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qgroundcontrol
Commit 8366c497 authored by pixhawk's avatar pixhawk
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Merge branch 'dev' of pixhawk.ethz.ch:qgroundcontrol into dev

parents a3947536 035e722f
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Showing with 350 additions and 85 deletions
qgroundcontrol.pri
View file @ 8366c497
......@@ -135,14 +135,15 @@ macx {
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
#QMAKE_CXXFLAGS += -Wl, -E
#QMAKE_CXXFLAGS += -Wl,-E
}
# GNU/Linux
linux-g++ {
debug {
DESTDIR = $$BUILDDIR/debug
CONFIG += debug
}
release {
......@@ -157,18 +158,8 @@ linux-g++ {
# $$BASEDIR/lib/flite/lang
HARDWARE_PLATFORM = $$system(uname -a)
contains( HARDWARE_PLATFORM, x86_64 ) {
# 64-bit Linux
#LIBS += \
#-L$$BASEDIR/lib/flite/linux64
message(Building for GNU/Linux 64bit/x64)
} else {
# 32-bit Linux
#LIBS += \
#-L$$BASEDIR/lib/flite/linux32
message(Building for GNU/Linux 32bit/i386)
}
message(Building for GNU/Linux 32bit/i386)
LIBS += \
-L/usr/lib \
-lm \
......@@ -198,7 +189,7 @@ linux-g++ {
}
exists(/usr/local/include/libfreenect) {
message("Building suplocport for libfreenect")
message("Building support for libfreenect")
DEPENDENCIES_PRESENT += libfreenect
INCLUDEPATH += /usr/include/libusb-1.0
# Include libfreenect libraries
......@@ -213,14 +204,14 @@ linux-g++ {
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += -Wl, -E
QMAKE_CXXFLAGS += -Wl,-E
}
linux-g++-64 {
CONFIG += debug
debug {
DESTDIR = $$BUILDDIR/debug
CONFIG += debug
}
release {
......@@ -228,24 +219,16 @@ linux-g++-64 {
}
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
INCLUDEPATH += /usr/include \
/usr/include/qt4/phonon
# $$BASEDIR/lib/flite/include \
# $$BASEDIR/lib/flite/lang
HARDWARE_PLATFORM = $$system(uname -a)
contains( HARDWARE_PLATFORM, x86_64 ) {
# 64-bit Linux
#LIBS += \
#-L$$BASEDIR/lib/flite/linux64
message(Building for GNU/Linux 64bit/x64)
} else {
# 32-bit Linux
#LIBS += \
#-L$$BASEDIR/lib/flite/linux32
message(Building for GNU/Linux 32bit/i386)
}
# 64-bit Linux
message(Building for GNU/Linux 64bit/x64 (g++-64))
LIBS += \
-L/usr/lib \
-lm \
......@@ -285,7 +268,7 @@ linux-g++-64 {
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += -Wl, -E
QMAKE_CXXFLAGS += -Wl,-E
}
# Windows (32bit)
......@@ -356,7 +339,7 @@ win32-g++ {
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += -Wl, -E
QMAKE_CXXFLAGS += -Wl,-E
}
# Windows (64bit)
......@@ -394,5 +377,5 @@ win64-g++ {
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_CXXFLAGS += -Wl, -E
QMAKE_CXXFLAGS += -Wl,-E
}
qgroundcontrol.pro
View file @ 8366c497
......@@ -37,8 +37,7 @@ BASEDIR = $$IN_PWD
TARGETDIR = $$OUT_PWD
BUILDDIR = $$TARGETDIR/build
LANGUAGE = C++
CONFIG += debug_and_release \
console
CONFIG += console
OBJECTS_DIR = $$BUILDDIR/obj
MOC_DIR = $$BUILDDIR/moc
UI_HEADERS_DIR = src/ui/generated
......@@ -353,9 +352,9 @@ contains(DEPENDENCIES_PRESENT, osgearth) {
}
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including sources for libfreenect")
# Enable only if libfreenect is available
SOURCES += src/input/Freenect.cc
}
......
