WxUtils.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "gui-precomp.h"  // Precompiled headers

#include <mrpt/gui/WxUtils.h>
#include <mrpt/img/CImage.h>
#include <mrpt/system/filesystem.h>

#if MRPT_HAS_WXWIDGETS

#include <mrpt/otherlibs/do_opencv_includes.h>

using namespace mrpt;
using namespace mrpt::gui;
using namespace std;

wxImage* mrpt::gui::MRPTImage2wxImage(const mrpt::img::CImage& img)
{
#if MRPT_HAS_OPENCV
    using namespace std::string_literals;

    mrpt::img::CImage new_image(img, mrpt::img::SHALLOW_COPY);

    // If the image is GRAYSCALE, we need to convert it into RGB, so do it
    // manually:
    if (!new_image.isColor())
    {
        new_image = new_image.colorImage();
    }

    if (new_image.getChannelsOrder() == "BGR"s)
    {
        auto im = new_image.makeDeepCopy();
        im.swapRB();
        new_image = im;
    }

    const int row_in_bytes =
        new_image.getWidth() *
        (new_image.getChannelCount() == mrpt::img::CH_RGB ? 3 : 1);
    uint8_t* data =
        static_cast<uint8_t*>(malloc(row_in_bytes * new_image.getHeight()));

    const int w = new_image.getWidth(), h = new_image.getHeight(),
              rs = new_image.getRowStride();

    // Copy row by row only if necesary:
    if (row_in_bytes != rs)
    {
        auto* trg = data;
        const auto* src = new_image.ptrLine<uint8_t>(0);
        for (int y = 0; y < h; y++, src += rs, trg += row_in_bytes)
            memcpy(trg, src, row_in_bytes);
    }
    else
    {
        memcpy(data, new_image.ptrLine<uint8_t>(0), row_in_bytes * h);
    }

    // create and return the object
    return new wxImage(w, h, data, false /* false=transfer mem ownership */);
#endif
}

wxBitmap* mrpt::gui::MRPTImage2wxBitmap(const mrpt::img::CImage& img)
{
#if MRPT_HAS_OPENCV
    auto* i = MRPTImage2wxImage(img);
    auto ret = new wxBitmap(*i);
    delete i;
    return ret;
#else
    THROW_EXCEPTION("MRPT compiled without OpenCV");
#endif
}

//------------------------------------------------------------------------
// Convert wxImage -> MRPTImage
//------------------------------------------------------------------------
mrpt::img::CImage* mrpt::gui::wxImage2MRPTImage(const wxImage& img)
{
    auto* newImg = new mrpt::img::CImage();

    const size_t lx = img.GetWidth();
    const size_t ly = img.GetHeight();

    newImg->loadFromMemoryBuffer(
        lx, ly, true, img.GetData(), true /* swap RB */);

    return newImg;
}

//------------------------------------------------------------------------
// Convert wxImage -> MRPTImagePtr
//------------------------------------------------------------------------
mrpt::img::CImage::Ptr mrpt::gui::wxImage2MRPTImagePtr(const wxImage& img)
{
    return mrpt::img::CImage::Ptr(wxImage2MRPTImage(img));
}

//------------------------------------------------------------------------
//              wxMRPTImageControl
//------------------------------------------------------------------------
wxMRPTImageControl::wxMRPTImageControl(
    wxWindow* parent, wxWindowID winID, int x, int y, int width, int height)
    : m_img(nullptr)
{
    this->Create(parent, winID, wxPoint(x, y), wxSize(width, height));

    Connect(wxEVT_PAINT, wxPaintEventHandler(wxMRPTImageControl::OnPaint));
    Connect(wxEVT_MOTION, wxMouseEventHandler(wxMRPTImageControl::OnMouseMove));
    Connect(
        wxID_ANY, wxEVT_LEFT_DOWN,
        wxMouseEventHandler(wxMRPTImageControl::OnMouseClick));

    // Connect(wxID_ANY,wxEVT_CHAR,(wxObjectEventFunction)&wxMRPTImageControl::OnChar);
}

wxMRPTImageControl::~wxMRPTImageControl()
{
    std::lock_guard<std::mutex> lock(m_img_cs);
    if (m_img)
    {
        delete m_img;
        m_img = nullptr;
    }
}

void wxMRPTImageControl::OnMouseMove(wxMouseEvent& ev)
{
    std::lock_guard<std::mutex> lock(m_mouse_cs);
    m_last_mouse_point = ev.GetPosition();
}

void wxMRPTImageControl::OnMouseClick(wxMouseEvent& ev)
{
    std::lock_guard<std::mutex> lock(m_mouse_cs);
    m_last_mouse_click = ev.GetPosition();
}

void wxMRPTImageControl::AssignImage(wxBitmap* img)
{
    std::lock_guard<std::mutex> lock(m_img_cs);
    if (m_img)
    {
        delete m_img;
        m_img = nullptr;
    }

    m_img = img;
}

void wxMRPTImageControl::AssignImage(const mrpt::img::CImage& img)
{
    wxBitmap* wxImg = MRPTImage2wxBitmap(img);

    std::lock_guard<std::mutex> lock(m_img_cs);
    if (m_img)
    {
        delete m_img;
        m_img = nullptr;
    }

    m_img = wxImg;
}

void wxMRPTImageControl::OnPaint(wxPaintEvent& ev)
{
    wxPaintDC dc(this);

    std::lock_guard<std::mutex> lock(m_img_cs);
    if (!m_img)
    {
        // Erase background:
        return;
    }

    dc.DrawBitmap(*m_img, 0, 0);
}

void wxMRPTImageControl::GetBitmap(wxBitmap& bmp)
{
    std::lock_guard<std::mutex> lock(m_img_cs);
    if (!m_img) return;
    bmp = *m_img;
}

