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    Hardware Sync of Color and Depth in D435?


      Is there a hardware synchronization of color and depth cameras in the D435? When I run a pipeline with both streams and output the time stamps I see that the average lag of one sensor vs. the other is around 0, however the variance is quite high. In other words, the driver tries to give me color and depth frames of approximately matching time stamps but the mismatch can go as high as half the frame rate (see attached files).


      Does the D435 have the ability to hardware-sync the frame capturing between color and depth, i.e. make sure the frames are really captured at the same time? If yes, do I need to turn on this capability somewhere in the driver?


      Attached files show Color TS (us), Depth TS (us) and Color minus Depth



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