{"id":20179,"url":"https://patchwork.libcamera.org/api/1.1/patches/20179/?format=json","web_url":"https://patchwork.libcamera.org/patch/20179/","project":{"id":1,"url":"https://patchwork.libcamera.org/api/1.1/projects/1/?format=json","name":"libcamera","link_name":"libcamera","list_id":"libcamera_core","list_email":"libcamera-devel@lists.libcamera.org","web_url":"","scm_url":"","webscm_url":""},"msgid":"<20240531144301.3950115-4-paul.elder@ideasonboard.com>","date":"2024-05-31T14:43:00","name":"[v4,3/4] ipa: libipa: pwl: Clean up Pwl class to match libcamera","commit_ref":null,"pull_url":null,"state":"superseded","archived":false,"hash":"19cbc302580ddf5f434591876e8c2af25dc21655","submitter":{"id":17,"url":"https://patchwork.libcamera.org/api/1.1/people/17/?format=json","name":"Paul Elder","email":"paul.elder@ideasonboard.com"},"delegate":null,"mbox":"https://patchwork.libcamera.org/patch/20179/mbox/","series":[{"id":4348,"url":"https://patchwork.libcamera.org/api/1.1/series/4348/?format=json","web_url":"https://patchwork.libcamera.org/project/libcamera/list/?series=4348","date":"2024-05-31T14:42:57","name":"ipa: Move Pwl from Raspberry Pi to libipa","version":4,"mbox":"https://patchwork.libcamera.org/series/4348/mbox/"}],"comments":"https://patchwork.libcamera.org/api/patches/20179/comments/","check":"pending","checks":"https://patchwork.libcamera.org/api/patches/20179/checks/","tags":{},"headers":{"Return-Path":"","X-Original-To":"parsemail@patchwork.libcamera.org","Delivered-To":"parsemail@patchwork.libcamera.org","Received":["from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id EEB93BDE6B\n\tfor ;\n\tFri, 31 May 2024 14:43:23 +0000 (UTC)","from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 5828D634BE;\n\tFri, 31 May 2024 16:43:22 +0200 (CEST)","from perceval.ideasonboard.com (perceval.ideasonboard.com\n\t[IPv6:2001:4b98:dc2:55:216:3eff:fef7:d647])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 3DD59634AF\n\tfor ;\n\tFri, 31 May 2024 16:43:19 +0200 (CEST)","from neptunite.hamster-moth.ts.net\n\t(h175-177-049-156.catv02.itscom.jp [175.177.49.156])\n\tby perceval.ideasonboard.com (Postfix) with ESMTPSA id 9025CB53;\n\tFri, 31 May 2024 16:43:12 +0200 (CEST)"],"Authentication-Results":"lancelot.ideasonboard.com; dkim=pass (1024-bit key;\n\tunprotected) header.d=ideasonboard.com header.i=@ideasonboard.com\n\theader.b=\"hmDscTzy\"; dkim-atps=neutral","DKIM-Signature":"v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com;\n\ts=mail; t=1717166594;\n\tbh=zBWWx+Dv6fHsZGLWq0ie4leJFMWUexmpc/2qBkLUKmc=;\n\th=From:To:Cc:Subject:Date:In-Reply-To:References:From;\n\tb=hmDscTzygivHABrevvKDpdqnDbWnb745W6XN4tAI4pP/BEfeokdWeRD71iNWCKYPx\n\tL8MG0olChf8xp1Er8R2b3s6pPSQQcMG6F6yrWPG9aqHGSTAZOGBq4gIOaoLPjcGjN7\n\t7BgKEsuE0Nn69cMFOK2EsiiSzJAm1sz05WwTPe+o=","From":"Paul Elder ","To":"libcamera-devel@lists.libcamera.org","Cc":"Paul Elder ,\n\tStefan Klug ,\n\tDavid Plowman ","Subject":"[PATCH v4 3/4] ipa: libipa: pwl: Clean up Pwl class to match\n\tlibcamera","Date":"Fri, 31 May 2024 23:43:00 +0900","Message-Id":"<20240531144301.3950115-4-paul.elder@ideasonboard.com>","X-Mailer":"git-send-email 2.39.2","In-Reply-To":"<20240531144301.3950115-1-paul.elder@ideasonboard.com>","References":"<20240531144301.3950115-1-paul.elder@ideasonboard.com>","MIME-Version":"1.0","Content-Transfer-Encoding":"8bit","X-BeenThere":"libcamera-devel@lists.libcamera.org","X-Mailman-Version":"2.1.29","Precedence":"list","List-Id":"","List-Unsubscribe":",\n\t","List-Archive":"","List-Post":"","List-Help":"","List-Subscribe":",\n\t","Errors-To":"libcamera-devel-bounces@lists.libcamera.org","Sender":"\"libcamera-devel\" "},"content":"Clean up the Pwl class copied from the Raspberry Pi IPA to align it more\nwith the libcamera style.