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-0.137921 0.177436 -0.97442 + -0.0241546 0.252791 -0.967219 + -0.0378605 0.184231 -0.982154 + 0.051851 0.238548 -0.969745 + 0.0957422 0.18223 -0.978584 + 0.121589 0.271109 -0.954838 + 0.350701 0.185484 -0.917935 + 0.591703 0.630381 -0.502501 + 0.871856 0.192695 -0.450261 + 0.66915 0.704451 -0.236615 + 0.968558 0.159625 -0.190829 + } + } + } + } +} diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri index 530bb7798c1ae3943622e6362fd92448c174e615..742de0cd4b5e3073fff2a7a913944961d4062776 100644 --- a/qgroundcontrol.pri +++ b/qgroundcontrol.pri @@ -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 +} diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index cb224749d7e132d00399e87452e7ad55360a4244..020e128180ad3d01f5e5533d7558fe68c28f8bfa 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -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 diff --git a/src/input/Freenect.cc b/src/input/Freenect.cc new file mode 100644 index 0000000000000000000000000000000000000000..a60f094f8600eb7f53eacdb6d13c002338a71132 --- /dev/null +++ b/src/input/Freenect.cc @@ -0,0 +1,247 @@ +#include "Freenect.h" + +#include +#include +#include + +Freenect::Freenect() + : context(NULL) + , device(NULL) + , tiltAngle(0) +{ + for (int i = 0; i < 2048; ++i) + { + float v = static_cast(i) / 2048.0f; + v = powf(v, 3.0f) * 6.0f; + gammaTable[i] = static_cast(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 +Freenect::getRgbData(void) +{ + QMutexLocker locker(&rgbMutex); + return QSharedPointer( + new QByteArray(rgb, FREENECT_RGB_SIZE)); +} + +QSharedPointer +Freenect::getRawDepthData(void) +{ + QMutexLocker locker(&depthMutex); + return QSharedPointer( + new QByteArray(depth, FREENECT_DEPTH_SIZE)); +} + +QSharedPointer +Freenect::getDistanceData(void) +{ + QMutexLocker locker(&distanceMutex); + return QSharedPointer( + new QByteArray(reinterpret_cast(distance), + FREENECT_FRAME_PIX * sizeof(float))); +} + +QSharedPointer +Freenect::getColoredDepthData(void) +{ + QMutexLocker locker(&coloredDepthMutex); + return QSharedPointer( + 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_get_user(device)); + while (1) + { + freenect->process(); + } +} + +void +Freenect::rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t timestamp) +{ + Freenect* freenect = static_cast(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_get_user(device)); + freenect_depth* data = reinterpret_cast(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(data[i]) + 3.33f); + } + + QMutexLocker coloredDepthLocker(&freenect->coloredDepthMutex); + unsigned short* src = reinterpret_cast(data); + unsigned char* dst = reinterpret_cast(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; + } + } +} diff --git a/src/input/Freenect.h b/src/input/Freenect.h new file mode 100644 index 0000000000000000000000000000000000000000..e3e3925c5cfd732419f606343fae38bf6378010c --- /dev/null +++ b/src/input/Freenect.h @@ -0,0 +1,70 @@ +#ifndef FREENECT_H +#define FREENECT_H + +#include +#include +#include +#include +#include + +class Freenect +{ +public: + Freenect(); + ~Freenect(); + + bool init(int userDeviceNumber = 0); + bool process(void); + + QSharedPointer getRgbData(void); + QSharedPointer getRawDepthData(void); + QSharedPointer getDistanceData(void); + QSharedPointer 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 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 diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index 9b567a1b8408e0c45070d90239e012007364cd4b..87f7b5a987d5827dbc268f6d1decf4c4fa523ea8 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -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(centralWidget()); + if (centerStack) + { + //map3DWidget->setActive(true); + centerStack->setCurrentWidget(_3DMapWidget); + } + } + + // UAS CONTROL + if (controlDockWidget) + { + addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget); + controlDockWidget->show(); + } + + // UAS LIST + if (listDockWidget) + { + addDockWidget(Qt::BottomDockWidgetArea, listDockWidget); + listDockWidget->show(); + } + + // WAYPOINT LIST + if (waypointsDockWidget) + { + addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget); + waypointsDockWidget->show(); + } + + // HORIZONTAL SITUATION INDICATOR + if (hsiDockWidget) + { + HSIDisplay* hsi = dynamic_cast( hsiDockWidget->widget() ); + if (hsi) + { + hsi->start(); + addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget); + hsiDockWidget->show(); + } + } +#endif + this->show(); + + } + + void MainWindow::load3DView() { #ifdef QGC_OSG_ENABLED diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h index ed0b59c5beab267eb0c0dcd2348ce4ae7d32a067..31bb449b21f77e3e77731aba72aa6c5acca68eb3 100644 --- a/src/ui/MainWindow.h +++ b/src/ui/MainWindow.h @@ -63,10 +63,6 @@ This file is part of the QGROUNDCONTROL project #include "HSIDisplay.h" #include "QGCDataPlot2D.h" #include "QGCRemoteControlView.h" -#ifdef QGC_OSG_ENABLED -//#include "Q3DWidget.h" -#include "QMap3D.h" -#endif #include "LogCompressor.h" @@ -117,6 +113,8 @@ public slots: void loadOperatorView(); /** @brief Load 3D view */ void load3DView(); + /** @brief Load 3D map view */ + void load3DMapView(); /** @brief Load view with all widgets */ void loadAllView(); /** @brief Load MAVLink XML generator view */ @@ -167,7 +165,10 @@ protected: QPointer protocolWidget; QPointer dataplotWidget; #ifdef QGC_OSG_ENABLED - QPointer _3DWidget; + QPointer _3DWidget; + #endif + #ifdef QGC_OSGEARTH_ENABLED + QPointer _3DMapWidget; #endif // Dock widgets QPointer controlDockWidget; diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui index 75f7eb0f5d4abfce2028d75589330abbed565b2e..ed91679edcafa0bf811a97f6a1e6cc2509a5b520 100644 --- a/src/ui/MainWindow.ui +++ b/src/ui/MainWindow.ui @@ -75,6 +75,7 @@ + @@ -234,7 +235,7 @@ :/images/categories/preferences-system.svg:/images/categories/preferences-system.svg - Show 3D view + Show 3D local view Show 3D view @@ -318,6 +319,15 @@ Show Global operator view + + + + :/images/categories/applications-internet.svg:/images/categories/applications-internet.svg + + + Show 3D Globe view + + diff --git a/src/ui/map3D/GCManipulator.cc b/src/ui/map3D/GCManipulator.cc index cdabc966533ea9f53448713144bcbd9b584f5e6b..83b0b61684a99cecb1e8e9a8b787e2742304263a 100644 --- a/src/ui/map3D/GCManipulator.cc +++ b/src/ui/map3D/GCManipulator.cc @@ -254,7 +254,7 @@ GCManipulator::calcMovement() if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON) { // rotate camera - osg::Vec3 axis; + osg::Vec3d axis; float angle; float px0 = _ga_t0->getXnormalized(); diff --git a/src/ui/map3D/ImageWindowGeode.cc b/src/ui/map3D/ImageWindowGeode.cc new file mode 100644 index 0000000000000000000000000000000000000000..83bdb77f463fa7d35f7ea056d628679080b49bc4 --- /dev/null +++ b/src/ui/map3D/ImageWindowGeode.cc @@ -0,0 +1,115 @@ +///*===================================================================== +// +//QGroundControl Open Source Ground Control Station +// +//(c) 2009, 2010 QGROUNDCONTROL PROJECT +// +//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 . +// +//======================================================================*/ + +/** + * @file + * @brief Definition of the class ImageWindowGeode. + * + * @author Lionel Heng + * + */ + +#include "ImageWindowGeode.h" + +ImageWindowGeode::ImageWindowGeode(const QString& caption, + const osg::Vec4& backgroundColor, + osg::ref_ptr& image) + : border(5) +{ + // image + osg::ref_ptr imageGeometry = new osg::Geometry; + imageVertices = new osg::Vec3Array(4); + + osg::ref_ptr 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 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(imageVertices); + imageGeometry->setTexCoordArray(0, textureCoords); + + imageGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON, + 0, imageVertices->size())); + + osg::ref_ptr texture = new osg::Texture2D; + texture->setDataVariance(osg::Object::DYNAMIC); + texture->setImage(image); + texture->setResizeNonPowerOfTwoHint(false); + + imageGeometry->getOrCreateStateSet()-> + setTextureAttributeAndModes(0, texture, osg::StateAttribute::ON); + imageGeometry->setUseDisplayList(false); + + // background + osg::ref_ptr backgroundGeometry = new osg::Geometry; + backgroundVertices = new osg::Vec3Array(4); + backgroundGeometry->setVertexArray(backgroundVertices); + backgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON, + 0, backgroundVertices->size())); + osg::ref_ptr backgroundColors(new osg::Vec4Array); + backgroundColors->push_back(backgroundColor); + backgroundGeometry->setColorArray(backgroundColors); + backgroundGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); + backgroundGeometry->setUseDisplayList(false); + + // caption + text = new osgText::Text; + text->setText(caption.toStdString().c_str()); + text->setCharacterSize(11); + text->setFont("images/Vera.ttf"); + text->setAxisAlignment(osgText::Text::SCREEN); + text->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f)); + + addDrawable(imageGeometry); + addDrawable(backgroundGeometry); + addDrawable(text); + + setAttributes(0, 0, 0, 0); +} + +void +ImageWindowGeode::setAttributes(int x, int y, int width, int height) +{ + int imageWidth = width - border * 2; + int imageHeight = height - border * 2 - 15; + int imageXPosition = x + border; + int imageYPosition = y + border; + + imageVertices->at(0) = osg::Vec3(imageXPosition, imageYPosition, 0); + imageVertices->at(1) = osg::Vec3(imageXPosition + imageWidth, imageYPosition, 0); + imageVertices->at(2) = osg::Vec3(imageXPosition + imageWidth, imageYPosition + imageHeight, 0); + imageVertices->at(3) = osg::Vec3(imageXPosition, imageYPosition + imageHeight, 0); + + text->setPosition(osg::Vec3(imageXPosition, imageYPosition + imageHeight + 5, 0)); + + backgroundVertices->at(0) = osg::Vec3(x, y, -1); + backgroundVertices->at(1) = osg::Vec3(x + width, y, -1); + backgroundVertices->at(2) = osg::Vec3(x + width, y + height, -1); + backgroundVertices->at(3) = osg::Vec3(x, y + height, -1); +} diff --git a/src/ui/map3D/ImageWindowGeode.h b/src/ui/map3D/ImageWindowGeode.h new file mode 100644 index 0000000000000000000000000000000000000000..87281d860b68070391903269366c3a0487dce945 --- /dev/null +++ b/src/ui/map3D/ImageWindowGeode.h @@ -0,0 +1,56 @@ +///*===================================================================== +// +//QGroundControl Open Source Ground Control Station +// +//(c) 2009, 2010 QGROUNDCONTROL PROJECT +// +//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 . +// +//======================================================================*/ + +/** + * @file + * @brief Definition of the class ImageWindowGeode. + * + * @author Lionel Heng + * + */ + +#ifndef IMAGEWINDOWGEODE_H +#define IMAGEWINDOWGEODE_H + +#include +#include +#include +#include + +class ImageWindowGeode : public osg::Geode +{ +public: + ImageWindowGeode(const QString& caption, const osg::Vec4& backgroundColor, + osg::ref_ptr& image); + + void setAttributes(int x, int y, int width, int height); + +private: + int border; + + osg::ref_ptr imageVertices; + osg::ref_ptr backgroundVertices; + osg::ref_ptr text; +}; + +#endif // IMAGEWINDOWGEODE_H diff --git a/src/ui/map3D/Imagery.cc b/src/ui/map3D/Imagery.cc new file mode 100644 index 0000000000000000000000000000000000000000..7e972b5cf83833437305cb3b314cad45b03842fa --- /dev/null +++ b/src/ui/map3D/Imagery.cc @@ -0,0 +1,594 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of the class Imagery. + * + * @author Lionel Heng + * + */ + +#include "Imagery.h" + +#include +#include +#include + +const double WGS84_A = 6378137.0; +const double WGS84_ECCSQ = 0.00669437999013; + +const int MAX_ZOOM_LEVEL = 20; + +Imagery::Imagery() + : textureCache(new TextureCache(1000)) +{ + +} + +void +Imagery::setImageryType(ImageryType type) +{ + currentImageryType = type; +} + +void +Imagery::setOffset(double xOffset, double yOffset) +{ + this->xOffset = xOffset; + this->yOffset = yOffset; +} + +void +Imagery::prefetch2D(double windowWidth, double windowHeight, + double zoom, double xOrigin, double yOrigin, + double viewXOffset, double viewYOffset, + const QString& utmZone) +{ + double tileResolution; + if (currentImageryType == GOOGLE_SATELLITE || + currentImageryType == GOOGLE_MAP) + { + tileResolution = 1.0; + while (tileResolution * 3.0 / 2.0 < 1.0 / zoom) + { + tileResolution *= 2.0; + } + if (tileResolution > 512.0) + { + tileResolution = 512.0; + } + } + else if (currentImageryType == SWISSTOPO_SATELLITE) + { + tileResolution = 0.25; + } + + int minTileX, minTileY, maxTileX, maxTileY; + int zoomLevel; + + tileBounds(tileResolution, + xOrigin + viewXOffset - windowWidth / 2.0 / zoom, + yOrigin + viewYOffset - windowHeight / 2.0 / zoom, + xOrigin + viewXOffset + windowWidth / 2.0 / zoom, + yOrigin + viewYOffset + windowHeight / 2.0 / zoom, utmZone, + minTileX, minTileY, maxTileX, maxTileY, zoomLevel); + + for (int r = minTileY; r <= maxTileY; ++r) + { + for (int c = minTileX; c <= maxTileX; ++c) + { + QString url = getTileLocation(c, r, zoomLevel, tileResolution); + + TexturePtr t = textureCache->get(url); + } + } +} + +void +Imagery::draw2D(double windowWidth, double windowHeight, + double zoom, double xOrigin, double yOrigin, + double viewXOffset, double viewYOffset, + const QString& utmZone) +{ + double tileResolution; + if (currentImageryType == GOOGLE_SATELLITE || + currentImageryType == GOOGLE_MAP) + { + tileResolution = 1.0; + while (tileResolution * 3.0 / 2.0 < 1.0 / zoom) + { + tileResolution *= 2.0; + } + if (tileResolution > 512.0) + { + tileResolution = 512.0; + } + } + else if (currentImageryType == SWISSTOPO_SATELLITE) + { + tileResolution = 0.25; + } + + int minTileX, minTileY, maxTileX, maxTileY; + int zoomLevel; + + tileBounds(tileResolution, + xOrigin + viewXOffset - windowWidth / 2.0 / zoom * 1.5, + yOrigin + viewYOffset - windowHeight / 2.0 / zoom * 1.5, + xOrigin + viewXOffset + windowWidth / 2.0 / zoom * 1.5, + yOrigin + viewYOffset + windowHeight / 2.0 / zoom * 1.5, utmZone, + minTileX, minTileY, maxTileX, maxTileY, zoomLevel); + + for (int r = minTileY; r <= maxTileY; ++r) + { + for (int c = minTileX; c <= maxTileX; ++c) + { + QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution); + + double x1, y1, x2, y2, x3, y3, x4, y4; + imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4); + + TexturePtr t = textureCache->get(tileURL); + if (!t.isNull()) + { + t->draw(x1 - xOrigin, y1 - yOrigin, + x2 - xOrigin, y2 - yOrigin, + x3 - xOrigin, y3 - yOrigin, + x4 - xOrigin, y4 - yOrigin, true); + } + } + } +} + +void +Imagery::prefetch3D(double radius, double tileResolution, + double xOrigin, double yOrigin, + double viewXOffset, double viewYOffset, + const QString& utmZone, bool useHeightModel) +{ + int minTileX, minTileY, maxTileX, maxTileY; + int zoomLevel; + + tileBounds(tileResolution, + xOrigin + viewXOffset - radius, + yOrigin + viewYOffset - radius, + xOrigin + viewXOffset + radius, + yOrigin + viewYOffset + radius, utmZone, + minTileX, minTileY, maxTileX, maxTileY, zoomLevel); + + for (int r = minTileY; r <= maxTileY; ++r) + { + for (int c = minTileX; c <= maxTileX; ++c) + { + QString url = getTileLocation(c, r, zoomLevel, tileResolution); + + TexturePtr t = textureCache->get(url, useHeightModel); + } + } +} + +void +Imagery::draw3D(double radius, double tileResolution, + double xOrigin, double yOrigin, + double viewXOffset, double viewYOffset, + const QString& utmZone, bool useHeightModel) +{ + int minTileX, minTileY, maxTileX, maxTileY; + int zoomLevel; + + tileBounds(tileResolution, + xOrigin + viewXOffset - radius, + yOrigin + viewYOffset - radius, + xOrigin + viewXOffset + radius, + yOrigin + viewYOffset + radius, utmZone, + minTileX, minTileY, maxTileX, maxTileY, zoomLevel); + + for (int r = minTileY; r <= maxTileY; ++r) + { + for (int c = minTileX; c <= maxTileX; ++c) + { + QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution); + + double x1, y1, x2, y2, x3, y3, x4, y4; + imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4); + + TexturePtr t = textureCache->get(tileURL, useHeightModel); + + if (!t.isNull()) + { + t->draw(x1 - xOrigin, y1 - yOrigin, + x2 - xOrigin, y2 - yOrigin, + x3 - xOrigin, y3 - yOrigin, + x4 - xOrigin, y4 - yOrigin, true); + } + } + } +} + +bool +Imagery::update(void) +{ + textureCache->sync(); + + return true; +} + +void +Imagery::imageBounds(int tileX, int tileY, double tileResolution, + double& x1, double& y1, double& x2, double& y2, + double& x3, double& y3, double& x4, double& y4) const +{ + if (currentImageryType == GOOGLE_MAP || + currentImageryType == GOOGLE_SATELLITE) + { + int zoomLevel = MAX_ZOOM_LEVEL - static_cast(rint(log2(tileResolution))); + int numTiles = static_cast(exp2(static_cast(zoomLevel))); + + double lon1 = tileXToLongitude(tileX, numTiles); + double lon2 = tileXToLongitude(tileX + 1, numTiles); + + double lat1 = tileYToLatitude(tileY, numTiles); + double lat2 = tileYToLatitude(tileY + 1, numTiles); + + QString utmZone; + LLtoUTM(lat1, lon1, x1, y1, utmZone); + LLtoUTM(lat1, lon2, x2, y2, utmZone); + LLtoUTM(lat2, lon2, x3, y3, utmZone); + LLtoUTM(lat2, lon1, x4, y4, utmZone); + } + else if (currentImageryType == SWISSTOPO_SATELLITE || + currentImageryType == SWISSTOPO_SATELLITE_3D) + { + double utmMultiplier = tileResolution * 200.0; + double minX = tileX * utmMultiplier; + double maxX = minX + utmMultiplier; + double minY = tileY * utmMultiplier; + double maxY = minY + utmMultiplier; + + x1 = maxX; y1 = minY; + x2 = maxX; y2 = maxY; + x3 = minX; y3 = maxY; + x4 = minX; y4 = minY; + } +} + +void +Imagery::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 centerUtmX = (maxUtmX - minUtmX) / 2.0 + minUtmX; + double centerUtmY = (maxUtmY - minUtmY) / 2.0 + minUtmY; + int centerTileX, centerTileY; + + if (currentImageryType == GOOGLE_MAP || + currentImageryType == GOOGLE_SATELLITE) + { + UTMtoTile(minUtmX, minUtmY, utmZone, tileResolution, + minTileX, maxTileY, zoomLevel); + UTMtoTile(centerUtmX, centerUtmY, utmZone, tileResolution, + centerTileX, centerTileY, zoomLevel); + UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution, + maxTileX, minTileY, zoomLevel); + } + else if (currentImageryType == SWISSTOPO_SATELLITE || + currentImageryType == SWISSTOPO_SATELLITE_3D) + { + double utmMultiplier = tileResolution * 200; + + minTileX = static_cast(rint(minUtmX / utmMultiplier)); + minTileY = static_cast(rint(minUtmY / utmMultiplier)); + centerTileX = static_cast(rint(centerUtmX / utmMultiplier)); + centerTileY = static_cast(rint(centerUtmY / utmMultiplier)); + maxTileX = static_cast(rint(maxUtmX / utmMultiplier)); + maxTileY = static_cast(rint(maxUtmY / utmMultiplier)); + } + + if (maxTileX - minTileX + 1 > 14) + { + minTileX = centerTileX - 7; + maxTileX = centerTileX + 6; + } + if (maxTileY - minTileY + 1 > 14) + { + minTileY = centerTileY - 7; + maxTileY = centerTileY + 6; + } +} + +double +Imagery::tileXToLongitude(int tileX, int numTiles) const +{ + return 360.0 * (static_cast(tileX) + / static_cast(numTiles)) - 180.0; +} + +double +Imagery::tileYToLatitude(int tileY, int numTiles) const +{ + double unnormalizedRad = + (static_cast(tileY) / static_cast(numTiles)) + * 2.0 * M_PI - M_PI; + double rad = 2.0 * atan(exp(unnormalizedRad)) - M_PI / 2.0; + return -rad * 180.0 / M_PI; +} + +int +Imagery::longitudeToTileX(double longitude, int numTiles) const +{ + return static_cast((longitude / 180.0 + 1.0) / 2.0 * numTiles); +} + +int +Imagery::latitudeToTileY(double latitude, int numTiles) const +{ + double rad = latitude * M_PI / 180.0; + double normalizedRad = -log(tan(rad) + 1.0 / cos(rad)); + return static_cast((normalizedRad + M_PI) + / (2.0 * M_PI) * numTiles); +} + +void +Imagery::UTMtoTile(double northing, double easting, const QString& utmZone, + double