Local 3d View no longer supported

Only QtLocation based mapping supported in future

src/ui/map3D/CameraParams.cc

-#include "CameraParams.h"
-
-CameraParams::CameraParams()
- : mMinZoomRange(2.0f)
- , mFov(30.0f)
- , mMinClipRange(1.0f)
- , mMaxClipRange(10000.0f)
-{
-
-}
-
-float&
-CameraParams::minZoomRange(void)
-{
-    return mMinZoomRange;
-}
-
-float
-CameraParams::minZoomRange(void) const
-{
-    return mMinZoomRange;
-}
-
-float&
-CameraParams::fov(void)
-{
-    return mFov;
-}
-
-float
-CameraParams::fov(void) const
-{
-    return mFov;
-}
-
-float&
-CameraParams::minClipRange(void)
-{
-    return mMinClipRange;
-}
-
-float
-CameraParams::minClipRange(void) const
-{
-    return mMinClipRange;
-}
-
-float&
-CameraParams::maxClipRange(void)
-{
-    return mMaxClipRange;
-}
-
-float
-CameraParams::maxClipRange(void) const
-{
-    return mMaxClipRange;
-}

src/ui/map3D/CameraParams.h

-#ifndef CAMERAPARAMS_H
-#define CAMERAPARAMS_H
-
-class CameraParams
-{
-public:
-    CameraParams();
-
-    float& minZoomRange(void);
-    float minZoomRange(void) const;
-
-    float& fov(void);
-    float fov(void) const;
-
-    float& minClipRange(void);
-    float minClipRange(void) const;
-
-    float& maxClipRange(void);
-    float maxClipRange(void) const;
-
-private:
-    float mMinZoomRange;
-    float mFov;
-    float mMinClipRange;
-    float mMaxClipRange;
-};
-
-#endif // CAMERAPARAMS_H

src/ui/map3D/GCManipulator.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 GCManipulator.
- *
- *   @author Lionel Heng <hengli@inf.ethz.ch>
- *
- */
-
-#include "GCManipulator.h"
-#include <osg/Version>
-
-GCManipulator::GCManipulator()
-{
-    _moveSensitivity = 0.05;
-    _zoomSensitivity = 1.0;
-    _minZoomRange = 2.0;
-}
-
-void
-GCManipulator::setMinZoomRange(double minZoomRange)
-{
-    _minZoomRange = minZoomRange;
-}
-
-void
-GCManipulator::move(double dx, double dy, double dz)
-{
-    _center += osg::Vec3d(dx, dy, dz);
-}
-
-bool
-GCManipulator::handle(const osgGA::GUIEventAdapter& ea,
-                      osgGA::GUIActionAdapter& us)
-{
-    using namespace osgGA;
-
-    switch (ea.getEventType()) {
-    case GUIEventAdapter::PUSH: {
-        flushMouseEventStack();
-        addMouseEvent(ea);
-        if (calcMovement()) {
-            us.requestRedraw();
-        }
-        us.requestContinuousUpdate(false);
-        _thrown = false;
-        return true;
-    }
-
-    case GUIEventAdapter::RELEASE: {
-        if (ea.getButtonMask() == 0) {
-            if (isMouseMoving()) {
-                if (calcMovement()) {
-                    us.requestRedraw();
-                    us.requestContinuousUpdate(false);
-                    _thrown = false;
-                }
-            } else {
-                flushMouseEventStack();
-                addMouseEvent(ea);
-                if (calcMovement()) {
-                    us.requestRedraw();
-                }
-                us.requestContinuousUpdate(false);
-                _thrown = false;
-            }
-
-        } else {
-            flushMouseEventStack();
-            addMouseEvent(ea);
-            if (calcMovement()) {
-                us.requestRedraw();
-            }
-            us.requestContinuousUpdate(false);
-            _thrown = false;
-        }
-        return true;
-    }
-
-    case GUIEventAdapter::DRAG: {
-        addMouseEvent(ea);
-        if (calcMovement()) {
-            us.requestRedraw();
-        }
-        us.requestContinuousUpdate(false);
-        _thrown = false;
-        return true;
-    }
-
-    case GUIEventAdapter::SCROLL: {
-        // zoom model
-        double scale = 1.0;
-
-        if (ea.getScrollingMotion() == GUIEventAdapter::SCROLL_UP) {
-            scale -= _zoomSensitivity * 0.1;
-        } else {
-            scale += _zoomSensitivity * 0.1;
-        }
-        if (_distance * scale > _minZoomRange) {
-
-            _distance *= scale;
-
-        }
-
-        return true;
-    }
-
-    case GUIEventAdapter::KEYDOWN:
-        // pan model
-        switch (ea.getKey()) {
-        case GUIEventAdapter::KEY_Space: {
-            flushMouseEventStack();
-            _thrown = false;
-            home(ea,us);
-            us.requestRedraw();
-            us.requestContinuousUpdate(false);
-            return true;
-        }
-        case GUIEventAdapter::KEY_Left: {
-            double scale = -_moveSensitivity * _distance;
-
-            osg::Matrix rotation_matrix;
-            rotation_matrix.makeRotate(_rotation);
-
-            osg::Vec3d dv(scale, 0.0, 0.0);
-
-            _center += dv * rotation_matrix;
-
-            return true;
-        }
-        case GUIEventAdapter::KEY_Right: {
-            double scale = _moveSensitivity * _distance;
-
-            osg::Matrix rotation_matrix;
-            rotation_matrix.makeRotate(_rotation);
-
-            osg::Vec3d dv(scale, 0.0, 0.0);
-
-            _center += dv * rotation_matrix;
-
-            return true;
-        }
-        case GUIEventAdapter::KEY_Up: {
-            double scale = _moveSensitivity * _distance;
-
-            osg::Matrix rotation_matrix;
-            rotation_matrix.makeRotate(_rotation);
-
-            osg::Vec3d dv(0.0, scale, 0.0);
-
-            _center += dv * rotation_matrix;
-
-            return true;
-        }
-        case GUIEventAdapter::KEY_Down: {
-            double scale = -_moveSensitivity * _distance;
-
-            osg::Matrix rotation_matrix;
-            rotation_matrix.makeRotate(_rotation);
-
-            osg::Vec3d dv(0.0, scale, 0.0);
-
-            _center += dv * rotation_matrix;
-
-            return true;
-        }
-        return false;
-        }
-
-    case GUIEventAdapter::FRAME:
-        if (_thrown) {
-            if (calcMovement()) {
-                us.requestRedraw();
-            }
-        }
-        return false;
-
-    default:
-        return false;
-    }
-}
-
-
-bool
-GCManipulator::calcMovement(void)
-{
-    using namespace osgGA;
-
-    // return if less then two events have been added.
-    if (_ga_t0.get() == NULL || _ga_t1.get() == NULL) {
-        return false;
-    }
-
-    double dx = _ga_t0->getXnormalized() - _ga_t1->getXnormalized();
-    double dy = _ga_t0->getYnormalized() - _ga_t1->getYnormalized();
-
-    // return if there is no movement.
-    if (dx == 0.0 && dy == 0.0) {
-        return false;
-    }
-
-    unsigned int buttonMask = _ga_t1->getButtonMask();
-    if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON) {
-        // rotate camera
-#if ((OPENSCENEGRAPH_MAJOR_VERSION == 2) & (OPENSCENEGRAPH_MINOR_VERSION > 8)) | (OPENSCENEGRAPH_MAJOR_VERSION > 2)
-        osg::Vec3d axis;
-#else
-        osg::Vec3 axis;
-#endif
-        float angle;
-
-        float px0 = _ga_t0->getXnormalized();
-        float py0 = _ga_t0->getYnormalized();
-
-        float px1 = _ga_t1->getXnormalized();
-        float py1 = _ga_t1->getYnormalized();
-
-        trackball(axis, angle, px1, py1, px0, py0);
-
-        osg::Quat new_rotate;
-        new_rotate.makeRotate(angle, axis);
-
-        _rotation = _rotation * new_rotate;
-
-        return true;
-
-    } else if (buttonMask == GUIEventAdapter::MIDDLE_MOUSE_BUTTON ||
-               buttonMask == (GUIEventAdapter::LEFT_MOUSE_BUTTON |
-                              GUIEventAdapter::RIGHT_MOUSE_BUTTON)) {
-        // pan model
-        double scale = -_moveSensitivity * _distance;
-
-        osg::Matrix rotation_matrix;
-        rotation_matrix.makeRotate(_rotation);
-
-        osg::Vec3d dv(dx * scale, dy * scale, 0.0);
-
-        _center += dv * rotation_matrix;
-
-        return true;
-
-    } else if (buttonMask == GUIEventAdapter::RIGHT_MOUSE_BUTTON) {
-        // zoom model
-        double scale = 1.0 + dy * _zoomSensitivity;
-        if (_distance * scale > _minZoomRange) {
-
-            _distance *= scale;
-
-        }
-        return true;
-    }
-
-    return false;
-}

