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Commit 6344a49d authored by pixhawk's avatar pixhawk
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Added support for OSG on Mac platform

parents a1dc95ac fa827afc
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Showing with 23529 additions and 299 deletions
models/cessna.osg 0 → 100644
View file @ 6344a49d
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qgroundcontrol.pri
View file @ 6344a49d
......@@ -34,9 +34,17 @@ release {
# DEFINES += QT_NO_WARNING_OUTPUT
}
QMAKE_PRE_LINK += echo "Copying files"
#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
# MAC OS X
macx {
COMPILER_VERSION = $$system(gcc -v)
message(Using compiler $$COMPILER_VERSION)
HARDWARE_PLATFORM = $$system(uname -a)
contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || contains( HARDWARE_PLATFORM, 9.9.0 ) {
# x86 Mac OS X Leopard 10.5 and earlier
......@@ -55,18 +63,15 @@ macx {
message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
}
QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
DESTDIR = $$BASEDIR/bin/mac
INCLUDEPATH += -framework SDL \
$$BASEDIR/../mavlink/contrib/slugs/include \
$$BASEDIR/../mavlink/include
INCLUDEPATH += -framework SDL
LIBS += -framework IOKit \
-framework SDL \
-framework CoreFoundation \
-framework ApplicationServices \
# -framework GLUT \
-lm
ICON = $$BASEDIR/images/icons/macx.icns
......@@ -74,24 +79,67 @@ macx {
# Copy audio files if needed
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
exists(/opt/local/lib/osg):exists("/opt/local/lib/osgEarth") {
message("Building support for OSGEARTH")
DEPENDENCIES_PRESENT += osgearth
LIBS += -L/opt/local/lib/
INCLUDEPATH += /opt/local/include
# Include OpenSceneGraph and osgEarth libraries
LIBS += -losg \
-losgViewer \
-losgEarth \
-losgEarthUtil
exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) {
# No check for GLUT.framework since it's a MAC default
message("Building support for OpenSceneGraph")
DEPENDENCIES_PRESENT += osg
DEFINES += QGC_OSG_ENABLED
# Include OpenSceneGraph libraries
INCLUDEPATH += -framework GLUT \
-framework Carbon \
-framework OpenThreads \
-framework osg \
-framework osgViewer \
-framework osgGA \
-framework osgDB \
-framework osgText \
-framework osgWidget
LIBS += -framework GLUT \
-framework Carbon \
-framework OpenThreads \
-framework osg \
-framework osgViewer \
-framework osgGA \
-framework osgDB \
-framework osgText \
-framework osgWidget
}
exists(/usr/include/osgEarth) {
message("Building support for osgEarth")
DEPENDENCIES_PRESENT += osgearth
# Include osgEarth libraries
INCLUDEPATH += -framework GDAL \
$$IN_PWD/lib/mac32-gcc/include \
-framework GEOS \
-framework SQLite3 \
-framework osgFX \
-framework osgTerrain
LIBS += -framework GDAL \
-framework GEOS \
-framework SQLite3 \
-framework osgFX \
-framework osgTerrain \
DEFINES += QGC_OSGEARTH_ENABLED
}
exists(/opt/local/include/libfreenect) {
message("Building support for libfreenect")
DEPENDENCIES_PRESENT += libfreenect
# Include libfreenect libraries
LIBS += -lfreenect
DEFINES += QGC_LIBFREENECT_ENABLED
}
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
#QMAKE_CXXFLAGS += -Wl, -E
}
# GNU/Linux
linux-g++ {
CONFIG += debug
debug {
DESTDIR = $$BUILDDIR/debug
......@@ -131,21 +179,41 @@ linux-g++ {
-lSDL \
-lSDLmain
exists(/usr/include/osgEarth) | exists(/usr/local/include/osgEarth) {
message("Building support for OSGEARTH")
DEPENDENCIES_PRESENT += osgearth
# Include OpenSceneGraph and osgEarth libraries
LIBS += -losg \
-losgViewer \
-losgEarth \
-losgEarthUtil
DEFINES += QGC_OSG_ENABLED
}
exists(/usr/include/osg) {
message("Building support for OpenSceneGraph")
DEPENDENCIES_PRESENT += osg
# Include OpenSceneGraph libraries
LIBS += -losg
DEFINES += QGC_OSG_ENABLED
}
QMAKE_CXXFLAGS += -Wl,-E
exists(/usr/include/osgEarth) | exists(/usr/local/include/osgEarth) {
message("Building support for osgEarth")
DEPENDENCIES_PRESENT += osgearth
# Include osgEarth libraries
LIBS += -losgViewer \
-losgEarth \
-losgEarthUtil
DEFINES += QGC_OSGEARTH_ENABLED
}
exists(/usr/local/include/libfreenect) {
message("Building suplocport for libfreenect")
DEPENDENCIES_PRESENT += libfreenect
INCLUDEPATH += /usr/include/libusb-1.0
# Include libfreenect libraries
LIBS += -lfreenect
DEFINES += QGC_LIBFREENECT_ENABLED
}
#-lflite_cmu_us_rms \
#-lflite_cmu_us_slt \
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release/.
