Added new 3D terrain model feature to 3D view perspective.

src/ui/map3D/Imagery.cc

@@ -165,7 +165,7 @@ void
 Imagery::prefetch3D(double radius, double tileResolution,
                     double xOrigin, double yOrigin,
                     double viewXOffset, double viewYOffset,
-                    const QString& utmZone)
+                    const QString& utmZone, bool useHeightModel)
 {
     int32_t minTileX, minTileY, maxTileX, maxTileY;
     int32_t zoomLevel;
@@ -183,7 +183,7 @@ Imagery::prefetch3D(double radius, double tileResolution,
         {
             QString url = getTileLocation(c, r, zoomLevel, tileResolution);
 
-            TexturePtr t = textureCache->get(url);
+            TexturePtr t = textureCache->get(url, useHeightModel);
         }
     }
 }
@@ -192,7 +192,7 @@ void
 Imagery::draw3D(double radius, double tileResolution,
                 double xOrigin, double yOrigin,
                 double viewXOffset, double viewYOffset,
-                const QString& utmZone)
+                const QString& utmZone, bool useHeightModel)
 {
     int32_t minTileX, minTileY, maxTileX, maxTileY;
     int32_t zoomLevel;
@@ -213,7 +213,7 @@ 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);
+            TexturePtr t = textureCache->get(tileURL, useHeightModel);
 
             if (!t.isNull())
             {
@@ -257,7 +257,8 @@ Imagery::imageBounds(int32_t tileX, int32_t tileY, double tileResolution,
         LLtoUTM(lat2, lon2, x3, y3, utmZone);
         LLtoUTM(lat2, lon1, x4, y4, utmZone);
     }
-    else if (currentImageryType == SWISSTOPO_SATELLITE)
+    else if (currentImageryType == SWISSTOPO_SATELLITE ||
+             currentImageryType == SWISSTOPO_SATELLITE_3D)
     {
         double utmMultiplier = tileResolution * 200.0;
         double minX = tileX * utmMultiplier;
@@ -294,7 +295,8 @@ Imagery::tileBounds(double tileResolution,
         UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution,
                   maxTileX, minTileY, zoomLevel);
     }
-    else if (currentImageryType == SWISSTOPO_SATELLITE)
+    else if (currentImageryType == SWISSTOPO_SATELLITE ||
+             currentImageryType == SWISSTOPO_SATELLITE_3D)
     {
         double utmMultiplier = tileResolution * 200;
 
@@ -570,7 +572,7 @@ Imagery::getTileLocation(int32_t tileX, int32_t tileY, int32_t zoomLevel,
         oss << "http://khm.google.com/vt/lbw/lyrs=y&x=" << tileX
             << "&y=" << tileY << "&z=" << zoomLevel;
         break;
-    case SWISSTOPO_SATELLITE:
+    case SWISSTOPO_SATELLITE: case SWISSTOPO_SATELLITE_3D:
         oss << "../map/eth_zurich_swissimage_025/200/color/" << tileY
             << "/tile-";
         if (tileResolution < 1.0)

src/ui/map3D/Imagery.h

@@ -45,7 +45,8 @@ public:
     {
         GOOGLE_MAP = 0,
         GOOGLE_SATELLITE = 1,
-        SWISSTOPO_SATELLITE = 2
+        SWISSTOPO_SATELLITE = 2,
+        SWISSTOPO_SATELLITE_3D = 3
     };
 
     void setImageryType(ImageryType type);
@@ -63,11 +64,11 @@ public:
     void prefetch3D(double radius, double tileResolution,
                     double xOrigin, double yOrigin,
                     double viewXOffset, double viewYOffset,
-                    const QString& utmZone);
+                    const QString& utmZone, bool useHeightModel);
     void draw3D(double radius, double tileResolution,
                 double xOrigin, double yOrigin,
                 double viewXOffset, double viewYOffset,
-                const QString& utmZone);
+                const QString& utmZone, bool useHeightModel);
 
     bool update(void);
 

src/ui/map3D/QMap3DWidget.cc

@@ -96,6 +96,7 @@ QMap3DWidget::buildLayout(void)
     imageryComboBox->addItem("Map (Google)");
     imageryComboBox->addItem("Satellite (Google)");
     imageryComboBox->addItem("Satellite (Swisstopo)");
+    imageryComboBox->addItem("3D Satellite (Swisstopo)");
 
