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-rw-r--r--src/ipa/libipa/agc_mean_luminance.cpp577
-rw-r--r--src/ipa/libipa/agc_mean_luminance.h96
-rw-r--r--src/ipa/libipa/algorithm.cpp2
-rw-r--r--src/ipa/libipa/algorithm.h2
-rw-r--r--src/ipa/libipa/camera_sensor_helper.cpp71
-rw-r--r--src/ipa/libipa/camera_sensor_helper.h2
-rw-r--r--src/ipa/libipa/exposure_mode_helper.cpp246
-rw-r--r--src/ipa/libipa/exposure_mode_helper.h53
-rw-r--r--src/ipa/libipa/fc_queue.cpp2
-rw-r--r--src/ipa/libipa/fc_queue.h2
-rw-r--r--src/ipa/libipa/histogram.cpp28
-rw-r--r--src/ipa/libipa/histogram.h17
-rw-r--r--src/ipa/libipa/meson.build12
-rw-r--r--src/ipa/libipa/module.cpp2
-rw-r--r--src/ipa/libipa/module.h2
-rw-r--r--src/ipa/libipa/pwl.cpp497
-rw-r--r--src/ipa/libipa/pwl.h90
-rw-r--r--src/ipa/libipa/vector.cpp157
-rw-r--r--src/ipa/libipa/vector.h202
19 files changed, 2024 insertions, 36 deletions
diff --git a/src/ipa/libipa/agc_mean_luminance.cpp b/src/ipa/libipa/agc_mean_luminance.cpp
new file mode 100644
index 00000000..271b5ae4
--- /dev/null
+++ b/src/ipa/libipa/agc_mean_luminance.cpp
@@ -0,0 +1,577 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2024 Ideas on Board Oy
+ *
+ * Base class for mean luminance AGC algorithms
+ */
+
+#include "agc_mean_luminance.h"
+
+#include <cmath>
+
+#include <libcamera/base/log.h>
+#include <libcamera/control_ids.h>
+
+#include "exposure_mode_helper.h"
+
+using namespace libcamera::controls;
+
+/**
+ * \file agc_mean_luminance.h
+ * \brief Base class implementing mean luminance AEGC
+ */
+
+namespace libcamera {
+
+using namespace std::literals::chrono_literals;
+
+LOG_DEFINE_CATEGORY(AgcMeanLuminance)
+
+namespace ipa {
+
+/*
+ * Number of frames for which to run the algorithm at full speed, before slowing
+ * down to prevent large and jarring changes in exposure from frame to frame.
+ */
+static constexpr uint32_t kNumStartupFrames = 10;
+
+/*
+ * Default relative luminance target
+ *
+ * This value should be chosen so that when the camera points at a grey target,
+ * the resulting image brightness looks "right". Custom values can be passed
+ * as the relativeLuminanceTarget value in sensor tuning files.
+ */
+static constexpr double kDefaultRelativeLuminanceTarget = 0.16;
+
+/**
+ * \struct AgcMeanLuminance::AgcConstraint
+ * \brief The boundaries and target for an AeConstraintMode constraint
+ *
+ * This structure describes an AeConstraintMode constraint for the purposes of
+ * this algorithm. These constraints are expressed as a pair of quantile
+ * boundaries for a histogram, along with a luminance target and a bounds-type.
+ * The algorithm uses the constraints by ensuring that the defined portion of a
+ * luminance histogram (I.E. lying between the two quantiles) is above or below
+ * the given luminance value.
+ */
+
+/**
+ * \enum AgcMeanLuminance::AgcConstraint::Bound
+ * \brief Specify whether the constraint defines a lower or upper bound
+ * \var AgcMeanLuminance::AgcConstraint::lower
+ * \brief The constraint defines a lower bound
+ * \var AgcMeanLuminance::AgcConstraint::upper
+ * \brief The constraint defines an upper bound
+ */
+
+/**
+ * \var AgcMeanLuminance::AgcConstraint::bound
+ * \brief The type of constraint bound
+ */
+
+/**
+ * \var AgcMeanLuminance::AgcConstraint::qLo
+ * \brief The lower quantile to use for the constraint
+ */
+
+/**
+ * \var AgcMeanLuminance::AgcConstraint::qHi
+ * \brief The upper quantile to use for the constraint
+ */
+
+/**
+ * \var AgcMeanLuminance::AgcConstraint::yTarget
+ * \brief The luminance target for the constraint
+ */
+
+/**
+ * \class AgcMeanLuminance
+ * \brief A mean-based auto-exposure algorithm
+ *
+ * This algorithm calculates a shutter time, analogue and digital gain such that
+ * the normalised mean luminance value of an image is driven towards a target,
+ * which itself is discovered from tuning data. The algorithm is a two-stage
+ * process.
+ *
+ * In the first stage, an initial gain value is derived by iteratively comparing
+ * the gain-adjusted mean luminance across the entire image against a target,
+ * and selecting a value which pushes it as closely as possible towards the
+ * target.
+ *
+ * In the second stage we calculate the gain required to drive the average of a
+ * section of a histogram to a target value, where the target and the boundaries
+ * of the section of the histogram used in the calculation are taken from the
+ * values defined for the currently configured AeConstraintMode within the
+ * tuning data. This class provides a helper function to parse those tuning data
+ * to discover the constraints, and so requires a specific format for those
+ * data which is described in \ref parseTuningData(). The gain from the first
+ * stage is then clamped to the gain from this stage.
+ *
+ * The final gain is used to adjust the effective exposure value of the image,
+ * and that new exposure value is divided into shutter time, analogue gain and
+ * digital gain according to the selected AeExposureMode. This class uses the
+ * \ref ExposureModeHelper class to assist in that division, and expects the
+ * data needed to initialise that class to be present in tuning data in a
+ * format described in \ref parseTuningData().
+ *
+ * In order to be able to use this algorithm an IPA module needs to be able to
+ * do the following:
+ *
+ * 1. Provide a luminance estimation across an entire image.
+ * 2. Provide a luminance Histogram for the image to use in calculating
+ * constraint compliance. The precision of the Histogram that is available
+ * will determine the supportable precision of the constraints.
+ *
+ * IPA modules that want to use this class to implement their AEGC algorithm
+ * should derive it and provide an overriding estimateLuminance() function for
+ * this class to use. They must call parseTuningData() in init(), and must also
+ * call setLimits() and resetFrameCounter() in configure(). They may then use
+ * calculateNewEv() in process(). If the limits passed to setLimits() change for
+ * any reason (for example, in response to a FrameDurationLimit control being
+ * passed in queueRequest()) then setLimits() must be called again with the new
+ * values.
+ */
+
+AgcMeanLuminance::AgcMeanLuminance()
+ : frameCount_(0), filteredExposure_(0s), relativeLuminanceTarget_(0)
+{
+}
+
+AgcMeanLuminance::~AgcMeanLuminance() = default;
+
+void AgcMeanLuminance::parseRelativeLuminanceTarget(const YamlObject &tuningData)
+{
+ relativeLuminanceTarget_ =
+ tuningData["relativeLuminanceTarget"].get<double>(kDefaultRelativeLuminanceTarget);
+}
+
+void AgcMeanLuminance::parseConstraint(const YamlObject &modeDict, int32_t id)
+{
+ for (const auto &[boundName, content] : modeDict.asDict()) {
+ if (boundName != "upper" && boundName != "lower") {
+ LOG(AgcMeanLuminance, Warning)
+ << "Ignoring unknown constraint bound '" << boundName << "'";
+ continue;
+ }
+
+ unsigned int idx = static_cast<unsigned int>(boundName == "upper");
+ AgcConstraint::Bound bound = static_cast<AgcConstraint::Bound>(idx);
+ double qLo = content["qLo"].get<double>().value_or(0.98);
+ double qHi = content["qHi"].get<double>().value_or(1.0);
+ double yTarget =
+ content["yTarget"].getList<double>().value_or(std::vector<double>{ 0.5 }).at(0);
+
+ AgcConstraint constraint = { bound, qLo, qHi, yTarget };
+
+ if (!constraintModes_.count(id))
+ constraintModes_[id] = {};
+
+ if (idx)
+ constraintModes_[id].push_back(constraint);
+ else
+ constraintModes_[id].insert(constraintModes_[id].begin(), constraint);
+ }
+}
+
+int AgcMeanLuminance::parseConstraintModes(const YamlObject &tuningData)
+{
+ std::vector<ControlValue> availableConstraintModes;
+
+ const YamlObject &yamlConstraintModes = tuningData[controls::AeConstraintMode.name()];
+ if (yamlConstraintModes.isDictionary()) {
+ for (const auto &[modeName, modeDict] : yamlConstraintModes.asDict()) {
+ if (AeConstraintModeNameValueMap.find(modeName) ==
+ AeConstraintModeNameValueMap.end()) {
+ LOG(AgcMeanLuminance, Warning)
+ << "Skipping unknown constraint mode '" << modeName << "'";
+ continue;
+ }
+
+ if (!modeDict.isDictionary()) {
+ LOG(AgcMeanLuminance, Error)
+ << "Invalid constraint mode '" << modeName << "'";
+ return -EINVAL;
+ }
+
+ parseConstraint(modeDict,
+ AeConstraintModeNameValueMap.at(modeName));
+ availableConstraintModes.push_back(
+ AeConstraintModeNameValueMap.at(modeName));
+ }
+ }
+
+ /*
+ * If the tuning data file contains no constraints then we use the
+ * default constraint that the IPU3/RkISP1 Agc algorithms were adhering
+ * to anyway before centralisation; this constraint forces the top 2% of
+ * the histogram to be at least 0.5.
