1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
|
/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
* Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com>
*
* Vector and related operations
*/
#pragma once
#include <array>
#include <cmath>
#include <optional>
#include <ostream>
#include <libcamera/base/log.h>
#include <libcamera/base/span.h>
#include "libcamera/internal/yaml_parser.h"
#include "matrix.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 explicit Vector(T scalar)
{
data_.fill(scalar);
}
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];
}
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 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 T dot(const Vector<T, Rows> &other) const
{
T ret = 0;
for (unsigned int i = 0; i < Rows; i++)
ret += data_[i] * other[i];
return ret;
}
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
#endif /* __DOXYGEN__ */
constexpr const T &x() const { return data_[0]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
#endif /* __DOXYGEN__ */
constexpr const T &y() const { return data_[1]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
#endif /* __DOXYGEN__ */
constexpr const T &z() const { return data_[2]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
#endif /* __DOXYGEN__ */
constexpr T &x() { return data_[0]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
#endif /* __DOXYGEN__ */
constexpr T &y() { return data_[1]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
#endif /* __DOXYGEN__ */
constexpr T &z() { return data_[2]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
#endif /* __DOXYGEN__ */
constexpr const T &r() const { return data_[0]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
#endif /* __DOXYGEN__ */
constexpr const T &g() const { return data_[1]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
#endif /* __DOXYGEN__ */
constexpr const T &b() const { return data_[2]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
#endif /* __DOXYGEN__ */
constexpr T &r() { return data_[0]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
#endif /* __DOXYGEN__ */
constexpr T &g() { return data_[1]; }
#ifndef __DOXYGEN__
template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
#endif /* __DOXYGEN__ */
constexpr T &b() { return data_[2]; }
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>
using RGB = Vector<T, 3>;
template<typename T, unsigned int Rows, unsigned int Cols>
Vector<T, Rows> operator*(const Matrix<T, Rows, Cols> &m, const Vector<T, Cols> &v)
{
Vector<T, Rows> result;
for (unsigned int i = 0; i < Rows; i++) {
T sum = 0;
for (unsigned int j = 0; j < Cols; j++)
sum += m[i][j] * v[j];
result[i] = sum;
}
return result;
}
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 */
|