src/Waypoint.cc
View file @ 8366c497
......@@ -40,12 +40,12 @@ Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _
y(_y),
z(_z),
yaw(_yaw),
frame(_frame),
action(_action),
autocontinue(_autocontinue),
current(_current),
orbit(_orbit),
holdTime(_holdTime),
frame(_frame),
action(_action)
holdTime(_holdTime)
{
}
......
src/input/Freenect.cc
View file @ 8366c497
......@@ -2,19 +2,57 @@
#include <cmath>
#include <string.h>
#include <QDebug>
Freenect::Freenect()
: context(NULL)
, device(NULL)
, tiltAngle(0)
{
// default rgb camera parameters
rgbCameraParameters.cx = 3.2894272028759258e+02;
rgbCameraParameters.cy = 2.6748068171871557e+02;
rgbCameraParameters.fx = 5.2921508098293293e+02;
rgbCameraParameters.fy = 5.2556393630057437e+02;
rgbCameraParameters.k[0] = 2.6451622333009589e-01;
rgbCameraParameters.k[1] = -8.3990749424620825e-01;
rgbCameraParameters.k[2] = -1.9922302173693159e-03;
rgbCameraParameters.k[3] = 1.4371995932897616e-03;
rgbCameraParameters.k[4] = 9.1192465078713847e-01;
// default depth camera parameters
depthCameraParameters.cx = 3.3930780975300314e+02;
depthCameraParameters.cy = 2.4273913761751615e+02;
depthCameraParameters.fx = 5.9421434211923247e+02;
depthCameraParameters.fy = 5.9104053696870778e+02;
depthCameraParameters.k[0] = -2.6386489753128833e-01;
depthCameraParameters.k[1] = 9.9966832163729757e-01;
depthCameraParameters.k[2] = -7.6275862143610667e-04;
depthCameraParameters.k[3] = 5.0350940090814270e-03;
depthCameraParameters.k[4] = -1.3053628089976321e+00;
// populate gamma lookup table
for (int i = 0; i < 2048; ++i)
{
float v = static_cast<float>(i) / 2048.0f;
v = powf(v, 3.0f) * 6.0f;
gammaTable[i] = static_cast<unsigned short>(v * 6.0f * 256.0f);
}
// populate depth projection matrix
for (int i = 0; i < FREENECT_FRAME_H; ++i)
{
for (int j = 0; j < FREENECT_FRAME_W; ++j)
{
QVector2D originalPoint(j, i);
QVector2D rectifiedPoint;
rectifyPoint(originalPoint, rectifiedPoint, depthCameraParameters);
QVector3D rectifiedRay;
projectPixelTo3DRay(rectifiedPoint, rectifiedRay, depthCameraParameters);
depthProjectionMatrix[i * FREENECT_FRAME_W + j] = rectifiedRay;
}
}
}
Freenect::~Freenect()
......@@ -98,8 +136,14 @@ Freenect::process(void)
return false;
}
freenect_get_raw_accel(device, &ax, &ay, &az);
freenect_get_mks_accel(device, &dx, &dy, &dz);
//libfreenect changed some access functions in one of the new revisions
freenect_raw_device_state state;
freenect_get_mks_accel(&state, &ax, &ay, &az);
//tiltAngle = freenect_get_tilt_degs(&state);
//these are the old access functions
//freenect_get_raw_accel(device, &ax, &ay, &az);
//freenect_get_mks_accel(device, &dx, &dy, &dz);
return true;
}
......@@ -120,15 +164,6 @@ Freenect::getRawDepthData(void)
new QByteArray(depth, FREENECT_DEPTH_SIZE));
}
QSharedPointer<QByteArray>
Freenect::getDistanceData(void)
{
QMutexLocker locker(&distanceMutex);
return QSharedPointer<QByteArray>(
new QByteArray(reinterpret_cast<char *>(distance),
