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Is it through using image_transport::SubscriberFilter ?

Yes. From the documentation you linked:

This class wraps Subscriber as a "filter" compatible with the message_filters package. It acts as a highest-level filter, simply passing messages from an image transport subscription through to the filters which have connected to it.

You should then be able to use the ExactTime or Approximate Time policies from message_filters to synchronise your topics.

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