#include <stdio.h>
  #include <iostream>
  #include <string>
  //#include <vector>
  #include <opencv2/opencv.hpp>
  #include <opencv2/highgui/highgui.hpp> 
  #include <opencv2/objdetect/objdetect.hpp>
  #include <opencv2/imgproc/imgproc.hpp>
  
  #include <pcl/point_types.h>
  #include <pcl/io/pcd_io.h> 
  #include <pcl/io/io.h>
  #include <boost/thread/thread.hpp>
  #include <pcl/common/common_headers.h>
  #include <pcl/visualization/cloud_viewer.h>
  
  
  #include <pcl/ModelCoefficients.h>
  
  #include <pcl/kdtree/kdtree.h>
  #include <pcl/sample_consensus/method_types.h>
  #include <pcl/sample_consensus/model_types.h>
  #include <pcl/segmentation/sac_segmentation.h>
  #include <pcl/segmentation/extract_clusters.h>
  
  
  #include "RectifierAffine.hpp"
  #include "densematcher.h"
  #include "transformations.h"
  #include "triangulation.h"
  
  
  using namespace std;
  
  
  class Reconst
  {
  public:
  Reconst(){};
  ~Reconst(){};
  vector<cv::Mat> RectificaEpipolarLines(vector<cv::Mat> image, vector<vector<cv::Point2d> > MeasureVector, vector<cv::Mat> fundMatrix);
  void disparity(vector<cv::Mat> image);
  void GetPointCloud(vector<cv::Mat> P, cv::Mat image);
  vector<cv::Mat> GetRectifiedMeseureMatrix();
  vector<cv::Mat> GetCameraMatrix(vector<cv::Mat> P);
  void filterPointCloud(int taille);
  
  private:
  vector<vector<cv::Point2d> > _rectifiedMeasureVector;
  vector <cv::Mat> _densePoint; 
  
  };