move up the stack

src/graphics_imgui.rs

@@ -138,14 +138,16 @@ pub fn run(capture_provider: Arc<MultiDeviceCaptureProvider>, calibration_data:
     const window_height : f32 = 760.0;
 
     if imgui_visualizer_xyz_texture_0.is_none() {
-      if visualizer.xyz_textures.get(0).unwrap().id() != 0 { // TODO: TEMP SUPPORT MULTI-CAMERA
-        imgui_visualizer_xyz_texture_0 = Some(TextureId::from(visualizer.xyz_textures.get(0).unwrap().id() as usize)); // TODO: TEMP SUPPORT MULTI-CAMERA
+      // TODO: TEMPORARY MESS TO SUPPORT MULTI-CAMERA
+      if visualizer.xyz_textures.get(0).unwrap().id() != 0 {
+        imgui_visualizer_xyz_texture_0 = Some(TextureId::from(visualizer.xyz_textures.get(0).unwrap().id() as usize));
       }
     }
 
     if imgui_visualizer_xyz_texture_1.is_none() {
-      if visualizer.xyz_textures.get(1).unwrap().id() != 0 { // TODO: TEMP SUPPORT MULTI-CAMERA
-        imgui_visualizer_xyz_texture_1 = Some(TextureId::from(visualizer.xyz_textures.get(1).unwrap().id() as usize)); // TODO: TEMP SUPPORT MULTI-CAMERA
+      // TODO: TEMPORARY MESS TO SUPPORT MULTI-CAMERA
+      if visualizer.xyz_textures.get(1).unwrap().id() != 0 {
+        imgui_visualizer_xyz_texture_1 = Some(TextureId::from(visualizer.xyz_textures.get(1).unwrap().id() as usize));
       }
     }
 

src/point_cloud/debug/camera_image_bytes.rs

@@ -5,20 +5,23 @@ use std::io::Read;
 use kinect::k4a_sys_wrapper;
 
 /// Store either raw bytes, or wrap a k4a::Image
+/// This is meant to be plumbed through the system instead of a k4a::Image (depth or color image)
+pub struct CameraImageBytes {
+  storage: UnderlyingStorage,
+}
+
+/// The underlying data store
 enum UnderlyingStorage {
+  /// Our own serialization
   Bytes {
     bytes: Vec<u8>,
     width: usize,
     height: usize
   },
+  /// From the Kinect camera
   K4aImage(k4a_sys_wrapper::Image),
 }
 
-/// Loaded images from the filesystem
-pub struct CameraImageBytes {
-  storage: UnderlyingStorage,
-}
-
 impl CameraImageBytes {
   pub fn from_file(filename: &str, width: usize, height: usize) -> AnyhowResult<Self> {
     let mut file = File::open(filename)?;
@@ -48,6 +51,13 @@ impl CameraImageBytes {
     }
   }
 
+  pub fn is_k4a(&self) -> bool {
+    match &self.storage {
+      UnderlyingStorage::Bytes { .. } => false,
+      UnderlyingStorage::K4aImage(_) => true,
+    }
+  }
+
   pub fn len(&self) -> usize {
     match &self.storage {
       UnderlyingStorage::Bytes { bytes, .. } => bytes.len(),

src/point_cloud/point_cloud_renderer.rs

@@ -109,10 +109,6 @@ pub struct PointCloudRenderer {
   vertex_color_buffer_objects: Vec<Buffer>,
 
   vertex_attrib_locations: Vec<GLint>,
-
-  /// For debugging
-  /// If present, use these for color images instead of camera captures.
-  debug_static_color_frames: Vec<CameraImageBytes>,
 }
 
 const fn translation_matrix_4x4(x: f32, y: f32, z: f32) -> [f32; 16] {
@@ -268,10 +264,6 @@ impl PointCloudRenderer {
       [0.0,        0.0,      -0.2002,  0.0],
     ];
 
-    let mut debug_static_color_frames = Vec::new();
-    debug_static_color_frames.push(CameraImageBytes::from_file("output/color_src_0", 0, 0).unwrap());
-    debug_static_color_frames.push(CameraImageBytes::from_file("output/color_src_1", 0, 0).unwrap());
-
     Self {
       num_cameras,
       arcball_camera: arcball,
@@ -292,7 +284,6 @@ impl PointCloudRenderer {
       vertex_array_objects,
       vertex_color_buffer_objects,
       vertex_attrib_locations,
-      debug_static_color_frames,
     }
   }
 
