#ifndef _MAIN_H_
#define _MAIN_H_

#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"

// Includes CUDA
#include <cuda_runtime.h>
#include <cuda.h>
#include <cuda_runtime_api.h>
#include <cuda_texture_types.h>
#include <curand_kernel.h>
#include <vector_types.h>

#include <vector>
#include <string>
#include <iostream>
#include <fstream>
#include <sstream>
#include <algorithm>
#include <map>
#include <memory>
#include "iomanip"

#include <sys/stat.h> // mkdir
#include <sys/types.h> // mkdir

#define MAX_IMAGES 256

struct Camera {
    float K[9];
    float R[9];
    float t[3];
    int height;
    int width;
    float depth_min;
    float depth_max;
};

struct Problem {
    int ref_image_id;
    std::vector<int> src_image_ids;
};

struct PointList {
    float3 coord;
    float3 normal;
    float3 color;
};

#endif // _MAIN_H_