//  *********************************************************************
//  CPanelCameraSelection
//  *********************************************************************

//(*IdInit(CPanelCameraSelection)
const long CPanelCameraSelection::ID_STATICTEXT1 = wxNewId();
const long CPanelCameraSelection::ID_SPINCTRL1 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT3 = wxNewId();
const long CPanelCameraSelection::ID_CHOICE1 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT6 = wxNewId();
const long CPanelCameraSelection::ID_CHOICE2 = wxNewId();
const long CPanelCameraSelection::ID_PANEL2 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT7 = wxNewId();
const long CPanelCameraSelection::ID_TEXTCTRL1 = wxNewId();
const long CPanelCameraSelection::ID_PANEL3 = wxNewId();
const long CPanelCameraSelection::ID_TEXTCTRL6 = wxNewId();
const long CPanelCameraSelection::ID_PANEL4 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT8 = wxNewId();
const long CPanelCameraSelection::ID_TEXTCTRL2 = wxNewId();
const long CPanelCameraSelection::ID_BUTTON7 = wxNewId();
const long CPanelCameraSelection::ID_PANEL5 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT9 = wxNewId();
const long CPanelCameraSelection::ID_TEXTCTRL3 = wxNewId();
const long CPanelCameraSelection::ID_BUTTON8 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT5 = wxNewId();
const long CPanelCameraSelection::ID_TEXTCTRL7 = wxNewId();
const long CPanelCameraSelection::ID_BUTTON9 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT10 = wxNewId();
const long CPanelCameraSelection::ID_TEXTCTRL8 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT11 = wxNewId();
const long CPanelCameraSelection::ID_PANEL6 = wxNewId();
const long CPanelCameraSelection::ID_RADIOBOX1 = wxNewId();
const long CPanelCameraSelection::ID_CHECKBOX1 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT2 = wxNewId();
const long CPanelCameraSelection::ID_PANEL7 = wxNewId();
const long CPanelCameraSelection::ID_RADIOBOX2 = wxNewId();
const long CPanelCameraSelection::ID_STATICTEXT4 = wxNewId();
const long CPanelCameraSelection::ID_TEXTCTRL4 = wxNewId();
const long CPanelCameraSelection::ID_CHECKBOX3 = wxNewId();
const long CPanelCameraSelection::ID_CHECKBOX4 = wxNewId();
const long CPanelCameraSelection::ID_CHECKBOX5 = wxNewId();
const long CPanelCameraSelection::ID_CHECKBOX6 = wxNewId();
const long CPanelCameraSelection::ID_PANEL1 = wxNewId();
const long CPanelCameraSelection::ID_CHECKBOX7 = wxNewId();
const long CPanelCameraSelection::ID_CHECKBOX8 = wxNewId();
const long CPanelCameraSelection::ID_CHECKBOX9 = wxNewId();
const long CPanelCameraSelection::ID_RADIOBOX3 = wxNewId();
const long CPanelCameraSelection::ID_PANEL8 = wxNewId();
const long CPanelCameraSelection::ID_NOTEBOOK1 = wxNewId();
const long CPanelCameraSelection::ID_CHECKBOX2 = wxNewId();
//*)

BEGIN_EVENT_TABLE(CPanelCameraSelection, wxPanel)
//(*EventTable(CPanelCameraSelection)
//*)
END_EVENT_TABLE()

CPanelCameraSelection::CPanelCameraSelection(wxWindow* parent, wxWindowID id)
{
    //(*Initialize(CPanelCameraSelection)
    wxStaticBoxSizer* StaticBoxSizer2;
    wxFlexGridSizer* FlexGridSizer4;
    wxFlexGridSizer* FlexGridSizer16;
    wxFlexGridSizer* FlexGridSizer10;
    wxFlexGridSizer* FlexGridSizer3;
    wxFlexGridSizer* FlexGridSizer5;
    wxFlexGridSizer* FlexGridSizer2;
    wxFlexGridSizer* FlexGridSizer18;
    wxFlexGridSizer* FlexGridSizer13;
    wxFlexGridSizer* FlexGridSizer12;
    wxStaticBoxSizer* StaticBoxSizer1;
    wxFlexGridSizer* FlexGridSizer1;
    wxFlexGridSizer* FlexGridSizer11;