src/ui/map3D/GCManipulator.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 GCManipulator.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#ifndef GCMANIPULATOR_H
-#define GCMANIPULATOR_H
-
-#include <osgGA/TrackballManipulator>
-
-class GCManipulator : public osgGA::TrackballManipulator
-{
-public:
-    GCManipulator();
-
-    void setMinZoomRange(double minZoomRange);
-
-    virtual void move(double dx, double dy, double dz);
-
-    /**
-     * @brief Handle events.
-     * @return True if event is handled; false otherwise.
-     */
-    virtual bool handle(const osgGA::GUIEventAdapter& ea,
-                        osgGA::GUIActionAdapter& us);
-
-protected:
-    bool calcMovement(void);
-
-    double _moveSensitivity;
-    double _zoomSensitivity;
-    double _minZoomRange;
-};
-
-#endif // GCMANIPULATOR_H

src/ui/map3D/GLOverlayGeode.h

-#ifndef GLOVERLAYGEODE_H
-#define GLOVERLAYGEODE_H
-
-#include <mavlink_protobuf_manager.hpp>
-#include <osg/Geode>
-#include <QtGlobal>
-
-class GLOverlayGeode : public osg::Geode
-{
-public:
-    GLOverlayGeode();
-
-    void setOverlay(px::GLOverlay& overlay);
-
-    px::GLOverlay::CoordinateFrameType coordinateFrameType(void) const;
-
-    void setMessageTimestamp(qreal timestamp);
-    qreal messageTimestamp(void) const;
-
-private:
-    class GLOverlayDrawable : public osg::Drawable
-    {
-    public:
-        GLOverlayDrawable();
-
-        GLOverlayDrawable(const GLOverlayDrawable& drawable,
-                          const osg::CopyOp& copyop = osg::CopyOp::SHALLOW_COPY);
-
-        void setOverlay(px::GLOverlay& overlay);
-
-        META_Object(GLOverlayDrawableApp, GLOverlayDrawable)
-
-        virtual void drawImplementation(osg::RenderInfo&) const;
-
-        virtual osg::BoundingBox computeBound() const;
-
-    private:
-        float getFloatValue(const std::string& data, size_t& mark) const;
-
-        px::GLOverlay mOverlay;
-        osg::BoundingBox mBBox;
-    };
-
-    osg::ref_ptr<GLOverlayDrawable> mDrawable;
-    px::GLOverlay::CoordinateFrameType mCoordinateFrameType;
-    qreal mMessageTimestamp;
-};
-
-#endif // GLOVERLAYGEODE_H

src/ui/map3D/GlobalViewParams.cc

-#include "GlobalViewParams.h"
-
-#include <QStringList>
-
-GlobalViewParams::GlobalViewParams()
- : mDisplayTerrain(true)
- , mDisplayWorldGrid(true)
- , mImageryType(Imagery::BLANK_MAP)
- , mFollowCameraId(-1)
- , mFrame(MAV_FRAME_LOCAL_NED)
-{
-
-}
-
-bool&
-GlobalViewParams::displayTerrain(void)
-{
-    return mDisplayTerrain;
-}
-
-bool
-GlobalViewParams::displayTerrain(void) const
-{
-    return mDisplayTerrain;
-}
-
-bool&
-GlobalViewParams::displayWorldGrid(void)
-{
-    return mDisplayWorldGrid;
-}
-
-bool
-GlobalViewParams::displayWorldGrid(void) const
-{
-    return mDisplayWorldGrid;
-}
-
-QVector3D&
-GlobalViewParams::imageryOffset(void)
-{
-    return mImageryOffset;
-}
-
-QVector3D
-GlobalViewParams::imageryOffset(void) const
-{
-    return mImageryOffset;
-}
-
-QString&
-GlobalViewParams::imageryPath(void)
-{
-    return mImageryPath;
-}
-
-QString
-GlobalViewParams::imageryPath(void) const
-{
-    return mImageryPath;
-}
-
-Imagery::Type&
-GlobalViewParams::imageryType(void)
-{
-    return mImageryType;
-}
-
-Imagery::Type
-GlobalViewParams::imageryType(void) const
-{
-    return mImageryType;
-}
-
-int&
-GlobalViewParams::followCameraId(void)
-{
-    return mFollowCameraId;
-}
-
-int
-GlobalViewParams::followCameraId(void) const
-{
-    return mFollowCameraId;
-}
-
-MAV_FRAME&
-GlobalViewParams::frame(void)
-{
-    return mFrame;
-}
-
-MAV_FRAME
-GlobalViewParams::frame(void) const
-{
-    return mFrame;
-}
-
-void
-GlobalViewParams::signalImageryParamsChanged(void)
-{
-    emit imageryParamsChanged();
-}
-
-QVector3D&
-GlobalViewParams::terrainPositionOffset(void)
-{
-    return mTerrainPositionOffset;
-}
-
-QVector3D
-GlobalViewParams::terrainPositionOffset(void) const
-{
-    return mTerrainPositionOffset;
-}
-
-QVector3D&
-GlobalViewParams::terrainAttitudeOffset(void)
-{
-    return mTerrainAttitudeOffset;
-}
-
-QVector3D
-GlobalViewParams::terrainAttitudeOffset(void) const
-{
-    return mTerrainAttitudeOffset;
-}
-
-void
-GlobalViewParams::followCameraChanged(const QString& text)
-{
-    int followCameraId = -1;
-
-    if (text.compare("None") == 0)
-    {
-        followCameraId = -1;
-    }
-    else
-    {
-        QStringList list = text.split(" ", QString::SkipEmptyParts);
-
-        followCameraId = list.back().toInt();
-    }
-
-    if (followCameraId != mFollowCameraId)
-    {
-        mFollowCameraId = followCameraId;
-        emit followCameraChanged(mFollowCameraId);
-    }
-}
-
-void
-GlobalViewParams::frameChanged(const QString& text)
-{
-    if (text.compare("Global") == 0)
-    {
-       mFrame = MAV_FRAME_GLOBAL;
-    }
-    else if (text.compare("Local") == 0)
-    {
-       mFrame = MAV_FRAME_LOCAL_NED;
-    }
-}
-
-void
-GlobalViewParams::toggleWorldGrid(int state)
-{
-    if (state == Qt::Checked)
-    {
-        mDisplayWorldGrid = true;
-    }
-    else
-    {
-        mDisplayWorldGrid = false;
-    }
-}
-
-void
-GlobalViewParams::toggleTerrain(int state)
-{
-    if (state == Qt::Checked)
-    {
-        mDisplayTerrain = true;
-    }
-    else
-    {
-        mDisplayTerrain = false;
-    }
-}

