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

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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
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15
src/xrt/auxiliary/util/u_sink_force_genlock.c
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@ -122,6 +122,21 @@ force_genlock_mainloop(void *ptr)
*/ */
pthread_mutex_unlock(&q->mutex); 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. // Send to the consumer, in left-right order.
xrt_sink_push_frame(q->consumer_left, frames[0]); xrt_sink_push_frame(q->consumer_left, frames[0]);