Added vehicle model selection to 3D view perspective.

qgroundcontrol.pri

@@ -86,7 +86,8 @@ macx {
     DEPENDENCIES_PRESENT += osgearth
     # Include osgEarth libraries
     LIBS += -losgViewer \
-            -losgEarth
+            -losgEarth \
+            -losgEarthUtil
     DEFINES += QGC_OSGEARTH_ENABLED
     }
 
@@ -155,7 +156,8 @@ linux-g++ {
     DEPENDENCIES_PRESENT += osgearth
     # Include osgEarth libraries
     LIBS += -losgViewer \
-            -losgEarth
+            -losgEarth \
+            -losgEarthUtil
     DEFINES += QGC_OSGEARTH_ENABLED
     }
 
@@ -227,7 +229,8 @@ linux-g++-64 {
     DEPENDENCIES_PRESENT += osgearth
     # Include osgEarth libraries
     LIBS += -losgViewer \
-            -losgEarth
+            -losgEarth \
+            -losgEarthUtil
     DEFINES += QGC_OSGEARTH_ENABLED
     }
 

src/input/Freenect.cc

@@ -1,5 +1,6 @@
 #include "Freenect.h"
 
+#include <cmath>
 #include <string.h>
 #include <QDebug>
 
@@ -8,7 +9,12 @@ Freenect::Freenect()
     , device(NULL)
     , tiltAngle(0)
 {
-
+    for (int i = 0; i < 2048; ++i)
+    {
+        float v = static_cast<float>(i) / 2048.0f;
+        v = powf(v, 3.0f) * 6.0f;
+        gammaTable[i] = static_cast<unsigned short>(v * 6.0f * 256.0f);
+    }
 }
 
 Freenect::~Freenect()
@@ -102,14 +108,33 @@ QSharedPointer<QByteArray>
 Freenect::getRgbData(void)
 {
     QMutexLocker locker(&rgbMutex);
-    return QSharedPointer<QByteArray>(new QByteArray(rgb, FREENECT_RGB_SIZE));
+    return QSharedPointer<QByteArray>(
+            new QByteArray(rgb, FREENECT_RGB_SIZE));
 }
 
 QSharedPointer<QByteArray>
-Freenect::getDepthData(void)
+Freenect::getRawDepthData(void)
 {
     QMutexLocker locker(&depthMutex);
-    return QSharedPointer<QByteArray>(new QByteArray(depth, FREENECT_DEPTH_SIZE));
+    return QSharedPointer<QByteArray>(
+            new QByteArray(depth, FREENECT_DEPTH_SIZE));
+}
+
+QSharedPointer<QByteArray>
+Freenect::getDistanceData(void)
+{
+    QMutexLocker locker(&distanceMutex);
+    return QSharedPointer<QByteArray>(
+            new QByteArray(reinterpret_cast<char *>(distance),
+                           FREENECT_FRAME_PIX * sizeof(float)));
+}
+
+QSharedPointer<QByteArray>
+Freenect::getColoredDepthData(void)
+{
+    QMutexLocker locker(&coloredDepthMutex);
+    return QSharedPointer<QByteArray>(
+            new QByteArray(coloredDepth, FREENECT_RGB_SIZE));
 }
 
 int
@@ -165,6 +190,60 @@ Freenect::depthCallback(freenect_device* device, void* depth,
     Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
     freenect_depth* data = reinterpret_cast<freenect_depth *>(depth);
 
