Added support for OSG on Mac platform

qgroundcontrol.pri

@@ -34,9 +34,17 @@ release {
 #    DEFINES += QT_NO_WARNING_OUTPUT
 }
 
+QMAKE_PRE_LINK += echo "Copying files"
+
+#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
+#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
+
 # MAC OS X
 macx { 
 
+    COMPILER_VERSION = $$system(gcc -v)
+    message(Using compiler $$COMPILER_VERSION)
+
     HARDWARE_PLATFORM = $$system(uname -a)
     contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || contains( HARDWARE_PLATFORM, 9.9.0 ) {
         # x86 Mac OS X Leopard 10.5 and earlier
@@ -55,18 +63,15 @@ macx {
         message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
     }
 
-    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
+    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
 
     DESTDIR = $$BASEDIR/bin/mac
-    INCLUDEPATH += -framework SDL \
-        $$BASEDIR/../mavlink/contrib/slugs/include \
-        $$BASEDIR/../mavlink/include
+    INCLUDEPATH += -framework SDL
 
     LIBS += -framework IOKit \
         -framework SDL \
         -framework CoreFoundation \
         -framework ApplicationServices \
- #       -framework GLUT \
         -lm
     
     ICON = $$BASEDIR/images/icons/macx.icns
@@ -74,24 +79,67 @@ macx {
     # Copy audio files if needed
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
 
-    exists(/opt/local/lib/osg):exists("/opt/local/lib/osgEarth") {
-    message("Building support for OSGEARTH")
-    DEPENDENCIES_PRESENT += osgearth
-    LIBS += -L/opt/local/lib/
-    INCLUDEPATH += /opt/local/include
-    # Include OpenSceneGraph and osgEarth libraries
-    LIBS += -losg \
-        -losgViewer \
-        -losgEarth \
-        -losgEarthUtil
+    exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) {
+    # No check for GLUT.framework since it's a MAC default
+    message("Building support for OpenSceneGraph")
+    DEPENDENCIES_PRESENT += osg
     DEFINES += QGC_OSG_ENABLED
+    # Include OpenSceneGraph libraries
+    INCLUDEPATH += -framework GLUT \
+            -framework Carbon \
+            -framework OpenThreads \
+            -framework osg \
+            -framework osgViewer \
+            -framework osgGA \
+            -framework osgDB \
+            -framework osgText \
+            -framework osgWidget
+
+    LIBS += -framework GLUT \
+            -framework Carbon \
+            -framework OpenThreads \
+            -framework osg \
+            -framework osgViewer \
+            -framework osgGA \
+            -framework osgDB \
+            -framework osgText \
+            -framework osgWidget
+    }
+
+    exists(/usr/include/osgEarth) {
+    message("Building support for osgEarth")
+    DEPENDENCIES_PRESENT += osgearth
+    # Include osgEarth libraries
+    INCLUDEPATH += -framework GDAL \
+            $$IN_PWD/lib/mac32-gcc/include \
+            -framework GEOS \
+            -framework SQLite3 \
+            -framework osgFX \
+            -framework osgTerrain
+
+    LIBS += -framework GDAL \
+            -framework GEOS \
+            -framework SQLite3 \
+            -framework osgFX \
+            -framework osgTerrain \
+    DEFINES += QGC_OSGEARTH_ENABLED
     }
+
+    exists(/opt/local/include/libfreenect) {
+    message("Building support for libfreenect")
+    DEPENDENCIES_PRESENT += libfreenect
+    # Include libfreenect libraries
+    LIBS += -lfreenect
+    DEFINES += QGC_LIBFREENECT_ENABLED
+    }
+
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    #QMAKE_CXXFLAGS += -Wl, -E
 }
 
 # GNU/Linux
 linux-g++ {
-
-    CONFIG += debug
     
     debug {
         DESTDIR = $$BUILDDIR/debug
@@ -131,21 +179,41 @@ linux-g++ {
         -lSDL \
         -lSDLmain
 
-exists(/usr/include/osgEarth) | exists(/usr/local/include/osgEarth) {
-message("Building support for OSGEARTH")
-DEPENDENCIES_PRESENT += osgearth
-# Include OpenSceneGraph and osgEarth libraries
-LIBS += -losg \
-    -losgViewer \
-    -losgEarth \
-    -losgEarthUtil
-DEFINES += QGC_OSG_ENABLED
-}
+    exists(/usr/include/osg) {
+    message("Building support for OpenSceneGraph")
+    DEPENDENCIES_PRESENT += osg
+    # Include OpenSceneGraph libraries
+    LIBS += -losg
+    DEFINES += QGC_OSG_ENABLED
+    }
 
-QMAKE_CXXFLAGS += -Wl,-E
+    exists(/usr/include/osgEarth) | exists(/usr/local/include/osgEarth) {
+    message("Building support for osgEarth")
+    DEPENDENCIES_PRESENT += osgearth
+    # Include osgEarth libraries
+    LIBS += -losgViewer \
+            -losgEarth \
+            -losgEarthUtil
+    DEFINES += QGC_OSGEARTH_ENABLED
+    }
+
+    exists(/usr/local/include/libfreenect) {
+    message("Building suplocport for libfreenect")
+    DEPENDENCIES_PRESENT += libfreenect
+    INCLUDEPATH += /usr/include/libusb-1.0
+    # Include libfreenect libraries
+    LIBS += -lfreenect
+    DEFINES += QGC_LIBFREENECT_ENABLED
+    }
 
-        #-lflite_cmu_us_rms \
-        #-lflite_cmu_us_slt \
+    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
+    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
+    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug/.
+    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release/.
+
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += -Wl, -E
 }
 
 linux-g++-64 {
@@ -188,16 +256,36 @@ linux-g++-64 {
         -lSDL \
         -lSDLmain
 
-exists(/usr/lib/osg):exists(/usr/lib/osgEarth) {
-message("Building support for OSGEARTH")
-DEPENDENCIES_PRESENT += osgearth
-# Include OpenSceneGraph and osgEarth libraries
-LIBS += -losg \
-    -losgViewer \
-    -losgEarth
-DEFINES += QGC_OSG_ENABLED
-}
+    exists(/usr/include/osg) {
+    message("Building support for OpenSceneGraph")
+    DEPENDENCIES_PRESENT += osg
+    # Include OpenSceneGraph libraries
+    LIBS += -losg
+    DEFINES += QGC_OSG_ENABLED
+    }
+
+    exists(/usr/include/osgEarth) {
+    message("Building support for osgEarth")
+    DEPENDENCIES_PRESENT += osgearth
+    # Include osgEarth libraries
+    LIBS += -losgViewer \
+            -losgEarth \
+            -losgEarthUtil
+    DEFINES += QGC_OSGEARTH_ENABLED
+    }
+
+    exists(/usr/local/include/libfreenect) {
+    message("Building support for libfreenect")
+    DEPENDENCIES_PRESENT += libfreenect
+    INCLUDEPATH += /usr/include/libusb-1.0
+    # Include libfreenect libraries
+    LIBS += -lfreenect
+    DEFINES += QGC_LIBFREENECT_ENABLED
+    }
 
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += -Wl, -E
 }
 
 # Windows (32bit)
@@ -222,7 +310,13 @@ win32-msvc2008 {
     QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/. &&
     QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/. &&
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/debug/. &&
-    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/.
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/. &&
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/debug/. &&
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/release/.
+
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += /Wl /E
 }
 
 # Windows (32bit)
@@ -255,8 +349,14 @@ win32-g++ {
     # Copy dependencies
     QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/debug/. &&
     QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. &&
-    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/debug/. &&
-    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/release/.
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/debug/. &&
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/.
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/debug/. &&
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/release/.
+
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += -Wl, -E
 }
 
 # Windows (64bit)
@@ -291,5 +391,8 @@ win64-g++ {
     QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. &&
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/debug/. &&
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/release/.
-}
 
