CameraIntrinsics.h

Go to the documentation of this file.

 
/*******************************************************************************
 * This file is part of the Zivid 3D Camera API
 *
 * Copyright 2015-2020 (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 Support <support@zivid.com>
 * Info:    http://www.zivid.com
 ******************************************************************************/
 
#pragma once
 
#include <chrono>
#include <ctime>
#include <iomanip>
#include <memory>
#include <sstream>
#include <string>
#include <tuple>
#include <utility>
#include <vector>
 
#include "Zivid/APIExport.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
{
    class ZIVID_API_EXPORT CameraIntrinsics
    {
    public:
        static constexpr size_t version{ 1 };
 
#ifndef NO_DOC
        template<size_t>
        struct Version;
 
        using LatestVersion = Zivid::CameraIntrinsics;
#endif
 
        ~CameraIntrinsics();
 
        CameraIntrinsics(const CameraIntrinsics &other);
 
        CameraIntrinsics &operator=(const CameraIntrinsics &other);
 
        CameraIntrinsics(CameraIntrinsics &&other) noexcept;
 
        CameraIntrinsics &operator=(CameraIntrinsics &&other) noexcept;
 
        CameraIntrinsics() = default;
 
        static constexpr bool isContainer{ true };
 
        static constexpr const char *path{ "" };
 
        static constexpr const char *name{ "CameraIntrinsics" };
 
        static constexpr const char *description{
            R"description(Information about the intrinsic parameters of the camera (OpenCV model))description"
        };
 
        void set(const std::string &fullPath, const std::string &value);
 
        std::string getString(const std::string &fullPath) const;
 
        class ZIVID_API_EXPORT CameraMatrix
        {
        public:
            CameraMatrix() = default;
 
            static constexpr bool isContainer{ true };
 
            static constexpr const char *path{ "CameraMatrix" };
 
            static constexpr const char *name{ "CameraMatrix" };
 
            static constexpr const char *description{
                R"description(The camera matrix K (=[fx,0,cx;0,fy,cy;0,0,1]))description"
            };
 
            void set(const std::string &fullPath, const std::string &value);
 
            std::string getString(const std::string &fullPath) const;
 
            class ZIVID_API_EXPORT CX
            {
            public:
                using ValueType = double;
 
                static constexpr bool isContainer{ false };
 
                static constexpr const char *path{ "CameraMatrix/CX" };
 
                static constexpr const char *name{ "CX" };
 
                static constexpr const char *description{
                    R"description(x coordinate of the principal point)description"
                };
 
                CX() = default;
 
                explicit constexpr CX(ValueType value) noexcept(std::is_nothrow_copy_constructible<ValueType>::value)
                    : m_value{ value }
                {}
 
                const ValueType &value() const
                {
                    return m_value;
                }
 
                Range<ValueType> range() const
                {
                    return { std::numeric_limits<ValueType>::lowest(), std::numeric_limits<ValueType>::max() };
                }
 
                void setFromString(const std::string &value)
                {
                    m_value = std::stod(value);
                }
 
                std::string toString() const
                {
                    return std::to_string(m_value);
                }
 
                bool operator==(const CX &other) const
                {
                    return m_value == other.m_value;
                }
 
                bool operator!=(const CX &other) const
                {
                    return m_value != other.m_value;
                }
 
                bool operator<(const CX &other) const
                {
                    return m_value < other.m_value;
                }
 
                bool operator>(const CX &other) const
                {
                    return m_value > other.m_value;
                }
 
                friend std::ostream &operator<<(std::ostream &stream, const CX &value)
                {
                    return stream << value.toString();
                }
 
                friend std::istream &operator>>(std::istream &stream, CX &value)
                {
                    value.setFromString(
                        std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                    return stream;
                }
 
            private:
                ValueType m_value{ 0.0 };
            };
 
            class ZIVID_API_EXPORT CY
            {
            public:
                using ValueType = double;
 
                static constexpr bool isContainer{ false };
 
                static constexpr const char *path{ "CameraMatrix/CY" };
 
                static constexpr const char *name{ "CY" };
 
                static constexpr const char *description{
                    R"description(y coordinate of the principal point)description"
                };
 
                CY() = default;
 
                explicit constexpr CY(ValueType value) noexcept(std::is_nothrow_copy_constructible<ValueType>::value)
                    : m_value{ value }
                {}
 
                const ValueType &value() const
                {
                    return m_value;
                }
 
