this runs for awhile before crashing (still no point cloud)

src/graphics_gl.rs

@@ -23,7 +23,7 @@ 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::point_cloud_visualiser::PointCloudVisualizer;
+use point_cloud::point_cloud_visualiser::{PointCloudVisualizer, PointCloudVisualizerError};
 use point_cloud::viewer_image::ViewerImage;
 
 //use shader::Shader;
@@ -335,7 +335,23 @@ pub fn run(capture_provider: Arc<CaptureProvider>, calibration_data: k4a_sys::k4
 
     // TODO: This belongs in a worker thread with buffers on both producer and consumer.
     if let Some(capture) = capture_provider.get_capture() {
-      //visualizer.update_texture(&texture, &capture);
+      println!("Got capture");
+      visualizer.update_texture(&texture, &capture)
+          .map(|_| {
+            println!("UPDATED TEXTURE!");
+          })
+          .map_err(|err| {
+            match err {
+              PointCloudVisualizerError::MissingDepthImage => { println!("Missing depth image"); },
+              PointCloudVisualizerError::MissingColorImage => { println!("Missing color image"); },
+              _ => {
+                unreachable!("Error: {:?}", err);
+              }
+            }
+          });
+
+      println!("Updated capture");
+      gl_window.swap_buffers().unwrap();
     }
   });
 }

src/point_cloud/point_cloud_renderer_shader.rs

@@ -281,7 +281,7 @@ impl PointCloudRendererShader {
     // void PointCloudRenderer::UpdateViewProjection(mat4x4 view, mat4x4 projection)
     //mat4x4_dup(m_view, view);
     //mat4x4_dup(m_projection, projection);
-    unimplemented!();
+    //unimplemented!();
   }
 
   pub fn update_point_clouds(&mut self, color_image: &k4a_sys_wrapper::Image,
@@ -398,6 +398,7 @@ impl PointCloudRendererShader {
 
       // Render point cloud
       gl::BindVertexArray(self.vertex_array_object.id());
+      println!("gl::DrawArrays - points in the point cloud");
       gl::DrawArrays(
         gl::POINTS,
         0,

src/point_cloud/point_cloud_visualiser.rs

@@ -215,6 +215,7 @@ impl PointCloudVisualizer {
       //  gl::FramebufferTexture(gl::FRAMEBUFFER, gl::COLOR_ATTACHMENT0, texture_buffer, 0);
       //gl::FramebufferTexture(gl::FRAMEBUFFER, gl::COLOR_ATTACHMENT0, texture, 0);
 
+      println!("gl::DrawBuffers");
       gl::DrawBuffers(1, &gl::COLOR_ATTACHMENT0);
 
       let frame_buffer_status = gl::CheckFramebufferStatus(gl::FRAMEBUFFER);
@@ -248,7 +249,7 @@ impl PointCloudVisualizer {
       Ok(img) => img,
       Err(e) => {
         // Capture doesn't have depth info. Drop the capture.
-        return Err(PointCloudVisualizerError::MissingDepthImage)
+        return Err(PointCloudVisualizerError::MissingDepthImage);
       },
     };