Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.4352310722282379, median 0.39362804837612264, std: 0.25600847937710425
Gyroscope error (imu0):        mean 0.21946713037725646, median 0.14868455818390697, std: 0.2046273107029712
Accelerometer error (imu0):    mean 1.1020395825564564, median 0.7397461654663853, std: 1.038022423790252

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.4352310722282379, median 0.39362804837612264, std: 0.25600847937710425
Gyroscope error (imu0) [rad/s]:     mean 5.047743998676899e-05, median 3.41974483822986e-05, std: 4.706428146168336e-05
Accelerometer error (imu0) [m/s^2]: mean 0.011020395825564565, median 0.007397461654663852, std: 0.01038022423790252

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[-0.00351994 -0.00002138 -0.9999938   0.11999466]
 [-0.99914598  0.04116969  0.00351608  0.06679601]
 [ 0.04116936  0.99915217 -0.00016627  0.03259523]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[-0.00351994 -0.99914598  0.04116936  0.06581941]
 [-0.00002138  0.04116969  0.99915217 -0.035315  ]
 [-0.9999938   0.00351608 -0.00016627  0.11976448]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.0072446105843431375


Gravity vector in target coords: [m/s^2]
[-0.2186237  -9.48139033 -2.49476731]


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

cam0
-----
  Camera model: pinhole
  Focal length: [1589.4525236092466, 1569.6226583767548]
  Principal point: [769.3731045582546, 476.53124250298214]
  Distortion model: radtan
  Distortion coefficients: [-0.1796161469730297, 0.06234031597330985, 0.010815332916716283, 0.001231958107871975]
  Type: aprilgrid
  Tags: 
    Rows: 6
    Cols: 6
    Size: 0.044 [m]
    Spacing 0.013199999999999998 [m]



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

IMU0:
 ----------------------------
  Model: calibrated
  Update rate: 100.0
  Accelerometer:
    Noise density: 0.001 
    Noise density (discrete): 0.01 
    Random walk: 6.67e-06
  Gyroscope:
    Noise density: 2.3e-05
    Noise density (discrete): 0.00022999999999999998 
    Random walk: 1.5e-08
  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]