// Enter calib. params manually:
void camera_calib_guiDialog::OnbtnManualRectClick(wxCommandEvent& event)
{
wxMessageBox(_("Please, enter calibration parameters manually next to overpass automatically obtained parameters."),_("Manual parameters"));
wxString s;
if (camera_params.intrinsicParams(0,0)==0)
{
wxMessageBox(_("Run the calibration first"),_("Error"));
return;
}
s = wxGetTextFromUser(_("Focus length in X pixel size (fx):"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.intrinsicParams(0,0)), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.intrinsicParams(0,0))) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Focus length in Y pixel size (fy):"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.intrinsicParams(1,1)), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.intrinsicParams(1,1))) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Image center X (cx):"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.intrinsicParams(0,2)), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.intrinsicParams(0,2))) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Image center Y (cy):"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.intrinsicParams(1,2)), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.intrinsicParams(1,2))) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Distortion param p1:"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.dist[0]), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.dist[0])) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Distortion param p2:"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.dist[1]), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.dist[1])) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Distortion param k1:"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.dist[2]), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.dist[2])) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Distortion param k2:"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.dist[3]), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.dist[3])) { wxMessageBox(_("Invalid number")); return; }
refreshDisplayedImage();
}
// save matrices:
void camera_calib_guiDialog::OnbtnSaveClick(wxCommandEvent& event)
{
if (camera_params.intrinsicParams(0,0)==0)
{
wxMessageBox(_("Run the calibration first"),_("Error"));
return;
}
{
wxFileDialog dlg(
this,
_("Save intrinsic parameters matrix"),
_("."),
_("intrinsic_matrix.txt"),
_("Text files (*.txt)|*.txt|All files (*.*)|*.*"),
wxFD_SAVE | wxFD_OVERWRITE_PROMPT );
if (wxID_OK!=dlg.ShowModal()) return;
camera_params.intrinsicParams.saveToTextFile( string(dlg.GetPath().mb_str()) );
}
{
wxFileDialog dlg(
this,
_("Save distortion parameters"),
_("."),
_("distortion_matrix.txt"),
_("Text files (*.txt)|*.txt|All files (*.*)|*.*"),
wxFD_SAVE | wxFD_OVERWRITE_PROMPT );
if (wxID_OK!=dlg.ShowModal()) return;
CMatrixDouble M(1,4);
for (unsigned i=0;i<4;i++)
M(0,i) = camera_params.dist[i];
M.saveToTextFile( string(dlg.GetPath().mb_str()) );
}
}
// Shows the image selected in the listbox:
void camera_calib_guiDialog::refreshDisplayedImage()
{
try
{
if (!lbFiles->GetCount())
{
// No images:
return;
}
// Assure there's one selected:
if (lbFiles->GetSelection()==wxNOT_FOUND)
lbFiles->SetSelection(0);
const string selFile = string(lbFiles->GetStringSelection().mb_str());
TCalibrationImageList::iterator it = lst_images.find(selFile);
if (it==lst_images.end()) return;
// Zoom:
const std::string strZoom = string(cbZoom->GetStringSelection().mb_str());
