Images synchronized with sensors data

I am working on a project for drone autonomous control basing on vision.
The project consists of motion estimation using specified algorithms we have already written. These algorithms, based on imu values and camera images, were tested on matlab via synthetic images and values. What we need to do now is to test them off-line using real data.
So, what I should do first, is to get a sequence of sensors values from Navio2. In other side, I have to acquire images from Rpi camera. The aim is to have images synchronized with values.
Can anyone help please, how should I proceed?

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