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qgroundcontrol
Commit 06d57289 authored by pixhawk's avatar pixhawk
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parents a8e94b3f 64a56635
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qgroundcontrol.pro
View file @ 06d57289
......@@ -242,23 +242,25 @@ contains(DEPENDENCIES_PRESENT, osg) {
src/ui/map3D/QOSGWidget.h \
src/ui/map3D/PixhawkCheetahGeode.h \
src/ui/map3D/Pixhawk3DWidget.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
src/ui/map3D/Q3DWidgetFactory.h \
src/ui/map3D/WebImageCache.h \
src/ui/map3D/WebImage.h \
src/ui/map3D/TextureCache.h \
src/ui/map3D/Texture.h \
src/ui/map3D/Imagery.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 \
......@@ -328,36 +330,35 @@ SOURCES += src/main.cc \
src/ui/RadioCalibration/CurveCalibrator.cc \
src/ui/RadioCalibration/AbstractCalibrator.cc \
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/ImageWindowGeode.cc \
src/ui/map3D/GCManipulator.cc \
src/ui/map3D/QOSGWidget.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
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for osgEarth")
# Enable only if OpenSceneGraph is available
SOURCES += src/ui/map3D/QMap3D.cc
}
src/ui/map3D/Q3DWidgetFactory.cc \
src/ui/map3D/WebImageCache.cc \
src/ui/map3D/WebImage.cc \
src/ui/map3D/TextureCache.cc \
src/ui/map3D/Texture.cc \
src/ui/map3D/Imagery.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) {
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/ui/map3D/Imagery.cc
View file @ 06d57289
......@@ -46,6 +46,12 @@ Imagery::Imagery()
}
Imagery::ImageryType
Imagery::getImageryType(void) const
{
return currentImageryType;
}
void
Imagery::setImageryType(ImageryType type)
{
......@@ -62,7 +68,6 @@ Imagery::setOffset(double xOffset, double yOffset)
void
Imagery::prefetch2D(double windowWidth, double windowHeight,
double zoom, double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone)
{
double tileResolution;
......@@ -88,10 +93,10 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
int zoomLevel;
tileBounds(tileResolution,
xOrigin + viewXOffset - windowWidth / 2.0 / zoom,
yOrigin + viewYOffset - windowHeight / 2.0 / zoom,
xOrigin + viewXOffset + windowWidth / 2.0 / zoom,
yOrigin + viewYOffset + windowHeight / 2.0 / zoom, utmZone,
xOrigin - windowWidth / 2.0 / zoom * 1.5,
yOrigin - windowHeight / 2.0 / zoom * 1.5,
xOrigin + windowWidth / 2.0 / zoom * 1.5,
yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone,
minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
for (int r = minTileY; r <= maxTileY; ++r)
......@@ -108,7 +113,6 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
void
Imagery::draw2D(double windowWidth, double windowHeight,
double zoom, double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone)
{
double tileResolution;
......@@ -134,12 +138,17 @@ Imagery::draw2D(double windowWidth, double windowHeight,
int zoomLevel;
tileBounds(tileResolution,
xOrigin + viewXOffset - windowWidth / 2.0 / zoom * 1.5,
yOrigin + viewYOffset - windowHeight / 2.0 / zoom * 1.5,
xOrigin + viewXOffset + windowWidth / 2.0 / zoom * 1.5,
yOrigin + viewYOffset + windowHeight / 2.0 / zoom * 1.5, utmZone,
xOrigin - windowWidth / 2.0 / zoom * 1.5,
yOrigin - windowHeight / 2.0 / zoom * 1.5,
xOrigin + windowWidth / 2.0 / zoom * 1.5,
yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone,
minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
if (getNumDrawables() > 0)
{
removeDrawables(0, getNumDrawables());
}
for (int r = minTileY; r <= maxTileY; ++r)
{
for (int c = minTileX; c <= maxTileX; ++c)
......@@ -152,10 +161,11 @@ Imagery::draw2D(double windowWidth, double windowHeight,
TexturePtr t = textureCache->get(tileURL);
if (!t.isNull())
{
t->draw(x1 - xOrigin, y1 - yOrigin,
x2 - xOrigin, y2 - yOrigin,
x3 - xOrigin, y3 - yOrigin,
