Merge branch 'dev' of pixhawk.ethz.ch:qgroundcontrol into dev

map.earth

+<map name="Map" type="projected" version="2">
+    <!--Add a high resolution inset of Zurich-->
+    <image name="zurich" driver="tms">
+        <url>../map/zurich/tms.xml</url>
+    </image>
+</map>
+

qgroundcontrol.pro

@@ -220,14 +220,10 @@ HEADERS += src/MG.h \
     src/ui/RadioCalibration/AbstractCalibrator.h \
     src/ui/map3D/Q3DWidget.h \
     src/ui/map3D/PixhawkCheetahGeode.h \
-    src/ui/map3D/Texture.h \
-    src/ui/map3D/TextureCache.h \
-    src/ui/map3D/WebImage.h \
-    src/ui/map3D/WebImageCache.h \
-    src/ui/map3D/Imagery.h \
     src/comm/QGCMAVLink.h \
     src/ui/map3D/Pixhawk3DWidget.h \
-    src/ui/map3D/Q3DWidgetFactory.h
+    src/ui/map3D/Q3DWidgetFactory.h \
+    src/ui/map3D/GCManipulator.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -300,13 +296,9 @@ SOURCES += src/main.cc \
     src/ui/WaypointGlobalView.cc \
     src/ui/map3D/Q3DWidget.cc \
     src/ui/map3D/PixhawkCheetahGeode.cc \
-    src/ui/map3D/Texture.cc \
-    src/ui/map3D/TextureCache.cc \
-    src/ui/map3D/WebImageCache.cc \
-    src/ui/map3D/WebImage.cc \
-    src/ui/map3D/Imagery.cc \
     src/ui/map3D/Pixhawk3DWidget.cc \
-    src/ui/map3D/Q3DWidgetFactory.cc
+    src/ui/map3D/Q3DWidgetFactory.cc \
+    src/ui/map3D/GCManipulator.cc
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library

src/ui/map3D/GCManipulator.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 GCManipulator.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#include "GCManipulator.h"
+
+GCManipulator::GCManipulator()
+{
+    _moveSensitivity = 0.05f;
+    _zoomSensitivity = 1.0f;
+    _minZoomRange = 2.0f;
+}
+
+void
+GCManipulator::setMinZoomRange(float minZoomRange)
+{
+    _minZoomRange = minZoomRange;
+}
+
+void
+GCManipulator::move(float dx, float dy, float dz)
+{
+    _center += osg::Vec3(dx, dy, dz);
+}
+
+bool
+GCManipulator::handle(const osgGA::GUIEventAdapter& ea,
+                      osgGA::GUIActionAdapter& us)
+{
+    using namespace osgGA;
+
+    switch (ea.getEventType())
+    {
+    case GUIEventAdapter::PUSH:
+        {
+            flushMouseEventStack();
+            addMouseEvent(ea);
+            if (calcMovement())
+            {
+                us.requestRedraw();
+            }
+            us.requestContinuousUpdate(false);
+            _thrown = false;
+            return true;
+        }
+
+    case GUIEventAdapter::RELEASE:
+        {
+            if (ea.getButtonMask() == 0)
+            {
+                if (isMouseMoving())
+                {
+                    if (calcMovement())
+                    {
+                        us.requestRedraw();
+                        us.requestContinuousUpdate(true);
+                        _thrown = true;
+                    }
+                }
+                else
+                {
+                    flushMouseEventStack();
+                    addMouseEvent(ea);
+                    if (calcMovement())
+                    {
+                        us.requestRedraw();
+                    }
+                    us.requestContinuousUpdate(false);
+                    _thrown = false;
+                }
+
+            }
+            else
+            {
+                flushMouseEventStack();
+                addMouseEvent(ea);
+                if (calcMovement())
+                {
+                    us.requestRedraw();
+                }
+                us.requestContinuousUpdate(false);
+                _thrown = false;
+            }
+            return true;
+        }
+
+    case GUIEventAdapter::DRAG:
+        {
+            addMouseEvent(ea);
+            if (calcMovement())
+            {
+                us.requestRedraw();
+            }
+            us.requestContinuousUpdate(false);
+            _thrown = false;
+            return true;
+        }
+
+    case GUIEventAdapter::SCROLL:
+        {
+            // zoom model
+            float scale = 1.0f;
+
+            if (ea.getScrollingMotion() == GUIEventAdapter::SCROLL_UP)
+            {
+                scale -= _zoomSensitivity * 0.1f;
+            }
+            else
+            {
+                scale += _zoomSensitivity * 0.1f;
+            }
+            if (_distance * scale > _minZoomRange)
+            {
+
+                _distance *= scale;
+
+            }
+
+            return true;
+        }
+
+    case GUIEventAdapter::KEYDOWN:
+        // pan model
+        switch (ea.getKey())
+        {
+        case GUIEventAdapter::KEY_Space:
+            {
+                flushMouseEventStack();
+                _thrown = false;
+                home(ea,us);
+                us.requestRedraw();
+                us.requestContinuousUpdate(false);
+                return true;
+            }
+        case GUIEventAdapter::KEY_Left:
+            {
+                float scale = -_moveSensitivity * _distance;
+
+                osg::Matrix rotation_matrix;
+                rotation_matrix.makeRotate(_rotation);
+
+                osg::Vec3 dv(scale, 0.0f, 0.0f);
+
+                _center += dv * rotation_matrix;
+
+                return true;
+            }
+        case GUIEventAdapter::KEY_Right:
+            {
+                float scale = _moveSensitivity * _distance;
+
+                osg::Matrix rotation_matrix;
+                rotation_matrix.makeRotate(_rotation);
+
+                osg::Vec3 dv(scale, 0.0f, 0.0f);
+
+                _center += dv * rotation_matrix;
+
+                return true;
+            }
+        case GUIEventAdapter::KEY_Up:
+            {
+                float scale = _moveSensitivity * _distance;
+
+                osg::Matrix rotation_matrix;
+                rotation_matrix.makeRotate(_rotation);
+
+                osg::Vec3 dv(0.0f, scale, 0.0f);
+
+                _center += dv * rotation_matrix;
+
+                return true;
+            }
+        case GUIEventAdapter::KEY_Down:
+            {
+                float scale = -_moveSensitivity * _distance;
+
+                osg::Matrix rotation_matrix;
+                rotation_matrix.makeRotate(_rotation);
+
+                osg::Vec3 dv(0.0f, scale, 0.0f);
+
+                _center += dv * rotation_matrix;
+
+                return true;
+            }
+            return false;
+        }
+
+    case GUIEventAdapter::FRAME:
+        if (_thrown)
+        {
+            if (calcMovement())
+            {
+                us.requestRedraw();
+            }
+        }
+        return false;
+
+    default:
+        return false;
+    }
+}
+
+
+bool
+GCManipulator::calcMovement()
+{
+    using namespace osgGA;
+
+    // return if less then two events have been added.
+    if (_ga_t0.get() == NULL || _ga_t1.get() == NULL)
+    {
+        return false;
+    }
+
+    float dx = _ga_t0->getXnormalized() - _ga_t1->getXnormalized();
+    float dy = _ga_t0->getYnormalized() - _ga_t1->getYnormalized();
+
+    // return if there is no movement.
+    if (dx == 0.0f && dy == 0.0f)
+    {
+        return false;
+    }
+
+    unsigned int buttonMask = _ga_t1->getButtonMask();
+    if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON)
+    {
+        // rotate camera
+        osg::Vec3 axis;
+        float angle;
+
+        float px0 = _ga_t0->getXnormalized();
+        float py0 = _ga_t0->getYnormalized();
+
+        float px1 = _ga_t1->getXnormalized();
+        float py1 = _ga_t1->getYnormalized();
+
+        trackball(axis, angle, px1, py1, px0, py0);
+
+        osg::Quat new_rotate;
+        new_rotate.makeRotate(angle, axis);
+
+        _rotation = _rotation * new_rotate;
+
+        return true;
+
+    }
+    else if (buttonMask == GUIEventAdapter::MIDDLE_MOUSE_BUTTON ||
+             buttonMask == (GUIEventAdapter::LEFT_MOUSE_BUTTON |
+                            GUIEventAdapter::RIGHT_MOUSE_BUTTON))
+    {
+        // pan model
+        float scale = -_moveSensitivity * _distance;
+
+        osg::Matrix rotation_matrix;
+        rotation_matrix.makeRotate(_rotation);
+
+        osg::Vec3 dv(dx * scale, dy * scale, 0.0f);
+
+        _center += dv * rotation_matrix;
+
+        return true;
+
+    }
+    else if (buttonMask == GUIEventAdapter::RIGHT_MOUSE_BUTTON)
+    {
+        // zoom model
+        float scale = 1.0f + dy * _zoomSensitivity;
+        if (_distance * scale > _minZoomRange)
+        {
+
+            _distance *= scale;
+
+        }
+        return true;
+    }
+
+    return false;
+}

src/ui/map3D/TextureCache.h → src/ui/map3D/GCManipulator.h

@@ -23,39 +23,39 @@ This file is part of the QGROUNDCONTROL project
 
 /**
  * @file
- *   @brief Definition of the class TextureCache.
+ *   @brief Definition of the class GCManipulator.
  *
  *   @author Lionel Heng <hengli@student.ethz.ch>
  *
  */
 