src/ui/map3D/GlobalViewParams.h

-#ifndef GLOBALVIEWPARAMS_H
-#define GLOBALVIEWPARAMS_H
-
-#include <QObject>
-#include <QString>
-#include <QVector3D>
-
-#include "QGCMAVLink.h"
-#include "Imagery.h"
-
-class GlobalViewParams : public QObject
-{
-    Q_OBJECT
-
-public:
-    GlobalViewParams();
-
-    bool& displayTerrain(void);
-    bool displayTerrain(void) const;
-
-    bool& displayWorldGrid(void);
-    bool displayWorldGrid(void) const;
-
-    QVector3D& imageryOffset(void);
-    QVector3D imageryOffset(void) const;
-
-    QString& imageryPath(void);
-    QString imageryPath(void) const;
-
-    Imagery::Type& imageryType(void);
-    Imagery::Type imageryType(void) const;
-
-    int& followCameraId(void);
-    int followCameraId(void) const;
-
-    MAV_FRAME& frame(void);
-    MAV_FRAME frame(void) const;
-
-    void signalImageryParamsChanged(void);
-
-    QVector3D& terrainPositionOffset(void);
-    QVector3D terrainPositionOffset(void) const;
-
-    QVector3D& terrainAttitudeOffset(void);
-    QVector3D terrainAttitudeOffset(void) const;
-
-public slots:
-    void followCameraChanged(const QString& text);
-    void frameChanged(const QString &text);
-    void toggleTerrain(int state);
-    void toggleWorldGrid(int state);
-
-signals:
-    void followCameraChanged(int systemId);
-    void imageryParamsChanged(void);
-
-private:
-    bool mDisplayTerrain;
-    bool mDisplayWorldGrid;
-    QVector3D mImageryOffset;
-    QString mImageryPath;
-    Imagery::Type mImageryType;
-    int mFollowCameraId;
-    MAV_FRAME mFrame;
-    QVector3D mTerrainPositionOffset;
-    QVector3D mTerrainAttitudeOffset;
-};
-
-typedef QSharedPointer<GlobalViewParams> GlobalViewParamsPtr;
-
-#endif // GLOBALVIEWPARAMS_H

src/ui/map3D/HUDScaleGeode.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 HUDScaleGeode.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#include "HUDScaleGeode.h"
-
-#include <osg/Geometry>
-#include <osg/LineWidth>
-
-HUDScaleGeode::HUDScaleGeode()
-{
-
-}
-
-void
-HUDScaleGeode::init(osg::ref_ptr<osgText::Font>& font)
-{
-    osg::ref_ptr<osg::Vec2Array> outlineVertices(new osg::Vec2Array);
-    outlineVertices->push_back(osg::Vec2(20.0f, 50.0f));
-    outlineVertices->push_back(osg::Vec2(20.0f, 70.0f));
-    outlineVertices->push_back(osg::Vec2(20.0f, 60.0f));
-    outlineVertices->push_back(osg::Vec2(100.0f, 60.0f));
-    outlineVertices->push_back(osg::Vec2(100.0f, 50.0f));
-    outlineVertices->push_back(osg::Vec2(100.0f, 70.0f));
-
-    osg::ref_ptr<osg::Geometry> outlineGeometry(new osg::Geometry);
-    outlineGeometry->setVertexArray(outlineVertices);
-
-    osg::ref_ptr<osg::Vec4Array> outlineColor(new osg::Vec4Array);
-    outlineColor->push_back(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
-    outlineGeometry->setColorArray(outlineColor);
-    outlineGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
-
-    outlineGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
-                                     0, 6));
-
-    osg::ref_ptr<osg::LineWidth> outlineWidth(new osg::LineWidth());
-    outlineWidth->setWidth(4.0f);
-    outlineGeometry->getOrCreateStateSet()->
-    setAttributeAndModes(outlineWidth, osg::StateAttribute::ON);
-
-    addDrawable(outlineGeometry);
-
-    osg::ref_ptr<osg::Vec2Array> markerVertices(new osg::Vec2Array);
-    markerVertices->push_back(osg::Vec2(20.0f, 50.0f));
-    markerVertices->push_back(osg::Vec2(20.0f, 70.0f));
-    markerVertices->push_back(osg::Vec2(20.0f, 60.0f));
-    markerVertices->push_back(osg::Vec2(100.0f, 60.0f));
-    markerVertices->push_back(osg::Vec2(100.0f, 50.0f));
-    markerVertices->push_back(osg::Vec2(100.0f, 70.0f));
-
-    osg::ref_ptr<osg::Geometry> markerGeometry(new osg::Geometry);
-    markerGeometry->setVertexArray(markerVertices);
-
-    osg::ref_ptr<osg::Vec4Array> markerColor(new osg::Vec4Array);
-    markerColor->push_back(osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f));
-    markerGeometry->setColorArray(markerColor);
-    markerGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
-
-    markerGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
-                                    0, 6));
-
-    osg::ref_ptr<osg::LineWidth> markerWidth(new osg::LineWidth());
-    markerWidth->setWidth(1.5f);
-    markerGeometry->getOrCreateStateSet()->
-    setAttributeAndModes(markerWidth, osg::StateAttribute::ON);
-
-    addDrawable(markerGeometry);
-
-    text = new osgText::Text;
-    text->setCharacterSize(11);
-    text->setFont(font);
-    text->setAxisAlignment(osgText::Text::SCREEN);
-    text->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
-    text->setPosition(osg::Vec3(40.0f, 45.0f, -1.5f));
-
-    addDrawable(text);
-}
-
-void
-HUDScaleGeode::update(int windowHeight, float cameraFov, float cameraDistance,
-                      bool darkBackground)
-{
-    float f = static_cast<float>(windowHeight) / 2.0f
-              / tanf(cameraFov / 180.0f * M_PI / 2.0f);
-    float dist = cameraDistance / f * 80.0f;
-
-    if (darkBackground) {
-        text->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
-    } else {
-        text->setColor(osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f));
-    }
-
-    text->setText(QString("%1 m").arg(dist, 0, 'f', 2).toStdString());
-}

src/ui/map3D/HUDScaleGeode.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 HUDScaleGeode.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#ifndef HUDSCALEGEODE_H
-#define HUDSCALEGEODE_H
-
-#include <osg/Geode>
-#include <osgText/Text>
-#include <QString>
-
-class HUDScaleGeode : public osg::Geode
-{
-public:
-    HUDScaleGeode();
-
-    void init(osg::ref_ptr<osgText::Font>& font);
-    void update(int windowHeight, float cameraFov, float cameraDistance,
-                bool darkBackground);
-
-private:
-    osg::ref_ptr<osgText::Text> text;
-};
-
-#endif // HUDSCALEGEODE_H

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()
- : mBorder(5)
- , mImage(new osg::Image)
-{
-
-}
-
-void
-ImageWindowGeode::init(const QString& caption, const osg::Vec4& backgroundColor,
-                       osg::ref_ptr<osgText::Font>& font)
-{
-    // image
-    osg::ref_ptr<osg::Geometry> imageGeometry = new osg::Geometry;
-    mImageVertices = 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(mImageVertices);
-    imageGeometry->setTexCoordArray(0, textureCoords);
-
-    imageGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON,
-                                   0, mImageVertices->size()));
-
-    osg::ref_ptr<osg::Texture2D> texture = new osg::Texture2D;
-    texture->setDataVariance(osg::Object::DYNAMIC);
-    texture->setImage(mImage);
-    texture->setResizeNonPowerOfTwoHint(false);
-
-    imageGeometry->getOrCreateStateSet()->
-    setTextureAttributeAndModes(0, texture, osg::StateAttribute::ON);
-    imageGeometry->setUseDisplayList(false);
-
-    // background
-    osg::ref_ptr<osg::Geometry> backgroundGeometry = new osg::Geometry;
-    mBackgroundVertices = new osg::Vec3Array(4);
-    backgroundGeometry->setVertexArray(mBackgroundVertices);
-    backgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON,
-                                        0, mBackgroundVertices->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
-    mText = new osgText::Text;
-    mText->setText(caption.toStdString().c_str());
-    mText->setCharacterSize(11);
-    mText->setFont(font);
-    mText->setAxisAlignment(osgText::Text::SCREEN);
-    mText->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f));
-
-    addDrawable(imageGeometry);
-    addDrawable(backgroundGeometry);
-    addDrawable(mText);
-
-    setAttributes(0, 0, 0, 0);
-}
-
-void
-ImageWindowGeode::setAttributes(int x, int y, int width, int height)
-{
-    int imageWidth = width - mBorder * 2;
-    int imageHeight = height - mBorder * 2 - 15;
-    int imageXPosition = x + mBorder;
-    int imageYPosition = y + mBorder;
-
-    mImageVertices->at(0) = osg::Vec3(imageXPosition, imageYPosition, 0);
-    mImageVertices->at(1) = osg::Vec3(imageXPosition + imageWidth, imageYPosition, 0);
-    mImageVertices->at(2) = osg::Vec3(imageXPosition + imageWidth, imageYPosition + imageHeight, 0);
-    mImageVertices->at(3) = osg::Vec3(imageXPosition, imageYPosition + imageHeight, 0);
-
-    mText->setPosition(osg::Vec3(imageXPosition, imageYPosition + imageHeight + 5, 0));
-
-    mBackgroundVertices->at(0) = osg::Vec3(x, y, -1);
-    mBackgroundVertices->at(1) = osg::Vec3(x + width, y, -1);
-    mBackgroundVertices->at(2) = osg::Vec3(x + width, y + height, -1);
-    mBackgroundVertices->at(3) = osg::Vec3(x, y + height, -1);
-}
-
-osg::ref_ptr<osg::Image>&
-ImageWindowGeode::image(void)
-{
-    return mImage;
-}

