public void Debug(IGeoEye iGeoEye)
        {
            GeometryVisionEye eye = iGeoEye as GeometryVisionEye;

            amountOfSeenEdges = 0;

            if (eye != null)
            {
                //  DrawEdges(iGeoEye.GetSeenEdges());
            }
        }
        public void DebugGeoPlanes(Camera camera, IGeoEye iGeoEye, bool geometryOnly)
        {
            GeometryVisionEye eye = iGeoEye as GeometryVisionEye;

            if (geometryOnly == false)
            {
                RefreshFrustumCorners(camera);
                if (DebugPlanes.Count == 0)
                {
                    CreateDebugPlanes(25, _frustumCornersNear, _frustumCornersFar, camera, _planes);
                }
            }
        }