-#ifndef TEXTURECACHE_H
-#define TEXTURECACHE_H
+#ifndef GCMANIPULATOR_H
+#define GCMANIPULATOR_H
 
-#include <QVector>
+#include <osgGA/TrackballManipulator>
 
-#include "Texture.h"
-#include "WebImageCache.h"
-
-class TextureCache
+class GCManipulator : public osgGA::TrackballManipulator
 {
 public:
-    explicit TextureCache(uint32_t cacheSize);
-
-    TexturePtr get(const QString& tileURL, bool useHeightModel = false);
+    GCManipulator();
 
-    void sync(void);
+    void setMinZoomRange(float minZoomRange);
 
-private:
-    QPair<TexturePtr, int32_t> lookup(const QString& tileURL,
-                                      bool useHeightModel);
+    virtual void move(float dx, float dy, float dz);
 
-    bool requireSync(void) const;
+    /**
+     * @brief Handle events.
+     * @return True if event is handled; false otherwise.
+     */
+    virtual bool handle(const osgGA::GUIEventAdapter& ea,
+                        osgGA::GUIActionAdapter& us);
 
-    uint32_t cacheSize;
-    QVector<TexturePtr> textures;
+protected:
+    bool calcMovement();
 
-    QScopedPointer<WebImageCache> imageCache;
+    float _moveSensitivity;
+    float _zoomSensitivity;
+    float _minZoomRange;
 };
 
-#endif // TEXTURECACHE_H
+#endif // GCMANIPULATOR_H

src/ui/map3D/Imagery.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 Imagery.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#include "Imagery.h"
-
-#include <cmath>
-#include <iomanip>
-#include <sstream>
-
-const double WGS84_A = 6378137.0;
-const double WGS84_ECCSQ = 0.00669437999013;
-
-const int32_t 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;
-    }
-
-    int32_t minTileX, minTileY, maxTileX, maxTileY;
-    int32_t 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 (int32_t r = minTileY; r <= maxTileY; ++r)
-    {
-        for (int32_t 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;
-    }
-
-    int32_t minTileX, minTileY, maxTileX, maxTileY;
-    int32_t 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 (int32_t r = minTileY; r <= maxTileY; ++r)
-    {
-        for (int32_t 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)
-{
-    int32_t minTileX, minTileY, maxTileX, maxTileY;
-    int32_t zoomLevel;
-
-    tileBounds(tileResolution,
-               xOrigin + viewXOffset - radius,
-               yOrigin + viewYOffset - radius,
-               xOrigin + viewXOffset + radius,
-               yOrigin + viewYOffset + radius, utmZone,
-               minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
-
-    for (int32_t r = minTileY; r <= maxTileY; ++r)
-    {
-        for (int32_t 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)
-{
-    int32_t minTileX, minTileY, maxTileX, maxTileY;
-    int32_t zoomLevel;
-
-    tileBounds(tileResolution,
-               xOrigin + viewXOffset - radius,
-               yOrigin + viewYOffset - radius,
-               xOrigin + viewXOffset + radius,
-               yOrigin + viewYOffset + radius, utmZone,
-               minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
-
-    for (int32_t r = minTileY; r <= maxTileY; ++r)
-    {
-        for (int32_t 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(int32_t tileX, int32_t 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)
-    {
-        int32_t zoomLevel = MAX_ZOOM_LEVEL - static_cast<int32_t>(rint(log2(tileResolution)));
-        int32_t numTiles = static_cast<int32_t>(exp2(static_cast<double>(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,
-                    int32_t& minTileX, int32_t& minTileY,
-                    int32_t& maxTileX, int32_t& maxTileY,
-                    int32_t& zoomLevel) const
-{
-    double centerUtmX = (maxUtmX - minUtmX) / 2.0 + minUtmX;
-    double centerUtmY = (maxUtmY - minUtmY) / 2.0 + minUtmY;
-    int32_t 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<int32_t>(rint(minUtmX / utmMultiplier));
-        minTileY = static_cast<int32_t>(rint(minUtmY / utmMultiplier));
-        centerTileX = static_cast<int32_t>(rint(centerUtmX / utmMultiplier));
-        centerTileY = static_cast<int32_t>(rint(centerUtmY / utmMultiplier));
-        maxTileX = static_cast<int32_t>(rint(maxUtmX / utmMultiplier));
-        maxTileY = static_cast<int32_t>(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(int32_t tileX, int32_t numTiles) const
-{
-    return 360.0 * (static_cast<double>(tileX)
-                    / static_cast<double>(numTiles)) - 180.0;
-}
-
-double
-Imagery::tileYToLatitude(int32_t tileY, int32_t numTiles) const
-{
-    double unnormalizedRad =
-            (static_cast<double>(tileY) / static_cast<double>(numTiles))
-            * 2.0 * M_PI - M_PI;
-    double rad = 2.0 * atan(exp(unnormalizedRad)) - M_PI / 2.0;
-    return -rad * 180.0 / M_PI;
-}
-
-int32_t
-Imagery::longitudeToTileX(double longitude, int32_t numTiles) const
-{
-    return static_cast<int32_t>((longitude / 180.0 + 1.0) / 2.0 * numTiles);
-}
-
-int32_t
-Imagery::latitudeToTileY(double latitude, int32_t numTiles) const
-{
-    double rad = latitude * M_PI / 180.0;
-    double normalizedRad = -log(tan(rad) + 1.0 / cos(rad));
-    return static_cast<int32_t>((normalizedRad + M_PI)
-                                / (2.0 * M_PI) * numTiles);
-}
-
-void
-Imagery::UTMtoTile(double northing, double easting, const QString& utmZone,
-                   double tileResolution, int32_t& tileX, int32_t& tileY,
-                   int32_t& zoomLevel) const
-{
-    double latitude, longitude;
-
-    UTMtoLL(northing, easting, utmZone, latitude, longitude);
-
-    zoomLevel = MAX_ZOOM_LEVEL - static_cast<int32_t>(rint(log2(tileResolution)));
-    int32_t numTiles = static_cast<int32_t>(exp2(static_cast<double>(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;
-
-    int32_t ZoneNumber = static_cast<int32_t>((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<double>((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;
-    int32_t 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(int32_t tileX, int32_t tileY, int32_t 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<int32_t>(rint(tileResolution));
-        }
-        oss << "-" << tileY << "-" << tileX << ".jpg";
-    default:
-        {};
-    }
-
-    QString url(oss.str().c_str());
-
-    return url;
-}

src/ui/map3D/Imagery.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 Imagery.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#ifndef IMAGERY_H
-#define IMAGERY_H
-
-#include <inttypes.h>
-
-#include "TextureCache.h"
-
-class Imagery
-{
-public:
-    Imagery();
-
-    enum ImageryType
-    {
-        GOOGLE_MAP = 0,
-        GOOGLE_SATELLITE = 1,
-        SWISSTOPO_SATELLITE = 2,
-        SWISSTOPO_SATELLITE_3D = 3
-    };
-
-    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(int32_t tileX, int32_t 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,
-                    int32_t& minTileX, int32_t& minTileY,
-                    int32_t& maxTileX, int32_t& maxTileY,
-                    int32_t& zoomLevel) const;
-
-    double tileXToLongitude(int32_t tileX, int32_t numTiles) const;
-    double tileYToLatitude(int32_t tileY, int32_t numTiles) const;
-    int32_t longitudeToTileX(double longitude, int32_t numTiles) const;
-    int32_t latitudeToTileY(double latitude, int32_t numTiles) const;
-
-    void UTMtoTile(double northing, double easting, const QString& utmZone,
-                   double tileResolution, int32_t& tileX, int32_t& tileY,
-                   int32_t& 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(int32_t tileX, int32_t tileY, int32_t zoomLevel,
-                            double tileResolution) const;
-
-    ImageryType currentImageryType;
-
-    QScopedPointer<TextureCache> textureCache;
-
-    double xOffset, yOffset;
-};
-
-#endif // IMAGERY_H

src/ui/map3D/Pixhawk3DWidget.cc

@@ -31,7 +31,6 @@
 
 #include "Pixhawk3DWidget.h"
 