    Create(
        parent, id, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL,
        _T("id"));
    FlexGridSizer1 = new wxFlexGridSizer(0, 1, 0, 0);
    FlexGridSizer1->AddGrowableCol(0);
    FlexGridSizer1->AddGrowableRow(0);
    pagesCameras = new wxNotebook(
        this, ID_NOTEBOOK1, wxDefaultPosition, wxDefaultSize, 0,
        _T("ID_NOTEBOOK1"));
    Panel2 = new wxPanel(
        pagesCameras, ID_PANEL2, wxDefaultPosition, wxDefaultSize,
        wxTAB_TRAVERSAL, _T("ID_PANEL2"));
    FlexGridSizer10 = new wxFlexGridSizer(0, 2, 0, 0);
    FlexGridSizer10->AddGrowableCol(1);
    StaticText1 = new wxStaticText(
        Panel2, ID_STATICTEXT1, _("Camera index:"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT1"));
    FlexGridSizer10->Add(
        StaticText1, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
    opencvCamIndex = new wxSpinCtrl(
        Panel2, ID_SPINCTRL1, _T("0"), wxDefaultPosition, wxDefaultSize, 0, 0,
        100, 0, _T("ID_SPINCTRL1"));
    opencvCamIndex->SetValue(_T("0"));
    FlexGridSizer10->Add(
        opencvCamIndex, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 5);
    StaticText3 = new wxStaticText(
        Panel2, ID_STATICTEXT3, _("Camera type:"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT3"));
    FlexGridSizer10->Add(
        StaticText3, 1,
        wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL, 5);
    cbOpencvCamType = new wxChoice(
        Panel2, ID_CHOICE1, wxDefaultPosition, wxDefaultSize, 0, nullptr, 0,
        wxDefaultValidator, _T("ID_CHOICE1"));
    cbOpencvCamType->SetSelection(
        cbOpencvCamType->Append(_("CAMERA_CV_AUTODETECT")));
    cbOpencvCamType->Append(_("CAMERA_CV_DC1394"));
    cbOpencvCamType->Append(_("CAMERA_CV_VFL"));
    cbOpencvCamType->Append(_("CAMERA_CV_VFW"));
    cbOpencvCamType->Append(_("CAMERA_CV_MIL"));
    cbOpencvCamType->Append(_("CAMERA_CV_DSHOW"));
    FlexGridSizer10->Add(
        cbOpencvCamType, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 5);
    StaticText6 = new wxStaticText(
        Panel2, ID_STATICTEXT6, _("Resolution:"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT6"));
    FlexGridSizer10->Add(
        StaticText6, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
    cbOpencvResolution = new wxChoice(
        Panel2, ID_CHOICE2, wxDefaultPosition, wxDefaultSize, 0, nullptr, 0,
        wxDefaultValidator, _T("ID_CHOICE2"));
    cbOpencvResolution->SetSelection(cbOpencvResolution->Append(_("default")));
    cbOpencvResolution->Append(_("320x240"));
    cbOpencvResolution->Append(_("640x480"));
    FlexGridSizer10->Add(
        cbOpencvResolution, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL,
        5);
    FlexGridSizer10->Add(
        -1, -1, 1, wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL,
        0);
    Panel2->SetSizer(FlexGridSizer10);
    FlexGridSizer10->Fit(Panel2);
    FlexGridSizer10->SetSizeHints(Panel2);
    Panel3 = new wxPanel(
        pagesCameras, ID_PANEL3, wxDefaultPosition, wxDefaultSize,
        wxTAB_TRAVERSAL, _T("ID_PANEL3"));
    FlexGridSizer11 = new wxFlexGridSizer(0, 1, 0, 0);
    FlexGridSizer11->AddGrowableCol(0);
    StaticText7 = new wxStaticText(
        Panel3, ID_STATICTEXT7, _("IP Camera URL:"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT7"));
    FlexGridSizer11->Add(
        StaticText7, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 5);
    edIPcamURL = new wxTextCtrl(
        Panel3, ID_TEXTCTRL1, _("rtsp://192.168.0.1/live.sdp"),
        wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator,
        _T("ID_TEXTCTRL1"));
    FlexGridSizer11->Add(
        edIPcamURL, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 5);
    Panel3->SetSizer(FlexGridSizer11);
    FlexGridSizer11->Fit(Panel3);
    FlexGridSizer11->SetSizeHints(Panel3);
    Panel4 = new wxPanel(
        pagesCameras, ID_PANEL4, wxDefaultPosition, wxDefaultSize,
        wxTAB_TRAVERSAL, _T("ID_PANEL4"));
    FlexGridSizer16 = new wxFlexGridSizer(0, 1, 0, 0);
    FlexGridSizer16->AddGrowableCol(0);
    FlexGridSizer16->AddGrowableRow(0);
    edCustomCamConfig = new wxTextCtrl(
        Panel4, ID_TEXTCTRL6,
        _("// Configuration block for the CCameraSensor object.\n// Check out "
          "its documentation at:\n// "
          "http://reference.mrpt.org/devel/"
          "classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html\n\n[CONFIG]"
          "\ngrabber_type = opencv \ncv_camera_index = 0\ncv_camera_type = "
          "CAMERA_CV_AUTODETECT\n\n"),
        wxDefaultPosition, wxDefaultSize,
        wxTE_MULTILINE | wxHSCROLL | wxTE_DONTWRAP | wxVSCROLL |
            wxALWAYS_SHOW_SB,
        wxDefaultValidator, _T("ID_TEXTCTRL6"));
    wxFont edCustomCamConfigFont =
        wxSystemSettings::GetFont(wxSYS_OEM_FIXED_FONT);
    if (!edCustomCamConfigFont.Ok())
        edCustomCamConfigFont =
            wxSystemSettings::GetFont(wxSYS_DEFAULT_GUI_FONT);
    edCustomCamConfigFont.SetPointSize(7);
    edCustomCamConfig->SetFont(edCustomCamConfigFont);
    FlexGridSizer16->Add(
        edCustomCamConfig, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 5);
    Panel4->SetSizer(FlexGridSizer16);
    FlexGridSizer16->Fit(Panel4);
    FlexGridSizer16->SetSizeHints(Panel4);
    Panel5 = new wxPanel(
        pagesCameras, ID_PANEL5, wxDefaultPosition, wxDefaultSize,
        wxTAB_TRAVERSAL, _T("ID_PANEL5"));
    FlexGridSizer12 = new wxFlexGridSizer(0, 1, 0, 0);
    FlexGridSizer12->AddGrowableCol(0);
    StaticText8 = new wxStaticText(
