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Fixed bug in showEvent/hideEvent for Pixhawk3DWidget.

QGC4.4
hengli 13 years ago
parent
562496301c
commit
25b35d8928
5 changed files with 477 additions and 163 deletions
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  1. 6
      qgroundcontrol.pro
  2. 236
      src/ui/map3D/Pixhawk3DWidget.cc
  3. 13
      src/ui/map3D/Pixhawk3DWidget.h
  4. 333
      src/ui/map3D/gpl.cc
  5. 52
      src/ui/map3D/gpl.h

6
qgroundcontrol.pro
Unescape View File

@ -361,7 +361,8 @@ HEADERS += src/MG.h \ @@ -361,7 +361,8 @@ HEADERS += src/MG.h \
src/ui/mavlink/QGCMAVLinkMessageSender.h \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
src/ui/QGCPluginHost.h \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
src/ui/map3D/gpl.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@ -494,7 +495,8 @@ SOURCES += src/main.cc \ @@ -494,7 +495,8 @@ SOURCES += src/main.cc \
src/ui/mavlink/QGCMAVLinkMessageSender.cc \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
src/ui/QGCPluginHost.cc \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
src/ui/map3D/gpl.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

236
src/ui/map3D/Pixhawk3DWidget.cc
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@ -43,6 +43,7 @@ @@ -43,6 +43,7 @@
#include "UASManager.h"
#include "QGC.h"
#include "gpl.h"
#ifdef QGC_PROTOBUF_ENABLED
#include <tr1/memory>
@ -55,7 +56,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent) @@ -55,7 +56,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
, mode(DEFAULT_MODE)
, selectedWpIndex(-1)
, displayGrid(true)
, displayTrail(false)
, displayTrail(true)
, displayImagery(true)
, displayWaypoints(true)
, displayRGBD2D(false)
@ -832,6 +833,20 @@ Pixhawk3DWidget::mousePressEvent(QMouseEvent* event) @@ -832,6 +833,20 @@ Pixhawk3DWidget::mousePressEvent(QMouseEvent* event)
}
void
Pixhawk3DWidget::showEvent(QShowEvent* event)
{
Q3DWidget::showEvent(event);
emit visibilityChanged(true);
}
void
Pixhawk3DWidget::hideEvent(QHideEvent* event)
{
Q3DWidget::hideEvent(event);
emit visibilityChanged(false);
}
void
Pixhawk3DWidget::mouseMoveEvent(QMouseEvent* event)
{
if (mode == SELECT_TARGET_HEADING_MODE)
@ -1242,10 +1257,10 @@ Pixhawk3DWidget::updateTrail(double robotX, double robotY, double robotZ) @@ -1242,10 +1257,10 @@ Pixhawk3DWidget::updateTrail(double robotX, double robotY, double robotZ)
}
}
osg::Geometry* geometry = reinterpret_cast<osg::Geometry*>(trailNode->getDrawable(0));
osg::Vec3dArray* vertices = reinterpret_cast<osg::Vec3dArray*>(geometry->getVertexArray());
