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libcamera: Copy Vector class files from libipa
Prepare the move of the Vector class from libipa to libcamera by copying the relevant files into the corresponding libcamera directories. The files are copied without modification. Signed-off-by: Stefan Klug <stefan.klug@ideasonboard.com> Acked-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
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Stefan Klug
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bea2db5e61
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3 changed files with 821 additions and 0 deletions
370
include/libcamera/internal/vector.h
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370
include/libcamera/internal/vector.h
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/* SPDX-License-Identifier: LGPL-2.1-or-later */
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/*
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* Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com>
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*
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* Vector and related operations
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*/
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#pragma once
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#include <algorithm>
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#include <array>
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#include <cmath>
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#include <functional>
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#include <numeric>
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#include <optional>
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#include <ostream>
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#include <libcamera/base/log.h>
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#include <libcamera/base/span.h>
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#include "libcamera/internal/matrix.h"
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#include "libcamera/internal/yaml_parser.h"
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namespace libcamera {
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LOG_DECLARE_CATEGORY(Vector)
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namespace ipa {
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#ifndef __DOXYGEN__
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template<typename T, unsigned int Rows,
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std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr>
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#else
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template<typename T, unsigned int Rows>
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#endif /* __DOXYGEN__ */
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class Vector
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{
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public:
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constexpr Vector() = default;
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constexpr explicit Vector(T scalar)
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{
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data_.fill(scalar);
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}
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constexpr Vector(const std::array<T, Rows> &data)
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{
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for (unsigned int i = 0; i < Rows; i++)
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data_[i] = data[i];
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}
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const T &operator[](size_t i) const
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{
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ASSERT(i < data_.size());
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return data_[i];
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}
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T &operator[](size_t i)
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{
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ASSERT(i < data_.size());
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return data_[i];
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}
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constexpr Vector<T, Rows> operator-() const
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{
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Vector<T, Rows> ret;
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for (unsigned int i = 0; i < Rows; i++)
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ret[i] = -data_[i];
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return ret;
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}
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constexpr Vector operator+(const Vector &other) const
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{
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return apply(*this, other, std::plus<>{});
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}
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constexpr Vector operator+(T scalar) const
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{
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return apply(*this, scalar, std::plus<>{});
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}
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constexpr Vector operator-(const Vector &other) const
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{
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return apply(*this, other, std::minus<>{});
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}
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constexpr Vector operator-(T scalar) const
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{
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return apply(*this, scalar, std::minus<>{});
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}
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constexpr Vector operator*(const Vector &other) const
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{
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return apply(*this, other, std::multiplies<>{});
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}
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constexpr Vector operator*(T scalar) const
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{
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return apply(*this, scalar, std::multiplies<>{});
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}
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constexpr Vector operator/(const Vector &other) const
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{
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return apply(*this, other, std::divides<>{});
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}
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constexpr Vector operator/(T scalar) const
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{
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return apply(*this, scalar, std::divides<>{});
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}
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Vector &operator+=(const Vector &other)
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{
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return apply(other, [](T a, T b) { return a + b; });
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}
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Vector &operator+=(T scalar)
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{
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return apply(scalar, [](T a, T b) { return a + b; });
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}
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Vector &operator-=(const Vector &other)
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{
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return apply(other, [](T a, T b) { return a - b; });
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}
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Vector &operator-=(T scalar)
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{
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return apply(scalar, [](T a, T b) { return a - b; });
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}
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Vector &operator*=(const Vector &other)
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{
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return apply(other, [](T a, T b) { return a * b; });
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}
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Vector &operator*=(T scalar)
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{
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return apply(scalar, [](T a, T b) { return a * b; });
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}
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Vector &operator/=(const Vector &other)
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{
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return apply(other, [](T a, T b) { return a / b; });
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}
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Vector &operator/=(T scalar)
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{
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return apply(scalar, [](T a, T b) { return a / b; });
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}
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constexpr Vector min(const Vector &other) const
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{
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return apply(*this, other, [](T a, T b) { return std::min(a, b); });
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}
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constexpr Vector min(T scalar) const
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{
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return apply(*this, scalar, [](T a, T b) { return std::min(a, b); });
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}
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constexpr Vector max(const Vector &other) const
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{
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return apply(*this, other, [](T a, T b) { return std::max(a, b); });
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}
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constexpr Vector max(T scalar) const
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{
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return apply(*this, scalar, [](T a, T b) -> T { return std::max(a, b); });
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}
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constexpr T dot(const Vector<T, Rows> &other) const
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{
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T ret = 0;
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for (unsigned int i = 0; i < Rows; i++)
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ret += data_[i] * other[i];
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return ret;
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}
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
