Fixed outstanding imagery issues except for one: OSG is unexpectedly culling tiles.

src/input/Freenect.cc

@@ -197,7 +197,7 @@ Freenect::get3DPointCloudData(void)
     unsigned short* data = reinterpret_cast<unsigned short*>(depth);
     for (int i = 0; i < FREENECT_FRAME_PIX; ++i)
     {
-        if (data[i] <= 2048)
+        if (data[i] > 0 && data[i] <= 2048)
         {
             // see www.ros.org/wiki/kinect_node for details
             double range = 1.0f / (-0.00307f * static_cast<float>(data[i]) + 3.33f);
@@ -226,9 +226,9 @@ Freenect::get6DPointCloudData(void)
     {
         Vector6D point;
 
-        point.x = rawPointCloud[i].x();
-        point.y = rawPointCloud[i].y();
-        point.z = rawPointCloud[i].z();
+        point.x = rawPointCloud.at(i).x();
+        point.y = rawPointCloud.at(i).y();
+        point.z = rawPointCloud.at(i).z();
 
         QVector4D transformedPoint = transformMatrix * QVector4D(point.x, point.y, point.z, 1.0);
 

src/ui/map3D/GCManipulator.cc

@@ -33,21 +33,21 @@ This file is part of the QGROUNDCONTROL project
 
 GCManipulator::GCManipulator()
 {
-    _moveSensitivity = 0.05f;
-    _zoomSensitivity = 1.0f;
-    _minZoomRange = 2.0f;
+    _moveSensitivity = 0.05;
+    _zoomSensitivity = 1.0;
+    _minZoomRange = 2.0;
 }
 
 void
-GCManipulator::setMinZoomRange(float minZoomRange)
+GCManipulator::setMinZoomRange(double minZoomRange)
 {
     _minZoomRange = minZoomRange;
 }
 
 void
-GCManipulator::move(float dx, float dy, float dz)
+GCManipulator::move(double dx, double dy, double dz)
 {
-    _center += osg::Vec3(dx, dy, dz);
+    _center += osg::Vec3d(dx, dy, dz);
 }
 
 bool
@@ -126,15 +126,15 @@ GCManipulator::handle(const osgGA::GUIEventAdapter& ea,
     case GUIEventAdapter::SCROLL:
         {
             // zoom model
-            float scale = 1.0f;
+            double scale = 1.0;
 
             if (ea.getScrollingMotion() == GUIEventAdapter::SCROLL_UP)
             {
-                scale -= _zoomSensitivity * 0.1f;
+                scale -= _zoomSensitivity * 0.1;
             }
             else
             {
-                scale += _zoomSensitivity * 0.1f;
+                scale += _zoomSensitivity * 0.1;
             }
             if (_distance * scale > _minZoomRange)
             {
@@ -161,12 +161,12 @@ GCManipulator::handle(const osgGA::GUIEventAdapter& ea,
             }
         case GUIEventAdapter::KEY_Left:
             {
-                float scale = -_moveSensitivity * _distance;
+                double scale = -_moveSensitivity * _distance;
 
                 osg::Matrix rotation_matrix;
                 rotation_matrix.makeRotate(_rotation);
 
-                osg::Vec3 dv(scale, 0.0f, 0.0f);
+                osg::Vec3d dv(scale, 0.0, 0.0);
 
                 _center += dv * rotation_matrix;
 
@@ -174,12 +174,12 @@ GCManipulator::handle(const osgGA::GUIEventAdapter& ea,
             }
         case GUIEventAdapter::KEY_Right:
             {
-                float scale = _moveSensitivity * _distance;
+                double scale = _moveSensitivity * _distance;
 
                 osg::Matrix rotation_matrix;
                 rotation_matrix.makeRotate(_rotation);
 
-                osg::Vec3 dv(scale, 0.0f, 0.0f);
+                osg::Vec3d dv(scale, 0.0, 0.0);
 
                 _center += dv * rotation_matrix;
 
@@ -187,12 +187,12 @@ GCManipulator::handle(const osgGA::GUIEventAdapter& ea,
             }
         case GUIEventAdapter::KEY_Up:
             {
-                float scale = _moveSensitivity * _distance;
+                double scale = _moveSensitivity * _distance;
 
                 osg::Matrix rotation_matrix;
                 rotation_matrix.makeRotate(_rotation);
 
-                osg::Vec3 dv(0.0f, scale, 0.0f);
+                osg::Vec3d dv(0.0, scale, 0.0);
 