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();
-    void init(const QString& caption, const osg::Vec4& backgroundColor,
-              osg::ref_ptr<osgText::Font>& font);
-
-    void setAttributes(int x, int y, int width, int height);
-    osg::ref_ptr<osg::Image>& image(void);
-
-private:
-    int mBorder;
-
-    osg::ref_ptr<osg::Image> mImage;
-    osg::ref_ptr<osg::Vec3Array> mImageVertices;
-    osg::ref_ptr<osg::Vec3Array> mBackgroundVertices;
-    osg::ref_ptr<osgText::Text> mText;
-};
-
-#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 <osg/Geode>
-#include <QScopedPointer>
-#include <QString>
-
-#include "TextureCache.h"
-
-class Imagery : public osg::Geode
-{
-public:
-    enum Type
-    {
-        BLANK_MAP = 0,
-        GOOGLE_MAP = 1,
-        GOOGLE_SATELLITE = 2,
-        OFFLINE_SATELLITE = 3
-    };
-
-    Imagery();
-
-    Type getImageryType(void) const;
-    void setImageryType(Type type);
-    void setOffset(double xOffset, double yOffset, double zOffset = 0.0);
-    void setPath(const QString& path);
-
-    void prefetch2D(double windowWidth, double windowHeight,
-                    double zoom, double xOrigin, double yOrigin,
-                    const QString& utmZone);
-    void draw2D(double windowWidth, double windowHeight,
-                double zoom, double xOrigin, double yOrigin,
-                const QString& utmZone);
-
-    void prefetch3D(double radius, double tileResolution,
-                    double xOrigin, double yOrigin,
-                    const QString& utmZone);
-    void draw3D(double radius, double tileResolution,
-                double xOrigin, double yOrigin,
-                double xOffset, double yOffset,
-                const QString& utmZone);
-
-    bool update(void);
-
-    static void LLtoUTM(double latitude, double longitude,
-                        double& utmNorthing, double& utmEasting,
-                        QString& utmZone);
-    static void UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
-                        double& latitude, double& longitude);
-
-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;
-    static QChar UTMLetterDesignator(double latitude);
-
-    QString getTileLocation(int tileX, int tileY, int zoomLevel,
-                            double tileResolution) const;
-
-    QScopedPointer<TextureCache> mTextureCache;
-
-    Type mImageryType;
-    std::string mImageryPath;
-
-    double mXOffset;
-    double mYOffset;
-    double mZOffset;
-};
-
-#endif // IMAGERY_H

src/ui/map3D/ImageryParamDialog.cc

-#include "ImageryParamDialog.h"
-
-#include <QStandardPaths>
-#include <QFormLayout>
-#include <QGroupBox>
-#include <QPushButton>
-
-#include "QGCFileDialog.h"
-
-ImageryParamDialog::ImageryParamDialog(QWidget* parent)
- : QDialog(parent)
-{
-    QVBoxLayout* layout = new QVBoxLayout;
-    setLayout(layout);
-
-    setWindowTitle(tr("Imagery Parameters"));
-    setModal(true);
-
-    buildLayout(layout);
-}
-
-void
-ImageryParamDialog::getImageryParams(GlobalViewParamsPtr &globalViewParams)
-{
-    ImageryParamDialog dialog;
-
-    switch (globalViewParams->imageryType())
-    {
-    case Imagery::BLANK_MAP:
-        dialog.mImageryTypeComboBox->setCurrentIndex(0);
-        break;
-    case Imagery::GOOGLE_MAP:
-        dialog.mImageryTypeComboBox->setCurrentIndex(1);
-        break;
-    case Imagery::GOOGLE_SATELLITE:
-        dialog.mImageryTypeComboBox->setCurrentIndex(2);
-        break;
-    case Imagery::OFFLINE_SATELLITE:
-        dialog.mImageryTypeComboBox->setCurrentIndex(3);
-        break;
-    }
-
-    dialog.mPathLineEdit->setText(globalViewParams->imageryPath());
-
-    QVector3D& imageryOffset = globalViewParams->imageryOffset();
-
-    dialog.mXOffsetSpinBox->setValue(imageryOffset.x());
-    dialog.mYOffsetSpinBox->setValue(imageryOffset.y());
-    dialog.mZOffsetSpinBox->setValue(imageryOffset.z());
-
-    if (dialog.exec() == QDialog::Accepted)
-    {
-        switch (dialog.mImageryTypeComboBox->currentIndex())
-        {
-        case 0:
-            globalViewParams->imageryType() = Imagery::BLANK_MAP;
-            break;
-        case 1:
-            globalViewParams->imageryType() = Imagery::GOOGLE_MAP;
-            break;
-        case 2:
-            globalViewParams->imageryType() = Imagery::GOOGLE_SATELLITE;
-            break;
-        case 3:
-            globalViewParams->imageryType() = Imagery::OFFLINE_SATELLITE;
-            break;
-        }
-
-        globalViewParams->imageryPath() = dialog.mPathLineEdit->text();
-
-        imageryOffset.setX(dialog.mXOffsetSpinBox->value());
-        imageryOffset.setY(dialog.mYOffsetSpinBox->value());
-        imageryOffset.setZ(dialog.mZOffsetSpinBox->value());
-
-        globalViewParams->signalImageryParamsChanged();
-    }
-}
-
-void
-ImageryParamDialog::selectPath(void)
-{
-    QString filename = QGCFileDialog::getExistingDirectory(this, "Imagery path",
-                                                         QStandardPaths::writableLocation(QStandardPaths::DesktopLocation));
-    if (filename.isNull())
-    {
-        return;
-    }
-    else
-    {
-        mPathLineEdit->setText(filename);
-    }
-}
-
-void
-ImageryParamDialog::closeWithSaving(void)
-{
-    done(QDialog::Accepted);
-}
-
-void
-ImageryParamDialog::closeWithoutSaving(void)
-{
-    done(QDialog::Rejected);
-}
-
-void
-ImageryParamDialog::buildLayout(QVBoxLayout* layout)
-{
-    QFormLayout* formLayout = new QFormLayout;
-
-    mImageryTypeComboBox = new QComboBox(this);
-    mImageryTypeComboBox->addItem("None");
-    mImageryTypeComboBox->addItem("Map (Google)");
-    mImageryTypeComboBox->addItem("Satellite (Google)");
-    mImageryTypeComboBox->addItem("Satellite (Offline)");
-
-    mPathLineEdit = new QLineEdit(this);
-    mPathLineEdit->setReadOnly(true);
-
-    QPushButton* pathButton = new QPushButton(this);
-    pathButton->setText(tr(".."));
-
-    QHBoxLayout* pathLayout = new QHBoxLayout;
-    pathLayout->addWidget(mPathLineEdit);
-    pathLayout->addWidget(pathButton);
-
-    formLayout->addRow(tr("Imagery Type"), mImageryTypeComboBox);
-    formLayout->addRow(tr("Path"), pathLayout);
-
-    layout->addLayout(formLayout);
-
-    QGroupBox* offsetGroupBox = new QGroupBox(tr("Offset"), this);
-
-    mXOffsetSpinBox = new QDoubleSpinBox(this);
-    mXOffsetSpinBox->setDecimals(1);
-    mXOffsetSpinBox->setRange(-1000.0, 1000.0);
-    mXOffsetSpinBox->setValue(0.0);
-
-    mYOffsetSpinBox = new QDoubleSpinBox(this);
-    mYOffsetSpinBox->setDecimals(1);
-    mYOffsetSpinBox->setRange(-1000.0, 1000.0);
-    mYOffsetSpinBox->setValue(0.0);
-
-    mZOffsetSpinBox = new QDoubleSpinBox(this);
-    mZOffsetSpinBox->setDecimals(1);
-    mZOffsetSpinBox->setRange(-1000.0, 1000.0);
-    mZOffsetSpinBox->setValue(0.0);
-
-    formLayout = new QFormLayout;
-    formLayout->addRow(tr("x (m)"), mXOffsetSpinBox);
-    formLayout->addRow(tr("y (m)"), mYOffsetSpinBox);
-    formLayout->addRow(tr("z (m)"), mZOffsetSpinBox);
-
-    offsetGroupBox->setLayout(formLayout);
-
-    layout->addWidget(offsetGroupBox);
-    layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
-
-    QPushButton* cancelButton = new QPushButton(this);
-    cancelButton->setText("Cancel");
-
-    QPushButton* saveButton = new QPushButton(this);
-    saveButton->setText("Save");
-
-    QHBoxLayout* buttonLayout = new QHBoxLayout;
-    buttonLayout->addWidget(cancelButton);
-    buttonLayout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
-    buttonLayout->addWidget(saveButton);
-
-    layout->addLayout(buttonLayout);
-
-    connect(pathButton, SIGNAL(clicked()), this, SLOT(selectPath()));
-    connect(cancelButton, SIGNAL(clicked()), this, SLOT(closeWithoutSaving()));
-    connect(saveButton, SIGNAL(clicked()), this, SLOT(closeWithSaving()));
-}

