Made imagery feature working again in 3D view.

qgroundcontrol.pro

@@ -391,7 +391,8 @@ contains(DEPENDENCIES_PRESENT, osg) {
         src/ui/map3D/Imagery.h \
         src/ui/map3D/HUDScaleGeode.h \
         src/ui/map3D/WaypointGroupNode.h \
-        src/ui/map3D/TerrainParamDialog.h
+        src/ui/map3D/TerrainParamDialog.h \
+        src/ui/map3D/ImageryParamDialog.h
 }
 contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
     message("Including headers for Protocol Buffers")
@@ -535,7 +536,8 @@ contains(DEPENDENCIES_PRESENT, osg) {
         src/ui/map3D/Imagery.cc \
         src/ui/map3D/HUDScaleGeode.cc \
         src/ui/map3D/WaypointGroupNode.cc \
-        src/ui/map3D/TerrainParamDialog.cc
+        src/ui/map3D/TerrainParamDialog.cc \
+        src/ui/map3D/ImageryParamDialog.cc
 
     contains(DEPENDENCIES_PRESENT, osgearth) { 
         message("Including sources for osgEarth")

src/ui/map3D/GlobalViewParams.cc

@@ -36,6 +36,30 @@ GlobalViewParams::displayWorldGrid(void) const
     return mDisplayWorldGrid;
 }
 
+QVector3D&
+GlobalViewParams::imageryOffset(void)
+{
+    return mImageryOffset;
+}
+
+QVector3D
+GlobalViewParams::imageryOffset(void) const
+{
+    return mImageryOffset;
+}
+
+QString&
+GlobalViewParams::imageryPath(void)
+{
+    return mImageryPath;
+}
+
+QString
+GlobalViewParams::imageryPath(void) const
+{
+    return mImageryPath;
+}
+
 Imagery::Type&
 GlobalViewParams::imageryType(void)
 {
@@ -72,6 +96,12 @@ GlobalViewParams::frame(void) const
     return mFrame;
 }
 
+void
+GlobalViewParams::signalImageryParamsChanged(void)
+{
+    emit imageryParamsChanged();
+}
+
 QVector3D&
 GlobalViewParams::terrainPositionOffset(void)
 {
@@ -132,12 +162,6 @@ GlobalViewParams::frameChanged(const QString& text)
     }
 }
 
-void
-GlobalViewParams::imageryTypeChanged(int index)
-{
-    mImageryType = static_cast<Imagery::Type>(index);
-}
-
 void
 GlobalViewParams::toggleWorldGrid(int state)
 {

src/ui/map3D/GlobalViewParams.h

@@ -21,6 +21,12 @@ public:
     bool& displayWorldGrid(void);
     bool displayWorldGrid(void) const;
 
+    QVector3D& imageryOffset(void);
+    QVector3D imageryOffset(void) const;
+
+    QString& imageryPath(void);
+    QString imageryPath(void) const;
+
     Imagery::Type& imageryType(void);
     Imagery::Type imageryType(void) const;
 
@@ -30,6 +36,8 @@ public:
     MAV_FRAME& frame(void);
     MAV_FRAME frame(void) const;
 
+    void signalImageryParamsChanged(void);
+
     QVector3D& terrainPositionOffset(void);
     QVector3D terrainPositionOffset(void) const;
 
@@ -39,16 +47,18 @@ public:
 public slots:
     void followCameraChanged(const QString& text);
     void frameChanged(const QString &text);
-    void imageryTypeChanged(int index);
     void toggleTerrain(int state);
     void toggleWorldGrid(int state);
 
 signals:
     void followCameraChanged(int systemId);
+    void imageryParamsChanged(void);
 
 private:
     bool mDisplayTerrain;
     bool mDisplayWorldGrid;
+    QVector3D mImageryOffset;
+    QString mImageryPath;
     Imagery::Type mImageryType;
     int mFollowCameraId;
     MAV_FRAME mFrame;

src/ui/map3D/Imagery.cc

@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Imagery.h"
 
 #include <cmath>
+#include <cstdio>
 #include <iomanip>
 #include <sstream>
 
@@ -41,7 +42,11 @@ const double WGS84_ECCSQ = 0.00669437999013;
 const int MAX_ZOOM_LEVEL = 20;
 
 Imagery::Imagery()
-    : textureCache(new TextureCache(1000))
+ : mTextureCache(new TextureCache(500))
+ , mImageryType(Imagery::BLANK_MAP)
+ , mXOffset(0.0)
+ , mYOffset(0.0)
+ , mZOffset(0.0)
 {
 
