introduced rng as point cloud output

Cargo.lock

@@ -438,6 +438,16 @@ dependencies = [
  "mint 0.5.4 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "getrandom"
+version = "0.1.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "cfg-if 0.1.10 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.68 (registry+https://github.com/rust-lang/crates.io-index)",
+ "wasi 0.9.0+wasi-snapshot-preview1 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "gfx"
 version = "0.18.2"
@@ -1073,6 +1083,11 @@ dependencies = [
  "inflate 0.4.5 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "ppv-lite86"
+version = "0.2.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "proc-macro2"
 version = "0.4.30"
@@ -1122,6 +1137,27 @@ dependencies = [
  "winapi 0.3.8 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "rand"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "getrandom 0.1.14 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.68 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rand_chacha 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rand_core 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rand_hc 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "rand_chacha"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "ppv-lite86 0.2.6 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rand_core 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "rand_core"
 version = "0.3.1"
@@ -1135,6 +1171,22 @@ name = "rand_core"
 version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
+[[package]]
+name = "rand_core"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "getrandom 0.1.14 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "rand_hc"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "rand_core 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "raw-window-handle"
 version = "0.3.3"
@@ -1318,6 +1370,7 @@ dependencies = [
  "libc 0.2.68 (registry+https://github.com/rust-lang/crates.io-index)",
  "obj 0.9.1 (registry+https://github.com/rust-lang/crates.io-index)",
  "opencv 0.33.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rand 0.7.3 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
@@ -1409,6 +1462,11 @@ dependencies = [
  "winapi-util 0.1.4 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "wasi"
+version = "0.9.0+wasi-snapshot-preview1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "wayland-client"
 version = "0.23.6"
@@ -1621,6 +1679,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 "checksum fuchsia-zircon 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)" = "2e9763c69ebaae630ba35f74888db465e49e259ba1bc0eda7d06f4a067615d82"
 "checksum fuchsia-zircon-sys 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)" = "3dcaa9ae7725d12cdb85b3ad99a434db70b468c09ded17e012d86b5c1010f7a7"
 "checksum genmesh 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "a5fd00927c1c06051d7da1a933ee87cb9edc799c0657be5449f10cf658f35883"
+"checksum getrandom 0.1.14 (registry+https://github.com/rust-lang/crates.io-index)" = "7abc8dd8451921606d809ba32e95b6111925cd2906060d2dcc29c070220503eb"
 "checksum gfx 0.18.2 (registry+https://github.com/rust-lang/crates.io-index)" = "01de46f9508a5c259aef105f0bff760ceddca832ea9c87ce03d1923e22ee155b"
 "checksum gfx_core 0.9.2 (registry+https://github.com/rust-lang/crates.io-index)" = "75fbddaef2e12b4995900539d7209d947b988a3d87ee8737484d049b526e5441"
 "checksum gif 0.10.3 (registry+https://github.com/rust-lang/crates.io-index)" = "471d90201b3b223f3451cd4ad53e34295f16a1df17b1edf3736d47761c3981af"
@@ -1691,14 +1750,19 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 "checksum percent-encoding 2.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d4fd5641d01c8f18a23da7b6fe29298ff4b55afcccdf78973b24cf3175fee32e"
 "checksum pkg-config 0.3.17 (registry+https://github.com/rust-lang/crates.io-index)" = "05da548ad6865900e60eaba7f589cc0783590a92e940c26953ff81ddbab2d677"
 "checksum png 0.16.2 (registry+https://github.com/rust-lang/crates.io-index)" = "910f09135b1ed14bb16be445a8c23ddf0777eca485fbfc7cee00d81fecab158a"
+"checksum ppv-lite86 0.2.6 (registry+https://github.com/rust-lang/crates.io-index)" = "74490b50b9fbe561ac330df47c08f3f33073d2d00c150f719147d7c54522fa1b"
 "checksum proc-macro2 0.4.30 (registry+https://github.com/rust-lang/crates.io-index)" = "cf3d2011ab5c909338f7887f4fc896d35932e29146c12c8d01da6b22a80ba759"
 "checksum proc-macro2 1.0.10 (registry+https://github.com/rust-lang/crates.io-index)" = "df246d292ff63439fea9bc8c0a270bed0e390d5ebd4db4ba15aba81111b5abe3"
 "checksum quick-error 1.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "a1d01941d82fa2ab50be1e79e6714289dd7cde78eba4c074bc5a4374f650dfe0"
 "checksum quote 0.6.13 (registry+https://github.com/rust-lang/crates.io-index)" = "6ce23b6b870e8f94f81fb0a363d65d86675884b34a09043c81e5562f11c1f8e1"
 "checksum quote 1.0.3 (registry+https://github.com/rust-lang/crates.io-index)" = "2bdc6c187c65bca4260c9011c9e3132efe4909da44726bad24cf7572ae338d7f"
 "checksum rand 0.4.6 (registry+https://github.com/rust-lang/crates.io-index)" = "552840b97013b1a26992c11eac34bdd778e464601a4c2054b5f0bff7c6761293"
+"checksum rand 0.7.3 (registry+https://github.com/rust-lang/crates.io-index)" = "6a6b1679d49b24bbfe0c803429aa1874472f50d9b363131f0e89fc356b544d03"
+"checksum rand_chacha 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "f4c8ed856279c9737206bf725bf36935d8666ead7aa69b52be55af369d193402"
 "checksum rand_core 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "7a6fdeb83b075e8266dcc8762c22776f6877a63111121f5f8c7411e5be7eed4b"
 "checksum rand_core 0.4.2 (registry+https://github.com/rust-lang/crates.io-index)" = "9c33a3c44ca05fa6f1807d8e6743f3824e8509beca625669633be0acbdf509dc"
+"checksum rand_core 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)" = "90bde5296fc891b0cef12a6d03ddccc162ce7b2aff54160af9338f8d40df6d19"
+"checksum rand_hc 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "ca3129af7b92a17112d59ad498c6f81eaf463253766b90396d39ea7a39d6613c"
 "checksum raw-window-handle 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)" = "0a441a7a6c80ad6473bd4b74ec1c9a4c951794285bf941c2126f607c72e48211"
 "checksum rayon 1.3.0 (registry+https://github.com/rust-lang/crates.io-index)" = "db6ce3297f9c85e16621bb8cca38a06779ffc31bb8184e1be4bed2be4678a098"
 "checksum rayon-core 1.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "08a89b46efaf957e52b18062fb2f4660f8b8a4dde1807ca002690868ef2c85a9"
@@ -1735,6 +1799,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 "checksum version_check 0.1.5 (registry+https://github.com/rust-lang/crates.io-index)" = "914b1a6776c4c929a602fafd8bc742e06365d4bcbe48c30f9cca5824f70dc9dd"
 "checksum void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)" = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
 "checksum walkdir 2.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "777182bc735b6424e1a57516d35ed72cb8019d85c8c9bf536dccb3445c1a2f7d"
+"checksum wasi 0.9.0+wasi-snapshot-preview1 (registry+https://github.com/rust-lang/crates.io-index)" = "cccddf32554fecc6acb585f82a32a72e28b48f8c4c1883ddfeeeaa96f7d8e519"
 "checksum wayland-client 0.23.6 (registry+https://github.com/rust-lang/crates.io-index)" = "af1080ebe0efabcf12aef2132152f616038f2d7dcbbccf7b2d8c5270fe14bcda"
 "checksum wayland-commons 0.23.6 (registry+https://github.com/rust-lang/crates.io-index)" = "bb66b0d1a27c39bbce712b6372131c6e25149f03ffb0cd017cf8f7de8d66dbdb"
 "checksum wayland-protocols 0.23.6 (registry+https://github.com/rust-lang/crates.io-index)" = "6cc286643656742777d55dc8e70d144fa4699e426ca8e9d4ef454f4bf15ffcf9"

