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The point clouds and rgb images being streamed are already synced. I think your problem lies not the object detection part in image, what method are you using to detect ? And what is the FPS of your algorithm for detetction? , if the object moves fast, the raw data corresponding to your object will move while your detection algorithm is still trying to locate the object, which has already changed its position, therefore you see a lag. I can’t see how a synchronization will help at this point, the best advice would be to debug/optimize the detection part but as we don’t know what is involved there can’t say much

The point clouds and rgb images being streamed are already synced. I think your problem lies not in the object detection part in image, what method are you using to detect ? And what is the FPS of your algorithm for detetction? , if the object moves fast, the raw data corresponding to your object will move while your detection algorithm is still trying to locate the object, which has already changed its position, therefore you see a lag. I can’t see how a synchronization will help at this point, the best advice would be to debug/optimize the detection part but as we don’t know what is involved there can’t say much much