 }
@@ -49,20 +54,27 @@ Imagery::Imagery()
 Imagery::Type
 Imagery::getImageryType(void) const
 {
-    return currentImageryType;
+    return mImageryType;
 }
 
 void
 Imagery::setImageryType(Imagery::Type type)
 {
-    currentImageryType = type;
+    mImageryType = type;
 }
 
 void
-Imagery::setOffset(double xOffset, double yOffset)
+Imagery::setOffset(double xOffset, double yOffset, double zOffset)
 {
-    this->xOffset = xOffset;
-    this->yOffset = yOffset;
+    mXOffset = xOffset;
+    mYOffset = yOffset;
+    mZOffset = zOffset;
+}
+
+void
+Imagery::setPath(const QString &path)
+{
+    mImageryPath = path.toStdString();
 }
 
 void
@@ -70,21 +82,27 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
                     double zoom, double xOrigin, double yOrigin,
                     const QString& utmZone)
 {
-    if (currentImageryType == BLANK_MAP) {
+    if (mImageryType == BLANK_MAP)
+    {
         return;
     }
 
     double tileResolution = 1.0;
-    if (currentImageryType == GOOGLE_SATELLITE ||
-            currentImageryType == GOOGLE_MAP) {
+    if (mImageryType == GOOGLE_SATELLITE ||
+        mImageryType == GOOGLE_MAP)
+    {
         tileResolution = 1.0;
-        while (tileResolution * 3.0 / 2.0 < 1.0 / zoom) {
+        while (tileResolution * 3.0 / 2.0 < 1.0 / zoom)
+        {
             tileResolution *= 2.0;
         }
-        if (tileResolution > 512.0) {
+        if (tileResolution > 512.0)
+        {
             tileResolution = 512.0;
         }
-    } else if (currentImageryType == SWISSTOPO_SATELLITE) {
+    }
+    else if (mImageryType == OFFLINE_SATELLITE)
+    {
         tileResolution = 0.25;
     }
 
@@ -98,11 +116,13 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
                yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    for (int r = minTileY; r <= maxTileY; ++r) {
-        for (int c = minTileX; c <= maxTileX; ++c) {
+    for (int r = minTileY; r <= maxTileY; ++r)
+    {
+        for (int c = minTileX; c <= maxTileX; ++c)
+        {
             QString url = getTileLocation(c, r, zoomLevel, tileResolution);
 
-            TexturePtr t = textureCache->get(url);
+            TexturePtr t = mTextureCache->get(url);
         }
     }
 }
@@ -110,28 +130,34 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
 void
 Imagery::draw2D(double windowWidth, double windowHeight,
                 double zoom, double xOrigin, double yOrigin,
-                double xOffset, double yOffset, double zOffset,
                 const QString& utmZone)
 {
-    if (getNumDrawables() > 0) {
+    if (getNumDrawables() > 0)
+    {
         removeDrawables(0, getNumDrawables());
     }
 
-    if (currentImageryType == BLANK_MAP) {
+    if (mImageryType == BLANK_MAP)
+    {
         return;
     }
 
     double tileResolution = 1.0;
-    if (currentImageryType == GOOGLE_SATELLITE ||
-            currentImageryType == GOOGLE_MAP) {
+    if (mImageryType == GOOGLE_SATELLITE ||
+        mImageryType == GOOGLE_MAP)
+    {
         tileResolution = 1.0;
-        while (tileResolution * 3.0 / 2.0 < 1.0 / zoom) {
+        while (tileResolution * 3.0 / 2.0 < 1.0 / zoom)
+        {
             tileResolution *= 2.0;
         }
-        if (tileResolution > 512.0) {
+        if (tileResolution > 512.0)
+        {
             tileResolution = 512.0;
         }
-    } else if (currentImageryType == SWISSTOPO_SATELLITE) {
+    }
+    else if (mImageryType == OFFLINE_SATELLITE)
+    {
         tileResolution = 0.25;
     }
 
@@ -145,20 +171,23 @@ Imagery::draw2D(double windowWidth, double windowHeight,
                yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    for (int r = minTileY; r <= maxTileY; ++r) {
-        for (int c = minTileX; c <= maxTileX; ++c) {
+    for (int r = minTileY; r <= maxTileY; ++r)
+    {
+        for (int 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()) {
-                addDrawable(t->draw(y1 - yOffset, x1 - xOffset,
-                                    y2 - yOffset, x2 - xOffset,
-                                    y3 - yOffset, x3 - xOffset,
-                                    y4 - yOffset, x4 - xOffset,
-                                    zOffset,
+            TexturePtr t = mTextureCache->get(tileURL);
+            if (!t.isNull())
+            {
+                addDrawable(t->draw(y1, x1,
+                                    y2, x2,
+                                    y3, x3,
+                                    y4, x4,
+                                    - mZOffset,
                                     true));
             }
         }
@@ -170,7 +199,8 @@ Imagery::prefetch3D(double radius, double tileResolution,
                     double xOrigin, double yOrigin,
                     const QString& utmZone)
 {
-    if (currentImageryType == BLANK_MAP) {
+    if (mImageryType == BLANK_MAP)
+    {
         return;
     }
 
