Merge branch 'master' of pixhawk.ethz.ch:qgroundcontrol

src/ui/map3D/Imagery.cc

@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Imagery.h"
 
 #include <cmath>
+#include <iomanip>
 #include <sstream>
 
 const double WGS84_A = 6378137.0;
@@ -65,7 +66,8 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
                     const QString& utmZone)
 {
     double tileResolution;
-    if (currentImageryType == SATELLITE)
+    if (currentImageryType == GOOGLE_SATELLITE ||
+        currentImageryType == GOOGLE_MAP)
     {
         tileResolution = 1.0;
         while (tileResolution * 3.0 / 2.0 < 1.0 / zoom)
@@ -77,6 +79,10 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
             tileResolution = 512.0;
         }
     }
+    else if (currentImageryType == SWISSTOPO_SATELLITE)
+    {
+        tileResolution = 0.25;
+    }
 
     int32_t minTileX, minTileY, maxTileX, maxTileY;
     int32_t zoomLevel;
@@ -92,7 +98,7 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
     {
         for (int32_t c = minTileX; c <= maxTileX; ++c)
         {
-            QString url = getTileURL(c, r, zoomLevel);
+            QString url = getTileLocation(c, r, zoomLevel, tileResolution);
 
             TexturePtr t = textureCache->get(url);
         }
@@ -106,7 +112,8 @@ Imagery::draw2D(double windowWidth, double windowHeight,
                 const QString& utmZone)
 {
     double tileResolution;
-    if (currentImageryType == SATELLITE)
+    if (currentImageryType == GOOGLE_SATELLITE ||
+        currentImageryType == GOOGLE_MAP)
     {
         tileResolution = 1.0;
         while (tileResolution * 3.0 / 2.0 < 1.0 / zoom)
@@ -118,6 +125,10 @@ Imagery::draw2D(double windowWidth, double windowHeight,
             tileResolution = 512.0;
         }
     }
+    else if (currentImageryType == SWISSTOPO_SATELLITE)
+    {
+        tileResolution = 0.25;
+    }
 
     int32_t minTileX, minTileY, maxTileX, maxTileY;
     int32_t zoomLevel;
@@ -133,7 +144,7 @@ Imagery::draw2D(double windowWidth, double windowHeight,
     {
         for (int32_t c = minTileX; c <= maxTileX; ++c)
         {
-            QString tileURL = getTileURL(c, r, zoomLevel);
+            QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution);
 
             double x1, y1, x2, y2, x3, y3, x4, y4;
             imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4);
@@ -170,7 +181,7 @@ Imagery::prefetch3D(double radius, double tileResolution,
     {
         for (int32_t c = minTileX; c <= maxTileX; ++c)
         {
-            QString url = getTileURL(c, r, zoomLevel);
+            QString url = getTileLocation(c, r, zoomLevel, tileResolution);
 
             TexturePtr t = textureCache->get(url);
         }
@@ -197,7 +208,7 @@ Imagery::draw3D(double radius, double tileResolution,
     {
         for (int32_t c = minTileX; c <= maxTileX; ++c)
         {
-            QString tileURL = getTileURL(c, r, zoomLevel);
+            QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution);
 
             double x1, y1, x2, y2, x3, y3, x4, y4;
             imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4);
@@ -228,20 +239,37 @@ Imagery::imageBounds(int32_t tileX, int32_t tileY, double tileResolution,
                      double& x1, double& y1, double& x2, double& y2,
                      double& x3, double& y3, double& x4, double& y4) const
 {
-    int32_t zoomLevel = MAX_ZOOM_LEVEL - static_cast<int32_t>(rint(log2(tileResolution)));
-    int32_t numTiles = static_cast<int32_t>(exp2(static_cast<double>(zoomLevel)));
+    if (currentImageryType == GOOGLE_MAP ||
+        currentImageryType == GOOGLE_SATELLITE)
+    {
+        int32_t zoomLevel = MAX_ZOOM_LEVEL - static_cast<int32_t>(rint(log2(tileResolution)));
+        int32_t numTiles = static_cast<int32_t>(exp2(static_cast<double>(zoomLevel)));
 
-    double lon1 = tileXToLongitude(tileX, numTiles);
-    double lon2 = tileXToLongitude(tileX + 1, numTiles);
+        double lon1 = tileXToLongitude(tileX, numTiles);
+        double lon2 = tileXToLongitude(tileX + 1, numTiles);
 
-    double lat1 = tileYToLatitude(tileY, numTiles);
-    double lat2 = tileYToLatitude(tileY + 1, numTiles);
+        double lat1 = tileYToLatitude(tileY, numTiles);
+        double lat2 = tileYToLatitude(tileY + 1, numTiles);
 