-#include <sys/time.h>
 #include <sstream>
 
 #include <osg/Geode>
@@ -46,15 +45,17 @@
 Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
      : Q3DWidget(parent)
      , uas(NULL)
-     , lastRedrawTime(0.0)
      , displayGrid(true)
      , displayTrail(false)
      , displayTarget(false)
      , displayWaypoints(true)
-     , lockCamera(true)
+     , followCamera(true)
+     , lastRobotX(0.0f)
+     , lastRobotY(0.0f)
+     , lastRobotZ(0.0f)
 {
+    setCameraParams(2.0f, 30.0f, 0.01f, 10000.0f);
     init(15.0f);
-    setCameraParams(0.5f, 30.0f, 0.01f, 10000.0f);
 
     // generate Pixhawk Cheetah model
     egocentricMap->addChild(PixhawkCheetahGeode::instance());
@@ -72,8 +73,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
     root->addChild(mapNode);
 
     // generate target model
-    targetNode = createTarget();
-    rollingMap->addChild(targetNode);
+    allocentricMap->addChild(createTarget());
 
     // generate waypoint model
     waypointsNode = createWaypoints();
@@ -81,10 +81,6 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
 
     setupHUD();
 
-    setDisplayFunc(display, this);
-    setMouseFunc(mouse, this);
-    addTimerFunc(100, timer, this);
-
     buildLayout();
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
@@ -113,14 +109,15 @@ Pixhawk3DWidget::buildLayout(void)
 
     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* lockCameraCheckBox = new QCheckBox(this);
-    lockCameraCheckBox->setText("Lock Camera");
-    lockCameraCheckBox->setChecked(lockCamera);
+    QCheckBox* followCameraCheckBox = new QCheckBox(this);
+    followCameraCheckBox->setText("Follow Camera");
+    followCameraCheckBox->setChecked(followCamera);
 
     QGridLayout* layout = new QGridLayout(this);
     layout->setMargin(0);
@@ -132,7 +129,7 @@ Pixhawk3DWidget::buildLayout(void)
     layout->addWidget(targetButton, 1, 4);
     layout->addItem(new QSpacerItem(20, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 5);
     layout->addWidget(recenterButton, 1, 6);
-    layout->addWidget(lockCameraCheckBox, 1, 7);
+    layout->addWidget(followCameraCheckBox, 1, 7);
     layout->setRowStretch(0, 100);
     layout->setRowStretch(1, 1);
     setLayout(layout);
@@ -143,97 +140,9 @@ Pixhawk3DWidget::buildLayout(void)
             this, SLOT(showTrail(int)));
     connect(waypointsCheckBox, SIGNAL(stateChanged(int)),
             this, SLOT(showWaypoints(int)));
-    connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenterCamera()));
-    connect(lockCameraCheckBox, SIGNAL(stateChanged(int)),
-            this, SLOT(toggleLockCamera(int)));
-}
-
-void
-Pixhawk3DWidget::display(void* clientData)
-{
-    Pixhawk3DWidget* map3d = reinterpret_cast<Pixhawk3DWidget *>(clientData);
-    map3d->displayHandler();
-}
-
-void
-Pixhawk3DWidget::displayHandler(void)
-{
-    float robotX = 0.0f, robotY = 0.0f, robotZ = 0.0f;
-    float robotRoll = 0.0f, robotPitch = 0.0f, robotYaw = 0.0f;
-    if (uas != NULL)
-    {
-        robotX = uas->getLocalX();
-        robotY = uas->getLocalY();
-        robotZ = uas->getLocalZ();
-        robotRoll = uas->getRoll();
-        robotPitch = uas->getPitch();
-        robotYaw = uas->getYaw();
-    }
-
-    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)));
-
-    updateHUD(robotX, robotY, robotZ, robotRoll, robotPitch, robotYaw);
-    updateTrail(robotX, robotY, robotZ);
-    updateTarget(robotX, robotY, robotZ);
-    updateWaypoints();
-
-    // set node visibility
-    rollingMap->setChildValue(gridNode, displayGrid);
-    rollingMap->setChildValue(trailNode, displayTrail);
-    rollingMap->setChildValue(targetNode, displayTarget);
-    rollingMap->setChildValue(waypointsNode, displayWaypoints);
-}
-
-void
-Pixhawk3DWidget::mouse(Qt::MouseButton button, MouseState state,
-                       int32_t x, int32_t y, void* clientData)
-{
-    Pixhawk3DWidget* map3d = reinterpret_cast<Pixhawk3DWidget *>(clientData);
-    map3d->mouseHandler(button, state, x, y);
-}
-
-void
-Pixhawk3DWidget::mouseHandler(Qt::MouseButton button, MouseState state,
-                              int32_t x, int32_t y)
-{
-    if (button == Qt::LeftButton && state == MOUSE_STATE_DOWN &&
-        targetButton->isChecked())
-    {
-        markTarget();
-    }
-}
-
-void
-Pixhawk3DWidget::timer(void* clientData)
-{
-    Pixhawk3DWidget* map3d = reinterpret_cast<Pixhawk3DWidget *>(clientData);
-    map3d->timerHandler();
-}
-
-void
-Pixhawk3DWidget::timerHandler(void)
-{
-    double timeLapsed = getTime() - lastRedrawTime;
-    if (timeLapsed > 0.1)
-    {
-        forceRedraw();
-        lastRedrawTime = getTime();
-    }
-    addTimerFunc(100, timer, this);
-}
-
-double
-Pixhawk3DWidget::getTime(void) const
-{
-     struct timeval tv;
-
-     gettimeofday(&tv, NULL);
-
-     return static_cast<double>(tv.tv_sec) +
-             static_cast<double>(tv.tv_usec) / 1000000.0;
+    connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter()));
+    connect(followCameraCheckBox, SIGNAL(stateChanged(int)),
+            this, SLOT(toggleFollowCamera(int)));
 }
 
 /**
@@ -271,7 +180,7 @@ Pixhawk3DWidget::showTrail(int32_t state)
     {
         if (!displayTrail)
         {
-            trailVertices->clear();
+            trail.clear();
         }
 
         displayTrail = true;
@@ -296,60 +205,161 @@ Pixhawk3DWidget::showWaypoints(int state)
 }
 
 void
-Pixhawk3DWidget::recenterCamera(void)
+Pixhawk3DWidget::recenter(void)
 {
-    recenter();
+    float robotX = 0.0f, robotY = 0.0f, robotZ = 0.0f;
+    if (uas != NULL)
+    {
+        robotX = uas->getLocalX();
+        robotY = uas->getLocalY();
+        robotZ = uas->getLocalZ();
+    }
+
+    recenterCamera(robotY, robotX, -robotZ);
 }
 
 void
-Pixhawk3DWidget::toggleLockCamera(int32_t state)
+Pixhawk3DWidget::toggleFollowCamera(int32_t state)
 {
     if (state == Qt::Checked)
     {
-        lockCamera = true;
+        followCamera = true;
     }
     else
     {
-        lockCamera = false;
+        followCamera = false;
+    }
+}
+
+void
+Pixhawk3DWidget::display(void)
+{
+    if (uas == NULL)
+    {
+        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();
+
+    if (lastRobotX == 0.0f && lastRobotY == 0.0f && lastRobotZ == 0.0f)
+    {
+        lastRobotX = robotX;
+        lastRobotY = robotY;
+        lastRobotZ = robotZ;
+
+        recenterCamera(robotY, robotX, -robotZ);
+
+        return;
+    }
+
+    if (followCamera)
+    {
+        float dx = robotY - lastRobotY;
+        float dy = robotX - lastRobotX;
+        float 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)));
+
+    updateHUD(robotX, robotY, robotZ, robotRoll, robotPitch, robotYaw);
+    updateTrail(robotX, robotY, robotZ);
+    updateTarget();
+    updateWaypoints();
+
+    // set node visibility
+    rollingMap->setChildValue(gridNode, displayGrid);
+    rollingMap->setChildValue(trailNode, displayTrail);
+    rollingMap->setChildValue(targetNode, displayTarget);
+    rollingMap->setChildValue(waypointsNode, displayWaypoints);
+
+    lastRobotX = robotX;
+    lastRobotY = robotY;
+    lastRobotZ = robotZ;
+}
+
+void
+Pixhawk3DWidget::mousePressEvent(QMouseEvent* event)
+{
+    if (event->button() == Qt::LeftButton && targetButton->isChecked())
+    {
+        markTarget();
     }
+
+    Q3DWidget::mousePressEvent(event);
 }
 
 osg::ref_ptr<osg::Geode>
 Pixhawk3DWidget::createGrid(void)
 {
     osg::ref_ptr<osg::Geode> geode(new osg::Geode());
-    osg::ref_ptr<osg::Geometry> geometry(new osg::Geometry());
-    geode->addDrawable(geometry.get());
+    osg::ref_ptr<osg::Geometry> fineGeometry(new osg::Geometry());
+    osg::ref_ptr<osg::Geometry> coarseGeometry(new osg::Geometry());
+    geode->addDrawable(fineGeometry);
+    geode->addDrawable(coarseGeometry);
 
     float radius = 10.0f;
     float resolution = 0.25f;
 
