Commit 1b796433 authored by Lionel Heng's avatar Lionel Heng

Added to 3D view user switching between local and global coordinate system....

Added to 3D view user switching between local and global coordinate system. Fixed bug in WaypointView: new instance used to assume frame is global.
parent 35090e51
...@@ -237,7 +237,6 @@ HEADERS += src/MG.h \ ...@@ -237,7 +237,6 @@ HEADERS += src/MG.h \
src/ui/QGCWebView.h \ src/ui/QGCWebView.h \
src/ui/map3D/QGCGoogleEarthView.h \ src/ui/map3D/QGCGoogleEarthView.h \
src/ui/map3D/QGCWebPage.h src/ui/map3D/QGCWebPage.h
contains(DEPENDENCIES_PRESENT, osg) { contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph") message("Including headers for OpenSceneGraph")
...@@ -254,7 +253,8 @@ contains(DEPENDENCIES_PRESENT, osg) { ...@@ -254,7 +253,8 @@ contains(DEPENDENCIES_PRESENT, osg) {
src/ui/map3D/TextureCache.h \ src/ui/map3D/TextureCache.h \
src/ui/map3D/Texture.h \ src/ui/map3D/Texture.h \
src/ui/map3D/Imagery.h \ src/ui/map3D/Imagery.h \
src/ui/map3D/HUDScaleGeode.h src/ui/map3D/HUDScaleGeode.h \
src/ui/map3D/WaypointGroupNode.h
contains(DEPENDENCIES_PRESENT, osgearth) { contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including headers for OSGEARTH") message("Including headers for OSGEARTH")
...@@ -356,7 +356,8 @@ contains(DEPENDENCIES_PRESENT, osg) { ...@@ -356,7 +356,8 @@ contains(DEPENDENCIES_PRESENT, osg) {
src/ui/map3D/TextureCache.cc \ src/ui/map3D/TextureCache.cc \
src/ui/map3D/Texture.cc \ src/ui/map3D/Texture.cc \
src/ui/map3D/Imagery.cc \ src/ui/map3D/Imagery.cc \
src/ui/map3D/HUDScaleGeode.cc src/ui/map3D/HUDScaleGeode.cc \
src/ui/map3D/WaypointGroupNode.cc
contains(DEPENDENCIES_PRESENT, osgearth) { contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for osgEarth") message("Including sources for osgEarth")
......
...@@ -49,7 +49,6 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) : ...@@ -49,7 +49,6 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
m_ui->setupUi(this); m_ui->setupUi(this);
this->wp = wp; this->wp = wp;
wp->setFrame(MAV_FRAME_LOCAL);
// add actions // add actions
m_ui->comboBox_action->addItem("Navigate",MAV_ACTION_NAVIGATE); m_ui->comboBox_action->addItem("Navigate",MAV_ACTION_NAVIGATE);
...@@ -63,7 +62,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) : ...@@ -63,7 +62,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
// defaults // defaults
changedAction(0); changedAction(0);
changedFrame(0); changedFrame(wp->getFrame());
// Read values and set user interface // Read values and set user interface
updateValues(); updateValues();
......
This diff is collapsed.
...@@ -37,6 +37,7 @@ ...@@ -37,6 +37,7 @@
#include "HUDScaleGeode.h" #include "HUDScaleGeode.h"
#include "Imagery.h" #include "Imagery.h"
#include "ImageWindowGeode.h" #include "ImageWindowGeode.h"
#include "WaypointGroupNode.h"
#ifdef QGC_LIBFREENECT_ENABLED #ifdef QGC_LIBFREENECT_ENABLED
#include "Freenect.h" #include "Freenect.h"
...@@ -61,6 +62,7 @@ public slots: ...@@ -61,6 +62,7 @@ public slots:
void setActiveUAS(UASInterface* uas); void setActiveUAS(UASInterface* uas);
private slots: private slots:
void selectFrame(QString text);
void showGrid(int state); void showGrid(int state);
void showTrail(int state); void showTrail(int state);
void showWaypoints(int state); void showWaypoints(int state);
...@@ -86,29 +88,34 @@ protected: ...@@ -86,29 +88,34 @@ protected:
UASInterface* uas; UASInterface* uas;
private: private:
void getPose(double& x, double& y, double& z,
double& roll, double& pitch, double& yaw,
QString& utmZone);
void getPose(double& x, double& y, double& z,
double& roll, double& pitch, double& yaw);
void getPosition(double& x, double& y, double& z,
QString& utmZone);