src/ui/map3D/ImageryParamDialog.h

-#ifndef IMAGERYPARAMDIALOG_H
-#define IMAGERYPARAMDIALOG_H
-
-#include <QComboBox>
-#include <QDoubleSpinBox>
-#include <QDialog>
-#include <QLineEdit>
-#include <QVBoxLayout>
-
-#include "GlobalViewParams.h"
-
-class ImageryParamDialog : public QDialog
-{
-    Q_OBJECT
-
-public:
-    ImageryParamDialog(QWidget* parent = 0);
-
-    static void getImageryParams(GlobalViewParamsPtr& globalViewParams);
-
-private slots:
-    void selectPath(void);
-    void closeWithSaving(void);
-    void closeWithoutSaving(void);
-
-private:
-    void buildLayout(QVBoxLayout* layout);
-
-    QComboBox* mImageryTypeComboBox;
-    QLineEdit* mPathLineEdit;
-    QDoubleSpinBox* mXOffsetSpinBox;
-    QDoubleSpinBox* mYOffsetSpinBox;
-    QDoubleSpinBox* mZOffsetSpinBox;
-};
-
-#endif // IMAGERYPARAMDIALOG_H

src/ui/map3D/ObstacleGroupNode.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 ObstacleGroupNode.
- *
- *   @author Lionel Heng <hengli@inf.ethz.ch>
- *
- */
-
-#include "ObstacleGroupNode.h"
-
-#include <limits>
-#include <osg/PositionAttitudeTransform>
-#include <osg/ShapeDrawable>
-
-#include "gpl.h"
-#include "Imagery.h"
-
-ObstacleGroupNode::ObstacleGroupNode()
-{
-
-}
-
-void
-ObstacleGroupNode::init(void)
-{
-
-}
-
-void
-ObstacleGroupNode::clear(void)
-{
-    if (getNumChildren() > 0)
-    {
-        removeChild(0, getNumChildren());
-    }
-}
-
-void
-ObstacleGroupNode::update(double robotX, double robotY, double robotZ,
-                          const px::ObstacleList& obstacleList)
-{
-    clear();
-
-    osg::ref_ptr<osg::Geode> geode = new osg::Geode;
-
-    // find minimum and maximum height
-    float zMin = std::numeric_limits<float>::max();
-    float zMax = std::numeric_limits<float>::min();
-    for (int i = 0; i < obstacleList.obstacles_size(); ++i)
-    {
-        const px::Obstacle& obs = obstacleList.obstacles(i);
-
-        float z = robotZ - obs.z();
-
-        if (zMin > z)
-        {
-            zMin = z;
-        }
-        if (zMax < z)
-        {
-            zMax = z;
-        }
-    }
-
-    for (int i = 0; i < obstacleList.obstacles_size(); ++i)
-    {
-        const px::Obstacle& obs = obstacleList.obstacles(i);
-
-        osg::Vec3d obsPos(obs.y() - robotY, obs.x() - robotX, robotZ - obs.z());
-
-        osg::ref_ptr<osg::Box> box =
-            new osg::Box(obsPos, obs.width(), obs.width(), obs.height());
-        osg::ref_ptr<osg::ShapeDrawable> sd = new osg::ShapeDrawable(box);
-
-        int idx = (obsPos.z() - zMin) / (zMax - zMin) * 127.0f;
-        float r, g, b;
-        qgc::colormap("jet", idx, r, g, b);
-
-        sd->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON);
-        sd->setColor(osg::Vec4(r, g, b, 1.0f));
-        sd->setUseDisplayList(false);
-
-        geode->addDrawable(sd);
-    }
-
-    addChild(geode);
-}
-

src/ui/map3D/ObstacleGroupNode.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 ObstacleGroupNode.
- *
- *   @author Lionel Heng <hengli@inf.ethz.ch>
- *
- */
-
-#ifndef OBSTACLEGROUPNODE_H
-#define OBSTACLEGROUPNODE_H
-
-#include <osg/Group>
-
-#include "UASInterface.h"
-
-class ObstacleGroupNode : public osg::Group
-{
-public:
-    ObstacleGroupNode();
-
-    void init(void);
-    void clear(void);
-    void update(double robotX, double robotY, double robotZ,
-                const px::ObstacleList& obstacleList);
-};
-
-#endif // OBSTACLEGROUPNODE_H

