pinhole.hpp

// DO NOT EDIT! This file was auto-generated by crates/build/re_types_builder/src/codegen/cpp/mod.rs
// Based on "crates/store/re_types/definitions/rerun/archetypes/pinhole.fbs".
 
#pragma once
 
#include "../collection.hpp"
#include "../compiler_utils.hpp"
#include "../component_batch.hpp"
#include "../components/image_plane_distance.hpp"
#include "../components/pinhole_projection.hpp"
#include "../components/resolution.hpp"
#include "../components/view_coordinates.hpp"
#include "../indicator_component.hpp"
#include "../result.hpp"
 
#include <cmath>
#include <cstdint>
#include <limits>
#include <optional>
#include <utility>
#include <vector>
 
namespace rerun::archetypes {
    /// **Archetype**: Camera perspective projection (a.k.a. intrinsics).
    ///
    /// ## Examples
    ///
    /// ### Simple pinhole camera
    /// ![image](https://static.rerun.io/pinhole_simple/9af9441a94bcd9fd54e1fea44fb0c59ff381a7f2/full.png)
    ///
    /// ```cpp
    /// #include <rerun.hpp>
    ///
    /// #include <algorithm> // std::generate
    /// #include <cstdlib>   // std::rand
    /// #include <vector>
    ///
    /// int main() {
    ///     const auto rec = rerun::RecordingStream("rerun_example_pinhole");
    ///     rec.spawn().exit_on_failure();
    ///
    ///     rec.log("world/image", rerun::Pinhole::from_focal_length_and_resolution(3.0f, {3.0f, 3.0f}));
    ///
    ///     std::vector<uint8_t> random_data(3 * 3 * 3);
    ///     std::generate(random_data.begin(), random_data.end(), [] {
    ///         return static_cast<uint8_t>(std::rand());
    ///     });
    ///
    ///     rec.log("world/image", rerun::Image::from_rgb24(random_data, {3, 3}));
    /// }
    /// ```
    ///
    /// ### Perspective pinhole camera
    /// ![image](https://static.rerun.io/pinhole_perspective/317e2de6d212b238dcdad5b67037e9e2a2afafa0/full.png)
    ///
    /// ```cpp
    /// #include <rerun.hpp>
    ///
    /// int main() {
    ///     const auto rec = rerun::RecordingStream("rerun_example_pinhole_perspective");
    ///     rec.spawn().exit_on_failure();
    ///
    ///     const float fov_y = 0.7853982f;
    ///     const float aspect_ratio = 1.7777778f;
    ///     rec.log(
    ///         "world/cam",
    ///         rerun::Pinhole::from_fov_and_aspect_ratio(fov_y, aspect_ratio)
    ///             .with_camera_xyz(rerun::components::ViewCoordinates::RUB)
    ///             .with_image_plane_distance(0.1f)
    ///     );
    ///
    ///     rec.log(
    ///         "world/points",
    ///         rerun::Points3D({{0.0f, 0.0f, -0.5f}, {0.1f, 0.1f, -0.5f}, {-0.1f, -0.1f, -0.5f}}
    ///         ).with_radii({0.025f})
    ///     );
    /// }
    /// ```
    struct Pinhole {
        /// Camera projection, from image coordinates to view coordinates.
        rerun::components::PinholeProjection image_from_camera;
 
        /// Pixel resolution (usually integers) of child image space. Width and height.
        ///
        /// Example:
        /// ```text
        /// [1920.0, 1440.0]
        /// ```
        ///
        /// `image_from_camera` project onto the space spanned by `(0,0)` and `resolution - 1`.
        std::optional<rerun::components::Resolution> resolution;
 