+ */
+ if (constraintModes_.empty()) {
+ AgcConstraint constraint = {
+ AgcConstraint::Bound::lower,
+ 0.98,
+ 1.0,
+ 0.5
+ };
+
+ constraintModes_[controls::ConstraintNormal].insert(
+ constraintModes_[controls::ConstraintNormal].begin(),
+ constraint);
+ availableConstraintModes.push_back(
+ AeConstraintModeNameValueMap.at("ConstraintNormal"));
+ }
+
+ controls_[&controls::AeConstraintMode] = ControlInfo(availableConstraintModes);
+
+ return 0;
+}
+
+int AgcMeanLuminance::parseExposureModes(const YamlObject &tuningData)
+{
+ std::vector<ControlValue> availableExposureModes;
+
+ const YamlObject &yamlExposureModes = tuningData[controls::AeExposureMode.name()];
+ if (yamlExposureModes.isDictionary()) {
+ for (const auto &[modeName, modeValues] : yamlExposureModes.asDict()) {
+ if (AeExposureModeNameValueMap.find(modeName) ==
+ AeExposureModeNameValueMap.end()) {
+ LOG(AgcMeanLuminance, Warning)
+ << "Skipping unknown exposure mode '" << modeName << "'";
+ continue;
+ }
+
+ if (!modeValues.isDictionary()) {
+ LOG(AgcMeanLuminance, Error)
+ << "Invalid exposure mode '" << modeName << "'";
+ return -EINVAL;
+ }
+
+ std::vector<uint32_t> shutters =
+ modeValues["shutter"].getList<uint32_t>().value_or(std::vector<uint32_t>{});
+ std::vector<double> gains =
+ modeValues["gain"].getList<double>().value_or(std::vector<double>{});
+
+ if (shutters.size() != gains.size()) {
+ LOG(AgcMeanLuminance, Error)
+ << "Shutter and gain array sizes unequal";
+ return -EINVAL;
+ }
+
+ if (shutters.empty()) {
+ LOG(AgcMeanLuminance, Error)
+ << "Shutter and gain arrays are empty";
+ return -EINVAL;
+ }
+
+ std::vector<std::pair<utils::Duration, double>> stages;
+ for (unsigned int i = 0; i < shutters.size(); i++) {
+ stages.push_back({
+ std::chrono::microseconds(shutters[i]),
+ gains[i]
+ });
+ }
+
+ std::shared_ptr<ExposureModeHelper> helper =
+ std::make_shared<ExposureModeHelper>(stages);
+
+ exposureModeHelpers_[AeExposureModeNameValueMap.at(modeName)] = helper;
+ availableExposureModes.push_back(AeExposureModeNameValueMap.at(modeName));
+ }
+ }
+
+ /*
+ * If we don't have any exposure modes in the tuning data we create an
+ * ExposureModeHelper using an empty vector of stages. This will result
+ * in the ExposureModeHelper simply driving the shutter as high as
+ * possible before touching gain.
+ */
+ if (availableExposureModes.empty()) {
+ int32_t exposureModeId = AeExposureModeNameValueMap.at("ExposureNormal");
+ std::vector<std::pair<utils::Duration, double>> stages = { };
+
+ std::shared_ptr<ExposureModeHelper> helper =
+ std::make_shared<ExposureModeHelper>(stages);
+
+ exposureModeHelpers_[exposureModeId] = helper;
+ availableExposureModes.push_back(exposureModeId);
+ }
+
+ controls_[&controls::AeExposureMode] = ControlInfo(availableExposureModes);
+
+ return 0;
+}
+
+/**
+ * \brief Parse tuning data for AeConstraintMode and AeExposureMode controls
+ * \param[in] tuningData the YamlObject representing the tuning data
+ *
+ * This function parses tuning data to build the list of allowed values for the
+ * AeConstraintMode and AeExposureMode controls. Those tuning data must provide
+ * the data in a specific format; the Agc algorithm's tuning data should contain
+ * a dictionary called AeConstraintMode containing per-mode setting dictionaries
+ * with the key being a value from \ref controls::AeConstraintModeNameValueMap.
+ * Each mode dict may contain either a "lower" or "upper" key or both, for
+ * example:
+ *
+ * \code{.unparsed}
+ * algorithms:
+ * - Agc:
+ * AeConstraintMode:
+ * ConstraintNormal:
+ * lower:
+ * qLo: 0.98
+ * qHi: 1.0
+ * yTarget: 0.5
+ * ConstraintHighlight:
+ * lower:
+ * qLo: 0.98
+ * qHi: 1.0
+ * yTarget: 0.5
+ * upper:
+ * qLo: 0.98
+ * qHi: 1.0
+ * yTarget: 0.8
+ *
+ * \endcode
+ *
+ * For the AeExposureMode control the data should contain a dictionary called
+ * AeExposureMode containing per-mode setting dictionaries with the key being a
+ * value from \ref controls::AeExposureModeNameValueMap. Each mode dict should
+ * contain an array of shutter times with the key "shutter" and an array of gain
+ * values with the key "gain", in this format:
+ *
+ * \code{.unparsed}
+ * algorithms:
+ * - Agc:
+ * AeExposureMode:
+ * ExposureNormal:
+ * shutter: [ 100, 10000, 30000, 60000, 120000 ]
+ * gain: [ 2.0, 4.0, 6.0, 8.0, 10.0 ]
+ * ExposureShort:
+ * shutter: [ 100, 10000, 30000, 60000, 120000 ]
+ * gain: [ 2.0, 4.0, 6.0, 8.0, 10.0 ]
+ *
+ * \endcode
+ *
+ * \return 0 on success or a negative error code
+ */
+int AgcMeanLuminance::parseTuningData(const YamlObject &tuningData)
+{
+ int ret;
+
+ parseRelativeLuminanceTarget(tuningData);
+
+ ret = parseConstraintModes(tuningData);
+ if (ret)
+ return ret;
+
+ return parseExposureModes(tuningData);
+}
+
+/**
+ * \brief Set the ExposureModeHelper limits for this class
+ * \param[in] minShutter Minimum shutter time to allow
+ * \param[in] maxShutter Maximum shutter time to allow
+ * \param[in] minGain Minimum gain to allow
+ * \param[in] maxGain Maximum gain to allow
+ *
+ * This function calls \ref ExposureModeHelper::setLimits() for each
+ * ExposureModeHelper that has been created for this class.
+ */
+void AgcMeanLuminance::setLimits(utils::Duration minShutter,
+ utils::Duration maxShutter,
+ double minGain, double maxGain)
+{
+ for (auto &[id, helper] : exposureModeHelpers_)
+ helper->setLimits(minShutter, maxShutter, minGain, maxGain);
+}
+
+/**
+ * \fn AgcMeanLuminance::constraintModes()
+ * \brief Get the constraint modes that have been parsed from tuning data
+ */
+
+/**
+ * \fn AgcMeanLuminance::exposureModeHelpers()
+ * \brief Get the ExposureModeHelpers that have been parsed from tuning data
+ */
+
+/**
+ * \fn AgcMeanLuminance::controls()
+ * \brief Get the controls that have been generated after parsing tuning data
+ */
+
+/**
+ * \fn AgcMeanLuminance::estimateLuminance(const double gain)
+ * \brief Estimate the luminance of an image, adjusted by a given gain
+ * \param[in] gain The gain with which to adjust the luminance estimate
+ *
+ * This function estimates the average relative luminance of the frame that
+ * would be output by the sensor if an additional \a gain was applied. It is a
+ * pure virtual function because estimation of luminance is a hardware-specific
+ * operation, which depends wholly on the format of the stats that are delivered
+ * to libcamera from the ISP. Derived classes must override this function with
+ * one that calculates the normalised mean luminance value across the entire
+ * image.