     QPushButton* recenterButton = new QPushButton(this);
     recenterButton->setText("Recenter Camera");
@@ -547,6 +548,10 @@ QMap3DWidget::showImagery(const QString& text)
         {
             imagery->setImageryType(Imagery::SWISSTOPO_SATELLITE);
         }
+        else if (text.compare("3D Satellite (Swisstopo)") == 0)
+        {
+            imagery->setImageryType(Imagery::SWISSTOPO_SATELLITE_3D);
+        }
         displayImagery = true;
     }
 }
@@ -678,6 +683,7 @@ QMap3DWidget::drawImagery(double originX, double originY, double originZ,
     double minResolution = 0.25;
     double centerResolution = cameraPose.distance / 100.0;
     double maxResolution = 1048576.0;
+    bool useHeightModel = false;
 
     if (imageryComboBox->currentText().compare("Map (Google)") == 0)
     {
@@ -692,6 +698,12 @@ QMap3DWidget::drawImagery(double originX, double originY, double originZ,
         minResolution = 0.25;
         maxResolution = 0.25;
     }
+    else if (imageryComboBox->currentText().compare("3D Satellite (Swisstopo)") == 0)
+    {
+        minResolution = 0.25;
+        maxResolution = 0.25;
+        useHeightModel = true;
+    }
 
     double resolution = minResolution;
     while (resolution * 2.0 < centerResolution)
@@ -704,7 +716,8 @@ QMap3DWidget::drawImagery(double originX, double originY, double originZ,
     }
 
     imagery->draw3D(viewingRadius, resolution, originX, originY,
-                    cameraPose.xOffset, cameraPose.yOffset, zone);
+                    cameraPose.xOffset, cameraPose.yOffset, zone,
+                    useHeightModel);
 
     if (prefetch)
     {
@@ -712,13 +725,15 @@ QMap3DWidget::drawImagery(double originX, double originY, double originZ,
         {
             imagery->prefetch3D(viewingRadius / 2.0, resolution / 2.0,
                                 originX, originY,
-                                cameraPose.xOffset, cameraPose.yOffset, zone);
+                                cameraPose.xOffset, cameraPose.yOffset, zone,
+                                useHeightModel);
         }
         if (resolution * 2.0 <= maxResolution)
         {
             imagery->prefetch3D(viewingRadius * 2.0, resolution * 2.0,
                                 originX, originY,
-                                cameraPose.xOffset, cameraPose.yOffset, zone);
+                                cameraPose.xOffset, cameraPose.yOffset, zone,
+                                useHeightModel);
         }
     }
 

src/ui/map3D/Texture.cc

@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Texture.h"
 
 Texture::Texture()
+    : _is3D(false)
 {
 
 }
@@ -54,9 +55,11 @@ Texture::sync(const WebImagePtr& image)
     state = static_cast<State>(image->getState());
 
     if (image->getState() != WebImage::UNINITIALIZED &&
-        sourceURL != image->getSourceURL())
+        (sourceURL != image->getSourceURL() ||
+         _is3D != image->is3D()))
     {
         sourceURL = image->getSourceURL();
+        _is3D = image->is3D();
     }
 
     if (image->getState() == WebImage::READY && image->getSyncFlag())
@@ -91,7 +94,9 @@ Texture::sync(const WebImagePtr& image)
 
         glBindTexture(GL_TEXTURE_2D, id);
         glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, imageWidth, imageHeight,
-                        GL_RGBA, GL_UNSIGNED_BYTE, image->getData());
+                        GL_RGBA, GL_UNSIGNED_BYTE, image->getImageData());
+
+        heightModel = image->getHeightModel();
     }
 }
 
@@ -140,18 +145,77 @@ Texture::draw(float x1, float y1, float x2, float y2,
     }
 
     glColor3f(1.0f, 1.0f, 1.0f);
-    glBegin(GL_QUADS);
+    if (!_is3D)
+    {
+        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);
+
+        for (int32_t i = 0; i < heightModel.size() - 1; ++i)
+        {
+            float scaleI = scaleX * static_cast<float>(i);
 
-    glTexCoord2f(dx, maxV - dy);
-    glVertex2f(x1, y1);
-    glTexCoord2f(maxU - dx, maxV - dy);
-    glVertex2f(x2, y2);
-    glTexCoord2f(maxU - dx, dy);
-    glVertex2f(x3, y3);
-    glTexCoord2f(dx, dy);
-    glVertex2f(x4, y4);
+            float scaleY =
+                    1.0f / static_cast<float>(heightModel[i].size() - 1);
 
-    glEnd();
+            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();
+            }
+        }
+    }
 
     glDisable(GL_TEXTURE_2D);
 }
+
+bool
+Texture::is3D(void) const
+{
+    return _is3D;
+}

src/ui/map3D/Texture.h

@@ -59,6 +59,8 @@ public:
               float x3, float y3, float x4, float y4,
               bool smoothInterpolation) const;
 
+    bool is3D(void) const;
+
 private:
     enum State
     {
@@ -77,6 +79,9 @@ private:
     int32_t imageWidth;
     int32_t imageHeight;
 
+    bool _is3D;
+    QVector< QVector<int32_t> > heightModel;
+
     float maxU;
     float maxV;
 };

src/ui/map3D/TextureCache.cc

@@ -52,19 +52,20 @@ TextureCache::TextureCache(uint32_t _cacheSize)
 }
 
 TexturePtr
-TextureCache::get(const QString& tileURL)
+TextureCache::get(const QString& tileURL, bool useHeightModel)
 {
-    QPair<TexturePtr, int32_t> p1 = lookup(tileURL);
+    QPair<TexturePtr, int32_t> p1 = lookup(tileURL, useHeightModel);
     if (!p1.first.isNull())
     {
         return p1.first;
     }
 
