/* 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 <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 */