-    QMutexLocker locker(&freenect->depthMutex);
+    QMutexLocker depthLocker(&freenect->depthMutex);
     memcpy(freenect->depth, data, FREENECT_DEPTH_SIZE);
+
+    QMutexLocker distanceLocker(&freenect->distanceMutex);
+    for (int i = 0; i < FREENECT_FRAME_PIX; ++i)
+    {
+        freenect->distance[i] =
+                100.f / (-0.00307f * static_cast<float>(data[i]) + 3.33f);
+    }
+
+    QMutexLocker coloredDepthLocker(&freenect->coloredDepthMutex);
+    unsigned short* src = reinterpret_cast<unsigned short *>(data);
+    unsigned char* dst = reinterpret_cast<unsigned char *>(freenect->coloredDepth);
+    for (int i = 0; i < FREENECT_FRAME_PIX; ++i)
+    {
+        unsigned short pval = freenect->gammaTable[src[i]];
+        unsigned short lb = pval & 0xFF;
+        switch (pval >> 8)
+        {
+        case 0:
+            dst[3 * i] = 255;
+            dst[3 * i + 1] = 255 - lb;
+            dst[3 * i + 2] = 255 - lb;
+            break;
+        case 1:
+            dst[3 * i] = 255;
+            dst[3 * i + 1] = lb;
+            dst[3 * i + 2] = 0;
+            break;
+        case 2:
+            dst[3 * i] = 255 - lb;
+            dst[3 * i + 1] = 255;
+            dst[3 * i + 2] = 0;
+            break;
+        case 3:
+            dst[3 * i] = 0;
+            dst[3 * i + 1] = 255;
+            dst[3 * i + 2] = lb;
+            break;
+        case 4:
+            dst[3 * i] = 0;
+            dst[3 * i + 1] = 255 - lb;
+            dst[3 * i + 2] = 255;
+            break;
+        case 5:
+            dst[3 * i] = 0;
+            dst[3 * i + 1] = 0;
+            dst[3 * i + 2] = 255 - lb;
+            break;
+        default:
+            dst[3 * i] = 0;
+            dst[3 * i + 1] = 0;
+            dst[3 * i + 2] = 0;
+            break;
+        }
+    }
 }

src/input/Freenect.h

@@ -17,7 +17,9 @@ public:
     bool process(void);
 
     QSharedPointer<QByteArray> getRgbData(void);
-    QSharedPointer<QByteArray> getDepthData(void);
+    QSharedPointer<QByteArray> getRawDepthData(void);
+    QSharedPointer<QByteArray> getDistanceData(void);
+    QSharedPointer<QByteArray> getColoredDepthData(void);
 
     int getTiltAngle(void) const;
     void setTiltAngle(int angle);
@@ -53,9 +55,18 @@ private:
     char depth[FREENECT_DEPTH_SIZE];
     QMutex depthMutex;
 
+    float distance[FREENECT_FRAME_PIX];
+    QMutex distanceMutex;
+
+    char coloredDepth[FREENECT_RGB_SIZE];
+    QMutex coloredDepthMutex;
+
     // accelerometer data
     short ax, ay, az;
     double dx, dy, dz;
+
+    // gamma map
+    unsigned short gammaTable[2048];
 };
 
 #endif // FREENECT_H

src/ui/MainWindow.cc

@@ -47,7 +47,7 @@ This file is part of the QGROUNDCONTROL project
 #include "GAudioOutput.h"
 
 #ifdef QGC_OSG_ENABLED
-#include "QMap3D.h"
+#include "Q3DWidgetFactory.h"
 #endif
 
 // FIXME Move
@@ -136,8 +136,8 @@ void MainWindow::buildWidgets()
     protocolWidget    = new XMLCommProtocolWidget(this);
     dataplotWidget    = new QGCDataPlot2D(this);
     #ifdef QGC_OSG_ENABLED
-    //_3DWidget         = Q3DWidgetFactory::get(QGC_MAP3D_OSGEARTH);
-    _3DWidget = new QMap3D(this);
+    _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
+    //_3DWidget = Q3DWidgetFactory::get("MAP3D");
     #endif
 
     // Dock widgets
@@ -672,7 +672,7 @@ void MainWindow::loadPixhawkView()
     clearView();
     // Engineer view, used in EMAV2009
 
-        #ifdef QGC_OSG_ENABLED
+#ifdef QGC_OSG_ENABLED
     // 3D map
     if (_3DWidget)
     {

src/ui/MainWindow.h

@@ -167,7 +167,7 @@ protected:
     QPointer<XMLCommProtocolWidget> protocolWidget;
     QPointer<QGCDataPlot2D> dataplotWidget;
     #ifdef QGC_OSG_ENABLED
-    QPointer<QMap3D> _3DWidget;
+    QPointer<QWidget> _3DWidget;
     #endif
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;

src/ui/map3D/Pixhawk3DWidget.cc

@@ -61,7 +61,8 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
     init(15.0f);
 
     // generate Pixhawk Cheetah model
-    egocentricMap->addChild(PixhawkCheetahGeode::instance());
+    vehicleModel = PixhawkCheetahGeode::instance();
+    egocentricMap->addChild(vehicleModel);
 
     // generate grid model
     gridNode = createGrid();
@@ -85,16 +86,19 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
     rollingMap->addChild(waypointsNode);
 
