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Thirdparty/Pangolin/src/python/pypangolin/gl_draw.cpp

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+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) Andrey Mnatsakanov
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "gl_draw.hpp"
+#include <pangolin/gl/gldraw.h>
+#include <pybind11/eigen.h>
+
+namespace py_pangolin {
+
+  void bind_gl_draw(pybind11::module &m){
+
+    m.def("glDrawAxis",
+          (void (*)(float))&pangolin::glDrawAxis);
+
+    m.def("glDrawColouredCube",
+          &pangolin::glDrawColouredCube,
+          pybind11::arg("axis_min") = -0.5f,
+          pybind11::arg("axis_max") = +0.5f);
+
+    m.def("glDraw_x0",
+          &pangolin::glDraw_x0);
+    m.def("glDraw_y0",
+          &pangolin::glDraw_y0);
+    m.def("glDraw_z0",
+          &pangolin::glDraw_z0);
+
+    m.def("glDrawFrustum", (void (*)(GLfloat, GLfloat, GLfloat, GLfloat, int, int, GLfloat)) &pangolin::glDrawFrustum);
+    m.def("glDrawFrustum", (void (*)(const Eigen::Matrix3f &, int, int, GLfloat)) &pangolin::glDrawFrustum<float>);
+    m.def("glDrawFrustum", (void (*)(const Eigen::Matrix3d &, int, int, GLfloat)) &pangolin::glDrawFrustum<double>);
+    m.def("glDrawFrustum", (void (*)(const Eigen::Matrix3f &, int, int, const Eigen::Matrix4f &, float)) &pangolin::glDrawFrustum<float>);
+    m.def("glDrawFrustum", (void (*)(const Eigen::Matrix3d &, int, int, const Eigen::Matrix4d &, double)) &pangolin::glDrawFrustum<double>);
+
+    m.def("glDrawAxis", (void (*)(float)) &pangolin::glDrawAxis);
+    m.def("glDrawAxis", (void (*)(const Eigen::Matrix4f &, float)) &pangolin::glDrawAxis<Eigen::Matrix4f, float>);
+    m.def("glDrawAxis", (void (*)(const Eigen::Matrix4d &, float)) &pangolin::glDrawAxis<Eigen::Matrix4d, float>);
+
+    m.def("glSetFrameOfReference", (void (*)(const Eigen::Matrix4f &)) &pangolin::glSetFrameOfReference);
+    m.def("glSetFrameOfReference", (void (*)(const Eigen::Matrix4d &)) &pangolin::glSetFrameOfReference);
+
+    m.def("glUnsetFrameOfReference", &pangolin::glUnsetFrameOfReference);
+
+    m.def("glDrawAlignedBox", (void (*)(const Eigen::AlignedBox2f &, GLenum)) &pangolin::glDrawAlignedBox<float>, pybind11::arg("box"), pybind11::arg("mode") = GL_TRIANGLE_FAN);
+
+  }
+
+
+}  // py_pangolin