src/ui/map3D/Pixhawk3DWidget.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 Pixhawk3DWidget.
- *
- *   @author Lionel Heng <hengli@inf.ethz.ch>
- *
- */
-
-#ifndef PIXHAWK3DWIDGET_H
-#define PIXHAWK3DWIDGET_H
-
-#include <osgText/Text>
-
-#include "HUDScaleGeode.h"
-#include "Imagery.h"
-#include "Q3DWidget.h"
-#include "SystemContainer.h"
-#include "ViewParamWidget.h"
-
-class UASInterface;
-
-/**
- * @brief A 3D View widget which displays vehicle-centric information.
- **/
-class Pixhawk3DWidget : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit Pixhawk3DWidget(QWidget* parent = 0);
-    ~Pixhawk3DWidget();
-
-public slots:
-    void activeSystemChanged(UASInterface* uas);
-    void systemCreated(UASInterface* uas);
-    void localPositionChanged(UASInterface* uas, int component, double x, double y, double z, quint64 time);
-    void localPositionChanged(UASInterface* uas, double x, double y, double z, quint64 time);
-    void attitudeChanged(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 time);
-    void attitudeChanged(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
-    void homePositionChanged(int uasId, double lat, double lon, double alt);
-    void setpointChanged(int uasId, float x, float y, float z, float yaw);
-
-signals:
-    void systemCreatedSignal(UASInterface* uas);
-    void overlayCreatedSignal(int systemId, const QString& name);
-
-private slots:
-    void clearData(void);
-    void showTerrainParamWindow(void);
-    void showViewParamWindow(void);
-    void followCameraChanged(int systemId);
-    void imageryParamsChanged(void);
-    void recenterActiveCamera(void);
-    void modelChanged(int systemId, int index);
-    void setBirdEyeView(void);
-    void loadTerrainModel(void);
-
-    void selectTargetHeading(void);
-    void selectTarget(void);
-    void setTarget(void);
-    void insertWaypoint(void);
-    void moveWaypointPosition(void);
-    void moveWaypointHeading(void);
-    void deleteWaypoint(void);
-    void setWaypointAltitude(void);
-    void clearAllWaypoints(void);
-
-    void moveImagery(void);
-    void moveTerrain(void);
-    void rotateTerrain(void);
-
-    void sizeChanged(int width, int height);
-    void updateWidget(void);
-
-protected:
-    void addModels(QVector< osg::ref_ptr<osg::Node> >& models,
-                   const QColor& systemColor);
-    void buildLayout(void);
-
-    void keyPressEvent(QKeyEvent* event);
-    void keyReleaseEvent(QKeyEvent* event);
-    void mousePressEvent(QMouseEvent* event);
-    void mouseReleaseEvent(QMouseEvent* event);
-    void mouseMoveEvent(QMouseEvent* event);
-    void wheelEvent(QWheelEvent* event);
-
-    void showEvent(QShowEvent* event);
-    void hideEvent(QHideEvent* event);
-
-signals:
-    void visibilityChanged(bool visible);
-
-private:
-    void initializeSystem(int systemId, const QColor& systemColor);
-
-    void getPose(UASInterface* uas,
-                 MAV_FRAME frame,
-                 double& x, double& y, double& z,
-                 double& roll, double& pitch, double& yaw,
-                 QString& utmZone) const;
-    void getPose(UASInterface* uas,
-                 MAV_FRAME frame,
-                 double& x, double& y, double& z,
-                 double& roll, double& pitch, double& yaw) const;
-    void getPosition(UASInterface* uas,
-                     MAV_FRAME frame,
-                     double& x, double& y, double& z,
-                     QString& utmZone) const;
-    void getPosition(UASInterface* uas,
-                     MAV_FRAME frame,
-                     double& x, double& y, double& z) const;
-
-    osg::ref_ptr<osg::Geode> createLocalGrid(void);
-    osg::ref_ptr<osg::Geode> createWorldGrid(void);
-    osg::ref_ptr<osg::Geometry> createTrail(const osg::Vec4& color);
-    osg::ref_ptr<osg::Geometry> createLink(const QColor& color);
-    osg::ref_ptr<Imagery> createImagery(void);
-    osg::ref_ptr<osg::Geode> createPointCloud(void);
-    osg::ref_ptr<osg::Node> createTarget(const QColor& color);
-
-    void setupHUD(void);
-    void resizeHUD(int width, int height);
-
-    void updateHUD(UASInterface* uas, MAV_FRAME frame);
-    void updateImagery(double originX, double originY,
-                       const QString& zone, MAV_FRAME frame);
-    void updateTarget(UASInterface* uas, MAV_FRAME frame,
-                      double robotX, double robotY, double robotZ,
-                      QVector4D& target,
-                      osg::ref_ptr<osg::Node>& targetNode);
-    void updateTrails(double robotX, double robotY, double robotZ,
-                      osg::ref_ptr<osg::Geode>& trailNode,
-                      osg::ref_ptr<osg::Group>& orientationNode,
-                      QMap<int, QVector<osg::Vec3d> >& trailMap,
-                      QMap<int, int>& trailIndexMap);
-    void updateWaypoints(UASInterface* uas, MAV_FRAME frame,
-                         osg::ref_ptr<WaypointGroupNode>& waypointGroupNode);
-
-    int findWaypoint(const QPoint& mousePos);
-    bool findTarget(int mouseX, int mouseY);
-    bool findTerrain(const QPoint& mousePos);
-    void showInsertWaypointMenu(const QPoint& cursorPos);
-    void showEditWaypointMenu(const QPoint& cursorPos);
-    void showTerrainMenu(const QPoint& cursorPos);
-
-    const qreal kMessageTimeout; // message timeout in seconds
-
-    enum Mode {
-        DEFAULT_MODE,
-        MOVE_WAYPOINT_POSITION_MODE,
-        MOVE_WAYPOINT_HEADING_MODE,
-        SELECT_TARGET_HEADING_MODE,
-        MOVE_TERRAIN_MODE,
-        ROTATE_TERRAIN_MODE,
-        MOVE_IMAGERY_MODE
-    };
-    Mode mMode;
-    int mSelectedWpIndex;
-
-    int mActiveSystemId;
-    UASInterface* mActiveUAS;
-
-    GlobalViewParamsPtr mGlobalViewParams;
-
-    // maps system id to system-specific view parameters
-    QMap<int, SystemViewParamsPtr> mSystemViewParamMap;
-
-    // maps system id to system-specific data
-    QMap<int, SystemContainer> mSystemContainerMap;
-
-    osg::ref_ptr<osg::Geometry> mHudBackgroundGeometry;
-    osg::ref_ptr<Imagery> mImageryNode;
-    osg::ref_ptr<HUDScaleGeode> mScaleGeode;
-    osg::ref_ptr<osgText::Text> mStatusText;
-    osg::ref_ptr<osg::Node> mTerrainNode;
-    osg::ref_ptr<osg::PositionAttitudeTransform> mTerrainPAT;
-    osg::ref_ptr<osg::Geode> mWorldGridNode;
-
-    QPoint mCachedMousePos;
-    int mFollowCameraId;
-    QVector3D mCameraPos;
-    bool mInitCameraPos;
-
-    Q3DWidget* m3DWidget;
-    ViewParamWidget* mViewParamWidget;
-};
-
-#endif // PIXHAWK3DWIDGET_H

src/ui/map3D/PixhawkCheetahNode.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 PixhawkCheetahNode.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#ifndef PIXHAWKCHEETAHNODE_H_
-#define PIXHAWKCHEETAHNODE_H_
-
-#include <osg/Geode>
-#include <QColor>
-
-/**
- * @brief The PixhawkCheetahNode class.
- * Generates an OpenSceneGraph node which renders a Pixhawk Cheetah MAV.
- **/
-
-class PixhawkCheetahNode
-{
-public:
-    /**
-     * Constructor.
-     */
-    PixhawkCheetahNode();
-
-    /**
-     * Get a single instance of the node.
-     */
-    static osg::ref_ptr<osg::Node> instance(void);
-
-    /**
-     * @brief Creates an OpenSceneGraph node which renders a Pixhawk Cheetah MAV.
-     * @param red Red intensity of the MAV model.
-     * @param green Green intensity of the MAV model.
-     * @param blue Blue intensity of the MAV model.
-     *
-     * @return A smart pointer to the node.
-     **/
-    static osg::ref_ptr<osg::Node> create(const QColor& color);
-
-private:
-    static osg::ref_ptr<osg::Node> mInstance;
-};
-
-#endif