 #ifdef QGC_LIBFREENECT_ENABLED
-    // generate RGBD model
     freenect.reset(new Freenect());
     freenect->init();
-
-    rgbdNode = createRGBD();
-    egocentricMap->addChild(rgbdNode);
 #endif
 
+    // generate RGBD model
+    rgbd3DNode = createRGBD3D();
+    egocentricMap->addChild(rgbd3DNode);
+
     setupHUD();
 
+    // find available vehicle models in models folder
+    vehicleModels = findVehicleModels();
+
     buildLayout();
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
@@ -106,59 +110,6 @@ Pixhawk3DWidget::~Pixhawk3DWidget()
 
 }
 
-void
-Pixhawk3DWidget::buildLayout(void)
-{
-    QCheckBox* gridCheckBox = new QCheckBox(this);
-    gridCheckBox->setText("Grid");
-    gridCheckBox->setChecked(displayGrid);
-
-    QCheckBox* trailCheckBox = new QCheckBox(this);
-    trailCheckBox->setText("Trail");
-    trailCheckBox->setChecked(displayTrail);
-
-    QCheckBox* waypointsCheckBox = new QCheckBox(this);
-    waypointsCheckBox->setText("Waypoints");
-    waypointsCheckBox->setChecked(displayWaypoints);
-
-    targetButton = new QPushButton(this);
-    targetButton->setCheckable(true);
-    targetButton->setChecked(false);
-    targetButton->setIcon(QIcon(QString::fromUtf8(":/images/status/weather-clear.svg")));
-
-    QPushButton* recenterButton = new QPushButton(this);
-    recenterButton->setText("Recenter Camera");
-
-    QCheckBox* followCameraCheckBox = new QCheckBox(this);
-    followCameraCheckBox->setText("Follow Camera");
-    followCameraCheckBox->setChecked(followCamera);
-
-    QGridLayout* layout = new QGridLayout(this);
-    layout->setMargin(0);
-    layout->setSpacing(2);
-    layout->addWidget(gridCheckBox, 1, 0);
-    layout->addWidget(trailCheckBox, 1, 1);
-    layout->addWidget(waypointsCheckBox, 1, 2);
-    layout->addItem(new QSpacerItem(20, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 3);
-    layout->addWidget(targetButton, 1, 4);
-    layout->addItem(new QSpacerItem(20, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 5);
-    layout->addWidget(recenterButton, 1, 6);
-    layout->addWidget(followCameraCheckBox, 1, 7);
-    layout->setRowStretch(0, 100);
-    layout->setRowStretch(1, 1);
-    setLayout(layout);
-
-    connect(gridCheckBox, SIGNAL(stateChanged(int)),
-            this, SLOT(showGrid(int)));
-    connect(trailCheckBox, SIGNAL(stateChanged(int)),
-            this, SLOT(showTrail(int)));
-    connect(waypointsCheckBox, SIGNAL(stateChanged(int)),
-            this, SLOT(showWaypoints(int)));
-    connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter()));
-    connect(followCameraCheckBox, SIGNAL(stateChanged(int)),
-            this, SLOT(toggleFollowCamera(int)));
-}
-
 /**
  *
  * @param uas the UAS/MAV to monitor/display with the HUD
@@ -219,6 +170,12 @@ Pixhawk3DWidget::showWaypoints(int state)
 }
 
 void
+Pixhawk3DWidget::selectVehicleModel(int index)
+{
+    vehicleModel = vehicleModels.at(index);
+}
+
+void
 Pixhawk3DWidget::recenter(void)
 {
     float robotX = 0.0f, robotY = 0.0f, robotZ = 0.0f;
@@ -245,6 +202,92 @@ Pixhawk3DWidget::toggleFollowCamera(int32_t state)
     }
 }
 