                Range<ValueType> range() const
                {
                    return { std::numeric_limits<ValueType>::lowest(), std::numeric_limits<ValueType>::max() };
                }
 
                void setFromString(const std::string &value)
                {
                    m_value = std::stod(value);
                }
 
                std::string toString() const
                {
                    return std::to_string(m_value);
                }
 
                bool operator==(const CY &other) const
                {
                    return m_value == other.m_value;
                }
 
                bool operator!=(const CY &other) const
                {
                    return m_value != other.m_value;
                }
 
                bool operator<(const CY &other) const
                {
                    return m_value < other.m_value;
                }
 
                bool operator>(const CY &other) const
                {
                    return m_value > other.m_value;
                }
 
                friend std::ostream &operator<<(std::ostream &stream, const CY &value)
                {
                    return stream << value.toString();
                }
 
                friend std::istream &operator>>(std::istream &stream, CY &value)
                {
                    value.setFromString(
                        std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                    return stream;
                }
 
            private:
                ValueType m_value{ 0.0 };
            };
 
            class ZIVID_API_EXPORT FX
            {
            public:
                using ValueType = double;
 
                static constexpr bool isContainer{ false };
 
                static constexpr const char *path{ "CameraMatrix/FX" };
 
                static constexpr const char *name{ "FX" };
 
                static constexpr const char *description{ R"description(Focal length in x)description" };
 
                FX() = default;
 
                explicit constexpr FX(ValueType value) noexcept(std::is_nothrow_copy_constructible<ValueType>::value)
                    : m_value{ value }
                {}
 
                const ValueType &value() const
                {
                    return m_value;
                }
 
                Range<ValueType> range() const
                {
                    return { std::numeric_limits<ValueType>::lowest(), std::numeric_limits<ValueType>::max() };
                }
 
                void setFromString(const std::string &value)
                {
                    m_value = std::stod(value);
                }
 
                std::string toString() const
                {
                    return std::to_string(m_value);
                }
 
                bool operator==(const FX &other) const
                {
                    return m_value == other.m_value;
                }
 
                bool operator!=(const FX &other) const
                {
                    return m_value != other.m_value;
                }
 
                bool operator<(const FX &other) const
                {
                    return m_value < other.m_value;
                }
 
                bool operator>(const FX &other) const
                {
                    return m_value > other.m_value;
                }
 
                friend std::ostream &operator<<(std::ostream &stream, const FX &value)
                {
                    return stream << value.toString();
                }
 
                friend std::istream &operator>>(std::istream &stream, FX &value)
                {
                    value.setFromString(
                        std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                    return stream;
                }
 
            private:
                ValueType m_value{ 0.0 };
            };
 
            class ZIVID_API_EXPORT FY
            {
            public:
                using ValueType = double;
 
                static constexpr bool isContainer{ false };
 
                static constexpr const char *path{ "CameraMatrix/FY" };
 
                static constexpr const char *name{ "FY" };
 
                static constexpr const char *description{ R"description(Focal length in y)description" };
 
                FY() = default;
 
                explicit constexpr FY(ValueType value) noexcept(std::is_nothrow_copy_constructible<ValueType>::value)
                    : m_value{ value }
                {}
 
                const ValueType &value() const
                {
                    return m_value;
                }
 
                Range<ValueType> range() const
                {
                    return { std::numeric_limits<ValueType>::lowest(), std::numeric_limits<ValueType>::max() };
                }
 
                void setFromString(const std::string &value)
                {
                    m_value = std::stod(value);
                }
 
                std::string toString() const
                {
                    return std::to_string(m_value);
                }
 
                bool operator==(const FY &other) const
                {
                    return m_value == other.m_value;
                }
 
                bool operator!=(const FY &other) const
                {
                    return m_value != other.m_value;
                }
 
                bool operator<(const FY &other) const
                {
                    return m_value < other.m_value;
                }
 
                bool operator>(const FY &other) const
                {
                    return m_value > other.m_value;
                }
 
                friend std::ostream &operator<<(std::ostream &stream, const FY &value)
                {
                    return stream << value.toString();
                }
 
                friend std::istream &operator>>(std::istream &stream, FY &value)
                {
                    value.setFromString(
                        std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                    return stream;
                }
 
            private:
                ValueType m_value{ 0.0 };
            };
 