FREENECT_FRAME_PIX * sizeof(float)));
}
QSharedPointer<QByteArray>
Freenect::getColoredDepthData(void)
{
......@@ -137,6 +172,34 @@ Freenect::getColoredDepthData(void)
new QByteArray(coloredDepth, FREENECT_RGB_SIZE));
}
QVector<QVector3D>
Freenect::getPointCloudData(void)
{
QMutexLocker locker(&depthMutex);
QVector<QVector3D> pointCloud;
unsigned short* data = reinterpret_cast<unsigned short*>(depth);
for (int i = 0; i < FREENECT_FRAME_PIX; ++i)
{
if (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);
if (range > 0.0f)
{
QVector3D ray = depthProjectionMatrix[i];
ray *= range;
pointCloud.push_back(QVector3D(ray.x(), ray.y(), ray.z()));
}
}
}
return pointCloud;
}
int
Freenect::getTiltAngle(void) const
{
......@@ -173,6 +236,43 @@ Freenect::FreenectThread::run(void)
}
}
void
Freenect::rectifyPoint(const QVector2D& originalPoint, QVector2D& rectifiedPoint,
const IntrinsicCameraParameters& params)
{
double x = (originalPoint.x() - params.cx) / params.fx;
double y = (originalPoint.y() - params.cy) / params.fy;
double x0 = x;
double y0 = y;
// eliminate lens distortion iteratively
for (int i = 0; i < 4; ++i)
{
double r2 = x * x + y * y;
// tangential distortion vector [dx dy]
double dx = 2 * params.k[2] * x * y + params.k[3] * (r2 + 2 * x * x);
double dy = params.k[2] * (r2 + 2 * y * y) + 2 * params.k[3] * x * y;
double icdist = 1.0 / (1.0 + r2 * (params.k[0] + r2 * (params.k[1] + r2 * params.k[4])));
x = (x0 - dx) * icdist;
y = (y0 - dy) * icdist;
}
rectifiedPoint.setX(x * params.fx + params.cx);
rectifiedPoint.setY(y * params.fy + params.cy);
}
void
Freenect::projectPixelTo3DRay(const QVector2D& pixel, QVector3D& ray,
const IntrinsicCameraParameters& params)
{
ray.setX((pixel.x() - params.cx) / params.fx);
ray.setY((pixel.y() - params.cy) / params.fy);
ray.setZ(1.0);
}
void
Freenect::rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t timestamp)
{
......@@ -183,7 +283,7 @@ Freenect::rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t tim
}
void
Freenect::depthCallback(freenect_device* device, freenect_depth* depth, uint32_t timestamp)
Freenect::depthCallback(freenect_device* device, void* depth, uint32_t timestamp)
{
Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
freenect_depth* data = reinterpret_cast<freenect_depth *>(depth);
......@@ -191,13 +291,6 @@ Freenect::depthCallback(freenect_device* device, freenect_depth* depth, uint32_t
QMutexLocker depthLocker(&freenect->depthMutex);
memcpy(freenect->depth, data, FREENECT_DEPTH_SIZE);
QMutexLocker distanceLocker(&freenect->distanceMutex);
for (int i = 0; i < FREENECT_FRAME_PIX; ++i)
{
freenect->distance[i] =
100.f / (-0.00307f * static_cast<float>(data[i]) + 3.33f);
}
QMutexLocker coloredDepthLocker(&freenect->coloredDepthMutex);
unsigned short* src = reinterpret_cast<unsigned short *>(data);
unsigned char* dst = reinterpret_cast<unsigned char *>(freenect->coloredDepth);
......
