From 6fe7283521163b22c9c37a1b1eb4ab51ce60b1c9 Mon Sep 17 00:00:00 2001
From: Borong Yuan <yuanborong@hotmail.com>
Date: Sun, 21 Jan 2024 14:39:44 +0800
Subject: [PATCH] set sync threshold properly

---
 corelib/src/camera/CameraDepthAI.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/corelib/src/camera/CameraDepthAI.cpp b/corelib/src/camera/CameraDepthAI.cpp
index f75c5a4cfc..c92b92caa0 100644
--- a/corelib/src/camera/CameraDepthAI.cpp
+++ b/corelib/src/camera/CameraDepthAI.cpp
@@ -373,7 +373,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
 			stereo->rectifiedRight.link(sync->inputs["right"]);
 	}
 
-	sync->setSyncThreshold(std::chrono::milliseconds(100));
+	sync->setSyncThreshold(std::chrono::milliseconds(int(500 / monoLeft->getFps())));
 	sync->out.link(xoutCamera->input);
 
 	if(imuPublished_)