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{
    "id": 20248,
    "url": "https://patchwork.libcamera.org/api/patches/20248/?format=api",
    "web_url": "https://patchwork.libcamera.org/patch/20248/",
    "project": {
        "id": 1,
        "url": "https://patchwork.libcamera.org/api/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": "<20240610141941.2947785-4-paul.elder@ideasonboard.com>",
    "date": "2024-06-10T14:19:40",
    "name": "[v7,3/4] ipa: libipa: pwl: Clean up Pwl class to match libcamera",
    "commit_ref": null,
    "pull_url": null,
    "state": "superseded",
    "archived": false,
    "hash": "0ab93d68ba06e67ed616bfc6353c9565a5ba9964",
    "submitter": {
        "id": 17,
        "url": "https://patchwork.libcamera.org/api/people/17/?format=api",
        "name": "Paul Elder",
        "email": "paul.elder@ideasonboard.com"
    },
    "delegate": null,
    "mbox": "https://patchwork.libcamera.org/patch/20248/mbox/",
    "series": [
        {
            "id": 4378,
            "url": "https://patchwork.libcamera.org/api/series/4378/?format=api",
            "web_url": "https://patchwork.libcamera.org/project/libcamera/list/?series=4378",
            "date": "2024-06-10T14:19:37",
            "name": "ipa: Move Pwl from Raspberry Pi to libipa",
            "version": 7,
            "mbox": "https://patchwork.libcamera.org/series/4378/mbox/"
        }
    ],
    "comments": "https://patchwork.libcamera.org/api/patches/20248/comments/",
    "check": "pending",
    "checks": "https://patchwork.libcamera.org/api/patches/20248/checks/",
    "tags": {},
    "headers": {
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        "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 v7 3/4] ipa: libipa: pwl: Clean up Pwl class to match\n\tlibcamera",
        "Date": "Mon, 10 Jun 2024 23:19:40 +0900",
        "Message-Id": "<20240610141941.2947785-4-paul.elder@ideasonboard.com>",
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        "In-Reply-To": "<20240610141941.2947785-1-paul.elder@ideasonboard.com>",
        "References": "<20240610141941.2947785-1-paul.elder@ideasonboard.com>",
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        "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---\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     | 365 +++++++++++++++++++++++++++++--------\n src/ipa/libipa/pwl.h       | 123 +++++--------\n 3 files changed, 344 insertions(+), 146 deletions(-)",
    "diff": "diff --git a/src/ipa/libipa/meson.build b/src/ipa/libipa/meson.build\nindex 7ce885da7b99..8ec9c7847348 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 ])\n \n libipa_sources = files([\n@@ -18,6 +19,7 @@ libipa_sources = files([\n     'fc_queue.cpp',\n     'histogram.cpp',\n     'module.cpp',\n+    'pwl.cpp',\n ])\n \n libipa_includes = include_directories('..')\ndiff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp\nindex e39123767aa6..8f8ee17e84e4 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 \"pwl.h\"\n+\n #include <cassert>\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 real space\n+ */\n+\n+/**\n+ * \\typedef Pwl::PointF\n+ * \\brief Describe a point in two-dimensional real space\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-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 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::len\n+ * \\brief Compute the length of the interval\n+ */\n \n-int Pwl::read(const libcamera::YamlObject &params)\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+ * \\fn Pwl::Pwl(std::vector<PointF> 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 &params)\n {\n \tif (!params.size() || params.size() % 2)\n \t\treturn -EINVAL;\n@@ -24,64 +125,109 @@ int Pwl::read(const libcamera::YamlObject &params)\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(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+\tif (points_.empty() || points_.back().x() + eps < x)\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+\tif (points_.empty() || points_.front().x() - eps > x)\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+\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+/**\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+\tint span = findSpan(x, spanPtr && *spanPtr != -1\n+\t\t\t\t\t? *spanPtr\n+\t\t\t\t\t: 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+\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 }\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@@ -89,23 +235,36 @@ 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+/**\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 left of the point 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\tdouble t = ((xy - points_[span]) % spanVec) / spanVec.len2();\n-\t\tif (t < -eps) /* off the start of this span */\n-\t\t{\n+\t\tPointF spanVec = points_[span + 1] - points_[span];\n+\t\tdouble t = ((xy - points_[span]) * spanVec) / spanVec.len2();\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 +272,15 @@ 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 +288,36 @@ 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-\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+\tfor (PointF const &p : points_) {\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@@ -161,44 +331,53 @@ 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+\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({ PointF({ 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 +385,47 @@ 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 +437,54 @@ 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+\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+\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..c73693341583 100644\n--- a/src/ipa/libipa/pwl.h\n+++ b/src/ipa/libipa/pwl.h\n@@ -2,126 +2,101 @@\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 <functional>\n #include <math.h>\n+#include <string>\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 PointF = Vector<double, 2>;\n+\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<Point> const &points) : points_(points) {}\n-\tint read(const libcamera::YamlObject &params);\n+\tPwl(std::vector<PointF> const &points)\n+\t\t: points_(points) {}\n+\tint readYaml(const libcamera::YamlObject &params);\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<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+\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 \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+\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<Point> points_;\n+\tstd::vector<PointF> points_;\n };\n \n-} /* namespace RPiController */\n+} /* namespace ipa */\n+\n+} /* namespace libcamera */\n",
    "prefixes": [
        "v7",
        "3/4"
    ]
}