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#define CVTOOLS_H
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#define CVTOOLS_H
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#include <opencv2/opencv.hpp>
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#include <opencv2/opencv.hpp>
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namespace cvtools{
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namespace cvtools{
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void drawChessboardCorners(cv::InputOutputArray _image, Size patternSize, cv::InputArray _corners, bool patternWasFound, int line_width=1);
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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 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 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 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 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 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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