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += -Wl, -E
+}

qgroundcontrol.pro

@@ -231,18 +231,35 @@ HEADERS += src/MG.h \
     src/ui/RadioCalibration/CurveCalibrator.h \
     src/ui/RadioCalibration/AbstractCalibrator.h \
     src/comm/QGCMAVLink.h
-contains(DEPENDENCIES_PRESENT, osgearth) { 
-    message("Including headers for OSGEARTH")
+
+
+contains(DEPENDENCIES_PRESENT, osg) { 
+    message("Including headers for OpenSceneGraph")
     
     # Enable only if OpenSceneGraph is available
     HEADERS += src/ui/map3D/Q3DWidget.h \
+        src/ui/map3D/GCManipulator.h \
+        src/ui/map3D/ImageWindowGeode.h \
         src/ui/map3D/QOSGWidget.h \
-        src/ui/map3D/QMap3D.h \
         src/ui/map3D/PixhawkCheetahGeode.h \
         src/ui/map3D/Pixhawk3DWidget.h \
-        src/ui/map3D/Q3DWidgetFactory.h \
-        src/ui/map3D/GCManipulator.h
+        src/ui/map3D/Q3DWidgetFactory.h
+
+contains(DEPENDENCIES_PRESENT, osgearth) { 
+    message("Including headers for OSGEARTH")
+    
+    # Enable only if OpenSceneGraph is available
+    HEADERS += src/ui/map3D/QMap3D.h
+}
 }
+
+contains(DEPENDENCIES_PRESENT, libfreenect) { 
+    message("Including headers for libfreenect")
+    
+    # Enable only if libfreenect is available
+    HEADERS += src/input/Freenect.h
+}
+
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -311,19 +328,39 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/SwitchCalibrator.cc \
     src/ui/RadioCalibration/CurveCalibrator.cc \
     src/ui/RadioCalibration/AbstractCalibrator.cc \
-    src/ui/RadioCalibration/RadioCalibrationData.cc # src/ui/WaypointGlobalView.cc \
-contains(DEPENDENCIES_PRESENT, osgearth) { 
-    message("Including sources for OSGEARTH")
+    src/ui/RadioCalibration/RadioCalibrationData.cc
+
+contains(DEPENDENCIES_PRESENT, osg) { 
+    message("Including sources for OpenSceneGraph")
     
     # Enable only if OpenSceneGraph is available
     SOURCES += src/ui/map3D/Q3DWidget.cc \
-        src/ui/map3D/QOSGWidget.cc \
-        src/ui/map3D/QMap3D.cc \
+    src/ui/map3D/ImageWindowGeode.cc \
+    src/ui/map3D/GCManipulator.cc \
+    src/ui/map3D/QOSGWidget.cc \
         src/ui/map3D/PixhawkCheetahGeode.cc \
         src/ui/map3D/Pixhawk3DWidget.cc \
-        src/ui/map3D/Q3DWidgetFactory.cc \
-        src/ui/map3D/GCManipulator.cc
+        src/ui/map3D/Q3DWidgetFactory.cc
+
+
+
+contains(DEPENDENCIES_PRESENT, osgearth) { 
+    message("Including sources for osgEarth")
+    
+    # Enable only if OpenSceneGraph is available
+    SOURCES += src/ui/map3D/QMap3D.cc
+
+}
 }
+
+contains(DEPENDENCIES_PRESENT, libfreenect) { 
+    message("Including sources for libfreenect")
+    
+    # Enable only if libfreenect is available
+    SOURCES += src/input/Freenect.cc
+}
+
+
 RESOURCES += mavground.qrc
 
 # Include RT-LAB Library

src/input/Freenect.cc

+#include "Freenect.h"
+
+#include <cmath>
+#include <string.h>
+#include <QDebug>
+
+Freenect::Freenect()
+    : context(NULL)
+    , device(NULL)
+    , tiltAngle(0)
+{
+    for (int i = 0; i < 2048; ++i)
+    {
+        float v = static_cast<float>(i) / 2048.0f;
+        v = powf(v, 3.0f) * 6.0f;
+        gammaTable[i] = static_cast<unsigned short>(v * 6.0f * 256.0f);
+    }
+}
+
+Freenect::~Freenect()
+{
+    if (device != NULL)
+    {
+        freenect_stop_depth(device);
+        freenect_stop_rgb(device);
+    }
+
+    freenect_close_device(device);
+
+    freenect_shutdown(context);
+}
+
+bool
+Freenect::init(int userDeviceNumber)
+{
+    if (freenect_init(&context, NULL) < 0)
+    {
+        return false;
+    }
+
+    freenect_set_log_level(context, FREENECT_LOG_DEBUG);
+
+    if (freenect_num_devices(context) < 1)
+    {
+        return false;
+    }
+
+    if (freenect_open_device(context, &device, userDeviceNumber) < 0)
+    {
+        return false;
+    }
+
+    freenect_set_user(device, this);
+
+    memset(rgb, 0, FREENECT_RGB_SIZE);
+    memset(depth, 0, FREENECT_DEPTH_SIZE);
+
+    // set Kinect parameters
+    if (freenect_set_tilt_degs(device, tiltAngle) != 0)
+    {
+        return false;
+    }
+    if (freenect_set_led(device, LED_RED) != 0)
+    {
+        return false;
+    }
+    if (freenect_set_rgb_format(device, FREENECT_FORMAT_RGB) != 0)
+    {
+        return false;
+    }
+    if (freenect_set_depth_format(device, FREENECT_FORMAT_11_BIT) != 0)
+    {
+        return false;
+    }
+    freenect_set_rgb_callback(device, rgbCallback);
+    freenect_set_depth_callback(device, depthCallback);
+
+    if (freenect_start_rgb(device) != 0)
+    {
+        return false;
+    }
+    if (freenect_start_depth(device) != 0)
+    {
+        return false;
+    }
+
+    thread.reset(new FreenectThread(device));
+    thread->start();
+
+    return true;
+}
+
+bool
+Freenect::process(void)
+{
+    if (freenect_process_events(context) < 0)
+    {
+        return false;
+    }
+
+    freenect_get_raw_accel(device, &ax, &ay, &az);
+    freenect_get_mks_accel(device, &dx, &dy, &dz);
+
+    return true;
+}
+
+QSharedPointer<QByteArray>
+Freenect::getRgbData(void)
+{
+    QMutexLocker locker(&rgbMutex);
+    return QSharedPointer<QByteArray>(
+            new QByteArray(rgb, FREENECT_RGB_SIZE));
+}
+
+QSharedPointer<QByteArray>
+Freenect::getRawDepthData(void)
+{
+    QMutexLocker locker(&depthMutex);
+    return QSharedPointer<QByteArray>(
+            new QByteArray(depth, FREENECT_DEPTH_SIZE));
+}
+
+QSharedPointer<QByteArray>
+Freenect::getDistanceData(void)
+{
+    QMutexLocker locker(&distanceMutex);
+    return QSharedPointer<QByteArray>(
+            new QByteArray(reinterpret_cast<char *>(distance),
+                           FREENECT_FRAME_PIX * sizeof(float)));
+}
+
+QSharedPointer<QByteArray>
+Freenect::getColoredDepthData(void)
+{
+    QMutexLocker locker(&coloredDepthMutex);
+    return QSharedPointer<QByteArray>(
+            new QByteArray(coloredDepth, FREENECT_RGB_SIZE));
+}
+
+int
+Freenect::getTiltAngle(void) const
+{
+    return tiltAngle;
+}
+
+void
+Freenect::setTiltAngle(int angle)
+{
+    if (angle > 30)
+    {
+        angle = 30;
+    }
+    if (angle < -30)
+    {
+        angle = -30;
+    }
+
+    tiltAngle = angle;
+}
+
+Freenect::FreenectThread::FreenectThread(freenect_device* _device)
+{
+    device = _device;
+}
+
+void
+Freenect::FreenectThread::run(void)
+{
+    Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
+    while (1)
+    {
+        freenect->process();
+    }
+}
+
+void
+Freenect::rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t timestamp)
+{
+    Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
+
+    QMutexLocker locker(&freenect->rgbMutex);
+    memcpy(freenect->rgb, rgb, FREENECT_RGB_SIZE);
+}
+
+void
+Freenect::depthCallback(freenect_device* device, freenect_depth* depth, uint32_t timestamp)
+{
+    Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
+    freenect_depth* data = reinterpret_cast<freenect_depth *>(depth);
+
+    QMutexLocker depthLocker(&freenect->depthMutex);
+    memcpy(freenect->depth, data, FREENECT_DEPTH_SIZE);
+
+    QMutexLocker distanceLocker(&freenect->distanceMutex);
+    for (int i = 0; i < FREENECT_FRAME_PIX; ++i)
+    {
+        freenect->distance[i] =
+                100.f / (-0.00307f * static_cast<float>(data[i]) + 3.33f);
+    }
+
+    QMutexLocker coloredDepthLocker(&freenect->coloredDepthMutex);
+    unsigned short* src = reinterpret_cast<unsigned short *>(data);
+    unsigned char* dst = reinterpret_cast<unsigned char *>(freenect->coloredDepth);
+    for (int i = 0; i < FREENECT_FRAME_PIX; ++i)
+    {
+        unsigned short pval = freenect->gammaTable[src[i]];
+        unsigned short lb = pval & 0xFF;
+        switch (pval >> 8)
+        {
+        case 0:
+            dst[3 * i] = 255;
+            dst[3 * i + 1] = 255 - lb;
+            dst[3 * i + 2] = 255 - lb;
+            break;
+        case 1:
+            dst[3 * i] = 255;
+            dst[3 * i + 1] = lb;
+            dst[3 * i + 2] = 0;
+            break;
+        case 2:
+            dst[3 * i] = 255 - lb;
+            dst[3 * i + 1] = 255;
+            dst[3 * i + 2] = 0;
+            break;
+        case 3:
+            dst[3 * i] = 0;
+            dst[3 * i + 1] = 255;
+            dst[3 * i + 2] = lb;
+            break;
+        case 4:
+            dst[3 * i] = 0;
+            dst[3 * i + 1] = 255 - lb;
+            dst[3 * i + 2] = 255;
+            break;
+        case 5:
+            dst[3 * i] = 0;
+            dst[3 * i + 1] = 0;
+            dst[3 * i + 2] = 255 - lb;
+            break;
+        default:
+            dst[3 * i] = 0;
+            dst[3 * i + 1] = 0;
+            dst[3 * i + 2] = 0;
+            break;
+        }
+    }
+}