x4 - xOrigin, y4 - yOrigin, true);
addDrawable(t->draw(y1 - yOrigin, x1 - xOrigin,
y2 - yOrigin, x2 - xOrigin,
y3 - yOrigin, x3 - xOrigin,
y4 - yOrigin, x4 - xOrigin,
true));
}
}
}
......@@ -164,17 +174,14 @@ Imagery::draw2D(double windowWidth, double windowHeight,
void
Imagery::prefetch3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone, bool useHeightModel)
const QString& utmZone)
{
int minTileX, minTileY, maxTileX, maxTileY;
int zoomLevel;
tileBounds(tileResolution,
xOrigin + viewXOffset - radius,
yOrigin + viewYOffset - radius,
xOrigin + viewXOffset + radius,
yOrigin + viewYOffset + radius, utmZone,
xOrigin - radius, yOrigin - radius,
xOrigin + radius, yOrigin + radius, utmZone,
minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
for (int r = minTileY; r <= maxTileY; ++r)
......@@ -183,7 +190,7 @@ Imagery::prefetch3D(double radius, double tileResolution,
{
QString url = getTileLocation(c, r, zoomLevel, tileResolution);
TexturePtr t = textureCache->get(url, useHeightModel);
TexturePtr t = textureCache->get(url);
}
}
}
......@@ -191,19 +198,21 @@ Imagery::prefetch3D(double radius, double tileResolution,
void
Imagery::draw3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone, bool useHeightModel)
const QString& utmZone)
{
int minTileX, minTileY, maxTileX, maxTileY;
int zoomLevel;
tileBounds(tileResolution,
xOrigin + viewXOffset - radius,
yOrigin + viewYOffset - radius,
xOrigin + viewXOffset + radius,
yOrigin + viewYOffset + radius, utmZone,
xOrigin - radius, yOrigin - radius,
xOrigin + radius, yOrigin + radius, utmZone,
minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
if (getNumDrawables() > 0)
{
removeDrawables(0, getNumDrawables());
}
for (int r = minTileY; r <= maxTileY; ++r)
{
for (int c = minTileX; c <= maxTileX; ++c)
......@@ -213,14 +222,15 @@ Imagery::draw3D(double radius, double tileResolution,
double x1, y1, x2, y2, x3, y3, x4, y4;
imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4);
TexturePtr t = textureCache->get(tileURL, useHeightModel);
TexturePtr t = textureCache->get(tileURL);
if (!t.isNull())
{
t->draw(x1 - xOrigin, y1 - yOrigin,
x2 - xOrigin, y2 - yOrigin,
x3 - xOrigin, y3 - yOrigin,
x4 - xOrigin, y4 - yOrigin, true);
addDrawable(t->draw(y1 - yOrigin, x1 - xOrigin,
y2 - yOrigin, x2 - xOrigin,
y3 - yOrigin, x3 - xOrigin,
y4 - yOrigin, x4 - xOrigin,
true));
}
}
}
......@@ -257,8 +267,7 @@ Imagery::imageBounds(int tileX, int tileY, double tileResolution,
LLtoUTM(lat2, lon2, x3, y3, utmZone);
LLtoUTM(lat2, lon1, x4, y4, utmZone);
}
else if (currentImageryType == SWISSTOPO_SATELLITE ||
currentImageryType == SWISSTOPO_SATELLITE_3D)
else if (currentImageryType == SWISSTOPO_SATELLITE)
{
double utmMultiplier = tileResolution * 200.0;
double minX = tileX * utmMultiplier;
......@@ -295,8 +304,7 @@ Imagery::tileBounds(double tileResolution,
UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution,
maxTileX, minTileY, zoomLevel);
}
else if (currentImageryType == SWISSTOPO_SATELLITE ||
currentImageryType == SWISSTOPO_SATELLITE_3D)
else if (currentImageryType == SWISSTOPO_SATELLITE)
{
double utmMultiplier = tileResolution * 200;
......@@ -555,7 +563,7 @@ Imagery::UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
* D * D * D * D * D / 120.0) / cos(phi1Rad);
longitude = LongOrigin + longitude / M_PI * 180.0;
}
#include <QDebug>
QString
Imagery::getTileLocation(int tileX, int tileY, int zoomLevel,
double tileResolution) const
......@@ -572,7 +580,7 @@ Imagery::getTileLocation(int tileX, int tileY, int zoomLevel,
oss << "http://khm.google.com/vt/lbw/lyrs=y&x=" << tileX
<< "&y=" << tileY << "&z=" << zoomLevel;
break;
case SWISSTOPO_SATELLITE: case SWISSTOPO_SATELLITE_3D:
case SWISSTOPO_SATELLITE:
oss << "../map/eth_zurich_swissimage_025/200/color/" << tileY
<< "/tile-";
if (tileResolution < 1.0)
......
