#ifdef HAS_OPENCV3
#include <opencv2/core.hpp> //Any OPENCV3 code
#else
#include <opencv2/core/core.hpp> //Any Opencv2 code
#endif

double dist(cv::Point, cv::Point);
double inner_angle(cv::Point, cv::Point, cv::Point);
cv::Point map_point(double, cv::Point, cv::Point);
cv::Point unmap_point(double, cv::Point, cv::Point);
cv::Vec<double,3> get_line(cv::Point, cv::Point);
bool is_in_line(cv::Vec<double,3> line, cv::Point p);
bool is_above_line(cv::Vec<double,3> line, cv::Point p);

class CoordinateSystem
{
    private:
        double theta;
        cv::Matx<double,2,2> R, Rt;
        cv::Point origin;
        void precompute();
    public:
        CoordinateSystem(cv::Point, cv::Point);
        CoordinateSystem(double angle, cv::Point origin_);
        cv::Point map(cv::Point p);
        cv::Point unmap(cv::Point p);
};