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += -Wl, -E
}
linux-g++-64 {
......@@ -188,16 +256,36 @@ linux-g++-64 {
-lSDL \
-lSDLmain
exists(/usr/lib/osg):exists(/usr/lib/osgEarth) {
message("Building support for OSGEARTH")
DEPENDENCIES_PRESENT += osgearth
# Include OpenSceneGraph and osgEarth libraries
LIBS += -losg \
-losgViewer \
-losgEarth
DEFINES += QGC_OSG_ENABLED
}
exists(/usr/include/osg) {
message("Building support for OpenSceneGraph")
DEPENDENCIES_PRESENT += osg
# Include OpenSceneGraph libraries
LIBS += -losg
DEFINES += QGC_OSG_ENABLED
}
exists(/usr/include/osgEarth) {
message("Building support for osgEarth")
DEPENDENCIES_PRESENT += osgearth
# Include osgEarth libraries
LIBS += -losgViewer \
-losgEarth \
-losgEarthUtil
DEFINES += QGC_OSGEARTH_ENABLED
}
exists(/usr/local/include/libfreenect) {
message("Building support for libfreenect")
DEPENDENCIES_PRESENT += libfreenect
INCLUDEPATH += /usr/include/libusb-1.0
# Include libfreenect libraries
LIBS += -lfreenect
DEFINES += QGC_LIBFREENECT_ENABLED
}
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += -Wl, -E
}
# Windows (32bit)
......@@ -222,7 +310,13 @@ win32-msvc2008 {
QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/. &&
QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/debug/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/.
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/debug/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/release/.
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += /Wl /E
}
# Windows (32bit)
......@@ -255,8 +349,14 @@ win32-g++ {
# Copy dependencies
QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/debug/. &&
QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/debug/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/release/.
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/debug/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/.
QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/debug/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/release/.
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += -Wl, -E
}
# Windows (64bit)
......@@ -291,5 +391,8 @@ win64-g++ {
QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/debug/. &&
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/release/.
