Android

1. Use Android IMU-Camera recorder to record IMU-Camera data.
2. Use bin2image convert .bin data to .png images.
3. Use Kalibr_bagcreator to create rosbag file. (note: some issue with absolute path and the last dot)
4. Use calibrator to calibrate.

Rokid-ic-Cube (A custom device with camera and imu)

1. Use Adafruit_IMU_ROS to publish imu topic.
2. Use uvc_camera (or other packages) to publish usb camera image.
3. Use image_proc to convert rgb image to grayscale image. (must do)
4. Use rosbag to record data.
5. Use calibrator to calibrate.

PS: Well, it's really complex and annoying :( . But it's necessary.