相机IMU联合标定

单目相机内参标定：（焦距，光心)

https://blog.csdn.net/qq_42399848/article/details/89298212?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164268174316781685340537%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164268174316781685340537&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-2-89298212.pc_search_result_cache&utm_term=%E7%9B%B8%E6%9C%BA%E6%A0%87%E5%AE%9Apython&spm=1018.2226.3001.4187

https://blog.csdn.net/betrapped/article/details/89247561?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164268174316781685340537%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164268174316781685340537&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-1-89247561.pc_search_result_cache&utm_term=%E7%9B%B8%E6%9C%BA%E6%A0%87%E5%AE%9Apython&spm=1018.2226.3001.4187

https://blog.csdn.net/dgut_guangdian/article/details/107467070?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164268174316781685340537%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=164268174316781685340537&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-3-107467070.pc_search_result_cache&utm_term=%E7%9B%B8%E6%9C%BA%E6%A0%87%E5%AE%9Apython&spm=1018.2226.3001.4187

camera IMU 标定

https://github.com/IntelRealSense/realsense-ros/issues/1427