WxUtils.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/gui/WxUtils.h>
#include <mrpt/utils/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 mrpt::utils;
using namespace std;

//------------------------------------------------------------------------
// An auxiliary function for passing MRPT images to wxWidgets images.
//   The returned object MUST be deleted by hand!
//------------------------------------------------------------------------
wxImage* mrpt::gui::MRPTImage2wxImage(const mrpt::utils::CImage& img)
{
#if MRPT_HAS_OPENCV
        IplImage* image = const_cast<IplImage*>(img.getAs<IplImage>());
        bool free_image_at_end = false;

        // If the image is GRAYSCALE, we need to convert it into RGB, so do it
        // manually:
        if (image->nChannels == 1)
        {
                IplImage* new_image =
                        cvCreateImage(cvSize(image->width, image->height), image->depth, 3);
                new_image->origin = image->origin;
                cvCvtColor(image, new_image, CV_GRAY2RGB);
                image = new_image;  // Use this new image instead
                free_image_at_end = true;
        }

        int options = 0;
        if (image->origin == 1) options |= CV_CVTIMG_FLIP;
        if (image->nChannels == 3 && image->channelSeq[0] == 'B' &&
                image->channelSeq[2] == 'R')
                options |= CV_CVTIMG_SWAP_RB;
        if (options)
        {
                IplImage* the_input_img = image;

                image = cvCreateImage(
                        cvSize(the_input_img->width, the_input_img->height),
                        the_input_img->depth, 3);
                if (the_input_img->width && the_input_img->height)
                        cvConvertImage(the_input_img, image, options);  // convert image

                if (free_image_at_end) cvReleaseImage(&the_input_img);
                free_image_at_end = true;  // for "image"
        }

        int row_in_bytes = image->width * image->nChannels;
        unsigned char* data = (unsigned char*)malloc(row_in_bytes * image->height);

        // Copy row by row only if necesary:
        if (row_in_bytes != image->widthStep)
        {
                unsigned char* trg = data;
                char* src = image->imageData;
                for (int y = 0; y < image->height;
                         y++, src += image->widthStep, trg += row_in_bytes)
                        memcpy(trg, src, row_in_bytes);
        }
        else
        {
                memcpy(data, image->imageData, row_in_bytes * image->height);
        }

        int w = image->width;
        int h = image->height;

        if (free_image_at_end)
        {
                cvReleaseImage(&image);
        }

        // create and return the object
        return new wxImage(
                w, h, data, false);  // memory "imgData" will be freed by the object.

#else
        int x, y, lx = img.getWidth(), ly = img.getHeight();
        unsigned char* imgData = (unsigned char*)malloc(3 * lx * ly);
        unsigned char* imgPtr = imgData;

        if (img.isColor())
        {
                // Is COLOR
                if (img.isOriginTopLeft())
                {
                        for (y = 0; y < ly; y++)
                        {
                                for (x = 0; x < lx; x++)
                                {
                                        *(imgPtr++) = *img(x, y, 2);
                                        *(imgPtr++) = *img(x, y, 1);
                                        *(imgPtr++) = *img(x, y, 0);
                                }
                        }
                }
                else
                {
                        for (y = ly - 1; y >= 0; y--)
                        {
                                for (x = 0; x < lx; x++)
                                {
                                        *(imgPtr++) = *img(x, y, 2);
                                        *(imgPtr++) = *img(x, y, 1);
                                        *(imgPtr++) = *img(x, y, 0);
                                }
                        }
                }
        }
        else
        {
                // Is Grayscale:
                if (img.isOriginTopLeft())
                {
                        for (y = 0; y < ly; y++)
                        {
                                for (x = 0; x < lx; x++)
                                {
                                        unsigned char c = *img(x, y);
                                        *(imgPtr++) = c;
                                        *(imgPtr++) = c;
                                        *(imgPtr++) = c;
                                }
                        }
                }
                else
                {
                        for (y = ly - 1; y >= 0; y--)
                        {
                                for (x = 0; x < lx; x++)
                                {
                                        unsigned char c = *img(x, y);
                                        *(imgPtr++) = c;
                                        *(imgPtr++) = c;
                                        *(imgPtr++) = c;
                                }
                        }
                }
        }
        return new wxImage(
                lx, ly, imgData,
                false);  // memory "imgData" will be freed by the object.
#endif
}

//------------------------------------------------------------------------
// An auxiliary function for passing MRPT images to wxWidgets images.
//   The returned object MUST be deleted by hand!
//------------------------------------------------------------------------
wxBitmap* mrpt::gui::MRPTImage2wxBitmap(const CImage& img)
{
#if MRPT_HAS_OPENCV
        IplImage* image = const_cast<IplImage*>(img.getAs<IplImage>());
        bool free_image_at_end = false;

