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#ifndef AlgorithmGrayCode_H
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#ifndef AlgorithmGrayCode_H
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#define AlgorithmGrayCode_H
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#define AlgorithmGrayCode_H
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#include "Algorithm.h"
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#include "Algorithm.h"
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class AlgorithmGrayCode : public Algorithm {
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class AlgorithmGrayCode : public Algorithm {
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    public:
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    public:
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        AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir = CodingDirHorizontal);
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        AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir = CodingDirHorizontal);
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    virtual ~AlgorithmGrayCode(){}
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    virtual ~AlgorithmGrayCode(){}
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        unsigned int getNPatterns(){return N;}
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        unsigned int getNPatterns(){return N;}
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        int getscreenCols(){return screenCols;}
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        int getscreenCols(){return screenCols;}
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        int getscreenRows(){return screenRows;}
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        int getscreenRows(){return screenRows;}
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        CodingDir getDir(){return dir;}
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        CodingDir getDir(){return dir;}
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        // Encoding
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        // Encoding
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        cv::Mat getEncodingPattern(unsigned int depth);
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        cv::Mat getEncodingPattern(unsigned int depth);
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        // Matching
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        // Matching
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        void getCorrespondences(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f>& color);
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        void get3DPoints(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3b>& color);
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    protected:
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    protected:
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        unsigned int Nhorz, Nvert;
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        std::vector<cv::Mat> patterns;
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        std::vector<cv::Mat> patterns;
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        int Nbits;
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};
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};
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#endif // AlgorithmGrayCode_H
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#endif // AlgorithmGrayCode_H
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