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libcamera: ipa: Raspberry Pi IPA
Initial implementation of the Raspberry Pi (BCM2835) libcamera IPA and associated libraries. All code is licensed under the BSD-2-Clause terms. Copyright (c) 2019-2020 Raspberry Pi Trading Ltd. Signed-off-by: Naushir Patuck <naush@raspberrypi.com> Acked-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
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Naushir Patuck
Laurent Pinchart
parent
740fd1b62f
commit
0db2c8dc75
69 changed files with 8242 additions and 0 deletions
216
src/ipa/raspberrypi/controller/pwl.cpp
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src/ipa/raspberrypi/controller/pwl.cpp
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/* SPDX-License-Identifier: BSD-2-Clause */
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/*
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* Copyright (C) 2019, Raspberry Pi (Trading) Limited
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*
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* pwl.cpp - piecewise linear functions
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*/
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#include <cassert>
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#include <stdexcept>
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#include "pwl.hpp"
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using namespace RPi;
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void Pwl::Read(boost::property_tree::ptree const ¶ms)
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{
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for (auto it = params.begin(); it != params.end(); it++) {
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double x = it->second.get_value<double>();
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assert(it == params.begin() || x > points_.back().x);
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it++;
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double y = it->second.get_value<double>();
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points_.push_back(Point(x, y));
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}
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assert(points_.size() >= 2);
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}
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void Pwl::Append(double x, double y, const double eps)
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{
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if (points_.empty() || points_.back().x + eps < x)
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points_.push_back(Point(x, y));
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}
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void Pwl::Prepend(double x, double y, const double eps)
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{
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if (points_.empty() || points_.front().x - eps > x)
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points_.insert(points_.begin(), Point(x, y));
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}
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Pwl::Interval Pwl::Domain() const
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{
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return Interval(points_[0].x, points_[points_.size() - 1].x);
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}
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Pwl::Interval Pwl::Range() const
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{
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double lo = points_[0].y, hi = lo;
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for (auto &p : points_)
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lo = std::min(lo, p.y), hi = std::max(hi, p.y);
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return Interval(lo, hi);
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}
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bool Pwl::Empty() const
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{
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return points_.empty();
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}
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double Pwl::Eval(double x, int *span_ptr, bool update_span) const
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{
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int span = findSpan(x, span_ptr && *span_ptr != -1
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? *span_ptr
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: points_.size() / 2 - 1);
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if (span_ptr && update_span)
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*span_ptr = span;
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return points_[span].y +
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(x - points_[span].x) * (points_[span + 1].y - points_[span].y) /
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(points_[span + 1].x - points_[span].x);
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}
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int Pwl::findSpan(double x, int span) const
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{
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// Pwls are generally small, so linear search may well be faster than
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// binary, though could review this if large PWls start turning up.
