Added working files for imagery overlay in 3D view perspective

qgroundcontrol.pro

@@ -164,7 +164,9 @@ HEADERS += src/MG.h \
     src/ui/map3D/Q3DWidget.h \
     src/ui/map3D/CheetahModel.h \
     src/ui/map3D/CheetahGL.h \
-    src/ui/map3D/QMap3DWidget.h
+    src/ui/map3D/QMap3DWidget.h \
+    src/ui/map3D/Imagery.h \
+    src/ui/map3D/Texture.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -233,7 +235,9 @@ SOURCES += src/main.cc \
     src/ui/map3D/Q3DWidget.cc \
     src/ui/map3D/CheetahModel.cc \
     src/ui/map3D/CheetahGL.cc \
-    src/ui/map3D/QMap3DWidget.cc
+    src/ui/map3D/QMap3DWidget.cc \
+    src/ui/map3D/Imagery.cc \
+    src/ui/map3D/Texture.cc
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library

src/ui/map3D/Imagery.h

+#ifndef IMAGERY_H
+#define IMAGERY_H
+
+#include <inttypes.h>
+#include <string>
+
+#include "Texture.h"
+
+class Imagery
+{
+public:
+    Imagery();
+
+    enum ImageryType
+    {
+        MAP = 0,
+        SATELLITE = 1
+    };
+
+    void setImageryType(ImageryType type);
+    void setOffset(double xOffset, double yOffset);
+    void setUrl(std::string url);
+
+    void prefetch2D(double windowWidth, double windowHeight,
+                    double zoom, double xOrigin, double yOrigin,
+                    double viewXOffset, double viewYOffset,
+                    const std::string& utmZone);
+    void draw2D(double windowWidth, double windowHeight,
+                double zoom, double xOrigin, double yOrigin,
+                double viewXOffset, double viewYOffset,
+                const std::string& utmZone);
+
+    void prefetch3D(double radius, double imageResolution,
+                    double xOrigin, double yOrigin,
+                    double viewXOffset, double viewYOffset,
+                    const std::string& utmZone);
+    void draw3D(double radius, double imageResolution,
+                double xOrigin, double yOrigin,
+                double viewXOffset, double viewYOffset,
+                const std::string& utmZone);
+
+    bool update(void);
+
+private:
+    void drawTexture3D(const TexturePtr& t,
+                       float x1, float y1, float x2, float y2,
+                       bool smooth);
+
+    void UTMtoTile(double northing, double easting, const std::string& utmZone,
+                   double imageResolution, int32_t& tileX, int32_t& tileY,
+                   int32_t& zoomLevel);
+
+    char UTMLetterDesignator(double latitude);
+
+    void LLtoUTM(const double latitude, const double longitude,
+                 double& utmNorthing, double& utmEasting,
+                 std::string& utmZone);
+
+    void UTMtoLL(const double utmNorthing, const double utmEasting,
+                 const std::string& utmZone,
+                 double& latitude, double& longitude);
+
+    ImageryType currentImageryType;
+};
+
+#endif // IMAGERY_H

src/ui/map3D/Texture.cc

+#include "Texture.h"
+
+Texture::Texture()
+{
+
+}
+
+Texture::State
+Texture::getState(void) const
+{
+    return state;
+}
+
+GLuint
+Texture::getTextureId(void) const
+{
+    return textureId;
+}
+
+int32_t
+Texture::getTextureWidth(void) const
+{
+    return textureWidth;
+}
+
+int32_t
+Texture::getTextureHeight(void) const
+{
+    return textureHeight;
+}
+
+int32_t
+Texture::getImageWidth(void) const
+{
+    return imageWidth;
+}
+
+int32_t
+Texture::getImageHeight(void) const
+{
+    return imageHeight;
+}
+
+float
+Texture::getMaxU(void) const
+{
+    return maxU;
+}
+
+float
+Texture::getMaxV(void) const
+{
+    return maxV;
+}

src/ui/map3D/Texture.h

+#ifndef TEXTURE_H
+#define TEXTURE_H
+
+#include <GL/gl.h>
+#include <QSharedPointer>
+
+class Texture
+{
+public:
+    Texture();
+
+    enum State
+    {
+        UNINITIALIZED = 0,
+        REQUESTED = 1,
+        READY = 2
+    };
+
+    State getState(void) const;
+    GLuint getTextureId(void) const;
+    int32_t getTextureWidth(void) const;
+    int32_t getTextureHeight(void) const;
+    int32_t getImageWidth(void) const;
+    int32_t getImageHeight(void) const;
+    float getMaxU(void) const;
+    float getMaxV(void) const;
+
+private:
+    State state;
+
+    GLuint textureId;
+
+    int32_t textureWidth;
+    int32_t textureHeight;
+
+    int32_t imageWidth;
+    int32_t imageHeight;
+
+    float maxU;
+    float maxV;
+};
+
+typedef struct QSharedPointer<Texture> TexturePtr;
+
+#endif // TEXTURE_H