                 _center += dv * rotation_matrix;
 
@@ -200,12 +200,12 @@ GCManipulator::handle(const osgGA::GUIEventAdapter& ea,
             }
         case GUIEventAdapter::KEY_Down:
             {
-                float scale = -_moveSensitivity * _distance;
+                double scale = -_moveSensitivity * _distance;
 
                 osg::Matrix rotation_matrix;
                 rotation_matrix.makeRotate(_rotation);
 
-                osg::Vec3 dv(0.0f, scale, 0.0f);
+                osg::Vec3d dv(0.0, scale, 0.0);
 
                 _center += dv * rotation_matrix;
 
@@ -231,7 +231,7 @@ GCManipulator::handle(const osgGA::GUIEventAdapter& ea,
 
 
 bool
-GCManipulator::calcMovement()
+GCManipulator::calcMovement(void)
 {
     using namespace osgGA;
 
@@ -241,11 +241,11 @@ GCManipulator::calcMovement()
         return false;
     }
 
-    float dx = _ga_t0->getXnormalized() - _ga_t1->getXnormalized();
-    float dy = _ga_t0->getYnormalized() - _ga_t1->getYnormalized();
+    double dx = _ga_t0->getXnormalized() - _ga_t1->getXnormalized();
+    double dy = _ga_t0->getYnormalized() - _ga_t1->getYnormalized();
 
     // return if there is no movement.
-    if (dx == 0.0f && dy == 0.0f)
+    if (dx == 0.0 && dy == 0.0)
     {
         return false;
     }
@@ -282,12 +282,12 @@ GCManipulator::calcMovement()
                             GUIEventAdapter::RIGHT_MOUSE_BUTTON))
     {
         // pan model
-        float scale = -_moveSensitivity * _distance;
+        double scale = -_moveSensitivity * _distance;
 
         osg::Matrix rotation_matrix;
         rotation_matrix.makeRotate(_rotation);
 
-        osg::Vec3 dv(dx * scale, dy * scale, 0.0f);
+        osg::Vec3d dv(dx * scale, dy * scale, 0.0);
 
         _center += dv * rotation_matrix;
 
@@ -297,7 +297,7 @@ GCManipulator::calcMovement()
     else if (buttonMask == GUIEventAdapter::RIGHT_MOUSE_BUTTON)
     {
         // zoom model
-        float scale = 1.0f + dy * _zoomSensitivity;
+        double scale = 1.0 + dy * _zoomSensitivity;
         if (_distance * scale > _minZoomRange)
         {
 

src/ui/map3D/GCManipulator.h

@@ -39,9 +39,9 @@ class GCManipulator : public osgGA::TrackballManipulator
 public:
     GCManipulator();
 
-    void setMinZoomRange(float minZoomRange);
+    void setMinZoomRange(double minZoomRange);
 
-    virtual void move(float dx, float dy, float dz);
+    virtual void move(double dx, double dy, double dz);
 
     /**
      * @brief Handle events.
@@ -51,11 +51,11 @@ public:
                         osgGA::GUIActionAdapter& us);
 
 protected:
-    bool calcMovement();
+    bool calcMovement(void);
 
-    float _moveSensitivity;
-    float _zoomSensitivity;
-    float _minZoomRange;
+    double _moveSensitivity;
+    double _zoomSensitivity;
+    double _minZoomRange;
 };
 
