Visualization.h

/*****************************************************************************
*   ExploringSfMWithOpenCV
******************************************************************************
*   by Roy Shilkrot, 5th Dec 2012
*   http://www.morethantechnical.com/
******************************************************************************
*   Ch4 of the book "Mastering OpenCV with Practical Computer Vision Projects"
*   Copyright Packt Publishing 2012.
*   http://www.packtpub.com/cool-projects-with-opencv/book
*****************************************************************************/

#pragma once

#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <vector>

void RunVisualizationThread();
void WaitForVisualizationThread();
void RunVisualizationOnly();
void RunVisualization(const std::vector<cv::Point3d>& pointcloud,
					  const std::vector<cv::Vec3b>& pointcloud_RGB = std::vector<cv::Vec3b>(),
					  const std::vector<cv::Point3d>& pointcloud1 = std::vector<cv::Point3d>(),
					  const std::vector<cv::Vec3b>& pointcloud1_RGB = std::vector<cv::Vec3b>());
void ShowClouds(const std::vector<cv::Point3d>& pointcloud,
				const std::vector<cv::Vec3b>& pointcloud_RGB = std::vector<cv::Vec3b>(),
				const std::vector<cv::Point3d>& pointcloud1 = std::vector<cv::Point3d>(),
				const std::vector<cv::Vec3b>& pointcloud1_RGB = std::vector<cv::Vec3b>());
void ShowCloud(const std::vector<cv::Point3d>& pointcloud,
				const std::vector<cv::Vec3b>& pointcloud_RGB, 
				const std::string& name);

void visualizerShowCamera(const float R[9], const float t[3], float r, float g, float b);
void visualizerShowCamera(const cv::Matx33f& R, const cv::Vec3f& t, float r, float g, float b, double s, const std::string& name = "");