From df92161d97a26e3d198ed074840d543c1142ca84 Mon Sep 17 00:00:00 2001
From: Michael Ripperger <michael.ripperger@swri.org>
Date: Mon, 17 Jun 2024 13:49:05 -0500
Subject: [PATCH] Added exit dialog question to camera intrinsic calibration
 widget

---
 .../gui/camera_intrinsic_calibration_widget.h    |  4 +++-
 gui/src/camera_intrinsic_calibration_widget.cpp  | 16 +++++++++++++++-
 2 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/gui/include/industrial_calibration/gui/camera_intrinsic_calibration_widget.h b/gui/include/industrial_calibration/gui/camera_intrinsic_calibration_widget.h
index 2819619e..4b4530d0 100644
--- a/gui/include/industrial_calibration/gui/camera_intrinsic_calibration_widget.h
+++ b/gui/include/industrial_calibration/gui/camera_intrinsic_calibration_widget.h
@@ -57,7 +57,9 @@ class CameraIntrinsicCalibrationWidget : public QMainWindow
    */
   void saveROSFormat(const std::string& file) const;
 
-private:
+protected:
+  void closeEvent(QCloseEvent*) override;
+
   void onLoadConfig();
   void onLoadObservations();
   void onCalibrate();
diff --git a/gui/src/camera_intrinsic_calibration_widget.cpp b/gui/src/camera_intrinsic_calibration_widget.cpp
index 748d2ddd..62e1d655 100644
--- a/gui/src/camera_intrinsic_calibration_widget.cpp
+++ b/gui/src/camera_intrinsic_calibration_widget.cpp
@@ -15,12 +15,13 @@
 #include <boost_plugin_loader/plugin_loader.hpp>
 #include <fstream>
 #include <opencv2/opencv.hpp>
+#include <QCloseEvent>
 #include <QDialog>
-#include <QScrollBar>
 #include <QFileDialog>
 #include <QFile>
 #include <QMessageBox>
 #include <QPixmap>
+#include <QScrollBar>
 #include <QVBoxLayout>
 
 static const unsigned RANDOM_SEED = 1;
@@ -177,6 +178,19 @@ CameraIntrinsicCalibrationWidget::CameraIntrinsicCalibrationWidget(QWidget* pare
 
 CameraIntrinsicCalibrationWidget::~CameraIntrinsicCalibrationWidget() { delete ui_; }
 
+void CameraIntrinsicCalibrationWidget::closeEvent(QCloseEvent* event)
+{
+  QMessageBox::StandardButton ret = QMessageBox::question(this, "Exit", "Are you sure you want to exit?");
+  switch (ret)
+  {
+    case QMessageBox::StandardButton::No:
+      event->ignore();
+      break;
+    default:
+      event->accept();
+  }
+}
+
 void CameraIntrinsicCalibrationWidget::onLoadConfig()
 {
   try