-    QPair<WebImagePtr, int32_t> p2 = imageCache->lookup(tileURL);
+    QPair<WebImagePtr, int32_t> p2 =
+            imageCache->lookup(tileURL, useHeightModel);
     if (!p2.first.isNull())
     {
         textures[p2.second]->sync(p2.first);
-        p1 = lookup(tileURL);
+        p1 = lookup(tileURL, useHeightModel);
 
         return p1.first;
     }
@@ -85,11 +86,12 @@ TextureCache::sync(void)
 }
 
 QPair<TexturePtr, int32_t>
-TextureCache::lookup(const QString& tileURL)
+TextureCache::lookup(const QString& tileURL, bool useHeightModel)
 {
     for (int32_t i = 0; i < textures.size(); ++i)
     {
-        if (textures[i]->getSourceURL() == tileURL)
+        if (textures[i]->getSourceURL() == tileURL &&
+            textures[i]->is3D() == useHeightModel)
         {
             return qMakePair(textures[i], i);
         }

src/ui/map3D/TextureCache.h

@@ -42,12 +42,13 @@ class TextureCache
 public:
     explicit TextureCache(uint32_t cacheSize);
 
-    TexturePtr get(const QString& tileURL);
+    TexturePtr get(const QString& tileURL, bool useHeightModel = false);
 
     void sync(void);
 
 private:
-    QPair<TexturePtr, int32_t> lookup(const QString& tileURL);
+    QPair<TexturePtr, int32_t> lookup(const QString& tileURL,
+                                      bool useHeightModel);
 
     bool requireSync(void) const;
 

src/ui/map3D/WebImage.cc

@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "WebImage.h"
 
+#include <QFile>
 #include <QGLWidget>
 
 WebImage::WebImage()
@@ -38,6 +39,7 @@ WebImage::WebImage()
     , sourceURL("")
     , image(0)
     , lastReference(0)
+    , _is3D(false)
     , syncFlag(false)
 {
 
@@ -50,6 +52,7 @@ WebImage::clear(void)
     sourceURL.clear();
     state = WebImage::UNINITIALIZED;
     lastReference = 0;
+    heightModel.clear();
 }
 
 WebImage::State
@@ -77,11 +80,17 @@ WebImage::setSourceURL(const QString& url)
 }
 
 const uint8_t*
-WebImage::getData(void) const
+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)
 {
@@ -122,6 +131,58 @@ 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
 WebImage::getWidth(void) const
 {
@@ -140,6 +201,12 @@ WebImage::getByteCount(void) const
     return image->byteCount();
 }
 
+bool
+WebImage::is3D(void) const
+{
+    return _is3D;
+}
+
 uint64_t
 WebImage::getLastReference(void) const
 {

src/ui/map3D/WebImage.h

@@ -57,14 +57,18 @@ public:
     const QString& getSourceURL(void) const;
     void setSourceURL(const QString& url);
 
-    const uint8_t* getData(void) const;
+    const uint8_t* getImageData(void) const;
+    const QVector< QVector<int32_t> >& getHeightModel(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;
 
+    bool is3D(void) const;
+
     uint64_t getLastReference(void) const;
     void setLastReference(uint64_t value);
 
@@ -75,7 +79,9 @@ private:
     State state;
     QString sourceURL;
     QScopedPointer<QImage> image;
+    QVector< QVector<int32_t> > heightModel;
     uint64_t lastReference;
+    bool _is3D;
     bool syncFlag;
 };
 

src/ui/map3D/WebImageCache.cc

@@ -52,14 +52,15 @@ WebImageCache::WebImageCache(QObject* parent, uint32_t _cacheSize)
 }
 
 QPair<WebImagePtr, int32_t>
-WebImageCache::lookup(const QString& url)
+WebImageCache::lookup(const QString& url, bool useHeightModel)
 {
     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]->getSourceURL() == url &&
+            webImages[i]->is3D() == useHeightModel)
         {
             cacheEntry.first = webImages[i];
             cacheEntry.second = i;
@@ -110,7 +111,22 @@ WebImageCache::lookup(const QString& url)
             }
             else
             {
-                if (cacheEntry.first->setData(url))
+                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)
                 {
                     cacheEntry.first->setSyncFlag(true);
                     cacheEntry.first->setState(WebImage::READY);

src/ui/map3D/WebImageCache.h

@@ -45,7 +45,8 @@ class WebImageCache : public QObject
 public:
     WebImageCache(QObject* parent, uint32_t cacheSize);
 
-    QPair<WebImagePtr, int32_t> lookup(const QString& url);
+    QPair<WebImagePtr, int32_t> lookup(const QString& url,
+                                       bool useHeightModel);
 
     WebImagePtr at(int32_t index) const;