depth_image_camera.h

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#ifndef MF_DEPTH_IMAGE_CAMERA_H_
#define MF_DEPTH_IMAGE_CAMERA_H_

#include "image_camera.h"
#include <limits>
#include <type_traits>

namespace mf {

template<typename Depth>
class depth_image_camera : public image_camera {
    static_assert(std::is_integral<Depth>::value, "Depth must be integer type");
    
private:
    real depth_origin_ = 0.0;
    real depth_range_ = +1.0;
    real pixel_depth_minimum_ = static_cast<real>(std::numeric_limits<Depth>::min());
    real pixel_depth_maximum_ = static_cast<real>(std::numeric_limits<Depth>::max());

public:
    using pixel_depth_type = Depth; 

    depth_image_camera() = default;
    depth_image_camera(const ndsize<2>& image_size, real origin, real range) :
        image_camera(image_size), depth_origin_(origin), depth_range_(range) { }
    
    bool in_depth_bounds(real d) const;
    

    pixel_depth_type to_pixel_depth(real d) const;
    

    pixel_depth_type to_pixel_depth_clamp(real d) const;
    

    real to_depth(pixel_depth_type pixd) const;
};

}

#include "depth_image_camera.tcc"

#endif