From 617e16f8b466e9789a14631e60c9058785fe6b41 Mon Sep 17 00:00:00 2001
From: Ivan <mascomen4@gmail.com>
Date: Fri, 15 Apr 2022 15:50:35 +0300
Subject: [PATCH] v1

---
 src/vio.cpp | 60 ++++++++++++++++++++++++++---------------------------
 1 file changed, 29 insertions(+), 31 deletions(-)

diff --git a/src/vio.cpp b/src/vio.cpp
index bfbf1c2..dc3032a 100644
--- a/src/vio.cpp
+++ b/src/vio.cpp
@@ -853,37 +853,7 @@ int main(int argc, char** argv) {
       if (drawTexture) {
         DrawImageTexture(imageTexture, img_cv_data[2]);
       }
-
-      // TODO: Can I define it outside of the loop? There's no need I guess to
-      //  redefine the the projection matrix every time
-      glMatrixMode(GL_PROJECTION);
-      P.Load();
-
-      // drawLinesCube pushes the matrices, therefore, I need to define in which
-      // stack to push that matrices.
-      glMatrixMode(GL_MODELVIEW);
-      if (zeroOut){
-        xSkew = 0;
-        ySkew = 0;
-        zSkew = 0;
-      }
-      if (drawCubeBool){
-        DrawCube(cubeSize, xSkew, ySkew, zSkew);
-      }
-      if (drawLineCubeBool){
-        drawLinesCube(xSkew, ySkew, zSkew, cubeSize);
-      }
-      // For the 6th sequence mono-kitti
-      if (showCube1) {drawLinesCube(-5.5, 0.5, -35.0, cubeSize);}
-      if (showCube2) {drawLinesCube(5.5, 0.5, -40.0, cubeSize);}
-      if (showCube3) {drawLinesCube(-5.5, 1.0, -95.0, cubeSize);}
-      if (showCube4) {drawLinesCube(5.5, 1.0, -150.0, cubeSize);}
-      if (showCube5) {drawLinesCube(16.0, 4.8, -324.5, cubeSize);}
-      if (showCube6) {drawLinesCube(32.8, 4.8, -324.5, cubeSize);}
-      if (showCube7) {drawLinesCube(32.5, 4.8, -345.7, cubeSize);}
-
-      ar_3d_camera.Follow((T_w_i * T_i_c).matrix());
-//      glClear(GL_DEPTH_BUFFER_BIT);
+      glClear(GL_DEPTH_BUFFER_BIT);
 
       // Ok, so here by the moment we are watching from the camera position and orientation.
       // Drawing the cube from here might result in drawing the cube in the camera coordinate system.
@@ -1305,7 +1275,35 @@ void draw_scene_no_camera(pangolin::View& view) {
 //      axesTic[i] = -axesTic[i];
 //    }
 //  }
+  // TODO: Can I define it outside of the loop? There's no need I guess to
+  //  redefine the the projection matrix every time
+  glMatrixMode(GL_PROJECTION);
+  P.Load();
 
+  // drawLinesCube pushes the matrices, therefore, I need to define in which
+  // stack to push that matrices.
+  glMatrixMode(GL_MODELVIEW);
+  if (zeroOut){
+    xSkew = 0;
+    ySkew = 0;
+    zSkew = 0;
+  }
+  if (drawCubeBool){
+    DrawCube(cubeSize, xSkew, ySkew, zSkew);
+  }
+  if (drawLineCubeBool){
+    drawLinesCube(xSkew, ySkew, zSkew, cubeSize);
+  }
+  // For the 6th sequence mono-kitti
+  if (showCube1) {drawLinesCube(-5.5, 0.5, -35.0, cubeSize);}
+  if (showCube2) {drawLinesCube(5.5, 0.5, -40.0, cubeSize);}
+  if (showCube3) {drawLinesCube(-5.5, 1.0, -95.0, cubeSize);}
+  if (showCube4) {drawLinesCube(5.5, 1.0, -150.0, cubeSize);}
+  if (showCube5) {drawLinesCube(16.0, 4.8, -324.5, cubeSize);}
+  if (showCube6) {drawLinesCube(32.8, 4.8, -324.5, cubeSize);}
+  if (showCube7) {drawLinesCube(32.5, 4.8, -345.7, cubeSize);}
+
+  ar_3d_camera.Follow((T_w_i * T_i_c).matrix());
   // For the 1st sequence mono-kitti
 //  drawLinesCube(0.0, 1.0, -95.0, cubeSize);
 //  drawLinesCube(0.0, 0.5, -35.0, cubeSize);