fix(tools): display issue of camera (#54)

* feat(tools): migration of cyber visualizer on jetson

* Clean up Qt5 installation and add dependencies

Remove old Qt5 installation and update dependencies.

* Revert "feat: refactor common file API (#39)"

This reverts commit 40c9f7d.

* fix(tools): display issue of camera

---------

Co-authored-by: WildBeast114514 <[email protected]>

Author: WildBeast114514

modules/tools/visualizer/plane.cc

@@ -19,7 +19,7 @@
 std::shared_ptr<Texture> Plane::NullTextureObj;
 
 Plane::Plane(const std::shared_ptr<Texture>& t)
-    : RenderableObject(4, 4), texture_id_(0), texture_(t) {}
+    : RenderableObject(6, 4), texture_id_(0), texture_(t) {}
 
 bool Plane::FillVertexBuffer(GLfloat* pBuffer) {
   if (texture_ == nullptr || !texture_->isDirty()) {
@@ -30,33 +30,53 @@ bool Plane::FillVertexBuffer(GLfloat* pBuffer) {
   glBindTexture(GL_TEXTURE_2D, texture_id_);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER);
+  // Clamp to edge for ES/core profile compatibility
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
 
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, texture_->width(),
-               texture_->height(), 0, texture_->texture_format(),
-               GL_UNSIGNED_BYTE, texture_->data());
+  // Prefer base internal formats for ES/core compatibility and match channels
+  GLenum fmt = texture_->texture_format();
+  GLint internal_fmt = (fmt == GL_RGBA) ? GL_RGBA : GL_RGB;
+  glTexImage2D(GL_TEXTURE_2D, 0, internal_fmt, texture_->width(),
+               texture_->height(), 0, fmt, GL_UNSIGNED_BYTE,
+               texture_->data());
 
   glBindTexture(GL_TEXTURE_2D, 0);
 
   texture_->removeDirty();
 
-  pBuffer[0] = -1.0f;
-  pBuffer[1] = -1.0f;
-  pBuffer[2] = 0.0f;
-  pBuffer[3] = 0.0f;
-  pBuffer[4] = 1.0f;
-  pBuffer[5] = -1.0f;
-  pBuffer[6] = 1.0f;
-  pBuffer[7] = 0.0f;
-  pBuffer[8] = 1.0f;
-  pBuffer[9] = 1.0f;
-  pBuffer[10] = 1.0f;
-  pBuffer[11] = 1.0f;
-  pBuffer[12] = -1.0f;
-  pBuffer[13] = 1.0f;
-  pBuffer[14] = 0.0f;
-  pBuffer[15] = 1.0f;
+  // Two CCW triangles forming a full-screen quad
+  // Triangle 0: BL, BR, TR
+  pBuffer[0] = -1.0f;   // BL.x
+  pBuffer[1] = -1.0f;   // BL.y
+  pBuffer[2] = 0.0f;    // BL.u
+  pBuffer[3] = 0.0f;    // BL.v
+
+  pBuffer[4] = 1.0f;    // BR.x
+  pBuffer[5] = -1.0f;   // BR.y
+  pBuffer[6] = 1.0f;    // BR.u
+  pBuffer[7] = 0.0f;    // BR.v
+
+  pBuffer[8] = 1.0f;    // TR.x
+  pBuffer[9] = 1.0f;    // TR.y
+  pBuffer[10] = 1.0f;   // TR.u
+  pBuffer[11] = 1.0f;   // TR.v
+
+  // Triangle 1: BL, TR, TL
+  pBuffer[12] = -1.0f;  // BL.x
+  pBuffer[13] = -1.0f;  // BL.y
+  pBuffer[14] = 0.0f;   // BL.u
+  pBuffer[15] = 0.0f;   // BL.v
+
+  pBuffer[16] = 1.0f;   // TR.x
+  pBuffer[17] = 1.0f;   // TR.y
+  pBuffer[18] = 1.0f;   // TR.u
+  pBuffer[19] = 1.0f;   // TR.v
+
+  pBuffer[20] = -1.0f;  // TL.x
+  pBuffer[21] = 1.0f;   // TL.y
+  pBuffer[22] = 0.0f;   // TL.u
+  pBuffer[23] = 1.0f;   // TL.v
 
   return true;
 }
@@ -82,12 +102,14 @@ void Plane::Draw(void) {
       glBindTexture(GL_TEXTURE_2D, texture_id_);
       glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
       glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER);
-      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
 
-      glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, texture_->width(),
-                   texture_->height(), 0, texture_->texture_format(),
-                   GL_UNSIGNED_BYTE, texture_->data());
+      GLenum fmt = texture_->texture_format();
+      GLint internal_fmt = (fmt == GL_RGBA) ? GL_RGBA : GL_RGB;
+      glTexImage2D(GL_TEXTURE_2D, 0, internal_fmt, texture_->width(),
+                   texture_->height(), 0, fmt, GL_UNSIGNED_BYTE,
+                   texture_->data());
 
       glBindTexture(GL_TEXTURE_2D, 0);
 
@@ -104,6 +126,26 @@ void Plane::Draw(void) {
 
   glActiveTexture(GL_TEXTURE0);
   glBindTexture(GL_TEXTURE_2D, texture_id_);
+  // Avoid culling artifacts on some platforms by temporarily disabling
+  // face culling while drawing the screen-aligned quad.
+  GLboolean cull_enabled = glIsEnabled(GL_CULL_FACE);
+  if (cull_enabled) {
+    glDisable(GL_CULL_FACE);
+  }
   RenderableObject::Draw();
+  if (cull_enabled) {
+    glEnable(GL_CULL_FACE);
+  }
   glBindTexture(GL_TEXTURE_2D, 0);
 }
+
+void Plane::SetupExtraUniforms(void) {
+  // Ensure sampler uses texture unit 0
+  if (shader_program_) {
+    shader_program_->setUniformValue("u_texture", 0);
+    // Backward compatibility: if shader still uses 'texture' as uniform name
+    // (older shader), try to set it too.
+    shader_program_->setUniformValue("texture", 0);
+  }
+}
+

modules/tools/visualizer/plane.h

@@ -43,16 +43,19 @@ class Plane : public RenderableObject {
     }
   }
 
-  GLenum GetPrimitiveType(void) const override { return GL_QUADS; }
+  // Use triangles to avoid culling flipping issues on triangle strips
+  GLenum GetPrimitiveType(void) const override { return GL_TRIANGLES; }
   GLsizei texWidth(void) const { return texture_->width(); }
   GLsizei texHeight(void) const { return texture_->height(); }
 
  protected:
   bool FillVertexBuffer(GLfloat* pBuffer) override;
   void Draw(void) override;
   void SetupAllAttrPointer(void) override;
+  void SetupExtraUniforms(void) override;
 
  private:
   GLuint texture_id_;
   std::shared_ptr<Texture> texture_;
 };
+