        Panel5, ID_STATICTEXT8, _("Video file to open:"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT8"));
    FlexGridSizer12->Add(
        StaticText8, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 5);
    edVideoFile = new wxTextCtrl(
        Panel5, ID_TEXTCTRL2, _("test.avi"), wxDefaultPosition, wxDefaultSize,
        0, wxDefaultValidator, _T("ID_TEXTCTRL2"));
    FlexGridSizer12->Add(
        edVideoFile, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 5);
    btnBrowseVideo = new wxButton(
        Panel5, ID_BUTTON7, _("Browse..."), wxDefaultPosition, wxDefaultSize, 0,
        wxDefaultValidator, _T("ID_BUTTON7"));
    FlexGridSizer12->Add(
        btnBrowseVideo, 1,
        wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL, 5);
    Panel5->SetSizer(FlexGridSizer12);
    FlexGridSizer12->Fit(Panel5);
    FlexGridSizer12->SetSizeHints(Panel5);
    Panel6 = new wxPanel(
        pagesCameras, ID_PANEL6, wxDefaultPosition, wxDefaultSize,
        wxTAB_TRAVERSAL, _T("ID_PANEL6"));
    FlexGridSizer13 = new wxFlexGridSizer(0, 3, 0, 0);
    FlexGridSizer13->AddGrowableCol(1);
    StaticText9 = new wxStaticText(
        Panel6, ID_STATICTEXT9, _("Rawlog \nfile:"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT9"));
    FlexGridSizer13->Add(
        StaticText9, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
    edRawlogFile = new wxTextCtrl(
        Panel6, ID_TEXTCTRL3, _("test.rawlog"), wxDefaultPosition,
        wxDefaultSize, 0, wxDefaultValidator, _T("ID_TEXTCTRL3"));
    FlexGridSizer13->Add(
        edRawlogFile, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 5);
    btnBrowseRawlog = new wxButton(
        Panel6, ID_BUTTON8, _("Browse..."), wxDefaultPosition, wxDefaultSize, 0,
        wxDefaultValidator, _T("ID_BUTTON8"));
    FlexGridSizer13->Add(
        btnBrowseRawlog, 1,
        wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL, 5);
    StaticText5 = new wxStaticText(
        Panel6, ID_STATICTEXT5, _("External \nimages:"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT5"));
    FlexGridSizer13->Add(
        StaticText5, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
    edRawlogImgDir = new wxTextCtrl(
        Panel6, ID_TEXTCTRL7, _("./Images"), wxDefaultPosition, wxDefaultSize,
        0, wxDefaultValidator, _T("ID_TEXTCTRL7"));
    FlexGridSizer13->Add(
        edRawlogImgDir, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 5);
    btnBrowseRawlogDir = new wxButton(
        Panel6, ID_BUTTON9, _("Browse..."), wxDefaultPosition, wxDefaultSize, 0,
        wxDefaultValidator, _T("ID_BUTTON9"));
    FlexGridSizer13->Add(
        btnBrowseRawlogDir, 1,
        wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL, 5);
    StaticText10 = new wxStaticText(
        Panel6, ID_STATICTEXT10, _("Sensor\nlabel:"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT10"));
    FlexGridSizer13->Add(
        StaticText10, 1, wxALL | wxALIGN_RIGHT | wxALIGN_CENTER_VERTICAL, 5);
    edRawlogLabel = new wxTextCtrl(
        Panel6, ID_TEXTCTRL8, wxEmptyString, wxDefaultPosition, wxDefaultSize,
        0, wxDefaultValidator, _T("ID_TEXTCTRL8"));
    FlexGridSizer13->Add(
        edRawlogLabel, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 5);
    StaticText11 = new wxStaticText(
        Panel6, ID_STATICTEXT11, _("(empty=any)"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT11"));
    FlexGridSizer13->Add(
        StaticText11, 1,
        wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL, 5);
    Panel6->SetSizer(FlexGridSizer13);
    FlexGridSizer13->Fit(Panel6);
    FlexGridSizer13->SetSizeHints(Panel6);
    Panel1 = new wxPanel(
        pagesCameras, ID_PANEL7, wxDefaultPosition, wxDefaultSize,
        wxTAB_TRAVERSAL, _T("ID_PANEL7"));
    FlexGridSizer18 = new wxFlexGridSizer(2, 2, 0, 0);
    wxString __wxRadioBoxChoices_1[2] = {_("Left"), _("Right")};
    rbBumblebeeSel = new wxRadioBox(
        Panel1, ID_RADIOBOX1, _("Select monocular input"), wxDefaultPosition,
        wxDefaultSize, 2, __wxRadioBoxChoices_1, 1, 0, wxDefaultValidator,
        _T("ID_RADIOBOX1"));
    rbBumblebeeSel->SetSelection(0);
    FlexGridSizer18->Add(
        rbBumblebeeSel, 1,
        wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL, 5);
    cbBumblebeeRectif = new wxCheckBox(
        Panel1, ID_CHECKBOX1, _("Use vendor\'s rectify"), wxDefaultPosition,
        wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX1"));
    cbBumblebeeRectif->SetValue(false);
    FlexGridSizer18->Add(
        cbBumblebeeRectif, 1, wxALL | wxALIGN_TOP | wxALIGN_CENTER_HORIZONTAL,
        10);
    FlexGridSizer18->Add(-1, -1, 1, wxALL | wxALIGN_LEFT | wxALIGN_BOTTOM, 5);
    StaticText2 = new wxStaticText(
        Panel1, ID_STATICTEXT2, _("(Unchecked = raw images)"),
        wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT2"));
    FlexGridSizer18->Add(
        StaticText2, 1, wxALL | wxALIGN_LEFT | wxALIGN_BOTTOM, 5);
    Panel1->SetSizer(FlexGridSizer18);
    FlexGridSizer18->Fit(Panel1);
    FlexGridSizer18->SetSizeHints(Panel1);
    pnSwissRanger = new wxPanel(
        pagesCameras, ID_PANEL1, wxDefaultPosition, wxDefaultSize,
        wxTAB_TRAVERSAL, _T("ID_PANEL1"));
    FlexGridSizer2 = new wxFlexGridSizer(2, 3, 0, 0);
    wxString __wxRadioBoxChoices_2[2] = {_("USB"), _("Ethernet")};
    rbSR_usb = new wxRadioBox(
        pnSwissRanger, ID_RADIOBOX2, _("Connection"), wxDefaultPosition,
        wxDefaultSize, 2, __wxRadioBoxChoices_2, 1, 0, wxDefaultValidator,
