Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.7343917761440568, median 0.7252103431557557, std: 0.30315274887713783
Reprojection error (cam1):     mean 0.9957594627054298, median 0.9975097737159101, std: 0.34221686869013485
Reprojection error (cam2):     mean 0.4909294297570128, median 0.45958634671532317, std: 0.2627286501220471
Gyroscope error (imu0):        mean 1.1859897319632562, median 0.950380232434768, std: 1.2003985759665106
Accelerometer error (imu0):    mean 1.241629530991039, median 1.1455835900542033, std: 0.6174134978142126

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.7343917761440568, median 0.7252103431557557, std: 0.30315274887713783
Reprojection error (cam1) [px]:     mean 0.9957594627054298, median 0.9975097737159101, std: 0.34221686869013485
Reprojection error (cam2) [px]:     mean 0.4909294297570128, median 0.45958634671532317, std: 0.2627286501220471
Gyroscope error (imu0) [rad/s]:     mean 0.0014489616072109331, median 0.001161109942132994, std: 0.0014665653530127171
Accelerometer error (imu0) [m/s^2]: mean 0.03407031433039411, median 0.03143481371108734, std: 0.016941826380021993

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[-0.99999829 -0.00050051 -0.00178004  0.09476202]
 [-0.00051623  0.99996078  0.0088411   0.01380209]
 [ 0.00177554  0.008842   -0.99995933 -0.00947803]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[-0.99999829 -0.00051623  0.00177554  0.09478581]
 [-0.00050051  0.99996078  0.008842   -0.01367032]
 [-0.00178004  0.0088411  -0.99995933 -0.00943099]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.009373867885262227


Transformation (cam1):
-----------------------
T_ci:  (imu0 to cam1): 
[[-0.99997408 -0.00013074 -0.00719893 -0.02530235]
 [-0.00019542  0.99995963  0.00898384  0.01369063]
 [ 0.00719746  0.00898502 -0.99993373 -0.00805069]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam1 to imu0): 
[[-0.99997408 -0.00019542  0.00719746 -0.02524108]
 [-0.00013074  0.99995963  0.00898502 -0.01362105]
 [-0.00719893  0.00898384 -0.99993373 -0.00835531]
 [ 0.          0.          0.          1.        ]]

timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
0.009262547904497638


Transformation (cam2):
-----------------------
T_ci:  (imu0 to cam2): 
[[-0.99999808  0.0007019   0.00182869  0.0636933 ]
 [ 0.00070912  0.99999193  0.00395339  0.01982619]
 [-0.0018259   0.00395468 -0.99999051 -0.00565519]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam2 to imu0): 
[[-0.99999808  0.00070912 -0.0018259   0.06366879]
 [ 0.0007019   0.99999193  0.00395468 -0.01984837]
 [ 0.00182869  0.00395339 -0.99999051 -0.00584999]
 [ 0.          0.          0.          1.        ]]

timeshift cam2 to imu0: [s] (t_imu = t_cam + shift)
0.009485665419609051

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]
[-0.01493133 -9.28421397 -3.15777944]


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]