[libcamera-devel,v6,06/12] libcamera: transform: Invert operator*() operands
diff mbox series

Message ID 20231019140133.32090-7-jacopo.mondi@ideasonboard.com
State New
Headers show
Series
  • libcamera: Replace CameraConfiguration::transform
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Commit Message

Jacopo Mondi Oct. 19, 2023, 2:01 p.m. UTC 
The current definition of operator*(Transform t1, Transform t0) follows
the function composition notion, where t0 is applied first then t1 is
applied last.

In order to introduce operator*(Orientation, Transform) where a
Transform is applied on top of an Orientation, invert the operand order
of operator*(Transform, Transform) so that usage of operator* with both
Orientation and Transform can be made associative.

For example:

Orientation o;
Transform t = t1 * t2
Orientation o1 = o * t
	       = o * (t1 * t2) = (o * t1) * t2 = o * t1 * t2

Signed-off-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com>
Reviewed-by: David Plowman <david.plowman@raspberrypi.com>
---
 src/libcamera/camera_sensor.cpp |  4 ++--
 src/libcamera/transform.cpp     | 19 +++++++++++--------
 2 files changed, 13 insertions(+), 10 deletions(-)

Patch
diff mbox series 

diff --git a/src/libcamera/camera_sensor.cpp b/src/libcamera/camera_sensor.cpp
index 8ff72b424560..521a19972808 100644
--- a/src/libcamera/camera_sensor.cpp
+++ b/src/libcamera/camera_sensor.cpp
@@ -1136,7 +1136,7 @@  Transform CameraSensor::validateTransform(Transform *transform) const
 	 * Combine the requested transform to compensate the sensor mounting
 	 * rotation.
 	 */
-	Transform combined = *transform * rotationTransform_;
+	Transform combined = rotationTransform_ * *transform;
 
 	/*
 	 * We combine the platform and user transform, but must "adjust away"
@@ -1165,7 +1165,7 @@  Transform CameraSensor::validateTransform(Transform *transform) const
 		 * If the sensor can do no transforms, then combined must be
 		 * changed to the identity. The only user transform that gives
 		 * rise to this is the inverse of the rotation. (Recall that
-		 * combined = transform * rotationTransform.)
+		 * combined = rotationTransform * transform.)
 		 */
 		*transform = -rotationTransform_;
 		combined = Transform::Identity;
diff --git a/src/libcamera/transform.cpp b/src/libcamera/transform.cpp
index c305940100bf..38735c525aa3 100644
--- a/src/libcamera/transform.cpp
+++ b/src/libcamera/transform.cpp
@@ -189,14 +189,17 @@  Input image   | |   goes to output image   | |
  */
 
 /**
- * \brief Compose two transforms together
- * \param[in] t1 The second transform
- * \param[in] t0 The first transform
+ * \brief Compose two transforms by applying \a t0 first then \a t1
+ * \param[in] t0 The first transform to apply
+ * \param[in] t1 The second transform to apply
+ *
+ * Compose two transforms by applying \a t1 after \a t0. The operation
+ * is conceptually equivalent to the canonical notion of function composition,
+ * with inverse order of operands. If in the canonical function composition
+ * notation "f * g" equals to "f(g())", the notation for Transforms composition
+ * "t0 * t1" equals to "t1(t0()))" where \a t0 is applied first, then \a t1.
  *
- * Composing transforms follows the usual mathematical convention for
- * composing functions. That is, when performing `t1 * t0`, \a t0 is applied
- * first, and then \a t1.
- * For example, `Transpose * HFlip` performs `HFlip` first and then the
+ * For example, `HFlip * Transpose` performs `HFlip` first and then the
  * `Transpose` yielding `Rot270`, as shown below.
 ~~~
              A-B                 B-A                     B-D
@@ -206,7 +209,7 @@  Input image  | |   -> HFLip ->   | |   -> Transpose ->   | |   = Rot270
  * Note that composition is generally non-commutative for Transforms,
  * and not the same as XOR-ing the underlying bit representations.
  */
-Transform operator*(Transform t1, Transform t0)
+Transform operator*(Transform t0, Transform t1)
 {
 	/*
 	 * Reorder the operations so that we imagine doing t0's transpose