-    QString utmZone;
-    LLtoUTM(lat1, lon1, x1, y1, utmZone);
-    LLtoUTM(lat1, lon2, x2, y2, utmZone);
-    LLtoUTM(lat2, lon2, x3, y3, utmZone);
-    LLtoUTM(lat2, lon1, x4, y4, utmZone);
+        QString utmZone;
+        LLtoUTM(lat1, lon1, x1, y1, utmZone);
+        LLtoUTM(lat1, lon2, x2, y2, utmZone);
+        LLtoUTM(lat2, lon2, x3, y3, utmZone);
+        LLtoUTM(lat2, lon1, x4, y4, utmZone);
+    }
+    else if (currentImageryType == SWISSTOPO_SATELLITE)
+    {
+        double utmMultiplier = tileResolution * 200.0;
+        double minX = tileX * utmMultiplier;
+        double maxX = minX + utmMultiplier;
+        double minY = tileY * utmMultiplier;
+        double maxY = minY + utmMultiplier;
+
+        x1 = maxX; y1 = minY;
+        x2 = maxX; y2 = maxY;
+        x3 = minX; y3 = maxY;
+        x4 = minX; y4 = minY;
+    }
 }
 
 void
@@ -254,15 +282,29 @@ Imagery::tileBounds(double tileResolution,
 {
     double centerUtmX = (maxUtmX - minUtmX) / 2.0 + minUtmX;
     double centerUtmY = (maxUtmY - minUtmY) / 2.0 + minUtmY;
-
     int32_t centerTileX, centerTileY;
 
-    UTMtoTile(minUtmX, minUtmY, utmZone, tileResolution,
-              minTileX, maxTileY, zoomLevel);
-    UTMtoTile(centerUtmX, centerUtmY, utmZone, tileResolution,
-              centerTileX, centerTileY, zoomLevel);
-    UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution,
-              maxTileX, minTileY, zoomLevel);
+    if (currentImageryType == GOOGLE_MAP ||
+        currentImageryType == GOOGLE_SATELLITE)
+    {
+        UTMtoTile(minUtmX, minUtmY, utmZone, tileResolution,
+                  minTileX, maxTileY, zoomLevel);
+        UTMtoTile(centerUtmX, centerUtmY, utmZone, tileResolution,
+                  centerTileX, centerTileY, zoomLevel);
+        UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution,
+                  maxTileX, minTileY, zoomLevel);
+    }
+    else if (currentImageryType == SWISSTOPO_SATELLITE)
+    {
+        double utmMultiplier = tileResolution * 200;
+
+        minTileX = static_cast<int32_t>(rint(minUtmX / utmMultiplier));
+        minTileY = static_cast<int32_t>(rint(minUtmY / utmMultiplier));
+        centerTileX = static_cast<int32_t>(rint(centerUtmX / utmMultiplier));
+        centerTileY = static_cast<int32_t>(rint(centerUtmY / utmMultiplier));
+        maxTileX = static_cast<int32_t>(rint(maxUtmX / utmMultiplier));
+        maxTileY = static_cast<int32_t>(rint(maxUtmY / utmMultiplier));
+    }
 
     if (maxTileX - minTileX + 1 > 14)
     {
@@ -513,20 +555,33 @@ Imagery::UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
 }
 
 QString
-Imagery::getTileURL(int32_t tileX, int32_t tileY, int32_t zoomLevel) const
+Imagery::getTileLocation(int32_t tileX, int32_t tileY, int32_t zoomLevel,
+                         double tileResolution) const
 {
     std::ostringstream oss;
 
     switch (currentImageryType)
     {
-    case MAP:
+    case GOOGLE_MAP:
         oss << "http://mt0.google.com/vt/lyrs=m@120&x=" << tileX
             << "&y=" << tileY << "&z=" << zoomLevel;
         break;
-    case SATELLITE:
+    case GOOGLE_SATELLITE:
         oss << "http://khm.google.com/vt/lbw/lyrs=y&x=" << tileX
             << "&y=" << tileY << "&z=" << zoomLevel;
         break;
+    case SWISSTOPO_SATELLITE:
+        oss << "../map/eth_zurich_swissimage_025/200/color/" << tileY
+            << "/tile-";
+        if (tileResolution < 1.0)
+        {
+            oss << std::fixed << std::setprecision(2) << tileResolution;
+        }
+        else
+        {
+            oss << static_cast<int32_t>(rint(tileResolution));
+        }
+        oss << "-" << tileY << "-" << tileX << ".jpg";
     default:
         {};
     }

src/ui/map3D/Imagery.h

@@ -43,8 +43,9 @@ public:
 
     enum ImageryType
     {
-        MAP = 0,
-        SATELLITE = 1
+        GOOGLE_MAP = 0,
+        GOOGLE_SATELLITE = 1,
+        SWISSTOPO_SATELLITE = 2
     };
 
     void setImageryType(ImageryType type);
@@ -100,7 +101,8 @@ private:
     void UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
                  double& latitude, double& longitude) const;
 