\n\nSigned-off-by: Paul Elder \nReviewed-by: Stefan Klug \nAcked-by: David Plowman \n\n---\nChanges in v4:\n- update to apply to new copy of pwl\n- add documentation\n- fix doxygen\n\nNo change in v3\n\nChanges in v2:\n- s/FPoint/PointF/g\n- improve documentation\n- s/matchDomain/extendDomain/\n---\n src/ipa/libipa/pwl.cpp | 268 ++++++++++++++++++++++++++++++++++++-----\n src/ipa/libipa/pwl.h | 119 +++++++-----------\n 2 files changed, 285 insertions(+), 102 deletions(-)","diff":"diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp\nindex e39123767..945914347 100644\n--- a/src/ipa/libipa/pwl.cpp\n+++ b/src/ipa/libipa/pwl.cpp\n@@ -1,19 +1,113 @@\n /* SPDX-License-Identifier: BSD-2-Clause */\n /*\n * Copyright (C) 2019, Raspberry Pi Ltd\n+ * Copyright (C) 2024, Ideas on Board Oy\n *\n- * piecewise linear functions\n+ * Piecewise linear functions\n */\n \n+#include \"pwl.h\"\n+\n #include \n #include \n+#include \n #include \n \n-#include \"pwl.h\"\n+#include \n+\n+/**\n+ * \\file pwl.h\n+ * \\brief Piecewise linear functions\n+ */\n+\n+namespace libcamera {\n+\n+namespace ipa {\n+\n+/**\n+ * \\class Pwl\n+ * \\brief Describe a univariate piecewise linear function in real space\n+ */\n \n-using namespace RPiController;\n+/**\n+ * \\class Pwl::Interval\n+ * \\brief Describe an interval in one-dimensional real space\n+ */\n+\n+/**\n+ * \\fn Pwl::Interval::Interval(double _start, double _end)\n+ * \\brief Construct an interval\n+ * \\param _start Start of the interval\n+ * \\param _end End of the interval\n+ */\n+\n+/**\n+ * \\fn Pwl::Interval::contains\n+ * \\brief Check if a given values falls within the interval\n+ * \\param value Value to check\n+ */\n+\n+/**\n+ * \\fn Pwl::Interval::clamp\n+ * \\brief Clamp a value such that it is within the interval\n+ * \\param value Value to clamp\n+ */\n+\n+/**\n+ * \\fn Pwl::Interval::len\n+ * \\brief Compute the length of the interval\n+ */\n \n-int Pwl::read(const libcamera::YamlObject ¶ms)\n+/**\n+ * \\var Pwl::Interval::start\n+ * \\brief Start of the interval\n+ */\n+\n+/**\n+ * \\var Pwl::Interval::end\n+ * \\brief End of the interval\n+ */\n+\n+/**\n+ * \\enum Pwl::PerpType\n+ * \\brief Type of perpendicular found when inverting a piecewise linear function\n+ *\n+ * \\var Pwl::PerpType::None\n+ * \\brief No perpendicular found\n+ *\n+ * \\var Pwl::PerpType::Start\n+ * \\brief Start of Pwl is closest point\n+ *\n+ * \\var Pwl::PerpType::End\n+ * \\brief End of Pwl is closest point\n+ *\n+ * \\var Pwl::PerpType::Vertex\n+ * \\brief Vertex of Pwl is closest point\n+ *\n+ * \\var Pwl::PerpType::Perpendicular\n+ * \\brief True perpendicular found\n+ */\n+\n+/**\n+ * \\fn Pwl::Pwl(std::vector const &points)\n+ * \\brief Construct a piecewise linear function from a list of 2D points\n+ * \\param points Vector of points from which to construct the piecewise linear function\n+ */\n+\n+/**\n+ * \\brief Populate the piecewise linear function from yaml data\n+ * \\param params Yaml data to populate the piecewise linear function with\n+ *\n+ * Any existing points in the piecewise linear function will *not* be\n+ * overwritten.