From cc1f822f5c004b4acb5a30a5fc17feebbc18b8ed Mon Sep 17 00:00:00 2001
From: Brandon Thomas <echelon@gmail.com>
Date: Tue, 28 Apr 2020 03:08:25 -0400
Subject: [PATCH] add distance threshold and scaling

---
 src/graphics_imgui.rs                        | 4 ++--
 src/point_cloud/gpu_point_cloud_converter.rs | 9 +++++++++
 src/point_cloud/point_cloud_renderer.rs      | 5 +++++
 3 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/src/graphics_imgui.rs b/src/graphics_imgui.rs
index e30586ae41..1d7f639fcc 100644
--- a/src/graphics_imgui.rs
+++ b/src/graphics_imgui.rs
@@ -202,7 +202,7 @@ pub fn run(capture_provider: Arc<CaptureProvider>, calibration_data: k4a_sys::k4
 
     let change_delta = last_frame - last_change;
 
-    if change_delta > Duration::from_millis(5000) {
+    /*if change_delta > Duration::from_millis(5000) {
       colorization_strategy = match colorization_strategy {
         ColorizationStrategy::Simple => ColorizationStrategy::Shaded, // NB: We won't do simple.
         ColorizationStrategy::Shaded => ColorizationStrategy::Color,
@@ -213,7 +213,7 @@ pub fn run(capture_provider: Arc<CaptureProvider>, calibration_data: k4a_sys::k4
 
       visualizer.set_colorization_strategy(colorization_strategy);
       last_change = Instant::now();
-    }
+    }*/
 
     //rebinder.restore();
 
diff --git a/src/point_cloud/gpu_point_cloud_converter.rs b/src/point_cloud/gpu_point_cloud_converter.rs
index b5d6ea2789..cbfdb7a370 100644
--- a/src/point_cloud/gpu_point_cloud_converter.rs
+++ b/src/point_cloud/gpu_point_cloud_converter.rs
@@ -101,6 +101,15 @@ void main()
     //
     vertexPosition.x *= -1;
 
+    // Distance Threshold
+    // TODO: Make configurable.
+    if (vertexPosition.z > 1.5) {
+        alpha = 0.0f;
+        vertexPosition.x = 0.0;
+        vertexPosition.y = 0.0;
+        vertexPosition.z = 0.0;
+    }
+
     imageStore(destTex, pixel, vec4(vertexPosition, alpha));
 }
 ";
diff --git a/src/point_cloud/point_cloud_renderer.rs b/src/point_cloud/point_cloud_renderer.rs
index 0e0c57f14c..95db4c5b09 100644
--- a/src/point_cloud/point_cloud_renderer.rs
+++ b/src/point_cloud/point_cloud_renderer.rs
@@ -94,6 +94,11 @@ void main()
     ivec2 currentDepthPixelCoordinates = ivec2(gl_VertexID % pointCloudSize.x, gl_VertexID / pointCloudSize.x);
     vec3 vertexPosition = imageLoad(pointCloudTexture, currentDepthPixelCoordinates).xyz;
 
+    // Scale up while model view matrices not implemented.
+    vertexPosition.x *= 5.0;
+    vertexPosition.y *= 5.0;
+    vertexPosition.z *= 5.0;
+
     gl_Position = projection * view * vec4(vertexPosition, 1);
 
     vertexColor = inColor;