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{ "id": 20258, "url": "https://patchwork.libcamera.org/api/1.1/patches/20258/?format=api", "web_url": "https://patchwork.libcamera.org/patch/20258/", "project": { "id": 1, "url": "https://patchwork.libcamera.org/api/1.1/projects/1/?format=api", "name": "libcamera", "link_name": "libcamera", "list_id": "libcamera_core", "list_email": "libcamera-devel@lists.libcamera.org", "web_url": "", "scm_url": "", "webscm_url": "" }, "msgid": "<20240611132430.404814-4-paul.elder@ideasonboard.com>", "date": "2024-06-11T13:24:29", "name": "[v8,3/4] ipa: libipa: pwl: Clean up Pwl class to match libcamera", "commit_ref": null, "pull_url": null, "state": "superseded", "archived": false, "hash": "4dd57eec690fee1a6cb2bb697e2495ff9abad54e", "submitter": { "id": 17, "url": "https://patchwork.libcamera.org/api/1.1/people/17/?format=api", "name": "Paul Elder", "email": "paul.elder@ideasonboard.com" }, "delegate": null, "mbox": "https://patchwork.libcamera.org/patch/20258/mbox/", "series": [ { "id": 4382, "url": "https://patchwork.libcamera.org/api/1.1/series/4382/?format=api", "web_url": "https://patchwork.libcamera.org/project/libcamera/list/?series=4382", "date": "2024-06-11T13:24:26", "name": "ipa: Move Pwl from Raspberry Pi to libipa", "version": 8, "mbox": "https://patchwork.libcamera.org/series/4382/mbox/" } ], "comments": "https://patchwork.libcamera.org/api/patches/20258/comments/", "check": "pending", "checks": "https://patchwork.libcamera.org/api/patches/20258/checks/", "tags": {}, "headers": { "Return-Path": "<libcamera-devel-bounces@lists.libcamera.org>", "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 B9FEDC31E9\n\tfor <parsemail@patchwork.libcamera.org>;\n\tTue, 11 Jun 2024 13:24:58 +0000 (UTC)", "from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 63AD96546C;\n\tTue, 11 Jun 2024 15:24:58 +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 E0C3465455\n\tfor <libcamera-devel@lists.libcamera.org>;\n\tTue, 11 Jun 2024 15:24:56 +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 A2C15183;\n\tTue, 11 Jun 2024 15:24:40 +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=\"i/uc/g58\"; dkim-atps=neutral", "DKIM-Signature": "v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com;\n\ts=mail; t=1718112284;\n\tbh=Neil/wdwKUo7PzPVp3Qq19r5jwhYi/D1fI5jGx5It2k=;\n\th=From:To:Cc:Subject:Date:In-Reply-To:References:From;\n\tb=i/uc/g58QrRcpoPMIb1XYHgHoBzZIkRTkwM5rWv1GGinu2eGw79NtSYSmwAdZcadd\n\tprOMcQZcbcJhBlReYBFSpEU8bxpAIfhOPH+yWAgb343RXZu5Pw/rsQNzWSBEZtILb1\n\tgORYd7QUtY4keQJ+/mw2xxIAtFgNGhKQuV9kqyNA=", "From": "Paul Elder <paul.elder@ideasonboard.com>", "To": "libcamera-devel@lists.libcamera.org", "Cc": "Paul Elder <paul.elder@ideasonboard.com>,\n\tStefan Klug <stefan.klug@ideasonboard.com>,\n\tDavid Plowman <david.plowman@raspberrypi.com>,\n\tKieran Bingham <kieran.bingham@ideasonboard.com>", "Subject": "[PATCH v8 3/4] ipa: libipa: pwl: Clean up Pwl class to match\n\tlibcamera", "Date": "Tue, 11 Jun 2024 22:24:29 +0900", "Message-Id": "<20240611132430.404814-4-paul.elder@ideasonboard.com>", "X-Mailer": "git-send-email 2.39.2", "In-Reply-To": "<20240611132430.404814-1-paul.elder@ideasonboard.com>", "References": "<20240611132430.404814-1-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": "<libcamera-devel.lists.libcamera.org>", "List-Unsubscribe": "<https://lists.libcamera.org/options/libcamera-devel>,\n\t<mailto:libcamera-devel-request@lists.libcamera.org?subject=unsubscribe>", "List-Archive": "<https://lists.libcamera.org/pipermail/libcamera-devel/>", "List-Post": "<mailto:libcamera-devel@lists.libcamera.org>", "List-Help": "<mailto:libcamera-devel-request@lists.libcamera.org?subject=help>", "List-Subscribe": "<https://lists.libcamera.org/listinfo/libcamera-devel>,\n\t<mailto:libcamera-devel-request@lists.libcamera.org?subject=subscribe>", "Errors-To": "libcamera-devel-bounces@lists.libcamera.org", "Sender": "\"libcamera-devel\" <libcamera-devel-bounces@lists.libcamera.org>" }, "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 <paul.elder@ideasonboard.com>\nReviewed-by: Stefan Klug <stefan.klug@ideasonboard.com>\nAcked-by: David Plowman <david.plowman@raspberrypi.com>\nReviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>\n\n---\nChanges in v8:\n- use the updated Vector interface\n- remove unused functions (prepend, invert, extendDomain)\n- improve class documentation\n- checkstyle\n- s/PointF/Point/\n- make inverse() return pair instead of output parameter\n- fix const order\n- fix includes\n\nNo change in v7\n\nChanges in v6:\n- move adding pwl to meson here\n\nChanges in v5:\n- fix documentation order\n- fix some typos\n- add the Vector-based PointF\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/meson.build | 2 +\n src/ipa/libipa/pwl.cpp | 372 ++++++++++++++++++++++++++-----------\n src/ipa/libipa/pwl.h | 133 +++++--------\n 3 files changed, 311 insertions(+), 196 deletions(-)", "diff": "diff --git a/src/ipa/libipa/meson.build b/src/ipa/libipa/meson.build\nindex 8b0c8fff901b..3669f8939d3b 100644\n--- a/src/ipa/libipa/meson.build\n+++ b/src/ipa/libipa/meson.build\n@@ -8,6 +8,7 @@ libipa_headers = files([\n 'fc_queue.h',\n 'histogram.h',\n 'module.h',\n+ 'pwl.h',\n 'vector.h',\n ])\n \n@@ -19,6 +20,7 @@ libipa_sources = files([\n 'fc_queue.cpp',\n 'histogram.cpp',\n 'module.cpp',\n+ 'pwl.cpp',\n 'vector.cpp',\n ])\n \ndiff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp\nindex e39123767aa6..4dc59981708d 100644\n--- a/src/ipa/libipa/pwl.cpp\n+++ b/src/ipa/libipa/pwl.cpp\n@@ -1,19 +1,120 @@\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 <cassert>\n+#include \"pwl.h\"\n+\n+#include <assert.h>\n #include <cmath>\n+#include <sstream>\n #include <stdexcept>\n \n-#include \"pwl.h\"\n+#include <libcamera/geometry.h>\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 two-dimensional\n+ * real space\n+ *\n+ * A piecewise linear function is a univariate function that maps reals to\n+ * reals, and it is composed of multiple straight-line segments.\n+ *\n+ * While a mathematical piecewise linear function would usually be defined by\n+ * a list of linear functions and for which values of the domain they apply,\n+ * this Pwl class is instead defined by a list of points at which these line\n+ * segments intersect. These intersecting points are known as knots.\n+ *\n+ * https://en.wikipedia.org/wiki/Piecewise_linear_function\n+ *\n+ * A consequence of the Pwl class being defined by knots instead of linear\n+ * functions is that the values of the piecewise linear function past the ends\n+ * of the function are constants as opposed to linear functions. In a\n+ * mathematical piecewise linear function that is defined by multiple linear\n+ * functions, the ends of the function are also linear functions and hence grow\n+ * to infinity (or negative infinity). However, since this Pwl class is defined\n+ * by knots, the y-value of the leftmost and rightmost knots will hold for all\n+ * x values to negative infinity and positive infinity, respectively.