 #endif // GCMANIPULATOR_H

src/ui/map3D/Imagery.cc

@@ -70,6 +70,11 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
                     double zoom, double xOrigin, double yOrigin,
                     const QString& utmZone)
 {
+    if (currentImageryType == BLANK_MAP)
+    {
+        return;
+    }
+
     double tileResolution;
     if (currentImageryType == GOOGLE_SATELLITE ||
         currentImageryType == GOOGLE_MAP)
@@ -115,6 +120,16 @@ Imagery::draw2D(double windowWidth, double windowHeight,
                 double zoom, double xOrigin, double yOrigin,
                 const QString& utmZone)
 {
+    if (getNumDrawables() > 0)
+    {
+        removeDrawables(0, getNumDrawables());
+    }
+
+    if (currentImageryType == BLANK_MAP)
+    {
+        return;
+    }
+
     double tileResolution;
     if (currentImageryType == GOOGLE_SATELLITE ||
         currentImageryType == GOOGLE_MAP)
@@ -144,11 +159,6 @@ Imagery::draw2D(double windowWidth, double windowHeight,
                yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    if (getNumDrawables() > 0)
-    {
-        removeDrawables(0, getNumDrawables());
-    }
-
     for (int r = minTileY; r <= maxTileY; ++r)
     {
         for (int c = minTileX; c <= maxTileX; ++c)
@@ -161,10 +171,10 @@ Imagery::draw2D(double windowWidth, double windowHeight,
             TexturePtr t = textureCache->get(tileURL);
             if (!t.isNull())
             {
-                addDrawable(t->draw(y1 - yOrigin, x1 - xOrigin,
-                                    y2 - yOrigin, x2 - xOrigin,
-                                    y3 - yOrigin, x3 - xOrigin,
-                                    y4 - yOrigin, x4 - xOrigin,
+                addDrawable(t->draw(y1, x1,
+                                    y2, x2,
+                                    y3, x3,
+                                    y4, x4,
                                     true));
             }
         }
@@ -176,6 +186,11 @@ Imagery::prefetch3D(double radius, double tileResolution,
                     double xOrigin, double yOrigin,
                     const QString& utmZone)
 {
+    if (currentImageryType == BLANK_MAP)
+    {
+        return;
+    }
+
     int minTileX, minTileY, maxTileX, maxTileY;
     int zoomLevel;
 
@@ -200,6 +215,16 @@ Imagery::draw3D(double radius, double tileResolution,
                 double xOrigin, double yOrigin,
                 const QString& utmZone)
 {
+    if (getNumDrawables() > 0)
+    {
+        removeDrawables(0, getNumDrawables());
+    }
+
+    if (currentImageryType == BLANK_MAP)
+    {
+        return;
+    }
+
     int minTileX, minTileY, maxTileX, maxTileY;
     int zoomLevel;
 
@@ -208,11 +233,6 @@ Imagery::draw3D(double radius, double tileResolution,
                xOrigin + radius, yOrigin + radius, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    if (getNumDrawables() > 0)
-    {
-        removeDrawables(0, getNumDrawables());
-    }
-
     for (int r = minTileY; r <= maxTileY; ++r)
     {
         for (int c = minTileX; c <= maxTileX; ++c)
@@ -226,10 +246,10 @@ Imagery::draw3D(double radius, double tileResolution,
 
             if (!t.isNull())
             {
-                addDrawable(t->draw(y1 - yOrigin, x1 - xOrigin,
-                                    y2 - yOrigin, x2 - xOrigin,
-                                    y3 - yOrigin, x3 - xOrigin,
-                                    y4 - yOrigin, x4 - xOrigin,
+                addDrawable(t->draw(y1, x1,
+                                    y2, x2,
+                                    y3, x3,
+                                    y4, x4,
                                     true));
             }
         }
@@ -563,7 +583,7 @@ Imagery::UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
                  * D * D * D * D * D / 120.0) / cos(phi1Rad);
     longitude = LongOrigin + longitude / M_PI * 180.0;
 }
-#include <QDebug>
+
 QString
 Imagery::getTileLocation(int tileX, int tileY, int zoomLevel,
                          double tileResolution) const

src/ui/map3D/Pixhawk3DWidget.cc

@@ -56,6 +56,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
      , displayRGBD3D(false)
      , enableRGBDColor(true)
      , followCamera(true)
+     , enableFreenect(false)
      , lastRobotX(0.0f)
      , lastRobotY(0.0f)
      , lastRobotZ(0.0f)
@@ -88,12 +89,15 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
 
 #ifdef QGC_LIBFREENECT_ENABLED
     freenect.reset(new Freenect());
-    freenect->init();
+    enableFreenect = freenect->init();
 #endif
 
     // generate RGBD model
-    rgbd3DNode = createRGBD3D();
-    egocentricMap->addChild(rgbd3DNode);
+    if (enableFreenect)
+    {
+        rgbd3DNode = createRGBD3D();
+        egocentricMap->addChild(rgbd3DNode);
+    }
 
     setupHUD();
 