src/ui/map3D/Imagery.h
View file @ 06d57289
......@@ -32,44 +32,42 @@ This file is part of the QGROUNDCONTROL project
#ifndef IMAGERY_H
#define IMAGERY_H
#include <osg/Geode>
#include <QScopedPointer>
#include <QString>
#include "TextureCache.h"
class Imagery
class Imagery : public osg::Geode
{
public:
enum ImageryType
{
GOOGLE_MAP = 0,
GOOGLE_SATELLITE = 1,
SWISSTOPO_SATELLITE = 2,
SWISSTOPO_SATELLITE_3D = 3
BLANK_MAP = 0,
GOOGLE_MAP = 1,
GOOGLE_SATELLITE = 2,
SWISSTOPO_SATELLITE = 3
};
Imagery();
ImageryType getImageryType(void) const;
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);
const QString& utmZone);
void draw3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone, bool useHeightModel);
const QString& utmZone);
bool update(void);
......
src/ui/map3D/Pixhawk3DWidget.cc
View file @ 06d57289
......@@ -49,6 +49,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
, uas(NULL)
, displayGrid(true)
, displayTrail(false)
, displayImagery(true)
, displayTarget(false)
, displayWaypoints(true)
, displayRGBD2D(false)
......@@ -74,11 +75,9 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
trailNode = createTrail();
rollingMap->addChild(trailNode);
#ifdef QGC_OSGEARTH_ENABLED
// generate map model
mapNode = createMap();
root->addChild(mapNode);
#endif
allocentricMap->addChild(mapNode);
// generate target model
allocentricMap->addChild(createTarget());
......@@ -171,6 +170,12 @@ Pixhawk3DWidget::showWaypoints(int state)
}
}
void
Pixhawk3DWidget::selectMapSource(int index)
{
mapNode->setImageryType(static_cast<Imagery::ImageryType>(index));
}
void
Pixhawk3DWidget::selectVehicleModel(int index)
{
......@@ -205,7 +210,7 @@ Pixhawk3DWidget::toggleFollowCamera(int32_t state)
followCamera = false;
}
}
#include <osgDB/WriteFile>
QVector< osg::ref_ptr<osg::Node> >
Pixhawk3DWidget::findVehicleModels(void)
{
......@@ -273,6 +278,12 @@ Pixhawk3DWidget::buildLayout(void)
waypointsCheckBox->setText("Waypoints");
waypointsCheckBox->setChecked(displayWaypoints);
QLabel* mapLabel = new QLabel("Map", this);
QComboBox* mapComboBox = new QComboBox(this);
mapComboBox->addItem("None");
mapComboBox->addItem("Map (Google)");
mapComboBox->addItem("Satellite (Google)");
QLabel* modelLabel = new QLabel("Vehicle Model", this);
QComboBox* modelComboBox = new QComboBox(this);
for (int i = 0; i < vehicleModels.size(); ++i)
......@@ -299,12 +310,14 @@ Pixhawk3DWidget::buildLayout(void)
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->addWidget(mapLabel, 1, 4);
layout->addWidget(mapComboBox, 1, 5);
layout->addWidget(modelLabel, 1, 6);
layout->addWidget(modelComboBox, 1, 7);
layout->addWidget(targetButton, 1, 8);
layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 9);
layout->addWidget(recenterButton, 1, 10);
layout->addWidget(followCameraCheckBox, 1, 11);
layout->setRowStretch(0, 100);
layout->setRowStretch(1, 1);
setLayout(layout);
......@@ -315,6 +328,8 @@ Pixhawk3DWidget::buildLayout(void)
this, SLOT(showTrail(int)));
connect(waypointsCheckBox, SIGNAL(stateChanged(int)),
this, SLOT(showWaypoints(int)));
connect(mapComboBox, SIGNAL(currentIndexChanged(int)),
this, SLOT(selectMapSource(int)));
connect(modelComboBox, SIGNAL(currentIndexChanged(int)),
this, SLOT(selectVehicleModel(int)));
connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter()));
......@@ -362,20 +377,42 @@ Pixhawk3DWidget::display(void)
robotPitch, osg::Vec3f(1.0f, 0.0f, 0.0f),
robotRoll, osg::Vec3f(0.0f, 1.0f, 0.0f)));
updateTrail(robotX, robotY, robotZ);
updateTarget();
updateWaypoints();
if (displayTrail)
{
updateTrail(robotX, robotY, robotZ);
}
if (displayImagery)
{
updateImagery();
}
if (displayTarget)
{
updateTarget();
}
if (displayWaypoints)
{
updateWaypoints();
}
#ifdef QGC_LIBFREENECT_ENABLED
updateRGBD();
if (displayRGBD2D || displayRGBD3D)
{
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);
