Question: Do D435's color and depth have the same clock?

[Egor18]

Required Info
Camera Model	D400

Hi!
I'm wondering if rs::frame::get_timestamp() for depth and color streams uses the same clock on D435?
(Assuming we're using RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
For example, if we got timestamp 1234 from depth_frame.get_timestamp() and timestamp 1234 from color_frame.get_timestamp() do they correspond to the same moment or each sensor has its own clock?

Thank you.

[MartyG-RealSense]

Hi @Egor18 A good starting point for answering your question would be the comments in these links:

#2224 (comment)

#4551 (comment)

The link below expands upon some of the principles that the above two links discuss.

#1957 (comment)

[Egor18]

Thanks @MartyG-RealSense,

So I assume that there are 2 different clocks for depth and color.
But are there any guarantees on them being synched/launched at the same time?

Because here for example _camera_time_base is initialized no matter what type of frame it is:
https://github.com/IntelRealSense/realsense-ros/blob/4c52e767a1c4d0cf2fcd84bf6c577f6097c723bb/realsense2_camera/src/base_realsense_node.cpp#L1691

_camera_time_base is then used to calculate system time for every other frame, but if there are 2 completely independent clocks there should be 2 different base times.

[MartyG-RealSense]

I answer cautiously as advanced metadata principles is outside of my knowledge. So I will point you towards further answers from RealSense team members with greater specialist knowledge in this particular subject.

#7016

#1548 (comment)

#2188 (comment)

Thanks for your patience in this case!

[MartyG-RealSense]

Hi @Egor18 Do you require further assistance with this case, please? Thanks!

[Egor18]

No, thanks.

[MartyG-RealSense]

Thanks very much @Egor18 for the update!