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diff --git a/src/ipa/libipa/vector.h b/src/ipa/libipa/vector.h
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+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2024, Paul Elder <paul.elder@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 Rows,
+ std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
+#else
+template<typename T, unsigned int Rows>
+#endif /* __DOXYGEN__ */
+class Vector
+{
+public:
+ constexpr Vector() = default;
+
+ constexpr Vector(const std::array<T, Rows> &data)
+ {
+ for (unsigned int i = 0; i < Rows; i++)
+ data_[i] = data[i];
+ }
+
+ int readYaml(const libcamera::YamlObject &yaml)
+ {
+ if (yaml.size() != Rows) {
+ LOG(Vector, Error)
+ << "Wrong number of values in vector: expected "
+ << Rows << ", 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(i < data_.size());
+ return data_[i];
+ }
+
+ T &operator[](size_t i)
+ {
+ ASSERT(i < data_.size());
+ return data_[i];
+ }
+
+#ifndef __DOXYGEN__
+ template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
+#endif /* __DOXYGEN__ */
+ constexpr T x() const
+ {
+ return data_[0];
+ }
+
+#ifndef __DOXYGEN__
+ template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
+#endif /* __DOXYGEN__ */
+ constexpr T y() const
+ {
+ return data_[1];
+ }
+
+#ifndef __DOXYGEN__
+ template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
+#endif /* __DOXYGEN__ */
+ constexpr T z() const
+ {
+ return data_[2];
+ }
+
+ constexpr Vector<T, Rows> operator-() const
+ {
+ Vector<T, Rows> ret;
+ for (unsigned int i = 0; i < Rows; i++)
+ ret[i] = -data_[i];
+ return ret;
+ }
+
+ constexpr Vector<T, Rows> operator-(const Vector<T, Rows> &other) const
+ {
+ Vector<T, Rows> ret;
+ for (unsigned int i = 0; i < Rows; i++)
+ ret[i] = data_[i] - other[i];
+ return ret;
+ }
+
+ constexpr Vector<T, Rows> operator+(const Vector<T, Rows> &other) const
+ {
+ Vector<T, Rows> ret;
+ for (unsigned int i = 0; i < Rows; i++)
+ ret[i] = data_[i] + other[i];
+ return ret;
+ }
+
+ constexpr T operator*(const Vector<T, Rows> &other) const
+ {
+ T ret = 0;
+ for (unsigned int i = 0; i < Rows; i++)
+ ret += data_[i] * other[i];
+ return ret;
+ }
+
+ constexpr Vector<T, Rows> operator*(T factor) const
+ {
+ Vector<T, Rows> ret;
+ for (unsigned int i = 0; i < Rows; i++)
+ ret[i] = data_[i] * factor;
+ return ret;
+ }
+
+ constexpr Vector<T, Rows> operator/(T factor) const
+ {
+ Vector<T, Rows> ret;
+ for (unsigned int i = 0; i < Rows; i++)
+ ret[i] = data_[i] / factor;
+ return ret;
+ }
+
+ constexpr double length2() const
+ {
+ double ret = 0;
+ for (unsigned int i = 0; i < Rows; i++)
+ ret += data_[i] * data_[i];
+ return ret;
+ }
+
+ constexpr double length() const
+ {
+ return std::sqrt(length2());
+ }
+
+private:
+ std::array<T, Rows> data_;
+};
+
+template<typename T, unsigned int Rows>
+bool operator==(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs)
+{
+ for (unsigned int i = 0; i < Rows; i++) {
+ if (lhs[i] != rhs[i])
+ return false;
+ }
+
+ return true;
+}
+
+template<typename T, unsigned int Rows>
+bool operator!=(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs)
+{
+ return !(lhs == rhs);
+}
+
+} /* namespace ipa */
+
+#ifndef __DOXYGEN__
+template<typename T, unsigned int Rows>
+std::ostream &operator<<(std::ostream &out, const ipa::Vector<T, Rows> &v)
+{
+ out << "Vector { ";
+ for (unsigned int i = 0; i < Rows; i++) {
+ out << v[i];
+ out << ((i + 1 < Rows) ? ", " : " ");
+ }
+ out << " }";
+
+ return out;
+}
+#endif /* __DOXYGEN__ */
+
+} /* namespace libcamera */