From dca4106959b48c6c03aa49434fab54227136fda1 Mon Sep 17 00:00:00 2001
From: Matevz Morato <matevz.morato@gmail.com>
Date: Thu, 14 Dec 2023 14:12:35 +0000
Subject: [PATCH] Change the sync node to work on buffers

---
 depthai-core                     |  2 +-
 examples/Sync/sync_left_right.py | 43 ++++++++++++++++++++++++++++++++
 2 files changed, 44 insertions(+), 1 deletion(-)
 create mode 100644 examples/Sync/sync_left_right.py

diff --git a/depthai-core b/depthai-core
index df44897e1..7890a60fc 160000
--- a/depthai-core
+++ b/depthai-core
@@ -1 +1 @@
-Subproject commit df44897e10d2b897ad3821e43b98952d4b07eab8
+Subproject commit 7890a60fcce1f34ab8039d5329bb4be54d1ef74d
diff --git a/examples/Sync/sync_left_right.py b/examples/Sync/sync_left_right.py
new file mode 100644
index 000000000..2bbd2a1ac
--- /dev/null
+++ b/examples/Sync/sync_left_right.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+xoutRight = pipeline.create(dai.node.XLinkOut)
+syncNode = pipeline.create(dai.node.Sync)
+
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+
+monoLeft.out.link(syncNode.inputs["left"])
+monoRight.out.link(syncNode.inputs["right"])
+syncNode.outputs["left"].link(xoutLeft.input)
+syncNode.outputs["right"].link(xoutRight.input)
+
+with dai.Device(pipeline) as device:
+    qLeft = device.getOutputQueue(name="left", maxSize=4, blocking=False)
+    qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)
+    while True:
+        inLeft = qLeft.get()
+        inRight = qRight.get()
+
+        cv2.imshow("left", inLeft.getCvFrame())
+        cv2.imshow("right", inRight.getCvFrame())
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file