@@ -174,6 +178,15 @@ void
 Pixhawk3DWidget::selectMapSource(int index)
 {
     mapNode->setImageryType(static_cast<Imagery::ImageryType>(index));
+
+    if (mapNode->getImageryType() == Imagery::BLANK_MAP)
+    {
+        displayImagery = false;
+    }
+    else
+    {
+        displayImagery = true;
+    }
 }
 
 void
@@ -187,7 +200,7 @@ Pixhawk3DWidget::selectVehicleModel(int index)
 void
 Pixhawk3DWidget::recenter(void)
 {
-    float robotX = 0.0f, robotY = 0.0f, robotZ = 0.0f;
+    double robotX = 0.0f, robotY = 0.0f, robotZ = 0.0f;
     if (uas != NULL)
     {
         robotX = uas->getLocalX();
@@ -345,12 +358,12 @@ Pixhawk3DWidget::display(void)
         return;
     }
 
-    float robotX = uas->getLocalX();
-    float robotY = uas->getLocalY();
-    float robotZ = uas->getLocalZ();
-    float robotRoll = uas->getRoll();
-    float robotPitch = uas->getPitch();
-    float robotYaw = uas->getYaw();
+    double robotX = uas->getLocalX();
+    double robotY = uas->getLocalY();
+    double robotZ = uas->getLocalZ();
+    double robotRoll = uas->getRoll();
+    double robotPitch = uas->getPitch();
+    double robotYaw = uas->getYaw();
 
     if (lastRobotX == 0.0f && lastRobotY == 0.0f && lastRobotZ == 0.0f)
     {
@@ -365,17 +378,17 @@ Pixhawk3DWidget::display(void)
 
     if (followCamera)
     {
-        float dx = robotY - lastRobotY;
-        float dy = robotX - lastRobotX;
-        float dz = lastRobotZ - robotZ;
+        double dx = robotY - lastRobotY;
+        double dy = robotX - lastRobotX;
+        double dz = lastRobotZ - robotZ;
 
         moveCamera(dx, dy, dz);
     }
 
-    robotPosition->setPosition(osg::Vec3(robotY, robotX, -robotZ));
-    robotAttitude->setAttitude(osg::Quat(-robotYaw, osg::Vec3f(0.0f, 0.0f, 1.0f),
-                                         robotPitch, osg::Vec3f(1.0f, 0.0f, 0.0f),
-                                         robotRoll, osg::Vec3f(0.0f, 1.0f, 0.0f)));
+    robotPosition->setPosition(osg::Vec3d(robotY, robotX, -robotZ));
+    robotAttitude->setAttitude(osg::Quat(-robotYaw, osg::Vec3d(0.0f, 0.0f, 1.0f),
+                                         robotPitch, osg::Vec3d(1.0f, 0.0f, 0.0f),
+                                         robotRoll, osg::Vec3d(0.0f, 1.0f, 0.0f)));
 
     if (displayTrail)
     {
@@ -398,7 +411,7 @@ Pixhawk3DWidget::display(void)
     }
 
 #ifdef QGC_LIBFREENECT_ENABLED
-    if (displayRGBD2D || displayRGBD3D)
+    if (enableFreenect && (displayRGBD2D || displayRGBD3D))
     {
         updateRGBD();
     }
@@ -409,10 +422,13 @@ Pixhawk3DWidget::display(void)
 
     rollingMap->setChildValue(gridNode, displayGrid);
     rollingMap->setChildValue(trailNode, displayTrail);
+    allocentricMap->setChildValue(mapNode, displayImagery);
     rollingMap->setChildValue(targetNode, displayTarget);
     rollingMap->setChildValue(waypointsNode, displayWaypoints);
-    egocentricMap->setChildValue(rgbd3DNode, displayRGBD3D);
-    allocentricMap->setChildValue(mapNode, displayImagery);
+    if (enableFreenect)
+    {
+        egocentricMap->setChildValue(rgbd3DNode, displayRGBD3D);
+    }
     hudGroup->setChildValue(rgb2DGeode, displayRGBD2D);
     hudGroup->setChildValue(depth2DGeode, displayRGBD2D);
 
@@ -437,9 +453,6 @@ Pixhawk3DWidget::keyPressEvent(QKeyEvent* event)
         case 'c': case 'C':
             enableRGBDColor = !enableRGBDColor;
             break;
-        case 'i': case 'I':
-            displayImagery = !displayImagery;
-            break;
         }
     }
 
@@ -531,7 +544,7 @@ Pixhawk3DWidget::createTrail(void)
     trailGeometry->setUseDisplayList(false);
     geode->addDrawable(trailGeometry.get());
 