            template<typename T,
                     typename std::enable_if<std::is_same<T, CameraIntrinsics::CameraMatrix::CX>::value, int>::type = 0>
            const CameraIntrinsics::CameraMatrix::CX &get() const
            {
                return m_cx;
            }
 
            template<typename T,
                     typename std::enable_if<std::is_same<T, CameraIntrinsics::CameraMatrix::CY>::value, int>::type = 0>
            const CameraIntrinsics::CameraMatrix::CY &get() const
            {
                return m_cy;
            }
 
            template<typename T,
                     typename std::enable_if<std::is_same<T, CameraIntrinsics::CameraMatrix::FX>::value, int>::type = 0>
            const CameraIntrinsics::CameraMatrix::FX &get() const
            {
                return m_fx;
            }
 
            template<typename T,
                     typename std::enable_if<std::is_same<T, CameraIntrinsics::CameraMatrix::FY>::value, int>::type = 0>
            const CameraIntrinsics::CameraMatrix::FY &get() const
            {
                return m_fy;
            }
 
            template<size_t i, typename std::enable_if<i == 0, int>::type = 0>
            const CameraIntrinsics::CameraMatrix::CX &get() const
            {
                return m_cx;
            }
 
            template<size_t i, typename std::enable_if<i == 1, int>::type = 0>
            const CameraIntrinsics::CameraMatrix::CY &get() const
            {
                return m_cy;
            }
 
            template<size_t i, typename std::enable_if<i == 2, int>::type = 0>
            const CameraIntrinsics::CameraMatrix::FX &get() const
            {
                return m_fx;
            }
 
            template<size_t i, typename std::enable_if<i == 3, int>::type = 0>
            const CameraIntrinsics::CameraMatrix::FY &get() const
            {
                return m_fy;
            }
 
            explicit CameraMatrix(const CX &cx, const CY &cy, const FX &fx, const FY &fy);
 
        private:
            CX m_cx{};
 
        public:
            CameraMatrix &set(const CX &value)
            {
                if(value.value() < value.range().min() || value.value() > value.range().max())
                {
                    throw std::out_of_range("CX{ " + std::to_string(value.value()) + " } is not in range ["
                                            + std::to_string(value.range().min()) + ", "
                                            + std::to_string(value.range().max()) + "]");
                }
 
                m_cx = value;
                return *this;
            }
            const CX &cx() const
            {
                return m_cx;
            }
 
        private:
            CY m_cy{};
 
        public:
            CameraMatrix &set(const CY &value)
            {
                if(value.value() < value.range().min() || value.value() > value.range().max())
                {
                    throw std::out_of_range("CY{ " + std::to_string(value.value()) + " } is not in range ["
                                            + std::to_string(value.range().min()) + ", "
                                            + std::to_string(value.range().max()) + "]");
                }
 
                m_cy = value;
                return *this;
            }
            const CY &cy() const
            {
                return m_cy;
            }
 
        private:
            FX m_fx{};
 
        public:
            CameraMatrix &set(const FX &value)
            {
                if(value.value() < value.range().min() || value.value() > value.range().max())
                {
                    throw std::out_of_range("FX{ " + std::to_string(value.value()) + " } is not in range ["
                                            + std::to_string(value.range().min()) + ", "
                                            + std::to_string(value.range().max()) + "]");
                }
 
                m_fx = value;
                return *this;
            }
            const FX &fx() const
            {
                return m_fx;
            }
 
        private:
            FY m_fy{};
 
        public:
            CameraMatrix &set(const FY &value)
            {
                if(value.value() < value.range().min() || value.value() > value.range().max())
                {
                    throw std::out_of_range("FY{ " + std::to_string(value.value()) + " } is not in range ["
                                            + std::to_string(value.range().min()) + ", "
                                            + std::to_string(value.range().max()) + "]");
                }
 
                m_fy = value;
                return *this;
            }
            const FY &fy() const
            {
                return m_fy;
            }
 
            template<typename F>
            void forEach(const F &f) const
            {
                f(m_cx);
                f(m_cy);
                f(m_fx);
                f(m_fy);
            }
 
            template<typename F>
            void forEach(const F &f)
            {
                f(m_cx);
                f(m_cy);
                f(m_fx);
                f(m_fy);
            }
 
            template<typename F>
            void traverseValues(const F &f) const
            {
                f(m_cx);
                f(m_cy);
                f(m_fx);
                f(m_fy);
            }
 
            template<typename F>
            void traverseValues(const F &f)
            {
                f(m_cx);
                f(m_cy);
                f(m_fx);
                f(m_fy);
            }
 
