Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.3699295052799454, median 0.2893273712983413, std: 0.3567728072605116
Reprojection error (cam1):     mean 0.43353275619934106, median 0.35850672424009783, std: 0.3637695683218651
Reprojection error (cam2):     mean 0.3958598628610412, median 0.2988891326688559, std: 0.40301157513804753
Gyroscope error (imu0):        mean 1.2313344826308088, median 1.0366014203624738, std: 0.910181192438437
Accelerometer error (imu0):    mean 2.565490154875579, median 2.3287184623725747, std: 1.445673314691386

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.3699295052799454, median 0.2893273712983413, std: 0.3567728072605116
Reprojection error (cam1) [px]:     mean 0.43353275619934106, median 0.35850672424009783, std: 0.3637695683218651
Reprojection error (cam2) [px]:     mean 0.3958598628610412, median 0.2988891326688559, std: 0.40301157513804753
Gyroscope error (imu0) [rad/s]:     mean 0.0015043607401335035, median 0.001266449126502286, std: 0.0011119974886001965
Accelerometer error (imu0) [m/s^2]: mean 0.0703970498497859, median 0.06390003460750346, std: 0.039669275755131635

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[-0.99999892  0.00107406 -0.00100371  0.0974924 ]
 [ 0.00107486  0.99999911 -0.00079176  0.02722145]
 [ 0.00100286 -0.00079283 -0.99999918  0.00902286]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[-0.99999892  0.00107486  0.00100286  0.09745398]
 [ 0.00107406  0.99999911 -0.00079283 -0.02731899]
 [-0.00100371 -0.00079176 -0.99999918  0.00914226]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.006778014001085943


Transformation (cam1):
-----------------------
T_ci:  (imu0 to cam1): 
[[-0.99999403  0.00186581 -0.00290995 -0.02236968]
 [ 0.00186669  0.99999821 -0.00029998  0.02704377]
 [ 0.00290938 -0.00030541 -0.99999572  0.01020724]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam1 to imu0): 
[[-0.99999403  0.00186669  0.00290938 -0.02244972]
 [ 0.00186581  0.99999821 -0.00030541 -0.02699886]
 [-0.00290995 -0.00029998 -0.99999572  0.01015022]
 [ 0.          0.          0.          1.        ]]

timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
0.006783629629904928


Transformation (cam2):
-----------------------
T_ci:  (imu0 to cam2): 
[[-0.99999552  0.00228079  0.00193964  0.06640846]
 [ 0.00227365  0.99999066 -0.00367592  0.03332067]
 [-0.001948   -0.00367149 -0.99999136  0.01237618]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam2 to imu0): 
[[-0.99999552  0.00227365 -0.001948    0.06635651]
 [ 0.00228079  0.99999066 -0.00367149 -0.03342638]
 [ 0.00193964 -0.00367592 -0.99999136  0.01236975]
 [ 0.          0.          0.          1.        ]]

timeshift cam2 to imu0: [s] (t_imu = t_cam + shift)
0.008260943273252986

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]
[-0.02456828 -9.77273853 -0.81326565]


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]