const double zoomVal = 0.01*atof(strZoom.c_str());
ASSERT_(zoomVal>0 && zoomVal<30)
TImageSize imgSizes(0,0);
// Generate the images on-the-fly:
CImage imgOrgColor;
it->second.img_original.colorImage(imgOrgColor);
imgSizes = imgOrgColor.getSize();
// Rectify:
CImage imgRect;
if (camera_params.intrinsicParams(0,0)==0)
{
// Not calibrated yet:
imgRect = imgOrgColor;
imgRect.scaleImage(imgSizes.x*zoomVal,imgSizes.y*zoomVal, IMG_INTERP_NN);
}
else
{
imgOrgColor.rectifyImage(imgRect,camera_params);
imgRect.scaleImage(imgSizes.x*zoomVal,imgSizes.y*zoomVal, IMG_INTERP_NN);
// Draw reprojected:
for (unsigned int k=0;k<it->second.projectedPoints_undistorted.size();k++)
imgRect.drawCircle( zoomVal*it->second.projectedPoints_undistorted[k].x, zoomVal*it->second.projectedPoints_undistorted[k].y, 4, TColor(0,255,64) );
imgRect.drawCircle( 10,10, 4, TColor(0,255,64) );
imgRect.textOut(18,4,"Reprojected corners",TColor::white);
}
// Zoom images:
imgOrgColor.scaleImage(imgSizes.x*zoomVal,imgSizes.y*zoomVal, IMG_INTERP_NN);
imgSizes = imgOrgColor.getSize();
CImage imgCheck = imgOrgColor;
// Draw the board:
for (unsigned int k=0;k<it->second.detected_corners.size();k++)
{
imgCheck.cross(it->second.detected_corners[k].x *zoomVal, it->second.detected_corners[k].y *zoomVal, TColor::blue, '+', 3 );
imgCheck.drawCircle( it->second.projectedPoints_distorted[k].x*zoomVal, it->second.projectedPoints_distorted[k].y*zoomVal, 4, TColor(0,255,64) );
}
imgCheck.drawCircle( 10,10, 4, TColor(0,255,64) );
imgCheck.textOut(18,4,"Reprojected corners",TColor::white);
imgCheck.cross( 10,30, TColor::blue, '+', 3 );
imgCheck.textOut(18,24,"Detected corners",TColor::white);
this->bmpOriginal->AssignImage( imgCheck );
this->bmpRectified->AssignImage( imgRect );
it->second.img_original.unload();
// Plot:
this->bmpOriginal->SetMinSize(wxSize(imgSizes.x,imgSizes.y));
this->bmpOriginal->SetMaxSize(wxSize(imgSizes.x,imgSizes.y));
this->bmpOriginal->SetSize(imgSizes.x,imgSizes.y);
this->bmpRectified->SetMinSize(wxSize(imgSizes.x,imgSizes.y));
this->bmpRectified->SetMaxSize(wxSize(imgSizes.x,imgSizes.y));
this->bmpRectified->SetSize(imgSizes.x,imgSizes.y);
this->FlexGridSizer11->RecalcSizes();
this->FlexGridSizer14->RecalcSizes();
//this->ScrolledWindow2->SetVirtualSize(wxSize(imgSizes.x,imgSizes.y));
//this->ScrolledWindow3->SetVirtualSize(wxSize(imgSizes.x,imgSizes.y));
this->ScrolledWindow2->SetScrollbars(1,1,imgSizes.x,imgSizes.y);
this->ScrolledWindow3->SetScrollbars(1,1,imgSizes.x,imgSizes.y);
this->bmpOriginal->Refresh(false);
this->bmpRectified->Refresh(false);
}
catch(std::exception &e)
{
wxMessageBox(_U(e.what()),_("Error"),wxICON_INFORMATION,this);
}
}
camera_calib_guiDialog::camera_calib_guiDialog(wxWindow* parent,wxWindowID id)
{
// Load my custom icons:
#if wxCHECK_VERSION(2, 8, 0)
wxArtProvider::Push(new MyArtProvider);
#else
wxArtProvider::PushProvider(new MyArtProvider);
#endif
//(*Initialize(camera_calib_guiDialog)
wxStaticBoxSizer* StaticBoxSizer2;
wxFlexGridSizer* FlexGridSizer4;
wxFlexGridSizer* FlexGridSizer16;
wxStaticBoxSizer* StaticBoxSizer4;
wxFlexGridSizer* FlexGridSizer10;
wxFlexGridSizer* FlexGridSizer3;
wxFlexGridSizer* FlexGridSizer5;
wxFlexGridSizer* FlexGridSizer9;
wxFlexGridSizer* FlexGridSizer2;
wxFlexGridSizer* FlexGridSizer7;
wxStaticBoxSizer* StaticBoxSizer3;
wxFlexGridSizer* FlexGridSizer15;
wxFlexGridSizer* FlexGridSizer18;
wxFlexGridSizer* FlexGridSizer8;
wxFlexGridSizer* FlexGridSizer13;
wxFlexGridSizer* FlexGridSizer12;
wxFlexGridSizer* FlexGridSizer6;