\n+ *\n+ * The yaml data is expected to be a list with an even number of numerical\n+ * elements. These will be parsed in pairs into x and y points in the piecewise\n+ * linear function. x must be monotonically increasing.\n+ *\n+ * \\return 0 on success, negative error code otherwise\n+ */\n+int Pwl::readYaml(const libcamera::YamlObject ¶ms)\n {\n \tif (!params.size() || params.size() % 2)\n \t\treturn -EINVAL;\n@@ -31,29 +125,55 @@ int Pwl::read(const libcamera::YamlObject ¶ms)\n \t\tif (!y)\n \t\t\treturn -EINVAL;\n \n-\t\tpoints_.push_back(Point(*x, *y));\n+\t\tpoints_.push_back(PointF(*x, *y));\n \t}\n \n \treturn 0;\n }\n \n+/**\n+ * \\brief Append a point to the end of the piecewise linear function\n+ * \\param x x-coordinate of the point to add to the piecewise linear function\n+ * \\param y y-coordinate of the point to add to the piecewise linear function\n+ * \\param eps Epsilon for the minimum x distance between points (optional)\n+ *\n+ * The point's x-coordinate must be greater than the x-coordinate of the last\n+ * (= greatest) point already in the piecewise linear function.\n+ */\n void Pwl::append(double x, double y, const double eps)\n {\n \tif (points_.empty() || points_.back().x + eps < x)\n-\t\tpoints_.push_back(Point(x, y));\n+\t\tpoints_.push_back(PointF(x, y));\n }\n \n+/**\n+ * \\brief Prepend a point to the beginning of the piecewise linear function\n+ * \\param x x-coordinate of the point to add to the piecewise linear function\n+ * \\param y y-coordinate of the point to add to the piecewise linear function\n+ * \\param eps Epsilon for the minimum x distance between points (optional)\n+ *\n+ * The point's x-coordinate must be less than the x-coordinate of the first\n+ * (= smallest) point already in the piecewise linear function.\n+ */\n void Pwl::prepend(double x, double y, const double eps)\n {\n \tif (points_.empty() || points_.front().x - eps > x)\n-\t\tpoints_.insert(points_.begin(), Point(x, y));\n+\t\tpoints_.insert(points_.begin(), PointF(x, y));\n }\n \n+/**\n+ * \\brief Get the domain of the piecewise linear function\n+ * \\return An interval representing the domain\n+ */\n Pwl::Interval Pwl::domain() const\n {\n \treturn Interval(points_[0].x, points_[points_.size() - 1].x);\n }\n \n+/**\n+ * \\brief Get the range of the piecewise linear function\n+ * \\return An interval representing the range\n+ */\n Pwl::Interval Pwl::range() const\n {\n \tdouble lo = points_[0].y, hi = lo;\n@@ -62,11 +182,28 @@ Pwl::Interval Pwl::range() const\n \treturn Interval(lo, hi);\n }\n \n+/**\n+ * \\brief Check if the piecewise linear function is empty\n+ * \\return True if there are no points in the function, false otherwise\n+ */\n bool Pwl::empty() const\n {\n \treturn points_.empty();\n }\n \n+/**\n+ * \\brief Evaluate the piecewise linear function\n+ * \\param[in] x The x value to input into the function\n+ * \\param[inout] spanPtr Initial guess for span\n+ * \\param[in] updateSpan Set to true to update spanPtr\n+ *\n+ * Evaluate Pwl, optionally supplying an initial guess for the\n+ * \"span\". The \"span\" may be optionally be updated. If you want to know\n+ * the \"span\" value but don't have an initial guess you can set it to\n+ * -1.