        _T("ID_RADIOBOX2"));
    FlexGridSizer2->Add(
        rbSR_usb, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 5);
    StaticText4 = new wxStaticText(
        pnSwissRanger, ID_STATICTEXT4, _("IP:"), wxDefaultPosition,
        wxDefaultSize, 0, _T("ID_STATICTEXT4"));
    FlexGridSizer2->Add(
        StaticText4, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 5);
    edSR_IP = new wxTextCtrl(
        pnSwissRanger, ID_TEXTCTRL4, _("192.168.2.14"), wxDefaultPosition,
        wxSize(120, -1), 0, wxDefaultValidator, _T("ID_TEXTCTRL4"));
    FlexGridSizer2->Add(
        edSR_IP, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 5);
    StaticBoxSizer1 = new wxStaticBoxSizer(
        wxHORIZONTAL, pnSwissRanger, _("Channels to grab: "));
    FlexGridSizer3 = new wxFlexGridSizer(4, 1, 0, 0);
    cbSR_chIntensity = new wxCheckBox(
        pnSwissRanger, ID_CHECKBOX3, _("Grayscale intensity"),
        wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator,
        _T("ID_CHECKBOX3"));
    cbSR_chIntensity->SetValue(true);
    cbSR_chIntensity->Disable();
    FlexGridSizer3->Add(
        cbSR_chIntensity, 1, wxALL | wxALIGN_LEFT | wxALIGN_BOTTOM, 5);
    cbSR_ch3D = new wxCheckBox(
        pnSwissRanger, ID_CHECKBOX4, _("3D point cloud"), wxDefaultPosition,
        wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX4"));
    cbSR_ch3D->SetValue(false);
    FlexGridSizer3->Add(cbSR_ch3D, 1, wxALL | wxALIGN_LEFT | wxALIGN_BOTTOM, 5);
    cbSR_chRange = new wxCheckBox(
        pnSwissRanger, ID_CHECKBOX5, _("Depth image"), wxDefaultPosition,
        wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX5"));
    cbSR_chRange->SetValue(false);
    FlexGridSizer3->Add(
        cbSR_chRange, 1, wxALL | wxALIGN_LEFT | wxALIGN_BOTTOM, 5);
    cbSR_chConf = new wxCheckBox(
        pnSwissRanger, ID_CHECKBOX6, _("Confidence"), wxDefaultPosition,
        wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX6"));
    cbSR_chConf->SetValue(false);
    FlexGridSizer3->Add(
        cbSR_chConf, 1, wxALL | wxALIGN_LEFT | wxALIGN_BOTTOM, 5);
    StaticBoxSizer1->Add(
        FlexGridSizer3, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_BOTTOM, 0);
    FlexGridSizer2->Add(
        StaticBoxSizer1, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_BOTTOM,
        5);
    pnSwissRanger->SetSizer(FlexGridSizer2);
    FlexGridSizer2->Fit(pnSwissRanger);
    FlexGridSizer2->SetSizeHints(pnSwissRanger);
    pnKinect = new wxPanel(
        pagesCameras, ID_PANEL8, wxDefaultPosition, wxDefaultSize,
        wxTAB_TRAVERSAL, _T("ID_PANEL8"));
    FlexGridSizer4 = new wxFlexGridSizer(2, 3, 0, 0);
    StaticBoxSizer2 =
        new wxStaticBoxSizer(wxHORIZONTAL, pnKinect, _("Channels to grab: "));
    FlexGridSizer5 = new wxFlexGridSizer(4, 1, 0, 0);
    cbKinect_Int = new wxCheckBox(
        pnKinect, ID_CHECKBOX7, _("Intensity"), wxDefaultPosition,
        wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX7"));
    cbKinect_Int->SetValue(true);
    cbKinect_Int->Disable();
    FlexGridSizer5->Add(
        cbKinect_Int, 1, wxALL | wxALIGN_LEFT | wxALIGN_BOTTOM, 5);
    cbKinect_3D = new wxCheckBox(
        pnKinect, ID_CHECKBOX8, _("3D point cloud"), wxDefaultPosition,
        wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX8"));
    cbKinect_3D->SetValue(false);
    FlexGridSizer5->Add(
        cbKinect_3D, 1, wxALL | wxALIGN_LEFT | wxALIGN_BOTTOM, 5);
    cbKinect_Depth = new wxCheckBox(
        pnKinect, ID_CHECKBOX9, _("Depth image"), wxDefaultPosition,
        wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX9"));
    cbKinect_Depth->SetValue(false);
    FlexGridSizer5->Add(
        cbKinect_Depth, 1, wxALL | wxALIGN_LEFT | wxALIGN_BOTTOM, 5);
    StaticBoxSizer2->Add(
        FlexGridSizer5, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_BOTTOM, 0);
    FlexGridSizer4->Add(
        StaticBoxSizer2, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_BOTTOM,
        5);
    wxString __wxRadioBoxChoices_3[2] = {_("RGB camera"), _("IR camera")};
    rbKinect_int = new wxRadioBox(
        pnKinect, ID_RADIOBOX3, _("Intensity channel:"), wxDefaultPosition,
        wxDefaultSize, 2, __wxRadioBoxChoices_3, 1, 0, wxDefaultValidator,
        _T("ID_RADIOBOX3"));
    rbKinect_int->SetSelection(0);
    FlexGridSizer4->Add(
        rbKinect_int, 1, wxALL | wxALIGN_TOP | wxALIGN_CENTER_HORIZONTAL, 5);
    pnKinect->SetSizer(FlexGridSizer4);
    FlexGridSizer4->Fit(pnKinect);
    FlexGridSizer4->SetSizeHints(pnKinect);
    pagesCameras->AddPage(Panel2, _("Camera (opencv)"), false);
    pagesCameras->AddPage(Panel3, _("Camera (FFmpeg)"), false);
    pagesCameras->AddPage(Panel4, _("Camera (custom)"), false);
    pagesCameras->AddPage(Panel5, _("Video file"), false);
    pagesCameras->AddPage(Panel6, _("Rawlog file"), false);
    pagesCameras->AddPage(Panel1, _("Bumblebee"), false);
    pagesCameras->AddPage(pnSwissRanger, _("SwissRanger ToF"), false);
    pagesCameras->AddPage(pnKinect, _("Kinect"), false);
    FlexGridSizer1->Add(
        pagesCameras, 1, wxALL | wxALIGN_LEFT | wxALIGN_CENTER_VERTICAL, 5);
    cbGrayscale = new wxCheckBox(
        this, ID_CHECKBOX2, _("Capture in grayscale"), wxDefaultPosition,
        wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX2"));
    cbGrayscale->SetValue(true);
    FlexGridSizer1->Add(
        cbGrayscale, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 5);
    SetSizer(FlexGridSizer1);
    FlexGridSizer1->Fit(this);
    FlexGridSizer1->SetSizeHints(this);

