mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
Move the OSG logic into a standalone gadget instead of the widget gadget. This
will allow using the UI forms. Fixed the issues with requiring a popout. Also the osgEarth takes LLA in the order long, lat, alt whereas our code takes lat, long, alt. This was causing the NED frame to be rotated 90 degrees.
This commit is contained in:
James Cotton
parent
e804de0a7a
commit
c8d5a61316
@ -8,14 +8,16 @@ include(osgearthview_dependencies.pri)
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include(osg.pri)
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include(osgearth.pri)
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HEADERS += osgearthviewplugin.h
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HEADERS += osgearthviewplugin.h \
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osgviewerwidget.h
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HEADERS += osgearthviewgadget.h
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HEADERS += osgearthviewwidget.h
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HEADERS += osgearthviewgadgetfactory.h
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HEADERS += osgearthviewgadgetconfiguration.h
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HEADERS += osgearthviewgadgetoptionspage.h
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SOURCES += osgearthviewplugin.cpp
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SOURCES += osgearthviewplugin.cpp \
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osgviewerwidget.cpp
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SOURCES += osgearthviewgadget.cpp
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SOURCES += osgearthviewwidget.cpp
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SOURCES += osgearthviewgadgetfactory.cpp
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@ -26,3 +28,5 @@ FORMS += osgearthviewgadgetoptionspage.ui
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OTHER_FILES += OsgEarthviewGadget.pluginspec
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RESOURCES += osgearthview.qrc
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@ -99,134 +99,19 @@ using namespace Utils;
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OsgEarthviewWidget::OsgEarthviewWidget(QWidget *parent) : QWidget(parent)
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{
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setThreadingModel(osgViewer::ViewerBase::CullThreadPerCameraDrawThreadPerContext);
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viewWidget = new OsgViewerWidget(this);
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viewWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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//setThreadingModel(osgViewer::ViewerBase::SingleThreaded);
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setAttribute(Qt::WA_PaintOnScreen, true);
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setAttribute(Qt::WA_NoSystemBackground, true);
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osg::Group* root = new osg::Group;
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osg::Node* earth = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/osgearth/tests/boston.earth");
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osgEarth::MapNode * mapNode = osgEarth::MapNode::findMapNode( earth );
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if (!mapNode)
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{
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qDebug() <<"Uhoh";
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}
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root->addChild(earth);
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osg::Node* airplane = createAirplane();
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uavPos = new osgEarth::Util::ObjectLocatorNode(mapNode->getMap());
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uavPos->getLocator()->setPosition( osg::Vec3d(-71.0763, 42.34425, 150) );
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uavPos->addChild(airplane);
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root->addChild(uavPos);
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osgUtil::Optimizer optimizer;
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optimizer.optimize(root);
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QWidget* popupWidget = createViewWidget( createCamera(0,0,600,600,"Earth",true), root);
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popupWidget->show();
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setLayout(new QVBoxLayout());
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//layout()->addWidget(popupWidget);
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connect( &_timer, SIGNAL(timeout()), this, SLOT(update()) );
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_timer.start( 10 );
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layout()->addWidget(viewWidget);
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}
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OsgEarthviewWidget::~OsgEarthviewWidget()
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{
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}
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QWidget* OsgEarthviewWidget::createViewWidget( osg::Camera* camera, osg::Node* scene )
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{
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osgViewer::View* view = new osgViewer::View;
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view->setCamera( camera );
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addView( view );
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view->setSceneData( scene );
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view->addEventHandler( new osgViewer::StatsHandler );
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view->getDatabasePager()->setDoPreCompile( true );
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manip = new EarthManipulator();
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view->setCameraManipulator( manip );
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Grid* grid = new Grid();
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grid->setControl(0,0,new LabelControl("OpenPilot"));
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ControlCanvas::get(view, true)->addControl(grid);
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// zoom to a good startup position
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manip->setViewpoint( Viewpoint(-71.0763, 42.34425, 0, 24.261, -21.6, 650.0), 5.0 );
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//manip->setHomeViewpoint(Viewpoint("Boston", osg::Vec3d(-71.0763, 42.34425, 0), 24.261, -21.6, 3450.0));