-    trailVertices = new osg::Vec3Array;
+    trailVertices = new osg::Vec3dArray;
     trailGeometry->setVertexArray(trailVertices);
 
     trailDrawArrays = new osg::DrawArrays(osg::PrimitiveSet::LINE_STRIP);
@@ -677,8 +690,8 @@ Pixhawk3DWidget::resizeHUD(void)
 }
 
 void
-Pixhawk3DWidget::updateHUD(float robotX, float robotY, float robotZ,
-                           float robotRoll, float robotPitch, float robotYaw)
+Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
+                           double robotRoll, double robotPitch, double robotYaw)
 {
     resizeHUD();
 
@@ -715,7 +728,7 @@ Pixhawk3DWidget::updateHUD(float robotX, float robotY, float robotZ,
 }
 
 void
-Pixhawk3DWidget::updateTrail(float robotX, float robotY, float robotZ)
+Pixhawk3DWidget::updateTrail(double robotX, double robotY, double robotZ)
 {
     if (robotX == 0.0f || robotY == 0.0f || robotZ == 0.0f)
     {
@@ -725,9 +738,9 @@ Pixhawk3DWidget::updateTrail(float robotX, float robotY, float robotZ)
     bool addToTrail = false;
     if (trail.size() > 0)
     {
-        if (fabsf(robotX - trail[trail.size() - 1].x()) > 0.01f ||
-            fabsf(robotY - trail[trail.size() - 1].y()) > 0.01f ||
-            fabsf(robotZ - trail[trail.size() - 1].z()) > 0.01f)
+        if (fabs(robotX - trail[trail.size() - 1].x()) > 0.01f ||
+            fabs(robotY - trail[trail.size() - 1].y()) > 0.01f ||
+            fabs(robotZ - trail[trail.size() - 1].z()) > 0.01f)
         {
             addToTrail = true;
         }
@@ -739,11 +752,11 @@ Pixhawk3DWidget::updateTrail(float robotX, float robotY, float robotZ)
 
     if (addToTrail)
     {
-        osg::Vec3 p(robotX, robotY, robotZ);
+        osg::Vec3d p(robotX, robotY, robotZ);
         if (trail.size() == trail.capacity())
         {
             memcpy(trail.data(), trail.data() + 1,
-                   (trail.size() - 1) * sizeof(osg::Vec3));
+                   (trail.size() - 1) * sizeof(osg::Vec3d));
             trail[trail.size() - 1] = p;
         }
         else
@@ -755,9 +768,9 @@ Pixhawk3DWidget::updateTrail(float robotX, float robotY, float robotZ)
     trailVertices->clear();
     for (int i = 0; i < trail.size(); ++i)
     {
-        trailVertices->push_back(osg::Vec3(trail[i].y() - robotY,
-                                           trail[i].x() - robotX,
-                                           -(trail[i].z() - robotZ)));
+        trailVertices->push_back(osg::Vec3d(trail[i].y() - robotY,
+                                            trail[i].x() - robotX,
+                                            -(trail[i].z() - robotZ)));
     }
 
     trailDrawArrays->setFirst(0);
@@ -768,6 +781,11 @@ Pixhawk3DWidget::updateTrail(float robotX, float robotY, float robotZ)
 void
 Pixhawk3DWidget::updateImagery(void)
 {
+    if (mapNode->getImageryType() == Imagery::BLANK_MAP)
+    {
+        return;
+    }
+
     char zone[5] = "32T";
 
     double viewingRadius = cameraManipulator->getDistance() * 10.0;
@@ -777,7 +795,7 @@ Pixhawk3DWidget::updateImagery(void)
     }
 
     double minResolution = 0.25;
-    double centerResolution = cameraManipulator->getDistance() / 25.0;
+    double centerResolution = cameraManipulator->getDistance() / 50.0;
     double maxResolution = 1048576.0;
 
     Imagery::ImageryType imageryType = mapNode->getImageryType();
@@ -1100,7 +1118,7 @@ Pixhawk3DWidget::updateRGBD(void)
 void
 Pixhawk3DWidget::markTarget(void)
 {
-    float robotZ = 0.0f;
+    double robotZ = 0.0f;
     if (uas != NULL)
     {
         robotZ = uas->getLocalZ();

src/ui/map3D/Pixhawk3DWidget.h

@@ -88,9 +88,9 @@ private:
     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 updateHUD(double robotX, double robotY, double robotZ,
+                   double robotRoll, double robotPitch, double robotYaw);
+    void updateTrail(double robotX, double robotY, double robotZ);
     void updateImagery(void);
     void updateTarget(void);
     void updateWaypoints(void);
@@ -111,8 +111,8 @@ private:
 
     bool followCamera;
 
