}
	delete []p2p_InputImages;
}
}



BOOL CCalibrtwocamaDlg::DestroyWindow() 
{
	// TODO: Add your specialized code here and/or call the base class
	McSetParamInt(m_Channel1, MC_ChannelState, MC_ChannelState_IDLE);
	McSetParamInt(m_Channel2, MC_ChannelState, MC_ChannelState_IDLE);
    
	// Delete the channel
    McDelete(m_Channel1);
	McDelete(m_Channel2);
	

	McCloseDriver ();
	return CDialog::DestroyWindow();
}

void CCalibrtwocamaDlg::DispCam1()
{
CRect rect;
	if (m_pCurrent1==NULL) return;
	GetDlgItem(IDC_VID1)->GetClientRect(&rect);
	CDC *pDC;
	pDC = GetDlgItem(IDC_VID1)->GetWindowDC();
	// Retrieve image size in the document
	CSize siz = rect.Size();
	int	 SizeX = m_SizeX;
	int SizeY = m_SizeY;
	int BufferPitch = m_BufferPitch;

	// Configure the bitmap info according to the image size
	m_pBitmapInfo->bmiHeader.biWidth = BufferPitch / ( m_pBitmapInfo->bmiHeader.biBitCount / 8);  // Width = Pitch(bytes) divided by the number of bytes per pixel
	m_pBitmapInfo->bmiHeader.biHeight = -SizeY ;
	
	SetStretchBltMode(pDC->GetSafeHdc(), COLORONCOLOR);
	//// Display
	StretchDIBits (pDC->GetSafeHdc(), 0, 0, siz.cx, siz.cy,
                   0, 0, SizeX, SizeY,
                   m_pCurrent1, m_pBitmapInfo, DIB_RGB_COLORS,SRCCOPY);
	//SetDIBitsToDevice(pDC->GetSafeHdc(),0,0,siz.cx,siz.cy,0,0,0,SizeY,m_pCurrent1,m_pBitmapInfo,DIB_RGB_COLORS);

	// Advice the callback the screen refresh is terminated
	m_bScreenRefreshCompleted1 = true;

	// Display channel info on status bar
	// Retrieve the channel state
	McGetParamInt (m_Channel1, MC_ChannelState, &m_ChannelState);

	// Retrieve the frame rate
	double frameRate_Hz;
	McGetParamFloat(m_Channel1, MC_PerSecond_Fr, &frameRate_Hz);
	// Display frame rate and channel state
	m_strChannelStatus.Format("Camera 1 Frame Rate: %.2f, Channel State: %s", frameRate_Hz,
	(m_ChannelState == MC_ChannelState_ACTIVE? "ACTIVE" : "NOT ACTIVE"));		
	GetDlgItem(IDC_SHOWCM1)->SetWindowText(m_strChannelStatus);
	UpdateData();

}

void CCalibrtwocamaDlg::DispCam2()
{
CRect rect;
	if (m_pCurrent2==NULL) return;
	GetDlgItem(IDC_VID2)->GetClientRect(&rect);
	CDC *pDC;
	pDC = GetDlgItem(IDC_VID2)->GetWindowDC();
	// Retrieve image size in the document
	CSize siz = rect.Size();
	int	 SizeX = m_SizeX;
	int SizeY = m_SizeY;
	int BufferPitch = m_BufferPitch;

	// Configure the bitmap info according to the image size
	m_pBitmapInfo->bmiHeader.biWidth = BufferPitch / ( m_pBitmapInfo->bmiHeader.biBitCount / 8);  // Width = Pitch(bytes) divided by the number of bytes per pixel
	m_pBitmapInfo->bmiHeader.biHeight = -SizeY ;
	
	SetStretchBltMode(pDC->GetSafeHdc(), COLORONCOLOR);
	//// Display
	StretchDIBits (pDC->GetSafeHdc(), 0, 0, siz.cx, siz.cy,
                   0, 0, SizeX, SizeY,
                   m_pCurrent2, m_pBitmapInfo, DIB_RGB_COLORS,SRCCOPY);
	//SetDIBitsToDevice(pDC->GetSafeHdc(),0,0,siz.cx,siz.cy,0,0,0,SizeY,m_pCurrent1,m_pBitmapInfo,DIB_RGB_COLORS);