src/input/Freenect.h

+#ifndef FREENECT_H
+#define FREENECT_H
+
+#include <libfreenect.h>
+#include <QMutex>
+#include <QScopedPointer>
+#include <QSharedPointer>
+#include <QThread>
+
+class Freenect
+{
+public:
+    Freenect();
+    ~Freenect();
+
+    bool init(int userDeviceNumber = 0);
+    bool process(void);
+
+    QSharedPointer<QByteArray> getRgbData(void);
+    QSharedPointer<QByteArray> getRawDepthData(void);
+    QSharedPointer<QByteArray> getDistanceData(void);
+    QSharedPointer<QByteArray> getColoredDepthData(void);
+
+    int getTiltAngle(void) const;
+    void setTiltAngle(int angle);
+
+private:
+    static void rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t timestamp);
+    static void depthCallback(freenect_device* device, freenect_depth* depth, uint32_t timestamp);
+
+    freenect_context* context;
+    freenect_device* device;
+
+    class FreenectThread : public QThread
+    {
+    public:
+        explicit FreenectThread(freenect_device* _device);
+
+    protected:
+        virtual void run(void);
+
+        freenect_device* device;
+    };
+    QScopedPointer<FreenectThread> thread;
+
+    // tilt angle of Kinect camera
+    int tiltAngle;
+
+    // rgbd data
+    char rgb[FREENECT_RGB_SIZE];
+    QMutex rgbMutex;
+
+    char depth[FREENECT_DEPTH_SIZE];
+    QMutex depthMutex;
+
+    float distance[FREENECT_FRAME_PIX];
+    QMutex distanceMutex;
+
+    char coloredDepth[FREENECT_RGB_SIZE];
+    QMutex coloredDepthMutex;
+
+    // accelerometer data
+    short ax, ay, az;
+    double dx, dy, dz;
+
+    // gamma map
+    unsigned short gammaTable[2048];
+};
+
+#endif // FREENECT_H

src/ui/MainWindow.cc

@@ -47,7 +47,7 @@ This file is part of the QGROUNDCONTROL project
 #include "GAudioOutput.h"
 
 #ifdef QGC_OSG_ENABLED
-#include "QMap3D.h"
+#include "Q3DWidgetFactory.h"
 #endif
 
 // FIXME Move
@@ -136,10 +136,13 @@ void MainWindow::buildWidgets()
     protocolWidget    = new XMLCommProtocolWidget(this);
     dataplotWidget    = new QGCDataPlot2D(this);
     #ifdef QGC_OSG_ENABLED
-    //_3DWidget         = Q3DWidgetFactory::get(QGC_MAP3D_OSGEARTH);
-    _3DWidget = new QMap3D(this);
+    _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
     #endif
 
+#ifdef QGC_OSGEARTH_ENABLED
+    _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
+#endif
+
     // Dock widgets
     controlDockWidget = new QDockWidget(tr("Control"), this);
     controlDockWidget->setWidget( new UASControlWidget(this) );
@@ -232,6 +235,9 @@ void MainWindow::arrangeCenterStack()
     if (mapWidget) centerStack->addWidget(mapWidget);
     #ifdef QGC_OSG_ENABLED
     if (_3DWidget) centerStack->addWidget(_3DWidget);
+#endif
+    #ifdef QGC_OSGEARTH_ENABLED
+    if (_3DMapWidget) centerStack->addWidget(_3DMapWidget);
     #endif
     if (hudWidget) centerStack->addWidget(hudWidget);
     if (dataplotWidget) centerStack->addWidget(dataplotWidget);
@@ -373,6 +379,7 @@ void MainWindow::connectActions()
     connect(ui.actionEngineerView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
     connect(ui.actionOperatorView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
     connect(ui.action3DView, SIGNAL(triggered()), this, SLOT(load3DView()));
+    connect(ui.action3DMapView, SIGNAL(triggered()), this, SLOT(load3DMapView()));
     connect(ui.actionShow_full_view, SIGNAL(triggered()), this, SLOT(loadAllView()));
     connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
     connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
@@ -672,7 +679,7 @@ void MainWindow::loadPixhawkView()
     clearView();
     // Engineer view, used in EMAV2009
 
-        #ifdef QGC_OSG_ENABLED
+#ifdef QGC_OSG_ENABLED
     // 3D map
     if (_3DWidget)
     {
@@ -960,6 +967,60 @@ void MainWindow::loadGlobalOperatorView()
 
 }
 
+void MainWindow::load3DMapView()
+{
+        #ifdef QGC_OSGEARTH_ENABLED
+            clearView();
+
+            // 3D map
+            if (_3DMapWidget)
+            {
+                QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+                if (centerStack)
+                {
+                    //map3DWidget->setActive(true);
+                    centerStack->setCurrentWidget(_3DMapWidget);
+                }
+            }
+
+            // UAS CONTROL
+            if (controlDockWidget)
+            {
+                addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
+                controlDockWidget->show();
+            }
+
+            // UAS LIST
+            if (listDockWidget)
+            {
+                addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
+                listDockWidget->show();
+            }
+
+            // WAYPOINT LIST
+            if (waypointsDockWidget)
+            {
+                addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
+                waypointsDockWidget->show();
+            }
+
+            // HORIZONTAL SITUATION INDICATOR
+            if (hsiDockWidget)
+            {
+                HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
+                if (hsi)
+                {
+                    hsi->start();
+                    addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
+                    hsiDockWidget->show();
+                }
+            }
+#endif
+            this->show();
+
+        }
+
+
 void MainWindow::load3DView()
 {
         #ifdef QGC_OSG_ENABLED

src/ui/MainWindow.h

@@ -63,10 +63,6 @@ This file is part of the QGROUNDCONTROL project
 #include "HSIDisplay.h"
 #include "QGCDataPlot2D.h"
 #include "QGCRemoteControlView.h"
-#ifdef QGC_OSG_ENABLED
-//#include "Q3DWidget.h"
-#include "QMap3D.h"
-#endif
 