\n+ */\n+\n+/**\n+ * \\typedef Pwl::Point\n+ * \\brief Describe a point in two-dimensional real space\n+ */\n+\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 value 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::length\n+ * \\brief Compute the length of the interval\n+ */\n+\n+/**\n+ * \\var Pwl::Interval::start\n+ * \\brief Start of the interval\n+ */\n \n-using namespace RPiController;\n+/**\n+ * \\var Pwl::Interval::end\n+ * \\brief End of the interval\n+ */\n \n-int Pwl::read(const libcamera::YamlObject ¶ms)\n+/**\n+ * \\fn Pwl::Pwl(std::vector<Point> 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+ * \\a points must be in ascending order of x-value.\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, and added in order. 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@@ -24,64 +125,109 @@ int Pwl::read(const libcamera::YamlObject ¶ms)\n \t\tauto x = it->get<double>();\n \t\tif (!x)\n \t\t\treturn -EINVAL;\n-\t\tif (it != list.begin() && *x <= points_.back().x)\n+\t\tif (it != list.begin() && *x <= points_.back().x())\n \t\t\treturn -EINVAL;\n \n \t\tauto y = (++it)->get<double>();\n \t\tif (!y)\n \t\t\treturn -EINVAL;\n \n-\t\tpoints_.push_back(Point(*x, *y));\n+\t\tpoints_.push_back(Point({ *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+\tif (points_.empty() || points_.back().x() + eps < x)\n+\t\tpoints_.push_back(Point({ 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+\tif (points_.empty() || points_.front().x() - eps > x)\n+\t\tpoints_.insert(points_.begin(), Point({ 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+\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+\tdouble lo = points_[0].y(), hi = lo;\n \tfor (auto &p : points_)\n-\t\tlo = std::min(lo, p.y), hi = std::max(hi, p.y);\n+\t\tlo = std::min(lo, p.y()), hi = std::max(hi, p.y());\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-double Pwl::eval(double x, int *spanPtr, bool updateSpan) const\n+/**\n+ * \\brief Evaluate the piecewise linear function\n+ * \\param[in] x The x value to input into the function\n+ * \\param[inout] span Initial guess for span\n+ * \\param[in] updateSpan Set to true to update span\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 *span, bool updateSpan) const\n {\n-\tint span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1);\n-\tif (spanPtr && updateSpan)\n-\t\t*spanPtr = span;\n-\treturn points_[span].y +\n-\t (x - points_[span].x) * (points_[span + 1].y - points_[span].y) /\n-\t\t (points_[span + 1].x - points_[span].x);\n+\tint index = findSpan(x, span && *span != -1\n+\t\t\t\t\t? *span\n+\t\t\t\t\t: points_.size() / 2 - 1);\n+\tif (span && updateSpan)\n+\t\t*span = index;\n+\treturn points_[index].y() +\n+\t (x - points_[index].x()) * (points_[index + 1].y() - points_[index].y()) /\n+\t\t (points_[index + 1].x() - points_[index].x());\n }\n \n int Pwl::findSpan(double x, int span) const\n {\n \t/*\n \t * Pwls are generally small, so linear search may well be faster than\n-\t * binary, though could review this if large PWls start turning up.\n+\t * binary, though could review this if large Pwls start turning up.\n \t */\n \tint lastSpan = points_.size() - 2;\n \t/*\n@@ -89,65 +235,43 @@ int Pwl::findSpan(double x, int span) const\n \t * control point\n \t */\n \tspan = std::max(0, std::min(lastSpan, span));\n-\twhile (span < lastSpan && x >= points_[span + 1].x)\n+\twhile (span < lastSpan && x >= points_[span + 1].x())\n \t\tspan++;\n-\twhile (span && x < points_[span].x)\n+\twhile (span && x < points_[span].x())\n \t\tspan--;\n \treturn span;\n }\n \n-Pwl::PerpType Pwl::invert(Point const &xy, Point &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\tdouble t = ((xy - points_[span]) % spanVec) / spanVec.len2();\n-\t\tif (t < -eps) /* off the start of this span */\n-\t\t{\n-\t\t\tif (span == 0) {\n-\t\t\t\tperp = points_[span];\n-\t\t\t\treturn PerpType::Start;\n-\t\t\t} else if (prevOffEnd) {\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\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\tperp = points_[span] + spanVec * t;\n-\t\t\treturn PerpType::Perpendicular;\n-\t\t}\n-\t}\n-\treturn PerpType::None;\n-}\n-\n-Pwl Pwl::inverse(bool *trueInverse, const double eps) const\n+/**\n+ * \\brief Compute the inverse function\n+ * \\param[in] eps Epsilon for the minimum x distance between points (optional)\n+ *\n+ * The output includes whether the resulting inverse function is a proper\n+ * (true) inverse, or only a best effort (e.g. input was non-monotonic).\n+ *\n+ * \\return A pair of the inverse piecewise linear function, and whether or not\n+ * the result is a proper/true inverse\n+ */\n+std::pair<Pwl, bool> Pwl::inverse(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-\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\tif (inverse.empty()) {\n+\t\t\tinverse.append(p.y(), p.x(), 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\tinverse.append(p.y, p.x, eps);\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} 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@@ -155,50 +279,58 @@ Pwl Pwl::inverse(bool *trueInverse, const double eps) const\n \t * onto both ends of the inverse, or if there were points that couldn't\n \t * go on either.\n \t */\n-\tif (trueInverse)\n-\t\t*trueInverse = !(neither || (appended && prepended));\n+\tbool trueInverse = !(neither || (appended && prepended));\n \n-\treturn inverse;\n+\treturn { inverse, trueInverse };\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+\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+\tPwl result({ Point({ 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\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 \t\t\t */\n-\t\t\tthisX = points_[thisSpan].x +\n-\t\t\t\t(other.points_[otherSpan + 1].x -\n-\t\t\t\t points_[thisSpan].y) *\n+\t\t\tthisX = points_[thisSpan].x() +\n+\t\t\t\t(other.points_[otherSpan + 1].x() -\n+\t\t\t\t points_[thisSpan].y()) *\n \t\t\t\t\tdx / dy;\n-\t\t\tthisY = other.points_[++otherSpan].x;\n+\t\t\tthisY = other.points_[++otherSpan].x();\n \t\t} else if (std::abs(dy) > eps && otherSpan > 0 &&\n-\t\t\t points_[thisSpan + 1].y <=\n-\t\t\t\t other.points_[otherSpan - 1].x - eps) {\n+\t\t\t points_[thisSpan + 1].y() <=\n+\t\t\t\t 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 previous span in other\n \t\t\t */\n-\t\t\tthisX = points_[thisSpan].x +\n-\t\t\t\t(other.points_[otherSpan + 1].x -\n-\t\t\t\t points_[thisSpan].y) *\n+\t\t\tthisX = points_[thisSpan].x() +\n+\t\t\t\t(other.points_[otherSpan + 1].x() -\n+\t\t\t\t points_[thisSpan].y()) *\n \t\t\t\t\tdx / dy;\n-\t\t\tthisY = other.points_[--otherSpan].x;\n+\t\t\tthisY = other.points_[--otherSpan].x();\n \t\t} else {\n \t\t\t/* we stay in the same span in other */\n \t\t\tthisSpan++;\n-\t\t\tthisX = points_[thisSpan].x,\n-\t\t\tthisY = points_[thisSpan].y;\n+\t\t\tthisX = points_[thisSpan].x(),\n+\t\t\tthisY = points_[thisSpan].y();\n \t\t}\n \t\tresult.append(thisX, other.eval(thisY, &otherSpan, false),\n \t\t\t eps);\n@@ -206,32 +338,47 @@ 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<void(double x, double y)> f) const\n {\n \tfor (auto &pt : points_)\n-\t\tf(pt.x, pt.y);\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<void(double x, double y0, double y1)> f)\n {\n \tint span0 = 0, span1 = 0;\n-\tdouble x = std::min(pwl0.points_[0].x, pwl1.points_[0].x);\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-\t\t\tx = pwl1.points_[++span1].x;\n+\t\t\tx = pwl1.points_[++span1].x();\n \t\telse if (span1 == (int)pwl1.points_.size() - 1)\n-\t\t\tx = pwl0.points_[++span0].x;\n-\t\telse