-    osg::ref_ptr<osg::Vec3Array> coords(new osg::Vec3Array);
+    osg::ref_ptr<osg::Vec3Array> fineCoords(new osg::Vec3Array);
+    osg::ref_ptr<osg::Vec3Array> coarseCoords(new osg::Vec3Array);
 
     // draw a 20m x 20m grid with 0.25m resolution
     for (float i = -radius; i <= radius; i += resolution)
     {
-        coords->push_back(osg::Vec3(i, -radius, 0.0f));
-        coords->push_back(osg::Vec3(i, radius, 0.0f));
-        coords->push_back(osg::Vec3(-radius, i, 0.0f));
-        coords->push_back(osg::Vec3(radius, i, 0.0f));
+        if (fabsf(i - roundf(i)) < 0.01f)
+        {
+            coarseCoords->push_back(osg::Vec3(i, -radius, 0.0f));
+            coarseCoords->push_back(osg::Vec3(i, radius, 0.0f));
+            coarseCoords->push_back(osg::Vec3(-radius, i, 0.0f));
+            coarseCoords->push_back(osg::Vec3(radius, i, 0.0f));
+        }
+        else
+        {
+            fineCoords->push_back(osg::Vec3(i, -radius, 0.0f));
+            fineCoords->push_back(osg::Vec3(i, radius, 0.0f));
+            fineCoords->push_back(osg::Vec3(-radius, i, 0.0f));
+            fineCoords->push_back(osg::Vec3(radius, i, 0.0f));
+        }
     }
 
-    geometry->setVertexArray(coords);
+    fineGeometry->setVertexArray(fineCoords);
+    coarseGeometry->setVertexArray(coarseCoords);
 
     osg::ref_ptr<osg::Vec4Array> color(new osg::Vec4Array);
     color->push_back(osg::Vec4(0.5f, 0.5f, 0.5f, 1.0f));
-    geometry->setColorArray(color);
-    geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
-
-    geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, coords->size()));
-
-    osg::ref_ptr<osg::StateSet> stateset(new osg::StateSet);
-    osg::ref_ptr<osg::LineWidth> linewidth(new osg::LineWidth());
-    linewidth->setWidth(0.25f);
-    stateset->setAttributeAndModes(linewidth, osg::StateAttribute::ON);
-    stateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
-    geometry->setStateSet(stateset);
+    fineGeometry->setColorArray(color);
+    coarseGeometry->setColorArray(color);
+    fineGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
+    coarseGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
+
+    fineGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
+                                                      0, fineCoords->size()));
+    coarseGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0,
+                                                        coarseCoords->size()));
+
+    osg::ref_ptr<osg::StateSet> fineStateset(new osg::StateSet);
+    osg::ref_ptr<osg::LineWidth> fineLinewidth(new osg::LineWidth());
+    fineLinewidth->setWidth(0.25f);
+    fineStateset->setAttributeAndModes(fineLinewidth, osg::StateAttribute::ON);
+    fineStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
+    fineGeometry->setStateSet(fineStateset);
+
+    osg::ref_ptr<osg::StateSet> coarseStateset(new osg::StateSet);
+    osg::ref_ptr<osg::LineWidth> coarseLinewidth(new osg::LineWidth());
+    coarseLinewidth->setWidth(2.0f);
+    coarseStateset->setAttributeAndModes(coarseLinewidth, osg::StateAttribute::ON);
+    coarseStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
+    coarseGeometry->setStateSet(coarseStateset);
 
     return geode;
 }
@@ -392,12 +402,15 @@ Pixhawk3DWidget::createMap(void)
     return node;
 }
 
-osg::ref_ptr<osg::Group>
+osg::ref_ptr<osg::Node>
 Pixhawk3DWidget::createTarget(void)
 {
-    osg::ref_ptr<osg::Group> group(new osg::Group());
+    targetPosition = new osg::PositionAttitudeTransform;
 
-    return group;
+    targetNode = new osg::Geode;
+    targetPosition->addChild(targetNode);
+
+    return targetPosition;
 }
 
 osg::ref_ptr<osg::Group>
@@ -543,7 +556,7 @@ Pixhawk3DWidget::updateTrail(float robotX, float robotY, float robotZ)
 }
 
 void
-Pixhawk3DWidget::updateTarget(float robotX, float robotY, float robotZ)
+Pixhawk3DWidget::updateTarget(void)
 {
     static double radius = 0.2;
     static bool expand = true;
@@ -557,9 +570,9 @@ Pixhawk3DWidget::updateTarget(float robotX, float robotY, float robotZ)
         expand = false;
     }
 
-    if (targetNode->getNumChildren() > 0)
+    if (targetNode->getNumDrawables() > 0)
     {
-        targetNode->removeChild(0, targetNode->getNumChildren());
+        targetNode->removeDrawables(0, targetNode->getNumDrawables());
     }
 
     osg::ref_ptr<osg::ShapeDrawable> sd = new osg::ShapeDrawable;
@@ -568,18 +581,7 @@ Pixhawk3DWidget::updateTarget(float robotX, float robotY, float robotZ)
     sd->setShape(sphere);
     sd->setColor(osg::Vec4(0.0f, 0.7f, 1.0f, 1.0f));
 
-    osg::ref_ptr<osg::Geode> geode = new osg::Geode;
-    geode->addDrawable(sd);
-
-    osg::ref_ptr<osg::PositionAttitudeTransform> pat =
-            new osg::PositionAttitudeTransform;
-
-    pat->setPosition(osg::Vec3d(targetPosition.y() - robotY,
-                                targetPosition.x() - robotX,
-                                0.0));
-
-    targetNode->addChild(pat);
-    pat->addChild(geode);
+    targetNode->addDrawable(sd);
 
     if (expand)
     {
@@ -645,21 +647,20 @@ Pixhawk3DWidget::markTarget(void)
         robotZ = uas->getLocalZ();
     }
 
-    std::pair<double,double> mouseWorldCoords =
-            getGlobalCursorPosition(getLastMouseX(), getLastMouseY(), -robotZ);
+    std::pair<double,double> cursorWorldCoords =
+            getGlobalCursorPosition(getMouseX(), getMouseY(), -robotZ);
+
+    double targetX = cursorWorldCoords.first;
+    double targetY = cursorWorldCoords.second;
+    double targetZ = robotZ;
 
-    targetPosition.x() = mouseWorldCoords.first;
-    targetPosition.y() = mouseWorldCoords.second;
-    targetPosition.z() = robotZ;
+    targetPosition->setPosition(osg::Vec3d(targetY, targetX, -targetZ));
 
     displayTarget = true;
 
     if (uas)
     {
-        uas->setTargetPosition(targetPosition.x(),
-                               targetPosition.y(),
-                               targetPosition.z(),
-                               0.0f);
+        uas->setTargetPosition(targetX, targetY, targetZ, 0.0f);
     }
 
     targetButton->setChecked(false);

src/ui/map3D/Pixhawk3DWidget.h

@@ -52,17 +52,6 @@ public:
 
     void buildLayout(void);
 