 #include "LogCompressor.h"
 
@@ -117,6 +113,8 @@ public slots:
     void loadOperatorView();
     /** @brief Load 3D view */
     void load3DView();
+    /** @brief Load 3D map view */
+    void load3DMapView();
     /** @brief Load view with all widgets */
     void loadAllView();
     /** @brief Load MAVLink XML generator view */
@@ -167,7 +165,10 @@ protected:
     QPointer<XMLCommProtocolWidget> protocolWidget;
     QPointer<QGCDataPlot2D> dataplotWidget;
     #ifdef QGC_OSG_ENABLED
-    QPointer<QMap3D> _3DWidget;
+    QPointer<QWidget> _3DWidget;
+    #endif
+    #ifdef QGC_OSGEARTH_ENABLED
+    QPointer<QWidget> _3DMapWidget;
     #endif
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;

src/ui/MainWindow.ui

@@ -75,6 +75,7 @@
     <addaction name="actionEngineerView"/>
     <addaction name="actionPilotView"/>
     <addaction name="actionOperatorView"/>
+    <addaction name="action3DMapView"/>
     <addaction name="action3DView"/>
     <addaction name="actionGlobalOperatorView"/>
     <addaction name="separator"/>
@@ -234,7 +235,7 @@
      <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
-    <string>Show 3D view</string>
+    <string>Show 3D local view</string>
    </property>
    <property name="toolTip">
     <string>Show 3D view</string>
@@ -318,6 +319,15 @@
     <string>Show Global operator view</string>
    </property>
   </action>
+  <action name="action3DMapView">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Show 3D Globe view</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/map3D/GCManipulator.cc

@@ -254,7 +254,7 @@ GCManipulator::calcMovement()
     if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON)
     {
         // rotate camera
-        osg::Vec3 axis;
+        osg::Vec3d axis;
         float angle;
 
         float px0 = _ga_t0->getXnormalized();

src/ui/map3D/ImageWindowGeode.cc

+///*=====================================================================
+//
+//QGroundControl Open Source Ground Control Station
+//
+//(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+//
+//This file is part of the QGROUNDCONTROL project
+//
+//    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation, either version 3 of the License, or
+//    (at your option) any later version.
+//
+//    QGROUNDCONTROL is distributed in the hope that it will be useful,
+//    but WITHOUT ANY WARRANTY; without even the implied warranty of
+//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//    GNU General Public License for more details.
+//
+//    You should have received a copy of the GNU General Public License
+//    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+//
+//======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of the class ImageWindowGeode.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#include "ImageWindowGeode.h"
+
+ImageWindowGeode::ImageWindowGeode(const QString& caption,
+                                   const osg::Vec4& backgroundColor,
+                                   osg::ref_ptr<osg::Image>& image)
+    : border(5)
+{
+    // image
+    osg::ref_ptr<osg::Geometry> imageGeometry = new osg::Geometry;
+    imageVertices = new osg::Vec3Array(4);
+
+    osg::ref_ptr<osg::Vec2Array> textureCoords = new osg::Vec2Array;
+    textureCoords->push_back(osg::Vec2(0.0f, 1.0f));
+    textureCoords->push_back(osg::Vec2(1.0f, 1.0f));
+    textureCoords->push_back(osg::Vec2(1.0f, 0.0f));
+    textureCoords->push_back(osg::Vec2(0.0f, 0.0f));
+
+    osg::ref_ptr<osg::Vec4Array> imageColors(new osg::Vec4Array);
+    imageColors->push_back(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
+    imageGeometry->setColorArray(imageColors);
+    imageGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
+
+    imageGeometry->setVertexArray(imageVertices);
+    imageGeometry->setTexCoordArray(0, textureCoords);
+
+    imageGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON,
+                                                       0, imageVertices->size()));
+
+    osg::ref_ptr<osg::Texture2D> texture = new osg::Texture2D;
+    texture->setDataVariance(osg::Object::DYNAMIC);
+    texture->setImage(image);
+    texture->setResizeNonPowerOfTwoHint(false);
+
+    imageGeometry->getOrCreateStateSet()->
+            setTextureAttributeAndModes(0, texture, osg::StateAttribute::ON);
+    imageGeometry->setUseDisplayList(false);
+
+    // background
+    osg::ref_ptr<osg::Geometry> backgroundGeometry = new osg::Geometry;
+    backgroundVertices = new osg::Vec3Array(4);
+    backgroundGeometry->setVertexArray(backgroundVertices);
+    backgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON,
+                                                            0, backgroundVertices->size()));
+    osg::ref_ptr<osg::Vec4Array> backgroundColors(new osg::Vec4Array);
+    backgroundColors->push_back(backgroundColor);
+    backgroundGeometry->setColorArray(backgroundColors);
+    backgroundGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
+    backgroundGeometry->setUseDisplayList(false);
+
+    // caption
+    text = new osgText::Text;
+    text->setText(caption.toStdString().c_str());
+    text->setCharacterSize(11);
+    text->setFont("images/Vera.ttf");
+    text->setAxisAlignment(osgText::Text::SCREEN);
+    text->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
+
+    addDrawable(imageGeometry);
+    addDrawable(backgroundGeometry);
+    addDrawable(text);
+
+    setAttributes(0, 0, 0, 0);
+}
+
+void
+ImageWindowGeode::setAttributes(int x, int y, int width, int height)
+{
+    int imageWidth = width - border * 2;
+    int imageHeight = height - border * 2 - 15;
+    int imageXPosition = x + border;
+    int imageYPosition = y + border;
+
+    imageVertices->at(0) = osg::Vec3(imageXPosition, imageYPosition, 0);
+    imageVertices->at(1) = osg::Vec3(imageXPosition + imageWidth, imageYPosition, 0);
+    imageVertices->at(2) = osg::Vec3(imageXPosition + imageWidth, imageYPosition + imageHeight, 0);
+    imageVertices->at(3) = osg::Vec3(imageXPosition, imageYPosition + imageHeight, 0);
+
+    text->setPosition(osg::Vec3(imageXPosition, imageYPosition + imageHeight + 5, 0));
+
+    backgroundVertices->at(0) = osg::Vec3(x, y, -1);
+    backgroundVertices->at(1) = osg::Vec3(x + width, y, -1);
+    backgroundVertices->at(2) = osg::Vec3(x + width, y + height, -1);
+    backgroundVertices->at(3) = osg::Vec3(x, y + height, -1);
+}

src/ui/map3D/ImageWindowGeode.h

+///*=====================================================================
+//
+//QGroundControl Open Source Ground Control Station
+//
+//(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+//
+//This file is part of the QGROUNDCONTROL project
+//
+//    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation, either version 3 of the License, or
+//    (at your option) any later version.
+//
+//    QGROUNDCONTROL is distributed in the hope that it will be useful,
+//    but WITHOUT ANY WARRANTY; without even the implied warranty of
+//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//    GNU General Public License for more details.
+//
+//    You should have received a copy of the GNU General Public License
+//    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+//
+//======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of the class ImageWindowGeode.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef IMAGEWINDOWGEODE_H
+#define IMAGEWINDOWGEODE_H
+
+#include <osg/Geode>
+#include <osg/Geometry>
+#include <osgText/Text>
+#include <QString>
+
+class ImageWindowGeode : public osg::Geode
+{
+public:
+    ImageWindowGeode(const QString& caption, const osg::Vec4& backgroundColor,
+                     osg::ref_ptr<osg::Image>& image);
+
+    void setAttributes(int x, int y, int width, int height);
+
+private:
+    int border;
+
+    osg::ref_ptr<osg::Vec3Array> imageVertices;
+    osg::ref_ptr<osg::Vec3Array> backgroundVertices;
+    osg::ref_ptr<osgText::Text> text;
+};
+
+#endif // IMAGEWINDOWGEODE_H

