67 lines
2.3 KiB
C++
67 lines
2.3 KiB
C++
// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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// Avoid warning caused by redefinition of APIENTRY macro
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// defined also in glfw3.h
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#ifdef _WIN32
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#include <windows.h>
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#endif
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#include <GL/glew.h> // Make sure glew.h is included before gl.h
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#include <GLFW/glfw3.h>
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#include <Eigen/Core>
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#include <string>
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#include <unordered_map>
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namespace open3d {
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namespace visualization {
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namespace gl_util {
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const static std::unordered_map<int, GLenum> texture_format_map_ = {
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{1, GL_RED}, {3, GL_RGB}, {4, GL_RGBA}};
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const static std::unordered_map<int, GLenum> texture_type_map_ = {
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{1, GL_UNSIGNED_BYTE}, {2, GL_UNSIGNED_SHORT}, {4, GL_FLOAT}};
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typedef Eigen::Matrix<GLfloat, 3, 1, Eigen::ColMajor> GLVector3f;
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typedef Eigen::Matrix<GLfloat, 4, 1, Eigen::ColMajor> GLVector4f;
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typedef Eigen::Matrix<GLfloat, 4, 4, Eigen::ColMajor> GLMatrix4f;
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GLMatrix4f LookAt(const Eigen::Vector3d &eye,
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const Eigen::Vector3d &lookat,
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const Eigen::Vector3d &up);
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GLMatrix4f Perspective(double field_of_view_,
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double aspect,
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double z_near,
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double z_far);
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GLMatrix4f Ortho(double left,
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double right,
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double bottom,
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double top,
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double z_near,
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double z_far);
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Eigen::Vector3d Project(const Eigen::Vector3d &point,
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const GLMatrix4f &mvp_matrix,
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const int width,
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const int height);
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Eigen::Vector3d Unproject(const Eigen::Vector3d &screen_point,
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const GLMatrix4f &mvp_matrix,
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const int width,
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const int height);
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int ColorCodeToPickIndex(const Eigen::Vector4i &color);
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} // namespace gl_util
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} // namespace visualization
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} // namespace open3d
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