CameraCalibration.h

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/*******************************************************************************
 * This file is part of the Zivid API
 *
 * Copyright 2015-2026 (C) Zivid AS
 * All rights reserved.
 *
 * Zivid Software License, v1.0
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of Zivid AS nor the names of its contributors may be used
 * to endorse or promote products derived from this software without specific
 * prior written permission.
 *
 * 4. This software, with or without modification, must not be used with any
 * other 3D camera than from Zivid AS.
 *
 * 5. Any software provided in binary form under this license must not be
 * reverse engineered, decompiled, modified and/or disassembled.
 *
 * THIS SOFTWARE IS PROVIDED BY ZIVID AS "AS IS" AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL ZIVID AS OR CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * Contact: Zivid Customer Success Team <customersuccess@zivid.com>
 * Info:    http://www.zivid.com
 ******************************************************************************/
 
#pragma once
 
#include <array>
#include <chrono>
#include <cmath>
#include <ctime>
#include <iomanip>
#include <memory>
#include <set>
#include <sstream>
#include <string>
#include <tuple>
#include <utility>
#include <vector>
 
#include "Zivid/CameraExtrinsics.h"
#include "Zivid/CameraIntrinsics.h"
#include "Zivid/DataModel/Detail/Detail.h"
#include "Zivid/DataModel/NodeType.h"
#include "Zivid/DataModel/Traits.h"
#include "Zivid/Detail/CoreExport.h"
#include "Zivid/Detail/TypeTraits.h"
#include "Zivid/Range.h"
 
#ifdef _MSC_VER
#    pragma warning(push)
#    pragma warning(disable : 4251) // "X needs to have dll-interface to be used by clients of class Y."
#endif
 
namespace Zivid
{

 
    // NOLINTNEXTLINE(clang-analyzer-optin.performance.Padding)
    class ZIVID_CORE_EXPORT CameraCalibration
    {
    public:
        static constexpr DataModel::NodeType nodeType = DataModel::NodeType::group;

        static constexpr const char *path{ "" };

        static constexpr const char *name{ "CameraCalibration" };

        static constexpr const char *description{ R"description(Camera Calibration data model)description" };
 
        static constexpr size_t version{ 1 };
 
#ifndef NO_DOC
        template<size_t>
        struct Version;
 
        using LatestVersion = Zivid::CameraCalibration;
 
        // Short identifier. This value is not guaranteed to be universally unique
        // Todo(ZIVID-2808): Move this to internal DataModelExt header
        static constexpr std::array<uint8_t, 3> binaryId{ 'c', 'a', 'c' };
 
#endif

 
        // NOLINTNEXTLINE(clang-analyzer-optin.performance.Padding)
        class ZIVID_CORE_EXPORT Extrinsics
        {
        public:
            static constexpr DataModel::NodeType nodeType = DataModel::NodeType::leafValue;

            static constexpr const char *path{ "Extrinsics" };

            static constexpr const char *name{ "Extrinsics" };

            static constexpr const char *description{ R"description(Camera Extrinsics)description" };

            using ValueType = Zivid::CameraExtrinsics;

            Extrinsics() = default;

            explicit Extrinsics(Zivid::CameraExtrinsics value)
                : m_value{ std::move(value) }
            {}

            const Zivid::CameraExtrinsics &value() const;

            Zivid::CameraExtrinsics &value();

            std::string toString() const;

            bool operator==(const Extrinsics &other) const
            {
                return m_value == other.m_value;
            }

            bool operator!=(const Extrinsics &other) const
            {
                return m_value != other.m_value;
            }

            friend std::ostream &operator<<(std::ostream &stream, const Extrinsics &value)
            {
                return stream << value.toString();
            }
 
        private:
            void setFromString(const std::string &value);
 
            Zivid::CameraExtrinsics m_value{};
 
            friend struct DataModel::Detail::Befriend<Extrinsics>;
        };

