libcamera v0.3.2 Supporting cameras in Linux since 2019

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matrix.h
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1/* SPDX-License-Identifier: LGPL-2.1-or-later */
2/*
3 * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com>
4 *
5 * Matrix and related operations
6 */
7#pragma once
8
9#include <algorithm>
10#include <sstream>
11#include <vector>
12
13#include <libcamera/base/log.h>
14#include <libcamera/base/span.h>
15
16#include "libcamera/internal/yaml_parser.h"
17
18 namespace libcamera {
19
20 LOG_DECLARE_CATEGORY(Matrix)
21
22 namespace ipa {
23
24#ifndef __DOXYGEN__
25 template<typename T, unsigned int Rows, unsigned int Cols,
26 std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
27#else
28 template<typename T, unsigned int Rows, unsigned int Cols>
29#endif /* __DOXYGEN__ */
30 class Matrix
31{
32 public:
33 Matrix()
34 {
35 data_.fill(static_cast<T>(0));
36 }
37
38 Matrix(const std::vector<T> &data)
39 {
40 std::copy(data.begin(), data.end(), data_.begin());
41 }
42
43 static Matrix identity()
44 {
45 Matrix ret;
46 for (size_t i = 0; i < std::min(Rows, Cols); i++)
47 ret[i][i] = static_cast<T>(1);
48 return ret;
49 }
50
51 ~Matrix() = default;
52
53 const std::string toString() const
54 {
55 std::stringstream out;
56
57 out << "Matrix { ";
58 for (unsigned int i = 0; i < Rows; i++) {
59 out << "[ ";
60 for (unsigned int j = 0; j < Cols; j++) {
61 out << (*this)[i][j];
62 out << ((j + 1 < Cols) ? ", " : " ");
63 }
64 out << ((i + 1 < Rows) ? "], " : "]");
65 }
66 out << " }";
67
68 return out.str();
69 }
70
71 Span<const T, Cols> operator[](size_t i) const
72 {
73 return Span<const T, Cols>{ &data_.data()[i * Cols], Cols };
74 }
75
76 Span<T, Cols> operator[](size_t i)
77 {
78 return Span<T, Cols>{ &data_.data()[i * Cols], Cols };
79 }
80
81#ifndef __DOXYGEN__
82 template<typename U, std::enable_if_t<std::is_arithmetic_v<U>>>
83#else
84 template<typename U>
85#endif /* __DOXYGEN__ */
86 Matrix<T, Rows, Cols> &operator*=(U d)
87 {
88 for (unsigned int i = 0; i < Rows * Cols; i++)
89 data_[i] *= d;
90 return *this;
91 }
92
93 private:
94 std::array<T, Rows * Cols> data_;
95};
96
97#ifndef __DOXYGEN__
98 template<typename T, typename U, unsigned int Rows, unsigned int Cols,
99 std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
100#else
101 template<typename T, typename U, unsigned int Rows, unsigned int Cols>
102#endif /* __DOXYGEN__ */
103 Matrix<U, Rows, Cols> operator*(T d, const Matrix<U, Rows, Cols> &m)
104{
105 Matrix<U, Rows, Cols> result;
106
107 for (unsigned int i = 0; i < Rows; i++) {
108 for (unsigned int j = 0; j < Cols; j++)
109 result[i][j] = d * m[i][j];
110 }
111
112 return result;
113}
114
115#ifndef __DOXYGEN__
116 template<typename T, typename U, unsigned int Rows, unsigned int Cols,
117 std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
118#else
119 template<typename T, typename U, unsigned int Rows, unsigned int Cols>
120#endif /* __DOXYGEN__ */
121 Matrix<U, Rows, Cols> operator*(const Matrix<U, Rows, Cols> &m, T d)
122{
123 return d * m;
124}
125
126#ifndef __DOXYGEN__
127 template<typename T,
128 unsigned int R1, unsigned int C1,
129 unsigned int R2, unsigned int C2,
130 std::enable_if_t<C1 == R2> * = nullptr>
131#else
132 template<typename T, unsigned int R1, unsigned int C1, unsigned int R2, unsigned in C2>
133#endif /* __DOXYGEN__ */
134 Matrix<T, R1, C2> operator*(const Matrix<T, R1, C1> &m1, const Matrix<T, R2, C2> &m2)
135{
136 Matrix<T, R1, C2> result;
137