\n+ *\n+ * \\return The result of evaluating the piecewise linear function at position \\a x\n+ */\n double Pwl::eval(double x, int *spanPtr, bool updateSpan) const\n {\n \tint span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1);\n@@ -96,16 +233,29 @@ int Pwl::findSpan(double x, int span) const\n \treturn span;\n }\n \n-Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span,\n+/**\n+ * \\brief Find perpendicular closest to a given point\n+ * \\param[in] xy Point to find the perpendicular to\n+ * \\param[out] perp The found perpendicular\n+ * \\param[inout] span The span+1 to start searching from\n+ * \\param[in] eps Epsilon for the minimum x distance between points (optional)\n+ *\n+ * Find perpendicular closest to \\a xy, starting from \\a span+1 so you can call\n+ * it repeatedly to check for multiple closest points (set span to -1 on the\n+ * first call). Also returns \"pseudo\" perpendiculars; see PerpType enum.\n+ *\n+ * \\return Type of perpendicular found\n+ */\n+Pwl::PerpType Pwl::invert(PointF const &xy, PointF &perp, int &span,\n \t\t\t const double eps) const\n {\n \tassert(span >= -1);\n \tbool prevOffEnd = false;\n \tfor (span = span + 1; span < (int)points_.size() - 1; span++) {\n-\t\tPoint spanVec = points_[span + 1] - points_[span];\n+\t\tPointF spanVec = points_[span + 1] - points_[span];\n \t\tdouble t = ((xy - points_[span]) % spanVec) / spanVec.len2();\n-\t\tif (t < -eps) /* off the start of this span */\n-\t\t{\n+\t\tif (t < -eps) {\n+\t\t\t/* off the start of this span */\n \t\t\tif (span == 0) {\n \t\t\t\tperp = points_[span];\n \t\t\t\treturn PerpType::Start;\n@@ -113,15 +263,15 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span,\n \t\t\t\tperp = points_[span];\n \t\t\t\treturn PerpType::Vertex;\n \t\t\t}\n-\t\t} else if (t > 1 + eps) /* off the end of this span */\n-\t\t{\n+\t\t} else if (t > 1 + eps) {\n+\t\t\t/* off the end of this span */\n \t\t\tif (span == (int)points_.size() - 2) {\n \t\t\t\tperp = points_[span + 1];\n \t\t\t\treturn PerpType::End;\n \t\t\t}\n \t\t\tprevOffEnd = true;\n-\t\t} else /* a true perpendicular */\n-\t\t{\n+\t\t} else {\n+\t\t\t/* a true perpendicular */\n \t\t\tperp = points_[span] + spanVec * t;\n \t\t\treturn PerpType::Perpendicular;\n \t\t}\n@@ -129,25 +279,36 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span,\n \treturn PerpType::None;\n }\n \n+/**\n+ * \\brief Compute the inverse function\n+ * \\param[out] trueInverse True if the result is a proper/true inverse\n+ * \\param[in] eps Epsilon for the minimum x distance between points (optional)\n+ *\n+ * Indicate if it is a proper (true) inverse, or only a best effort (e.g.\n+ * input was non-monotonic).