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>

src/ipa/raspberrypi/controller/pwl.hpp

@@ -0,0 +1,109 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi (Trading) Limited
+ *
+ * pwl.hpp - piecewise linear functions interface
+ */
+#pragma once
+
+#include <math.h>
+#include <vector>
+
+#include <boost/property_tree/ptree.hpp>
+
+namespace RPi {
+
+class Pwl
+{
+public:
+	struct Interval {
+		Interval(double _start, double _end) : start(_start), end(_end)
+		{
+		}
+		double start, end;
+		bool Contains(double value)
+		{
+			return value >= start && value <= end;
+		}
+		double Clip(double value)
+		{
+			return value < start ? start
+					     : (value > end ? end : value);
+		}
+		double Len() const { return end - start; }
+	};
+	struct Point {
+		Point() : x(0), y(0) {}
+		Point(double _x, double _y) : x(_x), y(_y) {}
+		double x, y;
+		Point operator-(Point const &p) const
+		{
+			return Point(x - p.x, y - p.y);
+		}
+		Point operator+(Point const &p) const
+		{
+			return Point(x + p.x, y + p.y);
+		}
+		double operator%(Point const &p) const
+		{
+			return x * p.x + y * p.y;
+		}
+		Point operator*(double f) const { return Point(x * f, y * f); }
+		Point operator/(double f) const { return Point(x / f, y / f); }
+		double Len2() const { return x * x + y * y; }
+		double Len() const { return sqrt(Len2()); }
+	};
+	Pwl() {}
+	Pwl(std::vector<Point> const &points) : points_(points) {}
+	void Read(boost::property_tree::ptree const &params);
+	void Append(double x, double y, const double eps = 1e-6);
+	void Prepend(double x, double y, const double eps = 1e-6);
+	Interval Domain() const;
+	Interval Range() const;
+	bool Empty() const;
+	// Evaluate Pwl, optionally supplying an initial guess for the
+	// "span". The "span" may be optionally be updated.  If you want to know
+	// the "span" value but don't have an initial guess you can set it to
+	// -1.
+	double Eval(double x, int *span_ptr = nullptr,
+		    bool update_span = true) const;
+	// Find perpendicular closest to xy, starting from span+1 so you can
+	// call it repeatedly to check for multiple closest points (set span to
+	// -1 on the first call). Also returns "pseudo" perpendiculars; see
+	// PerpType enum.
+	enum class PerpType {
+		None, // no perpendicular found
+		Start, // start of Pwl is closest point
+		End, // end of Pwl is closest point
+		Vertex, // vertex of Pwl is closest point
+		Perpendicular // true perpendicular found
+	};
+	PerpType Invert(Point const &xy, Point &perp, int &span,
+			const double eps = 1e-6) const;
+	// Compose two Pwls together, doing "this" first and "other" after.
+	Pwl Compose(Pwl const &other, const double eps = 1e-6) const;
+	// Apply function to (x,y) values at every control point.
+	void Map(std::function<void(double x, double y)> f) const;
+	// Apply function to (x, y0, y1) values wherever either Pwl has a
+	// control point.
+	static void Map2(Pwl const &pwl0, Pwl const &pwl1,
+			 std::function<void(double x, double y0, double y1)> f);
+	// Combine two Pwls, meaning we create a new Pwl where the y values are
+	// given by running f wherever either has a knot.
+	static Pwl
+	Combine(Pwl const &pwl0, Pwl const &pwl1,
+		std::function<double(double x, double y0, double y1)> f,
+		const double eps = 1e-6);
+	// Make "this" match (at least) the given domain. Any extension my be
+	// clipped or linear.
+	void MatchDomain(Interval const &domain, bool clip = true,
+			 const double eps = 1e-6);
+	Pwl &operator*=(double d);
+	void Debug(FILE *fp = stdout) const;
+
+private:
+	int findSpan(double x, int span) const;
+	std::vector<Point> points_;
+};
+
+} // namespace RPi