SynchronizationParameter Struct Reference

Configuration parameters for data synchronization. More...

Functions
bool	save (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON) const
	Saves the current set of parameters into a file to be reloaded with the load() method. More...
bool	load (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON)
	Loads a set of parameters from the values contained in a previously saved file. More...
bool	encode (String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON) const
	Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string. More...
bool	decode (const String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON)
	Fill the structure from the serialized json object contained in the input string. More...
bool	operator== (const SynchronizationParameter &param1) const
	Comparison operator ==. More...
bool	operator!= (const SynchronizationParameter &param1) const
	Comparison operator !=. More...

Attributes
double	windows_size = 0
	Size of synchronization windows in milliseconds. More...
double	data_source_timeout = 1000
	Duration in milliseconds before considering a camera as inactive if no more data is present (for example camera disconnection). More...
bool	keep_last_data = false
	Determines whether to include the last data returned by a source in the final synchronized data. More...
double	maximum_lateness = 50
	Maximum duration in milliseconds allowed for data to be considered as the last data. More...

Detailed Description

Configuration parameters for data synchronization.

The SynchronizationParameter struct represents the configuration parameters used by the synchronizer. It allows customization of the synchronization process based on specific requirements.

Functions

save()

bool save	(	String	filename,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)		const

Saves the current set of parameters into a file to be reloaded with the load() method.

Parameters

filename

: Name of the file which will be created to store the parameters (extension '.yml' will be added if not set).

Returns

True if the file was successfully saved, otherwise false.

Warning

For security reasons, the file must not already exist.

In case a file already exists, the method will return false and existing file will not be updated.

load()

bool load	(	String	filename,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)

Loads a set of parameters from the values contained in a previously saved file.

Parameters

filename

: Path to the file from which the parameters will be loaded (extension '.yml' will be added at the end of the filename if not detected).

Returns

True if the file was successfully loaded, otherwise false.

encode()

bool encode	(	String &	serialized_content,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)		const

Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string.

Parameters

serialized_content	output string containing the JSON Object
format	serialization format, default is JSON

Returns

True if file was successfully saved, otherwise false.

decode()

bool decode	(	const String &	serialized_content,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)

Fill the structure from the serialized json object contained in the input string.

Parameters

serialized_content	input string containing the JSON Object
format	serialization format, default is JSON

Returns

True if the decoding was successful, otherwise false.

operator==()

bool operator==

(

const SynchronizationParameter &

param1

)

const

Comparison operator ==.

Parameters

SynchronizationParameter

to compare

Returns

true if the two struct are identical

operator!=()

bool operator!=

(

const SynchronizationParameter &

param1

)

const

Comparison operator !=.

Parameters

SynchronizationParameter

to compare

Returns

true if the two struct are different

Variables

windows_size

double windows_size = 0

Size of synchronization windows in milliseconds.

The synchronization window is used by the synchronizer to return all data present inside the current synchronization window. For efficient fusion, the synchronization window size is expected to be equal to the mean grab() duration of the camera at the lowest FPS. If not provided, the fusion SDK will compute it from the data's sources.

Default value: 0

data_source_timeout

double data_source_timeout = 1000

Duration in milliseconds before considering a camera as inactive if no more data is present (for example camera disconnection).

The data_source_timeout parameter specifies the duration to wait before considering a camera as inactive if no new data is received within the specified time frame.

Default value: 1000

keep_last_data

bool keep_last_data = false

Determines whether to include the last data returned by a source in the final synchronized data.

If the keep_last_data parameter is set to true and no data is present in the current synchronization window, the last data returned by the source will be included in the final synchronized data. This ensures continuity even in the absence of fresh data.

Default value: false

maximum_lateness

double maximum_lateness = 50

Maximum duration in milliseconds allowed for data to be considered as the last data.

The maximum_lateness parameter sets the maximum duration within which data can be considered as the last available data. If the duration between the last received data and the current synchronization window exceeds this value, the data will not be included as the last data in the final synchronized output.

Default value: 50