-    static void display(void* clientData);
-    void displayHandler(void);
-
-    static void mouse(Qt::MouseButton button, MouseState state,
-                      int32_t x, int32_t y, void* clientData);
-    void mouseHandler(Qt::MouseButton button, MouseState state,
-                      int32_t x, int32_t y);
-
-    static void timer(void* clientData);
-    void timerHandler(void);
-
     double getTime(void) const;
 
 public slots:
@@ -72,17 +61,20 @@ private slots:
     void showGrid(int state);
     void showTrail(int state);
     void showWaypoints(int state);
-    void recenterCamera(void);
-    void toggleLockCamera(int state);
+    void recenter(void);
+    void toggleFollowCamera(int state);
 
 protected:
+    virtual void display(void);
+    virtual void mousePressEvent(QMouseEvent* event);
+
     UASInterface* uas;
 
 private:
     osg::ref_ptr<osg::Geode> createGrid(void);
     osg::ref_ptr<osg::Geode> createTrail(void);
     osg::ref_ptr<osgEarth::MapNode> createMap(void);
-    osg::ref_ptr<osg::Group> createTarget(void);
+    osg::ref_ptr<osg::Node> createTarget(void);
     osg::ref_ptr<osg::Group> createWaypoints(void);
 
     void setupHUD(void);
@@ -90,25 +82,21 @@ private:
     void updateHUD(float robotX, float robotY, float robotZ,
                    float robotRoll, float robotPitch, float robotYaw);
     void updateTrail(float robotX, float robotY, float robotZ);
-    void updateTarget(float robotX, float robotY, float robotZ);
+    void updateTarget(void);
     void updateWaypoints(void);
 
     void markTarget(void);
 
-    double lastRedrawTime;
-
     bool displayGrid;
     bool displayTrail;
     bool displayTarget;
     bool displayWaypoints;
 
-    bool lockCamera;
+    bool followCamera;
 
     osg::ref_ptr<osg::Vec3Array> trailVertices;
     QVarLengthArray<osg::Vec3, 10000> trail;
 
-    osg::Vec3 targetPosition;
-
     osg::ref_ptr<osg::Geometry> hudBackgroundGeometry;
     osg::ref_ptr<osgText::Text> statusText;
     osg::ref_ptr<osg::Geode> gridNode;
@@ -116,10 +104,13 @@ private:
     osg::ref_ptr<osg::Geometry> trailGeometry;
     osg::ref_ptr<osg::DrawArrays> trailDrawArrays;
     osg::ref_ptr<osgEarth::MapNode> mapNode;
-    osg::ref_ptr<osg::Group> targetNode;
+    osg::ref_ptr<osg::Geode> targetNode;
+    osg::ref_ptr<osg::PositionAttitudeTransform> targetPosition;
     osg::ref_ptr<osg::Group> waypointsNode;
 
     QPushButton* targetButton;
+
+    float lastRobotX, lastRobotY, lastRobotZ;
 };
 
 #endif // PIXHAWK3DWIDGET_H

src/ui/map3D/PixhawkCheetahGeode.cc

@@ -23,7 +23,8 @@ This file is part of the QGROUNDCONTROL project
 
 /**
  * @file
- *   @brief Generates a geode which renders a Pixhawk Cheetah MAV.
+ *   @brief Generates a OpenSceneGraph geode which renders a
+ *          Pixhawk Cheetah MAV.
  *
  *   @author Lionel Heng <hengli@student.ethz.ch>
  *
@@ -48,7 +49,7 @@ static sample_MATERIAL materials [1] = {
  {{0.117647f,0.117647f,0.117647f},	{0.596078f,0.666667f,0.686275f},	{0.301176f,0.301176f,0.301176f},	{0.0f,0.0f,0.0f},	1.0f,8.0f,-1} //Material #1
 };
 
-// 38747 Verticies
+// 38747 Vertices
 // 0 Texture Coordinates
 // 22155 Normals
 // 77848 Triangles
@@ -59372,9 +59373,9 @@ PixhawkCheetahGeode::create(float red, float green, float blue)
 
         for (int j = 0; j < 3; ++j)
         {
-            int vi = face_indicies[i][j];
-            int ni = face_indicies[i][j + 3]; //Normal index
-            int ti = face_indicies[i][j + 6]; //Texture index
+            int vi = face_indicies[i][j];     // Vertice index
+            int ni = face_indicies[i][j + 3]; // Normal index
+            int ti = face_indicies[i][j + 6]; // Texture index
 
             osgVertices->push_back(osg::Vec3(vertices[vi][0],
                                              vertices[vi][1],

src/ui/map3D/PixhawkCheetahGeode.h

@@ -23,7 +23,7 @@ This file is part of the QGROUNDCONTROL project
 
 /**
  * @file
- *   @brief Generates a geode which renders a Pixhawk Cheetah MAV.
+ *   @brief Definition of the class PixhawkCheetahGeode.
  *
  *   @author Lionel Heng <hengli@student.ethz.ch>
  *
@@ -35,22 +35,32 @@ This file is part of the QGROUNDCONTROL project
 #include <osg/Geode>
 
 /**
- * @brief Creates a geode which renders a Pixhawk Cheetah MAV.
- * @param red Red intensity of the MAV model
- * @param green Green intensity of the MAV model
- * @param blue Blue intensity of the MAV model
- *
- * @return The pointer to the geode.
+ * @brief The PixhawkCheetahGeode class.
+ * Generates an OpenSceneGraph geode which renders a Pixhawk Cheetah MAV.
  **/
 
 class PixhawkCheetahGeode
 {
 public:
+    /**
+     * Constructor.
+     */
     PixhawkCheetahGeode();
 
+    /**
+     * Get a single instance of the geode.
+     */
     static osg::ref_ptr<osg::Geode> instance(void);
 
 private:
+    /**
+     * @brief Creates an OpenSceneGraph geode which renders a Pixhawk Cheetah MAV.
+     * @param red Red intensity of the MAV model.
+     * @param green Green intensity of the MAV model.
+     * @param blue Blue intensity of the MAV model.
+     *
+     * @return A smart pointer to the geode.
+     **/
     static osg::ref_ptr<osg::Geode> create(float red, float green, float blue);
 
     static osg::ref_ptr<osg::Geode> _instance;

src/ui/map3D/Q3DWidget.cc

@@ -34,7 +34,6 @@ This file is part of the QGROUNDCONTROL project
 #include <osg/Geometry>
 #include <osg/LineWidth>
 #include <osg/MatrixTransform>
-#include <osgGA/NodeTrackerManipulator>
 
 static const float KEY_ROTATE_AMOUNT = 5.0f;
 static const float KEY_MOVE_AMOUNT   = 10.0f;
@@ -50,22 +49,9 @@ Q3DWidget::Q3DWidget(QWidget* parent)
     , robotAttitude(new osg::PositionAttitudeTransform())
     , hudGeode(new osg::Geode())
     , hudProjectionMatrix(new osg::Projection)
-    , userDisplayFunc(NULL)
-    , userKeyboardFunc(NULL)
-    , userMouseFunc(NULL)
-    , userMotionFunc(NULL)
-    , userTimerFunc(NULL)
-    , userDisplayFuncData(NULL)
-    , userKeyboardFuncData(NULL)
-    , userMouseFuncData(NULL)
-    , userMotionFuncData(NULL)
-    , userTimerFuncData(NULL)
-    , lastMouseX(0)
-    , lastMouseY(0)
-    , _forceRedraw(false)
 {
     // set initial camera parameters
-    cameraParams.minZoomRange = 0.5f;
+    cameraParams.minZoomRange = 2.0f;
     cameraParams.cameraFov = 30.0f;
     cameraParams.minClipRange = 1.0f;
     cameraParams.maxClipRange = 10000.0f;
@@ -85,11 +71,14 @@ Q3DWidget::~Q3DWidget()
 void
 Q3DWidget::init(float fps)
 {
-    getCamera()->setGraphicsContext(getGraphicsWindow());
+    getCamera()->setGraphicsContext(osgGW);
     
     setLightingMode(osg::View::SKY_LIGHT);
 
-    // set up coordinate systems
+    // set up various maps
+    // allocentric - world map
+    // rolling - map aligned to the world axes and centered on the robot
+    // egocentric - vehicle-centric map
     root->addChild(allocentricMap);
     allocentricMap->addChild(robotPosition);
     robotPosition->addChild(rollingMap);
@@ -101,12 +90,14 @@ Q3DWidget::init(float fps)
     // set up HUD
     root->addChild(createHUD());
 
+    // set up robot
     egocentricMap->addChild(createRobot());
 
