CameraExtrinsics.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/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 CameraExtrinsics
    {
    public:
        static constexpr DataModel::NodeType nodeType = DataModel::NodeType::group;

        static constexpr const char *path{ "" };

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

        static constexpr const char *description{
            R"description(Extrinsic parameters describing the pose of a camera in 3D space, expressed as a rotation quaternion and a translation vector.
)description"
        };
 
        static constexpr size_t version{ 1 };
 
#ifndef NO_DOC
        template<size_t>
        struct Version;
 
        using LatestVersion = Zivid::CameraExtrinsics;
 
        // 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', 'e', 'x' };
 
#endif

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

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

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

            static constexpr const char *description{
                R"description(Unit quaternion representing the rotational component of the camera pose)description"
            };

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

                static constexpr const char *path{ "Rw/W" };

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

                static constexpr const char *description{
                    R"description(Scalar part of the unit quaternion)description"
                };

                using ValueType = double;

                static constexpr Range<double> validRange()
                {
                    return { std::numeric_limits<double>::lowest(), std::numeric_limits<double>::max() };
                }

                W() = default;

                explicit constexpr W(double value)
                    : m_value{ value }
                {}

                double value() const;

                std::string toString() const;

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

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

                bool operator<(const W &other) const
                {
                    return m_value < other.m_value;
                }

                bool operator>(const W &other) const
                {
                    return m_value > other.m_value;
                }

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

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

                friend std::ostream &operator<<(std::ostream &stream, const W &value)
                {
                    return stream << value.toString();
                }
 
            private:
                void setFromString(const std::string &value);
 
                double m_value{ 1.0 };
 
                friend struct DataModel::Detail::Befriend<W>;
            };

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

                static constexpr const char *path{ "Rw/X" };

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

                static constexpr const char *description{
                    R"description(X component of the quaternion vector)description"
                };

                using ValueType = double;

                static constexpr Range<double> validRange()
                {
                    return { std::numeric_limits<double>::lowest(), std::numeric_limits<double>::max() };
                }

                X() = default;

                explicit constexpr X(double value)
                    : m_value{ value }
                {}

                double value() const;

                std::string toString() const;

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

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

                bool operator<(const X &other) const
                {
                    return m_value < other.m_value;
                }

                bool operator>(const X &other) const
                {
                    return m_value > other.m_value;
                }

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

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

                friend std::ostream &operator<<(std::ostream &stream, const X &value)
                {
                    return stream << value.toString();
                }
 
            private:
                void setFromString(const std::string &value);
 
                double m_value{ 0.0 };
 
                friend struct DataModel::Detail::Befriend<X>;
            };

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

                static constexpr const char *path{ "Rw/Y" };

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

                static constexpr const char *description{
                    R"description(Y component of the quaternion vector)description"
                };

                using ValueType = double;

                static constexpr Range<double> validRange()
                {
                    return { std::numeric_limits<double>::lowest(), std::numeric_limits<double>::max() };
                }

                Y() = default;

                explicit constexpr Y(double value)
                    : m_value{ value }
                {}

                double value() const;

                std::string toString() const;

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

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

                bool operator<(const Y &other) const
                {
                    return m_value < other.m_value;
                }

                bool operator>(const Y &other) const
                {
                    return m_value > other.m_value;
                }

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

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

                friend std::ostream &operator<<(std::ostream &stream, const Y &value)
                {
                    return stream << value.toString();
                }
 
            private:
                void setFromString(const std::string &value);
 
                double m_value{ 0.0 };
 
                friend struct DataModel::Detail::Befriend<Y>;
            };

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

                static constexpr const char *path{ "Rw/Z" };

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

                static constexpr const char *description{
                    R"description(Z component of the quaternion vector)description"
                };

                using ValueType = double;

                static constexpr Range<double> validRange()
                {
                    return { std::numeric_limits<double>::lowest(), std::numeric_limits<double>::max() };
                }

                Z() = default;

                explicit constexpr Z(double value)
                    : m_value{ value }
                {}

                double value() const;

                std::string toString() const;

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

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

                bool operator<(const Z &other) const
                {
                    return m_value < other.m_value;
                }

                bool operator>(const Z &other) const
                {
                    return m_value > other.m_value;
                }

