The open source OpenXR runtime
u/sink: Make sure gen-locked frames have the same timestamp
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src/xrt/auxiliary/util/u_sink_force_genlock.c
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src/xrt/auxiliary/util/u_sink_force_genlock.c
···
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*/
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pthread_mutex_unlock(&q->mutex);
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/*
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* Average the timestamps, SLAM systems break if they don't have the exact same timestamp.
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* (This is dumb, because on DepthAI the images *are* taken like 0.1ms apart, and we *could* expose
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* that, but oh well.)
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*/
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int64_t ts_1 = frames[0]->timestamp;
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int64_t ts_2 = frames[1]->timestamp;
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int64_t diff = (ts_2 - ts_1);
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int64_t ts = ts_1 + (diff / 2);
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frames[0]->timestamp = ts;
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frames[1]->timestamp = ts;
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// Send to the consumer, in left-right order.
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xrt_sink_push_frame(q->consumer_left, frames[0]);