            std::string toString() const;
 
            friend std::ostream &operator<<(std::ostream &stream, const CameraMatrix &value)
            {
                return stream << value.toString();
            }
 
            void setFromString(const std::string &value);
 
            friend std::istream &operator>>(std::istream &stream, CameraMatrix &value)
            {
                value.setFromString(
                    std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                return stream;
            }
 
            bool operator==(const CameraMatrix &other) const;
 
            bool operator!=(const CameraMatrix &other) const;
        };
 
        class ZIVID_API_EXPORT Distortion
        {
        public:
            Distortion() = default;
 
            static constexpr bool isContainer{ true };
 
            static constexpr const char *path{ "Distortion" };
 
            static constexpr const char *name{ "Distortion" };
 
            static constexpr const char *description{
                R"description(The radial and tangential distortion parameters)description"
            };
 
            void set(const std::string &fullPath, const std::string &value);
 
            std::string getString(const std::string &fullPath) const;
 
            class ZIVID_API_EXPORT K1
            {
            public:
                using ValueType = double;
 
                static constexpr bool isContainer{ false };
 
                static constexpr const char *path{ "Distortion/K1" };
 
                static constexpr const char *name{ "K1" };
 
                static constexpr const char *description{ R"description(First radial distortion term)description" };
 
                K1() = default;
 
                explicit constexpr K1(ValueType value) noexcept(std::is_nothrow_copy_constructible<ValueType>::value)
                    : m_value{ value }
                {}
 
                const ValueType &value() const
                {
                    return m_value;
                }
 
                Range<ValueType> range() const
                {
                    return { std::numeric_limits<ValueType>::lowest(), std::numeric_limits<ValueType>::max() };
                }
 
                void setFromString(const std::string &value)
                {
                    m_value = std::stod(value);
                }
 
                std::string toString() const
                {
                    return std::to_string(m_value);
                }
 
                bool operator==(const K1 &other) const
                {
                    return m_value == other.m_value;
                }
 
                bool operator!=(const K1 &other) const
                {
                    return m_value != other.m_value;
                }
 
                bool operator<(const K1 &other) const
                {
                    return m_value < other.m_value;
                }
 
                bool operator>(const K1 &other) const
                {
                    return m_value > other.m_value;
                }
 
                friend std::ostream &operator<<(std::ostream &stream, const K1 &value)
                {
                    return stream << value.toString();
                }
 
                friend std::istream &operator>>(std::istream &stream, K1 &value)
                {
                    value.setFromString(
                        std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                    return stream;
                }
 
            private:
                ValueType m_value{ 0.0 };
            };
 
            class ZIVID_API_EXPORT K2
            {
            public:
                using ValueType = double;
 
                static constexpr bool isContainer{ false };
 
                static constexpr const char *path{ "Distortion/K2" };
 
                static constexpr const char *name{ "K2" };
 
                static constexpr const char *description{ R"description(Second radial distortion term)description" };
 
                K2() = default;
 
                explicit constexpr K2(ValueType value) noexcept(std::is_nothrow_copy_constructible<ValueType>::value)
                    : m_value{ value }
                {}
 
                const ValueType &value() const
                {
                    return m_value;
                }
 
                Range<ValueType> range() const
                {
                    return { std::numeric_limits<ValueType>::lowest(), std::numeric_limits<ValueType>::max() };
                }
 
                void setFromString(const std::string &value)
                {
                    m_value = std::stod(value);
                }
 
                std::string toString() const
                {
                    return std::to_string(m_value);
                }
 
                bool operator==(const K2 &other) const
                {
                    return m_value == other.m_value;
                }
 
                bool operator!=(const K2 &other) const
                {
                    return m_value != other.m_value;
                }
 
                bool operator<(const K2 &other) const
                {
                    return m_value < other.m_value;
                }
 
                bool operator>(const K2 &other) const
                {
                    return m_value > other.m_value;
                }
 
                friend std::ostream &operator<<(std::ostream &stream, const K2 &value)
                {
                    return stream << value.toString();
                }
 
                friend std::istream &operator>>(std::istream &stream, K2 &value)
                {
                    value.setFromString(
                        std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                    return stream;
                }
 
            private:
                ValueType m_value{ 0.0 };
            };
 
            class ZIVID_API_EXPORT K3
            {
            public:
                using ValueType = double;
 
                static constexpr bool isContainer{ false };
 
                static constexpr const char *path{ "Distortion/K3" };
 
                static constexpr const char *name{ "K3" };
 
                static constexpr const char *description{ R"description(Third radial distortion term)description" };
 