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

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

                friend std::ostream &operator<<(std::ostream &stream, const Z &value)
                {
                    return stream << value.toString();
                }
 
            private:
                void setFromString(const std::string &value);
 
                double m_value{ 0.0 };
 
                friend struct DataModel::Detail::Befriend<Z>;
            };
 
            using Descendants = std::tuple<
                CameraExtrinsics::Rw::W,
                CameraExtrinsics::Rw::X,
                CameraExtrinsics::Rw::Y,
                CameraExtrinsics::Rw::Z>;

            Rw();

#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 Rw(Args &&...args)
            {
                using namespace Zivid::Detail::TypeTraits;
 
                static_assert(
                    AllArgsDecayedAreUnique<Args...>::value,
                    "Found duplicate types among the arguments passed to Rw(...). "
                    "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
            Rw 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 W &w() const
            {
                return m_w;
            }

            W &w()
            {
                return m_w;
            }

            Rw &set(const W &value)
            {
                m_w = value;
                return *this;
            }

            const X &x() const
            {
                return m_x;
            }

            X &x()
            {
                return m_x;
            }

            Rw &set(const X &value)
            {
                m_x = value;
                return *this;
            }

            const Y &y() const
            {
                return m_y;
            }

            Y &y()
            {
                return m_y;
            }

            Rw &set(const Y &value)
            {
                m_y = value;
                return *this;
            }

            const Z &z() const
            {
                return m_z;
            }

            Z &z()
            {
                return m_z;
            }

            Rw &set(const Z &value)
            {
                m_z = value;
                return *this;
            }
 
            template<
                typename T,
                typename std::enable_if<std::is_same<T, CameraExtrinsics::Rw::W>::value, int>::type = 0>
            const CameraExtrinsics::Rw::W &get() const
            {
                return m_w;
            }
 
            template<
                typename T,
                typename std::enable_if<std::is_same<T, CameraExtrinsics::Rw::X>::value, int>::type = 0>
            const CameraExtrinsics::Rw::X &get() const
            {
                return m_x;
            }
 
            template<
                typename T,
                typename std::enable_if<std::is_same<T, CameraExtrinsics::Rw::Y>::value, int>::type = 0>
            const CameraExtrinsics::Rw::Y &get() const
            {
                return m_y;
            }
 
            template<
                typename T,
                typename std::enable_if<std::is_same<T, CameraExtrinsics::Rw::Z>::value, int>::type = 0>
            const CameraExtrinsics::Rw::Z &get() const
            {
                return m_z;
            }
 
            template<size_t i, typename std::enable_if<i == 0, int>::type = 0>
            const CameraExtrinsics::Rw::W &get() const
            {
                return m_w;
            }
 
            template<size_t i, typename std::enable_if<i == 1, int>::type = 0>
            const CameraExtrinsics::Rw::X &get() const
            {
                return m_x;
            }
 
            template<size_t i, typename std::enable_if<i == 2, int>::type = 0>
            const CameraExtrinsics::Rw::Y &get() const
            {
                return m_y;
            }
 
            template<size_t i, typename std::enable_if<i == 3, int>::type = 0>
            const CameraExtrinsics::Rw::Z &get() const
            {
                return m_z;
            }

            template<typename F>
            void forEach(const F &f) const
            {
                f(m_w);
                f(m_x);
                f(m_y);
                f(m_z);
            }

            template<typename F>
            void forEach(const F &f)
            {
                f(m_w);
                f(m_x);
                f(m_y);
                f(m_z);
            }

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

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

            std::string toString() const;

            friend std::ostream &operator<<(std::ostream &stream, const Rw &value)
            {
                return stream << value.toString();
            }
 
        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;
 
            W m_w;
            X m_x;
            Y m_y;
            Z m_z;
 
            friend struct DataModel::Detail::Befriend<Rw>;
        };

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

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

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

            static constexpr const char *description{
                R"description(Translation vector representing the translational component of the camera pose)description"
            };

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

                static constexpr const char *path{ "Tw/X" };

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

                static constexpr const char *description{
                    R"description(X component of the translation vector)description"
                };

                using ValueType = double;

                static constexpr Range<double> validRange()
                {
                    return { std::numeric_limits<double>::lowest(), std::numeric_limits<double>::max() };
                }

