light refactor - rename classes

src/graphics_gl.rs

@@ -22,8 +22,8 @@ use std::ptr::null;
 use std::sync::Arc;
 use sensor_control::CaptureProvider;
 use point_cloud;
-use point_cloud::point_cloud_compute_shader::PointCloudComputeShader;
-use point_cloud::point_cloud_renderer_shader::PointCloudRendererShader;
+use point_cloud::gpu_point_cloud_converter::GpuPointCloudConverter;
+use point_cloud::point_cloud_renderer::PointCloudRenderer;
 use point_cloud::point_cloud_visualiser::{PointCloudVisualizer, PointCloudVisualizerError, ColorizationStrategy};
 use point_cloud::viewer_image::ViewerImage;
 use opengl::debug::enable_opengl_debugging;

src/graphics_imgui.rs

@@ -127,8 +127,7 @@ pub fn run(capture_provider: Arc<CaptureProvider>, calibration_data: k4a_sys::k4
     Image::new(imgui_texture_id, [100.0, 100.0]).build(&ui);
     ui.separator();
 
-    Image::new(imgui_texture_id_2, [100.0, 100.0]).build(&ui);
-    ui.separator();
+    Image::new(imgui_texture_id_2, [1280.0, 720.0]).build(&ui);
 
     ui.separator();
 

src/point_cloud/gpu_point_cloud_converter.rs

@@ -104,7 +104,7 @@ void main()
 /// need to pass this as the format argument to glBindImageTexture().
 pub const POINT_CLOUD_TEXTURE_FORMAT : GLuint = gl::RGBA32F;
 
-pub struct PointCloudComputeShader {
+pub struct GpuPointCloudConverter {
   /// The OpenGL program
   program_id: GLuint,
 
@@ -112,10 +112,10 @@ pub struct PointCloudComputeShader {
   shader_id: GLuint,
 
   /// The x,y table as a texture
-  xy_table_texture: Texture,
+  pub xy_table_texture: Texture,
 
   /// Preallocated texture for depth image so we don't have to reallocate every frame.
-  depth_image_texture: Texture,
+  pub depth_image_texture: Texture,
 
   depth_image_pixel_buffer: Buffer,
 
@@ -129,7 +129,7 @@ pub struct PointCloudComputeShader {
   depth_image_id: GLint,
 }
 
-impl PointCloudComputeShader {
+impl GpuPointCloudConverter {
 
   pub fn new() -> Self {
     let program_id = unsafe { gl::CreateProgram() };
@@ -163,7 +163,7 @@ impl PointCloudComputeShader {
     println!("Uniform: xy_table_id location = {:?}", xy_table_id);
     println!("Uniform: depth_image_id location = {:?}", depth_image_id);
 
-    PointCloudComputeShader {
+    GpuPointCloudConverter {
       program_id,
       shader_id,
       dest_tex_id,

src/point_cloud/mod.rs

@@ -1,5 +1,5 @@
-pub mod point_cloud_compute_shader;
-pub mod point_cloud_renderer_shader;
+pub mod gpu_point_cloud_converter;
+pub mod point_cloud_renderer;
 pub mod point_cloud_visualiser;
 pub mod compile_shader;
 pub mod pixel_structs;

src/point_cloud/point_cloud_renderer.rs

@@ -17,7 +17,7 @@ use libc;
 use opengl_wrapper::{Buffer, VertexArray, gl_get_error, OpenGlError};
 use opengl_wrapper::Texture;
 use point_cloud::compile_shader::compile_shader;
-use point_cloud::point_cloud_compute_shader::POINT_CLOUD_TEXTURE_FORMAT;
+use point_cloud::gpu_point_cloud_converter::POINT_CLOUD_TEXTURE_FORMAT;
 use graphics_gl::{get_stride, get_pointer_offset};
 use point_cloud::pixel_structs::BgraPixel;
 use point_cloud::point_cloud_visualiser::PointCloudVisualizer;
@@ -197,7 +197,7 @@ void main()
 }
 ";
 
-pub struct PointCloudRendererShader {
+pub struct PointCloudRenderer {
   /// The OpenGL program
   shader_program_id: GLuint,
 
@@ -283,7 +283,7 @@ const fn initial_projection_matrix_4x4() -> [f32; 16] {
   ];
 }
 
-impl PointCloudRendererShader {
+impl PointCloudRenderer {
 
   pub fn new() -> Self {
     // TODO: Init view and projection matrices
@@ -347,7 +347,7 @@ impl PointCloudRendererShader {
       shader_program_id: program_id,
       vertex_shader_id,
       fragment_shader_id,
-      point_size: 2,
+      point_size: 5,
       enable_shading: false,
       vertex_array_size_bytes: 0,
       view_index,

src/point_cloud/point_cloud_visualiser.rs

@@ -9,8 +9,8 @@ use opengl_wrapper::OpenGlError;
 use opengl_wrapper::{Texture, Renderbuffer, Framebuffer};
 use point_cloud::pixel_structs::BgraPixel;
 use point_cloud::pixel_structs::DepthPixel;
-use point_cloud::point_cloud_compute_shader::{PointCloudComputeShader, PointCloudComputeError};
-use point_cloud::point_cloud_renderer_shader::{PointCloudRendererShader, PointCloudRendererError};
+use point_cloud::gpu_point_cloud_converter::{GpuPointCloudConverter, PointCloudComputeError};
+use point_cloud::point_cloud_renderer::{PointCloudRenderer, PointCloudRendererError};
 use point_cloud::viewer_image::ViewerImage;
 use rand::Rng;
 use std::fmt::{Error, Formatter};
@@ -98,8 +98,8 @@ pub struct PointCloudVisualizer {
   enable_color_point_cloud: bool,
   colorization_strategy: ColorizationStrategy,
 
-  point_cloud_renderer: PointCloudRendererShader,
-  point_cloud_converter: PointCloudComputeShader,
+  point_cloud_renderer: PointCloudRenderer,
+  point_cloud_converter: GpuPointCloudConverter,
 
   calibration_data: k4a_sys::k4a_calibration_t,
   transformation: Transformation, // TODO: WAT k4a_sys::k4a_transformation_t
@@ -167,12 +167,12 @@ impl PointCloudVisualizer {
     } k4a_calibration_type_t;*/
 
     // TODO: generate color xytable only on `enable_color_point_cloud`.
-    let color_xy_table = PointCloudComputeShader::generate_xy_table(
+    let color_xy_table = GpuPointCloudConverter::generate_xy_table(
       calibration_data.clone(),
       1, //k4a_sys::K4A_CALIBRATION_TYPE_COLOR,
     ).unwrap();
 
-    let depth_xy_table = PointCloudComputeShader::generate_xy_table(
+    let depth_xy_table = GpuPointCloudConverter::generate_xy_table(
       calibration_data.clone(),
       0, // k4a_sys::K4A_CALIBRATION_TYPE_DEPTH,
     ).unwrap();
@@ -189,8 +189,8 @@ impl PointCloudVisualizer {
       m_dimensions_width: 1280, // Resolution of the point cloud texture
       m_dimensions_height: 1152, // ImageDimensions PointCloudVisualizerTextureDimensions = { 1280, 1152 };
       enable_color_point_cloud,
-      point_cloud_renderer: PointCloudRendererShader::new(),
-      point_cloud_converter: PointCloudComputeShader::new(),
+      point_cloud_renderer: PointCloudRenderer::new(),
+      point_cloud_converter: GpuPointCloudConverter::new(),
       frame_buffer: Framebuffer::new_initialized(),
       depth_buffer,
       color_xy_table,