What does “Seeing right through them” exactly mean?

I was drawn to the phrase, “Seeing right through them“appearing in the New York Times (October 5) article written by Daniel Goleman under the title, “Rich people just care less.” It begins with the following sentence:

“Turning a blind eye. Giving someone the cold shoulder. Looking down on people. Seeing right through them. These metaphors for condescending or dismissive behavior are more than just descriptive. They suggest -- the social distance between those with greater power and those with less — a distance that goes beyond the realm of interpersonal interactions and may exacerbate the soaring inequality in the United States.

http://opinionator.blogs.nytimes.com/2013/10/05/rich-people-just-care-less/?hp When we were listening to teacher’ words in class, or a boss's instructions in office, didn’t we see right through him or her in order to be attentive? Is “to see right through people” perceived as a condescending / dismissive or rude behavior? I happened to find the same “See right through them” phrase in the English version of the teaching of Morihei Ueshiba (1883-1969), the founder of Aikido – martial art for self defense derived from Jujutsu. He says:

“If your heart is large enough to envelope your adversaries, you can see right through them and avoid their attacks. And once you envelope them, you will be able to guide them along the path indicated to you by heaven and earth.”

It appears to me Goleman uses “Seeing right through people” in “condescending and dismissive” manner, and Ueshiba uses it in different, rather positive way. What implications does the expression “Seeing right through them” have?