                X() = default;

                explicit constexpr X(double value)
                    : m_value{ value }
                {}

                double value() const;

                std::string toString() const;

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

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

                bool operator<(const X &other) const
                {
                    return m_value < other.m_value;
                }

                bool operator>(const X &other) const
                {
                    return m_value > other.m_value;
                }

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

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

                friend std::ostream &operator<<(std::ostream &stream, const X &value)
                {
                    return stream << value.toString();
                }
 
            private:
                void setFromString(const std::string &value);
 
                double m_value{ 0.0 };
 
                friend struct DataModel::Detail::Befriend<X>;
            };

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

                static constexpr const char *path{ "Tw/Y" };

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

                static constexpr const char *description{
                    R"description(Y component of the translation vector)description"
                };

                using ValueType = double;

                static constexpr Range<double> validRange()
                {
                    return { std::numeric_limits<double>::lowest(), std::numeric_limits<double>::max() };
                }

                Y() = default;

                explicit constexpr Y(double value)
                    : m_value{ value }
                {}

                double value() const;

                std::string toString() const;

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

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

                bool operator<(const Y &other) const
                {
                    return m_value < other.m_value;
                }

                bool operator>(const Y &other) const
                {
                    return m_value > other.m_value;
                }

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

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

                friend std::ostream &operator<<(std::ostream &stream, const Y &value)
                {
                    return stream << value.toString();
                }
 
            private:
                void setFromString(const std::string &value);
 
                double m_value{ 0.0 };
 
                friend struct DataModel::Detail::Befriend<Y>;
            };

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

                static constexpr const char *path{ "Tw/Z" };

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

                static constexpr const char *description{
                    R"description(Z component of the translation vector)description"
                };

                using ValueType = double;

                static constexpr Range<double> validRange()
                {
                    return { std::numeric_limits<double>::lowest(), std::numeric_limits<double>::max() };
                }

                Z() = default;

                explicit constexpr Z(double value)
                    : m_value{ value }
                {}

                double value() const;

                std::string toString() const;

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

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

                bool operator<(const Z &other) const
                {
                    return m_value < other.m_value;
                }

                bool operator>(const Z &other) const
                {
                    return m_value > other.m_value;
                }

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

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

                friend std::ostream &operator<<(std::ostream &stream, const Z &value)
                {
                    return stream << value.toString();
                }
 
            private:
                void setFromString(const std::string &value);
 
                double m_value{ 0.0 };
 
                friend struct DataModel::Detail::Befriend<Z>;
            };
 
            using Descendants = std::tuple<CameraExtrinsics::Tw::X, CameraExtrinsics::Tw::Y, CameraExtrinsics::Tw::Z>;

            Tw();

#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 Tw(Args &&...args)
            {
                using namespace Zivid::Detail::TypeTraits;
 
                static_assert(
                    AllArgsDecayedAreUnique<Args...>::value,
                    "Found duplicate types among the arguments passed to Tw(...). "
                    "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
            Tw 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 X &x() const
            {
                return m_x;
            }

            X &x()
            {
                return m_x;
            }

            Tw &set(const X &value)
            {
                m_x = value;
                return *this;
            }

            const Y &y() const
            {
                return m_y;
            }

            Y &y()
            {
                return m_y;
            }

            Tw &set(const Y &value)
            {
                m_y = value;
                return *this;
            }

            const Z &z() const
            {
                return m_z;
            }

            Z &z()
            {
                return m_z;
            }

            Tw &set(const Z &value)
            {
                m_z = value;
                return *this;
            }
 
            template<
                typename T,
                typename std::enable_if<std::is_same<T, CameraExtrinsics::Tw::X>::value, int>::type = 0>
            const CameraExtrinsics::Tw::X &get() const
            {
                return m_x;
            }
 
            template<
                typename T,
                typename std::enable_if<std::is_same<T, CameraExtrinsics::Tw::Y>::value, int>::type = 0>
            const CameraExtrinsics::Tw::Y &get() const
            {
                return m_y;
            }
 
            template<
                typename T,
                typename std::enable_if<std::is_same<T, CameraExtrinsics::Tw::Z>::value, int>::type = 0>
            const CameraExtrinsics::Tw::Z &get() const
            {
                return m_z;
            }
 