    Connect(
        ID_BUTTON7, wxEVT_COMMAND_BUTTON_CLICKED,
        (wxObjectEventFunction)&CPanelCameraSelection::OnbtnBrowseVideoClick);
    Connect(
        ID_BUTTON8, wxEVT_COMMAND_BUTTON_CLICKED,
        (wxObjectEventFunction)&CPanelCameraSelection::OnbtnBrowseRawlogClick);
    Connect(
        ID_BUTTON9, wxEVT_COMMAND_BUTTON_CLICKED,
        (wxObjectEventFunction)&CPanelCameraSelection::
            OnbtnBrowseRawlogDirClick);
    //*)

    // end of automatically-generated code above:
    cbOpencvResolution->Clear();
    cbOpencvResolution->SetSelection(cbOpencvResolution->Append(_("default")));

    cbOpencvResolution->Append(_("320x240"));
    cbOpencvResolution->Append(_("640x480"));
    cbOpencvResolution->Append(_("800x600"));
    cbOpencvResolution->Append(_("1024x768"));
    cbOpencvResolution->Append(_("1280x1024"));
}

void CPanelCameraSelection::OnbtnBrowseVideoClick(wxCommandEvent& event)
{
    wxFileDialog dialog(
        this, wxT("Choose a video to open"), wxT("."), wxT(""),
        wxT("Video files (*.avi;*.mpg;*.mov)|*.avi;*.mpg;*.mov|All files "
            "(*.*)|*.*"),
        wxFD_OPEN | wxFD_FILE_MUST_EXIST);

