Timestamps between INS, stereo and VO seem misaligned

[jspenmar]

I've recently started using this dataset and I've notices some strange misalignments between the various timestamps. The images below show the global pose, relative pose (obtained from VO) and stereo frame at the same (or closest) timestamp. As seem, the INS and VO poses are completely different, with the stereo following the VO. Do the timestamps need to be modified according to the start time of each sensor?