allocentricMap->setChildValue(mapNode, displayImagery);
hudGroup->setChildValue(rgb2DGeode, displayRGBD2D);
hudGroup->setChildValue(depth2DGeode, displayRGBD2D);
......@@ -400,6 +437,9 @@ Pixhawk3DWidget::keyPressEvent(QKeyEvent* event)
case 'c': case 'C':
enableRGBDColor = !enableRGBDColor;
break;
case 'i': case 'I':
displayImagery = !displayImagery;
break;
}
}
......@@ -512,16 +552,11 @@ Pixhawk3DWidget::createTrail(void)
return geode;
}
#ifdef QGC_OSGEARTH_ENABLED
osg::ref_ptr<osgEarth::MapNode>
osg::ref_ptr<Imagery>
Pixhawk3DWidget::createMap(void)
{
osg::ref_ptr<osg::Node> model = osgDB::readNodeFile("map.earth");
osg::ref_ptr<osgEarth::MapNode> node = osgEarth::MapNode::findMapNode(model);
return node;
return osg::ref_ptr<Imagery>(new Imagery());
}
#endif
osg::ref_ptr<osg::Node>
Pixhawk3DWidget::createTarget(void)
......@@ -730,6 +765,74 @@ Pixhawk3DWidget::updateTrail(float robotX, float robotY, float robotZ)
trailGeometry->dirtyBound();
}
void
Pixhawk3DWidget::updateImagery(void)
{
char zone[5] = "32T";
double viewingRadius = cameraManipulator->getDistance() * 10.0;
if (viewingRadius < 100.0)
{
viewingRadius = 100.0;
}
double minResolution = 0.25;
double centerResolution = cameraManipulator->getDistance() / 25.0;
double maxResolution = 1048576.0;
Imagery::ImageryType imageryType = mapNode->getImageryType();
switch (imageryType)
{
case Imagery::GOOGLE_MAP:
minResolution = 0.25;
break;
case Imagery::GOOGLE_SATELLITE:
minResolution = 0.5;
break;
case Imagery::SWISSTOPO_SATELLITE:
minResolution = 0.25;
maxResolution = 0.25;
break;
default: {}
}
double resolution = minResolution;
while (resolution * 2.0 < centerResolution)
{
resolution *= 2.0;
}
if (resolution > maxResolution)
{
resolution = maxResolution;
}
mapNode->draw3D(viewingRadius,
resolution,
cameraManipulator->getCenter().y(),
cameraManipulator->getCenter().x(),
zone);
// prefetch map tiles
if (resolution / 2.0 >= minResolution)
{
mapNode->prefetch3D(viewingRadius / 2.0,
resolution / 2.0,
cameraManipulator->getCenter().y(),
cameraManipulator->getCenter().x(),
zone);
}
if (resolution * 2.0 <= maxResolution)
{
mapNode->prefetch3D(viewingRadius * 2.0,
resolution * 2.0,
cameraManipulator->getCenter().y(),
cameraManipulator->getCenter().x(),
zone);
}
mapNode->update();
}
void
Pixhawk3DWidget::updateTarget(void)
{
......
src/ui/map3D/Pixhawk3DWidget.h
View file @ 06d57289
......@@ -33,10 +33,8 @@
#define PIXHAWK3DWIDGET_H
#include <osgText/Text>
#ifdef QGC_OSGEARTH_ENABLED
#include <osgEarth/MapNode>
#endif
#include "Imagery.h"
#include "ImageWindowGeode.h"
#ifdef QGC_LIBFREENECT_ENABLED
......@@ -65,6 +63,7 @@ private slots:
void showGrid(int state);
void showTrail(int state);
void showWaypoints(int state);
void selectMapSource(int index);
void selectVehicleModel(int index);
void recenter(void);
void toggleFollowCamera(int state);
......@@ -81,11 +80,7 @@ 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<Imagery> createMap(void);
osg::ref_ptr<osg::Node> createTarget(void);
osg::ref_ptr<osg::Group> createWaypoints(void);
osg::ref_ptr<osg::Geode> createRGBD3D(void);
......@@ -96,6 +91,7 @@ private:
void updateHUD(float robotX, float robotY, float robotZ,
float robotRoll, float robotPitch, float robotYaw);
void updateTrail(float robotX, float robotY, float robotZ);
void updateImagery(void);
void updateTarget(void);
void updateWaypoints(void);
#ifdef QGC_LIBFREENECT_ENABLED
......@@ -106,6 +102,7 @@ private:
bool displayGrid;
bool displayTrail;
bool displayImagery;
bool displayTarget;
bool displayWaypoints;
bool displayRGBD2D;
......@@ -128,9 +125,7 @@ private:
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<Imagery> mapNode;
osg::ref_ptr<osg::Geode> targetNode;
osg::ref_ptr<osg::PositionAttitudeTransform> targetPosition;
osg::ref_ptr<osg::Group> waypointsNode;
......
