过段时间回来补充 https://blog.csdn.net/fang794735225/article/details/92804030 https://blog.csdn.net/weixin_42577219/article/details/84946419 参考: https://blog.csdn.net/u011178262/article/details/83316968https://github.com/ethz-asl/kalibr/wiki/calibrating-the-vi-sensorhttps://blog.csdn.net/mxdsdo09/article/details/83514310https://www.jianshu.com/p/27d8c2a164d2https://blog.csdn.net/zhubaohua_bupt/article/details/80222321