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/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com>
*
* Matrix and related operations
*/
#pragma once
#include <algorithm>
#include <cmath>
#include <sstream>
#include <vector>
#include <libcamera/base/log.h>
#include <libcamera/base/span.h>
#include "libcamera/internal/yaml_parser.h"
namespace libcamera {
LOG_DECLARE_CATEGORY(Matrix)
namespace ipa {
#ifndef __DOXYGEN__
template<typename T, unsigned int Rows, unsigned int Cols,
std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
#else
template<typename T, unsigned int Rows, unsigned int Cols>
#endif /* __DOXYGEN__ */
class Matrix
{
public:
Matrix()
{
data_.fill(static_cast<T>(0));
}
Matrix(const std::vector<T> &data)
{
std::copy(data.begin(), data.end(), data_.begin());
}
static Matrix identity()
{
Matrix ret;
for (size_t i = 0; i < std::min(Rows, Cols); i++)
ret[i][i] = static_cast<T>(1);
return ret;
}
~Matrix() = default;
const std::string toString() const
{
std::stringstream out;
out << "Matrix { ";
for (unsigned int i = 0; i < Rows; i++) {
out << "[ ";
for (unsigned int j = 0; j < Cols; j++) {
out << (*this)[i][j];
out << ((j + 1 < Cols) ? ", " : " ");
}
out << ((i + 1 < Rows) ? "], " : "]");
}
out << " }";
return out.str();
}
Span<const T, Cols> operator[](size_t i) const
{
return Span<const T, Cols>{ &data_.data()[i * Cols], Cols };
}
Span<T, Cols> operator[](size_t i)
{
return Span<T, Cols>{ &data_.data()[i * Cols], Cols };
}
#ifndef __DOXYGEN__
template<typename U, std::enable_if_t<std::is_arithmetic_v<U>>>
#else
template<typename U>
#endif /* __DOXYGEN__ */
Matrix<T, Rows, Cols> &operator*=(U d)
{
for (unsigned int i = 0; i < Rows * Cols; i++)
data_[i] *= d;
return *this;
}
private:
std::array<T, Rows * Cols> data_;
};
#ifndef __DOXYGEN__
template<typename T, typename U, unsigned int Rows, unsigned int Cols,
std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
#else
template<typename T, typename U, unsigned int Rows, unsigned int Cols>
#endif /* __DOXYGEN__ */
Matrix<U, Rows, Cols> operator*(T d, const Matrix<U, Rows, Cols> &m)
{
Matrix<U, Rows, Cols> result;
for (unsigned int i = 0; i < Rows; i++) {
for (unsigned int j = 0; j < Cols; j++)
result[i][j] = d * m[i][j];
}
return result;
}
#ifndef __DOXYGEN__
template<typename T, typename U, unsigned int Rows, unsigned int Cols,
std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
#else
template<typename T, typename U, unsigned int Rows, unsigned int Cols>
#endif /* __DOXYGEN__ */
Matrix<U, Rows, Cols> operator*(const Matrix<U, Rows, Cols> &m, T d)
{
return d * m;
}
#ifndef __DOXYGEN__
template<typename T,
unsigned int R1, unsigned int C1,
unsigned int R2, unsigned int C2,
std::enable_if_t<C1 == R2> * = nullptr>
#else
template<typename T, unsigned int R1, unsigned int C1, unsigned int R2, unsigned in C2>
#endif /* __DOXYGEN__ */
Matrix<T, R1, C2> operator*(const Matrix<T, R1, C1> &m1, const Matrix<T, R2, C2> &m2)
{
Matrix<T, R1, C2> result;
for (unsigned int i = 0; i < R1; i++) {
for (unsigned int j = 0; j < C2; j++) {
T sum = 0;
for (unsigned int k = 0; k < C1; k++)
sum += m1[i][k] * m2[k][j];
result[i][j] = sum;
}
}
return result;
}
template<typename T, unsigned int Rows, unsigned int Cols>
Matrix<T, Rows, Cols> operator+(const Matrix<T, Rows, Cols> &m1, const Matrix<T, Rows, Cols> &m2)
{
Matrix<T, Rows, Cols> result;
for (unsigned int i = 0; i < Rows; i++) {
for (unsigned int j = 0; j < Cols; j++)
result[i][j] = m1[i][j] + m2[i][j];
}
return result;
}
#ifndef __DOXYGEN__
bool matrixValidateYaml(const YamlObject &obj, unsigned int size);
#endif /* __DOXYGEN__ */
} /* namespace ipa */
#ifndef __DOXYGEN__
template<typename T, unsigned int Rows, unsigned int Cols>
std::ostream &operator<<(std::ostream &out, const ipa::Matrix<T, Rows, Cols> &m)
{
out << m.toString();
return out;
}
template<typename T, unsigned int Rows, unsigned int Cols>
struct YamlObject::Getter<ipa::Matrix<T, Rows, Cols>> {
std::optional<ipa::Matrix<T, Rows, Cols>> get(const YamlObject &obj) const
{
if (!ipa::matrixValidateYaml(obj, Rows * Cols))
return std::nullopt;
ipa::Matrix<T, Rows, Cols> matrix;
T *data = &matrix[0][0];
unsigned int i = 0;
for (const YamlObject &entry : obj.asList()) {
const auto value = entry.get<T>();
if (!value)
return std::nullopt;
data[i++] = *value;
}
return matrix;
}
};
#endif /* __DOXYGEN__ */
} /* namespace libcamera */
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