Function apriltag_sys::matd_inverse

pub unsafe extern "C" fn matd_inverse(a: *const matd_t) -> *mut matd_t

Attempts to compute an inverse of the supplied matrix ‘a’ and return it as a new matrix. This is strictly only possible if the determinant of ‘a’ is non-zero (matd_det(a) != 0).

If the determinant is zero, NULL is returned. It is otherwise the caller’s responsibility to cope with the results caused by poorly conditioned matrices. (E.g.., if such a situation is likely to arise, compute the pseudo-inverse from the SVD.)