This project forked from teemoshan/msckf-noros
S-MSCKF去除ROS版本
在ubuntu系统下可运行，需要提前安装此系统； 使用了boost，eigen, opencv库，方便交叉编译，故需要提前安装这些库。
一 运行
1、修改main中euroc数据集路径，如果使用其他的数据集，修改getFiles()
2、如果使用其他数据集修改loadParameters()中相机参数
二 要点
1.去除ROS环境
2.增加了相机和IMU的数据同步，
3.去除了SuiteSparse(交叉编译起来很麻烦)
4.注意typedef long long int FeatureIDType类型，arm下编译会有问题
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