[{"id":32272,"web_url":"https://patchwork.libcamera.org/comment/32272/","msgid":"<20241119110709.GI31681@pendragon.ideasonboard.com>","date":"2024-11-19T11:07:09","subject":"Re: [PATCH v2 2/9] libcamera: Copy Matrix class from libipa to\n\tlibcamera","submitter":{"id":2,"url":"https://patchwork.libcamera.org/api/people/2/","name":"Laurent Pinchart","email":"laurent.pinchart@ideasonboard.com"},"content":"Hi Stefan,\n\nThank you for the patch.\n\nOn Tue, Nov 19, 2024 at 11:37:29AM +0100, Stefan Klug wrote:\n> In preparation to moving the matrix implementation from libipa to\n> libcamera copy the corresponding files to the new location. The files\n> are copied without modification to make upcoming integration changes\n> easier to see. The new files are not included in the build and therefore\n> have no negative side effects on the build.\n> \n> Signed-off-by: Stefan Klug <stefan.klug@ideasonboard.com>\n\nReviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>\n\n> ---\n>  include/libcamera/internal/matrix.h | 203 ++++++++++++++++++++++++++++\n>  src/libcamera/matrix.cpp            | 149 ++++++++++++++++++++\n>  2 files changed, 352 insertions(+)\n>  create mode 100644 include/libcamera/internal/matrix.h\n>  create mode 100644 src/libcamera/matrix.cpp\n> \n> diff --git a/include/libcamera/internal/matrix.h b/include/libcamera/internal/matrix.h\n> new file mode 100644\n> index 000000000000..5471e6975b74\n> --- /dev/null\n> +++ b/include/libcamera/internal/matrix.h\n> @@ -0,0 +1,203 @@\n> +/* SPDX-License-Identifier: LGPL-2.1-or-later */\n> +/*\n> + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com>\n> + *\n> + * Matrix and related operations\n> + */\n> +#pragma once\n> +\n> +#include <algorithm>\n> +#include <sstream>\n> +#include <vector>\n> +\n> +#include <libcamera/base/log.h>\n> +#include <libcamera/base/span.h>\n> +\n> +#include \"libcamera/internal/yaml_parser.h\"\n> +\n> +namespace libcamera {\n> +\n> +LOG_DECLARE_CATEGORY(Matrix)\n> +\n> +namespace ipa {\n> +\n> +#ifndef __DOXYGEN__\n> +template<typename T, unsigned int Rows, unsigned int Cols,\n> +\t std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>\n> +#else\n> +template<typename T, unsigned int Rows, unsigned int Cols>\n> +#endif /* __DOXYGEN__ */\n> +class Matrix\n> +{\n> +public:\n> +\tMatrix()\n> +\t{\n> +\t\tdata_.fill(static_cast<T>(0));\n> +\t}\n> +\n> +\tMatrix(const std::vector<T> &data)\n> +\t{\n> +\t\tstd::copy(data.begin(), data.end(), data_.begin());\n> +\t}\n> +\n> +\tstatic Matrix identity()\n> +\t{\n> +\t\tMatrix ret;\n> +\t\tfor (size_t i = 0; i < std::min(Rows, Cols); i++)\n> +\t\t\tret[i][i] = static_cast<T>(1);\n> +\t\treturn ret;\n> +\t}\n> +\n> +\t~Matrix() = default;\n> +\n> +\tconst std::string toString() const\n> +\t{\n> +\t\tstd::stringstream out;\n> +\n> +\t\tout << \"Matrix { \";\n> +\t\tfor (unsigned int i = 0; i < Rows; i++) {\n> +\t\t\tout << \"[ \";\n> +\t\t\tfor (unsigned int j = 0; j < Cols; j++) {\n> +\t\t\t\tout << (*this)[i][j];\n> +\t\t\t\tout << ((j + 1 < Cols) ? \", \" : \" \");\n> +\t\t\t}\n> +\t\t\tout << ((i + 1 < Rows) ? \"], \" : \"]\");\n> +\t\t}\n> +\t\tout << \" }\";\n> +\n> +\t\treturn out.str();\n> +\t}\n> +\n> +\tSpan<const T, Cols> operator[](size_t i) const\n> +\t{\n> +\t\treturn Span<const T, Cols>{ &data_.data()[i * Cols], Cols };\n> +\t}\n> +\n> +\tSpan<T, Cols> operator[](size_t i)\n> +\t{\n> +\t\treturn Span<T, Cols>{ &data_.data()[i * Cols], Cols };\n> +\t}\n> +\n> +#ifndef __DOXYGEN__\n> +\ttemplate<typename