if (pwl0.points_[span0 + 1].x > pwl1.points_[span1 + 1].x)\n-\t\t\tx = pwl1.points_[++span1].x;\n+\t\t\tx = pwl0.points_[++span0].x();\n+\t\telse if (pwl0.points_[span0 + 1].x() > pwl1.points_[span1 + 1].x())\n+\t\t\tx = pwl1.points_[++span1].x();\n \t\telse\n-\t\t\tx = pwl0.points_[++span0].x;\n+\t\t\tx = pwl0.points_[++span0].x();\n \t\tf(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false));\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<double(double x, double y0, double y1)> f,\n \t\t const double eps)\n@@ -243,27 +390,32 @@ 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-\tint span = 0;\n-\tprepend(domain.start, eval(clip ? points_[0].x : domain.start, &span),\n-\t\teps);\n-\tspan = points_.size() - 2;\n-\tappend(domain.end, eval(clip ? points_.back().x : domain.end, &span),\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-\t\tpt.y *= d;\n+\t\tpt[1] *= 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 7d5e7e4d3fda..a2cbad6c1597 100644\n--- a/src/ipa/libipa/pwl.h\n+++ b/src/ipa/libipa/pwl.h\n@@ -2,126 +2,87 @@\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 <algorithm>\n+#include <cmath>\n #include <functional>\n-#include <math.h>\n+#include <string>\n+#include <utility>\n #include <vector>\n \n+#include <libcamera/geometry.h>\n+\n #include \"libcamera/internal/yaml_parser.h\"\n \n-namespace RPiController {\n+#include \"vector.h\"\n+\n+namespace libcamera {\n+\n+namespace ipa {\n \n class Pwl\n {\n public:\n+\tusing Point = Vector<double, 2>;\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-\t\t{\n-\t\t\treturn value < start ? start\n-\t\t\t\t\t : (value > end ? end : value);\n-\t\t}\n-\t\tdouble len() const { return end - start; }\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+\n+\t\tdouble clamp(double value)\n \t\t{\n-\t\t\treturn x * p.x + y * p.y;\n+\t\t\treturn std::clamp(value, start, end);\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+\n+\t\tdouble length() const { return end - start; }\n+\n+\t\tdouble start, end;\n \t};\n+\n \tPwl() {}\n-\tPwl(std::vector<Point> const &points) : points_(points) {}\n-\tint read(const libcamera::YamlObject ¶ms);\n+\tPwl(const std::vector<Point> &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+\tbool empty() const;\n \tInterval domain() const;\n \tInterval range() const;\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-\tdouble eval(double x, int *spanPtr = nullptr,\n+\n+\tdouble eval(double x, int *span = 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-\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+\tstd::pair<Pwl, bool> inverse(const double eps = 1e-6) const;\n+\tPwl compose(const Pwl &other, const double eps = 1e-6) const;\n+\n \tvoid map(std::function<void(double x, double y)> 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-\tstatic void map2(Pwl const &pwl0, Pwl const &pwl1,\n-\t\t\t std::function<void(double x, double y0, double y1)> 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+\tcombine(const Pwl &pwl0, const Pwl &pwl1,\n \t\tstd::function<double(double x, double y0, double y1)> 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 \tPwl &operator*=(double d);\n-\tvoid debug(FILE *fp = stdout) const;\n+\n+\tstd::string toString() const;\n \n private:\n+\tvoid prepend(double x, double y, const double eps = 1e-6);\n+\tstatic void map2(const Pwl &pwl0, const Pwl &pwl1,\n+\t\t\t std::function<void(double x, double y0, double y1)> f);\n \tint findSpan(double x, int span) const;\n \tstd::vector<Point> points_;\n };\n \n-} /* namespace RPiController */\n+} /* namespace ipa */\n+\n+} /* namespace libcamera */\n", "prefixes": [ "v8", "3/4" ] }