+ *
+ * \return The normalised relative luminance of the image
+ */
+
+/**
+ * \brief Estimate the initial gain needed to achieve a relative luminance
+ * target
+ * \return The calculated initial gain
+ */
+double AgcMeanLuminance::estimateInitialGain() const
+{
+ double yTarget = relativeLuminanceTarget_;
+ double yGain = 1.0;
+
+ /*
+ * To account for non-linearity caused by saturation, the value needs to
+ * be estimated in an iterative process, as multiplying by a gain will
+ * not increase the relative luminance by the same factor if some image
+ * regions are saturated.
+ */
+ for (unsigned int i = 0; i < 8; i++) {
+ double yValue = estimateLuminance(yGain);
+ double extra_gain = std::min(10.0, yTarget / (yValue + .001));
+
+ yGain *= extra_gain;
+ LOG(AgcMeanLuminance, Debug) << "Y value: " << yValue
+ << ", Y target: " << yTarget
+ << ", gives gain " << yGain;
+
+ if (utils::abs_diff(extra_gain, 1.0) < 0.01)
+ break;
+ }
+
+ return yGain;
+}
+
+/**
+ * \brief Clamp gain within the bounds of a defined constraint
+ * \param[in] constraintModeIndex The index of the constraint to adhere to
+ * \param[in] hist A histogram over which to calculate inter-quantile means
+ * \param[in] gain The gain to clamp
+ *
+ * \return The gain clamped within the constraint bounds
+ */
+double AgcMeanLuminance::constraintClampGain(uint32_t constraintModeIndex,
+ const Histogram &hist,
+ double gain)
+{
+ std::vector<AgcConstraint> &constraints = constraintModes_[constraintModeIndex];
+ for (const AgcConstraint &constraint : constraints) {
+ double newGain = constraint.yTarget * hist.bins() /
+ hist.interQuantileMean(constraint.qLo, constraint.qHi);
+
+ if (constraint.bound == AgcConstraint::Bound::lower &&
+ newGain > gain)
+ gain = newGain;
+
+ if (constraint.bound == AgcConstraint::Bound::upper &&
+ newGain < gain)
+ gain = newGain;
+ }
+
+ return gain;
+}
+
+/**
+ * \brief Apply a filter on the exposure value to limit the speed of changes
+ * \param[in] exposureValue The target exposure from the AGC algorithm
+ *
+ * The speed of the filter is adaptive, and will produce the target quicker
+ * during startup, or when the target exposure is within 20% of the most recent
+ * filter output.
+ *
+ * \return The filtered exposure
+ */
+utils::Duration AgcMeanLuminance::filterExposure(utils::Duration exposureValue)
+{
+ double speed = 0.2;
+
+ /* Adapt instantly if we are in startup phase. */
+ if (frameCount_ < kNumStartupFrames)
+ speed = 1.0;
+
+ /*
+ * If we are close to the desired result, go faster to avoid making
+ * multiple micro-adjustments.
+ * \todo Make this customisable?
+ */
+ if (filteredExposure_ < 1.2 * exposureValue &&
+ filteredExposure_ > 0.8 * exposureValue)
+ speed = sqrt(speed);
+
+ filteredExposure_ = speed * exposureValue +
+ filteredExposure_ * (1.0 - speed);
+
+ return filteredExposure_;
+}
+
+/**
+ * \brief Calculate the new exposure value and splut it between shutter time and gain
+ * \param[in] constraintModeIndex The index of the current constraint mode
+ * \param[in] exposureModeIndex The index of the current exposure mode
+ * \param[in] yHist A Histogram from the ISP statistics to use in constraining
+ * the calculated gain
+ * \param[in] effectiveExposureValue The EV applied to the frame from which the
+ * statistics in use derive
+ *
+ * Calculate a new exposure value to try to obtain the target. The calculated
+ * exposure value is filtered to prevent rapid changes from frame to frame, and
+ * divided into shutter time, analogue and digital gain.
+ *
+ * \return Tuple of shutter time, analogue gain, and digital gain
+ */
+std::tuple<utils::Duration, double, double>
+AgcMeanLuminance::calculateNewEv(uint32_t constraintModeIndex,
+ uint32_t exposureModeIndex,
+ const Histogram &yHist,
+ utils::Duration effectiveExposureValue)
+{
+ /*
+ * The pipeline handler should validate that we have received an allowed
+ * value for AeExposureMode.
+ */
+ std::shared_ptr<ExposureModeHelper> exposureModeHelper =
+ exposureModeHelpers_.at(exposureModeIndex);
+
+ double gain = estimateInitialGain();
+ gain = constraintClampGain(constraintModeIndex, yHist, gain);
+
+ /*
+ * We don't check whether we're already close to the target, because
+ * even if the effective exposure value is the same as the last frame's
+ * we could have switched to an exposure mode that would require a new
+ * pass through the splitExposure() function.
+ */
+
+ utils::Duration newExposureValue = effectiveExposureValue * gain;
+
+ /*
+ * We filter the exposure value to make sure changes are not too jarring
+ * from frame to frame.
+ */
+ newExposureValue = filterExposure(newExposureValue);
+
+ frameCount_++;
+ return exposureModeHelper->splitExposure(newExposureValue);
+}
+
+/**
+ * \fn AgcMeanLuminance::resetFrameCount()
+ * \brief Reset the frame counter
+ *
+ * This function resets the internal frame counter, which exists to help the
+ * algorithm decide whether it should respond instantly or not. The expectation
+ * is for derived classes to call this function before each camera start call in
+ * their configure() function.
+ */
+
+} /* namespace ipa */
+
+} /* namespace libcamera */
diff --git a/src/ipa/libipa/agc_mean_luminance.h b/src/ipa/libipa/agc_mean_luminance.h
new file mode 100644
index 00000000..0a81c6d2
--- /dev/null
+++ b/src/ipa/libipa/agc_mean_luminance.h
@@ -0,0 +1,96 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2024 Ideas on Board Oy
+ *
+ agc_mean_luminance.h - Base class for mean luminance AGC algorithms
+ */
+
+#pragma once
+
+#include <map>
+#include <memory>
+#include <tuple>
+#include <vector>
+
+#include <libcamera/controls.h>
+
+#include "libcamera/internal/yaml_parser.h"
+
+#include "exposure_mode_helper.h"
+#include "histogram.h"
+
+namespace libcamera {
+
+namespace ipa {
+
+class AgcMeanLuminance
+{
+public:
+ AgcMeanLuminance();
+ virtual ~AgcMeanLuminance();
+
+ struct AgcConstraint {
+ enum class Bound {
+ lower = 0,
+ upper = 1
+ };
+ Bound bound;
+ double qLo;
+ double qHi;
+ double yTarget;
+ };
+
+ int parseTuningData(const YamlObject &tuningData);
+
+ void setLimits(utils::Duration minShutter, utils::Duration maxShutter,
+ double minGain, double maxGain);
+
+ std::map<int32_t, std::vector<AgcConstraint>> constraintModes()
+ {
+ return constraintModes_;
+ }
+
+ std::map<int32_t, std::shared_ptr<ExposureModeHelper>> exposureModeHelpers()
+ {
+ return exposureModeHelpers_;
+ }
+
+ ControlInfoMap::Map controls()
+ {
+ return controls_;
+ }
+
+ std::tuple<utils::Duration, double, double>
+ calculateNewEv(uint32_t constraintModeIndex, uint32_t exposureModeIndex,
+ const Histogram &yHist, utils::Duration effectiveExposureValue);
+
+ void resetFrameCount()
+ {
+ frameCount_ = 0;
+ }
+
+private:
+ virtual double estimateLuminance(const double gain) const = 0;
+
+ void parseRelativeLuminanceTarget(const YamlObject &tuningData);
+ void parseConstraint(const YamlObject &modeDict, int32_t id);
+ int parseConstraintModes(const YamlObject &tuningData);
+ int parseExposureModes(const YamlObject &tuningData);
+ double estimateInitialGain() const;
+ double constraintClampGain(uint32_t constraintModeIndex,
+ const Histogram &hist,
+ double gain);
+ utils::Duration filterExposure(utils::Duration exposureValue);
+
+ uint64_t frameCount_;
+ utils::Duration filteredExposure_;
+ double relativeLuminanceTarget_;
+
+ std::map<int32_t, std::vector<AgcConstraint>> constraintModes_;
+ std::map<int32_t, std::shared_ptr<ExposureModeHelper>> exposureModeHelpers_;
+ ControlInfoMap::Map controls_;
+};
+
+} /* namespace ipa */
+
+} /* namespace libcamera */
diff --git a/src/ipa/libipa/algorithm.cpp b/src/ipa/libipa/algorithm.cpp
index bc1c29a6..201efdfd 100644
--- a/src/ipa/libipa/algorithm.cpp
+++ b/src/ipa/libipa/algorithm.cpp
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2021, Ideas On Board
*
- * algorithm.cpp - IPA control algorithm interface
+ * IPA control algorithm interface
*/
#include "algorithm.h"
diff --git a/src/ipa/libipa/algorithm.h b/src/ipa/libipa/algorithm.h
index 987e3e4c..9a19dbd6 100644
--- a/src/ipa/libipa/algorithm.h
+++ b/src/ipa/libipa/algorithm.h
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2021, Ideas On Board
*
- * algorithm.h - ISP control algorithm interface
+ * ISP control algorithm interface
*/
#pragma once
diff --git a/src/ipa/libipa/camera_sensor_helper.cpp b/src/ipa/libipa/camera_sensor_helper.cpp
index ce29f423..782ff990 100644
--- a/src/ipa/libipa/camera_sensor_helper.cpp
+++ b/src/ipa/libipa/camera_sensor_helper.cpp
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2021, Google Inc.
