Added 3D view

qgroundcontrol.pro

@@ -43,9 +43,7 @@ DEPENDPATH += . \
 INCLUDEPATH += . \
     lib/QMapControl \
     $$BASEDIR/../mavlink/contrib/slugs/include \
-    $$BASEDIR/../mavlink/include \
-    /usr/include/freetype2
-LIBS += /usr/lib/libftgl.so
+    $$BASEDIR/../mavlink/include
 
 # ../mavlink/include \
 # MAVLink/include \

src/ui/map3D/CheetahGL.cc

@@ -1,14 +1,13 @@
-/*
-This file was produced by Deep Exploration Plugin: CPP Export filter. 
 
-Copyright (C) 1999-2008 Right Hemisphere
-Mail support@righthemisphere.com for support.
-Visit http://www.righthemisphere.com/dexp.htm for updates.
-*/
 #include "CheetahGL.h"
 
+#if (defined __APPLE__) & (defined __MACH__)
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#else
 #include <GL/gl.h>
 #include <GL/glu.h>
+#endif
 
 
 struct sample_MATERIAL

src/ui/map3D/CheetahGL.h

@@ -1,7 +1,11 @@
 #ifndef CHEETAHGL_H_
 #define CHEETAHGL_H_
 
+#if (defined __APPLE__) & (defined __MACH__)
+#include <OpenGL/gl.h>
+#else
 #include <GL/gl.h>
+#endif
 
 GLint generatePixhawkCheetah(float red, float green, float blue);
 

src/ui/map3D/CheetahModel.h

@@ -1,7 +1,11 @@
 #ifndef CHEETAHMODEL_H_
 #define CHEETAHMODEL_H_
 
+#if (defined __APPLE__) & (defined __MACH__)
+#include <OpenGL/gl.h>
+#else
 #include <GL/gl.h>
+#endif
 
 class CheetahModel
 {

src/ui/map3D/Q3DWidget.cc

@@ -1,8 +1,9 @@
 #include "Q3DWidget.h"
 
 #include <cmath>
-#include <GL/gl.h>
-#include <GL/glu.h>
+
+//#include <GL/gl.h>
+//#include <GL/glu.h>
 
 static const float KEY_ROTATE_AMOUNT = 5.0f;
 static const float KEY_MOVE_AMOUNT   = 10.0f;

src/ui/map3D/Q3DWidget.h

@@ -1,7 +1,6 @@
 #ifndef Q3DWIDGET_H_
 #define Q3DWIDGET_H_
 
-#include <boost/scoped_ptr.hpp>
 #include <inttypes.h>
 #include <string>
 #include <QtOpenGL>

src/ui/map3D/QMap3DWidget.cc

@@ -1,6 +1,6 @@
 #include "QMap3DWidget.h"
 
-#include <FTGL/ftgl.h>
+//#include <FTGL/ftgl.h>
 #include <QCheckBox>
 #include <sys/time.h>
 
@@ -26,7 +26,7 @@ QMap3DWidget::QMap3DWidget(QWidget* parent)
 
     buildLayout();
 
-    font.reset(new FTTextureFont("images/Vera.ttf"));
+    //font.reset(new FTTextureFont("images/Vera.ttf"));
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
             this, SLOT(setActiveUAS(UASInterface*)));
@@ -55,6 +55,9 @@ QMap3DWidget::buildLayout(void)
     lockCameraCheckBox->setText("Lock Camera");
     lockCameraCheckBox->setChecked(lockCamera);
 
+    positionLabel = new QLabel(this);
+    positionLabel->setText(tr("Waiting for first position update.. "));
+
     QGridLayout* layout = new QGridLayout(this);
     layout->setMargin(0);
     layout->setSpacing(2);
@@ -63,6 +66,7 @@ QMap3DWidget::buildLayout(void)
     layout->addWidget(trailCheckBox, 1, 1);
     layout->addWidget(recenterButton, 1, 2);
     layout->addWidget(lockCameraCheckBox, 1, 3);
+    layout->addWidget(positionLabel, 1, 4);
     layout->setRowStretch(0, 100);
     layout->setRowStretch(1, 1);
     layout->setColumnStretch(0, 1);
@@ -143,26 +147,29 @@ QMap3DWidget::displayHandler(void)
     glVertex2f(getWindowWidth(), 0.0f);
     glEnd();
 
-    char buffer[6][255];
-
-    sprintf(buffer[0], "x = %.2f", robotX);
-    sprintf(buffer[1], "y = %.2f", robotY);
-    sprintf(buffer[2], "z = %.2f", robotZ);
-    sprintf(buffer[3], "r = %.2f", robotRoll);
-    sprintf(buffer[4], "p = %.2f", robotPitch);
-    sprintf(buffer[5], "y = %.2f", robotYaw);
-
-    font->FaceSize(10);
-    glColor3f(1.0f, 1.0f, 1.0f);
-    glPushMatrix();
 
-    glTranslatef(0.0f, 30.0f, 0.0f);
-    for (int32_t i = 0; i < 6; ++i)
-    {
-        glTranslatef(60.0f, 0.0f, 0.0f);
-        font->Render(buffer[i]);
-    }
-    glPopMatrix();
+//    char buffer[6][255];
+//
+//    sprintf(buffer[0], "x = %.2f", robotX);
+//    sprintf(buffer[1], "y = %.2f", robotY);
+//    sprintf(buffer[2], "z = %.2f", robotZ);
+//    sprintf(buffer[3], "r = %.2f", robotRoll);
+//    sprintf(buffer[4], "p = %.2f", robotPitch);
+//    sprintf(buffer[5], "y = %.2f", robotYaw);
+
+    positionLabel->setText(QString("x = %1 y = %2 z = %3 r = %4 p = %5 y = %6").arg(robotX).arg(robotY).arg(robotZ).arg(robotRoll).arg(robotPitch).arg(robotYaw));
+
+//    font->FaceSize(10);
+//    glColor3f(1.0f, 1.0f, 1.0f);
+//    glPushMatrix();
+//
+//    glTranslatef(0.0f, 30.0f, 0.0f);
+//    for (int32_t i = 0; i < 6; ++i)
+//    {
+//        glTranslatef(60.0f, 0.0f, 0.0f);
+//        font->Render(buffer[i]);
+//    }
+//    glPopMatrix();
 }
 
 /**

src/ui/map3D/QMap3DWidget.h

@@ -1,10 +1,11 @@
 #ifndef QMAP3DWIDGET_H
 #define QMAP3DWIDGET_H
 
+#include <QLabel>
+
 #include "Q3DWidget.h"
 
 class CheetahModel;
-class FTTextureFont;
 class UASInterface;
 
 class QMap3DWidget : public Q3DWidget
@@ -36,6 +37,7 @@ private slots:
 
 protected:
     UASInterface* uas;
+    QLabel* positionLabel;
 
 private:
     void drawPlatform(float roll, float pitch, float yaw);
@@ -57,7 +59,6 @@ private:
     QVarLengthArray<Pose3D, 10000> trail;
 
     QScopedPointer<CheetahModel> cheetahModel;
-    QScopedPointer<FTTextureFont> font;
 };
 
 #endif // QMAP3DWIDGET_H