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#ifndef CVTOOLS_H
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#define CVTOOLS_H
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#include <opencv2/opencv.hpp>
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namespace cvtools{
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void drawChessboardCorners(cv::InputOutputArray _image, cv::Size patternSize, cv::InputArray _corners, bool patternWasFound, int line_width=1);
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void cvDrawChessboardCorners(CvArr* _image, CvSize pattern_size, CvPoint2D32f* corners, int count, int found, int line_width=1);
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void matToPoints3f(const cv::Mat &mat, std::vector<cv::Point3f> &points);
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void convertMatFromHomogeneous(cv::Mat &src, cv::Mat &dst);
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void handEyeCalibrationTsai(const std::vector<cv::Matx33f> R, const std::vector<cv::Vec3f> t, const std::vector<cv::Matx33f> R_mark, const std::vector<cv::Vec3f> t_mark, cv::Matx33f &Omega, cv::Vec3f &tau);
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void fitSixDofData(const std::vector<cv::Matx33f> R, const std::vector<cv::Vec3f> t, const std::vector<cv::Matx33f> R_mark, const std::vector<cv::Vec3f> t_mark, cv::Matx33f &Omega, cv::Vec3f &tau);
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void initDistortMap(const cv::Matx33f cameraMatrix, const cv::Vec<float, 5> distCoeffs, const cv::Size size, cv::Mat &map1, cv::Mat &map2);
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cv::Mat diamondDownsample(cv::Mat &pattern);
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void imshow(const char *windowName, cv::Mat im, unsigned int x, unsigned int y);
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void imagesc(const char* windowName, cv::Mat im);
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cv::Mat histimage(cv::Mat histogram);
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void hist(const char *windowName, cv::Mat im, unsigned int x, unsigned int y);
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void writeMat( cv::Mat const& mat, const char* filename, const char* varName = "A", bool bgr2rgb = true);
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}
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#endif // CVTOOLS_H
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