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qgroundcontrol
Commit ff9a7a77 authored by lm's avatar lm
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Merge branch 'master' of pixhawk.ethz.ch:qgroundcontrol into dev

parents ed62a837 40bd5bd8
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images/earth.html 0 → 100644
View file @ ff9a7a77
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN""http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"><html>
<meta http-equiv="content-type" content="text/html; charset=utf-8" />
<head>
<!--
Copyright 2008 Google Inc.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<title>QGroundControl Google Earth View</title>
<!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
<script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
<script type="text/javascript">
google.load("earth", "1");
var ge = null;
function init() {
google.earth.createInstance("map3d", initCallback, failureCallback);
}
function initCallback(object) {
ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
}
function failureCallback(object) {
}
</script>
<style type="text/css">
html, body {
margin: 0;
width: 100%;
height: 100%;
}
</style>
</head>
<body onload='init()' id='body'>
<center>
<div id='map3d' style='margin: 0; spacing: 0; height: 100%; width: 100%'></div>
</center>
</body>
</html>
mavground.qrc
View file @ ff9a7a77
......@@ -82,6 +82,7 @@
<file>images/mapproviders/openstreetmap.png</file>
<file>images/mapproviders/google.png</file>
<file>images/mapproviders/yahoo.png</file>
<file>images/earth.html</file>
</qresource>
<qresource prefix="/general">
<file alias="vera.ttf">images/Vera.ttf</file>
......
qgroundcontrol.pri
View file @ ff9a7a77
This diff is collapsed.
qgroundcontrol.pro
View file @ ff9a7a77
......@@ -30,7 +30,8 @@ QT += network \
opengl \
svg \
xml \
phonon
phonon \
webkit
TEMPLATE = app
TARGET = qgroundcontrol
BASEDIR = $$IN_PWD
......@@ -138,7 +139,9 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCPxImuFirmwareUpdate.ui \
src/ui/QGCDataPlot2D.ui \
src/ui/QGCRemoteControlView.ui \
src/ui/QMap3D.ui
src/ui/QMap3D.ui \
src/ui/QGCWebView.ui \
src/ui/map3D/QGCGoogleEarthView.ui
# src/ui/WaypointGlobalView.ui
INCLUDEPATH += src \
......@@ -222,14 +225,16 @@ HEADERS += src/MG.h \
src/ui/linechart/IncrementalPlot.h \
src/ui/map/Waypoint2DIcon.h \
src/ui/map/MAV2DIcon.h \
src/ui/QGCRemoteControlView.h \ # src/ui/WaypointGlobalView.h \
src/ui/QGCRemoteControlView.h \
src/ui/RadioCalibration/RadioCalibrationData.h \
src/ui/RadioCalibration/RadioCalibrationWindow.h \
src/ui/RadioCalibration/AirfoilServoCalibrator.h \
src/ui/RadioCalibration/SwitchCalibrator.h \
src/ui/RadioCalibration/CurveCalibrator.h \
src/ui/RadioCalibration/AbstractCalibrator.h \
src/comm/QGCMAVLink.h
src/comm/QGCMAVLink.h \
src/ui/QGCWebView.h \
src/ui/map3D/QGCGoogleEarthView.h
contains(DEPENDENCIES_PRESENT, osg) {
......@@ -242,23 +247,25 @@ contains(DEPENDENCIES_PRESENT, osg) {
src/ui/map3D/QOSGWidget.h \
src/ui/map3D/PixhawkCheetahGeode.h \
src/ui/map3D/Pixhawk3DWidget.h \
src/ui/map3D/Q3DWidgetFactory.h
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including headers for OSGEARTH")
# Enable only if OpenSceneGraph is available
HEADERS += src/ui/map3D/QMap3D.h
src/ui/map3D/Q3DWidgetFactory.h \
src/ui/map3D/WebImageCache.h \
src/ui/map3D/WebImage.h \
src/ui/map3D/TextureCache.h \
src/ui/map3D/Texture.h \
src/ui/map3D/Imagery.h
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including headers for OSGEARTH")
# Enable only if OpenSceneGraph is available
HEADERS += src/ui/map3D/QMap3D.h
}
}
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including headers for libfreenect")
# Enable only if libfreenect is available
HEADERS += src/input/Freenect.h
}
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
......@@ -327,39 +334,38 @@ SOURCES += src/main.cc \
src/ui/RadioCalibration/SwitchCalibrator.cc \
src/ui/RadioCalibration/CurveCalibrator.cc \
src/ui/RadioCalibration/AbstractCalibrator.cc \
src/ui/RadioCalibration/RadioCalibrationData.cc
src/ui/RadioCalibration/RadioCalibrationData.cc \
src/ui/QGCWebView.cc \
src/ui/map3D/QGCGoogleEarthView.cc
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")
# Enable only if OpenSceneGraph is available
SOURCES += src/ui/map3D/Q3DWidget.cc \
src/ui/map3D/ImageWindowGeode.cc \
src/ui/map3D/GCManipulator.cc \
src/ui/map3D/QOSGWidget.cc \
src/ui/map3D/ImageWindowGeode.cc \
src/ui/map3D/GCManipulator.cc \
src/ui/map3D/QOSGWidget.cc \
src/ui/map3D/PixhawkCheetahGeode.cc \
src/ui/map3D/Pixhawk3DWidget.cc \
src/ui/map3D/Q3DWidgetFactory.cc
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for osgEarth")
# Enable only if OpenSceneGraph is available
SOURCES += src/ui/map3D/QMap3D.cc
src/ui/map3D/Q3DWidgetFactory.cc \
src/ui/map3D/WebImageCache.cc \
src/ui/map3D/WebImage.cc \
src/ui/map3D/TextureCache.cc \
src/ui/map3D/Texture.cc \
src/ui/map3D/Imagery.cc
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for osgEarth")
# Enable only if OpenSceneGraph is available
SOURCES += src/ui/map3D/QMap3D.cc
}
}
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including sources for libfreenect")
# Enable only if libfreenect is available
SOURCES += src/input/Freenect.cc
}
RESOURCES += mavground.qrc
# Include RT-LAB Library
......
