Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 4.48718159315, median 3.53420212367, std: 3.60980942328
Gyroscope error (imu0):        mean 2.03955401538, median 1.91782848555, std: 0.962610412044
Accelerometer error (imu0):    mean 3.06686098718, median 2.63034104545, std: 1.90601725104

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 4.48718159315, median 3.53420212367, std: 3.60980942328
Gyroscope error (imu0) [rad/s]:     mean 0.000889923299752, median 0.000836810519039, std: 0.000420018017568
Accelerometer error (imu0) [m/s^2]: mean 0.0306686063506, median 0.0263034074344, std: 0.019060170322

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[ 0.01453636  0.99904543  0.04119367  0.0792154 ]
 [ 0.99972062 -0.01375358 -0.0192227  -0.25223496]
 [-0.01863779  0.04146159 -0.99896625 -0.17686628]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[ 0.01453636  0.99972062 -0.01863779  0.24771659]
 [ 0.99904543 -0.01375358  0.04146159 -0.07527576]
 [ 0.04119367 -0.0192227  -0.99896625 -0.18479526]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.005866979812060195


Gravity vector in target coords: [m/s^2]
[-0.14927334 -9.20284851 -3.38433445]


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

cam0
-----
  Camera model: pinhole
  Focal length: [768.4095, 767.4821]
  Principal point: [669.1224, 494.5446]
  Distortion model: equidistant
  Distortion coefficients: [-0.3342, 0.1273, -0.00013971, -4.3644e-06]
  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: 0.0007071067 
    Noise density (discrete): 0.00999999885185 
    Random walk: 9e-05
  Gyroscope:
    Noise density: 3.0853353e-05
    Noise density (discrete): 0.000436332302573 
    Random walk: 1.02695871319e-07
  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]