@@ -178,15 +208,17 @@ Imagery::prefetch3D(double radius, double tileResolution,
     int zoomLevel;
 
     tileBounds(tileResolution,
-               xOrigin - radius, yOrigin - radius,
-               xOrigin + radius, yOrigin + radius, utmZone,
+               xOrigin + mXOffset - radius, yOrigin + mYOffset - radius,
+               xOrigin + mXOffset + radius, yOrigin + mYOffset + radius, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    for (int r = minTileY; r <= maxTileY; ++r) {
-        for (int c = minTileX; c <= maxTileX; ++c) {
+    for (int r = minTileY; r <= maxTileY; ++r)
+    {
+        for (int c = minTileX; c <= maxTileX; ++c)
+        {
             QString url = getTileLocation(c, r, zoomLevel, tileResolution);
 
-            TexturePtr t = textureCache->get(url);
+            TexturePtr t = mTextureCache->get(url);
         }
     }
 }
@@ -194,14 +226,16 @@ Imagery::prefetch3D(double radius, double tileResolution,
 void
 Imagery::draw3D(double radius, double tileResolution,
                 double xOrigin, double yOrigin,
-                double xOffset, double yOffset, double zOffset,
+                double xOffset, double yOffset,
                 const QString& utmZone)
 {
-    if (getNumDrawables() > 0) {
+    if (getNumDrawables() > 0)
+    {
         removeDrawables(0, getNumDrawables());
     }
 
-    if (currentImageryType == BLANK_MAP) {
+    if (mImageryType == BLANK_MAP)
+    {
         return;
     }
 
@@ -209,25 +243,28 @@ Imagery::draw3D(double radius, double tileResolution,
     int zoomLevel;
 
     tileBounds(tileResolution,
-               xOrigin - radius, yOrigin - radius,
-               xOrigin + radius, yOrigin + radius, utmZone,
+               xOrigin + mXOffset - radius, yOrigin + mYOffset - radius,
+               xOrigin + mXOffset + radius, yOrigin + mYOffset + radius, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    for (int r = minTileY; r <= maxTileY; ++r) {
-        for (int c = minTileX; c <= maxTileX; ++c) {
+    for (int r = minTileY; r <= maxTileY; ++r)
+    {
+        for (int 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);
+            TexturePtr t = mTextureCache->get(tileURL);
 
-            if (!t.isNull()) {
-                addDrawable(t->draw(y1 - yOffset, x1 - xOffset,
-                                    y2 - yOffset, x2 - xOffset,
-                                    y3 - yOffset, x3 - xOffset,
-                                    y4 - yOffset, x4 - xOffset,
-                                    zOffset,
+            if (!t.isNull())
+            {
+                addDrawable(t->draw(y1 - mYOffset + yOffset, x1 - mXOffset + xOffset,
+                                    y2 - mYOffset + yOffset, x2 - mXOffset + xOffset,
+                                    y3 - mYOffset + yOffset, x3 - mXOffset + xOffset,
+                                    y4 - mYOffset + yOffset, x4 - mXOffset + xOffset,
+                                    - mZOffset,
                                     true));
             }
         }
@@ -237,7 +274,7 @@ Imagery::draw3D(double radius, double tileResolution,
 bool
 Imagery::update(void)
 {
-    textureCache->sync();
+    mTextureCache->sync();
 
     return true;
 }
@@ -247,8 +284,9 @@ Imagery::imageBounds(int tileX, int 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) {
+    if (mImageryType == GOOGLE_MAP ||
+        mImageryType == GOOGLE_SATELLITE)
+    {
         int zoomLevel = MAX_ZOOM_LEVEL - static_cast<int>(rint(log2(tileResolution)));
         int numTiles = static_cast<int>(exp2(static_cast<double>(zoomLevel)));
 
@@ -263,7 +301,9 @@ Imagery::imageBounds(int tileX, int tileY, double tileResolution,
         LLtoUTM(lat1, lon2, x2, y2, utmZone);
         LLtoUTM(lat2, lon2, x3, y3, utmZone);
         LLtoUTM(lat2, lon1, x4, y4, utmZone);
-    } else if (currentImageryType == SWISSTOPO_SATELLITE) {
+    }
+    else if (mImageryType == OFFLINE_SATELLITE)
+    {
         double utmMultiplier = tileResolution * 200.0;
         double minX = tileX * utmMultiplier;
         double maxX = minX + utmMultiplier;
@@ -293,15 +333,18 @@ Imagery::tileBounds(double tileResolution,
     double centerUtmY = (maxUtmY - minUtmY) / 2.0 + minUtmY;
     int centerTileX, centerTileY;
 
-    if (currentImageryType == GOOGLE_MAP ||
-            currentImageryType == GOOGLE_SATELLITE) {
+    if (mImageryType == GOOGLE_MAP ||
+        mImageryType == 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) {
+    }
+    else if (mImageryType == OFFLINE_SATELLITE)
+    {
         double utmMultiplier = tileResolution * 200;
 
         minTileX = static_cast<int>(rint(minUtmX / utmMultiplier));
@@ -312,11 +355,13 @@ Imagery::tileBounds(double tileResolution,
         maxTileY = static_cast<int>(rint(maxUtmY / utmMultiplier));
     }
 
