Question about the timestamp returned by `dai::ImgFrame::getTimestamp()` method

Greetings! I’d like to ask you one question about the timestamp. I am now working on synchronization between OAK-D camera and external IMU sensor. For that, I need to consider the latency on both sides, including the latency between image capture and its retrieval on the host (as you shared in this link). For example, in case of mono 400p, the latency is about 7.5ms. Instead of additionally setting timestamp right after the method dai::DataOutputQueue::get<dai::ImgFrame>() and then compensating for that latency, which is not that accurate, I intended to use your built-in method getTimestamp() of dai::ImgFrame, since I understand that the returned timestamp by getTimestamp() should have already considered that latency (since the returned ts is actually the one assigned when image being captured) and also be based on host time base. Right?

[lenardxu]

Thanks, I’ll try using getDeviceTimestamp() to get the problematic getTimestamp() corrected in my case.

[Erol444]

Added IMU + frame syncing demo here. cc @lenardxu