DepthSensor.hpp

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// Copyright (c) 2026 EduArt Robotik GmbH

 
#pragma once
 
#include <functional>
#include <vector>
 
#include "sensorring/device/Sensor.hpp"
#include "sensorring/device/depth/DepthSensorConfig.hpp"
#include "sensorring/device/depth/DepthSensorParams.hpp"
#include "sensorring/measurement/DepthMeasurement.hpp"
#include "sensorring/platform/SensorringExport.hpp"
#include "sensorring/subscription/Publisher.hpp"
#include "sensorring/subscription/Subscription.hpp"
 
namespace eduart {
 
namespace sensorring {
 
namespace device {

class SENSORRING_EXPORT DepthSensor : public Sensor {
public:
  using MeasurementType = measurement::DepthMeasurement;

  DepthSensor(DeviceID id, com::ComInterface* interface, com::ComEndpoint target, DepthSensorConfig config);

  virtual const DepthSensorParams& getParams() const = 0;

  const measurement::DepthMeasurement& getLatestMeasurement() const;

  subscription::Subscription subscribe(std::function<void(const measurement::DepthMeasurement&)> callback) { return _depth_publisher.subscribe(std::move(callback)); }

  virtual void publishMeasurement();
 
protected:
  void updateResolution(double fov_x_deg, double fov_y_deg, unsigned int res_x, unsigned int res_y);

  virtual void createLookupTable(DepthSensorConfig config, std::vector<double>& lut_x, std::vector<double>& lut_y, std::vector<double>& lut_z);

  void processRawMeasurement(measurement::PointCloud& pcl);
 
  DepthSensorConfig _config;
  std::vector<double> _lut_x;
  std::vector<double> _lut_y;
  std::vector<double> _lut_z;
 
  measurement::DepthMeasurement _latest_measurement;
  subscription::Publisher<const measurement::DepthMeasurement&> _depth_publisher;
};
 
} // namespace device
 
} // namespace sensorring
 
} // namespace eduart