src/input/Freenect.h
View file @ 8366c497
#ifndef FREENECT_H
#define FREENECT_H
#include <libfreenect.h>
#include <libfreenect/libfreenect.h>
#include <QMutex>
#include <QScopedPointer>
#include <QSharedPointer>
#include <QThread>
#include <QVector>
#include <QVector2D>
#include <QVector3D>
class Freenect
{
......@@ -18,15 +21,35 @@ public:
QSharedPointer<QByteArray> getRgbData(void);
QSharedPointer<QByteArray> getRawDepthData(void);
QSharedPointer<QByteArray> getDistanceData(void);
QSharedPointer<QByteArray> getColoredDepthData(void);
QVector<QVector3D> getPointCloudData(void);
int getTiltAngle(void) const;
void setTiltAngle(int angle);
private:
typedef struct
{
// coordinates of principal point
double cx;
double cy;
// focal length in pixels
double fx;
double fy;
// distortion parameters
double k[5];
} IntrinsicCameraParameters;
void rectifyPoint(const QVector2D& originalPoint, QVector2D& rectifiedPoint,
const IntrinsicCameraParameters& params);
void projectPixelTo3DRay(const QVector2D& pixel, QVector3D& ray,
const IntrinsicCameraParameters& params);
static void rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t timestamp);
static void depthCallback(freenect_device* device, freenect_depth* depth, uint32_t timestamp);
static void depthCallback(freenect_device* device, void* depth, uint32_t timestamp);
freenect_context* context;
freenect_device* device;
......@@ -43,6 +66,9 @@ private:
};
QScopedPointer<FreenectThread> thread;
IntrinsicCameraParameters rgbCameraParameters;
IntrinsicCameraParameters depthCameraParameters;
// tilt angle of Kinect camera
int tiltAngle;
......@@ -53,18 +79,17 @@ private:
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 ax, ay, az;
double dx, dy, dz;
// gamma map
unsigned short gammaTable[2048];
QVector3D depthProjectionMatrix[FREENECT_FRAME_PIX];
};
#endif // FREENECT_H
src/uas/UAS.cc
View file @ 8366c497
......@@ -559,22 +559,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit textMessageReceived(uasId, message.compid, severity, text);
}
break;
#ifdef MAVLINK_ENABLED_PIXHAWK
case MAVLINK_MSG_ID_POINT_OF_INTEREST:
{
mavlink_point_of_interest_t poi;
mavlink_msg_point_of_interest_decode(&message, &poi);
emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
}
break;
case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
{
mavlink_point_of_interest_connection_t poi;
mavlink_msg_point_of_interest_connection_decode(&message, &poi);
emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
}
break;
#endif
//#ifdef MAVLINK_ENABLED_PIXHAWK
// case MAVLINK_MSG_ID_POINT_OF_INTEREST:
// {
// mavlink_point_of_interest_t poi;
// mavlink_msg_point_of_interest_decode(&message, &poi);
// emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
// }
// break;
// case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
// {
// mavlink_point_of_interest_connection_t poi;
// mavlink_msg_point_of_interest_connection_decode(&message, &poi);
// emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
// }
// break;
//#endif
#ifdef MAVLINK_ENABLED_UALBERTA
case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
{
......
src/ui/map3D/GCManipulator.cc
View file @ 8366c497
......@@ -254,7 +254,7 @@ GCManipulator::calcMovement()
if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON)
{
// rotate camera
osg::Vec3d axis;
osg::Vec3 axis;
float angle;
float px0 = _ga_t0->getXnormalized();
......
