// Copyright 2021 The MediaPipe Authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MEDIAPIPE_CALCULATORS_UTIL_INVERSE_MATRIX_CALCULATOR_H_
#define MEDIAPIPE_CALCULATORS_UTIL_INVERSE_MATRIX_CALCULATOR_H_
#include "mediapipe/framework/api2/node.h"
#include "mediapipe/framework/api2/port.h"
namespace mediapipe {
// Runs affine transformation.
//
// Input:
// MATRIX - std::array<float, 16>
// Row major 4x4 matrix to inverse.
//
// Output:
// MATRIX - std::array<float, 16>
// Row major 4x4 inversed matrix.
//
// Usage example:
// node {
// calculator: "dishti.aimatter.InverseMatrixCalculator"
// input_stream: "MATRIX:input_matrix"
// output_stream: "MATRIX:output_matrix"
// }
class InverseMatrixCalculator : public mediapipe::api2::NodeIntf {
public:
static constexpr mediapipe::api2::Input<std::array<float, 16>> kInputMatrix{
"MATRIX"};
static constexpr mediapipe::api2::Output<std::array<float, 16>> kOutputMatrix{
"MATRIX"};
MEDIAPIPE_NODE_INTERFACE(InverseMatrixCalculator, kInputMatrix,
kOutputMatrix);
};
} // namespace mediapipe
#endif // MEDIAPIPE_CALCULATORS_UTIL_INVERSE_MATRIX_CALCULATOR_H_