using OpenCVForUnity.CoreModule;
using UnityEngine;

public class PictureUtility
{
    private static Material _flipMaterial;

    public static Material FlipMaterial
    {
        get
        {
            if (_flipMaterial == null)
                _flipMaterial = Resources.Load<Material>("Materials/Unlit_FlipHorizontal");
            return _flipMaterial;
        }

        set => _flipMaterial = value;
    }

    public static Texture2D HorizontalFlipTexture(Texture2D texture)
    {
        //得到图片的宽高
        Texture2D retVal = new Texture2D(texture.width, texture.height);
        RenderTexture tmp = RenderTexture.GetTemporary(texture.width, texture.height, 0, RenderTextureFormat.ARGB32);
        Graphics.Blit(texture, tmp, _flipMaterial);
        RenderTexture.active = tmp;
        retVal.ReadPixels(new UnityEngine.Rect(0, 0, texture.width, texture.height), 0, 0);
        RenderTexture.ReleaseTemporary(tmp);
        return retVal;
    }

    public static Mat HorizontalFlipMat(Mat mat)
    {
        Mat dst = new Mat();
        Core.flip(mat, dst, 1);
        return dst;
    }

    //纠正鱼眼透视畸变
    public static Mat Undistort(Mat src)
    {
        //摄像机的4个畸变系数：k1,k2,k3,k4
        Mat K = new Mat(3, 3, CvType.CV_64FC1);
        K.put(0, 0, 1151.7, 0, 985.6, 0, 1153.4, 573.004, 0, 0, 1);

        Mat D = new Mat(5, 1, CvType.CV_64FC1);
        //D.put(0, 0, -0.42, 0.2196, 0.0038, 0.013, -0.06);
        D.put(0, 0, -0.01, 0.09, 0, 0, -0.19);

        Mat retVal = src.clone();
        OpenCVForUnity.Calib3dModule.Calib3d.undistort(src, retVal, K, D);

        return retVal;
    }
}