}
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += -Wl, -E
}
qgroundcontrol.pro
View file @ 6344a49d
......@@ -231,18 +231,35 @@ HEADERS += src/MG.h \
src/ui/RadioCalibration/CurveCalibrator.h \
src/ui/RadioCalibration/AbstractCalibrator.h \
src/comm/QGCMAVLink.h
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including headers for OSGEARTH")
contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph")
# Enable only if OpenSceneGraph is available
HEADERS += src/ui/map3D/Q3DWidget.h \
src/ui/map3D/GCManipulator.h \
src/ui/map3D/ImageWindowGeode.h \
src/ui/map3D/QOSGWidget.h \
src/ui/map3D/QMap3D.h \
src/ui/map3D/PixhawkCheetahGeode.h \
src/ui/map3D/Pixhawk3DWidget.h \
src/ui/map3D/Q3DWidgetFactory.h \
src/ui/map3D/GCManipulator.h
src/ui/map3D/Q3DWidgetFactory.h
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including headers for OSGEARTH")
# Enable only if OpenSceneGraph is available
HEADERS += src/ui/map3D/QMap3D.h
}
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including headers for libfreenect")
# Enable only if libfreenect is available
HEADERS += src/input/Freenect.h
}
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
......@@ -311,19 +328,39 @@ SOURCES += src/main.cc \
src/ui/RadioCalibration/SwitchCalibrator.cc \
src/ui/RadioCalibration/CurveCalibrator.cc \
src/ui/RadioCalibration/AbstractCalibrator.cc \
src/ui/RadioCalibration/RadioCalibrationData.cc # src/ui/WaypointGlobalView.cc \
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for OSGEARTH")
src/ui/RadioCalibration/RadioCalibrationData.cc
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")
# Enable only if OpenSceneGraph is available
SOURCES += src/ui/map3D/Q3DWidget.cc \
src/ui/map3D/QOSGWidget.cc \
src/ui/map3D/QMap3D.cc \
src/ui/map3D/ImageWindowGeode.cc \
src/ui/map3D/GCManipulator.cc \
src/ui/map3D/QOSGWidget.cc \
src/ui/map3D/PixhawkCheetahGeode.cc \
src/ui/map3D/Pixhawk3DWidget.cc \
src/ui/map3D/Q3DWidgetFactory.cc \
src/ui/map3D/GCManipulator.cc
src/ui/map3D/Q3DWidgetFactory.cc
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for osgEarth")
# Enable only if OpenSceneGraph is available
SOURCES += src/ui/map3D/QMap3D.cc
}
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including sources for libfreenect")
# Enable only if libfreenect is available
SOURCES += src/input/Freenect.cc
}
RESOURCES += mavground.qrc
# Include RT-LAB Library
......
src/input/Freenect.cc 0 → 100644
View file @ 6344a49d
#include "Freenect.h"
#include <cmath>
#include <string.h>
#include <QDebug>
Freenect::Freenect()
: context(NULL)
, device(NULL)
, tiltAngle(0)
{
for (int i = 0; i < 2048; ++i)
{
float v = static_cast<float>(i) / 2048.0f;
v = powf(v, 3.0f) * 6.0f;
gammaTable[i] = static_cast<unsigned short>(v * 6.0f * 256.0f);
}
}
Freenect::~Freenect()
{
if (device != NULL)
{
freenect_stop_depth(device);
freenect_stop_rgb(device);
}
freenect_close_device(device);
freenect_shutdown(context);
}
bool
Freenect::init(int userDeviceNumber)
{
if (freenect_init(&context, NULL) < 0)
{
return false;
}
freenect_set_log_level(context, FREENECT_LOG_DEBUG);
if (freenect_num_devices(context) < 1)
{
return false;
}
if (freenect_open_device(context, &device, userDeviceNumber) < 0)
{
return false;
}
freenect_set_user(device, this);
memset(rgb, 0, FREENECT_RGB_SIZE);
memset(depth, 0, FREENECT_DEPTH_SIZE);
// set Kinect parameters
if (freenect_set_tilt_degs(device, tiltAngle) != 0)
{
return false;
}
if (freenect_set_led(device, LED_RED) != 0)
{
return false;
}
if (freenect_set_rgb_format(device, FREENECT_FORMAT_RGB) != 0)
{