Cargo.toml

@@ -21,4 +21,5 @@ image = "0.23.2"
 k4a-sys = { path = "/home/bt/dev/3rd/k4a-sys" } # k4a-sys = "0.2.0"
 libc = "0.2.68"
 obj = "0.9.1"
-opencv = "0.33.1"
+opencv = "0.33.1"
+rand = "0.7.3"

src/main.rs

@@ -12,6 +12,7 @@ extern crate k4a_sys;
 extern crate libc;
 extern crate obj;
 extern crate opencv;
+extern crate rand;
 
 use std::borrow::BorrowMut;
 use std::ffi::{c_void, CStr, CString};

src/point_cloud/point_cloud_renderer_shader.rs

@@ -20,6 +20,7 @@ use point_cloud::compile_shader::compile_shader;
 use point_cloud::point_cloud_compute_shader::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;
 
 pub type Result<T> = std::result::Result<T, PointCloudRendererError>;
 
@@ -29,6 +30,12 @@ pub enum PointCloudRendererError {
   UnknownError,
 }
 
+impl From<OpenGlError> for PointCloudRendererError {
+  fn from(error: OpenGlError) -> Self {
+    PointCloudRendererError::OpenGlError(error)
+  }
+}
+
 impl std::fmt::Display for PointCloudRendererError {
   fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
     let description = match self {
@@ -385,7 +392,7 @@ impl PointCloudRendererShader {
 
       gl::UseProgram(self.program_id);
 
-      // TODO:
+      // TODO: view and projection matrices
       // Update view/projection matrices in shader
       // glUniformMatrix4fv(m_viewIndex, 1, GL_FALSE, reinterpret_cast<const GLfloat *>(m_view));
       // glUniformMatrix4fv(m_projectionIndex, 1, GL_FALSE, reinterpret_cast<const GLfloat *>(m_projection));

src/point_cloud/point_cloud_visualiser.rs

@@ -13,6 +13,7 @@ use point_cloud::pixel_structs::BgraPixel;
 use point_cloud::pixel_structs::DepthPixel;
 use std::mem::size_of;
 use point_cloud::viewer_image::ViewerImage;
+use rand::Rng;
 
 pub type Result<T> = std::result::Result<T, PointCloudVisualizerError>;
 
@@ -288,6 +289,8 @@ impl PointCloudVisualizer {
       let length = depth_image.get_size();
       let dst_length = length / size_of::<BgraPixel>();
 
+      let mut rng = rand::thread_rng();
+
       unsafe {
         // src: DepthPixel
         let mut src_pixel = depth_image.get_buffer();
@@ -313,6 +316,14 @@ impl PointCloudVisualizer {
           dst_pixel_3 += 1;
           src_pixel_3 += 1;
         }*/
+
+        // TODO: This should help us see output.
+        for i in 0 .. dst_length {
+          dst_pixel_3[i].blue = rng.gen_range(0, 255);
+          dst_pixel_3[i].green = rng.gen_range(0, 255);
+          dst_pixel_3[i].red = rng.gen_range(0, 255);
+          dst_pixel_3[i].alpha = rng.gen_range(0, 255);
+        }
       }
     }