+QVector< osg::ref_ptr<osg::Node> >
+Pixhawk3DWidget::findVehicleModels(void)
+{
+    QDir directory("models");
+    QStringList files = directory.entryList(QStringList("*.osg"));
+
+    QVector< osg::ref_ptr<osg::Node> > nodes;
+
+    // add Pixhawk Bravo model
+    vehicleModels.push_back(PixhawkCheetahGeode::instance());
+
+    for (int i = 0; i < files.size(); ++i)
+    {
+        osg::ref_ptr<osg::Node> node =
+                osgDB::readNodeFile(directory.absoluteFilePath(files[i]).toStdString().c_str());
+
+        vehicleModels.push_back(node);
+    }
+
+    return nodes;
+}
+
+void
+Pixhawk3DWidget::buildLayout(void)
+{
+    QCheckBox* gridCheckBox = new QCheckBox(this);
+    gridCheckBox->setText("Grid");
+    gridCheckBox->setChecked(displayGrid);
+
+    QCheckBox* trailCheckBox = new QCheckBox(this);
+    trailCheckBox->setText("Trail");
+    trailCheckBox->setChecked(displayTrail);
+
+    QCheckBox* waypointsCheckBox = new QCheckBox(this);
+    waypointsCheckBox->setText("Waypoints");
+    waypointsCheckBox->setChecked(displayWaypoints);
+
+    QLabel* modelLabel = new QLabel("Vehicle Model", this);
+    QComboBox* modelComboBox = new QComboBox(this);
+    for (int i = 0; i < vehicleModels.size(); ++i)
+    {
+        modelComboBox->addItem(vehicleModels[i]->getName().c_str());
+    }
+
+    targetButton = new QPushButton(this);
+    targetButton->setCheckable(true);
+    targetButton->setChecked(false);
+    targetButton->setIcon(QIcon(QString::fromUtf8(":/images/status/weather-clear.svg")));
+
+    QPushButton* recenterButton = new QPushButton(this);
+    recenterButton->setText("Recenter Camera");
+
+    QCheckBox* followCameraCheckBox = new QCheckBox(this);
+    followCameraCheckBox->setText("Follow Camera");
+    followCameraCheckBox->setChecked(followCamera);
+
+    QGridLayout* layout = new QGridLayout(this);
+    layout->setMargin(0);
+    layout->setSpacing(2);
+    layout->addWidget(gridCheckBox, 1, 0);
+    layout->addWidget(trailCheckBox, 1, 1);
+    layout->addWidget(waypointsCheckBox, 1, 2);
+    layout->addItem(new QSpacerItem(20, 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(20, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 7);
+    layout->addWidget(recenterButton, 1, 8);
+    layout->addWidget(followCameraCheckBox, 1, 9);
+    layout->setRowStretch(0, 100);
+    layout->setRowStretch(1, 1);
+    setLayout(layout);
+
+    connect(gridCheckBox, SIGNAL(stateChanged(int)),
+            this, SLOT(showGrid(int)));
+    connect(trailCheckBox, SIGNAL(stateChanged(int)),
+            this, SLOT(showTrail(int)));
+    connect(waypointsCheckBox, SIGNAL(stateChanged(int)),
+            this, SLOT(showWaypoints(int)));
+    connect(modelComboBox, SIGNAL(currentIndexChanged(int)),
+            this, SLOT(selectVehicleModel(int)));
+    connect(recenterButton, SIGNAL(clicked()), this, SLOT(recenter()));
+    connect(followCameraCheckBox, SIGNAL(stateChanged(int)),
+            this, SLOT(toggleFollowCamera(int)));
+}
+
 void
 Pixhawk3DWidget::display(void)
 {
@@ -298,6 +341,7 @@ Pixhawk3DWidget::display(void)
     rollingMap->setChildValue(trailNode, displayTrail);
     rollingMap->setChildValue(targetNode, displayTarget);
     rollingMap->setChildValue(waypointsNode, displayWaypoints);
+    egocentricMap->setChildValue(rgbd3DNode, displayRGBD3D);
     hudGroup->setChildValue(rgb2DGeode, displayRGBD2D);
     hudGroup->setChildValue(depth2DGeode, displayRGBD2D);
 
@@ -316,6 +360,9 @@ Pixhawk3DWidget::keyPressEvent(QKeyEvent* event)
         case '1':
             displayRGBD2D = !displayRGBD2D;
             break;
+        case '2':
+            displayRGBD3D = !displayRGBD3D;
+            break;
         }
     }
 
@@ -458,13 +505,26 @@ Pixhawk3DWidget::createWaypoints(void)
     return group;
 }
 