-    QString getTileURL(int32_t tileX, int32_t tileY, int32_t zoomLevel) const;
+    QString getTileLocation(int32_t tileX, int32_t tileY, int32_t zoomLevel,
+                            double tileResolution) const;
 
     ImageryType currentImageryType;
 

src/ui/map3D/Q3DWidget.cc

@@ -232,7 +232,7 @@ Q3DWidget::userTimer(void)
 {
     if (timerFunc)
     {
-            timerFunc(timerFuncData);
+        timerFunc(timerFuncData);
     }
 }
 
@@ -356,7 +356,6 @@ Q3DWidget::getMouseY(void)
     return mapFromGlobal(cursor().pos()).y();
 }
 
-
 void
 Q3DWidget::rotateCamera(float dx, float dy)
 {
@@ -858,9 +857,12 @@ Q3DWidget::timerEvent(QTimerEvent* event)
 }
 
 void
-Q3DWidget::closeEvent(QCloseEvent *)
+Q3DWidget::closeEvent(QCloseEvent* event)
 {
     // exit application
+    timer.stop();
+
+    event->accept();
 }
 
 void

src/ui/map3D/QMap3DWidget.cc

@@ -95,6 +95,7 @@ QMap3DWidget::buildLayout(void)
     imageryComboBox->addItem("None");
     imageryComboBox->addItem("Map (Google)");
     imageryComboBox->addItem("Satellite (Google)");
+    imageryComboBox->addItem("Satellite (Swisstopo)");
 
     QPushButton* recenterButton = new QPushButton(this);
     recenterButton->setText("Recenter Camera");
@@ -536,11 +537,15 @@ QMap3DWidget::showImagery(const QString& text)
     {
         if (text.compare("Map (Google)") == 0)
         {
-            imagery->setImageryType(Imagery::MAP);
+            imagery->setImageryType(Imagery::GOOGLE_MAP);
         }
         else if (text.compare("Satellite (Google)") == 0)
         {
-            imagery->setImageryType(Imagery::SATELLITE);
+            imagery->setImageryType(Imagery::GOOGLE_SATELLITE);
+        }
+        else if (text.compare("Satellite (Swisstopo)") == 0)
+        {
+            imagery->setImageryType(Imagery::SWISSTOPO_SATELLITE);
         }
         displayImagery = true;
     }
@@ -682,6 +687,11 @@ QMap3DWidget::drawImagery(double originX, double originY, double originZ,
     {
         minResolution = 0.5;
     }
+    else if (imageryComboBox->currentText().compare("Satellite (Swisstopo)") == 0)
+    {
+        minResolution = 0.25;
+        maxResolution = 0.25;
+    }
 
     double resolution = minResolution;
     while (resolution * 2.0 < centerResolution)

src/ui/map3D/WebImage.cc

@@ -31,7 +31,6 @@ This file is part of the QGROUNDCONTROL project
 
 #include "WebImage.h"
 
-#include <QDebug>
 #include <QGLWidget>
 
 WebImage::WebImage()
@@ -83,7 +82,7 @@ WebImage::getData(void) const
     return image->scanLine(0);
 }
 
-void
+bool
 WebImage::setData(const QByteArray& data)
 {
     QImage tempImage;
@@ -94,10 +93,32 @@ WebImage::setData(const QByteArray& data)
             image.reset(new QImage);
         }
         *image = QGLWidget::convertToGLFormat(tempImage);
+
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+bool
+WebImage::setData(const QString& filename)
+{
+    QImage tempImage;
+    if (tempImage.load(filename))
+    {
+        if (image.isNull())
+        {
+            image.reset(new QImage);
+        }
+        *image = QGLWidget::convertToGLFormat(tempImage);
+
+        return true;
     }
     else
     {
-        qDebug() << "# WARNING: cannot load image data for" << sourceURL;
+        return false;
     }
 }
 

src/ui/map3D/WebImage.h

@@ -58,7 +58,8 @@ public:
     void setSourceURL(const QString& url);
 
     const uint8_t* getData(void) const;
-    void setData(const QByteArray& data);
+    bool setData(const QByteArray& data);
+    bool setData(const QString& filename);
 
     int32_t getWidth(void) const;
     int32_t getHeight(void) const;

src/ui/map3D/WebImageCache.cc

@@ -104,7 +104,22 @@ WebImageCache::lookup(const QString& url)
             ++currentReference;
             cacheEntry.first->setState(WebImage::REQUESTED);
 
-            networkManager->get(QNetworkRequest(QUrl(url)));
+            if (url.left(4).compare("http") == 0)
+            {
+                networkManager->get(QNetworkRequest(QUrl(url)));
+            }
+            else
+            {
+                if (cacheEntry.first->setData(url))
+                {
+                    cacheEntry.first->setSyncFlag(true);
+                    cacheEntry.first->setState(WebImage::READY);
+                }
+                else
+                {
+                    cacheEntry.first->setState(WebImage::UNINITIALIZED);
+                }
+            }
 
             return cacheEntry;
         }