wxStaticBoxSizer* StaticBoxSizer1;
wxFlexGridSizer* FlexGridSizer1;
wxFlexGridSizer* FlexGridSizer17;
wxStaticBoxSizer* StaticBoxSizer5;
Create(parent, id, _("Camera calibration GUI - Part of the MRPT project"), wxDefaultPosition, wxDefaultSize, wxDEFAULT_DIALOG_STYLE|wxRESIZE_BORDER|wxMAXIMIZE_BOX, _T("id"));
FlexGridSizer1 = new wxFlexGridSizer(1, 2, 0, 0);
FlexGridSizer1->AddGrowableCol(1);
FlexGridSizer1->AddGrowableRow(0);
FlexGridSizer2 = new wxFlexGridSizer(3, 1, 0, 0);
FlexGridSizer2->AddGrowableCol(0);
FlexGridSizer2->AddGrowableRow(0);
FlexGridSizer2->AddGrowableRow(2);
StaticBoxSizer1 = new wxStaticBoxSizer(wxHORIZONTAL, this, _("List of images"));
FlexGridSizer4 = new wxFlexGridSizer(2, 1, 0, 0);
FlexGridSizer4->AddGrowableCol(0);
FlexGridSizer4->AddGrowableRow(1);
FlexGridSizer5 = new wxFlexGridSizer(0, 4, 0, 0);
btnCaptureNow = new wxButton(this, ID_BUTTON8, _("Grab now..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON8"));
wxFont btnCaptureNowFont(wxDEFAULT,wxDEFAULT,wxFONTSTYLE_NORMAL,wxBOLD,false,wxEmptyString,wxFONTENCODING_DEFAULT);
btnCaptureNow->SetFont(btnCaptureNowFont);
FlexGridSizer5->Add(btnCaptureNow, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
Button11 = new wxButton(this, ID_BUTTON1, _("Add image(s)..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON1"));
FlexGridSizer5->Add(Button11, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
Button22 = new wxButton(this, ID_BUTTON2, _("Clear all"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON2"));
FlexGridSizer5->Add(Button22, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnSaveImages = new wxButton(this, ID_BUTTON9, _("Save all..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON9"));
btnSaveImages->Disable();
FlexGridSizer5->Add(btnSaveImages, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer4->Add(FlexGridSizer5, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer15 = new wxFlexGridSizer(1, 2, 0, 0);
FlexGridSizer15->AddGrowableCol(0);
FlexGridSizer15->AddGrowableRow(0);
lbFiles = new wxListBox(this, ID_LISTBOX1, wxDefaultPosition, wxSize(294,84), 0, 0, wxLB_ALWAYS_SB|wxVSCROLL|wxHSCROLL|wxALWAYS_SHOW_SB, wxDefaultValidator, _T("ID_LISTBOX1"));
FlexGridSizer15->Add(lbFiles, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer16 = new wxFlexGridSizer(0, 1, 0, 0);
StaticText5 = new wxStaticText(this, ID_STATICTEXT5, _("Zoom:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT5"));
FlexGridSizer16->Add(StaticText5, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
cbZoom = new wxChoice(this, ID_CHOICE1, wxDefaultPosition, wxDefaultSize, 0, 0, 0, wxDefaultValidator, _T("ID_CHOICE1"));
cbZoom->Append(_("25%"));
cbZoom->Append(_("50%"));
cbZoom->Append(_("75%"));
cbZoom->SetSelection( cbZoom->Append(_("100%")) );
cbZoom->Append(_("150%"));
cbZoom->Append(_("200%"));
cbZoom->Append(_("300%"));
cbZoom->Append(_("400%"));
cbZoom->Append(_("500%"));
FlexGridSizer16->Add(cbZoom, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer15->Add(FlexGridSizer16, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer4->Add(FlexGridSizer15, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
StaticBoxSizer1->Add(FlexGridSizer4, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer2->Add(StaticBoxSizer1, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
StaticBoxSizer3 = new wxStaticBoxSizer(wxHORIZONTAL, this, _("Checkerboard detection parameters"));
FlexGridSizer6 = new wxFlexGridSizer(2, 2, 0, 0);
FlexGridSizer6->AddGrowableCol(0);