 
        // NOLINTNEXTLINE(clang-analyzer-optin.performance.Padding)
        class ZIVID_CORE_EXPORT Intrinsics
        {
        public:
            static constexpr DataModel::NodeType nodeType = DataModel::NodeType::leafValue;

            static constexpr const char *path{ "Intrinsics" };

            static constexpr const char *name{ "Intrinsics" };

            static constexpr const char *description{ R"description(Camera Intrinsics)description" };

            using ValueType = Zivid::CameraIntrinsics;

            Intrinsics() = default;

            explicit Intrinsics(Zivid::CameraIntrinsics value)
                : m_value{ std::move(value) }
            {}

            const Zivid::CameraIntrinsics &value() const;

            Zivid::CameraIntrinsics &value();

            std::string toString() const;

            bool operator==(const Intrinsics &other) const
            {
                return m_value == other.m_value;
            }

            bool operator!=(const Intrinsics &other) const
            {
                return m_value != other.m_value;
            }

            friend std::ostream &operator<<(std::ostream &stream, const Intrinsics &value)
            {
                return stream << value.toString();
            }
 
        private:
            void setFromString(const std::string &value);
 
            Zivid::CameraIntrinsics m_value{};
 
            friend struct DataModel::Detail::Befriend<Intrinsics>;
        };
 
        using Descendants = std::tuple<CameraCalibration::Extrinsics, CameraCalibration::Intrinsics>;

        CameraCalibration();

        explicit CameraCalibration(const std::string &fileName);

        [[nodiscard]] static CameraCalibration fromSerialized(const std::string &value);

        std::string serialize() const;

#ifndef NO_DOC
        template<
            typename... Args,
            typename std::enable_if<sizeof...(Args) >= 1, int>::type = 0,
            typename std::enable_if<
                Zivid::Detail::TypeTraits::AllArgsAreInTuple<Descendants, typename std::decay<Args>::type...>::value,
                int>::type = 0>
#else
        template<typename... Args>
#endif
        explicit CameraCalibration(Args &&...args)
        {
            using namespace Zivid::Detail::TypeTraits;
 
            static_assert(
                AllArgsDecayedAreUnique<Args...>::value,
                "Found duplicate types among the arguments passed to CameraCalibration(...). "
                "Types should be listed at most once.");
 
            set(std::forward<Args>(args)...);
        }

#ifndef NO_DOC
        template<typename... Args, typename std::enable_if<sizeof...(Args) >= 2, int>::type = 0>
#else
        template<typename... Args>
#endif
        void set(Args &&...args)
        {
            using namespace Zivid::Detail::TypeTraits;
 
            using AllArgsAreDescendantNodes = AllArgsAreInTuple<Descendants, typename std::decay<Args>::type...>;
            static_assert(
                AllArgsAreDescendantNodes::value, "All arguments passed to set(...) must be descendant nodes.");
 
            static_assert(
                AllArgsDecayedAreUnique<Args...>::value,
                "Found duplicate types among the arguments passed to set(...). "
                "Types should be listed at most once.");
 
            Zivid::DataModel::Detail::invokeSetWithEachArgument(*this, std::forward<Args>(args)...);
        }

#ifndef NO_DOC
        template<typename... Args, typename std::enable_if<sizeof...(Args) >= 1, int>::type = 0>
#else
        template<typename... Args>
#endif
        CameraCalibration copyWith(Args &&...args) const
        {
            using namespace Zivid::Detail::TypeTraits;
 
            using AllArgsAreDescendantNodes = AllArgsAreInTuple<Descendants, typename std::decay<Args>::type...>;
            static_assert(
                AllArgsAreDescendantNodes::value, "All arguments passed to copyWith(...) must be descendant nodes.");
 
            static_assert(
                AllArgsDecayedAreUnique<Args...>::value,
                "Found duplicate types among the arguments passed to copyWith(...). "
                "Types should be listed at most once.");
 
            auto copy{ *this };
            copy.set(std::forward<Args>(args)...);
            return copy;
        }

        const Extrinsics &extrinsics() const
        {
            return m_extrinsics;
        }