            template<size_t i, typename std::enable_if<i == 0, int>::type = 0>
            const CameraExtrinsics::Tw::X &get() const
            {
                return m_x;
            }
 
            template<size_t i, typename std::enable_if<i == 1, int>::type = 0>
            const CameraExtrinsics::Tw::Y &get() const
            {
                return m_y;
            }
 
            template<size_t i, typename std::enable_if<i == 2, int>::type = 0>
            const CameraExtrinsics::Tw::Z &get() const
            {
                return m_z;
            }

            template<typename F>
            void forEach(const F &f) const
            {
                f(m_x);
                f(m_y);
                f(m_z);
            }

            template<typename F>
            void forEach(const F &f)
            {
                f(m_x);
                f(m_y);
                f(m_z);
            }

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

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

            std::string toString() const;

            friend std::ostream &operator<<(std::ostream &stream, const Tw &value)
            {
                return stream << value.toString();
            }
 
        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;
 
            X m_x;
            Y m_y;
            Z m_z;
 
            friend struct DataModel::Detail::Befriend<Tw>;
        };
 
        using Descendants = std::tuple<
            CameraExtrinsics::Rw,
            CameraExtrinsics::Rw::W,
            CameraExtrinsics::Rw::X,
            CameraExtrinsics::Rw::Y,
            CameraExtrinsics::Rw::Z,
            CameraExtrinsics::Tw,
            CameraExtrinsics::Tw::X,
            CameraExtrinsics::Tw::Y,
            CameraExtrinsics::Tw::Z>;

        CameraExtrinsics();

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

        [[nodiscard]] static CameraExtrinsics 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 CameraExtrinsics(Args &&...args)
        {
            using namespace Zivid::Detail::TypeTraits;
 
            static_assert(
                AllArgsDecayedAreUnique<Args...>::value,
                "Found duplicate types among the arguments passed to CameraExtrinsics(...). "
                "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
        CameraExtrinsics 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 Rw &rw() const
        {
            return m_rw;
        }

        Rw &rw()
        {
            return m_rw;
        }

        CameraExtrinsics &set(const Rw &value)
        {
            m_rw = value;
            return *this;
        }

        CameraExtrinsics &set(const Rw::W &value)
        {
            m_rw.set(value);
            return *this;
        }

        CameraExtrinsics &set(const Rw::X &value)
        {
            m_rw.set(value);
            return *this;
        }

        CameraExtrinsics &set(const Rw::Y &value)
        {
            m_rw.set(value);
            return *this;
        }

        CameraExtrinsics &set(const Rw::Z &value)
        {
            m_rw.set(value);
            return *this;
        }

        const Tw &tw() const
        {
            return m_tw;
        }

        Tw &tw()
        {
            return m_tw;
        }

        CameraExtrinsics &set(const Tw &value)
        {
            m_tw = value;
            return *this;
        }

        CameraExtrinsics &set(const Tw::X &value)
        {
            m_tw.set(value);
            return *this;
        }

        CameraExtrinsics &set(const Tw::Y &value)
        {
            m_tw.set(value);
            return *this;
        }

        CameraExtrinsics &set(const Tw::Z &value)
        {
            m_tw.set(value);
            return *this;
        }
 
        template<typename T, typename std::enable_if<std::is_same<T, CameraExtrinsics::Rw>::value, int>::type = 0>
        const CameraExtrinsics::Rw &get() const
        {
            return m_rw;
        }
 
        template<typename T, typename std::enable_if<std::is_same<T, CameraExtrinsics::Rw::W>::value, int>::type = 0>
        const CameraExtrinsics::Rw::W &get() const
        {
            return m_rw.get<CameraExtrinsics::Rw::W>();
        }
 
        template<typename T, typename std::enable_if<std::is_same<T, CameraExtrinsics::Rw::X>::value, int>::type = 0>
        const CameraExtrinsics::Rw::X &get() const
        {
            return m_rw.get<CameraExtrinsics::Rw::X>();
        }
 
        template<typename T, typename std::enable_if<std::is_same<T, CameraExtrinsics::Rw::Y>::value, int>::type = 0>
        const CameraExtrinsics::Rw::Y &get() const
        {
            return m_rw.get<CameraExtrinsics::Rw::Y>();
        }
 