@@ -319,9 +310,10 @@ impl PointCloudRenderer {
   ///
   ///
   ///
-  pub fn update_point_clouds(&mut self, color_images: &Vec<k4a_sys_wrapper::Image>,
-                             point_cloud_textures: &Vec<Texture>) -> Result<()>
-  {
+  pub fn update_point_clouds(&mut self,
+                             color_images: &Vec<CameraImageBytes>,
+                             point_cloud_textures: &Vec<Texture>
+  ) -> Result<()> {
     let time = SystemTime::now();
     let time_since_epoch = time.duration_since(UNIX_EPOCH).unwrap();
     let seconds = time_since_epoch.as_secs();
@@ -346,22 +338,7 @@ impl PointCloudRenderer {
         gl::BindBuffer(gl::ARRAY_BUFFER, vertex_color_buffer_object.id());
       }
 
-      // Hack to hold onto the K4A ColorImageBytes wrapper.
-      let mut color_image_storage : Option<CameraImageBytes> = None;
-
-      let color_image_bytes = if let Some(debug_color_image) = self.debug_static_color_frames.get(i) {
-        debug_color_image
-      } else {
-        let color_image = color_images.get(i).unwrap();
-        let color_image_bytes = CameraImageBytes::from_k4a_image(&color_image);
-
-        //let filename = format!("output/color_src_{}", i);
-        //write_to_file_from_byte_ptr(&filename, color_image_bytes.as_ptr(), color_image_bytes.len()).unwrap();
-
-        color_image_storage = Some(color_image_bytes);
-        color_image_storage.as_ref().unwrap()
-      };
-
+      let color_image_bytes = color_images.get(i).unwrap();
       let color_image_size_bytes = color_image_bytes.len() as i32;
 
       if *vertex_array_size_bytes != color_image_size_bytes {

src/point_cloud/point_cloud_visualiser.rs

@@ -136,7 +136,8 @@ pub struct PointCloudVisualizer {
   clear_color: RgbaF32,
 
   /// For debugging
-  /// If present, use these for depth images instead of camera captures.
+  /// If present, use these instead of camera captures.
+  debug_static_color_frames: Vec<CameraImageBytes>,
   debug_static_depth_frames: Vec<CameraImageBytes>,
 }
 
@@ -208,6 +209,10 @@ impl PointCloudVisualizer {
       depth_xy_tables.push(depth_xy_table);
     }
 
+    let mut debug_static_color_frames = Vec::new();
+    debug_static_color_frames.push(CameraImageBytes::from_file("output/color_src_0", 0, 0).unwrap());
+    debug_static_color_frames.push(CameraImageBytes::from_file("output/color_src_1", 0, 0).unwrap());
+
     let mut debug_static_depth_frames = Vec::new();
     debug_static_depth_frames.push(CameraImageBytes::from_file("output/depth_src_0", 3840, 2160).unwrap());
     debug_static_depth_frames.push(CameraImageBytes::from_file("output/depth_src_1", 3840, 2160).unwrap());
@@ -233,6 +238,7 @@ impl PointCloudVisualizer {
       xyz_textures,
       depth_value_range: expected_value_range,
       clear_color,
+      debug_static_color_frames,
       debug_static_depth_frames,
     };
 
@@ -339,14 +345,24 @@ impl PointCloudVisualizer {
       self.update_point_clouds_for_camera(camera_index, capture)?;
     }
 
-    // TODO: wrt k4a::Image.clone(), k4a should use ref counting. (I did this one other place a few commits ago.
-    //  Hope it's not ref leaking.)
-    let colorizations: Vec<Image>  = self.point_cloud_colorizations.iter()
-        .map(|img| img.as_ref().map(|img| img.clone()).unwrap())
-        .collect();
+    let mut color_captures = Vec::new();
+
+    let color_frames = if self.debug_static_color_frames.len() > 0 {
+      &self.debug_static_color_frames
+    } else {
+      // TODO: wrt k4a::Image.clone(), k4a should use ref counting. (I did this one other place a few commits ago.
+      //  Hope it's not ref leaking.)
+      let colorizations: Vec<CameraImageBytes>  = self.point_cloud_colorizations.iter()
+          .map(|img| img.as_ref().map(|img| img.clone()).unwrap()) // Potential ref leak #1
+          .map(|image| CameraImageBytes::from_k4a_image(&image)) // Potential ref leak #2
+          .collect();
+
+      color_captures = colorizations;
+      &color_captures
+    };
 
     self.point_cloud_renderer.update_point_clouds(
-      &colorizations,
+      &color_frames,
       &self.xyz_textures
     ).map_err(|err| PointCloudVisualizerError::PointCloudRendererError(err))
   }