-    osg::ref_ptr<osg::Vec3Array> trailVertices;
-    QVarLengthArray<osg::Vec3, 10000> trail;
+    osg::ref_ptr<osg::Vec3dArray> trailVertices;
+    QVarLengthArray<osg::Vec3d, 10000> trail;
 
     osg::ref_ptr<osg::Node> vehicleModel;
     osg::ref_ptr<osg::Geometry> hudBackgroundGeometry;
@@ -134,6 +134,7 @@ private:
     QScopedPointer<Freenect> freenect;
     QVector<Freenect::Vector6D> pointCloud;
 #endif
+    bool enableFreenect;
     QSharedPointer<QByteArray> rgb;
     QSharedPointer<QByteArray> coloredDepth;
 
@@ -141,7 +142,7 @@ private:
 
     QPushButton* targetButton;
 
-    float lastRobotX, lastRobotY, lastRobotZ;
+    double lastRobotX, lastRobotY, lastRobotZ;
 };
 
 #endif // PIXHAWK3DWIDGET_H

src/ui/map3D/Q3DWidget.cc

@@ -181,13 +181,13 @@ Q3DWidget::setCameraParams(float minZoomRange, float cameraFov,
 }
 
 void
-Q3DWidget::moveCamera(float dx, float dy, float dz)
+Q3DWidget::moveCamera(double dx, double dy, double dz)
 {
     cameraManipulator->move(dx, dy, dz);
 }
 
 void
-Q3DWidget::recenterCamera(float x, float y, float z)
+Q3DWidget::recenterCamera(double x, double y, double z)
 {
     cameraManipulator->setCenter(osg::Vec3d(x, y, z));
 }
@@ -385,18 +385,6 @@ Q3DWidget::wheelEvent(QWheelEvent* event)
             osgGA::GUIEventAdapter::SCROLL_DOWN);
 }
 
-float
-Q3DWidget::r2d(float angle)
-{
-    return angle * 57.295779513082320876f;
-}
-
-float
-Q3DWidget::d2r(float angle)
-{
-    return angle * 0.0174532925199432957692f;
-}
-
 osgGA::GUIEventAdapter::KeySymbol
 Q3DWidget::convertKey(int key) const
 {

src/ui/map3D/Q3DWidget.h

@@ -88,12 +88,12 @@ public:
      * @param dy Translation along the y-axis in meters.
      * @param dz Translation along the z-axis in meters.
      */
-    void moveCamera(float dx, float dy, float dz);
+    void moveCamera(double dx, double dy, double dz);
 
     /**
      * @brief Recenters the camera at (x,y,z).
      */
-    void recenterCamera(float x, float y, float z);
+    void recenterCamera(double x, double y, double z);
 
     /**
      * @brief Sets up 3D display mode.
@@ -211,20 +211,6 @@ protected:
      */
     virtual void wheelEvent(QWheelEvent* event);
 
-    /**
-     * @brief Converts radians to degrees.
-     * @param angle Angle in radians.
-     * @return angle in degrees.
-     */
-    float r2d(float angle);
-
-    /**
-     * @brief Converts degrees to radians.
-     * @param angle Angle in degrees.
-     * @return angle in radians.
-     */
-    float d2r(float angle);
-
     /**
      * @brief Converts Qt-defined key to OSG-defined key.
      * @param key Qt-defined key.

src/ui/map3D/Texture.cc

@@ -47,7 +47,7 @@ Texture::Texture(unsigned int _id)
     osg::ref_ptr<osg::Image> image = new osg::Image;
     texture2D->setImage(image);
 
-    osg::ref_ptr<osg::Vec2Array> vertices(new osg::Vec2Array(4));
+    osg::ref_ptr<osg::Vec3dArray> vertices(new osg::Vec3dArray(4));
     geometry->setVertexArray(vertices);
 
     osg::ref_ptr<osg::Vec2Array> textureCoords = new osg::Vec2Array;
@@ -55,7 +55,7 @@ Texture::Texture(unsigned int _id)
     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));
-    geometry->setTexCoordArray(id, textureCoords);
+    geometry->setTexCoordArray(0, textureCoords);
 
     geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
                                                   0, 4));
@@ -66,6 +66,13 @@ Texture::Texture(unsigned int _id)
     geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
 