tileResolution, int& tileX, int& tileY, + int& zoomLevel) const +{ + double latitude, longitude; + + UTMtoLL(northing, easting, utmZone, latitude, longitude); + + zoomLevel = MAX_ZOOM_LEVEL - static_cast(rint(log2(tileResolution))); + int numTiles = static_cast(exp2(static_cast(zoomLevel))); + + tileX = longitudeToTileX(longitude, numTiles); + tileY = latitudeToTileY(latitude, numTiles); +} + +QChar +Imagery::UTMLetterDesignator(double latitude) const +{ + // This routine determines the correct UTM letter designator for the given latitude + // returns 'Z' if latitude is outside the UTM limits of 84N to 80S + // Written by Chuck Gantz- chuck.gantz@globalstar.com + char letterDesignator; + + if ((84.0 >= latitude) && (latitude >= 72.0)) letterDesignator = 'X'; + else if ((72.0 > latitude) && (latitude >= 64.0)) letterDesignator = 'W'; + else if ((64.0 > latitude) && (latitude >= 56.0)) letterDesignator = 'V'; + else if ((56.0 > latitude) && (latitude >= 48.0)) letterDesignator = 'U'; + else if ((48.0 > latitude) && (latitude >= 40.0)) letterDesignator = 'T'; + else if ((40.0 > latitude) && (latitude >= 32.0)) letterDesignator = 'S'; + else if ((32.0 > latitude) && (latitude >= 24.0)) letterDesignator = 'R'; + else if ((24.0 > latitude) && (latitude >= 16.0)) letterDesignator = 'Q'; + else if ((16.0 > latitude) && (latitude >= 8.0)) letterDesignator = 'P'; + else if (( 8.0 > latitude) && (latitude >= 0.0)) letterDesignator = 'N'; + else if (( 0.0 > latitude) && (latitude >= -8.0)) letterDesignator = 'M'; + else if ((-8.0 > latitude) && (latitude >= -16.0)) letterDesignator = 'L'; + else if ((-16.0 > latitude) && (latitude >= -24.0)) letterDesignator = 'K'; + else if ((-24.0 > latitude) && (latitude >= -32.0)) letterDesignator = 'J'; + else if ((-32.0 > latitude) && (latitude >= -40.0)) letterDesignator = 'H'; + else if ((-40.0 > latitude) && (latitude >= -48.0)) letterDesignator = 'G'; + else if ((-48.0 > latitude) && (latitude >= -56.0)) letterDesignator = 'F'; + else if ((-56.0 > latitude) && (latitude >= -64.0)) letterDesignator = 'E'; + else if ((-64.0 > latitude) && (latitude >= -72.0)) letterDesignator = 'D'; + else if ((-72.0 > latitude) && (latitude >= -80.0)) letterDesignator = 'C'; + else letterDesignator = 'Z'; //This is here as an error flag to show that the Latitude is outside the UTM limits + + return letterDesignator; +} + +void +Imagery::LLtoUTM(double latitude, double longitude, + double& utmNorthing, double& utmEasting, + QString& utmZone) const +{ + // converts lat/long to UTM coords. Equations from USGS Bulletin 1532 + // East Longitudes are positive, West longitudes are negative. + // North latitudes are positive, South latitudes are negative + // Lat and Long are in decimal degrees + // Written by Chuck Gantz- chuck.gantz@globalstar.com + + double k0 = 0.9996; + + double LongOrigin; + double eccPrimeSquared; + double N, T, C, A, M; + + double LatRad = latitude * M_PI / 180.0; + double LongRad = longitude * M_PI / 180.0; + double LongOriginRad; + + int ZoneNumber = static_cast((longitude + 180.0) / 6.0) + 1; + + if (latitude >= 56.0 && latitude < 64.0 && + longitude >= 3.0 && longitude < 12.0) + { + ZoneNumber = 32; + } + + // Special zones for Svalbard + if (latitude >= 72.0 && latitude < 84.0) + { + if ( longitude >= 0.0 && longitude < 9.0) ZoneNumber = 31; + else if (longitude >= 9.0 && longitude < 21.0) ZoneNumber = 33; + else if (longitude >= 21.0 && longitude < 33.0) ZoneNumber = 35; + else if (longitude >= 33.0 && longitude < 42.0) ZoneNumber = 37; + } + LongOrigin = static_cast((ZoneNumber - 1) * 6 - 180 + 3); //+3 puts origin in middle of zone + LongOriginRad = LongOrigin * M_PI / 180.0; + + // compute the UTM Zone from the latitude and longitude + utmZone = QString("%1%2").arg(ZoneNumber).arg(UTMLetterDesignator(latitude)); + + eccPrimeSquared = WGS84_ECCSQ / (1.0 - WGS84_ECCSQ); + + N = WGS84_A / sqrt(1.0f - WGS84_ECCSQ * sin(LatRad) * sin(LatRad)); + T = tan(LatRad) * tan(LatRad); + C = eccPrimeSquared * cos(LatRad) * cos(LatRad); + A = cos(LatRad) * (LongRad - LongOriginRad); + + M = WGS84_A * ((1.0 - WGS84_ECCSQ / 4.0 + - 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 64.0 + - 5.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 256.0) + * LatRad + - (3.0 * WGS84_ECCSQ / 8.0 + + 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 32.0 + + 45.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 1024.0) + * sin(2.0 * LatRad) + + (15.0 * WGS84_ECCSQ * WGS84_ECCSQ / 256.0 + + 45.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 1024.0) + * sin(4.0 * LatRad) + - (35.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 3072.0) + * sin(6.0 * LatRad)); + + utmEasting = k0 * N * (A + (1.0 - T + C) * A * A * A / 6.0 + + (5.0 - 18.0 * T + T * T + 72.0 * C + - 58.0 * eccPrimeSquared) + * A * A * A * A * A / 120.0) + + 500000.0; + + utmNorthing = k0 * (M + N * tan(LatRad) * + (A * A / 2.0 + + (5.0 - T + 9.0 * C + 4.0 * C * C) * A * A * A * A / 24.0 + + (61.0 - 58.0 * T + T * T + 600.0 * C + - 330.0 * eccPrimeSquared) + * A * A * A * A * A * A / 720.0)); + if (latitude < 0.0) + { + utmNorthing += 10000000.0; //10000000 meter offset for southern hemisphere + } +} + +void +Imagery::UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone, + double& latitude, double& longitude) const +{ + // converts UTM coords to lat/long. Equations from USGS Bulletin 1532 + // East Longitudes are positive, West longitudes are negative. + // North latitudes are positive, South latitudes are negative + // Lat and Long are in decimal degrees. + // Written by Chuck Gantz- chuck.gantz@globalstar.com + + double k0 = 0.9996; + double eccPrimeSquared; + double e1 = (1.0 - sqrt(1.0 - WGS84_ECCSQ)) / (1.0 + sqrt(1.0 - WGS84_ECCSQ)); + double N1, T1, C1, R1, D, M; + double LongOrigin; + double mu, phi1, phi1Rad; + double x, y; + int ZoneNumber; + char ZoneLetter; + bool NorthernHemisphere; + + x = utmEasting - 500000.0; //remove 500,000 meter offset for longitude + y = utmNorthing; + + std::istringstream iss(utmZone.toStdString()); + iss >> ZoneNumber >> ZoneLetter; + if ((ZoneLetter - 'N') >= 0) + { + NorthernHemisphere = true;//point is in northern hemisphere + } + else + { + NorthernHemisphere = false;//point is in southern hemisphere + y -= 10000000.0;//remove 10,000,000 meter offset used for southern hemisphere + } + + LongOrigin = (ZoneNumber - 1.0) * 6.0 - 180.0 + 3.0; //+3 puts origin in middle of zone + + eccPrimeSquared = WGS84_ECCSQ / (1.0 - WGS84_ECCSQ); + + M = y / k0; + mu = M / (WGS84_A * (1.0 - WGS84_ECCSQ / 4.0 + - 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 64.0 + - 5.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 256.0)); + + phi1Rad = mu + (3.0 * e1 / 2.0 - 27.0 * e1 * e1 * e1 / 32.0) * sin(2.0 * mu) + + (21.0 * e1 * e1 / 16.0 - 55.0 * e1 * e1 * e1 * e1 / 32.0) + * sin(4.0 * mu) + + (151.0 * e1 * e1 * e1 / 96.0) * sin(6.0 * mu); + phi1 = phi1Rad / M_PI * 180.0; + + N1 = WGS84_A / sqrt(1.0 - WGS84_ECCSQ * sin(phi1Rad) * sin(phi1Rad)); + T1 = tan(phi1Rad) * tan(phi1Rad); + C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad); + R1 = WGS84_A * (1.0 - WGS84_ECCSQ) / + pow(1.0 - WGS84_ECCSQ * sin(phi1Rad) * sin(phi1Rad), 1.5); + D = x / (N1 * k0); + + latitude = phi1Rad - (N1 * tan(phi1Rad) / R1) + * (D * D / 2.0 - (5.0 + 3.0 * T1 + 10.0 * C1 - 4.0 * C1 * C1 + - 9.0 * eccPrimeSquared) * D * D * D * D / 24.0 + + (61.0 + 90.0 * T1 + 298.0 * C1 + 45.0 * T1 * T1 + - 252.0 * eccPrimeSquared - 3.0 * C1 * C1) + * D * D * D * D * D * D / 720.0); + latitude *= 180.0 / M_PI; + + longitude = (D - (1.0 + 2.0 * T1 + C1) * D * D * D / 6.0 + + (5.0 - 2.0 * C1 + 28.0 * T1 - 3.0 * C1 * C1 + + 8.0 * eccPrimeSquared + 24.0 * T1 * T1) + * D * D * D * D * D / 120.0) / cos(phi1Rad); + longitude = LongOrigin + longitude / M_PI * 180.0; +} + +QString +Imagery::getTileLocation(int tileX, int tileY, int zoomLevel, + double tileResolution) const +{ + std::ostringstream oss; + + switch (currentImageryType) + { + case GOOGLE_MAP: + oss << "http://mt0.google.com/vt/lyrs=m@120&x=" << tileX + << "&y=" << tileY << "&z=" << zoomLevel; + break; + case GOOGLE_SATELLITE: + oss << "http://khm.google.com/vt/lbw/lyrs=y&x=" << tileX + << "&y=" << tileY << "&z=" << zoomLevel; + break; + case SWISSTOPO_SATELLITE: case SWISSTOPO_SATELLITE_3D: + oss << "../map/eth_zurich_swissimage_025/200/color/" << tileY + << "/tile-"; + if (tileResolution < 1.0) + { + oss << std::fixed << std::setprecision(2) << tileResolution; + } + else + { + oss << static_cast(rint(tileResolution)); + } + oss << "-" << tileY << "-" << tileX << ".jpg"; + default: + {}; + } + + QString url(oss.str().c_str()); + + return url; +} diff --git a/src/ui/map3D/Imagery.h b/src/ui/map3D/Imagery.h new file mode 100644 index 0000000000000000000000000000000000000000..157bd5479b430296d868130bfbdb0a56383cf412 --- /dev/null +++ b/src/ui/map3D/Imagery.h @@ -0,0 +1,114 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of the class Imagery. + * + * @author Lionel Heng + * + */ + +#ifndef IMAGERY_H +#define IMAGERY_H + +#include +#include + +#include "TextureCache.h" + +class Imagery +{ +public: + enum ImageryType + { + GOOGLE_MAP = 0, + GOOGLE_SATELLITE = 1, + SWISSTOPO_SATELLITE = 2, + SWISSTOPO_SATELLITE_3D = 3 + }; + + Imagery(); + + void setImageryType(ImageryType type); + void setOffset(double xOffset, double yOffset); + + void prefetch2D(double windowWidth, double windowHeight, + double zoom, double xOrigin, double yOrigin, + double viewXOffset, double viewYOffset, + const QString& utmZone); + void draw2D(double windowWidth, double windowHeight, + double zoom, double xOrigin, double yOrigin, + double viewXOffset, double viewYOffset, + const QString& utmZone); + + void prefetch3D(double radius, double tileResolution, + double xOrigin, double yOrigin, + double viewXOffset, double viewYOffset, + const QString& utmZone, bool useHeightModel); + void draw3D(double radius, double