Fixed error in Cessna model.

src/ui/map3D/Pixhawk3DWidget.cc

@@ -172,7 +172,9 @@ Pixhawk3DWidget::showWaypoints(int state)
 void
 Pixhawk3DWidget::selectVehicleModel(int index)
 {
+    egocentricMap->removeChild(vehicleModel);
     vehicleModel = vehicleModels.at(index);
+    egocentricMap->addChild(vehicleModel);
 }
 
 void
@@ -201,7 +203,7 @@ Pixhawk3DWidget::toggleFollowCamera(int32_t state)
         followCamera = false;
     }
 }
-
+#include <osgDB/WriteFile>
 QVector< osg::ref_ptr<osg::Node> >
 Pixhawk3DWidget::findVehicleModels(void)
 {
@@ -211,14 +213,15 @@ Pixhawk3DWidget::findVehicleModels(void)
     QVector< osg::ref_ptr<osg::Node> > nodes;
 
     // add Pixhawk Bravo model
-    vehicleModels.push_back(PixhawkCheetahGeode::instance());
+    nodes.push_back(PixhawkCheetahGeode::instance());
 
+    // add all other models in folder
     for (int i = 0; i < files.size(); ++i)
     {
         osg::ref_ptr<osg::Node> node =
                 osgDB::readNodeFile(directory.absoluteFilePath(files[i]).toStdString().c_str());
 
-        vehicleModels.push_back(node);
+        nodes.push_back(node);
     }
 
     return nodes;
@@ -264,11 +267,11 @@ Pixhawk3DWidget::buildLayout(void)
     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->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(20, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 7);
+    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);

src/ui/map3D/Q3DWidget.cc

@@ -35,10 +35,6 @@ This file is part of the QGROUNDCONTROL project
 #include <osg/LineWidth>
 #include <osg/MatrixTransform>
 
-static const float KEY_ROTATE_AMOUNT = 5.0f;
-static const float KEY_MOVE_AMOUNT   = 10.0f;
-static const float KEY_ZOOM_AMOUNT   = 5.0f;
-
 Q3DWidget::Q3DWidget(QWidget* parent)
     : QGLWidget(parent)
     , root(new osg::Group())

src/ui/map3D/Texture.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+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 <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of the class Texture.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#include "Texture.h"
+
+Texture::Texture()
+    : _is3D(false)
+{
+
+}
+
+const QString&
+Texture::getSourceURL(void) const
+{
+    return sourceURL;
+}
+
+void
+Texture::setID(GLuint id)
+{
+    this->id = id;
+}
+
+void
+Texture::sync(const WebImagePtr& image)
+{
+    state = static_cast<State>(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<double>(imageWidth)
+                   / static_cast<double>(textureWidth);
+            maxV = static_cast<double>(imageHeight)
+                   / static_cast<double>(textureHeight);
+
+            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();
+    }
+}
+
+void
+Texture::draw(float x1, float y1, float x2, float y2,
+              bool smoothInterpolation) const
+{
+    draw(x1, y1, x2, y1, x2, y2, x1, y2, smoothInterpolation);
+}
+
+void
+Texture::draw(float x1, float y1, float x2, float y2,
+              float x3, float y3, float x4, float y4,
+              bool smoothInterpolation) const
+{
+    if (state == REQUESTED)
+    {
+        glBegin(GL_LINE_LOOP);
+        glColor3f(0.0f, 0.0f, 1.0f);
+        glVertex2f(x1, y1);
+        glVertex2f(x2, y2);
+        glVertex2f(x3, y3);
+        glVertex2f(x4, y4);
+        glEnd();
+
+        return;
+    }
+
+    glEnable(GL_TEXTURE_2D);
+    glBindTexture(GL_TEXTURE_2D, id);
+
+    float dx, dy;
+    if (smoothInterpolation)
+    {
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+        dx = 1.0f / (2.0f * textureWidth);
+        dy = 1.0f / (2.0f * textureHeight);
+    }
+    else
+    {
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+        dx = 0.0f;
+        dy = 0.0f;
+    }
+
+    glColor3f(1.0f, 1.0f, 1.0f);
+    if (!_is3D)
+    {
+        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<float>(heightModel.size() - 1);
+
+        for (int32_t i = 0; i < heightModel.size() - 1; ++i)
+        {
+            float scaleI = scaleX * static_cast<float>(i);
+
+            float scaleY =
+                    1.0f / static_cast<float>(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<float>(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<float>(heightModel[i][j]));
+                glTexCoord2f(dx + (scaleJ + scaleY) * (maxU - dx * 2.0f),
+                             dy + (1.0f - scaleI) * (maxV - dy * 2.0f));
+                glVertex3f(nx2, ny2, -static_cast<float>(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<float>(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<float>(heightModel[i + 1][j]));
+
+                glEnd();
+            }
+        }
+    }
+
+    glDisable(GL_TEXTURE_2D);
+}
+
+bool
+Texture::is3D(void) const
+{
+    return _is3D;
+}

