Revert "Remove unused CameraView widget using legacy OpenGL"

This reverts commit 86f29adf.

QGCApplication.pro

@@ -290,6 +290,7 @@ HEADERS += \
     src/comm/QGCJSBSimLink.h \
     src/comm/QGCXPlaneLink.h \
     src/QGCDockWidget.h \
+    src/ui/CameraView.h \
     src/ui/HILDockWidget.h \
     src/ui/MultiVehicleDockWidget.h \
     src/ui/QGCHilConfiguration.h \
@@ -393,6 +394,7 @@ SOURCES += \
     src/comm/QGCJSBSimLink.cc \
     src/comm/QGCXPlaneLink.cc \
     src/QGCDockWidget.cc \
+    src/ui/CameraView.cc \
     src/ui/HILDockWidget.cc \
     src/ui/MultiVehicleDockWidget.cc \
     src/ui/QGCHilConfiguration.cc \

src/ui/CameraView.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 Implementation of CameraView
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include "CameraView.h"
+#include <QDebug>
+#include <QtOpenGL>
+
+CameraView::CameraView(int width, int height, int depth, int channels, QWidget* parent) : QGLWidget(parent)
+{
+    rawImage = NULL;
+    rawBuffer1 = NULL;
+    rawBuffer2 = NULL;
+    rawLastIndex = 0;
+    image = NULL;
+    imageStarted = false;
+    // Init to black image
+    //setImageSize(width, height, depth, channels);
+    receivedWidth = width;
+    receivedHeight = height;
+    receivedDepth = depth;
+    receivedChannels = channels;
+    imageId = -1;
+
+    // Fill with black background
+    QImage fill = QImage(width, height, QImage::Format_Indexed8);
+    fill.setColorCount(1);
+    fill.setColor(0, qRgb(70, 200, 70));
+    fill.fill(CameraView::initialColor);
+    glImage = QGLWidget::convertToGLFormat(fill);
+
+    resize(fill.size());
+
+    // Set size once
+    setFixedSize(fill.size());
+    setMinimumSize(fill.size());
+    setMaximumSize(fill.size());
+    // Lock down the size
+    setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+}
+
+CameraView::~CameraView()
+{
+    delete rawImage;
+    delete image;
+}
+
+void CameraView::addUAS(UASInterface* uas)
+{
+    // TODO Enable multi-uas support
+    connect(uas, SIGNAL(imageStarted(int,int,int,int,int)), this, SLOT(startImage(int,int,int,int,int)));
+    connect(uas, SIGNAL(imageDataReceived(int,const unsigned char*,int,int)), this, SLOT(setPixels(int,const unsigned char*,int,int)));
+}
+
+void CameraView::setImageSize(int width, int height, int depth, int channels)
+{
+    // Allocate raw image in correct size
+    if (width != receivedWidth || height != receivedHeight || depth != receivedDepth || channels != receivedChannels || image == NULL) {
+        // Set new size
+        if (width > 0) receivedWidth  = width;
+        if (height > 0) receivedHeight = height;
+        if (depth > 1) receivedDepth = depth;
+        if (channels > 1) receivedChannels = channels;
+
+        rawExpectedBytes = (receivedWidth * receivedHeight * receivedDepth * receivedChannels) / 8;
+        bytesPerLine = rawExpectedBytes / receivedHeight;
+        // Delete old buffers if necessary
+        rawImage = NULL;
+        if (rawBuffer1 != NULL) delete rawBuffer1;
+        if (rawBuffer2 != NULL) delete rawBuffer2;
+
+        rawBuffer1 = (unsigned char*)malloc(rawExpectedBytes);
+        rawBuffer2 = (unsigned char*)malloc(rawExpectedBytes);
+        rawImage = rawBuffer1;
+        // TODO check if old image should be deleted
+
+        // Set image format
+        // 8 BIT GREYSCALE IMAGE
+        if (depth <= 8 && channels == 1) {
+            image = new QImage(receivedWidth, receivedHeight, QImage::Format_Indexed8);
+            // Create matching color table
+            image->setColorCount(256);
+            for (int i = 0; i < 256; i++) {
+                image->setColor(i, qRgb(i, i, i));
+                //qDebug() << __FILE__ << __LINE__ << std::hex << i;
+            }
+
+        }
+        // 32 BIT COLOR IMAGE WITH ALPHA VALUES (#ARGB)
+        else {
+            image = new QImage(receivedWidth, receivedHeight, QImage::Format_ARGB32);
+        }
+
+        // Fill image with black pixels
+        image->fill(CameraView::initialColor);
+        glImage = QGLWidget::convertToGLFormat(*image);
+
+        qDebug() << __FILE__ << __LINE__ << "Setting up image";
+
+        // Set size once
+        setFixedSize(receivedWidth, receivedHeight);
+        setMinimumSize(receivedWidth, receivedHeight);
+        setMaximumSize(receivedWidth, receivedHeight);
+        // Lock down the size
+        setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+        resize(receivedWidth, receivedHeight);
+    }
+
+}
+
+void CameraView::startImage(int imgid, int width, int height, int depth, int channels)
+{
+    this->imageId = imgid;
+    //qDebug() << "CameraView: starting image (" << width << "x" << height << ", " << depth << "bits) with " << channels << "channels";
+
+    // Copy previous image to screen if it hasn't been finished properly
+    finishImage();
+
+    // Reset image size if necessary
+    setImageSize(width, height, depth, channels);
+    imageStarted = true;
+}
+
+void CameraView::finishImage()
+{
+    if (imageStarted) {
+        commitRawDataToGL();
+        imageStarted = false;
+    }
+}
+
+void CameraView::commitRawDataToGL()
+{
+    //qDebug() << __FILE__ << __LINE__ << "Copying raw data to GL buffer:" << rawImage << receivedWidth << receivedHeight << image->format();
+    if (image != NULL) {
+        QImage::Format format = image->format();
+        QImage* newImage = new QImage(rawImage, receivedWidth, receivedHeight, format);
+        if (format == QImage::Format_Indexed8) {
+            // Create matching color table
+            newImage->setColorCount(256);
+            for (int i = 0; i < 256; i++) {
+                newImage->setColor(i, qRgb(i, i, i));
+                //qDebug() << __FILE__ << __LINE__ << std::hex << i;
+            }
+        }
+
+        glImage = QGLWidget::convertToGLFormat(*newImage);
+        delete image;
+        image = newImage;
+        // Switch buffers
+        if (rawImage == rawBuffer1) {
+            rawImage = rawBuffer2;
+            //qDebug() << "Now buffer 2";
+        } else {
+            rawImage = rawBuffer1;
+            //qDebug() << "Now buffer 1";
+        }
+    }
+    paintGL();
+}
+
+void CameraView::saveImage(QString fileName)
+{
+    image->save(fileName);
+}
+
+void CameraView::saveImage()
+{
+    //Bring up popup
+    QString fileName = "output.png";
+    saveImage(fileName);
+}
+
+void CameraView::setPixels(int imgid, const unsigned char* imageData, int length, unsigned int startIndex)
+{
+    // FIXME imgid can be used to receive and then display multiple images
+    // the image buffer should be converted into a n image buffer.
+    Q_UNUSED(imgid);
+
+    //    qDebug() << "at" << __FILE__ << __LINE__ << ": Received startindex" << startIndex << "and length" << length << "(" << startIndex+length << "of" << rawExpectedBytes << "bytes)";
+
+    if (imageStarted) {
+        //if (rawLastIndex != startIndex) qDebug() << "PACKET LOSS!";
+
+        if (startIndex+length > rawExpectedBytes) {
+            qDebug() << "CAMERAVIEW: OVERFLOW! startIndex:" << startIndex << "length:" << length << "image raw size" << ((receivedWidth * receivedHeight * receivedChannels * receivedDepth) / 8) - 1;
+        } else {
+            memcpy(rawImage+startIndex, imageData, length);
+
+            rawLastIndex = startIndex+length;
+
+            // Check if we just reached the end of the image
+            if (startIndex+length == rawExpectedBytes) {
+                //qDebug() << "CAMERAVIEW: END OF IMAGE REACHED!";
+                finishImage();
+                rawLastIndex = 0;
+            }
+        }
+
+        //        for (int i = 0; i < length; i++)
+        //        {
+        //            for (int j = 0; j < receivedChannels; j++)
+        //            {
+        //                unsigned int x = (startIndex+i) % receivedWidth;
+        //                unsigned int y = static_cast<unsigned int>((startIndex+i) / receivedWidth);
+        //                qDebug() << "Setting pixel" << x << "," << y << "to" << (unsigned int)*(rawImage+startIndex+i);
+        //            }
+        //        }
+    }
+}
+
+void CameraView::paintGL()
+{
+    glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
+}
+
+void CameraView::resizeGL(int w, int h)
+{
+    glViewport(0, 0, w, h);
+    glMatrixMode(GL_PROJECTION);
+    glLoadIdentity();
+    glOrtho(0, w, 0, h, -1, 1);
+    glMatrixMode(GL_MODELVIEW);
+}