src/ui/map3D/Imagery.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of the class Imagery.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef IMAGERY_H
+#define IMAGERY_H
+
+#include <QScopedPointer>
+#include <QString>
+
+#include "TextureCache.h"
+
+class Imagery
+{
+public:
+    enum ImageryType
+    {
+        GOOGLE_MAP = 0,
+        GOOGLE_SATELLITE = 1,
+        SWISSTOPO_SATELLITE = 2,
+        SWISSTOPO_SATELLITE_3D = 3
+    };
+
+    Imagery();
+
+    void setImageryType(ImageryType type);
+    void setOffset(double xOffset, double yOffset);
+
+    void prefetch2D(double windowWidth, double windowHeight,
+                    double zoom, double xOrigin, double yOrigin,
+                    double viewXOffset, double viewYOffset,
+                    const QString& utmZone);
+    void draw2D(double windowWidth, double windowHeight,
+                double zoom, double xOrigin, double yOrigin,
+                double viewXOffset, double viewYOffset,
+                const QString& utmZone);
+
+    void prefetch3D(double radius, double tileResolution,
+                    double xOrigin, double yOrigin,
+                    double viewXOffset, double viewYOffset,
+                    const QString& utmZone, bool useHeightModel);
+    void draw3D(double radius, double tileResolution,
+                double xOrigin, double yOrigin,
+                double viewXOffset, double viewYOffset,
+                const QString& utmZone, bool useHeightModel);
+
+    bool update(void);
+
+private:
+    void imageBounds(int tileX, int tileY, double tileResolution,
+                     double& x1, double& y1, double& x2, double& y2,
+                     double& x3, double& y3, double& x4, double& y4) const;
+    void tileBounds(double tileResolution,
+                    double minUtmX, double minUtmY,
+                    double maxUtmX, double maxUtmY, const QString& utmZone,
+                    int& minTileX, int& minTileY,
+                    int& maxTileX, int& maxTileY,
+                    int& zoomLevel) const;
+
+    double tileXToLongitude(int tileX, int numTiles) const;
+    double tileYToLatitude(int tileY, int numTiles) const;
+    int longitudeToTileX(double longitude, int numTiles) const;
+    int latitudeToTileY(double latitude, int numTiles) const;
+
+    void UTMtoTile(double northing, double easting, const QString& utmZone,
+                   double tileResolution, int& tileX, int& tileY,
+                   int& zoomLevel) const;
+    QChar UTMLetterDesignator(double latitude) const;
+
+    void LLtoUTM(double latitude, double longitude,
+                 double& utmNorthing, double& utmEasting,
+                 QString& utmZone) const;
+    void UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
+                 double& latitude, double& longitude) const;
+
+    QString getTileLocation(int tileX, int tileY, int zoomLevel,
+                            double tileResolution) const;
+
+    QScopedPointer<TextureCache> textureCache;
+
+    ImageryType currentImageryType;
+
+    double xOffset;
+    double yOffset;
+};
+
+#endif // IMAGERY_H

src/ui/map3D/Pixhawk3DWidget.cc

@@ -34,6 +34,8 @@
 #include <sstream>
 
 #include <osg/Geode>
+#include <osg/Image>
+#include <osgDB/ReadFile>
 #include <osg/LineWidth>
 #include <osg/ShapeDrawable>
 
@@ -49,6 +51,8 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
      , displayTrail(false)
      , displayTarget(false)
      , displayWaypoints(true)
+     , displayRGBD2D(false)
+     , displayRGBD3D(false)
      , followCamera(true)
      , lastRobotX(0.0f)
      , lastRobotY(0.0f)
@@ -58,7 +62,8 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
     init(15.0f);
 
     // generate Pixhawk Cheetah model
-    egocentricMap->addChild(PixhawkCheetahGeode::instance());
+    vehicleModel = PixhawkCheetahGeode::instance();
+    egocentricMap->addChild(vehicleModel);
 
     // generate grid model
     gridNode = createGrid();
@@ -68,9 +73,11 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
     trailNode = createTrail();
     rollingMap->addChild(trailNode);
 
+#ifdef QGC_OSGEARTH_ENABLED
     // generate map model
     mapNode = createMap();
     root->addChild(mapNode);
+#endif
 
     // generate target model
     allocentricMap->addChild(createTarget());
@@ -79,8 +86,20 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
     waypointsNode = createWaypoints();
     rollingMap->addChild(waypointsNode);
 
+#ifdef QGC_LIBFREENECT_ENABLED
+    freenect.reset(new Freenect());
+    freenect->init();
+#endif
+
+    // generate RGBD model
+    rgbd3DNode = createRGBD3D();
+    egocentricMap->addChild(rgbd3DNode);
+
     setupHUD();
 
+    // find available vehicle models in models folder
+    vehicleModels = findVehicleModels();
+
     buildLayout();
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
@@ -92,59 +111,6 @@ Pixhawk3DWidget::~Pixhawk3DWidget()
 
 }
 
-void
-Pixhawk3DWidget::buildLayout(void)
-{
-    QCheckBox* gridCheckBox = new QCheckBox(this);
-    gridCheckBox->setText("Grid");
-    gridCheckBox->setChecked(displayGrid);
-
-    QCheckBox* trailCheckBox = new QCheckBox(this);
-    trailCheckBox->setText("Trail");
-    trailCheckBox->setChecked(displayTrail);
-
-    QCheckBox* waypointsCheckBox = new QCheckBox(this);
-    waypointsCheckBox->setText("Waypoints");
-    waypointsCheckBox->setChecked(displayWaypoints);
-
-    targetButton = new QPushButton(this);
-    targetButton->setCheckable(true);
-    targetButton->setChecked(false);
-    targetButton->setIcon(QIcon(QString::fromUtf8(":/images/status/weather-clear.svg")));
-
-    QPushButton* recenterButton = new QPushButton(this);
-    recenterButton->setText("Recenter Camera");
-
-    QCheckBox* followCameraCheckBox = new QCheckBox(this);
-    followCameraCheckBox->setText("Follow Camera");
-    followCameraCheckBox->setChecked(followCamera);
-
-    QGridLayout* layout = new QGridLayout(this);
-    layout->setMargin(0);
-    layout->setSpacing(2);
-    layout->addWidget(gridCheckBox, 1, 0);
-    layout->addWidget(trailCheckBox, 1, 1);
-    layout->addWidget(waypointsCheckBox, 1, 2);
-    layout->addItem(new QSpacerItem(20, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 3);
-    layout->addWidget(targetButton, 1, 4);
-    layout->addItem(new QSpacerItem(20, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 5);
-    layout->addWidget(recenterButton, 1, 6);
-    layout->addWidget(followCameraCheckBox, 1, 7);
-    layout->setRowStretch(0, 100);
-    layout->setRowStretch(1, 1);
-    setLayout(layout);
-
-    connect(gridCheckBox, SIGNAL(stateChanged(int)),
-            this, SLOT(showGrid(int)));
-    connect(trailCheckBox, SIGNAL(stateChanged(int)),
-            this, SLOT(showTrail(int)));
-    connect(waypointsCheckBox, SIGNAL(stateChanged(int)),
-            this, SLOT(showWaypoints(int)));
-    connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter()));
-    connect(followCameraCheckBox, SIGNAL(stateChanged(int)),
-            this, SLOT(toggleFollowCamera(int)));
-}
-
 /**
  *
  * @param uas the UAS/MAV to monitor/display with the HUD
@@ -204,6 +170,14 @@ Pixhawk3DWidget::showWaypoints(int state)
     }
 }
 
