Sachin Guruswamy

Thats a great sumay. Thanks @borongyuan > It would be better if you could ship each device with a reprojection error statistical report similar to [that in Kalibr](https://github.com/ethz-asl/kalibr/wiki#tutorial-start-to-end-guide-and-discussion). This will...

> Wrap node should be able to do this. But we need to prepare the mesh ourselves using cv::initUndistortRectifyMap(). Yes. but that is not needed if you use generic Camera...

As of RANSAC we need to see how computationally expensive it would be and how many shaves are available. > we can simply subtract the dispairty from the features positions...

@matlabbe @borongyuan Do you have a recommendation on IMU. We are looking for a better one for the upcoming product.