        Extrinsics &extrinsics()
        {
            return m_extrinsics;
        }

        CameraCalibration &set(const Extrinsics &value)
        {
            m_extrinsics = value;
            return *this;
        }

        const Intrinsics &intrinsics() const
        {
            return m_intrinsics;
        }

        Intrinsics &intrinsics()
        {
            return m_intrinsics;
        }

        CameraCalibration &set(const Intrinsics &value)
        {
            m_intrinsics = value;
            return *this;
        }
 
        template<
            typename T,
            typename std::enable_if<std::is_same<T, CameraCalibration::Extrinsics>::value, int>::type = 0>
        const CameraCalibration::Extrinsics &get() const
        {
            return m_extrinsics;
        }
 
        template<
            typename T,
            typename std::enable_if<std::is_same<T, CameraCalibration::Intrinsics>::value, int>::type = 0>
        const CameraCalibration::Intrinsics &get() const
        {
            return m_intrinsics;
        }
 
        template<size_t i, typename std::enable_if<i == 0, int>::type = 0>
        const CameraCalibration::Extrinsics &get() const
        {
            return m_extrinsics;
        }
 
        template<size_t i, typename std::enable_if<i == 1, int>::type = 0>
        const CameraCalibration::Intrinsics &get() const
        {
            return m_intrinsics;
        }

        template<typename F>
        void forEach(const F &f) const
        {
            f(m_extrinsics);
            f(m_intrinsics);
        }

        template<typename F>
        void forEach(const F &f)
        {
            f(m_extrinsics);
            f(m_intrinsics);
        }

        bool operator==(const CameraCalibration &other) const;

        bool operator!=(const CameraCalibration &other) const;

        std::string toString() const;

        friend std::ostream &operator<<(std::ostream &stream, const CameraCalibration &value)
        {
            return stream << value.toString();
        }

        void save(const std::string &fileName) const;

        void load(const std::string &fileName);
 
    private:
        void setFromString(const std::string &value);
 
        void setFromString(const std::string &fullPath, const std::string &value);
 
        std::string getString(const std::string &fullPath) const;
 
        Extrinsics m_extrinsics;
        Intrinsics m_intrinsics;
 
        friend struct DataModel::Detail::Befriend<CameraCalibration>;
    };
 
#ifndef NO_DOC
    template<>
    struct CameraCalibration::Version<1>
    {
        using Type = CameraCalibration;
    };
#endif
 
} // namespace Zivid
 
#ifndef NO_DOC
namespace Zivid::Detail
{
 
    ZIVID_CORE_EXPORT void save(const Zivid::CameraCalibration &dataModel, std::ostream &ostream);
    ZIVID_CORE_EXPORT void load(Zivid::CameraCalibration &dataModel, std::istream &istream);
 
} // namespace Zivid::Detail
#endif
 
#ifdef _MSC_VER
#    pragma warning(pop)
#endif
 
#ifndef NO_DOC
#    if !(defined(_MSC_VER) && (_MSC_VER <= 1900))
namespace std // NOLINT
{
 
    template<>
    struct tuple_size<Zivid::CameraCalibration> : integral_constant<size_t, 2>
    {};
 
    template<size_t i>
    struct tuple_element<i, Zivid::CameraCalibration>
    {
        static_assert(i < tuple_size<Zivid::CameraCalibration>::value, "Index must be less than 2");
 
        using type // NOLINT
            = decltype(declval<Zivid::CameraCalibration>().get<i>());
    };
 
} // namespace std
#    endif
#endif
 
// If we have access to the DataModel library, automatically include internal DataModel
// header. This header is necessary for serialization and deserialization.
#if defined(__has_include) && !defined(NO_DOC)
#    if __has_include("Zivid/CameraCalibrationInternal.h") && __has_include("Zivid/DataModelNodeMetaData.h")
#        include "Zivid/CameraCalibrationInternal.h"
#    endif
#endif