From cc30f56a127db53769ae95acb4212f3ba74538bb Mon Sep 17 00:00:00 2001
From: Ivan <mascomen4@gmail.com>
Date: Fri, 15 Apr 2022 15:17:15 +0300
Subject: [PATCH] v3

---
 src/vio.cpp | 63 ++++++++++++++++++++++++++---------------------------
 1 file changed, 31 insertions(+), 32 deletions(-)

diff --git a/src/vio.cpp b/src/vio.cpp
index 7feecac..e66c258 100644
--- a/src/vio.cpp
+++ b/src/vio.cpp
@@ -861,7 +861,38 @@ int main(int argc, char** argv) {
       // DrawImageTexture takes also the depth buffer when uploading, so we need clean it.
       glClear(GL_DEPTH_BUFFER_BIT);
 
+      // 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);
+      //      ar_3d_camera.Follow((T_w_i * T_i_c).matrix());
+
+      glPushMatrix();
+      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);}
+
+      glPopMatrix();
       // 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.
       // Although! We want to draw the cube from the world coordinate system, therefore
@@ -1283,38 +1314,6 @@ void draw_scene_no_camera(pangolin::View& view) {
 //    }
 //  }
 
-  // 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);
-  //      ar_3d_camera.Follow((T_w_i * T_i_c).matrix());
-
-  glPushMatrix();
-  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);}
-
-  glPopMatrix();
 
   // For the 1st sequence mono-kitti
 //  drawLinesCube(0.0, 1.0, -95.0, cubeSize);