osg::Geometry* geometry = trailNode->getDrawable(0)->asGeometry();
osg::DrawArrays* drawArrays = reinterpret_cast<osg::DrawArrays*>(geometry->getPrimitiveSet(0));
vertices->clear();
osg::ref_ptr<osg::Vec3Array> vertices(new osg::Vec3Array);
for (int i = 0; i < trail.size(); ++i)
{
vertices->push_back(osg::Vec3d(trail[i].y() - robotY,
@ -1253,6 +1268,7 @@ Pixhawk3DWidget::updateTrail(double robotX, double robotY, double robotZ) @@ -1253,6 +1268,7 @@ Pixhawk3DWidget::updateTrail(double robotX, double robotY, double robotZ)
-(trail[i].z() - robotZ)));
}
geometry->setVertexArray(vertices);
drawArrays->setFirst(0);
drawArrays->setCount(vertices->size());
geometry->dirtyBound();
@ -1359,137 +1375,6 @@ Pixhawk3DWidget::updateTarget(double robotX, double robotY) @@ -1359,137 +1375,6 @@ Pixhawk3DWidget::updateTarget(double robotX, double robotY)
sd->setColor(osg::Vec4f(1.0f, 0.8f, 0.0f, 1.0f));
}
float colormap_jet[128][3] = {
{0.0f,0.0f,0.53125f},
{0.0f,0.0f,0.5625f},
{0.0f,0.0f,0.59375f},
{0.0f,0.0f,0.625f},
{0.0f,0.0f,0.65625f},
{0.0f,0.0f,0.6875f},
{0.0f,0.0f,0.71875f},
{0.0f,0.0f,0.75f},
{0.0f,0.0f,0.78125f},
{0.0f,0.0f,0.8125f},
{0.0f,0.0f,0.84375f},
{0.0f,0.0f,0.875f},
{0.0f,0.0f,0.90625f},
{0.0f,0.0f,0.9375f},
{0.0f,0.0f,0.96875f},
{0.0f,0.0f,1.0f},
{0.0f,0.03125f,1.0f},
{0.0f,0.0625f,1.0f},
{0.0f,0.09375f,1.0f},
{0.0f,0.125f,1.0f},
{0.0f,0.15625f,1.0f},
{0.0f,0.1875f,1.0f},
{0.0f,0.21875f,1.0f},
{0.0f,0.25f,1.0f},
{0.0f,0.28125f,1.0f},
{0.0f,0.3125f,1.0f},
{0.0f,0.34375f,1.0f},
{0.0f,0.375f,1.0f},
{0.0f,0.40625f,1.0f},
{0.0f,0.4375f,1.0f},
{0.0f,0.46875f,1.0f},
{0.0f,0.5f,1.0f},
{0.0f,0.53125f,1.0f},
{0.0f,0.5625f,1.0f},
{0.0f,0.59375f,1.0f},
{0.0f,0.625f,1.0f},
{0.0f,0.65625f,1.0f},
{0.0f,0.6875f,1.0f},
{0.0f,0.71875f,1.0f},
{0.0f,0.75f,1.0f},
{0.0f,0.78125f,1.0f},
{0.0f,0.8125f,1.0f},
{0.0f,0.84375f,1.0f},
{0.0f,0.875f,1.0f},
{0.0f,0.90625f,1.0f},
{0.0f,0.9375f,1.0f},
{0.0f,0.96875f,1.0f},
{0.0f,1.0f,1.0f},
{0.03125f,1.0f,0.96875f},
{0.0625f,1.0f,0.9375f},
{0.09375f,1.0f,0.90625f},
{0.125f,1.0f,0.875f},
{0.15625f,1.0f,0.84375f},
{0.1875f,1.0f,0.8125f},
{0.21875f,1.0f,0.78125f},
{0.25f,1.0f,0.75f},
{0.28125f,1.0f,0.71875f},
{0.3125f,1.0f,0.6875f},
{0.34375f,1.0f,0.65625f},
{0.375f,1.0f,0.625f},
{0.40625f,1.0f,0.59375f},
{0.4375f,1.0f,0.5625f},
{0.46875f,1.0f,0.53125f},
{0.5f,1.0f,0.5f},
{0.53125f,1.0f,0.46875f},
{0.5625f,1.0f,0.4375f},
{0.59375f,1.0f,0.40625f},
{0.625f,1.0f,0.375f},
{0.65625f,1.0f,0.34375f},
{0.6875f,1.0f,0.3125f},
{0.71875f,1.0f,0.28125f},
