#ifndef UTILS_H
  #define UTILS_H
  
  #include <iostream>
  #include <fstream>
  
  #include <opencv2/opencv.hpp>
  
  #ifndef PI
  #define PI       3.141592653589793238462643383279502884L
  #endif
  
  namespace util{
  
  void saveFileToMatlab(std::string fileName, cv::Mat a, std::string varName);
  
  double rad2deg(double angRad);
  double deg2rad(double angDeg);
  
  void makeNonHomogenious(cv::Mat & m);
  void copyMatElementsToVector(const cv::Mat & mat, const cv::Mat & idx, std::vector<double> & vec);
  void copyVectorToMatElements(const std::vector<double> & vec, const cv::Mat & idx, cv::Mat & mat);
  
  enum{
      CONCAT_HORIZONTAL,
      CONCAT_VERTICAL,
  };
  cv::Mat concatenateMat(const std::vector<cv::Mat> & matArray, int method = CONCAT_VERTICAL);
  
  }
  
  #endif // UTILS_H