//每次跑VINS时先在estimator_node.cpp的getMeasurements()函数中查看IMU和图像时间戳之差,然后补偿到feature_tracker_node.cpp中的img_callback()函数中,如下所示:
feature_points->header = img_msg->header;
double imu_buf_header = 1632546805.646908444 + 5150.44;
double imu_buf_header1 = feature_points->header.stamp.toSec();
feature_points->header.stamp = ros::Time().fromSec(imu_buf_header+imu_buf_header1);
feature_points->header.frame_id = "world";