                K3() = default;
 
                explicit constexpr K3(ValueType value) noexcept(std::is_nothrow_copy_constructible<ValueType>::value)
                    : m_value{ value }
                {}
 
                const ValueType &value() const
                {
                    return m_value;
                }
 
                Range<ValueType> range() const
                {
                    return { std::numeric_limits<ValueType>::lowest(), std::numeric_limits<ValueType>::max() };
                }
 
                void setFromString(const std::string &value)
                {
                    m_value = std::stod(value);
                }
 
                std::string toString() const
                {
                    return std::to_string(m_value);
                }
 
                bool operator==(const K3 &other) const
                {
                    return m_value == other.m_value;
                }
 
                bool operator!=(const K3 &other) const
                {
                    return m_value != other.m_value;
                }
 
                bool operator<(const K3 &other) const
                {
                    return m_value < other.m_value;
                }
 
                bool operator>(const K3 &other) const
                {
                    return m_value > other.m_value;
                }
 
                friend std::ostream &operator<<(std::ostream &stream, const K3 &value)
                {
                    return stream << value.toString();
                }
 
                friend std::istream &operator>>(std::istream &stream, K3 &value)
                {
                    value.setFromString(
                        std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                    return stream;
                }
 
            private:
                ValueType m_value{ 0.0 };
            };
 
            class ZIVID_API_EXPORT P1
            {
            public:
                using ValueType = double;
 
                static constexpr bool isContainer{ false };
 
                static constexpr const char *path{ "Distortion/P1" };
 
                static constexpr const char *name{ "P1" };
 
                static constexpr const char *description{ R"description(First tangential distortion term)description" };
 
                P1() = default;
 
                explicit constexpr P1(ValueType value) noexcept(std::is_nothrow_copy_constructible<ValueType>::value)
                    : m_value{ value }
                {}
 
                const ValueType &value() const
                {
                    return m_value;
                }
 
                Range<ValueType> range() const
                {
                    return { std::numeric_limits<ValueType>::lowest(), std::numeric_limits<ValueType>::max() };
                }
 
                void setFromString(const std::string &value)
                {
                    m_value = std::stod(value);
                }
 
                std::string toString() const
                {
                    return std::to_string(m_value);
                }
 
                bool operator==(const P1 &other) const
                {
                    return m_value == other.m_value;
                }
 
                bool operator!=(const P1 &other) const
                {
                    return m_value != other.m_value;
                }
 
                bool operator<(const P1 &other) const
                {
                    return m_value < other.m_value;
                }
 
                bool operator>(const P1 &other) const
                {
                    return m_value > other.m_value;
                }
 
                friend std::ostream &operator<<(std::ostream &stream, const P1 &value)
                {
                    return stream << value.toString();
                }
 
                friend std::istream &operator>>(std::istream &stream, P1 &value)
                {
                    value.setFromString(
                        std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                    return stream;
                }
 
            private:
                ValueType m_value{ 0.0 };
            };
 
            class ZIVID_API_EXPORT P2
            {
            public:
                using ValueType = double;
 
                static constexpr bool isContainer{ false };
 
                static constexpr const char *path{ "Distortion/P2" };
 
                static constexpr const char *name{ "P2" };
 
                static constexpr const char *description{
                    R"description(Second tangential distortion term)description"
                };
 
                P2() = default;
 
                explicit constexpr P2(ValueType value) noexcept(std::is_nothrow_copy_constructible<ValueType>::value)
                    : m_value{ value }
                {}
 
                const ValueType &value() const
                {
                    return m_value;
                }
 
                Range<ValueType> range() const
                {
                    return { std::numeric_limits<ValueType>::lowest(), std::numeric_limits<ValueType>::max() };
                }
 
                void setFromString(const std::string &value)
                {
                    m_value = std::stod(value);
                }
 
                std::string toString() const
                {
                    return std::to_string(m_value);
                }
 
                bool operator==(const P2 &other) const
                {
                    return m_value == other.m_value;
                }
 
                bool operator!=(const P2 &other) const
                {
                    return m_value != other.m_value;
                }
 
                bool operator<(const P2 &other) const
                {
                    return m_value < other.m_value;
                }
 
                bool operator>(const P2 &other) const
                {
                    return m_value > other.m_value;
                }
 
