VOID DebugDraw::DrawBound( const Bound& bound, D3DCOLOR Color )
{
switch( bound.GetType() )
{
case Bound::Sphere_Bound:
DrawSphere( bound.GetSphere(), Color );
return;
case Bound::Frustum_Bound:
DrawFrustum( bound.GetFrustum(), Color );
return;
case Bound::AABB_Bound:
DrawAabb( bound.GetAabb(), Color );
return;
case Bound::OBB_Bound:
DrawObb( bound.GetObb(), Color );
return;
}
}
void FeatureTracker::glDraw()
{
// static int lastt = 0;
// static int idx=0;
// lastt++;
// if(lastt > 100)
// {
// lastt = 0;
// idx = RAND(0,features.size()-1);
// }
// if(idx >0 && idx < features.size())
// {
// glLineWidth(5);
// glColor3f(1,0,0);
// glBegin(GL_LINES);
// glVertex3f(features[idx].view[0]-features[idx].size,features[idx].view[1],features[idx].view[2]);
// glVertex3f(features[idx].view[0]+features[idx].size,features[idx].view[1],features[idx].view[2]);
// glEnd();
// glBegin(GL_POINTS);
// glVertex3f(features[idx].pos[0],features[idx].pos[1],features[idx].pos[2]);
// glEnd();
// }
DrawFrustum(pose, /*5*/pose[2]-0.2);
//std::vector<Feature> fs = MatchedFeatures(pose);
std::vector<Feature> fs = features;
glColor3f(1,0,0);
glPointSize(5);
if(false)
{
for(int i=0; i<fs.size(); i++)
{
glPointSize(5*fs[i].size);
glBegin(GL_POINTS);
glVertex3f(fs[i].pos[0], fs[i].pos[1], fs[i].pos[2]+0.01);
glEnd();
}
}
// draw matched features
// glColor3f(1,0,1);
// for(int i=0; i<matchedFeatures.size(); i++)
// {
// glPointSize(10*matchedFeatures[i].size);
// glBegin(GL_POINTS);
// glVertex3f(matchedFeatures[i].pos[0], matchedFeatures[i].pos[1], matchedFeatures[i].pos[2]+0.01);
// glEnd();
// }
// if(bDrawEntropy)
// {
// //Draw entropy field
// glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
// for(int i=0; i< entropies.size(); i++)
// {
// glColor4f(0,0,1,entropies[i]/mesh.maxEntropy);
// Vector<3, double > p1 = makeVector(nextPath[i][0]-footprint_length/4, nextPath[i][1]+footprint_length/4, nextPath[i][2]);
// Vector<3, double > p2 = makeVector(nextPath[i][0]+footprint_length/4, nextPath[i][1]-footprint_length/4, nextPath[i][2]);
// glBegin(GL_POLYGON);
// glVertex3f(p1[0], p1[1], p1[2]);
// glVertex3f(p2[0], p1[1], p2[2]);
// glVertex3f(p2[0], p2[1], p2[2]);
// glVertex3f(p1[0], p2[1], p2[2]);
// glEnd();
// }
// }
}
