Slam | how to align timestamps?

Preface

Because in SLAM Product process , Time stamp alignment between multiple sensors is often performed , Here is a summary of some timestamp alignment cases used before , For future reference .

Case study 1： Align the image timestamp with the code disk timestamp , The frame rate of code disk is much higher than that of image acquisition .

   void alignWheel2Image(const std::vector<frame>
&v_image_sequence,
                          const std::vector