#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; 

};