循环遍历imu_msg_buffer把state_server.imu_state.time到msg->header.stamp.toSec()中间的imu数据输入void MsckfVio::processModel(const double& time, const Vector3d& m_gyro, const Vector3d& m_acc)中。IMUState& imu_state = state_server.imu_state; Vector3d gyro = m_gyro - imu_state.gyro_bias...