return false;
}
if (freenect_set_depth_format(device, FREENECT_FORMAT_11_BIT) != 0)
{
return false;
}
freenect_set_rgb_callback(device, rgbCallback);
freenect_set_depth_callback(device, depthCallback);
if (freenect_start_rgb(device) != 0)
{
return false;
}
if (freenect_start_depth(device) != 0)
{
return false;
}
thread.reset(new FreenectThread(device));
thread->start();
return true;
}
bool
Freenect::process(void)
{
if (freenect_process_events(context) < 0)
{
return false;
}
freenect_get_raw_accel(device, &ax, &ay, &az);
freenect_get_mks_accel(device, &dx, &dy, &dz);
return true;
}
QSharedPointer<QByteArray>
Freenect::getRgbData(void)
{
QMutexLocker locker(&rgbMutex);
return QSharedPointer<QByteArray>(
new QByteArray(rgb, FREENECT_RGB_SIZE));
}
QSharedPointer<QByteArray>
Freenect::getRawDepthData(void)
{
QMutexLocker locker(&depthMutex);
return QSharedPointer<QByteArray>(
new QByteArray(depth, FREENECT_DEPTH_SIZE));
}
QSharedPointer<QByteArray>
Freenect::getDistanceData(void)
{
QMutexLocker locker(&distanceMutex);
return QSharedPointer<QByteArray>(
new QByteArray(reinterpret_cast<char *>(distance),
FREENECT_FRAME_PIX * sizeof(float)));
}
QSharedPointer<QByteArray>
Freenect::getColoredDepthData(void)
{
QMutexLocker locker(&coloredDepthMutex);
return QSharedPointer<QByteArray>(
new QByteArray(coloredDepth, FREENECT_RGB_SIZE));
}
int
Freenect::getTiltAngle(void) const
{
return tiltAngle;
}
void
Freenect::setTiltAngle(int angle)
{
if (angle > 30)
{
angle = 30;
}
if (angle < -30)
{
angle = -30;
}
tiltAngle = angle;
}
Freenect::FreenectThread::FreenectThread(freenect_device* _device)
{
device = _device;
}
void
Freenect::FreenectThread::run(void)
{
Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
while (1)
{
freenect->process();
}
}
void
Freenect::rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t timestamp)
{
Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
QMutexLocker locker(&freenect->rgbMutex);
memcpy(freenect->rgb, rgb, FREENECT_RGB_SIZE);
}
void
Freenect::depthCallback(freenect_device* device, freenect_depth* depth, uint32_t timestamp)
{
Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
freenect_depth* data = reinterpret_cast<freenect_depth *>(depth);
QMutexLocker depthLocker(&freenect->depthMutex);
memcpy(freenect->depth, data, FREENECT_DEPTH_SIZE);
QMutexLocker distanceLocker(&freenect->distanceMutex);
for (int i = 0; i < FREENECT_FRAME_PIX; ++i)
{
freenect->distance[i] =
100.f / (-0.00307f * static_cast<float>(data[i]) + 3.33f);
}
QMutexLocker coloredDepthLocker(&freenect->coloredDepthMutex);
unsigned short* src = reinterpret_cast<unsigned short *>(data);
unsigned char* dst = reinterpret_cast<unsigned char *>(freenect->coloredDepth);
for (int i = 0; i < FREENECT_FRAME_PIX; ++i)
{
unsigned short pval = freenect->gammaTable[src[i]];
unsigned short lb = pval & 0xFF;
switch (pval >> 8)
{
case 0:
dst[3 * i] = 255;
dst[3 * i + 1] = 255 - lb;
dst[3 * i + 2] = 255 - lb;
break;
case 1:
dst[3 * i] = 255;
dst[3 * i + 1] = lb;
dst[3 * i + 2] = 0;
break;
case 2:
dst[3 * i] = 255 - lb;
dst[3 * i + 1] = 255;
dst[3 * i + 2] = 0;
break;
case 3:
dst[3 * i] = 0;
dst[3 * i + 1] = 255;
dst[3 * i + 2] = lb;
break;
case 4:
dst[3 * i] = 0;
dst[3 * i + 1] = 255 - lb;
dst[3 * i + 2] = 255;
break;
case 5:
dst[3 * i] = 0;
dst[3 * i + 1] = 0;
dst[3 * i + 2] = 255 - lb;
break;
default:
dst[3 * i] = 0;
dst[3 * i + 1] = 0;
dst[3 * i + 2] = 0;
break;
}
}
}
src/input/Freenect.h 0 → 100644
View file @ 6344a49d
#ifndef FREENECT_H
#define FREENECT_H
#include <libfreenect.h>
#include <QMutex>
#include <QScopedPointer>