FlexGridSizer6->AddGrowableCol(1);
StaticBoxSizer4 = new wxStaticBoxSizer(wxHORIZONTAL, this, _("Number of inner corners: "));
FlexGridSizer17 = new wxFlexGridSizer(1, 4, 0, 0);
StaticText1 = new wxStaticText(this, ID_STATICTEXT1, _("In X:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT1"));
FlexGridSizer17->Add(StaticText1, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
edSizeX = new wxSpinCtrl(this, ID_SPINCTRL1, _T("5"), wxDefaultPosition, wxSize(50,-1), 0, 1, 200, 5, _T("ID_SPINCTRL1"));
edSizeX->SetValue(_T("5"));
FlexGridSizer17->Add(edSizeX, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticText2 = new wxStaticText(this, ID_STATICTEXT2, _("In Y:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT2"));
FlexGridSizer17->Add(StaticText2, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
edSizeY = new wxSpinCtrl(this, ID_SPINCTRL2, _T("8"), wxDefaultPosition, wxSize(50,-1), 0, 1, 200, 8, _T("ID_SPINCTRL2"));
edSizeY->SetValue(_T("8"));
FlexGridSizer17->Add(edSizeY, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticBoxSizer4->Add(FlexGridSizer17, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer6->Add(StaticBoxSizer4, 1, wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL, 2);
wxString __wxRadioBoxChoices_1[2] =
{
_("OpenCV\'s default"),
_("Scaramuzza et al.\'s")
};
rbMethod = new wxRadioBox(this, ID_RADIOBOX1, _(" Detector method: "), wxDefaultPosition, wxDefaultSize, 2, __wxRadioBoxChoices_1, 1, 0, wxDefaultValidator, _T("ID_RADIOBOX1"));
FlexGridSizer6->Add(rbMethod, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
StaticBoxSizer5 = new wxStaticBoxSizer(wxHORIZONTAL, this, _(" Size of quads (in mm): "));
FlexGridSizer18 = new wxFlexGridSizer(1, 4, 0, 0);
StaticText3 = new wxStaticText(this, ID_STATICTEXT3, _("In X:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT3"));
FlexGridSizer18->Add(StaticText3, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
edLengthX = new wxTextCtrl(this, ID_TEXTCTRL1, _("40.0"), wxDefaultPosition, wxSize(40,-1), 0, wxDefaultValidator, _T("ID_TEXTCTRL1"));
FlexGridSizer18->Add(edLengthX, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticText6 = new wxStaticText(this, ID_STATICTEXT6, _("In Y:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT6"));
FlexGridSizer18->Add(StaticText6, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
edLengthY = new wxTextCtrl(this, ID_TEXTCTRL3, _("40.0"), wxDefaultPosition, wxSize(40,-1), 0, wxDefaultValidator, _T("ID_TEXTCTRL3"));
FlexGridSizer18->Add(edLengthY, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticBoxSizer5->Add(FlexGridSizer18, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer6->Add(StaticBoxSizer5, 1, wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL, 2);
cbNormalize = new wxCheckBox(this, ID_CHECKBOX1, _("Normalize image"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX1"));
cbNormalize->SetValue(true);
FlexGridSizer6->Add(cbNormalize, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticBoxSizer3->Add(FlexGridSizer6, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer2->Add(StaticBoxSizer3, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
StaticBoxSizer2 = new wxStaticBoxSizer(wxHORIZONTAL, this, _("Calibration"));
FlexGridSizer7 = new wxFlexGridSizer(2, 1, 0, 0);
FlexGridSizer7->AddGrowableCol(0);
FlexGridSizer7->AddGrowableRow(0);
FlexGridSizer9 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer9->AddGrowableCol(0);
FlexGridSizer9->AddGrowableRow(0);
