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In the following link you will find the procedure and the formula used for the IMU Euclid calibration.
Hope this helps to clarify your questions.
From the link you referenced, I was able to view the IMU information by using this command (while camera running):
$> rosservice call /camera/driver/get_imu_info
But unsure how to modify the indicated values. I didn't see any parameters or services that looked like they were for setting them.
I posted on that link for clarification. If you know how to do that, maybe let me know.
So I got my answer. The sensor_msgs/Imu data in the published camera IMU topic is un-calibrated. You have to create a node to manually apply the calibration and publish the topic information.