Thanks to all predecessors' work, I add hareware time synchronization with a IDS UI-1221LE camera.
In my project, I only use a camera and a Xsens without any extra sampling device, such as, a Single chip microcomputer. As for the camera driver demo, I put it in this project: LeatherWang/ueye_cam.
For detail, you can see MT Manager User Manual, MT Low-Level Communication Protocol Documentation and MTw SDK User Manual.
Firstly, use the SyncOut, make Xsens send a extrigger singal.
This is the camera and IMU and they communicate only use one cable.
This is the result.
ROS Driver for XSens MT/MTi/MTi-G devices.