How to calibrate zed2's imu manually?


I want to calibrate imu myself manually, I find realsense d435i have a supported python script for doing this, the document is here .

My question is do you anything similar to that? So I can calibrate zed2’s imu for better performance.

I find something here, but it is not as same as d435i’s calibration. I guess what I need is something that can calibrate zed2’s imu inside its file.