Open3D (C++ API)  0.16.1
GLHelper.h
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26
27#pragma once
28
29// Avoid warning caused by redefinition of APIENTRY macro
30// defined also in glfw3.h
31#ifdef _WIN32
32#include <windows.h>
33#endif
34
35#include <GL/glew.h> // Make sure glew.h is included before gl.h
36#include <GLFW/glfw3.h>
37
38#include <Eigen/Core>
39#include <string>
40#include <unordered_map>
41
42namespace open3d {
43namespace visualization {
44namespace gl_util {
45
46const static std::unordered_map<int, GLenum> texture_format_map_ = {
47 {1, GL_RED}, {3, GL_RGB}, {4, GL_RGBA}};
48const static std::unordered_map<int, GLenum> texture_type_map_ = {
49 {1, GL_UNSIGNED_BYTE}, {2, GL_UNSIGNED_SHORT}, {4, GL_FLOAT}};
50
51typedef Eigen::Matrix<GLfloat, 3, 1, Eigen::ColMajor> GLVector3f;
52typedef Eigen::Matrix<GLfloat, 4, 1, Eigen::ColMajor> GLVector4f;
53typedef Eigen::Matrix<GLfloat, 4, 4, Eigen::ColMajor> GLMatrix4f;
54
55GLMatrix4f LookAt(const Eigen::Vector3d &eye,
56 const Eigen::Vector3d &lookat,
57 const Eigen::Vector3d &up);
58
59GLMatrix4f Perspective(double field_of_view_,
60 double aspect,
61 double z_near,
62 double z_far);
63
64GLMatrix4f Ortho(double left,
65 double right,
66 double bottom,
67 double top,
68 double z_near,
69 double z_far);
70
71Eigen::Vector3d Project(const Eigen::Vector3d &point,
72 const GLMatrix4f &mvp_matrix,
73 const int width,
74 const int height);
75
76Eigen::Vector3d Unproject(const Eigen::Vector3d &screen_point,
77 const GLMatrix4f &mvp_matrix,
78 const int width,
79 const int height);
80
81int ColorCodeToPickIndex(const Eigen::Vector4i &color);
82
83} // namespace gl_util
84} // namespace visualization
85} // namespace open3d
math::float4 color
Definition: LineSetBuffers.cpp:64
int width
Definition: FilePCD.cpp:71
int height
Definition: FilePCD.cpp:72
GLMatrix4f Ortho(double left, double right, double bottom, double top, double z_near, double z_far)
Definition: GLHelper.cpp:70
Eigen::Matrix< GLfloat, 4, 4, Eigen::ColMajor > GLMatrix4f
Definition: GLHelper.h:53
GLMatrix4f Perspective(double field_of_view_, double aspect, double z_near, double z_far)
Definition: GLHelper.cpp:55
int ColorCodeToPickIndex(const Eigen::Vector4i &color)
Definition: GLHelper.cpp:118
Eigen::Matrix< GLfloat, 4, 1, Eigen::ColMajor > GLVector4f
Definition: GLHelper.h:52
Eigen::Matrix< GLfloat, 3, 1, Eigen::ColMajor > GLVector3f
Definition: GLHelper.h:51
Eigen::Vector3d Project(const Eigen::Vector3d &point, const GLMatrix4f &mvp_matrix, const int width, const int height)
Definition: GLHelper.cpp:87
Eigen::Vector3d Unproject(const Eigen::Vector3d &screen_point, const GLMatrix4f &mvp_matrix, const int width, const int height)
Definition: GLHelper.cpp:102
GLMatrix4f LookAt(const Eigen::Vector3d &eye, const Eigen::Vector3d &lookat, const Eigen::Vector3d &up)
Definition: GLHelper.cpp:36
Definition: PinholeCameraIntrinsic.cpp:35