    if (dialog.ShowModal() == wxID_OK) edVideoFile->SetValue(dialog.GetPath());
}

void CPanelCameraSelection::OnbtnBrowseRawlogClick(wxCommandEvent& event)
{
    wxFileDialog dialog(
        this, wxT("Choose a rawlog to open"), wxT("."), wxT(""),
        wxT("Rawlog files (*.rawlog;*.rawlog.gz)|*.rawlog;*.rawlog.gz|All "
            "files (*.*)|*.*"),
        wxFD_OPEN | wxFD_FILE_MUST_EXIST);

    if (dialog.ShowModal() == wxID_OK)
    {
        edRawlogFile->SetValue(dialog.GetPath());

        if (!mrpt::system::directoryExists(
                string(edRawlogImgDir->GetValue().mb_str())))
        {
            string fil = string(dialog.GetPath().mb_str());
            string fil_path = mrpt::system::extractFileDirectory(fil);
            fil_path += "/Images";
            edRawlogImgDir->SetValue(fil_path.c_str());
        }
    }
}

void CPanelCameraSelection::OnbtnBrowseRawlogDirClick(wxCommandEvent& event)
{
    wxDirDialog dialog(
        this, wxT("Choose the rawlog directory with external images"),
        edRawlogImgDir->GetValue(), wxDD_DEFAULT_STYLE);

    if (dialog.ShowModal() == wxID_OK)
        edRawlogImgDir->SetValue(dialog.GetPath());
}

CPanelCameraSelection::~CPanelCameraSelection()
{
    //(*Destroy(CPanelCameraSelection)
    //*)
}

/* ------------------------------------------------------------------------
                        writeConfigFromVideoSourcePanel
   ------------------------------------------------------------------------ */
void CPanelCameraSelection::writeConfigFromVideoSourcePanel(
    const std::string& sect, mrpt::config::CConfigFileBase* cfg) const
{
    MRPT_START

    switch (this->pagesCameras->GetSelection())
    {
        // OpenCV:
        // -----------------------------------
        case 0:
        {
            cfg->write(sect, "grabber_type", "opencv");
            cfg->write(
                sect, "cv_camera_index",
                format("%i", this->opencvCamIndex->GetValue()));
            cfg->write(
                sect, "cv_camera_type",
                string(this->cbOpencvCamType->GetStringSelection().mb_str()));

            const std::string sRes =
                std::string(cbOpencvResolution->GetStringSelection().mb_str());

            if (!sRes.empty())
            {
                const size_t p = sRes.find("x");
                if (p != std::string::npos)
                {
                    const std::string sW = sRes.substr(0, p);
                    const std::string sH = sRes.substr(p + 1);

                    cfg->write(sect, "cv_frame_width", sW);
                    cfg->write(sect, "cv_frame_height", sH);
                }
            }
        }
        break;

        // Camera FFmpeg
        // -----------------------------------
        case 1:
        {
            cfg->write(sect, "grabber_type", "ffmpeg");
            cfg->write(
                sect, "ffmpeg_url",
                string(this->edIPcamURL->GetValue().mb_str()));
        }
        break;

        // Camera custom
        // -----------------------------------
        case 2:
        {
            // Replicate the config sections in "edCustomCamConfig" into "cfg":
            mrpt::config::CConfigFileMemory cfgIn(
                string(edCustomCamConfig->GetValue().mb_str()));
            std::vector<std::string> allSects;
            cfgIn.getAllSections(allSects);
            for (const auto& allSect : allSects)
            {
                std::vector<std::string> keys;
                cfgIn.getAllKeys(allSect, keys);
                for (const auto& key : keys)
                    cfg->write(
                        allSect, key, cfgIn.read_string(allSect, key, ""));
            }
        }
        break;

        // Video file
        // -----------------------------------
        case 3:
        {
            cfg->write(sect, "grabber_type", "ffmpeg");
            cfg->write(
                sect, "ffmpeg_url",
                string(this->edVideoFile->GetValue().mb_str()));
        }
        break;

        // Rawlog
        // -----------------------------------
        case 4:
        {
            cfg->write(sect, "grabber_type", "rawlog");
            cfg->write(
                sect, "rawlog_file",
                string(this->edRawlogFile->GetValue().mb_str()));

            const string rawlog_lb =
                string(this->edRawlogLabel->GetValue().mb_str());
            if (!rawlog_lb.empty())
                cfg->write(sect, "rawlog_camera_sensor_label", rawlog_lb);

            mrpt::img::CImage::setImagesPathBase(
                string(this->edRawlogImgDir->GetValue().mb_str()));
        }
        break;

        // Bumblebee
        // -----------------------------------
        case 5:
        {
            cfg->write(sect, "grabber_type", "bumblebee");
            if (this->rbBumblebeeSel->GetSelection() < 2)
                cfg->write(
                    sect, "bumblebee_mono",
                    format("%i\n", (int)this->rbBumblebeeSel->GetSelection()));
            else
            { /* Use stereo capture */
            }
            cfg->write(sect, "bumblebee_fps", 15);
            cfg->write(
                sect, "bumblebee_get_rectified",
                this->cbBumblebeeRectif->GetValue());
        }
        break;