*
- * camera_sensor_helper.cpp - Helper class that performs sensor-specific
+ * Helper class that performs sensor-specific
* parameter computations
*/
#include "camera_sensor_helper.h"
@@ -369,30 +369,26 @@ static constexpr double expGainDb(double step)
class CameraSensorHelperAr0521 : public CameraSensorHelper
{
public:
- uint32_t gainCode(double gain) const override;
- double gain(uint32_t gainCode) const override;
-
-private:
- static constexpr double kStep_ = 16;
-};
-
-uint32_t CameraSensorHelperAr0521::gainCode(double gain) const
-{
- gain = std::clamp(gain, 1.0, 15.5);
- unsigned int coarse = std::log2(gain);
- unsigned int fine = (gain / (1 << coarse) - 1) * kStep_;
+ uint32_t gainCode(double gain) const override
+ {
+ gain = std::clamp(gain, 1.0, 15.5);
+ unsigned int coarse = std::log2(gain);
+ unsigned int fine = (gain / (1 << coarse) - 1) * kStep_;
- return (coarse << 4) | (fine & 0xf);
-}
+ return (coarse << 4) | (fine & 0xf);
+ }
-double CameraSensorHelperAr0521::gain(uint32_t gainCode) const
-{
- unsigned int coarse = gainCode >> 4;
- unsigned int fine = gainCode & 0xf;
+ double gain(uint32_t gainCode) const override
+ {
+ unsigned int coarse = gainCode >> 4;
+ unsigned int fine = gainCode & 0xf;
- return (1 << coarse) * (1 + fine / kStep_);
-}
+ return (1 << coarse) * (1 + fine / kStep_);
+ }
+private:
+ static constexpr double kStep_ = 16;
+};
REGISTER_CAMERA_SENSOR_HELPER("ar0521", CameraSensorHelperAr0521)
class CameraSensorHelperImx219 : public CameraSensorHelper
@@ -417,6 +413,17 @@ public:
};
REGISTER_CAMERA_SENSOR_HELPER("imx258", CameraSensorHelperImx258)
+class CameraSensorHelperImx283 : public CameraSensorHelper
+{
+public:
+ CameraSensorHelperImx283()
+ {
+ gainType_ = AnalogueGainLinear;
+ gainConstants_.linear = { 0, 2048, -1, 2048 };
+ }
+};
+REGISTER_CAMERA_SENSOR_HELPER("imx283", CameraSensorHelperImx283)
+
class CameraSensorHelperImx290 : public CameraSensorHelper
{
public:
@@ -444,6 +451,28 @@ class CameraSensorHelperImx327 : public CameraSensorHelperImx290
};
REGISTER_CAMERA_SENSOR_HELPER("imx327", CameraSensorHelperImx327)
+class CameraSensorHelperImx335 : public CameraSensorHelper
+{
+public:
+ CameraSensorHelperImx335()
+ {
+ gainType_ = AnalogueGainExponential;
+ gainConstants_.exp = { 1.0, expGainDb(0.3) };
+ }
+};
+REGISTER_CAMERA_SENSOR_HELPER("imx335", CameraSensorHelperImx335)
+
+class CameraSensorHelperImx415 : public CameraSensorHelper
+{
+public:
+ CameraSensorHelperImx415()
+ {
+ gainType_ = AnalogueGainExponential;
+ gainConstants_.exp = { 1.0, expGainDb(0.3) };
+ }
+};
+REGISTER_CAMERA_SENSOR_HELPER("imx415", CameraSensorHelperImx415)
+
class CameraSensorHelperImx477 : public CameraSensorHelper
{
public:
diff --git a/src/ipa/libipa/camera_sensor_helper.h b/src/ipa/libipa/camera_sensor_helper.h
index 1ca9371b..0d99073b 100644
--- a/src/ipa/libipa/camera_sensor_helper.h
+++ b/src/ipa/libipa/camera_sensor_helper.h
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2021, Google Inc.
*
- * camera_sensor_helper.h - Helper class that performs sensor-specific parameter computations
+ * Helper class that performs sensor-specific parameter computations
*/
#pragma once
diff --git a/src/ipa/libipa/exposure_mode_helper.cpp b/src/ipa/libipa/exposure_mode_helper.cpp
new file mode 100644
index 00000000..683a564a
--- /dev/null
+++ b/src/ipa/libipa/exposure_mode_helper.cpp
@@ -0,0 +1,246 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com>
+ *
+ * Helper class that performs computations relating to exposure
+ */
+#include "exposure_mode_helper.h"
+
+#include <algorithm>
+
+#include <libcamera/base/log.h>
+
+/**
+ * \file exposure_mode_helper.h
+ * \brief Helper class that performs computations relating to exposure
+ *
+ * AEGC algorithms have a need to split exposure between shutter time, analogue
+ * and digital gain. Multiple implementations do so based on paired stages of
+ * shutter time and gain limits; provide a helper to avoid duplicating the code.
+ */
+
+namespace libcamera {
+
+using namespace std::literals::chrono_literals;
+
+LOG_DEFINE_CATEGORY(ExposureModeHelper)
+
+namespace ipa {
+
+/**
+ * \class ExposureModeHelper
+ * \brief Class for splitting exposure into shutter time and total gain
+ *
+ * The ExposureModeHelper class provides a standard interface through which an
+ * AEGC algorithm can divide exposure between shutter time and gain. It is
+ * configured with a set of shutter time and gain pairs and works by initially
+ * fixing gain at 1.0 and increasing shutter time up to the shutter time value
+ * from the first pair in the set in an attempt to meet the required exposure
+ * value.
+ *
+ * If the required exposure is not achievable by the first shutter time value
+ * alone it ramps gain up to the value from the first pair in the set. If the
+ * required exposure is still not met it then allows shutter time to ramp up to
+ * the shutter time value from the second pair in the set, and continues in this
+ * vein until either the required exposure time is met, or else the hardware's
+ * shutter time or gain limits are reached.
+ *
+ * This method allows users to strike a balance between a well-exposed image and
+ * an acceptable frame-rate, as opposed to simply maximising shutter time
+ * followed by gain. The same helpers can be used to perform the latter
+ * operation if needed by passing an empty set of pairs to the initialisation
+ * function.
+ *
+ * The gain values may exceed a camera sensor's analogue gain limits if either
+ * it or the IPA is also capable of digital gain. The configure() function must
+ * be called with the hardware's limits to inform the helper of those
+ * constraints. Any gain that is needed will be applied as analogue gain first
+ * until the hardware's limit is reached, following which digital gain will be
+ * used.
+ */
+
+/**
+ * \brief Construct an ExposureModeHelper instance
+ * \param[in] stages The vector of paired shutter time and gain limits
+ *
+ * The input stages are shutter time and _total_ gain pairs; the gain
+ * encompasses both analogue and digital gain.
+ *
+ * The vector of stages may be empty. In that case, the helper will simply use
+ * the runtime limits set through setShutterGainLimits() instead.
+ */
+ExposureModeHelper::ExposureModeHelper(const Span<std::pair<utils::Duration, double>> stages)
+{
+ minShutter_ = 0us;
+ maxShutter_ = 0us;
+ minGain_ = 0;
+ maxGain_ = 0;
+
+ for (const auto &[s, g] : stages) {
+ shutters_.push_back(s);
+ gains_.push_back(g);
+ }
+}
+
+/**
+ * \brief Set the shutter time and gain limits
+ * \param[in] minShutter The minimum shutter time supported
+ * \param[in] maxShutter The maximum shutter time supported
+ * \param[in] minGain The minimum analogue gain supported
+ * \param[in] maxGain The maximum analogue gain supported
+ *
+ * This function configures the shutter time and analogue gain limits that need
+ * to be adhered to as the helper divides up exposure. Note that this function
+ * *must* be called whenever those limits change and before splitExposure() is
+ * used.
