#pragma once

#include <array>

#include "camera.hpp"

struct CachedCamera
{
    const Camera cam;
    const std::array<std::array<float, 3>, 3> invR;
    const std::array<float, 3> center;
    const std::array<std::array<float, 3>, 3> newK;
    const std::array<std::array<float, 3>, 3> invK;
};

CachedCamera cache_camera(const Camera &camera);

void undistort_point_pinhole(std::array<float, 3> &point, const std::array<float, 5> &distortion);
void undistort_point_fisheye(std::array<float, 3> &point, const std::array<float, 5> &distortion);