{0.75f,1.0f,0.25f},
{0.78125f,1.0f,0.21875f},
{0.8125f,1.0f,0.1875f},
{0.84375f,1.0f,0.15625f},
{0.875f,1.0f,0.125f},
{0.90625f,1.0f,0.09375f},
{0.9375f,1.0f,0.0625f},
{0.96875f,1.0f,0.03125f},
{1.0f,1.0f,0.0f},
{1.0f,0.96875f,0.0f},
{1.0f,0.9375f,0.0f},
{1.0f,0.90625f,0.0f},
{1.0f,0.875f,0.0f},
{1.0f,0.84375f,0.0f},
{1.0f,0.8125f,0.0f},
{1.0f,0.78125f,0.0f},
{1.0f,0.75f,0.0f},
{1.0f,0.71875f,0.0f},
{1.0f,0.6875f,0.0f},
{1.0f,0.65625f,0.0f},
{1.0f,0.625f,0.0f},
{1.0f,0.59375f,0.0f},
{1.0f,0.5625f,0.0f},
{1.0f,0.53125f,0.0f},
{1.0f,0.5f,0.0f},
{1.0f,0.46875f,0.0f},
{1.0f,0.4375f,0.0f},
{1.0f,0.40625f,0.0f},
{1.0f,0.375f,0.0f},
{1.0f,0.34375f,0.0f},
{1.0f,0.3125f,0.0f},
{1.0f,0.28125f,0.0f},
{1.0f,0.25f,0.0f},
{1.0f,0.21875f,0.0f},
{1.0f,0.1875f,0.0f},
{1.0f,0.15625f,0.0f},
{1.0f,0.125f,0.0f},
{1.0f,0.09375f,0.0f},
{1.0f,0.0625f,0.0f},
{1.0f,0.03125f,0.0f},
{1.0f,0.0f,0.0f},
{0.96875f,0.0f,0.0f},
{0.9375f,0.0f,0.0f},
{0.90625f,0.0f,0.0f},
{0.875f,0.0f,0.0f},
{0.84375f,0.0f,0.0f},
{0.8125f,0.0f,0.0f},
{0.78125f,0.0f,0.0f},
{0.75f,0.0f,0.0f},
{0.71875f,0.0f,0.0f},
{0.6875f,0.0f,0.0f},
{0.65625f,0.0f,0.0f},
{0.625f,0.0f,0.0f},
{0.59375f,0.0f,0.0f},
{0.5625f,0.0f,0.0f},
{0.53125f,0.0f,0.0f},
{0.5f,0.0f,0.0f}
};
#ifdef QGC_PROTOBUF_ENABLED
void
Pixhawk3DWidget::updateRGBD(double robotX, double robotY, double robotZ)
@ -1517,9 +1402,11 @@ Pixhawk3DWidget::updateRGBD(double robotX, double robotY, double robotZ) @@ -1517,9 +1402,11 @@ Pixhawk3DWidget::updateRGBD(double robotX, double robotY, double robotZ)
int idx = fminf(depth[c], 7.0f) / 7.0f * 127.0f;
idx = 127 - idx;
pixel[0] = colormap_jet[idx][2] * 255.0f;
pixel[1] = colormap_jet[idx][1] * 255.0f;
pixel[2] = colormap_jet[idx][0] * 255.0f;
float r, g, b;
qgc::colormap("jet", idx, r, g, b);
pixel[0] = r * 255.0f;
pixel[1] = g * 255.0f;
pixel[2] = b * 255.0f;
}
pixel += 3;
@ -1562,10 +1449,11 @@ Pixhawk3DWidget::updateRGBD(double robotX, double robotY, double robotZ) @@ -1562,10 +1449,11 @@ Pixhawk3DWidget::updateRGBD(double robotX, double robotY, double robotZ)
{
double dist = sqrt(x * x + y * y + z * z);
int colorIndex = static_cast<int>(fmin(dist / 7.0 * 127.0, 127.0));
(*colors)[i].set(colormap_jet[colorIndex][0],
colormap_jet[colorIndex][1],
colormap_jet[colorIndex][2],
1.0f);
float r, g, b;
qgc::colormap("jet", colorIndex, r, g, b);
(*colors)[i].set(r, g, b, 1.0f);
}
}
@ -1592,19 +1480,67 @@ Pixhawk3DWidget::updatePath(double robotX, double robotY, double robotZ) @@ -1592,19 +1480,67 @@ Pixhawk3DWidget::updatePath(double robotX, double robotY, double robotZ)
