Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.385392703285618, median 0.3400166765294105, std: 0.2414295685084283
Reprojection error (cam1):     mean 0.46261206811737765, median 0.42189097515655716, std: 0.270943866211912
Reprojection error (cam2):     mean 0.4098809816867086, median 0.341505100337393, std: 0.299453405933923
Gyroscope error (imu0):        mean 1.297387187533648, median 1.053036773112588, std: 1.1789401144850835
Accelerometer error (imu0):    mean 2.4889914559527613, median 2.2896211047407675, std: 1.2927070788880815

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.385392703285618, median 0.3400166765294105, std: 0.2414295685084283
Reprojection error (cam1) [px]:     mean 0.46261206811737765, median 0.42189097515655716, std: 0.270943866211912
Reprojection error (cam2) [px]:     mean 0.4098809816867086, median 0.341505100337393, std: 0.299453405933923
Gyroscope error (imu0) [rad/s]:     mean 0.0015850594433998591, median 0.0012865287228883884, std: 0.0014403488639500902
Accelerometer error (imu0) [m/s^2]: mean 0.06829792555134377, median 0.06282720311408667, std: 0.03547188224468895

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[-0.99999962  0.0005534   0.00067927  0.09963088]
 [ 0.0005526   0.99999915 -0.00118271  0.02581204]
 [-0.00067993 -0.00118233 -0.99999907  0.00647339]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[-0.99999962  0.0005526  -0.00067993  0.09962098]
 [ 0.0005534   0.99999915 -0.00118233 -0.0258595 ]
 [ 0.00067927 -0.00118271 -0.99999907  0.00643624]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.006761239617755742


Transformation (cam1):
-----------------------
T_ci:  (imu0 to cam1): 
[[-0.99999834  0.00134441 -0.00122727 -0.02023717]
 [ 0.00134526  0.99999886 -0.00069226  0.02563391]
 [ 0.00122634 -0.00069391 -0.99999901  0.00765302]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam1 to imu0): 
[[-0.99999834  0.00134526  0.00122634 -0.02028101]
 [ 0.00134441  0.99999886 -0.00069391 -0.02560137]
 [-0.00122727 -0.00069226 -0.99999901  0.00764592]
 [ 0.          0.          0.          1.        ]]

timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
0.006784775077820741


Transformation (cam2):
-----------------------
T_ci:  (imu0 to cam2): 
[[-0.99999189  0.00176128  0.00362215  0.06855274]
 [ 0.00174654  0.9999902  -0.00406888  0.03190135]
 [-0.00362928 -0.00406252 -0.99998516  0.0098371 ]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam2 to imu0): 
[[-0.99999189  0.00174654 -0.00362928  0.06853217]
 [ 0.00176128  0.9999902  -0.00406252 -0.03198181]
 [ 0.00362215 -0.00406888 -0.99998516  0.00971845]
 [ 0.          0.          0.          1.        ]]

timeshift cam2 to imu0: [s] (t_imu = t_cam + shift)
0.00811377722300753

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]
[-0.03308749 -9.77373691 -0.80087133]


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]