\n+ *\n+ * \\return The inverse piecewise linear function\n+ */\n Pwl Pwl::inverse(bool *trueInverse, const double eps) const\n {\n \tbool appended = false, prepended = false, neither = false;\n \tPwl inverse;\n \n-\tfor (Point const &p : points_) {\n-\t\tif (inverse.empty())\n+\tfor (PointF const &p : points_) {\n+\t\tif (inverse.empty()) {\n \t\t\tinverse.append(p.y, p.x, eps);\n-\t\telse if (std::abs(inverse.points_.back().x - p.y) <= eps ||\n-\t\t\t std::abs(inverse.points_.front().x - p.y) <= eps)\n+\t\t} else if (std::abs(inverse.points_.back().x - p.y) <= eps ||\n+\t\t\t std::abs(inverse.points_.front().x - p.y) <= eps) {\n \t\t\t/* do nothing */;\n-\t\telse if (p.y > inverse.points_.back().x) {\n+\t\t} else if (p.y > inverse.points_.back().x) {\n \t\t\tinverse.append(p.y, p.x, eps);\n \t\t\tappended = true;\n \t\t} else if (p.y < inverse.points_.front().x) {\n \t\t\tinverse.prepend(p.y, p.x, eps);\n \t\t\tprepended = true;\n-\t\t} else\n+\t\t} else {\n \t\t\tneither = true;\n+\t\t}\n \t}\n \n \t/*\n@@ -161,18 +322,27 @@ Pwl Pwl::inverse(bool *trueInverse, const double eps) const\n \treturn inverse;\n }\n \n+/**\n+ * \\brief Compose two piecewise linear functions together\n+ * \\param[in] other The \"other\" piecewise linear function\n+ * \\param[in] eps Epsilon for the minimum x distance between points (optional)\n+ *\n+ * The \"this\" function is done first, and \"other\" after.\n+ *\n+ * \\return The composed piecewise linear function\n+ */\n Pwl Pwl::compose(Pwl const &other, const double eps) const\n {\n \tdouble thisX = points_[0].x, thisY = points_[0].y;\n \tint thisSpan = 0, otherSpan = other.findSpan(thisY, 0);\n \tPwl result({ { thisX, other.eval(thisY, &otherSpan, false) } });\n+\n \twhile (thisSpan != (int)points_.size() - 1) {\n \t\tdouble dx = points_[thisSpan + 1].x - points_[thisSpan].x,\n \t\t dy = points_[thisSpan + 1].y - points_[thisSpan].y;\n \t\tif (std::abs(dy) > eps &&\n \t\t otherSpan + 1 < (int)other.points_.size() &&\n-\t\t points_[thisSpan + 1].y >=\n-\t\t\t other.points_[otherSpan + 1].x + eps) {\n+\t\t points_[thisSpan + 1].y >= other.points_[otherSpan + 1].x + eps) {\n \t\t\t/*\n \t\t\t * next control point in result will be where this\n \t\t\t * function's y reaches the next span in other\n@@ -206,18 +376,27 @@ Pwl Pwl::compose(Pwl const &other, const double eps) const\n \treturn result;\n }\n \n+/**\n+ * \\brief Apply function to (x,y) values at every control point\n+ * \\param f Function to be applied\n+ */\n void Pwl::map(std::function f) const\n {\n \tfor (auto &pt : points_)\n \t\tf(pt.x, pt.y);\n }\n \n+/**\n+ * \\brief Apply function to (x, y0, y1) values wherever either Pwl has a\n+ * control point.\n+ */\n void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1,\n \t std::function f)\n {\n \tint span0 = 0, span1 = 0;\n \tdouble x = std::min(pwl0.points_[0].x, pwl1.points_[0].x);\n \tf(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false));\n+\n \twhile (span0 < (int)pwl0.points_.size() - 1 ||\n \t span1 < (int)pwl1.points_.size() - 1) {\n \t\tif (span0 == (int)pwl0.points_.size() - 1)\n@@ -232,6 +411,12 @@ void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1,\n \t}\n }\n \n+/**\n+ * \\brief Combine two Pwls\n+ *\n+ * Create a new Pwl where the y values are given by running f wherever either\n+ * has a knot.