{
px::Path path = uas->getPath();
osg::Geometry* geometry = reinterpret_cast<osg::Geometry*>(pathNode->getDrawable(0));
osg::Vec3dArray* vertices = reinterpret_cast<osg::Vec3dArray*>(geometry->getVertexArray());
osg::Geometry* geometry = pathNode->getDrawable(0)->asGeometry();
osg::DrawArrays* drawArrays = reinterpret_cast<osg::DrawArrays*>(geometry->getPrimitiveSet(0));
vertices->clear();
for (int i = 0; i < path.waypoints_size(); ++i)
osg::Vec4Array* colorArray = reinterpret_cast<osg::Vec4Array*>(geometry->getColorArray());
geometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
osg::ref_ptr<osg::LineWidth> linewidth(new osg::LineWidth());
linewidth->setWidth(2.0f);
geometry->getStateSet()->setAttributeAndModes(linewidth, osg::StateAttribute::ON);
colorArray->clear();
osg::ref_ptr<osg::Vec3Array> vertices(new osg::Vec3Array);
// find path length
float length = 0.0f;
for (int i = 0; i < path.waypoints_size() - 1; ++i)
{
const px::Waypoint& wp0 = path.waypoints(i);
const px::Waypoint& wp1 = path.waypoints(i+1);
length += qgc::hypot3f(wp0.x() - wp1.x(),
wp0.y() - wp1.y(),
wp0.z() - wp1.z());
}
// build path
if (path.waypoints_size() > 0)
{
const px::Waypoint& wp0 = path.waypoints(0);
vertices->push_back(osg::Vec3d(wp0.y() - robotY,
wp0.x() - robotX,
-(wp0.z() - robotZ)));
float r, g, b;
qgc::colormap("autumn", 0, r, g, b);
colorArray->push_back(osg::Vec4d(r, g, b, 1.0f));
}
float lengthCurrent = 0.0f;
for (int i = 0; i < path.waypoints_size() - 1; ++i)
{
const px::Waypoint& wp = path.waypoints(i);
const px::Waypoint& wp0 = path.waypoints(i);
const px::Waypoint& wp1 = path.waypoints(i+1);
vertices->push_back(osg::Vec3d(wp.y() - robotY,
wp.x() - robotX,
-(wp.z() - robotZ)));
lengthCurrent += qgc::hypot3f(wp0.x() - wp1.x(),
wp0.y() - wp1.y(),
wp0.z() - wp1.z());
vertices->push_back(osg::Vec3d(wp1.y() - robotY,
wp1.x() - robotX,
-(wp1.z() - robotZ)));
int colorIdx = lengthCurrent / length * 127.0f;
float r, g, b;
qgc::colormap("autumn", colorIdx, r, g, b);
colorArray->push_back(osg::Vec4f(r, g, b, 1.0f));
}
geometry->setVertexArray(vertices);
drawArrays->setFirst(0);
drawArrays->setCount(vertices->size());
geometry->dirtyBound();

13
src/ui/map3D/Pixhawk3DWidget.h
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@ -87,17 +87,8 @@ protected: @@ -87,17 +87,8 @@ protected:
virtual void display(void);
virtual void keyPressEvent(QKeyEvent* event);
virtual void mousePressEvent(QMouseEvent* event);
void showEvent(QShowEvent* event)
{
QWidget::showEvent(event);