-    if (maxTileX - minTileX + 1 > 14) {
+    if (maxTileX - minTileX + 1 > 14)
+    {
         minTileX = centerTileX - 7;
         maxTileX = centerTileX + 6;
     }
-    if (maxTileY - minTileY + 1 > 14) {
+    if (maxTileY - minTileY + 1 > 14)
+    {
         minTileY = centerTileY - 7;
         maxTileY = centerTileY + 6;
     }
@@ -558,7 +603,8 @@ Imagery::getTileLocation(int tileX, int tileY, int zoomLevel,
 {
     std::ostringstream oss;
 
-    switch (currentImageryType) {
+    switch (mImageryType)
+    {
     case GOOGLE_MAP:
         oss << "http://mt0.google.com/vt/lyrs=m@120&x=" << tileX
             << "&y=" << tileY << "&z=" << zoomLevel;
@@ -567,12 +613,15 @@ Imagery::getTileLocation(int tileX, int tileY, int zoomLevel,
         oss << "http://khm.google.com/vt/lbw/lyrs=y&x=" << tileX
             << "&y=" << tileY << "&z=" << zoomLevel;
         break;
-    case SWISSTOPO_SATELLITE:
-        oss << "../map/eth_zurich_swissimage_025/200/color/" << tileY
+    case OFFLINE_SATELLITE:
+        oss << mImageryPath << "/200/color/" << tileY
             << "/tile-";
-        if (tileResolution < 1.0) {
+        if (tileResolution < 1.0)
+        {
             oss << std::fixed << std::setprecision(2) << tileResolution;
-        } else {
+        }
+        else
+        {
             oss << static_cast<int>(rint(tileResolution));
         }
         oss << "-" << tileY << "-" << tileX << ".jpg";

src/ui/map3D/Imagery.h

@@ -41,25 +41,26 @@ This file is part of the QGROUNDCONTROL project
 class Imagery : public osg::Geode
 {
 public:
-    enum Type {
+    enum Type
+    {
         BLANK_MAP = 0,
         GOOGLE_MAP = 1,
         GOOGLE_SATELLITE = 2,
-        SWISSTOPO_SATELLITE = 3
+        OFFLINE_SATELLITE = 3
     };
 
     Imagery();
 
     Type getImageryType(void) const;
     void setImageryType(Type type);
-    void setOffset(double xOffset, double yOffset);
+    void setOffset(double xOffset, double yOffset, double zOffset = 0.0);
+    void setPath(const QString& path);
 
     void prefetch2D(double windowWidth, double windowHeight,
                     double zoom, double xOrigin, double yOrigin,
                     const QString& utmZone);
     void draw2D(double windowWidth, double windowHeight,
                 double zoom, double xOrigin, double yOrigin,
-                double xOffset, double yOffset, double zOffset,
                 const QString& utmZone);
 
     void prefetch3D(double radius, double tileResolution,
@@ -67,7 +68,7 @@ public:
                     const QString& utmZone);
     void draw3D(double radius, double tileResolution,
                 double xOrigin, double yOrigin,
-                double xOffset, double yOffset, double zOffset,
+                double xOffset, double yOffset,
                 const QString& utmZone);
 
     bool update(void);
@@ -102,12 +103,14 @@ private:
     QString getTileLocation(int tileX, int tileY, int zoomLevel,
                             double tileResolution) const;
 
-    QScopedPointer<TextureCache> textureCache;
+    QScopedPointer<TextureCache> mTextureCache;
 
-    Type currentImageryType;
+    Type mImageryType;
+    std::string mImageryPath;
 
-    double xOffset;
-    double yOffset;
+    double mXOffset;
+    double mYOffset;
+    double mZOffset;
 };
 