-    osg::ref_ptr<osgGA::NodeTrackerManipulator> nodeTrackerManipulator(
-            new osgGA::NodeTrackerManipulator);
-    nodeTrackerManipulator->setTrackNode(rollingMap);
-    setCameraManipulator(nodeTrackerManipulator);
+    // set up camera control
+    cameraManipulator = new GCManipulator;
+    setCameraManipulator(cameraManipulator);
+    cameraManipulator->setMinZoomRange(cameraParams.minZoomRange);
+    cameraManipulator->setDistance(cameraParams.minZoomRange * 2.0);
 
     connect(&timer, SIGNAL(timeout()), this, SLOT(redraw()));
     timer.start(static_cast<int>(floorf(1000.0f / fps)));
@@ -187,20 +178,18 @@ Q3DWidget::setCameraParams(float minZoomRange, float cameraFov,
     cameraParams.cameraFov = cameraFov;
     cameraParams.minClipRange = minClipRange;
     cameraParams.maxClipRange = maxClipRange;
-
-    _forceRedraw = true;
 }
 
 void
-Q3DWidget::forceRedraw(void)
+Q3DWidget::moveCamera(float dx, float dy, float dz)
 {
-    _forceRedraw = true;
+    cameraManipulator->move(dx, dy, dz);
 }
 
 void
-Q3DWidget::recenter(void)
+Q3DWidget::recenterCamera(float x, float y, float z)
 {
-
+    cameraManipulator->setCenter(osg::Vec3d(x, y, z));
 }
 
 void
@@ -214,66 +203,20 @@ Q3DWidget::setDisplayMode3D(void)
                                                   aspect,
                                                   cameraParams.minClipRange,
                                                   cameraParams.maxClipRange);
-    
-//    getCamera()->setViewMatrixAsLookAt(osg::Vec3d(cameraX + cameraPose.xOffset,
-//                                                  cameraY + cameraPose.yOffset,
-//                                                  cameraZ + cameraPose.zOffset),
-//                                       osg::Vec3d(cameraPose.xOffset,
-//                                                  cameraPose.yOffset,
-//                                                  cameraPose.zOffset),
-//                                       osg::Vec3d(0.0, 0.0, 1.0));
-}
-
-void
-Q3DWidget::setDisplayFunc(DisplayFunc func, void* clientData)
-{
-    userDisplayFunc = func;
-    userDisplayFuncData = clientData;
-}
-
-void
-Q3DWidget::setKeyboardFunc(KeyboardFunc func, void* clientData)
-{
-    userKeyboardFunc = func;
-    userKeyboardFuncData = clientData;
-}
-
-void
-Q3DWidget::setMouseFunc(MouseFunc func, void* clientData)
-{
-    userMouseFunc = func;
-    userMouseFuncData = clientData;
-}
-
-void
-Q3DWidget::setMotionFunc(MotionFunc func, void* clientData)
-{
-    userMotionFunc = func;
-    userMotionFuncData = clientData;
-}
-
-void
-Q3DWidget::addTimerFunc(uint32_t msecs, void(*func)(void *),
-                        void* clientData)
-{
-    userTimerFunc = func;
-    userTimerFuncData = clientData;
-
-    QTimer::singleShot(msecs, this, SLOT(userTimer()));
 }
 
 std::pair<double,double>
-Q3DWidget::getGlobalCursorPosition(int32_t mouseX, int32_t mouseY,
-                                   double z)
+Q3DWidget::getGlobalCursorPosition(int32_t cursorX, int32_t cursorY, double z)
 {
     osgUtil::LineSegmentIntersector::Intersections intersections;
 
     // normalize cursor position to value between -1 and 1
-    double x = -1.0f + static_cast<double>(2 * mouseX)
+    double x = -1.0f + static_cast<double>(2 * cursorX)
               / static_cast<double>(width());
-    double y = -1.0f + static_cast<double>(2 * (height() - mouseY))
+    double y = -1.0f + static_cast<double>(2 * (height() - cursorY))
               / static_cast<double>(height());
 
+    // compute matrix which transforms screen coordinates to world coordinates
     osg::Matrixd m = getCamera()->getViewMatrix()
                      * getCamera()->getProjectionMatrix();
     osg::Matrixd invM = osg::Matrixd::inverse(m);
@@ -295,20 +238,7 @@ Q3DWidget::getGlobalCursorPosition(int32_t mouseX, int32_t mouseY,
 void
 Q3DWidget::redraw(void)
 {
-    if (_forceRedraw)
-    {
-        updateGL();
-        _forceRedraw = false;
-    }
-}
-
-void
-Q3DWidget::userTimer(void)
-{
-    if (userTimerFunc)
-    {
-        userTimerFunc(userTimerFuncData);
-    }
+    updateGL();
 }
 
 int
@@ -323,31 +253,8 @@ Q3DWidget::getMouseY(void)
     return mapFromGlobal(cursor().pos()).y();
 }
 
-int
-Q3DWidget::getLastMouseX(void)
-{
-    return lastMouseX;
-}
-
-int
-Q3DWidget::getLastMouseY(void)
-{
-    return lastMouseY;
-}
-
-osgViewer::GraphicsWindow*
-Q3DWidget::getGraphicsWindow(void)
-{
-    return osgGW.get();
-}
-
-const osgViewer::GraphicsWindow*
-Q3DWidget::getGraphicsWindow(void) const
-{
-    return osgGW.get();
-}
-
-void Q3DWidget::resizeGL(int width, int height)
+void
+Q3DWidget::resizeGL(int width, int height)
 {
     hudProjectionMatrix->setMatrix(osg::Matrix::ortho2D(0, width,
                                                         0, height));
@@ -356,28 +263,34 @@ void Q3DWidget::resizeGL(int width, int height)
     osgGW->resized(0 , 0, width, height);
 }
 
-void Q3DWidget::paintGL(void)
+void
+Q3DWidget::paintGL(void)
 {
     setDisplayMode3D();
 
     getCamera()->setClearColor(osg::Vec4f(0.0f, 0.0f, 0.0f, 0.0f));
     getCamera()->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
-    if (userDisplayFunc)
-    {
-        userDisplayFunc(userDisplayFuncData);
-    }
+    display();
 
     frame();
 }
 
-void Q3DWidget::keyPressEvent(QKeyEvent* event)
+void
+Q3DWidget::display(void)
+{
+
+}
+
+void
+Q3DWidget::keyPressEvent(QKeyEvent* event)
 {
     QWidget::keyPressEvent(event);
     if (event->isAccepted())
     {
         return;
     }
+
     if (event->text().isEmpty())
     {
         osgGW->getEventQueue()->keyPress(convertKey(event->key()));
@@ -388,24 +301,10 @@ void Q3DWidget::keyPressEvent(QKeyEvent* event)
                 static_cast<osgGA::GUIEventAdapter::KeySymbol>(
                         *(event->text().toAscii().data())));
     }
-
-    if (userKeyboardFunc)
-    {
-        if (event->text().isEmpty())
-        {
-            userKeyboardFunc(0, userKeyboardFuncData);
-        }
-        else
-        {
-            userKeyboardFunc(event->text().at(0).toAscii(),
-                             userKeyboardFuncData);
-        }
-    }
-
-    forceRedraw();
 }
 
-void Q3DWidget::keyReleaseEvent(QKeyEvent* event)
+void
+Q3DWidget::keyReleaseEvent(QKeyEvent* event)
 {
     QWidget::keyReleaseEvent(event);
     if (event->isAccepted())
@@ -422,11 +321,10 @@ void Q3DWidget::keyReleaseEvent(QKeyEvent* event)
                 static_cast<osgGA::GUIEventAdapter::KeySymbol>(
                         *(event->text().toAscii().data())));
     }
-
-    forceRedraw();
 }
 
-void Q3DWidget::mousePressEvent(QMouseEvent* event)
+void
+Q3DWidget::mousePressEvent(QMouseEvent* event)
 {
     int button = 0;
     switch (event->button())
@@ -447,17 +345,10 @@ void Q3DWidget::mousePressEvent(QMouseEvent* event)
         {}
     }
     osgGW->getEventQueue()->mouseButtonPress(event->x(), event->y(), button);
-
-    if (userMouseFunc)
-    {
-        userMouseFunc(event->button(), MOUSE_STATE_DOWN, event->x(), event->y(),
-                      userMouseFuncData);
-    }
-
-    forceRedraw();
 }
 