src/ui/map3D/Q3DWidget.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 Q3DWidget.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#ifndef Q3DWIDGET_H
-#define Q3DWIDGET_H
-
-#include <QtOpenGL>
-#include <inttypes.h>
-
-#include <osg/LineSegment>
-#include <osg/PositionAttitudeTransform>
-#include <osgGA/TrackballManipulator>
-#include <osgText/Font>
-
-// OpenSceneGraph has overloaded virtuals defined, since third party code we silence the warnings when the
-// headers are used.
-#ifndef Q_OS_WIN
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Woverloaded-virtual"
-#endif
-
-#include <osgViewer/Viewer>
-
-#ifndef Q_OS_WIN
-#pragma GCC diagnostic pop
-#endif
-
-#include "CameraParams.h"
-#include "GCManipulator.h"
-#include "SystemGroupNode.h"
-
-/**
- * @brief Definition of the class Q3DWidget.
- * The Q3DWidget widget uses the OpenSceneGraph framework to render
- * user-defined objects in 3D. The world coordinate system in OSG is defined:
- * - x-axis points to the east
- * - y-axis points to the north
- * - z-axis points upwards
- */
-class Q3DWidget : public QGLWidget, public osgViewer::Viewer
-{
-    Q_OBJECT
-
-public:
-    /**
-     * Constructor.
-     * @param parent Parent widget.
-     */
-    Q3DWidget(QWidget* parent = 0);
-
-    /**
-     * Destructor.
-     */
-    virtual ~Q3DWidget();
-
-    /**
-     * @brief Initializes the widget.
-     * @param fps Frames per second.
-     */
-    void init(float fps);
-
-    /**
-     * @brief Sets the camera parameters.
-     * @param minZoomRange Minimum distance from the viewer to the camera.
-     * @param cameraFov Camera field of view.
-     * @param minClipRange Distance from the viewer to the near clipping range.
-     * @param maxClipRange Distance from the viewer to the far clipping range.
-     */
-    void setCameraParams(float minZoomRange, float cameraFov,
-                         float minClipRange, float maxClipRange);
-
-    /**
-     * @brief Moves the camera by [dx,dy,dz].
-     * @param dx Translation along the x-axis in meters.
-     * @param dy Translation along the y-axis in meters.
-     * @param dz Translation along the z-axis in meters.
-     */
-    void moveCamera(double dx, double dy, double dz);
-
-    /**
-     * @brief Recenters the camera at (x,y,z).
-     */
-    void recenterCamera(double x, double y, double z);
-
-    /**
-      * @brief Rotates the camera.
-      */
-    void rotateCamera(double roll, double pitch, double yaw);
-
-    /**
-      * @brief Sets the camera distance.
-      */
-    void setCameraDistance(double distance);
-
-    /**
-     * @brief Sets up 3D display mode.
-     */
-    void setDisplayMode3D(void);
-
-    osg::ref_ptr<osg::Switch>& hudGroup(void);
-
-    /**
-     * @brief Get screen coordinates of mouse cursor.
-     * @return screen coordinates of mouse cursor.
-     */
-    QPoint mouseCursorCoords(void);
-
-    /**
-     * @brief Gets the world 3D coordinates of the cursor.
-     * The function projects the 2D cursor position to a line in world space
-     * and returns the intersection of that line and the horizontal plane
-     * which contains the point (0, 0, z);
-     * @param cursorX x-coordinate of the cursor.
-     * @param cursorY y-coordinate of the cursor.
-     * @param worldZ z-coordinate of the point in the plane.
-     * @return World (x,y) cursor coordinates.
-     */
-     QPointF worldCursorPosition(const QPoint& cursorPos, double worldZ) const;
-
-     CameraParams& cameraParams(void);
-
-     osg::ref_ptr<GCManipulator>& cameraManipulator(void);
-
-     osg::ref_ptr<osgText::Font>& font(void);
-
-     osg::ref_ptr<osg::Switch>& worldMap(void);
-     osg::ref_ptr<SystemGroupNode>& systemGroup(int systemId);
-
-     bool& handleDeviceEvents(void);
-
-     void handleKeyPressEvent(QKeyEvent* event);
-
-     void handleKeyReleaseEvent(QKeyEvent* event);
-
-     void handleMousePressEvent(QMouseEvent* event);
-
-     void handleMouseReleaseEvent(QMouseEvent* event);
-
-     void handleMouseMoveEvent(QMouseEvent* event);
-
-     void handleWheelEvent(QWheelEvent* event);
-
-protected slots:
-    /**
-     * @brief Updates the widget.
-     */
-    void redraw(void);
-
-signals:
-    void sizeChanged(int width, int height);
-    void updateWidget(void);
-
-protected:
-    /**
-     * @brief Handle widget resize event.
-     * @param width New width of widget.
-     * @param height New height of widget.
-     */
-    virtual void resizeGL(int width, int height);
-
-    /**
-     * @brief Processes key press events.
-     * @param event Key press event.
-     */
-    virtual void keyPressEvent(QKeyEvent* event);
-
-    /**
-     * @brief Processes key release events.
-     * @param event Key release event.
-     */
-    virtual void keyReleaseEvent(QKeyEvent* event);
-
-    /**
-     * @brief Processes mouse press events.
-     * @param event Mouse press event.
-     */
-    virtual void mousePressEvent(QMouseEvent* event);
-
-    /**
-     * @brief Processes mouse release events.
-     * @param event Mouse release event.
-     */
-    virtual void mouseReleaseEvent(QMouseEvent* event);
-
-    /**
-     * @brief Processes mouse move events.
-     * @param event Mouse move event.
-     */
-    virtual void mouseMoveEvent(QMouseEvent* event);
-
-    /**
-     * @brief Processes mouse wheel events.
-     * @param event Mouse wheel event.
-     */
-    virtual void wheelEvent(QWheelEvent* event);
-
-    /** @brief Start widget updating */
-    void showEvent(QShowEvent* event);
-    /** @brief Stop widget updating */
-    void hideEvent(QHideEvent* event);
-
-    /**
-     * @brief Get base HUD geode.
-     * @return Smart pointer to the geode.
-     */
-    osg::ref_ptr<osg::Node> createHUD(void);
-
-    /**
-     * @brief Handle widget paint event.
-     */
-    virtual void paintGL(void);
-
-    /**
-     * @brief Converts Qt-defined key to OSG-defined key.
-     * @param key Qt-defined key.
-     * @return OSG-defined key.
-     */
-    osgGA::GUIEventAdapter::KeySymbol convertKey(int key) const;
-
-    /**
-     * @brief Computes intersection of line and plane.
-     * @param plane Vector which represents the plane.
-     * @param line Line representation.
-     * @return 3D point which lies at the intersection of the line and plane.
-     */
-    bool planeLineIntersection(const osg::Vec4d& plane,
-                               const osg::LineSegment& line,
-                               osg::Vec3d& isect) const;
-
-    bool mHandleDeviceEvents;
-
-    osg::ref_ptr<osg::Group> mRoot; /**< Root node of scene graph. */
-    osg::ref_ptr<osg::Switch> mWorldMap;
-    QMap<int, osg::ref_ptr<SystemGroupNode> > mSystemGroups;
-
-    osg::ref_ptr<osg::Switch> mHudGroup; /**< A group which contains renderable HUD objects. */
-    osg::ref_ptr<osg::Projection> mHudProjectionMatrix; /**< An orthographic projection matrix for HUD display. */
-
-    osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> mOsgGW; /**< A class which manages OSG graphics windows and events. */
-
-    osg::ref_ptr<GCManipulator> mCameraManipulator; /**< Camera manipulator. */
-
-    QTimer mTimer; /**< Timer which draws graphics based on specified fps. */
-
-    CameraParams mCameraParams; /**< Struct representing camera parameters. */
-    float mFps;
-
-    osg::ref_ptr<osgText::Font> mFont;
-};
-
-#endif // Q3DWIDGET_H

src/ui/map3D/Q3DWidgetFactory.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 Q3DWidgetFactory.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#include "Q3DWidgetFactory.h"
-
-#include "Pixhawk3DWidget.h"
-#ifdef QGC_OSGEARTH_ENABLED
-#include "QMap3D.h"
-#endif
-
-QPointer<QWidget>
-Q3DWidgetFactory::get(const std::string& type, QWidget* parent)
-{
-    if (type == "PIXHAWK") {
-        return QPointer<QWidget>(new Pixhawk3DWidget(parent));
-    }
-    else {
-        return QPointer<QWidget>(new Q3DWidget(parent));
-    }
-}

src/ui/map3D/Q3DWidgetFactory.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 Q3DWidgetFactory.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#ifndef Q3DWIDGETFACTORY_H
-#define Q3DWIDGETFACTORY_H
-
-#include <QPointer>
-
-#include "Q3DWidget.h"
-
-/**
- * @brief A factory which creates project-specific 3D widgets without
- *        specifying the exact widget class.
- */
-
-class Q3DWidgetFactory
-{
-public:
-    /**
-     * @brief Returns a Q3DWidget instance of the appropriate type.
-     * @param type String specifying the required type name.
-     * @return A smart pointer to the Q3DWidget instance.
-     */
-
-    static QPointer<QWidget> get(const std::string& type, QWidget* parent);
-};
-
-#endif // Q3DWIDGETFACTORY_H