src/ui/map3D/Pixhawk3DWidget.cc
View file @ 8366c497
......@@ -224,8 +224,7 @@ Pixhawk3DWidget::findVehicleModels(void)
if (node)
{
nodes.push_back(node);
nodes.push_back(node);
}
else
{
......@@ -809,12 +808,175 @@ Pixhawk3DWidget::updateWaypoints(void)
}
}
float colormap_jet[128][3] =
{
{0.0f,0.0f,0.53125f},
{0.0f,0.0f,0.5625f},
{0.0f,0.0f,0.59375f},
{0.0f,0.0f,0.625f},
{0.0f,0.0f,0.65625f},
{0.0f,0.0f,0.6875f},
{0.0f,0.0f,0.71875f},
{0.0f,0.0f,0.75f},
{0.0f,0.0f,0.78125f},
{0.0f,0.0f,0.8125f},
{0.0f,0.0f,0.84375f},
{0.0f,0.0f,0.875f},
{0.0f,0.0f,0.90625f},
{0.0f,0.0f,0.9375f},
{0.0f,0.0f,0.96875f},
{0.0f,0.0f,1.0f},
{0.0f,0.03125f,1.0f},
{0.0f,0.0625f,1.0f},
{0.0f,0.09375f,1.0f},
{0.0f,0.125f,1.0f},
{0.0f,0.15625f,1.0f},
{0.0f,0.1875f,1.0f},
{0.0f,0.21875f,1.0f},
{0.0f,0.25f,1.0f},
{0.0f,0.28125f,1.0f},
{0.0f,0.3125f,1.0f},
{0.0f,0.34375f,1.0f},
{0.0f,0.375f,1.0f},
{0.0f,0.40625f,1.0f},
{0.0f,0.4375f,1.0f},
{0.0f,0.46875f,1.0f},
{0.0f,0.5f,1.0f},
{0.0f,0.53125f,1.0f},
{0.0f,0.5625f,1.0f},
{0.0f,0.59375f,1.0f},
{0.0f,0.625f,1.0f},
{0.0f,0.65625f,1.0f},
{0.0f,0.6875f,1.0f},
{0.0f,0.71875f,1.0f},
{0.0f,0.75f,1.0f},
{0.0f,0.78125f,1.0f},
{0.0f,0.8125f,1.0f},
{0.0f,0.84375f,1.0f},
{0.0f,0.875f,1.0f},
{0.0f,0.90625f,1.0f},
{0.0f,0.9375f,1.0f},
{0.0f,0.96875f,1.0f},
{0.0f,1.0f,1.0f},
{0.03125f,1.0f,0.96875f},
{0.0625f,1.0f,0.9375f},
{0.09375f,1.0f,0.90625f},
{0.125f,1.0f,0.875f},
{0.15625f,1.0f,0.84375f},
{0.1875f,1.0f,0.8125f},
{0.21875f,1.0f,0.78125f},
{0.25f,1.0f,0.75f},
{0.28125f,1.0f,0.71875f},
{0.3125f,1.0f,0.6875f},
{0.34375f,1.0f,0.65625f},
{0.375f,1.0f,0.625f},
{0.40625f,1.0f,0.59375f},
{0.4375f,1.0f,0.5625f},
{0.46875f,1.0f,0.53125f},
{0.5f,1.0f,0.5f},
{0.53125f,1.0f,0.46875f},
{0.5625f,1.0f,0.4375f},
{0.59375f,1.0f,0.40625f},
{0.625f,1.0f,0.375f},
{0.65625f,1.0f,0.34375f},
{0.6875f,1.0f,0.3125f},
{0.71875f,1.0f,0.28125f},
{0.75f,1.0f,0.25f},
{0.78125f,1.0f,0.21875f},
{0.8125f,1.0f,0.1875f},
{0.84375f,1.0f,0.15625f},
{0.875f,1.0f,0.125f},
{0.90625f,1.0f,0.09375f},
{0.9375f,1.0f,0.0625f},
{0.96875f,1.0f,0.03125f},
{1.0f,1.0f,0.0f},
{1.0f,0.96875f,0.0f},
{1.0f,0.9375f,0.0f},
{1.0f,0.90625f,0.0f},
{1.0f,0.875f,0.0f},
{1.0f,0.84375f,0.0f},
{1.0f,0.8125f,0.0f},
{1.0f,0.78125f,0.0f},
{1.0f,0.75f,0.0f},
{1.0f,0.71875f,0.0f},
{1.0f,0.6875f,0.0f},
{1.0f,0.65625f,0.0f},
{1.0f,0.625f,0.0f},
{1.0f,0.59375f,0.0f},
{1.0f,0.5625f,0.0f},
{1.0f,0.53125f,0.0f},
{1.0f,0.5f,0.0f},