U, std::enable_if_t<std::is_arithmetic_v<U>>>\n> +#else\n> +\ttemplate<typename U>\n> +#endif /* __DOXYGEN__ */\n> +\tMatrix<T, Rows, Cols> &operator*=(U d)\n> +\t{\n> +\t\tfor (unsigned int i = 0; i < Rows * Cols; i++)\n> +\t\t\tdata_[i] *= d;\n> +\t\treturn *this;\n> +\t}\n> +\n> +private:\n> +\tstd::array<T, Rows * Cols> data_;\n> +};\n> +\n> +#ifndef __DOXYGEN__\n> +template<typename T, typename U, unsigned int Rows, unsigned int Cols,\n> +\t std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>\n> +#else\n> +template<typename T, typename U, unsigned int Rows, unsigned int Cols>\n> +#endif /* __DOXYGEN__ */\n> +Matrix<U, Rows, Cols> operator*(T d, const Matrix<U, Rows, Cols> &m)\n> +{\n> +\tMatrix<U, Rows, Cols> result;\n> +\n> +\tfor (unsigned int i = 0; i < Rows; i++) {\n> +\t\tfor (unsigned int j = 0; j < Cols; j++)\n> +\t\t\tresult[i][j] = d * m[i][j];\n> +\t}\n> +\n> +\treturn result;\n> +}\n> +\n> +#ifndef __DOXYGEN__\n> +template<typename T, typename U, unsigned int Rows, unsigned int Cols,\n> +\t std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>\n> +#else\n> +template<typename T, typename U, unsigned int Rows, unsigned int Cols>\n> +#endif /* __DOXYGEN__ */\n> +Matrix<U, Rows, Cols> operator*(const Matrix<U, Rows, Cols> &m, T d)\n> +{\n> +\treturn d * m;\n> +}\n> +\n> +#ifndef __DOXYGEN__\n> +template<typename T,\n> +\t unsigned int R1, unsigned int C1,\n> +\t unsigned int R2, unsigned int C2,\n> +\t std::enable_if_t<C1 == R2> * = nullptr>\n> +#else\n> +template<typename T, unsigned int R1, unsigned int C1, unsigned int R2, unsigned in C2>\n> +#endif /* __DOXYGEN__ */\n> +Matrix<T, R1, C2> operator*(const Matrix<T, R1, C1> &m1, const Matrix<T, R2, C2> &m2)\n> +{\n> +\tMatrix<T, R1, C2> result;\n> +\n> +\tfor (unsigned int i = 0; i < R1; i++) {\n> +\t\tfor (unsigned int j = 0; j < C2; j++) {\n> +\t\t\tT sum = 0;\n> +\n> +\t\t\tfor (unsigned int k = 0; k < C1; k++)\n> +\t\t\t\tsum += m1[i][k] * m2[k][j];\n> +\n> +\t\t\tresult[i][j] = sum;\n> +\t\t}\n> +\t}\n> +\n> +\treturn result;\n> +}\n> +\n> +template<typename T, unsigned int Rows, unsigned int Cols>\n> +Matrix<T, Rows, Cols> operator+(const Matrix<T, Rows, Cols> &m1, const Matrix<T, Rows, Cols> &m2)\n> +{\n> +\tMatrix<T, Rows, Cols> result;\n> +\n> +\tfor (unsigned int i = 0; i < Rows; i++) {\n> +\t\tfor (unsigned int j = 0; j < Cols; j++)\n> +\t\t\tresult[i][j] = m1[i][j] + m2[i][j];\n> +\t}\n> +\n> +\treturn result;\n> +}\n> +\n> +#ifndef __DOXYGEN__\n> +bool matrixValidateYaml(const YamlObject &obj, unsigned int size);\n> +#endif /* __DOXYGEN__ */\n> +\n> +} /* namespace ipa */\n> +\n> +#ifndef __DOXYGEN__\n> +template<typename T, unsigned int Rows, unsigned int Cols>\n> +std::ostream &operator<<(std::ostream &out, const ipa::Matrix<T, Rows, Cols> &m)\n> +{\n> +\tout << m.toString();\n> +\treturn out;\n> +}\n> +\n> +template<typename T, unsigned int Rows, unsigned int Cols>\n> +struct YamlObject::Getter<ipa::Matrix<T, Rows, Cols>> {\n> +\tstd::optional<ipa::Matrix<T, Rows, Cols>> get(const YamlObject &obj) const\n> +\t{\n> +\t\tif (!ipa::matrixValidateYaml(obj, Rows * Cols))\n> +\t\t\treturn std::nullopt;\n> +\n> +\t\tipa::Matrix<T, Rows, Cols> matrix;\n> +\t\tT *data = &matrix[0][0];\n> +\n> +\t\tunsigned int i = 0;\n> +\t\tfor (const YamlObject &entry : obj.asList()) {\n> +\t\t\tconst auto value = entry.get<T>();\n> +\t\t\tif (!value)\n> +\t\t\t\treturn std::nullopt;\n> +\n> +\t\t\tdata[i++] = *value;\n> +\t\t}\n> +\n> +\t\treturn matrix;\n> +\t}\n> +};\n> +#endif /* __DOXYGEN__ */\n> +\n> +} /* namespace libcamera */\n> diff --git a/src/libcamera/matrix.cpp b/src/libcamera/matrix.cpp\n> new file mode 100644\n> index 000000000000..8346f0d34160\n> --- /dev/null\n> +++ b/src/libcamera/matrix.cpp\n> @@ -0,0 +1,149 @@\n> +/* SPDX-License-Identifier: LGPL-2.1-or-later */\n> +/*\n> + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com>\n> + *\n> + * Matrix and related operations\n> + */\n> +\n> +#include \"matrix.h\"\n> +\n> +#include <libcamera/base/log.h>\n> +\n> +/**\n> + * \\file matrix.h\n> + * \\brief Matrix class\n> + */\n> +\n> +namespace libcamera {\n> +\n> +LOG_DEFINE_CATEGORY(Matrix)\n> +\n> +namespace ipa {\n> +\n> +/**\n> + * \\class Matrix\n> + * \\brief Matrix class\n> + * \\tparam T Type of numerical values to be stored in the matrix\n> + * \\tparam Rows Number of rows in the matrix\n> + * \\tparam Cols Number of columns in the matrix\n> + */\n> +\n> +/**\n> + * \\fn Matrix::Matrix()\n> + * \\brief Construct a zero matrix\n> + */\n> +\n> +/**\n> + * \\fn Matrix::Matrix(const std::vector<T> &data)\n> + * \\brief Construct a matrix from supplied data\n> + * \\param[in] data Data from which to construct a matrix\n> + *\n> + * \\a data is a one-dimensional vector and will be turned into a matrix in\n> + * row-major order. The size of \\a data must be equal to the product of the\n> + * number of rows and columns of the matrix (Rows x Cols).\n> + */\n> +\n> +/**\n> + * \\fn Matrix::identity()\n> + * \\brief Construct an identity matrix\n> + */\n> +\n> +/**\n> + * \\fn Matrix::toString()\n> + * \\brief Assemble and return a string describing the matrix\n> + * \\return A string describing the matrix\n> + */\n> +\n> +/**\n> + * \\fn Span<const T, Cols> Matrix::operator[](size_t i) const\n> + * \\brief Index to a row in the matrix\n> + * \\param[in] i Index of row to retrieve\n> + *\n> + * This operator[] returns a Span, which can then be indexed into again with\n> + * another operator[], allowing a convenient m[i][j] to access elements of the\n> + * matrix. Note that the lifetime of the Span returned by this first-level\n> + * operator[] is bound to that of the Matrix itself, so it is not recommended\n> + * to save the Span that is the result of this operator[].\n> + *\n> + * \\return Row \\a i from the matrix, as a Span\n> + */\n> +\n> +/**\n> + * \\fn Matrix::operator[](size_t i)\n> + * \\copydoc Matrix::operator[](size_t i) const\n> + */\n> +\n> +/**\n> + * \\fn Matrix<T, Rows, Cols> &Matrix::operator*=(U d)\n> + * \\brief Multiply the matrix by a scalar in-place\n> + * \\tparam U Type of the numerical scalar value\n> + * \\param d The scalar multiplier\n> + * \\return Product of this matrix and scalar \\a d\n> + */\n> +\n> +/**\n> + * \\fn Matrix::Matrix<U, Rows, Cols> operator*(T d, const Matrix<U, Rows, Cols> &m)\n> + * \\brief Multiply the matrix by a scalar\n> + * \\tparam T Type of the numerical scalar value\n> + * \\tparam U Type of numerical values in the matrix\n> + * \\tparam Rows Number of rows in the matrix\n> + * \\tparam Cols Number of columns in the matrix\n> + * \\param d The scalar multiplier\n> + * \\param m The matrix\n> + * \\return Product of scalar \\a d and matrix \\a m\n> + */\n> +\n> +/**\n> + * \\fn Matrix::Matrix<U, Rows, Cols> operator*(const Matrix<U, Rows, Cols> &m, T d)\n> + * \\copydoc operator*(T d, const Matrix<U, Rows, Cols> &m)\n> + */\n> +\n> +/**\n> + * \\fn Matrix<T, R1, C2> operator*(const Matrix<T, R1, C1> &m1, const Matrix<T, R2, C2> &m2)\n> + * \\brief Matrix multiplication\n> + * \\tparam T Type of numerical values in the