GLHelper.h

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#pragma once

#include <GL/glew.h>  // Make sure glew.h is included before gl.h
#include <GLFW/glfw3.h>
#include <Eigen/Core>
#include <string>

namespace open3d {
namespace visualization {
namespace GLHelper {

typedef Eigen::Matrix<GLfloat, 3, 1, Eigen::ColMajor> GLVector3f;
typedef Eigen::Matrix<GLfloat, 4, 1, Eigen::ColMajor> GLVector4f;
typedef Eigen::Matrix<GLfloat, 4, 4, Eigen::ColMajor> GLMatrix4f;

GLMatrix4f LookAt(const Eigen::Vector3d &eye,
                  const Eigen::Vector3d &lookat,
                  const Eigen::Vector3d &up);

GLMatrix4f Perspective(double field_of_view_,
                       double aspect,
                       double z_near,
                       double z_far);

GLMatrix4f Ortho(double left,
                 double right,
                 double bottom,
                 double top,
                 double z_near,
                 double z_far);

Eigen::Vector3d Project(const Eigen::Vector3d &point,
                        const GLMatrix4f &mvp_matrix,
                        const int width,
                        const int height);

Eigen::Vector3d Unproject(const Eigen::Vector3d &screen_point,
                          const GLMatrix4f &mvp_matrix,
                          const int width,
                          const int height);

int ColorCodeToPickIndex(const Eigen::Vector4i &color);

}  // namespace GLHelper
}  // namespace visualization
}  // namespace open3d