        /// Sets the view coordinates for the camera.
        ///
        /// All common values are available as constants on the `components.ViewCoordinates` class.
        ///
        /// The default is `ViewCoordinates::RDF`, i.e. X=Right, Y=Down, Z=Forward, and this is also the recommended setting.
        /// This means that the camera frustum will point along the positive Z axis of the parent space,
        /// and the cameras "up" direction will be along the negative Y axis of the parent space.
        ///
        /// The camera frustum will point whichever axis is set to `F` (or the opposite of `B`).
        /// When logging a depth image under this entity, this is the direction the point cloud will be projected.
        /// With `RDF`, the default forward is +Z.
        ///
        /// The frustum's "up" direction will be whichever axis is set to `U` (or the opposite of `D`).
        /// This will match the negative Y direction of pixel space (all images are assumed to have xyz=RDF).
        /// With `RDF`, the default is up is -Y.
        ///
        /// The frustum's "right" direction will be whichever axis is set to `R` (or the opposite of `L`).
        /// This will match the positive X direction of pixel space (all images are assumed to have xyz=RDF).
        /// With `RDF`, the default right is +x.
        ///
        /// Other common formats are `RUB` (X=Right, Y=Up, Z=Back) and `FLU` (X=Forward, Y=Left, Z=Up).
        ///
        /// NOTE: setting this to something else than `RDF` (the default) will change the orientation of the camera frustum,
        /// and make the pinhole matrix not match up with the coordinate system of the pinhole entity.
        ///
        /// The pinhole matrix (the `image_from_camera` argument) always project along the third (Z) axis,
        /// but will be re-oriented to project along the forward axis of the `camera_xyz` argument.
        std::optional<rerun::components::ViewCoordinates> camera_xyz;
 
        /// The distance from the camera origin to the image plane when the projection is shown in a 3D viewer.
        ///
        /// This is only used for visualization purposes, and does not affect the projection itself.
        std::optional<rerun::components::ImagePlaneDistance> image_plane_distance;
 
      public:
        static constexpr const char IndicatorComponentName[] = "rerun.components.PinholeIndicator";
 
        /// Indicator component, used to identify the archetype when converting to a list of components.
        using IndicatorComponent = rerun::components::IndicatorComponent<IndicatorComponentName>;
 
      public: // START of extensions from pinhole_ext.cpp:
        /// Creates a pinhole from the camera focal length and resolution, both specified in pixels.
        ///
        /// The focal length is the diagonal of the projection matrix.
        /// Set the same value for x & y value for symmetric cameras, or two values for anamorphic
        /// cameras.
        ///
        /// Assumes the principal point to be in the middle of the sensor.
        static Pinhole from_focal_length_and_resolution(
            const datatypes::Vec2D& focal_length, const datatypes::Vec2D& resolution
        );
 
        /// Creates a symmetric pinhole from the camera focal length and resolution, both specified
        /// in pixels.
        ///
        /// The focal length is the diagonal of the projection matrix.
        ///
        /// Assumes the principal point to be in the middle of the sensor.
        static Pinhole from_focal_length_and_resolution(
            float focal_length, const datatypes::Vec2D& resolution
        ) {
            return from_focal_length_and_resolution({focal_length, focal_length}, resolution);
        }
 
        /// Creates a pinhole from the camera vertical field of view (in radians) and aspect ratio (width/height).
        ///
        /// Assumes the principal point to be in the middle of the sensor.
        static Pinhole from_fov_and_aspect_ratio(float fov_y, float aspect_ratio) {
            const float EPSILON = std::numeric_limits<float>::epsilon();
            // `max` has explicit template args to avoid preprocessor replacement when <windows.h> is included without NOMINMAX.
            const float focal_length_y = 0.5f / std::tan(std::max<float>(fov_y * 0.5f, EPSILON));
            return from_focal_length_and_resolution(
                {focal_length_y, focal_length_y},
                {aspect_ratio, 1.0}
            );
        }
 
        /// Pixel resolution (usually integers) of child image space. Width and height.
        ///
        /// `image_from_camera` project onto the space spanned by `(0,0)` and `resolution - 1`.
        Pinhole with_resolution(float width, float height) && {
            resolution = rerun::components::Resolution(width, height);
            return std::move(*this);
        }
 