 #endif // IMAGERY_H

src/ui/map3D/ImageryParamDialog.cc

+#include "ImageryParamDialog.h"
+
+#include <QDesktopServices>
+#include <QFileDialog>
+#include <QFormLayout>
+#include <QGroupBox>
+#include <QPushButton>
+
+ImageryParamDialog::ImageryParamDialog(QWidget* parent)
+ : QDialog(parent)
+{
+    QVBoxLayout* layout = new QVBoxLayout;
+    setLayout(layout);
+
+    setWindowTitle(tr("Imagery Parameters"));
+    setModal(true);
+
+    buildLayout(layout);
+}
+
+void
+ImageryParamDialog::getImageryParams(GlobalViewParamsPtr &globalViewParams)
+{
+    ImageryParamDialog dialog;
+
+    switch (globalViewParams->imageryType())
+    {
+    case Imagery::BLANK_MAP:
+        dialog.mImageryTypeComboBox->setCurrentIndex(0);
+        break;
+    case Imagery::GOOGLE_MAP:
+        dialog.mImageryTypeComboBox->setCurrentIndex(1);
+        break;
+    case Imagery::GOOGLE_SATELLITE:
+        dialog.mImageryTypeComboBox->setCurrentIndex(2);
+        break;
+    case Imagery::OFFLINE_SATELLITE:
+        dialog.mImageryTypeComboBox->setCurrentIndex(3);
+        break;
+    }
+
+    dialog.mPathLineEdit->setText(globalViewParams->imageryPath());
+
+    QVector3D& imageryOffset = globalViewParams->imageryOffset();
+
+    dialog.mXOffsetSpinBox->setValue(imageryOffset.x());
+    dialog.mYOffsetSpinBox->setValue(imageryOffset.y());
+    dialog.mZOffsetSpinBox->setValue(imageryOffset.z());
+
+    if (dialog.exec() == QDialog::Accepted)
+    {
+        switch (dialog.mImageryTypeComboBox->currentIndex())
+        {
+        case 0:
+            globalViewParams->imageryType() = Imagery::BLANK_MAP;
+            break;
+        case 1:
+            globalViewParams->imageryType() = Imagery::GOOGLE_MAP;
+            break;
+        case 2:
+            globalViewParams->imageryType() = Imagery::GOOGLE_SATELLITE;
+            break;
+        case 3:
+            globalViewParams->imageryType() = Imagery::OFFLINE_SATELLITE;
+            break;
+        }
+
+        globalViewParams->imageryPath() = dialog.mPathLineEdit->text();
+
+        imageryOffset.setX(dialog.mXOffsetSpinBox->value());
+        imageryOffset.setY(dialog.mYOffsetSpinBox->value());
+        imageryOffset.setZ(dialog.mZOffsetSpinBox->value());
+
+        globalViewParams->signalImageryParamsChanged();
+    }
+}
+
+void
+ImageryParamDialog::selectPath(void)
+{
+    QString filename = QFileDialog::getExistingDirectory(this, "Imagery path",
+                                                         QDesktopServices::storageLocation(QDesktopServices::DesktopLocation));
+    if (filename.isNull())
+    {
+        return;
+    }
+    else
+    {
+        mPathLineEdit->setText(filename);
+    }
+}
+
+void
+ImageryParamDialog::closeWithSaving(void)
+{
+    done(QDialog::Accepted);
+}
+
+void
+ImageryParamDialog::closeWithoutSaving(void)
+{
+    done(QDialog::Rejected);
+}
+
+void
+ImageryParamDialog::buildLayout(QVBoxLayout* layout)
+{
+    QFormLayout* formLayout = new QFormLayout;
+
+    mImageryTypeComboBox = new QComboBox(this);
+    mImageryTypeComboBox->addItem("None");
+    mImageryTypeComboBox->addItem("Map (Google)");
+    mImageryTypeComboBox->addItem("Satellite (Google)");
+    mImageryTypeComboBox->addItem("Satellite (Offline)");
+
+    mPathLineEdit = new QLineEdit(this);
+    mPathLineEdit->setReadOnly(true);
+
+    QPushButton* pathButton = new QPushButton(this);
+    pathButton->setText(tr(".."));
+
+    QHBoxLayout* pathLayout = new QHBoxLayout;
+    pathLayout->addWidget(mPathLineEdit);
+    pathLayout->addWidget(pathButton);
+
+    formLayout->addRow(tr("Imagery Type"), mImageryTypeComboBox);
+    formLayout->addRow(tr("Path"), pathLayout);
+
+    layout->addLayout(formLayout);
+
+    QGroupBox* offsetGroupBox = new QGroupBox(tr("Offset"), this);
+
+    mXOffsetSpinBox = new QDoubleSpinBox(this);
+    mXOffsetSpinBox->setDecimals(1);
+    mXOffsetSpinBox->setRange(-1000.0, 1000.0);
+    mXOffsetSpinBox->setValue(0.0);
+
+    mYOffsetSpinBox = new QDoubleSpinBox(this);
+    mYOffsetSpinBox->setDecimals(1);
+    mYOffsetSpinBox->setRange(-1000.0, 1000.0);
+    mYOffsetSpinBox->setValue(0.0);
+
+    mZOffsetSpinBox = new QDoubleSpinBox(this);
+    mZOffsetSpinBox->setDecimals(1);
+    mZOffsetSpinBox->setRange(-1000.0, 1000.0);
+    mZOffsetSpinBox->setValue(0.0);
+
+    formLayout = new QFormLayout;
+    formLayout->addRow(tr("x (m)"), mXOffsetSpinBox);
+    formLayout->addRow(tr("y (m)"), mYOffsetSpinBox);
+    formLayout->addRow(tr("z (m)"), mZOffsetSpinBox);
+
+    offsetGroupBox->setLayout(formLayout);
+
+    layout->addWidget(offsetGroupBox);
+    layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
+
+    QPushButton* cancelButton = new QPushButton(this);
+    cancelButton->setText("Cancel");
+
+    QPushButton* saveButton = new QPushButton(this);
+    saveButton->setText("Save");
+
+    QHBoxLayout* buttonLayout = new QHBoxLayout;
+    buttonLayout->addWidget(cancelButton);
+    buttonLayout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
+    buttonLayout->addWidget(saveButton);
+
+    layout->addLayout(buttonLayout);
+
+    connect(pathButton, SIGNAL(clicked()), this, SLOT(selectPath()));
+    connect(cancelButton, SIGNAL(clicked()), this, SLOT(closeWithoutSaving()));
+    connect(saveButton, SIGNAL(clicked()), this, SLOT(closeWithSaving()));
+}

