mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2024-12-29 11:06:18 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

u/sink: Make sure gen-locked frames have the same timestamp

Browse source
This commit is contained in:
Moses Turner 2022-05-13 14:15:54 +01:00
parent d3c77b435c
commit bcfd50c839
1 changed files with 15 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

15
src/xrt/auxiliary/util/u_sink_force_genlock.c
View file

@ -122,6 +122,21 @@ force_genlock_mainloop(void *ptr)
*/
pthread_mutex_unlock(&q->mutex);
/*
* Average the timestamps, SLAM systems break if they don't have the exact same timestamp.
* (This is dumb, because on DepthAI the images *are* taken like 0.1ms apart, and we *could* expose
* that, but oh well.)
*/
int64_t ts_1 = frames[0]->timestamp;
int64_t ts_2 = frames[1]->timestamp;
int64_t diff = (ts_2 - ts_1);
int64_t ts = ts_1 + (diff / 2);
frames[0]->timestamp = ts;
frames[1]->timestamp = ts;
// Send to the consumer, in left-right order.
xrt_sink_push_frame(q->consumer_left, frames[0]);