emit visibilityChanged(true);
}
void hideEvent(QHideEvent* event)
{
QWidget::hideEvent(event);
emit visibilityChanged(false);
}
virtual void showEvent(QShowEvent* event);
virtual void hideEvent(QHideEvent* event);
virtual void mouseMoveEvent(QMouseEvent* event);
UASInterface* uas;

333
src/ui/map3D/gpl.cc
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@ -0,0 +1,333 @@ @@ -0,0 +1,333 @@
#include "gpl.h"
namespace qgc
{
double hypot3(double x, double y, double z)
{
return sqrt(square(x) + square(y) + square(z));
}
float hypot3f(float x, float y, float z)
{
return sqrtf(square(x) + square(y) + square(z));
}
double d2r(double deg)
{
return deg / 180.0 * M_PI;
}
float d2r(float deg)
{
return deg / 180.0f * M_PI;
}
double r2d(double rad)
{
return rad / M_PI * 180.0;
}
float r2d(float rad)
{
return rad / M_PI * 180.0f;
}
float colormapAutumn[128][3] =
{
{1.0f,0.f,0.f},
{1.0f,0.007874f,0.f},
{1.0f,0.015748f,0.f},
{1.0f,0.023622f,0.f},
{1.0f,0.031496f,0.f},
{1.0f,0.03937f,0.f},
{1.0f,0.047244f,0.f},
{1.0f,0.055118f,0.f},
{1.0f,0.062992f,0.f},
{1.0f,0.070866f,0.f},
{1.0f,0.07874f,0.f},
{1.0f,0.086614f,0.f},
{1.0f,0.094488f,0.f},
{1.0f,0.10236f,0.f},
{1.0f,0.11024f,0.f},
{1.0f,0.11811f,0.f},
{1.0f,0.12598f,0.f},
{1.0f,0.13386f,0.f},
{1.0f,0.14173f,0.f},
{1.0f,0.14961f,0.f},
{1.0f,0.15748f,0.f},
{1.0f,0.16535f,0.f},
{1.0f,0.17323f,0.f},
{1.0f,0.1811f,0.f},
{1.0f,0.18898f,0.f},
{1.0f,0.19685f,0.f},
{1.0f,0.20472f,0.f},
{1.0f,0.2126f,0.f},
{1.0f,0.22047f,0.f},
{1.0f,0.22835f,0.f},
{1.0f,0.23622f,0.f},
{1.0f,0.24409f,0.f},
{1.0f,0.25197f,0.f},
{1.0f,0.25984f,0.f},
{1.0f,0.26772f,0.f},
{1.0f,0.27559f,0.f},
{1.0f,0.28346f,0.f},
{1.0f,0.29134f,0.f},
{1.0f,0.29921f,0.f},
{1.0f,0.30709f,0.f},
{1.0f,0.31496f,0.f},
{1.0f,0.32283f,0.f},
{1.0f,0.33071f,0.f},
{1.0f,0.33858f,0.f},
{1.0f,0.34646f,0.f},
{1.0f,0.35433f,0.f},
{1.0f,0.3622f,0.f},
{1.0f,0.37008f,0.f},
{1.0f,0.37795f,0.f},
{1.0f,0.38583f,0.f},
{1.0f,0.3937f,0.f},
{1.0f,0.40157f,0.f},
{1.0f,0.40945f,0.f},
{1.0f,0.41732f,0.f},
{1.0f,0.4252f,0.f},
{1.0f,0.43307f,0.f},
{1.0f,0.44094f,0.f},
{1.0f,0.44882f,0.f},
{1.0f,0.45669f,0.f},
{1.0f,0.46457f,0.f},
{1.0f,0.47244f,0.f},
{1.0f,0.48031f,0.f},
{1.0f,0.48819f,0.f},
{1.0f,0.49606f,0.f},
{1.0f,0.50394f,0.f},
{1.0f,0.51181f,0.f},
{1.0f,0.51969f,0.f},
{1.0f,0.52756f,0.f},
{1.0f,0.53543f,0.f},
{1.0f,0.54331f,0.f},
{1.0f,0.55118f,0.f},
{1.0f,0.55906f,0.f},
{1.0f,0.56693f,0.f},
{1.0f,0.5748f,0.f},
{1.0f,0.58268f,0.f},
{1.0f,0.59055f,0.f},
{1.0f,0.59843f,0.f},
{1.0f,0.6063f,0.f},
{1.0f,0.61417f,0.f},
{1.0f,0.62205f,0.f},
