How is computed a timestamp in global_time?

[PotatoDroid5]

Hi,

I'm trying to reproduce a system similar to the system made in the paper "Multiple Sensor Synchronization with theRealSense RGB-D Camera". In this paper, they are using linear regression to get global timestamps for their synchronization.

Since RealSense can give us timestamps in the domain global_time, when I do:
color_frame.get_timestamp()
How is this timestamp in global_time computed? Is it done the same way as in the paper mentioned above?

[MartyG-RealSense]

Hi @PotatoDroid5 I am not familiar with the Multiple Sensor Synchronization with theRealSense RGB-D Camera paper.

https://pubmed.ncbi.nlm.nih.gov/34577483/

However, I can provide some information about the computation of Global Time.

#3909 has some general information about how it functions.

At #4505 (comment) and the comments below it, a RealSense user shares a detailed analysis that they created of the mechanisms of global timestamps.

[PotatoDroid5]

Thanks for the information, it'll help me a lot.

Kindest regards