        // Swissranger
        // -----------------------------------
        case 6:
        {
            cfg->write(sect, "grabber_type", "swissranger");

            cfg->write(sect, "sr_use_usb", rbSR_usb->GetSelection() == 0);
            cfg->write(sect, "sr_IP", string(edSR_IP->GetValue().mb_str()));

            cfg->write(sect, "sr_grab_grayscale", cbSR_chIntensity->GetValue());
            cfg->write(sect, "sr_grab_3d", cbSR_ch3D->GetValue());
            cfg->write(sect, "sr_grab_range", cbSR_chRange->GetValue());
            cfg->write(sect, "sr_grab_confidence", cbSR_chConf->GetValue());
        }
        break;

        // Kinect
        // -----------------------------------
        case 7:
        {
            cfg->write(sect, "grabber_type", "kinect");

            cfg->write(sect, "kinect_grab_intensity", cbKinect_Int->GetValue());
            cfg->write(sect, "kinect_grab_3d", cbKinect_3D->GetValue());
            cfg->write(sect, "kinect_grab_range", cbKinect_Depth->GetValue());

            cfg->write(
                sect, "kinect_video_rgb",
                rbKinect_int->GetSelection() == 0 ? 1 : 0);
        }
        break;

        default:
        {
            cerr << "[MRPT CPanelCameraSelection] ERROR: Unknown camera "
                    "selection tab!\n";
            THROW_EXCEPTION("Unknown camera selection tab!");
        }
    }

    // Add grayscale option:
    cfg->write(sect, "capture_grayscale", this->cbGrayscale->GetValue());

    MRPT_END
}

/* ------------------------------------------------------------------------
                        readConfigIntoVideoSourcePanel
   ------------------------------------------------------------------------ */
void CPanelCameraSelection::readConfigIntoVideoSourcePanel(
    const std::string& sect, const mrpt::config::CConfigFileBase* cfg) const
{
    MRPT_START

    const std::string grab_type =
        cfg->read_string(sect, "grabber_type", "opencv");

    if (grab_type == "opencv")
    {
        this->pagesCameras->SetSelection(0);

        this->opencvCamIndex->SetValue(
            cfg->read_int(sect, "cv_camera_index", 0));
        this->cbOpencvCamType->SetStringSelection(
            cfg->read_string(sect, "cv_camera_type", "").c_str());

        const int w = cfg->read_int(sect, "cv_frame_width", 0);

        if (w == 320)
            this->cbOpencvResolution->SetSelection(1);
        else if (w == 640)
            this->cbOpencvResolution->SetSelection(2);
        else
            this->cbOpencvResolution->SetSelection(0);
    }
    else if (grab_type == "ffmpeg")
    {
        // Page: 1 (IP), 3 (file)
        const string url =
            cfg->read_string(sect, "ffmpeg_url", "rtsp://192.168.0.1/live.sdp");

        if (url.substr(0, 5) == "rtsp:")
        {
            this->pagesCameras->SetSelection(1);
            this->edIPcamURL->SetValue(url.c_str());
        }
        else
        {
            this->pagesCameras->SetSelection(3);
            this->edVideoFile->SetValue(url.c_str());
        }
    }
    else if (grab_type == "rawlog")
    {
        this->pagesCameras->SetSelection(4);

        this->edRawlogFile->SetValue(
            cfg->read_string(sect, "rawlog_file", "").c_str());

        const string lb =
            cfg->read_string(sect, "rawlog_camera_sensor_label", "");
        this->edRawlogLabel->SetValue(lb.c_str());
    }
    else if (grab_type == "bumblebee")
    {
        this->pagesCameras->SetSelection(5);

        this->rbBumblebeeSel->SetSelection(
            cfg->read_int(sect, "bumblebee_mono", 0));
        this->cbBumblebeeRectif->SetValue(
            cfg->read_bool(sect, "bumblebee_get_rectified", false));
    }
    else if (grab_type == "swissranger")
    {
        this->pagesCameras->SetSelection(6);

        this->rbSR_usb->SetSelection(
            cfg->read_bool(sect, "sr_use_usb", true) ? 0 : 1);
        this->edSR_IP->SetValue(
            cfg->read_string(sect, "sr_IP", "192.168.0.1").c_str());

        this->cbSR_chIntensity->SetValue(
            cfg->read_bool(sect, "sr_grab_grayscale", true));
        this->cbSR_ch3D->SetValue(cfg->read_bool(sect, "sr_grab_3d", false));
        this->cbSR_chRange->SetValue(
            cfg->read_bool(sect, "sr_grab_range", false));
        this->cbSR_chConf->SetValue(
            cfg->read_bool(sect, "sr_grab_confidence", false));
    }
    else
        THROW_EXCEPTION_FMT(
            "Error: Unknown choice in 'grabber_type': '%s'", grab_type.c_str());

    // Grayscale option:
    this->cbGrayscale->SetValue(
        cfg->read_bool(sect, "capture_grayscale", false));

    MRPT_END
}

mrptKeyModifier mrpt::gui::keyEventToMrptKeyModifier(const wxKeyEvent& ev)
{
    int mod = MRPTKMOD_NONE;
    if (ev.AltDown()) mod |= MRPTKMOD_ALT;
    if (ev.CmdDown()) mod |= MRPTKMOD_CMD;
    if (ev.ControlDown()) mod |= MRPTKMOD_CONTROL;
    if (ev.MetaDown()) mod |= MRPTKMOD_META;
    if (ev.ShiftDown()) mod |= MRPTKMOD_SHIFT;
    return mrptKeyModifier(mod);
}

#endif  // MRPT_HAS_WXWIDGETS