+void
+Pixhawk3DWidget::selectVehicleModel(int index)
+{
+    egocentricMap->removeChild(vehicleModel);
+    vehicleModel = vehicleModels.at(index);
+    egocentricMap->addChild(vehicleModel);
+}
+
 void
 Pixhawk3DWidget::recenter(void)
 {
@@ -230,6 +204,123 @@ Pixhawk3DWidget::toggleFollowCamera(int32_t state)
         followCamera = false;
     }
 }
+#include <osgDB/WriteFile>
+QVector< osg::ref_ptr<osg::Node> >
+Pixhawk3DWidget::findVehicleModels(void)
+{
+    QDir directory("models");
+    QStringList files = directory.entryList(QStringList("*.osg"), QDir::Files);
+
+    QVector< osg::ref_ptr<osg::Node> > nodes;
+
+    // add Pixhawk Bravo model
+    nodes.push_back(PixhawkCheetahGeode::instance());
+
+    // add all other models in folder
+    for (int i = 0; i < files.size(); ++i)
+    {
+        osg::ref_ptr<osg::Node> node =
+                osgDB::readNodeFile(directory.absoluteFilePath(files[i]).toStdString().c_str());
+
+        if (node)
+        {
+
+        nodes.push_back(node);
+        }
+        else
+        {
+            printf(QString("ERROR: Could not load file " + directory.absoluteFilePath(files[i]) + "\n").toStdString().c_str());
+        }
+    }
+
+//    QStringList dirs = directory.entryList(QDir::Dirs);
+//    // Add models in subfolders
+//    for (int i = 0; i < dirs.size(); ++i)
+//    {
+//        // Handling the current directory
+//        QStringList currFiles = QDir(dirs[i]).entryList(QStringList("*.ac"), QDir::Files);
+
+//        // Load the file
+//        osg::ref_ptr<osg::Node> node =
+//                osgDB::readNodeFile(directory.absoluteFilePath(currFiles.first()).toStdString().c_str());
+
+//        if (node)
+//        {
+
+//        nodes.push_back(node);
+//        }
+//        else
+//        {
+//            printf(QString("ERROR: Could not load file " + directory.absoluteFilePath(files[i]) + "\n").toStdString().c_str());
+//        }
+//    }
+
+    return nodes;
+}
+
+void
+Pixhawk3DWidget::buildLayout(void)
+{
+    QCheckBox* gridCheckBox = new QCheckBox(this);
+    gridCheckBox->setText("Grid");
+    gridCheckBox->setChecked(displayGrid);
+
+    QCheckBox* trailCheckBox = new QCheckBox(this);
+    trailCheckBox->setText("Trail");
+    trailCheckBox->setChecked(displayTrail);
+
+    QCheckBox* waypointsCheckBox = new QCheckBox(this);
+    waypointsCheckBox->setText("Waypoints");
+    waypointsCheckBox->setChecked(displayWaypoints);
+
+    QLabel* modelLabel = new QLabel("Vehicle Model", this);
+    QComboBox* modelComboBox = new QComboBox(this);
+    for (int i = 0; i < vehicleModels.size(); ++i)
+    {
+        modelComboBox->addItem(vehicleModels[i]->getName().c_str());
+    }
+
+    targetButton = new QPushButton(this);
+    targetButton->setCheckable(true);
+    targetButton->setChecked(false);
+    targetButton->setIcon(QIcon(QString::fromUtf8(":/images/status/weather-clear.svg")));
+
+    QPushButton* recenterButton = new QPushButton(this);
+    recenterButton->setText("Recenter Camera");
+
+    QCheckBox* followCameraCheckBox = new QCheckBox(this);
+    followCameraCheckBox->setText("Follow Camera");
+    followCameraCheckBox->setChecked(followCamera);
+
+    QGridLayout* layout = new QGridLayout(this);
+    layout->setMargin(0);
+    layout->setSpacing(2);
+    layout->addWidget(gridCheckBox, 1, 0);
+    layout->addWidget(trailCheckBox, 1, 1);
+    layout->addWidget(waypointsCheckBox, 1, 2);
+    layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 3);
+    layout->addWidget(modelLabel, 1, 4);
+    layout->addWidget(modelComboBox, 1, 5);
+    layout->addWidget(targetButton, 1, 6);
+    layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 7);
+    layout->addWidget(recenterButton, 1, 8);
+    layout->addWidget(followCameraCheckBox, 1, 9);
+    layout->setRowStretch(0, 100);
+    layout->setRowStretch(1, 1);
+    setLayout(layout);
+
+    connect(gridCheckBox, SIGNAL(stateChanged(int)),
+            this, SLOT(showGrid(int)));
+    connect(trailCheckBox, SIGNAL(stateChanged(int)),
+            this, SLOT(showTrail(int)));
+    connect(waypointsCheckBox, SIGNAL(stateChanged(int)),
+            this, SLOT(showWaypoints(int)));
+    connect(modelComboBox, SIGNAL(currentIndexChanged(int)),
+            this, SLOT(selectVehicleModel(int)));
+    connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter()));
+    connect(followCameraCheckBox, SIGNAL(stateChanged(int)),
+            this, SLOT(toggleFollowCamera(int)));
+}
 
 void
 Pixhawk3DWidget::display(void)
@@ -271,22 +362,47 @@ Pixhawk3DWidget::display(void)
                                          robotPitch, osg::Vec3f(1.0f, 0.0f, 0.0f),
                                          robotRoll, osg::Vec3f(0.0f, 1.0f, 0.0f)));
 
-    updateHUD(robotX, robotY, robotZ, robotRoll, robotPitch, robotYaw);
     updateTrail(robotX, robotY, robotZ);
     updateTarget();
     updateWaypoints();
+#ifdef QGC_LIBFREENECT_ENABLED
+    updateRGBD();
+#endif
+    updateHUD(robotX, robotY, robotZ, robotRoll, robotPitch, robotYaw);
 
     // set node visibility
     rollingMap->setChildValue(gridNode, displayGrid);
     rollingMap->setChildValue(trailNode, displayTrail);
     rollingMap->setChildValue(targetNode, displayTarget);
     rollingMap->setChildValue(waypointsNode, displayWaypoints);
+    egocentricMap->setChildValue(rgbd3DNode, displayRGBD3D);
+    hudGroup->setChildValue(rgb2DGeode, displayRGBD2D);
+    hudGroup->setChildValue(depth2DGeode, displayRGBD2D);
 
     lastRobotX = robotX;
     lastRobotY = robotY;
     lastRobotZ = robotZ;
 }
 
+void
+Pixhawk3DWidget::keyPressEvent(QKeyEvent* event)
+{
+    if (!event->text().isEmpty())
+    {
+        switch (*(event->text().toAscii().data()))
+        {
+        case '1':
+            displayRGBD2D = !displayRGBD2D;
+            break;
+        case '2':
+            displayRGBD3D = !displayRGBD3D;
+            break;
+        }
+    }
+
+    Q3DWidget::keyPressEvent(event);
+}
+
 void
 Pixhawk3DWidget::mousePressEvent(QMouseEvent* event)
 {
@@ -393,6 +509,7 @@ Pixhawk3DWidget::createTrail(void)
     return geode;
 }
 
+#ifdef QGC_OSGEARTH_ENABLED
 osg::ref_ptr<osgEarth::MapNode>
 Pixhawk3DWidget::createMap(void)
 {
@@ -401,6 +518,7 @@ Pixhawk3DWidget::createMap(void)
 
     return node;
 }
+#endif
 
 osg::ref_ptr<osg::Node>
 Pixhawk3DWidget::createTarget(void)
@@ -421,72 +539,111 @@ Pixhawk3DWidget::createWaypoints(void)
     return group;
 }
 
+osg::ref_ptr<osg::Geode>
+Pixhawk3DWidget::createRGBD3D(void)
+{
+    int frameSize = 640 * 480;
+
+    osg::ref_ptr<osg::Geode> geode(new osg::Geode);
+    osg::ref_ptr<osg::Geometry> geometry(new osg::Geometry);
+
+    osg::ref_ptr<osg::Vec3Array> vertices(new osg::Vec3Array(frameSize));
+    geometry->setVertexArray(vertices);
+
+    osg::ref_ptr<osg::Vec4Array> colors(new osg::Vec4Array(frameSize));
+    geometry->setColorArray(colors);
+    geometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
+    geometry->setUseDisplayList(false);
+
+    geode->addDrawable(geometry);
+
+    return geode;
+}
+
 void
 Pixhawk3DWidget::setupHUD(void)
 {
-    osg::ref_ptr<osg::Vec3Array> hudBackgroundVertices(new osg::Vec3Array);
-    hudBackgroundVertices->push_back(osg::Vec3(0, height(), -1));
-    hudBackgroundVertices->push_back(osg::Vec3(width(), height(), -1));
-    hudBackgroundVertices->push_back(osg::Vec3(width(), height() - 30, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(0, height() - 30, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(0, 0, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(width(), 0, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(width(), 25, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(0, 25, -1));
-
-    osg::ref_ptr<osg::DrawElementsUInt> hudTopBackgroundIndices(
-            new osg::DrawElementsUInt(osg::PrimitiveSet::POLYGON, 0));
-    hudTopBackgroundIndices->push_back(0);
-    hudTopBackgroundIndices->push_back(1);
-    hudTopBackgroundIndices->push_back(2);
-    hudTopBackgroundIndices->push_back(3);
-
-    osg::ref_ptr<osg::DrawElementsUInt> hudBottomBackgroundIndices(
-            new osg::DrawElementsUInt(osg::PrimitiveSet::POLYGON, 0));
-    hudBottomBackgroundIndices->push_back(4);
-    hudBottomBackgroundIndices->push_back(5);
-    hudBottomBackgroundIndices->push_back(6);
-    hudBottomBackgroundIndices->push_back(7);
-
     osg::ref_ptr<osg::Vec4Array> hudColors(new osg::Vec4Array);
     hudColors->push_back(osg::Vec4(0.0f, 0.0f, 0.0f, 0.2f));
 
