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libcamera: matrix: Add inverse() function

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For calculations in upcoming algorithm patches, the inverse of a matrix
is required. Add an implementation of the inverse() function for square
matrices.

Signed-off-by: Stefan Klug <stefan.klug@ideasonboard.com>
Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
Reviewed-by: Paul Elder <paul.elder@ideasonboard.com>
This commit is contained in:
Stefan Klug 2025-04-03 17:49:10 +02:00
parent bcba580546
commit 6287ceff5a
2 changed files with 189 additions and 0 deletions
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23
include/libcamera/internal/matrix.h
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@ -19,6 +19,12 @@ namespace libcamera {
LOG_DECLARE_CATEGORY(Matrix)
#ifndef __DOXYGEN__
template<typename T>
bool matrixInvert(Span<const T> dataIn, Span<T> dataOut, unsigned int dim,
Span<T> scratchBuffer, Span<unsigned int> swapBuffer);
#endif /* __DOXYGEN__ */
template<typename T, unsigned int Rows, unsigned int Cols>
class Matrix
{
@ -91,6 +97,23 @@ public:
return *this;
}
Matrix<T, Rows, Cols> inverse(bool *ok = nullptr) const
{
static_assert(Rows == Cols, "Matrix must be square");
Matrix<T, Rows, Cols> inverse;
std::array<T, Rows * Cols * 2> scratchBuffer;
std::array<unsigned int, Rows> swapBuffer;
bool res = matrixInvert(Span<const T>(data_),
Span<T>(inverse.data_),
Rows,
Span<T>(scratchBuffer),
Span<unsigned int>(swapBuffer));
if (ok)
*ok = res;
return inverse;
}
private:
/*
* \todo The initializer is only necessary for the constructor to be