#include <QSharedPointer>
#include <QThread>
class Freenect
{
public:
Freenect();
~Freenect();
bool init(int userDeviceNumber = 0);
bool process(void);
QSharedPointer<QByteArray> getRgbData(void);
QSharedPointer<QByteArray> getRawDepthData(void);
QSharedPointer<QByteArray> getDistanceData(void);
QSharedPointer<QByteArray> getColoredDepthData(void);
int getTiltAngle(void) const;
void setTiltAngle(int angle);
private:
static void rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t timestamp);
static void depthCallback(freenect_device* device, freenect_depth* depth, uint32_t timestamp);
freenect_context* context;
freenect_device* device;
class FreenectThread : public QThread
{
public:
explicit FreenectThread(freenect_device* _device);
protected:
virtual void run(void);
freenect_device* device;
};
QScopedPointer<FreenectThread> thread;
// tilt angle of Kinect camera
int tiltAngle;
// rgbd data
char rgb[FREENECT_RGB_SIZE];
QMutex rgbMutex;
char depth[FREENECT_DEPTH_SIZE];
QMutex depthMutex;
float distance[FREENECT_FRAME_PIX];
QMutex distanceMutex;
char coloredDepth[FREENECT_RGB_SIZE];
QMutex coloredDepthMutex;
// accelerometer data
short ax, ay, az;
double dx, dy, dz;
// gamma map
unsigned short gammaTable[2048];
};
#endif // FREENECT_H
src/ui/MainWindow.cc
View file @ 6344a49d
......@@ -47,7 +47,7 @@ This file is part of the QGROUNDCONTROL project
#include "GAudioOutput.h"
#ifdef QGC_OSG_ENABLED
#include "QMap3D.h"
#include "Q3DWidgetFactory.h"
#endif
// FIXME Move
......@@ -136,10 +136,13 @@ void MainWindow::buildWidgets()
protocolWidget = new XMLCommProtocolWidget(this);
dataplotWidget = new QGCDataPlot2D(this);
#ifdef QGC_OSG_ENABLED
//_3DWidget = Q3DWidgetFactory::get(QGC_MAP3D_OSGEARTH);
_3DWidget = new QMap3D(this);
_3DWidget = Q3DWidgetFactory::get("PIXHAWK");
#endif
#ifdef QGC_OSGEARTH_ENABLED
_3DMapWidget = Q3DWidgetFactory::get("MAP3D");
#endif
// Dock widgets
controlDockWidget = new QDockWidget(tr("Control"), this);
controlDockWidget->setWidget( new UASControlWidget(this) );
......@@ -232,6 +235,9 @@ void MainWindow::arrangeCenterStack()
if (mapWidget) centerStack->addWidget(mapWidget);
#ifdef QGC_OSG_ENABLED
if (_3DWidget) centerStack->addWidget(_3DWidget);
#endif
#ifdef QGC_OSGEARTH_ENABLED
if (_3DMapWidget) centerStack->addWidget(_3DMapWidget);
#endif
if (hudWidget) centerStack->addWidget(hudWidget);
if (dataplotWidget) centerStack->addWidget(dataplotWidget);
......@@ -373,6 +379,7 @@ void MainWindow::connectActions()
connect(ui.actionEngineerView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
connect(ui.actionOperatorView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
connect(ui.action3DView, SIGNAL(triggered()), this, SLOT(load3DView()));
connect(ui.action3DMapView, SIGNAL(triggered()), this, SLOT(load3DMapView()));
connect(ui.actionShow_full_view, SIGNAL(triggered()), this, SLOT(loadAllView()));
connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
......@@ -672,7 +679,7 @@ void MainWindow::loadPixhawkView()
clearView();
// Engineer view, used in EMAV2009
#ifdef QGC_OSG_ENABLED
#ifdef QGC_OSG_ENABLED
// 3D map
if (_3DWidget)
{
......@@ -960,6 +967,60 @@ void MainWindow::loadGlobalOperatorView()
}
void MainWindow::load3DMapView()
{
#ifdef QGC_OSGEARTH_ENABLED
clearView();
// 3D map
if (_3DMapWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
//map3DWidget->setActive(true);
centerStack->setCurrentWidget(_3DMapWidget);
}
}
// UAS CONTROL
if (controlDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->show();
}
// UAS LIST
if (listDockWidget)