src/ui/map3D/Texture.cc
View file @ 06d57289
......@@ -33,18 +33,39 @@ This file is part of the QGROUNDCONTROL project
#include "Texture.h"
Texture::Texture()
: _is3D(false)
Texture::Texture(unsigned int _id)
: id(_id)
, texture2D(new osg::Texture2D)
, geometry(new osg::Geometry)
{
texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST);
texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST);
GLuint id;
glGenTextures(1, &id);
t->setID(id);
glBindTexture(GL_TEXTURE_2D, id);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
texture2D->setDataVariance(osg::Object::DYNAMIC);
texture2D->setResizeNonPowerOfTwoHint(false);
osg::ref_ptr<osg::Image> image = new osg::Image;
texture2D->setImage(image);
osg::ref_ptr<osg::Vec2Array> vertices(new osg::Vec2Array(4));
geometry->setVertexArray(vertices);
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));
geometry->setTexCoordArray(id, textureCoords);
geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
0, 4));
osg::ref_ptr<osg::Vec4Array> colors(new osg::Vec4Array);
colors->push_back(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f));
geometry->setColorArray(colors);
geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
geometry->setUseDisplayList(false);
}
const QString&
......@@ -53,64 +74,33 @@ Texture::getSourceURL(void) const
return sourceURL;
}
void
Texture::setId(unsigned int _id)
{
id = _id;
}
void
Texture::sync(const WebImagePtr& image)
{
state = static_cast<State>(image->getState());
if (image->getState() != WebImage::UNINITIALIZED &&
(sourceURL != image->getSourceURL() ||
_is3D != image->is3D()))
sourceURL != image->getSourceURL())
{
sourceURL = image->getSourceURL();
_is3D = image->is3D();
}
if (image->getState() == WebImage::READY && image->getSyncFlag())
{
image->setSyncFlag(false);
if (image->getWidth() != imageWidth ||
image->getHeight() != imageHeight)
if (texture2D->getImage() != NULL)
{
imageWidth = image->getWidth();
textureWidth = 32;
while (textureWidth < imageWidth)
{
textureWidth *= 2;
}
imageHeight = image->getHeight();
textureHeight = 32;
while (textureHeight < imageHeight)
{
textureHeight *= 2;
}
maxU = static_cast<double>(imageWidth)
/ static_cast<double>(textureWidth);
maxV = static_cast<double>(imageHeight)
/ static_cast<double>(textureHeight);
osg::ref_ptr<osg::Image> image;
image->setImage(textureWidth, textureHeight, 8, 3, GL_RGBA, GL_UNSIGNED_BYTES, NULL, osg::Image::USE_NEW_DELETE);
texture2D->
glBindTexture(GL_TEXTURE_2D, id);
glTexImage2D(GL_TEXTURE_2D, 0, 3, textureWidth, textureHeight,
0, GL_RGBA, GL_UNSIGNED_BYTE, NULL);
texture2D->getImage()->setImage(image->getWidth(),
image->getHeight(),
1,
GL_RGB,
GL_RGB,
GL_UNSIGNED_BYTE,
image->getImageData(),
osg::Image::NO_DELETE);
texture2D->getImage()->dirty();
}
glBindTexture(GL_TEXTURE_2D, id);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, imageWidth, imageHeight,
GL_RGBA, GL_UNSIGNED_BYTE, image->getImageData());
heightModel = image->getHeightModel();
}
}
......@@ -126,126 +116,45 @@ Texture::draw(float x1, float y1, float x2, float y2,
float x3, float y3, float x4, float y4,
bool smoothInterpolation) const
{
osg::ref_ptr<osg::Geometry> geometry(new osg::Geometry);
osg::ref_ptr<osg::StateSet> stateset(new osg::StateSet);
osg::Vec2Array* vertices =
static_cast<osg::Vec2Array*>(geometry->getVertexArray());
(*vertices)[0].set(x1, y1);
(*vertices)[1].set(x2, y2);