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#endif /* __DOXYGEN__ */
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constexpr const T &x() const { return data_[0]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
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#endif /* __DOXYGEN__ */
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constexpr const T &y() const { return data_[1]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
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#endif /* __DOXYGEN__ */
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constexpr const T &z() const { return data_[2]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
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#endif /* __DOXYGEN__ */
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constexpr T &x() { return data_[0]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
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#endif /* __DOXYGEN__ */
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constexpr T &y() { return data_[1]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
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#endif /* __DOXYGEN__ */
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constexpr T &z() { return data_[2]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
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#endif /* __DOXYGEN__ */
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constexpr const T &r() const { return data_[0]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
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#endif /* __DOXYGEN__ */
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constexpr const T &g() const { return data_[1]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
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#endif /* __DOXYGEN__ */
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constexpr const T &b() const { return data_[2]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>>
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#endif /* __DOXYGEN__ */
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constexpr T &r() { return data_[0]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>>
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#endif /* __DOXYGEN__ */
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constexpr T &g() { return data_[1]; }
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#ifndef __DOXYGEN__
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template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>>
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#endif /* __DOXYGEN__ */
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constexpr T &b() { return data_[2]; }
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constexpr double length2() const
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{
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double ret = 0;
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for (unsigned int i = 0; i < Rows; i++)
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ret += data_[i] * data_[i];
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return ret;
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}
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constexpr double length() const
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{
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return std::sqrt(length2());
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}
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template<typename R = T>
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constexpr R sum() const
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{
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return std::accumulate(data_.begin(), data_.end(), R{});
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}
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private:
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template<class BinaryOp>
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static constexpr Vector apply(const Vector &lhs, const Vector &rhs, BinaryOp op)
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{
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Vector result;
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std::transform(lhs.data_.begin(), lhs.data_.end(),
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rhs.data_.begin(), result.data_.begin(),
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op);
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return result;
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}
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template<class BinaryOp>
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static constexpr Vector apply(const Vector &lhs, T rhs, BinaryOp op)
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{
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Vector result;
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std::transform(lhs.data_.begin(), lhs.data_.end(),
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result.data_.begin(),
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[&op, rhs](T v) { return op(v, rhs); });
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return result;
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}
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template<class BinaryOp>
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Vector &apply(const Vector &other, BinaryOp op)
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{
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auto itOther = other.data_.begin();
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std::for_each(data_.begin(), data_.end(),
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[&op, &itOther](T &v) { v = op(v, *itOther++); });
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return *this;
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}
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template<class BinaryOp>
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Vector &apply(T scalar, BinaryOp op)
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{
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std::for_each(data_.begin(), data_.end(),
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[&op, scalar](T &v) { v = op(v, scalar); });
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return *this;
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}
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std::array<T, Rows> data_;
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};
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template<typename T>
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using RGB = Vector<T, 3>;
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template<typename T, unsigned int Rows, unsigned int Cols>
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Vector<T, Rows> operator*(const Matrix<T, Rows, Cols> &m, const Vector<T, Cols> &v)
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{
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Vector<T, Rows> result;
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for (unsigned int i = 0; i < Rows; i++) {
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T sum = 0;
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for (unsigned int j = 0; j < Cols; j++)
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sum += m[i][j] * v[j];
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result[i] = sum;
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}
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return result;
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}
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template<typename T, unsigned int Rows>
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bool operator==(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs)
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{
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for (unsigned int i = 0; i < Rows; i++) {
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if (lhs[i] != rhs[i])
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return false;
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}
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return true;
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}
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template<typename T, unsigned int Rows>
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bool operator!=(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs)
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{
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return !(lhs == rhs);
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}
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#ifndef __DOXYGEN__
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bool vectorValidateYaml(const YamlObject &obj, unsigned int size);
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#endif /* __DOXYGEN__ */
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} /* namespace ipa */
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#ifndef __DOXYGEN__
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template<typename T, unsigned int Rows>
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std::ostream &operator<<(std::ostream &out, const ipa::Vector<T, Rows> &v)
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{
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out << "Vector { ";
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for (unsigned int i = 0; i < Rows; i++) {
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out << v[i];
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out << ((i + 1 < Rows) ? ", " : " ");
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}
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out << " }";
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return out;
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}
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template<typename T, unsigned int Rows>
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struct YamlObject::Getter<ipa::Vector<T, Rows>> {
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std::optional<ipa::Vector<T, Rows>> get(const YamlObject &obj) const
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{
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if (!ipa::vectorValidateYaml(obj, Rows))
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return std::nullopt;
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ipa::Vector<T, Rows> vector;
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unsigned int i = 0;
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for (const YamlObject &entry : obj.asList()) {
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const auto value = entry.get<T>();
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if (!value)
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return std::nullopt;
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vector[i++] = *value;
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}
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return vector;
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}
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};
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#endif /* __DOXYGEN__ */
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} /* namespace libcamera */
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