#include "calib3d.h"


void Fisheye_UndistortImage(Mat distorted, Mat undistorted, Mat k, Mat d) {
    cv::fisheye::undistortImage(*distorted, *undistorted, *k, *d);
}

void Fisheye_UndistortImageWithParams(Mat distorted, Mat undistorted, Mat k, Mat d, Mat knew, Size size) {
    cv::Size sz(size.width, size.height);
    cv::fisheye::undistortImage(*distorted, *undistorted, *k, *d, *knew, sz);
}

void InitUndistortRectifyMap(Mat cameraMatrix,Mat distCoeffs,Mat r,Mat newCameraMatrix,Size size,int m1type,Mat map1,Mat map2) {
    cv::Size sz(size.width, size.height);
    cv::initUndistortRectifyMap(*cameraMatrix,*distCoeffs,*r,*newCameraMatrix,sz,m1type,*map1,*map2);
}

Mat GetOptimalNewCameraMatrixWithParams(Mat cameraMatrix,Mat distCoeffs,Size size,double alpha,Size newImgSize,Rect* validPixROI,bool centerPrincipalPoint) {
    cv::Size sz(size.width, size.height);
    cv::Size newSize(newImgSize.width, newImgSize.height);
    cv::Rect rect(validPixROI->x,validPixROI->y,validPixROI->width,validPixROI->height);
    cv::Mat* mat = new cv::Mat(cv::getOptimalNewCameraMatrix(*cameraMatrix,*distCoeffs,sz,alpha,newSize,&rect,centerPrincipalPoint));
    validPixROI->x = rect.x;
    validPixROI->y = rect.y;
    validPixROI->width = rect.width;
    validPixROI->height = rect.height;
    return mat;
}

void Undistort(Mat src, Mat dst, Mat cameraMatrix, Mat distCoeffs, Mat newCameraMatrix) {
    cv::undistort(*src, *dst, *cameraMatrix, *distCoeffs, *newCameraMatrix);
}

bool FindChessboardCorners(Mat image, Size patternSize, Mat corners, int flags) {
    cv::Size sz(patternSize.width, patternSize.height);
    return cv::findChessboardCorners(*image, sz, *corners, flags);
}

void DrawChessboardCorners(Mat image, Size patternSize, Mat corners, bool patternWasFound) {
    cv::Size sz(patternSize.width, patternSize.height);
    cv::drawChessboardCorners(*image, sz, *corners, patternWasFound);
}