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osgQt::GraphicsWindowQt* gw = dynamic_cast<osgQt::GraphicsWindowQt*>( camera->getGraphicsContext() );
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return gw ? gw->getGLWidget() : NULL;
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}
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osg::Camera* OsgEarthviewWidget::createCamera( int x, int y, int w, int h, const std::string& name="", bool windowDecoration=false )
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{
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osg::DisplaySettings* ds = osg::DisplaySettings::instance().get();
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osg::ref_ptr<osg::GraphicsContext::Traits> traits = new osg::GraphicsContext::Traits;
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traits->windowName = name;
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traits->windowDecoration = windowDecoration;
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traits->x = x;
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traits->y = y;
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traits->width = w;
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traits->height = h;
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traits->doubleBuffer = true;
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traits->alpha = ds->getMinimumNumAlphaBits();
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traits->stencil = ds->getMinimumNumStencilBits();
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traits->sampleBuffers = ds->getMultiSamples();
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traits->samples = ds->getNumMultiSamples();
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osg::ref_ptr<osg::Camera> camera = new osg::Camera;
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camera->setGraphicsContext( new osgQt::GraphicsWindowQt(traits.get()) );
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camera->setClearColor( osg::Vec4(0.2, 0.2, 0.6, 1.0) );
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camera->setViewport( new osg::Viewport(0, 0, traits->width, traits->height) );
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camera->setProjectionMatrixAsPerspective(
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30.0f, static_cast<double>(traits->width)/static_cast<double>(traits->height), 1.0f, 10000.0f );
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return camera.release();
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}
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osg::Node* OsgEarthviewWidget::createAirplane()
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{
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osg::Group* model = new osg::Group;
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osg::Node *cessna = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/OpenPilot/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS");
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if(cessna) {
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uavAttitudeAndScale = new osg::MatrixTransform();
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uavAttitudeAndScale->setMatrix(osg::Matrixd::scale(0.2e0,0.2e0,0.2e0));
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uavAttitudeAndScale->addChild( cessna );
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model->addChild(uavAttitudeAndScale);
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} else
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qDebug() << "Bad model file";
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return model;
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}
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void OsgEarthviewWidget::paintEvent( QPaintEvent* event )
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
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PositionActual *positionActualObj = PositionActual::GetInstance(objMngr);
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PositionActual::DataFields positionActual = positionActualObj->getData();
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double LLA[3];
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double NED[3] = {positionActual.North, positionActual.East, positionActual.Down};
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double homeLLA[3] = {-71.0763, 42.34425, 50};
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CoordinateConversions().GetLLA(homeLLA, NED, LLA);
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uavPos->getLocator()->setPosition( osg::Vec3d(LLA[0], LLA[1], LLA[2]) );
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AttitudeActual *attitudeActualObj = AttitudeActual::GetInstance(objMngr);
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AttitudeActual::DataFields attitudeActual = attitudeActualObj->getData();
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osg::Quat quat(-attitudeActual.q2, -attitudeActual.q3, -attitudeActual.q4,attitudeActual.q1);
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uavAttitudeAndScale->setMatrix(osg::Matrixd::scale(0.05e0,0.05e0,0.05e0) * osg::Matrixd::rotate(quat));
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frame();
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}
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void OsgEarthviewWidget::resizeEvent(QResizeEvent *event)
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@ -26,6 +26,7 @@
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#ifndef OSGEARTHVIEWWIDGET_H_
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#define OSGEARTHVIEWWIDGET_H_
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#include "osgviewerwidget.h"
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#include "osgearthviewgadgetconfiguration.h"
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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@ -80,7 +81,7 @@ using namespace osgEarth::Annotation;
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#include <iostream>
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class OsgEarthviewWidget : public QWidget, public osgViewer::CompositeViewer
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class OsgEarthviewWidget : public QWidget
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{
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Q_OBJECT
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@ -94,22 +95,6 @@ protected: /* Protected methods */
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void paintEvent(QPaintEvent *event);
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void resizeEvent(QResizeEvent *event);
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/* Create a osgQt::GraphicsWindowQt to add to the widget */