src/GAudioOutput.cc
View file @ ff9a7a77
......@@ -41,7 +41,7 @@ This file is part of the QGROUNDCONTROL project
#endif
// Speech synthesis is only supported with MSVC compiler
#if _MSC_VER
#if _MSC_VER2
// Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
#define _ATL_APARTMENT_THREADED
......@@ -93,7 +93,7 @@ emergency(false)
flite_init();
#endif
#if _MSC_VER
#if _MSC_VER2
ISpVoice * pVoice = NULL;
if (FAILED(::CoInitialize(NULL)))
......@@ -134,7 +134,7 @@ emergency(false)
GAudioOutput::~GAudioOutput()
{
#ifdef _MSC_VER
#ifdef _MSC_VER2
::CoUninitialize();
#endif
}
......
src/ui/MainWindow.cc
View file @ ff9a7a77
......@@ -142,6 +142,7 @@ void MainWindow::buildWidgets()
#ifdef QGC_OSGEARTH_ENABLED
_3DMapWidget = Q3DWidgetFactory::get("MAP3D");
#endif
gEarthWidget = new QGCGoogleEarthView(this);
// Dock widgets
controlDockWidget = new QDockWidget(tr("Control"), this);
......@@ -239,6 +240,7 @@ void MainWindow::arrangeCenterStack()
#ifdef QGC_OSGEARTH_ENABLED
if (_3DMapWidget) centerStack->addWidget(_3DMapWidget);
#endif
if (gEarthWidget) centerStack->addWidget(gEarthWidget);
if (hudWidget) centerStack->addWidget(hudWidget);
if (dataplotWidget) centerStack->addWidget(dataplotWidget);
......@@ -388,6 +390,7 @@ void MainWindow::connectActions()
connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
connect(ui.actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits()));
connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
connect(ui.actionGoogleEarthView, SIGNAL(triggered()), this, SLOT(loadGoogleEarthView()));
// Joystick configuration
connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
......@@ -1017,6 +1020,55 @@ void MainWindow::load3DMapView()
}
#endif
this->show();
}
void MainWindow::loadGoogleEarthView()
{
clearView();
// 3D map
if (gEarthWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(gEarthWidget);
}
}
// UAS CONTROL
if (controlDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->show();
}
// UAS LIST
if (listDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
listDockWidget->show();
}
// WAYPOINT LIST
if (waypointsDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->show();
}
// HORIZONTAL SITUATION INDICATOR
if (hsiDockWidget)
{
HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
if (hsi)
{
hsi->start();
addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
hsiDockWidget->show();
}
}
this->show();
}
......
src/ui/MainWindow.h
View file @ ff9a7a77
......@@ -63,7 +63,7 @@ This file is part of the QGROUNDCONTROL project
#include "HSIDisplay.h"
#include "QGCDataPlot2D.h"
#include "QGCRemoteControlView.h"
#include "QGCGoogleEarthView.h"
#include "LogCompressor.h"
......@@ -113,6 +113,8 @@ public slots:
void loadOperatorView();
/** @brief Load 3D view */
void load3DView();
/** @brief Load 3D Google Earth view */
void loadGoogleEarthView();
/** @brief Load 3D map view */
void load3DMapView();
/** @brief Load view with all widgets */
......@@ -170,6 +172,7 @@ protected:
#ifdef QGC_OSGEARTH_ENABLED
QPointer<QWidget> _3DMapWidget;
#endif
QPointer<QGCGoogleEarthView> gEarthWidget;
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> infoDockWidget;
......
src/ui/MainWindow.ui
View file @ ff9a7a77
......@@ -38,7 +38,7 @@
<x>0</x>
<y>0</y>
<width>1000</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuMGround">
......@@ -77,6 +77,7 @@
<addaction name="actionOperatorView"/>
<addaction name="action3DMapView"/>
<addaction name="action3DView"/>
<addaction name="actionGoogleEarthView"/>
<addaction name="actionGlobalOperatorView"/>
<addaction name="separator"/>
<addaction name="actionShow_MAVLink_view"/>
......@@ -235,7 +236,7 @@
<normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
</property>
<property name="text">
<string>Show 3D local view</string>
<string>Show 3D Local View</string>
</property>
<property name="toolTip">
<string>Show 3D view</string>
......@@ -316,7 +317,7 @@
<normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
</property>
<property name="text">
<string>Show Global operator view</string>
<string>Show 2D Map View</string>
</property>
</action>
<action name="action3DMapView">
......@@ -325,7 +326,16 @@
<normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
</property>
<property name="text">
<string>Show 3D Globe view</string>
<string>Show 3D Global View</string>
</property>
</action>
<action name="actionGoogleEarthView">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/mapproviders/google.png</normaloff>:/images/mapproviders/google.png</iconset>
</property>
<property name="text">
<string>Google Earth View</string>
</property>
</action>
</widget>
......
