100644 src/ipa/libipa/vector.cpp
> create mode 100644 src/ipa/libipa/vector.h
>
> diff --git a/src/ipa/libipa/vector.cpp b/src/ipa/libipa/vector.cpp
> new file mode 100644
> index 000000000000..e7d0be95812c
> --- /dev/null
> +++ b/src/ipa/libipa/vector.cpp
> @@ -0,0 +1,145 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2024, Paul Elder <paul.elder at ideasonboard.com>
> + *
> + * Vector and related operations
> + */
> +
> +#include "vector.h"
> +
> +#include <libcamera/base/log.h>
> +
> +/**
> + * \file vector.h
> + * \brief Vector class
> + */
> +
> +namespace libcamera {
> +
> +LOG_DEFINE_CATEGORY(Vector)
> +
> +namespace ipa {
> +
> +/**
> + * \class Vector
> + * \brief Vector class
> + * \tparam T Type of numerical values to be stored in the vector
> + * \tparam D Number of dimension of the vector (= number of elements)
> + */
> +
> +/**
> + * \fn Vector::Vector()
> + * \brief Construct a zero vector
> + */
> +
> +/**
> + * \fn Vector::Vector(const std::array<T, D> &data)
> + * \brief Construct vector from supplied data
> + * \param data Data from which to construct a vector
> + *
> + * The size of \a data must be equal to the dimension size D of the vector.
> + */
> +
> +/**
> + * \fn Vector::readYaml
> + * \brief Populate the vector with yaml data
> + * \param yaml Yaml data to populate the vector with
> + *
> + * Any existing data in the vector will be overwritten. The size of the data
> + * read from \a yaml must be equal to the dimension size D of the vector.
> + *
> + * The yaml data is expected to be a list with elements of type T.
> + *
> + * \return 0 on success, negative error code otherwise
> + */
> +
> +/**
> + * \fn T Vector::operator[](size_t i) const
> + * \brief Index to an element in the vector
> + * \param i Index of element to retrieve
> + * \return Element at index \a i from the vector
> + */
> +
> +/**
> + * \fn T &Vector::operator[](size_t i)
> + * \copydoc Vector::operator[](size_t i) const
> + */
> +
> +/**
> + * \fn Vector::x()
> + * \brief Convenience function to access the first element of the vector
> + */
> +
> +/**
> + * \fn Vector::y()
> + * \brief Convenience function to access the second element of the vector
> + */
> +
> +/**
> + * \fn Vector::operator-() const
> + * \brief Negate a Vector by negating both all of its coordinates
> + * \return The negated vector
> + */
> +
> +/**
> + * \fn Vector::operator-(Vector const &other) const
> + * \brief Subtract one vector from another
> + * \param[in] other The other vector
> + * \return The difference of \a other from this vector
> + */
> +
> +/**
> + * \fn Vector::operator+()
> + * \brief Add two vectors together
> + * \param[in] other The other vector
> + * \return The sum of the two vectors
> + */
> +
> +/**
> + * \fn Vector::operator*(const Vector<T, D> &other) const
> + * \brief Compute the dot product
> + * \param[in] other The other vector
> + * \return The dot product of the two vectors
> + */
> +
> +/**
> + * \fn Vector::operator*(T factor) const
> + * \brief Multiply the vector by a scalar
> + * \param[in] factor The factor
> + * \return The vector multiplied by \a factor
> + */
> +
> +/**
> + * \fn Vector::operator/()
> + * \brief Divide the vector by a scalar
> + * \param[in] factor The factor
> + * \return The vector divided by \a factor
> + */
> +
> +/**
> + * \fn Vector::len2()
> + * \brief Get the squared length of the vector
> + * \return The squared length of the vector
> + */
> +
> +/**
> + * \fn Vector::len()
> + * \brief Get the length of the vector
> + * \return The length of the vector
> + */
> +
> +/**
> + * \fn bool operator==(const Vector<T, D> &lhs, const Vector<T, D> &rhs)
> + * \brief Compare vectors for equality
> + * \return True if the two vectors are equal, false otherwise
> + */
> +
> +/**
> + * \fn bool operator!=(const Vector<T, D> &lhs, const Vector<T, D> &rhs)
> + * \brief Compare vectors for inequality
> + * \return True if the two vectors are not equal, false otherwise
> + */
> +
> +} /* namespace ipa */
> +
> +} /* namespace libcamera */
> diff --git a/src/ipa/libipa/vector.h b/src/ipa/libipa/vector.h
> new file mode 100644
> index 000000000000..b5a6a0e021e0
> --- /dev/null
> +++ b/src/ipa/libipa/vector.h
> @@ -0,0 +1,199 @@
> +/* SPDX-License-Identifier: LGPL-2.1-or-later */
> +/*
> + * Copyright (C) 2024, Paul Elder <paul.elder at ideasonboard.com>
> + *
> + * Vector and related operations
> + */
> +#pragma once
> +
> +#include <algorithm>
> +#include <array>
> +#include <cmath>
> +#include <sstream>
> +
> +#include <libcamera/base/log.h>
> +#include <libcamera/base/span.h>
> +
> +#include "libcamera/internal/yaml_parser.h"
> +
> +namespace libcamera {
> +
> +LOG_DECLARE_CATEGORY(Vector)
> +
> +namespace ipa {
> +
> +#ifndef __DOXYGEN__
> +template<typename T, unsigned int D,
> + std::enable_if_t<std::is_arithmetic_v<T> && D >= 2> * = nullptr>
> +#else
> +template<typename T, unsigned int D>
> +#endif /* __DOXYGEN__ */
> +class Vector
> +{
> +public:
> + Vector() = default;
> +
> + Vector(const std::array<T, D> &data)
> + {
> + ASSERT(data.size() == D);
> +
> + for (unsigned int i = 0; i < D; i++)
> + data_[i] = data[i];
> + }
> +
> + ~Vector() = default;
> +
> + int readYaml(const libcamera::YamlObject &yaml)
> + {
> + if (yaml.size() != D) {
> + LOG(Vector, Error)
> + << "Wrong number of values in vector: expected "
> + << D << ", got " << yaml.size();
> + return -EINVAL;
> + }
> +
> + unsigned int i = 0;
> + for (const auto &x : yaml.asList()) {
> + auto value = x.get<T>();
> + if (!value) {
> + LOG(Vector, Error) << "Failed to read vector value";
> + return -EINVAL;
> + }
> +
> + data_[i++] = *value;
> + }
> +
> + return 0;
> + }
> +
> + const T operator[](size_t i) const
> + {
> + ASSERT(0 < i && i < data_.size());
Why 0 < i ? What's wrong with data_[0] ?