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QWidget* createViewWidget( osg::Camera* camera, osg::Node* scene );
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/* Create an osg::Camera which sets up the OSG view */
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osg::Camera* createCamera( int x, int y, int w, int h, const std::string& name, bool windowDecoration );
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/* Get the model to render */
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osg::Node* createAirplane();
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private slots:
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private: /* Private methods */
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private: /* Private variables */
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QTimer _timer;
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EarthManipulator* manip;
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osgEarth::Util::ObjectLocatorNode* uavPos;
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osg::MatrixTransform* uavAttitudeAndScale;
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OsgViewerWidget *viewWidget;
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};
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#endif /* OSGEARTHVIEWWIDGET_H_ */
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247
ground/openpilotgcs/src/plugins/osgearthview/osgviewerwidget.cpp
Normal file
247
ground/openpilotgcs/src/plugins/osgearthview/osgviewerwidget.cpp
Normal file
@ -0,0 +1,247 @@
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/********************************************************************************
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* @file osgviewerwidget.cpp
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* @author The OpenPilot Team Copyright (C) 2012.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup OsgEarthview Plugin Widget
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* @{
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* @brief Osg Earth view of UAV
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "osgviewerwidget.h"
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#include "osgearthviewwidget.h"
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#include <utils/stylehelper.h>
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#include <iostream>
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#include <QDebug>
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#include <QPainter>
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#include <QtOpenGL/QGLWidget>
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#include <cmath>
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#include <QtGui/QApplication>
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#include <QLabel>
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#include <QDebug>
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#include <QtCore/QTimer>
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#include <QtGui/QApplication>
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#include <QtGui/QGridLayout>
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#include <osg/Notify>
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#include <osg/PositionAttitudeTransform>
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#include <osgUtil/Optimizer>
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#include <osgGA/StateSetManipulator>
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#include <osgGA/GUIEventHandler>
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#include <osgViewer/Viewer>
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#include <osgViewer/ViewerEventHandlers>
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#include <osgEarth/MapNode>
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#include <osgEarth/XmlUtils>
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#include <osgEarth/Viewpoint>
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#include <osgEarthSymbology/Color>
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#include <osgEarthAnnotation/AnnotationRegistry>
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#include <osgEarthAnnotation/AnnotationData>
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#include <osgEarthAnnotation/Decluttering>
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#include <osgEarthDrivers/kml/KML>
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#include <osgEarthDrivers/ocean_surface/OceanSurface>
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#include <osgEarthDrivers/cache_filesystem/FileSystemCache>
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#include <osgEarthUtil/EarthManipulator>
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#include <osgEarthUtil/AutoClipPlaneHandler>
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#include <osgEarthUtil/Controls>
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#include <osgEarthUtil/SkyNode>
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#include <osgEarthUtil/LatLongFormatter>
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#include <osgEarthUtil/MouseCoordsTool>
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#include <osgEarthUtil/ObjectLocator>
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using namespace osgEarth::Util;
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using namespace osgEarth::Util::Controls;
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using namespace osgEarth::Symbology;
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using namespace osgEarth::Drivers;
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using namespace osgEarth::Annotation;
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#include <osgViewer/CompositeViewer>
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#include <osgViewer/ViewerEventHandlers>
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#include <osgGA/TrackballManipulator>
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#include <osgDB/ReadFile>
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#include <osgQt/GraphicsWindowQt>
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#include <iostream>
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#include "utils/stylehelper.h"
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#include "utils/homelocationutil.h"
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#include "utils/worldmagmodel.h"
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#include "utils/coordinateconversions.h"
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#include "attitudeactual.h"
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#include "gpsposition.h"
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#include "homelocation.h"