(*vertices)[2].set(x3, y3);
(*vertices)[3].set(x4, y4);
osg::DrawArrays* drawarrays =
static_cast<osg::DrawArrays*>(geometry->getPrimitiveSet(0));
osg::Vec4Array* colors =
static_cast<osg::Vec4Array*>(geometry->getColorArray());
if (state == REQUESTED)
{
osg::ref_ptr<osg::Vec2Array> vertices(new osg::Vec2Array);
vertices->push_back(osg::Vec2(x1, y1));
vertices->push_back(osg::Vec2(x2, y2));
vertices->push_back(osg::Vec2(x3, y3));
vertices->push_back(osg::Vec2(x4, y4));
geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
0, vertices->size()));
geometry->setVertexArray(vertices);
osg::ref_ptr<osg::Vec4Array> color(new osg::Vec4Array);
color->push_back(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f));
geometry->setColorArray(color);
geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
drawarrays->set(osg::PrimitiveSet::LINES, 0, 4);
(*colors)[0].set(0.0f, 0.0f, 1.0f, 1.0f);
geometry->getOrCreateStateSet()->
setTextureAttributeAndModes(id, texture2D, osg::StateAttribute::OFF);
return geometry;
}
stateset->setTextureAttributeAndModes(id, texture2D);
float dx, dy;
if (smoothInterpolation)
{
texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR);
texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR);
dx = 1.0f / (2.0f * textureWidth);
dy = 1.0f / (2.0f * textureHeight);
}
else
{
texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST);
texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST);
dx = 0.0f;
dy = 0.0f;
}
glColor3f(1.0f, 1.0f, 1.0f);
if (!_is3D)
{
osg::ref_ptr<osg::Vec2Array> tc = new osg::Vec2Array;
geometry->setTexCoordArray(id, tc);
tc->push_back(osg::Vec2(dx, maxV - dy));
tc->push_back(osg::Vec2(maxU - dx, maxV - dy));
tc->push_back(osg::Vec2(maxU - dx, dy));
tc->push_back(osg::Vec2(dx, dy));
glBegin(GL_QUADS);
glTexCoord2f(dx, maxV - dy);
glVertex3f(x1, y1, 0.0f);
glTexCoord2f(maxU - dx, maxV - dy);
glVertex3f(x2, y2, 0.0f);
glTexCoord2f(maxU - dx, dy);
glVertex3f(x3, y3, 0.0f);
glTexCoord2f(dx, dy);
glVertex3f(x4, y4, 0.0f);
glEnd();
}
else
{
float scaleX = 1.0f / static_cast<float>(heightModel.size() - 1);
drawarrays->set(osg::PrimitiveSet::POLYGON, 0, 4);
(*colors)[0].set(1.0f, 1.0f, 1.0f, 1.0f);
for (int32_t i = 0; i < heightModel.size() - 1; ++i)
{
float scaleI = scaleX * static_cast<float>(i);
float scaleY =
1.0f / static_cast<float>(heightModel[i].size() - 1);
float x1i = x1 + scaleI * (x4 - x1);
float x1f = x2 + scaleI * (x3 - x2);
float x2i = x1i + scaleX * (x4 - x1);
float x2f = x1f + scaleX * (x3 - x2);
for (int32_t j = 0; j < heightModel[i].size() - 1; ++j)
{
float scaleJ = scaleY * static_cast<float>(j);
float y1i = y1 + scaleJ * (y2 - y1);
float y1f = y4 + scaleJ * (y3 - y4);
float y2i = y1i + scaleY * (y2 - y1);
float y2f = y1f + scaleY * (y3 - y4);
float nx1 = x1i + scaleJ * (x1f - x1i);
float nx2 = x1i + (scaleJ + scaleY) * (x1f - x1i);
float nx3 = x2i + (scaleJ + scaleY) * (x2f - x2i);
float nx4 = x2i + scaleJ * (x2f - x2i);
float ny1 = y1i + scaleI * (y1f - y1i);
float ny2 = y2i + scaleI * (y2f - y2i);
float ny3 = y2i + (scaleI + scaleX) * (y2f - y2i);
float ny4 = y1i + (scaleI + scaleX) * (y1f - y1i);
glBegin(GL_QUADS);
glTexCoord2f(dx + scaleJ * (maxU - dx * 2.0f),
dy + (1.0f - scaleI) * (maxV - dy * 2.0f));
glVertex3f(nx1, ny1, -static_cast<float>(heightModel[i][j]));
glTexCoord2f(dx + (scaleJ + scaleY) * (maxU - dx * 2.0f),
dy + (1.0f - scaleI) * (maxV - dy * 2.0f));