> + return data_[i];
> + }
> +
> + T &operator[](size_t i)
> + {
> + ASSERT(0 < i && i < data_.size());
Same...
With those checked/fixed if needed.
Reviewed-by: Kieran Bingham <kieran.bingham at ideasonboard.com>
> + return data_[i];
> + }
> +
> + const T x() const
> + {
> + return data_[0];
> + }
> +
> + const T y() const
> + {
> + return data_[1];
> + }
> +
> + constexpr Vector<T, D> operator-() const
> + {
> + Vector<T, D> ret;
> + for (unsigned int i = 0; i < D; i++)
> + ret[i] = -data_[i];
> + return ret;
> + }
> +
> + constexpr Vector<T, D> operator-(const Vector<T, D> &other) const
> + {
> + Vector<T, D> ret;
> + for (unsigned int i = 0; i < D; i++)
> + ret[i] = data_[i] - other[i];
> + return ret;
> + }
> +
> + constexpr Vector<T, D> operator+(const Vector<T, D> &other) const
> + {
> + Vector<T, D> ret;
> + for (unsigned int i = 0; i < D; i++)
> + ret[i] = data_[i] + other[i];
> + return ret;
> + }
> +
> + constexpr T operator*(const Vector<T, D> &other) const
> + {
> + T ret = 0;
> + for (unsigned int i = 0; i < D; i++)
> + ret += data_[i] * other[i];
> + return ret;
> + }
> +
> + constexpr Vector<T, D> operator*(T factor) const
> + {
> + Vector<T, D> ret;
> + for (unsigned int i = 0; i < D; i++)
> + ret[i] = data_[i] * factor;
> + return ret;
> + }
> +
> + constexpr Vector<T, D> operator/(T factor) const
> + {
> + Vector<T, D> ret;
> + for (unsigned int i = 0; i < D; i++)
> + ret[i] = data_[i] / factor;
> + return ret;
> + }
> +
> + constexpr T len2() const
> + {
> + T ret = 0;
> + for (unsigned int i = 0; i < D; i++)
> + ret += data_[i] * data_[i];
> + return ret;
> + }
> +
> + constexpr double len() const
> + {
> + return std::sqrt(len2());
> + }
> +
> +private:
> + std::array<T, D> data_;
> +};
> +
> +#ifndef __DOXYGEN__
> +template<typename T, unsigned int D,
> + std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
> +#endif /* __DOXYGEN__ */
> +bool operator==(const Vector<T, D> &lhs, const Vector<T, D> &rhs)
> +{
> + for (unsigned int i = 0; i < D; i++)
> + if (lhs[i] != rhs[i])
> + return false;
> +
> + return true;
> +}
> +
> +#ifndef __DOXYGEN__
> +template<typename T, unsigned int D,
> + std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
> +#endif /* __DOXYGEN__ */
> +bool operator!=(const Vector<T, D> &lhs, const Vector<T, D> &rhs)
> +{
> + for (unsigned int i = 0; i < D; i++)
> + if (lhs[i] != rhs[i])
> + return true;
> +
> + return false;
> +}
> +
> +} /* namespace ipa */
> +
> +#ifndef __DOXYGEN__
> +template<typename T, unsigned int D>
> +std::ostream &operator<<(std::ostream &out, const ipa::Vector<T, D> &v)
> +{
> + out << "Vector { ";
> + for (unsigned int i = 0; i < D; i++) {
> + out << v[i];
> + out << ((i + 1 < D) ? ", " : " ");
> + }
> + out << " }";
> +
> + return out;
> +}
> +#endif /* __DOXYGEN__ */
> +
> +} /* namespace libcamera */
> --
> 2.39.2
>
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