在这个函数中，是不是对于double dx = 0, dy = 0, dz = 0, rx = 0, ry = 0, rz = 0;的定义有问题！！

[xionghuachuan]

https://github.com/iwander-all/vins-mono-self-improved-/blob/409e78923ba4ba84124fc20268fac864a07dcd95/vins_estimator/src/estimator_node.cpp#L232

double dx = 0, dy = 0, dz = 0, rx = 0, ry = 0, rz = 0; 不能只是临时变量，这样会使得在else中dx = 0, dy = 0, dz = 0, rx = 0, ry = 0, rz = 0;无法完成按照img时间插值imu的功能