	// Advice the callback the screen refresh is terminated
	m_bScreenRefreshCompleted2 = true;

	// Display channel info on status bar
	// Retrieve the channel state
	McGetParamInt (m_Channel2, MC_ChannelState, &m_ChannelState);

	// Retrieve the frame rate
	double frameRate_Hz;
	McGetParamFloat(m_Channel2, MC_PerSecond_Fr, &frameRate_Hz);
	// Display frame rate and channel state
	m_strChannelStatus.Format("Camera 2 Frame Rate: %.2f, Channel State: %s", frameRate_Hz,
	(m_ChannelState == MC_ChannelState_ACTIVE? "ACTIVE" : "NOT ACTIVE"));		
	GetDlgItem(IDC_SHOWCM2)->SetWindowText(m_strChannelStatus);
	UpdateData();

}

void CCalibrtwocamaDlg::OnStop() 
{
	// TODO: Add your control notification handler code here
	McSetParamInt(m_Channel1, MC_ChannelState, MC_ChannelState_IDLE);
    McSetParamInt(m_Channel2, MC_ChannelState, MC_ChannelState_IDLE);
    GetDlgItem(IDC_LEFTCA)->EnableWindow(FALSE);
    GetDlgItem(IDC_RIGHTCA)->EnableWindow(FALSE);
	GetDlgItem(IDC_SAVE)->EnableWindow(FALSE);
	GetDlgItem(IDC_BCALIA)->EnableWindow(FALSE);
	
	lfg=0;rfg=0;
	
}

void CCalibrtwocamaDlg::OnActive() 
{
	// TODO: Add your control notification handler code here
	McSetParamInt(m_Channel1, MC_ChannelState, MC_ChannelState_ACTIVE);
	McSetParamInt(m_Channel2, MC_ChannelState, MC_ChannelState_ACTIVE);
	GetDlgItem(IDC_LEFTCA)->EnableWindow(TRUE);
    GetDlgItem(IDC_RIGHTCA)->EnableWindow(TRUE);
	GetDlgItem(IDC_SAVE)->EnableWindow(TRUE);
	lfg=0;rfg=0;
	
}

void CCalibrtwocamaDlg::OnLeftca() 
{
	// TODO: Add your control notification handler code here
	// Choose the video standard
	
	DispCam1();
	McSetParamInt(m_Channel1, MC_ChannelState, MC_ChannelState_IDLE);
	
	//GetDlgItem(IDC_BCALIA)->EnableWindow(FALSE);
	m_nLeftCamNo++;
	UpdateData();
	lfg=1;rfg=0;
		
    
}

void CCalibrtwocamaDlg::OnRightca() 
{
	// TODO: Add your control notification handler code here
	
	DispCam2();
	McSetParamInt(m_Channel2, MC_ChannelState, MC_ChannelState_IDLE);
	//GetDlgItem(IDC_BCALIA)->EnableWindow(FALSE);
	m_nRightCamNO++;
	UpdateData();
	rfg=1;lfg=0;
	