-#ifdef QGC_LIBFREENECT_ENABLED
 osg::ref_ptr<osg::Geode>
-Pixhawk3DWidget::createRGBD(void)
+Pixhawk3DWidget::createRGBD3D(void)
 {
-    return osg::ref_ptr<osg::Geode>(new osg::Geode);
+    int frameSize = 640 * 480;
+
+    osg::ref_ptr<osg::Geode> geode(new osg::Geode);
+    osg::ref_ptr<osg::Geometry> geometry(new osg::Geometry);
+
+    osg::ref_ptr<osg::Vec3Array> vertices(new osg::Vec3Array(frameSize));
+    geometry->setVertexArray(vertices);
+
+    osg::ref_ptr<osg::Vec4Array> colors(new osg::Vec4Array(frameSize));
+    geometry->setColorArray(colors);
+    geometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
+    geometry->setUseDisplayList(false);
+
+    geode->addDrawable(geometry);
+
+    return geode;
 }
-#endif
 
 void
 Pixhawk3DWidget::setupHUD(void)
@@ -501,18 +561,10 @@ Pixhawk3DWidget::setupHUD(void)
     hudGroup->addChild(rgb2DGeode);
 
     depthImage = new osg::Image;
-    depthImage->allocateImage(640, 480, 1, GL_RGB, GL_UNSIGNED_BYTE);
     depth2DGeode = new ImageWindowGeode("Depth Image",
                                         osg::Vec4(0.0f, 0.0f, 0.1f, 1.0f),
                                         depthImage);
     hudGroup->addChild(depth2DGeode);
-
-    for (int i = 0; i < 2048; ++i)
-    {
-        float v = static_cast<float>(i) / 2048.0f;
-        v = powf(v, 3.0f) * 6.0f;
-        gammaLookup[i] = static_cast<unsigned short>(v * 6.0f * 256.0f);
-    }
 }
 
 void
@@ -582,51 +634,10 @@ Pixhawk3DWidget::updateHUD(float robotX, float robotY, float robotZ,
                            osg::Image::NO_DELETE);
         rgbImage->dirty();
 
-        unsigned short* src = reinterpret_cast<unsigned short *>(depth->data());
-        unsigned char* dst = depthImage->data();
-        for (int i = 0; i < depthImage->s() * depthImage->t(); ++i)
-        {
-            unsigned short pval = gammaLookup[src[i]];
-            unsigned short lb = pval & 0xFF;
-            switch (pval >> 8)
-            {
-            case 0:
-                dst[3 * i] = 255;
-                dst[3 * i + 1] = 255 - lb;
-                dst[3 * i + 2] = 255 - lb;
-                break;
-            case 1:
-                dst[3 * i] = 255;
-                dst[3 * i + 1] = lb;
-                dst[3 * i + 2] = 0;
-                break;
-            case 2:
-                dst[3 * i] = 255 - lb;
-                dst[3 * i + 1] = 255;
-                dst[3 * i + 2] = 0;
-                break;
-            case 3:
-                dst[3 * i] = 0;
-                dst[3 * i + 1] = 255;
-                dst[3 * i + 2] = lb;
-                break;
-            case 4:
-                dst[3 * i] = 0;
-                dst[3 * i + 1] = 255 - lb;
-                dst[3 * i + 2] = 255;
-                break;
-            case 5:
-                dst[3 * i] = 0;
-                dst[3 * i + 1] = 0;
-                dst[3 * i + 2] = 255 - lb;
-                break;
-            default:
-                dst[3 * i] = 0;
-                dst[3 * i + 1] = 0;
-                dst[3 * i + 2] = 0;
-                break;
-            }
-        }
+        depthImage->setImage(640, 480, 1,
+                             GL_RGB, GL_RGB, GL_UNSIGNED_BYTE,
+                             reinterpret_cast<unsigned char *>(coloredDepth->data()),
+                             osg::Image::NO_DELETE);
         depthImage->dirty();
     }
 }
@@ -769,7 +780,7 @@ void
 Pixhawk3DWidget::updateRGBD(void)
 {
     rgb = freenect->getRgbData();
-    depth = freenect->getDepthData();
+    coloredDepth = freenect->getColoredDepthData();
 }
 #endif
 

src/ui/map3D/Pixhawk3DWidget.h

@@ -37,9 +37,8 @@
 #include <osgEarth/MapNode>
 #endif
 
-#ifdef QGC_OSG_ENABLED
 #include "ImageWindowGeode.h"
-#endif
+
 #ifdef QGC_LIBFREENECT_ENABLED
 #include "Freenect.h"
 #endif
@@ -59,10 +58,6 @@ public:
     explicit Pixhawk3DWidget(QWidget* parent = 0);
     ~Pixhawk3DWidget();
 