glVertex3f(nx2, ny2, -static_cast<float>(heightModel[i][j + 1]));
glTexCoord2f(dx + (scaleJ + scaleY) * (maxU - dx * 2.0f),
dy + (1.0f - scaleI - scaleX) * (maxV - dy * 2.0f));
glVertex3f(nx3, ny3, -static_cast<float>(heightModel[i + 1][j + 1]));
glTexCoord2f(dx + scaleJ * (maxU - dx * 2.0f),
dy + (1.0f - scaleI - scaleX) * (maxV - dy * 2.0f));
glVertex3f(nx4, ny4, -static_cast<float>(heightModel[i + 1][j]));
glEnd();
}
}
}
}
geometry->getOrCreateStateSet()->
setTextureAttributeAndModes(id, texture2D, osg::StateAttribute::ON);
bool
Texture::is3D(void) const
{
return _is3D;
return geometry;
}
src/ui/map3D/Texture.h
View file @ 06d57289
......@@ -32,14 +32,10 @@ This file is part of the QGROUNDCONTROL project
#ifndef TEXTURE_H
#define TEXTURE_H
#if (defined __APPLE__) & (defined __MACH__)
#include <OpenGL/gl.h>
#else
#include <GL/gl.h>
#endif
#include <inttypes.h>
#include <osg/ref_ptr>
#include <osg/Geometry>
#include <osg/Texture2D>
#include <QSharedPointer>
#include "WebImage.h"
......@@ -47,7 +43,7 @@ This file is part of the QGROUNDCONTROL project
class Texture
{
public:
Texture();
explicit Texture(unsigned int _id);
const QString& getSourceURL(void) const;
......@@ -61,8 +57,6 @@ public:
float x3, float y3, float x4, float y4,
bool smoothInterpolation) const;
bool is3D(void) const;
private:
enum State
{
......@@ -75,18 +69,7 @@ private:
QString sourceURL;
unsigned int id;
osg::ref_ptr<osg::Texture2D> texture2D;
int32_t textureWidth;
int32_t textureHeight;
int32_t imageWidth;
int32_t imageHeight;
bool _is3D;
QVector< QVector<int32_t> > heightModel;
float maxU;
float maxV;
osg::ref_ptr<osg::Geometry> geometry;
};
typedef QSharedPointer<Texture> TexturePtr;
......
src/ui/map3D/TextureCache.cc
View file @ 06d57289
......@@ -37,28 +37,26 @@ TextureCache::TextureCache(uint32_t _cacheSize)
{
for (uint32_t i = 0; i < cacheSize; ++i)
{
TexturePtr t(new Texture);
t->setId(i);
TexturePtr t(new Texture(i));
textures.push_back(t);
}
}
TexturePtr
TextureCache::get(const QString& tileURL, bool useHeightModel)
TextureCache::get(const QString& tileURL)
{
QPair<TexturePtr, int32_t> p1 = lookup(tileURL, useHeightModel);
QPair<TexturePtr, int32_t> p1 = lookup(tileURL);
if (!p1.first.isNull())
{
return p1.first;
}
QPair<WebImagePtr, int32_t> p2 =
imageCache->lookup(tileURL, useHeightModel);
QPair<WebImagePtr, int32_t> p2 = imageCache->lookup(tileURL);
if (!p2.first.isNull())
{
textures[p2.second]->sync(p2.first);
p1 = lookup(tileURL, useHeightModel);
p1 = lookup(tileURL);
return p1.first;
}
......@@ -79,12 +77,11 @@ TextureCache::sync(void)
}
QPair<TexturePtr, int32_t>
TextureCache::lookup(const QString& tileURL, bool useHeightModel)
TextureCache::lookup(const QString& tileURL)
{
for (int32_t i = 0; i < textures.size(); ++i)
{
if (textures[i]->getSourceURL() == tileURL &&
textures[i]->is3D() == useHeightModel)
if (textures[i]->getSourceURL() == tileURL)
{
return qMakePair(textures[i], i);
}
......
src/ui/map3D/TextureCache.h
View file @ 06d57289
......@@ -42,13 +42,12 @@ class TextureCache
public:
explicit TextureCache(uint32_t cacheSize);
TexturePtr get(const QString& tileURL, bool useHeightModel = false);
TexturePtr get(const QString& tileURL);
void sync(void);
private:
QPair<TexturePtr, int32_t> lookup(const QString& tileURL,
bool useHeightModel);
QPair<TexturePtr, int32_t> lookup(const QString& tileURL);
bool requireSync(void) const;
......