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#include "positionactual.h"
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using namespace Utils;
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OsgViewerWidget::OsgViewerWidget(QWidget *parent) : QWidget(parent)
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{
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osgQt::initQtWindowingSystem();
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osgQt::setViewer(this);
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setThreadingModel(osgViewer::ViewerBase::CullThreadPerCameraDrawThreadPerContext);
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setThreadingModel(osgViewer::ViewerBase::SingleThreaded);
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setAttribute(Qt::WA_PaintOnScreen, true);
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setAttribute(Qt::WA_NoSystemBackground, true);
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osg::Group* root = new osg::Group;
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osg::Node* earth = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/osgearth/tests/boston.earth");
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osgEarth::MapNode * mapNode = osgEarth::MapNode::findMapNode( earth );
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if (!mapNode)
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{
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qDebug() <<"Uhoh";
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}
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root->addChild(earth);
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osg::Node* airplane = createAirplane();
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uavPos = new osgEarth::Util::ObjectLocatorNode(mapNode->getMap());
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uavPos->getLocator()->setPosition( osg::Vec3d(-71.100549, 42.349273, 150) );
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uavPos->addChild(airplane);
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root->addChild(uavPos);
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osgUtil::Optimizer optimizer;
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optimizer.optimize(root);
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QWidget* viewWidget = createViewWidget( createCamera(0,0,200,200,"Earth",false), root);
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//viewWidget->show();
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setLayout(new QVBoxLayout(this));
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viewWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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layout()->addWidget(viewWidget);
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connect( &_timer, SIGNAL(timeout()), this, SLOT(update()) );
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_timer.start( 10 );
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}
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OsgViewerWidget::~OsgViewerWidget()
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{
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}
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QWidget* OsgViewerWidget::createViewWidget( osg::Camera* camera, osg::Node* scene )
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{
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osgViewer::View* view = new osgViewer::View;
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view->setCamera( camera );
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addView( view );
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view->setSceneData( scene );
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view->addEventHandler( new osgViewer::StatsHandler );
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view->getDatabasePager()->setDoPreCompile( true );
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manip = new EarthManipulator();
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view->setCameraManipulator( manip );
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Grid* grid = new Grid();
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grid->setControl(0,0,new LabelControl("OpenPilot"));
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ControlCanvas::get(view, true)->addControl(grid);
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// zoom to a good startup position
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manip->setViewpoint( Viewpoint(-71.100549, 42.349273, 0, 24.261, -21.6, 650.0), 5.0 );
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//manip->setHomeViewpoint(Viewpoint("Boston", osg::Vec3d(-71.0763, 42.34425, 0), 24.261, -21.6, 3450.0));
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osgQt::GraphicsWindowQt* gw = dynamic_cast<osgQt::GraphicsWindowQt*>( camera->getGraphicsContext() );
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return gw ? gw->getGLWidget() : NULL;
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}
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osg::Camera* OsgViewerWidget::createCamera( int x, int y, int w, int h, const std::string& name="", bool windowDecoration=false )
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{
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osg::DisplaySettings* ds = osg::DisplaySettings::instance().get();
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osg::ref_ptr<osg::GraphicsContext::Traits> traits = new osg::GraphicsContext::Traits;
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traits->windowName = name;
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traits->windowDecoration = windowDecoration;
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traits->x = x;
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traits->y = y;
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traits->width = w;
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traits->height = h;
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traits->doubleBuffer = true;
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traits->alpha = ds->getMinimumNumAlphaBits();
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traits->stencil = ds->getMinimumNumStencilBits();
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traits->sampleBuffers = ds->getMultiSamples();
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traits->samples = ds->getNumMultiSamples();
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osg::ref_ptr<osg::Camera> camera = new osg::Camera;
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camera->setGraphicsContext( new osgQt::GraphicsWindowQt(traits.get()) );
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camera->setClearColor( osg::Vec4(0.2, 0.2, 0.6, 1.0) );
