#include "opencv2/core/affine.hpp"

namespace fisheye

{

enum{

CALIB_USE_INTRINSIC_GUESS = 1,

CALIB_RECOMPUTE_EXTRINSIC = 2,

CALIB_CHECK_COND = 4,

CALIB_FIX_SKEW = 8,

CALIB_FIX_K1 = 16,

CALIB_FIX_K2 = 32,

CALIB_FIX_K3 = 64,

CALIB_FIX_K4 = 128,

CALIB_FIX_INTRINSIC = 256

};

//! projects 3D points using fisheye model

CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,

InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());

//! projects points using fisheye model

CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,

InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());

//! distorts 2D points using fisheye model

CV_EXPORTS void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);

//! undistorts 2D points using fisheye model

CV_EXPORTS void undistortPoints(InputArray distorted, OutputArray undistorted,

InputArray K, InputArray D, InputArray R = noArray(), InputArray P = noArray());

//! computing undistortion and rectification maps for image transform by cv::remap()

//! If D is empty zero distortion is used, if R or P is empty identity matrixes are used

CV_EXPORTS void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,

const cv::Size& size, int m1type, OutputArray map1, OutputArray map2);

//! undistorts image, optionally changes resolution and camera matrix. If Knew zero identity matrix is used

CV_EXPORTS void undistortImage(InputArray distorted, OutputArray undistorted,

InputArray K, InputArray D, InputArray Knew = cv::noArray(), const Size& new_size = Size());

//! estimates new camera matrix for undistortion or rectification

CV_EXPORTS void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,

OutputArray P, double balance = 0.0, const Size& new_size = Size(), double fov_scale = 1.0);

//! performs camera calibaration

CV_EXPORTS double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,

InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,

TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));

//! stereo rectification estimation

CV_EXPORTS void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,

OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize = Size(),

double balance = 0.0, double fov_scale = 1.0);

//! performs stereo calibaration

CV_EXPORTS double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,

InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,

OutputArray R, OutputArray T, int flags = CALIB_FIX_INTRINSIC,

TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));

#endif