                friend std::ostream &operator<<(std::ostream &stream, const P2 &value)
                {
                    return stream << value.toString();
                }
 
                friend std::istream &operator>>(std::istream &stream, P2 &value)
                {
                    value.setFromString(
                        std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                    return stream;
                }
 
            private:
                ValueType m_value{ 0.0 };
            };
 
            template<typename T,
                     typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::K1>::value, int>::type = 0>
            const CameraIntrinsics::Distortion::K1 &get() const
            {
                return m_k1;
            }
 
            template<typename T,
                     typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::K2>::value, int>::type = 0>
            const CameraIntrinsics::Distortion::K2 &get() const
            {
                return m_k2;
            }
 
            template<typename T,
                     typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::K3>::value, int>::type = 0>
            const CameraIntrinsics::Distortion::K3 &get() const
            {
                return m_k3;
            }
 
            template<typename T,
                     typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::P1>::value, int>::type = 0>
            const CameraIntrinsics::Distortion::P1 &get() const
            {
                return m_p1;
            }
 
            template<typename T,
                     typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::P2>::value, int>::type = 0>
            const CameraIntrinsics::Distortion::P2 &get() const
            {
                return m_p2;
            }
 
            template<size_t i, typename std::enable_if<i == 0, int>::type = 0>
            const CameraIntrinsics::Distortion::K1 &get() const
            {
                return m_k1;
            }
 
            template<size_t i, typename std::enable_if<i == 1, int>::type = 0>
            const CameraIntrinsics::Distortion::K2 &get() const
            {
                return m_k2;
            }
 
            template<size_t i, typename std::enable_if<i == 2, int>::type = 0>
            const CameraIntrinsics::Distortion::K3 &get() const
            {
                return m_k3;
            }
 
            template<size_t i, typename std::enable_if<i == 3, int>::type = 0>
            const CameraIntrinsics::Distortion::P1 &get() const
            {
                return m_p1;
            }
 
            template<size_t i, typename std::enable_if<i == 4, int>::type = 0>
            const CameraIntrinsics::Distortion::P2 &get() const
            {
                return m_p2;
            }
 
            explicit Distortion(const K1 &k1, const K2 &k2, const K3 &k3, const P1 &p1, const P2 &p2);
 
        private:
            K1 m_k1{};
 
        public:
            Distortion &set(const K1 &value)
            {
                if(value.value() < value.range().min() || value.value() > value.range().max())
                {
                    throw std::out_of_range("K1{ " + std::to_string(value.value()) + " } is not in range ["
                                            + std::to_string(value.range().min()) + ", "
                                            + std::to_string(value.range().max()) + "]");
                }
 
                m_k1 = value;
                return *this;
            }
            const K1 &k1() const
            {
                return m_k1;
            }
 
        private:
            K2 m_k2{};
 
        public:
            Distortion &set(const K2 &value)
            {
                if(value.value() < value.range().min() || value.value() > value.range().max())
                {
                    throw std::out_of_range("K2{ " + std::to_string(value.value()) + " } is not in range ["
                                            + std::to_string(value.range().min()) + ", "
                                            + std::to_string(value.range().max()) + "]");
                }
 
                m_k2 = value;
                return *this;
            }
            const K2 &k2() const
            {
                return m_k2;
            }
 
        private:
            K3 m_k3{};
 
        public:
            Distortion &set(const K3 &value)
            {
                if(value.value() < value.range().min() || value.value() > value.range().max())
                {
                    throw std::out_of_range("K3{ " + std::to_string(value.value()) + " } is not in range ["
                                            + std::to_string(value.range().min()) + ", "
                                            + std::to_string(value.range().max()) + "]");
                }
 
                m_k3 = value;
                return *this;
            }
            const K3 &k3() const
            {
                return m_k3;
            }
 
        private:
            P1 m_p1{};
 
        public:
            Distortion &set(const P1 &value)
            {
                if(value.value() < value.range().min() || value.value() > value.range().max())
                {
                    throw std::out_of_range("P1{ " + std::to_string(value.value()) + " } is not in range ["
                                            + std::to_string(value.range().min()) + ", "
                                            + std::to_string(value.range().max()) + "]");
                }
 
                m_p1 = value;
                return *this;
            }
            const P1 &p1() const
            {
                return m_p1;
            }
 
        private:
            P2 m_p2{};
 