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camera->setViewport( new osg::Viewport(0, 0, traits->width, traits->height) );
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camera->setProjectionMatrixAsPerspective(
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30.0f, static_cast<double>(traits->width)/static_cast<double>(traits->height), 1.0f, 10000.0f );
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return camera.release();
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}
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osg::Node* OsgViewerWidget::createAirplane()
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{
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osg::Group* model = new osg::Group;
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osg::Node *cessna = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/OpenPilot/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS");
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if(cessna) {
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uavAttitudeAndScale = new osg::MatrixTransform();
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uavAttitudeAndScale->setMatrix(osg::Matrixd::scale(0.2e0,0.2e0,0.2e0));
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uavAttitudeAndScale->addChild( cessna );
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model->addChild(uavAttitudeAndScale);
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} else
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qDebug() << "Bad model file";
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return model;
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}
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void OsgViewerWidget::paintEvent( QPaintEvent* event )
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
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|
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PositionActual *positionActualObj = PositionActual::GetInstance(objMngr);
|
||||
PositionActual::DataFields positionActual = positionActualObj->getData();
|
||||
double NED[3] = {positionActual.North, positionActual.East, positionActual.Down};
|
||||
|
||||
bool positionActualUpdate = true;
|
||||
if(positionActualUpdate) {
|
||||
HomeLocation *homeLocationObj = HomeLocation::GetInstance(objMngr);
|
||||
HomeLocation::DataFields homeLocation = homeLocationObj->getData();
|
||||
double homeLLA[3] = {homeLocation.Latitude / 10.0e6, homeLocation.Longitude / 10.0e6, homeLocation.Altitude};
|
||||
|
||||
double LLA[3];
|
||||
CoordinateConversions().GetLLA(homeLLA, NED, LLA);
|
||||
uavPos->getLocator()->setPosition( osg::Vec3d(LLA[1], LLA[0], LLA[2]) ); // Note this takes longtitude first
|
||||
} else {
|
||||
GPSPosition *gpsPosObj = GPSPosition::GetInstance(objMngr);
|
||||
GPSPosition::DataFields gpsPos = gpsPosObj->getData();
|
||||
uavPos->getLocator()->setPosition( osg::Vec3d(gpsPos.Longitude / 10.0e6, gpsPos.Latitude / 10.0e6, gpsPos.Altitude));
|
||||
}
|
||||
|
||||
// Set the attitude (reverse the attitude)
|
||||
AttitudeActual *attitudeActualObj = AttitudeActual::GetInstance(objMngr);
|
||||
AttitudeActual::DataFields attitudeActual = attitudeActualObj->getData();
|
||||
osg::Quat quat(-attitudeActual.q2, -attitudeActual.q3, -attitudeActual.q4,attitudeActual.q1);
|
||||
uavAttitudeAndScale->setMatrix(osg::Matrixd::scale(0.05e0,0.05e0,0.05e0) * osg::Matrixd::rotate(quat));
|
||||
|
||||
frame();
|
||||
}
|
||||
115
ground/openpilotgcs/src/plugins/osgearthview/osgviewerwidget.h
Normal file
115
ground/openpilotgcs/src/plugins/osgearthview/osgviewerwidget.h
Normal file
@ -0,0 +1,115 @@
|
||||
/********************************************************************************
|
||||
* @file osgviewerwidget.h
|
||||
* @author The OpenPilot Team Copyright (C) 2012.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup OsgEarthview Plugin
|
||||
* @{
|
||||
* @brief Osg Earth view of UAV
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef OSGVIEWERWIDGET_H
|
||||
#define OSGVIEWERWIDGET_H
|
||||
|
||||
#include <QWidget>
|
||||
|
||||
#include "osgearthviewgadgetconfiguration.h"
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "uavobjectmanager.h"
|
||||
#include "uavobject.h"
|
||||
|
||||
#include <QTimer>
|
||||
|
||||
#include <osg/Notify>
|
||||
#include <osg/PositionAttitudeTransform>
|
||||
|
||||
#include <osgDB/ReadFile>
|
||||
|
||||
#include <osgGA/StateSetManipulator>
|
||||
#include <osgGA/TrackballManipulator>
|
||||
#include <osgGA/GUIEventHandler>
|
||||
|
||||
#include <osgUtil/Optimizer>
|
||||
|
||||
#include <osgViewer/CompositeViewer>
|
||||
#include <osgViewer/Viewer>
|
||||
#include <osgViewer/ViewerEventHandlers>
|
||||
|
||||
#include <osgEarth/MapNode>
|
||||
#include <osgEarth/XmlUtils>
|
||||
#include <osgEarth/Viewpoint>
|
||||
|
||||
#include <osgEarthSymbology/Color>
|
||||
|
||||
#include <osgEarthAnnotation/AnnotationRegistry>
|
||||
#include <osgEarthAnnotation/AnnotationData>
|
||||
#include <osgEarthAnnotation/Decluttering>
|
||||
|
||||
#include <osgEarthDrivers/kml/KML>
|
||||
#include <osgEarthDrivers/ocean_surface/OceanSurface>
|
||||
#include <osgEarthDrivers/cache_filesystem/FileSystemCache>
|
||||
|
||||
#include <osgEarthUtil/EarthManipulator>
|
||||
#include <osgEarthUtil/AutoClipPlaneHandler>
|
||||
#include <osgEarthUtil/Controls>
|
||||
#include <osgEarthUtil/SkyNode>
|
||||
#include <osgEarthUtil/LatLongFormatter>
|
||||
#include <osgEarthUtil/MouseCoordsTool>
|
||||
#include <osgEarthUtil/ObjectLocator>
|
||||
|
||||
using namespace osgEarth::Util;
|
||||
using namespace osgEarth::Util::Controls;
|
||||
using namespace osgEarth::Symbology;
|
||||
using namespace osgEarth::Drivers;
|
||||
using namespace osgEarth::Annotation;
|
||||
|
||||
#include <osgQt/GraphicsWindowQt>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
class OsgViewerWidget : public QWidget, public osgViewer::CompositeViewer
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit OsgViewerWidget(QWidget *parent = 0);
|
||||
~OsgViewerWidget();
|
||||
signals:
|
||||
|
||||
public slots:
|
||||
|
||||
protected:
|
||||
void paintEvent(QPaintEvent *event);
|
||||
|
||||
/* Create a osgQt::GraphicsWindowQt to add to the widget */
|
||||
QWidget* createViewWidget( osg::Camera* camera, osg::Node* scene );
|
||||
|
||||
/* Create an osg::Camera which sets up the OSG view */
|
||||
osg::Camera* createCamera( int x, int y, int w, int h, const std::string& name, bool windowDecoration );
|
||||
|
||||
/* Get the model to render */
|
||||
osg::Node* createAirplane();
|
||||
|
||||
private: /* Private variables */
|
||||
QTimer _timer;
|
||||
EarthManipulator* manip;
|
||||
osgEarth::Util::ObjectLocatorNode* uavPos;
|
||||
osg::MatrixTransform* uavAttitudeAndScale;
|
||||
};
|
||||
|
||||
|
||||
#endif // OSGVIEWERWIDGET_H
|
||||
Loading…
x
Reference in New Issue
Block a user