        // If the image is GRAYSCALE, we need to convert it into RGB, so do it
        // manually:
        if (image->nChannels == 1)
        {
                IplImage* new_image =
                        cvCreateImage(cvSize(image->width, image->height), image->depth, 3);
                new_image->origin = image->origin;
                cvCvtColor(image, new_image, CV_GRAY2RGB);
                image = new_image;  // Use this new image instead
                free_image_at_end = true;
        }

        int options = 0;
        if (image->origin == 1) options |= CV_CVTIMG_FLIP;
        if (image->nChannels == 3 && image->channelSeq[0] == 'B' &&
                image->channelSeq[2] == 'R')
                options |= CV_CVTIMG_SWAP_RB;
        if (options)
        {
                IplImage* the_input_img = image;

                image = cvCreateImage(
                        cvSize(the_input_img->width, the_input_img->height),
                        the_input_img->depth, 3);
                cvConvertImage(the_input_img, image, options);  // convert image

                if (free_image_at_end) cvReleaseImage(&the_input_img);
                free_image_at_end = true;  // for "image"
        }

        int row_in_bytes = image->width * image->nChannels;
        unsigned char* data = (unsigned char*)malloc(row_in_bytes * image->height);

        // Copy row by row only if necesary:
        if (row_in_bytes != image->widthStep)
        {
                unsigned char* trg = data;
                char* src = image->imageData;
                for (int y = 0; y < image->height;
                         y++, src += image->widthStep, trg += row_in_bytes)
                        memcpy(trg, src, row_in_bytes);
        }
        else
        {
                memcpy(data, image->imageData, row_in_bytes * image->height);
        }

        int w = image->width;
        int h = image->height;

        if (free_image_at_end)
        {
                cvReleaseImage(&image);
        }

        // create and return the object
        return new wxBitmap(wxImage(w, h, data, false));
#else
        THROW_EXCEPTION("MRPT compiled without OpenCV")
#endif
}

#if MRPT_HAS_OPENCV
wxImage* mrpt::gui::IplImage2wxImage(void* img)
{
        IplImage* image = static_cast<IplImage*>(img);

        ASSERT_(image);
        ASSERT_(image->nChannels == 3);

        // require conversion ?
        int options = 0;
        if (image->origin == 1) options |= CV_CVTIMG_FLIP;
        if (image->channelSeq[0] == 'B' && image->channelSeq[2] == 'R')
                options |= CV_CVTIMG_SWAP_RB;
        if (options)
                cvConvertImage(image, image, options);  // convert image "in place"

        int row_bytes =
                image->width * image->nChannels * ((image->depth & 255) >> 3);

        unsigned char* imageData =
                (unsigned char*)malloc(row_bytes * image->height);
        ASSERT_(imageData);

        // copy row by row only if necesary
        if (row_bytes != image->widthStep)
        {
                for (int y = 0; y < image->height; y++)
                        memcpy(
                                (imageData + y * row_bytes),
                                (image->imageData + y * image->widthStep), row_bytes);
        }
        else
        {
                memcpy(imageData, image->imageData, row_bytes * image->height);
        }

        // create and return the object
        return new wxImage(image->width, image->height, imageData, false);
}
#endif

//------------------------------------------------------------------------
// Convert wxImage -> MRPTImage
//------------------------------------------------------------------------
mrpt::utils::CImage* mrpt::gui::wxImage2MRPTImage(const wxImage& img)
{
        CImage* newImg = new 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::utils::CImage::Ptr mrpt::gui::wxImage2MRPTImagePtr(const wxImage& img)
{
        return mrpt::utils::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::utils::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, 0, 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, 0, 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(_U(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::utils::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::utils::CConfigFileMemory cfgIn(
                                string(edCustomCamConfig->GetValue().mb_str()));
                        vector_string allSects;
                        cfgIn.getAllSections(allSects);
                        for (size_t idxSect = 0; idxSect < allSects.size(); idxSect++)
                        {
                                vector_string keys;
                                cfgIn.getAllKeys(allSects[idxSect], keys);
                                for (size_t i = 0; i < keys.size(); i++)
                                        cfg->write(
                                                allSects[idxSect], keys[i],
                                                cfgIn.read_string(allSects[idxSect], keys[i], ""));
                        }
                }
                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);

                        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::utils::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(
                        _U(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(_U(url.c_str()));
                }
                else
                {
                        this->pagesCameras->SetSelection(3);
                        this->edVideoFile->SetValue(_U(url.c_str()));
                }
        }
        else if (grab_type == "rawlog")
        {
                this->pagesCameras->SetSelection(4);

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

                const string lb =
                        cfg->read_string(sect, "rawlog_camera_sensor_label", "");
                this->edRawlogLabel->SetValue(_U(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(
                        _U(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