src/ui/QGCWebView.cc 0 → 100644
View file @ ff9a7a77
#include "QGCWebView.h"
#include "ui_QGCWebView.h"
QGCWebView::QGCWebView(QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCWebView)
{
ui->setupUi(this);
ui->webView->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
ui->webView->load(QUrl("http://qgroundcontrol.org"));
}
QGCWebView::~QGCWebView()
{
delete ui;
}
void QGCWebView::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
switch (e->type()) {
case QEvent::LanguageChange:
ui->retranslateUi(this);
break;
default:
break;
}
}
src/ui/QGCWebView.h 0 → 100644
View file @ ff9a7a77
#ifndef QGCWEBVIEW_H
#define QGCWEBVIEW_H
#include <QWidget>
namespace Ui {
class QGCWebView;
}
class QGCWebView : public QWidget
{
Q_OBJECT
public:
explicit QGCWebView(QWidget *parent = 0);
~QGCWebView();
protected:
void changeEvent(QEvent *e);
private:
Ui::QGCWebView *ui;
};
#endif // QGCWEBVIEW_H
src/ui/QGCWebView.ui 0 → 100644
View file @ ff9a7a77
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCWebView</class>
<widget class="QWidget" name="QGCWebView">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QWebView" name="webView">
<property name="url">
<url>
<string>about:blank</string>
</url>
</property>
</widget>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>QWebView</class>
<extends>QWidget</extends>
<header>QtWebKit/QWebView</header>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
src/ui/map3D/Imagery.cc
View file @ ff9a7a77
......@@ -46,6 +46,12 @@ Imagery::Imagery()
}
Imagery::ImageryType
Imagery::getImageryType(void) const
{
return currentImageryType;
}
void
Imagery::setImageryType(ImageryType type)
{
......@@ -62,7 +68,6 @@ Imagery::setOffset(double xOffset, double yOffset)
void
Imagery::prefetch2D(double windowWidth, double windowHeight,
double zoom, double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone)
{
double tileResolution;
......@@ -88,10 +93,10 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
int 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,
xOrigin - windowWidth / 2.0 / zoom * 1.5,
yOrigin - windowHeight / 2.0 / zoom * 1.5,
xOrigin + windowWidth / 2.0 / zoom * 1.5,
yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone,
minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
for (int r = minTileY; r <= maxTileY; ++r)
......@@ -108,7 +113,6 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
void
Imagery::draw2D(double windowWidth, double windowHeight,
double zoom, double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone)
{
double tileResolution;
......@@ -134,12 +138,17 @@ Imagery::draw2D(double windowWidth, double windowHeight,
int 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,
xOrigin - windowWidth / 2.0 / zoom * 1.5,
yOrigin - windowHeight / 2.0 / zoom * 1.5,
xOrigin + windowWidth / 2.0 / zoom * 1.5,
yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone,
minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
if (getNumDrawables() > 0)
{
removeDrawables(0, getNumDrawables());
}
for (int r = minTileY; r <= maxTileY; ++r)
{
for (int c = minTileX; c <= maxTileX; ++c)
......@@ -152,10 +161,11 @@ Imagery::draw2D(double windowWidth, double windowHeight,
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);
addDrawable(t->draw(y1 - yOrigin, x1 - xOrigin,
y2 - yOrigin, x2 - xOrigin,
y3 - yOrigin, x3 - xOrigin,
y4 - yOrigin, x4 - xOrigin,
true));
}
}
}
......@@ -164,17 +174,14 @@ Imagery::draw2D(double windowWidth, double windowHeight,
void
Imagery::prefetch3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone, bool useHeightModel)
const QString& utmZone)
{
int minTileX, minTileY, maxTileX, maxTileY;
int zoomLevel;
tileBounds(tileResolution,
xOrigin + viewXOffset - radius,
yOrigin + viewYOffset - radius,
xOrigin + viewXOffset + radius,
yOrigin + viewYOffset + radius, utmZone,
xOrigin - radius, yOrigin - radius,
xOrigin + radius, yOrigin + radius, utmZone,
minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
for (int r = minTileY; r <= maxTileY; ++r)
......@@ -183,7 +190,7 @@ Imagery::prefetch3D(double radius, double tileResolution,
{
QString url = getTileLocation(c, r, zoomLevel, tileResolution);
TexturePtr t = textureCache->get(url, useHeightModel);
TexturePtr t = textureCache->get(url);
}
}
}
......@@ -191,19 +198,21 @@ Imagery::prefetch3D(double radius, double tileResolution,
void
Imagery::draw3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone, bool useHeightModel)
const QString& utmZone)
{
int minTileX, minTileY, maxTileX, maxTileY;
int zoomLevel;
tileBounds(tileResolution,
xOrigin + viewXOffset - radius,
yOrigin + viewYOffset - radius,
xOrigin + viewXOffset + radius,
yOrigin + viewYOffset + radius, utmZone,
xOrigin - radius, yOrigin - radius,
xOrigin + radius, yOrigin + radius, utmZone,
minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
if (getNumDrawables() > 0)
{
removeDrawables(0, getNumDrawables());
}
for (int r = minTileY; r <= maxTileY; ++r)
{
for (int c = minTileX; c <= maxTileX; ++c)
......@@ -213,14 +222,15 @@ Imagery::draw3D(double radius, double 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);
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);
addDrawable(t->draw(y1 - yOrigin, x1 - xOrigin,
y2 - yOrigin, x2 - xOrigin,
y3 - yOrigin, x3 - xOrigin,
y4 - yOrigin, x4 - xOrigin,
true));
}
}
}
......@@ -257,8 +267,7 @@ Imagery::imageBounds(int tileX, int tileY, double tileResolution,
LLtoUTM(lat2, lon2, x3, y3, utmZone);
LLtoUTM(lat2, lon1, x4, y4, utmZone);
}
else if (currentImageryType == SWISSTOPO_SATELLITE ||
currentImageryType == SWISSTOPO_SATELLITE_3D)
else if (currentImageryType == SWISSTOPO_SATELLITE)
{
double utmMultiplier = tileResolution * 200.0;
double minX = tileX * utmMultiplier;
......@@ -295,8 +304,7 @@ Imagery::tileBounds(double tileResolution,
UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution,
maxTileX, minTileY, zoomLevel);
}
else if (currentImageryType == SWISSTOPO_SATELLITE ||
currentImageryType == SWISSTOPO_SATELLITE_3D)
else if (currentImageryType == SWISSTOPO_SATELLITE)
{
double utmMultiplier = tileResolution * 200;
......@@ -555,7 +563,7 @@ Imagery::UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
* D * D * D * D * D / 120.0) / cos(phi1Rad);
longitude = LongOrigin + longitude / M_PI * 180.0;
}
#include <QDebug>
QString
Imagery::getTileLocation(int tileX, int tileY, int zoomLevel,
double tileResolution) const
......@@ -572,7 +580,7 @@ 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: case SWISSTOPO_SATELLITE_3D:
case SWISSTOPO_SATELLITE:
oss << "../map/eth_zurich_swissimage_025/200/color/" << tileY
<< "/tile-";
if (tileResolution < 1.0)
......