}

void CCalibrtwocamaDlg::OnSave() 
{
	// TODO: Add your control notification handler code here
	BITMAPFILEHEADER bmfHdr; // Header for Bitmap file
	WORD hdLength = sizeof(BITMAPINFOHEADER);
	CFile *pFile;
	pFile = new CFile;
	CString strFile;
	char buffer[5];
	// Fill in file type (first 2 bytes must be "BM" for a bitmap) 
	bmfHdr.bfType = 0x4d42;  // "BM"
	// Calculate the file size by adding the DIB size to sizeof(BITMAPFILEHEADER)
	bmfHdr.bfSize = m_SizeX*m_SizeY*3 + sizeof(BITMAPFILEHEADER);
	bmfHdr.bfReserved1 = 0;
	bmfHdr.bfReserved2 = 0;
	bmfHdr.bfOffBits = (DWORD)sizeof(BITMAPFILEHEADER) + m_pBitmapInfo->bmiHeader.biSize;
	TRY{
		if (lfg==1&&rfg==0)	
		{
			strFile="..\\CaliData\\leftcap";
			strFile=strFile+::itoa(m_nLeftCamNo,buffer,10)+".bmp";
			//strcpy(PathName,"..\\CaliData\\leftcap"+::itoa(m_nLeftCamNo,buffer,10)+".bmp");
            pFile->Open(strFile,CFile::modeCreate | CFile::modeWrite);	
			// Write the file header
			pFile->Write((BYTE*)&bmfHdr, sizeof(BITMAPFILEHEADER));
			// Write the DIB header
			pFile->Write(m_pBitmapInfo, hdLength);
			// pFile->Write((BYTE*)(m_pBitmapInfo->bmiHeader), hdLength);
			// Write the DIB bits
			pFile->Write(m_pCurrent1, m_SizeX*m_SizeY*3);
			pFile->Close();
		}
		else if(lfg==0&&rfg==1)
		{
			strFile="..\\CaliData\\rightcap";
			strFile=strFile+::itoa(m_nLeftCamNo,buffer,10)+".bmp";
			//strcpy(PathName,"..\\CaliData\\rightcap"+::itoa(m_nLeftCamNo,buffer,10)+".bmp");
			pFile->Open(strFile,CFile::modeCreate | CFile::modeWrite);	
			// Write the file header
			pFile->Write((BYTE*)&bmfHdr, sizeof(BITMAPFILEHEADER));
			// Write the DIB header
			pFile->Write(m_pBitmapInfo, hdLength);
			// pFile->Write((BYTE*)(m_pBitmapInfo->bmiHeader), hdLength);
			// Write the DIB bits
			pFile->Write(m_pCurrent2, m_SizeX*m_SizeY*3);
			pFile->Close();
		}
		lfg=0;	rfg=0;	
		
			
		}
	CATCH (CFileException, e) {
			AfxMessageBox("Write error--possible disk full condition");        
		}
		END_CATCH
	
			
	
	delete pFile;
	
		//GetDlgItem(IDC_BCALIA)->EnableWindow(TRUE);
	
		
}


void CCalibrtwocamaDlg::OnLoadSelected() 
{
	// TODO: Add your control notification handler code here
	CFileDialog dlg	(TRUE,
		"*.*",
		"*.*",
		OFN_FILEMUSTEXIST | 
		OFN_HIDEREADONLY |
		OFN_ALLOWMULTISELECT ,
		"All Files (*.*)|*.*|BMP Files (*.bmp)|*.bmp|JPG Files (*.jpg)|*.jpg|TIFF Files (*.tif;*.tiff)|*.tif; *.tiff||",
		this);
	
	char * buffer = new char[2000];
	
	for(int i=0; i<2000; i++)
	{
		buffer[i]=0;
	}
	
	dlg.m_ofn.lpstrTitle = "Open File...";
	dlg.m_ofn.lpstrFile  = buffer;
	dlg.m_ofn.nMaxFile  = 2000;
	
	if (dlg.DoModal () == IDCANCEL){
		delete []buffer; buffer = NULL;
		return;
	}
	
	CString tempFileName,tmfname; 
	
	POSITION pos = dlg.GetStartPosition();
	
	int counter = 0;
	while(true)
	{
		if( pos != NULL )
		{
			tempFileName = dlg.GetNextPathName(pos);
			counter ++;
			tmfname=dlg.GetFileName();
			if (tmfname.Left(4)=="left")
				califlag="left";
			else if(tmfname.Left(5)=="right")
				califlag="right";
			else
				califlag="";
		}
		else break;
	}
	
	m_nImageNumber = counter;
	
	p2p_InputImages  = new IplImage *[m_nImageNumber];
	
	delete []m_cstrImageNames;
	m_cstrImageNames = new CString   [m_nImageNumber];
	
	pos = dlg.GetStartPosition();
	for(  i=0 ; i<counter; i++)
	{
		if( pos != NULL )
		{
			tempFileName = dlg.GetNextPathName(pos);
			p2p_InputImages[i]  = cvvLoadImage (tempFileName);
			
			if( i==0 )
			{
				m_ImageRoot.path  = tempFileName;
				m_ImageRoot.GenerateFileProps();
				imgsize.width  = p2p_InputImages[0]->width;
				imgsize.height = p2p_InputImages[0]->height;
			}
			
			m_cstrImageNames[i] = tempFileName.Right(tempFileName.GetLength()-tempFileName.ReverseFind('\\')-1);
			