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int last_span = points_.size() - 2;
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// some algorithms may call us with span pointing directly at the last
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// control point
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span = std::max(0, std::min(last_span, span));
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while (span < last_span && x >= points_[span + 1].x)
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span++;
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while (span && x < points_[span].x)
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span--;
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return span;
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}
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Pwl::PerpType Pwl::Invert(Point const &xy, Point &perp, int &span,
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const double eps) const
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{
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assert(span >= -1);
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bool prev_off_end = false;
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for (span = span + 1; span < (int)points_.size() - 1; span++) {
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Point span_vec = points_[span + 1] - points_[span];
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double t = ((xy - points_[span]) % span_vec) / span_vec.Len2();
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if (t < -eps) // off the start of this span
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{
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if (span == 0) {
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perp = points_[span];
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return PerpType::Start;
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} else if (prev_off_end) {
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perp = points_[span];
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return PerpType::Vertex;
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}
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} else if (t > 1 + eps) // off the end of this span
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{
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if (span == (int)points_.size() - 2) {
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perp = points_[span + 1];
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return PerpType::End;
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}
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prev_off_end = true;
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} else // a true perpendicular
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{
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perp = points_[span] + span_vec * t;
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return PerpType::Perpendicular;
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}
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}
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return PerpType::None;
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}
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Pwl Pwl::Compose(Pwl const &other, const double eps) const
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{
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double this_x = points_[0].x, this_y = points_[0].y;
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int this_span = 0, other_span = other.findSpan(this_y, 0);
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Pwl result({ { this_x, other.Eval(this_y, &other_span, false) } });
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while (this_span != (int)points_.size() - 1) {
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double dx = points_[this_span + 1].x - points_[this_span].x,
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dy = points_[this_span + 1].y - points_[this_span].y;
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if (abs(dy) > eps &&
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other_span + 1 < (int)other.points_.size() &&
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points_[this_span + 1].y >=
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other.points_[other_span + 1].x + eps) {
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// next control point in result will be where this
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// function's y reaches the next span in other
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this_x = points_[this_span].x +
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(other.points_[other_span + 1].x -
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points_[this_span].y) * dx / dy;
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this_y = other.points_[++other_span].x;
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} else if (abs(dy) > eps && other_span > 0 &&
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points_[this_span + 1].y <=
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other.points_[other_span - 1].x - eps) {
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// next control point in result will be where this
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// function's y reaches the previous span in other
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this_x = points_[this_span].x +
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(other.points_[other_span + 1].x -
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points_[this_span].y) * dx / dy;
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this_y = other.points_[--other_span].x;
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} else {
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// we stay in the same span in other
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this_span++;
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this_x = points_[this_span].x,
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this_y = points_[this_span].y;
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}
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result.Append(this_x, other.Eval(this_y, &other_span, false),
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eps);
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}
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return result;
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}
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void Pwl::Map(std::function<void(double x, double y)> f) const
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{
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for (auto &pt : points_)
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f(pt.x, pt.y);
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}
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void Pwl::Map2(Pwl const &pwl0, Pwl const &pwl1,
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std::function<void(double x, double y0, double y1)> f)
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{
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int span0 = 0, span1 = 0;
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double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x);
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f(x, pwl0.Eval(x, &span0, false), pwl1.Eval(x, &span1, false));
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while (span0 < (int)pwl0.points_.size() - 1 ||
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span1 < (int)pwl1.points_.size() - 1) {
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if (span0 == (int)pwl0.points_.size() - 1)
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x = pwl1.points_[++span1].x;
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else if (span1 == (int)pwl1.points_.size() - 1)
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x = pwl0.points_[++span0].x;
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else if (pwl0.points_[span0 + 1].x > pwl1.points_[span1 + 1].x)
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x = pwl1.points_[++span1].x;
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else
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x = pwl0.points_[++span0].x;
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f(x, pwl0.Eval(x, &span0, false), pwl1.Eval(x, &span1, false));
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}
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}
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Pwl Pwl::Combine(Pwl const &pwl0, Pwl const &pwl1,
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std::function<double(double x, double y0, double y1)> f,
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const double eps)
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{
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Pwl result;
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Map2(pwl0, pwl1, [&](double x, double y0, double y1) {
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result.Append(x, f(x, y0, y1), eps);
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});
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return result;
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}
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void Pwl::MatchDomain(Interval const &domain, bool clip, const double eps)
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{
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int span = 0;
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Prepend(domain.start, Eval(clip ? points_[0].x : domain.start, &span),
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eps);
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span = points_.size() - 2;
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Append(domain.end, Eval(clip ? points_.back().x : domain.end, &span),
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eps);
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}
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Pwl &Pwl::operator*=(double d)
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{
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for (auto &pt : points_)
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pt.y *= d;
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return *this;
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}
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void Pwl::Debug(FILE *fp) const
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{
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fprintf(fp, "Pwl {\n");
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for (auto &p : points_)
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fprintf(fp, "\t(%g, %g)\n", p.x, p.y);
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fprintf(fp, "}\n");
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}
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