{1.0f,0.62992f,0.f},
{1.0f,0.6378f,0.f},
{1.0f,0.64567f,0.f},
{1.0f,0.65354f,0.f},
{1.0f,0.66142f,0.f},
{1.0f,0.66929f,0.f},
{1.0f,0.67717f,0.f},
{1.0f,0.68504f,0.f},
{1.0f,0.69291f,0.f},
{1.0f,0.70079f,0.f},
{1.0f,0.70866f,0.f},
{1.0f,0.71654f,0.f},
{1.0f,0.72441f,0.f},
{1.0f,0.73228f,0.f},
{1.0f,0.74016f,0.f},
{1.0f,0.74803f,0.f},
{1.0f,0.75591f,0.f},
{1.0f,0.76378f,0.f},
{1.0f,0.77165f,0.f},
{1.0f,0.77953f,0.f},
{1.0f,0.7874f,0.f},
{1.0f,0.79528f,0.f},
{1.0f,0.80315f,0.f},
{1.0f,0.81102f,0.f},
{1.0f,0.8189f,0.f},
{1.0f,0.82677f,0.f},
{1.0f,0.83465f,0.f},
{1.0f,0.84252f,0.f},
{1.0f,0.85039f,0.f},
{1.0f,0.85827f,0.f},
{1.0f,0.86614f,0.f},
{1.0f,0.87402f,0.f},
{1.0f,0.88189f,0.f},
{1.0f,0.88976f,0.f},
{1.0f,0.89764f,0.f},
{1.0f,0.90551f,0.f},
{1.0f,0.91339f,0.f},
{1.0f,0.92126f,0.f},
{1.0f,0.92913f,0.f},
{1.0f,0.93701f,0.f},
{1.0f,0.94488f,0.f},
{1.0f,0.95276f,0.f},
{1.0f,0.96063f,0.f},
{1.0f,0.9685f,0.f},
{1.0f,0.97638f,0.f},
{1.0f,0.98425f,0.f},
{1.0f,0.99213f,0.f},
{1.0f,1.0f,0.0f}
};
float colormapJet[128][3] =
{
{0.0f,0.0f,0.53125f},
{0.0f,0.0f,0.5625f},
{0.0f,0.0f,0.59375f},
{0.0f,0.0f,0.625f},
{0.0f,0.0f,0.65625f},
{0.0f,0.0f,0.6875f},
{0.0f,0.0f,0.71875f},
{0.0f,0.0f,0.75f},
{0.0f,0.0f,0.78125f},
{0.0f,0.0f,0.8125f},
{0.0f,0.0f,0.84375f},
{0.0f,0.0f,0.875f},
{0.0f,0.0f,0.90625f},
{0.0f,0.0f,0.9375f},
{0.0f,0.0f,0.96875f},
{0.0f,0.0f,1.0f},
{0.0f,0.03125f,1.0f},
{0.0f,0.0625f,1.0f},
{0.0f,0.09375f,1.0f},
{0.0f,0.125f,1.0f},
{0.0f,0.15625f,1.0f},
{0.0f,0.1875f,1.0f},
{0.0f,0.21875f,1.0f},
{0.0f,0.25f,1.0f},
{0.0f,0.28125f,1.0f},
{0.0f,0.3125f,1.0f},
{0.0f,0.34375f,1.0f},
{0.0f,0.375f,1.0f},
{0.0f,0.40625f,1.0f},
{0.0f,0.4375f,1.0f},
{0.0f,0.46875f,1.0f},
{0.0f,0.5f,1.0f},
{0.0f,0.53125f,1.0f},
{0.0f,0.5625f,1.0f},
{0.0f,0.59375f,1.0f},
{0.0f,0.625f,1.0f},
{0.0f,0.65625f,1.0f},
{0.0f,0.6875f,1.0f},
{0.0f,0.71875f,1.0f},
{0.0f,0.75f,1.0f},
{0.0f,0.78125f,1.0f},
{0.0f,0.8125f,1.0f},
{0.0f,0.84375f,1.0f},
{0.0f,0.875f,1.0f},
{0.0f,0.90625f,1.0f},
{0.0f,0.9375f,1.0f},
{0.0f,0.96875f,1.0f},
{0.0f,1.0f,1.0f},
{0.03125f,1.0f,0.96875f},
{0.0625f,1.0f,0.9375f},
{0.09375f,1.0f,0.90625f},
{0.125f,1.0f,0.875f},
{0.15625f,1.0f,0.84375f},
{0.1875f,1.0f,0.8125f},
{0.21875f,1.0f,0.78125f},
{0.25f,1.0f,0.75f},
{0.28125f,1.0f,0.71875f},
{0.3125f,1.0f,0.6875f},
{0.34375f,1.0f,0.65625f},
{0.375f,1.0f,0.625f},
{0.40625f,1.0f,0.59375f},
{0.4375f,1.0f,0.5625f},
{0.46875f,1.0f,0.53125f},
{0.5f,1.0f,0.5f},
{0.53125f,1.0f,0.46875f},
{0.5625f,1.0f,0.4375f},
{0.59375f,1.0f,0.40625f},
{0.625f,1.0f,0.375f},