-void Q3DWidget::mouseReleaseEvent(QMouseEvent* event)
+void
+Q3DWidget::mouseReleaseEvent(QMouseEvent* event)
 {
     int button = 0;
     switch (event->button())
@@ -478,35 +369,20 @@ void Q3DWidget::mouseReleaseEvent(QMouseEvent* event)
         {}
     }
     osgGW->getEventQueue()->mouseButtonRelease(event->x(), event->y(), button);
-
-    if (userMouseFunc)
-    {
-        userMouseFunc(event->button(), MOUSE_STATE_UP, event->x(), event->y(),
-                      userMouseFuncData);
-    }
-
-    forceRedraw();
 }
 
-void Q3DWidget::mouseMoveEvent(QMouseEvent* event)
+void
+Q3DWidget::mouseMoveEvent(QMouseEvent* event)
 {
     osgGW->getEventQueue()->mouseMotion(event->x(), event->y());
-
-    if (userMotionFunc)
-    {
-        userMotionFunc(event->x(), event->y(), userMotionFuncData);
-    }
-
-    forceRedraw();
 }
 
-void Q3DWidget::wheelEvent(QWheelEvent* event)
+void
+Q3DWidget::wheelEvent(QWheelEvent* event)
 {
     osgGW->getEventQueue()->mouseScroll((event->delta() > 0) ?
             osgGA::GUIEventAdapter::SCROLL_UP :
             osgGA::GUIEventAdapter::SCROLL_DOWN);
-
-    forceRedraw();
 }
 
 float

src/ui/map3D/Q3DWidget.h

@@ -36,104 +36,226 @@ This file is part of the QGROUNDCONTROL project
 
 #include <osg/LineSegment>
 #include <osg/PositionAttitudeTransform>
+#include <osgGA/TrackballManipulator>
 #include <osgViewer/Viewer>
 
-enum MouseState
-{
-    MOUSE_STATE_UP = 0,
-    MOUSE_STATE_DOWN = 1
-};
-
-typedef void (*DisplayFunc)(void *);
-typedef void (*KeyboardFunc)(char, void *);
-typedef void (*MouseFunc)(Qt::MouseButton, MouseState, int, int, void *);
-typedef void (*MotionFunc)(int, int, void *);
+#include "GCManipulator.h"
 
+/**
+ * @brief Definition of the class Q3DWidget.
+ * The Q3DWidget widget uses the OpenSceneGraph framework to render
+ * user-defined objects in 3D. The world coordinate system in OSG is defined:
+ * - x-axis points to the east
+ * - y-axis points to the north
+ * - z-axis points upwards
+ */
 class Q3DWidget : public QGLWidget, public osgViewer::Viewer
 {
     Q_OBJECT
 
 public:
+    /**
+     * Constructor.
+     * @param parent Parent widget.
+     */
     Q3DWidget(QWidget* parent = 0);
+
+    /**
+     * Destructor.
+     */
     virtual ~Q3DWidget();
 
+    /**
+     * @brief Initializes the widget.
+     * @param fps Frames per second.
+     */
     void init(float fps);
-    void setCameraParams(float minZoomRange, float cameraFov,
-                         float minClipRange,
-                         float maxClipRange);
 
-    void forceRedraw(void);
-    void recenter(void);
+    /**
+     * @brief Sets the camera parameters.
+     * @param minZoomRange Minimum distance from the viewer to the camera.
+     * @param cameraFov Camera field of view.
+     * @param minClipRange Distance from the viewer to the near clipping range.
+     * @param maxClipRange Distance from the viewer to the far clipping range.
+     */
+    void setCameraParams(float minZoomRange, float cameraFov,
+                         float minClipRange, float maxClipRange);
+
+    /**
+     * @brief Moves the camera by [dx,dy,dz].
+     * @param dx Translation along the x-axis in meters.
+     * @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);
+
+    /**
+     * @brief Recenters the camera at (x,y,z).
+     */
+    void recenterCamera(float x, float y, float z);
+
+    /**
+     * @brief Sets up 3D display mode.
+     */
     void setDisplayMode3D(void);
 
-    void setDisplayFunc(DisplayFunc func, void* clientData);
-    void setKeyboardFunc(KeyboardFunc func, void* clientData);
-    void setMouseFunc(MouseFunc func, void* clientData);
-    void setMotionFunc(MotionFunc func, void* clientData);
-    void addTimerFunc(uint msecs, void(*func)(void *),
-                      void* clientData);
-
-    std::pair<double,double> getGlobalCursorPosition(int32_t mouseX,
-                                                     int32_t mouseY,
+    /**
+     * @brief Gets the world 3D coordinates of the cursor.
+     * The function projects the 2D cursor position to a line in world space
+     * and returns the intersection of that line and the horizontal plane
+     * which contains the point (0, 0, z);
+     * @param cursorX x-coordinate of the cursor.
+     * @param cursorY y-coordinate of the cursor.
+     * @param z z-coordinate of the point in the plane.
+     * @return A pair of values containing the world 3D cursor coordinates.
+     */
+    std::pair<double,double> getGlobalCursorPosition(int32_t cursorX,
+                                                     int32_t cursorY,
                                                      double z);
 
 protected slots:
+    /**
+     * @brief Updates the widget.
+     */
     void redraw(void);
-    void userTimer(void);
 
 protected:
+    /**
+     * @brief Get base robot geode.
+     * @return Smart pointer to the geode.
+     */
     osg::ref_ptr<osg::Geode> createRobot(void);
+
+    /**
+     * @brief Get base HUD geode.
+     * @return Smart pointer to the geode.
+     */
     osg::ref_ptr<osg::Node> createHUD(void);
 
+    /**
+     * @brief Get screen x-coordinate of mouse cursor.
+     * @return screen x-coordinate of mouse cursor.
+     */
     int getMouseX(void);
-    int getMouseY(void);
-    int getLastMouseX(void);
-    int getLastMouseY(void);
 
-    osgViewer::GraphicsWindow* getGraphicsWindow(void);
-    const osgViewer::GraphicsWindow* getGraphicsWindow(void) const;
+    /**
+     * @brief Get screen y-coordinate of mouse cursor.
+     * @return screen y-coordinate of mouse cursor.
+     */
+    int getMouseY(void);
 
+    /**
+     * @brief Handle widget resize event.
+     * @param width New width of widget.
+     * @param height New height of widget.
+     */
     virtual void resizeGL(int width, int height);
+
+    /**
+     * @brief Handle widget paint event.
+     */
     virtual void paintGL(void);
+
+    /**
+     * @brief This function is a container for user-defined rendering.
+     * All code to render objects should be in this function.
+     */
+    virtual void display(void);
+
+    /**
+     * @brief Processes key press events.
+     * If this handler is reimplemented, it is very important that you call the
+     * base class implementation.
+     * @param event Key press event.
+     */
     virtual void keyPressEvent(QKeyEvent* event);
+
+    /**
+     * @brief Processes key release events.
+     * If this handler is reimplemented, it is very important that you call the
+     * base class implementation.
+     * @param event Key release event.
+     */
     virtual void keyReleaseEvent(QKeyEvent* event);
+
+    /**
+     * @brief Processes mouse press events.
+     * If this handler is reimplemented, it is very important that you call the
+     * base class implementation.
+     * @param event Mouse press event.
+     */
     virtual void mousePressEvent(QMouseEvent* event);
+
+    /**
+     * @brief Processes mouse release events.
+     * If this handler is reimplemented, it is very important that you call the
+     * base class implementation.
+     * @param event Mouse release event.
+     */
     virtual void mouseReleaseEvent(QMouseEvent* event);
+
+    /**
+     * @brief Processes mouse move events.
+     * If this handler is reimplemented, it is very important that you call the
+     * base class implementation.
+     * @param event Mouse move event.
+     */
     virtual void mouseMoveEvent(QMouseEvent* event);
+
+    /**
+     * @brief Processes mouse wheel events.
+     * If this handler is reimplemented, it is very important that you call the
+     * base class implementation.
+     * @param event Mouse wheel event.
+     */
     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.
+     * @return OSG-defined key.
+     */
     osgGA::GUIEventAdapter::KeySymbol convertKey(int key) const;
+
+    /**
+     * @brief Computes intersection of line and plane.
+     * @param plane Vector which represents the plane.
+     * @param line Line representation.
+     * @return 3D point which lies at the intersection of the line and plane.
+     */
     bool getPlaneLineIntersection(const osg::Vec4d& plane,
                                   const osg::LineSegment& line,
                                   osg::Vec3d& isect);
 