138 for (unsigned int i = 0; i < R1; i++) {
139 for (unsigned int j = 0; j < C2; j++) {
140 T sum = 0;
141
142 for (unsigned int k = 0; k < C1; k++)
143 sum += m1[i][k] * m2[k][j];
144
145 result[i][j] = sum;
146 }
147 }
148
149 return result;
150}
151
152 template<typename T, unsigned int Rows, unsigned int Cols>
153 Matrix<T, Rows, Cols> operator+(const Matrix<T, Rows, Cols> &m1, const Matrix<T, Rows, Cols> &m2)
154{
155 Matrix<T, Rows, Cols> result;
156
157 for (unsigned int i = 0; i < Rows; i++) {
158 for (unsigned int j = 0; j < Cols; j++)
159 result[i][j] = m1[i][j] + m2[i][j];
160 }
161
162 return result;
163}
164
165#ifndef __DOXYGEN__
166 bool matrixValidateYaml(const YamlObject &obj, unsigned int size);
167#endif /* __DOXYGEN__ */
168
169} /* namespace ipa */
170
171#ifndef __DOXYGEN__
172 template<typename T, unsigned int Rows, unsigned int Cols>
173std::ostream &operator<<(std::ostream &out, const ipa::Matrix<T, Rows, Cols> &m)
174{
175 out << m.toString();
176 return out;
177}
178
179 template<typename T, unsigned int Rows, unsigned int Cols>
180 struct YamlObject::Getter<ipa::Matrix<T, Rows, Cols>> {
181 std::optional<ipa::Matrix<T, Rows, Cols>> get(const YamlObject &obj) const
182 {
183 if (!ipa::matrixValidateYaml(obj, Rows * Cols))
184 return std::nullopt;
185
186 ipa::Matrix<T, Rows, Cols> matrix;
187 T *data = &matrix[0][0];
188
189 unsigned int i = 0;
190 for (const YamlObject &entry : obj.asList()) {
191 const auto value = entry.get<T>();
192 if (!value)
193 return std::nullopt;
194
195 data[i++] = *value;
196 }
197
198 return matrix;
199 }
200};
201#endif /* __DOXYGEN__ */
202
203} /* namespace libcamera */
libcamera::YamlObject
A class representing the tree structure of the YAML content.
Definition yaml_parser.h:27
libcamera::YamlObject::get
std::optional< T > get() const
Parse the YamlObject as a T value.
Definition yaml_parser.h:174
libcamera::ipa::Matrix
Matrix class.
Definition matrix.h:31
libcamera::ipa::Matrix::operator*=
Matrix< T, Rows, Cols > & operator*=(U d)
Multiply the matrix by a scalar in-place.
Definition matrix.h:86
libcamera::ipa::Matrix::toString
const std::string toString() const
Assemble and return a string describing the matrix.
Definition matrix.h:53
libcamera::ipa::Matrix::Matrix
Matrix(const std::vector< T > &data)
Construct a matrix from supplied data.
Definition matrix.h:38
libcamera::ipa::Matrix::identity
static Matrix identity()
Construct an identity matrix.
Definition matrix.h:43
libcamera::ipa::Matrix::Matrix
Matrix()
Construct a zero matrix.
Definition matrix.h:33
libcamera::ipa::Matrix::operator[]
Span< T, Cols > operator[](size_t i)
Index to a row in the matrix.
Definition matrix.h:76
libcamera::ipa::Matrix::operator[]
Span< const T, Cols > operator[](size_t i) const
Index to a row in the matrix.
Definition matrix.h:71
log.h
Logging infrastructure.
LOG_DECLARE_CATEGORY
#define LOG_DECLARE_CATEGORY(name)
Declare a category of log messages.
Definition log.h:46
libcamera::ipa::operator*
Matrix< U, Rows, Cols > operator*(T d, const Matrix< U, Rows, Cols > &m)
Multiply the matrix by a scalar.
Definition matrix.h:103
libcamera::ipa::operator+
Matrix< T, Rows, Cols > operator+(const Matrix< T, Rows, Cols > &m1, const Matrix< T, Rows, Cols > &m2)
Matrix addition.
Definition matrix.h:153
libcamera
Top-level libcamera namespace.
Definition backtrace.h:17
libcamera::operator<<
std::ostream & operator<<(std::ostream &out, const Point &p)
Insert a text representation of a Point into an output stream.
Definition geometry.cpp:91
yaml_parser.h
A YAML parser helper.