{1.0f,0.46875f,0.0f},
{1.0f,0.4375f,0.0f},
{1.0f,0.40625f,0.0f},
{1.0f,0.375f,0.0f},
{1.0f,0.34375f,0.0f},
{1.0f,0.3125f,0.0f},
{1.0f,0.28125f,0.0f},
{1.0f,0.25f,0.0f},
{1.0f,0.21875f,0.0f},
{1.0f,0.1875f,0.0f},
{1.0f,0.15625f,0.0f},
{1.0f,0.125f,0.0f},
{1.0f,0.09375f,0.0f},
{1.0f,0.0625f,0.0f},
{1.0f,0.03125f,0.0f},
{1.0f,0.0f,0.0f},
{0.96875f,0.0f,0.0f},
{0.9375f,0.0f,0.0f},
{0.90625f,0.0f,0.0f},
{0.875f,0.0f,0.0f},
{0.84375f,0.0f,0.0f},
{0.8125f,0.0f,0.0f},
{0.78125f,0.0f,0.0f},
{0.75f,0.0f,0.0f},
{0.71875f,0.0f,0.0f},
{0.6875f,0.0f,0.0f},
{0.65625f,0.0f,0.0f},
{0.625f,0.0f,0.0f},
{0.59375f,0.0f,0.0f},
{0.5625f,0.0f,0.0f},
{0.53125f,0.0f,0.0f},
{0.5f,0.0f,0.0f}
};
#ifdef QGC_LIBFREENECT_ENABLED
void
Pixhawk3DWidget::updateRGBD(void)
{
rgb = freenect->getRgbData();
coloredDepth = freenect->getColoredDepthData();
pointCloud = freenect->getPointCloudData();
osg::Geometry* geometry = rgbd3DNode->getDrawable(0)->asGeometry();
osg::Vec3Array* vertices = static_cast<osg::Vec3Array*>(geometry->getVertexArray());
osg::Vec4Array* colors = static_cast<osg::Vec4Array*>(geometry->getColorArray());
for (int i = 0; i < pointCloud.size(); ++i)
{
double x = pointCloud[i].x();
double y = pointCloud[i].y();
double z = pointCloud[i].z();
(*vertices)[i].set(x, z, -y);
double dist = sqrt(x * x + y * y + z * z);
int colorIndex = static_cast<int>(fmin(dist / 7.0 * 127.0, 127.0));
(*colors)[i].set(colormap_jet[colorIndex][0],
colormap_jet[colorIndex][1],
colormap_jet[colorIndex][2],
1.0f);
}
if (geometry->getNumPrimitiveSets() == 0)
{
geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS,
0, pointCloud.size()));
}
else
{
osg::DrawArrays* drawarrays = static_cast<osg::DrawArrays*>(geometry->getPrimitiveSet(0));
drawarrays->setCount(pointCloud.size());
}
}
#endif
......
src/ui/map3D/Pixhawk3DWidget.h
View file @ 8366c497
......@@ -139,6 +139,7 @@ private:
#endif
QSharedPointer<QByteArray> rgb;
QSharedPointer<QByteArray> coloredDepth;
QVector<QVector3D> pointCloud;
QVector< osg::ref_ptr<osg::Node> > vehicleModels;
......
src/ui/map3D/Q3DWidget.cc
View file @ 8366c497
......@@ -34,7 +34,9 @@ This file is part of the QGROUNDCONTROL project
#include <osg/Geometry>
#include <osg/LineWidth>
#include <osg/MatrixTransform>
#ifdef Q_OS_MACX
#include <Carbon/Carbon.h>
#endif
Q3DWidget::Q3DWidget(QWidget* parent)
: QGLWidget(parent)
......
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