+ *
+ * If the algorithm using the helpers needs to indicate that either shutter time
+ * or analogue gain or both should be fixed it can do so by setting both the
+ * minima and maxima to the same value.
+ */
+void ExposureModeHelper::setLimits(utils::Duration minShutter,
+ utils::Duration maxShutter,
+ double minGain, double maxGain)
+{
+ minShutter_ = minShutter;
+ maxShutter_ = maxShutter;
+ minGain_ = minGain;
+ maxGain_ = maxGain;
+}
+
+utils::Duration ExposureModeHelper::clampShutter(utils::Duration shutter) const
+{
+ return std::clamp(shutter, minShutter_, maxShutter_);
+}
+
+double ExposureModeHelper::clampGain(double gain) const
+{
+ return std::clamp(gain, minGain_, maxGain_);
+}
+
+/**
+ * \brief Split exposure time into shutter time and gain
+ * \param[in] exposure Exposure time
+ *
+ * This function divides a given exposure time into shutter time, analogue and
+ * digital gain by iterating through stages of shutter time and gain limits. At
+ * each stage the current stage's shutter time limit is multiplied by the
+ * previous stage's gain limit (or 1.0 initially) to see if the combination of
+ * the two can meet the required exposure time. If they cannot then the current
+ * stage's shutter time limit is multiplied by the same stage's gain limit to
+ * see if that combination can meet the required exposure time. If they cannot
+ * then the function moves to consider the next stage.
+ *
+ * When a combination of shutter time and gain _stage_ limits are found that are
+ * sufficient to meet the required exposure time, the function attempts to
+ * reduce shutter time as much as possible whilst fixing gain and still meeting
+ * the exposure time. If a _runtime_ limit prevents shutter time from being
+ * lowered enough to meet the exposure time with gain fixed at the stage limit,
+ * gain is also lowered to compensate.
+ *
+ * Once the shutter time and gain values are ascertained, gain is assigned as
+ * analogue gain as much as possible, with digital gain only in use if the
+ * maximum analogue gain runtime limit is unable to accommodate the exposure
+ * value.
+ *
+ * If no combination of shutter time and gain limits is found that meets the
+ * required exposure time, the helper falls-back to simply maximising the
+ * shutter time first, followed by analogue gain, followed by digital gain.
+ *
+ * \return Tuple of shutter time, analogue gain, and digital gain
+ */
+std::tuple<utils::Duration, double, double>
+ExposureModeHelper::splitExposure(utils::Duration exposure) const
+{
+ ASSERT(maxShutter_);
+ ASSERT(maxGain_);
+
+ bool gainFixed = minGain_ == maxGain_;
+ bool shutterFixed = minShutter_ == maxShutter_;
+
+ /*
+ * There's no point entering the loop if we cannot change either gain
+ * nor shutter anyway.
+ */
+ if (shutterFixed && gainFixed)
+ return { minShutter_, minGain_, exposure / (minShutter_ * minGain_) };
+
+ utils::Duration shutter;
+ double stageGain;
+ double gain;
+
+ for (unsigned int stage = 0; stage < gains_.size(); stage++) {
+ double lastStageGain = stage == 0 ? 1.0 : clampGain(gains_[stage - 1]);
+ utils::Duration stageShutter = clampShutter(shutters_[stage]);
+ stageGain = clampGain(gains_[stage]);
+
+ /*
+ * We perform the clamping on both shutter and gain in case the
+ * helper has had limits set that prevent those values being
+ * lowered beyond a certain minimum...this can happen at runtime
+ * for various reasons and so would not be known when the stage
+ * limits are initialised.
+ */
+
+ if (stageShutter * lastStageGain >= exposure) {
+ shutter = clampShutter(exposure / clampGain(lastStageGain));
+ gain = clampGain(exposure / shutter);
+
+ return { shutter, gain, exposure / (shutter * gain) };
+ }
+
+ if (stageShutter * stageGain >= exposure) {
+ shutter = clampShutter(exposure / clampGain(stageGain));
+ gain = clampGain(exposure / shutter);
+
+ return { shutter, gain, exposure / (shutter * gain) };
+ }
+ }
+
+ /*
+ * From here on all we can do is max out the shutter time, followed by
+ * the analogue gain. If we still haven't achieved the target we send
+ * the rest of the exposure time to digital gain. If we were given no
+ * stages to use then set stageGain to 1.0 so that shutter time is maxed
+ * before gain touched at all.
+ */
+ if (gains_.empty())
+ stageGain = 1.0;
+
+ shutter = clampShutter(exposure / clampGain(stageGain));
+ gain = clampGain(exposure / shutter);
+
+ return { shutter, gain, exposure / (shutter * gain) };
+}
+
+/**
+ * \fn ExposureModeHelper::minShutter()
+ * \brief Retrieve the configured minimum shutter time limit set through
+ * setShutterGainLimits()
+ * \return The minShutter_ value
+ */
+
+/**
+ * \fn ExposureModeHelper::maxShutter()
+ * \brief Retrieve the configured maximum shutter time set through
+ * setShutterGainLimits()
+ * \return The maxShutter_ value
+ */
+
+/**
+ * \fn ExposureModeHelper::minGain()
+ * \brief Retrieve the configured minimum gain set through
+ * setShutterGainLimits()
+ * \return The minGain_ value
+ */
+
+/**
+ * \fn ExposureModeHelper::maxGain()
+ * \brief Retrieve the configured maximum gain set through
+ * setShutterGainLimits()
+ * \return The maxGain_ value
+ */
+
+} /* namespace ipa */
+
+} /* namespace libcamera */
diff --git a/src/ipa/libipa/exposure_mode_helper.h b/src/ipa/libipa/exposure_mode_helper.h
new file mode 100644
index 00000000..85c665d7
--- /dev/null
+++ b/src/ipa/libipa/exposure_mode_helper.h
@@ -0,0 +1,53 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com>
+ *
+ * Helper class that performs computations relating to exposure
+ */
+
+#pragma once
+
+#include <tuple>
+#include <utility>
+#include <vector>
+
+#include <libcamera/base/span.h>
+#include <libcamera/base/utils.h>
+
+namespace libcamera {
+
+namespace ipa {
+
+class ExposureModeHelper
+{
+public:
+ ExposureModeHelper(const Span<std::pair<utils::Duration, double>> stages);
+ ~ExposureModeHelper() = default;
+
+ void setLimits(utils::Duration minShutter, utils::Duration maxShutter,
+ double minGain, double maxGain);
+
+ std::tuple<utils::Duration, double, double>
+ splitExposure(utils::Duration exposure) const;
+
+ utils::Duration minShutter() const { return minShutter_; }
+ utils::Duration maxShutter() const { return maxShutter_; }
+ double minGain() const { return minGain_; }
+ double maxGain() const { return maxGain_; }
+
+private:
+ utils::Duration clampShutter(utils::Duration shutter) const;
+ double clampGain(double gain) const;
+
+ std::vector<utils::Duration> shutters_;
+ std::vector<double> gains_;
+
+ utils::Duration minShutter_;
+ utils::Duration maxShutter_;
+ double minGain_;
+ double maxGain_;
+};
+
+} /* namespace ipa */
+
+} /* namespace libcamera */
diff --git a/src/ipa/libipa/fc_queue.cpp b/src/ipa/libipa/fc_queue.cpp
index e812faa5..0365e919 100644
--- a/src/ipa/libipa/fc_queue.cpp
+++ b/src/ipa/libipa/fc_queue.cpp
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2022, Google Inc.
*
- * fc_queue.cpp - IPA Frame context queue
+ * IPA Frame context queue
*/
#include "fc_queue.h"
diff --git a/src/ipa/libipa/fc_queue.h b/src/ipa/libipa/fc_queue.h
index a589e7e1..24d9e82b 100644
--- a/src/ipa/libipa/fc_queue.h
+++ b/src/ipa/libipa/fc_queue.h
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2022, Google Inc.
*
- * fc_queue.h - IPA Frame context queue
+ * IPA Frame context queue
*/
#pragma once
diff --git a/src/ipa/libipa/histogram.cpp b/src/ipa/libipa/histogram.cpp
index 6b5cde8e..5fbfadf5 100644
--- a/src/ipa/libipa/histogram.cpp
+++ b/src/ipa/libipa/histogram.cpp
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2019, Raspberry Pi Ltd
*
- * histogram.cpp - histogram calculations
+ * histogram calculations
*/
#include "histogram.h"
@@ -29,18 +29,34 @@ namespace ipa {
*/
/**
+ * \fn Histogram::Histogram()
+ * \brief Construct an empty Histogram
+ *
+ * This empty constructor exists largely to allow Histograms to be embedded in
+ * other classes which may be created before the contents of the Histogram are
+ * known.