        public:
            Distortion &set(const P2 &value)
            {
                if(value.value() < value.range().min() || value.value() > value.range().max())
                {
                    throw std::out_of_range("P2{ " + std::to_string(value.value()) + " } is not in range ["
                                            + std::to_string(value.range().min()) + ", "
                                            + std::to_string(value.range().max()) + "]");
                }
 
                m_p2 = value;
                return *this;
            }
            const P2 &p2() const
            {
                return m_p2;
            }
 
            template<typename F>
            void forEach(const F &f) const
            {
                f(m_k1);
                f(m_k2);
                f(m_k3);
                f(m_p1);
                f(m_p2);
            }
 
            template<typename F>
            void forEach(const F &f)
            {
                f(m_k1);
                f(m_k2);
                f(m_k3);
                f(m_p1);
                f(m_p2);
            }
 
            template<typename F>
            void traverseValues(const F &f) const
            {
                f(m_k1);
                f(m_k2);
                f(m_k3);
                f(m_p1);
                f(m_p2);
            }
 
            template<typename F>
            void traverseValues(const F &f)
            {
                f(m_k1);
                f(m_k2);
                f(m_k3);
                f(m_p1);
                f(m_p2);
            }
 
            std::string toString() const;
 
            friend std::ostream &operator<<(std::ostream &stream, const Distortion &value)
            {
                return stream << value.toString();
            }
 
            void setFromString(const std::string &value);
 
            friend std::istream &operator>>(std::istream &stream, Distortion &value)
            {
                value.setFromString(
                    std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
                return stream;
            }
 
            bool operator==(const Distortion &other) const;
 
            bool operator!=(const Distortion &other) const;
        };
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::CameraMatrix>::value, int>::type = 0>
        const CameraIntrinsics::CameraMatrix &get() const
        {
            return m_cameraMatrix;
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::CameraMatrix::CX>::value, int>::type = 0>
        const CameraIntrinsics::CameraMatrix::CX &get() const
        {
            return m_cameraMatrix.get<CameraIntrinsics::CameraMatrix::CX>();
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::CameraMatrix::CY>::value, int>::type = 0>
        const CameraIntrinsics::CameraMatrix::CY &get() const
        {
            return m_cameraMatrix.get<CameraIntrinsics::CameraMatrix::CY>();
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::CameraMatrix::FX>::value, int>::type = 0>
        const CameraIntrinsics::CameraMatrix::FX &get() const
        {
            return m_cameraMatrix.get<CameraIntrinsics::CameraMatrix::FX>();
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::CameraMatrix::FY>::value, int>::type = 0>
        const CameraIntrinsics::CameraMatrix::FY &get() const
        {
            return m_cameraMatrix.get<CameraIntrinsics::CameraMatrix::FY>();
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion>::value, int>::type = 0>
        const CameraIntrinsics::Distortion &get() const
        {
            return m_distortion;
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::K1>::value, int>::type = 0>
        const CameraIntrinsics::Distortion::K1 &get() const
        {
            return m_distortion.get<CameraIntrinsics::Distortion::K1>();
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::K2>::value, int>::type = 0>
        const CameraIntrinsics::Distortion::K2 &get() const
        {
            return m_distortion.get<CameraIntrinsics::Distortion::K2>();
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::K3>::value, int>::type = 0>
        const CameraIntrinsics::Distortion::K3 &get() const
        {
            return m_distortion.get<CameraIntrinsics::Distortion::K3>();
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::P1>::value, int>::type = 0>
        const CameraIntrinsics::Distortion::P1 &get() const
        {
            return m_distortion.get<CameraIntrinsics::Distortion::P1>();
        }
 
        template<typename T,
                 typename std::enable_if<std::is_same<T, CameraIntrinsics::Distortion::P2>::value, int>::type = 0>
        const CameraIntrinsics::Distortion::P2 &get() const
        {
            return m_distortion.get<CameraIntrinsics::Distortion::P2>();
        }
 
        template<size_t i, typename std::enable_if<i == 0, int>::type = 0>
        const CameraIntrinsics::CameraMatrix &get() const
        {
            return m_cameraMatrix;
        }
 
        template<size_t i, typename std::enable_if<i == 1, int>::type = 0>
        const CameraIntrinsics::Distortion &get() const
        {
            return m_distortion;
        }
 
        explicit CameraIntrinsics(const CameraMatrix &cameraMatrix, const Distortion &distortion);
 
    private:
        CameraMatrix m_cameraMatrix{};
 
    public:
        CameraIntrinsics &set(const CameraMatrix &value)
        {
            m_cameraMatrix = value;
            return *this;
        }
        const CameraMatrix &cameraMatrix() const
        {
            return m_cameraMatrix;
        }
 
