1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2014-, Open Perception, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of the copyright holder(s) nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 */
37
38 #include <pcl/io/depth_sense_grabber.h>
39 #include <pcl/io/depth_sense/depth_sense_grabber_impl.h>
40
DepthSenseGrabber(const std::string & device_id)41 pcl::DepthSenseGrabber::DepthSenseGrabber (const std::string& device_id)
42 : Grabber ()
43 , p_ (new pcl::io::depth_sense::DepthSenseGrabberImpl (this, device_id))
44 {
45 }
46
~DepthSenseGrabber()47 pcl::DepthSenseGrabber::~DepthSenseGrabber () noexcept
48 {
49 delete p_;
50 }
51
52 void
start()53 pcl::DepthSenseGrabber::start ()
54 {
55 p_->start();
56 }
57
58 void
stop()59 pcl::DepthSenseGrabber::stop ()
60 {
61 p_->stop();
62 }
63
64 bool
isRunning() const65 pcl::DepthSenseGrabber::isRunning () const
66 {
67 return (p_->is_running_);
68 }
69
70 float
getFramesPerSecond() const71 pcl::DepthSenseGrabber::getFramesPerSecond () const
72 {
73 return (p_->getFramesPerSecond());
74 }
75
76 void
setConfidenceThreshold(int threshold)77 pcl::DepthSenseGrabber::setConfidenceThreshold (int threshold)
78 {
79 p_->setConfidenceThreshold (threshold);
80 }
81
82 void
enableTemporalFiltering(TemporalFilteringType type,std::size_t window_size)83 pcl::DepthSenseGrabber::enableTemporalFiltering (TemporalFilteringType type, std::size_t window_size)
84 {
85 p_->enableTemporalFiltering (type, window_size);
86 }
87
88 void
disableTemporalFiltering()89 pcl::DepthSenseGrabber::disableTemporalFiltering ()
90 {
91 p_->enableTemporalFiltering (DepthSense_None, 1);
92 }
93
94 std::string
getDeviceSerialNumber() const95 pcl::DepthSenseGrabber::getDeviceSerialNumber () const
96 {
97 return (p_->device_id_);
98 }
99
100