\n+ */\n Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1,\n \t\t std::function f,\n \t\t const double eps)\n@@ -243,7 +428,19 @@ Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1,\n \treturn result;\n }\n \n-void Pwl::matchDomain(Interval const &domain, bool clip, const double eps)\n+/**\n+ * \\brief Extend the domain of the piecewise linear function\n+ * \\param[in] domain The domain to extend to\n+ * \\param[in] clip True to keep the existing edge y values, false to extrapolate\n+ * \\param[in] eps Epsilon for the minimum x distance between points (optional)\n+ *\n+ * Extend the domain of the piecewise linear function to match \\a domain. If \\a\n+ * clip is set to true then the y values of the new edges will be the same as\n+ * the existing y values of the edge points of the pwl. If false, then the y\n+ * values will be extrapolated linearly from the existing edge points of the\n+ * pwl.\n+ */\n+void Pwl::extendDomain(Interval const &domain, bool clip, const double eps)\n {\n \tint span = 0;\n \tprepend(domain.start, eval(clip ? points_[0].x : domain.start, &span),\n@@ -253,6 +450,11 @@ void Pwl::matchDomain(Interval const &domain, bool clip, const double eps)\n \t eps);\n }\n \n+/**\n+ * \\brief Multiply the piecewise linear function\n+ * \\param d Scalar multiplier to multiply the function by\n+ * \\return This function, after it has been multiplied by \\a d\n+ */\n Pwl &Pwl::operator*=(double d)\n {\n \tfor (auto &pt : points_)\n@@ -260,10 +462,20 @@ Pwl &Pwl::operator*=(double d)\n \treturn *this;\n }\n \n-void Pwl::debug(FILE *fp) const\n+/**\n+ * \\brief Assemble and return a string describing the piecewise linear function\n+ * \\return A string describing the piecewise linear function\n+ */\n+std::string Pwl::toString() const\n {\n-\tfprintf(fp, \"Pwl {\\n\");\n+\tstd::stringstream ss;\n+\tss << \"Pwl { \";\n \tfor (auto &p : points_)\n-\t\tfprintf(fp, \"\\t(%g, %g)\\n\", p.x, p.y);\n-\tfprintf(fp, \"}\\n\");\n+\t\tss << \"(\" << p.x << \", \" << p.y << \") \";\n+\tss << \"}\";\n+\treturn ss.str();\n }\n+\n+} /* namespace ipa */\n+\n+} /* namespace libcamera */\ndiff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h\nindex 7d5e7e4d3..9b716c788 100644\n--- a/src/ipa/libipa/pwl.h\n+++ b/src/ipa/libipa/pwl.h\n@@ -2,126 +2,97 @@\n /*\n * Copyright (C) 2019, Raspberry Pi Ltd\n *\n- * piecewise linear functions interface\n+ * Piecewise linear functions interface\n */\n #pragma once\n \n #include \n #include \n+#include \n #include \n \n+#include \n+\n #include \"libcamera/internal/yaml_parser.h\"\n \n-namespace RPiController {\n+namespace libcamera {\n+\n+namespace ipa {\n \n class Pwl\n {\n public:\n+\tenum class PerpType {\n+\t\tNone,\n+\t\tStart,\n+\t\tEnd,\n+\t\tVertex,\n+\t\tPerpendicular,\n+\t};\n+\n \tstruct Interval {\n \t\tInterval(double _start, double _end)\n-\t\t\t: start(_start), end(_end)\n-\t\t{\n-\t\t}\n-\t\tdouble start, end;\n+\t\t\t: start(_start), end(_end) {}\n+\n \t\tbool contains(double value)\n \t\t{\n \t\t\treturn value >= start && value <= end;\n \t\t}\n-\t\tdouble clip(double value)\n+\n+\t\tdouble clamp(double value)\n \t\t{\n \t\t\treturn value < start ? start\n \t\t\t\t\t : (value > end ? end : value);\n \t\t}\n+\n \t\tdouble len() const { return end - start; }\n+\n+\t\tdouble start, end;\n \t};\n-\tstruct Point {\n-\t\tPoint() : x(0), y(0) {}\n-\t\tPoint(double _x, double _y)\n-\t\t\t: x(_x), y(_y) {}\n-\t\tdouble x, y;\n-\t\tPoint operator-(Point const &p) const\n-\t\t{\n-\t\t\treturn Point(x - p.x, y - p.y);\n-\t\t}\n-\t\tPoint operator+(Point const &p) const\n-\t\t{\n-\t\t\treturn Point(x + p.x, y + p.y);\n-\t\t}\n-\t\tdouble operator%(Point const &p) const\n-\t\t{\n-\t\t\treturn x * p.x + y * p.y;\n-\t\t}\n-\t\tPoint