{"id":22789,"url":"https://patchwork.libcamera.org/api/1.1/patches/22789/?format=json","web_url":"https://patchwork.libcamera.org/patch/22789/","project":{"id":1,"url":"https://patchwork.libcamera.org/api/1.1/projects/1/?format=json","name":"libcamera","link_name":"libcamera","list_id":"libcamera_core","list_email":"libcamera-devel@lists.libcamera.org","web_url":"","scm_url":"","webscm_url":""},"msgid":"<20250217100203.297894-4-stefan.klug@ideasonboard.com>","date":"2025-02-17T10:01:44","name":"[03/10] libcamera: matrix: Add inverse() function","commit_ref":null,"pull_url":null,"state":"superseded","archived":false,"hash":"27856b2bb3ed27203aaa29adc013ce63b383aec6","submitter":{"id":184,"url":"https://patchwork.libcamera.org/api/1.1/people/184/?format=json","name":"Stefan Klug","email":"stefan.klug@ideasonboard.com"},"delegate":null,"mbox":"https://patchwork.libcamera.org/patch/22789/mbox/","series":[{"id":5005,"url":"https://patchwork.libcamera.org/api/1.1/series/5005/?format=json","web_url":"https://patchwork.libcamera.org/project/libcamera/list/?series=5005","date":"2025-02-17T10:01:41","name":"Some rkisp1 awb improvements","version":1,"mbox":"https://patchwork.libcamera.org/series/5005/mbox/"}],"comments":"https://patchwork.libcamera.org/api/patches/22789/comments/","check":"pending","checks":"https://patchwork.libcamera.org/api/patches/22789/checks/","tags":{},"headers":{"Return-Path":"","X-Original-To":"parsemail@patchwork.libcamera.org","Delivered-To":"parsemail@patchwork.libcamera.org","Received":["from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id CBC62C327D\n\tfor ;\n\tMon, 17 Feb 2025 10:02:21 +0000 (UTC)","from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 2A4976866C;\n\tMon, 17 Feb 2025 11:02:21 +0100 (CET)","from perceval.ideasonboard.com (perceval.ideasonboard.com\n\t[213.167.242.64])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 6A58D68661\n\tfor ;\n\tMon, 17 Feb 2025 11:02:16 +0100 (CET)","from ideasonboard.com (unknown\n\t[IPv6:2a00:6020:448c:6c00:b47f:e20a:c4c7:ece1])\n\tby perceval.ideasonboard.com (Postfix) with ESMTPSA id 275FDE29;\n\tMon, 17 Feb 2025 11:00:55 +0100 (CET)"],"Authentication-Results":"lancelot.ideasonboard.com; dkim=pass (1024-bit key;\n\tunprotected) header.d=ideasonboard.com header.i=@ideasonboard.com\n\theader.b=\"sH+plZlR\"; dkim-atps=neutral","DKIM-Signature":"v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com;\n\ts=mail; t=1739786455;\n\tbh=Prka8/qby0xM9wSgS3e77LXT7u3uW8O5pulkE87B6A8=;\n\th=From:To:Cc:Subject:Date:In-Reply-To:References:From;\n\tb=sH+plZlRUQK5aOQ4lAQf0M2oyEqqByjiJQuuWHoKR9LbMrKIrtmcBn81QaSBzEN15\n\tCxyZ6ukWsDHL41o3ABkbTpqetokb1831rPgjsCJn6w3ECjkp2daA7JPBCs0sPXHZhJ\n\twzoJR5JZumi/zzq+S1+FOnv6K4xbH6LyOM9C0fVo=","From":"Stefan Klug ","To":"libcamera-devel@lists.libcamera.org","Cc":"Stefan Klug ","Subject":"[PATCH 03/10] libcamera: matrix: Add inverse() function","Date":"Mon, 17 Feb 2025 11:01:44 +0100","Message-ID":"<20250217100203.297894-4-stefan.klug@ideasonboard.com>","X-Mailer":"git-send-email 2.43.0","In-Reply-To":"<20250217100203.297894-1-stefan.klug@ideasonboard.com>","References":"<20250217100203.297894-1-stefan.klug@ideasonboard.com>","MIME-Version":"1.0","Content-Transfer-Encoding":"8bit","X-BeenThere":"libcamera-devel@lists.libcamera.org","X-Mailman-Version":"2.1.29","Precedence":"list","List-Id":"","List-Unsubscribe":",\n\t","List-Archive":"","List-Post":"","List-Help":"","List-Subscribe":",\n\t","Errors-To":"libcamera-devel-bounces@lists.libcamera.org","Sender":"\"libcamera-devel\" "},"content":"For calculations in upcoming algorithm patches, the inverse of a matrix\nis required. Add an implementation of the inverse() function for 3x3\nmatrices.\n\nSigned-off-by: Stefan Klug \n---\n include/libcamera/internal/matrix.h | 24 ++++++++++++++++++++++++\n src/libcamera/matrix.cpp | 10 ++++++++++\n 2 files changed, 34 insertions(+)","diff":"diff --git a/include/libcamera/internal/matrix.h b/include/libcamera/internal/matrix.h\nindex ca81dcda93c4..053336e9cfa4 100644\n--- a/include/libcamera/internal/matrix.h\n+++ b/include/libcamera/internal/matrix.h\n@@ -90,6 +90,30 @@ public:\n \t\treturn *this;\n \t}\n \n+\tMatrix inverse() const\n+\t{\n+\t\tstatic_assert(Rows == 3 && Cols == 3, \"Matrix must be 3x3\");\n+\n+\t\tconst auto &m = *this;\n+\t\tdouble det = m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]) -\n+\t\t\t m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0]) +\n+\t\t\t m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);\n+\n+\t\tdouble invdet = 1 / det;\n+\n+\t\tMatrix ret;\n+\t\tret[0][0] = (m[1][1] * m[2][2] - m[2][1] * m[1][2]) * invdet;\n+\t\tret[0][1] = (m[0][2] * m[2][1] - m[0][1] * m[2][2]) * invdet;\n+\t\tret[0][2] = (m[0][1] * m[1][2] - m[0][2] * m[1][1]) * invdet;\n+\t\tret[1][0] = (m[1][2] * m[2][0] - m[1][0] * m[2][2]) * invdet;\n+\t\tret[1][1] = (m[0][0] * m[2][2] - m[0][2] * m[2][0]) * invdet;\n+\t\tret[1][2] = (m[1][0] * m[0][2] - m[0][0] * m[1][2]) * invdet;\n+\t\tret[2][0] = (m[1][0] * m[2][1] - m[2][0] * m[1][1]) * invdet;\n+\t\tret[2][1] = (m[2][0] * m[0][1] - m[0][0] * m[2][1]) * invdet;\n+\t\tret[2][2] = (m[0][0] * m[1][1] - m[1][0] * m[0][1]) * invdet;\n+\t\treturn ret;\n+\t}\n+\n \ttemplate\n \tMatrix cast() const\n \t{\ndiff --git a/src/libcamera/matrix.cpp b/src/libcamera/matrix.cpp\nindex 91a3f16405a3..b17a1938f1ba 100644\n--- a/src/libcamera/matrix.cpp\n+++ b/src/libcamera/matrix.cpp\n@@ -77,6 +77,16 @@ LOG_DEFINE_CATEGORY(Matrix)\n * \\return Row \\a i from the matrix, as a Span\n */\n \n+/**\n+ * \\fn Matrix::inverse() const\n+ * \\brief Compute the inverse of the matrix\n+ *\n+ * This function computes the inverse of the matrix. It is only implemented for\n+ * 3x3 matrices.\n+ *\n+ * \\return The inverse of the matrix\n+ */\n+\n /**\n * \\fn template Matrix Matrix::cast() const\n * \\brief Cast the matrix to a different type\n","prefixes":["03/10"]}