     hudBackgroundGeometry = new osg::Geometry;
-    hudBackgroundGeometry->addPrimitiveSet(hudTopBackgroundIndices);
-    hudBackgroundGeometry->addPrimitiveSet(hudBottomBackgroundIndices);
-    hudBackgroundGeometry->setVertexArray(hudBackgroundVertices);
+    hudBackgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON,
+                                                               0, 4));
+    hudBackgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON,
+                                                               4, 4));
     hudBackgroundGeometry->setColorArray(hudColors);
     hudBackgroundGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
-
-    hudGeode->addDrawable(hudBackgroundGeometry);
+    hudBackgroundGeometry->setUseDisplayList(false);
 
     statusText = new osgText::Text;
     statusText->setCharacterSize(11);
     statusText->setFont("images/Vera.ttf");
     statusText->setAxisAlignment(osgText::Text::SCREEN);
-    statusText->setPosition(osg::Vec3(10, height() - 10, -1.5));
     statusText->setColor(osg::Vec4(255, 255, 255, 1));
 
-    hudGeode->addDrawable(statusText);
+    resizeHUD();
+
+    osg::ref_ptr<osg::Geode> statusGeode = new osg::Geode;
+    statusGeode->addDrawable(hudBackgroundGeometry);
+    statusGeode->addDrawable(statusText);
+    hudGroup->addChild(statusGeode);
+
+    rgbImage = new osg::Image;
+    rgb2DGeode = new ImageWindowGeode("RGB Image",
+                                      osg::Vec4(0.0f, 0.0f, 0.1f, 1.0f),
+                                      rgbImage);
+    hudGroup->addChild(rgb2DGeode);
+
+    depthImage = new osg::Image;
+    depth2DGeode = new ImageWindowGeode("Depth Image",
+                                        osg::Vec4(0.0f, 0.0f, 0.1f, 1.0f),
+                                        depthImage);
+    hudGroup->addChild(depth2DGeode);
 }
 
 void
-Pixhawk3DWidget::updateHUD(float robotX, float robotY, float robotZ,
-                         float robotRoll, float robotPitch, float robotYaw)
+Pixhawk3DWidget::resizeHUD(void)
 {
-    osg::ref_ptr<osg::Vec3Array> hudBackgroundVertices(new osg::Vec3Array);
-    hudBackgroundVertices->push_back(osg::Vec3(0, height(), -1));
-    hudBackgroundVertices->push_back(osg::Vec3(width(), height(), -1));
-    hudBackgroundVertices->push_back(osg::Vec3(width(), height() - 30, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(0, height() - 30, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(0, 0, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(width(), 0, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(width(), 25, -1));
-    hudBackgroundVertices->push_back(osg::Vec3(0, 25, -1));
-    hudBackgroundGeometry->setVertexArray(hudBackgroundVertices);
+    int topHUDHeight = 30;
+    int bottomHUDHeight = 25;
+
+    osg::Vec3Array* vertices = static_cast<osg::Vec3Array*>(hudBackgroundGeometry->getVertexArray());
+    if (vertices == NULL || vertices->size() != 8)
+    {
+        osg::ref_ptr<osg::Vec3Array> newVertices = new osg::Vec3Array(8);
+        hudBackgroundGeometry->setVertexArray(newVertices);
+
+        vertices = static_cast<osg::Vec3Array*>(hudBackgroundGeometry->getVertexArray());
+    }
+
+    (*vertices)[0] = osg::Vec3(0, height(), -1);
+    (*vertices)[1] = osg::Vec3(width(), height(), -1);
+    (*vertices)[2] = osg::Vec3(width(), height() - topHUDHeight, -1);
+    (*vertices)[3] = osg::Vec3(0, height() - topHUDHeight, -1);
+    (*vertices)[4] = osg::Vec3(0, 0, -1);
+    (*vertices)[5] = osg::Vec3(width(), 0, -1);
+    (*vertices)[6] = osg::Vec3(width(), bottomHUDHeight, -1);
+    (*vertices)[7] = osg::Vec3(0, bottomHUDHeight, -1);
 
     statusText->setPosition(osg::Vec3(10, height() - 20, -1.5));
 
+    if (rgb2DGeode.valid() && depth2DGeode.valid())
+    {
+        int windowWidth = (width() - 20) / 2;
+        int windowHeight = 3 * windowWidth / 4;
+        rgb2DGeode->setAttributes(10, (height() - windowHeight) / 2,
+                                  windowWidth, windowHeight);
+        depth2DGeode->setAttributes(width() / 2, (height() - windowHeight) / 2,
+                                    windowWidth, windowHeight);
+    }
+}
+
+void
+Pixhawk3DWidget::updateHUD(float robotX, float robotY, float robotZ,
+                           float robotRoll, float robotPitch, float robotYaw)
+{
+    resizeHUD();
+
     std::pair<double,double> cursorPosition =
             getGlobalCursorPosition(getMouseX(), getMouseY(), -robotZ);
 
@@ -502,6 +659,21 @@ Pixhawk3DWidget::updateHUD(float robotX, float robotY, float robotZ,
             " Cursor [" << cursorPosition.first <<
             " " << cursorPosition.second << "]";
     statusText->setText(oss.str());
+
+    if (!rgb.isNull())
+    {
+        rgbImage->setImage(640, 480, 1,
+                           GL_RGB, GL_RGB, GL_UNSIGNED_BYTE,
+                           reinterpret_cast<unsigned char *>(rgb->data()),
+                           osg::Image::NO_DELETE);
+        rgbImage->dirty();
+
+        depthImage->setImage(640, 480, 1,
+                             GL_RGB, GL_RGB, GL_UNSIGNED_BYTE,
+                             reinterpret_cast<unsigned char *>(coloredDepth->data()),
+                             osg::Image::NO_DELETE);
+        depthImage->dirty();
+    }
 }
 
 void
@@ -637,6 +809,14 @@ Pixhawk3DWidget::updateWaypoints(void)
     }
 }
 
+#ifdef QGC_LIBFREENECT_ENABLED
+void
+Pixhawk3DWidget::updateRGBD(void)
+{
+    rgb = freenect->getRgbData();
+    coloredDepth = freenect->getColoredDepthData();
+}
+#endif
 
 void
 Pixhawk3DWidget::markTarget(void)

src/ui/map3D/Pixhawk3DWidget.h

@@ -33,7 +33,15 @@
 #define PIXHAWK3DWIDGET_H
 
 #include <osgText/Text>
+#ifdef QGC_OSGEARTH_ENABLED
 #include <osgEarth/MapNode>
+#endif
+
+#include "ImageWindowGeode.h"
+
+#ifdef QGC_LIBFREENECT_ENABLED
+#include "Freenect.h"
+#endif
 
 #include "Q3DWidget.h"
 
@@ -50,10 +58,6 @@ public:
     explicit Pixhawk3DWidget(QWidget* parent = 0);
     ~Pixhawk3DWidget();
 
-    void buildLayout(void);
-
-    double getTime(void) const;
-
 public slots:
     void setActiveUAS(UASInterface* uas);
 