+ */
+
+/**
* \brief Create a cumulative histogram
- * \param[in] data A pre-sorted histogram to be passed
+ * \param[in] data A (non-cumulative) histogram
*/
Histogram::Histogram(Span<const uint32_t> data)
{
- cumulative_.reserve(data.size());
- cumulative_.push_back(0);
- for (const uint32_t &value : data)
- cumulative_.push_back(cumulative_.back() + value);
+ cumulative_.resize(data.size() + 1);
+ cumulative_[0] = 0;
+ for (const auto &[i, value] : utils::enumerate(data))
+ cumulative_[i + 1] = cumulative_[i] + value;
}
/**
+ * \fn Histogram::Histogram(Span<const uint32_t> data, Transform transform)
+ * \brief Create a cumulative histogram
+ * \param[in] data A (non-cumulative) histogram
+ * \param[in] transform The transformation function to apply to every bin
+ */
+
+/**
* \fn Histogram::bins()
* \brief Retrieve the number of bins currently used by the Histogram
* \return Number of bins
diff --git a/src/ipa/libipa/histogram.h b/src/ipa/libipa/histogram.h
index 05bb4b80..032adca0 100644
--- a/src/ipa/libipa/histogram.h
+++ b/src/ipa/libipa/histogram.h
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2019, Raspberry Pi Ltd
*
- * histogram.h - histogram calculation interface
+ * histogram calculation interface
*/
#pragma once
@@ -10,10 +10,11 @@
#include <assert.h>
#include <limits.h>
#include <stdint.h>
-
+#include <type_traits>
#include <vector>
#include <libcamera/base/span.h>
+#include <libcamera/base/utils.h>
namespace libcamera {
@@ -22,7 +23,19 @@ namespace ipa {
class Histogram
{
public:
+ Histogram() { cumulative_.push_back(0); }
Histogram(Span<const uint32_t> data);
+
+ template<typename Transform,
+ std::enable_if_t<std::is_invocable_v<Transform, uint32_t>> * = nullptr>
+ Histogram(Span<const uint32_t> data, Transform transform)
+ {
+ cumulative_.resize(data.size() + 1);
+ cumulative_[0] = 0;
+ for (const auto &[i, value] : utils::enumerate(data))
+ cumulative_[i + 1] = cumulative_[i] + transform(value);
+ }
+
size_t bins() const { return cumulative_.size() - 1; }
uint64_t total() const { return cumulative_[cumulative_.size() - 1]; }
uint64_t cumulativeFrequency(double bin) const;
diff --git a/src/ipa/libipa/meson.build b/src/ipa/libipa/meson.build
index 016b8e0e..49608423 100644
--- a/src/ipa/libipa/meson.build
+++ b/src/ipa/libipa/meson.build
@@ -1,19 +1,27 @@
# SPDX-License-Identifier: CC0-1.0
libipa_headers = files([
+ 'agc_mean_luminance.h',
'algorithm.h',
'camera_sensor_helper.h',
+ 'exposure_mode_helper.h',
'fc_queue.h',
'histogram.h',
'module.h',
+ 'pwl.h',
+ 'vector.h',
])
libipa_sources = files([
+ 'agc_mean_luminance.cpp',
'algorithm.cpp',
'camera_sensor_helper.cpp',
+ 'exposure_mode_helper.cpp',
'fc_queue.cpp',
'histogram.cpp',
'module.cpp',
+ 'pwl.cpp',
+ 'vector.cpp',
])
libipa_includes = include_directories('..')
@@ -21,3 +29,7 @@ libipa_includes = include_directories('..')
libipa = static_library('ipa', [libipa_sources, libipa_headers],
include_directories : ipa_includes,
dependencies : libcamera_private)
+
+libipa_dep = declare_dependency(sources : libipa_headers,
+ include_directories : libipa_includes,
+ link_with : libipa)
diff --git a/src/ipa/libipa/module.cpp b/src/ipa/libipa/module.cpp
index ee01f12a..64ca9141 100644
--- a/src/ipa/libipa/module.cpp
+++ b/src/ipa/libipa/module.cpp
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2022, Ideas On Board
*
- * module.cpp - IPA Module
+ * IPA Module
*/
#include "module.h"
diff --git a/src/ipa/libipa/module.h b/src/ipa/libipa/module.h
index 4149a353..0fb51916 100644
--- a/src/ipa/libipa/module.h
+++ b/src/ipa/libipa/module.h
@@ -2,7 +2,7 @@
/*
* Copyright (C) 2022, Ideas On Board
*
- * module.h - IPA module
+ * IPA module
*/
#pragma once
diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp
new file mode 100644
index 00000000..3c639645
--- /dev/null
+++ b/src/ipa/libipa/pwl.cpp
@@ -0,0 +1,497 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ * Copyright (C) 2024, Ideas on Board Oy
+ *
+ * Piecewise linear functions
+ */
+
+#include "pwl.h"
+
+#include <assert.h>
+#include <cmath>
+#include <sstream>
+#include <stdexcept>
+
+/**
+ * \file pwl.h
+ * \brief Piecewise linear functions
+ */
+
+namespace libcamera {
+
+namespace ipa {
+
+/**
+ * \class Pwl
+ * \brief Describe a univariate piecewise linear function in two-dimensional
+ * real space
+ *
+ * A piecewise linear function is a univariate function that maps reals to
+ * reals, and it is composed of multiple straight-line segments.
+ *
+ * While a mathematical piecewise linear function would usually be defined by
+ * a list of linear functions and for which values of the domain they apply,
+ * this Pwl class is instead defined by a list of points at which these line
+ * segments intersect. These intersecting points are known as knots.
+ *
+ * https://en.wikipedia.org/wiki/Piecewise_linear_function
+ *
+ * A consequence of the Pwl class being defined by knots instead of linear
+ * functions is that the values of the piecewise linear function past the ends
+ * of the function are constants as opposed to linear functions. In a
+ * mathematical piecewise linear function that is defined by multiple linear
+ * functions, the ends of the function are also linear functions and hence grow
+ * to infinity (or negative infinity). However, since this Pwl class is defined
+ * by knots, the y-value of the leftmost and rightmost knots will hold for all
+ * x values to negative infinity and positive infinity, respectively.
+ */
+
+/**
+ * \typedef Pwl::Point
+ * \brief Describe a point in two-dimensional real space
+ */
+
+/**
+ * \class Pwl::Interval
+ * \brief Describe an interval in one-dimensional real space
+ */
+
+/**
+ * \fn Pwl::Interval::Interval(double _start, double _end)
+ * \brief Construct an interval
+ * \param[in] _start Start of the interval
+ * \param[in] _end End of the interval
+ */
+
+/**
+ * \fn Pwl::Interval::contains
+ * \brief Check if a given value falls within the interval
+ * \param[in] value Value to check
+ * \return True if the value falls within the interval, including its bounds,
+ * or false otherwise
+ */
+
+/**
+ * \fn Pwl::Interval::clamp
+ * \brief Clamp a value such that it is within the interval
+ * \param[in] value Value to clamp
+ * \return The clamped value
+ */
+
+/**
+ * \fn Pwl::Interval::length
+ * \brief Compute the length of the interval
+ * \return The length of the interval
+ */
+
+/**
+ * \var Pwl::Interval::start
+ * \brief Start of the interval
+ */
+
+/**
+ * \var Pwl::Interval::end
+ * \brief End of the interval
+ */
+
+/**
+ * \brief Construct an empty piecewise linear function
+ */
+Pwl::Pwl()
+{
+}
+
+/**
+ * \brief Construct a piecewise linear function from a list of 2D points
+ * \param[in] points Vector of points from which to construct the piecewise
+ * linear function
+ *
+ * \a points must be in ascending order of x-value.
+ */
+Pwl::Pwl(const std::vector<Point> &points)
+ : points_(points)
+{
+}
+
+/**
+ * \copydoc Pwl::Pwl(const std::vector<Point> &points)
+ *
+ * The contents of the \a points vector is moved to the newly constructed Pwl
+ * instance.
+ */
+Pwl::Pwl(std::vector<Point> &&points)
+ : points_(std::move(points))
+{
+}
+
+/**
+ * \brief Populate the piecewise linear function from yaml data
+ * \param[in] params Yaml data to populate the piecewise linear function with
+ *
+ * Any existing points in the piecewise linear function *will* be overwritten.
+ *
+ * The yaml data is expected to be a list with an even number of numerical
+ * elements. These will be parsed in pairs into x and y points in the piecewise
+ * linear function, and added in order. x must be monotonically increasing.
+ *
+ * \return 0 on success, negative error code otherwise
+ */
+int Pwl::readYaml(const libcamera::YamlObject &params)
+{
+ if (!params.size() || params.size() % 2)
+ return -EINVAL;
+
+ const auto &list = params.asList();
+
+ points_.clear();
+
+ for (auto it = list.begin(); it != list.end(); it++) {
+ auto x = it->get<double>();
+ if (!x)
+ return -EINVAL;
+ if (it != list.begin() && *x <= points_.back().x())
+ return -EINVAL;
+
+ auto y = (++it)->get<double>();
+ if (!y)
+ return -EINVAL;
+
+ points_.push_back(Point({ *x, *y }));
+ }
+
+ return 0;
+}
+
+/**
+ * \brief Append a point to the end of the piecewise linear function
+ * \param[in] x x-coordinate of the point to add to the piecewise linear function
+ * \param[in] y y-coordinate of the point to add to the piecewise linear function
+ * \param[in] eps Epsilon for the minimum x distance between points (optional)
+ *
+ * The point's x-coordinate must be greater than the x-coordinate of the last
+ * (= greatest) point already in the piecewise linear function.
+ */
+void Pwl::append(double x, double y, const double eps)
+{
+ if (points_.empty() || points_.back().x() + eps < x)
+ points_.push_back(Point({ x, y }));
+}
+
+/**
+ * \brief Prepend a point to the beginning of the piecewise linear function
+ * \param[in] x x-coordinate of the point to add to the piecewise linear function
+ * \param[in] y y-coordinate of the point to add to the piecewise linear function
+ * \param[in] eps Epsilon for the minimum x distance between points (optional)
+ *
+ * The point's x-coordinate must be less than the x-coordinate of the first
+ * (= smallest) point already in the piecewise linear function.
+ */
+void Pwl::prepend(double x, double y, const double eps)
+{
+ if (points_.empty() || points_.front().x() - eps > x)
+ points_.insert(points_.begin(), Point({ x, y }));
+}
+
+/**
+ * \fn Pwl::empty() const
+ * \brief Check if the piecewise linear function is empty
+ * \return True if there are no points in the function, false otherwise
+ */
+
+/**
+ * \fn Pwl::size() const
+ * \brief Retrieve the number of points in the piecewise linear function
+ * \return The number of points in the piecewise linear function
+ */
+
+/**
+ * \brief Get the domain of the piecewise linear function
+ * \return An interval representing the domain
+ */
+Pwl::Interval Pwl::domain() const
+{
+ return Interval(points_[0].x(), points_[points_.size() - 1].x());
+}
+
+/**
+ * \brief Get the range of the piecewise linear function
+ * \return An interval representing the range
+ */
+Pwl::Interval Pwl::range() const
+{
+ double lo = points_[0].y(), hi = lo;
+ for (auto &p : points_)
+ lo = std::min(lo, p.y()), hi = std::max(hi, p.y());
+ return Interval(lo, hi);
+}
+
+/**
+ * \brief Evaluate the piecewise linear function
+ * \param[in] x The x value to input into the function
+ * \param[inout] span Initial guess for span
+ * \param[in] updateSpan Set to true to update span
+ *
+ * Evaluate Pwl, optionally supplying an initial guess for the
+ * "span". The "span" may be optionally be updated. If you want to know
+ * the "span" value but don't have an initial guess you can set it to
+ * -1.
+ *
+ * \return The result of evaluating the piecewise linear function at position \a x
+ */
+double Pwl::eval(double x, int *span, bool updateSpan) const
+{
+ int index = findSpan(x, span && *span != -1
+ ? *span
+ : points_.size() / 2 - 1);
+ if (span && updateSpan)
+ *span = index;
+ return points_[index].y() +
+ (x - points_[index].x()) * (points_[index + 1].y() - points_[index].y()) /
+ (points_[index + 1].x() - points_[index].x());
+}
+
+int Pwl::findSpan(double x, int span) const
+{
+ /*
+ * Pwls are generally small, so linear search may well be faster than
+ * binary, though could review this if large Pwls start turning up.
+ */
+ int lastSpan = points_.size() - 2;
+ /*
+ * some algorithms may call us with span pointing directly at the last
+ * control point
+ */
+ span = std::max(0, std::min(lastSpan, span));
+ while (span < lastSpan && x >= points_[span + 1].x())
+ span++;
+ while (span && x < points_[span].x())
+ span--;
+ return span;
+}
+
+/**
+ * \brief Compute the inverse function
+ * \param[in] eps Epsilon for the minimum x distance between points (optional)
+ *
+ * The output includes whether the resulting inverse function is a proper
+ * (true) inverse, or only a best effort (e.g. input was non-monotonic).
+ *
+ * \return A pair of the inverse piecewise linear function, and whether or not
+ * the result is a proper/true inverse
+ */
+std::pair<Pwl, bool> Pwl::inverse(const double eps) const
+{
+ bool appended = false, prepended = false, neither = false;
+ Pwl inverse;
+
+ for (Point const &p : points_) {
+ if (inverse.empty()) {
+ inverse.append(p.y(), p.x(), eps);
+ } else if (std::abs(inverse.points_.back().x() - p.y()) <= eps ||
+ std::abs(inverse.points_.front().x() - p.y()) <= eps) {
+ /* do nothing */;
+ } else if (p.y() > inverse.points_.back().x()) {
+ inverse.append(p.y(), p.x(), eps);
+ appended = true;
+ } else if (p.y() < inverse.points_.front().x()) {
+ inverse.prepend(p.y(), p.x(), eps);
+ prepended = true;
+ } else {
+ neither = true;
+ }
+ }
+
+ /*
+ * This is not a proper inverse if we found ourselves putting points
+ * onto both ends of the inverse, or if there were points that couldn't
+ * go on either.
+ */
+ bool trueInverse = !(neither || (appended && prepended));
+
+ return { inverse, trueInverse };
+}
+
+/**
+ * \brief Compose two piecewise linear functions together
+ * \param[in] other The "other" piecewise linear function
+ * \param[in] eps Epsilon for the minimum x distance between points (optional)
+ *
+ * The "this" function is done first, and "other" after.
+ *
+ * \return The composed piecewise linear function
+ */
+Pwl Pwl::compose(Pwl const &other, const double eps) const
+{
+ double thisX = points_[0].x(), thisY = points_[0].y();
+ int thisSpan = 0, otherSpan = other.findSpan(thisY, 0);
+ Pwl result({ Point({ thisX, other.eval(thisY, &otherSpan, false) }) });
+
+ while (thisSpan != (int)points_.size() - 1) {
+ double dx = points_[thisSpan + 1].x() - points_[thisSpan].x(),
+ dy = points_[thisSpan + 1].y() - points_[thisSpan].y();
+ if (std::abs(dy) > eps &&
+ otherSpan + 1 < (int)other.points_.size() &&
+ points_[thisSpan + 1].y() >= other.points_[otherSpan + 1].x() + eps) {
+ /*
+ * next control point in result will be where this
+ * function's y reaches the next span in other
+ */
+ thisX = points_[thisSpan].x() +
+ (other.points_[otherSpan + 1].x() -
+ points_[thisSpan].y()) *
+ dx / dy;
+ thisY = other.points_[++otherSpan].x();
+ } else if (std::abs(dy) > eps && otherSpan > 0 &&
+ points_[thisSpan + 1].y() <=
+ other.points_[otherSpan - 1].x() - eps) {
+ /*
+ * next control point in result will be where this
+ * function's y reaches the previous span in other
+ */
+ thisX = points_[thisSpan].x() +
+ (other.points_[otherSpan + 1].x() -
+ points_[thisSpan].y()) *
+ dx / dy;
+ thisY = other.points_[--otherSpan].x();
+ } else {
+ /* we stay in the same span in other */
+ thisSpan++;
+ thisX = points_[thisSpan].x(),
+ thisY = points_[thisSpan].y();
+ }
+ result.append(thisX, other.eval(thisY, &otherSpan, false),
+ eps);
+ }
+ return result;
+}
+
+/**
+ * \brief Apply function to (x, y) values at every control point
+ * \param[in] f Function to be applied
+ */
+void Pwl::map(std::function<void(double x, double y)> f) const
+{
+ for (auto &pt : points_)
+ f(pt.x(), pt.y());
+}
+
+/**
+ * \brief Apply function to (x, y0, y1) values wherever either Pwl has a
+ * control point.
+ * \param[in] pwl0 First piecewise linear function
+ * \param[in] pwl1 Second piecewise linear function
+ * \param[in] f Function to be applied
+ *
+ * This applies the function \a f to every parameter (x, y0, y1), where x is
+ * the combined list of x-values from \a pwl0 and \a pwl1, y0 is the y-value
+ * for the given x in \a pwl0, and y1 is the y-value for the same x in \a pwl1.
