Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.287185379039, median 0.206211648286, std: 0.330662714547
Reprojection error (cam1):     mean 0.277932555321, median 0.202927515558, std: 0.323652949895
Gyroscope error (imu0):        mean 0.607962653472, median 0.445691690656, std: 0.670511965213
Accelerometer error (imu0):    mean 0.656381180177, median 0.532905484003, std: 0.616806644641

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.287185379039, median 0.206211648286, std: 0.330662714547
Reprojection error (cam1) [px]:     mean 0.277932555321, median 0.202927515558, std: 0.323652949895
Gyroscope error (imu0) [rad/s]:     mean 0.00566097220907, median 0.00415000536662, std: 0.00624339271375
Accelerometer error (imu0) [m/s^2]: mean 0.0548395716443, median 0.044523379634, std: 0.051533184072

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[-0.01534318 -0.99987874  0.00266169  0.03078459]
 [-0.01830497 -0.00238067 -0.99982962 -0.00268013]
 [ 0.99971472 -0.01538929 -0.01826622  0.03238275]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[-0.01534318 -0.01830497  0.99971472 -0.03195023]
 [-0.99987874 -0.00238067 -0.01538929  0.03127282]
 [ 0.00266169 -0.99982962 -0.01826622 -0.0021701 ]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.3318428376023552


Transformation (cam1):
-----------------------
T_ci:  (imu0 to cam1): 
[[-0.02009112 -0.99979181  0.00356221 -0.03724505]
 [-0.01706176 -0.00321955 -0.99984925 -0.00263594]
 [ 0.99965256 -0.02014886 -0.01699352  0.031852  ]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam1 to imu0): 
[[-0.02009112 -0.01706176  0.99965256 -0.0326342 ]
 [-0.99979181 -0.00321955 -0.02014886 -0.036604  ]
 [ 0.00356221 -0.99984925 -0.01699352 -0.00196159]
 [ 0.          0.          0.          1.        ]]

timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
0.33256910879582957

Baselines:
----------
Baseline (cam0 to cam1): 
[[ 0.99998832 -0.00081366 -0.00476437 -0.06787718]
 [ 0.00081966  0.99999888  0.00125613 -0.00002172]
 [ 0.00476334 -0.00126002  0.99998786 -0.00068037]
 [ 0.          0.          0.          1.        ]]
baseline norm:  0.06788059060569687 [m]


Gravity vector in target coords: [m/s^2]
[-0.03161447 -0.01517134 -9.8064873 ]


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

cam0
-----
  Camera model: pinhole
  Focal length: [346.07054107030046, 346.6128562363569]
  Principal point: [326.1323709769867, 178.64980225680353]
  Distortion model: radtan
  Distortion coefficients: [0.002267205986836348, -0.00018494043827520023, 0.004086877450078014, 0.003246686527028622]
  Type: aprilgrid
  Tags: 
    Rows: 6
    Cols: 6
    Size: 0.0225 [m]
    Spacing 0.00675 [m]

cam1
-----
  Camera model: pinhole
  Focal length: [346.63850192941635, 346.6453563169561]
  Principal point: [327.8159206351231, 178.25901682284913]
  Distortion model: radtan
  Distortion coefficients: [0.0009488288616242341, -0.00042757577726919326, 0.003353741864597373, 0.004732928489383982]
  Type: aprilgrid
  Tags: 
    Rows: 6
    Cols: 6
    Size: 0.0225 [m]
    Spacing 0.00675 [m]



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

IMU0:
 ----------------------------
  Model: calibrated
  Update rate: 200.0
  Accelerometer:
    Noise density: 0.00590776124577 
    Noise density (discrete): 0.0835483607703 
    Random walk: 0.00038178958181
  Gyroscope:
    Noise density: 0.000658414100649
    Noise density (discrete): 0.00931138150796 
    Random walk: 4.75891385863e-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]