void getPosition(double& x, double& y, double& z);
osg::ref_ptr<osg::Geode> createGrid(void); osg::ref_ptr<osg::Geode> createGrid(void);
osg::ref_ptr<osg::Geode> createTrail(void); osg::ref_ptr<osg::Geode> createTrail(void);
osg::ref_ptr<Imagery> createMap(void); 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); osg::ref_ptr<osg::Geode> createRGBD3D(void);
void setupHUD(void); void setupHUD(void);
void resizeHUD(void); void resizeHUD(void);
void updateHUD(double robotX, double robotY, double robotZ, void updateHUD(double robotX, double robotY, double robotZ,
double robotRoll, double robotPitch, double robotYaw); double robotRoll, double robotPitch, double robotYaw,
const QString& utmZone);
void updateTrail(double robotX, double robotY, double robotZ); void updateTrail(double robotX, double robotY, double robotZ);
void updateImagery(double originX, double originY, double originZ, void updateImagery(double originX, double originY, double originZ,
const QString& zone); const QString& zone);
void updateTarget(void);
void updateWaypoints(void); void updateWaypoints(void);
#ifdef QGC_LIBFREENECT_ENABLED #ifdef QGC_LIBFREENECT_ENABLED
void updateRGBD(void); void updateRGBD(void);
#endif #endif
void markTarget(void);
int findWaypoint(int mouseX, int mouseY); int findWaypoint(int mouseX, int mouseY);
void showInsertWaypointMenu(const QPoint& cursorPos); void showInsertWaypointMenu(const QPoint& cursorPos);
void showEditWaypointMenu(const QPoint& cursorPos); void showEditWaypointMenu(const QPoint& cursorPos);
...@@ -123,7 +130,6 @@ private: ...@@ -123,7 +130,6 @@ private:
bool displayGrid; bool displayGrid;
bool displayTrail; bool displayTrail;
bool displayImagery; bool displayImagery;
bool displayTarget;
bool displayWaypoints; bool displayWaypoints;
bool displayRGBD2D; bool displayRGBD2D;
bool displayRGBD3D; bool displayRGBD3D;
...@@ -147,9 +153,7 @@ private: ...@@ -147,9 +153,7 @@ private:
osg::ref_ptr<osg::Geometry> trailGeometry; osg::ref_ptr<osg::Geometry> trailGeometry;
osg::ref_ptr<osg::DrawArrays> trailDrawArrays; osg::ref_ptr<osg::DrawArrays> trailDrawArrays;
osg::ref_ptr<Imagery> mapNode; osg::ref_ptr<Imagery> mapNode;
osg::ref_ptr<osg::Geode> targetNode; osg::ref_ptr<WaypointGroupNode> waypointGroupNode;
osg::ref_ptr<osg::PositionAttitudeTransform> targetPosition;
osg::ref_ptr<osg::Group> waypointsNode;
osg::ref_ptr<osg::Geode> rgbd3DNode; osg::ref_ptr<osg::Geode> rgbd3DNode;
#ifdef QGC_LIBFREENECT_ENABLED #ifdef QGC_LIBFREENECT_ENABLED
QScopedPointer<Freenect> freenect; QScopedPointer<Freenect> freenect;
...@@ -161,8 +165,7 @@ private: ...@@ -161,8 +165,7 @@ private:
QVector< osg::ref_ptr<osg::Node> > vehicleModels; QVector< osg::ref_ptr<osg::Node> > vehicleModels;
QPushButton* targetButton; MAV_FRAME frame;
double lastRobotX, lastRobotY, lastRobotZ; double lastRobotX, lastRobotY, lastRobotZ;
}; };
......
...@@ -168,6 +168,7 @@ Q3DWidget::createHUD(void) ...@@ -168,6 +168,7 @@ Q3DWidget::createHUD(void)
hudGroup->setStateSet(hudStateSet); hudGroup->setStateSet(hudStateSet);
hudStateSet->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF); hudStateSet->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF);
hudStateSet->setMode(GL_LIGHTING, osg::StateAttribute::OFF); hudStateSet->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
hudStateSet->setMode(GL_BLEND, osg::StateAttribute::ON);
hudStateSet->setRenderingHint(osg::StateSet::TRANSPARENT_BIN); hudStateSet->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);
hudStateSet->setRenderBinDetails(11, "RenderBin"); hudStateSet->setRenderBinDetails(11, "RenderBin");
......
/*=====================================================================
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 WaypointGroupNode.
*
* @author Lionel Heng <hengli@student.ethz.ch>
*
*/
#include "WaypointGroupNode.h"
#include <osg/LineWidth>
#include <osg/PositionAttitudeTransform>
#include <osg/ShapeDrawable>
#include "Imagery.h"
WaypointGroupNode::WaypointGroupNode()
{
}
void
WaypointGroupNode::init(void)
{
}
void
WaypointGroupNode::update(MAV_FRAME frame, UASInterface *uas)
{
if (uas)
{
double robotX, robotY, robotZ;
if (frame == MAV_FRAME_GLOBAL)
{
double latitude = uas->getLatitude();
double longitude = uas->getLongitude();
double altitude = uas->getAltitude();
QString utmZone;
Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);
robotZ = -altitude;
}
else if (frame == MAV_FRAME_LOCAL)
{
robotX = uas->getLocalX();
robotY = uas->getLocalY();
robotZ = uas->getLocalZ();
}
if (getNumChildren() > 0)
{
removeChild(0, getNumChildren());
}
const QVector<Waypoint *>& list = uas->getWaypointManager().getWaypointList();
for (int i = 0; i < list.size(); i++)
{
Waypoint* wp = list.at(i);
double wpX, wpY, wpZ;
getPosition(wp, wpX, wpY, wpZ);
osg::ref_ptr<osg::ShapeDrawable> sd = new osg::ShapeDrawable;
osg::ref_ptr<osg::Cylinder> cylinder =
new osg::Cylinder(osg::Vec3d(0.0, 0.0, -wpZ / 2.0),
wp->getOrbit(),
fabs(wpZ));
sd->setShape(cylinder);
sd->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON);
if (wp->getCurrent())
{
sd->setColor(osg::Vec4(1.0f, 0.3f, 0.3f, 0.5f));
}
else
{
sd->setColor(osg::Vec4(0.0f, 1.0f, 0.0f, 0.5f));
}
osg::ref_ptr<osg::Geode> geode = new osg::Geode;
geode->addDrawable(sd);
char wpLabel[10];
sprintf(wpLabel, "wp%d", i);
geode->setName(wpLabel);
if (i < list.size() - 1)
{
double nextWpX, nextWpY, nextWpZ;
getPosition(list.at(i + 1), nextWpX, nextWpY, nextWpZ);
osg::ref_ptr<osg::Geometry> geometry = new osg::Geometry;
osg::ref_ptr<osg::Vec3dArray> vertices = new osg::Vec3dArray;
vertices->push_back(osg::Vec3d(0.0, 0.0, -wpZ));
vertices->push_back(osg::Vec3d(nextWpY - wpY,
nextWpX - wpX,
-nextWpZ));
geometry->setVertexArray(vertices);
osg::ref_ptr<osg::Vec4Array> colors = new osg::Vec4Array;
colors->push_back(osg::Vec4(0.0f, 1.0f, 0.0f, 0.5f));
geometry->setColorArray(colors);
geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, 2));
osg::ref_ptr<osg::LineWidth> linewidth(new osg::LineWidth());
linewidth->setWidth(2.0f);
geometry->getOrCreateStateSet()->setAttributeAndModes(linewidth, osg::StateAttribute::ON);
geometry->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
geode->addDrawable(geometry);
}
osg::ref_ptr<osg::PositionAttitudeTransform> pat =
new osg::PositionAttitudeTransform;
pat->setPosition(osg::Vec3d(wpY - robotY,
wpX - robotX,
robotZ));
addChild(pat);
pat->addChild(geode);
}
}
}
void
WaypointGroupNode::getPosition(Waypoint* wp, double &x, double &y, double &z)
{
if (wp->getFrame() == MAV_FRAME_GLOBAL)
{
double latitude = wp->getY();
double longitude = wp->getX();
double altitude = wp->getZ();
QString utmZone;
Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
z = -altitude;
}
else if (wp->getFrame() == MAV_FRAME_LOCAL)
{
x = wp->getX();
y = wp->getY();
z = wp->getZ();
}
}
/*=====================================================================
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 WaypointGroupNode.
*
* @author Lionel Heng <hengli@student.ethz.ch>
*
*/
#ifndef WAYPOINTGROUPNODE_H
#define WAYPOINTGROUPNODE_H
#include <osg/Group>
#include "UASInterface.h"
class WaypointGroupNode : public osg::Group
{
public:
WaypointGroupNode();
void init(void);
void update(MAV_FRAME frame, UASInterface* uas);
private:
void getPosition(Waypoint* wp, double& x, double& y, double& z);
};
#endif // WAYPOINTGROUPNODE_H
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