src/ui/map3D/QGCWebPage.cc

-#include "QGCWebPage.h"
-#include <QDebug>
-
-QGCWebPage::QGCWebPage(QObject *parent) :
-    QWebPage(parent)
-{
-}
-
-void QGCWebPage::javaScriptConsoleMessage ( const QString & message, int lineNumber, const QString & sourceID )
-{
-    qDebug() << "JAVASCRIPT: " << lineNumber << sourceID << message;
-}
-
-#ifdef Q_OS_MAC64
-QString QGCWebPage::userAgentForUrl ( const QUrl & url ) const
-{
-    Q_UNUSED(url);
-    return "Mozilla/5.0 (Macintosh; Intel Mac OS X 10_6_0) AppleWebKit/534.57.2 (KHTML, like Gecko) Version/5.1.7 Safari";
-}
-#endif

src/ui/map3D/QGCWebPage.h

-#ifndef QGCWEBPAGE_H
-#define QGCWEBPAGE_H
-
-#include <QWebPage>
-
-class QGCWebPage : public QWebPage
-{
-    Q_OBJECT
-public:
-    explicit QGCWebPage(QObject *parent = 0);
-
-signals:
-
-public slots:
-
-protected:
-    void javaScriptConsoleMessage ( const QString & message, int lineNumber, const QString & sourceID );
-#ifdef Q_OS_MAC
-    QString userAgentForUrl ( const QUrl & url ) const;
-#endif
-
-};
-
-#endif // QGCWEBPAGE_H

src/ui/map3D/QMap3D.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 QMap3D.h
- *
- *   @author James Goppert <james.goppert@gmail.com>
- *
- */
-
-#ifdef QGC_OSGEARTH_ENABLED
-
-#ifndef QMAP3D_H
-#define QMAP3D_H
-
-#include "QOSGWidget.h"
-#include "ui_QMap3D.h"
-
-namespace Ui
-{
-class QMap3D;
-}
-
-class QMap3D : public QWidget, private Ui::QMap3D
-{
-    Q_OBJECT
-public:
-    QMap3D(QWidget * parent = 0, const char * name = 0, WindowFlags f = 0);
-    ~QMap3D();
-public slots:
-    void on_pushButton_map_clicked();
-    void on_pushButton_vehicle_clicked();
-};
-
-#endif // QMAP3D_H
-
-#endif

src/ui/map3D/SystemContainer.cc

-#include "SystemContainer.h"
-
-#include <osg/PositionAttitudeTransform>
-
-SystemContainer::SystemContainer()
-{
-
-}
-
-QVector3D&
-SystemContainer::gpsLocalOrigin(void)
-{
-    return mGPSLocalOrigin;
-}
-
-QVector4D&
-SystemContainer::target(void)
-{
-    return mTarget;
-}
-
-QVector< osg::ref_ptr<osg::Node> >&
-SystemContainer::models(void)
-{
-    return mModels;
-}
-
-QMap<int, QVector<osg::Vec3d> >&
-SystemContainer::trailMap(void)
-{
-    return mTrailMap;
-}
-
-QMap<int, int>&
-SystemContainer::trailIndexMap(void)
-{
-    return mTrailIndexMap;
-}
-
-osg::ref_ptr<ImageWindowGeode>&
-SystemContainer::depthImageNode(void)
-{
-    return mDepthImageNode;
-}
-
-osg::ref_ptr<osg::Geode>&
-SystemContainer::localGridNode(void)
-{
-    return mLocalGridNode;
-}
-
-osg::ref_ptr<osg::Node>&
-SystemContainer::modelNode(void)
-{
-    return mModelNode;
-}
-
-osg::ref_ptr<osg::Group>&
-SystemContainer::orientationNode(void)
-{
-    return mOrientationNode;
-}
-
-osg::ref_ptr<osg::Geode>&
-SystemContainer::pointCloudNode(void)
-{
-    return mPointCloudNode;
-}
-
-osg::ref_ptr<ImageWindowGeode>&
-SystemContainer::rgbImageNode(void)
-{
-    return mRGBImageNode;
-}
-
-osg::ref_ptr<osg::Group>&
-SystemContainer::setpointGroupNode(void)
-{
-    return mSetpointGroupNode;
-}
-
-osg::ref_ptr<osg::Node>&
-SystemContainer::targetNode(void)
-{
-    return mTargetNode;
-}
-
-osg::ref_ptr<osg::Geode>&
-SystemContainer::trailNode(void)
-{
-    return mTrailNode;
-}
-
-osg::ref_ptr<WaypointGroupNode>&
-SystemContainer::waypointGroupNode(void)
-{
-    return mWaypointGroupNode;
-}

src/ui/map3D/SystemContainer.h

-#ifndef SYSTEMCONTAINER_H
-#define SYSTEMCONTAINER_H
-
-#include <osg/Geode>
-#include <QMap>
-#include <QVarLengthArray>
-#include <QVector3D>
-#include <QVector4D>
-
-#include "ImageWindowGeode.h"
-#include "WaypointGroupNode.h"
-
-class SystemContainer
-{
-public:
-    SystemContainer();
-
-    QVector3D& gpsLocalOrigin(void);
-
-    QVector4D& target(void);
-
-    QVector< osg::ref_ptr<osg::Node> >& models(void);
-
-    QMap<int, QVector<osg::Vec3d> >& trailMap(void);
-    QMap<int, int>& trailIndexMap(void);
-
-    osg::ref_ptr<ImageWindowGeode>& depthImageNode(void);
-    osg::ref_ptr<osg::Geode>& localGridNode(void);
-    osg::ref_ptr<osg::Node>& modelNode(void);
-    osg::ref_ptr<osg::Group>& orientationNode(void);
-    osg::ref_ptr<osg::Geode>& pointCloudNode(void);
-    osg::ref_ptr<ImageWindowGeode>& rgbImageNode(void);
-    osg::ref_ptr<osg::Group>& setpointGroupNode(void);
-    osg::ref_ptr<osg::Node>& targetNode(void);
-    osg::ref_ptr<osg::Geode>& trailNode(void);
-    osg::ref_ptr<WaypointGroupNode>& waypointGroupNode(void);
-
-private:
-    QVector3D mGPSLocalOrigin;
-    QVector4D mTarget;
-
-    QVector< osg::ref_ptr<osg::Node> > mModels;
-
-    // map component id to component-specific trail
-    QMap<int, QVector<osg::Vec3d> > mTrailMap;
-    QMap<int, int> mTrailIndexMap;
-
-    // osg structures
-    osg::ref_ptr<ImageWindowGeode> mDepthImageNode;
-    osg::ref_ptr<osg::Geode> mLocalGridNode;
-    osg::ref_ptr<osg::Node> mModelNode;
-    osg::ref_ptr<osg::Group> mOrientationNode;
-    osg::ref_ptr<osg::Geode> mPointCloudNode;
-    osg::ref_ptr<ImageWindowGeode> mRGBImageNode;
-    osg::ref_ptr<osg::Group> mSetpointGroupNode;
-    osg::ref_ptr<osg::Node> mTargetNode;
-    osg::ref_ptr<osg::Geode> mTrailNode;
-    osg::ref_ptr<WaypointGroupNode> mWaypointGroupNode;
-};
-
-#endif // SYSTEMCONTAINER_H

src/ui/map3D/SystemGroupNode.h

-#ifndef SYSTEMGROUPNODE_H
-#define SYSTEMGROUPNODE_H
-
-#include <osg/PositionAttitudeTransform>
-#include <osg/Switch>
-
-class SystemGroupNode : public osg::Group
-{
-public:
-    SystemGroupNode();
-
-    osg::ref_ptr<osg::Switch>& allocentricMap(void);
-    osg::ref_ptr<osg::Switch>& rollingMap(void);
-    osg::ref_ptr<osg::Switch>& egocentricMap(void);
-    osg::ref_ptr<osg::PositionAttitudeTransform>& position(void);
-    osg::ref_ptr<osg::PositionAttitudeTransform>& attitude(void);
-
-private:
-    osg::ref_ptr<osg::Node> createAxisGeode(void);
-
-    osg::ref_ptr<osg::Switch> mAllocentricMap;
-    osg::ref_ptr<osg::Switch> mRollingMap;
-    osg::ref_ptr<osg::Switch> mEgocentricMap;
-    osg::ref_ptr<osg::PositionAttitudeTransform> mPosition;
-    osg::ref_ptr<osg::PositionAttitudeTransform> mAttitude;
-};
-
-#endif // SYSTEMGROUPNODE_H