src/ui/map3D/Imagery.h
View file @ ff9a7a77
......@@ -32,44 +32,42 @@ This file is part of the QGROUNDCONTROL project
#ifndef IMAGERY_H
#define IMAGERY_H
#include <osg/Geode>
#include <QScopedPointer>
#include <QString>
#include "TextureCache.h"
class Imagery
class Imagery : public osg::Geode
{
public:
enum ImageryType
{
GOOGLE_MAP = 0,
GOOGLE_SATELLITE = 1,
SWISSTOPO_SATELLITE = 2,
SWISSTOPO_SATELLITE_3D = 3
BLANK_MAP = 0,
GOOGLE_MAP = 1,
GOOGLE_SATELLITE = 2,
SWISSTOPO_SATELLITE = 3
};
Imagery();
ImageryType getImageryType(void) const;
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);
const QString& utmZone);
void draw3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone, bool useHeightModel);
const QString& utmZone);
bool update(void);
......
src/ui/map3D/Pixhawk3DWidget.cc
View file @ ff9a7a77
......@@ -49,6 +49,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
, uas(NULL)
, displayGrid(true)
, displayTrail(false)
, displayImagery(true)
, displayTarget(false)
, displayWaypoints(true)
, displayRGBD2D(false)
......@@ -74,11 +75,9 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
trailNode = createTrail();
rollingMap->addChild(trailNode);
#ifdef QGC_OSGEARTH_ENABLED
// generate map model
mapNode = createMap();
root->addChild(mapNode);
#endif
allocentricMap->addChild(mapNode);
// generate target model
allocentricMap->addChild(createTarget());
......@@ -171,6 +170,12 @@ Pixhawk3DWidget::showWaypoints(int state)
}
}
void
Pixhawk3DWidget::selectMapSource(int index)
{
mapNode->setImageryType(static_cast<Imagery::ImageryType>(index));
}
void
Pixhawk3DWidget::selectVehicleModel(int index)
{
......@@ -205,7 +210,7 @@ Pixhawk3DWidget::toggleFollowCamera(int32_t state)
followCamera = false;
}
}
#include <osgDB/WriteFile>
QVector< osg::ref_ptr<osg::Node> >
Pixhawk3DWidget::findVehicleModels(void)
{
......@@ -273,6 +278,12 @@ Pixhawk3DWidget::buildLayout(void)
waypointsCheckBox->setText("Waypoints");
waypointsCheckBox->setChecked(displayWaypoints);
QLabel* mapLabel = new QLabel("Map", this);
QComboBox* mapComboBox = new QComboBox(this);
mapComboBox->addItem("None");
mapComboBox->addItem("Map (Google)");
mapComboBox->addItem("Satellite (Google)");
QLabel* modelLabel = new QLabel("Vehicle Model", this);
QComboBox* modelComboBox = new QComboBox(this);
for (int i = 0; i < vehicleModels.size(); ++i)
......@@ -299,12 +310,14 @@ Pixhawk3DWidget::buildLayout(void)
layout->addWidget(trailCheckBox, 1, 1);
layout->addWidget(waypointsCheckBox, 1, 2);
layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 3);
layout->addWidget(modelLabel, 1, 4);
layout->addWidget(modelComboBox, 1, 5);
layout->addWidget(targetButton, 1, 6);
layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 7);
layout->addWidget(recenterButton, 1, 8);
layout->addWidget(followCameraCheckBox, 1, 9);
layout->addWidget(mapLabel, 1, 4);
layout->addWidget(mapComboBox, 1, 5);
layout->addWidget(modelLabel, 1, 6);
layout->addWidget(modelComboBox, 1, 7);
layout->addWidget(targetButton, 1, 8);
layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 9);
layout->addWidget(recenterButton, 1, 10);
layout->addWidget(followCameraCheckBox, 1, 11);
layout->setRowStretch(0, 100);
layout->setRowStretch(1, 1);
setLayout(layout);
......@@ -315,6 +328,8 @@ Pixhawk3DWidget::buildLayout(void)
this, SLOT(showTrail(int)));
connect(waypointsCheckBox, SIGNAL(stateChanged(int)),
this, SLOT(showWaypoints(int)));
connect(mapComboBox, SIGNAL(currentIndexChanged(int)),
this, SLOT(selectMapSource(int)));
connect(modelComboBox, SIGNAL(currentIndexChanged(int)),
this, SLOT(selectVehicleModel(int)));
connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter()));
......@@ -362,20 +377,42 @@ Pixhawk3DWidget::display(void)
robotPitch, osg::Vec3f(1.0f, 0.0f, 0.0f),
robotRoll, osg::Vec3f(0.0f, 1.0f, 0.0f)));
updateTrail(robotX, robotY, robotZ);
updateTarget();
updateWaypoints();
if (displayTrail)
{
updateTrail(robotX, robotY, robotZ);
}
if (displayImagery)
{
updateImagery();
}
if (displayTarget)
{
updateTarget();
}
if (displayWaypoints)
{
updateWaypoints();
}
#ifdef QGC_LIBFREENECT_ENABLED
updateRGBD();
if (displayRGBD2D || displayRGBD3D)
{
updateRGBD();
}
#endif
updateHUD(robotX, robotY, robotZ, robotRoll, robotPitch, robotYaw);
// set node visibility
rollingMap->setChildValue(gridNode, displayGrid);
rollingMap->setChildValue(trailNode, displayTrail);
rollingMap->setChildValue(targetNode, displayTarget);
rollingMap->setChildValue(waypointsNode, displayWaypoints);
egocentricMap->setChildValue(rgbd3DNode, displayRGBD3D);
allocentricMap->setChildValue(mapNode, displayImagery);
hudGroup->setChildValue(rgb2DGeode, displayRGBD2D);
hudGroup->setChildValue(depth2DGeode, displayRGBD2D);
......@@ -400,6 +437,9 @@ Pixhawk3DWidget::keyPressEvent(QKeyEvent* event)
case 'c': case 'C':
enableRGBDColor = !enableRGBDColor;
break;
case 'i': case 'I':
displayImagery = !displayImagery;
break;
}
}
......@@ -435,7 +475,7 @@ Pixhawk3DWidget::createGrid(void)
// draw a 20m x 20m grid with 0.25m resolution
for (float i = -radius; i <= radius; i += resolution)
{
if (fabsf(i - roundf(i)) < 0.01f)
if (fabsf(i - floor(i + 0.5f)) < 0.01f)
{
coarseCoords->push_back(osg::Vec3(i, -radius, 0.0f));
coarseCoords->push_back(osg::Vec3(i, radius, 0.0f));
......@@ -512,16 +552,11 @@ Pixhawk3DWidget::createTrail(void)
return geode;
}
#ifdef QGC_OSGEARTH_ENABLED
osg::ref_ptr<osgEarth::MapNode>
osg::ref_ptr<Imagery>
Pixhawk3DWidget::createMap(void)
{
osg::ref_ptr<osg::Node> model = osgDB::readNodeFile("map.earth");
osg::ref_ptr<osgEarth::MapNode> node = osgEarth::MapNode::findMapNode(model);
return node;
return osg::ref_ptr<Imagery>(new Imagery());
}
#endif
osg::ref_ptr<osg::Node>
Pixhawk3DWidget::createTarget(void)
......@@ -730,6 +765,74 @@ Pixhawk3DWidget::updateTrail(float robotX, float robotY, float robotZ)
trailGeometry->dirtyBound();
}
void
Pixhawk3DWidget::updateImagery(void)
{
char zone[5] = "32T";
double viewingRadius = cameraManipulator->getDistance() * 10.0;
if (viewingRadius < 100.0)
{
viewingRadius = 100.0;
}
double minResolution = 0.25;
double centerResolution = cameraManipulator->getDistance() / 25.0;
double maxResolution = 1048576.0;
Imagery::ImageryType imageryType = mapNode->getImageryType();
switch (imageryType)
{
case Imagery::GOOGLE_MAP:
minResolution = 0.25;
break;
case Imagery::GOOGLE_SATELLITE:
minResolution = 0.5;
break;
case Imagery::SWISSTOPO_SATELLITE:
minResolution = 0.25;
maxResolution = 0.25;
break;
default: {}
}
double resolution = minResolution;
while (resolution * 2.0 < centerResolution)
{
resolution *= 2.0;
}
if (resolution > maxResolution)
{
resolution = maxResolution;
}
mapNode->draw3D(viewingRadius,
resolution,
cameraManipulator->getCenter().y(),
cameraManipulator->getCenter().x(),
zone);
// prefetch map tiles
if (resolution / 2.0 >= minResolution)
{
mapNode->prefetch3D(viewingRadius / 2.0,
resolution / 2.0,
cameraManipulator->getCenter().y(),
cameraManipulator->getCenter().x(),
zone);
}
if (resolution * 2.0 <= maxResolution)
{
mapNode->prefetch3D(viewingRadius * 2.0,
resolution * 2.0,
cameraManipulator->getCenter().y(),
cameraManipulator->getCenter().x(),
zone);
}
mapNode->update();
}
void
Pixhawk3DWidget::updateTarget(void)
{
......
