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Show opencv cv::Mat image in an OpenGL window(use GLFW)
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So, many places will give you clues how to get linear depth from the OpenGL depth buffer, or visualise it, or other things. This, however, is what I believe to be the definitive answer:
This link http://www.songho.ca/opengl/gl_projectionmatrix.html gives a good run-down of the projection matrix, and the link between eye-space Z (z_e below) and normalised device coordinates (NDC) Z (z_n below). From there, we have
A reason to use the integrated graphics for display is if installing the NVIDIA drivers causes the display to stop working properly.
In my case, Ubuntu would get stuck in a login loop after installing the NVIDIA drivers.
This happened regardless if I installed the drivers from the "Additional Drivers" tab in "System Settings" or the ppa:graphics-drivers/ppa in the command-line.