src/ui/map3D/WebImage.cc
View file @ 06d57289
......@@ -39,7 +39,6 @@ WebImage::WebImage()
, sourceURL("")
, image(0)
, lastReference(0)
, _is3D(false)
, syncFlag(false)
{
......@@ -52,7 +51,6 @@ WebImage::clear(void)
sourceURL.clear();
state = WebImage::UNINITIALIZED;
lastReference = 0;
heightModel.clear();
}
WebImage::State
......@@ -79,18 +77,12 @@ WebImage::setSourceURL(const QString& url)
sourceURL = url;
}
const uint8_t*
uchar*
WebImage::getImageData(void) const
{
return image->scanLine(0);
}
const QVector< QVector<int32_t> >&
WebImage::getHeightModel(void) const
{
return heightModel;
}
bool
WebImage::setData(const QByteArray& data)
{
......@@ -131,90 +123,32 @@ WebImage::setData(const QString& filename)
}
}
bool
WebImage::setData(const QString& imageFilename, const QString& heightFilename)
{
QFile heightFile(heightFilename);
QImage tempImage;
if (tempImage.load(imageFilename) && heightFile.open(QIODevice::ReadOnly))
{
if (image.isNull())
{
image.reset(new QImage);
}
*image = QGLWidget::convertToGLFormat(tempImage);
QDataStream heightDataStream(&heightFile);
// read in width and height values for height map
char header[8];
heightDataStream.readRawData(header, 8);
int32_t height = *(reinterpret_cast<int32_t *>(header));
int32_t width = *(reinterpret_cast<int32_t *>(header + 4));
char buffer[height * width * sizeof(int32_t)];
heightDataStream.readRawData(buffer, height * width * sizeof(int32_t));
heightModel.clear();
for (int32_t i = 0; i < height; ++i)
{
QVector<int32_t> scanline;
for (int32_t j = 0; j < width; ++j)
{
int32_t n = *(reinterpret_cast<int32_t *>(buffer
+ (i * height + j)
* sizeof(int32_t)));
scanline.push_back(n);
}
heightModel.push_back(scanline);
}
heightFile.close();
_is3D = true;
return true;
}
else
{
return false;
}
}
int32_t
int
WebImage::getWidth(void) const
{
return image->width();
}
int32_t
int
WebImage::getHeight(void) const
{
return image->height();
}
int32_t
int
WebImage::getByteCount(void) const
{
return image->byteCount();
}
bool
WebImage::is3D(void) const
{
return _is3D;
}
uint64_t
ulong
WebImage::getLastReference(void) const
{
return lastReference;
}
void
WebImage::setLastReference(uint64_t value)
WebImage::setLastReference(ulong value)
{
lastReference = value;
}
......
src/ui/map3D/WebImage.h
View file @ 06d57289
......@@ -57,20 +57,16 @@ public:
const QString& getSourceURL(void) const;
void setSourceURL(const QString& url);
const uint8_t* getImageData(void) const;
const QVector< QVector<int32_t> >& getHeightModel(void) const;
uchar* getImageData(void) const;
bool setData(const QByteArray& data);
bool setData(const QString& filename);
bool setData(const QString& imageFilename, const QString& heightFilename);
int32_t getWidth(void) const;
int32_t getHeight(void) const;
int32_t getByteCount(void) const;
int getWidth(void) const;
int getHeight(void) const;
int getByteCount(void) const;
bool is3D(void) const;
uint64_t getLastReference(void) const;
void setLastReference(uint64_t value);
ulong getLastReference(void) const;
void setLastReference(ulong value);
bool getSyncFlag(void) const;
void setSyncFlag(bool onoff);
......@@ -79,9 +75,7 @@ private:
State state;
QString sourceURL;
QScopedPointer<QImage> image;
QVector< QVector<int32_t> > heightModel;
uint64_t lastReference;
bool _is3D;
ulong lastReference;
bool syncFlag;
};
......
src/ui/map3D/WebImageCache.cc
View file @ 06d57289
......@@ -52,15 +52,14 @@ WebImageCache::WebImageCache(QObject* parent, uint32_t _cacheSize)
}
QPair<WebImagePtr, int32_t>
WebImageCache::lookup(const QString& url, bool useHeightModel)
WebImageCache::lookup(const QString& url)
{
QPair<WebImagePtr, int32_t> cacheEntry;
for (int32_t i = 0; i < webImages.size(); ++i)
{
if (webImages[i]->getState() != WebImage::UNINITIALIZED &&
webImages[i]->getSourceURL() == url &&
webImages[i]->is3D() == useHeightModel)
webImages[i]->getSourceURL() == url)
{
cacheEntry.first = webImages[i];
cacheEntry.second = i;
......@@ -111,22 +110,7 @@ WebImageCache::lookup(const QString& url, bool useHeightModel)
}
else
{
bool success;
if (useHeightModel)
{
QString heightURL = url;
heightURL.replace("color", "dom");
heightURL.replace(".jpg", ".txt");
success = cacheEntry.first->setData(url, heightURL);
}
else
{
success = cacheEntry.first->setData(url);
}
if (success)
if (cacheEntry.first->setData(url))
{
cacheEntry.first->setSyncFlag(true);
cacheEntry.first->setState(WebImage::READY);
......
src/ui/map3D/WebImageCache.h
View file @ 06d57289
......@@ -45,8 +45,7 @@ class WebImageCache : public QObject
public:
WebImageCache(QObject* parent, uint32_t cacheSize);
QPair<WebImagePtr, int32_t> lookup(const QString& url,
bool useHeightModel);
QPair<WebImagePtr, int32_t> lookup(const QString& url);
WebImagePtr at(int32_t index) const;
......
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