+ */
+void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1,
+ std::function<void(double x, double y0, double y1)> f)
+{
+ int span0 = 0, span1 = 0;
+ double x = std::min(pwl0.points_[0].x(), pwl1.points_[0].x());
+ f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false));
+
+ while (span0 < (int)pwl0.points_.size() - 1 ||
+ span1 < (int)pwl1.points_.size() - 1) {
+ if (span0 == (int)pwl0.points_.size() - 1)
+ x = pwl1.points_[++span1].x();
+ else if (span1 == (int)pwl1.points_.size() - 1)
+ x = pwl0.points_[++span0].x();
+ else if (pwl0.points_[span0 + 1].x() > pwl1.points_[span1 + 1].x())
+ x = pwl1.points_[++span1].x();
+ else
+ x = pwl0.points_[++span0].x();
+ f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false));
+ }
+}
+
+/**
+ * \brief Combine two Pwls
+ * \param[in] pwl0 First piecewise linear function
+ * \param[in] pwl1 Second piecewise linear function
+ * \param[in] f Function to be applied
+ * \param[in] eps Epsilon for the minimum x distance between points (optional)
+ *
+ * Create a new Pwl where the y values are given by running \a f wherever
+ * either pwl has a knot.
+ *
+ * \return The combined pwl
+ */
+Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1,
+ std::function<double(double x, double y0, double y1)> f,
+ const double eps)
+{
+ Pwl result;
+ map2(pwl0, pwl1, [&](double x, double y0, double y1) {
+ result.append(x, f(x, y0, y1), eps);
+ });
+ return result;
+}
+
+/**
+ * \brief Multiply the piecewise linear function
+ * \param[in] d Scalar multiplier to multiply the function by
+ * \return This function, after it has been multiplied by \a d
+ */
+Pwl &Pwl::operator*=(double d)
+{
+ for (auto &pt : points_)
+ pt[1] *= d;
+ return *this;
+}
+
+/**
+ * \brief Assemble and return a string describing the piecewise linear function
+ * \return A string describing the piecewise linear function
+ */
+std::string Pwl::toString() const
+{
+ std::stringstream ss;
+ ss << "Pwl { ";
+ for (auto &p : points_)
+ ss << "(" << p.x() << ", " << p.y() << ") ";
+ ss << "}";
+ return ss.str();
+}
+
+} /* namespace ipa */
+
+#ifndef __DOXYGEN__
+/*
+ * The YAML data shall be a list of numerical values with an even number of
+ * elements. They are parsed in pairs into x and y points in the piecewise
+ * linear function, and added in order. x must be monotonically increasing.
+ */
+template<>
+std::optional<ipa::Pwl>
+YamlObject::Getter<ipa::Pwl>::get(const YamlObject &obj) const
+{
+ if (!obj.size() || obj.size() % 2)
+ return std::nullopt;
+
+ ipa::Pwl pwl;
+
+ const auto &list = obj.asList();
+
+ for (auto it = list.begin(); it != list.end(); it++) {
+ auto x = it->get<double>();
+ if (!x)
+ return std::nullopt;
+ auto y = (++it)->get<double>();
+ if (!y)
+ return std::nullopt;
+
+ pwl.append(*x, *y);
+ }
+
+ if (pwl.size() != obj.size() / 2)
+ return std::nullopt;
+
+ return pwl;
+}
+#endif /* __DOXYGEN__ */
+
+} /* namespace libcamera */
diff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h
new file mode 100644
index 00000000..8edb4d33
--- /dev/null
+++ b/src/ipa/libipa/pwl.h
@@ -0,0 +1,90 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * Piecewise linear functions interface
+ */
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <functional>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "libcamera/internal/yaml_parser.h"
+
+#include "vector.h"
+
+namespace libcamera {
+
+namespace ipa {
+
+class Pwl
+{
+public:
+ using Point = Vector<double, 2>;
+
+ struct Interval {
+ Interval(double _start, double _end)
+ : start(_start), end(_end) {}
+
+ bool contains(double value)
+ {
+ return value >= start && value <= end;
+ }
+
+ double clamp(double value)
+ {
+ return std::clamp(value, start, end);
+ }
+
+ double length() const { return end - start; }
+
+ double start, end;
+ };
+
+ Pwl();
+ Pwl(const std::vector<Point> &points);
+ Pwl(std::vector<Point> &&points);
+
+ int readYaml(const libcamera::YamlObject &params);
+
+ void append(double x, double y, double eps = 1e-6);
+
+ bool empty() const { return points_.empty(); }
+ size_t size() const { return points_.size(); }
+
+ Interval domain() const;
+ Interval range() const;
+
+ double eval(double x, int *span = nullptr,
+ bool updateSpan = true) const;
+
+ std::pair<Pwl, bool> inverse(double eps = 1e-6) const;
+ Pwl compose(const Pwl &other, double eps = 1e-6) const;
+
+ void map(std::function<void(double x, double y)> f) const;
+
+ static Pwl
+ combine(const Pwl &pwl0, const Pwl &pwl1,
+ std::function<double(double x, double y0, double y1)> f,
+ double eps = 1e-6);
+
+ Pwl &operator*=(double d);
+
+ std::string toString() const;
+
+private:
+ static void map2(const Pwl &pwl0, const Pwl &pwl1,
+ std::function<void(double x, double y0, double y1)> f);
+ void prepend(double x, double y, double eps = 1e-6);
+ int findSpan(double x, int span) const;
+
+ std::vector<Point> points_;
+};
+
+} /* namespace ipa */
+
+} /* namespace libcamera */
diff --git a/src/ipa/libipa/vector.cpp b/src/ipa/libipa/vector.cpp
new file mode 100644
index 00000000..b071b261
--- /dev/null
+++ b/src/ipa/libipa/vector.cpp
@@ -0,0 +1,157 @@
+/* SPDX-License-Identifier: LGPL-2.1-or-later */
+/*
+ * Copyright (C) 2024, Paul Elder <paul.elder@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 Rows Number of dimension of the vector (= number of elements)
+ */
+
+/**
+ * \fn Vector::Vector()
+ * \brief Construct a zero vector
+ */
+
+/**
+ * \fn Vector::Vector(const std::array<T, Rows> &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 Rows of the vector.
+ */
+
+/**
+ * \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
+ * \return The first element of the vector
+ */
+
+/**
+ * \fn Vector::y()
+ * \brief Convenience function to access the second element of the vector
+ * \return The second element of the vector
+ */
+
+/**
+ * \fn Vector::z()
+ * \brief Convenience function to access the third element of the vector
+ * \return The third 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, Rows> &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::length2()
+ * \brief Get the squared length of the vector
+ * \return The squared length of the vector
+ */
+
+/**
+ * \fn Vector::length()
+ * \brief Get the length of the vector
+ * \return The length of the vector
+ */
+
+/**
+ * \fn bool operator==(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs)
+ * \brief Compare vectors for equality
+ * \return True if the two vectors are equal, false otherwise
+ */
+
+/**
+ * \fn bool operator!=(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs)
+ * \brief Compare vectors for inequality
+ * \return True if the two vectors are not equal, false otherwise
+ */
+
+#ifndef __DOXYGEN__
+bool vectorValidateYaml(const YamlObject &obj, unsigned int size)
+{
+ if (!obj.isList())
+ return false;
+
+ if (obj.size() != size) {
+ LOG(Vector, Error)
+ << "Wrong number of values in YAML vector: expected "
+ << size << ", got " << obj.size();
+ return false;
+ }
+
+ return true;
+}
+#endif /* __DOXYGEN__ */
+
+} /* namespace ipa */
+
+} /* namespace libcamera */
diff --git a/src/ipa/libipa/vector.h b/src/ipa/libipa/vector.h
new file mode 100644
index 00000000..2a290620
--- /dev/null
+++ b/src/ipa/libipa/vector.h
@@ -0,0 +1,202 @@
+/* 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];
+ }
+
+ 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);
+}
+
+#ifndef __DOXYGEN__
+bool vectorValidateYaml(const YamlObject &obj, unsigned int size);
+#endif /* __DOXYGEN__ */
+
+} /* 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;
+}
+
+template<typename T, unsigned int Rows>
+struct YamlObject::Getter<ipa::Vector<T, Rows>> {
+ std::optional<ipa::Vector<T, Rows>> get(const YamlObject &obj) const
+ {
+ if (!ipa::vectorValidateYaml(obj, Rows))
+ return std::nullopt;
+
+ ipa::Vector<T, Rows> vector;
+
+ unsigned int i = 0;
+ for (const YamlObject &entry : obj.asList()) {
+ const auto value = entry.get<T>();
+ if (!value)
+ return std::nullopt;
+ vector[i++] = *value;
+ }
+
+ return vector;
+ }
+};
+#endif /* __DOXYGEN__ */
+
+} /* namespace libcamera */
generated by cgit v1.2.1 (git 2.18.0) at 2024-06-16 09:42:33 +0000