Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.759818891700697, median 0.7485594293417814, std: 0.34936441014915154
Reprojection error (cam1):     mean 1.081017461764228, median 1.0883886486249161, std: 0.3167089064487482
Reprojection error (cam2):     mean 0.5271391328155146, median 0.49360546230897506, std: 0.2812204166128198
Gyroscope error (imu0):        mean 0.9676467780501892, median 0.8805515087691299, std: 0.5853289440716868
Accelerometer error (imu0):    mean 1.173754262296464, median 1.0862639653557657, std: 0.5768189394554586

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.759818891700697, median 0.7485594293417814, std: 0.34936441014915154
Reprojection error (cam1) [px]:     mean 1.081017461764228, median 1.0883886486249161, std: 0.3167089064487482
Reprojection error (cam2) [px]:     mean 0.5271391328155146, median 0.49360546230897506, std: 0.2812204166128198
Gyroscope error (imu0) [rad/s]:     mean 0.0011822050334408137, median 0.0010757979559115269, std: 0.0007151151014985902
Accelerometer error (imu0) [m/s^2]: mean 0.032207816957414974, median 0.029807083209362213, std: 0.01582791169865778

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[-0.99999619 -0.00120974 -0.00248116  0.09387637]
 [-0.00123066  0.99996357  0.0084471   0.01321383]
 [ 0.00247085  0.00845012 -0.99996124 -0.00971372]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[-0.99999619 -0.00123066  0.00247085  0.09391627]
 [-0.00120974  0.99996357  0.00845012 -0.0130177 ]
 [-0.00248116  0.0084471  -0.99996124 -0.00959204]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.00910467165359604


Transformation (cam1):
-----------------------
T_ci:  (imu0 to cam1): 
[[-0.99996844 -0.00084209 -0.00790018 -0.02618946]
 [-0.00090995  0.99996269  0.00859007  0.01310269]
 [ 0.00789265  0.00859699 -0.9999319  -0.00828166]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam1 to imu0): 
[[-0.99996844 -0.00090995  0.00789265 -0.02611134]
 [-0.00084209  0.99996269  0.00859699 -0.01305306]
 [-0.00790018  0.00859007 -0.9999319  -0.00860055]
 [ 0.          0.          0.          1.        ]]

timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
0.008399359390217116


Transformation (cam2):
-----------------------
T_ci:  (imu0 to cam2): 
[[-0.99999936 -0.00000592  0.0011271   0.06280778]
 [-0.0000019   0.99999366  0.00356024  0.01923787]
 [-0.00112711  0.00356023 -0.99999303 -0.00589119]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam2 to imu0): 
[[-0.99999936 -0.0000019  -0.00112711  0.06280113]
 [-0.00000592  0.99999366  0.00356023 -0.0192164 ]
 [ 0.0011271   0.00356024 -0.99999303 -0.00603043]
 [ 0.          0.          0.          1.        ]]

timeshift cam2 to imu0: [s] (t_imu = t_cam + shift)
0.009119818181705874

Baselines:
----------
Baseline (cam0 to cam1): 
[[ 0.99998525  0.00032184  0.00542199 -0.12001603]
 [-0.00032107  0.99999994 -0.00014218 -0.00008238]
 [-0.00542203  0.00014044  0.99998529  0.00193906]
 [ 0.          0.          0.          1.        ]]
baseline norm:  0.12003171938634694 [m]

Baseline (cam1 to cam2): 
[[ 0.9999589   0.00091371 -0.00901972  0.08890949]
 [-0.0008683   0.99998694  0.00503692  0.00615432]
 [ 0.0090242  -0.00502888  0.99994664  0.00269226]
 [ 0.          0.          0.          1.        ]]
baseline norm:  0.08916288880898014 [m]


Gravity vector in target coords: [m/s^2]
[-0.01075546 -9.28599482 -3.15255569]


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

cam0
-----
  Camera model: pinhole
  Focal length: [1060.3976965420115, 1059.9377777854759]
  Principal point: [669.0410687042238, 338.0955078969839]
  Distortion model: radtan
  Distortion coefficients: [-0.39542241174697385, 0.1591019280356693, -0.00034525284843336024, 0.0009465391307443078]
  Type: aprilgrid
  Tags: 
    Rows: 5
    Cols: 7
    Size: 0.04 [m]
    Spacing 0.01 [m]

cam1
-----
  Camera model: pinhole
  Focal length: [1055.696578079414, 1056.0327896352933]
  Principal point: [666.2914210045061, 331.25697121349526]
  Distortion model: radtan
  Distortion coefficients: [-0.39361678054112026, 0.15293568698596516, -0.0005106321308083494, 0.001630476234212862]
  Type: aprilgrid
  Tags: 
    Rows: 5
    Cols: 7
    Size: 0.04 [m]
    Spacing 0.01 [m]

cam2
-----
  Camera model: pinhole
  Focal length: [1268.4271589183275, 1267.7698267477979]
  Principal point: [644.7235579555121, 369.3053072152152]
  Distortion model: radtan
  Distortion coefficients: [-0.41736733429239814, 0.18973966738299014, -0.0001707595182044016, 0.0006983044021555349]
  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]