{0.65625f,1.0f,0.34375f},
{0.6875f,1.0f,0.3125f},
{0.71875f,1.0f,0.28125f},
{0.75f,1.0f,0.25f},
{0.78125f,1.0f,0.21875f},
{0.8125f,1.0f,0.1875f},
{0.84375f,1.0f,0.15625f},
{0.875f,1.0f,0.125f},
{0.90625f,1.0f,0.09375f},
{0.9375f,1.0f,0.0625f},
{0.96875f,1.0f,0.03125f},
{1.0f,1.0f,0.0f},
{1.0f,0.96875f,0.0f},
{1.0f,0.9375f,0.0f},
{1.0f,0.90625f,0.0f},
{1.0f,0.875f,0.0f},
{1.0f,0.84375f,0.0f},
{1.0f,0.8125f,0.0f},
{1.0f,0.78125f,0.0f},
{1.0f,0.75f,0.0f},
{1.0f,0.71875f,0.0f},
{1.0f,0.6875f,0.0f},
{1.0f,0.65625f,0.0f},
{1.0f,0.625f,0.0f},
{1.0f,0.59375f,0.0f},
{1.0f,0.5625f,0.0f},
{1.0f,0.53125f,0.0f},
{1.0f,0.5f,0.0f},
{1.0f,0.46875f,0.0f},
{1.0f,0.4375f,0.0f},
{1.0f,0.40625f,0.0f},
{1.0f,0.375f,0.0f},
{1.0f,0.34375f,0.0f},
{1.0f,0.3125f,0.0f},
{1.0f,0.28125f,0.0f},
{1.0f,0.25f,0.0f},
{1.0f,0.21875f,0.0f},
{1.0f,0.1875f,0.0f},
{1.0f,0.15625f,0.0f},
{1.0f,0.125f,0.0f},
{1.0f,0.09375f,0.0f},
{1.0f,0.0625f,0.0f},
{1.0f,0.03125f,0.0f},
{1.0f,0.0f,0.0f},
{0.96875f,0.0f,0.0f},
{0.9375f,0.0f,0.0f},
{0.90625f,0.0f,0.0f},
{0.875f,0.0f,0.0f},
{0.84375f,0.0f,0.0f},
{0.8125f,0.0f,0.0f},
{0.78125f,0.0f,0.0f},
{0.75f,0.0f,0.0f},
{0.71875f,0.0f,0.0f},
{0.6875f,0.0f,0.0f},
{0.65625f,0.0f,0.0f},
{0.625f,0.0f,0.0f},
{0.59375f,0.0f,0.0f},
{0.5625f,0.0f,0.0f},
{0.53125f,0.0f,0.0f},
{0.5f,0.0f,0.0f}
};
bool colormap(const QString& name, unsigned char idx,
float& r, float& g, float& b)
{
if (idx > 127)
{
return false;
}
if (name.compare("jet") == 0)
{
float* color = colormapJet[idx];
r = color[0];
g = color[1];
b = color[2];
return true;
}
else if (name.compare("autumn") == 0)
{
float* color = colormapAutumn[idx];
r = color[0];
g = color[1];
b = color[2];
return true;
}
return false;
}
}

52
src/ui/map3D/gpl.h
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#ifndef GPL_H
#define GPL_H
#include <cmath>
#include <QString>
namespace qgc
{
template<class T>
const T clamp(const T& v, const T& a, const T& b)
{
return qMin(b, qMax(a, v));
}
double hypot3(double x, double y, double z);
float hypot3f(float x, float y, float z);
template<class T>
const T normalizeTheta(const T& theta)
{
T normTheta = theta;
while (normTheta < - M_PI)
{
normTheta += 2.0 * M_PI;
}
while (normTheta > M_PI)
{
normTheta -= 2.0 * M_PI;
}
return normTheta;
}
double d2r(double deg);
float d2r(float deg);
double r2d(double rad);
float r2d(float rad);
template<class T>
const T square(const T& x)
{
return x * x;
}
bool colormap(const QString& name, unsigned char idx,
float& r, float& g, float& b);
}
#endif
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