src/ui/map3D/Pixhawk3DWidget.h
View file @ ff9a7a77
......@@ -33,10 +33,8 @@
#define PIXHAWK3DWIDGET_H
#include <osgText/Text>
#ifdef QGC_OSGEARTH_ENABLED
#include <osgEarth/MapNode>
#endif
#include "Imagery.h"
#include "ImageWindowGeode.h"
#ifdef QGC_LIBFREENECT_ENABLED
......@@ -65,6 +63,7 @@ private slots:
void showGrid(int state);
void showTrail(int state);
void showWaypoints(int state);
void selectMapSource(int index);
void selectVehicleModel(int index);
void recenter(void);
void toggleFollowCamera(int state);
......@@ -81,11 +80,7 @@ protected:
private:
osg::ref_ptr<osg::Geode> createGrid(void);
osg::ref_ptr<osg::Geode> createTrail(void);
#ifdef QGC_OSGEARTH_ENABLED
osg::ref_ptr<osgEarth::MapNode> createMap(void);
#endif
osg::ref_ptr<Imagery> createMap(void);
osg::ref_ptr<osg::Node> createTarget(void);
osg::ref_ptr<osg::Group> createWaypoints(void);
osg::ref_ptr<osg::Geode> createRGBD3D(void);
......@@ -96,6 +91,7 @@ private:
void updateHUD(float robotX, float robotY, float robotZ,
float robotRoll, float robotPitch, float robotYaw);
void updateTrail(float robotX, float robotY, float robotZ);
void updateImagery(void);
void updateTarget(void);
void updateWaypoints(void);
#ifdef QGC_LIBFREENECT_ENABLED
......@@ -106,6 +102,7 @@ private:
bool displayGrid;
bool displayTrail;
bool displayImagery;
bool displayTarget;
bool displayWaypoints;
bool displayRGBD2D;
......@@ -128,9 +125,7 @@ private:
osg::ref_ptr<osg::Geode> trailNode;
osg::ref_ptr<osg::Geometry> trailGeometry;
osg::ref_ptr<osg::DrawArrays> trailDrawArrays;
#ifdef QGC_OSGEARTH_ENABLED
osg::ref_ptr<osgEarth::MapNode> mapNode;
#endif
osg::ref_ptr<Imagery> mapNode;
osg::ref_ptr<osg::Geode> targetNode;
osg::ref_ptr<osg::PositionAttitudeTransform> targetPosition;
osg::ref_ptr<osg::Group> waypointsNode;
......
src/ui/map3D/Q3DWidget.h
View file @ ff9a7a77
......@@ -33,7 +33,7 @@ This file is part of the QGROUNDCONTROL project
#define Q3DWIDGET_H
#include <QtOpenGL>
#include <inttypes.h>
#include <osg/LineSegment>
#include <osg/PositionAttitudeTransform>
......
src/ui/map3D/QGCGoogleEarthView.cc 0 → 100644
View file @ ff9a7a77
#include "QGCGoogleEarthView.h"
#include "ui_QGCGoogleEarthView.h"
QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCGoogleEarthView)
{
ui->setupUi(this);
ui->webView->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
ui->webView->load(QUrl("earth.html"));
}
QGCGoogleEarthView::~QGCGoogleEarthView()
{
delete ui;
}
void QGCGoogleEarthView::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
switch (e->type()) {
case QEvent::LanguageChange:
ui->retranslateUi(this);
break;
default:
break;
}
}
src/ui/map3D/QGCGoogleEarthView.h 0 → 100644
View file @ ff9a7a77
#ifndef QGCGOOGLEEARTHVIEW_H
#define QGCGOOGLEEARTHVIEW_H
#include <QWidget>
namespace Ui {
class QGCGoogleEarthView;
}
class QGCGoogleEarthView : public QWidget
{
Q_OBJECT
public:
explicit QGCGoogleEarthView(QWidget *parent = 0);
~QGCGoogleEarthView();
protected:
void changeEvent(QEvent *e);
private:
Ui::QGCGoogleEarthView *ui;
};
#endif // QGCGOOGLEEARTHVIEW_H
src/ui/map3D/QGCGoogleEarthView.ui 0 → 100644
View file @ ff9a7a77
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCGoogleEarthView</class>
<widget class="QWidget" name="QGCGoogleEarthView">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QWebView" name="webView">
<property name="url">
<url>
<string>about:blank</string>
</url>
</property>
</widget>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>QWebView</class>
<extends>QWidget</extends>
<header>QtWebKit/QWebView</header>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
src/ui/map3D/Texture.cc
View file @ ff9a7a77
......@@ -33,18 +33,39 @@ This file is part of the QGROUNDCONTROL project
#include "Texture.h"
Texture::Texture()
: _is3D(false)
Texture::Texture(unsigned int _id)
: id(_id)
, texture2D(new osg::Texture2D)
, geometry(new osg::Geometry)
{
texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST);
texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST);
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);
texture2D->setDataVariance(osg::Object::DYNAMIC);
texture2D->setResizeNonPowerOfTwoHint(false);
osg::ref_ptr<osg::Image> image = new osg::Image;
texture2D->setImage(image);
osg::ref_ptr<osg::Vec2Array> vertices(new osg::Vec2Array(4));
geometry->setVertexArray(vertices);
osg::ref_ptr<osg::Vec2Array> textureCoords = new osg::Vec2Array;
textureCoords->push_back(osg::Vec2(0.0f, 1.0f));
textureCoords->push_back(osg::Vec2(1.0f, 1.0f));
textureCoords->push_back(osg::Vec2(1.0f, 0.0f));
textureCoords->push_back(osg::Vec2(0.0f, 0.0f));
geometry->setTexCoordArray(id, textureCoords);
geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
0, 4));
osg::ref_ptr<osg::Vec4Array> colors(new osg::Vec4Array);
colors->push_back(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f));
geometry->setColorArray(colors);
geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
geometry->setUseDisplayList(false);
}
const QString&
......@@ -53,64 +74,33 @@ Texture::getSourceURL(void) const
return sourceURL;
}
void
Texture::setId(unsigned int _id)
{
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())
{
sourceURL = image->getSourceURL();
_is3D = image->is3D();
}
if (image->getState() == WebImage::READY && image->getSyncFlag())
{
image->setSyncFlag(false);
if (image->getWidth() != imageWidth ||
image->getHeight() != imageHeight)
if (texture2D->getImage() != NULL)
{
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);
osg::ref_ptr<osg::Image> image;
image->setImage(textureWidth, textureHeight, 8, 3, GL_RGBA, GL_UNSIGNED_BYTES, NULL, osg::Image::USE_NEW_DELETE);
texture2D->
glBindTexture(GL_TEXTURE_2D, id);
glTexImage2D(GL_TEXTURE_2D, 0, 3, textureWidth, textureHeight,
0, GL_RGBA, GL_UNSIGNED_BYTE, NULL);
texture2D->getImage()->setImage(image->getWidth(),
image->getHeight(),
1,
GL_RGB,
GL_RGB,
GL_UNSIGNED_BYTE,
image->getImageData(),
osg::Image::NO_DELETE);
texture2D->getImage()->dirty();
}
glBindTexture(GL_TEXTURE_2D, id);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, imageWidth, imageHeight,
GL_RGBA, GL_UNSIGNED_BYTE, image->getImageData());
heightModel = image->getHeightModel();
}
}
......@@ -126,126 +116,45 @@ Texture::draw(float x1, float y1, float x2, float y2,
float x3, float y3, float x4, float y4,
bool smoothInterpolation) const
{
osg::ref_ptr<osg::Geometry> geometry(new osg::Geometry);
osg::ref_ptr<osg::StateSet> stateset(new osg::StateSet);
osg::Vec2Array* vertices =
static_cast<osg::Vec2Array*>(geometry->getVertexArray());
(*vertices)[0].set(x1, y1);
(*vertices)[1].set(x2, y2);
(*vertices)[2].set(x3, y3);
(*vertices)[3].set(x4, y4);
osg::DrawArrays* drawarrays =
static_cast<osg::DrawArrays*>(geometry->getPrimitiveSet(0));
osg::Vec4Array* colors =
static_cast<osg::Vec4Array*>(geometry->getColorArray());
if (state == REQUESTED)
{
osg::ref_ptr<osg::Vec2Array> vertices(new osg::Vec2Array);
vertices->push_back(osg::Vec2(x1, y1));
vertices->push_back(osg::Vec2(x2, y2));
vertices->push_back(osg::Vec2(x3, y3));
vertices->push_back(osg::Vec2(x4, y4));
geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
0, vertices->size()));
geometry->setVertexArray(vertices);
osg::ref_ptr<osg::Vec4Array> color(new osg::Vec4Array);
color->push_back(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f));
geometry->setColorArray(color);
geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
drawarrays->set(osg::PrimitiveSet::LINES, 0, 4);
(*colors)[0].set(0.0f, 0.0f, 1.0f, 1.0f);
geometry->getOrCreateStateSet()->
setTextureAttributeAndModes(id, texture2D, osg::StateAttribute::OFF);
return geometry;
}
stateset->setTextureAttributeAndModes(id, texture2D);
float dx, dy;
if (smoothInterpolation)
{
texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR);
texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR);
dx = 1.0f / (2.0f * textureWidth);
dy = 1.0f / (2.0f * textureHeight);
}
else
{
texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST);
texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST);
dx = 0.0f;
dy = 0.0f;
}
glColor3f(1.0f, 1.0f, 1.0f);
if (!_is3D)
{
osg::ref_ptr<osg::Vec2Array> tc = new osg::Vec2Array;
geometry->setTexCoordArray(id, tc);
tc->push_back(osg::Vec2(dx, maxV - dy));
tc->push_back(osg::Vec2(maxU - dx, maxV - dy));
tc->push_back(osg::Vec2(maxU - dx, dy));
tc->push_back(osg::Vec2(dx, dy));
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);
drawarrays->set(osg::PrimitiveSet::POLYGON, 0, 4);
(*colors)[0].set(1.0f, 1.0f, 1.0f, 1.0f);
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();
}
}
}
}
geometry->getOrCreateStateSet()->
setTextureAttributeAndModes(id, texture2D, osg::StateAttribute::ON);
bool
Texture::is3D(void) const
{
return _is3D;
return geometry;
}
src/ui/map3D/Texture.h
View file @ ff9a7a77
......@@ -32,14 +32,10 @@ This file is part of the QGROUNDCONTROL project
#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 <osg/ref_ptr>
#include <osg/Geometry>
#include <osg/Texture2D>
#include <QSharedPointer>
#include "WebImage.h"
......@@ -47,7 +43,7 @@ This file is part of the QGROUNDCONTROL project
class Texture
{
public:
Texture();
explicit Texture(unsigned int _id);
const QString& getSourceURL(void) const;
......@@ -61,8 +57,6 @@ public:
float x3, float y3, float x4, float y4,
bool smoothInterpolation) const;
bool is3D(void) const;
private:
enum State
{
......@@ -75,18 +69,7 @@ private:
QString sourceURL;
unsigned int id;
osg::ref_ptr<osg::Texture2D> texture2D;
int32_t textureWidth;
int32_t textureHeight;
int32_t imageWidth;
int32_t imageHeight;
bool _is3D;
QVector< QVector<int32_t> > heightModel;
float maxU;
float maxV;
osg::ref_ptr<osg::Geometry> geometry;
};
typedef QSharedPointer<Texture> TexturePtr;
......