txtLog = new wxTextCtrl(this, ID_TEXTCTRL2, _("(Calibration results)"), wxDefaultPosition, wxDefaultSize, wxTE_MULTILINE|wxTE_READONLY|wxHSCROLL|wxVSCROLL, wxDefaultValidator, _T("ID_TEXTCTRL2"));
wxFont txtLogFont = wxSystemSettings::GetFont(wxSYS_OEM_FIXED_FONT);
if ( !txtLogFont.Ok() ) txtLogFont = wxSystemSettings::GetFont(wxSYS_DEFAULT_GUI_FONT);
txtLogFont.SetPointSize(9);
txtLog->SetFont(txtLogFont);
FlexGridSizer9->Add(txtLog, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer7->Add(FlexGridSizer9, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer8 = new wxFlexGridSizer(2, 3, 0, 0);
FlexGridSizer8->AddGrowableCol(0);
FlexGridSizer8->AddGrowableCol(1);
btnRunCalib = new wxButton(this, ID_BUTTON3, _("Calibrate"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON3"));
btnRunCalib->SetDefault();
wxFont btnRunCalibFont(wxDEFAULT,wxDEFAULT,wxFONTSTYLE_NORMAL,wxBOLD,false,wxEmptyString,wxFONTENCODING_DEFAULT);
btnRunCalib->SetFont(btnRunCalibFont);
FlexGridSizer8->Add(btnRunCalib, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnSave = new wxButton(this, ID_BUTTON6, _("Save matrices..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON6"));
FlexGridSizer8->Add(btnSave, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer8->Add(-1,-1,1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnManualRect = new wxButton(this, ID_BUTTON7, _("Manual params..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON7"));
FlexGridSizer8->Add(btnManualRect, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnAbout = new wxButton(this, ID_BUTTON5, _("About"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON5"));
FlexGridSizer8->Add(btnAbout, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnClose = new wxButton(this, ID_BUTTON4, _("Quit"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON4"));
FlexGridSizer8->Add(btnClose, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer7->Add(FlexGridSizer8, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
StaticBoxSizer2->Add(FlexGridSizer7, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer2->Add(StaticBoxSizer2, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
FlexGridSizer1->Add(FlexGridSizer2, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer3 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer3->AddGrowableCol(0);
FlexGridSizer3->AddGrowableRow(0);
Notebook1 = new wxNotebook(this, ID_NOTEBOOK1, wxDefaultPosition, wxSize(719,570), 0, _T("ID_NOTEBOOK1"));
Panel2 = new wxPanel(Notebook1, ID_PANEL2, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL, _T("ID_PANEL2"));
FlexGridSizer13 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer13->AddGrowableCol(0);
FlexGridSizer13->AddGrowableRow(0);
ScrolledWindow2 = new wxScrolledWindow(Panel2, ID_SCROLLEDWINDOW2, wxDefaultPosition, wxDefaultSize, wxHSCROLL|wxVSCROLL, _T("ID_SCROLLEDWINDOW2"));
FlexGridSizer11 = new wxFlexGridSizer(0, 1, 0, 0);
FlexGridSizer11->AddGrowableCol(0);
FlexGridSizer11->AddGrowableRow(0);
bmpOriginal = new mrpt::gui::wxMRPTImageControl(ScrolledWindow2,ID_CUSTOM2,wxDefaultPosition.x,wxDefaultPosition.y,wxSize(640,480).GetWidth(), wxSize(640,480).GetHeight() );
FlexGridSizer11->Add(bmpOriginal, 1, wxALL|wxALIGN_LEFT|wxALIGN_TOP, 0);
ScrolledWindow2->SetSizer(FlexGridSizer11);
FlexGridSizer11->Fit(ScrolledWindow2);
FlexGridSizer11->SetSizeHints(ScrolledWindow2);
FlexGridSizer13->Add(ScrolledWindow2, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
Panel2->SetSizer(FlexGridSizer13);
FlexGridSizer13->Fit(Panel2);
