is there a way to get synchronised RGB and Depth data (either in Unity or Native) to get / calculate depth values for RGB pixels or the other way around?
At the present moment we do not provide APIs that allow for capturing data across multiple sensors. In the meantime, you should still be able to write your application to capture data from these sensors separately but they are not intended to be used in unison currently.
You may be able to use the timestamp from each of the frames to determine which frames were captured within a period of time. However, the API cannot guarantee that the data will be captured in sync.
Note, you can use the MLTime API to convert between System and MLTime. For example:
var result = MLTime.ConvertMLTimeToSystemTime(frame.TimeStamp, out long timestampNs);
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