src/ui/CameraView.h

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK 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.
+
+    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Brief Description
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef CAMERAVIEW_H
+#define CAMERAVIEW_H
+
+#include <QImage>
+#include <QGLWidget>
+#include "UASInterface.h"
+
+class CameraView : public QGLWidget
+{
+    Q_OBJECT
+public:
+    CameraView(int width = 640, int height = 480, int depth = 8, int channels = 1, QWidget* parent = NULL);
+    ~CameraView();
+
+    void setImageSize(int width, int height, int depth, int channels);
+    void paintGL();
+    void resizeGL(int w, int h);
+
+public slots:
+    void addUAS(UASInterface* uas);
+    void startImage(int imgid, int width, int height, int depth, int channels);
+    void setPixels(int imgid, const unsigned char* imageData, int length, unsigned int startIndex);
+    void finishImage();
+    void saveImage();
+    void saveImage(QString fileName);
+
+protected:
+    // Image buffers
+    unsigned char* rawBuffer1;
+    unsigned char* rawBuffer2;
+    unsigned char* rawImage;
+    unsigned int rawLastIndex;
+    unsigned int rawExpectedBytes;
+    unsigned int bytesPerLine;
+    bool imageStarted;
+    static const unsigned char initialColor = 0;
+    QImage* image; ///< Double buffer image
+    QImage glImage; ///< Displayed image
+    int receivedDepth;
+    int receivedChannels;
+    int receivedWidth;
+    int receivedHeight;
+    QMap<int, QImage*> images; ///< Reference to the received images
+    int imageId; ///< ID of the currently displayed image
+
+    void commitRawDataToGL();
+};
+
+#endif // CAMERAVIEW_H

src/ui/MainWindow.h

@@ -41,6 +41,7 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkManager.h"
 #include "LinkInterface.h"
 #include "UASInterface.h"
+#include "CameraView.h"
 #if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX)
 #include "Mouse6dofInput.h"
 #endif // QGC_MOUSE_ENABLED_WIN