// 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(); }