FlexGridSizer13->SetSizeHints(Panel2);
Panel3 = new wxPanel(Notebook1, ID_PANEL3, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL, _T("ID_PANEL3"));
FlexGridSizer10 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer10->AddGrowableCol(0);
FlexGridSizer10->AddGrowableRow(0);
ScrolledWindow3 = new wxScrolledWindow(Panel3, ID_SCROLLEDWINDOW3, wxDefaultPosition, wxDefaultSize, wxHSCROLL|wxVSCROLL, _T("ID_SCROLLEDWINDOW3"));
FlexGridSizer14 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer14->AddGrowableCol(0);
FlexGridSizer14->AddGrowableRow(0);
bmpRectified = new mrpt::gui::wxMRPTImageControl(ScrolledWindow3,ID_CUSTOM1,wxDefaultPosition.x,wxDefaultPosition.y,wxSize(640,480).GetWidth(), wxSize(640,480).GetHeight() );
FlexGridSizer14->Add(bmpRectified, 1, wxALL|wxALIGN_LEFT|wxALIGN_TOP, 0);
ScrolledWindow3->SetSizer(FlexGridSizer14);
FlexGridSizer14->Fit(ScrolledWindow3);
FlexGridSizer14->SetSizeHints(ScrolledWindow3);
FlexGridSizer10->Add(ScrolledWindow3, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
Panel3->SetSizer(FlexGridSizer10);
FlexGridSizer10->Fit(Panel3);
FlexGridSizer10->SetSizeHints(Panel3);
Panel1 = new wxPanel(Notebook1, ID_PANEL1, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL, _T("ID_PANEL1"));
FlexGridSizer12 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer12->AddGrowableCol(0);
FlexGridSizer12->AddGrowableRow(0);
m_3Dview = new CMyGLCanvas(Panel1,ID_XY_GLCANVAS,wxDefaultPosition,wxSize(-1,300),wxTAB_TRAVERSAL,_T("ID_XY_GLCANVAS"));
FlexGridSizer12->Add(m_3Dview, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
Panel1->SetSizer(FlexGridSizer12);
FlexGridSizer12->Fit(Panel1);
FlexGridSizer12->SetSizeHints(Panel1);
Notebook1->AddPage(Panel2, _("Original Image"), false);
Notebook1->AddPage(Panel3, _("Rectified image and reprojected points"), true);
Notebook1->AddPage(Panel1, _("3D view"), false);
FlexGridSizer3->Add(Notebook1, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
FlexGridSizer1->Add(FlexGridSizer3, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
SetSizer(FlexGridSizer1);
FlexGridSizer1->Fit(this);
FlexGridSizer1->SetSizeHints(this);
Connect(ID_BUTTON8,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnCaptureNowClick);
Connect(ID_BUTTON1,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnAddImage);
Connect(ID_BUTTON2,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnListClear);
Connect(ID_BUTTON9,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnSaveImagesClick);
Connect(ID_LISTBOX1,wxEVT_COMMAND_LISTBOX_SELECTED,(wxObjectEventFunction)&camera_calib_guiDialog::OnlbFilesSelect);
Connect(ID_CHOICE1,wxEVT_COMMAND_CHOICE_SELECTED,(wxObjectEventFunction)&camera_calib_guiDialog::OncbZoomSelect);
Connect(ID_BUTTON3,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnRunCalibClick);
Connect(ID_BUTTON6,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnSaveClick);
Connect(ID_BUTTON7,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnManualRectClick);
Connect(ID_BUTTON5,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnAboutClick);
Connect(ID_BUTTON4,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnCloseClick);
//*)
camera_params.intrinsicParams(0,0) = 0; // Indicate calib didn't run yet.
wxIcon icon;
icon.CopyFromBitmap( wxBitmap(wxImage( icono_main_xpm )) );
this->SetIcon( icon );
this->show3Dview(); // Empty 3D scene
Center();
this->SetTitle( _U( format("Camera calibration %s - Part of the MRPT project",CAMERA_CALIB_GUI_VERSION).c_str() ) );
Maximize();
}