#pragma once

#include <vector>
#include "abstring.h"
#include "bvimagergb.h"
#include "bvrgbpixel.h"
#include "bvfilters.h"
#include "vraibolabmodule.h"

#define DISP_DIST_THRESHOLD 20
#define MAX_DISP_GRADIENT 1.0
#define ERROR_DISP_GRADIENT 1000.0
#define MAX_COLOR_DIFF 5
#define MAX_LUM_DIFF 10.0

struct candidate  {
	unsigned xLeft;
	unsigned xRight;
	double propapilityCounter;
	bool isAssigned;
	bool operator== (const candidate& other) const {
		return (xLeft == other.xLeft && xRight == other.xRight);
	}
	bool operator== (const candidate* other) const {
		return (xLeft == other->xLeft && xRight == other->xRight);
	}
};

struct candidatePair {
	candidate* firstCand;
	candidate* secondCand;
	double disparityGradient;
	bool isAssigned;
	bool isDeleted;
	//long pairNum;
	double candidateDistance;
	bool operator== (const candidatePair& other) const {
		return ( (firstCand == other.firstCand) && (secondCand == other.secondCand) );
	}
    bool hasCandidate(const candidate& other) const {
		return (*firstCand == other) || (*secondCand == other);
	}
    bool hasCandidate(const candidate* other) const {
		return (*firstCand == *other) || (*secondCand == *other);
	}
	candidatePair() {}
	candidatePair(const candidatePair& other) {
		firstCand = other.firstCand;
		secondCand = other.secondCand;
		disparityGradient = other.disparityGradient;
		isAssigned = other.isAssigned;
		isDeleted = other.isDeleted;
		//pairNum = other.pairNum;
		candidateDistance = other.candidateDistance;
	}
};

class StereoVision
{
public:
	StereoVision(void);
	~StereoVision(void);
	static std::vector<candidate*> findCorrespPointsPMF(BV::ImageRGB&,BV::ImageRGB&);
	static std::vector<candidate*> findCorrespPointsPMF(BV::Image&,BV::Image&);
	static long getDisparityDifference(const unsigned&,const unsigned&,const unsigned&,const unsigned&);
private:
	static void findEdges(BV::ImageRGB&,BV::ImageRGB&,std::vector<unsigned>&,std::vector<unsigned>&);
	static void findEdges(BV::Image&,BV::Image&,std::vector<unsigned>&,std::vector<unsigned>&);
	static double getCyclopDistanceEpipolar(const unsigned&,const unsigned&,const unsigned&,const unsigned&);
	static double getDisparityGradient(const unsigned&,const unsigned&,const unsigned&,const unsigned&);
	static bool arePixelSimilar(const BV::RGBPixel&,const BV::RGBPixel&);
};