-    osg::ref_ptr<osg::Group> root;
+    osg::ref_ptr<osg::Group> root; /**< Root node of scene graph. */
     osg::ref_ptr<osg::Switch> allocentricMap;
     osg::ref_ptr<osg::Switch> rollingMap;
     osg::ref_ptr<osg::Switch> egocentricMap;
     osg::ref_ptr<osg::PositionAttitudeTransform> robotPosition;
     osg::ref_ptr<osg::PositionAttitudeTransform> robotAttitude;
 
-    osg::ref_ptr<osg::Geode> hudGeode;
-    osg::ref_ptr<osg::Projection> hudProjectionMatrix;
+    osg::ref_ptr<osg::Geode> hudGeode; /**< A geode which contains renderable HUD objects. */
+    osg::ref_ptr<osg::Projection> hudProjectionMatrix; /**< An orthographic projection matrix for HUD display. */
 
-    DisplayFunc userDisplayFunc;
-    KeyboardFunc userKeyboardFunc;
-    MouseFunc userMouseFunc;
-    MotionFunc userMotionFunc;
-    void (*userTimerFunc)(void *);
+    osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> osgGW; /**< A class which manages OSG graphics windows and events. */
 
-    void* userDisplayFuncData;
-    void* userKeyboardFuncData;
-    void* userMouseFuncData;
-    void* userMotionFuncData;
-    void* userTimerFuncData;
+    osg::ref_ptr<GCManipulator> cameraManipulator; /**< Camera manipulator. */
 
-    osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> osgGW;
-
-    QTimer timer;
+    QTimer timer; /**< Timer which draws graphics based on specified fps. */
 
     struct CameraParams
     {
@@ -143,12 +265,7 @@ protected:
         float maxClipRange;
     };
 
-    CameraParams cameraParams;
-
-    int lastMouseX;
-    int lastMouseY;
-
-    bool _forceRedraw;
+    CameraParams cameraParams; /**< Struct representing camera parameters. */
 };
 
 #endif // Q3DWIDGET_H

src/ui/map3D/Q3DWidgetFactory.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 Q3DWidgetFactory.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
 #ifndef Q3DWIDGETFACTORY_H
 #define Q3DWIDGETFACTORY_H
 
@@ -5,9 +36,20 @@
 
 #include "Q3DWidget.h"
 
+/**
+ * @brief A factory which creates project-specific 3D widgets without
+ *        specifying the exact widget class.
+ */
+
 class Q3DWidgetFactory
 {
 public:
+    /**
+     * @brief Returns a Q3DWidget instance of the appropriate type.
+     * @param type String specifying the required type name.
+     * @return A smart pointer to the Q3DWidget instance.
+     */
+
     static QPointer<Q3DWidget> get(const std::string& type);
 };
 

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/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
-    {
-        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;
-}

src/ui/map3D/WebImage.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 WebImage.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#ifndef WEBIMAGE_H
-#define WEBIMAGE_H
-
-#include <inttypes.h>
-#include <QImage>
-#include <QScopedPointer>
-#include <QSharedPointer>
-
-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<int32_t> >& 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<QImage> image;
-    QVector< QVector<int32_t> > heightModel;
-    uint64_t lastReference;
-    bool _is3D;
-    bool syncFlag;
-};
-
-typedef QSharedPointer<WebImage> WebImagePtr;
-
-#endif // WEBIMAGE_H

src/ui/map3D/WebImageCache.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 WebImageCache.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#include "WebImageCache.h"
-
-#include <QNetworkReply>
-#include <QPixmap>
-
-WebImageCache::WebImageCache(QObject* parent, uint32_t _cacheSize)
-    : QObject(parent)
-    , cacheSize(_cacheSize)
-    , currentReference(0)
-    , networkManager(new QNetworkAccessManager)
-{
-    for (uint32_t i = 0; i < cacheSize; ++i)
-    {
-        WebImagePtr image(new WebImage);
-
-        webImages.push_back(image);
-    }
-
-    connect(networkManager.data(), SIGNAL(finished(QNetworkReply*)),
-            this, SLOT(downloadFinished(QNetworkReply*)));
-}
-
-QPair<WebImagePtr, int32_t>
-WebImageCache::lookup(const QString& url, bool useHeightModel)
-{
-    QPair<WebImagePtr, int32_t> cacheEntry;
-
-    for (int32_t i = 0; i < webImages.size(); ++i)
-    {
-        if (webImages[i]->getState() != WebImage::UNINITIALIZED &&
-            webImages[i]->getSourceURL() == url &&
-            webImages[i]->is3D() == useHeightModel)
-        {
-            cacheEntry.first = webImages[i];
-            cacheEntry.second = i;
-            break;
-        }
-    }
-
-    if (cacheEntry.first.isNull())
-    {
-        for (int32_t i = 0; i < webImages.size(); ++i)
-        {
-            // get uninitialized image
-            if (webImages[i]->getState() == WebImage::UNINITIALIZED)
-            {
-                cacheEntry.first = webImages[i];
-                cacheEntry.second = i;
-                break;
-            }
-            // get oldest image
-            else if (webImages[i]->getState() == WebImage::READY &&
-                     (cacheEntry.first.isNull() ||
-                      webImages[i]->getLastReference() <
-                      cacheEntry.first->getLastReference()))
-            {
-                cacheEntry.first = webImages[i];
-                cacheEntry.second = i;
-            }
-        }
-
-        if (cacheEntry.first.isNull())
-        {
-            return qMakePair(WebImagePtr(), -1);
-        }
-        else
-        {
-            if (cacheEntry.first->getState() == WebImage::READY)
-            {
-                cacheEntry.first->clear();
-            }
-            cacheEntry.first->setSourceURL(url);
-            cacheEntry.first->setLastReference(currentReference);
-            ++currentReference;
-            cacheEntry.first->setState(WebImage::REQUESTED);
-
-            if (url.left(4).compare("http") == 0)
-            {
-                networkManager->get(QNetworkRequest(QUrl(url)));
-            }
-            else
-            {
-                bool success;
-
-                if (useHeightModel)
-                {
-                    QString heightURL = url;
-                    heightURL.replace("color", "dom");
-                    heightURL.replace(".jpg", ".txt");
-
-                    success = cacheEntry.first->setData(url, heightURL);
-                }
-                else
-                {
-                    success = cacheEntry.first->setData(url);
-                }
-
-                if (success)
-                {
-                    cacheEntry.first->setSyncFlag(true);
-                    cacheEntry.first->setState(WebImage::READY);
-                }
-                else
-                {
-                    cacheEntry.first->setState(WebImage::UNINITIALIZED);
-                }
-            }
-
-            return cacheEntry;
-        }
-    }
-    else
-    {
-        if (cacheEntry.first->getState() == WebImage::READY)
-        {
-            cacheEntry.first->setLastReference(currentReference);
-            ++currentReference;
-            return cacheEntry;
-        }
-        else
-        {
-            return qMakePair(WebImagePtr(), -1);
-        }
-    }
-}
-
-WebImagePtr
-WebImageCache::at(int32_t index) const
-{
-    return webImages[index];
-}
-
-void
-WebImageCache::downloadFinished(QNetworkReply* reply)
-{
-    reply->deleteLater();
-
-    if (reply->error() != QNetworkReply::NoError)
-    {
-        return;
-    }
-    QVariant attribute = reply->attribute(QNetworkRequest::RedirectionTargetAttribute);
-    if (attribute.isValid())
-    {
-        return;
-    }
-
-    WebImagePtr image;
-    foreach(image, webImages)
-    {
-        if (reply->url().toString() == image->getSourceURL())
-        {
-            image->setData(reply->readAll());
-            image->setSyncFlag(true);
-            image->setState(WebImage::READY);
-
-            return;
-        }
-    }
-}

src/ui/map3D/WebImageCache.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 WebImageCache.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#ifndef WEBIMAGECACHE_H
-#define WEBIMAGECACHE_H
-
-#include <QNetworkAccessManager>
-#include <QObject>
-#include <QPair>
-
-#include "WebImage.h"
-
-class WebImageCache : public QObject
-{
-    Q_OBJECT
-
-public:
-    WebImageCache(QObject* parent, uint32_t cacheSize);
-
-    QPair<WebImagePtr, int32_t> lookup(const QString& url,
-                                       bool useHeightModel);
-
-    WebImagePtr at(int32_t index) const;
-
-private Q_SLOTS:
-    void downloadFinished(QNetworkReply* reply);
-
-private:
-    uint32_t cacheSize;
-
-    QVector<WebImagePtr> webImages;
-    uint64_t currentReference;
-
-    QScopedPointer<QNetworkAccessManager> networkManager;
-};
-
-#endif // WEBIMAGECACHE_H