I want to know the exactly when the Kinect gives depth frame and color frame in a period of one frame

Hi, I'm currently using Kinect for Windows v2 to get a blurry sequence of color frames as well as corresponding depth frames.
It seems to me that the depth frame is acquired after the exposure time of the color frame. I am using the sample in the CoordinateMappingBasic to acquire the depth frame and the color frame at the same time.
But as i've found out by the aligned depth map with color frame, i think Kinect gives depth frame at the end of the exposure time of color frame. I've tried to obtain timestamps by calling a function iColorFrame->get_relative_time, and for the same number
the timestamps show that depth frame is acquired prior to color frame, which opposes what i said above..
Is there some way that i can know the exact time the Kinect gives depth frame and color frame in a period of one frame.
Thank you in advance.

Depth is generated based on IR information so when you acquire the frame, that is when it was created. Using the Multisource Frame Reader(MSFR) this does a lot under the covers to align the color and depth frame. If you want to do your own synchronizing,
you can use a polling thread to acquire depth on one and color on the other and do your own mechanism that is similar to MSFR. You will never get Color and Depth to align exactly on a particular timestamp. Since color is its own camera, the only thing
you can be assured of is when the color frame is acquired, the runtime will give you the closest depth frame that will align to it.
Carmine Sirignano - MSFT

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