@@ -61,11 +65,15 @@ private slots:
     void showGrid(int state);
     void showTrail(int state);
     void showWaypoints(int state);
+    void selectVehicleModel(int index);
     void recenter(void);
     void toggleFollowCamera(int state);
 
 protected:
+    QVector< osg::ref_ptr<osg::Node> > findVehicleModels(void);
+    void buildLayout(void);
     virtual void display(void);
+    virtual void keyPressEvent(QKeyEvent* event);
     virtual void mousePressEvent(QMouseEvent* event);
 
     UASInterface* uas;
@@ -73,17 +81,26 @@ protected:
 private:
     osg::ref_ptr<osg::Geode> createGrid(void);
     osg::ref_ptr<osg::Geode> createTrail(void);
+
+#ifdef QGC_OSGEARTH_ENABLED
     osg::ref_ptr<osgEarth::MapNode> createMap(void);
+#endif
+
     osg::ref_ptr<osg::Node> createTarget(void);
     osg::ref_ptr<osg::Group> createWaypoints(void);
+    osg::ref_ptr<osg::Geode> createRGBD3D(void);
 
     void setupHUD(void);
+    void resizeHUD(void);
 
     void updateHUD(float robotX, float robotY, float robotZ,
                    float robotRoll, float robotPitch, float robotYaw);
     void updateTrail(float robotX, float robotY, float robotZ);
     void updateTarget(void);
     void updateWaypoints(void);
+#ifdef QGC_LIBFREENECT_ENABLED
+    void updateRGBD(void);
+#endif
 
     void markTarget(void);
 
@@ -91,22 +108,39 @@ private:
     bool displayTrail;
     bool displayTarget;
     bool displayWaypoints;
+    bool displayRGBD2D;
+    bool displayRGBD3D;
 
     bool followCamera;
 
     osg::ref_ptr<osg::Vec3Array> trailVertices;
     QVarLengthArray<osg::Vec3, 10000> trail;
 
+    osg::ref_ptr<osg::Node> vehicleModel;
     osg::ref_ptr<osg::Geometry> hudBackgroundGeometry;
     osg::ref_ptr<osgText::Text> statusText;
+    osg::ref_ptr<ImageWindowGeode> rgb2DGeode;
+    osg::ref_ptr<ImageWindowGeode> depth2DGeode;
+    osg::ref_ptr<osg::Image> rgbImage;
+    osg::ref_ptr<osg::Image> depthImage;
     osg::ref_ptr<osg::Geode> gridNode;
     osg::ref_ptr<osg::Geode> trailNode;
     osg::ref_ptr<osg::Geometry> trailGeometry;
     osg::ref_ptr<osg::DrawArrays> trailDrawArrays;
+#ifdef QGC_OSGEARTH_ENABLED
     osg::ref_ptr<osgEarth::MapNode> mapNode;
+#endif
     osg::ref_ptr<osg::Geode> targetNode;
     osg::ref_ptr<osg::PositionAttitudeTransform> targetPosition;
     osg::ref_ptr<osg::Group> waypointsNode;
+    osg::ref_ptr<osg::Geode> rgbd3DNode;
+#ifdef QGC_LIBFREENECT_ENABLED
+    QScopedPointer<Freenect> freenect;
+#endif
+    QSharedPointer<QByteArray> rgb;
+    QSharedPointer<QByteArray> coloredDepth;
+
+    QVector< osg::ref_ptr<osg::Node> > vehicleModels;
 
     QPushButton* targetButton;
 

src/ui/map3D/PixhawkCheetahGeode.cc

@@ -59358,6 +59358,7 @@ osg::ref_ptr<osg::Geode>
 PixhawkCheetahGeode::create(float red, float green, float blue)
 {
     osg::ref_ptr<osg::Geode> geode(new osg::Geode());
+    geode->setName("Pixhawk Bravo");
     osg::ref_ptr<osg::Geometry> geometry(new osg::Geometry());
     geode->addDrawable(geometry.get());

src/ui/map3D/Q3DWidget.cc

@@ -34,10 +34,7 @@ This file is part of the QGROUNDCONTROL project
 #include <osg/Geometry>
 #include <osg/LineWidth>
 #include <osg/MatrixTransform>
-
-static const float KEY_ROTATE_AMOUNT = 5.0f;
-static const float KEY_MOVE_AMOUNT   = 10.0f;
-static const float KEY_ZOOM_AMOUNT   = 5.0f;
+#include <Carbon/Carbon.h>
 
 Q3DWidget::Q3DWidget(QWidget* parent)
     : QGLWidget(parent)
@@ -47,7 +44,7 @@ Q3DWidget::Q3DWidget(QWidget* parent)
     , egocentricMap(new osg::Switch())
     , robotPosition(new osg::PositionAttitudeTransform())
     , robotAttitude(new osg::PositionAttitudeTransform())
-    , hudGeode(new osg::Geode())
+    , hudGroup(new osg::Switch())
     , hudProjectionMatrix(new osg::Projection)
 {
     // set initial camera parameters
@@ -94,7 +91,7 @@ Q3DWidget::init(float fps)
     egocentricMap->addChild(createRobot());
 
     // set up camera control
-    cameraManipulator = new GCManipulator;
+    cameraManipulator = new GCManipulator();
     setCameraManipulator(cameraManipulator);
     cameraManipulator->setMinZoomRange(cameraParams.minZoomRange);
     cameraManipulator->setDistance(cameraParams.minZoomRange * 2.0);
@@ -159,11 +156,12 @@ Q3DWidget::createHUD(void)
     hudModelViewMatrix->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
 
     hudProjectionMatrix->addChild(hudModelViewMatrix);
-    hudModelViewMatrix->addChild(hudGeode);
+    hudModelViewMatrix->addChild(hudGroup);
 
     osg::ref_ptr<osg::StateSet> hudStateSet(new osg::StateSet);
-    hudGeode->setStateSet(hudStateSet);
+    hudGroup->setStateSet(hudStateSet);
     hudStateSet->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF);
+    hudStateSet->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
     hudStateSet->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);
     hudStateSet->setRenderBinDetails(11, "RenderBin");
 

src/ui/map3D/Q3DWidget.h

@@ -249,7 +249,7 @@ protected:
     osg::ref_ptr<osg::PositionAttitudeTransform> robotPosition;
     osg::ref_ptr<osg::PositionAttitudeTransform> robotAttitude;
 
-    osg::ref_ptr<osg::Geode> hudGeode; /**< A geode which contains renderable HUD objects. */
+    osg::ref_ptr<osg::Switch> hudGroup; /**< A group which contains renderable HUD objects. */
     osg::ref_ptr<osg::Projection> hudProjectionMatrix; /**< An orthographic projection matrix for HUD display. */
 
     osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> osgGW; /**< A class which manages OSG graphics windows and events. */

src/ui/map3D/Q3DWidgetFactory.cc

@@ -32,16 +32,25 @@ This file is part of the QGROUNDCONTROL project
 #include "Q3DWidgetFactory.h"
 
 #include "Pixhawk3DWidget.h"
+#ifdef QGC_OSGEARTH_ENABLED
+#include "QMap3D.h"
+#endif
 
-QPointer<Q3DWidget>
+QPointer<QWidget>
 Q3DWidgetFactory::get(const std::string& type)
 {
     if (type == "PIXHAWK")
     {
-        return QPointer<Q3DWidget>(new Pixhawk3DWidget);
+        return QPointer<QWidget>(new Pixhawk3DWidget());
     }
+#ifdef QGC_OSGEARTH_ENABLED
+    else if (type == "MAP3D")
+    {
+        return QPointer<QWidget>(new QMap3D());
+    }
+#endif
     else
     {
-        return QPointer<Q3DWidget>(new Q3DWidget);
+        return QPointer<QWidget>(new Q3DWidget());
     }
 }

src/ui/map3D/Q3DWidgetFactory.h

@@ -50,7 +50,7 @@ public:
      * @return A smart pointer to the Q3DWidget instance.
      */
 
-    static QPointer<Q3DWidget> get(const std::string& type);
+    static QPointer<QWidget> get(const std::string& type);
 };
 
 #endif // Q3DWIDGETFACTORY_H