src/ui/map3D/TextureCache.cc
View file @ ff9a7a77
......@@ -37,28 +37,26 @@ TextureCache::TextureCache(uint32_t _cacheSize)
{
for (uint32_t i = 0; i < cacheSize; ++i)
{
TexturePtr t(new Texture);
t->setId(i);
TexturePtr t(new Texture(i));
textures.push_back(t);
}
}
TexturePtr
TextureCache::get(const QString& tileURL, bool useHeightModel)
TextureCache::get(const QString& tileURL)
{
QPair<TexturePtr, int32_t> p1 = lookup(tileURL, useHeightModel);
QPair<TexturePtr, int32_t> p1 = lookup(tileURL);
if (!p1.first.isNull())
{
return p1.first;
}
QPair<WebImagePtr, int32_t> p2 =
imageCache->lookup(tileURL, useHeightModel);
QPair<WebImagePtr, int32_t> p2 = imageCache->lookup(tileURL);
if (!p2.first.isNull())
{
textures[p2.second]->sync(p2.first);
p1 = lookup(tileURL, useHeightModel);
p1 = lookup(tileURL);
return p1.first;
}
......@@ -79,12 +77,11 @@ TextureCache::sync(void)
}
QPair<TexturePtr, int32_t>
TextureCache::lookup(const QString& tileURL, bool useHeightModel)
TextureCache::lookup(const QString& tileURL)
{
for (int32_t i = 0; i < textures.size(); ++i)
{
if (textures[i]->getSourceURL() == tileURL &&
textures[i]->is3D() == useHeightModel)
if (textures[i]->getSourceURL() == tileURL)
{
return qMakePair(textures[i], i);
}
......
src/ui/map3D/TextureCache.h
View file @ ff9a7a77
......@@ -42,13 +42,12 @@ class TextureCache
public:
explicit TextureCache(uint32_t cacheSize);
TexturePtr get(const QString& tileURL, bool useHeightModel = false);
TexturePtr get(const QString& tileURL);
void sync(void);
private:
QPair<TexturePtr, int32_t> lookup(const QString& tileURL,
bool useHeightModel);
QPair<TexturePtr, int32_t> lookup(const QString& tileURL);
bool requireSync(void) const;
......
src/ui/map3D/WebImage.cc
View file @ ff9a7a77
......@@ -39,7 +39,6 @@ WebImage::WebImage()
, sourceURL("")
, image(0)
, lastReference(0)
, _is3D(false)
, syncFlag(false)
{
......@@ -52,7 +51,6 @@ WebImage::clear(void)
sourceURL.clear();
state = WebImage::UNINITIALIZED;
lastReference = 0;
heightModel.clear();
}
WebImage::State
......@@ -79,18 +77,12 @@ WebImage::setSourceURL(const QString& url)
sourceURL = url;
}
const uint8_t*
uchar*
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)
{
......@@ -131,90 +123,32 @@ WebImage::setData(const QString& filename)
}
}
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
int
WebImage::getWidth(void) const
{
return image->width();
}
int32_t
int
WebImage::getHeight(void) const
{
return image->height();
}
int32_t
int
WebImage::getByteCount(void) const
{
return image->byteCount();
}
bool
WebImage::is3D(void) const
{
return _is3D;
}
uint64_t
ulong
WebImage::getLastReference(void) const
{
return lastReference;
}
void
WebImage::setLastReference(uint64_t value)
WebImage::setLastReference(ulong value)
{
lastReference = value;
}
......
src/ui/map3D/WebImage.h
View file @ ff9a7a77
......@@ -57,20 +57,16 @@ public:
const QString& getSourceURL(void) const;
void setSourceURL(const QString& url);
const uint8_t* getImageData(void) const;
const QVector< QVector<int32_t> >& getHeightModel(void) const;
uchar* getImageData(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;
int getWidth(void) const;
int getHeight(void) const;
int getByteCount(void) const;
bool is3D(void) const;
uint64_t getLastReference(void) const;
void setLastReference(uint64_t value);
ulong getLastReference(void) const;
void setLastReference(ulong value);
bool getSyncFlag(void) const;
void setSyncFlag(bool onoff);
......@@ -79,9 +75,7 @@ private:
State state;
QString sourceURL;
QScopedPointer<QImage> image;
QVector< QVector<int32_t> > heightModel;
uint64_t lastReference;
bool _is3D;
ulong lastReference;
bool syncFlag;
};
......
src/ui/map3D/WebImageCache.cc
View file @ ff9a7a77
......@@ -52,15 +52,14 @@ WebImageCache::WebImageCache(QObject* parent, uint32_t _cacheSize)
}
QPair<WebImagePtr, int32_t>
WebImageCache::lookup(const QString& url, bool useHeightModel)
WebImageCache::lookup(const QString& url)
{
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)
webImages[i]->getSourceURL() == url)
{
cacheEntry.first = webImages[i];
cacheEntry.second = i;
......@@ -111,22 +110,7 @@ WebImageCache::lookup(const QString& url, bool useHeightModel)
}
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)
if (cacheEntry.first->setData(url))
{
cacheEntry.first->setSyncFlag(true);
cacheEntry.first->setState(WebImage::READY);
......
src/ui/map3D/WebImageCache.h
View file @ ff9a7a77
......@@ -45,8 +45,7 @@ class WebImageCache : public QObject
public:
WebImageCache(QObject* parent, uint32_t cacheSize);
QPair<WebImagePtr, int32_t> lookup(const QString& url,
bool useHeightModel);
QPair<WebImagePtr, int32_t> lookup(const QString& url);
WebImagePtr at(int32_t index) const;
......
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