How keyframes and depth information are matched?

[BBBBBH-CMD]

During the process of studying your research results, we encountered a critical issue. Could you please explain how keyframes and depth information are matched? Additionally, how does the depth information, specifically the depth_msg_py, subscribe to the information? We greatly appreciate your insights and look forward to your reply.

[joshi-bharat]

I think it's just based on timestamp.

Please use this tag for original code implementation.

https://github.com/AutonomousFieldRoboticsLab/SVIn/tree/v0.1