Scale factor

[DuyTPresent]

I want to ask whether the scale factor is optimized in pose optimization.
or is it handled in the initialization part. ( Ps[i] = s * Ps[i] - Rs[i] * TIC[0] - (s * Ps[0] - Rs[0] * TIC[0]); )
After initialization, is the scale factor optimized?

[brucezhcw]

visual Scale factor is only solved in initial part

after initial, imu & visual has nearly same scale.
but in stationary case or visual lost tracking and then retracked, Scale factor may has some problems