src/ui/map3D/ImageryParamDialog.h

+#ifndef IMAGERYPARAMDIALOG_H
+#define IMAGERYPARAMDIALOG_H
+
+#include <QComboBox>
+#include <QDoubleSpinBox>
+#include <QDialog>
+#include <QLineEdit>
+#include <QVBoxLayout>
+
+#include "GlobalViewParams.h"
+
+class ImageryParamDialog : public QDialog
+{
+    Q_OBJECT
+
+public:
+    ImageryParamDialog(QWidget* parent = 0);
+
+    static void getImageryParams(GlobalViewParamsPtr& globalViewParams);
+
+private slots:
+    void selectPath(void);
+    void closeWithSaving(void);
+    void closeWithoutSaving(void);
+
+private:
+    void buildLayout(QVBoxLayout* layout);
+
+    QComboBox* mImageryTypeComboBox;
+    QLineEdit* mPathLineEdit;
+    QDoubleSpinBox* mXOffsetSpinBox;
+    QDoubleSpinBox* mYOffsetSpinBox;
+    QDoubleSpinBox* mZOffsetSpinBox;
+};
+
+#endif // IMAGERYPARAMDIALOG_H

src/ui/map3D/Pixhawk3DWidget.cc

@@ -91,6 +91,8 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
             this, SLOT(systemCreated(UASInterface*)));
     connect(mGlobalViewParams.data(), SIGNAL(followCameraChanged(int)),
             this, SLOT(followCameraChanged(int)));
+    connect(mGlobalViewParams.data(), SIGNAL(imageryParamsChanged(void)),
+            this, SLOT(imageryParamsChanged(void)));
 
     MainWindow* parentWindow = qobject_cast<MainWindow*>(parent);
     parentWindow->addDockWidget(Qt::LeftDockWidgetArea, mViewParamWidget);
@@ -139,11 +141,14 @@ Pixhawk3DWidget::systemCreated(UASInterface *uas)
             this, SLOT(attitudeChanged(UASInterface*,double,double,double,quint64)));
     connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)),
             this, SLOT(setpointChanged(int,float,float,float,float)));
+    connect(uas, SIGNAL(homePositionChanged(int,double,double,double)),
+            this, SLOT(homePositionChanged(int,double,double,double)));
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     connect(uas, SIGNAL(overlayChanged(UASInterface*)),
             this, SLOT(addOverlay(UASInterface*)));
 #endif
 
+//    mSystemContainerMap[systemId].gpsLocalOrigin() = QVector3D(47.419182, 8.566980, 428);
     initializeSystem(systemId, uas->getColor());
 
     emit systemCreatedSignal(uas);
@@ -333,6 +338,20 @@ Pixhawk3DWidget::attitudeChanged(UASInterface* uas,
     m3DWidget->systemGroup(systemId)->attitude()->setAttitude(q);
 }
 
+void
+Pixhawk3DWidget::homePositionChanged(int uasId, double lat, double lon,
+                                     double alt)
+{
+    if (!mSystemContainerMap.contains(uasId))
+    {
+        return;
+    }
+
+    SystemContainer& systemData = mSystemContainerMap[uasId];
+
+    systemData.gpsLocalOrigin() = QVector3D(lat, lon, alt);
+}
+
 void
 Pixhawk3DWidget::setpointChanged(int uasId, float x, float y, float z,
                                  float yaw)
@@ -465,6 +484,16 @@ Pixhawk3DWidget::followCameraChanged(int systemId)
     }
 }
 
+void
+Pixhawk3DWidget::imageryParamsChanged(void)
+{
+    mImageryNode->setImageryType(mGlobalViewParams->imageryType());
+    mImageryNode->setPath(mGlobalViewParams->imageryPath());
+
+    const QVector3D& offset = mGlobalViewParams->imageryOffset();
+    mImageryNode->setOffset(offset.x(), offset.y(), offset.z());
+}
+
 void
 Pixhawk3DWidget::recenterActiveCamera(void)
 {
@@ -981,8 +1010,6 @@ Pixhawk3DWidget::update(void)
 #endif
     }
 