		}
	}
	
	m_nImageNumber=counter;
	UpdateData(false);
	delete []buffer; buffer = NULL;
}

void CCalibrtwocamaDlg::OnLoad() 
{
	// TODO: Add your control notification handler code here
	// get the number of images to process from the "Number of Images" box
	UpdateData();
	if( m_nImageNumber == 0 || m_nXHeight == 0 || m_nXWidth == 0)
		return;
	
	///Get root file name that will be used to generate 5 filenames of the images
	CFileDialog dlg	(TRUE,
		"*.bmp",
		"*.*",
		OFN_FILEMUSTEXIST | 
		OFN_HIDEREADONLY,
		"BMP Files (*.bmp)|*.bmp|JPG Files (*.jpg)|*.jpg|TIFF Files (*.tif;*.tiff)|*.tif; *.tiff|All Files (*.*)|*.*||",
		this);
	
	dlg.m_ofn.lpstrTitle = "Open File...";
	dlg.m_ofn.lpstrInitialDir="H:\\";
	
	if (dlg.DoModal () == IDCANCEL)
	{
		return;
	}
	
	CString tempString,tmfname;
    tmfname=dlg.GetFileName();
	if (tmfname.Left(4)=="left")
		califlag="left";
	else if(tmfname.Left(5)=="right")
		califlag="right";
	else
		califlag="";
	
	m_ImageRoot.path  = dlg.GetPathName ();
	m_ImageRoot.GenerateFileProps();
	
	// form the root names....
	m_ImageRoot.title = m_ImageRoot.title.Left(m_ImageRoot.title.GetLength()-1);
	m_ImageRoot.name  = m_ImageRoot.title + '.' + m_ImageRoot.extension;
	m_ImageRoot.path  = m_ImageRoot.folderPath + '\\' + m_ImageRoot.name;
	
	char buffer[5];
	
	p2p_InputImages  = new IplImage *[m_nImageNumber];
	delete []m_cstrImageNames; m_cstrImageNames = NULL;
	m_cstrImageNames = new CString   [m_nImageNumber];
	
	// load images as IplImage*'s  
	for( int i=0; i<m_nImageNumber; i++)
	{
		::itoa(i,buffer,10);
		tempString = m_ImageRoot.folderPath
			+'\\'
			+m_ImageRoot.title 
			+buffer 
			+"." 
			+m_ImageRoot.extension;
		
		m_cstrImageNames[i] =m_ImageRoot.title+buffer+"."+m_ImageRoot.extension;
		
		p2p_InputImages[i]  = cvvLoadImage (tempString);
		
		if( i==0 )
		{
			imgsize.width  = p2p_InputImages[0]->width;
			imgsize.height = p2p_InputImages[0]->height;
		}
	}
	
}

void CCalibrtwocamaDlg::OnCalibrate() 
{
	// TODO: Add your control notification handler code here
	UpdateData();
	
	if( m_nImageNumber == 0 )
		return;
	
	m_nNumCorners = m_nXHeight*m_nXWidth;
	
	// Extract World and Image Coordinates
	FindCorners(); 
	
	// Find CameraMatrix, Distortion Params, Rotation Matrices, Translation Vectors
	CalibrateCamera();
	
	// Backproject Points and Calculate Errors on X and Y direction
	CalculateCalibrationErrors( true );
	
	// Generates Reports concerning Calibration and Error
	GenerateReport();
	
	// Displays Results.
	DisplayReport();
	
}

void CCalibrtwocamaDlg::FindCorners()
{

	m_nNumCorners = m_nXWidth * m_nXHeight;

	IplImage* img  = 0; // initialize some image arrays
	IplImage* img0 = 0;
	IplImage* img1 = 0;
	IplImage* greyimg = 0;