tileResolution, + double xOrigin, double yOrigin, + double viewXOffset, double viewYOffset, + const QString& utmZone, bool useHeightModel); + + bool update(void); + +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; + QChar UTMLetterDesignator(double latitude) const; + + void LLtoUTM(double latitude, double longitude, + double& utmNorthing, double& utmEasting, + QString& utmZone) const; + void UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone, + double& latitude, double& longitude) const; + + QString getTileLocation(int tileX, int tileY, int zoomLevel, + double tileResolution) const; + + QScopedPointer textureCache; + + ImageryType currentImageryType; + + double xOffset; + double yOffset; +}; + +#endif // IMAGERY_H diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc index 2bbabe355765bcc92775c6b20b7b27af1bf44920..af91684a11ea712a2092fe50bc4657b9539495f7 100644 --- a/src/ui/map3D/Pixhawk3DWidget.cc +++ b/src/ui/map3D/Pixhawk3DWidget.cc @@ -34,6 +34,8 @@ #include #include +#include +#include #include #include @@ -49,6 +51,8 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent) , displayTrail(false) , displayTarget(false) , displayWaypoints(true) + , displayRGBD2D(false) + , displayRGBD3D(false) , followCamera(true) , lastRobotX(0.0f) , lastRobotY(0.0f) @@ -58,7 +62,8 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent) init(15.0f); // generate Pixhawk Cheetah model - egocentricMap->addChild(PixhawkCheetahGeode::instance()); + vehicleModel = PixhawkCheetahGeode::instance(); + egocentricMap->addChild(vehicleModel); // generate grid model gridNode = createGrid(); @@ -68,9 +73,11 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent) trailNode = createTrail(); rollingMap->addChild(trailNode); +#ifdef QGC_OSGEARTH_ENABLED // generate map model mapNode = createMap(); root->addChild(mapNode); +#endif // generate target model allocentricMap->addChild(createTarget()); @@ -79,8 +86,20 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent) waypointsNode = createWaypoints(); rollingMap->addChild(waypointsNode); +#ifdef QGC_LIBFREENECT_ENABLED + freenect.reset(new Freenect()); + freenect->init(); +#endif + + // generate RGBD model + rgbd3DNode = createRGBD3D(); + egocentricMap->addChild(rgbd3DNode); + setupHUD(); + // find available vehicle models in models folder + vehicleModels = findVehicleModels(); + buildLayout(); connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), @@ -92,59 +111,6 @@ Pixhawk3DWidget::~Pixhawk3DWidget() } -void -Pixhawk3DWidget::buildLayout(void) -{ - QCheckBox* gridCheckBox = new QCheckBox(this); - gridCheckBox->setText("Grid"); - gridCheckBox->setChecked(displayGrid); - - QCheckBox* trailCheckBox = new QCheckBox(this); - trailCheckBox->setText("Trail"); - trailCheckBox->setChecked(displayTrail); - - QCheckBox* waypointsCheckBox = new QCheckBox(this); - waypointsCheckBox->setText("Waypoints"); - waypointsCheckBox->setChecked(displayWaypoints); - - targetButton = new QPushButton(this); - targetButton->setCheckable(true); - targetButton->setChecked(false); - targetButton->setIcon(QIcon(QString::fromUtf8(":/images/status/weather-clear.svg"))); - - QPushButton* recenterButton = new QPushButton(this); - recenterButton->setText("Recenter Camera"); - - QCheckBox* followCameraCheckBox = new QCheckBox(this); - followCameraCheckBox->setText("Follow Camera"); - followCameraCheckBox->setChecked(followCamera); - - QGridLayout* layout = new QGridLayout(this); - layout->setMargin(0); - layout->setSpacing(2); - layout->addWidget(gridCheckBox, 1, 0); - layout->addWidget(trailCheckBox, 1, 1); - layout->addWidget(waypointsCheckBox, 1, 2); - layout->addItem(new QSpacerItem(20, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 3); - layout->addWidget(targetButton, 1, 4); - layout->addItem(new QSpacerItem(20, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 5); - layout->addWidget(recenterButton, 1, 6); - layout->addWidget(followCameraCheckBox, 1, 7); - layout->setRowStretch(0, 100); - layout->setRowStretch(1, 1); - setLayout(layout); - - connect(gridCheckBox, SIGNAL(stateChanged(int)), - this, SLOT(showGrid(int))); - connect(trailCheckBox, SIGNAL(stateChanged(int)), - this, SLOT(showTrail(int))); - connect(waypointsCheckBox, SIGNAL(stateChanged(int)), - this, SLOT(showWaypoints(int))); - connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter())); - connect(followCameraCheckBox, SIGNAL(stateChanged(int)), - this, SLOT(toggleFollowCamera(int))); -} - /** * * @param uas the UAS/MAV to monitor/display with the HUD @@ -204,6 +170,14 @@ Pixhawk3DWidget::showWaypoints(int state) } } +void +Pixhawk3DWidget::selectVehicleModel(int index) +{ + egocentricMap->removeChild(vehicleModel); + vehicleModel = vehicleModels.at(index); + egocentricMap->addChild(vehicleModel); +} + void Pixhawk3DWidget::recenter(void) { @@ -230,6 +204,123 @@ Pixhawk3DWidget::toggleFollowCamera(int32_t state) followCamera = false; } } +#include +QVector< osg::ref_ptr > +Pixhawk3DWidget::findVehicleModels(void) +{ + QDir directory("models"); + QStringList files = directory.entryList(QStringList("*.osg"), QDir::Files); + + QVector< osg::ref_ptr > nodes; + + // add Pixhawk Bravo model + nodes.push_back(PixhawkCheetahGeode::instance()); + + // add all other models in folder + for (int i = 0; i < files.size(); ++i) + { + osg::ref_ptr node = + osgDB::readNodeFile(directory.absoluteFilePath(files[i]).toStdString().c_str()); + + if (node) + { + + nodes.push_back(node); + } + else + { + printf(QString("ERROR: Could not load file " + directory.absoluteFilePath(files[i]) + "\n").toStdString().c_str()); + } + } + +// QStringList dirs = directory.entryList(QDir::Dirs); +// // Add models in subfolders +// for (int i = 0; i < dirs.size(); ++i) +// { +// // Handling the current directory +// QStringList currFiles = QDir(dirs[i]).entryList(QStringList("*.ac"), QDir::Files); + +// // Load the file +// osg::ref_ptr node = +// osgDB::readNodeFile(directory.absoluteFilePath(currFiles.first()).toStdString().c_str()); + +// if (node) +// { + +// nodes.push_back(node); +// } +// else +// { +// printf(QString("ERROR: Could not load file " + directory.absoluteFilePath(files[i]) + "\n").toStdString().c_str()); +// } +// } + + return nodes; +} + +void +Pixhawk3DWidget::buildLayout(void) +{ + QCheckBox* gridCheckBox = new QCheckBox(this); + gridCheckBox->setText("Grid"); + gridCheckBox->setChecked(displayGrid); + + QCheckBox* trailCheckBox = new QCheckBox(this); + trailCheckBox->setText("Trail"); + trailCheckBox->setChecked(displayTrail); + + QCheckBox* waypointsCheckBox = new QCheckBox(this); + waypointsCheckBox->setText("Waypoints"); + waypointsCheckBox->setChecked(displayWaypoints); + + QLabel* modelLabel = new QLabel("Vehicle Model", this); + QComboBox* modelComboBox = new QComboBox(this); + for (int i = 0; i < vehicleModels.size(); ++i) + { + modelComboBox->addItem(vehicleModels[i]->getName().c_str()); + } + + targetButton = new QPushButton(this); + targetButton->setCheckable(true); + targetButton->setChecked(false); + targetButton->setIcon(QIcon(QString::fromUtf8(":/images/status/weather-clear.svg"))); + + QPushButton* recenterButton = new QPushButton(this); + recenterButton->setText("Recenter Camera"); + + QCheckBox* followCameraCheckBox = new QCheckBox(this); + followCameraCheckBox->setText("Follow Camera"); + followCameraCheckBox->setChecked(followCamera); + + QGridLayout* layout = new QGridLayout(this); + layout->setMargin(0); + layout->setSpacing(2); + layout->addWidget(gridCheckBox, 1, 0); + layout->addWidget(trailCheckBox, 1, 1); + layout->addWidget(waypointsCheckBox, 1, 2); + layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 3); + layout->addWidget(modelLabel, 1, 4); + layout->addWidget(modelComboBox, 1, 5); + layout->addWidget(targetButton, 1, 6); + layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 7); + layout->addWidget(recenterButton, 1, 8); + layout->addWidget(followCameraCheckBox, 1, 9); + layout->setRowStretch(0, 100); + layout->setRowStretch(1, 1); + setLayout(layout); + + connect(gridCheckBox, SIGNAL(stateChanged(int)), + this, SLOT(showGrid(int))); + connect(trailCheckBox, SIGNAL(stateChanged(int)), + this, SLOT(showTrail(int))); + connect(waypointsCheckBox, SIGNAL(stateChanged(int)), + this, SLOT(showWaypoints(int))); + connect(modelComboBox, SIGNAL(currentIndexChanged(int)), + this, SLOT(selectVehicleModel(int))); + connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter())); + connect(followCameraCheckBox, SIGNAL(stateChanged(int)), + this, SLOT(toggleFollowCamera(int))); +} void Pixhawk3DWidget::display(void) @@ -271,22 +362,47 @@ Pixhawk3DWidget::display(void) robotPitch, osg::Vec3f(1.0f, 0.0f, 0.0f), robotRoll, osg::Vec3f(0.0f, 1.0f, 0.0f))); - updateHUD(robotX, robotY, robotZ, robotRoll, robotPitch, robotYaw); updateTrail(robotX, robotY, robotZ); updateTarget(); updateWaypoints(); +#ifdef QGC_LIBFREENECT_ENABLED + updateRGBD(); +#endif + updateHUD(robotX, robotY, robotZ, robotRoll, robotPitch, robotYaw); // set node visibility rollingMap->setChildValue(gridNode, displayGrid); rollingMap->setChildValue(trailNode, displayTrail); rollingMap->setChildValue(targetNode, displayTarget); rollingMap->setChildValue(waypointsNode, displayWaypoints); + egocentricMap->setChildValue(rgbd3DNode, displayRGBD3D); + hudGroup->setChildValue(rgb2DGeode, displayRGBD2D); + hudGroup->setChildValue(depth2DGeode, displayRGBD2D); lastRobotX = robotX; lastRobotY = robotY; lastRobotZ = robotZ; } +void +Pixhawk3DWidget::keyPressEvent(QKeyEvent* event) +{ + if (!event->text().isEmpty()) + { + switch (*(event->text().toAscii().data())) + { + case '1': + displayRGBD2D = !displayRGBD2D; + break; + case '2': + displayRGBD3D = !displayRGBD3D; + break; + } + } + + Q3DWidget::keyPressEvent(event); +} + void Pixhawk3DWidget::mousePressEvent(QMouseEvent* event) { @@ -393,6 +509,7 @@ Pixhawk3DWidget::createTrail(void) return geode; } +#ifdef