self.master.title("Camera Calibration");
label = "What do you want to do?";
text1 = "Calibrate working plane in camera coordinate system";
text2 = "Calibrate camera in robot flange coordinate system";
text3 = "Calculate the robot coordinaes of a point (pixel) in your image";
text4 = "Calculate calibration matrix for pixel to mm (only if camera || work plane)";
text5 = "Calculate an undistorted pixel";
Label(self.master, text=label).grid(row=0, sticky=W);
Checkbutton(self.master, text=text1, variable=self.var1).grid(row=1, sticky=W);
Checkbutton(self.master, text=text2,command=self.var_states, variable=self.var2).grid(row=2, sticky=W);
Checkbutton(self.master, text=text3, command=self.var_states, variable=self.var3).grid(row=3, sticky=W);
Checkbutton(self.master, text=text4, command=self.var_states, variable=self.var4).grid(row=4, sticky=W);
Checkbutton(self.master, text=text5, command=self.var_states, variable=self.var5).grid(row=5, sticky=W);
Button(self.master, text='Start', command=self.main).grid(row=6, sticky=W, pady=4);
Button(self.master, text='Quit', command=self.master.quit).grid(row=7, sticky=W, pady=4);
self.master2.title("Pixel to robot coordinates");
label = "Insert the pixel coordinates and the number of the image position";
text3 = "Number of image position: ";
Label(self.master2, text=label).grid(row=0, sticky=W);
Label(self.master2, text=text1).grid(row=1, sticky=W);
Label(self.master2, text=text2).grid(row=2, sticky=W);
Label(self.master2, text=text3).grid(row=3, sticky=W)
self.e1 = Entry(self.master2);
self.e1.grid(row=1, column=1);
self.e2 = Entry(self.master2);
self.e2.grid(row=2, column=1);
self.e3 = Entry(self.master2);
self.e3.grid(row=3, column=1);
Button(self.master2, text='Accept values', command=self.pixel2robot).grid(row=4, sticky=W, pady=4);
Button(self.master2, text='Quit', command=self.master2.destroy).grid(row=5, sticky=W, pady=4);
self.master3.title("Undistort Pixel");
label = "Insert the pixel coordinates and the number of the image position";
text3 = "Number of image position: ";
Label(self.master3, text=label).grid(row=0, sticky=W);
Label(self.master3, text=text1).grid(row=1, sticky=W);
Label(self.master3, text=text2).grid(row=2, sticky=W);
Label(self.master3, text=text3).grid(row=3, sticky=W)
self.e11 = Entry(self.master3);
self.e11.grid(row=1, column=1);
self.e22 = Entry(self.master3);
self.e22.grid(row=2, column=1);
self.e33 = Entry(self.master3);
self.e33.grid(row=3, column=1);
Button(self.master3, text='Accept values', command=self.undistort_pixel).grid(row=4, sticky=W, pady=4);
Button(self.master3, text='Quit', command=self.master3.destroy).grid(row=5, sticky=W, pady=4);