rectification visualization fix

applications/gui2/src/modules/calibration/intrinsic.cpp

@@ -246,7 +246,7 @@ void IntrinsicCalibration::run() {
 				state_->flags, term);
 
 			state_->calib = CalibrationData::Intrinsic(K, distCoeffs, size);
-			state_->calib.sensorSize = ssize; // TODO: save somewhere else
+			state_->calib.sensorSize = ssize;
 			state_->calibrated = true;
 		}
 		catch (std::exception &e) {

applications/gui2/src/views/calibration/extrinsicview.cpp

@@ -165,6 +165,7 @@ private:
 
 	nanogui::Button* bsave_;
 	nanogui::Button* bupload_;
+	nanogui::Button* bapply_;
 	nanogui::Button* bcalibrate_;
 	nanogui::Button* bpause_;
 	nanogui::Button* bresults_;
@@ -204,6 +205,16 @@ ExtrinsicCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent,
 		bupload_->setTextColor(nanogui::Color(32, 192, 32, 255));
 	});
 
+	bapply_ = new nanogui::Button(buttons, "");
+	bapply_->setFixedWidth(40);
+	bapply_->setTooltip("Rectify stereo images");
+
+	bapply_->setFlags(nanogui::Button::Flags::ToggleButton);
+	bapply_->setPushed(view_->rectify());
+	bapply_->setChangeCallback([button = bapply_, view = view_](bool v){
+		view->setRectify(v);
+	});
+
 	bresults_ = new nanogui::Button(buttons, "Show Calibration");
 	//bresults_->setEnabled(ctrl_->calib().calibrated());
 	bresults_->setCallback([view = view_, button = bresults_]{
@@ -224,8 +235,15 @@ ExtrinsicCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent,
 }
 
 void ExtrinsicCalibrationView::ControlWindow::draw(NVGcontext* ctx) {
-	if (ctrl_->capturing())	{ bpause_->setCaption("Pause"); }
-	else 					{ bpause_->setCaption("Continue"); }
+	if (ctrl_->capturing())	{
+		bpause_->setCaption("Pause");
+		view_->setRectify(false);
+	}
+	else 					{
+		bpause_->setCaption("Continue");
+	}
+	bapply_->setIcon(view_->rectify() ? ENTYPO_ICON_EYE : ENTYPO_ICON_EYE_WITH_LINE);
+	bapply_->setPushed(view_->rectify());
 	//bcalibrate_->setEnabled(ctrl_->calib().nFrames() > 0);
 	//bresults_->setEnabled(ctrl_->calib().calibrated());
 	FixedWindow::draw(ctx);
@@ -430,7 +448,7 @@ ExtrinsicCalibrationView::ExtrinsicCalibrationView(Screen* widget, ExtrinsicCali
 
 	frames_ = new nanogui::Widget(this);
 	draw_number_ = false;
-	rectify_ = true;
+	rectify_ = false;
 
 	frames_->setLayout(new nanogui::BoxLayout
 		(nanogui::Orientation::Horizontal, nanogui::Alignment::Maximum, 0, 0));

applications/gui2/src/views/calibration/extrinsicview.hpp

@@ -65,6 +65,8 @@ public:
 	virtual void draw(NVGcontext *ctx) override;
 	virtual void performLayout(NVGcontext *ctx) override;
 
+	bool rectify() { return rectify_; };
+	void setRectify(bool v) { rectify_ = v; };
 	void setMode(Mode m);
 
 protected:

applications/gui2/src/views/calibration/intrinsicview.cpp

@@ -356,7 +356,7 @@ void IntrinsicCalibrationView::ControlWindow::draw(NVGcontext* ctx) {
 	bresults_->setEnabled(ctrl_->calibrated());
 	bsave_->setEnabled(ctrl_->calibrated());
 	bapply_->setEnabled(ctrl_->calibrated());
-	bapply_->setIcon(view_->undistort() ? ENTYPO_ICON_EYE : ENTYPO_ICON_EYE);
+	bapply_->setIcon(view_->undistort() ? ENTYPO_ICON_EYE : ENTYPO_ICON_EYE_WITH_LINE);
 	bapply_->setPushed(view_->undistort());
 	updateCount();
 	FixedWindow::draw(ctx);