operator*(double f) const { return Point(x * f, y * f); }\n-\t\tPoint operator/(double f) const { return Point(x / f, y / f); }\n-\t\tdouble len2() const { return x * x + y * y; }\n-\t\tdouble len() const { return sqrt(len2()); }\n-\t};\n+\n \tPwl() {}\n-\tPwl(std::vector const &points) : points_(points) {}\n-\tint read(const libcamera::YamlObject ¶ms);\n+\tPwl(std::vector const &points)\n+\t\t: points_(points) {}\n+\tint readYaml(const libcamera::YamlObject ¶ms);\n+\n \tvoid append(double x, double y, const double eps = 1e-6);\n \tvoid prepend(double x, double y, const double eps = 1e-6);\n+\n \tInterval domain() const;\n \tInterval range() const;\n+\n \tbool empty() const;\n-\t/*\n-\t * Evaluate Pwl, optionally supplying an initial guess for the\n-\t * \"span\". The \"span\" may be optionally be updated. If you want to know\n-\t * the \"span\" value but don't have an initial guess you can set it to\n-\t * -1.\n-\t */\n+\n \tdouble eval(double x, int *spanPtr = nullptr,\n \t\t bool updateSpan = true) const;\n-\t/*\n-\t * Find perpendicular closest to xy, starting from span+1 so you can\n-\t * call it repeatedly to check for multiple closest points (set span to\n-\t * -1 on the first call). Also returns \"pseudo\" perpendiculars; see\n-\t * PerpType enum.\n-\t */\n-\tenum class PerpType {\n-\t\tNone, /* no perpendicular found */\n-\t\tStart, /* start of Pwl is closest point */\n-\t\tEnd, /* end of Pwl is closest point */\n-\t\tVertex, /* vertex of Pwl is closest point */\n-\t\tPerpendicular /* true perpendicular found */\n-\t};\n-\tPerpType invert(Point const &xy, Point &perp, int &span,\n+\n+\tPerpType invert(PointF const &xy, PointF &perp, int &span,\n \t\t\tconst double eps = 1e-6) const;\n-\t/*\n-\t * Compute the inverse function. Indicate if it is a proper (true)\n-\t * inverse, or only a best effort (e.g. input was non-monotonic).\n-\t */\n \tPwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const;\n-\t/* Compose two Pwls together, doing \"this\" first and \"other\" after. */\n \tPwl compose(Pwl const &other, const double eps = 1e-6) const;\n-\t/* Apply function to (x,y) values at every control point. */\n+\n \tvoid map(std::function f) const;\n-\t/*\n-\t * Apply function to (x, y0, y1) values wherever either Pwl has a\n-\t * control point.\n-\t */\n+\n \tstatic void map2(Pwl const &pwl0, Pwl const &pwl1,\n \t\t\t std::function f);\n-\t/*\n-\t * Combine two Pwls, meaning we create a new Pwl where the y values are\n-\t * given by running f wherever either has a knot.\n-\t */\n+\n \tstatic Pwl\n \tcombine(Pwl const &pwl0, Pwl const &pwl1,\n \t\tstd::function f,\n \t\tconst double eps = 1e-6);\n-\t/*\n-\t * Make \"this\" match (at least) the given domain. Any extension my be\n-\t * clipped or linear.\n-\t */\n-\tvoid matchDomain(Interval const &domain, bool clip = true,\n-\t\t\t const double eps = 1e-6);\n+\n+\tvoid extendDomain(Interval const &domain, bool clip = true,\n+\t\t\t const double eps = 1e-6);\n+\n \tPwl &operator*=(double d);\n-\tvoid debug(FILE *fp = stdout) const;\n+\n+\tstd::string toString() const;\n \n private:\n \tint findSpan(double x, int span) const;\n-\tstd::vector points_;\n+\tstd::vector points_;\n };\n \n-} /* namespace RPiController */\n+} /* namespace ipa */\n+\n+} /* namespace libcamera */\n","prefixes":["v4","3/4"]}