src/ui/map3D/Texture.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+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 <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of the class Texture.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef TEXTURE_H
+#define TEXTURE_H
+
+#if (defined __APPLE__) & (defined __MACH__)
+#include <OpenGL/gl.h>
+#else
+#include <GL/gl.h>
+#endif
+#include <inttypes.h>
+#include <QSharedPointer>
+
+#include "WebImage.h"
+
+class Texture
+{
+public:
+    Texture();
+
+    const QString& getSourceURL(void) const;
+
+    void setID(GLuint id);
+
+    void sync(const WebImagePtr& image);
+
+    void draw(float x1, float y1, float x2, float y2,
+              bool smoothInterpolation) const;
+    void 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;
+    GLuint id;
+
+    int32_t textureWidth;
+    int32_t textureHeight;
+
+    int32_t imageWidth;
+    int32_t imageHeight;
+
+    bool _is3D;
+    QVector< QVector<int32_t> > heightModel;
+
+    float maxU;
+    float maxV;
+};
+
+typedef QSharedPointer<Texture> TexturePtr;
+
+#endif // TEXTURE_H

src/ui/map3D/TextureCache.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+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 <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of the class TextureCache.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#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);
+
+        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);
+
+        textures.push_back(t);
+    }
+}
+
+TexturePtr
+TextureCache::get(const QString& tileURL, bool useHeightModel)
+{
+    QPair<TexturePtr, int32_t> p1 = lookup(tileURL, useHeightModel);
+    if (!p1.first.isNull())
+    {
+        return p1.first;
+    }
+
+    QPair<WebImagePtr, int32_t> 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<TexturePtr, int32_t>
+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;
+}

src/ui/map3D/TextureCache.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+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 <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of the class TextureCache.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef TEXTURECACHE_H
+#define TEXTURECACHE_H
+
+#include <QVector>
+
+#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<TexturePtr, int32_t> lookup(const QString& tileURL,
+                                      bool useHeightModel);
+
+    bool requireSync(void) const;
+
+    uint32_t cacheSize;
+    QVector<TexturePtr> textures;
+
+    QScopedPointer<WebImageCache> imageCache;
+};
+
+#endif // TEXTURECACHE_H

src/ui/map3D/WebImage.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+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 <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of the class WebImage.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#include "WebImage.h"
+
+#include <QFile>
+#include <QGLWidget>
+
+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<int32_t> >&
+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<int32_t *>(header));
+        int32_t width = *(reinterpret_cast<int32_t *>(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<int32_t> scanline;
+            for (int32_t j = 0; j < width; ++j)
+            {    
+                int32_t n = *(reinterpret_cast<int32_t *>(buffer
+                                                          + (i * height + j)
+                                                          * sizeof(int32_t)));
+                scanline.push_back(n);
+            }
+            heightModel.push_back(scanline);
+        }
+
+        heightFile.close();
+
+        _is3D = true;
+
+        return true;
+    }
+    else
+    {