/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2014-, Open Perception, Inc.
 *
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
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 *     with the distribution.
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 *     from this software without specific prior written permission.
 *
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#include <pcl/io/depth_sense_grabber.h>
#include <pcl/io/depth_sense/depth_sense_grabber_impl.h>

pcl::DepthSenseGrabber::DepthSenseGrabber (const std::string& device_id)
: Grabber ()
, p_ (new pcl::io::depth_sense::DepthSenseGrabberImpl (this, device_id))
{
}

pcl::DepthSenseGrabber::~DepthSenseGrabber () throw ()
{
  delete p_;
}

void
pcl::DepthSenseGrabber::start ()
{
  p_->start();
}

void
pcl::DepthSenseGrabber::stop ()
{
  p_->stop();
}

bool
pcl::DepthSenseGrabber::isRunning () const
{
  return (p_->is_running_);
}

float
pcl::DepthSenseGrabber::getFramesPerSecond () const
{
  return (p_->getFramesPerSecond());
}

void
pcl::DepthSenseGrabber::setConfidenceThreshold (int threshold)
{
  p_->setConfidenceThreshold (threshold);
}

void
pcl::DepthSenseGrabber::enableTemporalFiltering (TemporalFilteringType type, size_t window_size)
{
  p_->enableTemporalFiltering (type, window_size);
}

void
pcl::DepthSenseGrabber::disableTemporalFiltering ()
{
  p_->enableTemporalFiltering (DepthSense_None, 1);
}

std::string
pcl::DepthSenseGrabber::getDeviceSerialNumber () const
{
  return (p_->device_id_);
}