-    mImageryNode->setImageryType(mGlobalViewParams->imageryType());
-
     if (mFollowCameraId != -1)
     {
         UASInterface* uas = UASManager::instance()->getUASForId(mFollowCameraId);
@@ -1091,13 +1118,27 @@ Pixhawk3DWidget::update(void)
             updateRGBD(uas, frame, systemData.rgbImageNode(),
                        systemData.depthImageNode());
         }
+
+        if (frame == MAV_FRAME_LOCAL_NED &&
+            mGlobalViewParams->imageryType() != Imagery::BLANK_MAP &&
+            !systemData.gpsLocalOrigin().isNull() &&
+            mActiveUAS->getUASID() == systemId)
+        {
+            const QVector3D& gpsLocalOrigin = systemData.gpsLocalOrigin();
+
+            double utmX, utmY;
+            QString utmZone;
+            Imagery::LLtoUTM(gpsLocalOrigin.x(), gpsLocalOrigin.y(), utmX, utmY, utmZone);
+
+            updateImagery(utmX, utmY, utmZone, frame);
+        }
 #endif
     }
 
     if (frame == MAV_FRAME_GLOBAL &&
         mGlobalViewParams->imageryType() != Imagery::BLANK_MAP)
     {
-//        updateImagery(robotX, robotY, robotZ, utmZone);
+//        updateImagery(x, y, z, utmZone);
     }
 
     if (mActiveUAS)
@@ -2003,8 +2044,8 @@ Pixhawk3DWidget::updateTrails(double robotX, double robotY, double robotZ,
 }
 
 void
-Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
-                               const QString& zone)
+Pixhawk3DWidget::updateImagery(double originX, double originY,
+                               const QString& zone, MAV_FRAME frame)
 {
     if (mImageryNode->getImageryType() == Imagery::BLANK_MAP)
     {
@@ -2030,7 +2071,7 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
     case Imagery::GOOGLE_SATELLITE:
         minResolution = 0.5;
         break;
-    case Imagery::SWISSTOPO_SATELLITE:
+    case Imagery::OFFLINE_SATELLITE:
         minResolution = 0.25;
         maxResolution = 0.25;
         break;
@@ -2049,13 +2090,24 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
         resolution = maxResolution;
     }
 
+    double x = m3DWidget->cameraManipulator()->getCenter().y();
+    double y = m3DWidget->cameraManipulator()->getCenter().x();
+
+    double xOffset = 0.0;
+    double yOffset = 0.0;
+
+    if (frame == MAV_FRAME_LOCAL_NED)
+    {
+        xOffset = originX;
+        yOffset = originY;
+    }
+
     mImageryNode->draw3D(viewingRadius,
                          resolution,
-                         m3DWidget->cameraManipulator()->getCenter().y(),
-                         m3DWidget->cameraManipulator()->getCenter().x(),
-                         originX,
-                         originY,
-                         originZ,
+                         x + xOffset,
+                         y + yOffset,
+                         -xOffset,
+                         -yOffset,
                          zone);
 
     // prefetch map tiles
@@ -2063,16 +2115,16 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
     {
         mImageryNode->prefetch3D(viewingRadius / 2.0,
                                  resolution / 2.0,
-                                 m3DWidget->cameraManipulator()->getCenter().y(),
-                                 m3DWidget->cameraManipulator()->getCenter().x(),
+                                 x + xOffset,
+                                 y + yOffset,
                                  zone);
     }
     if (resolution * 2.0 <= maxResolution)
     {
         mImageryNode->prefetch3D(viewingRadius * 2.0,
                                  resolution * 2.0,
-                                 m3DWidget->cameraManipulator()->getCenter().y(),
-                                 m3DWidget->cameraManipulator()->getCenter().x(),
+                                 x + xOffset,
+                                 y + yOffset,
                                  zone);
     }
 

src/ui/map3D/Pixhawk3DWidget.h

@@ -60,6 +60,7 @@ public slots:
     void localPositionChanged(UASInterface* uas, double x, double y, double z, quint64 time);
     void attitudeChanged(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 time);
     void attitudeChanged(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
+    void homePositionChanged(int uasId, double lat, double lon, double alt);
     void setpointChanged(int uasId, float x, float y, float z, float yaw);
 
 signals:
@@ -71,6 +72,7 @@ private slots:
     void showTerrainParamWindow(void);
     void showViewParamWindow(void);
     void followCameraChanged(int systemId);
+    void imageryParamsChanged(void);
     void recenterActiveCamera(void);
     void modelChanged(int systemId, int index);
     void setBirdEyeView(void);
@@ -143,8 +145,8 @@ private:
     void resizeHUD(int width, int height);
 
     void updateHUD(UASInterface* uas, MAV_FRAME frame);
-    void updateImagery(double originX, double originY, double originZ,
-                       const QString& zone);
+    void updateImagery(double originX, double originY,
+                       const QString& zone, MAV_FRAME frame);
     void updateTarget(UASInterface* uas, MAV_FRAME frame,
                       double robotX, double robotY, double robotZ,
                       QVector4D& target,

src/ui/map3D/SystemContainer.cc

@@ -7,6 +7,12 @@ SystemContainer::SystemContainer()
 