        CameraIntrinsics &set(const CameraMatrix::CX &value)
        {
            m_cameraMatrix.set(value);
            return *this;
        }
 
        CameraIntrinsics &set(const CameraMatrix::CY &value)
        {
            m_cameraMatrix.set(value);
            return *this;
        }
 
        CameraIntrinsics &set(const CameraMatrix::FX &value)
        {
            m_cameraMatrix.set(value);
            return *this;
        }
 
        CameraIntrinsics &set(const CameraMatrix::FY &value)
        {
            m_cameraMatrix.set(value);
            return *this;
        }
 
    private:
        Distortion m_distortion{};
 
    public:
        CameraIntrinsics &set(const Distortion &value)
        {
            m_distortion = value;
            return *this;
        }
        const Distortion &distortion() const
        {
            return m_distortion;
        }
 
        CameraIntrinsics &set(const Distortion::K1 &value)
        {
            m_distortion.set(value);
            return *this;
        }
 
        CameraIntrinsics &set(const Distortion::K2 &value)
        {
            m_distortion.set(value);
            return *this;
        }
 
        CameraIntrinsics &set(const Distortion::K3 &value)
        {
            m_distortion.set(value);
            return *this;
        }
 
        CameraIntrinsics &set(const Distortion::P1 &value)
        {
            m_distortion.set(value);
            return *this;
        }
 
        CameraIntrinsics &set(const Distortion::P2 &value)
        {
            m_distortion.set(value);
            return *this;
        }
 
        template<typename F>
        void forEach(const F &f) const
        {
            f(m_cameraMatrix);
            f(m_distortion);
        }
 
        template<typename F>
        void forEach(const F &f)
        {
            f(m_cameraMatrix);
            f(m_distortion);
        }
 
        template<typename F>
        void traverseValues(const F &f) const
        {
            m_cameraMatrix.traverseValues(f);
            m_distortion.traverseValues(f);
        }
 
        template<typename F>
        void traverseValues(const F &f)
        {
            m_cameraMatrix.traverseValues(f);
            m_distortion.traverseValues(f);
        }
 
        std::string toString() const;
 
        friend std::ostream &operator<<(std::ostream &stream, const CameraIntrinsics &value)
        {
            return stream << value.toString();
        }
 
        void setFromString(const std::string &value);
 
        friend std::istream &operator>>(std::istream &stream, CameraIntrinsics &value)
        {
            value.setFromString(
                std::string{ std::istreambuf_iterator<char>{ stream }, std::istreambuf_iterator<char>{} });
            return stream;
        }
 
        bool operator==(const CameraIntrinsics &other) const;
 
        bool operator!=(const CameraIntrinsics &other) const;
 
        explicit CameraIntrinsics(const std::string &fileName);
 
        void save(const std::string &fileName) const;
 
        void load(const std::string &fileName);
    };
 
#ifndef NO_DOC
    template<>
    struct CameraIntrinsics::Version<1>
    {
        using Type = CameraIntrinsics;
    };
#endif
 
} // namespace Zivid
 
#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::CameraIntrinsics::CameraMatrix> : integral_constant<size_t, 4>
    {};
 
    template<size_t i>
    struct tuple_element<i, Zivid::CameraIntrinsics::CameraMatrix>
    {
        using type // NOLINT
            = decltype(declval<Zivid::CameraIntrinsics::CameraMatrix>().get<i>());
    };
 
    template<>
    struct tuple_size<Zivid::CameraIntrinsics::Distortion> : integral_constant<size_t, 5>
    {};
 
    template<size_t i>
    struct tuple_element<i, Zivid::CameraIntrinsics::Distortion>
    {
        using type // NOLINT
            = decltype(declval<Zivid::CameraIntrinsics::Distortion>().get<i>());
    };
 
    template<>
    struct tuple_size<Zivid::CameraIntrinsics> : integral_constant<size_t, 2>
    {};
 
    template<size_t i>
    struct tuple_element<i, Zivid::CameraIntrinsics>
    {
        using type // NOLINT
            = decltype(declval<Zivid::CameraIntrinsics>().get<i>());
    };
 
} // namespace std
#    endif
#endif