Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.5095851119307363, median 0.4368678040539837, std: 0.391828191997513
Reprojection error (cam1):     mean 0.6552457897860872, median 0.5951690838623537, std: 0.38242659417026403
Reprojection error (cam2):     mean 0.448987759100309, median 0.32989149834381526, std: 0.46929741053329077
Gyroscope error (imu0):        mean 1.1152177269029029, median 0.9242825151567593, std: 0.8196692481387199
Accelerometer error (imu0):    mean 1.9323299273020051, median 1.6136407012757965, std: 1.2397450771637668

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.5095851119307363, median 0.4368678040539837, std: 0.391828191997513
Reprojection error (cam1) [px]:     mean 0.6552457897860872, median 0.5951690838623537, std: 0.38242659417026403
Reprojection error (cam2) [px]:     mean 0.448987759100309, median 0.32989149834381526, std: 0.46929741053329077
Gyroscope error (imu0) [rad/s]:     mean 0.0013624971839245375, median 0.001129225525807498, std: 0.0010014161498670146
Accelerometer error (imu0) [m/s^2]: mean 0.05302313320516703, median 0.04427830084300785, std: 0.03401860491737376

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[-0.99999335 -0.00199094 -0.00305512  0.09225701]
 [-0.00200968  0.9999791   0.00614495  0.03113638]
 [ 0.00304282  0.00615105 -0.99997645  0.00754182]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[-0.99999335 -0.00200968  0.00304282  0.09229603]
 [-0.00199094  0.9999791   0.00615105 -0.03099844]
 [-0.00305512  0.00614495 -0.99997645  0.00763216]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.007043057866577577


Transformation (cam1):
-----------------------
T_ci:  (imu0 to cam1): 
[[-0.99998702 -0.00118596 -0.0049558  -0.02760477]
 [-0.00121885  0.99997722  0.00663834  0.03096356]
 [ 0.00494782  0.00664429 -0.99996569  0.0087381 ]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam1 to imu0): 
[[-0.99998702 -0.00121885  0.00494782 -0.0276099 ]
 [-0.00118596  0.99997722  0.00664429 -0.03105366]
 [-0.0049558   0.00663834 -0.99996569  0.00839545]
 [ 0.          0.          0.          1.        ]]

timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
0.006990233960309804


Transformation (cam2):
-----------------------
T_ci:  (imu0 to cam2): 
[[-0.99999967 -0.00080466 -0.00010347  0.06118218]
 [-0.00080499  0.99999435  0.00326327  0.03723756]
 [ 0.00010084  0.00326335 -0.99999467  0.01086843]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam2 to imu0): 
[[-0.99999967 -0.00080499  0.00010084  0.06121104]
 [-0.00080466  0.99999435  0.00326335 -0.03722359]
 [-0.00010347  0.00326327 -0.99999467  0.01075319]
 [ 0.          0.          0.          1.        ]]

timeshift cam2 to imu0: [s] (t_imu = t_cam + shift)
0.008647652194336636

Baselines:
----------
Baseline (cam0 to cam1): 
[[ 0.99999787  0.00079327  0.00190561 -0.11990065]
 [-0.00079233  0.99999957 -0.00049098 -0.000096  ]
 [-0.001906    0.00048947  0.99999806  0.0013569 ]
 [ 0.          0.          0.          1.        ]]
baseline norm:  0.11990836977878411 [m]

Baseline (cam1 to cam2): 
[[ 0.99998815  0.00041352 -0.00484969  0.08881619]
 [-0.00039714  0.99999422  0.00337711  0.0062337 ]
 [ 0.00485106 -0.00337514  0.99998254  0.0023689 ]
 [ 0.          0.          0.          1.        ]]
baseline norm:  0.08906618799888644 [m]


Gravity vector in target coords: [m/s^2]
[-0.02690666 -9.77325702 -0.80693628]


Calibration configuration
=========================

cam0
-----
  Camera model: pinhole
  Focal length: [1059.798441786791, 1058.7112853994076]
  Principal point: [673.3870682823868, 331.65536460528125]
  Distortion model: radtan
  Distortion coefficients: [-0.4002742426392474, 0.17056618041313354, 0.00048741925230120315, 0.0007060954021436913]
  Type: aprilgrid
  Tags: 
    Rows: 5
    Cols: 7
    Size: 0.04 [m]
    Spacing 0.01 [m]

cam1
-----
  Camera model: pinhole
  Focal length: [1055.3158626684692, 1054.641474987198]
  Principal point: [670.8052470781481, 324.5193403310099]
  Distortion model: radtan
  Distortion coefficients: [-0.40030215796888774, 0.16639937529942397, 0.00036765555387976463, 0.0013303868471007867]
  Type: aprilgrid
  Tags: 
    Rows: 5
    Cols: 7
    Size: 0.04 [m]
    Spacing 0.01 [m]

cam2
-----
  Camera model: pinhole
  Focal length: [1266.4626100231476, 1264.854376051191]
  Principal point: [649.0974421698934, 363.35085318485955]
  Distortion model: radtan
  Distortion coefficients: [-0.42058761598918115, 0.19684519573567003, 0.0008715049415326623, 0.0002894328952163947]
  Type: aprilgrid
  Tags: 
    Rows: 5
    Cols: 7
    Size: 0.04 [m]
    Spacing 0.01 [m]



IMU configuration
=================

IMU0:
 ----------------------------
  Model: calibrated
  Update rate: 400.0
  Accelerometer:
    Noise density: 0.001372 
    Noise density (discrete): 0.02744 
    Random walk: 5e-05
  Gyroscope:
    Noise density: 6.10866e-05
    Noise density (discrete): 0.0012217320000000001 
    Random walk: 4e-06
  T_ib (imu0 to imu0)
    [[1. 0. 0. 0.]
     [0. 1. 0. 0.]
     [0. 0. 1. 0.]
     [0. 0. 0. 1.]]
  time offset with respect to IMU0: 0.0 [s]