 }
 
+QVector3D&
+SystemContainer::gpsLocalOrigin(void)
+{
+    return mGPSLocalOrigin;
+}
+
 QVector4D&
 SystemContainer::target(void)
 {

src/ui/map3D/SystemContainer.h

@@ -4,6 +4,7 @@
 #include <osg/Geode>
 #include <QMap>
 #include <QVarLengthArray>
+#include <QVector3D>
 #include <QVector4D>
 
 #include "ImageWindowGeode.h"
@@ -19,6 +20,8 @@ class SystemContainer
 public:
     SystemContainer();
 
+    QVector3D& gpsLocalOrigin(void);
+
     QVector4D& target(void);
 
     QVector< osg::ref_ptr<osg::Node> >& models(void);
@@ -43,6 +46,7 @@ public:
 #endif
 
 private:
+    QVector3D mGPSLocalOrigin;
     QVector4D mTarget;
 
     QVector< osg::ref_ptr<osg::Node> > mModels;

src/ui/map3D/ViewParamWidget.cc

@@ -6,6 +6,7 @@
 #include <QLabel>
 #include <QPushButton>
 
+#include "ImageryParamDialog.h"
 #include "UASInterface.h"
 
 ViewParamWidget::ViewParamWidget(GlobalViewParamsPtr& globalViewParams,
@@ -97,6 +98,12 @@ ViewParamWidget::setpointsCheckBoxToggled(int state)
     }
 }
 
+void
+ViewParamWidget::showImageryParamDialog(void)
+{
+    ImageryParamDialog::getImageryParams(mGlobalViewParams);
+}
+
 void
 ViewParamWidget::buildLayout(QVBoxLayout* layout)
 {
@@ -106,17 +113,15 @@ ViewParamWidget::buildLayout(QVBoxLayout* layout)
     frameComboBox->addItem("Local");
     frameComboBox->addItem("Global");
 
-    QComboBox* imageryComboBox = new QComboBox(this);
-    imageryComboBox->addItem("None");
-    imageryComboBox->addItem("Map (Google)");
-    imageryComboBox->addItem("Satellite (Google)");
-
     QCheckBox* terrainModelCheckBox = new QCheckBox(this);
     terrainModelCheckBox->setChecked(mGlobalViewParams->displayTerrain());
 
     QCheckBox* worldGridCheckBox = new QCheckBox(this);
     worldGridCheckBox->setChecked(mGlobalViewParams->displayWorldGrid());
 
+    QPushButton* imageryButton = new QPushButton(this);
+    imageryButton->setText("View");
+
     QMapIterator<int, SystemViewParamsPtr> it(mSystemViewParamMap);
     while (it.hasNext())
     {
@@ -130,9 +135,9 @@ ViewParamWidget::buildLayout(QVBoxLayout* layout)
     QFormLayout* formLayout = new QFormLayout;
     formLayout->addRow(tr("Follow Camera"), mFollowCameraComboBox);
     formLayout->addRow(tr("Frame"), frameComboBox);
-    formLayout->addRow(tr("Imagery"), imageryComboBox);
     formLayout->addRow(tr("Terrain"), terrainModelCheckBox);
     formLayout->addRow(tr("World Grid"), worldGridCheckBox);
+    formLayout->addRow(tr("Imagery Options"), imageryButton);
 
     layout->addLayout(formLayout);
     layout->addWidget(mTabWidget);
@@ -142,12 +147,14 @@ ViewParamWidget::buildLayout(QVBoxLayout* layout)
             mGlobalViewParams.data(), SLOT(followCameraChanged(const QString&)));
     connect(frameComboBox, SIGNAL(currentIndexChanged(const QString&)),
             mGlobalViewParams.data(), SLOT(frameChanged(const QString&)));
-    connect(imageryComboBox, SIGNAL(currentIndexChanged(int)),
-            mGlobalViewParams.data(), SLOT(imageryTypeChanged(int)));
     connect(terrainModelCheckBox, SIGNAL(stateChanged(int)),
             mGlobalViewParams.data(), SLOT(toggleTerrain(int)));
     connect(worldGridCheckBox, SIGNAL(stateChanged(int)),
             mGlobalViewParams.data(), SLOT(toggleWorldGrid(int)));
+    connect(imageryButton, SIGNAL(clicked()),
+            this, SLOT(showImageryParamDialog()));
+//    connect(imageryComboBox, SIGNAL(currentIndexChanged(int)),
+//            mGlobalViewParams.data(), SLOT(imageryTypeChanged(int)));
 }
 
 void

src/ui/map3D/ViewParamWidget.h

@@ -31,6 +31,7 @@ private slots:
     void overlayCreated(int systemId, const QString& name);
     void systemCreated(UASInterface* uas);
     void setpointsCheckBoxToggled(int state);
+    void showImageryParamDialog(void);
 
 private:
     void buildLayout(QVBoxLayout* layout);