matrices\n> + * \\tparam R1 Number of rows in the first matrix\n> + * \\tparam C1 Number of columns in the first matrix\n> + * \\tparam R2 Number of rows in the second matrix\n> + * \\tparam C2 Number of columns in the second matrix\n> + * \\param m1 Multiplicand matrix\n> + * \\param m2 Multiplier matrix\n> + * \\return Matrix product of matrices \\a m1 and \\a m2\n> + */\n> +\n> +/**\n> + * \\fn Matrix<T, Rows, Cols> operator+(const Matrix<T, Rows, Cols> &m1, const Matrix<T, Rows, Cols> &m2)\n> + * \\brief Matrix addition\n> + * \\tparam T Type of numerical values in the matrices\n> + * \\tparam Rows Number of rows in the matrices\n> + * \\tparam Cols Number of columns in the matrices\n> + * \\param m1 Summand matrix\n> + * \\param m2 Summand matrix\n> + * \\return Matrix sum of matrices \\a m1 and \\a m2\n> + */\n> +\n> +#ifndef __DOXYGEN__\n> +/*\n> + * The YAML data shall be a list of numerical values. Its size shall be equal\n> + * to the product of the number of rows and columns of the matrix (Rows x\n> + * Cols). The values shall be stored in row-major order.\n> + */\n> +bool matrixValidateYaml(const YamlObject &obj, unsigned int size)\n> +{\n> +\tif (!obj.isList())\n> +\t\treturn false;\n> +\n> +\tif (obj.size() != size) {\n> +\t\tLOG(Matrix, Error)\n> +\t\t\t<< \"Wrong number of values in matrix: expected \"\n> +\t\t\t<< size << \", got \" << obj.size();\n> +\t\treturn false;\n> +\t}\n> +\n> +\treturn true;\n> +}\n> +#endif /* __DOXYGEN__ */\n> +\n> +} /* namespace ipa */\n> +\n> +} /* namespace libcamera */","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 90442C326B\n\tfor <parsemail@patchwork.libcamera.org>;\n\tTue, 19 Nov 2024 11:07:23 +0000 (UTC)","from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 5169665F02;\n\tTue, 19 Nov 2024 12:07:22 +0100 (CET)","from perceval.ideasonboard.com (perceval.ideasonboard.com\n\t[213.167.242.64])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id D9B5665EE4\n\tfor <libcamera-devel@lists.libcamera.org>;\n\tTue, 19 Nov 2024 12:07:20 +0100 (CET)","from pendragon.ideasonboard.com (81-175-209-231.bb.dnainternet.fi\n\t[81.175.209.231])\n\tby perceval.ideasonboard.com (Postfix) with ESMTPSA id 2CAA13A2;\n\tTue, 19 Nov 2024 12:07:02 +0100 (CET)"],"Authentication-Results":"lancelot.ideasonboard.com; dkim=pass (1024-bit key;\n\tunprotected) header.d=ideasonboard.com header.i=@ideasonboard.com\n\theader.b=\"OmId4rmz\"; dkim-atps=neutral","DKIM-Signature":"v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com;\n\ts=mail; t=1732014422;\n\tbh=v8bCo7CP1/JvYyohLH/wAk9UexZYs5nmnIg08jejrrU=;\n\th=Date:From:To:Cc:Subject:References:In-Reply-To:From;\n\tb=OmId4rmzfehhN6/LHMcRsgVuwRnrp/fDGr1A82rn0ZM+k/FBAuiTuLBxGq1D/5a95\n\t5lkU9rgL3igEZTi8pWpQS0Jgon3ayuSYzAr5CPI4dI3lkH6xHiVLQgYnxWLHd8t+Jt\n\tu/NNB47okYVnMSFYfqrZ4bcNXjuOShwFPRakCdDo=","Date":"Tue, 19 Nov 2024 13:07:09 +0200","From":"Laurent Pinchart <laurent.pinchart@ideasonboard.com>","To":"Stefan Klug <stefan.klug@ideasonboard.com>","Cc":"libcamera-devel@lists.libcamera.org","Subject":"Re: [PATCH v2 2/9] libcamera: Copy Matrix class from libipa to\n\tlibcamera","Message-ID":"<20241119110709.GI31681@pendragon.ideasonboard.com>","References":"<20241119103740.1919807-1-stefan.klug@ideasonboard.com>\n\t<20241119103740.1919807-3-stefan.klug@ideasonboard.com>","MIME-Version":"1.0","Content-Type":"text/plain; charset=utf-8","Content-Disposition":"inline","In-Reply-To":"<20241119103740.1919807-3-stefan.klug@ideasonboard.com>","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>"}}]