        template<typename T, typename std::enable_if<std::is_same<T, CameraExtrinsics::Rw::Z>::value, int>::type = 0>
        const CameraExtrinsics::Rw::Z &get() const
        {
            return m_rw.get<CameraExtrinsics::Rw::Z>();
        }
 
        template<typename T, typename std::enable_if<std::is_same<T, CameraExtrinsics::Tw>::value, int>::type = 0>
        const CameraExtrinsics::Tw &get() const
        {
            return m_tw;
        }
 
        template<typename T, typename std::enable_if<std::is_same<T, CameraExtrinsics::Tw::X>::value, int>::type = 0>
        const CameraExtrinsics::Tw::X &get() const
        {
            return m_tw.get<CameraExtrinsics::Tw::X>();
        }
 
        template<typename T, typename std::enable_if<std::is_same<T, CameraExtrinsics::Tw::Y>::value, int>::type = 0>
        const CameraExtrinsics::Tw::Y &get() const
        {
            return m_tw.get<CameraExtrinsics::Tw::Y>();
        }
 
        template<typename T, typename std::enable_if<std::is_same<T, CameraExtrinsics::Tw::Z>::value, int>::type = 0>
        const CameraExtrinsics::Tw::Z &get() const
        {
            return m_tw.get<CameraExtrinsics::Tw::Z>();
        }
 
        template<size_t i, typename std::enable_if<i == 0, int>::type = 0>
        const CameraExtrinsics::Rw &get() const
        {
            return m_rw;
        }
 
        template<size_t i, typename std::enable_if<i == 1, int>::type = 0>
        const CameraExtrinsics::Tw &get() const
        {
            return m_tw;
        }

        template<typename F>
        void forEach(const F &f) const
        {
            f(m_rw);
            f(m_tw);
        }

        template<typename F>
        void forEach(const F &f)
        {
            f(m_rw);
            f(m_tw);
        }

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

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

        std::string toString() const;

        friend std::ostream &operator<<(std::ostream &stream, const CameraExtrinsics &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;
 
        Rw m_rw;
        Tw m_tw;
 
        friend struct DataModel::Detail::Befriend<CameraExtrinsics>;
    };
 
#ifndef NO_DOC
    template<>
    struct CameraExtrinsics::Version<1>
    {
        using Type = CameraExtrinsics;
    };
#endif
 
} // namespace Zivid
 
#ifndef NO_DOC
namespace Zivid::Detail
{
 
    ZIVID_CORE_EXPORT void save(const Zivid::CameraExtrinsics &dataModel, std::ostream &ostream);
    ZIVID_CORE_EXPORT void load(Zivid::CameraExtrinsics &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::CameraExtrinsics::Rw> : integral_constant<size_t, 4>
    {};
 
    template<size_t i>
    struct tuple_element<i, Zivid::CameraExtrinsics::Rw>
    {
        static_assert(i < tuple_size<Zivid::CameraExtrinsics::Rw>::value, "Index must be less than 4");
 
        using type // NOLINT
            = decltype(declval<Zivid::CameraExtrinsics::Rw>().get<i>());
    };
 
    template<>
    struct tuple_size<Zivid::CameraExtrinsics::Tw> : integral_constant<size_t, 3>
    {};
 
    template<size_t i>
    struct tuple_element<i, Zivid::CameraExtrinsics::Tw>
    {
        static_assert(i < tuple_size<Zivid::CameraExtrinsics::Tw>::value, "Index must be less than 3");
 
        using type // NOLINT
            = decltype(declval<Zivid::CameraExtrinsics::Tw>().get<i>());
    };
 
    template<>
    struct tuple_size<Zivid::CameraExtrinsics> : integral_constant<size_t, 2>
    {};
 
    template<size_t i>
    struct tuple_element<i, Zivid::CameraExtrinsics>
    {
        static_assert(i < tuple_size<Zivid::CameraExtrinsics>::value, "Index must be less than 2");
 
        using type // NOLINT
            = decltype(declval<Zivid::CameraExtrinsics>().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/CameraExtrinsicsInternal.h") && __has_include("Zivid/DataModelNodeMetaData.h")
#        include "Zivid/CameraExtrinsicsInternal.h"
#    endif
#endif