-    void buildLayout(void);
-
-    double getTime(void) const;
-
 public slots:
     void setActiveUAS(UASInterface* uas);
 
@@ -70,10 +65,13 @@ private slots:
     void showGrid(int state);
     void showTrail(int state);
     void showWaypoints(int state);
+    void selectVehicleModel(int index);
     void recenter(void);
     void toggleFollowCamera(int state);
 
 protected:
+    QVector< osg::ref_ptr<osg::Node> > findVehicleModels(void);
+    void buildLayout(void);
     virtual void display(void);
     virtual void keyPressEvent(QKeyEvent* event);
     virtual void mousePressEvent(QMouseEvent* event);
@@ -90,10 +88,7 @@ private:
 
     osg::ref_ptr<osg::Node> createTarget(void);
     osg::ref_ptr<osg::Group> createWaypoints(void);
-
-#ifdef QGC_LIBFREENECT_ENABLED
-    osg::ref_ptr<osg::Geode> createRGBD(void);
-#endif
+    osg::ref_ptr<osg::Geode> createRGBD3D(void);
 
     void setupHUD(void);
     void resizeHUD(void);
@@ -121,6 +116,7 @@ private:
     osg::ref_ptr<osg::Vec3Array> trailVertices;
     QVarLengthArray<osg::Vec3, 10000> trail;
 
+    osg::ref_ptr<osg::Node> vehicleModel;
     osg::ref_ptr<osg::Geometry> hudBackgroundGeometry;
     osg::ref_ptr<osgText::Text> statusText;
     osg::ref_ptr<ImageWindowGeode> rgb2DGeode;
@@ -137,13 +133,14 @@ private:
     osg::ref_ptr<osg::Geode> targetNode;
     osg::ref_ptr<osg::PositionAttitudeTransform> targetPosition;
     osg::ref_ptr<osg::Group> waypointsNode;
+    osg::ref_ptr<osg::Geode> rgbd3DNode;
 #ifdef QGC_LIBFREENECT_ENABLED
-    osg::ref_ptr<osg::Geode> rgbdNode;
     QScopedPointer<Freenect> freenect;
 #endif
     QSharedPointer<QByteArray> rgb;
-    QSharedPointer<QByteArray> depth;
-    unsigned short gammaLookup[2048];
+    QSharedPointer<QByteArray> coloredDepth;
+
+    QVector< osg::ref_ptr<osg::Node> > vehicleModels;
 
     QPushButton* targetButton;
 

src/ui/map3D/PixhawkCheetahGeode.cc

@@ -59358,6 +59358,7 @@ osg::ref_ptr<osg::Geode>
 PixhawkCheetahGeode::create(float red, float green, float blue)
 {
     osg::ref_ptr<osg::Geode> geode(new osg::Geode());
+    geode->setName("Pixhawk Bravo");
     osg::ref_ptr<osg::Geometry> geometry(new osg::Geometry());
     geode->addDrawable(geometry.get());
 

src/ui/map3D/Q3DWidgetFactory.cc

@@ -32,16 +32,21 @@ This file is part of the QGROUNDCONTROL project
 #include "Q3DWidgetFactory.h"
 
 #include "Pixhawk3DWidget.h"
+#include "QMap3D.h"
 
-QPointer<Q3DWidget>
+QPointer<QWidget>
 Q3DWidgetFactory::get(const std::string& type)
 {
     if (type == "PIXHAWK")
     {
-        return QPointer<Q3DWidget>(new Pixhawk3DWidget);
+        return QPointer<QWidget>(new Pixhawk3DWidget);
+    }
+    else if (type == "MAP3D")
+    {
+        return QPointer<QWidget>(new QMap3D);
     }
     else
     {
-        return QPointer<Q3DWidget>(new Q3DWidget);
+        return QPointer<QWidget>(new Q3DWidget);
     }
 }

src/ui/map3D/Q3DWidgetFactory.h

@@ -50,7 +50,7 @@ public:
      * @return A smart pointer to the Q3DWidget instance.
      */
 
-    static QPointer<Q3DWidget> get(const std::string& type);
+    static QPointer<QWidget> get(const std::string& type);
 };
 
 #endif // Q3DWIDGETFACTORY_H