QGC_OSGEARTH_ENABLED osg::ref_ptr Pixhawk3DWidget::createMap(void) { @@ -401,6 +518,7 @@ Pixhawk3DWidget::createMap(void) return node; } +#endif osg::ref_ptr Pixhawk3DWidget::createTarget(void) @@ -421,72 +539,111 @@ Pixhawk3DWidget::createWaypoints(void) return group; } +osg::ref_ptr +Pixhawk3DWidget::createRGBD3D(void) +{ + int frameSize = 640 * 480; + + osg::ref_ptr geode(new osg::Geode); + osg::ref_ptr geometry(new osg::Geometry); + + osg::ref_ptr vertices(new osg::Vec3Array(frameSize)); + geometry->setVertexArray(vertices); + + osg::ref_ptr colors(new osg::Vec4Array(frameSize)); + geometry->setColorArray(colors); + geometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX); + geometry->setUseDisplayList(false); + + geode->addDrawable(geometry); + + return geode; +} + void Pixhawk3DWidget::setupHUD(void) { - osg::ref_ptr hudBackgroundVertices(new osg::Vec3Array); - hudBackgroundVertices->push_back(osg::Vec3(0, height(), -1)); - hudBackgroundVertices->push_back(osg::Vec3(width(), height(), -1)); - hudBackgroundVertices->push_back(osg::Vec3(width(), height() - 30, -1)); - hudBackgroundVertices->push_back(osg::Vec3(0, height() - 30, -1)); - hudBackgroundVertices->push_back(osg::Vec3(0, 0, -1)); - hudBackgroundVertices->push_back(osg::Vec3(width(), 0, -1)); - hudBackgroundVertices->push_back(osg::Vec3(width(), 25, -1)); - hudBackgroundVertices->push_back(osg::Vec3(0, 25, -1)); - - osg::ref_ptr hudTopBackgroundIndices( - new osg::DrawElementsUInt(osg::PrimitiveSet::POLYGON, 0)); - hudTopBackgroundIndices->push_back(0); - hudTopBackgroundIndices->push_back(1); - hudTopBackgroundIndices->push_back(2); - hudTopBackgroundIndices->push_back(3); - - osg::ref_ptr hudBottomBackgroundIndices( - new osg::DrawElementsUInt(osg::PrimitiveSet::POLYGON, 0)); - hudBottomBackgroundIndices->push_back(4); - hudBottomBackgroundIndices->push_back(5); - hudBottomBackgroundIndices->push_back(6); - hudBottomBackgroundIndices->push_back(7); - osg::ref_ptr hudColors(new osg::Vec4Array); hudColors->push_back(osg::Vec4(0.0f, 0.0f, 0.0f, 0.2f)); hudBackgroundGeometry = new osg::Geometry; - hudBackgroundGeometry->addPrimitiveSet(hudTopBackgroundIndices); - hudBackgroundGeometry->addPrimitiveSet(hudBottomBackgroundIndices); - hudBackgroundGeometry->setVertexArray(hudBackgroundVertices); + hudBackgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON, + 0, 4)); + hudBackgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON, + 4, 4)); hudBackgroundGeometry->setColorArray(hudColors); hudBackgroundGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - hudGeode->addDrawable(hudBackgroundGeometry); + hudBackgroundGeometry->setUseDisplayList(false); statusText = new osgText::Text; statusText->setCharacterSize(11); statusText->setFont("images/Vera.ttf"); statusText->setAxisAlignment(osgText::Text::SCREEN); - statusText->setPosition(osg::Vec3(10, height() - 10, -1.5)); statusText->setColor(osg::Vec4(255, 255, 255, 1)); - hudGeode->addDrawable(statusText); + resizeHUD(); + + osg::ref_ptr statusGeode = new osg::Geode; + statusGeode->addDrawable(hudBackgroundGeometry); + statusGeode->addDrawable(statusText); + hudGroup->addChild(statusGeode); + + rgbImage = new osg::Image; + rgb2DGeode = new ImageWindowGeode("RGB Image", + osg::Vec4(0.0f, 0.0f, 0.1f, 1.0f), + rgbImage); + hudGroup->addChild(rgb2DGeode); + + depthImage = new osg::Image; + depth2DGeode = new ImageWindowGeode("Depth Image", + osg::Vec4(0.0f, 0.0f, 0.1f, 1.0f), + depthImage); + hudGroup->addChild(depth2DGeode); } void -Pixhawk3DWidget::updateHUD(float robotX, float robotY, float robotZ, - float robotRoll, float robotPitch, float robotYaw) +Pixhawk3DWidget::resizeHUD(void) { - osg::ref_ptr hudBackgroundVertices(new osg::Vec3Array); - hudBackgroundVertices->push_back(osg::Vec3(0, height(), -1)); - hudBackgroundVertices->push_back(osg::Vec3(width(), height(), -1)); - hudBackgroundVertices->push_back(osg::Vec3(width(), height() - 30, -1)); - hudBackgroundVertices->push_back(osg::Vec3(0, height() - 30, -1)); - hudBackgroundVertices->push_back(osg::Vec3(0, 0, -1)); - hudBackgroundVertices->push_back(osg::Vec3(width(), 0, -1)); - hudBackgroundVertices->push_back(osg::Vec3(width(), 25, -1)); - hudBackgroundVertices->push_back(osg::Vec3(0, 25, -1)); - hudBackgroundGeometry->setVertexArray(hudBackgroundVertices); + int topHUDHeight = 30; + int bottomHUDHeight = 25; + + osg::Vec3Array* vertices = static_cast(hudBackgroundGeometry->getVertexArray()); + if (vertices == NULL || vertices->size() != 8) + { + osg::ref_ptr newVertices = new osg::Vec3Array(8); + hudBackgroundGeometry->setVertexArray(newVertices); + + vertices = static_cast(hudBackgroundGeometry->getVertexArray()); + } + + (*vertices)[0] = osg::Vec3(0, height(), -1); + (*vertices)[1] = osg::Vec3(width(), height(), -1); + (*vertices)[2] = osg::Vec3(width(), height() - topHUDHeight, -1); + (*vertices)[3] = osg::Vec3(0, height() - topHUDHeight, -1); + (*vertices)[4] = osg::Vec3(0, 0, -1); + (*vertices)[5] = osg::Vec3(width(), 0, -1); + (*vertices)[6] = osg::Vec3(width(), bottomHUDHeight, -1); + (*vertices)[7] = osg::Vec3(0, bottomHUDHeight, -1); statusText->setPosition(osg::Vec3(10, height() - 20, -1.5)); + if (rgb2DGeode.valid() && depth2DGeode.valid()) + { + int windowWidth = (width() - 20) / 2; + int windowHeight = 3 * windowWidth / 4; + rgb2DGeode->setAttributes(10, (height() - windowHeight) / 2, + windowWidth, windowHeight); + depth2DGeode->setAttributes(width() / 2, (height() - windowHeight) / 2, + windowWidth, windowHeight); + } +} + +void +Pixhawk3DWidget::updateHUD(float robotX, float robotY, float robotZ, + float robotRoll, float robotPitch, float robotYaw) +{ + resizeHUD(); + std::pair cursorPosition = getGlobalCursorPosition(getMouseX(), getMouseY(), -robotZ); @@ -502,6 +659,21 @@ Pixhawk3DWidget::updateHUD(float robotX, float robotY, float robotZ, " Cursor [" << cursorPosition.first << " " << cursorPosition.second << "]"; statusText->setText(oss.str()); + + if (!rgb.isNull()) + { + rgbImage->setImage(640, 480, 1, + GL_RGB, GL_RGB, GL_UNSIGNED_BYTE, + reinterpret_cast(rgb->data()), + osg::Image::NO_DELETE); + rgbImage->dirty(); + + depthImage->setImage(640, 480, 1, + GL_RGB, GL_RGB, GL_UNSIGNED_BYTE, + reinterpret_cast(coloredDepth->data()), + osg::Image::NO_DELETE); + depthImage->dirty(); + } } void @@ -637,6 +809,14 @@ Pixhawk3DWidget::updateWaypoints(void) } } +#ifdef QGC_LIBFREENECT_ENABLED +void +Pixhawk3DWidget::updateRGBD(void) +{ + rgb = freenect->getRgbData(); + coloredDepth = freenect->getColoredDepthData(); +} +#endif void Pixhawk3DWidget::markTarget(void) diff --git a/src/ui/map3D/Pixhawk3DWidget.h b/src/ui/map3D/Pixhawk3DWidget.h index 34e318992910ec50184b450034b642ba469162c5..be4e66d298d3464716e42654da545fa7797ef652 100644 --- a/src/ui/map3D/Pixhawk3DWidget.h +++ b/src/ui/map3D/Pixhawk3DWidget.h @@ -33,7 +33,15 @@ #define PIXHAWK3DWIDGET_H #include +#ifdef QGC_OSGEARTH_ENABLED #include +#endif + +#include "ImageWindowGeode.h" + +#ifdef QGC_LIBFREENECT_ENABLED +#include "Freenect.h" +#endif #include "Q3DWidget.h" @@ -50,10 +58,6 @@ public: explicit Pixhawk3DWidget(QWidget* parent = 0); ~Pixhawk3DWidget(); - void buildLayout(void); - - double getTime(void) const; - public slots: void setActiveUAS(UASInterface* uas); @@ -61,11 +65,15 @@ private slots: void showGrid(int state); void showTrail(int state); void showWaypoints(int state); + void selectVehicleModel(int index); void recenter(void); void toggleFollowCamera(int state); protected: + QVector< osg::ref_ptr > findVehicleModels(void); + void buildLayout(void); virtual void display(void); + virtual void keyPressEvent(QKeyEvent* event); virtual void mousePressEvent(QMouseEvent* event); UASInterface* uas; @@ -73,17 +81,26 @@ protected: private: osg::ref_ptr createGrid(void); osg::ref_ptr createTrail(void); + +#ifdef QGC_OSGEARTH_ENABLED osg::ref_ptr createMap(void); +#endif + osg::ref_ptr createTarget(void); osg::ref_ptr createWaypoints(void); + osg::ref_ptr createRGBD3D(void); void setupHUD(void); + void resizeHUD(void); void updateHUD(float robotX, float robotY, float robotZ, float robotRoll, float robotPitch, float robotYaw); void updateTrail(float robotX, float robotY, float robotZ); void updateTarget(void); void updateWaypoints(void); +#ifdef QGC_LIBFREENECT_ENABLED + void updateRGBD(void); +#endif void markTarget(void); @@ -91,22 +108,39 @@ private: bool displayTrail; bool displayTarget; bool displayWaypoints; + bool displayRGBD2D; + bool displayRGBD3D; bool followCamera; osg::ref_ptr trailVertices; QVarLengthArray trail; + osg::ref_ptr vehicleModel; osg::ref_ptr hudBackgroundGeometry; osg::ref_ptr statusText; + osg::ref_ptr rgb2DGeode; + osg::ref_ptr depth2DGeode; + osg::ref_ptr rgbImage; + osg::ref_ptr depthImage; osg::ref_ptr gridNode; osg::ref_ptr trailNode; osg::ref_ptr trailGeometry; osg::ref_ptr trailDrawArrays; +#ifdef QGC_OSGEARTH_ENABLED osg::ref_ptr mapNode; +#endif osg::ref_ptr targetNode; osg::ref_ptr targetPosition; osg::ref_ptr waypointsNode; + osg::ref_ptr rgbd3DNode; +#ifdef QGC_LIBFREENECT_ENABLED + QScopedPointer freenect; +#endif + QSharedPointer rgb; + QSharedPointer coloredDepth; + + QVector< osg::ref_ptr > vehicleModels; QPushButton* targetButton; diff --git a/src/ui/map3D/PixhawkCheetahGeode.cc b/src/ui/map3D/PixhawkCheetahGeode.cc index 9b5251a2f195df2f192474c3776a019b008ea357..766de9832ccedbaeff27a2552de1c642d9c68f2d 100644 --- a/src/ui/map3D/PixhawkCheetahGeode.cc +++ b/src/ui/map3D/PixhawkCheetahGeode.cc @@ -59358,6 +59358,7 @@ osg::ref_ptr PixhawkCheetahGeode::create(float red, float green, float blue) { osg::ref_ptr geode(new osg::Geode()); + geode->setName("Pixhawk Bravo"); osg::ref_ptr geometry(new osg::Geometry()); geode->addDrawable(geometry.get()); diff --git a/src/ui/map3D/Q3DWidget.cc b/src/ui/map3D/Q3DWidget.cc index 6a89afb17cad82c61e399a1cb77be44cb2282ed4..0e08d85ac6d8b32e44b316c2a16b1f3af584d805 100644 --- a/src/ui/map3D/Q3DWidget.cc +++ b/src/ui/map3D/Q3DWidget.cc @@ -34,10 +34,7 @@ This file is part of the QGROUNDCONTROL project #include #include #include - -static const float KEY_ROTATE_AMOUNT = 5.0f; -static const float KEY_MOVE_AMOUNT = 10.0f; -static const float KEY_ZOOM_AMOUNT = 5.0f; +#include Q3DWidget::Q3DWidget(QWidget* parent) : QGLWidget(parent) @@ -47,7 +44,7 @@ Q3DWidget::Q3DWidget(QWidget* parent) , egocentricMap(new osg::Switch()) , robotPosition(new osg::PositionAttitudeTransform()) , robotAttitude(new osg::PositionAttitudeTransform()) - , hudGeode(new osg::Geode()) + , hudGroup(new osg::Switch()) , hudProjectionMatrix(new osg::Projection) { // set initial camera parameters @@ -94,7 +91,7 @@ Q3DWidget::init(float fps) egocentricMap->addChild(createRobot()); // set up camera control - cameraManipulator = new GCManipulator; + cameraManipulator = new GCManipulator(); setCameraManipulator(cameraManipulator); cameraManipulator->setMinZoomRange(cameraParams.minZoomRange); cameraManipulator->setDistance(cameraParams.minZoomRange * 2.0); @@ -159,11 +156,12 @@ Q3DWidget::createHUD(void) hudModelViewMatrix->setReferenceFrame(osg::Transform::ABSOLUTE_RF); hudProjectionMatrix->addChild(hudModelViewMatrix); - hudModelViewMatrix->addChild(hudGeode); + hudModelViewMatrix->addChild(hudGroup); osg::ref_ptr hudStateSet(new osg::StateSet); - hudGeode->setStateSet(hudStateSet); + hudGroup->setStateSet(hudStateSet); hudStateSet->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF); + hudStateSet->setMode(GL_LIGHTING, osg::StateAttribute::OFF); hudStateSet->setRenderingHint(osg::StateSet::TRANSPARENT_BIN); hudStateSet->setRenderBinDetails(11, "RenderBin"); diff --git a/src/ui/map3D/Q3DWidget.h b/src/ui/map3D/Q3DWidget.h index 40c13ac8f6a88e1f1f5def71cba2b8369d6d43d9..0dcd8d91f1716e129a7b7fcfb45f2fa2403c92d7 100644 --- a/src/ui/map3D/Q3DWidget.h +++ b/src/ui/map3D/Q3DWidget.h @@ -249,7 +249,7 @@ protected: osg::ref_ptr robotPosition; osg::ref_ptr robotAttitude; - osg::ref_ptr hudGeode; /**< A geode which contains renderable HUD objects. */ + osg::ref_ptr hudGroup; /**< A group which contains renderable HUD objects. */ osg::ref_ptr hudProjectionMatrix; /**< An orthographic projection matrix for HUD display. */ osg::ref_ptr osgGW; /**< A class which manages OSG graphics windows and events. */ diff --git a/src/ui/map3D/Q3DWidgetFactory.cc b/src/ui/map3D/Q3DWidgetFactory.cc index f30b183e67452ff6a98f13ca9e386a04553d9c67..3c298d86284d48e94704b377970522e38844bfb7 100644 --- a/src/ui/map3D/Q3DWidgetFactory.cc +++ b/src/ui/map3D/Q3DWidgetFactory.cc @@ -32,16 +32,25 @@ This file is part of the QGROUNDCONTROL project #include "Q3DWidgetFactory.h" #include "Pixhawk3DWidget.h" +#ifdef QGC_OSGEARTH_ENABLED +#include "QMap3D.h" +#endif -QPointer +QPointer Q3DWidgetFactory::get(const std::string& type) { if (type == "PIXHAWK") { - return QPointer(new Pixhawk3DWidget); + return QPointer(new Pixhawk3DWidget()); } +#ifdef QGC_OSGEARTH_ENABLED + else if (type == "MAP3D") + { + return QPointer(new QMap3D()); + } +#endif else { - return QPointer(new Q3DWidget); + return QPointer(new Q3DWidget()); } } diff --git a/src/ui/map3D/Q3DWidgetFactory.h b/src/ui/map3D/Q3DWidgetFactory.h index 4e95b70fd9d0535ac059f0a69986928c7f218e0b..43e2283bc23fc612f743bbf2cda407199b71cccd 100644 --- a/src/ui/map3D/Q3DWidgetFactory.h +++ b/src/ui/map3D/Q3DWidgetFactory.h @@ -50,7 +50,7 @@ public: * @return A smart pointer to the Q3DWidget instance. */ - static QPointer get(const std::string& type); + static QPointer get(const std::string& type); }; #endif // Q3DWIDGETFACTORY_H diff --git a/src/ui/map3D/QMap3D.cc b/src/ui/map3D/QMap3D.cc index 7a3e30216def5dba46be3516f568be4366a6003c..ab4c98b915d22351867f28a6a43e06f1c5ea8b0d 100644 --- a/src/ui/map3D/QMap3D.cc +++ b/src/ui/map3D/QMap3D.cc @@ -21,6 +21,8 @@ This file is part of the QGROUNDCONTROL project ======================================================================*/ +#ifdef QGC_OSGEARTH_ENABLED + /** * @file * @brief Definition of the class QMap3D. @@ -62,3 +64,5 @@ void QMap3D::on_pushButton_vehicle_clicked() graphicsView->getSceneData()->asGroup()->addChild(osgDB::readNodeFile(vehicleName.toStdString())); graphicsView->updateCamera(); } + +#endif diff --git a/src/ui/map3D/QMap3D.h b/src/ui/map3D/QMap3D.h index 91217b11c221c8b3d77ccafb15e49c7098997b15..a9598843d44cc72770eb7c763e4a3e92c5a0cd2f 100644 --- a/src/ui/map3D/QMap3D.h +++ b/src/ui/map3D/QMap3D.h @@ -29,6 +29,8 @@ This file is part of the QGROUNDCONTROL project * */ +#ifdef QGC_OSGEARTH_ENABLED + #ifndef QMAP3D_H #define QMAP3D_H @@ -52,3 +54,4 @@ public slots: #endif // QMAP3D_H +#endif diff --git a/src/ui/map3D/QOSGWidget.cc b/src/ui/map3D/QOSGWidget.cc index 0021a40a8fbef8516a7754d28c78c2f63b77242d..12029e208c8f6407278b375ab441055edb566fb4 100644 --- a/src/ui/map3D/QOSGWidget.cc +++ b/src/ui/map3D/QOSGWidget.cc @@ -18,23 +18,18 @@ #include "QOSGWidget.h" +#ifdef Q_OS_MACX + +#endif + QOSGWidget::QOSGWidget( QWidget * parent, const char * name, WindowFlags f, bool overrideTraits): -#if USE_QT4 QWidget(parent, f), _overrideTraits (overrideTraits) -#else - QWidget(parent, name, f), _overrideTraits (overrideTraits) -#endif { createContext(); - -#if USE_QT4 setAttribute(Qt::WA_PaintOnScreen); setAttribute(Qt::WA_NoSystemBackground); - setFocusPolicy(Qt::ClickFocus); -#else - setBackgroundMode(Qt::NoBackground); -#endif + setFocusPolicy(Qt::ClickFocus); } void QOSGWidget::createContext() @@ -106,9 +101,7 @@ void QOSGWidget::destroyEvent(bool destroyWindow, bool destroySubWindows) void QOSGWidget::closeEvent( QCloseEvent * event ) { -#ifndef USE_QT4 event->accept(); -#endif _gw->getEventQueue()->closeWindow(); } @@ -123,20 +116,12 @@ void QOSGWidget::resizeEvent( QResizeEvent * event ) void QOSGWidget::keyPressEvent( QKeyEvent* event ) { -#if USE_QT4 _gw->getEventQueue()->keyPress( (osgGA::GUIEventAdapter::KeySymbol) *(event->text().toAscii().data() ) ); -#else - _gw->getEventQueue()->keyPress( (osgGA::GUIEventAdapter::KeySymbol) event->ascii() ); -#endif } void QOSGWidget::keyReleaseEvent( QKeyEvent* event ) { -#if USE_QT4 int c = *event->text().toAscii().data(); -#else - int c = event->ascii(); -#endif _gw->getEventQueue()->keyRelease( (osgGA::GUIEventAdapter::KeySymbol) (c) ); } @@ -229,8 +214,6 @@ void CompositeViewerQOSG::RemoveView() Tile(); } - -#if USE_QT4 // we use this wrapper for CompositeViewer ONLY because of the timer // NOTE: this is a workaround because we're not using QT's moc precompiler here. // @@ -259,7 +242,6 @@ class QViewerTimer : public QWidget QTimer _timer; }; -#endif void setupHandlers(osgViewer::View * viewer) { diff --git a/src/ui/map3D/QOSGWidget.h b/src/ui/map3D/QOSGWidget.h index 71d4aa982bb3a571462f09eda634bdac733709d5..ebc2dee7f84537bcff4c5f9fc3e5df464d93012d 100644 --- a/src/ui/map3D/QOSGWidget.h +++ b/src/ui/map3D/QOSGWidget.h @@ -19,31 +19,17 @@ #include #if defined(_MSC_VER) && defined(OSG_DISABLE_MSVC_WARNINGS) - // disable warning "'QtConcurrent::BlockSizeManager' : assignment operator could not be generated" - #pragma warning( disable : 4512 ) -#endif - -#if USE_QT4 - - #include - #include - #include - #include - #include - #include - using Qt::WindowFlags; - -#else - - class QWidget; - #include - #include - #include - - #define WindowFlags WFlags - +// disable warning "'QtConcurrent::BlockSizeManager' : assignment operator could not be generated" +#pragma warning( disable : 4512 ) #endif +#include +#include +#include +#include +#include +#include +using Qt::WindowFlags; #include #include @@ -85,119 +71,119 @@ typedef osgViewer::GraphicsWindowX11::WindowData WindowData; class QOSGWidget : public QWidget { - public: +public: - QOSGWidget( QWidget * parent = 0, const char * name = 0, WindowFlags f = 0, bool overrideTraits = false); + QOSGWidget( QWidget * parent = 0, const char * name = 0, WindowFlags f = 0, bool overrideTraits = false); - virtual ~QOSGWidget() {} + virtual ~QOSGWidget() {} - osgViewer::GraphicsWindow* getGraphicsWindow() { return _gw.get(); } - const osgViewer::GraphicsWindow* getGraphicsWindow() const { return _gw.get(); } + osgViewer::GraphicsWindow* getGraphicsWindow() { return _gw.get(); } + const osgViewer::GraphicsWindow* getGraphicsWindow() const { return _gw.get(); } - protected: +protected: - void init(); - void createContext(); + void init(); + void createContext(); - // The GraphincsWindowWin32 implementation already takes care of message handling. - // We don't want to relay these on Windows, it will just cause duplicate messages - // with further problems downstream (i.e. not being able to throw the trackball + // The GraphincsWindowWin32 implementation already takes care of message handling. + // We don't want to relay these on Windows, it will just cause duplicate messages + // with further problems downstream (i.e. not being able to throw the trackball #ifndef WIN32 - virtual void mouseDoubleClickEvent ( QMouseEvent * event ); - virtual void closeEvent( QCloseEvent * event ); - virtual void destroyEvent( bool destroyWindow = true, bool destroySubWindows = true); - virtual void resizeEvent( QResizeEvent * event ); - virtual void keyPressEvent( QKeyEvent* event ); - virtual void keyReleaseEvent( QKeyEvent* event ); - virtual void mousePressEvent( QMouseEvent* event ); - virtual void mouseReleaseEvent( QMouseEvent* event ); - virtual void mouseMoveEvent( QMouseEvent* event ); + virtual void mouseDoubleClickEvent ( QMouseEvent * event ); + virtual void closeEvent( QCloseEvent * event ); + virtual void destroyEvent( bool destroyWindow = true, bool destroySubWindows = true); + virtual void resizeEvent( QResizeEvent * event ); + virtual void keyPressEvent( QKeyEvent* event ); + virtual void keyReleaseEvent( QKeyEvent* event ); + virtual void mousePressEvent( QMouseEvent* event ); + virtual void mouseReleaseEvent( QMouseEvent* event ); + virtual void mouseMoveEvent( QMouseEvent* event ); #endif - osg::ref_ptr _gw; + osg::ref_ptr _gw; bool _overrideTraits; }; class ViewerQOSG : public osgViewer::Viewer, public QOSGWidget { - public: +public: - ViewerQOSG(QWidget * parent = 0, const char * name = 0, WindowFlags f = 0, int fps = 20): + ViewerQOSG(QWidget * parent = 0, const char * name = 0, WindowFlags f = 0, int fps = 20): QOSGWidget( parent, name, f ) - { - setThreadingModel(osgViewer::Viewer::SingleThreaded); + { + setThreadingModel(osgViewer::Viewer::SingleThreaded); - connect(&_timer, SIGNAL(timeout()), this, SLOT(update())); - _timer.start(1000.0f/fps); - } + connect(&_timer, SIGNAL(timeout()), this, SLOT(update())); + _timer.start(1000.0f/fps); + } - void updateCamera() - { - getCamera()->setViewport(new osg::Viewport(0,0,width(),height())); - getCamera()->setProjectionMatrixAsPerspective(30.0f, 1.0f , static_cast(width())/static_cast(height()), 10000.0f); - getCamera()->setGraphicsContext(getGraphicsWindow()); - } + void updateCamera() + { + getCamera()->setViewport(new osg::Viewport(0,0,width(),height())); + getCamera()->setProjectionMatrixAsPerspective(30.0f, 1.0f , static_cast(width())/static_cast(height()), 10000.0f); + getCamera()->setGraphicsContext(getGraphicsWindow()); + } - virtual void paintEvent( QPaintEvent * event ) { frame(); } + virtual void paintEvent( QPaintEvent * event ) { frame(); } - protected: +protected: - QTimer _timer; + QTimer _timer; }; class CompositeViewerQOSG : public osgViewer::CompositeViewer, public QOSGWidget { - public: - CompositeViewerQOSG(QWidget * parent = 0, const char * name = 0, WindowFlags f = 0, int fps = 20) +public: + CompositeViewerQOSG(QWidget * parent = 0, const char * name = 0, WindowFlags f = 0, int fps = 20) : QOSGWidget( parent, name, f ) - { - setThreadingModel(osgViewer::CompositeViewer::SingleThreaded); + { + setThreadingModel(osgViewer::CompositeViewer::SingleThreaded); - connect(&_timer, SIGNAL(timeout()), this, SLOT(repaint())); + connect(&_timer, SIGNAL(timeout()), this, SLOT(repaint())); - // The composite viewer needs at least one view to work - // Create a dummy view with a zero sized viewport and no - // scene to keep the viewer alive. - osgViewer::View * pView = new osgViewer::View; - pView->getCamera()->setGraphicsContext( getGraphicsWindow() ); - pView->getCamera()->setViewport( 0, 0, 0, 0 ); - addView( pView ); + // The composite viewer needs at least one view to work + // Create a dummy view with a zero sized viewport and no + // scene to keep the viewer alive. + osgViewer::View * pView = new osgViewer::View; + pView->getCamera()->setGraphicsContext( getGraphicsWindow() ); + pView->getCamera()->setViewport( 0, 0, 0, 0 ); + addView( pView ); - // Clear the viewer of removed views - getGraphicsWindow()->setClearMask( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT ); - getGraphicsWindow()->setClearColor( osg::Vec4( 0.08, 0.08, 0.5, 1.0 ) ); + // Clear the viewer of removed views + getGraphicsWindow()->setClearMask( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT ); + getGraphicsWindow()->setClearColor( osg::Vec4( 0.08, 0.08, 0.5, 1.0 ) ); - // The app would hang on exit when using start(1). Behaves better with 10 - // like the non-composite viewer. Was this just a typo? - _timer.start(1000.0f/fps); - } + // The app would hang on exit when using start(1). Behaves better with 10 + // like the non-composite viewer. Was this just a typo? + _timer.start(1000.0f/fps); + } - virtual void paintEvent( QPaintEvent * event ) { frame(); } + virtual void paintEvent( QPaintEvent * event ) { frame(); } - void keyPressEvent( QKeyEvent* event ) + void keyPressEvent( QKeyEvent* event ) + { + if ( event->text() == "a" ) { - if ( event->text() == "a" ) - { AddView( _scene.get() ); - } + } - if ( event->text() == "r" ) - { + if ( event->text() == "r" ) + { RemoveView(); - } - - QOSGWidget::keyPressEvent( event ); } + QOSGWidget::keyPressEvent( event ); + } + - void AddView( osg::Node * scene ); - void RemoveView(); - void Tile(); + void AddView( osg::Node * scene ); + void RemoveView(); + void Tile(); - osg::ref_ptr< osg::Node > _scene; + osg::ref_ptr< osg::Node > _scene; - protected: - QTimer _timer; +protected: + QTimer _timer; }; void setupHandlers(osgViewer::View * viewer); diff --git a/src/ui/map3D/Texture.cc b/src/ui/map3D/Texture.cc new file mode 100644 index 0000000000000000000000000000000000000000..43703e8929a913ec877d20d1382009042f1c667d --- /dev/null +++ b/src/ui/map3D/Texture.cc @@ -0,0 +1,251 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of the class Texture. + * + * @author Lionel Heng + * + */ + +#include + +#include "Texture.h" + +Texture::Texture() + : _is3D(false) +{ + texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST); + texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST); + GLuint id; + glGenTextures(1, &id); + t->setID(id); + glBindTexture(GL_TEXTURE_2D, id); + glPixelStorei(GL_UNPACK_ALIGNMENT, 1); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); +} + +const QString& +Texture::getSourceURL(void) const +{ + return sourceURL; +} + +void +Texture::setId(unsigned int _id) +{ + id = _id; +} + +void +Texture::sync(const WebImagePtr& image) +{ + state = static_cast(image->getState()); + + if (image->getState() != WebImage::UNINITIALIZED && + (sourceURL != image->getSourceURL() || + _is3D != image->is3D())) + { + sourceURL = image->getSourceURL(); + _is3D = image->is3D(); + } + + if (image->getState() == WebImage::READY && image->getSyncFlag()) + { + image->setSyncFlag(false); + + if (image->getWidth() != imageWidth || + image->getHeight() != imageHeight) + { + imageWidth = image->getWidth(); + textureWidth = 32; + while (textureWidth < imageWidth) + { + textureWidth *= 2; + } + imageHeight = image->getHeight(); + textureHeight = 32; + while (textureHeight < imageHeight) + { + textureHeight *= 2; + } + + maxU = static_cast(imageWidth) + / static_cast(textureWidth); + maxV = static_cast(imageHeight) + / static_cast(textureHeight); + + osg::ref_ptr image; + image->setImage(textureWidth, textureHeight, 8, 3, GL_RGBA, GL_UNSIGNED_BYTES, NULL, osg::Image::USE_NEW_DELETE); + + texture2D-> + glBindTexture(GL_TEXTURE_2D, id); + glTexImage2D(GL_TEXTURE_2D, 0, 3, textureWidth, textureHeight, + 0, GL_RGBA, GL_UNSIGNED_BYTE, NULL); + } + + glBindTexture(GL_TEXTURE_2D, id); + glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, imageWidth, imageHeight, + GL_RGBA, GL_UNSIGNED_BYTE, image->getImageData()); + + heightModel = image->getHeightModel(); + } +} + +osg::ref_ptr +Texture::draw(float x1, float y1, float x2, float y2, + bool smoothInterpolation) const +{ + return draw(x1, y1, x2, y1, x2, y2, x1, y2, smoothInterpolation); +} + +osg::ref_ptr +Texture::draw(float x1, float y1, float x2, float y2, + float x3, float y3, float x4, float y4, + bool smoothInterpolation) const +{ + osg::ref_ptr geometry(new osg::Geometry); + osg::ref_ptr stateset(new osg::StateSet); + + if (state == REQUESTED) + { + osg::ref_ptr vertices(new osg::Vec2Array); + vertices->push_back(osg::Vec2(x1, y1)); + vertices->push_back(osg::Vec2(x2, y2)); + vertices->push_back(osg::Vec2(x3, y3)); + vertices->push_back(osg::Vec2(x4, y4)); + + geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, + 0, vertices->size())); + + geometry->setVertexArray(vertices); + + osg::ref_ptr color(new osg::Vec4Array); + color->push_back(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f)); + geometry->setColorArray(color); + geometry->setColorBinding(osg::Geometry::BIND_OVERALL); + + return geometry; + } + + stateset->setTextureAttributeAndModes(id, texture2D); + + float dx, dy; + if (smoothInterpolation) + { + texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR); + texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR); + dx = 1.0f / (2.0f * textureWidth); + dy = 1.0f / (2.0f * textureHeight); + } + else + { + texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST); + texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST); + dx = 0.0f; + dy = 0.0f; + } + + glColor3f(1.0f, 1.0f, 1.0f); + if (!_is3D) + { + osg::ref_ptr tc = new osg::Vec2Array; + + geometry->setTexCoordArray(id, tc); + tc->push_back(osg::Vec2(dx, maxV - dy)); + tc->push_back(osg::Vec2(maxU - dx, maxV - dy)); + tc->push_back(osg::Vec2(maxU - dx, dy)); + tc->push_back(osg::Vec2(dx, dy)); + + glBegin(GL_QUADS); + glTexCoord2f(dx, maxV - dy); + glVertex3f(x1, y1, 0.0f); + glTexCoord2f(maxU - dx, maxV - dy); + glVertex3f(x2, y2, 0.0f); + glTexCoord2f(maxU - dx, dy); + glVertex3f(x3, y3, 0.0f); + glTexCoord2f(dx, dy); + glVertex3f(x4, y4, 0.0f); + glEnd(); + } + else + { + float scaleX = 1.0f / static_cast(heightModel.size() - 1); + + for (int32_t i = 0; i < heightModel.size() - 1; ++i) + { + float scaleI = scaleX * static_cast(i); + + float scaleY = + 1.0f / static_cast(heightModel[i].size() - 1); + + float x1i = x1 + scaleI * (x4 - x1); + float x1f = x2 + scaleI * (x3 - x2); + float x2i = x1i + scaleX * (x4 - x1); + float x2f = x1f + scaleX * (x3 - x2); + + for (int32_t j = 0; j < heightModel[i].size() - 1; ++j) + { + float scaleJ = scaleY * static_cast(j); + + float y1i = y1 + scaleJ * (y2 - y1); + float y1f = y4 + scaleJ * (y3 - y4); + float y2i = y1i + scaleY * (y2 - y1); + float y2f = y1f + scaleY * (y3 - y4); + + float nx1 = x1i + scaleJ * (x1f - x1i); + float nx2 = x1i + (scaleJ + scaleY) * (x1f - x1i); + float nx3 = x2i + (scaleJ + scaleY) * (x2f - x2i); + float nx4 = x2i + scaleJ * (x2f - x2i); + float ny1 = y1i + scaleI * (y1f - y1i); + float ny2 = y2i + scaleI * (y2f - y2i); + float ny3 = y2i + (scaleI + scaleX) * (y2f - y2i); + float ny4 = y1i + (scaleI + scaleX) * (y1f - y1i); + + glBegin(GL_QUADS); + glTexCoord2f(dx + scaleJ * (maxU - dx * 2.0f), + dy + (1.0f - scaleI) * (maxV - dy * 2.0f)); + glVertex3f(nx1, ny1, -static_cast(heightModel[i][j])); + glTexCoord2f(dx + (scaleJ + scaleY) * (maxU - dx * 2.0f), + dy + (1.0f - scaleI) * (maxV - dy * 2.0f)); + glVertex3f(nx2, ny2, -static_cast(heightModel[i][j + 1])); + glTexCoord2f(dx + (scaleJ + scaleY) * (maxU - dx * 2.0f), + dy + (1.0f - scaleI - scaleX) * (maxV - dy * 2.0f)); + glVertex3f(nx3, ny3, -static_cast(heightModel[i + 1][j + 1])); + glTexCoord2f(dx + scaleJ * (maxU - dx * 2.0f), + dy + (1.0f - scaleI - scaleX) * (maxV - dy * 2.0f)); + glVertex3f(nx4, ny4, -static_cast(heightModel[i + 1][j])); + + glEnd(); + } + } + } +} + +bool +Texture::is3D(void) const +{ + return _is3D; +} diff --git a/src/ui/map3D/Texture.h b/src/ui/map3D/Texture.h new file mode 100644 index 0000000000000000000000000000000000000000..6907c831d8dc4abcdc1ddbf3320475a0bc168869 --- /dev/null +++ b/src/ui/map3D/Texture.h @@ -0,0 +1,94 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of the class Texture. + * + * @author Lionel Heng + * + */ + +#ifndef TEXTURE_H +#define TEXTURE_H + +#if (defined __APPLE__) & (defined __MACH__) +#include +#else +#include +#endif +#include +#include +#include +#include + +#include "WebImage.h" + +class Texture +{ +public: + Texture(); + + const QString& getSourceURL(void) const; + + void setId(unsigned int _id); + + void sync(const WebImagePtr& image); + + osg::ref_ptr draw(float x1, float y1, float x2, float y2, + bool smoothInterpolation) const; + osg::ref_ptr draw(float x1, float y1, float x2, float y2, + float x3, float y3, float x4, float y4, + bool smoothInterpolation) const; + + bool is3D(void) const; + +private: + enum State + { + UNINITIALIZED = 0, + REQUESTED = 1, + READY = 2 + }; + + State state; + QString sourceURL; + unsigned int id; + osg::ref_ptr texture2D; + + int32_t textureWidth; + int32_t textureHeight; + + int32_t imageWidth; + int32_t imageHeight; + + bool _is3D; + QVector< QVector > heightModel; + + float maxU; + float maxV; +}; + +typedef QSharedPointer TexturePtr; + +#endif // TEXTURE_H diff --git a/src/ui/map3D/TextureCache.cc b/src/ui/map3D/TextureCache.cc new file mode 100644 index 0000000000000000000000000000000000000000..3337f5235cef19f118bb9f12f5c8d14dc1a2c6aa --- /dev/null +++ b/src/ui/map3D/TextureCache.cc @@ -0,0 +1,107 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of the class TextureCache. + * + * @author Lionel Heng + * + */ + +#include "TextureCache.h" + +TextureCache::TextureCache(uint32_t _cacheSize) + : cacheSize(_cacheSize) + , imageCache(new WebImageCache(0, cacheSize)) +{ + for (uint32_t i = 0; i < cacheSize; ++i) + { + TexturePtr t(new Texture); + t->setId(i); + + textures.push_back(t); + } +} + +TexturePtr +TextureCache::get(const QString& tileURL, bool useHeightModel) +{ + QPair p1 = lookup(tileURL, useHeightModel); + if (!p1.first.isNull()) + { + return p1.first; + } + + QPair p2 = + imageCache->lookup(tileURL, useHeightModel); + if (!p2.first.isNull()) + { + textures[p2.second]->sync(p2.first); + p1 = lookup(tileURL, useHeightModel); + + return p1.first; + } + + return TexturePtr(); +} + +void +TextureCache::sync(void) +{ + if (requireSync()) + { + for (int32_t i = 0; i < textures.size(); ++i) + { + textures[i]->sync(imageCache->at(i)); + } + } +} + +QPair +TextureCache::lookup(const QString& tileURL, bool useHeightModel) +{ + for (int32_t i = 0; i < textures.size(); ++i) + { + if (textures[i]->getSourceURL() == tileURL && + textures[i]->is3D() == useHeightModel) + { + return qMakePair(textures[i], i); + } + } + + return qMakePair(TexturePtr(), -1); +} + +bool +TextureCache::requireSync(void) const +{ + for (uint32_t i = 0; i < cacheSize; ++i) + { + if (imageCache->at(i)->getSyncFlag()) + { + return true; + } + } + return false; +} diff --git a/src/ui/map3D/TextureCache.h b/src/ui/map3D/TextureCache.h new file mode 100644 index 0000000000000000000000000000000000000000..ef469a124ea11f352e60d43cb6044dd0cb9f3836 --- /dev/null +++ b/src/ui/map3D/TextureCache.h @@ -0,0 +1,61 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of the class TextureCache. + * + * @author Lionel Heng + * + */ + +#ifndef TEXTURECACHE_H +#define TEXTURECACHE_H + +#include + +#include "Texture.h" +#include "WebImageCache.h" + +class TextureCache +{ +public: + explicit TextureCache(uint32_t cacheSize); + + TexturePtr get(const QString& tileURL, bool useHeightModel = false); + + void sync(void); + +private: + QPair lookup(const QString& tileURL, + bool useHeightModel); + + bool requireSync(void) const; + + uint32_t cacheSize; + QVector textures; + + QScopedPointer imageCache; +}; + +#endif // TEXTURECACHE_H diff --git a/src/ui/map3D/WebImage.cc b/src/ui/map3D/WebImage.cc new file mode 100644 index 0000000000000000000000000000000000000000..466d6879542f23cd21e030c3390d850d1966e648 --- /dev/null +++ b/src/ui/map3D/WebImage.cc @@ -0,0 +1,232 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of the class WebImage. + * + * @author Lionel Heng + * + */ + +#include "WebImage.h" + +#include +#include + +WebImage::WebImage() + : state(WebImage::UNINITIALIZED) + , sourceURL("") + , image(0) + , lastReference(0) + , _is3D(false) + , syncFlag(false) +{ + +} + +void +WebImage::clear(void) +{ + image.reset(); + sourceURL.clear(); + state = WebImage::UNINITIALIZED; + lastReference = 0; + heightModel.clear(); +} + +WebImage::State +WebImage::getState(void) const +{ + return state; +} + +void +WebImage::setState(State state) +{ + this->state = state; +} + +const QString& +WebImage::getSourceURL(void) const +{ + return sourceURL; +} + +void +WebImage::setSourceURL(const QString& url) +{ + sourceURL = url; +} + +const uint8_t* +WebImage::getImageData(void) const +{ + return image->scanLine(0); +} + +const QVector< QVector >& +WebImage::getHeightModel(void) const +{ + return heightModel; +} + +bool +WebImage::setData(const QByteArray& data) +{ + QImage tempImage; + if (tempImage.loadFromData(data)) + { + if (image.isNull()) + { + image.reset(new QImage); + } + *image = QGLWidget::convertToGLFormat(tempImage); + + return true; + } + else + { + return false; + } +} + +bool +WebImage::setData(const QString& filename) +{ + QImage tempImage; + if (tempImage.load(filename)) + { + if (image.isNull()) + { + image.reset(new QImage); + } + *image = QGLWidget::convertToGLFormat(tempImage); + + return true; + } + else + { + return false; + } +} + +bool +WebImage::setData(const QString& imageFilename, const QString& heightFilename) +{ + QFile heightFile(heightFilename); + + QImage tempImage; + if (tempImage.load(imageFilename) && heightFile.open(QIODevice::ReadOnly)) + { + if (image.isNull()) + { + image.reset(new QImage); + } + *image = QGLWidget::convertToGLFormat(tempImage); + + QDataStream heightDataStream(&heightFile); + + // read in width and height values for height map + char header[8]; + heightDataStream.readRawData(header, 8); + + int32_t height = *(reinterpret_cast(header)); + int32_t width = *(reinterpret_cast(header + 4)); + + char buffer[height * width * sizeof(int32_t)]; + heightDataStream.readRawData(buffer, height * width * sizeof(int32_t)); + + heightModel.clear(); + for (int32_t i = 0; i < height; ++i) + { + QVector scanline; + for (int32_t j = 0; j < width; ++j) + { + int32_t n = *(reinterpret_cast(buffer + + (i * height + j) + * sizeof(int32_t))); + scanline.push_back(n); + } + heightModel.push_back(scanline); + } + + heightFile.close(); + + _is3D = true; + + return true; + } + else + { + return false; + } +} + +int32_t +WebImage::getWidth(void) const +{ + return image->width(); +} + +int32_t +WebImage::getHeight(void) const +{ + return image->height(); +} + +int32_t +WebImage::getByteCount(void) const +{ + return image->byteCount(); +} + +bool +WebImage::is3D(void) const +{ + return _is3D; +} + +uint64_t +WebImage::getLastReference(void) const +{ + return lastReference; +} + +void +WebImage::setLastReference(uint64_t value) +{ + lastReference = value; +} + +bool +WebImage::getSyncFlag(void) const +{ + return syncFlag; +} + +void +WebImage::setSyncFlag(bool onoff) +{ + syncFlag = onoff; +} diff --git a/src/ui/map3D/WebImage.h b/src/ui/map3D/WebImage.h new file mode 100644 index 0000000000000000000000000000000000000000..c4dc2a1d31a57ede192c049d735960ac06af0dd6 --- /dev/null +++ b/src/ui/map3D/WebImage.h @@ -0,0 +1,90 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of the class WebImage. + * + * @author Lionel Heng + * + */ + +#ifndef WEBIMAGE_H +#define WEBIMAGE_H + +#include +#include +#include +#include + +class WebImage +{ +public: + WebImage(); + + void clear(void); + + enum State + { + UNINITIALIZED = 0, + REQUESTED = 1, + READY = 2 + }; + + State getState(void) const; + void setState(State state); + + const QString& getSourceURL(void) const; + void setSourceURL(const QString& url); + + const uint8_t* getImageData(void) const; + const QVector< QVector >& getHeightModel(void) const; + bool setData(const QByteArray& data); + bool setData(const QString& filename); + bool setData(const QString& imageFilename, const QString& heightFilename); + + int32_t getWidth(void) const; + int32_t getHeight(void) const; + int32_t getByteCount(void) const; + + bool is3D(void) const; + + uint64_t getLastReference(void) const; + void setLastReference(uint64_t value); + + bool getSyncFlag(void) const; + void setSyncFlag(bool onoff); + +private: + State state; + QString sourceURL; + QScopedPointer image; + QVector< QVector > heightModel; + uint64_t lastReference; + bool _is3D; + bool syncFlag; +}; + +typedef QSharedPointer WebImagePtr; + +#endif // WEBIMAGE_H diff --git a/src/ui/map3D/WebImageCache.cc b/src/ui/map3D/WebImageCache.cc new file mode 100644 index 0000000000000000000000000000000000000000..2203f2141422c44370d7ca71807ea78cdf95675c --- /dev/null +++ b/src/ui/map3D/WebImageCache.cc @@ -0,0 +1,191 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief Definition of the class WebImageCache. + * + * @author Lionel Heng + * + */ + +#include "WebImageCache.h" + +#include +#include + +WebImageCache::WebImageCache(QObject* parent, uint32_t _cacheSize) + : QObject(parent) + , cacheSize(_cacheSize) + , currentReference(0) + , networkManag