     geometry->setUseDisplayList(false);
+
+    osg::ref_ptr<osg::LineWidth> linewidth(new osg::LineWidth);
+    linewidth->setWidth(2.0f);
+    geometry->getOrCreateStateSet()->
+            setAttributeAndModes(linewidth, osg::StateAttribute::ON);
+    geometry->getOrCreateStateSet()->
+            setMode(GL_LIGHTING, osg::StateAttribute::OFF);
 }
 
 const QString&
@@ -94,8 +101,8 @@ Texture::sync(const WebImagePtr& image)
             texture2D->getImage()->setImage(image->getWidth(),
                                             image->getHeight(),
                                             1,
-                                            GL_RGB,
-                                            GL_RGB,
+                                            GL_RGBA,
+                                            GL_RGBA,
                                             GL_UNSIGNED_BYTE,
                                             image->getImageData(),
                                             osg::Image::NO_DELETE);
@@ -105,23 +112,23 @@ Texture::sync(const WebImagePtr& image)
 }
 
 osg::ref_ptr<osg::Geometry>
-Texture::draw(float x1, float y1, float x2, float y2,
+Texture::draw(double x1, double y1, double x2, double y2,
               bool smoothInterpolation) const
 {
     return draw(x1, y1, x2, y1, x2, y2, x1, y2, smoothInterpolation);
 }
 
 osg::ref_ptr<osg::Geometry>
-Texture::draw(float x1, float y1, float x2, float y2,
-              float x3, float y3, float x4, float y4,
+Texture::draw(double x1, double y1, double x2, double y2,
+              double x3, double y3, double x4, double y4,
               bool smoothInterpolation) const
 {
-    osg::Vec2Array* vertices =
-            static_cast<osg::Vec2Array*>(geometry->getVertexArray());
-    (*vertices)[0].set(x1, y1);
-    (*vertices)[1].set(x2, y2);
-    (*vertices)[2].set(x3, y3);
-    (*vertices)[3].set(x4, y4);
+    osg::Vec3dArray* vertices =
+            static_cast<osg::Vec3dArray*>(geometry->getVertexArray());
+    (*vertices)[0].set(x1, y1, -0.1);
+    (*vertices)[1].set(x2, y2, -0.1);
+    (*vertices)[2].set(x3, y3, -0.1);
+    (*vertices)[3].set(x4, y4, -0.1);
 
     osg::DrawArrays* drawarrays =
             static_cast<osg::DrawArrays*>(geometry->getPrimitiveSet(0));
@@ -130,11 +137,11 @@ Texture::draw(float x1, float y1, float x2, float y2,
 
     if (state == REQUESTED)
     {
-        drawarrays->set(osg::PrimitiveSet::LINES, 0, 4);
+        drawarrays->set(osg::PrimitiveSet::LINE_LOOP, 0, 4);
         (*colors)[0].set(0.0f, 0.0f, 1.0f, 1.0f);
         
         geometry->getOrCreateStateSet()->
-                setTextureAttributeAndModes(id, texture2D, osg::StateAttribute::OFF);
+                setTextureAttributeAndModes(0, texture2D, osg::StateAttribute::OFF);
 
         return geometry;
     }
@@ -154,7 +161,7 @@ Texture::draw(float x1, float y1, float x2, float y2,
     (*colors)[0].set(1.0f, 1.0f, 1.0f, 1.0f);
 
     geometry->getOrCreateStateSet()->
-            setTextureAttributeAndModes(id, texture2D, osg::StateAttribute::ON);
+            setTextureAttributeAndModes(0, texture2D, osg::StateAttribute::ON);
 
     return geometry;
 }

src/ui/map3D/Texture.h

@@ -51,10 +51,10 @@ public:
 
     void sync(const WebImagePtr& image);
 
-    osg::ref_ptr<osg::Geometry> draw(float x1, float y1, float x2, float y2,
+    osg::ref_ptr<osg::Geometry> draw(double x1, double y1, double x2, double y2,
                                      bool smoothInterpolation) const;
-    osg::ref_ptr<osg::Geometry> draw(float x1, float y1, float x2, float y2,
-                                     float x3, float y3, float x4, float y4,
+    osg::ref_ptr<osg::Geometry> draw(double x1, double y1, double x2, double y2,
+                                     double x3, double y3, double x4, double y4,
                                      bool smoothInterpolation) const;
 
 private: