Minor clean-ups to imagery code.

src/ui/map3D/QMap3DWidget.cc

@@ -234,13 +234,20 @@ QMap3DWidget::displayHandler(void)
     drawLegend();
 
     // display pose information
-    glColor4f(0.0f, 0.0f, 0.0f, 0.5f);
+    glColor4f(0.0f, 0.0f, 0.0f, 1.0f);
     glBegin(GL_POLYGON);
     glVertex2f(0.0f, 0.0f);
-    glVertex2f(0.0f, 45.0f);
+    glVertex2f(0.0f, 30.0f);
-    glVertex2f(getWindowWidth(), 45.0f);
+    glVertex2f(getWindowWidth(), 30.0f);
     glVertex2f(getWindowWidth(), 0.0f);
     glEnd();
+    glColor4f(0.1f, 0.1f, 0.1f, 1.0f);
+    glBegin(GL_POLYGON);
+    glVertex2f(0.0f, getWindowHeight());
+    glVertex2f(0.0f, getWindowHeight() - 25.0f);
+    glVertex2f(getWindowWidth(), getWindowHeight() - 25.0f);
+    glVertex2f(getWindowWidth(), getWindowHeight());
+    glEnd();
 
     std::pair<float,float> mouseWorldCoords =
             getPositionIn3DMode(getMouseX(), getMouseY());
@@ -253,7 +260,7 @@ QMap3DWidget::displayHandler(void)
     painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
     paintText(QString("x = %1 y = %2 z = %3 r = %4 p = %5 y = %6 Cursor [%7 %8]").arg(robotX, 0, 'f', 2).arg(robotY, 0, 'f', 2).arg(robotZ, 0, 'f', 2).arg(robotRoll, 0, 'f', 2).arg(robotPitch, 0, 'f', 2).arg(robotYaw, 0, 'f', 2).arg( mouseWorldCoords.first + robotX, 0, 'f', 2).arg( mouseWorldCoords.second + robotY, 0, 'f', 2),
               QColor(255, 255, 255),
-              12,
+              11,
               5,
               5,
               &painter);

src/ui/map3D/Texture.cc

@@ -68,52 +68,7 @@ void
 Texture::draw(float x1, float y1, float x2, float y2,
               bool smoothInterpolation) const
 {
-    if (state == REQUESTED)
+    draw(x1, y1, x2, y1, x2, y2, x1, y2, smoothInterpolation);
-    {
-        glBegin(GL_LINE_LOOP);
-        glColor3f(0.0f, 0.0f, 1.0f);
-        glVertex2f(x1, y1);
-        glVertex2f(x2, y1);
-        glVertex2f(x2, y2);
-        glVertex2f(x1, y2);
-        glEnd();
-        return;
-    }
-
-    glEnable(GL_TEXTURE_2D);
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    float dx, dy;
-    if (smoothInterpolation)
-    {
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-        dx = 1.0f / (2.0f * textureWidth);
-        dy = 1.0f / (2.0f * textureHeight);
-    }
-    else
-    {
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-        dx = 0.0f;
-        dy = 0.0f;
-    }
-
-    glColor3f(1.0f, 1.0f, 1.0f);
-    glBegin(GL_QUADS);
-
-    glTexCoord2f(dx, maxV - dy);
-    glVertex2f(x1, y1);
-    glTexCoord2f(maxU - dx, maxV - dy);
-    glVertex2f(x2, y1);
-    glTexCoord2f(maxU - dx, dy);
-    glVertex2f(x2, y2);
-    glTexCoord2f(dx, dy);
-    glVertex2f(x1, y2);
-
-    glEnd();
-
-    glDisable(GL_TEXTURE_2D);
 }
 
 void
@@ -130,6 +85,7 @@ Texture::draw(float x1, float y1, float x2, float y2,
         glVertex2f(x3, y3);
         glVertex2f(x4, y4);
         glEnd();
+
         return;
     }
 

src/ui/map3D/WebImage.cc

@@ -16,7 +16,7 @@ WebImage::WebImage()
 void
 WebImage::clear(void)
 {
-    image.clear();
+    image.reset();
     sourceURL.clear();
     state = WebImage::UNINITIALIZED;
     lastReference = 0;
@@ -60,7 +60,7 @@ WebImage::setData(const QByteArray& data)
     {
         if (image.isNull())
         {
-            image = QSharedPointer<QImage>(new QImage);
+            image.reset(new QImage);
         }
         *image = QGLWidget::convertToGLFormat(tempImage);
     }

src/ui/map3D/WebImage.h

@@ -42,7 +42,7 @@ public:
 private:
     State state;
     QString sourceURL;
-    QSharedPointer<QImage> image;
+    QScopedPointer<QImage> image;
     uint64_t lastReference;
     bool syncFlag;
 };