        /// Pixel resolution (usually integers) of child image space. Width and height.
        ///
        /// `image_from_camera` project onto the space spanned by `(0,0)` and `resolution - 1`.
        Pinhole with_resolution(int width, int height) && {
            resolution = rerun::components::Resolution(width, height);
            return std::move(*this);
        }
 
        // END of extensions from pinhole_ext.cpp, start of generated code:
 
      public:
        Pinhole() = default;
        Pinhole(Pinhole&& other) = default;
 
        explicit Pinhole(rerun::components::PinholeProjection _image_from_camera)
            : image_from_camera(std::move(_image_from_camera)) {}
 
        /// Pixel resolution (usually integers) of child image space. Width and height.
        ///
        /// Example:
        /// ```text
        /// [1920.0, 1440.0]
        /// ```
        ///
        /// `image_from_camera` project onto the space spanned by `(0,0)` and `resolution - 1`.
        Pinhole with_resolution(rerun::components::Resolution _resolution) && {
            resolution = std::move(_resolution);
            // See: https://github.com/rerun-io/rerun/issues/4027
            RR_WITH_MAYBE_UNINITIALIZED_DISABLED(return std::move(*this);)
        }
 
        /// Sets the view coordinates for the camera.
        ///
        /// All common values are available as constants on the `components.ViewCoordinates` class.
        ///
        /// The default is `ViewCoordinates::RDF`, i.e. X=Right, Y=Down, Z=Forward, and this is also the recommended setting.
        /// This means that the camera frustum will point along the positive Z axis of the parent space,
        /// and the cameras "up" direction will be along the negative Y axis of the parent space.
        ///
        /// The camera frustum will point whichever axis is set to `F` (or the opposite of `B`).
        /// When logging a depth image under this entity, this is the direction the point cloud will be projected.
        /// With `RDF`, the default forward is +Z.
        ///
        /// The frustum's "up" direction will be whichever axis is set to `U` (or the opposite of `D`).
        /// This will match the negative Y direction of pixel space (all images are assumed to have xyz=RDF).
        /// With `RDF`, the default is up is -Y.
        ///
        /// The frustum's "right" direction will be whichever axis is set to `R` (or the opposite of `L`).
        /// This will match the positive X direction of pixel space (all images are assumed to have xyz=RDF).
        /// With `RDF`, the default right is +x.
        ///
        /// Other common formats are `RUB` (X=Right, Y=Up, Z=Back) and `FLU` (X=Forward, Y=Left, Z=Up).
        ///
        /// NOTE: setting this to something else than `RDF` (the default) will change the orientation of the camera frustum,
        /// and make the pinhole matrix not match up with the coordinate system of the pinhole entity.
        ///
        /// The pinhole matrix (the `image_from_camera` argument) always project along the third (Z) axis,
        /// but will be re-oriented to project along the forward axis of the `camera_xyz` argument.
        Pinhole with_camera_xyz(rerun::components::ViewCoordinates _camera_xyz) && {
            camera_xyz = std::move(_camera_xyz);
            // See: https://github.com/rerun-io/rerun/issues/4027
            RR_WITH_MAYBE_UNINITIALIZED_DISABLED(return std::move(*this);)
        }
 
        /// The distance from the camera origin to the image plane when the projection is shown in a 3D viewer.
        ///
        /// This is only used for visualization purposes, and does not affect the projection itself.
        Pinhole with_image_plane_distance(
            rerun::components::ImagePlaneDistance _image_plane_distance
        ) && {
            image_plane_distance = std::move(_image_plane_distance);
            // See: https://github.com/rerun-io/rerun/issues/4027
            RR_WITH_MAYBE_UNINITIALIZED_DISABLED(return std::move(*this);)
        }
    };
 
} // namespace rerun::archetypes
 
namespace rerun {
    /// \private
    template <typename T>
    struct AsComponents;
 
    /// \private
    template <>
    struct AsComponents<archetypes::Pinhole> {
        /// Serialize all set component batches.
        static Result<std::vector<ComponentBatch>> serialize(const archetypes::Pinhole& archetype);
    };
} // namespace rerun