Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.5756339903638292, median 0.5040850461969275, std: 0.35034687540085896
Gyroscope error (imu0):        mean 31.07630075580845, median 29.36921808918376, std: 14.512141670905912
Accelerometer error (imu0):    mean 0.5322902782172299, median 0.34297752856282204, std: 0.8001514082263201

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.5756339903638292, median 0.5040850461969275, std: 0.35034687540085896
Gyroscope error (imu0) [rad/s]:     mean 0.0006382817204980002, median 0.0006032196431276149, std: 0.00029806748321179247
Accelerometer error (imu0) [m/s^2]: mean 0.009581225007910138, median 0.0061735955141307974, std: 0.014402725348073764

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[ 0.00553725  0.99830489  0.05793686  0.04323875]
 [ 0.99979833 -0.00440848 -0.01959246 -0.13672538]
 [-0.01930383  0.05803366 -0.99812798 -0.13344563]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[ 0.00553725  0.99979833 -0.01930383  0.13388237]
 [ 0.99830489 -0.00440848  0.05803366 -0.03602387]
 [ 0.05793686 -0.01959246 -0.99812798 -0.13837972]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.03103310280098795


Gravity vector in target coords: [m/s^2]
[ 9.79793261 -0.35600428 -0.20542722]


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

cam0
-----
  Camera model: pinhole
  Focal length: [764.6113, 764.4725]
  Principal point: [656.8556, 519.2676]
  Distortion model: radtan
  Distortion coefficients: [-0.3326, 0.1242, 0.00028155, 8.7935e-05]
  Type: aprilgrid
  Tags: 
    Rows: 6
    Cols: 6
    Size: 0.055 [m]
    Spacing 0.0165 [m]



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

IMU0:
 ----------------------------
  Model: calibrated
  Update rate: 200.0
  Accelerometer:
    Noise density: 0.0012727922061357858 
    Noise density (discrete): 0.018000000000000002 
    Random walk: 0.00024682682989768704
  Gyroscope:
    Noise density: 1.4523393128996995e-06
    Noise density (discrete): 2.0539179534703772e-05 
    Random walk: 0.000650445807572307
  T_i_b
    [[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]